*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 .Initialize.P. .Initialize.i?.)?.?.?.i?.?.I?.=.0got command restart logs?.@?. @?.@.5@?.I? .I? .O .2>r,^OȽ?A:;ɰ:4yDaUaU aUaU aUaU aUa] a]@a] a]@a] a]@a] a]@a] y]Fx?:vS㥻?]>]T]/=YbE-e6jE-åm6rE-)3E EtE4E"EC:*Ev:VEc6ZEBEJ;a2EK;aJE`;a:E`;a Y)]Mb@Mb@Mb@IYiYYYY Y)YYIYbDVD 8yt<%=ٔɽQ->9I=}Fy<E>)x?)H?Q A 3YQ E]3yAQ I?#>IH$IY )] >fr,liȽ?AY=g'>y=DM) ")"I&i,"bDVD1y˧<%=ٔQ- ?9I=}FyE ? Q 5UF4 Q 9UF4 Q =UtI) Q AUO>YUQ E]?y]Q I]? I :i : w4F4yaɮeFBajyjyjyjyjɢ)) -XGi)))- 0)i-NoB;1I1E ErECE"Eҝ:*E?:VE-o6ZEa@a@a@a@BS>BBDB#>BBBB;BIE2:E 9@A  @A @E 0@I IQ Ii O} >% cG9 W r,IHȽ?A2@2@2'<ٱ2r :AHRS rotation from veh to nav: [[0.315134,0.940933,0.123836],[-0.948868,0.314917,0.021838],[-0.018451,-0.124386,0.992062]]2H'+??? ]@'?\?@䒿׿?i2@I2MH`;2]CLYV >yZDfTJ9dYf}8AE@AAbDEVDEye%eh=ٔm>Q-m>9iIi=u}FyqueXEu>Q 5R4Q 9R4Q =tI)YyQ I?IH:i:R4yɮIBj)j)j)j)j)ɢ)M> _Gi)Ti};Ie9@a @a@e/@aIqIO:>i߉ I߉ E  E oE ,E "E *E :VE \6ZE BE ;a 2E ;a JE N;a :E N;a M&r,"Ƚ?A2Ț@2bá@230ٱ2 :AHRS rotation from veh to nav: [[0.335731,0.935082,0.113607],[-0.940976,0.327427,0.085770],[0.043004,-0.135697,0.989817]]2H|?0?`X?y@? ??^?i2Ț@I2`;2\CYN&>yR9tIt=v}Fytzgi=Ez>xQ 5=_4xQ 9=_4xQ =EtI)xYAyAQ IE?xIz! a a -r,Ƚ?A6T@6O@6LȻٱ6۽EB EBrEBVE@"EB:*EB?:VEBz~6ZE@aF@aF@aJ@aJ@ JAHRS rotation from veh to nav: [[0.352129,0.930787,0.098186],[-0.935932,0.349493,0.043434],[0.006113,-0.107190,0.994220]]6HG?? "?&^?@=? y?`p?i6T@I6p+`;4Y^G>y^DbDjVDj1y=% H=ٔ ָ=Q- >9I=}Fy+=E>BaBaBeDBe">BaBaBaBe_;Be,EQ 5n4Q 9n4Q =tI)YyQ I?I:i: n4yɮ6Bj!j!j)j)j)ɢ)f > 8Gi)l@iN;Iʃ:m0:D<@ @@/@IIO J>4r,-Ƚ?A>}@>_x@>잭=ٱ>ƽ FAHRS rotation from veh to nav: [[0.326228,0.937790,0.118848],[-0.941491,0.333600,-0.048013],[-0.084674,-0.096231,0.991751]]>H?`?l? @Y?46`l?i>}@I>q_;>]CYjaF>yjDaa aa aa aa a@a a@a a@a a@a yʡE rh~jt?C ;? )Mb@Mb@Mb@Ii )I qup;bD}VD}y;%4=ٔFI>Q->9I=}FyhE>Q 5}4Q 9%}4Q =%tI)Y)y)Q I-?I" 9Gi)顥cvi$<I:uX=9@ @@/@II O> 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.r.:r,9Ƚ?Aɰ;26 @2@2d=ٱ2 BAHRS rotation from veh to nav: [[0.342707,0.930630,0.128372],[-0.937099,0.348290,-0.023208],[-0.066309,-0.112343,0.991455]]2H`??`{n?bJ?×¼?i26 @I2_;2^CYn1>ynbDbD-VD-:2yEe%Mb=ٔUTQ-U>9I=}Fy*@=E>Q 54Q 94Q =tI)YyQ I?I & NGi)iL?<I5:gAfA =9@9 @9@EO0@AiaIam*DAT read: user:130> uBDAT read: Tx time:04:37:54.9305 u$Ping request sent.uB]T>BYB]DB],>BYBYBYB];B]EBBBBBdz=C=g4Ie >)e >:Ar,ɽ?AYn<>ynDbDzVDzy}h<%}G=ٔQ->9I=}FyE>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249488Q 54Q 94Q =tI)YyQ I?Ij"^<I :5Q=u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501885 @  @ @ 0@ E  E xE NE "E a:*E :VE x6ZE BE |;ae 2E };ae JE bo;am :E co;am I I O >@Gr,hɽ?AYn>ynѺDvAAtbDzVDzyeC%eL=ٔiQ-m>9iIi=u}FyqqEu>yQ 54yQ 94yQ =tI)yYyQ I?yI}:i}X:}$}4yɮNBjjjjjɢ) hGi)顝ĸi|<I:m4>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7535539@ @@p4@IIO`>iMr,lB8ɽ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009448E6 E6iE6^E4"E6:*E69VE6u6ZE4a:@a:@a:@a:@B@BM@B3LٱBqA NAHRS rotation from veh to nav: [[0.374682,0.926547,0.033538],[-0.926749,0.373205,0.043056],[0.027377,-0.047213,0.998510]]BH@? E? +??c ??`N,?iB@IBoz`;A~@AA~@ABU>BBDBw>BBBB;BРEB_CY>ycDbD VD 02yu%"=ٔ9I=}Fy=E>Q 54Q 94Q =tI)YyQ I?I{:i:YP4y)ɮ-RB)jAjjjjɢ)J> qGi)MḉiC<IA:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258116l >q @q  @y @} 4@ A fAzA eAI) Iq O >QTr,Rɽ?AY>ymDaa aa aa aa a@a a@a a@a a@a yMbFxɿZd;O׿ Kj )Mb@Mb@Mb@Ii )IbDVDf5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509434y  #%Ud=ٔUQ-U>9YIY=]}FyYeEe>aEu Eu|Eu9Eq"EuO:*EuP$:VEug6ZEqBEuк;a2EuѺ;aJEu};a:Eu};aQ 54aQ 94aQ =tI)aYyQ I?aIeU" Gi)iJ<I:% ; >i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762529 9@  @ @ 4@ II Ia Ou >Zr,Ilɽ?AR@M@Iٱ =AHRS rotation from veh to nav: [[0.321357,0.945952,0.043645],[-0.943352,0.315774,0.101853],[0.082566,-0.073904,0.993842]]H?)}>bDVDy3%`=ٔQ->9I=}Fy E>Q 54Q 94Q =tI)YyQ I?I;i~;k4yɮbBj9j9j9j9j9ɢ)= Gi)顭(iդ<I:E+>@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013583E] EYE](EY"E]C:*EYVE]nY6ZEYae@ae@ae@ae@IqIO[>BBBDB=BBBB;BҠEsar,rɽ?A2@2U@2O{ٱ2ҽ :AHRS rotation from veh to nav: [[0.329315,0.941091,0.076804],[-0.942227,0.322249,0.091454],[0.061317,-0.102484,0.992843]]2H~?`k?p?&?i?d?g<^?i2@I2`;2^CYNW>yRDV=V=bD^ VD^:2yf==%f[=ٔfi=Q-f>9hIh=j}Fyhn<En>Q 54Q 9 4Q = tI)Y y Q I ?I:i:ܭ4yɮYB9jIjQjQjQjQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265538ɢ)K> ~Gi)`icQ<I:Ө>q@q @q@u/@q5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517630Di zDm ?AbEEl6jEEk6rEE3Eu  Eu vEu GEq "Eu :*Eu :VEu er6ZEq BEu m;a 2Eu n;a JEu h;a :Eu h;a IE >)E >A 2AI I O% >gr,Nɽ?A2|@2J@2r-ٱ2N :AHRS rotation from veh to nav: [[0.344463,0.933241,0.102012],[-0.938254,0.338518,0.071314],[0.032020,-0.120279,0.992224]]2H ??|?`,H?@A?d?`ʾK?i2|@I2S_;0Yn>ynDbDzVDz:y%D=%%E=ٔ%=Q-->9-?I-?=-}Fy-tD5=E5>9Q 5e4=ܨx?Q 9e4=ZQ =etI)=;?Ye?Q Ee>yeQ Im@=?I=:i=;=4yqɮuOBqjjjjjɢ)!> jGi)!i,c<Ip}:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769573>9@ @@/@A I I O >= BDAT read: Rx Time:04:37:57.5169 E TRx dataTimestamp_ set to:1761539878.900137E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022577_mr,Ϲɽ?AE EpE>E"E*E :VE&k6ZEa@a@a@a@:@:Q@:4ٱ:jBB<AB4=BDBDBDBDBDBDBDBFJ;BFE RAHRS rotation from veh to nav: [[0.373833,0.921866,0.102035],[-0.927249,0.368929,0.064033],[0.021386,-0.118550,0.992718]]:H ???`?qd? ,?CY X?i:@I:! `;:aCY~4!>y~?Di YYbDeVDey<%B=ٔ09I=}Fy|DØ=E>Q 54ax?Q 94-Q =tI)?YyQ I@U?I:i:4yɮIBEj)j)j)j)j)ɢ) ^Gi)顝-iL\<I>|: k>M">G(hA09(hAYA9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274361A-܏AI9IIOU>?tr,2ɽ?A2V@2Q@2кٱ2ّ :AHRS rotation from veh to nav: [[0.352330,0.933543,0.066035],[-0.935875,0.351331,0.026552],[0.001588,-0.071156,0.997464]]2H?@??@@6|?0?Z?I79?i2V@I2`;2`CYNO>yNdDhjAaa aa aa a a  a @a  a @a  a @a  a @a  y x&QѿRQ? 7 \ >  ) Mb@Mb@Mb@I i     )  I bDEVDE:yu=%u>=ٔ}><=Q-}>9}?I}?=}}FyDJ\E>Q 54x?Q 94/Q =tI)?Y?Q E>yQ I @?I;i;g4yBɮ1BEDAT read: Range 11 to 50 : 136.8 m (Round-trip 182.4 ms) speed -0.3 m/s X#Rx 1: Read range message, but no direction.yYCD-%=D-4=E5 E5qE5JE1"E5s:*E5$ :VE5t6ZE1BE5(;aE2E5);aEJE5U;aE:E5U;aEjqjqjyjyjyɢ)T#> 0Gi)i<Iz:- 5%> 9@  @ @ 0@ A dAzA fAA I I O ><{r,!ɽ?ABZ @B(@B]=ٱB7 ZAHRS rotation from veh to nav: [[0.342975,0.934561,0.094675],[-0.937783,0.346470,-0.022833],[-0.054141,-0.080953,0.995246]]BHL?`? yfDbD~VD~fy t% U=ٔ5g>Q-5>91I9==}Fy=D=ǼE=>AQ 5M4E x?Q 9M4EQ =mtI)Ee?Yqyu.Q Iu@Ev?IE};iES;E4yyɮ}=Bjjjjjɢ)]8> GGi)@i A<)I1vy:Ho>]9@Y @Y@]/@YE EvE E"E%:*E:VER6ZEa@a@a@a@BT>BBDBM>B=BBB&;BEIqIO|>r,ʽ?A2"@2@2oz=ٱ2 :AHRS rotation from veh to nav: [[0.356961,0.929758,0.090160],[-0.932119,0.360847,-0.030728],[-0.061104,-0.073071,0.995453]]2H@t??`?@?`%w H@δ?i2"@I2_;2bCYN9>yRDIV4=)V;bDZVDZ:yv;%zM=ٔz9|I=}FyD%=E%>)Q 5]4-x?Q 9e4-DQ =etI)-7?Yiym?Q Im@-?I-E| EkEE"E :*E:VEL6ZEBEF;a2EG;aJE@;a:E@;a- 9@)  @) @- 4@) m nManaging dock network, ignoring radio surface power offI! I9 OE >Ir,"ʽ?AYn=>ynsDv=v=bDzVDz:2y%m%%G=ٔ-Q-->9)I1=5}Fy5D5E5>YQ 5e4]x?Q 9e4]%Q =etI)]{?YiyiQ Im@]?I]<:i]e:]4yqɮuLBjjjjjɢ) fGi)i%=!I)v:jb+>A@A @I@M/@IIIOE>I >) E  E mE 4E "E 1:*E :VE c6ZE a @a @a @a @A AAA B V>B B DB ,>B B B B ;B EBBBBBC4>tr,<ʽ?A2᎛@2@2'ٱ2>; :AHRS rotation from veh to nav: [[0.356486,0.933317,-0.042870],[-0.927572,0.359043,0.103430],[0.111925,0.002894,0.993712]]2H??@ ?az??g?~?i2᎛@I2a;0YN9>yRYDbDZVDZ yfz"<%fP=ٔf7Q-f>9hIh=j}FyjDnF;En>Q 54x?Q 9 4*Q = tI)?Y y Q I !@??I:i:/4yɮ=JB=EjIjQjQjQjQɢ)= bGi)Fi =It:8>I%eA)%eA9@ @@@AfAzAeAI I O >m\r,_|Vʽ?A2@2|@2-ٱ2p :AHRS rotation from veh to nav: [[0.354221,0.935101,-0.010632],[-0.926125,0.352352,0.134686],[0.129691,-0.037862,0.990831]]2H?Y?Kƅ Ѣ ?`c=?น?b?i2@I2`;2aCYN>yND TTaa aa aa aa a@a a@a a@a a@a aa yZd;?Clѿq= ףpῙ۹>ߏ  )Mb@Mb@Mb@IiBB  B)2BYBbDVDkyŗ%8=ٔe%Q->9I=}FyD mE >Q 5=4:x?Q 9=40Q ==tI)(?Y9y=MQ IE'@@IT:i;4E}| E}nE}.Ey"E} :*E}:VE}C^6ZEyBEya2EyaJE}J;a:E}J;ayBɮMBEjjjjjɢ1)5g> 5kGi1)9={9i=J=AIA-s:M,>}9@y @y@}0@yIIOm>r,Upʽ?A2@2@23ٱ2e :AHRS rotation from veh to nav: [[0.339059,0.937146,0.082444],[-0.936421,0.327782,0.125200],[0.090307,-0.119653,0.988700]]2H#??`?`(@b??`?``n?i2@I2b`;2bCYN>yRDTVAbD^ VD^f2yfP%f`=ٔf{=Q-f>9hIh=j}FyjDn%IEn>Q 5 4Cx?Q 9 45Q = tI)?Y y Q I ,@@I:i;P4y9ɮ=VB9jQjQjQjQjQɢ)rq> ~Gi)i=Ir:o>!@! @!@%J1@)BuW>BqBuzDBuJ=E EE+E"E~:*EVE[6ZEBE;2E;JE:EBu=BqBqBuv;Bu;EIIO@> Kpr,y:ʽ?A2y@2G@2ǽٱ2G BAHRS rotation from veh to nav: [[0.333515,0.930637,0.150603],[-0.937696,0.310958,0.155020],[0.097436,-0.192922,0.976364]]2H QX?@?@F???@?ȿ``>?i2y@I2^`;2`CY=88>y=DbDuVDuk1y>=%;=ٔ@Q->9I=%}Fy-DGE>Q 54x?Q 94T<Q =tI)?YyRQ I2@V-@I:i":.4y!ɮ%;B!j9j9j9j9j9ɢ) GGi)i:=Iq:DzD@AE ElE*E"E:*E:VE [6ZEa@a@a@a@ zA= @  @ @ /@ A}0AIIO?gr,裫ʽ?A ɰ Es@En@E7Z<ٱE ]AHRS rotation from veh to nav: [[0.355625,0.926136,0.125710],[-0.934534,0.354273,0.033715],[-0.013311,-0.129471,0.991494]]EH? ?G? @h? #C? B~Q?iEs@IE3W`;EbCYs>yE?A?A E4Q->9?I?=}FyD=E>Q 5u4x?Q 9u4DQ =utI)R?Yu?Q E}>y}Q I}9@B@I  Gi )   i $=IEn:B T>B B @EB tU>B B B B ;B E%C >EM EMxEM8EI"EM:*EM:VEMQf6ZEIBEM;a]2EM;a]JEMbo;a]:EMco;ae 9@  @ @ /@ AY Ii Iy O >hr,ʽ?A]ۛ@]o֢@]?:ٱ]4C AHRS rotation from veh to nav: [[0.367469,0.929962,0.011687],[-0.930034,0.367462,0.002844],[-0.001650,-0.011914,0.999928]]]H? @?D? ?Kg?[tf@h?i]ۛ@I]'`;]cCY>y.EbD]VD]fym=%mW=ٔm'Q-u>9qIq=u}FyuD}=E}> Q 55 x?Q 95 JQ =tI) F?Y!y%嘿Q I>@ +Q@I )>jjɢ)b/> Fi)顡i-,=Im:bEe_6jEe_6rEe2E  E wE 0E "E :*E :VE _6ZE a- @a- @a- @a- @ '>m 9@i  @i @m /@i AAIIO?Bwr,ʽ?A2mw@2;r@2̽ٱ2s= uAHRS rotation from veh to nav: [[0.325075,0.941519,-0.088704],[-0.940441,0.331713,0.074416],[0.099489,0.059230,0.993274]]2H?` ?@R:? ?x?mS? ?i2mw@I2(b;2dCYí>yUEa a  a a  a a  a a  y{Gz~jt?HzG?#>=> 9'B VB)tBYQBbDmVDm:2yi=%<ٔ Q->9c?Ic?=}FyD *E > Q 55 )x?Q 95 V) ?Q AT:YM?Q E:yݿQ I>@ Jp@I ו 5Fi1)15p1i=;4=9IA ak: m,>B% W>B! B% @gEB% >B! B! B! B% ;B% wEEe  Ee yEe ,Ea "Ee ҝ:*Ee :VEe \6ZEa BEe ;au 2Ee ;a} JEe s;a} :Ee s;a} 5 9@9  @9 @= /@9 A I I O >-)r,r˽?AcG(fٿ9hYjAp@\k@ ٱ9 }AHRS rotation from veh to nav: [[0.322417,0.945882,-0.036805],[-0.935291,0.324316,0.141597],[0.145871,-0.011230,0.989240]]Hy?D? آ`?`??ڧ?ip@Ia;bCY>y#XE=bSBD MO Status=0, MOMSN=3012, MT Status=0, MTMSN=0=.No messages in MT queuebDMVDMy]<<%]r=ٔe Q-e?9aIa=m}FymD`E>Q 55x?Q 95]) ?Yy'ݿQ I>@@IY Fi)0ٷi8=Ij: 0>E  E zE +E "E U:*E  :VE [6ZE a @a @a @a @u 9@q  @q @u /@q   AIIOE?zr,$˽?A2u@2p@2Wٱ2  zAHRS rotation from veh to nav: [[0.351853,0.932317,0.083576],[-0.923933,0.331587,0.190781],[0.150155,-0.144346,0.978068]]2HĄ??Ce?ܐ8?k? H8?y¿VL?i2u@I20+a;0Y >y^BEbDVD02y5%5%=ٔ5SQ-=>99I9==}Fy=DEh=EE>Q 55x?Q 95g)?YyտQ I>@A@I=:i:205yɮB!jjjjjZZZZ'@ɢQ)Y ]FiY)Y]#Yi]>=aIah:U8e>! @!  @! @% /@! B Y>B B @EB t>B B B B ;B 4EE  E mE ?E "E 1:*E :VE k6ZE BE ;a 2E ;a JE XG;a :E YG;a AI IQ Ia Om >Fr, >˽?A4<ɰ4<2ͽ@2@27+ٱ2h jAHRS rotation from veh to nav: [[0.358984,0.921081,0.150802],[-0.918328,0.319701,0.233378],[0.166748,-0.222264,0.960621]]2H`?@~y?wM?b u? S?@X?@&s̿@i?i2ͽ@I2c`;2cCYvC>yvEEbDeVDe:y2<%N=ٔ-Q->9I=}FyDõ<E>IQ 5U5Mx?Q 9]5Mn)M?YYy]ҿQ I]>@M@IMP:iM~:M35yaɮmBjjjjjZYZYZYZ]g9@ɢ) Fi)4Ti1C=IAf:~>@ @@0@A .AI I) O5 >r,X˽?A6@6Ũ@6m/ٱ6T >AHRS rotation from veh to nav: [[0.356977,0.924740,0.131996],[-0.918425,0.321670,0.230268],[0.170479,-0.203429,0.964134]]6H?@y?=?c??oy?D? ʿ.?i6@I6m`;4E EoE/E"Ea:*E:VE_6ZEa@a@a@a@Y5>y@EI% >)% >a @a a @a a @a a @a y FxɿT㥛 ?(\µ? K = = ) Mb@Mb@Mb@I i ‰  lB ) B Y BbD VD 0y f % <ٔ} Q-} x>9  ?I  ?= }Fy D >0E x> Q 5 5 >x?Q 9 5 |) ?Q A +:Y Q E V:y ӿQ I >@ @I iByB}EB} ?ByByB}DB};B}7EBABABABABACEr4E EE*E"E%:*E,:VE [6ZEBE;a-2E;a-JE@;a-:EA;a-9@ @@44@AzAfAAIIO8?Or,˽?Af_@f. @f~ٱf =AHRS rotation from veh to nav: [[0.331331,0.943208,-0.024049],[-0.903202,0.324442,0.281005],[0.272849,-0.071385,0.959405]]fH4?.?1@? ?Yv?FFr?if_@Ifa;faC I)M9lAMhMNFIQU lAiUI۱۱Iܱiܵs@ ܹ۹)ܹܹ ݽlAܽP;FlAI)QdFi)IlAʡLF 1= vA9i99Y9Y>ygE bDVD1yM >%M0=ٔUmQ-U>9QIQ=]}Fy]D],E]>aQ 55ex?Q 9E5ev)e@Q AM :YIQ EM-:yMܿQ IM>@e2@IeE]  E] {E] ,EY "E] :*E] 5":VE] \6ZEY am @am @am @am @r, ˽?A6K@6F@62ٱ6lm BAHRS rotation from veh to nav: [[0.305271,0.951135,-0.046377],[-0.898576,0.303840,0.316612],[0.315232,-0.054979,0.947421]]6H`?o?!r?`^C?,? 6&`EQ?i6K@I6/ya;6dCY9y9bDMVDMkٔQ->9>(?I>(?=}Fy DLE>Q 555x?Q 9=5Ԋ) @Q A=9Y9Q E= :y=Q I=>@@IBgr,˽?A @@Nt@NYo@NlڿٱNK=ڽ ZAHRS rotation from veh to nav: [[0.303717,0.952588,-0.018236],[-0.879656,0.287715,0.378715],[0.366006,-0.098981,0.925334]]NH p?{?@%&`i?`y=pEB\>B؏CB EB,%?BBBB;BpEbDMVDM:2y<%<ٔ Q->9I=}FyDJ<E>Q 55x?Q 95)-@Q A9YQ E 9y 3Q I >@@I:i?u>5E} EqE%E"E݉:*E$ :VEW6ZEBEh;a-2Ej;a-JEU;a-:EU;a-yUBɮUǑBUצEjijijijijqɢ).= yFi)EiCS=!I!-`:9@ @@f0@AAIIO>=r,Lo˽?A;ɰY>ypEE) E)E-*E)"E)*E)VE- [6ZE)a5@a5@a5@a5@aUa] a]a] a]a] a]a] y]V-?J +ѿ+ǿ]|>]]v>Y Y9]QſʡEۿ(\ڿY](y]ݾ]zԾ]B]B Y)]~B]Y]QBbDuVDukyB;% =ٔQ->9%?I%?=}Fy"DE>Q 55x?Q 95)@Q AT:Y>?Q E:ye6Q I>@@I9;i5;C5y5Bɮ=őB=֦EjqjqjqjqjqZ8?Z8?ZX@Z6\@ɢ) xFi ) 額 "ݷ i 4V= I I ?) D? l^:% >@ @@/@IIO?8r,]˽?AB!B!B%@EB% yEiEbDUVDUܲyet%eG=ٔiQ-m>9iIi=u}Fyu+DE>Q 55x?Q 95)?YyQ I>@7@I:i(:EG5E EE9E"E:*EVEg6ZEBEY;a2E[;aJEa:Eay1ɮ=ˑB9jjjjjZZZZɢ) Fi)!IiM?X=IIQ%L]:v>u9@y @y@}0@yI>)>IqIO>s,ut̽?A2E`@2[@2ٱ2K :AHRS rotation from veh to nav: [[0.356000,0.932166,-0.065801],[-0.859996,0.354358,0.367201],[0.365610,-0.074135,0.927811]]2H@?N?Nذέ?9? &f? ࠰?i2E`@I2`;2fCY^l>y^wEbDfVDfyL=%6=ٔw:Q->9I=}Fy4D >E>Q 5-5x?Q 955s)&?Y1y52Q I5>@@I#G s,O/̽?A2T@2"@2 H߾ٱ23< :AHRS rotation from veh to nav: [[0.338904,0.929951,-0.142605],[-0.840666,0.367380,0.397886],[0.422405,-0.014962,0.906284]]2H?'?`@¿ '?v?? 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E?`?`@0?ij&@Ij`;jiCYu@yFbDVDy%S>%%O=ٔ%CQ-->9)I)=-~Fy-E5ޤE5>9Q 5E5=v?Q 9E5=)=^YAyM:+Q IM>@=MAI=:i=:=?s5E] E]sE]EY"E]:*E]Z:VE](N6ZEYBE]7;ae2E]8;aeJEYam:EYamyqɮuBqjjjjjZZZZ?ɢ) >i)i :^=Iq-/:1199ԡm9@i @i@m/@iAu?Au ?IIO > s, !]Ͻ?A2ϖ@2ʝ@2ٱ2Ku :AHRS rotation from veh to nav: [[0.189223,0.981791,-0.016784],[-0.851715,0.172611,0.494759],[0.488647,-0.079325,0.868868]]2H v8?@j?/?A!?#?E?N?i2ϖ@I2`;2kCYF@yF+F llymrh|?ɿx&?m;?mLm7>i i9m\(\? rhݿsh|?Ymz?ym쾙mmKBmB mB)mwBiYmBbDVDfyd>>%5=ٔjQ->9I=~FyE}E>Q 55v?Q 95#)VQY?Q EC:yQ I?@ UAI ;i ;.w5y!ɮ%B!j9j9jAjAjAZ]?Z]?Z]@Z]@ɢq)u[`= ub>iq)yyyi}Tl^=IDiDm=Eu EurEu#Eq"Eu~:*Eu?:VEugU6ZEqa}@a}@a}@a}@.: @getADC uart error serial timeout Puart error - getPosition..serial timeoutq (Communications FaultI&bCommunications Fault in component: DockingStepperIO>) Q s,wϽ?A2w@2r@2pٱ2# :AHRS rotation from veh to nav: [[0.178288,0.983934,0.009371],[-0.845418,0.148302,0.513103],[0.503470,-0.099402,0.858276]]2H ?b|?1?` ?Vk?`l?jrv?i2w@I2`;2mCY=!@y=FbDMVDMyК>%Y=ٔ:Q->9I=~Fy!EE>Q 55֭v?Q 95m)FYy6Q I?@[AI:i1:wz5yɮXBjjjjjZ!Z!Z!Z%6@ɢ1)9 ==i9)999i=`^=AIA)j-: :Uninitialize Docking Stepper. 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D?*&=???|¿U?i2pW@I2_;2kCYF7@yFFy%Q?S㥫?v/?%\?%/]=%xi=! !9%bX9?|?5^ѿ rh?Y%E6?y%ҍ%C =%kB%B %/B)%rB!Y%BbD=VD=yMjh>%MD=ٔMm59U ?IU ?=U~FyU2E]ԺE]>aQ 5m5eqv?Q 9m5eN )eYmC?Q Em:yuQ Iu?@eqAIe:ie:eu5ԹyɮBEj)j1j1jQjQZuۺ>Zuۺ>Zuw@Zuik@ɢ) ^=I ':bER6jECR6rEõ1EU EQEUEQ"EU:*EQVEU/R6ZEQa]@a]@a]@a]@u|^=A?A?A I I O >9 is,BϽ?A:T@@:";@:ٱ:4 FAHRS rotation from veh to nav: [[0.174236,0.981761,0.076069],[-0.854793,0.112447,0.506641],[0.488847,-0.153298,0.858795]]:H[M?j? ?y?vZNɼ?g6?EI?Eÿ>{?i:T@@I:n_;8YVm<@yVFbDbVDbk1yjI>%jR=ٔjK=Q-j>9lIl ll=r~Fyr5Ev9Ev>xQ 5z5zv?Q 9~5z)z Y|y~iQ I~?@zuAIz;iz/;z܋5y UBɮ rB Ej!j!j!j!j!ZAZAZAZE^pk@ɢQ)Y ]9BBGBV@B=BBBn;BEA 1ҿ9YAE] E]uEYEY"E]O:*E]:VEYZEYBE]к;am2E]Ѻ;amJE]wd;am:E]xd;amqAIIO>ԙ Qt,н?A2@2@2(ٱ26 :AHRS rotation from veh to nav: [[0.170546,0.981896,0.082426],[-0.860553,0.107677,0.497849],[0.479961,-0.155838,0.863338]]2Ho?k?????ÿ@v?i2@I2`;0YBeC@yBKFbDNVDN:y%b>%%E=ٔ-9)I1=5~Fy5:E5WE5>9Q 5E5=v?Q 9M5=~)=YIyMQ IM?@=yAI=:i=:=z5yQɮU:BYjijijijqjqZZZZ9k@ɢ) ;i)顩i^=IԱ$:AaIiIyO9> Di zDm @AEq  Eu jEu Eq "Eq *Eu 9VEu !J6ZEq a} @a} @a} @a} @9 U| t,+н?A>@>@> ٱ>3 JAHRS rotation from veh to nav: [[0.165630,0.982798,0.081701],[-0.859837,0.103342,0.500002],[0.482957,-0.153064,0.862162]]>H[3?s?`W? ȃ t?@??ÿՖ?i>@I>[I`;>lCY%H@y%F5>5a= y}p;bDVDNyI>%C=ٔQ->9I=~Fy>EpQE>Q 55.}v?Q 95Z)YyQ I?@K~AIY;i;!5yɮBjjjjjZZZZj@ɢ) u;i)i^=I! m#:A؟AIIOE>9i B k>B B GB d@B =B B DB o;B ct,Eн?A :ҕ@:͜@:rٱ:}x7 BAHRS rotation from veh to nav: [[0.161818,0.983269,0.083644],[-0.851950,0.096425,0.514668],[0.497992,-0.154543,0.853300]]:H@u? v?i? -C`R?(x?@?ÿ;N?i:ҕ@I:u`;:oCYJO@yJFIn>)n>E% E%rE%E!"E%:*E%?:VE%ZM6ZE!BE%7;a-2E%8;a-JE%Y;a5:E%Y;a5bDeVDe:yuɎ>%uL=ٔ0Q->9"?I"?=~FyBEһE>Q 55wv?Q 95%)տYQyU}Q IU?@2AI ٍt,%_н?A2;ݕ@2 ؜@2eo ٱ2@.B :AHRS rotation from veh to nav: [[0.161055,0.982818,0.090165],[-0.842053,0.089184,0.531971],[0.514790,-0.161600,0.841948]]2H t?@?s? ?`Զ?`? 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Њ`U?`%ZP=ٔZQ-Z>9\I\=^~Fy^EeEm>qQ 5u5u$u?Q 9}5u)u@@Yyy}uֿQ I}?@uAIuD;iu;u5y7BɮYB%EjjjjjԹZZZZp@ɢ) C*i)iHR=IB%#>B%яCB%^GB%*@B%=B!B%DB%n;B%WE9A?A?I1IQOe=E} E}sE}Ey"E}:*E}Z:VE}156ZEyBE}Y;a2E}Z;aJE}/];a:E}0];aA u,Խ?A2ٖ@2ԝ@2 ٱ2} :AHRS rotation from veh to nav: [[0.185468,0.982424,0.021082],[-0.830153,0.145170,0.538305],[0.525783,-0.117340,0.842486]]2Hm?p?u??9?7?` ?i2ٖ@I2*_;2sCYFF@yFGbDNVDN:yVp>%VK=ٔVo_;Q-Z>9XIX=Z~FyZE^{E^>`Q 5f5bu?Q 9f5b)b@YdyfտQ Ij?@boAIb:ib:bl5ylɮnBljxjxjxjxjxZZZZ p@ɢ) )i)   i Q= IMy9IIO>AqEm { Em rEm Ei "Em =:*Em ?:VEm 76ZEi au @au @au @au @ԙ : u,Z5Խ?A2v@2Eݝ@2@ ٱ2 :AHRS rotation from veh to nav: [[0.186844,0.981936,0.029843],[-0.832137,0.142047,0.536069],[0.522147,-0.124995,0.843646]]2H}?l?(?`ޠ.?z'?l?`&?i2v@I2Ɗ_;0YF;@yF˖GbDNVDNyVi>%VJ=ٔV,9XIX=Z~Fy^E^w,;E^>`Q 5f5bu?Q 9f5b?)b@YdyjԿQ Ij@@b AIb:ib:b5ylɮnBljxjxjqjqjq Z Z Z Z `p@ɢ!)! %X)i!)!))i-eQ=1I1i &9AI!I1OE0>ԙAA@AB>BΏCBlGBAB=BBDB;BEBҏCBяCBǕCBǶ=BǶ=C5 u,YOԽ?AE EoEE"E:*E:VE >6ZEBE;a-2E;a-JEN;a-:EN;a-}@}ݝ@}B ٱ} "! 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?`t?@5@ ?i:]@I:@8_;:zCYN1AyNGbDVVDVNy%>%%D=ٔ%h9-"?I-"?=-~Fy-TE-"<E5>9Q 5E5=8gu?Q 9E5=o)=AYAyEgϿQ IE@@=xAI=:i=N:=5yIɮUwBQjajijijijiZZZZ]@ɢ) i)顡inR=Ij9A@ @@@A>A>Ex EEE"Eˀ:*E*:VE6ZEBE;a2E;aJEn;a:En;aA.AIIOi>qԙ hu,D#׽?A2Fo@2j@2Bٱ2 :AHRS rotation from veh to nav: [[0.289383,0.957147,-0.011324],[-0.839887,0.259570,0.476668],[0.459181,-0.128429,0.879010]]2H???1 [˜??8c?Zp ?i2Fo@I2 _;2}CYF3AyFNG HHbDN VDN2yV|>%VR=ٔZ99Z ?I^ ?=^~Fy^XE^۱;Eb>`Q 5f5bfu?Q 9f5b~w)bAYhyjϿQ Ij@@bAIb:ib|:bQ5yn6BɮrowBrREjxjxjxj|yjZZZZ]]@ɢ)4= i)项i S=I99@ @@ 0@ԱA؟AIIOn>E | E nE E "E :*E :VE 6ZE a @a @a @a @ Ēu,=׽?A6_v@6.q@6ٱ6@x BAHRS rotation from veh to nav: [[0.291096,0.956632,-0.010854],[-0.842489,0.261705,0.470874],[0.453293,-0.127925,0.882134]]6HO?`?:@`ȿ?"??`_q:?i6_v@I6iF_;6yCYJ5AyJGbDVVDVy^ܓ>%^J=ٔb9b"?Ib"?=b~Fyb\Ef ;Ef>hQ 5n5jdu?Q 9n5jp)j*AYpyrοQ Ir@@j4AIj;ij<;j܉5ytɮvvBtjQjQjQjQjYZqZqZqZux]@ɢ) i)顑izS=I uȄ9M9@I @I@M0@IAABn>BCBGB9AB=BBڻDB;BEA.AIIOb>1Y zu,V׽?AE6} E6jE6E4"E6݉:*E69VE6&6ZE4BE6g;a:2E6h;a:JE6l<;a::E6m<;a>>y@>s@>ٱ>H FAHRS rotation from veh to nav: [[0.292305,0.956248,-0.012158],[-0.845085,0.264234,0.464771],[0.447649,-0.125580,0.885347]]>H?@?T房` 4?@Ͼ?G? T?i>y@I>,_;>zCY}&8Ay}xG1yʡE?S㥻1Zd?O?/ݽ"= 9{Gz?Sӿ:v?Y׃?yT=B'yB HB)LBYяBbDVDky>%+=ٔwY9 ?I ?=~FyaE5:E>Q 5-5feu?Q 955 )Q AY5?Q E5E:y5sǿQ I5@@AI;i;5yAɮEbvBAjqjyjyjyjyZ}k>Z}k>Z}'ݱ@Z}@ɢ) i)顙iT=Ig9ԉ9@ @@/@A%eAzA%fAԱA ؟AI I O > u,,p׽?A2z@2ru@2ٱ2 :AHRS rotation from veh to nav: [[0.293249,0.955895,-0.016444],[-0.847293,0.267823,0.458656],[0.442830,-0.120568,0.888462]]2H? ?֐@$?@Z?UW?`ݾGn?i2z@I2T_;0YBN:AyFGbDNVDN0yV>%Vx=ٔV؅B [>B CB GB >AB =B B ػDB ;B LEI Ԍu,)׽?A2'{@2u@2ٱ2. :AHRS rotation from veh to nav: [[0.293799,0.955643,-0.020711],[-0.848709,0.270769,0.454288],[0.439745,-0.115892,0.890614]]2H? ?-5 (GT?? $??i2'{@I24_;2yCYB;AyFGbDNVDNkyV~>%VJ=ٔVi 9Z ?IZ ?=Z~FyZiE^T#9E^>`Q 5f5b/fu?Q 9f5b)bAYdyfIǿQ Ij@@b3AIb$:ib:bn5ylɮnvuBljxjxjxjxj|ZZZZ@ɢ))) -i))))1i5T@V=1I>)>Iw9\|=E9@A @A@E0@AIEz EiEE"El:*E9VE6ZEBE;a2E;aJE8;a:E8;aAIIO>i u,i׽?A$6v@6q@6ٱ6 BAHRS rotation from veh to nav: [[0.293432,0.955664,-0.024572],[-0.849117,0.272354,0.452574],[0.439201,-0.111935,0.891388]]6H?̔?l) + An???ȧ A?i6v@I6B#_;6{CYJS>AyJGbDVVDV3yZa>%^I=ٔ^:Q-^>9`I`=b~FybmEfEf>hQ 5j5jfu?Q 9n5j)jAYlyn^ǿQ In@@j:AIj;ij;j5ytɮvtBtjjjjj Z!Z!Z!Z%&@ɢ1)9 ki)项i*W=I YY5s9yԡ5W^==i>i=>9@ @@/@E  E E E "E ~:*E VE 6ZE a @a @a @a @ A= ؟AIA IY Oe >u,j׽?A2o@2]j@2ٱ2 :AHRS rotation from veh to nav: [[0.292325,0.955893,-0.028551],[-0.848333,0.272982,0.453665],[0.441449,-0.108397,0.890715]]2H s??b< % x?@?@@?꿻 ?i2o@I2>_;0YFV@AyFGHHLbDRVDR0yZ>%ZK=ٔZ\˻Q-^>9 "?I "?= ~Fy qE  E>Q 5%5fu?Q 9%5)AY!y%ǿQ I%@@PAI=:i:5y5;Bɮ5atB5eEj!j!j!j!j)ZZZZ'%@ɢ) i)i 'X= I l9  BQ>BCBGBCABBBB9;BЙEi @i  @i @m 0@i ! A I I O >u,B׽?AE&x E&qE&E$"E&ˀ:*E&$ :VE&6ZE$BE&;a*2E&;a*JE&U;a.:E&U;a.BWa@B&\@BٱB JAHRS rotation from veh to nav: [[0.290066,0.956481,-0.031707],[-0.846545,0.271897,0.457639],[0.446344,-0.105904,0.888572]]BH r?`~?@;  f?I?@?@/o?iBWa@IB!_;BzCYbBAyb7G| AAy]S?/$?-?]/?]=]5^>Y Y9]X9v?y&1̿K7?Y]S?y]`e]I>]nB]rB ]lB)]BKBYY]pBbDuVDu1yq>%0=ٔ5AQ->9I=~FyvEzE>Q 55|gu?Q 95)AYq?Q E`:y0ƿQ I@@BI:iE:5yɮsBj j j j jB*** querying acoustic contact ***i iZ}->Z}->Z}](@Z}&r@ɢ) _i)项iY=I)g9]9@Y @Y@]0@aYAiIyIO>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԁ u,׽?A2O@2TJ@2}ٱ25 :AHRS rotation from veh to nav: [[0.287117,0.957366,-0.031835],[-0.843920,0.268538,0.464421],[0.453170,-0.106477,0.885042]]2H `?ྡྷ?Ld@/? ??`BDR?i2O@I2I_;0YR[EAyRGbDZVDZyb,?%bl=ٔbQ-f?9dId=f~FyfyEjͻEj?lQ 5r5ngu?Q 9r5n9)n0 AYpyrƿQ Iv@@nBIn;in;n5yxɮzsBxj j j j j Z)Z)Z)Z-q@Yɢ) i)!!i%gY=!I)I5 ?)5!?EUy EUhEUEQ"EU:*EU]9VEU6ZEQa]@a]@ae@ae@na95*DAT read: user:131> =BDAT read: Tx time:04:38:54.9821 E$Ping request sent.E B :>B CB vGB 8IAB =B DB ֻDB 3;B 6EBE˺CBE˺CBABE=BE=CE5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249853v,< ؽ?ARK;@R6@RHٱR' ^AHRS rotation from veh to nav: [[0.283754,0.958385,-0.031337],[-0.840838,0.264395,0.472321],[0.460950,-0.107673,0.880870]]RH)??n $?:?5? {`0?iRK;@IRE,_;R}CYv GAyvGIz=)zp;z=zp=bD%VD%:2y5>%5C=ٔ5hQ-5>9I=~Fy}EE>Q 55hu?Q 95)f%AYy^ǿԹQ I@@yBIf;i;V5yɮrBjjjj!j!ZYZYZYZ]@q@ɢq)q u<iq)yyyi}?i2.@I2#_;2{CYFLIAyFGbDVD:y5>%5J=ٔ}䡼Q->9I=~FyE7wE>Q 55>hu?Q 95)Q*AYyǿQ I@@`BI:i:ܩ5yɮ#rBjI>)jjjjZZZZp@ɢ) i)iZ=!I!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754250"X99@ @@!4@AAIIO%n>iEu w Eu _Eu Eq "Eu }:*Eu r9VEu 5ZEq a} @a} @a} @a} @M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005753ԙ /v,h?ؽ?AY3KAyGbDVD0y%K>%-K=ٔ-Q-->91I1=5~Fy5E5E5>QQ 5]5Umhu?Q 9e5Ua)U/AYayaQ Ie@@UBBIU;iU:UN5yiɮuqBqjjjjjZZZZɢ) 3i)ii+[=I fAq`Q99@ @@/@A>A0?B5$>B5CB5GB5NAB5=B1B5ԻDB5;B5^Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257769ԩAYIIO> v,Yؽ?AEj EmEE"EN:*E:VE|5ZEBEk;a2Ek;aJEXG;a:EXG;aB[@BU@BHٱBG JAHRS rotation from veh to nav: [[0.284352,0.958418,-0.024073],[-0.831932,0.259148,0.490645],[0.476481,-0.119489,0.871027]]BH2?[?z.?f?~?Ԗ`t?iB[@IB%_;B|CYRoMAyRG TTchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509890yUgfffff?y&1|?v/U3>U`;UxiQ Q9UJ +?B`"۹!rh?YU>yUνUlg>U?BUwB UĿB)U-PBQYUBbDVDy0>% ==ٔ AQ- >9I=~FyEYL<E>!Q 5%5%hu?Q 9-5%)%1AY-_>Q E-:y-,ĿQ I-@@%BI%j:i%:%5y=>Bɮ=!qB=oEjQjQjQjQjYZuΠ>ZuΠ>Zuԁ@Zu{ @ɢ) i)顉i[=IL99@ @@@AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761860) u@v,Acsؽ?A: @:ڍ@:ٱ:=m FAHRS rotation from veh to nav: [[0.289858,0.956810,-0.022287],[-0.829490,0.262767,0.492849],[0.477420,-0.124369,0.869829]]:H?0?Җ--?`׊? ?@ֿ@?i: @I:K_;:yCYNOAyNGbDZVDZNybx>%bb=ٔbSAQ-b>9dId=f~FyfEf<Ej>hQ 5r5j iu?Q 9r5je)j"4AYpyr¿Q Ir@@jBIjY;ij;j85yxɮzpBxj j j j j Z)Z)Z)Z-m @ɢY)Y ] iY)aaaie$[=aIi @A=F9D5=D54=EEw EEaEEEA"EE}:*EE9VEE5ZEAQa@a@a@a@9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014200AI!I9OEQ>ԉԱ B- >B- CB- FHB- SAB- =B) B- һDB- 3;B- {E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265807(#v,@ؽ?A2Қ@2͡@2Qٱ2p :AHRS rotation from veh to nav: [[0.296385,0.954831,-0.021314],[-0.827417,0.267853,0.493595],[0.477009,-0.128658,0.869431]]2H?@?Yӕ3z$??O?@w `?i2Қ@I2+_;2{C@YQAyHbDVDkyu>%-=ٔy:Q->9I=~FyEن<E>Q 55iu?Q 95a)#7AYyQ I@@zBI:i:[5y ɮ pB j!j!j!j!j)ZAZAZAZE߆ @ɢY)Y ]iY)YaaieC\=aIi)mY?99@ @@0@A zA fAEMr EM[EMEI"EMk:*EM9VEM~5ZEIBEM;aU2EM;a]JEM;a]:EM;a]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517932aAuAIyIO>ԁ V)v,+ؽ?A ɰ |)~-lA~||lAihII i s@  )  lA\I7)i)I%kA%̽! !!%-vA-i))Y)QY]SAy]8HbDmVDmy}e>%}c=ٔ}Q->9%?I%?=~FyEE>Q 55,ju?Q 95)k9AYyQ I@@BI:it:5yɮoBjjjjjZZZZɢ) i)ig\= I uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770211:9@ @@@ԙA؟AIIOi>ԩbE5jE5rE`3EM y EM _EM EI "EM :*EM r9VEM 5ZEI aU @aU @a] @a] @% BDAT read: Rx Time:04:38:57.5910 - TRx dataTimestamp_ set to:1761539938.944136- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022894 :0v,nؽ?A2)a@2[@2Cٱ2h :AHRS rotation from veh to nav: [[0.311385,0.950002,-0.023117],[-0.823921,0.282020,0.491548],[0.473491,-0.134014,0.870544]]2H@?kf? ]` ?@u?M?_'~?i2)a@I2^6_;2|CYpUAy?HbD-VD-y>%J=ٔ""9"?I"?=~FyE0=E>Q 55ju?Q 954);AYyQ I@@7BI:iF:5yɮ!oBԹjjjjI>)>jZZZZ99@ɢ )  i)i\=I ek>aGU269hA-3׿9-hAY5AB>BCBHBYAB=BBλDB;BE9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273917AYIyIO>9 g6v,'ؽ?AE*j E*YE*E("E*N:*E**9VE*Dz5ZE(BE*k;a:2E*k;a>JE*:aB:E*:aFEDAT read: 04:38:57.5910 LVL= 19808, 25313, 25234, 23363, AGC= 65, IDX= 141, 0.19,-2.828, 3.135, 1.860, 2.443, PHS= 1.114, 0.736,-0.627, RAW= 41.9, -15.2, CAL= 44.9, -16.2, ROT= 105.1, 16.2 MYgot valid direction response: 04:38:57.5910 LVL= 19808, 25313, 25234, 23363, AGC= 65, IDX= 141, 0.19,-2.828, 3.135, 1.860, 2.443, PHS= 1.114, 0.736,-0.627, RAW= 41.9, -15.2, CAL= 44.9, -16.2, ROT= 105.1, 16.2 uPDAT read: Bearing 299.7, 46.7 (Local) }~Local bearing/azimuth received: Bearing 299.7, 46.7 (Local) DAT read: Range 11 to 50 : 153.5 m (Round-trip 204.7 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.250161,0.927137,-0.278991]Fpublishing direction and range infoypr2DMпy?ѿYrCpr`Mrbrb rC[)rAIr?irjppr Z|?^m5%&п rt)rC>Ir?irÐ>ppY-WAy-Hy]q= ףp?Dl?/$]+?]O=]Y Y9]V-?SÿS㥻Y]>y]]/ݽ]\B]uB ]B)]HBYY]QBbDVDβy>%=ٔQ->9I=~FyEE>Q 5 5iu?Q 95)Q E;ydѿQ I@@ BIp;i:59yyɮnBjjjjjipirؽ?AJirCRirCjir5x>brs);Cfxra@.DrERr2DMпy?ѿZir?birÐ>jrst2@_@`HX1gI@loRZr ?&v &?J!߿2ir9KB:irB"ir_?*irNBirtZmH>ZmH>Zmtq@Zmu'@ɢ) i)ï]=I -9y 9@  @ @ /@ A >A >ԙ A I I O > B >B CB HB ^AB =B DB ʻDB );B E9 *wCv, ٽ?A2m@2=@2Mٱ2*b :AHRS rotation from veh to nav: [[0.330554,0.943217,-0.032807],[-0.819635,0.304131,0.485493],[0.467902,-0.133592,0.873625]]2H'?.?̠s:v?@P??@?i2m@I2$_;2~CYBQ[AyFHbDNVDN:yV5X>%VR=ٔVn9XIX=Z~FyZE^g=E^>`Q 5f5bhu?Q 9f5b)b=AYdyfuοQ IjA@bBIb6:ib :ba5ylɮnmBljxjxjxjxjxZZZZ\(@ɢ!)) -+i)))))i-:<^=1I1 H&9fsetting unavailable, lastComms_.elapsed()=60.911743  9 I-9@) @)@-1@)EEi EENEEeEA"EE,K:*EE҆9VEEq5ZEABEEme;aM2EEpe;aUJEE:aU:EE:aUAU.AYIaIqOZ>ԉ *Iv,x(ٽ?A,: <@:6@:bٱ: BAHRS rotation from veh to nav: [[0.334526,0.941646,-0.037342],[-0.818340,0.309915,0.484016],[0.467345,-0.131358,0.874262]]:Hh?!?|/?? ?@T?i: <@I:_;8YJI]AyNH Rp;RbDVVDV0y^Ś>%^I=ٔ^:Q-b>9b ?Ib ?=b~FybEf=<Ef>hQ 5n5jhu?Q 9n5j)j>AYlyrͿQ IrA@jBIj|:ijt:j5ytɮv*mBtjjjjj 15  j nAggregate::initialize lineCaptureHoming:MicromodemCommsq5j~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn515:`@ kzInitialize ReadDataComponent to sense platform_communicationsZ1Z1Z1Z5@)@ɢA)I MiI)IIYi]Z^=aIam9ԁ9@ @@5@AU؟AIYIqԱEM _ EM LEM YEI "EM &:*EM |9VEM J5ZEI aU @aU @aU @aU @ O >YPv,Cٽ?Aɰ;,6OW@6R@6ٱ6 >AHRS rotation from veh to nav: [[0.337198,0.940507,-0.041753],[-0.817103,0.314406,0.483209],[0.467589,-0.128821,0.874509]]6H??`%<?`?? 1}?i6OW@I6._;6|CYFe_AyJ^ HbDRVDRyZǢ>%ZE=ٔ^p.Q-^>9^"?Ib"?=b~FybEbh<Eb>dQ 5j5fgu?Q 9j5fW)f)?AYlyn;ͿQ InA@fn BIff;if;f5yrBBɮrlBrxEj j j j j15 jrAggregate::uninitialize lineCaptureHoming:MicromodemCommsq5jAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn5Z1Z1Z1Z5_)@ɢi)i m&ii)qqyi}=_=yI9ԁAAB T>B CB  HB bAB =B B ĻDB X;B EBìCBëCBÛCB=BCë6-9@) @)@-4@1AԹIIOf> nManaging dock network, ignoring radio surface power off E a E GE JE "E %.:*E R9VE 5ZE BE I3;a 2E K3;a JE t:a :E t:a Vv,\ٽ?AR@l@Rg@R~ٱRU ZAHRS rotation from veh to nav: [[0.339135,0.939613,-0.045985],[-0.815876,0.318106,0.482861],[0.468330,-0.126237,0.874489]]RH`e?@O?O``[?0?`?(@?iR@l@IR_;P\YfaAyf H 9j j I}>)}>y|?5^?~jt rh?M?C< 9Cl?x&1ȿsh|?ſYd?yA)BQoB B)NBYzBbDVDN2y>%;=ٔQ->9I=~FyE ;E>Q 55hu?Q 95)L@AY4(?Q E:yQ IA@ BIB;i;_5yɮ#lBjyjyjjj15 jnAggregate::initialize lineCaptureHoming:MicromodemCommsq5j~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn5Z>Z>Zr@Z0SA@ɢ) i)i_=If9@ @@@A.AII!A y O >]v,yٽ?A6Ӑ@6@6ytٱ6v >AHRS rotation from veh to nav: [[0.342453,0.938036,-0.053056],[-0.813589,0.324316,0.482590],[0.469893,-0.122099,0.874238]]6H ?c?* `? ?@?@A ?i6Ӑ@I6#_;6}CYJcAyJ HRAAPbDVVDV1y^o>%^B=ٔ^Q-^>9b ?Ib ?=b~FybEb-<Ef>E5X E5NE5KE1"E5~ :*E5҆9VE55ZE1a=@a=@a=@a=@AQ 5M5Ecju?Q 9U5E)EpAAYQyU"Q IUA@E BIE ;iE ;E/5yYɮ]kBajqjqjyjyjyZZZZA@ɢ) i)顱i?`=I 9]9@Y @Y@]4@YAe>Ae?A؟AIIOi>B>BCBHBgAB=B DBDB;BQE dv,ٽ?A6ҥ@6@6ٱ6U BAHRS rotation from veh to nav: [[0.344500,0.937154,-0.055330],[-0.812622,0.327195,0.482275],[0.470069,-0.121181,0.874271]]6HJ ? +?1T? ??@@?i6ҥ@I6zF_;6CYJeAyJ' HbDVVDV0y^>%^K=ٔbQ-b>9b"?Ib"?=b~FyfEf;Ef>hQ 5n5jku?Q 9n5jd)jsBAYpyrQ IrA@j BIjr;ij;j5ytɮv!kBtjjjjj Z!Z!Z!Z%A@ɢ9) i)i`=I" 9QEUW EUFEUHEQ"EU :*EU;J9VEU-5ZEQBEU4:ae2EU9:aeJEUe:ae:EUe:ae9@ @@3@ԁAIIOj>ԩ ;jv,ٽ?A @ZW@Z'@Z!ٱZ bAHRS rotation from veh to nav: [[0.347084,0.936104,-0.056939],[-0.811946,0.330324,0.481279],[0.469335,-0.120813,0.874716]]ZH@6? ? ' w$?`E? ?@@?iZW@IZ%_;Z}CYngAynrHbDvVDvy~>%~F=ٔ4;Q->9I= ~Fy E ;E >Q 55E]Y E]^E]DEY"E]:*E];9VE]J5ZEYae@ae@am@am@ Wqv,eٽ?ANל@Nң@NX)ٱN" VAHRS rotation from veh to nav: [[0.349947,0.935020,-0.057232],[-0.811683,0.333153,0.479770],[0.467662,-0.121440,0.875526]]NHe?`?M@O_R??+?  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M?@=o?i2ž@I2o^;2CY^Ay^H ``bDjVDjfEp ErZEr3Ep"Ep*Era9VEr4ZEpav@av@av@av@yz]>%~K=ٔ~9Q->9I=FyE  /;E >Q 55v?Q 95M()AYyjQ I%C@BI];i;̓5y)ɮ-0B)jAjAjAjAjIZiZiZiZm:@ɢ) mi)顉i.=II]gA)]gAԑ9@ @@/@AzAgAAYIaIqOZ>Աi I ) sy,ף?A|YAyWHy5 rh?ʡEÿ{Gz?5L?55#<1 195w/?~jtȿMbY5F?y5D55XB54B 5{B)5B1Y5PB Ep%])=ٔ]Q-]>9aIa=eFyeEmEm>qQ 5}5u8v?Q 9}5u1)uAY}L?Q E}:y}Q IC@uBIu:B>BCB%HBAB3 =BBDB;BhEBCBCBÕCEf ETE4E"EI@:*E9VE4ZEBER;a2ER;aJE:a:E:aB2 =B2 =CÉ(6!iu<:u5yEǓBɮM/BMvEjyjjjjZQ=ZQ=Z@Z~X@ɢ) di)i=I@ @@@QAIIO >y zy,v?A `)`b`弩```f=lAidIfSFdIdifr@ hh)hh j1lAj`弉j3;F))5=lAI5Լ)1i1)9I9=/ݼ9 9AEvAAiAIYIYYAyHbDVDܲy<>%h=ٔQ->9I=FyEE>Q 55v?Q 95a7)AYyQ IC@ BIB;iU=;5y ɮ$/Bj!j)j)j)j)ZIZIZIZIɢY)Y e(ia)aaaie=iIi9@ @@31@ԉAIEg EZE5E"EC:*Ea9VE4ZEa@a @a @a @IOm>Ա y, K?Aɰp;2_̞@21ǥ@2Cٱ2S# >AHRS rotation from veh to nav: [[0.392897,0.916318,-0.077414],[-0.776976,0.375818,0.505043],[0.491874,-0.138280,0.859615]]2H8%?zR?mѳg ?O)?z?,@?i2_̞@I2ٔ^;2CY~AyHbDVDNy}>%O=ٔQ->9I=FyEqE;E>Q 55mv?Q 95q>)AYy鰿Q IC@BI:i:5yɮ.BԹjjjjjZZZZ2X@ɢ) Ai)   i h= Il>i>@ @@4@A>A>AI I!O-N>B >B B HB AB 2 =B B B ;B gEE i E TE ;E "E ,K:*E 9VE 4ZE BE Ye;a 2E [e;a JE a :E :a 9 7y,F?AF̞@FSǥ@FtٱFel RAHRS rotation from veh to nav: [[0.392719,0.915983,-0.082140],[-0.776594,0.378143,0.503895],[0.492620,-0.134099,0.859850]]FHM"?O?%@3?`? ?@+* ?iF̞@IF^;FCYMAyMnH]AA]AAbDeVDekyu>%uJ=ٔu Q-u>9yIy=}Fy}E}C(8E>Q 55v?Q 95E)1AYy갿Q IC@(BI;i;5y˓Bɮ.BwE jjjjjZ9Z9Z9Z=%X@ɢI)I MiQ)QQQiU6̘=YIY9@ @@0@1Am.AIyIO\>aԉ HZy,P8?A:Ǟ@:p¥@:hٱ: BAHRS rotation from veh to nav: [[0.392032,0.915701,-0.088332],[-0.776385,0.380830,0.502190],[0.493496,-0.128295,0.860234]]:H ?`lM?윶$_??`n?k ?i:Ǟ@I:_;:CYJAyJHbDVVDV0y^>%^X=Ebh EbXEb2E`"EbG:*Eb9VEb4ZE`aj@aj@aj@aj@ٔj,Q-j>9n ?In ?=nFynEr̺Er>tQ 5z5vv?Q 9z5vL)vfAYxyzQ I~C@vBIvd:iv$:vg5yɮ-Bjjjjj!ZAZAZAZEX@ɢY)Y ]iY)aaaieט=aIiy@ @@/@Ae؟AIiIyO9>ԡ 4By,Q?A22@2@2Sٱ2 :AHRS rotation from veh to nav: [[0.390960,0.915776,-0.092220],[-0.776481,0.381963,0.501180],[0.494193,-0.124334,0.860415]]2H? N?@@r? ?۠?`]Կ`?i22@I22_;2CYFAyFH HHHHyUZd;?MbȿT㥛 ?U^?U@U=Q Q9U ףp= ?$C˿kt?YUQX?yUZU 0=U'WBU0B U"B)U-BQYULBbDmVDmy}>%}>=ٔQ->9"?I"?=FyE1E>Q 55v?Q 95T) AY[_?Q Es:yֱQ IC@OBI ;i` ;5yBɮ6-BEjjjjjZ(=Z(=Zz@ZG@ɢ) i)i= I AyA}@AB>BBjHB;AB0 =BBBE;B$gE@ @@/@Eg ETE6E"EC:*E9VEc4ZEBEX;a2EX;aJE:a:EaAIIO-N>) ky,xk?A:@:@:uٱ: FAHRS rotation from veh to nav: [[0.389662,0.915979,-0.095636],[-0.776854,0.382687,0.500048],[0.494633,-0.120554,0.860700]]:H8?O?{@}?e??ܾۊ?i:@I:/x_;:CYZdAyZH f4%vT=ٔvPQ-v>9xIx=zFy~E~؁E> Q 55 v?Q 95 [) AYyQ IC@ ߇BI kyEr EWE5E"Ek:*E9VE4ZEa@a@a@a@ԩ -Ty,͒?A2@2X@2ٱ2] :AHRS rotation from veh to nav: [[0.388131,0.916672,-0.095220],[-0.777151,0.381079,0.500815],[0.495369,-0.120382,0.860301]]2H#?``U?T`k@c??@ ?`SѾ?i2@I2Vg_;2C@YFAyF5HbDRVDRyVN>%ZN=ٔZ Q-Z>9XI\=^Fy^EbEb>dQ 5j5fMv?Q 9j5fXc)fBYhyjRQ InC@frBIfF:if(:f5ypɮr+Bpj|j|j|j|jZZZZزG@ɢ1)1 5zi1)119i==9IA=GQig9YRA9@ @@0@ԩAaIiIyO9>Bu >Bu CBu HBu ABu 1 =Bq Bq Bu ī;Bu fED zD bEu4jEuM4rEu0E g E [E 2E "E C:*E 9VE 4ZE BE a 2E a JE ;a :E ;a j~y,in?Aɰ4<:_@:1@:xٱ: BAHRS rotation from veh to nav: [[0.387440,0.917468,-0.090242],[-0.777227,0.377716,0.503238],[0.495791,-0.124836,0.859423]]:H`?[?@@ ,?`??@F`d?i:_@I:m_;:CY^Ay^Hf=dbDjVDjkpyv>%vG=ٔvQ-z>9xIx=zFyzE~E~>Q 5 5v?Q 9 5k)BY y cQ IC@ BI:i:5yɮh+Bj1j1j1j1j1ZQZQZQZUCG@ɢi)i mMii)iiqiu$=qIy9@ @@0@ AYIiIyO1a ey,H?A2@2㗥@2ٱ2 :AHRS rotation from veh to nav: [[0.387213,0.918062,-0.085015],[-0.776844,0.374527,0.506204],[0.496567,-0.129965,0.858213]]2H?@`?õ@?2?@? |v?i2@I2,X_;0YFAyFHERq ERgER3EP"ER2h:*ER&9VER4ZEPaZ@aZ@aZ@aZ@bDNVDNβyZ>%G=ٔ%Q-%>9)I)=-Fy-E5ýE5>99Q 5E5=+v?Q 9E5=r)=BYIyM_Q IMC@=BI=:i=:=#5yUBɮU*B]EjijijijqjqZZZZ G@ɢ) i)i=I@ @@5@iAIIOI>ԑ 㐴y,&?A2@2ˠ@2"`ٱ2X :AHRS rotation from veh to nav: [[0.387756,0.918031,-0.082857],[-0.775819,0.373580,0.508471],[0.497746,-0.132881,0.857083]]2H?`?6?eE?`?`<9m?i2@I2Q_;2CYBAyBeHy Gz?J +7A`? p? Ƚ >  9 > ףp=?x&1ȿQ?Y Q?y A \> OB -B B)  B Y FBbD}VD}y(>%C=ٔNUQ->9I=FԙyEP*;E>Q 55v?Q 95y)BYbZ?Q Ex:yQ IC@/BI ;ie ;˪5yBɮk*BEjjjjjZe>Ze>Zx@ZG;@ɢ ) i)i =I!B<AB{>BCBHBAB. =BBBE;BfEEk EVE2E"EmR:*E9VE4ZEBEq;a2Eq;aJE6:a:E7:a9@ @@4@AI!I1OEQ> cy,`?AF@Fg@FٱF% RAHRS rotation from veh to nav: [[0.388601,0.917497,-0.084783],[-0.774290,0.375048,0.509719],[0.499463,-0.132431,0.856153]]FH?@#\?@R?`O?5?}`e?iF@IF$_;FCYb-AybH ddbDnVDnyv?>%vU=ٔzQ-z>9xIx=zFy~E~;E~>Q 5 5)v?Q 9 51)cBYyQ IC@BI :i:$5yɮ)B!j1j1j9j9j9EB*** querying acoustic contact ***iA iAZaZaZaZeD@ɢq)q ғi)i =I]>i> 9@  @ @ /@ AzAhA!AYIaIqOY>Em EZE<E"EY:*Ea9VE 4ZEa@a@a@a@=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.Qy `y,?A6oȞ@6Aå@6zٱ6Y BAHRS rotation from veh to nav: [[0.390044,0.916237,-0.091515],[-0.772258,0.379633,0.509409],[0.501481,-0.128019,0.855645]]6H}?`Q?mU@K?M?" ?`bpa?i6oȞ@I6_;4Y^AybHbDjVDjyr>%rK=ٔrʽQ-r>9tIt=vFyvEzf;Ez>xQ 55zv?Q 95z)zHBYyjQ IC@z4BIz;iz3;z5yɮ6)Bj)j)j)j)j)ZIZIZIZM X@ɢa)a eia)iiiim=qIqQ*DAT read: user:132> BDAT read: Tx time:04:39:55.2305 $Ping request sent.ԱB c>B CB HB AB - =B 0DB DB ;B eEBȽCBȽCBȔCB0 =B0 =C 6D zD E p E dE 5E "E d:*E 9VE 4ZE BE ;a 2E ;a JE &;a :E &;a U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250240 y, ?A./@.@.ٱ. :AHRS rotation from veh to nav: [[0.392216,0.914527,-0.099028],[-0.769832,0.385261,0.508854],[0.503512,-0.123346,0.855138]].H?@C?@Y@w?H??`J]?i./@I._;,YvAyvHbD~VD~:2y >% H=ٔQ->9I=FyEN <E>!Q 5-5%[w?Q 9-5%)%1BY1y5-Q I5C@%BI%K:i%:%<5y9ɮ=(BAjQjQjQjYjYZyZyZyZ}Ms@ɢ)#W= `i)顑i=IԱ9@ @@/@AYIiIyO;>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502662 9 y,O:?Aɰ;EBs EB`EB1E@"EBso:*EB9VEB-4ZE@aJ@aJ@aJ@aJ@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754541YAyPHI=)p<bDVDy9>%==ٔQ->9I=FyEE> Q 55 Hw?Q 95 ) (BYyQ IC@ KBI ;i ; 5y%Bɮ%9(B%Ej9j9j9j9jAZYZYZYZYɢi)q u-iq)qqyi}L=yIa@i @i@m/@iAu>Au>9A.AIIOf>i߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006107q y,DmT?A Y~By~HyOn?T㥛 㥛 ??= 9/$?NB-B цB)aBYfFBbDVDky]>%M=ٔQ->9 ?I ?=FyEE>Q 555 w?Q 95 )BY"4?Q E:ymQ IC@BI :i:5yɮ'Bj j j jjZ-=Z-=Z-@Z-@ɢA)I MߎiI)IIIiU=QIYB$>BCBHBBB5 =BB DBҪ;BJeEiEq E]E2E"E2h:*E9VE4ZEBE;a2E;aJE ;a:E ;a@ @@0@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259916AI!I1OMS>ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510425I y,Jn?ALNxJ@NJE@NٱNx ZAHRS rotation from veh to nav: [[0.400104,0.908613,-0.119748],[-0.761877,0.402383,0.507574],[0.509373,-0.111850,0.853246]]NHM?`[?ǧ@Ka?` >?L?+M?iNxJ@INϔ_;LYb4BybHbDjVDjkyr>%vZ=ٔv7Q-v>9tIx=zFyzEz=Ez>|Q 55~ w?Q 9 5~)~BY y Q I C@~BI~:i~p:~ȿ5yɮ&Bj)j)j1j1j1ZQZQZQZUˡ@ɢa)a eii)iiiimm=qIq=Eu EkEE"Ev:*E:VEZEa@a@a@a@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763217@ @@/@AfAzAdAA ؟AI I ! O- >hy,"?A2n@2i@2P ٱ2 :AHRS rotation from veh to nav: [[0.403022,0.906960,-0.122462],[-0.759223,0.406050,0.508630],[0.511033,-0.112013,0.852232]]2H?? Y K ?`F? aZ?鬼 {E?i2n@I2[_;2CYFByFH HHbDNVDN0yv>%vJ=ٔvQ-v>9z"?Iz"?=zFyzEz4<E~>|Q 5 5'w?Q 9 5<)sBYyQ ID@~BI-:iF:Q5yBɮu&B%Ej1j1j1j9j9ZQZQZQZUк@ɢi)i mii)qqqiu̘=yIy}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013860=-9@) @)@-4@)1AIIOf>QB>BCBfHBkBB@ =B1DB DB;BdE5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266268ԉ E w E aE /E "E }:*E 9VE J4ZE BE ;a 2E ;a JE ;a :E ;a |y,?A2/@2@29 ٱ2 :AHRS rotation from veh to nav: [[0.406250,0.905570,-0.122080],[-0.756732,0.408305,0.510532],[0.512169,-0.115021,0.851148]]2H?n?@'7@!?`GV?c?` r %rK=ٔvVQ-v>9tIt=vFyzEz><Ez>|Q 55~^w?Q 95~m)~= BY y OQ I D@~BI~:i~:~5yɮ%BYjjjjjZZZZ*@ɢ) vi)iʳ=Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521954<=9@ @@O0@ԹA I I! O- > Dy,ػ?AV߷@V@V1 ٱV jAHRS rotation from veh to nav: [[0.409276,0.904015,-0.123494],[-0.754683,0.411477,0.511020],[0.512784,-0.115949,0.850652]]VH1?`?K \&U?EZ? h?خ8?vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770645iV߷@IV†_;VCY By נHbD-VD-N2yE>%EE=ٔEQ-E>9III=MFyMEM&<EU>QQ 5]5Uw?Q 9e5UƮ)U BYayeQ IeD@UQBIU ;iU_:Ux5yiɮub%BqE}t E}`E}4Ey"E}s:*E}9VE}4ZEya@a@a@a@Թj!j!j!j)j)ZaZaZaZeJb@ɢ) qi)顉i=I g>ƐC3G!A}u9yY}A9@ @@5@9BDAT read: Rx Time:04:39:57.8453 TRx dataTimestamp_ set to:1761539999.219179checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027468IA IQ Oe >Y -y,x?AY~aBy~HIG>)4=yn?SÿMb`??; 9n?1ZdY?y"۽JB,B B) BYDBbDVD 8yI>%B=ٔQ->9I=FyEE>Q 55w?Q 95+) BY?Q E:ymQ ID@BI:i:'5y,Bɮ$BEj jjjj1Z=h4=Z=h4=Z=?Z= >ɢI)I MB]CB]5HB]BBYBYBYB]/;B]ydE)QqqiuԀ=yIychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274828-9@) @)@-/@)qIIIYOuX>ԉԹ  DAT read: 04:39:57.8453 LVL= 27728, 29665, 32754, 32755, AGC= 67, IDX= 489,-0.04, 2.134, 1.267, 0.080, 1.883, PHS= 0.354,-0.571,-1.847, RAW= 54.7, 20.9, CAL= 50.3, 25.4, ROT= 99.7, -25.4  Ygot valid direction response: 04:39:57.8453 LVL= 27728, 29665, 32754, 32755, AGC= 67, IDX= 489,-0.04, 2.134, 1.267, 0.080, 1.883, PHS= 0.354,-0.571,-1.847, RAW= 54.7, 20.9, CAL= 50.3, 25.4, ROT= 99.7, -25.4  PDAT read: Bearing 255.2, 39.0 (Local)  ~Local bearing/azimuth received: Bearing 255.2, 39.0 (Local)  DAT read: Range 11 to 50 : 157.9 m (Round-trip 210.6 ms) speed -0.3 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.152202,0.890421,0.428935] Fpublishing direction and range infoy   ^{ÿ; xS~?hVs?Y C Pl s  ) CI }?>i - j쿩 ft? 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?@m@:?`,m? a? 1?i2}+@I2R_;0YFByFH HHLNAbDRVDRfyZ>%ZM=ٔ^ڎ:Q-^>9\I\=bFyb Eb;Eb>dQ 5j5f-w?Q 9j5f))f BYlynQ InD@fBIf3;if;fo5ypɮrQ#BtjyjyjyjyjZZZZ>ɢ) i)i9=IQ@ @@0@II!OM>yԡ -z,*=?A%~E=ٔl:Q->9I=FyE ;E >Q 552w?Q 95k) BY!y%UQ I%D@[BI;i; 5y-/Bɮ-"B-EjAjAjAjAjIZZZZ->ɢ) i)i"=!I!ԩ%9@! @!@%0@!A5>A5>IIO > zz,V?A6yB@6K=@6{ ٱ6_ >AHRS rotation from veh to nav: [[0.422288,0.899216,-0.114385],[-0.748186,0.417008,0.516064],[0.511753,-0.132346,0.848878]]6H`?`?ZH $`@??G`?@*?i6yB@I6BQ_;4YJByJHly%uV?I +ƿI +?%rH?%94%94%MF=ٔM}Q-M>9QIQ=UFyUE];E]>aQ 5m5em9w?Q 9m5eg)e BYm=:?Q Em:ymQ IuD@eBIeL:ie:e5yyɮ}F"ByjjjjjAAAAB>BCBHBBBBBDB;B$cEBCBCBCB? =B> =CO6Z]M>Z]M>Z]f*@Z]{?ɢ) ̓i)顩i =IEUp EU_EU1EQ"EUd:*EUr9VEU-4ZEQBEU;ae2EU;aeJEU\;ae:EU];ae 9@ @@4@AIIOn>1i iy I} Aݤz,p?A2$D@2>@2b ٱ2a]# :AHRS rotation from veh to nav: [[0.422398,0.899689,-0.110176],[-0.748026,0.414651,0.518191],[0.511896,-0.136468,0.848139]]2H?A?~4@?@?ra?`w#?i2$D@I2d9_;0Y^By^HIb=)b%rQ=ٔrD߹Q-r>9tIt=vFyvEv:Ez>xQ 55z?w?Q 95z)z~ BYyQ ID@zoBIz;izL ;z5yGBɮ!BEj)j)j)j)j)9ZQZQZQZU?N?ɢa)i m̂ii)iiiimG=qIq-9@1 @1@50@1iAIIiIO:>Eev Ee\Ee2Ea"EeVz:*Ee9VEe4ZEaam@am@am@am@ԑ "z,?A2?@2:@2+ ٱ2R' :AHRS rotation from veh to nav: [[0.421898,0.900334,-0.106777],[-0.748086,0.412229,0.520033],[0.512220,-0.139522,0.847445]]2H@`??UQ a? 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"E% :*E% z:VE% [4ZE! 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E}  E} E} *Ey "E} :*E} g:VE} (N4ZEy BE} !5%>=ٔJ9Y=FyEE>Q 55>|?Q 954) YBYL?Q E:yrQ IF@qBIq ;i3:5yɮ$Ajjjjjɢ|)m: ,iiC9)顙i>=Ic 9))@) @)@-/@1A5؟AIAIQQOew>ԁ \U},|V?AFƦ@F@F"ٱFu NAHRS rotation from veh to nav: [[0.649279,0.760550,0.000595],[-0.744040,0.635023,0.207727],[0.157608,-0.135315,0.978187]]FH ?lV?ЁC?-R?@Ȗ?,? R@NM?iFƦ@IF^;DYVLGByVHbDzVDzβy >% R=ٔ 19 "?Y"?=Fy!EڊE>Q 5%5W|?Q 9-5)?YBY)y-rQ I-F@BIp:i:5y5ٗBɮ=A=EjQjQjQYjYjYɢK) 3i 9)顉i5=ID9zD9EE EEEE.EA"EEa:*EEc:VEEـ4ZEAa@a@a@a@ 9ԁ9@ @@@AI!I1OEs>ԱA@AA@AB>BBCHBjGBB =BBƺDB ;BFE [},7Sp?AYGBydHiMb@Mb@Mb@ 9 rh?#~j rh?YCK?y㥽C<AA A)vAYAԹbDVD:2y(>%?=ٔQ->9Y=Fy%EE>Q 55}?Q 95)YBY]L?Q E:ysQ IF@BI:in:ħ5yɮ [A jj!j!j!j!ɢei)e mim(9)qqyi}=IEM EIEM*EI"EM:*EIVEM(N4ZEIBEM'9 wmb},.?A2ɦ@2í@2+6ٱ2b :AHRS rotation from veh to nav: [[0.650366,0.759599,0.005825],[-0.744852,0.636198,0.201118],[0.149063,-0.135139,0.979550]]2H@? N?w?[?@9??8LxX?i2ɦ@I2s^;0Y^GBybHbDjVDjkyv :>%vZ=ٔv9z ?Yz ?=zFyz)E~uI:E~>!mGQ 5m5(hAA9(hAYA%M}?Q 95%Z)%YBYysQ I%F@%SBI% 9Ax/h},?A>Ǧ@>­@>ٱ>| FAHRS rotation from veh to nav: [[0.650647,0.759345,0.007304],[-0.745394,0.636797,0.197174],[0.145072,-0.133735,0.980341]]>H? L?}?D@`?=?@?;^?i>Ǧ@I>^;%bL=ٔb7%9dYd=fFyf-EjտEj>lQ 5r5n{}?Q 9r5n)nYBYpyvsQ IvF@nBIn$:in_:n5yzBɮzAzEj j P j jNCompleted lineCaptureHoming:InitialDiveOjAggregate::uninitialize lineCaptureHoming:InitialDive1P Uninitialize.qPUninitialize.Q dAggregate::initialize lineCaptureHoming:RepeatHackQɢM)I MiM 9)IQQiUd=YIYBu>BuSCBuHBuGBBu =BqBuǺDBuώ;BuEEԩiIA 9urg: @  @ @ /@  A] ؟AIa Iq O >Em  Em Em +Ei "Em V:*Em :VEm [4ZEi BEm 9=ٔR)9"?Y"?=Fy1E:E>Q 55/}?Q 95 )5ZBYH?Q E:yVoQ IF@BIe ;i :N5yɮAQ hAggregate::uninitialize lineCaptureHoming:RepeatHackQ1R VAggregate::initialize lineCaptureHoming:LapqRip:)顅iIIi@q @q@u/@qi A I I O >u},/?A4<ɰ4< 6Ц@6˭@6x ٱ6Zn >AHRS rotation from veh to nav: [[0.652311,0.757833,0.013390],[-0.745634,0.638439,0.190854],[0.136087,-0.134480,0.981527]]6H`?`+@?k?<@n? m?Mk?6h?i6Ц@I6M^;6CYFHByFHbDRVDRkyZ3>%ZZ=ٔ^VJ9\Y`=bFyb5Eb+:Eb>dQ 5j5f=}?Q 9j5f%)fmZBYlyn5oQ InF@f0BIf;ifj;f5yrBɮrAvE k]XqR]R] ]ZAggregate::initialize lineCaptureHoming:Lap:Bi)顩iIbE [4jEb4rE7/E EE,E"ET;*E:VEg4ZEa-@a-@a-@a-@iԙ9@ @@g1@A%zA%A%A%B}<A}<B>BTCB|HBhHBB =BBȺDB;BEE A I I O >{},5?A2Mצ@2#ҭ@2f\ٱ2 :AHRS rotation from veh to nav: [[0.653353,0.756863,0.016950],[-0.745662,0.639492,0.187187],[0.130836,-0.134938,0.982178]]2HE?98?@[?@v v?? 9?@En?i2Mצ@I2z^;2CYBHByFHPiMb@Mb@Mb@ 9)\(?:v rh?YGA?yTC =A )rAY AbD-VD-1yE{=%EB=ٔEM9MYM=MFyIUD:EU>YQ 55]M}?Q 95])]ZBYA?Q E:yjQ IF@]BI]@;i]2;]C5yɮAB*** querying acoustic contact ***i iq6lfAggregate::initialize lineCaptureHoming:LineCapture17 nAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopesq7nJInitialize AltitudeEnvelopeComponent.7 oDInitialize DepthEnvelopeComponent.7oJInitialize OffshoreEnvelopeComponent.819q9rxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass99%s%Initialize.1:% t%Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq:%t%! ܻ},lw ?A2Ʀ@2@24[ٱ2k :AHRS rotation from veh to nav: [[0.652195,0.757896,0.015382],[-0.747345,0.639452,0.180491],[0.126957,-0.129211,0.983456]]2H ? @?a?@?`dv?S?$@?yx?i2Ʀ@I2^;2Ci`IbAb*DAT read: user:133> fBDAT read: Tx time:04:40:55.2805 f$Ping request sent.f%F=ٔ79Y=FyxE>Q 55]}?Q 95/)ZBYyjQ IG@pBI:i|:5y-BɮAE1M5 UAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqMU]Entering Terminal tracking update period 2.000000 s sec at 157.899994 m (mode 0.000000 count ).qMeMedididijdiZdm`DL@b Q@618ZZZZc@i)iI )9@ @@/@IIO%>QE5 E5E5*E1"E5;*E5:VE5(N4ZE1aE@aE@aE@aE@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250721ԁ },PQ%?A2@2ȼ@2Yٱ2 :AHRS rotation from veh to nav: [[0.652138,0.758015,0.011394],[-0.748201,0.641128,0.170737],[0.122116,-0.119869,0.985251]]2HO?A?U?B`??C?,?i2@I2 ^;2CYB/IByFqHHJA J4%VY=ٔZwT9XYX=^Fy\^ԺE^>`Q 5f5bk}?Q 9f5b)b[BYhyjjQ IjG@bBIb :ib:b(5ylɮrTApjjz@MzMzd|ddjdZdrL@Bd@18 q8 Z)Z)Z)Z-@Yi)iI I)B>BSCBHBHBB =BBǺDB;BEEBSCBSCBCB =B =C 6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.50654059@1 @1@=/@9ԉIIOM1>Ա EE  EE EE ,EA "EE ;*EE :VEE g4ZEA BEE L9Y=Fy¹E>Q 55v{}?Q 95f)J[BY7?Q E:ylQ IG@BI:)iP<5y]1Bɮ] A]Erj@M1NdddjdZd5L@JdQ@q88Z7?Z7?Z@Z@i)i!I!%9@! @!@%/@!I9AIQO]3>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009282qԙ },Y?A2;æ@2@2ٱ2ѽ :AHRS rotation from veh to nav: [[0.653153,0.757210,0.004867],[-0.749129,0.645218,0.149999],[0.110441,-0.101618,0.988674]]2H?;?:s??+3?E?8?i2;æ@I2}^;2CYZIByZHbDbVDbyj>%jW=ٔnz9lYl=rFyprFZ:Er>tQ 5z5v5}?Q 9z5v)vw[BY|y~lQ I~G@v%BIv;iv;vD5yɮAzj1N%rCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1M% %Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminald)d)d)jd)Zd-L@Rd185:5 u5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:5u5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock1;= v=Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq;=v=Initialize.v=dInitializing internal variables to default values.<= yEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceE |EInitialize.q>E|EInitialize.1=EAE MAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAMMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1CM MAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqCUUInitialize.CU UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlCUUInitialize.1DUqD]1B]ZyZyZyZ}Ό@i)顉iIE EEE"ET;*EVE=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259232qZEa}@a}@a}@a}@I@Q @Q@U0@QIaIqO}=ԙAAB>BRCBHBpIBB =BBBU;BgEE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513128 "},r?A2Ǧ@2­@2Խٱ2hM½ :AHRS rotation from veh to nav: [[0.654057,0.756437,0.003547],[-0.749317,0.647244,0.139995],[0.103602,-0.094222,0.990146]]2H ?4?Pm?h9?X?ࠅ?F?i2Ǧ@I2G^;2CYNIByRCHiMb@Mb@Mb@ 9Fx?Q롿I +?Y+?y\9<OA|A rA)ZAYAbDVD02y>%:=ٔ9 Y = Fy  :E >Q 55}?Q 9%5" )[BY%,?Q E%:y%gQ I%G@BI:i: 5y56Bɮ5$A1AU UAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceAUUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1B]1C] ]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqC]]Uninitialize.C] ]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlC]1D]qD]<] y]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<]yeAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1=e1>e |eUninitialize.q>e:eveInitialize.vedInitializing internal variables to default values.vmPDetached from dock at depth 50.463192 m.zembeijeiZemd)d1d1jd1Zd5` M@ZU,?ZU,?ZUd@ZUL/@ia)a)iiiiiIIeA)eAE  E E E "E ;*E :VE ZE BE D>)  },nj?A2cΦ@29ɭ@2ƽٱ2^| :AHRS rotation from veh to nav: [[0.655122,0.755514,0.003678],[-0.749325,0.649118,0.130990],[0.096578,-0.088571,0.991377]]2H`? +-? n?`w@?@K?`R?[?i2cΦ@I2^;0Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014517PYV JByV~HbD^VD^2y>%Z=ٔ v9 Y = Fy 2 ;E>Q 5%5}?Q 9%5@)[BY!y-fQ I-G@;BI|:i:a5y5YBɮ5RA5©EMB*** querying acoustic contact ***iQ iQRe]zeYbeYjeYZeYdadadajdaZde@CM@ZZZZ~4@iy)y)yyyiyI &Changing to mode: 3)y@y @y@}4@IIOԁD =D R=E EEE"E;*Ev:VEZEa@a@a@a%@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266685ԡ 3},?A6Ԧ@6ϭ@6(ٱ6x >AHRS rotation from veh to nav: [[0.656171,0.754593,0.005387],[-0.749308,0.650697,0.123004],[0.089313,-0.084749,0.992392]]@6HY?%?v?U?@5}?3ݶ??i6Ԧ@I6^;6CY^&JBybHbDjVDj{Uyr‹=%rM=ٔrؕ9tYt=vFytv;Ez>xQ 55zq}?Q 95z)z[BYyfQ IG@zBIz];iz;z5y ^Bɮ-ARe1ze1be1je1Ze1d9d9d9jd9ZdE?vM@ZaZaZaZeD:@iq)q)qqqiyyIB >BBWHBIBB =BBƺDB;BEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.52086895^7@1 @1@543@1IAIQOu>! E%  E% E% +E! "E% ;*E% :VE% [4ZE! BE% q_%?=ٔ9Y=Fy;E>Q 55}?Q 95&)\BYY?Q E:ybQ IG@KBI:i:5yɮARezebejeZedddjdZd)M@Z%Y?Z%Y?Z%@Z%@i1)9)999i9AIA9)e5@a @a@e/@aIIO@> 'f>C)Iq9YABDAT read: Rx Time:04:40:57.9073 TRx dataTimestamp_ set to:1761540059.228154checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023768Qԁ E},3O?AY~JBy~)HbDVDβy%X=%%S=ٔ%Q-%>9)Y)=-Fy)-E5>i1Q 5u55i}?Q 9u55!)5\BYyyyQ I}G@5BI5ԱBAB >BQCBHBOJBB =B:DBBӍ;BDE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530261 q},1?AJ@J@JٱJtP VAHRS rotation from veh to nav: [[0.662060,0.749235,0.017964],[-0.746467,0.657098,0.104930],[0.066813,-0.082880,0.994317]]JH/??*e? ?ܺ??7r?iJ@IJ`;JCYfJByfLHiuMb@Mb@Mb@qqqq q9ux?/$MbYuK?yuuuAuA uA)uKAqYu̼AbDVDy=%==ٔ)=Q- >9 Y = Fy <E>Q 5%5#}?Q 9%5;&)(\BY-g?Q E-:y-aQ I-G@IBI:iv:5y5cBɮ5)A=éEReYzeYbeYjeYZeYdYdadajdaZde@=N@Zg?Zg?Z@Z׬@i))iII =) 0>9E EE,E"E%;*E:VEg4ZEBEKI-?i-333-lǿ-!Z?-,m>-KK? -ܸ>)-t?I-ܸ))-jE?e quI4{? ->)-mI-t?i-ܸ))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)Y X},?Aɰ;2@2i@2qٱ2&[ :AHRS rotation from veh to nav: [[0.663467,0.747885,0.021902],[-0.745875,0.658809,0.098192],[0.059007,-0.081484,0.994926]]2H;??m?@5?##?56?`ܴp?i2@I2(`;2CB*DAT read: user:134> FBDAT read: Tx time:04:40:59.3305 F$Ping request sent.F9Y=Fy}r;E>Q 55}?Q 95*)3\BYy^aQ IG@BIg:i:=5yɮA1iYi]q?AJi]A&CRi]A&Cji]f]|?b]0qD@&/hc@3+nE@R]Fοu N?&K?Zi]t?bi]ܸj]ԛV@Fa@0<@Z]fh=Lh?uxG?L^ ?2i]C:i]޴B"i] _o?*i] #Bi]BReAzeAbeAjeAZeIdqdqdqjdud@Zd} tB?ZZZZ @i!)!)IIIiIQIQa9-@ @@%/@!I1IAOUu>bE}g4jE}g4rE}//E EE.E"E=;*E҆:VEـ4ZEa @a @a @a @5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250953ԉԹ },z'?A2s@2I@2RQٱ2e :AHRS rotation from veh to nav: [[0.664653,0.746670,0.026835],[-0.745397,0.660203,0.092280],[0.051186,-0.081337,0.995371]]2H`D??z?@J b ??`5?@Ҵ ?i2s@I2_;2CY^JBybxHbDjVDjyr<%rX=ٔrQ9tYt=vFytzxP;Ez>|Q 55~}?Q 95~t/)~<\BYyaQ I G@~2BI~;i~:~5yhBɮAĩEBe>BaBe8HBeJBBe =BaBaBe;BeDEB*** querying acoustic contact ***i iRezebejeZedddjdZdWe?Z!Z!Z!Z% @iy))顁i1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503726I,9E`+@A @A@E]0@AYIiIO]>ԉ E  E E E "E l;*E 1:VE ZE BE ^F9Y=FyE>Q 55~?Q 95l4)@\BY?Q E:y~bQ IG@BI;i;I5yBɮOAͩERe zebejeZedddjdZd`?Z=?Z=?Z=x@Z=@iI)Q)QQQiQYIY efAedAԉ%9IfA)dAe )@a @a@e4@aIqIO:>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006906Թ },O[?A2+@2%@2Nٱ2b :AHRS rotation from veh to nav: [[0.666262,0.744805,0.036895],[-0.744882,0.662358,0.080208],[0.035302,-0.080922,0.996095]]2HR?`p??`2? ??L?i2+@I2k_;2CYBJByFH HHHJAbDNVDN1yV;%V]=ٔZg0=Q-Z>9XYX=^Fy\`^;Eb>dQ 5j5f ~?Q 9j5f8)f?\BYhyjbQ InG@fBIf-:if$:f5ypɮrJApRezebe je Ze d d d jdZd?Z1Z1Z1Z5̬@iA)A)IIIiIIIQE EEE"E:*EM:VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259377uI9M&@I @I@M/@IIYIiO}>A]AAA]AABe>BeOCBeHBeJBBaBaBeĺDBe;BeDEB%QCB%QCB%ǔCB%Ǎ =B%Ǎ =C%x4 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510970Q },xu?AN.@N)@N_7޼ٱN VAHRS rotation from veh to nav: [[0.666785,0.744076,0.041814],[-0.744757,0.663252,0.073724],[0.027123,-0.080299,0.996402]]NH@MV? y?h? @[9?߲? ƛ?z?iN.@ING:_;NCY~KBy~HiMb@Mb@Mb@ 9Dl?Zd;OQ롿YO ?yj\AbA A)AYfAbDVD0yO=%;=ٔW9Y=Fyߍ:E>Q 55~?Q 95=)7\BY ?Q EU:yUcQ IUG@BIqԙ },L?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0149406V5@6,0@6mٱ6 BAHRS rotation from veh to nav: [[0.667488,0.743058,0.048214],[-0.744379,0.664221,0.068631],[0.018972,-0.081700,0.996476]]6H\?!?}?LA?@͑?om?F괿`"?i6V5@I6)_;6CYJ,KByJHbD~VD~Jy !=% V=ٔ 9Y=Fy;E>!Q 5-5%$~?Q 9-5%A)%.\BY)y-bQ I-G@%BI%:i%:%5y9ɮ=A9ReYzeYbeYjeYZeadadadajdaZdmf@yZZZZ-@i))顡iII ?)!?9?i?!@ @@@IԩIO>E EE1E"El;*E:VE-4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267193 },(?A2;@26@273ٱ2 :AHRS rotation from veh to nav: [[0.668165,0.742082,0.053571],[-0.743932,0.665300,0.062768],[0.010938,-0.081793,0.996589]]2H@a? "?m?@K@$J?@?f?@_@?i2;@I2 _;2CYB7KByFHIJ,>)J49XYX=^Fy\^ ;E^>`Q 5f5b{0~?Q 9f5bSF)b$\BYhyjbQ IjG@bqBIbd:ib:b5ynBɮrArϩEB>BMCBHBKBB =BBúDB;BDEReazeabeajeaZeadadadijdiZdm3@ZZZZ@i))i!I)9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925@ @ @0@IYIOEQ>1E  E E ,E "E =;*E ą:VE g4ZE BE I=ٔu9Y=Fy:E>Q 558=~?Q 95bK)\BY?Q E:y|gQ IG@BI;i:;5y ɮ A %B*** querying acoustic contact ***i! i!Re1ze1be1je19Ze9d9d9d9jdAZdE @Ze?Ze?Ze&@Ze> @iq)q)yyyiyI}9>@ @@ 0@ II9OU2>aBDAT read: Rx Time:04:41:01.9582 TRx dataTimestamp_ set to:1761540063.260171checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024063ԑԹ },Q?A6G@6B@6A;ٱ6V BAHRS rotation from veh to nav: [[0.669284,0.740420,0.061940],[-0.742990,0.667501,0.049070],[-0.005013,-0.078863,0.996873]]6Hj?@? ?,\? ?`9tZ0b?i6G@I6^;4YJEKByJHbDRVDR1yZL<%ZW=ٔ^79\Y`=bFy`b:Eb>dQ 5j5fG~?Q 9j5fO)f\BYlynKgQ InG@fVBIf;if<;f,5ypɮrAtRe ze be je Ze d ddjdZd @Z1Z1Z1Z5i&@iA)I)IIIiIQIQ ]dA]fAE EE-E"E ;*E:VEt4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275154u09yԹM@I @I@M4@IIYIiO}>BA4=B>BBHBKBBBBBč;BDE  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5269499 },ػ?A2.R@2M@2V<ٱ2( :AHRS rotation from veh to nav: [[0.670168,0.739287,0.065798],[-0.742094,0.668990,0.041822],[-0.013100,-0.076856,0.996956]]2Hr?=? +ذ?;`]h?`i?+Ԋ@ݬ`?i2.R@I2^;0YNcKByR&H TTTVAieMb@Mb@Mb@aaaa a9eoʡ?Q롿/$Ye ?ye\e,eAa eA)eҽAaYabDVDy:=%==ٔT9Y=Fy>;E>Q 555T~?Q 95T)[BY ?Q E:ygQ IG@BI;i ;5y˜BɮCA٩ERezebejeZedddjdZdw@Z  ?Z  ?Z 0@Z @i)!)!!!i!)I) m9E EE0E"E;*E$:VE4ZEBE@R#Rx 1: Read range and direction messages.^direction in FSK: [-0.263247,0.930295,0.255446]Fpublishing direction and range infoyO п,?l39Y?Y'Cb )AI>i5^g;T?Vh>|E?  A>)\?I AS?-Ԓi? )ZhI\?i AT****** received valid address query ******9R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i  hA M P9M hAYM SBf~,O?A"*DAT read: user:135> &BDAT read: Tx time:04:41:03.3805 &$Ping request sent.*9 Y = Fy TE>Q 5%5D_~?Q 9%5X)[BY!y%gQ I%G@=BI:i_:P5y1ɮ50A1i)i-`#?AJi-&CRi-&Cji-9?b-b0E$ic@J|RE@R-O п,?l39Y?Zi-\?bi- Aj- NV@[ToBa@?@Z-n?WE EE,E"E;*E:VEg4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250916  ~,o*?A6N@6I@6Y<ٱ6 >AHRS rotation from veh to nav: [[0.669654,0.739074,0.073028],[-0.742115,0.669719,0.027233],[-0.028781,-0.072432,0.996958]]6H@m?~??hVn??`xኲ?i6N@I6a;4YFiKByJ.HBV>BTBVHBV%KBBV =BTBTBV;BVDEbDbVDbyf_%jN=ٔj9lYl=nFlylrwEr>tQ 5~5vj~?Q 9~5vs])v[BYygQ IG@vBIvTA;ivl0;v5yɮ6AzeAbeIjeIZeIdIdIdQjdQZdU( ?ZZZZ@i))顡iII6?)?9IdA)fA]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503565M@I @I@I@IIYIiO}>PExceeded connect timeout, disconnecting.1a E  E E E "E ;*E ?:VE ZE BE O9AYA=EFyIMLEM>QQ 5]5Uv~?Q 9]5U4b)U[BQ Ae+:YaQ Ee:yegQ IeG@U#BIU;iU{>U 5ymǘBɮiqB*** querying acoustic contact ***i izebejeZedddjdZd?i))iI9M@I @I@M/@IIYiIqO}>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006885ԙ 0~,&^?A2 N@2H@23=ٱ2@ :AHRS rotation from veh to nav: [[0.669205,0.738583,0.081608],[-0.741779,0.670486,0.014607],[-0.043928,-0.070310,0.996557]]2Hj?y?@?t?s?}?i2 N@I2}C`;0YBKByFaHbDNVDNy~֠=%~N=ٔ=f9AYA=EFyAE :EM>IQ 5U5M)~?Q 9]5Mf)M[BQ A] :YYQ E]{:yegQ IeG@MBIM;iMR?M 5yiɮmAibEـ4jE#4rE60E EE.E"E;*E:VEـ4ZEa@a@a@a@ԙzebejeZeddchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259056djdZdj-?i))iI@ @@0@IIO">A@AABBBBBBBB;BxDEu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510857)  nManaging dock network, ignoring radio surface power off^~,x?A6Q@6K@6S=ٱ6 >AHRS rotation from veh to nav: [[0.669235,0.738002,0.086468],[-0.741264,0.671155,0.008861],[-0.051495,-0.070026,0.996215]]6H``j??@"?@o@z?%?~]6?i6Q@I6_;6CYZKByZOHa=a= a=a= a=a= aEaE iEMb@Mb@Mb@AAAA A9E%C?ˡE~jtYEZ?yE'EļE/AA EA)EAAYEAbDVDy%==ٔב9Y=Fyc:E>Q 55e~?Q 95ck)y[BQ AT:Y?Q E:y;kQ IG@BI;i:5y ɮ A ze)be1je1Ze1d1d1d1jd9Zd= ?Z]?Z]?Z]@Z]f@ii)i)qqqiqqIy eAeA!9?i>E EEE"El;*E҆:VEZEBE^FAq B$~,/ܑ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018844NY@NS@N{r=ٱNŏ VAHRS rotation from veh to nav: [[0.669673,0.736978,0.091662],[-0.740290,0.672280,0.003231],[-0.059241,-0.070020,0.995785]]NH m? S?+w?t`Q?xj?T@챿`x?iNY@IN,_;NCYbKBybwH dddfAbDjVDj0yv=%v[=ٔzk9|Y|=Fy +;E >Q 5-5W~?Q 9-5so)e[BY1y5jQ I5G@hBIM;i>;5yE̘BɮMAMکEzebejeZedddjdZd-@ZZZZ诫@Qia)a)aaaiaiIi,$9%@! @!@%4@)I9IIOQԁD=D<E EE-E"E%;*E:VEt4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270873ԩ Ul*~,̷?AB&>B$B$B$B$B$B$B&G;B&4DEB MCB MCB CB =B =C 4v^@vUY@v=ٱvH  AHRS rotation from veh to nav: [[0.669847,0.736208,0.096452],[-0.739501,0.673152,-0.002352],[-0.066658,-0.069750,0.995335]]vH`co?? ?@u?JEc`'۱?iv^@Iv^;vCY%KBy%HbDAVDAyUY)=%UC=ٔ]9aYa=mFyim:Em>yQ 55}Z~?Q 95}s)}M[BYyjQ IG@}BI}[:i}1:}5yBɮUAEzebejeZedddjdZd`t@ZZZZߴ@i))iIԱP$9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523024@ @@/@I I1OQ E  E E ,E "E ;*E ?:VE g4ZE BE LyuA+A +A)XAY(AbDVD:2y<%D=ٔQ->9Y=FyE>Q 55~?Q 95x):[BY>Q E:yeQ IG@>BIt;i;R5yɮNAB*** querying acoustic contact ***i ize be je ZedddjdZd" @Z=>Z=>Z=@Z=*S@iI)I)IQQiQYIYIe9?)es?!Ul&9Y!@! @!@%/@!I1IIOQAeBDAT read: Rx Time:04:41:06.0091 eTRx dataTimestamp_ set to:1761540067.296219mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028065i I~7~,m?A 6du@6:p@6I=ٱ6rv >AHRS rotation from veh to nav: [[0.671153,0.734400,0.101048],[-0.736793,0.675868,-0.018375],[-0.081790,-0.062120,0.994712]]6Hz?4?M޹?ϓ?В*"ί?i6du@I6xx^;4YFKByFHIJR>)Jp;N>N=bDRVDRyZ^n=%Z\=ٔ^'=Q-^>9`Y`=bFy`b;Eb>dQ 5j5f~?Q 9j5f{)f&[BYlyn'eQ InG@fBIfn;if";f5yrBɮv5Atze be je Ze d ddjdZd @Z1Z1Z1Z5j@iA)I)IIIiIQIQDYzD]AAEe EeEe+Ea"Ee;*Ee:VEe [4ZEaam@am@am@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278985(9qi@i @i@i@iIyIO>ԙBu>BqBuHBu9KBBqBqBqBu;BuCEu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530886 =~,W?ALV<@V|@VI=ٱVZv bAHRS rotation from veh to nav: [[0.671778,0.733337,0.104551],[-0.735341,0.677224,-0.025326],[-0.089377,-0.059868,0.994197]]VH 4?w?@ú?ѫ?iᶿv?iV<@IVS^;TYjKByjHi]Mb@Mb@Mb@YYYY Y9]S㥛?S㥛~jthY]>y]/ݼ]D]XA]̴A ]A)]AYY]fAbDuVDu:2y;%==ٔ9Y=Fy[;E>Q 55~?Q 95)[BYI>Q E:y4dQ IG@BI:i:U!5yɮ1AzeQbeQjeQZeYdYdYdYjdYZde @ZI>ZI>Z!@ZS@i))iI(9Em EmEm-Ei"Em=;*Em:VEmt4ZEiBEmIiZh*r?V>^? l>)$?IlxJN8_?lt>-쿚#? 4蒿)1I$?il@ @@/@IIOB>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. %D~,+?A*DAT read: user:136> BDAT read: Tx time:04:41:07.3805 $Ping request sent.9Y=Fy;E>Q 55~?Q 95)[BYycQ IG@\BI:i:$5yɮUAQiiN?AJi'CRi'Cjic?b=1;nMc@MuJ@R$"HLſ=탻? \ 3?Zi$?bilj^gY@/3H_@ |G@ZR:vf?H(8??2iAB:i?B"i5>?*i@^BiBzebejeZedddjd e@Zdg?Z!Z!Z!Z%H@iQ)Y)YYYiYaIa mfAmfAE*9IMfA)Ia@ @@/@IIO J>qE} E}E}.Ey"E}:*E}:VE}ـ4ZEya@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250777ԙ J~,-?AF@Fܙ@F]=ٱFLr RAHRS rotation from veh to nav: [[0.673444,0.730354,0.114260],[-0.731803,0.680526,-0.036723],[-0.104578,-0.058885,0.992772]]FH ی?_? )@?j?\͢ź0&`?iF@IF?^;FCY`y` ddhh npB~>B|B|B|B~ =B|B|B~ь;B~CE9xY =FyĖ;E>Q 5%5~?Q 9%5)ZBY)y-KcQ I-G@BIp:i:?(5y5Byɮ5$AEzebejeZedddjdZd@?ZAZAZAZE^@ia)i)iiiiiqIq=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503710U6+9ԩ@ @@0@II1Om5>E  E E 0E "E O;*E VE 4ZE BE -YyEtEAEA EA)EAAYE3AbD]VD]ym<<%m<ٔm9qYq=uFyq};E}>Q 55~?Q 95W)ZBY>Q E;yXQ IG@ BI;i{;+5yɮAUB*** querying acoustic contact ***iQ iQzeabeajeaZeadadadijdiZdm &?Z>Z>Z\@ZZ@i))i CIQ(hA9(hAYAS-9 Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007790}@ @@81@IIOc>)Y \W~,W`?AY~KBy~HbD VD y׻%%O=ٔ%Q-%>9)Y)=-Fy)-E->1Eu EuEu,Eq"Eu;*Eu:VEug4ZEqa}@a}@a}@a}@Q 555~?Q 955)5ZBYyQ IG@5\BI59i>a@ @@4@IIO?>B>BNCBHBCKBBBBB;BCEԉiI II ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511471 2]~,؛z?Aroԧ@rEϮ@r#l>ٱrh ~AHRS rotation from veh to nav: [[0.676501,0.725367,0.127239],[-0.725574,0.686067,-0.053433],[-0.126053,-0.056174,0.990432]]rH?36?`]I? 7B?["¬ ?iroԧ@IrZ9^;rCY LBy HIV>)>iMb@Mb@Mb@ 9+?Mb`?{GzYv>y;#AZA A)AAYbDVD:y=F=%E9=ٔE<=Q-E>9IYI=MFyI}0+<E>ԉQ 55~?Q 95)ZBY>Q E;yQQ IG@BIw9;i8;>35yBɮyAEzebejeZedddjdZd@L?Z>Z>ZD+;Z#@i))iIEm EmEm*Ei"Eml;*Em:VEm(N4ZEiBEm^F ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015203_d~,?A^@^\@^>ٱ^e fAHRS rotation from veh to nav: [[0.677577,0.723574,0.131642],[-0.723341,0.688006,-0.058523],[-0.132916,-0.055568,0.989568]]^H?'??@%%?e@ls@?i^@I^J^;\YrLByrHbDzVDz!y8P=%`=ٔ 9 Y=FyT;E>Q 5%5$~?Q 9%53)ZBY)y-kPQ I-G@BI;i;b65y5$Bɮ5gA=EzeYbeYjeYZeYdYdYdajdaZdeU@ZZZZc@i))顙iIe19@ @@/@I IO% > bEt4jEt4rE0Em EiEm/Ei"Em ;*EiVEmJ4ZEiau@au@au@au@ߥP?ߥ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2670171 k~,@K?A :@:@:e;>ٱ:a FAHRS rotation from veh to nav: [[0.678671,0.721827,0.135541],[-0.721088,0.689918,-0.063599],[-0.139419,-0.054574,0.988728]]:H?5?dY?&?H@~ ?i:@I:v/^;8BN>BLBNHBN9KBBLBLBLBN;BNCEYZLByZHbDbVDbβyj%jN=ٔ5891Y9==Fy9=%;E=>AQ 5M5E~?Q 9M5E )E{ZBYQyUOQ IUG@EABIE:iE:E95yYɮeAazebejeZedddjdZd@@ZZZZ@i))iI 19Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523994i@ @@@IIO>ԙ E  E E E "E l;*E ˭:VE ZE BE a 2E a JE ٱ2W_ :AHRS rotation from veh to nav: [[0.679739,0.720055,0.139555],[-0.718837,0.691819,-0.068260],[-0.145698,-0.053918,0.987859]]2Hl?@ ??@b#?`}y :¿@.?i2@I2N^;0LYR LByRHi-Mb@Mb@Mb@)))) )9-/$?{Gzt?Y->y-ף;-̼-A-IA -A)-A)Y-AbD VD2yg$<%>=ٔw9Y=Fy>;E>Q 55?Q 95)[ZBY>Q E;ycMQ IG@BI:ij:=5yɮ{AB*** querying acoustic contact ***i izebejeZedddjd Zd " @Z->Z->Z-s<Z-ac@i9)9)AAAiAIIIm49 @  @ @ /@I!I1O=/>-BDAT read: Rx Time:04:41:10.0096 5TRx dataTimestamp_ set to:1761540071.3290375checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024985! x~,*?A2@2k@2c>ٱ2z` :AHRS rotation from veh to nav: [[0.680560,0.718394,0.144044],[-0.716808,0.693527,-0.072160],[-0.151738,-0.054143,0.986937]]2H%?? p?`_1?y$lÿ`?i2@I28^;2CY^LBy^HbDfVDf:ynUļ%rX=ٔr#9tYt=vFytv];Ev>|xQ 55z,?Q 9 5z)z>ZBY y LQ I G@zBIzD;iz1:z@5yɮAD9zD=@AEE EEEE-EA"EE~ ;*EE:VEEt4ZEAaM@aM@aM@aM@zeQbeQjeQZeQdYdYdYjdYZde1 @}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274895ZZZZs@i))!!!i!!I) 269)@ @@~0@IIO%>BA<B=>B9B=HB=/KBB= =B9B=ĺDB=;B=CEB]NCB]NCBYB]Ə =B]Ə =C]Ʋ[5QE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528568ԁ G~~,?A4-@ (@!>ٱK`_ -AHRS rotation from veh to nav: [[0.681238,0.716984,0.147809],[-0.714963,0.695008,-0.076109],[-0.157298,-0.053830,0.986083]]H?@?`k?@=?{V"Ŀ?i4-@I1^;CY=KBy=HQiMb@Mb@Mb@ 9#~j?Zd;OY>yj<A=A A)AYAbDVD1y%:=ٔQ9Y=Fy.;E>Q 5 5?Q 95)ZBY>Q E";yKQQ IG@ BIN<D5y)BɮAEzebejeZedddjdZd@Ze>Ze>Ze/3Ze]@i))顑iII:?)-?EM EMEIEI"EMT;*EM?:VEIZEIBEMG)FF?Ix?X[H-W? c)IFF?iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. }69IeA)@ @@<0@I IO%o>)Y = *DAT read: user:137> = BDAT read: Tx time:04:41:11.4305 E $Ping request sent.E ٱ2Z :AHRS rotation from veh to nav: [[0.681672,0.715958,0.150756],[-0.713377,0.696150,-0.080430],[-0.162533,-0.052719,0.985294]]2H`B? ?@K?F? Ŀ?i28@I2GJ^;2CYNKByRHbDZVDZyr%v]=ٔvk9xYx=zFyxz|;Ez>YQ 5e5]?Q 9e5])]YBYiymPQ ImG@]JBI]6:i]N:]H5yqɮAiiU?AJi (CRi (Cji\?be7^&c@FK@R¿|?ɜL?ZiFF?bij\#Z@x^@/2wH@ZdJ?ǂ@@?m\֢?2i7B:iB"ip?*i~1BiBi _o?iW0)iBi]%Cio\?zebejeZe!d!d!d!jd%`fe@Zd-~?1ZiZiZiZm?@iy)y)y顁iI89@ @@4@ II)O5.>aD]=D]<Ee EeEaEa"EeO;*EeZ:VEaZEaam@am@am@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250782ԉԹ B5 >B1 B5 HB5 KBB5 =B1 B1 B5 ;B5 CEV~,/?A2B@2<@2&,>ٱ2ZW :AHRS rotation from veh to nav: [[0.681911,0.715123,0.153611],[-0.712039,0.697067,-0.084250],[-0.167326,-0.051926,0.984533]]2H 7?I?@?_N?@jjſK?i2B@I2R4^;2CY^KBy^HbDjVDj0yrv %rK=ٔrE9tYt=vFytz4;Ez>|Q 55~%?Q 95~A)~YBYyPQ IG@~BI~;i~:~K5yɮAze1be1je1Ze1d9d9d9jd9ZdE@+i?ZZZZ.@i)!)!!)i))IQԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503190l:9@ @@/@ II)O1Em  Em Em +Ei "Em ;*Em h:VEm [4ZEi BEm O~,iI?A6bG@68B@60>ٱ6-Y BAHRS rotation from veh to nav: [[0.681827,0.714432,0.157159],[-0.711017,0.697748,-0.087192],[-0.171950,-0.052293,0.983717]]6H ? ??`@S?@7R`vƿ`ƪ`z?i6bG@I6!T^;6CY^KBybHiEMb@Mb@Mb@AAAA A9E+?y&1MbYE>yE`eEEvAEA EA)EAAYE AbD]VD]:2ym%mB=ٔmc69qYq=uFyq}:E}>Q 55+?Q 95ä)YBY:>Q E&;yi]Q IG@BI:i:/O5yɮAB*** querying acoustic contact ***i izebejeZedddjdZd ?Z:>Z:>Z@Zb@i))项iI gA:9>i!>e@a @a@i@iIIO<>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006781I h~,Dc?A 6I@6D@65>ٱ6~H[ >AHRS rotation from veh to nav: [[0.681549,0.714012,0.160243],[-0.710309,0.698149,-0.089716],[-0.175932,-0.052676,0.982992]]6H@? /?Ղ?`ٺ@=W?`ƿPt?i6I@I6@>^;6CY^KBybH ddbDjVDj E% E%E%-E!"E% ;*E%1:VE%t4ZE!a-@a-@a-@a-@y5%=N=ٔ=&9AYA=EFyAMA:EM>Q]?]a?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259162Q 5]5UO2?Q 9m5U)UcYBYiymb]Q ImG@UBIUnu;iUYv;UR5yu.Bɮ}A}EzebejeZedddjdZdX?ZZZZc@i))iI5<9q@ @@/@IIO (>B>BBHBJBB =BBB;BCEԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510817 ~,1}?ALU J@UD@U9>ٱU^ eAHRS rotation from veh to nav: [[0.681094,0.713705,0.163510],[-0.709790,0.698400,-0.091845],[-0.179746,-0.053503,0.982257]]UH???@ KY?@'ǿ@d@n?iU J@IU_^;UCYuKBy}HiMb@Mb@Mb@ 9"~j?~jt+YS>yA&A ȫA)AYAbDVDy=Y%E:=ٔU79QYY=]FyY]ԕ8E]>aQ 5m5e8?Q 9u5e)e'YBYuB>Q Eu ;yurQ IuG@eIBIe ;ie ;eV5yyɮ)AzebejeZedddjdZd*]?ZB>ZB>ZD@Zͪ@i))i I E5 E5E1E1"E5;*E5:VE1ZE1BE54N-hAAm9uhAYuA i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015046~,N?AlYnKBynHbDzVDz0y&=%%\=ٔ%Q-%>9)Y)=-Fy)-E->1Q 5=55j>?Q 9E55[)5XBYAyAQ IEG@5BI5:i5:5Y5yIɮM AQzebejeZedddjdZd@c@Z!Z!Z!Z!i9)9)999i9AIAIU8?)U_?M5?9Y@Y @Y@]0@YIiIyO9>E EE1E"E%;*E?:VE-4ZEa@a@a%@a%@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266862Y Bu >Bq Bu jHBu JBBu =Bq Bq Bu ˌ;Bu CEp~,ٰ?AF4C@F >@F@>ٱF-V NAHRS rotation from veh to nav: [[0.679629,0.714364,0.166698],[-0.709448,0.697876,-0.098242],[-0.186515,-0.051496,0.981102]]FH`??`V? ͳU?@_&@ǿ ]/e?iF4C@IF;^;DYVKByVH^=^=bDbVDbyjg%jR=ٔj9lYl=nFypr Er>tQ 5z5v6D?Q 9z5vޮ)vXBY|yHrQ IG@vBIv[;iv];v"]5yɮ8AYzeQbeYjeaZeadadidijdqZdu@ZZZZƪ@i))iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518830RA9m@i @i@m4@iIyԁIO>ԱEM  EM EM ,EI "EM ;*EM Z:VEM g4ZEI BEM Oٱ2IM :AHRS rotation from veh to nav: [[0.678671,0.715198,0.167027],[-0.709572,0.697189,-0.102153],[-0.189509,-0.049190,0.980646]]2H??&a?ϴ`O?&Aȿc/sa?i2<@I2=T^;0Y^KBy^HiuMb@Mb@Mb@qqqq q9uuV?&1/$Yur>yuPuurAu A uīA)uAqYu AbDVD:yլ%>=ٔJ;Q->9Y=FyME>ԹQ 55xJ?Q 95ϱ)XBYͯ>Q E;y*|Q IG@BI7:i:`5ySBɮAEB*** querying acoustic contact ***i ize!be!je!Ze!d!d)d)jd)Zd-< @ZMͯ>ZMͯ>ZM#@ZM@ia)a)aiiiiiIvA9e@a @a@e4@aIqIO:>BDAT read: Rx Time:04:41:14.0600 TRx dataTimestamp_ set to:1761540075.360185checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0239139 ն~,ʌ?A25@20@2K5F>ٱ2(uP :AHRS rotation from veh to nav: [[0.677683,0.715562,0.169458],[-0.709750,0.696763,-0.103812],[-0.192356,-0.049921,0.980055]]2H`?@?`Ͱ? E`K? q !ȿ>`\?i25@I2E^;2CYBKByFHbDNVDNyVѼ%V[=ٔV2;Q-V>9XYX=ZFyXZE^>`Q 5f5bO?Q 9f5b])bKXBYdyf~|Q IfH@b?BIb:ibb:b%d5ylɮnAlbEjEcw4rE./E EEE"E ;*E1:VEZEa@a@a@a@zebejeZeddd!jd!Zd%q2 @Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274893ZZZZ@i)))))))i)1I9 AEfAC9IfA)@ @@/@IIO">B!B%OCB%8HB%JBB!B!B!B%;B%CEAiiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527187ԙ ~,?A%-@%\(@% I>ٱ%tS eAHRS rotation from veh to nav: [[0.676601,0.716039,0.171752],[-0.710040,0.696223,-0.105439],[-0.195076,-0.050611,0.979481]]%Hඦ???tG? ?ȿ驿W?i%-@I%E[^;%CYKByH YimMb@Mb@Mb@iiii i9m rh?QʡEYm>ymumm|Ai mЪA)m|AiYmAbDVDy;%-=ٔ;Q->9Y=Fyf E>Q 55V?Q 95)XBY>Q E;y$Q IH@BI;i ;Bh5yXBɮAEzebejeZedddjdZd@'@E EE0E"E ;*E :VE4ZEBEWQi5ھ5w5V}?5Θ>5Z;i? 5>)5|?I5115Az:?<$R:7Er? 5b)5јI5|?i511T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Z>Z>Zvl@Zƨ@i))iIԉE99@9 @A@E/@AIQIaOmy>Ա *DAT read: user:138>  BDAT read: Tx time:04:41:15.4305  $Ping request sent. ٱ2Q :AHRS rotation from veh to nav: [[0.675742,0.716535,0.173060],[-0.710186,0.695743,-0.107603],[-0.197507,-0.050193,0.979016]]2H?`? &? ׹@C?䋻 Gɿ@ײT?i2|'@I279^;2CYNKByRHbDZVDZye9 <%eb=ٔm;Q-m>9iYi=uFyquEu>Q 55\?Q 95b)WBYy@Q IH@BI};i;zk5yɮAiyi}5b?AJi}=(CRi}=(Cji}@&S?b}3䘡:5U֝sK_c@A pN@R}9 3&Az?{.MZ?Zi}|?bi}j}>Z@c0]@q&L@Z}ld!n?$?5X?2i}yB:i}B"i} ?*i}WBi}Bi}5>?i}@^i}Bi}!Ci}ٳg?zeibeijeqZedddjde@Zd?Q?ZZZZ@i))iI F9@ @@@II OK>D<D<E EE-E"E;*E:VEt4ZEa-@a-@a-@a-@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250867) B >B B HB JBB B B B ;B wCEBBBBʍ =Bʍ =Cʖ4~,B!2?A F @Fr@FM>ٱFaM RAHRS rotation from veh to nav: [[0.674827,0.717203,0.173864],[-0.710417,0.695122,-0.110057],[-0.199790,-0.049246,0.978600]]FH.?S?*A? p>?,@ɿ6P?iF @IFt,^;FCYbKBybjHbDrVDr0yz6~%~R=ٔ~;Q->9 Y = Fy  E>!Q 5-5%a?Q 9-5%&)%WBY1y5\Q IH@% BI%q?)9?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5031821M9H9Ux>iU>@ @@/@II O*>aԁ E-  E- E- *E) "E- ;*E- 5:VE- (N4ZE) BE- yTٱ2vO >AHRS rotation from veh to nav: [[0.673803,0.717795,0.175387],[-0.710861,0.694478,-0.111255],[-0.201661,-0.049711,0.978193]]2Hʏ? -?s?_@)9?;{ɿs[M?i2@I2I^;0YFKByFHIJ=)JR=iMb@Mb@Mb@ 9 rh?T㥛 L7A`尿Yy+ )pAYAbD)VD)y=Z=%=F=ٔ=;Q-E>9AYA=EFyAU:*E]>yQ 5}5}g?Q 95}*)}eWBY>Q E;yLQ IH@}NBI}7:i}:}xr5yɮA-B*** querying acoustic contact ***i) i)ze1be1je1Ze1d9d9d9jd9ZdE!S?Z}>Z}>Z}%@Z}|@i))顱iIԉ}I9]@a @a@e0@aIqIO:>iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007235Ա ~,ke?A6@6@65Q>ٱ6V >AHRS rotation from veh to nav: [[0.673183,0.717765,0.177870],[-0.710883,0.694393,-0.111636],[-0.203641,-0.051294,0.977701]]6H??u?@x8?1ʿ%CSI?i6@I6|R^;6CYJKByJHbDRVDRJyZ;%ZS=ٔ^u;Q-^>`9`Y`=bFy`f Ef>hQ 5n5jm?DlzDlEr ErEr-Ep"Er ;*Er:VErt4ZEpaz@az@az@az@Q 9z5j)j3WBYxy~kQ I~H@jBIj;ijW;ju5yɮA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259139zeIbeIjeQZeQdadadajdaZdeV?ZZZZu@i))顙iIuJ9I@I @I@M4@IIYAiAiBu>BqBuHBuxJBBu =BqBqBu;BuCEIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511096A 2~,?A@}@U>ٱM AHRS rotation from veh to nav: [[0.671439,0.719347,0.178072],[-0.711699,0.692912,-0.115574],[-0.206526,-0.049133,0.977207]]H`n|? ?@?>T,?@Htoʿ 'FE?i@I^x^;CYKByHiMb@Mb@Mb@ 9q= ףp?:vY>yLTrAA )dAYfAbDVDy#`<%,=ٔ;Q->9Y=FycE>Q 55)t?Q 95B)VBYs>Q E;y}zQ IH@BI ;i ;y5y]BɮAze!be!je!Ze!d!d)d)jd)Zd-`?ZUs>ZUs>ZU R@ZU#@ia)y)yyyiyI eA-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763137AeL9Em EmEm.Ei"Em ;*Em5:VEmـ4ZEiBEmLiԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014979~,L?AYKByH 119=AbDEVDE0yU<%Uf=ٔ]Q-]>9YYa=eFyaeEe>iQ 5u5my?Q 9u5ym)mVBYyyyQ IH@mBIm),;imy-;m }5yɮAzebejeZedddjdZd +@ZZZZi))iI-L9ԩ@ @@/@II)O5.>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266946D=D=E EEE"E ;*Ey:VEZEa@a@a@a@Bm >Bm PCBm HBm JBBm =Bi Bm źDBm ތ;Bm CE MC~,/o?AF@FW@F)V>ٱF\J RAHRS rotation from veh to nav: [[0.671007,0.719724,0.178180],[-0.711789,0.692578,-0.117016],[-0.207622,-0.048308,0.977015]]FHx??? @)?]ʿӻC?iF@IF^;FCYZKByZHbDbVDbyj=%jS=ٔr<;Q-v>9|Y=Fy 6E >Q 55|?Q 95)VBY!y%zQ I%H@WBIL;iz;z5y)ɮ-A)zeIbeQjeQZeQdQdQdYjdYZd]@ZZZZp@i))))111i11I9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518987N9]@Y @a@e/@aIqIO:>1E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770983E  E E ,E "E ;*E ˭:VE g4ZE BE OېCHT`zſ9xYzAyM~?M A1Y=KBy=HiMb@Mb@Mb@ 9ʡE?l񢿋lY>y ݩA)ZAYbDVDy5k<%5*=ٔ=Q-=>9AYA=EFyAMEU>YQ 5e5]y?Q 9m5])]oVBY>Q E);y /rQ I H@]BI]Zm>Zmq<@Zmɪ@iy)y)yyyiyII9?)#?aBDAT read: Rx Time:04:41:18.0608 TRx dataTimestamp_ set to:1761540079.392550checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024468ԉԹ R~,?A~=~=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275086Y KBy HIR>)=bD% VD%2y-,=%5r=ٔ1Q-5?99EE EEEAEA"EEO;*EE:VEAZEAaM@aM@aM@aM@YQ=UFyQQEU?YQ 5e5]n?Q 9m5])]MVBYiyiQ ImH@]BI]:i]=:]5yuBɮ}9A}EzebejeZedddjdZd d @ZZZZi))iIԑ`Q9B>BBHBJBB =BBB&;B'DE@ @@/@IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528664! :,s?A=@=@= X>ٱ=? }AHRS rotation from veh to nav: [[0.670684,0.720192,0.177500],[-0.711566,0.692267,-0.120163],[-0.209418,-0.045711,0.976757]]=H>v? ?Q?' '?þ 5ʿ}g`A?i=@I=^;=CYKByHbDVDk1y%5<%%<=ٔ5;Q-=>99Y9==FyAEJEE>IQ 5U5Mő?Q 9U5Mm)M!VBYYy]&rQ I]H@MBIM;iM;Mi5yeBɮe8AeEzebejeZedddjd!Zd- @ZIZIZIZM˪@iY)Y)YaaiaaIiEU EUEU+EQ"EU7;*EUǙ:VEU [4ZEQBEUZĿ+l?Hs%N?Y )C  y Aa  ) I |>i ~ V Gt? V> z0a? MQ>) /?I MQ   %?=)g 쿔\? |) L冾I /?i MQ  }T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.!=@A @A@E/@AIQIaOmW>I  *DAT read: user:139>  BDAT read: Tx time:04:41:19.4805  $Ping request sent. ٱB8E NAHRS rotation from veh to nav: [[0.671014,0.719537,0.178906],[-0.711109,0.692858,-0.119465],[-0.209916,-0.047059,0.976586]]BHx?`r?@a?g@+?Cʿ2@?iBs@IB^;BCYuKByuHi%Mb@Mb@Mb@!!!! !9%?/$Y%̌>y%%̼%fA% A %ЪA)!!Y%AbD=VD=yE9<%ME=ٔMw:Q-M>9QYQ=UFyQU:E]>YQ 5e5]?Q 9m5])]UBYmɍ>Q Em?;ymeQ ImH@]MBI]" ;i] ;]5yyɮ}!Ayiis ?AJi(CRi(Cji0[?bWس:rW_c@iJ@RBH>Ŀ+l?Hs%N?Zi/?biMQjdPZ@aD~^@Rz?I@Z+x B?7?0l#?2iB:iB"iQ=?*ih8MBiBip?i~1iBic!Ci`?zebejeZedddjd0e@Zd?Zɍ>Zɍ>Z@ZGQ@i))!iI fA}S9t>i@ @@/0@I!I9QO]U>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250766bE^n4jEm4rE(0E1 E5E5)E1"E1*E5:VE5FA4ZE1aE@aE@aE@aE@y B >B QCB QHB JBB =B 9DB ƺDB ];B aDE ,ɮ4?A@J@J@JבX>ٱJ R RAHRS rotation from veh to nav: [[0.671040,0.718947,0.181165],[-0.711083,0.693256,-0.117292],[-0.209921,-0.050115,0.976433]]JH@(y?`?i0? 1&/?@`ʿ>?iJ@IJ^;JCYnLBynH ppbDzVDz:y%H <%%b=ٔ%Hl7Q-%>9)Y)=-Fy)-8E5>1Q 5=55?Q 9E55)5UBYAyEfQ IEH@5~BI5<;i5I:5*5yIɮUAQzeqbeqjeqZeqdydydyjdyZd}`u+?ZZZZPO@i))顱iI}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503114U9Աa@i @i@m4@iIyIO> - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754749Em  Em Em /Ei "Em ;*Em B:VEm J4ZEi BEm ]ٱBBY NAHRS rotation from veh to nav: [[0.671324,0.718333,0.182545],[-0.710787,0.693766,-0.116063],[-0.210015,-0.051835,0.976323]]BH{{?`? ]?ž@T3?`Fʿ  >?iB0 @IB^;BCYVLByV HlimMb@Mb@Mb@iiii i9m?~jth?ymD;mtmlAmA m̪A)mSAiYmAbDVDN2y}=%C=ٔ6q9Q->9Y=Fy:E>Q 55Ρ?Q 95[)UBY(g>Q Ek;yMQ IH@BI&@;iL;ӕ5yɮAzebejeZed!d!d!jd!Zd-d?Z(g>Z(g>ZpZ<ZcQ@i))iI"X9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007184@ @@&4@IIOF>1a ,xch?AB@B @B oX>ٱBV NAHRS rotation from veh to nav: [[0.672024,0.717811,0.182021],[-0.710191,0.694354,-0.116192],[-0.209791,-0.051186,0.976406]]BH@8? N?vL?`&8?¾mʿ 5>?iB@IB^;BCYTyTrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258777E% E%E%0E!"E%~ ;*E%Ǚ:VE%4ZE!a-@a-@a-@a-@9bDjVDjܲyH:%I=ٔQ->9Y=Fy;E>Q 5=5?Q 9=5)UBYAyEMQ IEH@BIa;i;w5yɮAB*** querying acoustic contact ***i ize!be!je!Ze!d!d!d)jd)Zd-"c?B>BBvHBJBB =B:DBBT;BWDEB}PCB}PCByB}Ê =B}Ë =C}S5ZZZZY@i))i!I!I5U?)5?iFX9@ @@/@IIOc>ԑiߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510990 ,S?A";ɰ j[@j2@jW>ٱjиM AHRS rotation from veh to nav: [[0.672580,0.717756,0.180174],[-0.709829,0.694562,-0.117161],[-0.209235,-0.049093,0.976632]]jHƅ???`9?@E9ʿ " @?ij[@Ij^;jCYMLByU HIu4>)u>}=}=ԑbDVDfyM;%F=ٔHQ->9Y=Fy :E>Q 55k?Q 95)UBYy{MQ IH@ BI`:i:'5yɮAzebejeZedddjdZd ?ZZZZy`@iI)I)QQQiQYIYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763221E- E-E-.E)"E-I;*E-P:VE-ـ4ZE)BE-jj  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0146547&,/?A2L@2#@21W>ٱ2E >AHRS rotation from veh to nav: [[0.673360,0.717482,0.178343],[-0.709274,0.694987,-0.117998],[-0.208607,-0.047039,0.976868]]2H*??@?^@V=?5ʿ`yB?i2L@I2}7_;2CYF2LByF&HiMMb@Mb@Mb@IIII I9Mx&1?:v?~jtYMA>yMT9yYy=}Fyy+;E>Q 55?Q 95)wUBYB>Q E;y>Q IH@+BI ;iX ;b5yBɮAzebejeZedddjdZdA@ZB>ZB>Zt=Zh;@i ) )iI@ @@@IIO%>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266722EU EUEU,EQ"EU;*EU:VEUg4ZEQa]@a]@a]@a]@AB >B B HB JBB =B 9DB B 3;B :DEq ,,+?A.Z&@.1!@.)V>ٱ.6@ :AHRS rotation from veh to nav: [[0.674202,0.717041,0.176929],[-0.708763,0.695519,-0.117936],[-0.207622,-0.045888,0.977132]].H?? ?/@A?` 1[ʿ~D?i.Z&@I._t_;.CYb4LByb(HbDjVDjJ2yrF;%rU=ٔr+Q-v>9tYt=vFytz';Ez>|Q 55~?Q 95~9)~`UBYy\>Q I H@~OBI~f:i~:~5yɮAze1be1je9ZedddjdZd @ZZZZTD@i ))iI !%gA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518781a\9I)@ @@0@IIO">ԁԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770694EM  EM EM +EI "EM ;*EM y:VEM [4ZEI BEM %dٱ2A :AHRS rotation from veh to nav: [[0.675056,0.716328,0.176561],[-0.708287,0.696224,-0.116628],[-0.206470,-0.046325,0.977356]]2H?(??HwG?W۽`mʿ`F?i2H.@I2Ѭ_;0YFBLByF9H HHHJAi-Mb@Mb@Mb@)))) )9-ףp= ?y-t<--bA) ))-SA)Y-A M;MbD]VD]0ym-=%mB=ٔu6Q-}>9yYy=Fy;E>Q 55 ?Q 95N)CUBY#>Q E;y>2Q I%H@pBIU:i:5y)ɮ-A)zebejeZedddjdZdAz @ԩZ#>Z#>Z=ZȲ@i ) )  iIE^9eBDAT read: Rx Time:04:41:22.1110 mTRx dataTimestamp_ set to:1761540083.424747uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024554@ @@30@IIO J> 1 o9,?A218@23@2XhS>ٱ2E :AHRS rotation from veh to nav: [[0.676127,0.715362,0.176377],[-0.707694,0.697152,-0.114666],[-0.204989,-0.047292,0.977621]]2Hբ??? ?nO?Z=ʿ@6H?i218@I2+]_;2Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274732YfE EEE"E[";*Eخ:VEZEa @a @a @a @9Y=FyK;E>!Q 5-5%?Q 9-5%9)%+UBY)y-2Q I5H@%BI%B:i%:%٪5y9ɮ=A9zeibeijeiZeididqdqjdqZd}5h @ZZZZϲ@i))iI^9BU<AU4=B]>BYB]HB]KBB] =BYBYB]';B]-DE1@1 @1@54@1IQIO>9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528428i "@,U?A4BA@B_<@BQ>ٱBJ JAHRS rotation from veh to nav: [[0.677160,0.714415,0.176253],[-0.707160,0.698043,-0.112521],[-0.203419,-0.048444,0.977893]]BHK?@}?w? `^V? /μ ʿ`ͨ`J?iBA@IB^;BCYb4LByb(HbDzVDzy%>=ٔsQ->9Y=Fy ^+;E=>IQ 55M?Q 95MO)MUBYy1Q IH@MBIMfWE EE-E"E;*E:VEt4ZEBEmip{w?ޏ>b? >)?Ii3hV?q 뿨[s8? i)ҲI?iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.UgGiyſ9YϳA`9x>i{>Թ]@Y @Y@]4@YIyIO>  *DAT read: user:140>  BDAT read: Tx time:04:41:23.5305  $Ping request sent. ٱ2LJ :AHRS rotation from veh to nav: [[0.678335,0.713574,0.175141],[-0.706540,0.698905,-0.111053],[-0.201651,-0.048413,0.978260]]2H??k?@o]? mɿɨ@M?i27L@I2^;2C`YnCLByr:HIv=)vy`e</] )YbD%VD%02yU=%UA=ٔ]Q-]>9YYY=]Fyae;N;Ee>iQ 55m?Q 95m")mTBY>Q E;y5Q IH@mBIm;im;mF5yɮAii ?AJi )CRi )Cji[?b /9``hv,c@ڏ) M@R,@lÿ?"??Zi?bijMq#Z@biJ^@5K@Zd\&?Z?jEj?2iUB:iB"i /?*ih0pBiBi /?ih8MiBi !Ci9]?v%Detached at range: 169.70 m. Transitioning docking module to standby.ze!be)je)Ze)dIdIdQjdU`f6e@ZdU?Z>Z>Z =ZZ@i))顩iI&a9]@Y @Y@]/@YIiIO[>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254153E% E%E%.E!"E%a;*E%5:VE%ـ4ZE!a5@a5@a5@a5@BQ BQ BQ BQ BQ BQ BQ BU 6;BU ٱ2VH :AHRS rotation from veh to nav: [[0.679299,0.713098,0.173331],[-0.706217,0.699431,-0.109791],[-0.199525,-0.047829,0.978725]]2HѼ??/? U a?A`ɿ`|Q?i2S@I2@^;2CYb(LBybHbDjVDj:y%ɖ%%a=ٔ%ûQ-%>9)Y)=-Fy)-(;E5>1Q 5=55?Q 9E55)5TBYAyEa5Q IEH@5BI5T:i5;5v5yIɮUAQReuzeqbeqjeqZeqdydydyjdyZd\?ZZZZc@i))项iI]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507182Bc9 &Changing to mode: 1q=@9 @9@=/@9IIIaOmW>ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758882E-  E- E- -E) "E- ;*E- :VE- t4ZE) BE- @rٱ:_H JAHRS rotation from veh to nav: [[0.680200,0.712625,0.171739],[-0.706056,0.699906,-0.107786],[-0.197012,-0.047941,0.979228]]:H2??@?e?@ח7ɿ@ɋ`U?i:BZ@I:>`;:CYr8LByr,HԙiMb@Mb@Mb@ 9?Mb`{GzY>yףhA A ȪA)ZAYfAbDVDNy=%==ٔQ->9Y=FyQ:E> Q 55 ?Q 95 ) TBY>Q E;y[Q IH@ BI  ;i G ; 95y!ɮ%A!ReAzeAbeAjeIZeIdIdIdIjdIZdU?Zu>Zu>Zuˌ@Zub@i))顉iI fAe9e@a @a@e/@auchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011840IIO<> @Z,j?A2&a@2[@2|H>ٱ2cK :AHRS rotation from veh to nav: [[0.681136,0.711994,0.170639],[-0.705838,0.700496,-0.105349],[-0.194540,-0.048687,0.979686]]2H@??? :uj?%ȿ@}Y?i2&a@I2b;2CYF)LByFH HHLNAbDRVDRyZY %Z`=bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263628ٔfQ-j>9hbEet4jEe Q 55 N?Q 95 ) zTBY!y%[Q I%H@ BI ,;i y-; {5y1ɮ5A1ReazeabeijeiZeididqdqjdyZd}`v?ZYZYZYZ]䓭@i))顑iIB>BRCBBB =BBBm;BwDEe9]P@Y @Y@]0@YIiIO9>Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514908q @%a,̈́?A6a@6c\@6ѝE>ٱ6L BAHRS rotation from veh to nav: [[0.681547,0.712025,0.168864],[-0.706195,0.700450,-0.103239],[-0.191789,-0.048889,0.980218]]6H:??T?%j?`m ȿ`]?i6a@I6Ub;4Yb9LByb.HbDnVDnkyvT=%vG=ٔvoQ-v>9xYx=zFyx~8E~>Q 5 5?Q 9 5q)PTBY y [Q IH@BI:i :5y)ɮ-A1RezebejeZedddjdZd>?YZ1Z1Z1Z5l@iY)Y)YYYiYaIachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766865E EE/E"E;*E:VEJ4ZEBEmԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018796 [Og, ?A2K`@2"[@2B>ٱ2sbP :AHRS rotation from veh to nav: [[0.681794,0.712049,0.167759],[-0.706668,0.700352,-0.100639],[-0.189150,-0.049935,0.980678]]2HA??"y?``Hi?tù6ȿ`@a?i2K`@I2 b;2CYv#LByvHiuMb@Mb@Mb@qqqq q9uMbX9?/$A`"Yu!>yuuٽquA q)u|AqYupAbDVDk1yPO%?=ٔZλQ->9Y=FyE>Q 55a?Q 95)TBYD>Q E;y~Q IH@Z%D>Z%c@Z%2@i1)1)199i99IAIMB?)M^?ԱM h9IQ)UdA%"@! @!@%4@!I1IIOU2>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271495E EE,E"E*E:VEg4ZEa @a@a@a@B>BBHBJBB =BBǺDB;BDEBQCBQCBBȈ =BȈ =CȒo5! 9 ym,܄?A20U@2P@2i?>ٱ2~XP :AHRS rotation from veh to nav: [[0.681222,0.713102,0.165593],[-0.707994,0.699278,-0.098770],[-0.186229,-0.049954,0.981236]]2H ?? &2?@|`?H`Wǿ`Hf?i20U@I2a;2CY^'LBy^HIb>)b;f=f=hjBAbDjVDjyrv'<%rW=ٔvQ-v>9tYx=zFyxz`iEz>|Q 55~?Q 9 5~)~SBY y Q I H@~VBI~:i~:~ 5yɮARezebejeZedddjdZd@ZZZZb,@i))iI!Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.524552mj90%@ @@/@II)O5.>9q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775442E  E E 0E "E ;*E ^:VE 4ZE BE oٱNE4F VAHRS rotation from veh to nav: [[0.680718,0.714482,0.161676],[-0.709242,0.698036,-0.098596],[-0.183300,-0.047551,0.981906]]NH q?? ɱ?PV?`=avǿXk?iNJ@IN`;NCYb!LBybHiMMb@Mb@Mb@IIII I9M~jt?J +y&1YMD>yMHM`IM/A I)MAIYMAbDeVDeJymj%uB=ٔuwQ->9Y=Fy;E>Q 55?Q 95)SBYi>Q Ei;yQ IH@~BI:i:5yɮARe1ze1be1je9Ze9d9d9d9jd9ZdE`n @Zei>Zei>Ze@ZeK@iq)q)yyyiyyIiFl9MBDAT read: Rx Time:04:41:26.1613 MTRx dataTimestamp_ set to:1761540087.460243Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028024}'@ @@/@IIO>>ԙ z,8?AJ:@J5@J9>ٱJ:Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279261XEf EfEf+Ed"Ef+$;*Efخ:VEf [4ZEdaj@aj@an@an@ rAHRS rotation from veh to nav: [[0.679702,0.716407,0.157374],[-0.710999,0.696240,-0.098641],[-0.180237,-0.044847,0.982600]]JH?@? $?G?@@ǿ@,@vq?iJ:@IJX`;JCYLByHbDVDfy-K%-O=ٔ5 Q-5>99Y9==Fy9E]EE>IQ 5U5M$?Q 9U5MU)MkSBYQyUQ IUH@MBIM-:iMQ;M05yaɮeAaRezebejeZedddjdZd#{ @ZZZZN@i))iI dAeAB>BBHBJBB =BBƺDBʍ;BDEl9Y?i?*@ @@/@IIO>iQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531026) s,D?A2+@2%@2sl6>ٱ2R5 :AHRS rotation from veh to nav: [[0.678724,0.718036,0.154136],[-0.712693,0.694642,-0.097680],[-0.177207,-0.043553,0.983209]]2H?`&?`?a:?@ƿ Lsv?i2+@I2P`;2CYz LByzH bD%VD%0y5<%5J=ٔ=Q-=>9AYA=EFyAEdEE>IQ 5U5M?Q 9U5M )M0SBYYy]Q I]H@MBIM/:iM:M5yqɮ}AyRezebejeZed ddjd!Zd-`x@ZYZYZYZ]K@i))顙iIE EE-E"E;*E^:VEt4ZEBEa2EaJEa:EaDAT read: 04:41:26.1613 LVL= 24352, 31217, 28482, 32755, AGC= 60, IDX= 429, 0.18,-2.195,-2.864, 2.414,-2.493, PHS= 0.400,-0.326,-1.420, RAW= 53.3, 16.7, CAL= 48.6, 20.4, ROT= 101.4, -20.4 Ygot valid direction response: 04:41:26.1613 LVL= 24352, 31217, 28482, 32755, AGC= 60, IDX= 429, 0.18,-2.195,-2.864, 2.414,-2.493, PHS= 0.400,-0.326,-1.420, RAW= 53.3, 16.7, CAL= 48.6, 20.4, ROT= 101.4, -20.4  PDAT read: Bearing 224.2, 66.6 (Local)  ~Local bearing/azimuth received: Bearing 224.2, 66.6 (Local) DAT read: Range 11 to 50 : 169.9 m (Round-trip 226.6 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.)%^direction in FSK: [-0.185261,0.918791,0.348572]-Fpublishing direction and range infoy(ŸǿXf?<O?Y)C _yBo )<I>iy馾µ%n?;>%Y? K>)?IK$I?t$uֵJb? ꔿ)T,I?iKmT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.en9-@ @@/@I IO%o>Qԁ e *DAT read: user:141> m BDAT read: Tx time:04:41:27.5305 m $Ping request sent.m ٱ2ԭ: :AHRS rotation from veh to nav: [[0.677250,0.719724,0.152743],[-0.714839,0.692809,-0.094977],[-0.174179,-0.044864,0.983691]]2H? ??~+?bP|Kƿ`fz?i2@I25_;2CY^LBybHYi%Mb@Mb@Mb@!!!! !9% rh?i|?5zGếY%l>y%q% ׽%tA%$A !)%A!Y%=AbD]VD]N2ymn%m8=ٔm{Q-m>9Y=FyE>Q 55}?Q 95W)RBYa>Q EK;yQ IH@BI;i;5yBɮAEii ?AJi>)CRi>)CjiPe?bm]oZ?cdpc@(=M@R(ŸǿXf?<O?Zi?biKjd/eX@b'+"_@C_)BL@ZQ~?=ĺC?{2_?2iB:icB"iw?*i懕$BiBiiiBi8!Ci0 ^?ReYzeYbeYjeaZeadadadajdeZa>ZR@Z@i))iIԁp9g/@ @@0@%=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253343DDa=E EE.E"EU,;*E:VEـ4ZEa@a@a@a@IqIO}>ԱB >BSCBBB =BBǺDB;BDE Ǎ,9?A2@2X@2g0>ٱ2rfB :AHRS rotation from veh to nav: [[0.675713,0.721331,0.151965],[-0.716956,0.691012,-0.092068],[-0.171421,-0.046741,0.984089]]2Hq? $?s? N?ſl@}?i2@I2_;2CYFKByFHbDNVDN:2yV%Vl=ٔVUQ-V?9XYX=ZFyX^E^?`Q 5f5bN?Q 9f5b)bRBYdyfQ IfH@bBIb:ib[:b5ylɮnAp~B*** querying acoustic contact ***i| i|RezebejeZedddjdZdX?ԹZZZZ臥@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503045i!)!))))i))I11@ @@4@IIO'> f> ѐCE  E E E "E [";*E ˭:VE ZE BE zٱ2,E :AHRS rotation from veh to nav: [[0.674090,0.723180,0.150375],[-0.719158,0.689017,-0.089817],[-0.168565,-0.047599,0.984541]]2H%?J$?`??Wm ?@Aſ^@[?i2#@I2X_;2CY^LBy^H=only read 2 of 4 data items for bottom velocity. Device response is::BS, -64, +263, a=@a= a=@a= a=@a= a=@a= bDEVDEk1yU=%U@=ֻٔQ->9Y=FyJʻE>Q 55?Q 95i)RBQ A+:YQ E%;ysQ IH@PBI;i>5y)ɮ-A)ReizeibeijeiZeididdjdZd\?i))iIs9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011011Ie$4@a @a@e3@aIqIO:>iԙ ٚ,km?AJjէ@JAЮ@J>*>ٱJCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262954DTzDTEZ EZEZ,EX"EZ%.;*EZE:VEZg4ZEXa^@a^@a^@a^@ fAHRS rotation from veh to nav: [[0.672584,0.725083,0.147934],[-0.721199,0.687046,-0.088542],[-0.165838,-0.047138,0.985026]]JHυ?3??H?@.:ſq"T?iJjէ@IJD_;JCYnLByrHbDz VDz2y{%P=ٔ!Q- >9 Y = Fy ۻE>Q 5%5?Q 9%5`)JRBQ A- :Y)Q E-;y-Q I-H@{BI:idR?5y1ɮ5A9ReYzeYbeYjeYZeYdadadajdaZde?i))顑iIA9A=@ABM >BMRCBMHBMJBBM =BIBIBM{;BMDEq,s9p6@ @@/@IIO!>ԡUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514832 ,}]?A2_@26@2'>ٱ2? :AHRS rotation from veh to nav: [[0.671109,0.726986,0.145273],[-0.723156,0.685096,-0.087684],[-0.163271,-0.046209,0.985498]]2Hy?wC?L?$ N?xrĿ 4?i2_@I2_;0YBFLByF>HbDNVDNN2yV=%VP=ٔVUٻQ-V>9XYX=ZFyXZO̻E^>Q 55N?Q 95z)RBQ A%9Y!Q E%:y%⎿Q I%H@BIu ;iĜ?5y)ɮ-SA1ReqzeqbeqjeqZeqdydydyjdZd+-?i))顩iI dA]Iu9IueA)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768860E EE.E"E;*E:VEـ4ZEBEcu) e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0189540,6?A02@2ꬮ@2a%>ٱ2+M@ >AHRS rotation from veh to nav: [[0.670033,0.728329,0.143505],[-0.724706,0.683660,-0.086082],[-0.160805,-0.046321,0.985899]]2H p? xN?[^?0?~ ?Ŀ@U`{?i2@I2N_;2CYbPLBybKHddaa aa aa aa iMb@Mb@Mb@ 9L7A`?Q)\(Y+>yuGaA;A )AY׽AbDVDy <%;=ٔ*Q->9Y=FyE>Q 55?Q 95)QBQ AT:Yr>Q E@;yQ IH@BI;i;5yɮ?ARezebe je Ze d d d jdZd @Z5r>Z5r>Z5"@Z5G@iA)A)IIIiIQIQ5Bw9ԉ9@ @@/@IIO">bEMA{4jEMv4rEM0E EE*E"E ;*E:VE(N4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274340B= >B=SCB=HB=%KBB9B9B9B=S;B=aDE ,/?A2?@2@2q/#>ٱ2n)H :AHRS rotation from veh to nav: [[0.668331,0.729942,0.143244],[-0.726741,0.681806,-0.083599],[-0.158687,-0.048229,0.986150]]2Hb?[?U?uAZ?fOĿ ?i2?@I2b;2CYRELByR=HbDZVDZܲyb%b[=ٔfQ-f>9dYd=fFydjEj>lpQ 5v5r?Q 9v5rG)rQBYtyvQ IvH@rBIr[:irt:r5y~Bɮ~iA~EB*** querying acoustic contact ***i iv%4Docking module at standby.ze!be!je!Ze!d!d!d)jd)Zd-:@ZQZQZQZUϦ@ia)a)iiiiiiIq=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527203w9 @ @@_0@IIO!>1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782502E  E E -E "E s!;*E :VE t4ZE BE xٱ6K >AHRS rotation from veh to nav: [[0.666680,0.731624,0.142352],[-0.728679,0.679937,-0.081931],[-0.156733,-0.049107,0.986419]]6H`qU?vi?`8?UQ ?t Ŀ$`?i6I@I6Xa;6CY^bLByb`H9iMMb@Mb@Mb@IIII I9MQ? ףp= L7A`堿YMu>yMQ8M+MAM7A MĪA)MAIYMAbDeVDek2yu=%u@=ٔu'Q-u>9yYy=}FyyĻE>Q 55$?Q 95)QBYP|>Q EW;yQ IH@FBI ;iu ;5yɮ0Av8Undocking sequence complete.q;1<dddjdZd] @ZP|>ZP|>Z|!@ZD,@i)i!I!IED?)EZ?my9iu?iu>MBDAT read: Rx Time:04:41:30.1621 UTRx dataTimestamp_ set to:1761540091.500617]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032762@ @@%0@!I1IAOMS>ԑ (,.?A2-w@2r@20>ٱ2&H :AHRS rotation from veh to nav: [[0.665448,0.733132,0.140344],[-0.730210,0.678365,-0.081335],[-0.154834,-0.048357,0.986756]]2HXK?u??])?YҴÿ6¨ ?i2-w@I2?a;2CEB EBEB.E@"EBU,;*EBS:VEBـ4ZE@aJ@aJ@aJ@aJ@Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282910Y~oLBy~qHI8>)bDVDkym=%uJ=ٔu웻Q-}>ԙ9Y=FyPE>B>BB HBNKBB =BBȺDBG;BXDEBSCBRCBB =B =C 5Q 5%5}?Q 9%5)QBY!y%ȃQ I%H@zBI$:i:35y1ɮUAQxuHTransitioning to midcourse guidance.1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.536887 , ?A2n@2i@2>ٱ2RA :AHRS rotation from veh to nav: [[0.664876,0.734110,0.137921],[-0.731057,0.677428,-0.081528],[-0.153282,-0.046622,0.987082]]2H F?`}?i?d}? ߴ@žÿާ-?i2n@I29y`;2CY^LBybHbDjVDjJyrI=%rT=ٔrcQ-v>9tYt=vFytzf-Ez>|Q 5U5~B?Q 9U5~)~pQBYQy]߃Q I]H@~BI~;i~;~h5yaɮeAae@q<vCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide1; vAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideuCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockdddjdZd(@ZZZZ@i)iIU/|9E EE,E"E;*EE:VEg4ZEBEpFpublishing direction and range infoyf|_:̿+?Fv>{14?Y*Cp|Am )BI>i7&Qd?Q >4QO?  g>)q?I g}<?_V_H쿞O? )"Iq?i gT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Qe *DAT read: user:142> m BDAT read: Tx time:04:41:31.6305 m $Ping request sent.m ٱ2]< :AHRS rotation from veh to nav: [[0.664393,0.734929,0.135871],[-0.731834,0.676620,-0.081271],[-0.151661,-0.045439,0.987388]]2H B?`?8d?.kަ?+δiÿC?i2g@I2_;2CYbLBybHiMb@Mb@Mb@ 9)\(?yt`A )AYQbDmVDm0y}<%}3=ٔjkQ->9Y=FyE>Q 55?Q 95)TQBYf>Q El;yҀQ IH@BI:iU:g5yɮAiiQl?AJi)CRi)CjiHk?bBXBvZc@+/vM@Rf|_:̿+?Fv>{14?Ziq?bi gjja|::X@9Z_@Z5jL@ZuB?XH? i?2iB:iB"i럊?*i~nBiBiiiBi!CiF_?< yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1> |Initialize.q>|Initialize.1=<q>ee1>eq=zAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange={ rTransitioning to terminal guidance at range 169.899994 m = = zNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )1=> }:Initialize WaypointComponent.=}ZNavigating to waypoint: 36.779130,-121.859630d!d!d!jd%Pe@Zd-?ZMf>ZMf>ZM@ZM?ۨ@]HBɢ]=)e.< e4?ia)eeaieϒ9iIuA }fA}fA(~9ԁY@Y @Y@e/@aE EE.E"E);*E:VEـ4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250932IIOh>B>BBWHBKBB =BBǺDBw;BDEԱ >d,\ٱ2z< :AHRS rotation from veh to nav: [[0.664052,0.735429,0.134833],[-0.732452,0.676074,-0.080237],[-0.150165,-0.045477,0.987614]]2H???1B?>pf?c8ÿH?i2b@I2Φ_;2CYRLByRH V9xYx=~Fy|E> Q 5 5 +?Q 95 ) ?QBYy怿Q IH@ BI 6:i p: |5yɮAB*** querying acoustic contact ***i i}ZNavigating to waypoint: 36.779130,-121.859630"ff?*f2feeee@=zCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangedddjdZd?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502926Z!Z!Z!Z%E֨@1ɢ5=)9 =H?i9)=_:99i=9ErtɧEY:MG8iM𶿉I)M> M(kpHeading = 0.400000IM: U(kiHeading = 0.001000U%˂>IU0? U0?IYMp~9a@a @a@a@aIqIO:>Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758499E  E E +E "E ;*E :VE [4ZE BE vٱ27&@ >AHRS rotation from veh to nav: [[0.663712,0.735791,0.134529],[-0.733037,0.675619,-0.078713],[-0.148806,-0.046372,0.987778]]2H =??@=8?@ u?`& ÿ?i2\@I2s_;2CYFLByFHiMb@Mb@Mb@ 9 ףp= ?~jt rhYQ8>yļC A A)AYAbD-VD-y=vQ=%=E=ٔEYQ-E>9AYA=EFyAMκEM>QQ 5]5U ?Q 9e5U@ )U&QBYe.=>Q Ee;yeL{Q IeH@U%BIU?';iU&;U5yiɮuhAq1I ~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal1IA Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceA55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1C5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqC==Initialize.C= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlC==Initialize.1D=qD=1B=A=qDEgEh71DEfEh7CE MAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlCM1CMqCMfIfMfBM$Terminal guidance.1BUDU UInitialize. udInitializing internal variables to default values.uZTransitioning guidance mode to: UNINITIALIZED:hq}DRollout timeout set to 300.00 sec.}VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE:h?< yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance<yAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1> |Uninitialize.q>> }>Uninitialize WaypointComponent.dddjdZd@?Z.=>Z.=>Z@ZY@LB>) @i ) ^_:  ԙ @v,#p?AE: E:Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260100E:,E8"E:I;*E::VE:g4ZE8aR@aR@aR@aR@lZU@ZP@Ze>ٱZ@ ~AHRS rotation from veh to nav: [[0.663254,0.736377,0.133578],[-0.733753,0.674969,-0.077610],[-0.147312,-0.046538,0.987995]]ZH`9?f? ?z@X?G޳ ¿ӧ ?iZU@IZh_;ZCY]LByeHbDuBBBHBKBBBBB;BDEVDuN2yʇ=%D=ٔlmQ->9Y=FyFE>Q 55?Q 95 ) QBYy{Q IH@KBI:i":5yɮ/Ae addTargetRange:: Added new target pos. range: 170.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhmZhm Added new target pos. range: 169.847244 m, bearing: 52.737611 deg, lat: 36.779481 deg, lon: -121.859788 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhFNOT Ignoring new targets: 169.85 m.RhZh ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.623169 m, bearing: 50.101170 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 312.158551 deg, new cmd heading: 50.101170 deg. HeadingCmd: 0.874430 target range: 169.847244 and range: 170.50 m.h_?h*h"h hgfffdddjdZd p?ZiZiZiZm@yɢ+4;)= `I}_?IAI)?)I?My915checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510818 :I ) _Aa = 9@9  @A @A @A IQ Ia Om >],?A2L@2G@2 >ٱ2{; :AHRS rotation from veh to nav: [[0.662575,0.737325,0.131707],[-0.734627,0.674016,-0.077622],[-0.146006,-0.045325,0.988245]]2H@3? *??`? ߳ O¿4೟?i2L@I2`_;2CYBLByFHIF=)F>bDNVDNβyVZ=%V\=ٔVkhQ-Z>9XYX=ZFyX^AE^>`Q 5f 5b?Q 9f 5bG )bPBYdyf{Q IfH@blBIb:ib[:b 5yn™BɮnAnEjhFNOT Ignoring new targets: 169.85 m.Rh e:Zh  ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.641434 m, bearing: 50.123090 deg, approach rate: 0.050781 m/s, LOS rate: nan deg/s, cmd heading: 50.101169 deg, new cmd heading: 50.123090 deg. HeadingCmd: 0.874813 target range: 169.847244 and range: 170.50 m.h_?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@?9ZYZYZYZ]J@mLBɢmUb;)i md@=ii)un:qqiuZ:i')q GhAI_?Mտ9UhAYUmAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766442IiE EE.E"E*;*ES:VEـ4ZEBE-,ɣ?AYnMByr8H only read 0 of 1 data item for BIT error. Device response is::TS,00050308295285,35.0, 0.0,1498.9, 0 a @a  a @a  a @a  a @a  bDVDyE|z=%EA=ٔMQ-M>9IYQ=UFyQUEU>ԙQ 5 5?Q 9 5 )PBQ A+:YQ Eh;yQ IH@BI ;i> 5yɮAjh FNOT Ignoring new targets: 169.85 m.Rh:Zh% ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.663193 m, bearing: 50.149190 deg, approach rate: 0.049610 m/s, LOS rate: nan deg/s, cmd heading: 50.123091 deg, new cmd heading: 50.149190 deg. -HeadingCmd: 0.875268 target range: 169.847244 and range: 170.50 m.h-`?h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@iɢuAu;)q u =iq)}I~:yyi}:iI`?I9mW=@ @@4@DyD}R=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268569^A<B}>ByB}HB}LBB} =ByB}ȺDB}Ѝ;B}DEE E0E2E"EQ;*E;VE4ZEBEʥ<2E˥<JEFc<:EFc<IIO>9 ,?A6:@65@64t>ٱ6A FAHRS rotation from veh to nav: [[0.661200,0.738699,0.130914],[-0.736357,0.672413,-0.075095],[-0.143501,-0.046746,0.988546]]6H(?`k? ?<g?t9@<^¿刺@*?i6:@I6?_;6CY^MBybBHbDjVDjyr <%rQ=ٔrԻQ-r>9tYt=vFytzEz>|Q 5 5~?Q 9 5~h)~PBQ A :YQ E<;yM|Q I H@~BI~C ;i~+Q?~A 5yɮAjh9=FNOT Ignoring new targets: 169.85 m.RhE':ZhAU ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.682083 m, bearing: 50.171601 deg, approach rate: 0.050174 m/s, LOS rate: nan deg/s, cmd heading: 50.149189 deg, new cmd heading: 50.171601 deg. UHeadingCmd: 0.875660 target range: 169.847244 and range: 170.50 m.hU;+`?hY*hY"hY hYgYfafafadadidijdiZdm@额LBɢ;) =i)6:顡iK;i৕I;+`?I eAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188929eAfAA3=C>i%>U9@Q @Q@U4@Qԉ^A5 _= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773630Ii I E  E E ,E "E C#;*E :VE g4ZE BE {<2E {<JE <:E <O >ԙ ,~?A2,@2'@2:>ٱ2<0P :AHRS rotation from veh to nav: [[0.660084,0.739424,0.132446],[-0.737644,0.671359,-0.071821],[-0.142025,-0.050290,0.988585]]2Hg? \? ?`ǚ`{?`b@-¿`|?i2,@I275_;2CYB5MByFdH HHaMaM aMaU aUaU aUaU iUMb@Mb@Mb@QQQQ Q9UV-?{GzZd;YUh>yUףUyQUCA Q)QQYUAbDmVDmf?y}=%}A=ٔ}fQ->9Y=Fy!E>Q 5 55?Q 9 5)PBQ AT:Y>Q E;yāQ II@BI;ih; 5yBɮ6AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 169.85 m.RhN:Zh ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.699890 m, bearing: 50.190708 deg, approach rate: 0.041990 m/s, LOS rate: nan deg/s, cmd heading: 50.171602 deg, new cmd heading: 50.190708 deg. HeadingCmd: 0.875993 target range: 169.847244 and range: 170.50 m.hA`?h*h"h hgfffdddjd Zd @$j @Z->Z->Z-@Z-@=LBɢEo<)A E=iA)E:AIiMn0;iMIBQU0M>IUA`?IYU9UUQQi I A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023193!9@ @@4@a ^Am Z=I I O >, b?ADzD6BDAT read: Rx Time:04:41:34.2623 :TRx dataTimestamp_ set to:1761540095.785105:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277179@bEU^n4jEUcw4rEU0E~ E~E|E|"E~%;*E~:VE|ZE|a @a @a @a @B!B!B%,HB%7LBB% =B!B!B%ύ;B%DEu@u@u>ٱuY AHRS rotation from veh to nav: [[0.658674,0.740566,0.133081],[-0.739161,0.669926,-0.069565],[-0.140672,-0.052548,0.988661]]uH@???5@ p?ϱ¿窿?iu@Iu\_;uCYGMByzHbD VD y= =%=>=ٔEPQ-E>9AYA=EFyAMEM>QQ 5] 5U?Q 9] 5U)UPBYaye$Q IeI@UBIUB:iU:U 5yiɮmAjhFNOT Ignoring new targets: 169.85 m.RhJ:Zh ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.718140 m, bearing: 50.210080 deg, approach rate: 0.041757 m/s, LOS rate: nan deg/s, cmd heading: 50.190709 deg, new cmd heading: 50.210080 deg. HeadingCmd: 0.876331 target range: 169.847244 and range: 170.50 m.h>W`?h*h"h hgfffdd!d!jd!Zd%  @iZ Z Z Z @LBɢ<)! %=i!)U:QQiUN,Q;i];{Y]=I]>W`?I]ڄ9}PExceeded connect timeout, disconnecting.ԙ@ @@/@^A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526851IQIaOu> ,4 ?A2@2@2>ٱ2/V :AHRS rotation from veh to nav: [[0.657109,0.742268,0.131325],[-0.740837,0.668101,-0.069291],[-0.139171,-0.051759,0.988915]]2H ??@D?a?X.0?i2@I2B_;2CLYRYMByRHbDZVDZ1ybP=%bf=ٔfQ-f>9dYh=jFyhjwԻEj>lQ 5r 5n?Q 9v 5n)ncPBYtyv_Q IvI@nBIn:in:n 5yxɮzA|jh!%FNOT Ignoring new targets: 169.85 m.Rh%S:Zh)5 ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.733353 m, bearing: 50.226118 deg, approach rate: 0.043754 m/s, LOS rate: nan deg/s, cmd heading: 50.210080 deg, new cmd heading: 50.226118 deg. =HeadingCmd: 0.876611 target range: 169.847244 and range: 170.50 m.h=i`?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU@ZqZqZqZuw@LBɢ|D<)  g>i ) %:  i g;i=iAE=IMi`?III}8?)},?=9E} E}EyEy"E}s!;*E}S:VEyZEyBE}xi ףĿ/^?Ƈ>bJ?  >)?I ľٲAi?>|=)(? ȶ)I?i ľ^A]g<>AefAzAegA}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.IIOf>! % *DAT read: user:143> - BDAT read: Tx time:04:41:35.6805 - $Ping request sent.- yԼ+pAA A)AYAbDVDβy- <%-6=ٔ5Q-5>91Y9==Fy9=E=>AQ 5M 5Ea"?Q 9M 5Ep)EQ EU;yUQ IUI@E'BIEe";iE ;E 5yaɮeAaii?AJi *CRi *Cji`m?b/|CSc@!O@R\Ϳ9??Zi?bi ľj5CW@ҙ_@09ePN@Z-: ?Dt?E#X?2iB:iB"iv?*iO BiBiw?i懕$ii Cig? addTargetRange:: Added new target pos. range: 170.699997 m, deltaT: 4.032915 s, deltaX: 0.199997 m, approachRate: 0.049591 m/s, rangeRepo size: 2  Added new target pos. range: 170.045883 m, bearing: 53.049806 deg, lat: 36.779440 deg, lon: -121.859770 deg, deltaT: 4.032915 s, deltaX: 0.198639 m, approachRate: 0.049254 m/s, posRepo size: 2 jhFNOT Ignoring new targets: 170.05 m.RhZh-ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 53.049806 deg.HeadingCmd: 0.925894 target range: 170.045883 and range: 170.70 m.h`m?h*h"h hgfffdddjd`fVe@Zd`?Zu#>Zu#>Z~N@Z@LBɢ.<) >i)];:i`;iPEsI`m?)I1E9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252163E EE+E"E;*E:VE [4ZEa@a@a@a@@ @@@@=@i>B>BRCBjHBjLBB =BBǺDBƍ;BDEBBSCBBBC\5Y^A#q>II)O5>ԁ ,c>?AnManaging dock network, ignoring radio surface power off6ڦ@6խ@68 >ٱ6mvO >AHRS rotation from veh to nav: [[0.653223,0.746333,0.127618],[-0.744852,0.663680,-0.068734],[-0.135995,-0.050158,0.989439]]6H3?`?U? 9)Y)=5Fy15yE5>9Q 5E 5=l$?Q 9E 5=)=PBYIyMQ IMI@=ABI=:i=:= 5yQɮUAYQjhFNOT Ignoring new targets: 170.05 m.Rh_P:Zh_P: ProNav: ac range: 170.045883 m, nav range: 160.123566 m, bearing: 51.871483 deg, approach rate: 0.054135 m/s, LOS rate: 0.045543 deg/s, cmd heading: 53.049806 deg, new cmd heading: 53.099562 deg. Bh :HeadingCmd: 0.926762 target range: 170.045883 and range: 170.70 m.hI@m?h*h"h hgfffdddjdZd@?iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503229ZZZZu@LBɢ֌I<) $>i)+:i;i S>  I I@m?I9i@i @i@m4@iԙ^AE9>AuAIyIO~>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757400E  E E E "E );*E :VE ZE BE Pٱ6cz BAHRS rotation from veh to nav: [[0.652000,0.746090,0.135077],[-0.745993,0.663088,-0.061716],[-0.135614,-0.060528,0.988911]]6H.? ?7J?+8?F[`~(?i6ͦ@I6%_;4Y^oMBybHiEMb@Mb@Mb@AAAA A9EK7?{GzQYEI >yEףEuEAEOA EA)EAAYEAbD]VD]1ym=%mF=ٔuOtQ-u>9u ?Yu ?=}Fy}8E}ÅE}>Q 5 5&?Q 9 5)OBY>Q E;yQ II@]BI:i: 5yɮAԹB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 170.05 m.RhU F:ZhU F:e ProNav: ac range: 170.045883 m, nav range: 160.142975 m, bearing: 51.889385 deg, approach rate: 0.046934 m/s, LOS rate: 0.043284 deg/s, cmd heading: 53.099561 deg, new cmd heading: 53.153261 deg. Bhe:mHeadingCmd: 0.927699 target range: 170.045883 and range: 170.70 m.hm}m?hi*hi"hi hqgfffdddjdZd`? LBɢEzF<)A MR>iI)M:Ii;i&%I}m?I fAdAm9IufA)ubAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006862@ @@%4@!^A ;>A E}  E} E} /Ey "E} ;*E} ˭:VE} J4ZEy a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258918A ܏AI I O >U,s?AB">B"QCB"HB"LBB" =B":DB"ƺDB";B"EEB@B谭@B >ٱBꟽ JAHRS rotation from veh to nav: [[0.649956,0.745586,0.147166],[-0.747884,0.661912,-0.050422],[-0.135005,-0.077291,0.987826]]BH q??@V?`a.?Щ@GWɳD?iB@IB_;BCYRpMByRHXZAbD^VD^ܲyfS;%fL=ٔf+ɺQ-j>9u?Yu?=uFyu<E}ڻE}>Q 5 5 )?Q 9 5)OBԑYyӅQ II@yBI.;i0;D! 5yɮAjhFNOT Ignoring new targets: 170.05 m.Rh :D:Zh :D: ProNav: ac range: 170.045883 m, nav range: 160.163330 m, bearing: 51.907585 deg, approach rate: 0.047973 m/s, LOS rate: 0.042889 deg/s, cmd heading: 53.153260 deg, new cmd heading: 53.207854 deg. Bhy:%HeadingCmd: 0.928652 target range: 170.045883 and range: 170.70 m.h%'m?h!*h!"hI hIgIfIfQfQdQdQdYjdYZd]?LBɢM<) >i)ƫ:i' ;iveI'm?I)9Թ@ @@i4@^AuS>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513431AAIIO> u8#,?A6@6@6>ٱ6m" BAHRS rotation from veh to nav: [[0.646867,0.746669,0.155075],[-0.750854,0.659151,-0.041693],[-0.133349,-0.089468,0.987023]]6H!?`?|??Xf綿`?i6@I6^;4YJMByJHbDVVDVky^e=%^L=ٔ^ЈQ-^>9b??Yb??=bFyb@Ef:Ef>hQ 5j 5j+?Q 9n 5j2)jOBYlyn Q IrI@jBIj;ij;j$ 5ytɮvAtjhFNOT Ignoring new targets: 170.05 m.RhG:ZhG:- ProNav: ac range: 170.045883 m, nav range: 160.182205 m, bearing: 51.924000 deg, approach rate: 0.050267 m/s, LOS rate: 0.043710 deg/s, cmd heading: 53.207853 deg, new cmd heading: 53.257092 deg. Bh-:5HeadingCmd: 0.929512 target range: 170.045883 and range: 170.70 m.h5ym?h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM h?额LBɢ[{r<) 3>i)ފ:顩ipw;i579= IEym?IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765500E EE*E"E;*E:VE(N4ZEBEsAII O>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848y b),]?A2f@2`@20>ٱ2 j :AHRS rotation from veh to nav: [[0.642950,0.749898,0.155783],[-0.754580,0.655052,-0.038930],[-0.131240,-0.092521,0.987024]]2H ?)??@%0?t@p ?i2f@I2^;2CY^MBybHiuMb@Mb@Mb@qqqq q9uQ?Mb:vYu(>yuuTuAuA uA)uAqYuAbDVDy3%==ٔ⠻Q->9Y=FyDENE>Q 5 5w.?Q 9 5)OBYW1>Q E;yVrQ II@BIh;i:_( 5yɮAjhFNOT Ignoring new targets: 170.05 m.RhJw:ZhJw:  ProNav: ac range: 170.045883 m, nav range: 160.201202 m, bearing: 51.947419 deg, approach rate: 0.043851 m/s, LOS rate: 0.054050 deg/s, cmd heading: 53.257092 deg, new cmd heading: 53.327339 deg. Bh `;HeadingCmd: 0.930738 target range: 170.045883 and range: 170.70 m.hDn?h*h"h hgf!f!f!d!d)d)jd)Zd-`+@QeLBɢe=\<)a e,>ia)mH ;iiim;i}<̾yyI}Dn?IU[9]t>iY 9@  @ @@ԁE EE)E"E*E:VEFA4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267131ZEa@a@a@a@^A^,>BM>BMRCBMHBMLBBM =BM9DBMǺDBMA;BMLEEAM0AIYIiOu>ԩ J0,8?A4<ɰ;2:@25@2>ٱ2W :AHRS rotation from veh to nav: [[0.639138,0.754158,0.150828],[-0.758189,0.650747,-0.040965],[-0.129045,-0.088173,0.987711]]2Hs?"?QN?C? [T?i2:@I2O^;2CYFMByFHJ=J=bDRVDRf?yV<%Z[=ٔZE»Q-Z>9Z?Y^?=^Fy^GE^gEb>`Q 5f 5bY1?Q 9j 5b)bOBYhyjNsQ IjI@bBIbB:ib|:b+ 5ynBɮrArEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518756jhFNOT Ignoring new targets: 170.05 m.Rh m:Zh m: ProNav: ac range: 170.045883 m, nav range: 160.217834 m, bearing: 51.967612 deg, approach rate: 0.042692 m/s, LOS rate: 0.051828 deg/s, cmd heading: 53.327341 deg, new cmd heading: 53.387914 deg. BhF;HeadingCmd: 0.931795 target range: 170.045883 and range: 170.70 m.hn?h*h"h hgfffdddjdZdQ@-LBɢ-l`n<)) -3>i))-m;11i5;i]]GYYI]n?IaԱUF9!@! @!@!@!^A= mg>iG(hA 9(hAYAAIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770735E EEE"E8;*E:VEZEBEُyף,AnA A)hAYAbDVD:y%:=ٔQ->9Y=FyLEE>Q 5 55?Q 9 5)dOBYUS>Q E;yAjQ II@BI :i:y/ 5yɮA B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 170.05 m.Rh%G:Zh%G:5 ProNav: ac range: 170.045883 m, nav range: 160.239151 m, bearing: 51.997277 deg, approach rate: 0.050353 m/s, LOS rate: 0.070063 deg/s, cmd heading: 53.387914 deg, new cmd heading: 53.476896 deg. Bh5U@;=HeadingCmd: 0.933348 target range: 170.045883 and range: 170.70 m.h=n?h9*h9"hA hAgAfAfIfIdIdIdIjdQZdU @颅LBɢ}a<) )>i)u;顉iZ;ikjIn?I9]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023900!@! @)@-0@)^A=9A5ڗAIAIQOm>i  BDAT read: Rx Time:04:41:38.3125  TRx dataTimestamp_ set to:1761540099.816029 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275817E  E E 0E "E (;*E :VE 4ZE a @a @a @a @B= <A= <BE >BE QCBE HBE LBBA BE :DBE ƺDBE `;BE hEE@<,?A 6-@6@6/=ٱ6/ >AHRS rotation from veh to nav: [[0.631551,0.761327,0.146713],[-0.765272,0.642480,-0.039729],[-0.124507,-0.087184,0.988381]]6H`5?\?{? }1?YW߿`Q@Ѡ?i6-@I6O^;6CY~MBy~HbD VD ܲyo<%%U=ٔ%aCQ-%>9-?Y-?=-Fy-OE-߼E->1Q 5} 559?Q 9} 55E)5JOBYyy}lQ I}I@5%BI5i) ]$;顙i;i<IHo?I eAfAq9!@! @!@%0@!^Ac<A?A>ԙechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527535A)I9IIOU> C,?A69@6@6 O=ٱ6ۻ BAHRS rotation from veh to nav: [[0.628258,0.763785,0.148066],[-0.768316,0.639036,-0.036374],[-0.122402,-0.090909,0.988308]]6H ?p??@ r?`UE8?i69@I6^;6CYJMByJHPbD^VD^1yrͻ%rN=ٔv#Q-z>9xYx=zFyzSE9E> Q 5% 5 z=?Q 9% 5  ) /OBY)y-4nQ I-I@ MBI n;i go; N6 5y9ɮEAAjhFNOT Ignoring new targets: 170.05 m.Rh:Zh: ProNav: ac range: 170.045883 m, nav range: 160.279236 m, bearing: 52.050054 deg, approach rate: 0.051755 m/s, LOS rate: 0.067363 deg/s, cmd heading: 53.554533 deg, new cmd heading: 53.635206 deg. Bh8;HeadingCmd: 0.936111 target range: 170.045883 and range: 170.70 m.ho?h*h"h hgfffdddjdZdm@E EE.E"E=-;*E:VEـ4ZEBEri|?#ɿ g5?;>$? >颅LBɢ0M<)  >i)u.;顉i9>;i`Io?)?I;dHmI?#H8? >)I?i;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I9Q@Q @Q@U0@Q@]fA@]fA^A- l I  *DAT read: user:144>  BDAT read: Tx time:04:41:39.7305  $Ping request sent. mI,ۧ(?ARv@RM@R̰=ٱRt½ ^AHRS rotation from veh to nav: [[0.625165,0.766114,0.149125],[-0.771187,0.635747,-0.033099],[-0.120163,-0.094311,0.988264]]RH@Y??`? X?@O þ$`ܟ?iRv@IR_;PYfoMByfHiMb@Mb@Mb@ 9`"?MbP?Zd;OYw>y:j<jA A)/AYAbDVDky(%>=ٔ Q->9Y=FyWE0"E>Q 5 5B?Q 9 5")OBY?|>Q EW;yjgQ II@BIO;iSM; : 5yɮAi1i5?AJi5=*CRi5=*Cji53?b5)NWcb@@/P@R5͜. ׿<-i*?dK?Zi5?bi5;j55O&rzT@;M>a@}}M@Z5rŸR?fH?Ma?2i5C:i5ӣB"i5$!`9?*i5|Bi5Bi5럊?i5O i5Bi5Ci5i)%4;!!i-;Ii]=YYI]p?Ie9D=D4=bE5 [4jE5Ye4rE5żk0E EE+E"EU,;*Ea:VE [4ZEa@a@a@a@BBBBBBBBE;BMEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251937@ @@4@q^A7ƙA I I O >ԡ P,B?A2n|@2Ew@2=ٱ2$̽ :AHRS rotation from veh to nav: [[0.622236,0.768145,0.150919],[-0.773933,0.632607,-0.028922],[-0.117689,-0.098805,0.988123]]2H[?? OQ?P>? EK ?i2n|@I2^;0YBhMByFHbDNVDN0yVx%V]=ٔVܻQ-V>9XYX=ZFyZ[EZ2E^>`Q 5f 5b9G?Q 9f 5b$)bNBYdyfhQ IjI@bBIb:ib:bH= 5ylɮnAljhFNOT Ignoring new targets: 170.24 m.Rh :Zh :echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502082y ProNav: ac range: 170.241180 m, nav range: 159.739960 m, bearing: 53.005491 deg, approach rate: 0.062879 m/s, LOS rate: 0.083795 deg/s, cmd heading: 53.722347 deg, new cmd heading: 53.812693 deg. Bhf;HeadingCmd: 0.939209 target range: 170.241180 and range: 170.90 m.hop?h*h"h hgfffdddjdZd?%LBɢ%K<)! ->i))-:;))i-fE EE0E"E1;*E՚:VE4ZEBEkyIM/]MAMA MXA)MAIYMAbDeVDeymUw<%u>=ٔu Q-u>9}c?Y}c?=}Fy}_ETE>Q 5 5bM?Q 9 5G')NBY>Q E6;y[iQ II@BI;id;A 5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 170.24 m.Rh:Zh: ProNav: ac range: 170.241180 m, nav range: 159.771362 m, bearing: 53.046786 deg, approach rate: 0.073027 m/s, LOS rate: 0.096012 deg/s, cmd heading: 53.812694 deg, new cmd heading: 53.936554 deg. Bhȃ;HeadingCmd: 0.941370 target range: 170.241180 and range: 170.90 m.hp?h*h"h hgfffdddjd Zd ?LBɢJA<) >i)A;iI  I p?I iiIiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006554}9=9@9 @9@=/@9^A>J9AA IQ Ii O >Y B >B RCB B B B 9DB ǺDB @;B KEEBQCBQCBBˉ =Bˉ =Cpt5D zD AAE  E E -E "E ;*E :VE t4ZE BE @r<2E Ar<JE <% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258262:E <\,wv?ANb@N_]@N=ٱN3$ fAHRS rotation from veh to nav: [[0.620125,0.771492,0.142288],[-0.776321,0.629606,-0.030363],[-0.113010,-0.091632,0.989360]]NH`? ?@{6?`%?d@54u`ը?iNb@IN( _;NCY~_MBy~HbDVDy%$%%M=ٔ%vûQ-->9)Y)=-Fy-cE5zE5>9Q 5E 5=S?Q 9E 5=))=NBYIyM>iQ IMI@=#BI=:i=:=D 5yUBɮU A]EjhFNOT Ignoring new targets: 170.24 m.Rh:Zh: ProNav: ac range: 170.241180 m, nav range: 159.800537 m, bearing: 53.085096 deg, approach rate: 0.071887 m/s, LOS rate: 0.094380 deg/s, cmd heading: 53.936552 deg, new cmd heading: 54.051463 deg. Bh;HeadingCmd: 0.943376 target range: 170.241180 and range: 170.90 m.hq?h*h"h hgff f d d d jdZd` l?}LBɢL0<) =i)G;顉iRIq?I-9A@ @@@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510079q^A ԡ A I! I9 O] >&c,b?Afm@fh@f=ٱf rAHRS rotation from veh to nav: [[0.621354,0.771470,0.136944],[-0.775679,0.630340,-0.031528],[-0.110644,-0.086634,0.990077]]fH!??`a?@\+?}$`2S-?ifm@If_;fCYzFMByzyHbD VD 02y+q%J=ٔCQ->9!Y!=%Fy%gE%T^;E->)Q 5= 5-X?Q 9= 5-+)-NBY9y=hQ I=I@-]BI-`;i-;- H 5yIɮM>AIjhquFNOT Ignoring new targets: 170.24 m.Rh}:Zh}: ProNav: ac range: 170.241180 m, nav range: 159.829895 m, bearing: 53.123917 deg, approach rate: 0.074312 m/s, LOS rate: 0.098247 deg/s, cmd heading: 54.051464 deg, new cmd heading: 54.167904 deg. Bhچ;HeadingCmd: 0.945408 target range: 170.241180 and range: 170.90 m.hGr?h*h"h hgfffdddjdZd`?LBɢo<) N=i)K;ioIGr?I fAdAqE EEE"E;*E5:VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.76225249M9@Q @Q@U0@Y^A=f$AE?AE ?ԙI9IIOUu>e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014131 {j,'.?A6@6~@6S=ٱ6SC BAHRS rotation from veh to nav: [[0.623609,0.770597,0.131501],[-0.774225,0.632079,-0.032432],[-0.108111,-0.081586,0.990785]]6H ? ??s9?򚠿`* ⴿ?i6@I6i_;6CY^RMBybH ddieMb@Mb@Mb@aaaa a9eq= ףp?y&1DlYe>ye`eeOeAa e(A)eAaYe׻AbDVDy<%B=ٔnƻQ->9Y=FykE;E>Q 5 5_?Q 9 5.)ZNBYD>Q E;ysQ II@BIR;iR;K 5yɮ'AjhFNOT Ignoring new targets: 170.24 m.Rh$:Zh$: ProNav: ac range: 170.241180 m, nav range: 159.871918 m, bearing: 53.170991 deg, approach rate: 0.094514 m/s, LOS rate: 0.105848 deg/s, cmd heading: 54.167905 deg, new cmd heading: 54.309091 deg. BhI;HeadingCmd: 0.947872 target range: 170.241180 and range: 170.90 m.hŧr?h!*h!"h! h!g)f)f1f9d9d9d9jd9ZdE|@mLBɢm!<)q u=iq)u=~Q;qqi}yIŧr?I!Bm>BiBmHBmLBBm =BiBiBmD;BmOEEE EE.E"E;*E :VEـ4ZEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769BE]Q p,?A2@2ԣ@2ي=ٱ2ǚ :AHRS rotation from veh to nav: [[0.627297,0.768688,0.124970],[-0.771596,0.635202,-0.034026],[-0.105537,-0.075081,0.991577]]2H?@??S?`ks8?i2@I2"_;2CYBFMByFyHbDNVDNyV%V[=ٔVQ-Z>9XYX=ZFyZoE^FH<E^>`Q 5f 5be?Q 9f 5bt1)b3NBYdyjirQ IjI@bBIb:ib9:bN 5ynBɮnAn&EjhFNOT Ignoring new targets: 170.24 m.Rh ;Zh ;iI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518512 ProNav: ac range: 170.241180 m, nav range: 159.908264 m, bearing: 53.212436 deg, approach rate: 0.104116 m/s, LOS rate: 0.118694 deg/s, cmd heading: 54.309091 deg, new cmd heading: 54.433397 deg. Bh;HeadingCmd: 0.950042 target range: 170.241180 and range: 170.90 m.h5s?h*h"h hgfffdddjdZd0Z@%LBɢ% <)) -:=i))-T;))iUgSE EEE"EI;*E:VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770218ԁ w,?A02ԥ@2WϬ@2C=ٱ2i :AHRS rotation from veh to nav: [[0.631605,0.766125,0.118858],[-0.768519,0.638905,-0.034335],[-0.102244,-0.069658,0.992317]]2H6?@?zm?@q?j,ձ?i2ԥ@I2?_;2CYv7MByvfHiuMb@Mb@Mb@qqqq q9up= ף?y&1+Yu>yu`弙uu7AuA u$A)u|AqYuAbDVDy%<=ٔQ->9Y=FysEH<E>Q 5 5bm?Q 9 55)NBY>Q E;yxQ II@5BI ;i ;R 5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 170.24 m.Rh;Zh; ProNav: ac range: 170.241180 m, nav range: 159.961243 m, bearing: 53.267837 deg, approach rate: 0.121878 m/s, LOS rate: 0.127409 deg/s, cmd heading: 54.433397 deg, new cmd heading: 54.599546 deg. Bh;HeadingCmd: 0.952942 target range: 170.241180 and range: 170.90 m.hs?h*h"h hg!f!f!f!d)d)d)jd)Zd-` @LBɢ;) Xe=i)"W;iTs$Be >Ba Be HBe LBBa Ba Ba Be /;Be :EEE  E E E "E ;*E :VE ZE BE p9yYy=FywE<E>Q 5 5t?Q 9 5@8)MBYyIvQ II@BI;i;@V 5yBɮ A'EjhFNOT Ignoring new targets: 170.24 m.Rh;Zh; ProNav: ac range: 170.241180 m, nav range: 160.008789 m, bearing: 53.318968 deg, approach rate: 0.119399 m/s, LOS rate: 0.128362 deg/s, cmd heading: 54.599545 deg, new cmd heading: 54.752892 deg. Bh0;HeadingCmd: 0.955618 target range: 170.241180 and range: 170.90 m.hft?h*h"h hgfffdddjdZd@ @-MBɢ-C;)) -`+=i))5vZ;11i5I)@>=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526176^A IA i Iy O >m gG  9 Y A4,?A6j@6d@6=ٱ6?tT BAHRS rotation from veh to nav: [[0.645971,0.756613,0.101278],[-0.757376,0.651823,-0.038851],[-0.095410,-0.051609,0.994099]]6H@̫? -6?X?k<@??䣿l{l`?i6j@I6}P_;6CYHyHbDVVDVJٔ^3Q-^>9\Y`=bFyb{Eby<Eb>dQ 5j 5f{?Q 9j 5fQ;9)fMBYAyEsQ IMI@fBIf } BDAT read: Tx time:04:41:43.7305  $Ping request sent. 劀,ٵ-?ADRpȦ@RGí@RB;=ٱR# ^AHRS rotation from veh to nav: [[0.654906,0.750317,0.090124],[-0.750175,0.659877,-0.042414],[-0.091294,-0.039832,0.995027]]RH@?? [?o?<_@dC?iRpȦ@IR][_;RCYfMByfHHiMb@Mb@Mb@ 9)\(?Zd;OlYG>yj<A;A )AYfAbDVDJ2yM%M<ٔU Q-U>9U ?Y] ?=]Fy]E]%<Ee>aQ 5m 5eㅀ?Q 9u 5e?)emMBYu>Q Eu:yuJwQ IuI@e9BIe:ie:e] 5yɮ>Aiid?AJi*CRi*Cjiڍ?b6mP3a@~9)P@Rٓ(ؿS?dK?Zi@bij0lQ@SFXėa@Lτ#P@Z9MJ?4G\?S#|?2i C:i[B"ie?*i١BiBiv?i~niBiG Ci:q? addTargetRange:: Added new target pos. range: 171.500000 m, deltaT: 4.030001 s, deltaX: 0.600006 m, approachRate: 0.148885 m/s, rangeRepo size: 4  Added new target pos. range: 170.840027 m, bearing: 63.497795 deg, lat: 36.779409 deg, lon: -121.859747 deg, deltaT: 4.030001 s, deltaX: 0.598846 m, approachRate: 0.148597 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 170.84 m.RhZh  ProNav: ac range: 170.840027 m, nav range: 160.279053 m, bearing: 53.951043 deg, approach rate: 0.000000 m/s, LOS rate: 0.123888 deg/s, cmd heading: 54.899541 deg, new cmd heading: 55.078872 deg. Bh  HeadingCmd: 0.961308 target range: 170.840027 and range: 171.50 m.hBv?h*h"h hgfffd!d!d!jd%pe@Zd%|E?] MBɢ]]I;)Y ]BBHBLBB =BBB;BEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2457649I)eAEu EuEu.Eq"Eu ;*EuM:VEuـ4ZEqBEuWQ)$,&H?A20@2x+@2M=ٱ2 >AHRS rotation from veh to nav: [[0.664682,0.743031,0.078121],[-0.742106,0.668698,-0.046062],[-0.086465,-0.027358,0.995879]]2HE???Ue? g" >?i20@I2=_;2CYFMByF6HLNA N49Y=FyEe=E> Q 55 5 ?Q 9= 5 }C) BMBY9y=xsQ I=I@ BI ;i ; 2a 5yAɮEZAIjhFNOT Ignoring new targets: 170.84 m.Rh}';Zh}'; ProNav: ac range: 170.840027 m, nav range: 160.331650 m, bearing: 54.007332 deg, approach rate: 0.136873 m/s, LOS rate: 0.146431 deg/s, cmd heading: 55.078871 deg, new cmd heading: 55.247681 deg. Bh;=HeadingCmd: 0.964254 target range: 170.840027 and range: 171.50 m.h=Xv?h9*h9"h9 h9gAfAfAfAdididijdqZdu 1?MBɢiX;i) i) ];顉i7匘,c?AY MBy >HiMb@Mb@Mb@ 9K?Q뱿A`"Y^>y\Y~AݳA A)7AY\Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000529bDVDyk<%5=ٔQ->9Y=FyEE>Q 5  5@?Q 9 5SH)MBY_>Q E:y|Q II@BI ;ie ;%e 5y$BɮaA%(EEB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 170.84 m.Rh]U=;Zh]U=;m ProNav: ac range: 170.840027 m, nav range: 160.409241 m, bearing: 54.081037 deg, approach rate: 0.174337 m/s, LOS rate: 0.165527 deg/s, cmd heading: 55.247679 deg, new cmd heading: 55.468687 deg. Bhm2;uHeadingCmd: 0.968111 target range: 170.840027 and range: 171.50 m.hu#w?hq*hq"hq hqgqfyfyfydddjdZd7?A颍MBɢS\;) 0i) ];顙i<,}?A2@2z@2˚=ٱ23 :AHRS rotation from veh to nav: [[0.685600,0.725864,0.055436],[-0.724051,0.687821,-0.051500],[-0.075512,-0.004830,0.997133]]2H`p?G:? b?`m+@? .^ Ts?i2@I2[_;2CYBMByFDHDbDNVDNyVcD<%Zc=ٔZQ-Z>9\Y\=^Fy^E^=E^>`Q 5f 5bˠ?Q 9j 5bL)bLBYhyjtQ IjI@bYBIbY;ib;bJh 5ylɮrYApjh FNOT Ignoring new targets: 170.84 m.Rh=;Zh=; ProNav: ac range: 170.840027 m, nav range: 160.466385 m, bearing: 54.140506 deg, approach rate: 0.159263 m/s, LOS rate: 0.165682 deg/s, cmd heading: 55.468687 deg, new cmd heading: 55.647029 deg. Bh%i;-HeadingCmd: 0.971224 target range: 170.840027 and range: 171.50 m.h-!x?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=E?mMBɢmE|];)m~U< u8iq)u ];qqiu?i>Թq@q @q@}0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505047^A I I O >=,<?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7565256@6@6+=ٱ6A ; BAHRS rotation from veh to nav: [[0.696776,0.715725,0.047340],[-0.713884,0.698379,-0.051344],[-0.069810,0.001980,0.997558]]6HK? 8?=?"Y? I ߱ 7`??i6@I6o_;6CY^MBybBHIf >)f>f=fa=bDjVDj0EE EEEAEA"EET;*EEM:VEAZEAaM@aM@aM@aM@yD%>=ٔVQ->99Y9=EFyEEu=E}>Q 5 5?Q 9 5P)LBYypQ II@BI.ҫ,̗?AY~,MByYHiMb@Mb@Mb@ 9 r?ʡE~jtY?y AQA )AYAbDVDNy0=%A=ٔQ->9Y=FyEE>Q 5 5?Q 9 5BYB]HB]LBB] =BYBYB];B]EEB%RCB%RCB!B%‡ =B%‡ =C%{4 ProNav: ac range: 170.840027 m, nav range: 160.600784 m, bearing: 54.285666 deg, approach rate: 0.176172 m/s, LOS rate: 0.187765 deg/s, cmd heading: 55.876340 deg, new cmd heading: 56.082324 deg. Bh<HeadingCmd: 0.978821 target range: 170.840027 and range: 171.50 m.hz?h*h"h hgfffdddjdZd@'MBɢv;) ;i)g\;iXtG,4?A2@2h@2l=ٱ2h7< :AHRS rotation from veh to nav: [[0.719630,0.693537,0.033763],[-0.691964,0.720335,-0.047995],[-0.057607,0.011176,0.998277]]2H@5?s1?eI?$ ? Œ~`??@?i2@I2NN_;2CY^*MBybWHbDjVDj1yrE%r_=ٔrsQ-r>9tYt=vFyvEv=Ez>xQ 5] 5z?Q 9] 5z0Y)zLBYaye&jQ IeI@zBIz`(⹀,?t?A61@6 @6|_R=ٱ6`a< RAHRS rotation from veh to nav: [[0.731569,0.681182,0.028233],[-0.679831,0.731985,-0.045028],[-0.051338,0.013748,0.998587]]6H`i?@>?`?`-kl? H@'?l?i61@I6T_;6CYZ1MByZ_HiMb@Mb@Mb@ 9?L7A`尿{Gz?Yf?y+ף<AA A)AYQAbDVDyQ<%!=ٔ^JQ->9Y=Fy E $ =E>Q 5- 5U΀?Q 9- 5^)LBY-?Q E5:y5_Q I5I@BI`;i\;hw 5yAɮEAAuB*** querying acoustic contact ***iq iqjh 5FNOT Ignoring new targets: 170.84 m.Rh5S;Zh5S;u ProNav: ac range: 170.840027 m, nav range: 160.722977 m, bearing: 54.443745 deg, approach rate: 0.134086 m/s, LOS rate: 0.184940 deg/s, cmd heading: 56.276801 deg, new cmd heading: 56.556372 deg. Bhu;HeadingCmd: 0.987095 target range: 170.840027 and range: 171.50 m.h@|?h*h"h hgfffddd jd Zd \ @]4MBɢ],Q;)Y ]=iY)e\;顁i>Me=9BYA]<Be >BaBeHBeLBBe =BaBaBe;BeDE}BDAT read: Rx Time:04:41:46.3642 }TRx dataTimestamp_ set to:1761540107.892215checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273567E5 E5E1E1"E5 ;*E5?:VE1ZE1BE5R9iYi=mFymEu =Eu>yQ 5 5}߀?Q 9 5}pd)}LBYytVQ II@}BI}:i}w;}M| 5yUBɮAjhFNOT Ignoring new targets: 170.84 m.RhT;ZhT; ProNav: ac range: 170.840027 m, nav range: 160.787155 m, bearing: 54.546992 deg, approach rate: 0.115677 m/s, LOS rate: 0.186022 deg/s, cmd heading: 56.556371 deg, new cmd heading: 56.865987 deg. BhT;HeadingCmd: 0.992499 target range: 170.840027 and range: 171.50 m.he~?h*h"h hgfffdddjdZd`u@o? >)"?Iơ?ޏm) ? u)(zI"?iE EEE"E=;*E$:VEZEa@a@a@a@eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ԑ9@ @@0@@=@=Ա ^A  *DAT read: user:146>  BDAT read: Tx time:04:41:47.7805  $Ping request sent. ʀ,)Y-?AF@Fg޲@F=ٱF{ۻ< RAHRS rotation from veh to nav: [[0.768575,0.639672,0.010599],[-0.638916,0.768306,-0.038629],[-0.032854,0.022917,0.999197]]FH`*?`1x?`?@q ?@7ǣ`/Ҡw?l?iF@IF_;FCY^3MBy^aHiMb@Mb@Mb@ 9"~j?Zd;O~jt?YS?yj<=A A)KAYAbDVDNy%=%%"=ٔ% CQ-%>9)Y)=-Fy-E5)=E5>9Q 5= 5=?Q 9E 5=Fi)=LBYE6?Q EE:yEHQ IEI@==BI= ;i= ;= 5yQɮUAQiiiYQ?AJip+CRip+Cji[z?b}_1SGd@Z94J@Rn"JL8H?ќ?Zi"?bijMV@9Mb`@0VL@ZP?˘?o;(?2iC:i%B"iC?*iz͢BiBiC?iz͢ii!Ciz? addTargetRange:: Added new target pos. range: 172.100006 m, deltaT: 4.036008 s, deltaX: 0.600006 m, approachRate: 0.148663 m/s, rangeRepo size: 4  Added new target pos. range: 171.438690 m, bearing: 55.959339 deg, lat: 36.779387 deg, lon: -121.859715 deg, deltaT: 4.036008 s, deltaX: 0.598663 m, approachRate: 0.148331 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 171.44 m.RhZh ProNav: ac range: 171.438690 m, nav range: 161.800018 m, bearing: 55.958747 deg, approach rate: 0.000000 m/s, LOS rate: 0.186022 deg/s, cmd heading: 56.865986 deg, new cmd heading: 57.150074 deg. BhHeadingCmd: 0.997457 target range: 171.438690 and range: 172.10 m.hWY?h*h"h hgfffdddjd@3e@Zd+.?颽DMBɢL;) Xi)lcY;i"-RBSCBHBLBB =BBȺDBڍ;BDE]9Ia)aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249956E EE,E"E ;*EVEg4ZEBEa2EaJE;a:E;a)@) @)@50@1^Au #I I O > р,~G?A2@2r@2S<ٱ2c{< :AHRS rotation from veh to nav: [[0.781124,0.624362,0.004256],[-0.623794,0.780672,-0.037838],[-0.026947,0.026901,0.999275]]2H`?@?nq?D?_? ?i2@I2|_;2CYB6MByBfHIFR=)F4<bDNVDNyV<%Vf=ٔZ^Q-Z>9XYX=ZFyZE^c=E^>`Q 5f 5b?Q 9f 5bl)bLBYdyjCQ IjI@bBIb:ibN:b΃ 5ynZBɮnAn3EjhFNOT Ignoring new targets: 171.44 m.Rh P;Zh P; ProNav: ac range: 171.438690 m, nav range: 161.831268 m, bearing: 56.022635 deg, approach rate: 0.089295 m/s, LOS rate: 0.182520 deg/s, cmd heading: 57.150075 deg, new cmd heading: 57.341700 deg. Bh;%HeadingCmd: 1.000801 target range: 171.438690 and range: 172.10 m.h%C?h!*h)"h) h)g)f)f1f1d1d1d1i9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502206jd9ZdMh:?uJMBɢuA:)53< =i9)=X;99i=dASGAfA9@ @@*3@E9MAfAYMAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753917^A FӅ) I I E  E E -E "E ~ ;*E Z:VE t4ZE a @a @a @a @O >Y ׀,W$a?Af')@f#@f<ٱf< nAHRS rotation from veh to nav: [[0.793607,0.608429,-0.001505],[-0.608065,0.793042,-0.036611],[-0.021082,0.029970,0.999328]]fH`:e??x?XEu `?y ??if')@Ifð_;dYz4MByzcHiMb@Mb@Mb@ 9Gz? rh{Gz?Yp>yC#=A5A ٳA)xAY3AbDVD:y%8=ٔ.XQ->9Y=FyE8=E>Q 5 5?Q 9 5Np)LBYj>Q E:y0Q II@ BIC ;i ; 5y Bɮ A =Ejh15FNOT Ignoring new targets: 171.44 m.Rh=G;Zh=G;M ProNav: ac range: 171.438690 m, nav range: 161.852905 m, bearing: 56.100429 deg, approach rate: 0.048593 m/s, LOS rate: 0.174688 deg/s, cmd heading: 57.341699 deg, new cmd heading: 57.575048 deg. BhM;UHeadingCmd: 1.004874 target range: 171.438690 and range: 172.10 m.hU?hQ*hQ"hQ hQgYfYfYfadadadajdaZdm.6?颕QMBɢ~:) Xi)V;顡i9fTA @AA @AB >B B HB LBB =B B ǺDB č;B DE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2578104ހ,gz?AE2 E2E2)E0"E2l;*E2:VE2FA4ZE0BE2_F9yYy=}Fy}E^=E>Q 5 5?Q 9 5ss)LBYyo+Q II@nBI: ;i; 5yBɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 171.44 m.RhG;ZhG; ProNav: ac range: 171.438690 m, nav range: 161.868011 m, bearing: 56.168328 deg, approach rate: 0.038884 m/s, LOS rate: 0.174759 deg/s, cmd heading: 57.575045 deg, new cmd heading: 57.778724 deg. Bh;HeadingCmd: 1.008429 target range: 171.438690 and range: 172.10 m.h3?h*h"h hgfffdddjdZd`9m?uXMBɢuaٺ:)y }ռiy)},U;yyi}Ui}!>ԡ!@! @!@!@!Թ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509867^AM FӅAM ?AM >I I O >,欔?A2@2@2<ٱ2D_= :AHRS rotation from veh to nav: [[0.818965,0.573712,-0.012279],[-0.573762,0.818299,-0.034425],[-0.009702,0.035238,0.999332]]2H4?[? %`A\`/?@.`ރ ??i2@I2_;0YBTMByFH HHbDNVDN0yVr=%VX=ٔZ`rQ-Z>9XYX=ZFy^E^i=`Eb>dQ 5j 5fh!?Q 9j 5fov)fLBYhyj%Q IjI@fBIf:ifN:fg 5ypɮrsApjh  FNOT Ignoring new targets: 171.44 m.RhH;ZhH; ProNav: ac range: 171.438690 m, nav range: 161.878983 m, bearing: 56.234799 deg, approach rate: 0.028958 m/s, LOS rate: 0.175436 deg/s, cmd heading: 57.778722 deg, new cmd heading: 57.978119 deg. Bh;HeadingCmd: 1.011909 target range: 171.438690 and range: 172.10 m.hBJQCBJ&HBJMBBJ =BHBJƺDBJ;BJDE\bJ@b!@bcٱb/ = jAHRS rotation from veh to nav: [[0.843590,0.536529,-0.022187],[-0.536986,0.842975,-0.032223],[0.001414,0.039097,0.999234]]bH@??+?`2.? w,W?@?`?ibJ@Ibb_;`Yv>MByvoHiMb@Mb@Mb@ 9+?yt<<KAA A)׼AYAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266069bDVDNyN%=ٔ ߞQ- >9 "?Y "?=FyE=E>Q 5% 56?Q 9% 5=z)LBY->Q E-:y-GQ I-I@`BI ;i2 ;h 5y5Bɮ5A=>EjhYeFNOT Ignoring new targets: 171.44 m.RheH;ZheH;u ProNav: ac range: 171.438690 m, nav range: 161.863022 m, bearing: 56.335434 deg, approach rate: -0.027863 m/s, LOS rate: 0.175699 deg/s, cmd heading: 57.978115 deg, new cmd heading: 58.280047 deg. Bh});}HeadingCmd: 1.017179 target range: 171.438690 and range: 172.10 m.h}2?h*h"h hgfffdddjdZdS@bE=t4jE=7i4rE=n/E  E E *E "E I;*E :VE (N4ZE BE jjchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769940 BAHRS rotation from veh to nav: [[0.855111,0.517786,-0.026133],[-0.518401,0.854613,-0.029968],[0.006817,0.039174,0.999209]]2H]?഑?šX?{? ??i2m@I2P_;2CYJAMByNrHbDVVDV!y^ ;%^ =ٔ^-Q-^>9`Y`=bFybEf/=Ef>dQ 5n 5fH?Q 9n 5f~})fLBYlynQ InI@fBIf;if:fۗ 5ytɮvAtE EE/E"E ;*Ev:VEJ4ZEa@a@a@a@jhFNOT Ignoring new targets: 171.44 m.Rh(D;Zh(D; ProNav: ac range: 171.438690 m, nav range: 161.843719 m, bearing: 56.424828 deg, approach rate: -0.037025 m/s, LOS rate: 0.171492 deg/s, cmd heading: 58.280044 deg, new cmd heading: 58.548257 deg. Bhc;HeadingCmd: 1.021860 target range: 171.438690 and range: 172.10 m.hN̂?h*h"h hgfffdddjdZd@}rMBɢ}0\9) Gi)ƳN;顩iNTBmPCBm2HBm MBBm =Bm:DBmźDBm;BmDEB B B ΔCB B C Ά5AI!I1OE>,?A(2%\@2V@2>ٱ2> = >AHRS rotation from veh to nav: [[0.866482,0.498329,-0.029613],[-0.499072,0.866105,-0.028080],[0.011655,0.039110,0.999167]]2H@8??R ߿@"?@އ?-?,?i2%\@I2_;2CYF7MByFgHNBDAT read: Rx Time:04:41:50.4147 RTRx dataTimestamp_ set to:1761540111.924217Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274998E EE-E"E ;*E?:VEt4ZEBERy<tvAA A)AY\AbDVDfy-%5=ٔ5Q-5>99Y9==Fy=E='=EE>AQ 5m 5E]?Q 9u 5Eɀ)ELBYu>Q Eu:yuQ IuI@E6CIE;iE*:E 5y}BɮA?EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 171.44 m.RhRG;ZhRG; ProNav: ac range: 171.438690 m, nav range: 161.815079 m, bearing: 56.520426 deg, approach rate: -0.052198 m/s, LOS rate: 0.174259 deg/s, cmd heading: 58.548259 deg, new cmd heading: 58.835100 deg. Bh/;HeadingCmd: 1.026866 target range: 171.438690 and range: 172.10 m.hZp?h*h"h hgfffdd!d!jdaZde @ԁ}MBɢ) ~i)I;iT@,?AY&MByQHbD%VD%ky5 )%=H=ٔ=Q-=>99YA=EFyEEEEE>IQ 5U 5Ml?Q 9U 5M=)MLBYYyYQ I]I@MjCIMD;iM;M5 5yaɮeAijhFNOT Ignoring new targets: 171.44 m.RhM;ZhM; ProNav: ac range: 171.438690 m, nav range: 161.794037 m, bearing: 56.591629 deg, approach rate: -0.053138 m/s, LOS rate: 0.179837 deg/s, cmd heading: 58.835099 deg, new cmd heading: 59.048737 deg. Bh;HeadingCmd: 1.030595 target range: 171.438690 and range: 172.10 m.h?h*h"h hgfffdddjdZd@DAT read: 04:41:50.4147 LVL= 25584, 26497, 32754, 29939, AGC= 64, IDX= 448, 0.22,-2.361, 2.884, 1.808, 3.064, PHS= 0.961,-0.135,-1.299, RAW= 59.0, 4.9, CAL= 58.2, 3.8, ROT= 91.8, -3.8 Ygot valid direction response: 04:41:50.4147 LVL= 25584, 26497, 32754, 29939, AGC= 64, IDX= 448, 0.22,-2.361, 2.884, 1.808, 3.064, PHS= 0.961,-0.135,-1.299, RAW= 59.0, 4.9, CAL= 58.2, 3.8, ROT= 91.8, -3.8 PDAT read: Bearing 285.3, 87.0 (Local) ~Local bearing/azimuth received: Bearing 285.3, 87.0 (Local) DAT read: Range 11 to 50 : 172.5 m (Round-trip 230.0 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.031342,0.997309,0.066274]Fpublishing direction and range infoy0 O?{S?Y,Ccg t)Iv?iq= E΃?%="? ԇ=)K?Iԇc{?vdvʣoʵ? C)IK?iԇT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE0E"E;*E1:VE4ZEa@a@a@a@MBɢV) i ) {D;  i PS E BDAT read: Tx time:04:41:51.7805 M $Ping request sent.M  ,[2?AY )MBy UH iMb@Mb@Mb@ 9Pn?y&1?lY?y`e</A A)^AYAbDVDNy/;%0=ٔQ->9Y=FyEE>Q 5 5~?Q 9 5<)LBY{?Q E:y@Q II@CIa:i;H 5yBɮ Aiaie:\?AJie+CRie+Cjie]?bed>>Dke@|D&@Re0 O?{S?ZieK?bieԇjeK;T@#vPb@2@Ze2V?y%.?~׺?2ieC:ieɠB"ieu?*ieBieBieu?ie|iaie!Cie󑕆?E addTargetRange:: Added new target pos. range: 172.500000 m, deltaT: 4.031914 s, deltaX: 0.399994 m, approachRate: 0.099207 m/s, rangeRepo size: 4 } Added new target pos. range: 171.830826 m, bearing: 61.935690 deg, lat: 36.779311 deg, lon: -121.859654 deg, deltaT: 4.031914 s, deltaX: 0.392136 m, approachRate: 0.097258 m/s, posRepo size: 4 jhyFNOT Ignoring new targets: 171.83 m.RhZhB>BOCB?HBMBB =BBBx;BrDEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250946U ProNav: ac range: 171.830826 m, nav range: 161.982391 m, bearing: 60.243038 deg, approach rate: 0.000000 m/s, LOS rate: 0.179837 deg/s, cmd heading: 59.048734 deg, new cmd heading: 59.302034 deg. BhQHeadingCmd: 1.035016 target range: 171.830826 and range: 172.50 m.he{?h*h"h hgfffdddjde@Zd?Ee EeEe-Ea"Ee%;*Ee$:VEet4ZEaBEeKI,~Q?A6:@65@6'ٱ6}Y1= %AHRS rotation from veh to nav: [[0.907410,0.418011,-0.043302],[-0.419332,0.907411,-0.027672],[0.027725,0.043268,0.998679]]6H ??@+`Uڿ ?'Vd?;'? -?i6:@I6p[_;6CY5MBy59aYa=eFyeE:<>E>Q 5 5?Q 9 5Ո)LBYy3ξQ II@CI):iB: 5yBɮIA@Ejh FNOT Ignoring new targets: 171.83 m.RhQ;ZhQ;% ProNav: ac range: 171.830826 m, nav range: 161.953293 m, bearing: 60.331507 deg, approach rate: -0.060260 m/s, LOS rate: 0.183241 deg/s, cmd heading: 59.302031 deg, new cmd heading: 59.567484 deg. Bh%;-HeadingCmd: 1.039649 target range: 171.830826 and range: 172.50 m.h-6?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdEӪ?uMBɢuѻ)ulܽ; ufiq)}UH7;yyi}Rk,=k?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006885Y@0@ٱ^<= AHRS rotation from veh to nav: [[0.916481,0.397311,-0.046980],[-0.398856,0.916533,-0.029691],[0.031262,0.045949,0.998455]]HS?m? ۆٿ9Y=FyEQ=E>Q 5 5?Q 9 5)LBYo ?Q E:yQ II@%CI;i5;[ 5yɮlAjh!%FNOT Ignoring new targets: 171.83 m.Rh-E[;Zh-E[;= ProNav: ac range: 171.830826 m, nav range: 161.935699 m, bearing: 60.415386 deg, approach rate: -0.040204 m/s, LOS rate: 0.191701 deg/s, cmd heading: 59.567487 deg, new cmd heading: 59.819148 deg. Bh=<EHeadingCmd: 1.044041 target range: 171.830826 and range: 172.50 m.hE#?hA*hA"hI hIgIQfIfQfYdYdYdYjdYZde@?颍MBɢp) i)l.;顑iZPT!,q?A2@2ՠ@2V ٱ2eF= :AHRS rotation from veh to nav: [[0.924903,0.376853,-0.050366],[-0.378622,0.925008,-0.031700],[0.034643,0.048389,0.998228]]2HΘ?@Z?ɩV;ؿ`?: ¼?lƨ?{?i2@I2t<_;2CLYRLByRHIV=)V*?bD^VD^1yf%fq=ٔf#Q-j?9hYh=jFyjEn=En?pQ 5v 5rϱ?Q 9z 5r~)rLBYxyzy׾Q IzI@rTCIr-:ir:rR 5yBɮAAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 171.83 m.RhQ;ZhQ; ProNav: ac range: 171.830826 m, nav range: 161.918213 m, bearing: 60.480358 deg, approach rate: -0.049178 m/s, LOS rate: 0.182744 deg/s, cmd heading: 59.819145 deg, new cmd heading: 60.014083 deg. Bh;HeadingCmd: 1.047443 target range: 171.830826 and range: 172.50 m.h?h*h"h hgfffd1d9d9jd9Zd=d?颍MBɢj ) -i)d+&;顙ioO checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762980E  E E ,E "E T;*E ҆:VE g4ZE a @a @a @a @~',n?A:^@:Y@:ٱ:N= ^AHRS rotation from veh to nav: [[0.933099,0.355645,-0.053319],[-0.357625,0.933261,-0.033580],[0.037818,0.050402,0.998013]]:H??LUֿF?@k1 \?IΩ?`?i:^@I:_5_;:CtYzLByzH p< <bD VD N2y]%%E=ٔ%Q-%>9)Y)=-Fy-E-^=E->AQ 5 5E`Á?Q 9 5E͏)ELBYy˾Q II@ECIE;qqi}MB9 B= &HB= MBB9 B9 B9 B= S;B= KDEԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266975E EE+E"E*E:VE [4ZEBEGԹAIIO?|1,Ӡ?A6/@6@6w;)ٱ6"NR= BAHRS rotation from veh to nav: [[0.940619,0.334790,-0.056141],[-0.336942,0.940897,-0.034404],[0.041305,0.051278,0.997830]]6H?2m?vտ?r%?A?9?i6/@I6=_;6CYZLBy^HiUMb@Mb@Mb@QQQQ Q9U|?5^?:vZd;OYU ?yUTUj9Y=FyE4=E>Q 5 5܁?Q 9 5pQ =tI)LBY?Q E:yݾQ IJ@CIw;i; 5yϚBɮlAKE)jhQUFNOT Ignoring new targets: 171.83 m.Rh]q;Zh]q; ProNav: ac range: 171.830826 m, nav range: 161.865631 m, bearing: 60.676201 deg, approach rate: -0.047826 m/s, LOS rate: 0.211563 deg/s, cmd heading: 60.252603 deg, new cmd heading: 60.601702 deg. Bh1<HeadingCmd: 1.057699 target range: 171.830826 and range: 172.50 m.hb?h*h"h hgfffdddjdZd@uMBɢuz))y }2Wiy)}" ;yyi}uK7,^M?AJLȷ@J$þ@J/7ٱJX= VAHRS rotation from veh to nav: [[0.947691,0.313643,-0.059250],[-0.316017,0.948072,-0.035955],[0.044896,0.052798,0.997595]]JH{S??@ V9Կ V?h`?^?`M?iJLȷ@IJ*/_;JCY^LBy^HbDjVDj0yr: %rF=ٔrQ-r>9tYt=vFyvEzB[=Ez>|Q 5~ 5~d?Q 9 5~ە)~LBYyHҾQ IJ@~CI~:i~:~ 5yɮAjh9EFNOT Ignoring new targets: 171.83 m.RhUj;Zh]j;u ProNav: ac range: 171.830826 m, nav range: 161.842560 m, bearing: 60.757305 deg, approach rate: -0.058188 m/s, LOS rate: 0.204584 deg/s, cmd heading: 60.601700 deg, new cmd heading: 60.845047 deg. Bhug <}HeadingCmd: 1.061946 target range: 171.830826 and range: 172.50 m.h}?hy*hy"hy hygfffdddjdZdR @ԩuMBɢ}q) ni)wF:项iJB B HB LBB B B ĺDB !;B DE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275161^AA%fAzA%fAYbEeg4jEek4rEeA0E EEE"E*E?:VEZEBELAHRS rotation from veh to nav: [[0.954372,0.292273,-0.061243],[-0.294788,0.954849,-0.036915],[0.047689,0.053285,0.997440]]2H@7??H[ҿ` ?梿@j?`(H?@?i2~@I2MT_;0YFLByFHti=Mb@Mb@Mb@9999 99=i|?5?MbX9+Y=?y=ʡ==A=A =A)=A9Y=AIIbDUVDUβye1:=%e=ٔeSQ-m>9Y=FyE/=E>Q 5 5?Q 9 5)LBYf?Q E:y ݾQ I J@rCI";i7!; 5yԚBɮjALEjh9=FNOT Ignoring new targets: 171.83 m.RhESh;ZhESh; ProNav: ac range: 171.830826 m, nav range: 161.817383 m, bearing: 60.874520 deg, approach rate: -0.043621 m/s, LOS rate: 0.203114 deg/s, cmd heading: 60.845046 deg, new cmd heading: 61.196741 deg. Bhe <HeadingCmd: 1.068085 target range: 171.830826 and range: 172.50 m.h?h*h"h hgfffdddjdZd @MBɢ9"6) pai):iJFG 6? r>) N?I r ~Q0?gzG鿱_#h? zl) AI N?i r M T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.O] >JoG,.?AE$ E&E&-E$"E$*E&:VE&t4ZE$a*@a*@a*@a*@(F@F[@FiTٱF@2e= RAHRS rotation from veh to nav: [[0.966217,0.249575,-0.064314],[-0.252440,0.966743,-0.041001],[0.051942,0.055851,0.997087]]FH@??v@'п??@? #?iF@IF%_;F‘CYZLByZHbDVDyʼ%U'=ٔe Q-m>q9Y=FyE51=E5>Q 5 59?Q 9 5)LBYyDǾQ IJ@CI:i1:T 5yښBɮAiil?AJi+CRi+Cjie?b-@hػd@$|8E@R|Oݞ? BDAT read: Tx time:04:41:55.7805 $Ping request sent.i5 > @  @ @ 4@ @ @ B >B B HB LBB B B B Ռ;B CEB]OCB]OCB]͓CB]͊ =B]͊ =C]_r4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249697^AE EE,E"E ;*E:VEg4ZEBER9 ?Y ?=FyEE==E>Q 5 55?Q 9 5f)LBY?Q E:y˾Q IJ@CI<:i:k 5yߚBɮAMEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 171.83 m.RhŁ;ZhŁ; ProNav: ac range: 171.827759 m, nav range: 163.153397 m, bearing: 62.236641 deg, approach rate: -0.056402 m/s, LOS rate: 0.226909 deg/s, cmd heading: 61.535729 deg, new cmd heading: 61.831307 deg. Bh<HeadingCmd: 1.079160 target range: 171.827759 and range: 172.50 m.h!?h*h"h hgfffdd d jdZd?MBɢv) gpi)2:!!i%#B4W,6v]?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7534616T@6O@6saٱ6q= BAHRS rotation from veh to nav: [[0.976344,0.205864,-0.066130],[-0.209088,0.976807,-0.046160],[0.055094,0.058895,0.996743]]6H4>?`Y?hʿ B?PE5?'?P?i6T@I6_;6CYJLByJHbDVVDVf?y^%^U=ٔ^yQ-^>9b"?Yb"?=bFybEbAp=Ef>dQ 5n 5f)G?Q 9n 5f)fLBYlyneQ InJ@fBCIf@;ifL;f 5ypɮvAtjh FNOT Ignoring new targets: 171.83 m.Rhp;Zhp;- ProNav: ac range: 171.827759 m, nav range: 163.128540 m, bearing: 62.317107 deg, approach rate: -0.064979 m/s, LOS rate: 0.210383 deg/s, cmd heading: 61.831305 deg, new cmd heading: 62.072738 deg. Bh-b<5HeadingCmd: 1.083374 target range: 171.827759 and range: 172.50 m.h5?h1*h1"h9 h9g9f9fAfAdAdAdAjdAZdM׬?E EE*E"E=;*E:VE(N4ZEa@a@a@a@IuMBɢuh–)q uiq)}:yyi}L@X+],q9yYy=}Fy}EX=E>Q 5 5[?Q 9 5)LBYX?Q E:y|Q IJ@CI;iF;~ 5yBɮANEjhFNOT Ignoring new targets: 171.83 m.Rhq;Zhq; ProNav: ac range: 171.827759 m, nav range: 163.096542 m, bearing: 62.407284 deg, approach rate: -0.074947 m/s, LOS rate: 0.211259 deg/s, cmd heading: 62.072739 deg, new cmd heading: 62.343320 deg. Bh<HeadingCmd: 1.088096 target range: 171.827759 and range: 172.50 m.hF?h*h"h hgfffdddjdZd`?5NBAqAu@AByByB}HB}LBB} =ByByB};B}CEԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257515ɢ5)Y ]ƃiY)]M:aaie?:>fd,v?A2gǼ@2?@2clٱ2}~= :AHRS rotation from veh to nav: [[0.984652,0.161105,-0.067119],[-0.164691,0.984984,-0.051808],[0.057765,0.062067,0.996399]]2HE??. ſ?T? 2ǯ? ?i2gǼ@I2`_;2‘CYBMByB)F>bDNVDNyV=%VL=ٔV#]Q-Z>9XYX=^Fy^E^2h=E^>`Q 5f 5bn?Q 9f 5b)bLBYdyjݫQ IjJ@bCIb;ib;b 5ylɮnlAljhFNOT Ignoring new targets: 171.83 m.Rhg;Zhg; ProNav: ac range: 171.827759 m, nav range: 163.061447 m, bearing: 62.491617 deg, approach rate: -0.084381 m/s, LOS rate: 0.202810 deg/s, cmd heading: 62.343317 deg, new cmd heading: 62.596369 deg. Bh/ <HeadingCmd: 1.092513 target range: 171.827759 and range: 172.50 m.hu׋?h*h"h hgfffdddjdZd`#I?ԉ NBɢg7) wi),:i8;j,U?AR@R{@RAqٱR= bAHRS rotation from veh to nav: [[0.988058,0.138590,-0.067332],[-0.142331,0.988326,-0.054346],[0.059015,0.063281,0.996249]]RH,?M?<7¿ ^?Eӫ(7?*3?`F?iR@IRG_;RCYrMByrEHEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014858iMb@Mb@Mb@ 9I +?&1I +?Y9?yн94<1AҼA ҼA)AYAbD]VD]ymB<%u2=ٔu 3Q-u>9qYy=}Fy} E}J=E}>Q 5 5d?Q 9 5T)LBY?Q E:y%Q IJ@CI:i: 5yBɮtAjhFNOT Ignoring new targets: 171.83 m.Rh@q;Zh@q; ProNav: ac range: 171.827759 m, nav range: 163.018433 m, bearing: 62.584882 deg, approach rate: -0.097252 m/s, LOS rate: 0.210920 deg/s, cmd heading: 62.596368 deg, new cmd heading: 62.876234 deg. Bh<HeadingCmd: 1.097397 target range: 171.827759 and range: 172.50 m.hw?h*h"h hgfffdddjdZd]@!5NBɢ5/)1 5={i9)=E999i= s9BB?HBMBBBBBp;BbCEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268760y ^A E]  E] EY EY "E] %;*E] :VEY ZEY BE] K[dq,?A06 >@68@6 Zwٱ6= >AHRS rotation from veh to nav: [[0.991000,0.115543,-0.067593],[-0.119485,0.991169,-0.057505],[0.060352,0.065064,0.996054]]6HE?=?`M ?@Jq r?@??i6 >@I6_;6CYFFMByFyHbDRVDRyV=%Vm=ٔZ~Q-Z?9XYX=^Fy^E^=E^?`Q 5f 5b?Q 9f 5b)bLBYhyjXQ IjJ@b;CIb:ib-:b 5ynBɮr6ArOE~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 171.83 m.Rhg;Zhg; ProNav: ac range: 171.827759 m, nav range: 162.981766 m, bearing: 62.654813 deg, approach rate: -0.106272 m/s, LOS rate: 0.202727 deg/s, cmd heading: 62.876235 deg, new cmd heading: 63.086075 deg. Bh! <HeadingCmd: 1.101060 target range: 171.827759 and range: 172.50 m.h?h*h"h hgfffdddjdZd@M!NBɢMz)M M [iI)U}Y9qqiu?7w,?A`YfMMByfH hh ppbDrVDryz<%zF=ٔ~E EEE"ET;*E:VEZEa @a @a @a @Q->9Y=FyEE>!Q 5- 5%_?Q 9- 5%)%LBY)y1Q I5J@%zCI%l:i%:% 5y=Bɮ='A9jhaeFNOT Ignoring new targets: 171.83 m.Rhmlh;Zhmlh;} ProNav: ac range: 171.827759 m, nav range: 162.937851 m, bearing: 62.739216 deg, approach rate: -0.105696 m/s, LOS rate: 0.203199 deg/s, cmd heading: 63.086072 deg, new cmd heading: 63.339347 deg. Bh}t <HeadingCmd: 1.105480 target range: 171.827759 and range: 172.50 m.h`?h*h"h hgfffdddjdZd Q@,NBɢG|) ^i)"8i4b},]?A2@2@2ٱ2#= :AHRS rotation from veh to nav: [[0.995364,0.068325,-0.067695],[-0.072711,0.995260,-0.064588],[0.062961,0.069211,0.995613]]2H?}?@yT (*?@ֈ<?ʷ?@?i2@I2t_;2CYFdMByFH iMb@Mb@Mb@ 99AYA=EFyMEM=EM>QQ 5] 5U?Q 9] 5U)ULBYe?Q Ee:yeB[Q IeJ@UCIUE:iU:U= 5ymBɮmAuPEB<ABBB}HBJMBBBBBB;B4CEjhFNOT Ignoring new targets: 171.83 m.RhX;ZhX;M ProNav: ac range: 171.827759 m, nav range: 162.876251 m, bearing: 62.820341 deg, approach rate: -0.143846 m/s, LOS rate: 0.189513 deg/s, cmd heading: 63.339349 deg, new cmd heading: 63.582816 deg. BhM<UHeadingCmd: 1.109730 target range: 171.827759 and range: 172.50 m.hU ?hQ*hQ"hQ hYgYfYfYfadaddjdZd0 @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2735518NBɢYd) Si)i!2,q:?A2e}@2=x@2`ٱ2= JAHRS rotation from veh to nav: [[0.996701,0.045156,-0.067445],[-0.049635,0.996566,-0.066281],[0.064221,0.069410,0.995519]]2H??D i?`p? ı?J?i2e}@I2_;0YR|MByRHbD^VD^ ybx=%bU=ٔf1WQ-f>9dYh=jFyjEjv=En>lQ 5r 5nt΂?Q 9v 5n1)nLBYtyvCQ IvJ@nCIn:inF:n 5yxɮ~A|jh%FNOT Ignoring new targets: 171.83 m.Rh%i;Zh%i;= ProNav: ac range: 171.827759 m, nav range: 162.814133 m, bearing: 62.895577 deg, approach rate: -0.168678 m/s, LOS rate: 0.204374 deg/s, cmd heading: 63.582818 deg, new cmd heading: 63.808610 deg. Bh=B <EHeadingCmd: 1.113670 target range: 171.827759 and range: 172.50 m.hE?hA*hA"hA hAgAfIfIfIdQdQdQjdQZdU@颅BNBɢo) Ei)I顉ԑik/8? `>)?I`e?`wῪK a? $^)_uI?i`}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.E5 E5E1E1"E5 ;*E5:VE1ZE1a=@a=@aE@aE@EiM>@ @@q3@@@= ^A · *DAT read: user:149>  BDAT read: Tx time:04:41:59.8304  $Ping request sent. i%Mb@Mb@Mb@!!!! !9%> ףp=?)\(y&1?Y%?y%Ga%`<%-A! !)!!Y%zAbD=VD=yMa=%M=ٔU'Q-U>9QYQ=]Fy]"E]i6=E]>aQ 5m 5e{炊?Q 9m 5e/)eMBYu?Q Eu:yu6Q IuJ@e=CIe;ie);e/ 5y}Bɮ}Aii@?AJi+CRi+Cji=?b7C2#Q@Ĭ9b@RjcI@Rhp'?苨?-?Zi?bi`jB Q@%_~a@B>o[uTP@ZR> k?&?ѻ0XW?2ilC:ilB"iu3[?*ixBipBiu3[?iii7 CiĐ?} addTargetRange:: Added new target pos. range: 172.399994 m, deltaT: 4.032864 s, deltaX: -0.100006 m, approachRate: -0.024798 m/s, rangeRepo size: 4  Added new target pos. range: 171.727188 m, bearing: 64.564582 deg, lat: 36.779240 deg, lon: -121.859622 deg, deltaT: 4.032864 s, deltaX: -0.100571 m, approachRate: -0.024938 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 171.73 m.RhZh ProNav: ac range: 171.727188 m, nav range: 160.217636 m, bearing: 64.801690 deg, approach rate: 0.000000 m/s, LOS rate: 0.204374 deg/s, cmd heading: 63.808611 deg, new cmd heading: 64.146622 deg. BhHeadingCmd: 1.119570 target range: 171.727188 and range: 172.40 m.hN?h*h"h hgfffdddjďe@Zd|?mRNBɢm}4)q uD8iq)u>qqi}+BBHB|MBB =BBB;BCE9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248641bEjEd4rEƟ.E EE+E"E=;*E:VE [4ZEBEI9pYp=rFyr(Ev=Ev>xQ 5~ 5z?Q 9~ 5z֯)zCMBY|ytQ IJ@zCIz:iz:z 5y Bɮ A QEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 171.73 m.Rh\;Zh\;  ProNav: ac range: 171.727188 m, nav range: 160.107468 m, bearing: 64.906539 deg, approach rate: -0.202584 m/s, LOS rate: 0.192935 deg/s, cmd heading: 64.146623 deg, new cmd heading: 64.461384 deg. Bh h<HeadingCmd: 1.125063 target range: 171.727188 and range: 172.40 m.h?h*h"h hgff!f!d!d!d!jd)ZdM~?aNBɢ@I) Ei)96i'9Y=%Fy%-E%E%>A5AAA5AAB1B5NCB5HB5MBB1B1B1B5$;B5CEBBBB =B =C@4QQ 5] 5U?Q 9] 5U)UhMBYe?Q Ee:yeټQ IeJ@UCIU:iUA:U 5ym/Bɮm1Au[EjhFNOT Ignoring new targets: 171.73 m.Rh^;Zh^; ProNav: ac range: 171.727188 m, nav range: 159.978119 m, bearing: 65.012947 deg, approach rate: -0.235769 m/s, LOS rate: 0.194111 deg/s, cmd heading: 64.461386 deg, new cmd heading: 64.780864 deg. Bh7<HeadingCmd: 1.130639 target range: 171.727188 and range: 172.40 m.hʸ?h*h"h hgfffdddjdZd?qNBɢ}5) +i)%ei#/,#?A2cH@2،=2ٱ2Y= :AHRS rotation from veh to nav: [[0.995271,-0.073368,-0.063666],[0.068554,0.994842,-0.074761],[0.068823,0.070043,0.995167]]2HA?`BȲqL Ō?`? #e?@X?`h?i2cH@I2:^;2đCYFMByFVHbDNVDNFyVb>%V_=ٔVe+Q-Z>9XYX=ZFyZ1E^ >E^>`Q 5f 5b-?Q 9f 5b)bMBYdyjD,?An@n=nqٱnaQ= AHRS rotation from veh to nav: [[0.993285,-0.097629,-0.062081],[0.092861,0.992809,-0.075542],[0.069010,0.069270,0.995208]]nH?@9ɯŷ??V???in@InA^;nCY%NBy%`H9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012441i Mb@Mb@Mb@     9 -?/$?Y ??y  < A A AA)  Y zAbD%VD%y5<%54=ٔ5׹Q-5>99Y9==Fy=6EE\=EE>IQ 5U 5MD?Q 9U 5MR)MMBYUX?Q EU:yUù=Q I]J@MVCIM2 ;iM ;M 5ye Bɮe0AajhFNOT Ignoring new targets: 171.73 m.RhU;ZhU; ProNav: ac range: 171.727188 m, nav range: 159.757553 m, bearing: 65.159123 deg, approach rate: -0.301747 m/s, LOS rate: 0.186920 deg/s, cmd heading: 64.974019 deg, new cmd heading: 65.219698 deg. BhH<HeadingCmd: 1.138299 target range: 171.727188 and range: 172.40 m.hij?h*h"h hgfffdddjdZd~h@颍NBɢ@)) 1i)R顑i_B1B5^HB5NBB1B1B1B5';B5CEm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264545E  E E E "E ;*E v:VE ZE BE D7,?A:@:=:$ٱ:f= FAHRS rotation from veh to nav: [[0.990638,-0.122441,-0.060374],[0.117589,0.989974,-0.078260],[0.069351,0.070428,0.995103]]:HN?JX N鮿@V?ݭ?@???i:@I:)^;:ÑCYN$NByNHIRp>)R=bDVVDVyb=%bf=ٔb{Q-b>9dYd=fFyf9Ef=Ej>hQ 5n 5j]U?Q 9r 5j)jMBYpyr=Q IrJ@jCIj;ij;j 5yvBɮzAzSEjhFNOT Ignoring new targets: 171.73 m.Rh%WK;Zh%WK;- ProNav: ac range: 171.727188 m, nav range: 159.649918 m, bearing: 65.222303 deg, approach rate: -0.302656 m/s, LOS rate: 0.177774 deg/s, cmd heading: 65.219701 deg, new cmd heading: 65.409368 deg. Bh5;5HeadingCmd: 1.141609 target range: 171.727188 and range: 172.40 m.h5= ?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM @@}NBɢ}D)y i)=顁iv ͷ,,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7684406@6>6{ٱ6;= BAHRS rotation from veh to nav: [[0.987368,-0.147245,-0.058507],[0.142316,0.986501,-0.081003],[0.069645,0.071654,0.994995]]6H@?@¿`@e7? k?<Ա?W? ?i6@I6^;6‘CYJNByJHbDVVDV1yZ%^K=ٔ^?Q-^>9`Y`=bFyb=Eb}=Ef>dQ 5j 5fh?Q 9n 5fխ)fMBYlyn>Q InJ@fCIf@;if;f 5ytɮvAtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 171.73 m.E EE/E"E%;*E^:VEJ4ZEa@a@a@a@Rh.H;Zh.H; ProNav: ac range: 171.727188 m, nav range: 159.523224 m, bearing: 65.292903 deg, approach rate: -0.313812 m/s, LOS rate: 0.175011 deg/s, cmd heading: 65.409368 deg, new cmd heading: 65.621336 deg. Bh7;HeadingCmd: 1.145308 target range: 171.727188 and range: 172.40 m.hw?h*h"h hgfffdddjdZd@UNBɢU;$)Y ]OiY)]HYYi]tuy z,?A2@x@2g,>2nٱ2= :AHRS rotation from veh to nav: [[0.983455,-0.172118,-0.056495],[0.167161,0.982418,-0.083134],[0.069810,0.072315,0.994936]]2Hvx?`ƿ`쬿e?o?IH`߱? >??i2@x@I2Z^;2đCYB@NByBHi Mb@Mb@Mb@     9 㥛 ?{Gz?Mb?Y ?y ף< <  AA pA) A Y AbD%VD%y5=%5C=ٔ5 ϹQ-=>99Y9==FyEBEEu=EE>IQ 5U 5M}?Q 9U 5M)MMBY]?Q E]:y]yN>Q I]J@MCIM2 ;iM ;MM 5yeBɮeAeTEB<A<B>BBHB3NBB =BBB;BCEjhIMFNOT Ignoring new targets: 171.73 m.QRhM6;ZhU6;e ProNav: ac range: 171.727188 m, nav range: 159.378723 m, bearing: 65.363779 deg, approach rate: -0.325730 m/s, LOS rate: 0.159912 deg/s, cmd heading: 65.621336 deg, new cmd heading: 65.834156 deg. Bhe};mHeadingCmd: 1.149023 target range: 171.727188 and range: 172.40 m.hm.?h*h"h hgfffdddjdZd @NBɢ3 ) ܽi)VֲiE EE,E"E ;*E?:VEg4ZEBELŁ,?AB:H@BfF>BW܏ٱB= NAHRS rotation from veh to nav: [[0.978869,-0.197059,-0.054624],[0.192067,0.977680,-0.085162],[0.070187,0.072871,0.994869]]BHR?@89ɿ@ক? 'I?.͵???iB:H@IB^;@YVENByVH XX\^AbDbVDb1yjA<%jK=ٔnBvQ-n>9lYl=rFyrFEr{=Er>tQ 5z 5vG?Q 9z 5v))vMBY|y~vh>Q I~J@vBCIvW:ivN:v 5yBɮAjh)5FNOT Ignoring new targets: 171.73 m.Rh5J;Zh5J;E ProNav: ac range: 171.727188 m, nav range: 159.235962 m, bearing: 65.430427 deg, approach rate: -0.378076 m/s, LOS rate: 0.176665 deg/s, cmd heading: 65.834158 deg, new cmd heading: 66.034283 deg. BhE|;MHeadingCmd: 1.152516 target range: 171.727188 and range: 172.40 m.hM?hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde` @颕NBɢs ) ni)h彺顙i3Z;? aF>)%K?IaF71?dFҿ0tO?  )1I%K?iaFeT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.EM EMEM.EI"EMT;*EMh:VEMـ4ZEIa]@a]@a]@a]@^AAI I) O= > h-ˁ,.?AZq0:Z `>Z@%ٱZ,= jAHRS rotation from veh to nav: [[0.973709,-0.221493,-0.053203],[0.216508,0.972476,-0.086114],[0.070813,0.072331,0.994864]]ZH(?`Y̿s=? ? ?J?`?iZq0:IZ<^;ZőCYrkNByrHU*DAT read: user:150> ]BDAT read: Tx time:04:42:03.8304 ]$Ping request sent.e9Y=FyKE\=E> Q 5 5 L?Q 9 5 C) NBY7?Q E:y>>Q IJ@ CI :i Q:  5yAɮEAAi!i%J!?AJi%*CRi%*Cji%4?b%(r5M]@oAF]@Sy>o@@R%k?İwo?M?Zi%%K?bi%aFj%:RxU@v(}^a@OUSH@Z%S ?K ?rB?2i% C:i%B"i%럊?*i%+vzbBi%Bi%u?i%xi%Bi%!Ci%O!? addTargetRange:: Added new target pos. range: 171.399994 m, deltaT: 4.030764 s, deltaX: -1.000000 m, approachRate: -0.248092 m/s, rangeRepo size: 4  Added new target pos. range: 170.729141 m, bearing: 58.283244 deg, lat: 36.779311 deg, lon: -121.859640 deg, deltaT: 4.030764 s, deltaX: -0.998047 m, approachRate: -0.247607 m/s, posRepo size: 4 jh FNOT Ignoring new targets: 170.73 m.Rh Zh E ProNav: ac range: 170.729141 m, nav range: 161.110565 m, bearing: 62.725502 deg, approach rate: 0.000000 m/s, LOS rate: 0.176665 deg/s, cmd heading: 66.034283 deg, new cmd heading: 66.293549 deg. BhAEHeadingCmd: 1.157041 target range: 170.729141 and range: 171.40 m.hM?hI*hI"hI hIgIfIfQfQdQdQdYjdle@ZdQ?MNBɢMt)I U4iQ)UNʺQi BBHBfNBBBBB;BBE9@ @@0@@@= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251087! E]  E] E] *EY "E] ~ ;*E] Z:VE] (N4ZEY BE] Vqҁ,?J?A2<2Zy>2\ٱ2B= :AHRS rotation from veh to nav: [[0.968029,-0.245516,-0.051393],[0.240497,0.966655,-0.087970],[0.071277,0.072798,0.994797]]2H`?mϿ!P??04??@ܢ?_?i29tYt=zFyzNEzZ=Ez>|Q 5 5~?Q 9 5~)~NBY y >Q I J@~CI~:i~W:~ 5y$BɮAUEjh9EFNOT Ignoring new targets: 170.73 m.RhE9;ZhE9;U ProNav: ac range: 170.729141 m, nav range: 160.962509 m, bearing: 62.781083 deg, approach rate: -0.430448 m/s, LOS rate: 0.161740 deg/s, cmd heading: 66.293550 deg, new cmd heading: 66.460444 deg. Bh];]HeadingCmd: 1.159954 target range: 170.729141 and range: 171.40 m.h]\y?ha*ha"ha hagafafifidididqjdqZdu@?NBɢ)) i)Ӻi; ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754939 ɗ؁, d?A;ɰ4<E2 E2E2,E0"E2T;*E2:VE2g4ZE0a:@a:@a:@a:@>M=>f>>jٱ>Ѳ= FAHRS rotation from veh to nav: [[0.961726,-0.269493,-0.049573],[0.264471,0.960244,-0.089373],[0.071688,0.072842,0.994764]]>Ht?`_?ѿ@a?P? -ᶿ$Z?ƥ??i>M=I>o^;9dYd=fFyfREjq=Ej>lQ 5r 5n˃?Q 9r 5nɥ)n"NBYtyv>Q IvJ@nCIn:in:n 5yxɮzAxB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 170.73 m.Rh-u,;Zh-u,;= ProNav: ac range: 170.729141 m, nav range: 160.794678 m, bearing: 62.841215 deg, approach rate: -0.420383 m/s, LOS rate: 0.150776 deg/s, cmd heading: 66.460445 deg, new cmd heading: 66.641030 deg. Bh=;EHeadingCmd: 1.163105 target range: 170.729141 and range: 171.40 m.hE?hA*hA"hA hAgAfIfIfIdIdQdQjdQZdUT?%NBɢ%t)! %½i!)%9޺))i- ށ,H}?A2=2v1>2 Mٱ2iV= >AHRS rotation from veh to nav: [[0.954773,-0.293528,-0.047435],[0.288399,0.953035,-0.092468],[0.072349,0.074606,0.994585]]2H ?(ҿjI"u? C?{?_? ?i2=I2s^;2đCAB@AA@BF>BFMCBF HBFNBBDBDBFúDBF;BFBEYVNByVHiMb@Mb@Mb@ 9x?{Gzt?Zd;OYK?yף;jApA ̼A)AYAbDVDNyC<%<=ٔCȺQ->9Y=FyWEk=E>Q 5 5x?Q 9 5£)+NBYj?Q E:y>Q IJ@@CI ;iX ;^ 5y*BɮAVEjh  FNOT Ignoring new targets: 170.73 m.Rh",;Zh",;%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589735 ProNav: ac range: 170.729141 m, nav range: 160.614441 m, bearing: 62.906419 deg, approach rate: -0.415528 m/s, LOS rate: 0.150493 deg/s, cmd heading: 66.641029 deg, new cmd heading: 66.836858 deg. Bh5;=HeadingCmd: 1.166523 target range: 170.729141 and range: 171.40 m.h=P?h9*h9"h9 h9g9fAfAfAdIdIdIjdIZdM7L?}NBɢ}M) Rӽi)nv顁iBPAm ?ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511595A .AI I O >o,]?A2W=2\>2]ٱ2{= :AHRS rotation from veh to nav: [[0.947614,-0.316133,-0.045693],[0.310995,0.945772,-0.093798],[0.072868,0.074674,0.994542]]2H`R?;Կe`Y?C?@'{??J?i2W=I2^;2őC@YFNByFHbDLVDLyZ&=%Z\=ٔZQ-Z>9^ ?Y^ ?=FyZE~=E>!Q 5% 5%?Q 9- 5%ס)%3NBY)y-,>Q I-J@%zCI%V:i%:% 5y50Bɮ=A=WEjhaeFNOT Ignoring new targets: 170.73 m.Rhm,(;Zhm,(;} ProNav: ac range: 170.729141 m, nav range: 160.452133 m, bearing: 62.962582 deg, approach rate: -0.424468 m/s, LOS rate: 0.147029 deg/s, cmd heading: 66.836857 deg, new cmd heading: 67.005519 deg. Bh};HeadingCmd: 1.169467 target range: 170.729141 and range: 171.40 m.h?h*h"h hgfffdddjdZd -c?NBɢ) ,νi)i p,?A6κ=65>6?ٱ6]=Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014960 FAHRS rotation from veh to nav: [[0.939840,-0.338685,-0.044648],[0.333551,0.938014,-0.094200],[0.073785,0.073641,0.994552]]6H@+?տ ܦ@X?@5?@?ڲ?]?i6κ=I6^;6đCYNNByRH TTTTli-Mb@Mb@Mb@)))) )9- +? rhS㥛Y-?y-C-/ݼ)-A -pA)))Y-AbDVDy;%:=ٔ Q->9Y=Fy_Ed=E>Q 5 5?Q 9 5ǟ):NBY?Q E:y>Q IJ@CI{;i;t 5yɮAjhFNOT Ignoring new targets: 170.73 m.Rh%B*;Zh%B*;5 ProNav: ac range: 170.729141 m, nav range: 160.273163 m, bearing: 63.026324 deg, approach rate: -0.417475 m/s, LOS rate: 0.148852 deg/s, cmd heading: 67.005522 deg, new cmd heading: 67.196959 deg. Bh5O;=HeadingCmd: 1.172808 target range: 170.729141 and range: 171.40 m.h=?h9*h9"hA hAgAfAfIfIdIdIdQjdQZdU#@颅 OBɢb) Ji)A顉i;i?I?I99@ @@0@B>BB3HBNBB =BBB;BBEBENCBENCBABABACEI 515checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266687^Ae #D =D %=E  E E *E "E ;*E :VE (N4ZE BE d,uu?A2D>2Ϻ>2fٱ2j= :AHRS rotation from veh to nav: [[0.931547,-0.361021,-0.043398],[0.355824,0.929640,-0.095701],[0.074895,0.073708,0.994464]]2H I2+^;2ÑCYrNByr-HbDVDky-=%-U=ٔ5=AQ-E>9IYI=UFyUcE]g{=E]>iQ 5u 5m?Q 9u 5mĝ)mANBYyyҭ>Q IJ@mCImf;im\b;m! 5y6BɮAjhFNOT Ignoring new targets: 170.73 m.Rh#;Zh#; ProNav: ac range: 170.729141 m, nav range: 160.107132 m, bearing: 63.082884 deg, approach rate: -0.419578 m/s, LOS rate: 0.143081 deg/s, cmd heading: 67.196958 deg, new cmd heading: 67.366813 deg. Bhc;HeadingCmd: 1.175773 target range: 170.729141 and range: 171.40 m.h?h*h"h hg f f f dddjdZd@eOBɢe)e1 e:ia)mspiiimǠ;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519033i?I?Ii͹99@ @!@%0@!ԑ^AA AM eAzAM gAI I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770809,Q?AE& E&E&.E$"E&T;*E&h:VE&ـ4ZE$a*@a*@a*@a*@>->>؛>>Oٱ>= FAHRS rotation from veh to nav: [[0.923042,-0.382362,-0.042340],[0.377165,0.921142,-0.096144],[0.075763,0.072776,0.994467]]>H@?@xؿy#?y?@Ꜹ1e?u??i>->I>^;>ƑCYRNByR&HbDZVDZN2ybk%bQ=ٔbEQ-f>9dYd=fFyfgEj?t=Ej>lQ 5r 5n*?Q 9r 5n)nGNBYpyr>Q IvJ@n/ CIn;inH;n8% 5yxɮzAxԙB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 170.73 m.Rh;Zh;  ProNav: ac range: 170.729141 m, nav range: 159.939117 m, bearing: 63.137701 deg, approach rate: -0.413752 m/s, LOS rate: 0.135136 deg/s, cmd heading: 67.366811 deg, new cmd heading: 67.531437 deg. Bh |;HeadingCmd: 1.178646 target range: 170.729141 and range: 171.40 m.hݖ?h*h"h hgfffd!d!d!jd!Zd- @U)OBɢU"?)Y ]iY)]K YYieh;ieݖ?aiImݖ?IiU9 @ @@4@BDAT read: Rx Time:04:42:06.4610 TRx dataTimestamp_ set to:1761540127.803746checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029187^A Iq I O >! ,b,?ABAB>BBXHBNBB =BBB;BBEBE>Bt>Bi2ٱBK= JAHRS rotation from veh to nav: [[0.913868,-0.403959,-0.040775],[0.398705,0.911851,-0.097784],[0.076681,0.073104,0.994372]]BH h>?vٿ@gि `? -?[]??`?iBE>IB6^;BÑCYRNByRGHIV>)V;i-Mb@Mb@Mb@)))) )9- ףp= ? rhZd;OY-Q?y-C -j-A-A -A)-A)Y-AbDMVDMNyUz=%A=ٔ\ Q->9Y=FykEZ=E>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274921Q 5 5??Q 9 5=)PNBY?Q E:y>Q IJ@r CI`;i;) 5y%y ,?AYNByJHbD-VD-:y=;%=L=ٔEQ-E>9AYA=MFyMoEMEM>QQ 5] 5UQ?Q 9] 5U!)UXNBYayaQ IeJ@U CIU:iU:Uk, 5ymBBɮmAmYEjhFNOT Ignoring new targets: 170.73 m.Rh);Zh); ProNav: ac range: 170.729141 m, nav range: 159.578186 m, bearing: 63.257254 deg, approach rate: -0.447309 m/s, LOS rate: 0.148569 deg/s, cmd heading: 67.722664 deg, new cmd heading: 67.890503 deg. Bh;HeadingCmd: 1.184913 target range: 170.729141 and range: 171.40 m.h9?h*h"h hgfffdddjdZd-i@QUEOBɢ]+D)Y ]$iY)]aaie;im9?iiIm9?IqV9UDAT read: 04:42:06.4610 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 427, 0.44,-2.136, 2.094, 3.107,-2.797, PHS= 0.763,-1.347,-0.423, RAW= 115.9, 11.0, CAL= 117.1, 12.3, ROT= 32.9, -12.3 eYgot valid direction response: 04:42:06.4610 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 427, 0.44,-2.136, 2.094, 3.107,-2.797, PHS= 0.763,-1.347,-0.423, RAW= 115.9, 11.0, CAL= 117.1, 12.3, ROT= 32.9, -12.3 mPDAT read: Bearing 211.5, 36.8 (Local) u~Local bearing/azimuth received: Bearing 211.5, 36.8 (Local) yDAT read: Range 11 to 50 : 169.8 m (Round-trip 226.4 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.820347,0.530706,0.213030]Fpublishing direction and range infoy H@?.H?AzUmD?Y)C )CISC?ijuؾ(v@ D>M@ [>)?I[PT?].;,ok? )hDI?i[T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E] E]E])EY"E];*E]:VE]FA4ZEYam@am@am@am@ԩ2;U 9@Q  @Q @] ~1@Y @i @m fA  *DAT read: user:151>  BDAT read: Tx time:04:42:07.8804  $Ping request sent. A> IIO ?X,+<?A>W>>Ԝ>>ٱ>Fd= JAHRS rotation from veh to nav: [[0.883450,-0.467166,-0.035670],[0.461805,0.881099,-0.101982],[0.079072,0.073623,0.994147]]>H8E? ݿaC 7?1?|>?ز?` ?i>W>I>e _;>őCYRNByRqH TTi5Mb@Mb@Mb@1111 195-?+9aYa=eFyetEmI>Em>qqQ 5} 5uj?Q 9 5u)ulNBY?Q E:y >Q IJ@u CIu:iu<:uA1 5yɮKAB>BLCB~HBNBB =BBB΋;BBEii#?AJi!)CRi!)Cji<چ?bJWa@쥕pV@MBB@R H@?.H?AzUmD?Zi?bi[jUS@)4Bi,\X?A2>2T?2\ٱ2ݖ= JAHRS rotation from veh to nav: [[0.872297,-0.487799,-0.033919],[0.482441,0.869868,-0.102864],[0.079682,0.073364,0.994117]]2H?8߿]Q??MUf? Ȳ?`?i2>I2^;2đCYVNByViHXbDbVDbP)yjZj%jA=ٔjQ-j>9lYl=nFynyErc=Er>tQ 5z 5vP}?Q 9z 5v)v{NBYxyz>Q I~J@v? CIv ;iv; ;v4 5yHBɮoAjh)-FNOT Ignoring new targets: 169.13 m.Rh5;Zh5;E ProNav: ac range: 169.131500 m, nav range: 159.135437 m, bearing: 63.385699 deg, approach rate: -0.491025 m/s, LOS rate: 0.139066 deg/s, cmd heading: 68.149544 deg, new cmd heading: 68.314013 deg. BhE;MHeadingCmd: 1.192304 target range: 169.131500 and range: 169.80 m.hMo?hI*hI"hQ hQgQfQfYfYdYdYdYjdaZde ?颍iOBɢP) i)/*顑i;io?Io?IO9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754723E EE*E"E7;*E:VE(N4ZEa@a @a @a @ !@! @!@!@)9 ^AU #I I m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009616q O >-,'u?AZvF>Zy?Z 5ٱZ%= fAHRS rotation from veh to nav: [[0.860469,-0.508525,-0.031553],[0.503245,0.857946,-0.103310],[0.079607,0.073016,0.994149]]ZH?@E'@?`Kt?ra?)??iZvF>IZ^;ZőCYnNBynHiMb@Mb@Mb@ 9-?L7A`堿~jtx?Yy+;AA A)EAYAbDVDy^R=%'=ٔ!9Q->9Y=Fy}E I=E >Q 5 5?Q 9 5)NBY~?Q E%:y%>Q I%J@ CI;ia;49 5y-'Bɮ-A-QEMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 169.13 m.Rh]M;ZheM;m ProNav: ac range: 169.131500 m, nav range: 158.906860 m, bearing: 63.446376 deg, approach rate: -0.467993 m/s, LOS rate: 0.124411 deg/s, cmd heading: 68.314015 deg, new cmd heading: 68.496309 deg. Bhuê;}HeadingCmd: 1.195486 target range: 169.131500 and range: 169.80 m.h}?hy*hy"hy hygyfffdddjdZd u?颕|OBɢ"d5) i)3顙i ;i?I?I]9I)A)A-@AB5>B1B5HB5OBB5 =B1B5ºDB5;B5BE!@! @!@%!4@!@-=@-,>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258724E EE,E"EV:*E:VEg4ZEBE9A#,̎?A:e>: ?:+ٱ:a= BAHRS rotation from veh to nav: [[0.848348,-0.528617,-0.029496],[0.523497,0.845847,-0.102444],[0.079102,0.071467,0.994301]]:H@%?n@4`|?,?@9 @?K?@Q?i:e>I:)^;8YJOByNHIj=)jbDrVDryzY=%z_=ٔzܴ:Q-z>9IYI=MFyMEU=EU>YQ 5e 5]袄?Q 9e 5]̊)]NBYiym>Q ImJ@] CI]:i]:]< 5yqɮuAqjhFNOT Ignoring new targets: 169.13 m.Rhr ;Zhr ; ProNav: ac range: 169.131500 m, nav range: 158.727081 m, bearing: 63.491919 deg, approach rate: -0.477262 m/s, LOS rate: 0.121041 deg/s, cmd heading: 68.496306 deg, new cmd heading: 68.633090 deg. Bh#;HeadingCmd: 1.197873 target range: 169.131500 and range: 169.80 m.hS?h*h"h hgfffdddjdZd?OBɢH) i) 9iK;i S?  I S?Ii߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512644o9Qm9@i @i@m/@iy^A?΅I I! O- >ԡ m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777E  E E .E "E ;*E Z:VE ـ4ZE a @a @a @a @p),秨?A9Y=FyEE> Q 55 5 ?Q 95 5 v) NBY1y1Q I5J@  CI m;i ; @ 5yE-BɮEAAԱjhFNOT Ignoring new targets: 169.13 m.Rh5;Zh=;m ProNav: ac range: 169.131500 m, nav range: 158.508698 m, bearing: 63.547417 deg, approach rate: -0.452330 m/s, LOS rate: 0.115109 deg/s, cmd heading: 68.633088 deg, new cmd heading: 68.799811 deg. Bhu;HeadingCmd: 1.200783 target range: 169.131500 and range: 169.80 m.hD?h*h"h hgfffdddjdZd:@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017058uOBɢu.!7)  i)Bi;iD?ID?II=>?)=;?9 @  @ @ /@ @ @  BE >BA BE HBE 1OBBE =BA BA BE {;BE WBE1 } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267278^A #bE]^n4jE]k4rE]A0E EE+E"E ;*E:VE [4ZEBELQ>>i?>ĝٱ>ę= JAHRS rotation from veh to nav: [[0.822503,-0.568300,-0.022900],[0.563530,0.819726,-0.102388],[0.076959,0.071309,0.994481]]>H@Q?@/(sp?`1;?6 ?PA??i>Q>I>^;>ÑCYR:OByRH TTieMb@Mb@Mb@aaaa a9ed;O? rh?Ye?ye̼eC9Y=FyEO=E>iQ 5u 5m˄?Q 9u 5mX)mNBYu?Q Eu:yu3?Q IuJ@mP CIm3:im<:mD 5yɮ@AjhFNOT Ignoring new targets: 169.13 m.Rh@;Zh@; ProNav: ac range: 169.131500 m, nav range: 158.256500 m, bearing: 63.603872 deg, approach rate: -0.515699 m/s, LOS rate: 0.115624 deg/s, cmd heading: 68.799812 deg, new cmd heading: 68.969446 deg. Bh;HeadingCmd: 1.203744 target range: 169.131500 and range: 169.80 m.hH?h*h"h hgfffdddjdZd3@ OBɢ 1) i)zIIi;iH?!I%H?I!I 9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5196679@ @@@q ^A ?΅AM ؟AIQ Ii Ou >/8,&?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7707946( >6?6#ٱ6`=< bAHRS rotation from veh to nav: [[0.808959,-0.587541,-0.019490],[0.582973,0.806055,-0.102069],[0.075679,0.071208,0.994586]]6H?#?3?@1!_?:??i6( >I6N^;4YnFOBynHbDvVDvfy~<%T=ٔ-Z;Q->9"?Y "?= Fy E y}=E >Q 5 5ڄ?Q 9% 5N)NBY!y%I?Q I%J@ CI:i:-H 5y-(Bɮ-A5REjhY]FNOT Ignoring new targets: 169.13 m.Rhe:Zhe:Du=Du<E} E}E},Ey"E};*E}:VE}g4ZEya@a@a@a@ ProNav: ac range: 169.131500 m, nav range: 158.074493 m, bearing: 63.642611 deg, approach rate: -0.498511 m/s, LOS rate: 0.106226 deg/s, cmd heading: 68.969447 deg, new cmd heading: 69.085797 deg. Bh͑;HeadingCmd: 1.205775 target range: 169.131500 and range: 169.80 m.hV?h*h"h hgfffdddjdZd@OBɢv?) i)Nig;iV?IV?I9ԩ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025187^A A .AI I) O= >>,?ABr<Ar4=BpBpBrHBrZOBBpBpBpBr[;Br7BEBLCBLCBB =B =Cw5Y SOBy HiMb@Mb@Mb@ 9I +?{GztQ?Y9?yףu<AAA A)AAY AbDVDy<%<=ٔQ->9 ?Y  ?= Fy E E >Q 5 5섊?Q 9 5|)OBY%G?Q E%:y%*?Q I%J@ CIa:i:K 5y)ɮ-A1MB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 169.13 m.Rhec:Zhec:u ProNav: ac range: 169.131500 m, nav range: 157.853912 m, bearing: 63.686032 deg, approach rate: -0.506467 m/s, LOS rate: 0.099837 deg/s, cmd heading: 69.085799 deg, new cmd heading: 69.216245 deg. Bhu;}HeadingCmd: 1.208051 target range: 169.131500 and range: 169.80 m.h}m?hy*hy"hy hgfffdddjdZd @颽OBɢ7;) Vi)Ui\;im?Im?I eA5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2748509)E EE.E"E%;*Ev:VEـ4ZEBEKE,W ?A2>2B,?2-ٱ2= >AHRS rotation from veh to nav: [[0.779911,-0.625775,-0.012013],[0.621557,0.776624,-0.102577],[0.073519,0.072534,0.994653]]2H?X!??|B+Ҳ?`?1?i2>I2_^;2đCYF}OByF2HbDNVDNkyV=%Vd=ٔZ@;Q-Z>9^"?Y^"?=^Fy^E^f >E^>`Q 5f 5b?Q 9f 5b*y)b#OBYhyj)?Q IjJ@b CIbw;ib;bO 5yn-BɮnArSEjh FNOT Ignoring new targets: 169.13 m.Rh :Zh :q ProNav: ac range: 169.131500 m, nav range: 157.667969 m, bearing: 63.718608 deg, approach rate: -0.519885 m/s, LOS rate: 0.091189 deg/s, cmd heading: 69.216242 deg, new cmd heading: 69.314087 deg. BhTz;HeadingCmd: 1.209759 target range: 169.131500 and range: 169.80 m.hbٚ?h*h"h hgfffdddjdZdq@OBɢAS$) Ľi)6Zirc;ibٚ?Ibٚ?I 9ԙu9@y @y@} 0@y]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779203E EE*E"E;*E$:VE(N4ZEa@a@a@a@^A FӅ A .AI I) O5 >K,T2 ?AUI>Ud2?UٱU= }AHRS rotation from veh to nav: [[0.764337,-0.644756,-0.008814],[0.640732,0.760961,-0.101988],[0.072465,0.072305,0.994747]]UH`su?@ءR @? Y? ?`??iUI>IU>^;UƑC]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033228YuOBy}EHonly read 0 of 1 data item for BIT error. Device response is::TSE,-32768,-32768,-32768,V a@a a@a a@a a@a bDVDyF=%*=ٔ;Q->9  ?Y  ?= Fy ES=E>Q 5% 5 ?Q 9% 5t)>OBQ A%+:Y!Q E%:y%/?Q I-J@B CI:i;>R 5y1ɮ5A9jhFNOT Ignoring new targets: 169.13 m.Rh:Zh:5 ProNav: ac range: 169.131500 m, nav range: 157.416428 m, bearing: 63.760050 deg, approach rate: -0.503115 m/s, LOS rate: 0.083022 deg/s, cmd heading: 69.314085 deg, new cmd heading: 69.438609 deg. Bh5c;=HeadingCmd: 1.211932 target range: 169.131500 and range: 169.80 m.h= ?h9*hA"hA hAgAfAfifidididqjdqZdu`#~@颽OBɢ!)A Er˽iA)E-`AIiM;iM ?QQIU ?IQ=9B>BB9HBOBB =BBBN;B)BE@ @@0@9m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282663E  E E )E "E :*E :VE FA4ZE BE <FS,gP ?A 6 2?69?6OΒٱ6 %= >AHRS rotation from veh to nav: [[0.748037,-0.663635,-0.005441],[0.659781,0.744528,-0.101818],[0.071621,0.072573,0.994788]]6H ?<Iv`?@,? @U?*?N?i6 2?I6 N^;6ǑCYFOByFPHbDnVDnkyv<%vJ=ٔz;Q-z>9~"?Y~"?=~Fy~E 9}=E>)Q 55 5-?Q 95 5-~p)-VOBQ A= :Y9Q E=p:y=U6?Q I=J@-~ CI- ;i-%d?-T 5yE2BɮEAIjhiuFNOT Ignoring new targets: 169.13 m.Rhu:Zhu: ProNav: ac range: 169.131500 m, nav range: 157.198792 m, bearing: 63.793647 deg, approach rate: -0.559188 m/s, LOS rate: 0.086442 deg/s, cmd heading: 69.438613 deg, new cmd heading: 69.539543 deg. BhLm;HeadingCmd: 1.213694 target range: 169.131500 and range: 169.80 m.hSZ?h*h"h hgfffdddjdZdV@PBɢ*~6) ؽi)D/fi;iSZ?ISZ?IIA?)^?checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5350259I)eAAy@ @@4@q^Ae#ԡ e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786745A I I O >E  E E E "E l;*E :VE ZE a @a @a @a @Z,{.j ?A@YOBy hH)-AbD}VD}βy;=%A=ٔQ->9Y=FyEE>Q 5 5n*?Q 9 5Nl)nOBQ A9YQ EB:yQ IJ@ CI;ih?V 5yBɮAJEjh9=FNOT Ignoring new targets: 169.13 m.RhEL:ZhEL:U ProNav: ac range: 169.131500 m, nav range: 156.974548 m, bearing: 63.828371 deg, approach rate: -0.522340 m/s, LOS rate: 0.081000 deg/s, cmd heading: 69.539542 deg, new cmd heading: 69.643863 deg. BhU[^;]HeadingCmd: 1.215515 target range: 169.131500 and range: 169.80 m.h]?hY*ha"ha hagafafifidididijdqZdu@额PBɢ<-) RԽi)l顩i;i?I?Iԩ9I@I @Q@U4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.040971^A  A A AAB >B KCB kHB OBB =B B B \;B 6BEA I I O >a,J ?Adchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290585Y OBy }Haa aa aa aa iMb@Mb@Mb@ 9㥛 ?y&1Y?y`e &A)YfAbDVD!y =%C=ٔQ->9Y=FyEE>Q 5 59?Q 9  5h)zOBQ A T:Y ?Q E :y {9?Q I J@ CIY;i;qZ 5y Bɮ%A%KE=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 169.13 m.E] E]EYEY"E];*E]:VEYZEYBE]!g, ?A2s?2JL?2㭍ٱ2y= :AHRS rotation from veh to nav: [[0.696462,-0.717560,0.007036],[0.714257,0.692245,-0.103120],[0.069124,0.076845,0.994644]]2HiI??|?1?&?f???i2s?I2<^;2őCYFOByFHbDNVDNyV:=%Vc=ٔV;Q-Z>9dYd=jFynE59M>E5>9AQ 5M 5EF?Q 9M 5Ec)EOBYIyUL?Q IUK@E3 CIE:iE :E] 5yYɮ]AYjhFNOT Ignoring new targets: 169.13 m.Rh:Zh: ProNav: ac range: 169.131500 m, nav range: 156.541733 m, bearing: 63.886870 deg, approach rate: -0.556825 m/s, LOS rate: 0.066443 deg/s, cmd heading: 69.744885 deg, new cmd heading: 69.819597 deg. Bhe6;HeadingCmd: 1.218582 target range: 169.131500 and range: 169.80 m.h~?h*h"h hgfffdddjdZdp@4PBɢ^8) ҽi)viKm;i~?I~?I fA @95checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795495i9@ @@@@=@=E EE*E"E*E:VE(N4ZEa@a@a@a@ԙ^A A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.0492431Mm,hʷ ?AԑYOByHI=);i]Mb@Mb@Mb@YYYY Y9]M?I +I +Y]n?y]94]9]pAY Y)]pAYY]AbDuVDuܲy=%0=ٔQ->9Y=FyEE>Q 5 5U?Q 9 50_)OBY?Q E:y$H?Q IK@t CI:i\:a 5yBɮAjhFNOT Ignoring new targets: 169.13 m.RhL:ZhL: ProNav: ac range: 169.131500 m, nav range: 156.299240 m, bearing: 63.917643 deg, approach rate: -0.540996 m/s, LOS rate: 0.068760 deg/s, cmd heading: 69.819601 deg, new cmd heading: 69.912063 deg. Bh<;HeadingCmd: 1.220196 target range: 169.131500 and range: 169.80 m.h_/?h*h"h hgfffdddjdZd@HPBɢ%.) ֽi)'}im^;i_/?I_/?I B>BBHBOBBBBB[;B3BE]R959@1 @1@1@1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.299787E EEE"E;*EVEZEBED|t,= ?A2m&?2.^?2aٱ2Ǔ= JAHRS rotation from veh to nav: [[0.643392,-0.765405,0.014216],[0.762554,0.639136,-0.100083],[0.067518,0.075233,0.994877]]2H?3~g?f?@s?H?B?@ ?i2m&?I21^;2ȑCYVOByVHXbDbVDb:yj=%jR=ٔj;Q-n>9lYl=nFynErb=>Er>tQ 5z 5vHb?Q 9z 5vZ)vOBYxyzZ?Q I~K@v CIv/;iv;v e 5yɮJAjh)-FNOT Ignoring new targets: 169.13 m.Rh5y:Zh5y:E ProNav: ac range: 169.131500 m, nav range: 156.084244 m, bearing: 63.938801 deg, approach rate: -0.552406 m/s, LOS rate: 0.054438 deg/s, cmd heading: 69.912061 deg, new cmd heading: 69.975622 deg. BhEp;MHeadingCmd: 1.221305 target range: 169.131500 and range: 169.80 m.hMS?hI*hI"hI]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550832 hYgYfYfafadadadijdiZdm m:@额XPBɢ )) Hi)顡iOS;iS?<IIS?Ir9E9@A @A@E/@A^Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802774Ea  Ee Ee +Ea "Ea *Ee :VEe [4ZEa am @am @am @am @Q A .AI I O >Zz,x ?AB,?Bd?BljٱBL= JAHRS rotation from veh to nav: [[0.625053,-0.780413,0.016293],[0.777682,0.620797,-0.099101],[0.067225,0.074614,0.994944]]BH@n?#!?`??^5???iB,?IBKF^;BőCYVPByVHbD^VD^yf@v=%fK=ٔf?:Q-j>9j ?Yj ?=jFyjEnr=En>pQ 5v 5rn?Q 9v 5rV)rOBYtyz`?Q IzK@r CIr-:irg:rh 5y|ɮ~A|YjhFNOT Ignoring new targets: 169.13 m.RhZ:ZhZ: ProNav: ac range: 169.131500 m, nav range: 155.860428 m, bearing: 63.958803 deg, approach rate: -0.534814 m/s, LOS rate: 0.047864 deg/s, cmd heading: 69.975623 deg, new cmd heading: 70.035715 deg. Bhd;HeadingCmd: 1.222354 target range: 169.131500 and range: 169.80 m.hv?h*h"h hgfffdddjdZd@:@jPBɢd) i)邻iG;i%v?%p <%`vI%v?I)I5E?)5P?u9ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.057369 9@  @@0@@1@5gA^AԱA ؟AII)O5>B B B HB PBB B B B C;B BE  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306661, ?A62?6@j?6/ٱ61= BAHRS rotation from veh to nav: [[0.607001,-0.794519,0.017046],[0.791878,0.602898,-0.097181],[0.066936,0.072487,0.995121]]6H`l?`let?W?`J?฿"??`?i62?I6f,^;6ǑCYJ!PByJH LLbE(N4jEU4rE/E! E%E%,E!"E!*E%:VE%g4ZE!BE!a52E!a5JE%;;a=:E%;;a=iEMb@Mb@Mb@AAAA A9E|?5^?~jtS㥛YE?yEE/ݼAE&A EA)AAYE\AbD]VD]k1ym<%mA=ٔu3:Q-u>9u"?Yu"?Թ=FyEV=E>Q 5  5)|?Q 9  5P)OBY /?Q E :y"c?Q IK@)CI:ij:hl 5yEBɮEAMLEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 169.13 m.RhY:ZhY:= ProNav: ac range: 169.131500 m, nav range: 155.613892 m, bearing: 63.979967 deg, approach rate: -0.551773 m/s, LOS rate: 0.047443 deg/s, cmd heading: 70.035715 deg, new cmd heading: 70.099309 deg. Bh==;EHeadingCmd: 1.223464 target range: 169.131500 and range: 169.80 m.hEv?hA*hA"hA hAgAfIfifidqdqdqjdqZd}@&@~PBɢ $) i)ij9;i v?Y<eeIv?I9y@y @y@}0@y}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558756^A 9 A .AI I O >],# ?A68?6Wp?6ٱ6= JAHRS rotation from veh to nav: [[0.588485,-0.808281,0.019157],[0.805761,0.584368,-0.096248],[0.066601,0.072076,0.995173]]6H?qԝ?`?$?@ ?`s?u?i68?I6;^;4YR/PByRIbD^VD^yfi=%fJ=ٔfsY:Q-f>9j ?Yj ?=jFyjEnt=En>pQ 5v 5r?Q 9v 5rPL)rOBYtyvi?Q IvK@rbCIr:ir];ro 5y~Bɮ~XA~BEjh!%FNOT Ignoring new targets: 169.13 m.Rh-S:Zh-S:= ProNav: ac range: 169.131500 m, nav range: 155.395432 m, bearing: 63.996822 deg, approach rate: -0.597156 m/s, LOS rate: 0.046136 deg/s, cmd heading: 70.099311 deg, new cmd heading: 70.149945 deg. Bh=M:EHeadingCmd: 1.224347 target range: 169.131500 and range: 169.80 m.hEk?hA*hA"hI hIgIfIfQfQdQdQdYjdYZd]  @q颍PBɢۣ4)  i) ˇ顑i!/;ik?!<SIk?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811290m9DzD@AE EE-E"El;*E:VEt4ZEa@a@a@a@9@ @@4@ԡ^AS%}IIOj> checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064658 !,a< ?A29>?2pv?2Tٱ2= :AHRS rotation from veh to nav: [[0.570091,-0.821329,0.020392],[0.818924,0.566077,-0.094450],[0.066032,0.070545,0.995321]]2H@/>?RH?4?M?-p?6??i29>?I2r"^;2ȑCYB>PByFIiEMb@Mb@Mb@AAAA A9EV-?X9vI +YEh?yEE94EAEA EVA)AAYEAbD]VD]ym =%mA=ٔm:Q-u>9qYq=uFyuE}N[=E}>Q 5 5'?Q 9 5QG)OBY?Q E:yh?Q IK@CI:i:s 5yBɮPACEjhFNOT Ignoring new targets: 169.13 m.RhE:ZhE: ProNav: ac range: 169.131500 m, nav range: 155.159912 m, bearing: 64.015120 deg, approach rate: -0.556144 m/s, LOS rate: 0.043274 deg/s, cmd heading: 70.149943 deg, new cmd heading: 70.204921 deg. Bh:HeadingCmd: 1.225307 target range: 169.131500 and range: 169.80 m.h֜?h*h"h hgfffdddjdZd @-PBɢ-0)1 5Ži1)5x99i=";i=֜?E|BBIB/PBBBBBZ;B2BEBKCBKCBBBC—4U99@ @@Q4@@=@=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.315420^AIeAzAgAE EE,E"E:*E:VEg4ZEBE<1Y j,cV ?A2qD?21{?2ٱ2= :AHRS rotation from veh to nav: [[0.552378,-0.833328,0.021047],[0.831005,0.548498,-0.092632],[0.065649,0.068658,0.995478]]2H@?@N?`?@L? Yΰ???i2qD?I2^;2őCVchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566905YrTPByrIbDzVDzJy]=%Q=ٔ :Q- >9 Y = FyEIa=E>!Q 5- 5%Y?Q 9- 5%B)%OBY)y-Yn?Q I-K@%CI%:i%8:%v 5y9ɮ=$A9jhaeFNOT Ignoring new targets: 169.13 m.RhmP2:ZhmP2:} ProNav: ac range: 169.131500 m, nav range: 154.941208 m, bearing: 64.030358 deg, approach rate: -0.558572 m/s, LOS rate: 0.038973 deg/s, cmd heading: 70.204919 deg, new cmd heading: 70.250698 deg. Bh}:HeadingCmd: 1.226106 target range: 169.131500 and range: 169.80 m.h ?h*h"h hgfffdddjdZd '!@PBɢ1) i)،i;i ?d<l1I ?I19m9@i @i@m/@ia]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819209^A"fԩI1 IA OU >E  E E -E "E l;*E :VE t4ZE a @a @a @a @Թ !,p ?A2bI?2?2ٱ2GՆ= :AHRS rotation from veh to nav: [[0.535122,-0.844525,0.020520],[0.842238,0.531476,-0.090382],[0.065424,0.065648,0.995696]]2H`? Z"? ??H#@?`Nΰ?`?i2bI?I2^;2ƑCY^{PByb5IbDjVDjyr=%rM=ٔr:Q-r>9tYt=vFyvEzS=Ez>|Q 5U 5~o?Q 9U 5~=)~OBYYy]s?Q I]K@~CI~=T̎i ;i?h<{,"I ?I 591i߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=9.0723339@ @@@^A"M[IAIQYOeV>AA@ABBB,IBlPBBBBBs;BLBEԉ e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322771S},"q ?AE2 E2E2+E0"E2;*E2:VE2 [4ZE0BE2D9YYY=]Fy]E]Ee>aQ 5m 5e?Q 9u 5e#8)eOBYuZ?Q Eu:yuv?Q IuK@eVCIeK ;ie ;eX~ 5yBɮADEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 169.13 m.Rh:Zh: ProNav: ac range: 169.131500 m, nav range: 154.460159 m, bearing: 64.059017 deg, approach rate: -0.584555 m/s, LOS rate: 0.033639 deg/s, cmd heading: 70.292345 deg, new cmd heading: 70.336806 deg. Bh:HeadingCmd: 1.227609 target range: 169.131500 and range: 169.80 m.hI"?h*h"h hgfffdddjdZdNg#@PBɢo) i)/␻ij0:i%I"?%1<%%I%I"?I! *9@ @@/@^A}_7A>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574717IIOj>iԁ B,wK ?A2^S?2?2ٱ2^= :AHRS rotation from veh to nav: [[0.501891,-0.864811,0.014381],[0.862490,0.499158,-0.083385],[0.064934,0.054253,0.996414]]2H`~?`s?@?2?X?ǫ??i2^S?I2%^;2ȑCYBPByFTIbDNVDNβyV=%Vj=ٔV&:Q-V>9XYX=ZFyZEZa=E^>`Q 5f 5b?Q 9f 5b3)bOBYdyfk?Q IfK@bCIb:ib=:bg 5ylɮnAljhFNOT Ignoring new targets: 169.13 m.Rh i9Zh i9 ProNav: ac range: 169.131500 m, nav range: 154.259247 m, bearing: 64.067621 deg, approach rate: -0.574526 m/s, LOS rate: 0.024634 deg/s, cmd heading: 70.336803 deg, new cmd heading: 70.362646 deg. Bh?:%HeadingCmd: 1.228060 target range: 169.131500 and range: 169.80 m.h%1?h!*h!"h! h)g)f)f)f1d1d1d1jd1yZd"$@PBɢt) si) Oi:checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826959i51?5m<=LI=1?I99Eq EuEu*Eq"Eq*Eu:VEu(N4ZEqa}@a}@a@a@Ա9@ @@0@^A |1 Ю,# ?AYrPByrVIiuMb@Mb@Mb@qqqq q9u +?9"?Y"?=FyEE>Q 5 5B˅?Q 9 5-)PBY?Q E:yB?Q IK@CI;i:4 5yϚBɮA:EjhFNOT Ignoring new targets: 169.13 m.Rh9Zh 9 ProNav: ac range: 169.131500 m, nav range: 154.005402 m, bearing: 64.076403 deg, approach rate: -0.582168 m/s, LOS rate: 0.020176 deg/s, cmd heading: 70.362649 deg, new cmd heading: 70.389040 deg. Bh]:%HeadingCmd: 1.228521 target range: 169.131500 and range: 169.80 m.h%)@?h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5$@B]>BYB]KIB]PBB] =BYBYB]^;B]6BE颅PBɢ) @i)+j顉i:i)@?{k<6I)@?I#9 @  @ @ /0@ 52Acoustic response timeout1^A(E EEE"ET;*E1:VEZEBEG g>= GU hAa e9 hAY ޯAy% e?% AY %,C ?A:\>\?: ?:=ٱ:b!=F2Acoustic response timeout JAHRS rotation from veh to nav: [[0.471712,-0.881742,0.004234],[0.879388,0.470091,-0.075438],[0.064526,0.039308,0.997141]]:H 0?;7Wq?#?? O˄? 8 ?@?i:\>\?I:/;^;:ʑCYnPByreIbDzVDzyy=%U=ٔz:Q->9  ?Y  ?= Fy E =E>Q 5% 5ԅ?Q 9% 5()PBY!y%̇?Q I%K@CI;i"; 5y5ԚBɮ5A5;EjhQ]FNOT Ignoring new targets: 169.13 m.Rhe,f9Zhe,f9u ProNav: ac range: 169.131500 m, nav range: 153.780945 m, bearing: 64.081210 deg, approach rate: -0.586423 m/s, LOS rate: 0.012577 deg/s, cmd heading: 70.389040 deg, new cmd heading: 70.403482 deg. Bhu :}HeadingCmd: 1.228773 target range: 169.131500 and range: 169.80 m.h}kH?hy*hy"hy hygfffdddjdZd%@颽QBɢ) :i)&i=:ikH?1<g9ͽIkH?I159I@I @I@M4@I^A%qAU؟AIYIqO}z>52Acoustic response timeoutԡE  E E ,E "E ;*E :VE g4ZE a @a @a @a @ B㻂,Y ?A2~`?2*?2 vٱ2= >AHRS rotation from veh to nav: [[0.457039,-0.889446,-0.000787],[0.887095,0.455895,-0.072263],[0.064633,0.032329,0.997385]]2H @? XvI`c?a-?@͋?v?`?i2~`?I2 ^;2ˑCY^PBybwIIfa=)df=f=bDj VDjf2yr=%vL=ٔv Q-v>9z"?Yz"?=zFyzEz)=Ez>YQ 5e 5]$ޅ?Q 9e 5]'#)]:i N?|{<A÷IN?IԱuC92Acoustic response timeout 9@  @@4@BQAU<B]>BYB]qIB]PBB] =BYBYB]=;B]BE ^Am ωe 2Acoustic response timeoutA I I O >9 2‚, ?A5Wd?5.?5Iٱ5D< MAHRS rotation from veh to nav: [[0.443009,-0.896491,-0.006781],[0.894155,0.442378,-0.069200],[0.065036,0.024593,0.997580]]5HBZ?{?@O? 9?.?,?i5Wd?I5^;5ǑCY]PBy]Ii Mb@Mb@Mb@     9 +?Zd;O?Zd;O?Y ?y j< j<= A hA ) ʪA Y AbD-VD-y=D&=%=7=ٔ=lQ-=>9AYA=EFyEEE/=EM>IQ 5] 5M煊?Q 9] 5M)MbPBY]I ?Q E]:y]?Q IeK@MCIM;iM;M 5yiɮmaAiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 169.13 m.RhZh ProNav: ac range: 169.131500 m, nav range: 153.269669 m, bearing: 64.082085 deg, approach rate: -0.618555 m/s, LOS rate: -0.006383 deg/s, cmd heading: 70.414456 deg, new cmd heading: 70.406105 deg. Bh-HeadingCmd: 1.228818 target range: 169.131500 and range: 169.80 m.hI?h*h"h hgfffdddjdZd`p'@9QBɢ<) ‽i)i`:i I? x< :I I?Iy9e9@a @a@e/@aA^A=N2Acoustic response timeoutAiIyIO>i ;Ȃ,% ?A 2=Jh?2~?2ٱ2Q< >AHRS rotation from veh to nav: [[0.429800,-0.902827,-0.013267],[0.900551,0.429688,-0.066148],[0.065421,0.016482,0.997722]]2H`ց?@+P?? ﰿ i?@?U?i2=Jh?I2^;2ȑCYF QByFIbDPVDPyZ9=%Zg=ٔZQ-Z>9\Y\=^Fy^Eb*=Eb>dQ 5j 5f?Q 9j 5fc)fPBYhyj?Q InK@fCIf:ifN:f 5ypɮrAApjh  FNOT Ignoring new targets: 169.13 m.Rh6Zh6% ProNav: ac range: 169.131500 m, nav range: 153.050201 m, bearing: 64.078557 deg, approach rate: -0.620986 m/s, LOS rate: -0.009997 deg/s, cmd heading: 70.406102 deg, new cmd heading: 70.395502 deg. Bh%۹-HeadingCmd: 1.228633 target range: 169.131500 and range: 169.80 m.h-C?h)*h)"h) h1g1f1f1f9d9d9dAjdAZdE@'%(@KQBɢs) i2Acoustic response timeout)%11i5KTc:i=C?=Ou 2Acoustic response timeout ς,o? ?A2,k?2uّ?2$ٱ2< :AHRS rotation from veh to nav: [[0.417199,-0.908616,-0.018995],[0.906457,0.417531,-0.063281],[0.065429,0.009183,0.997815]]2H@e?bms`?Ҹ?`+3?L΂??i2,k?I2c ^;0YBQByFI HHPiUMb@Mb@Mb@QQQQ Q9UQ?&1?I +?YU(?yUP=U94=U߮AUƳA Q)UAQYUAbDuVDufym=%<=ٔQ->9 ?Y ?=FyEk=E>Q 5 5>?Q 9 5U)PBY)?Q E:y?Q IK@ CI:i:ܖ 5yښBɮ6ABBIBQBBBBB;BAEjhFNOT Ignoring new targets: 169.13 m.Rh%n۹Zh%n۹5 ProNav: ac range: 169.131500 m, nav range: 152.765656 m, bearing: 64.068059 deg, approach rate: -0.648743 m/s, LOS rate: -0.023980 deg/s, cmd heading: 70.395502 deg, new cmd heading: 70.363948 deg. Bh5=HeadingCmd: 1.228083 target range: 169.131500 and range: 169.80 m.h=1?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM)@%`QBɢ-)1 5pi1)5.11i=C/:i=1?=s UBDAT read: Tx time:04:42:20.3304 U$Ping request sent.UՂ,O$Y ?A29o?28?2ٱ2ϩNchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246383 RAHRS rotation from veh to nav: [[0.405236,-0.913812,-0.027039],[0.911837,0.406137,-0.060044],[0.065851,-0.000323,0.997829]]2Hd?=`'`-?`'?@ @۰?`.58?i29o?I2)^;0YZ8QByZIbDfVDfkynФ=%nY=ٔnpQ-n>9pYp=rFyrErE=Ev>xQ 5~ 5z5?Q 9~ 5z3 )zPBYyx?Q IK@zHCIz:iz:z% 5 y BɮUA2Ejh9=FNOT Ignoring new targets: 169.13 m.RhEOZhEOU ProNav: ac range: 169.131500 m, nav range: 152.519730 m, bearing: 64.057665 deg, approach rate: -0.659100 m/s, LOS rate: -0.027901 deg/s, cmd heading: 70.363946 deg, new cmd heading: 70.332714 deg. BhU/]HeadingCmd: 1.227537 target range: 169.131500 and range: 169.80 m.h]?hY*hY"hY hYgafafafadididijdqZdu`)@额rQBɢ) thi)_~顡i?:i?Lq<1I?I99E9@A @A@E/@A^A6Am؟AiIyIO}>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498343bE-g4jE-b4rE-p/EU  EU EQ EQ "EU ;*EU 1:VEQ ZEQ ae @ae @ae @ae @Ա !܂,r ?A2ur?2T&?2cٱ2 :AHRS rotation from veh to nav: [[0.393663,-0.918591,-0.034941],[0.916843,0.395098,-0.057416],[0.066547,-0.009433,0.997739]]2H1?`e㡿@V?GI?e@ ?@Qy?i2ur?I2!'^;0Yb,QBybIbDj VDj2yr!%rK=ٔrQ-r>9v"?Yv"?=vFyvEzP=Ez>|Q 5 5~b?Q 9 5~)~PBYy*?Q IK@~CI~;i~j;~ 5yɮlAjh9EFNOT Ignoring new targets: 169.13 m.RhE ZhE U ProNav: ac range: 169.131500 m, nav range: 152.256943 m, bearing: 64.045193 deg, approach rate: -0.652494 m/s, LOS rate: -0.031020 deg/s, cmd heading: 70.332712 deg, new cmd heading: 70.295233 deg. BhUO]HeadingCmd: 1.226883 target range: 169.131500 and range: 169.80 m.h] ?ha*ha"ha hagafafifidididqjdqZduΒ*@ԙ=QBɢE33)A EBiA)E6AAiMxɧ9iM ?UoBBIBVQBB =BBB;BAEBBBBBCCY4IAIQOu> e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002273 ,nj ?AEN ENEN)EL"ENT;*EN:VENFA4ZELBENG9 ?Y ?=FyE<E>Q 5 5 ?Q 9 5) QBYv0?Q E:y~?Q IK@CI<;;is:;u 5yɮWAB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 169.13 m.Rh52Zh52E ProNav: ac range: 169.131500 m, nav range: 151.962494 m, bearing: 64.028223 deg, approach rate: -0.677009 m/s, LOS rate: -0.039094 deg/s, cmd heading: 70.295235 deg, new cmd heading: 70.244225 deg. BhEֺMHeadingCmd: 1.225993 target range: 169.131500 and range: 169.80 m.hMW?hI*h"h hgfffdddjdZd y+@MQBɢMCB?)I U˽iQ)UǣQQiUC9i]W?]-n<]⾼I]W?IaE9!@ @@b2@i߹I߹checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255178I^A (ay A ؟AI I O >3, ?A>O'x?>?>ٱ> FAHRS rotation from veh to nav: [[0.373139,-0.926378,-0.050902],[0.925273,0.375599,-0.052877],[0.068103,-0.027368,0.997303]]>H@?@՛? ?+o?`[?i>O'x?I>W'^;>ǑCYRMQByRIbDZVDZybs=%b]=ٔfQ-f>9f"?Yf"?=fFyjEjO<Ej>lQ 5r 5n?Q 9r 5n)n'QBYtyv?Q IvK@nCIn:in.:n 5yzBɮz@Az3Ejh%FNOT Ignoring new targets: 169.13 m.Rh%@Zh%@5 ProNav: ac range: 169.131500 m, nav range: 151.712173 m, bearing: 64.012689 deg, approach rate: -0.678395 m/s, LOS rate: -0.042170 deg/s, cmd heading: 70.244227 deg, new cmd heading: 70.197546 deg. Bh5=HeadingCmd: 1.225178 target range: 169.131500 and range: 169.80 m.h=Ҝ?hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUf.,@颅QBɢG) i)/顉iiҜ?Sm<gIҜ?I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506988YDYzDYE EE,E"E;*E1:VEg4ZEa@a@a@a@M9@I @I@M/@I^A%|(HԁAQIYIqO}z>ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758287 ,τ ?AJ"z?Jp5?J`ٱJz RAHRS rotation from veh to nav: [[0.364335,-0.929292,-0.060637],[0.928710,0.367386,-0.050253],[0.068977,-0.038006,0.996894]]JHDQ? ?`A?ºy?@uu`?iJ"z?IJ%^;HY^SQBy^IiuMb@Mb@Mb@qqqq q9utV?i|?5?MbPYu2?yuq=uuƳAu߮A q)uʪAqYqbDVDyT<%==ٔQ->9Y=FyEW<E>B>BBIBQBBBBB;BAEQ 5 5L?Q 9 5);QBYS3?Q E:y?Q IK@gCI:in: 5yBɮA)EjhFNOT Ignoring new targets: 169.13 m.Rh-FZh-F- ProNav: ac range: 169.131500 m, nav range: 151.410919 m, bearing: 63.993814 deg, approach rate: -0.689961 m/s, LOS rate: -0.043315 deg/s, cmd heading: 70.197549 deg, new cmd heading: 70.140812 deg. Bh-5HeadingCmd: 1.224188 target range: 169.131500 and range: 169.80 m.h52?h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM-@}QBɢ}Q"N)y }iy)顁ini2?l<*ɻI2?II1?)>Աm99@ @@@@@eA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010624^AżEY E]EYEY"EY*E]:VEYZEYBE] 1 F,7P ?A:ܷ|?:MG?:Zٱ:{BFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262512 FAHRS rotation from veh to nav: [[0.356533,-0.931703,-0.069374],[0.931650,0.360117,-0.048409],[0.070086,-0.047373,0.996415]]:H@p?±?`) ?ɨ&?@IA?i:ܷ|?I:i^;:ˑCYn]QBynI ppttbDzVDz:y*<%U=ٔ =Q- >9 Y =FyEp<E>Q 5% 5 ?Q 9% 5R)MQBY)y-?Q I-K@CI:i:ӫ 5y1ɮ5~A1jhYeFNOT Ignoring new targets: 169.13 m.RhePZhePu ProNav: ac range: 169.131500 m, nav range: 151.149353 m, bearing: 63.976516 deg, approach rate: -0.688981 m/s, LOS rate: -0.045642 deg/s, cmd heading: 70.140811 deg, new cmd heading: 70.088828 deg. Bhu}HeadingCmd: 1.223281 target range: 169.131500 and range: 169.80 m.h}w?h*h"h hgfffdddjdZdP-@QBɢ c) fi)liZйiw?uulo,) ?A0Y^QByIbD-VD-Jy5O;%=G=ٔ=Q-=>9AYA=EFyE EEEM>IQ 5U 5M6'?Q 9] 5M)M`QBYYyYQ I]K@MCIML;iM";Mi 5yaɮm{AijhFNOT Ignoring new targets: 169.13 m.Rh|QZh|Q ProNav: ac range: 169.131500 m, nav range: 150.866867 m, bearing: 63.957765 deg, approach rate: -0.688501 m/s, LOS rate: -0.045787 deg/s, cmd heading: 70.088826 deg, new cmd heading: 70.032469 deg. BhbHeadingCmd: 1.222297 target range: 169.131500 and range: 169.80 m.hu) i)>ׯibi BBIBQBB =BBB;BAEA)I9IIOU> U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019959E}  E} E} *Ey "E} ;*E} :VE} (N4ZEy BE} @ᦿq?@m +?iN?IN^;LYbfQBybIgG(hA9(hAYAi-Mb@Mb@Mb@)))) )9-ʡE?kt?MbY-/?y- 0=--hA-A ))-&A)Y-AbDEVDEܲyU<%U4=ٔ]檻Q-]>9YYY=]FyeEe<Ee>iQ 5u 5m.?Q 9u 5m<)mgQBY}&0?Q E}:y}v?Q I}K@mDCIm ;im ;m] 5yɮkAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 169.13 m.Rh?Zh? ProNav: ac range: 169.131500 m, nav range: 150.559586 m, bearing: 63.938802 deg, approach rate: -0.678252 m/s, LOS rate: -0.041943 deg/s, cmd heading: 70.032470 deg, new cmd heading: 69.975464 deg. BhHMHeadingCmd: 1.221302 target range: 169.131500 and range: 169.80 m.hMS?hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZde@/@ԉRBɢ}) i)%irPiS? k< vU@= ^A ] ;A dAzA  A) I9 II Oe >9 ,* ?AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523374V2?Vs?VMNٱV jAHRS rotation from veh to nav: [[0.340575,-0.935144,-0.097546],[0.937315,0.345837,-0.042857],[0.073813,-0.076835,0.994308]]VH? `}?0"?a`b?z^?iV2?IV^;VȑCYzjQByzIbDVDky=;%=K=ٔE_Q-E>9IYI=MFyMEU6<EU>YQ 5m 5]5?Q 9m 5]9)]mQBYqyu?Q IuK@]CI]>;i]>;] 5E EE.E"ET;*E:VEـ4ZEa@a@a@a@yBɮ%{A%*EjhamFNOT Ignoring new targets: 169.13 m.Rhm9Zhu9 ProNav: ac range: 169.131500 m, nav range: 150.285126 m, bearing: 63.921369 deg, approach rate: -0.638709 m/s, LOS rate: -0.040643 deg/s, cmd heading: 69.975466 deg, new cmd heading: 69.923071 deg. Bh%ߺHeadingCmd: 1.220388 target range: 169.131500 and range: 169.80 m.h5?h*h"h hgfffdddjdZdt50@MRBɢM+䏼)Q U2iQ)UQQi]3Yi5?-k<-̟i=`=>=x-@=t;?>=-\-@ =Q>)=_(@I=Q99=,~I=޹i=Q99 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.AI Iy I O >,LD ?AB>BBIBQBB =BBB;BAEf/?fܜ?fPٱf ~AHRS rotation from veh to nav: [[0.337530,-0.934956,-0.109232],[0.938289,0.343469,-0.040535],[0.075416,-0.088809,0.993189]]fH`?`(v?c?wN?`7@5?if/?If^;dY fQByIi5Mb@Mb@Mb@1111 195ˡE?/$?MbY5'?y5<5@5A5VA 5ݷA)11Y5zAbDMVDM0yڻ%4=ٔ}hQ->9Y=FyE ;E>Q 5 5d=?Q 9 5)nQBYs(?Q E:y?Q IK@CI:i:ٺ 5y%kBɮ%A-!EQ*DAT read: user:153> BDAT read: Tx time:04:42:24.2804 $Ping request sent.,$d ?A2>6?2!?2ٱ2mѽ :AHRS rotation from veh to nav: [[0.335513,-0.934144,-0.121675],[0.938892,0.342136,-0.037753],[0.076896,-0.101573,0.991852]]2H y?@&f ??@_Tx???i2>6?I2R^;2ɑCYBhQByFIbDNVDNNyV;%VB=ٔVjfQ-V>9Z ?YZ ?=ZFyZE^t;E^>`Q 5f 5bD?Q 9f 5b)boQBYdyfC?Q IjK@bCIb/;ib;b 5ylɮnAlxjh FNOT Ignoring new targets: 179.29 m.RhHZhH% ProNav: ac range: 179.288864 m, nav range: 151.493866 m, bearing: 62.550574 deg, approach rate: -0.717969 m/s, LOS rate: -0.043911 deg/s, cmd heading: 69.866101 deg, new cmd heading: 69.815748 deg. Bh%%HeadingCmd: 1.218515 target range: 179.288864 and range: 180.00 m.h-J?h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=H?mIRBɢMf )I Ml`iI)MĻQQiUiUJ?]k<]yiM>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503349!@ @@0@@ @ fAE= E=E9E9"E=T;*E=:VE9ZE9aE@aE@aE@aM@^A'q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753653 ,~ ?A:O?:;?:Šٱ: BAHRS rotation from veh to nav: [[0.334743,-0.932817,-0.133418],[0.939041,0.342004,-0.035154],[0.078422,-0.113518,0.990436]]:H`ll?` ?e? p? }@?i:O?I:.^;:ȑCYNLQByNIbDVVDVy^犽%^H=ٔbuQ-f>9lYl=nFyr Ev:Ev>xQ 5~ 5zK?Q 9~ 5z)zpQBY|y~??Q IK@zdCIzv;iz;z# 5y ɮ A jh1=FNOT Ignoring new targets: 179.29 m.IRhU6Zh]6  ProNav: ac range: 179.288864 m, nav range: 151.226349 m, bearing: 62.534195 deg, approach rate: -0.650521 m/s, LOS rate: -0.039899 deg/s, cmd heading: 69.815748 deg, new cmd heading: 69.766525 deg. BhۺMHeadingCmd: 1.217656 target range: 179.288864 and range: 180.00 m.hM#ܛ?hI*hI"hI hIgIfQBYBYB]IB]QBBYBYBYB];B]AEffdddjdZd`?i颍dRBɢDȾ) i)vλiEzϺi#ܛ?ZWl<ܽCi&, ?A2/W?2B?2Oٱ2! >AHRS rotation from veh to nav: [[0.334484,-0.931516,-0.142825],[0.938988,0.342311,-0.033551],[0.080144,-0.122889,0.989179]]2H-h?@ H¿/ ?k?@-@R?`u[?i2/W?I2_=^;2ʑCYFQByFI~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257775iMb@Mb@Mb@ 9Gz?~jt ףp= Yp?yDQ8AA A)QAYAbDVDk1y0=%)=ٔhjQ->9Y=Fy%EU9E>Q 5 5T?Q 9 5ִ)sQBY?Q E:y?Q IK@CI:i:S 5ysBɮAB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 179.29 m.Rh%Zh%5 ProNav: ac range: 179.288864 m, nav range: 150.932571 m, bearing: 62.522008 deg, approach rate: -0.612431 m/s, LOS rate: -0.025455 deg/s, cmd heading: 69.766523 deg, new cmd heading: 69.729892 deg. Bh5=HeadingCmd: 1.217016 target range: 179.288864 and range: 180.00 m.h=0Ǜ?h9*hA"hA hAgAfAfIfIdIdQdQjdQZdU??颅yRBɢ¼) vi)!Ի顱i4i0Ǜ?'l<G,,ͬ ?A::?:J&?:֧ٱ:e FAHRS rotation from veh to nav: [[0.335246,-0.930025,-0.150544],[0.938567,0.343571,-0.032406],[0.081861,-0.130432,0.988072]]:H`t?@Eÿ@??`? I?i::?I:)^;8YNfQByNIbDVDy%F=ٔ5.Q-=>99Y9==Fy=)EEiEE>IQ 5U 5M\?Q 9U 5M)MvQBYYy]u?Q I]K@MCIM;iM$;M 5yeKBɮeaAeEjhFNOT Ignoring new targets: 179.29 m.RhYZhY ProNav: ac range: 179.288864 m, nav range: 150.676620 m, bearing: 62.511490 deg, approach rate: -0.606196 m/s, LOS rate: -0.024955 deg/s, cmd heading: 69.729893 deg, new cmd heading: 69.698284 deg. BhHeadingCmd: 1.216465 target range: 179.288864 and range: 180.00 m.h?h*h"h hgfffdddjdZd`e?RBɢ͗ټ)  i).ܻ!i%{i%?-l<-BBIBQBB =BBB;BAEBBBBnj =Bnj =Cn@4^A  <I) I9 OM >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013583&w3, ?A2?2d?2<ٱ2x :AHRS rotation from veh to nav: [[0.336810,-0.928619,-0.155646],[0.937891,0.345482,-0.031675],[0.083187,-0.135311,0.987305]]2H@K?@?@8ÿ3?_?7K?@Q?i2?I2(B^;2͑CER ERER-EP"ER ;*ER$:VERt4ZEPBERR) > = =yiMb@Mb@Mb@ 99v? rhV-Y?yC bAjA A)YAbDVDܲy%L<%%I=ٔ%XQ-%>9)Y)=-Fy--E5E5>9Q 5E 5=d?Q 9E 5=ި)=QBYEn?Q EM:yM?Q IMK@=.CI=3;i=;=| 5yYɮeOAajhFNOT Ignoring new targets: 179.29 m.RhVZhV ProNav: ac range: 179.288864 m, nav range: 150.442703 m, bearing: 62.505206 deg, approach rate: -0.582202 m/s, LOS rate: -0.015664 deg/s, cmd heading: 69.698283 deg, new cmd heading: 69.679402 deg. Bh,HeadingCmd: 1.216135 target range: 179.288864 and range: 180.00 m.hP?h*h"h hgfffIdQdQdQjdQZdUX+@RBɢ) hi)MIIIiMK iUP?Ue9m 9,(c ?A>?>?>ʹٱ>* FAHRS rotation from veh to nav: [[0.339250,-0.927022,-0.159815],[0.936917,0.348188,-0.030844],[0.084239,-0.139269,0.986665]]>HC? )tĿ9?`H?`?’?i>?I>*^;>ʑCY~QByIbDVD y%9=%%\=ٔ%W:Q-->9)Y)=-Fy-1E5}E5>9Q 5M 5=k?Q 9M 5=)=QBYQyUO?Q IUK@=eCI=;i= ;= 5yiɮm-AqjhFNOT Ignoring new targets: 179.29 m.RhZh checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518178 ProNav: ac range: 179.288864 m, nav range: 150.226715 m, bearing: 62.499618 deg, approach rate: -0.577678 m/s, LOS rate: -0.014967 deg/s, cmd heading: 69.679404 deg, new cmd heading: 69.662616 deg. BhY$HeadingCmd: 1.215842 target range: 179.288864 and range: 180.00 m.h?h*h"h hgfffdddjdZd P@uRBɢu/)q }iy)}Qyyi}~ i?3im<oԡ @,? ?AB>BLCBIBQBB =BBB);BBEe6?ey՛?e|%ٱeiԙ AHRS rotation from veh to nav: [[0.344729,-0.923224,-0.169762],[0.934673,0.354327,-0.028947],[0.086876,-0.148693,0.985060]]eH ?` @ſ`?J?Y=?\ÿ?ie6?Ie^;eˑCYQByIiEMb@Mb@Mb@AAAA A9Ei|?5?kt{GztYE?yE 0EףEAEȡA EKA)EAAYEAbD]VD]02ye<%m+=ٔmXQ-m>9qYq=uFyu6EuPKE}>yQ 5 5}u?Q 9 5}&)}QBY?Q E:y?Q IK@}CI}y;i} ;} 5yQBɮ+AEjhFNOT Ignoring new targets: 179.29 m.RhKZhK ProNav: ac range: 179.288864 m, nav range: 149.955154 m, bearing: 62.494382 deg, approach rate: -0.576179 m/s, LOS rate: -0.011129 deg/s, cmd heading: 69.662616 deg, new cmd heading: 69.646880 deg. BhgHeadingCmd: 1.215567 target range: 179.288864 and range: 180.00 m.h?h*h"h hgfffdddjdZd @ RBɢ0)) vi)Fi\$iE?MwmG,s ?A2-?2m?28=ٱ2_ :AHRS rotation from veh to nav: [[0.347634,-0.921186,-0.174834],[0.933456,0.357592,-0.028073],[0.088380,-0.153441,0.984198]]2H ??@[z@`ƿ??@E?ÿ~?i2-?I2> ^;2ʑCPYbQBybI ddbDnVDnyv(=%vM=ٔvpxQ-v>9z"?Yz"?=zFyz:EzE~>Q 5  5}?Q 9  5)QBY y ?Q I K@CI:iR:c 5yɮ A5B*** querying acoustic contact ***i1 i1jhAMFNOT Ignoring new targets: 179.29 m.RhM<ZhM<] ProNav: ac range: 179.288864 m, nav range: 149.729050 m, bearing: 62.490282 deg, approach rate: -0.567917 m/s, LOS rate: -0.010313 deg/s, cmd heading: 69.646879 deg, new cmd heading: 69.634561 deg. Bh]~eHeadingCmd: 1.215352 target range: 179.288864 and range: 180.00 m.he?ha*hi"hi higififqfqdqdqdyjdyZd @颭RBɢ&) i)^O顱i\)0i?Sqm<؊YDyzDyE EE-E"E%;*E1:VEt4ZEa@a@a@a@! /N,R: ?A2 9~?2?2bٱ2# :AHRS rotation from veh to nav: [[0.350507,-0.919196,-0.179508],[0.932281,0.360737,-0.026838],[0.089424,-0.157945,0.983390]]2Hn?jƿ??Q?@Q{?7Ŀ@w?i2 9~?I2+^;0Y^QBybIbDjVDj0yr<%rK=ٔrd*Q-r>9v ?Yv ?=vFyv>Ez2Ez>||Q 5 5~?Q 9  5~I)~QBY y G?Q I K@~CI~+;i~:~ 5yɮADAT read: 04:42:26.9485 LVL= 21152, 21857, 20386, 18979, AGC= 65, IDX= 171, 0.06,-1.449,-2.536,-1.317,-2.544, PHS= 1.197, 0.053, 1.183, RAW= 149.4, -37.1, CAL= 150.4, -36.8, ROT= 359.6, 36.8 Ygot valid direction response: 04:42:26.9485 LVL= 21152, 21857, 20386, 18979, AGC= 65, IDX= 171, 0.06,-1.449,-2.536,-1.317,-2.544, PHS= 1.197, 0.053, 1.183, RAW= 149.4, -37.1, CAL= 150.4, -36.8, ROT= 359.6, 36.8 PDAT read: Bearing 208.3, 8.9 (Local) ~Local bearing/azimuth received: Bearing 208.3, 8.9 (Local) DAT read: Range 11 to 50 : 197.9 m (Round-trip 263.9 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.800712,-0.005590,-0.599024]Fpublishing direction and range infoysvn?y=v]3+YECRaUO #J)AIL7?iY=l?&@%'@ l$)@Il$?g>z`BeKCBeIBeQBBaBaBaBe";BeAEi?Nm<B3 U BDAT read: Tx time:04:42:28.2804 ] $Ping request sent.] ƐC XG) A m $9q Yu AJE ;;a :E ;;a ^A] ط~<ԩ AIIO>V,PY ?A2 }?2f?2乽ٱ2x' :AHRS rotation from veh to nav: [[0.352899,-0.917403,-0.183942],[0.931261,0.363430,-0.025936],[0.090644,-0.162146,0.982595]]2H@?\[kǿ?oB?䎚`k4? /Ŀjq?i2 }?I2^;0YBQByFIiMMb@Mb@Mb@IIII I9M"~?QZd;O?YM?yMMj9yYy=}Fy}CEߪE>Q 5 5 ?AJimECRimECjimaE?bm}Lvc@«:_SXc ]Rmsvn?y=v]3+Zimbiml$?jmgnS@#Bb@Gn"rbYZmk v?y0+K?dn{2imC:imܜB"imT2i`?*imV&B+BimeDim3މ?iiimBimCim賂?jhFNOT Ignoring new targets: 179.29 m.Rh]Zh] ProNav: ac range: 179.288864 m, nav range: 149.213898 m, bearing: 62.478365 deg, approach rate: -0.612272 m/s, LOS rate: -0.017197 deg/s, cmd heading: 69.622891 deg, new cmd heading: 69.598751 deg. Bh< HeadingCmd: 1.214727 target range: 179.288864 and range: 197.90 m.h 0|?h *h "h  hgfffdddjdZd%?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864ԁ!SBɢ^) үi) iMi0|?$m<%B checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503137D- =D) E5  E5 E5 +E1 "E5 T;*E5 v:VE5 [4ZE1 aE @aE @aE @aE @ @\,cs ?AN|?Nd?NLٱN) VAHRS rotation from veh to nav: [[0.355068,-0.916043,-0.186525],[0.930321,0.365842,-0.025736],[0.091814,-0.164390,0.982113]]NHo?:P ǿ@0?i?Z?` ſxm?iN|?INM^;N̑CYbQBybIIf%=)f=bDjVDjfyrL%rU=ٔvHQ-v>9tYx=zFyzGEzTʻEz>|Q 5 5~?Q 9 5~ )~RBY y ?Q I K@~CI~:i~:~ 5y.BɮIAEjh9EFNOT Ignoring new targets: 179.29 m.RhEiZhEiU ProNav: ac range: 179.288864 m, nav range: 148.994217 m, bearing: 62.472378 deg, approach rate: -0.578266 m/s, LOS rate: -0.015782 deg/s, cmd heading: 69.598753 deg, new cmd heading: 69.580767 deg. BhUK-]HeadingCmd: 1.214414 target range: 179.288864 and range: 197.90 m.heq?ha*ha"ha hagafafifidididqjdqZdu?颥6SBɢ ) i) 顩i#Wiq?l<;Iq?Iu9@q @q@u4@qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754672!^Ax/<AAAAB Q B B 9IB !RBB B B B ,;B BEAA Iq I O >(c,@ ?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791Y~QBy~!IiMb@Mb@Mb@ 9K? rhkt?Y^?yC 0=A+A A)AY±AbDVDy>>%;=ٔQ->9Y=FyKEE>E EE,E"El;*EM:VEg4ZEBEa 2Ea JET;a :EU;a Q 5 5Þ?Q 9 5)CRBY?Q E:y%Q?Q I%K@CI ;i ;q 5y)ɮ-A)jhQUFNOT Ignoring new targets: 179.29 m.Rh]ϹZh]Ϲm ProNav: ac range: 179.288864 m, nav range: 148.735718 m, bearing: 62.462425 deg, approach rate: -0.588356 m/s, LOS rate: -0.022693 deg/s, cmd heading: 69.580769 deg, new cmd heading: 69.550858 deg. Bhm/yuHeadingCmd: 1.213892 target range: 179.288864 and range: 197.90 m.hu`?hq*hq"hy hygyfyffdddjdZd`d?5PSBɢ5A)1 =i9)=99i=eiE`?E@l9Z"?YZ"?=^Fy^PE^ϻE^>`Q 5f 5b?Q 9f 5b|x)bvRBYhyj?Q IjK@b/CIb;ib* ;b 5ylɮnAp~B*** querying acoustic contact ***i| i|E EE)E"E:*E1:VEFA4ZEa@a@a@a@jhFNOT Ignoring new targets: 179.29 m.RhùZhù ProNav: ac range: 179.288864 m, nav range: 148.441574 m, bearing: 62.451384 deg, approach rate: -0.569223 m/s, LOS rate: -0.021409 deg/s, cmd heading: 69.550860 deg, new cmd heading: 69.517671 deg. Bhk HeadingCmd: 1.213312 target range: 179.288864 and range: 197.90 m.h M?h *h "h  h gfffdddjdZd%`n?moSBɢm)q u\iq)ulqqiucwiM?`l<}L;IM?I'1@9 @9@=0@9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7628749 ^Au 8<B B B ^IB ^RBB =B B B *;B AEA I I O= > .r,$ ?A6{?6?63C½ٱ6n1/ >AHRS rotation from veh to nav: [[0.358567,-0.913453,-0.192442],[0.928687,0.369970,-0.025743],[0.094713,-0.169488,0.980971]]6H?;@ȿͷ?@?D\??`ʱſ`d?i6{?I61^;6͑CYF?RByFKIiMb@Mb@Mb@ 9MbX9?kt?Y!?yA "A)AYAbDVDy3=%8=ٔuQ->9 Y = Fy TE պE>Q 5% 5D?Q 9% 5q)RBY%*"?Q E%:y%e?Q I%K@wCI:iU: 5y54Bɮ5SA5EjhY]FNOT Ignoring new targets: 179.29 m.Rhe)Zhe)u ProNav: ac range: 179.288864 m, nav range: 148.165710 m, bearing: 62.438083 deg, approach rate: -0.656817 m/s, LOS rate: -0.031727 deg/s, cmd heading: 69.517672 deg, new cmd heading: 69.477696 deg. Bhu1}HeadingCmd: 1.212615 target range: 179.288864 and range: 197.90 m.h}6?hy*hy"hy hygfffdddjdZd` @颽SBɢ) i)ii6?l<;I6?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018688QE EE-E"E;*E$:VEt4ZEBEqgy,q ?A2|?2?2 ýٱ2:F/ :AHRS rotation from veh to nav: [[0.357961,-0.913650,-0.192632],[0.928882,0.369449,-0.026182],[0.095089,-0.169560,0.980922]]2H?@<(ȿf??@ϚW?#ſc?i2|?I2];0YBZRByB\IbDNVDN1yR=%V>=ٔVgQ-V>9XYX=ZFyZYE^:E^>`Q 5b 5b&?Q 9f 5bk)bRBYdyfz?Q IfK@bCIbN:ib:bi 5yn BɮnAnEjhFNOT Ignoring new targets: 179.29 m.Rh T Zh T  ProNav: ac range: 179.288864 m, nav range: 147.899399 m, bearing: 62.425128 deg, approach rate: -0.620391 m/s, LOS rate: -0.030234 deg/s, cmd heading: 69.477695 deg, new cmd heading: 69.438759 deg. Bh%HeadingCmd: 1.211935 target range: 179.288864 and range: 197.90 m.h% ?h!*h!"h! h!g!f)f)f)ԑdddjdZd@SBɢ%^)! -䣾i))5ŕ!11i5"i= ?E/k!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774720J,8?AF?|?F; ?FýٱFt/ RAHRS rotation from veh to nav: [[0.357488,-0.913785,-0.192870],[0.929039,0.369037,-0.026446],[0.095342,-0.169730,0.980868]]FH?=ȿ?K?Qh?`ſEc?iF?|?IFt];FˑCYZqRByZjII^>)^bDfVDf0yn\=%nH=ٔrm"Q-r>9r ?Yr ?=rFyv]EvW:Ev>xQ 5~ 5z?Q 9~ 5zd)zRBYy?Q IK@zCIz;iz];z 5y ɮ QA jh15FNOT Ignoring new targets: 179.29 m.Rh=U Zh=U M ProNav: ac range: 179.288864 m, nav range: 147.645584 m, bearing: 62.412686 deg, approach rate: -0.620161 m/s, LOS rate: -0.030454 deg/s, cmd heading: 69.438756 deg, new cmd heading: 69.401365 deg. BhM3UHeadingCmd: 1.211282 target range: 179.288864 and range: 197.90 m.hUM ?hQ*hQ"hQ hQgYfYfafadadadajdiZdms@额SBɢv) :i)%顡i[xiM ?΢k<BBIBRBB =BBB;BAEByByByByByC}u5Q@Y @Y@]/@aԁBDAT read: Rx Time:04:42:30.9184 %TRx dataTimestamp_ set to:1761540152.252176%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027878^AΒ;ԩE EEE"ET;*E:VEZEBEG x,#?A2Ru|?2&?2MĽٱ2S/ :AHRS rotation from veh to nav: [[0.356709,-0.914078,-0.192927],[0.929281,0.368373,-0.027154],[0.095890,-0.169597,0.980837]]2H@Q?@@Աȿ`?l?@Λ>?]ſc?i2Ru|?I2];2ʑCYBRByFIbonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 299.17, 233.89, 207.34 ab@ab af@af af@af af@af bDjVDj:yr=%rI=ٔr屺Q-r>9v"?Yv"?=vFyvaEz;Ez>|Q 5 5~dž?Q 9 5~s^)~'SBQ A+:YQ E:y ?Q I K@~>CI~:i~>~ 5yɮAjh9=FNOT Ignoring new targets: 179.29 m.RhE ZhE U ProNav: ac range: 179.288864 m, nav range: 147.393860 m, bearing: 62.400222 deg, approach rate: -0.619859 m/s, LOS rate: -0.030743 deg/s, cmd heading: 69.401368 deg, new cmd heading: 69.363914 deg. BhUɨ]HeadingCmd: 1.210629 target range: 179.288864 and range: 197.90 m.h]?hY*hY"ha hagafafifidididijdqZdu: @=SBɢ=C)9 =6iA)E)AAiE賗uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279288i}?}uk<}: = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533397A .AI I O >E  E E +E "E :*E :VE [4ZE a @a @a @a @1 a,14?A:c|?:Ľٱ:,/ FAHRS rotation from veh to nav: [[0.356082,-0.914350,-0.192792],[0.929516,0.367763,-0.027387],[0.095943,-0.169452,0.980857]]:H ?[B@jȿ? m?@K ?ſ/c?i:c|?I:u/];:ˑCYNRByNIbDVVDVܲy^=%^M=ٔbR Q-b>9b ?Yb ?=fFyfeEfE:Ef>hQ 5n 5j[Ά?Q 9r 5jPX)jQSBQ Ar :YpQ Er[:yr?Q IrK@j~CIj;ijiN?j$ 5ytɮzAx B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 179.29 m.Rh% Zh% 5 ProNav: ac range: 179.288864 m, nav range: 147.147095 m, bearing: 62.387899 deg, approach rate: -0.619111 m/s, LOS rate: -0.030971 deg/s, cmd heading: 69.363911 deg, new cmd heading: 69.326878 deg. Bh5 =HeadingCmd: 1.209982 target range: 179.288864 and range: 197.90 m.h=?h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdUO/@SBɢ) i)՛-i i ? :Tk< 2,iE>9@ @@/@@@hADAT read: 04:42:30.9184 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 135, 0.37, 2.448, 0.865, 2.762, 2.345, PHS= 0.204,-1.435, 0.373, RAW= 154.8, 9.9, CAL= 154.6, 10.8, ROT= 355.4, -10.8 Ygot valid direction response: 04:42:30.9184 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 135, 0.37, 2.448, 0.865, 2.762, 2.345, PHS= 0.204,-1.435, 0.373, RAW= 154.8, 9.9, CAL= 154.6, 10.8, ROT= 355.4, -10.8 PDAT read: Bearing 253.1, -1.0 (Local) ~Local bearing/azimuth received: Bearing 253.1, -1.0 (Local) DAT read: Range 11 to 50 : 175.3 m (Round-trip 233.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.979123,-0.078779,0.187381] Fpublishing direction and range infoyT?G"F*0i?YL/C )II`P>i>,@;0>,@ A>)(~@IA3yf?f|G;?aW? ?)1IliA%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.9^AX<B>BBIBRBBBBB;BAEq A ؟AI) IQ Ou >,\N?A 6O|?6X?62WĽٱ6D. BAHRS rotation from veh to nav: [[0.355296,-0.914847,-0.191882],[0.929840,0.366923,-0.027673],[0.095723,-0.168587,0.981028]]6H -?@nFȿ??{?fVG?@ſd?i6O|?I65\;4YJRByJI LLr*DAT read: user:155> vBDAT read: Tx time:04:42:32.3320 v$Ping request sent.v9m"?Ym"?=uFyuiEud;Eu>yQ 5 5}ֆ?Q 9 5}Q)}vSBQ AT:Y1?Q E:y?Q IK@}CI};i}+;} 5yBɮAEE EE)E"El;*E:VEFA4ZEBE^F1,ػh?A2 }?24p?2]v½ٱ2+ :AHRS rotation from veh to nav: [[0.354641,-0.915639,-0.189302],[0.930183,0.366036,-0.027869],[0.094810,-0.166202,0.981523]]2Hq?L@;ȿ?#m?ʼnrE?Fſh?i2 }?I2\;2͑CYBSByFIHbDRVDR2yVʦ=%ZV=ٔZ<;Q-Z>9^ ?Y^ ?=^Fy^mEb :Eb>dQ 5r 5f݆?Q 9r 5fJ)fSBYtyvѝ?Q IzK@f CIf^;ifc;f4 5y Bɮ A EjhFNOT Ignoring new targets: 179.29 m.RhE:ZhE: ProNav: ac range: 179.288864 m, nav range: 146.597763 m, bearing: 62.356827 deg, approach rate: -0.715302 m/s, LOS rate: -0.040713 deg/s, cmd heading: 69.277892 deg, new cmd heading: 69.233492 deg. BhߺHeadingCmd: 1.208352 target range: 179.288864 and range: 197.90 m.hK?h*h"h hgfffdddjdZd?m TBɢm)q uiq)uj5qqiu i}K?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503024}:.k<=V,?A2)M}?2?2L½ٱ2r,+ :AHRS rotation from veh to nav: [[0.353686,-0.916129,-0.188716],[0.930555,0.365065,-0.028202],[0.094730,-0.165636,0.981627]]2Hʢ?P@'ȿ?8]?@᜿A@?@3ſ@|i?i2)M}?I2\;2ΑCYB#SByFIbDNVDNk1yV=%VG=ٔV5K9Q-V>X9^"?Y^"?=^Fy^qE^#;E^>`Q 5f 5b冊?Q 9f 5bC)bSBYhyj?Q IjL@bTCIb+;ibj;b 5ylɮrhApjh FNOT Ignoring new targets: 179.29 m.Rh @Zh @% ProNav: ac range: 179.288864 m, nav range: 146.318619 m, bearing: 62.340795 deg, approach rate: -0.732107 m/s, LOS rate: -0.042127 deg/s, cmd heading: 69.233495 deg, new cmd heading: 69.185307 deg. Bh%J%HeadingCmd: 1.207511 target range: 179.288864 and range: 197.90 m.h-?h)*h)"h) h)g)fffdddjdZdg?B=>B9B=IB=RSBB= =B9B9B=;B=AEm6TBɢm)q u找iq)ue8qqiui}?.k<o⦃,ޜ?A29c}?2?2ٱ2* :AHRS rotation from veh to nav: [[0.353385,-0.916387,-0.188024],[0.930707,0.364682,-0.028147],[0.094363,-0.165049,0.981761]]2Hܝ? S.ȿ Y?V?Ҝ,(?P ſj?i29c}?I2\;2ϑCYF7SByFIIJ4=)Jp;iMMb@Mb@Mb@IIII I9M-?~jt?I +?YM?5?yMD9Y=FyvE N:E>Q 5 5J?Q 9 5<)SBYK5?Q E:y?Q IL@CIe ;i" ; 5yɮ>AjhFNOT Ignoring new targets: 179.29 m.Rh/Zh/  ProNav: ac range: 179.288864 m, nav range: 146.019989 m, bearing: 62.324372 deg, approach rate: -0.697174 m/s, LOS rate: -0.038419 deg/s, cmd heading: 69.185308 deg, new cmd heading: 69.135939 deg. Bh ҺiIA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2591975HeadingCmd: 1.206650 target range: 179.288864 and range: 197.90 m.h5s?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdEUI?5QTBɢ5)9 =i9)=7<99i=0iEs?E7k* ,?A2O}?2?2Zٱ2'( :AHRS rotation from veh to nav: [[0.352689,-0.917132,-0.185687],[0.931018,0.363842,-0.028709],[0.093891,-0.162752,0.982190]]2Hv?$Y@ǿ?@0I?e7 ?Ŀn?i2O}?I2 ];2͑CYFdSByFIbDNVDNyV=%VX=ٔZ:Q-Z>9XYX=ZFyZzE^;E^>`Q 5f 5b?Q 9f 5bx5)bSBYhyj0?Q IjL@bCIbN:ib:b 5ynBɮnArE~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 179.29 m.Rh91Zh91% ProNav: ac range: 179.288864 m, nav range: 145.756241 m, bearing: 62.309734 deg, approach rate: -0.696661 m/s, LOS rate: -0.038735 deg/s, cmd heading: 69.135940 deg, new cmd heading: 69.091946 deg. Bh%Ժ-HeadingCmd: 1.205882 target range: 179.288864 and range: 197.90 m.h-WZ?h)*h)"h) h)g)f1f1f1d1d9d9jd9ZdE`6?ԙ%iTBɢ%)! %ɂi))-?))i-iWZ?Ik<ԨBJCB&IBSBBBBDB;BAE^A%u<)A5>A5>AA Ii I O >9 ,?A2Y}?2 Ϛ?2:Bٱ2%% :AHRS rotation from veh to nav: [[0.351983,-0.917845,-0.183491],[0.931301,0.363051,-0.029550],[0.093738,-0.160484,0.982577]]2H?^|ǿ6?:9Y=Fy~E:E>Q 5 5?Q 9 5-)TBYE5?Q E:yǜ?Q IL@4CIP ;i: 5yʙBɮ1AE!jh!-FNOT Ignoring new targets: 179.29 m.Rh-O.Zh5O.E= E=E=+E9"E=;*E=:VE= [4ZE9BE=DP,1C?AN}?NΚ?NԿٱNV% ZAHRS rotation from veh to nav: [[0.351996,-0.917886,-0.183258],[0.931317,0.363020,-0.029420],[0.093530,-0.160315,0.982625]]NH?S_tǿ Y? ;?C ?7Ŀ q?iN}?IN{];LYjSByj#I ppbDzVDzy =% M=ٔ8 :Q->9Y=FyEkdE>Q 5 5?Q 9 5&)5TBYyƜ?Q IL@CI:i:F 5yɮA jhQ]FNOT Ignoring new targets: 179.29 m.Rh]s)Zh]s) ProNav: ac range: 179.288864 m, nav range: 145.162552 m, bearing: 62.277357 deg, approach rate: -0.676381 m/s, LOS rate: -0.037037 deg/s, cmd heading: 69.041854 deg, new cmd heading: 68.994617 deg. BhW˺HeadingCmd: 1.204183 target range: 179.288864 and range: 197.90 m.h"?h*h"h hgfffdddjdZd0@TBɢd)! %i!)%4GUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523022!aie4ϻim"?mΎk5,s?A:}?:F̚?:վٱ:Wi$ FAHRS rotation from veh to nav: [[0.352085,-0.918099,-0.182019],[0.931332,0.362985,-0.029381],[0.093045,-0.159176,0.982856]]:H?`a hLǿ x? %;?ѷ?_Ŀ@s?i:}?I:];:ˑCYNSByN-IbDZVDZ{Uyb!=%bP=ٔbd:Q-b>9dYd=fFyfEf[Ej>hQ 5r 5j?Q 9r 5j )jPTBYpyrÜ?Q IrL@jCIjn;ij;j 5yxɮzͿAxB=<A9BE>BABERIBESBBABABABE;BEAEjhaeFNOT Ignoring new targets: 179.29 m.Rhm'1Zhm'1q ProNav: ac range: 179.288864 m, nav range: 144.900330 m, bearing: 62.262980 deg, approach rate: -0.704961 m/s, LOS rate: -0.038720 deg/s, cmd heading: 68.994616 deg, new cmd heading: 68.951408 deg. BhԺ=HeadingCmd: 1.203429 target range: 179.288864 and range: 197.90 m.hE ?hA*hI"h hgfffdddjdIZdU @ TBɢ 8)  i)/Kiֻi ?bk<nQȃ,!?ABDAT read: 04:42:34.9671 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.04,-0.170,-1.675, 0.116,-0.290, PHS= 0.222,-1.340, 0.363, RAW= 154.3, 9.3, CAL= 154.0, 10.0, ROT= 356.0, -10.0 FYgot valid direction response: 04:42:34.9671 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.04,-0.170,-1.675, 0.116,-0.290, PHS= 0.222,-1.340, 0.363, RAW= 154.3, 9.3, CAL= 154.0, 10.0, ROT= 356.0, -10.0 JBDAT read: Rx Time:04:42:34.9671 NTRx dataTimestamp_ set to:1761540156.547215N@DAT read: $Low SNR acquisition R2Received low SNR in chirpzX#Rx 1: Read direction message, but no range.~^direction in FSK: [0.982409,-0.068697,0.173648]yHJ$o?QٖNs:?HHHH H)J?IJSc>iJJ#۹>JZ,@J6&>J,@ J¸2>)J@IJ¸2HJ?}?pa? J~'?)JO%IJ)iJ¸2T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseqV}??Bżٱ% %AHRS rotation from veh to nav: [[0.352992,-0.917708,-0.182234],[0.931088,0.363713,-0.028072],[0.092043,-0.159766,0.982854]]Hj?]nSǿ@y?G??8sĿ@s?iV}?I1];͑CY}SBy}BIiuMb@Mb@Mb@qqqq q9un?~jth?I +?Yu6?yuD;u949Y=FyE%ϺE%>1Q 5} 55?Q 9 55)5~TBY 6?Q E:y?Q IL@5.CI58}HeadingCmd: 1.202314 target range: 179.288864 and range: 197.90 m.h}k?hy*hy"hy hygyfffdddjdZd @TBɢ) i)%O!!i%W߻i-k?-Lk9`Y`=bFybEfEf>hQ 5n 5jm"?Q 9n 5jb)jTBYlyno?Q InL@jpCIj:ijF:j 5yvBɮvAvE B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 179.29 m.Rhk2Zhk2- ProNav: ac range: 179.288864 m, nav range: 144.228378 m, bearing: 62.228595 deg, approach rate: -0.761292 m/s, LOS rate: -0.038997 deg/s, cmd heading: 68.887505 deg, new cmd heading: 68.848001 deg. Bh5ֺ5HeadingCmd: 1.201624 target range: 179.288864 and range: 197.90 m.h5Ι?h9*h9"h9 h9g9f9fAfAdAdIdIjdIZdMJ@}TBɢ})y }|i)%^R!!i%i-Ι?-Vl<-BBxIB(TBBBBB̊;BAEB}JCB}JCByB} =B} =C}¸5 9@  @@/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AyE}  E} E} 0Ey "E} %;*E} y:VE} 4ZEy BE} KA փ,j\?AYTByhIiMb@Mb@Mb@ 9x?9Y=FyEE>!Q 5- 5%v+?Q 9- 5%)%TBY-^7?Q E-:y-?Q I-L@%CI%:i%z:%$ 59y9ɮEAAjhamFNOT Ignoring new targets: 179.29 m.Rhm2Zhm2 ProNav: ac range: 179.288864 m, nav range: 143.915634 m, bearing: 62.211289 deg, approach rate: -0.704349 m/s, LOS rate: -0.039061 deg/s, cmd heading: 68.847999 deg, new cmd heading: 68.795969 deg. BhtֺHeadingCmd: 1.200716 target range: 179.288864 and range: 197.90 m.h?h*h"h hgfffdddjdZdA@UBɢ) i)A Vii?El<t~A>A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI I) O5 >Թ \܃,Zu?AE" E"E")E "E"T;*E"~:VE"FA4ZE a*@a*@a*@a*@:}?:7o?:ٱ:p% FAHRS rotation from veh to nav: [[0.354813,-0.916933,-0.182598],[0.930548,0.365248,-0.025948],[0.090486,-0.160710,0.982845]]:H??W`_ǿ` ?:`?*?#Ŀws?i:}?I:C\;8YNTByNqI PPTVAbDZVDZybf=%ba=ٔf<;Q-f>9dYd=fFyfEjMEj>lQ 5e 5n2?Q 9e 5n2)nTBYaye?Q IeL@nCInϺ;inj;n' 5yuBɮuAqjhFNOT Ignoring new targets: 179.29 m.Rh*Zh* ProNav: ac range: 179.288864 m, nav range: 143.660172 m, bearing: 62.197213 deg, approach rate: -0.676434 m/s, LOS rate: -0.037336 deg/s, cmd heading: 68.795967 deg, new cmd heading: 68.753666 deg. Bh̺HeadingCmd: 1.199978 target range: 179.288864 and range: 197.90 m.h?h*h"h hgfffdddjdZd@+UBɢ_) di)RYii ? ol< 陠BBIBeTBBBBBÊ;BAE A! II Ii O > PExceeded connect timeout, disconnecting. ,׏?ADDb'|?b\?bʭٱb~o& jAHRS rotation from veh to nav: [[0.355345,-0.916671,-0.182876],[0.930387,0.365706,-0.025281],[0.090053,-0.161163,0.982811]]bH?`^U~hǿ ?g?,㙿 ?@Ŀ/s?ib'|?Ib\;b̑CYvTBytiuMb@Mb@Mb@qqqq q9uv?I +?{Gz?Yu8?yu99Y=FyEE>Q 5 5;?Q 9 5U)UBY8?Q E:yϞ?Q IL@TCI:i':+ 5y ɮ A jh15FNOT Ignoring new targets: 179.29 m.Rh=RZh=RM ProNav: ac range: 179.288864 m, nav range: 143.347961 m, bearing: 62.177695 deg, approach rate: -0.735635 m/s, LOS rate: -0.046089 deg/s, cmd heading: 68.753668 deg, new cmd heading: 68.694985 deg. BhM UHeadingCmd: 1.198954 target range: 179.288864 and range: 197.90 m.hUPw?hQ*hQ"hQ hYgYfYfYfadadadajdaZdmHF@颕GUBɢF) ؔi)_]]顙iiPw?l<1,목?Af:|?f8?f8ٱf' vAHRS rotation from veh to nav: [[0.356389,-0.916062,-0.183895],[0.930056,0.366637,-0.023929],[0.089343,-0.162505,0.982655]]fH?`P ǿ ?`v?π2߶?Ŀq?if:|?If|\;f͑CYDTByIbD-VD-y5==%=V=ٔ=:Q-=>9AYA=EFyEEE;EM>QQ 5] 5U C?Q 9e 5U~)U!UBYaye?Q ImL@UCIUJ;iUL;U)/ 5yqɮ}4AyjhFNOT Ignoring new targets: 179.29 m.RhHZhH ProNav: ac range: 179.288864 m, nav range: 143.076218 m, bearing: 62.160755 deg, approach rate: -0.701859 m/s, LOS rate: -0.043835 deg/s, cmd heading: 68.694983 deg, new cmd heading: 68.644067 deg. BhHeadingCmd: 1.198065 target range: 179.288864 and range: 197.90 m.h1Z?h*h"h hgffqfdddjdZd`2@cUBɢ0) Ti)< aii1Z?1l<,<?AiIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6y|?6Z(?6H.ٱ6'@ FAHRS rotation from veh to nav: [[0.356877,-0.915895,-0.183782],[0.929917,0.367026,-0.023349],[0.088838,-0.162569,0.982690]]6H? O)ǿ ?\}?藿?Ŀ1r?i6y|?I6&\;6ˑCYNUTByNIIR=)R<bDZVDZkyb,=%bR=ٔb:Q-b>9dYd=fFyfEfEj>hQ 5n 5jJ?Q 9r 5j)jAUBYpyr?Q IrL@jCIj;ij;j2 5yvBɮzzAzE B*** querying acoustic contact ***i  i jh%FNOT Ignoring new targets: 179.29 m.Rh%LZh%L5 ProNav: ac range: 179.288864 m, nav range: 142.800552 m, bearing: 62.143563 deg, approach rate: -0.716436 m/s, LOS rate: -0.044768 deg/s, cmd heading: 68.644064 deg, new cmd heading: 68.592387 deg. Bh5=HeadingCmd: 1.197163 target range: 179.288864 and range: 197.90 m.h=BmICBmIBmTBBm =BiBiBm̊;BmAEԱ9@ @@/@nManaging dock network, ignoring radio surface power off Gg>-UG]hAɨ9hAY}AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A}<Eu  Eu Eu +Eq "Eu ;*Eu :VEu [4ZEq BEu @3,9a?Aɰ;2]|?2F?2؛ٱ2ٹ( :AHRS rotation from veh to nav: [[0.357301,-0.915630,-0.184275],[0.929827,0.367322,-0.022264],[0.088074,-0.163389,0.982622]]2H?LUǿ`%?3?@E̖?@Ŀq?i2]|?I2c\;2ϑCYfbTByfIpi]Mb@Mb@Mb@YYYY Y9]K?X9v?:v?Y]^:?y]<]T<]3A]A ]5A)YYY] AbDuVDuyO<%>=ٔ:Q->9Y=FyEFE>Q 5 5R?Q 9 5)aUBY:?Q E:y?Q IL@1CIv:i:N6 5yBɮwAEjhFNOT Ignoring new targets: 179.29 m.Rh2[Zh2[ ProNav: ac range: 179.288864 m, nav range: 142.493484 m, bearing: 62.123076 deg, approach rate: -0.716524 m/s, LOS rate: -0.047909 deg/s, cmd heading: 68.592386 deg, new cmd heading: 68.530792 deg. BhHeadingCmd: 1.196088 target range: 179.288864 and range: 197.90 m.hi?h*h"h hgff f d d djdZd@颽UBɢ) śi)hhivii?5m<V T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse+,=?AE EE.E"E:*Exv:VEـ4ZEa@a@a@a@jO|?j2?jٱj(  AHRS rotation from veh to nav: [[0.357517,-0.915564,-0.184183],[0.929790,0.367447,-0.021749],[0.087590,-0.163476,0.982651]]jH@?ML Mǿ?B?>E`Fl?Ŀ@q?ijO|?Ijd\;j͑CY`TByIbD-VD-19yE%EN=ٔE:Q-M>9IYI=MFyMEUEU>YQ 5e 5]Z?Q 9e 5])]~UBYaymٟ?Q ImL@]{CI]:i]:]9 5yqɮu{AqjhFNOT Ignoring new targets: 179.29 m.RhWZhW ProNav: ac range: 179.288864 m, nav range: 142.210312 m, bearing: 62.104129 deg, approach rate: -0.701304 m/s, LOS rate: -0.047015 deg/s, cmd heading: 68.530792 deg, new cmd heading: 68.473840 deg. BhHeadingCmd: 1.195094 target range: 179.288864 and range: 197.90 m.h?h*h"h hg!f!f!f!d)d)d)jd)Zd5"@额UBɢu) Ki) Tm顡ibJi?zom<-BYB]IB]TBBYBYB]DB];B]AE^Aԅ<A>A> AY I I O >,[#?AH|??aٱi( -AHRS rotation from veh to nav: [[0.357634,-0.915538,-0.184086],[0.929801,0.367455,-0.021132],[0.086991,-0.163606,0.982683]]H {?L"ǿ?a?E? Ŀ#r?iH|?I];БCY]nTBy]I aaT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙi=Mb@Mb@Mb@9999 99=333333? rh?MbPY=9?y=C ===A=A =dA)99Y=̬AbD]VD]ye!=%e9=ٔmV:Q-m>9qYq=uFyuEuszE}>yQ 5 5}%c?Q 9 5})}UBE5 E5E5*E1"E5:*E5:VE5(N4ZE1BE5C8i=9@9 @9@9@9@A@AiA IE AM T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse^A] `=< Ia Iy O >!` ,+?A6#_|?6?6{ٱ6( FAHRS rotation from veh to nav: [[0.357328,-0.915679,-0.183979],[0.929954,0.367085,-0.020836],[0.086616,-0.163647,0.982709]]6Hw? >M`ǿ.?S~?)V@p,?_ĿZr?i6#_|?I6];6ΑCYVrTByVIbDfVDfJyr"C<%ra=ٔv:Q-v>9xYx=~Fy~E~v:E> Q 5 5 &j?Q 9 5 ) UBYy%?Q I%L@ CI E;i B; @ 5y5iBɮ5A5۩EԱjhFNOT Ignoring new targets: 179.29 m.Rh XcZh Xc ProNav: ac range: 179.288864 m, nav range: 141.634842 m, bearing: 62.065133 deg, approach rate: -0.729460 m/s, LOS rate: -0.049690 deg/s, cmd heading: 68.409761 deg, new cmd heading: 68.356614 deg. Bhh%HeadingCmd: 1.193048 target range: 179.288864 and range: 197.90 m.h%̵?h!*h!"h! h!g!f)fQfQdQdQdYjdYZd]l@UBɢ-) Ri)viLc i̵?m<ܿ9  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseD,QE?A2UZ|?2?2ٱ2P) :AHRS rotation from veh to nav: [[0.357411,-0.915619,-0.184119],[0.929966,0.367087,-0.020269],[0.086146,-0.163980,0.982695]]2H?L 6ǿG?`[~?` ? LĿ9XYX=ZFy^E^BE^>`Q 5f 5bq?Q 9f 5b)bUBYhyj?Q IjL@bYCIb=:ib:bAD 5y}Bɮ}kA}ܩEB>BBIBTBBBBB;BAEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 179.29 m.Rh=$ZZh=$Z ProNav: ac range: 179.288864 m, nav range: 141.353455 m, bearing: 62.045935 deg, approach rate: -0.697458 m/s, LOS rate: -0.047679 deg/s, cmd heading: 68.356615 deg, new cmd heading: 68.298908 deg. BhHeadingCmd: 1.192041 target range: 179.288864 and range: 197.90 m.h˔?h*h"h hgfffdddjdZd@Z @ VBɢ&) þi)%|!!i% i-˔?5Tn<=ԙ n,Z,_?A2Xi|?2 ?2%ٱ2m) :AHRS rotation from veh to nav: [[0.357206,-0.915696,-0.184132],[0.930067,0.366843,-0.020046],[0.085903,-0.164095,0.982697]]2H@u?aMǿ?Yz?І?ſAr?i2Xi|?I20];2БCYFTByFIIJ=)JR=iMb@Mb@Mb@ 9|?5^?Q?QY2?y<uA?A A)AYAbD-VD-y o=%B=ٔ:Q->9Y=FyE :E>Q 5 5y?Q 9 5\)UBY&3?Q E:y?Q IL@CID;iI;H 5yɮ:AjhFNOT Ignoring new targets: 179.29 m.Rh_Zh_ ProNav: ac range: 179.288864 m, nav range: 141.053116 m, bearing: 62.026246 deg, approach rate: -0.744788 m/s, LOS rate: -0.048931 deg/s, cmd heading: 68.298907 deg, new cmd heading: 68.239713 deg. BhRHeadingCmd: 1.191008 target range: 179.288864 and range: 197.90 m.h%r?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@t!@e$VBɢê5)a eJþii)mviiimqi}r?}n<}@>ԡ^A<IqIO> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse D <D <bEg4jEm4rE˩]0E!  E% E% -E! "E! *E% :VE% t4ZE! a5 @a5 @a5 @a5 @,y?AB||?Bf)?BٱB+* JAHRS rotation from veh to nav: [[0.356948,-0.915683,-0.184697],[0.930190,0.366554,-0.019590],[0.085639,-0.164810,0.982600]]BH@3:Q-%>9)Y)=-Fy-E-{A:E5>1Q 5E 55R?Q 9E 55)5UBYAyE!?Q IEL@5CI5;i57 ;5qK 5yQɮUHeadingCmd: 1.190084 target range: 179.288864 and range: 197.90 m.hT?h*h"h hgfffdddjdZd!@]@VBɢ]8)Y eRѾia)e,aaieimT?moBHCBIBTBB =BBB;BAEB}ICB}ICByB}ǎ =B}ǎ =C}5^A]<I1 IA I OU >0$,g?A r|?r<.?rٱr) ~AHRS rotation from veh to nav: [[0.356819,-0.915831,-0.184211],[0.930266,0.366367,-0.019505],[0.085352,-0.164406,0.982693]]rH`!?`|N=ǿ@?@r?@@ٵ?@@ ſ8r?ir|?IrC];r͑CY TBy IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiMb@Mb@Mb@ 9B`"?:v?:vY.?yT<Լ\AjA A)ġAYbDVD:y脼%@=ٔM1:Q->9Y=FyE~9E>Q 5 5҉?Q 9 5q)UBY/?Q E:yǛ?Q IL@7CI!;i;+O 5yɮJAjh!%FNOT Ignoring new targets: 179.29 m.Rh-}+Zh-}+= ProNav: ac range: 179.288864 m, nav range: 140.497650 m, bearing: 61.992692 deg, approach rate: -0.676511 m/s, LOS rate: -0.037482 deg/s, cmd heading: 68.186803 deg, new cmd heading: 68.138848 deg. Bh=ͺEHeadingCmd: 1.189247 target range: 179.288864 and range: 197.90 m.hEA9?hA*hA"hA hAgAfIfIfQdQdQdQjdQZd]ݺ"@E EE*E"E:*E:VE(N4ZEBE.A ?! A I I O >*,ʬ?AxY%TBy%IbD5VD5ky}3E=%O=ٔQ->9Y=FyEE>Q 5 5?Q 9 5ʪ)UBYyQ IL@|CI :i:R 5y}BɮAөEjhFNOT Ignoring new targets: 179.29 m.RhC,ZhC, ProNav: ac range: 179.288864 m, nav range: 140.230499 m, bearing: 61.977861 deg, approach rate: -0.676945 m/s, LOS rate: -0.037651 deg/s, cmd heading: 68.138848 deg, new cmd heading: 68.094272 deg. BhκHeadingCmd: 1.188469 target range: 179.288864 and range: 197.90 m.h?h*h"h hgfffdd d jd Zd #@=zVBɢ='nL)9 =9iA)EAAiEliM?MoU T****** received valid address query ******U R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse}1,S?A2N|?2,?2Oٱ2( >AHRS rotation from veh to nav: [[0.356908,-0.916022,-0.183088],[0.930308,0.366284,-0.019061],[0.084522,-0.163525,0.982912]]2H? Pnoǿ? 2q?C?eĿ@t?i2N|?I2];2ΑCYFTByFIbDRVDRyZ%ZX=ٔZ0;Q-^>9\Y\=^Fy^Eb;Eb>dQ 5j 5fBqBuIBuUBBqBqBqBu;BuAE}VBɢ}7,s?A6>d|?6|?6ٱ6) >AHRS rotation from veh to nav: [[0.357325,-0.915733,-0.183715],[0.930163,0.366678,-0.018554],[0.084355,-0.164255,0.982804]]6H`k?M@ǿ? w?`G? Mſ`"s?i6>d|?I6\;4Y^TBybIiuMb@Mb@Mb@qqqq q9u(\?I +V-Yu'?yu94uuAuA q)uAqYuAbDVD{UyEy=%==ٔ9Q->9Y=FyEHE>ԹQ 5 5U?Q 9 5)VBY'?Q E:y?Q IL@ CIa:iH:Y 5yɮrAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 179.29 m.Rh Zh  ProNav: ac range: 179.288864 m, nav range: 139.692352 m, bearing: 61.952143 deg, approach rate: -0.649699 m/s, LOS rate: -0.026436 deg/s, cmd heading: 68.051415 deg, new cmd heading: 68.016971 deg. Bh$%HeadingCmd: 1.187120 target range: 179.288864 and range: 197.90 m.h%?h!*h!"h! h)g)f)f)f1d1d1d1jd9Zd= $%@eVBɢm,@S)i mii)miqiu-i}?}Vp<}[ 2Acoustic response timeout9 E  E E ,E "E :*E :VE g4ZE a @a @a @a @=,O?A2|?22?2ٱ2) >AHRS rotation from veh to nav: [[0.358446,-0.915230,-0.184041],[0.929748,0.367755,-0.018018],[0.084172,-0.164653,0.982753]]2H`?Iǿ ?L?@:s O?Yſ`r?i2|?I2H\;2БCYFTByFIbDRVDRܲyV;%Z[=ٔZ:Q-Z>9\Y\=^Fy^EbPREb>dQ 5j 5f6?Q 9j 5f)f"VBYhyj?Q IjL@fE CIf:if:f\ 5yYɮenAajhFNOT Ignoring new targets: 179.29 m.RhZh ProNav: ac range: 179.288864 m, nav range: 139.448715 m, bearing: 61.942336 deg, approach rate: -0.620871 m/s, LOS rate: -0.025036 deg/s, cmd heading: 68.016970 deg, new cmd heading: 67.987497 deg. BhtHeadingCmd: 1.186606 target range: 179.288864 and range: 197.90 m.h?h*h"h hgff f d d d jdZd`'%@EVBɢEm\)I M+iI)M풼IIiM>iU?]'q<]im>9@ @@5@@>@>A%2Acoustic response timeoutBm>BiBmIBm&UBBiBiBmDBm܊;BmAE^AqI I O >ԡ G ) D,G?A2j90Y2DhAxɰz49Y=FyEJPE>Q 5 5?Q 9 5)/VBQ A+:YQ E:y?Q IL@ CI` ;i>` 5yBɮeAԩEjh%FNOT Ignoring new targets: 179.29 m.Rh%_Zh-_5 ProNav: ac range: 179.288864 m, nav range: 139.161102 m, bearing: 61.930884 deg, approach rate: -0.683070 m/s, LOS rate: -0.027252 deg/s, cmd heading: 67.987498 deg, new cmd heading: 67.953074 deg. Bh==HeadingCmd: 1.186005 target range: 179.288864 and range: 197.90 m.h=ϗ?hA*hA"hA hAgIfIfQfQdQdQdQjdYZd]&@a颍VBɢ8v_) i)ˀ顑i>iϗ?]q<l |J, .?AFD{?Fg?F_@ٱFw+ RAHRS rotation from veh to nav: [[0.361437,-0.913821,-0.185188],[0.928648,0.370604,-0.016294],[0.083521,-0.166085,0.982568]]FH@!? >`<ǿ |??va?EBſ2q?iFD{?IF\;DYZTByZIbDfVDfyjS=%n\=ٔn~:Q-n>9pYp=rFyrEv Ev>xQ 5z 5zt?Q 9~ 5z)z9VBQ A~ :Y|Q E~T:y~}?Q IL@z CIz. ;izP?z9b 5y ^Bɮ A ʩEjh15FNOT Ignoring new targets: 179.29 m.Rh=nZh=nM ProNav: ac range: 179.288864 m, nav range: 138.918243 m, bearing: 61.921363 deg, approach rate: -0.652291 m/s, LOS rate: -0.025619 deg/s, cmd heading: 67.953074 deg, new cmd heading: 67.924458 deg. BhMUHeadingCmd: 1.185505 target range: 179.288864 and range: 197.90 m.hU?hQ*hQ"hQ hYgYfYfYfadadadajdaZdm@'@颕 WBɢgsm)  i)xș顙ii?Jq<A>II!O5>) = 2Acoustic response timeoutpQ,G?A2ɲz?2D?2-ٱ2v- >AHRS rotation from veh to nav: [[0.363496,-0.912701,-0.186676],[0.927847,0.372649,-0.015253],[0.083486,-0.167662,0.982303]]2HC?4@ǿ?y?'=\_?`uſo?i2ɲz?I2=\;2ϑCB >B B 'IB DUBB B B B ;B xAEY5TBy5IbDEVDEJQy]{'=%](=ٔe8Q-e>9aYa=eFymEmEm>qQ 5} 5uŇ?Q 9} 5u)uGVBQ A9YQ E,:y2?Q IL@u!CIuj:iu?u{d 5yɮAjhFNOT Ignoring new targets: 179.29 m.RhZh ProNav: ac range: 179.288864 m, nav range: 138.601105 m, bearing: 61.909179 deg, approach rate: -0.652351 m/s, LOS rate: -0.025119 deg/s, cmd heading: 67.924455 deg, new cmd heading: 67.887821 deg. Bh艺HeadingCmd: 1.184866 target range: 179.288864 and range: 197.90 m.h?h*h"h hgfffdddjdZd@|(@.WBɢ)Q_)  i)%3!!i% i5?5Pr<5I X,a?A@ C)ZlAtNF  ~lAi tI bF IilA PMF) 5lA\~WFI!)!i!)!I%1lA%\-\F ))-9lA-ti-JF)i5C5;A)1 1I1Y1Y}UBy} Ia}a} a}a} aa aa iMb@Mb@Mb@ 9ףp= ?~jtY?yAȘA A)QAY\AbDVDyh=%V=ٔQ->9Y=FyEE>Q 5 51·?Q 9 5G})^VBQ AT:Y?Q E:y?Q IL@[!CI;i5;g 5yɮCABDAT read: Response Not Received *response not receivedTDAT read: user:157>Tx time:04:42:44.7804 E  E E )E "E :*E :VE FA4ZE a @a @a @a @5^,{?A2y?2鵘?2ٱ20@/ :AHRS rotation from veh to nav: [[0.367559,-0.910719,-0.188389],[0.926308,0.376542,-0.013010],[0.082785,-0.169724,0.982008]]2H ?$#ȿQ?C?h1?ſl?i2y?I2\;0Y-'UBy-IbD=VD=yM=%Mc=ٔMV;Q-U>9QYQ=UFyUE]FE]>aQ 5m 5e#և?Q 9m 5ew)esVBYqyu?Q IuL@e!CIe:ie:ej 5y}dBɮ}BA}˩EjhFNOT Ignoring new targets: 179.29 m.RhxZhx ProNav: ac range: 179.288864 m, nav range: 138.143967 m, bearing: 61.898899 deg, approach rate: -0.628581 m/s, LOS rate: -0.013599 deg/s, cmd heading: 67.871330 deg, new cmd heading: 67.856930 deg. BhTHeadingCmd: 1.184327 target range: 179.288864 and range: 197.90 m.h?h*h"h hgfffdddjdZd)@ eWBɢ RՃ)  i )0i 1#i?r<BB9IBcUBBBBB;BYAEY^Au<AzAgAI9IIOU>ԁ %!e,?AMyy?Mn?]2Acoustic response timeoutYMiٱME0 mAHRS rotation from veh to nav: [[0.369593,-0.909714,-0.189264],[0.925513,0.378524,-0.012075],[0.082626,-0.170704,0.981852]]MH`j?`@9ȿ͝?@9?&?ſTk?iMyy?IM];M͑CY #UByIE EE*E"E:*E|:VE(N4ZEBE39Y=FyErE>Q 5 5?Q 9 52q)VBY ?Q E:yP?Q IL@!CI:i':n 5y ɮ JA jh15FNOT Ignoring new targets: 179.29 m.Rh=Zh=M ProNav: ac range: 179.288864 m, nav range: 137.860718 m, bearing: 61.891506 deg, approach rate: -0.620992 m/s, LOS rate: -0.016241 deg/s, cmd heading: 67.856932 deg, new cmd heading: 67.834709 deg. BhMV2UHeadingCmd: 1.183939 target range: 179.288864 and range: 197.90 m.hUP?hQ*hY"hY hYgYfYfafadddjdZd*@5WBɢ5fr)9 =i9)=a9YieC$ieP?mVsk,?A2sx?2D%?2sٱ21 :AHRS rotation from veh to nav: [[0.371648,-0.908608,-0.190552],[0.924685,0.380570,-0.011186],[0.082681,-0.172043,0.981613]]2H?`Pdȿ@?@@[?n膿*?ƿ``i?i2sx?I2J];2ёCYBUUByF1IbDnVDnβyv >%vc=ٔvY#Q-v>9z ?Yz ?=zFyzE~ʻE~>Q 5  5燊?Q 9  5k)VBY y  ?Q I L@"CId*;i,;r 5y?Bɮ%QA%©EjhAMFNOT Ignoring new targets: 179.29 m.RhMZhUe ProNav: ac range: 179.288864 m, nav range: 137.636795 m, bearing: 61.885843 deg, approach rate: -0.620144 m/s, LOS rate: -0.015709 deg/s, cmd heading: 67.834707 deg, new cmd heading: 67.817690 deg. Bhe,eHeadingCmd: 1.183642 target range: 179.288864 and range: 197.90 m.hm?hi*hi"hi higifqfqfqdydydyjdyZd} N+@颭WBɢɅ) <i)Ѭ顱iw%i?.s<)ԙ } 2Acoustic response timeout|r,+n?AB>BGCBYIBUBBBBB;BHAEB]HCB]HCBYB] =B] =C][4V/w?Vtۗ?VٱVI42 ^AHRS rotation from veh to nav: [[0.373743,-0.907676,-0.190891],[0.923879,0.382551,-0.010158],[0.082245,-0.172564,0.981559]]VHi? oȿi?{?}̈́?ƿh?iV/w?IV];VБCYjlUByj?IbDrVDr0yzZ=%zJ=ٔ~:Q-~>9~"?Y"?=FyEE> Q 5 5 ?Q 9 5 e) VBYy?Q I]L@ W"CI #Au>A I I O > x,o?A2x:w?2?2ٱ2j3 :AHRS rotation from veh to nav: [[0.376087,-0.906481,-0.191964],[0.922953,0.384810,-0.008920],[0.081956,-0.173819,0.981361]]2H?Fȿ Ԉ?๠?D ?`?ƿPg?i2x:w?I2];0YBUByFWIiMb@Mb@Mb@ 9"~j?Zd;O rh?YS#?yjC =GA IA)YAbD-VD-y=ۿ=%=E=ٔ=7:Q-=>9AYA=EFyEEMǻEM>QQ 5] 5U?Q 9] 5U~_)UVBY]#?Q E]:y]'?Q IeL@U"CIU:iUf:U>y 5yiɮmAiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 179.29 m.RhZh%52Acoustic response timeout ProNav: ac range: 179.288864 m, nav range: 137.123703 m, bearing: 61.871212 deg, approach rate: -0.624554 m/s, LOS rate: -0.020285 deg/s, cmd heading: 67.799244 deg, new cmd heading: 67.773720 deg. Bh^HeadingCmd: 1.182875 target range: 179.288864 and range: 197.90 m.hoh?h*h"h hgfffdddjdZd|O-@}WBɢx) 9i)顡i9'ioh?Ls<-|i0>U9@Q @Q@U4@Q@]fA@]fA!^Au ]< 2Acoustic response timeoutD =D R=E  E E *E "E :*E :VE (N4ZE a% @a% @a% @a% @I Iq I O >L~,>&?A2v?2*8?2Utٱ2o4 :AHRS rotation from veh to nav: [[0.378360,-0.905366,-0.192757],[0.922048,0.386996,-0.007817],[0.081674,-0.174774,0.981215]]2H@7?`Fȿ k??r?^ƿf?i2v?I2];0Y^UBybxIbDjVDjy[>%M=ٔ%::Q-%>9!Y!=-Fy-E-!ʻE->1Q 5= 55H?Q 9= 55oY)5!WBYAyEؓ?Q IEL@5"CI5w;i5;5| 5yIɮMAIjhquFNOT Ignoring new targets: 179.29 m.Rh}ZZh}Z ProNav: ac range: 179.288864 m, nav range: 136.872559 m, bearing: 61.863294 deg, approach rate: -0.658584 m/s, LOS rate: -0.020803 deg/s, cmd heading: 67.773720 deg, new cmd heading: 67.749921 deg. BhmdHeadingCmd: 1.182459 target range: 179.288864 and range: 197.90 m.hZ?h*h"h hgfffdddjdZd .@WBɢ)  i)@i(iZ?Es<>Xa ,?AV2Acoustic response timeout v??֦ٱ4 -AHRS rotation from veh to nav: [[0.380073,-0.904666,-0.192674],[0.921370,0.388620,-0.007182],[0.081374,-0.174794,0.981237]]HS? @ȿ@{?&?j}Դ?_ƿ@Jf?i v?Ij];ёCYEUByEIE EE+E"E:*E:VE [4ZEBE+9IYQ=UFyU EUEU>YQ 5e 5] ?Q 9e 5]RR)]NWBYm$+?Q Em:ym?Q ImL@]&#CI]1;i];] 5yqɮ}BAyԉjhFNOT Ignoring new targets: 179.29 m.RhZh ProNav: ac range: 179.288864 m, nav range: 136.580978 m, bearing: 61.851441 deg, approach rate: -0.656675 m/s, LOS rate: -0.026751 deg/s, cmd heading: 67.749924 deg, new cmd heading: 67.714289 deg. BhߒHeadingCmd: 1.181837 target range: 179.288864 and range: 197.90 m.hrF?h*h"h hgfffdddjdZd.@#XBɢ0q) i)솼ip*irF?3s<R X㋄,1?A2 u?2bƖ?2́ٱ2W4 :AHRS rotation from veh to nav: [[0.381574,-0.903992,-0.192871],[0.920764,0.390065,-0.006616],[0.081213,-0.175065,0.981202]]2Hk?`ȿ@v?`?{`[ʴ?hƿ@f?i2 u?I2ª];2БCYBVByBIbDNVDN:yVJ=%Vi=ٔV9Q-V>9XYX=ZFyZ E^ E^>`Q 5f 5bL?Q 9f 5bL)bqWBYdyf]?Q IfL@ba#CIb:ibR:b 5yn&BɮnwA]EjhFNOT Ignoring new targets: 179.29 m.RhZh ProNav: ac range: 179.288864 m, nav range: 136.350372 m, bearing: 61.842188 deg, approach rate: -0.629657 m/s, LOS rate: -0.025308 deg/s, cmd heading: 67.714291 deg, new cmd heading: 67.686484 deg. BhHeadingCmd: 1.181352 target range: 179.288864 and range: 197.90 m.h6?h*h"h hgfffdddjdZd/@=XBɢU4) 3 i)̒i*i6?j s<iCI m 2Acoustic response timeoutB% >B! B% IB% .VBB! B! B! B% z;B% 1AEY˒,cK?A2Tu?2Õ?2R@ٱ2N5 >AHRS rotation from veh to nav: [[0.382944,-0.903369,-0.193075],[0.920206,0.391387,-0.006112],[0.081088,-0.175328,0.981165]]2H&?fȿSr?| ?y3´?@(qƿ e?i2Tu?I2w];2ёCYFVByFIbDRVDRyV=%ZJ=ٔZ̡9Q-Z>9XY\=^Fy^ E^%pEb>`Q 5f 5b?Q 9j 5b6F)bWBYhyj-?Q IjL@b#CIb:ib|:b/ 5ylɮr\Apjh FNOT Ignoring new targets: 179.29 m.Rh Zh ProNav: ac range: 179.288864 m, nav range: 136.084000 m, bearing: 61.831625 deg, approach rate: -0.686623 m/s, LOS rate: -0.027280 deg/s, cmd heading: 67.686485 deg, new cmd heading: 67.654735 deg. BhƕHeadingCmd: 1.180798 target range: 179.288864 and range: 197.90 m.hc$?h*h"h hgf!f1fQdadadijdZd B0@ !%CQXG췿9YAA-bXBɢ-/+w)) 5i1)5ü11i5,i=c$?=r<=R7Tx time:04:42:48.4804 MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.979356,-0.061616,0.192522]]Fpublishing direction and range infoy%V?'~(M?Y%C )AIA`>iHế}?>+@K6>+@ aF>)" @IaF4A >I! I9 OE >,6e?A@Y~eVBy~IiMb@Mb@Mb@ 9(\?y&1?/$?Y.?y`e<,=A )QAYbDVDy>%8=ٔQ->9Y=Fy EE>%DAT read: -2Acoustic response timeoutQ 5 5 %?Q 9 5>)WBYr.?Q E:y?Q IL@#CI0,ɀ?A2t?2a?2æٱ2 3 >AHRS rotation from veh to nav: [[0.384414,-0.903091,-0.191449],[0.919571,0.392866,-0.006780],[0.081337,-0.173445,0.981479]]2H@9\Y\=^Fy^ EbވEb>dQ 5j 5f,?Q 9j 5fs8)fWBYhyja?Q InL@f5$CIf;if;fn 5ypɮrٷAp}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 165.04 m.RhZh ProNav: ac range: 165.035934 m, nav range: 155.975525 m, bearing: 65.429975 deg, approach rate: -0.704172 m/s, LOS rate: -0.016608 deg/s, cmd heading: 67.615512 deg, new cmd heading: 67.597247 deg. Bh]6HeadingCmd: 1.179795 target range: 165.035934 and range: 165.70 m.h?h*h"h hgfffdddjdZd8?mXBɢun)q uiq)ujʼqyi}-i}?]r<u#/B!B%IB%VBB!B!B!B%;B%=AEԑ^A /C< A I! I1 OE >SX,霚?A2Acoustic response timeoutP\\z|t?zI?z榽ٱz3  AHRS rotation from veh to nav: [[0.385071,-0.902820,-0.191407],[0.919290,0.393524,-0.006736],[0.081404,-0.173365,0.981488]]zH?ȿj?`/?Ԗ{ִ?@0ƿXh?iz|t?IzH];zёCE EE(E"E:*E~:VEc44ZEBE.9Y=Fy EӺE>Q 5  5F6?Q 9 50)XBY6?Q E:yJ?Q IL@$CIzs,o?A2|t?2C?2tٱ22 :AHRS rotation from veh to nav: [[0.385251,-0.902758,-0.191339],[0.919206,0.393718,-0.006832],[0.081501,-0.173248,0.981500]]2H?d}ȿ"j? 2?{@@ݴ?,ƿ`sh?i2|t?I2^];2ґCYBVByBIbDNVDNyV=%Va=ٔV'Q-V>9XYX=ZFyZ E^EE^>`Q 5f 5b>?Q 9f 5bk*)b1XBYdyfC?Q IfL@b$CIbd:ib:b{ 5ynBɮnAnExjh FNOT Ignoring new targets: 165.04 m.Rh Zh  ProNav: ac range: 165.035934 m, nav range: 155.405548 m, bearing: 65.416650 deg, approach rate: -0.746437 m/s, LOS rate: -0.017483 deg/s, cmd heading: 67.575214 deg, new cmd heading: 67.557201 deg. Bh%?%HeadingCmd: 1.179096 target range: 165.035934 and range: 165.70 m.h%?h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=!G?XBɢ p?)) -i))5CҼ11i5@/i=?=&r<=.ԁ  2Acoustic response timeoutB B B !IB VBB B ;DB B ;B 5AElg,G?A2ڭt?2IB?2e즽ٱ2?2 :AHRS rotation from veh to nav: [[0.385276,-0.902877,-0.190724],[0.919203,0.393723,-0.007003],[0.081415,-0.172616,0.981619]]2H^?] iȿj?2?`| ״?Gƿki?i2ڭt?I2];0YBVByB IbDNVDNN2ynd=%rG=ٔr[9Q-r>9pYt=vFyv Ev5Ev>xQ 5~ 5zF?Q 9 5zM#)zTXBYyB?Q IL@z%CIz@;iz;z 5y ɮ Ajh1=FNOT Ignoring new targets: 165.04 m.Rh=ZhEM ProNav: ac range: 165.035934 m, nav range: 155.116348 m, bearing: 65.409869 deg, approach rate: -0.707460 m/s, LOS rate: -0.016619 deg/s, cmd heading: 67.557203 deg, new cmd heading: 67.536822 deg. BhU}6UHeadingCmd: 1.178740 target range: 165.035934 and range: 165.70 m.hU?YhY*ha"ha hagafafifidididijdqZdu?颥XBɢF) i)Kռ顩ip0i?`r<23i>i@q @q@q@q@}=@}=ԉ2Acoustic response timeoutE= E=E=*E9"E=&:*E=:VE=(N4ZE9BE=f; ,"?A;ɰ;Y=VBy=Ie2Acoustic response timeoutԹiMb@Mb@Mb@ 91Zd?ˡE?{Gz?Y";?y'=ף<GA xA)AYAbDVD0y-N=%-7=ٔ5Q-5>99Y9==FyE% EEEE>QQ 5] 5UO?Q 9e 5U-)UvXBYe;?Q Ee:ye?Q ImL@Ue%CIU!E;iU;C;U 5yyɮ}AyjhFNOT Ignoring new targets: 165.04 m.Rh Zh  ProNav: ac range: 165.035934 m, nav range: 154.790558 m, bearing: 65.398688 deg, approach rate: -0.718296 m/s, LOS rate: -0.024704 deg/s, cmd heading: 67.536822 deg, new cmd heading: 67.503208 deg. BhHeadingCmd: 1.178153 target range: 165.035934 and range: 165.70 m.h͖?h*h"h hgfffddd jd Zd@#YBɢ89) `i)rsڼi1i͖? >r< Nz;A >bEjE [4rEɃA0EM  EI EM ,EI "EM ;*EI VEM g4ZEI ae @ae @ae @ae @A I I O >Sy,?A2,t?2r4?2<ٱ20 :AHRS rotation from veh to nav: [[0.385675,-0.902981,-0.189422],[0.919065,0.394041,-0.007133],[0.081081,-0.171340,0.981870]]2H@?7 >ȿh?7?7}?@yſ@zk?i2,t?I2P];0YBVByF3IbDNVDNfyV=%Vg=ٔV(x:Q-V>9XYX=ZFyZ( EZҜE^>`Q 5f 5bW?Q 9f 5b)bXBYdyf?Q IfL@b%CIbB:ib:b 5yj BɮnDAlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 165.04 m.RhٹZhٹ ProNav: ac range: 165.035934 m, nav range: 154.534821 m, bearing: 65.389921 deg, approach rate: -0.690642 m/s, LOS rate: -0.023715 deg/s, cmd heading: 67.503210 deg, new cmd heading: 67.476866 deg. Bh4HeadingCmd: 1.177693 target range: 165.035934 and range: 165.70 m.h?h*h"h hgfffdddjdZd@?YBɢ%q)! %i!)%ݼ!)i-C 2i-?58&r<5:ԡ 5 BDAT read: Rx Time:04:42:51.1035 E TRx dataTimestamp_ set to:1761540172.431646M 2Acoustic response timeoutƄ,?AE EE'E"ED:*E]t:VE'4ZEBE19Y=Fy- EKE>Q 5 5v`?Q 9 5 )XBY=?Q E:y0?Q IL@&CIڦ;i;0 5yBɮAEjh9=FNOT Ignoring new targets: 165.04 m.RhEZhEU ProNav: ac range: 165.035934 m, nav range: 154.187668 m, bearing: 65.376666 deg, approach rate: -0.763151 m/s, LOS rate: -0.029204 deg/s, cmd heading: 67.476866 deg, new cmd heading: 67.437012 deg. BhUW]HeadingCmd: 1.176998 target range: 165.035934 and range: 165.70 m.h]ާ?hY*hY"hY hYgafaffdddjdZdD @=fYBɢ=h)9 =i)X顡i=2iާ?}r</? ̄,N5?A2t?2/.?2lٱ2\/ :AHRS rotation from veh to nav: [[0.385863,-0.903217,-0.187908],[0.919021,0.394141,-0.007334],[0.080686,-0.169861,0.982159]]2H?&Z ȿ`h?9? ~ק?ſ`m?i2t?I2];2ґCYBWByFDIbDNVDN:yVgr=%Vs=ٔVf8Q-Z?9XYX=ZFyZ1 E^8 :E^?`Q 5f 5b-g?Q 9f 5b)bXBYdyf6?Q IjL@b?&CIbg:ib:b 5ylɮ]AYjhFNOT Ignoring new targets: 165.04 m.RhaZha ProNav: ac range: 165.035934 m, nav range: 153.940842 m, bearing: 65.367188 deg, approach rate: -0.711452 m/s, LOS rate: -0.027363 deg/s, cmd heading: 67.437012 deg, new cmd heading: 67.408533 deg. Bh:HeadingCmd: 1.176501 target range: 165.035934 and range: 165.70 m.h?h*h"h hgfffdddjdZd`' @YBɢя) ,i)7i33i?q<ITx time:04:42:52.1804 R#Rx 1: Read range and direction messages.^direction in FSK: [0.977851,-0.058095,0.201078]Fpublishing direction and range infoy:J?o?Y$C )IK>i%M>+@q=>uY+@ 4QO>))@I4QOk 6?kOd? dUu? x?)׽B >B B rIB _WBB =B B B ;B @E% DAT read: % 2Acoustic response timeoutQ 1ӄ,șO?AY~ WBy~KIbD VD y<%C=ٔQ-%>9!Y!=%Fy%5 E-E->1Q 5= 55o?Q 9= 559)5XBY9y9Q IEL@5&CI5@;i5;5Ȫ 5yIɮMhAIiiO=?AJiq#CRiq#CjiE?bNc@mq!"Rdn@@R:J?o?Zisbi4QOjYn"-~P@n_a@(PdG@Z?I5?at R?2iC:i#B"iC ?*ie{OBi"Bii;gi"BiCi-? addTargetRange:: Added new target pos. range: 164.100006 m, deltaT: 3.547824 s, deltaX: -1.599991 m, approachRate: -0.450978 m/s, rangeRepo size: 4  Added new target pos. range: 163.442215 m, bearing: 65.850054 deg, lat: 36.779354 deg, lon: -121.859382 deg, deltaT: 3.547824 s, deltaX: -1.593719 m, approachRate: -0.449210 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 163.44 m.RhZh ProNav: ac range: 163.442215 m, nav range: 154.081070 m, bearing: 65.431723 deg, approach rate: 0.000000 m/s, LOS rate: -0.027363 deg/s, cmd heading: 67.408530 deg, new cmd heading: 67.375082 deg. BhHeadingCmd: 1.175917 target range: 163.442215 and range: 164.10 m.hs?h*h"h hgfffdddjd@3d@Zdʼn?YBɢ )  i)"i=3is?q<%tP`ل,pi?A0Jt?J':?JٱJ- RAHRS rotation from veh to nav: [[0.385538,-0.903645,-0.186512],[0.919187,0.393746,-0.007639],[0.080342,-0.168494,0.982423]]JH? ǿi?$3?lJD?7ſ`p?iJt?IJ];JӑCY^WBy^@IiEMb@Mb@Mb@AAAA A9E)\(?~jt?{GztYEGA?yED=EףEvAESA E׮A)EAAYE AbD]VD]1ym+%mF=ٔmZ:Q-m>2Acoustic response timeout9Y=Fy9 E\:E%>)Q 5= 5-x?Q 9= 5-)-XBY=A?Q EE:yE?Q IEM@-&CI-(S;i-P;- 5yuBɮuAuEjhFNOT Ignoring new targets: 163.44 m.Rh]Zh]  ProNav: ac range: 163.442215 m, nav range: 153.753647 m, bearing: 65.420316 deg, approach rate: -0.730516 m/s, LOS rate: -0.025503 deg/s, cmd heading: 67.375083 deg, new cmd heading: 67.340791 deg. Bh-5HeadingCmd: 1.175318 target range: 163.442215 and range: 164.10 m.h5p?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdM`?ԉ颵YBɢ) p.i) i4ip?q<]D,?A,:1t?:tL?:ٱ::- FAHRS rotation from veh to nav: [[0.385026,-0.903995,-0.185873],[0.919405,0.393230,-0.007979],[0.080304,-0.167821,0.982541]]:H`D?ǿk?*?#WȎ?'{ſp?i:1t?I:];:БCYN)WByNQIbDZVDZyr=%rM=ٔr8Q-r>9tYt=vFyv= Ev:E>Q 5% 5?Q 9% 5)XBY!y%.?Q I%M@-'CI-:i: 5yU̘BɮUߴAUEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 163.44 m.Rh\Zh\ ProNav: ac range: 163.442215 m, nav range: 153.466537 m, bearing: 65.410213 deg, approach rate: -0.769856 m/s, LOS rate: -0.027142 deg/s, cmd heading: 67.340788 deg, new cmd heading: 67.310422 deg. BhHeadingCmd: 1.174788 target range: 163.442215 and range: 164.10 m.hx_?h*h"h h1g9f9f9fAdAddjdZd?ԁ颭YBɢ.) K0i)}顱iC4ix_?q< xl@,k?AE2 E2E2+E0"E2:*E2Ar:@VE2 [4ZE0BE26WByu^IiMb@Mb@Mb@ 9S?+?MbY/=?y=A~A A)ٜAYץAbD5VD5kyE :=%E3=ٔM:7Q-M>9IYI=FyB E:E>Q 5 5?Q 9 5^)YBY}=?Q E:y?Q IM@'CI2 ;i ; 5yɮAjh  FNOT Ignoring new targets: 163.44 m.RhҹZhҹ% ProNav: ac range: 163.442215 m, nav range: 153.122925 m, bearing: 65.399696 deg, approach rate: -0.750335 m/s, LOS rate: -0.023017 deg/s, cmd heading: 67.310421 deg, new cmd heading: 67.278799 deg. Bh%|-HeadingCmd: 1.174237 target range: 163.442215 and range: 164.10 m.h-bM?h)*h)"h1 h1g1f1f9f9d9d9d9jdAZdE ?u ZBɢu!)q u]3iq)}:yyi}T4ibM??q<K|-Z,?A>;u?>xm?>]5ٱ>+ FAHRS rotation from veh to nav: [[0.384106,-0.904631,-0.184674],[0.919808,0.392277,-0.008457],[0.080094,-0.166616,0.982763]]>H1?gǿ o??R ?`Sſ@r?i>;u?I>=^;>ԑCYR6WByRYIbDZVDZ02yb嵼%bi=ٔf"Y:Q-f>9dYd=fFyfE Ej҉:Ej?lQ 5r 5n?Q 9r 5n8)nYBYtyv?Q IvM@n'CIn";in:n 5yzҘBɮzܴAzE|jh!%FNOT Ignoring new targets: 163.44 m.Rh-ϹZh-Ϲ= ProNav: ac range: 163.442215 m, nav range: 152.875122 m, bearing: 65.392047 deg, approach rate: -0.735058 m/s, LOS rate: -0.022726 deg/s, cmd heading: 67.278798 deg, new cmd heading: 67.255814 deg. Bh=yEHeadingCmd: 1.173835 target range: 163.442215 and range: 164.10 m.hE=@?hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUp?颅(ZBɢ) di>2Acoustic response timeoutU9@Q @Q@U/@Q@Y@YE} E}E}.Ey"E}T;*E}|:VE}ـ4ZEya@a@a@a@)Y^AuoM<A B >B B IB WBB =B B B +;B @EI I O- > 2Acoustic response timeoutԉ %B,f?A2t?2f?2ٱ2ƭ+ :AHRS rotation from veh to nav: [[0.384314,-0.904638,-0.184206],[0.919769,0.392377,-0.008028],[0.079541,-0.166342,0.982855]]2H? ǿ@n??#q\?`Jſs?i2t?I2G^;2ёCYFFWByFcIbDRVDRkyZ)=%ZK=ٔZ:Q-Z>9\Y\=^Fy^I EbzEb>dQ 5j 5f7?Q 9j 5f)f+YBYhyj?Q InM@f(CIf:if:fs 5yrrBɮr=Apjh  FNOT Ignoring new targets: 163.44 m.Rh)ѹZh)ѹ% ProNav: ac range: 163.442215 m, nav range: 152.578888 m, bearing: 65.382893 deg, approach rate: -0.738269 m/s, LOS rate: -0.022858 deg/s, cmd heading: 67.255814 deg, new cmd heading: 67.228299 deg. Bh%z-HeadingCmd: 1.173355 target range: 163.442215 and range: 164.10 m.h-0?h)*h)"h1 h1g1f1f9YfdddjdZd@-LZBɢ-tn)) 5tAi1)]YYi]3ie0?eqEl,?AY~3WByWIE2Acoustic response timeoutԹiMb@Mb@Mb@ 9S?~jt?Zd;OY:?y=j-A )YAbDVD3y*%7=ٔ Q- >9 Y =FyN EuE}>yQ 5 5}裈?Q 9 5})}9YBY:?Q E:yM?Q IM@}g(CI};i};}x 5yɮcAjhFNOT Ignoring new targets: 163.44 m.RhɹZhɹ ProNav: ac range: 163.442215 m, nav range: 152.244324 m, bearing: 65.372806 deg, approach rate: -0.726961 m/s, LOS rate: -0.021966 deg/s, cmd heading: 67.228295 deg, new cmd heading: 67.197967 deg. Bh4qHeadingCmd: 1.172826 target range: 163.442215 and range: 164.10 m.h(?h*h"h hgfffdddjdZd O@-qZBɢ-W)) -kOi))5߬11i5x3i=(?=q<=qʇT,X?A2t?2O?2?ٱ2** :AHRS rotation from veh to nav: [[0.385001,-0.904595,-0.182979],[0.919600,0.392794,-0.006957],[0.078167,-0.165589,0.983092]]2H`ۣ?r`kǿ]m? #?F|?2ſ}u?i2t?I2&];2ԑCY^DWBybaIf=f=bDjVDjyrM7=%r_=ٔv2v;Q-v>9v ?Yv ?=vFyvR EzrEz>|Q 5 5~a?Q 9 5~0)~CYBYy7?Q IM@~(CI~r<6 ,ij!?A:4<ɰ:49"?Y"?=FyW E%E%>)Q 55 5-?Q 95 5-)-SYBY55?Q E=:y=?Q I=M@- )CI- ;i-:-P 5yEXBɮEAEEjhiuFNOT Ignoring new targets: 163.44 m.RhuZhu ProNav: ac range: 163.442215 m, nav range: 151.601700 m, bearing: 65.356088 deg, approach rate: -0.756893 m/s, LOS rate: -0.017712 deg/s, cmd heading: 67.174733 deg, new cmd heading: 67.147706 deg. Bh|BHeadingCmd: 1.171949 target range: 163.442215 and range: 164.10 m.hi?h*h"h hgfffdddjdZd @ZBɢs) ^i) i&2ii?r<iM﷿M>IM">M<+@ M%/>)M8@IM%/IIM %N?|?uf2? MJ?)MQE"IMQkiM%/II:publishing transmit ping timeFpublishing direction and range infoyIM*ev{?P rl?YIIIII I)IIIiIIIII I)IIIIIM %N?|?uf2? I)IIIiIII9@ @@@QQ^Ae }U<Am >Am >ԉ A .AI I O >O,>?ADxzDxbEeg4jEe|a4rEe20E~ E~E~-E|"E~7;*E~:VE~t4ZE|a @a @a @a @ Y]SWBy]jIbDmVDmfy}A=%}`=ٔyQ->9 ?Y ?=Fy[ EE>Q 5 5񾈊?Q 9 5^)_YBYyQ IM@N)CI:i: 5yUBɮAii.?AJi CRi Cjih?bM0a@)Ez u7@R*ev{?P rl?ZiQkbi%/j6 dK@!^@éA@Zm?F2?[;?2iB:ic]B"ilT?*iܸ*Bi BiiiSBiWCiM?-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 139.300003 m, deltaT: 3.778885 s, deltaX: -24.800003 m, approachRate: -6.562783 m/s, rangeRepo size: 4jhFNOT Ignoring new targets: 163.44 m.RhZh ProNav: ac range: 163.442215 m, nav range: 151.343155 m, bearing: 65.350027 deg, approach rate: -0.700814 m/s, LOS rate: -0.016455 deg/s, cmd heading: 67.147706 deg, new cmd heading: 67.129494 deg. Bh4HeadingCmd: 1.171631 target range: 163.442215 and range: 164.10 m.h?h*h"h! h!g!f!f)f)d)d)d1jd5ia@Zd5 G:?eZBɢe"ʽ)a e~bia)m iiim(1iu?u*rBBBB =BBB&;B@EBBBBBC4Q^AE<Au ؟Ay I I O >,5CX?A6֒t?64?6ٱ6T( BAHRS rotation from veh to nav: [[0.385825,-0.904837,-0.180022],[0.919448,0.393171,-0.005609],[0.075855,-0.163357,0.983647]]6H@\?m ǿl?)?v:k?Ŀ@z?i6֒t?I6^;6ґCYN9f"?Yf"?=fFyf_ EjEj>lQ 5r 5nLj?Q 9r 5nȳ)niYBYpyrԙ?Q IrM@n)CIn;in7;n 5yzTBɮzزAxjhFNOT Ignoring new targets: 163.44 m.Rh%bZh%b5 ProNav: ac range: 163.442215 m, nav range: 151.075287 m, bearing: 65.343802 deg, approach rate: -0.715263 m/s, LOS rate: -0.016653 deg/s, cmd heading: 67.129497 deg, new cmd heading: 67.110787 deg. Bh56=HeadingCmd: 1.171304 target range: 163.442215 and range: 164.10 m.h=L?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU@?Y颅ZBɢsҽ) /pi)$~顉i/iL?;8r<߆,Kv?ABjvt?B&?B`ٱBY' JAHRS rotation from veh to nav: [[0.386240,-0.904809,-0.179274],[0.919319,0.393478,-0.005270],[0.075309,-0.162775,0.983785]]BH'?2vƿk?`.?ҕunG?Ŀ*{?iBjvt?IBw^;BӑCYV>WByV^Ii5Mb@Mb@Mb@1111 195i|?5?I +?~jtY51?y594<5ļ5\A1 5A)11Y5fAbDMVDMβy] ;%]'=ٔ]:Q-]>9e ?Ye ?=eFyed EehEm>qQ 5} 5uш?Q 9} 5u)uwYBY}1?Q E}:y}n?Q IM@u)CIu:iu:u 5y;BɮoAEjhFNOT Ignoring new targets: 163.44 m.RhMZhM ProNav: ac range: 163.442215 m, nav range: 150.736313 m, bearing: 65.338314 deg, approach rate: -0.693163 m/s, LOS rate: -0.011246 deg/s, cmd heading: 67.110789 deg, new cmd heading: 67.094290 deg. BhMUHeadingCmd: 1.171016 target range: 163.442215 and range: 164.10 m.hU?hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde`.?)[BɢnŽ) zi)ٚih.i?Ir<YB% FCB! B! B% =B! B! B! B! i ^A <A؟AI!I1OM?W%,e?A$6Zt?6?6qvٱ6) >AHRS rotation from veh to nav: [[0.386630,-0.904353,-0.180728],[0.919151,0.393877,-0.004605],[0.075350,-0.164336,0.983522]]6H?u"ǿ`i?@I5?$rJ?ſy?i6Zt?I6X,^;4YbIWBybdIbDjVDjyr><%r(=ٔvQ-v>9v"?Yz"?=zFyzh EzNeEz>|Q 5 5~܈?Q 9  5~L)~YBY y ^?Q I M@~@*CI~T;i~H;~V 5yɮZA5B*** querying acoustic contact ***i1 i1jhAMFNOT Ignoring new targets: 163.44 m.RhUWLZhUWLe ProNav: ac range: 163.442215 m, nav range: 150.398895 m, bearing: 65.332890 deg, approach rate: -0.692950 m/s, LOS rate: -0.011166 deg/s, cmd heading: 67.094287 deg, new cmd heading: 67.077976 deg. Bhe6mHeadingCmd: 1.170732 target range: 163.442215 and range: 164.10 m.hmڕ?hi*hi"hi hqgqfqfqfydydydyjdyZd@c?mT[Bɢmν)q ujiq)uqqi}I,iڕ?DYr<*x = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004689i A .AI I O >;V,,?A2C7t?2?2ęٱ2cs) :AHRS rotation from veh to nav: [[0.387134,-0.904177,-0.180528],[0.918967,0.394312,-0.004233],[0.075012,-0.164261,0.983561]]2H`?@ǿ@-h? h9 ?Y ?=Fym EE>Q 5 5{爊?Q 9 5)YBY,?Q E:y?Q IM@*CI":i: 5yɮDAjhFNOT Ignoring new targets: 163.44 m.RhƸZhƸ ProNav: ac range: 163.442215 m, nav range: 150.077057 m, bearing: 65.330303 deg, approach rate: -0.673763 m/s, LOS rate: -0.005427 deg/s, cmd heading: 67.077976 deg, new cmd heading: 67.070200 deg. Bh[nHeadingCmd: 1.170596 target range: 163.442215 and range: 164.10 m.h֕?h*h"h hgfffdd d jd Zd %@i颽}[Bɢ׽) (i) il*i֕?dr< ;3,?AB>BBBB =BBDB+;B@EBCt?B|?B'ٱB* JAHRS rotation from veh to nav: [[0.387592,-0.903702,-0.181921],[0.918759,0.394802,-0.003738],[0.075200,-0.165693,0.983306]]BHL? 1Iǿxf? nD? nT@? n5ſ >w?iBCt?IBJ ];BՑC=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506993 yyGhAU۳9]hAY]AY`WBysIbDVDy<%)=̹ٔQ->9"?Y"?=Fyr E E >Q 5 5u?Q 9 5)YBYy?Q IM@*CI;i; 5y-@Bɮ-AA-EjhQUFNOT Ignoring new targets: 163.44 m.Rh]V¸Zh]V¸m ProNav: ac range: 163.442215 m, nav range: 149.750397 m, bearing: 65.327734 deg, approach rate: -0.673737 m/s, LOS rate: -0.005309 deg/s, cmd heading: 67.070197 deg, new cmd heading: 67.062474 deg. Bhm4iuHeadingCmd: 1.170461 target range: 163.442215 and range: 164.10 m.huѕ?hq*hq"hq hqgyfyffdddjdZd@颵[BɢVݽ) i)Ͻi(iѕ?nr< vCQ e9,i?AZs?Z֕?ZٱZ^+ fAHRS rotation from veh to nav: [[0.388485,-0.903249,-0.182268],[0.918389,0.395666,-0.003317],[0.075113,-0.166104,0.983243]]ZH`?i@Tǿpc?R?\,k:?Bſv?iZs?IZ\;ZԑC rC)v5lAvtt|~vlAi|II i lA  ) 9lAC pWF!%pAI!)!i!)!I--lA-#) ))-lA-i11i159A)9 9I9Y9YEcWByEuI IIUAUAiMb@Mb@Mb@ 9v/?~jt{GzYx)?yļ#A A)YAbDVD:2yu;%e=ٔ 9Q->9Y=Fyv E~1E>Q 5 5?Q 9 5)YBY)?Q E:y?Q IM@#+CI&;i(; 5y"BɮAE)jhy}FNOT Ignoring new targets: 163.44 m.RhB 8ZhB 8 ProNav: ac range: 163.442215 m, nav range: 149.513107 m, bearing: 65.328454 deg, approach rate: -0.630874 m/s, LOS rate: 0.001916 deg/s, cmd heading: 67.062472 deg, new cmd heading: 67.064634 deg. BhO8HeadingCmd: 1.170499 target range: 163.442215 and range: 164.10 m.hҕ?h*h"h hgfffdddjdZd`@MBDAT read: Rx Time:04:42:58.4472 MTRx dataTimestamp_ set to:1761540179.756284Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012232m[Bɢm$Y)u uiq)uK#qqiu&i}ҕ?Gor<qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262938Z@,{?AD"=D E& E&E&*E$"E& :*E&~:VE&(N4ZE$a*@a*@a*@a*@,B_s?B?BucٱBy+ JAHRS rotation from veh to nav: [[0.389072,-0.902961,-0.182439],[0.918123,0.396280,-0.003341],[0.075314,-0.166201,0.983212]]BH@?&ZǿDa?\?|^kG?Fſ xv?iB_s?IBY\;BՑCYkWByzI )-p<bD5VD5ye<%e\=ٔmQ-m>9iYi=uFyuz EuEu>Q 5 5 ?Q 9 5)YBYy ِ?Q I M@d+CI:i:= 5yɮAjh9=FNOT Ignoring new targets: 163.44 m.RhE&8ZhE&8U ProNav: ac range: 163.442215 m, nav range: 149.259338 m, bearing: 65.329289 deg, approach rate: -0.691893 m/s, LOS rate: 0.002281 deg/s, cmd heading: 67.064637 deg, new cmd heading: 67.067147 deg. BhU[8]HeadingCmd: 1.170542 target range: 163.442215 and range: 164.10 m.h]Vԕ?hY*hY"ha hagafafifidididijdqZdu( @额[Bɢu) i)&顩iu$iVԕ?kr<]iB>BECBIBWBB =BBB);B@EԙUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517153 uF,j?A@2ss?27?2ɛٱ2, :AHRS rotation from veh to nav: [[0.389845,-0.902361,-0.183755],[0.917739,0.397170,-0.003339],[0.075995,-0.167337,0.982966]]2H`:?@# Iǿ^?9k? [kkt?Okſut?i2ss?I2\;2ԑC\YWByIbD-VD-y=`=%=O=ٔEQ-E>9AYI=MFyM~ EMjEM>QQ 5e 5U ?Q 9e 5U)UYBYaye?Q IeM@U+CIU/#;iUL$;U 5yqɮuAqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 163.44 m.Rh/8Zh/8 ProNav: ac range: 163.442215 m, nav range: 149.009094 m, bearing: 65.330200 deg, approach rate: -0.659054 m/s, LOS rate: 0.002402 deg/s, cmd heading: 67.067144 deg, new cmd heading: 67.069880 deg. Bh 8HeadingCmd: 1.170590 target range: 163.442215 and range: 164.10 m.hՕ?h*h"h hgfffdddjdZdS@ \Bɢ)  i) L*  i  "iՕ?DAT read: 04:42:58.4472 LVL= 28400, 32753, 32386, 32755, AGC= 67, IDX= 155,-0.03,-3.053, 1.645,-2.824, 3.104, PHS= 0.229,-1.414, 0.311, RAW= 152.4, 10.4, CAL= 152.2, 11.3, ROT= 357.8, -11.3 Ygot valid direction response: 04:42:58.4472 LVL= 28400, 32753, 32386, 32755, AGC= 67, IDX= 155,-0.03,-3.053, 1.645,-2.824, 3.104, PHS= 0.229,-1.414, 0.311, RAW= 152.4, 10.4, CAL= 152.2, 11.3, ROT= 357.8, -11.3 PDAT read: Bearing 236.6, -0.1 (Local)  ~Local bearing/azimuth received: Bearing 236.6, -0.1 (Local) UDAT read: Range 11 to 50 : 159.4 m (Round-trip 212.6 ms) speed 0.4 m/s E EE,E"E:*Ex:VEg4ZEBE3Tx time:04:42:59.5304 ER#Rx 1: Read range and direction messages.IՕ?IQ^direction in FSK: [0.979892,-0.037644,0.195946]%Fpublishing direction and range infoy:'F[?,hblF>x_?YfCn~ )CI~j>id;>;*@9>P*@ I>)M@IIBUJL,4?AY~WBy~II=)= = =1iMb@Mb@Mb@ 9L7A`?MbP?Y+'?y̼:\A A A)fAYbDVDk1yf=%A=ٔQ->9Y=Fy EE>Q 5 5?Q 9 5q{)YBYJ'?Q E:yՐ?Q IM@+CI;iG;> 5y'BɮjAiiǽ ?AJiCRiCjiB?bY rc@TWOЮr?@R:'F[?,hblF>x_?ZiFbiIj0C)N@Da@R\o0E@ZLxÄhQ?K%G?-~?2iJ C:iJqB"i$?*i!}BiBi$?i4diiCi?U addTargetRange:: Added new target pos. range: 159.399994 m, deltaT: 7.558134 s, deltaX: -4.700012 m, approachRate: -0.621848 m/s, rangeRepo size: 4 e Added new target pos. range: 158.756104 m, bearing: 66.733036 deg, lat: 36.779338 deg, lon: -121.859360 deg, deltaT: 7.558134 s, deltaX: -4.686111 m, approachRate: -0.620009 m/s, posRepo size: 4 jhamFNOT Ignoring new targets: 158.76 m.RhmZhi} ProNav: ac range: 158.756104 m, nav range: 149.810959 m, bearing: 66.255183 deg, approach rate: 0.000000 m/s, LOS rate: 0.002402 deg/s, cmd heading: 67.069883 deg, new cmd heading: 67.072955 deg. BhHeadingCmd: 1.170644 target range: 158.756104 and range: 159.40 m.hו?h*h"h hgfffdddjdc@Zd2?E2\BɢMJ)I uiq)6.顁i{iו?Vr<s^B! B% IB% WBB% =B! B% DB% .;B% @E} checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523170^A jZX< IQIaOu>~T,9S?A>>s?>zm?>eUٱ>5, FAHRS rotation from veh to nav: [[0.391383,-0.901629,-0.184077],[0.917022,0.398820,-0.003698],[0.076747,-0.167355,0.982905]]>Hl ?%ӏǿ >X?D?Jn@?kſs?i>>s?I>];>ՑCYNWByNITTbD^VD^:yfZ5=%f:=ٔfEQ-f>9hYh=jFyj En}En>pQ 5v 5r0!?Q 9v 5rt)rZBYtyv?Q IvM@r3,CIr;ir];r 5y|ɮ~BA|jh!%FNOT Ignoring new targets: 158.76 m.Rh-8Zh-8 ProNav: ac range: 158.756104 m, nav range: 149.525040 m, bearing: 66.258097 deg, approach rate: -0.657085 m/s, LOS rate: 0.006708 deg/s, cmd heading: 67.072956 deg, new cmd heading: 67.081713 deg. BhP9HeadingCmd: 1.170797 target range: 158.756104 and range: 159.40 m.hܕ?h*h"h hgfffdddjdZdZ?UZ\BɢUu)Y ]|iY)]q2YYi]Hieܕ?ԉe">rXZ,8m?A鰉ɰ;checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027094Xr??fٱm- AHRS rotation from veh to nav: [[0.393745,-0.900373,-0.185182],[0.915912,0.401360,-0.003981],[0.077909,-0.168043,0.982696]]H3? ǿ&O?߯?Np?pſ ?r?iXr?IJ];֑CY WBy IiMb@Mb@Mb@ 9w/?lMb?Y&?y<A;A A)ĘAY(AԱbDVD0y =%,=ٔ Q->9Y=Fy EYE>Q 5 5,?Q 9 5\m)*ZBY;'?Q E:yn?Q IM@,CI:i:< 5y BɮA}EjhFNOT Ignoring new targets: 158.76 m.Rh%G9Zh%G95 ProNav: ac range: 158.756104 m, nav range: 149.216751 m, bearing: 66.263273 deg, approach rate: -0.648330 m/s, LOS rate: 0.010908 deg/s, cmd heading: 67.081713 deg, new cmd heading: 67.097273 deg. Bh59=HeadingCmd: 1.171068 target range: 158.756104 and range: 159.40 m.h=?h9*h9"h9 hAgAfAfAfIdId d jd Zd -P?=\Bɢ=o)9 =xiA)E7AAie^im?m rBDCBIBXBB =BBB';B@EBECBECBϔCBϐ =Bϐ =CJ5AI IO%?\c,c?ARq?R?RŠٱRU- ZAHRS rotation from veh to nav: [[0.395099,-0.899755,-0.185305],[0.915285,0.402784,-0.004205],[0.078422,-0.167945,0.982672]]RHKI?ǿ@J?7?f9qn?<ſ r?iRq?IR];RԑCYfWByfI hhbDnVDn1yvG=%v.=ٔzeQ-z>9xY|=~Fy~ E~PE~>Q 5  58?Q 9  5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531101-f)MZBYy=?Q IM@,CIc;id;V 5y-Bɮ-A-~EjhQUFNOT Ignoring new targets: 158.76 m.Rh]N9Zh]N9m ProNav: ac range: 158.756104 m, nav range: 148.912415 m, bearing: 66.268580 deg, approach rate: -0.646412 m/s, LOS rate: 0.011295 deg/s, cmd heading: 67.097272 deg, new cmd heading: 67.113225 deg. Bhm 9uHeadingCmd: 1.171347 target range: 158.756104 and range: 159.40 m.hu?hq*hq"hq hqgyfyfyfydddjdZdt?颵\BɢQ) i)z;项ii?q< ji,)?AY~WBy~IiMb@Mb@Mb@ 9ˡE?I + rh?Y'?y94C = A A)Y <bDVDܲys=%<=ٔQ->9Y=Fy EE>Q 5  5A?Q 9 5\_)tZBY/(?Q E:y?Q I%M@-CI;im;# 5y)ɮ5@A1]B*** querying acoustic contact ***iY iYjhq}FNOT Ignoring new targets: 158.76 m.Rh}6Zh6 ProNav: ac range: 158.756104 m, nav range: 148.629120 m, bearing: 66.268709 deg, approach rate: -0.644971 m/s, LOS rate: 0.000295 deg/s, cmd heading: 67.113227 deg, new cmd heading: 67.113615 deg. Bh'O7HeadingCmd: 1.171354 target range: 158.756104 and range: 159.40 m.h?h*h"h hgfffdddjdZd @\BɢF) Qi)@ihi?\q<Up,?A@E& E&E&(E$"E&:*E&x:VE&c44ZE$a*@a*@a*@a*@^xq?^?^e8ٱ^>. jAHRS rotation from veh to nav: [[0.396789,-0.898582,-0.187375],[0.914365,0.404856,-0.005260],[0.080586,-0.169242,0.982274]]^Hd?. ǿ{B?@)?uQ?ſn?i^xq?I^?#^;\Y=-XBy=IbDMVDMfy]=%]S=ٔeQ-e>9aYa=mFym EmEm>qQ 5} 5uHJ?Q 9} 5uRY)uZBYy?Q IM@uY-CIu;iu ;u 5yɮAjhFNOT Ignoring new targets: 158.76 m.Rhvc7Zhvc7 ProNav: ac range: 158.756104 m, nav range: 148.377975 m, bearing: 66.269004 deg, approach rate: -0.661120 m/s, LOS rate: 0.000777 deg/s, cmd heading: 67.113616 deg, new cmd heading: 67.114502 deg. Bhz8HeadingCmd: 1.171369 target range: 158.756104 and range: 159.40 m.hl?h*h"h hgfffdddjdZdn@颵\Bɢ ) i)Ciil?RRq<F;Il?IQ@ @@/@@=@=B>BBIB>XBBBBDB;B@Ey=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539081^A<A>A>I1 IA OU >ԩ #v,?A6/q?64?6>ٱ6I.@ BAHRS rotation from veh to nav: [[0.397792,-0.898114,-0.187491],[0.913885,0.405935,-0.005540],[0.081085,-0.169142,0.982251]]6Hnu?X`ǿ>? ?Nv?nſn?i6/q?I6^;6֑CYJBXByJIIR)>)Rp;bDV VDV2y^T=%^U=ٔbQ-b>9`Y`=bFyb Ef>Ef>hQ 5n 5jR?Q 9n 5jRS)jZBYpyr?Q IrM@j-CIj;ij;j 5yvBɮvϯAtjhFNOT Ignoring new targets: 158.76 m.Rh7Zh7- ProNav: ac range: 158.756104 m, nav range: 148.128418 m, bearing: 66.269405 deg, approach rate: -0.650889 m/s, LOS rate: 0.001050 deg/s, cmd heading: 67.114504 deg, new cmd heading: 67.115712 deg. Bh-x885HeadingCmd: 1.171390 target range: 158.756104 and range: 159.40 m.h5?h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM`@u]Bɢ}=s )y }Fiy)jdG顁ikbi?q<S;I?IBDAT read: Rx Time:04:43:02.1442 TRx dataTimestamp_ set to:1761540183.539628checking for new query: numPingsReceived=0, elapsed TxPingTime=6.7958499@9 @A@E/@AEm EmEm*Ei"Em:*Emn:VEm(N4ZEiBEm' M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0429506 },ܹ?A2np?2a?24ٱ2s(/ :AHRS rotation from veh to nav: [[0.398713,-0.897526,-0.188346],[0.913399,0.407022,-0.005993],[0.082040,-0.169646,0.982084]]2H? ȿ :? ?x`?ſ _;2בCYBcXByFIliMb@Mb@Mb@ 9?~jthˡE?Y,?yD'=A;A )AYAiibDmVDmJy}=%>=ٔWQ->9Y=Fy E*E>Q 5 5_\?Q 9 5bL)ZBY-?Q E:y%?Q IM@-CIu:i: 5yBɮAuEjhFNOT Ignoring new targets: 158.76 m.RhF#ZhF# ProNav: ac range: 158.756104 m, nav range: 147.841293 m, bearing: 66.268450 deg, approach rate: -0.668940 m/s, LOS rate: -0.002230 deg/s, cmd heading: 67.115713 deg, new cmd heading: 67.112841 deg. BhøHeadingCmd: 1.171340 target range: 158.756104 and range: 159.40 m.hy?h*h"h hgfffd d d jd Zd nH @=D]Bɢ=_Q)A EiA)EKAAiE9 iMy?M^pTx time:04:43:03.2304 R#Rx 1: Read range and direction messages. ^direction in FSK: [0.968093,-0.042268,0.246999] Fpublishing direction and range infoy6?s<$⩝?Y3C )@I->io>f>X*@ r>)i@IrA.khV?jB?}zs? ?)fIѸ2ir-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.D]%=D]a=Ee EeEe+Ea"Ee2:*Eee:VEe [4ZEaam@am@au@au@9^AQIIO>a B >B CCB 'IB XBB =B B B ";B @EW,?A;ɰ4<2p?2\R?2`ٱ2. :AHRS rotation from veh to nav: [[0.399088,-0.897333,-0.188473],[0.913140,0.407587,-0.006996],[0.083096,-0.169310,0.982054]]2H?@ȿ`p8?@?b|E?ſl?i2p?I2%_;2֑CYNXByR$IDAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547408AbDZVDZ{UGliA9liAYAy=%D=ٔY&Q->9Y=Fy E\E>!Q 5- 5%e?Q 9- 5%E)%[BY)y-?Q I5M@%+.CI%d:i%?%<%K 5yyɮ}׮Ayii'?AJiCRiCji)]?bm b@)AxYkUC@R6?s<$⩝?ZiѸ2birj0OM@#C`@_mI@ZAO,?Zrz?vζw!?2inC:ilB"i)%ݜ?*iϝb[BiBiiϝb[iiCiC*?  addTargetRange:: Added new target pos. range: 157.199997 m, deltaT: 3.527916 s, deltaX: -2.199997 m, approachRate: -0.623597 m/s, rangeRepo size: 4 = Added new target pos. range: 156.559326 m, bearing: 66.411138 deg, lat: 36.779338 deg, lon: -121.859356 deg, deltaT: 3.527916 s, deltaX: -2.196777 m, approachRate: -0.622684 m/s, posRepo size: 4 jh9EFNOT Ignoring new targets: 156.56 m.RhEZhAu ProNav: ac range: 156.559326 m, nav range: 147.879272 m, bearing: 66.322143 deg, approach rate: 0.000000 m/s, LOS rate: -0.002230 deg/s, cmd heading: 67.112845 deg, new cmd heading: 67.109885 deg. Bhy}HeadingCmd: 1.171288 target range: 156.559326 and range: 157.20 m.h}?h*h"h hgfffdddjd`fc@Zd ?o]BɢoE) i)MXPIIiM iU?UTpq,+?AFp?FY?FXٱFO- VAHRS rotation from veh to nav: [[0.398819,-0.897490,-0.188293],[0.913079,0.407678,-0.009208],[0.085027,-0.168254,0.982070]]FH@?=@ȿ7?`f?ۂUĵ?[ſm?iFp?IF_;DYfXByf8I llxiMb@Mb@Mb@ 9(\?~jt??Yz4?y<L=A A)AY¡AbDVDy=%==ٔ%Q-%>9!Y!=-Fy- E-:E->1Q 5= 55n?Q 9= 55<>)5<[BYE4?Q EE:yES?Q IEM@5w.CI5:i5:5 5yIɮUAQmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 156.56 m.Rh@RZh@R ProNav: ac range: 156.559326 m, nav range: 147.580627 m, bearing: 66.317467 deg, approach rate: -0.732246 m/s, LOS rate: -0.011488 deg/s, cmd heading: 67.109887 deg, new cmd heading: 67.095830 deg. BhMHeadingCmd: 1.171043 target range: 156.559326 and range: 157.20 m.h?h*h"h hgfffdddjdZd@s?]Bɢ) Ki)AGTiDi?p<;I?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.051093!e9@a @a@e0@iI^A;y A .AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303066E  E E +E "E :*E Ar:VE [4ZE a @a @a @a @u,F?ABp?BZ?BΰٱBR, VAHRS rotation from veh to nav: [[0.398749,-0.897565,-0.188084],[0.912998,0.407827,-0.010605],[0.086225,-0.167492,0.982096]]BH ?۸ $ȿF7??3`?\pſSm?iBp?IBZ`;BבCYfXByf\I v4% Y=ٔ%QQ-%>9% ?Y- ?=-Fy- E58E=>AQ 5 5Ew?Q 9 5E7)Ef[BYyQ IM@E.CIEBuBCBu_IBuXBBu =BqBuDBu8;Bu@E=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554998q^Am;A ؟Aԡ I I O >,_?A2p?29j?2óٱ2R9, :AHRS rotation from veh to nav: [[0.398266,-0.897800,-0.187988],[0.913071,0.407615,-0.012291],[0.087662,-0.166751,0.982094]]2H`2}?ƺ ȿ7?@[?0,@q?`Xſ@Qm?i2p?I2Ӌ`;2ԑCYFXByFaIbDNVDNkyV<%VQ=ٔZrQ-Z>9Z"?YZ"?=ZFyZ E^:E>Q 5% 5?Q 9% 50)[BY)y-a?Q I-M@/CIF:i_: 5y1ɮ5(A1ychecking for new query: numPingsReceived=0, elapsed TxPingTime=8.807190jhFNOT Ignoring new targets: 156.56 m.Rh)MZh)M ProNav: ac range: 156.559326 m, nav range: 147.036819 m, bearing: 66.308858 deg, approach rate: -0.701908 m/s, LOS rate: -0.011210 deg/s, cmd heading: 67.083277 deg, new cmd heading: 67.069957 deg. Bh1HeadingCmd: 1.170592 target range: 156.559326 and range: 157.20 m.hՕ?h*h"h hgfffdddjdZd`?M]BɢM:()I UBiQE EE(E"Ea:*EVEc44ZEBEa2E( Ay I I O >ǝ,yy?A>+q?>?>趽ٱ>2+ FAHRS rotation from veh to nav: [[0.397574,-0.898171,-0.187681],[0.913225,0.407208,-0.014215],[0.089193,-0.165744,0.982127]]>Hq?н ȿ@#9?? Rն?@7ſm?i>+q?I>%`;>֑CYNYByR{Ii%Mb@Mb@Mb@!!!! !9%v??ˡE?Y%8?y%L=%'=%A! %A)!!Y%AbD=VD=yM=%MA=ٔMWmQ-U>9QYQ=UFyU E]:E]>aQ 5m 5eЇ?Q 9m 5e))e[BYm9?Q Eu:yu?Q IuM@eO/CIe:ie]:eq 5y}ޗBɮ}]AlEjhFNOT Ignoring new targets: 156.56 m.RhֹZhֹ] ProNav: ac range: 156.559326 m, nav range: 146.741043 m, bearing: 66.299476 deg, approach rate: -0.738551 m/s, LOS rate: -0.023475 deg/s, cmd heading: 67.069958 deg, new cmd heading: 67.041754 deg. Bh]›eHeadingCmd: 1.170099 target range: 156.559326 and range: 157.20 m.heŕ?ha*ha"ha hagifififidddjdZd +?%^Bɢ% )) -.i))-#`)1i5;i5ŕ?=g&o<=>;I=ŕ?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311594@ @@/@ E EE+E"E:*E]t:VE [4ZEa@a@a@a@AI)IAOMt>1Bm >Bi Bm IBm 9XYX=^Fy^ E^:E^>`Q 5f 5bj?Q 9j 5b")b[BYhyj?Q IjM@b/CIb%;ib;b 5ylɮnApjh FNOT Ignoring new targets: 156.56 m.RhhҹZhhҹ% ProNav: ac range: 156.559326 m, nav range: 146.465195 m, bearing: 66.290631 deg, approach rate: -0.715716 m/s, LOS rate: -0.022994 deg/s, cmd heading: 67.041756 deg, new cmd heading: 67.015169 deg. Bh%}|-HeadingCmd: 1.169635 target range: 156.559326 and range: 157.20 m.h-?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE {@*^Bɢ) i)Vidii?n<'J;I?)I)@ @@/@QA)I9IIOUT>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815062ԁE EEE"E*Ei:VEZEBEJ-9Y=Fy E;E>Q 5 5o?Q 9 5)\BY 2Acoustic response timeoutbE [4jE˼P4rE./E  E E E "E :*E xv:VE ZE a @a @a @a @ ±,b?Arq?rה?rN@ٱr1) ~AHRS rotation from veh to nav: [[0.394996,-0.899312,-0.187661],[0.913888,0.405492,-0.019615],[0.093735,-0.163754,0.982038]]rHG?@)@Hȿ>???Ŀl?irq?IrX`;r֑CY PYBy IbDVD 8y-Z=%-R=ٔ5qQ-5>95 ?Y= ?==Fy= E=G;E=>AQ 5M 5E?Q 9M 5E)E*\BYQyUY?Q IUM@E00CIEB:iE;E$ 5yYɮeAajhFNOT Ignoring new targets: 156.56 m.Rh Zh  ProNav: ac range: 156.559326 m, nav range: 145.866150 m, bearing: 66.264470 deg, approach rate: -0.728809 m/s, LOS rate: -0.032137 deg/s, cmd heading: 66.973905 deg, new cmd heading: 66.936523 deg. BhqHeadingCmd: 1.168263 target range: 156.559326 and range: 157.20 m.h?h*h"h hgfffdddjdZd@^ @ey^BɢmX9)i mii)m^ m顑iSi?{n<VR+BACBIBYBB =BBB0;B@EBBCBBCBBÔ =BÔ =Ct59@ @@/@%BDAT read: Rx Time:04:43:05.8100 %TRx dataTimestamp_ set to:1761540187.316114-2Acoustic response timeout)^A;I I I O >L췅,K;?A24r?2?2'Rýٱ2( >AHRS rotation from veh to nav: [[0.394011,-0.899738,-0.187688],[0.914159,0.404790,-0.021398],[0.095227,-0.163146,0.981995]]2H`x7?-ȿ@@??a长``?Ŀl?i24r?I2_;2בCYFeYByFI N;NbDRVDRβyZZ=%ZS=ٔZA}Q-Z>9\Y\=^Fy^ Eb+;Eb>dQ 5j 5f?Q 9j 5fa )fM\BYhyjz?Q IjM@fy0CIf:if:fc' 5y]ƗBɮ]MA]cE}2Acoustic response timeoutjhFNOT Ignoring new targets: 156.56 m.RhZh ProNav: ac range: 156.559326 m, nav range: 145.584045 m, bearing: 66.251891 deg, approach rate: -0.697191 m/s, LOS rate: -0.031149 deg/s, cmd heading: 66.936523 deg, new cmd heading: 66.898712 deg. BhHeadingCmd: 1.167603 target range: 156.559326 and range: 157.20 m.ht?h*h"h hgfffdddjdZdL @^Bɢ0<) #i)5qi>it?D~n<@  BDAT read: Tx time:04:43:06.8804  $Ping request sent. i5 ff5 ȶ>5 +@5 %/>5 +@ 5 t;?>)5 " @I5 t;?1 1 5 /|/?f {6ߎ?2? 5 *4?ԁ )5 /I5 )i5 t;?1 1  :publishing transmit ping time  Fpublishing direction and range infoy1 5  a?; &K{?Y1 1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 1 1 5 /|/?f {6ߎ?2? 1 )1 I1 i1 1 1 Ia Iq O >Z,#?AY~yYBy~IYiMb@Mb@Mb@ 9ʡE?Mb?{Gzt?Y=?y=ף;EA )"AYAbDVDy-0=%-5=ٔ-Q-->91Y1=5Fy5 E=E=>AQ 5M 5E?Q 9M 5E)Ek\BYMh>?Q EU:yU?Q IuM@E0CIE);iE>;EW+ 5yyɮ}&Ayiaie-x?AJieCRieCjie?be214 `@| ) DtäP8@Re a?; &K{?Zie)biet;?je܍J@ԑMg\@r!3uB@Zez_wK ?/LL?J#)J?2ie:B:ie<B <A <B z>B B IB YBB B B DB ;B @EA- >A- >I I O >9 ą,?A6r?6^?6Ƚٱ6 ' BAHRS rotation from veh to nav: [[0.391065,-0.900973,-0.187924],[0.915141,0.402374,-0.024737],[0.097903,-0.162303,0.981872]]6H5? ȿH?`?T)?[Ŀ~k?i6r?I65^;6֑CYJvYByJIbDRVDR1yZY%Zf=ٔ^fQ-^>9`Y`=bFyb Ef<Ef>hQ 5n 5j?Q 9n 5ji)j\BYlyro?Q IrM@j1CIjr;ij;ju. 5yv̗BɮvBAvdEjhFNOT Ignoring new targets: 156.56 m.RhZh- ProNav: ac range: 156.559326 m, nav range: 144.987411 m, bearing: 66.229348 deg, approach rate: -0.773079 m/s, LOS rate: -0.029872 deg/s, cmd heading: 66.861425 deg, new cmd heading: 66.830940 deg. Bh-5HeadingCmd: 1.166420 target range: 156.559326 and range: 157.20 m.h5@M?h1*h1"h1 h1g9f9fAfAdAdAdAjdIZdMh?u^Bɢ}k*)}v%< }iy)}y顁iVڻi@M?hn<}qE  E E )E "E :*E Ar:VE FA4ZE BE 09Y=Fy EC;E>Q 5 5?Q 9 5)\BY6:?Q E:yS?Q IM@c1CI:i:>2 5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 156.56 m.RhFZhF ProNav: ac range: 156.559326 m, nav range: 144.674164 m, bearing: 66.218304 deg, approach rate: -0.721528 m/s, LOS rate: -0.025493 deg/s, cmd heading: 66.830942 deg, new cmd heading: 66.797739 deg. BhHeadingCmd: 1.165841 target range: 156.559326 and range: 157.20 m.hC:?h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@v?e_Bɢe?#)a e߭ia)m~iiimԻqiuC:?} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240665D zD @A ҅,H?Aɰp;E. E,E.*E,"E.:*E,VE.(N4ZE,a2@a2@a2@a2@cs? ?ͽٱ/' AHRS rotation from veh to nav: [[0.388786,-0.901900,-0.188206],[0.915853,0.400563,-0.027617],[0.100296,-0.161632,0.981741]]H ?] $ȿ`N?բ?G? \Ŀlj?ics?I A^;בCYYByIbDVD1yp<%E=ٔ3Q->9Y=Fy E-;E>Q 5  5Ɖ?Q 9  5)\BY yw?Q IM@1CI;i;5 5y9BɮA[EjhAEFNOT Ignoring new targets: 156.56 m.RhMZhM] ProNav: ac range: 156.559326 m, nav range: 144.374741 m, bearing: 66.207569 deg, approach rate: -0.723716 m/s, LOS rate: -0.026001 deg/s, cmd heading: 66.797741 deg, new cmd heading: 66.765468 deg. Bh]eHeadingCmd: 1.165277 target range: 156.559326 and range: 157.20 m.he'?ha*ha"ha hig)f)f1f1d1d1d1jd9Zd=`n?Bx>BBIBZBB =BBBމ;Bj@EA_Bɢ^) i)쁽ieλi'?n< gGhA@ @뫿9hAYWAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492687@@1PExceeded connect timeout, disconnecting.! ^A} c<Ay zAy Q A ؟AI I O >؅,c?A2ts?2Ε?2:нٱ2& :AHRS rotation from veh to nav: [[0.387817,-0.902289,-0.188341],[0.916137,0.399817,-0.028970],[0.101442,-0.161311,0.981676]]2H@?@ȿ P?@?c?`٥Ŀ`i?i2ts?I29];2ՑCYFYByFIbDN VDN:2yV=%VU=ٔVDQ-Z>^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7449369b"?Yb"?=bFyb Ef+;Ef>hQ 5n 5j͉?Q 9n 5j)j\BYlyn?Q InM@j1CIj;ijg:j:9 5ytɮvPAtjh FNOT Ignoring new targets: 156.56 m.Rh0Zh0 ProNav: ac range: 156.559326 m, nav range: 144.096558 m, bearing: 66.197441 deg, approach rate: -0.722621 m/s, LOS rate: -0.026358 deg/s, cmd heading: 66.765468 deg, new cmd heading: 66.735027 deg. BhHeadingCmd: 1.164746 target range: 156.559326 and range: 157.20 m.h%e?h!*h!"h) hIgIfIfQfQdQdQdYjdYZd]`?Eu EuEu,Eq"Eu:ԑ*Euc:VEug4ZEqBEu' ^A'<9%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249162AIIO5? ,?AD D=EJ EJEJ-EH"EJ2:*EJk:VEJt4ZEHaN@aN@aN@aN@1Mt?M?M$ԽٱM<& }AHRS rotation from veh to nav: [[0.386686,-0.902723,-0.188585],[0.916396,0.399056,-0.031178],[0.103401,-0.160763,0.981562]]MHv? #ȿ@S?"? ퟿{x?ߓĿ@h?iMt?IM/];M֑CYYByIiMb@Mb@Mb@ 9x?+?~jtYK7?y=ļpA A)zAYA p<<bDVDkyz<%=ٔ JQ->9Y=Fy Eb:E> Q 5 5 ډ?Q 9 5 ) \BY7?Q E:y#?Q IM@ l2CI :i : > 5y%BBɮ%QA!jhIUFNOT Ignoring new targets: 156.56 m.RhUߨZhUߨ ProNav: ac range: 156.559326 m, nav range: 143.641174 m, bearing: 66.185715 deg, approach rate: -0.714401 m/s, LOS rate: -0.018455 deg/s, cmd heading: 66.735026 deg, new cmd heading: 66.699734 deg. BhJ HeadingCmd: 1.164130 target range: 156.559326 and range: 157.20 m.h 6?h *h "h  h gfffdB%w>B%@CB%4IB%:ZBB!B!B!B%;B%E@EddAjdAZdE@Yu_BɢuT)y ci)߇顡iei6? o<,~o?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7527636 t?6?6~ֽٱ6' NAHRS rotation from veh to nav: [[0.386692,-0.902484,-0.189716],[0.916264,0.399303,-0.031899],[0.104543,-0.161495,0.981321]]6H?%Hȿ R?`,?UPú?ݫĿf?i6 t?I6 C^;6ԑCYbYByf IbDzVDzy G=%M=ٔ9Y=%Fy% E-E->9Q 5M 5E EE)E"E:*EVEFA4ZEBEa2EaJEԼ;a:Eռ;a=!㉊?Q 9 5=)=\BYy!?Q IM@=2CI=A}>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258117ԹE EE,E"Ea:*E n:VEg4ZEa@a@a@a@AIIO?,B?A2Ts?2?2ٽٱ2( :AHRS rotation from veh to nav: [[0.386901,-0.902077,-0.191219],[0.915993,0.399844,-0.032897],[0.106134,-0.162428,0.980996]]2H?yȿ@O?@ ?נ+?lĿQd?i2Ts?I2s^;2֑CYFYByFI iMb@Mb@Mb@ 9Gz?Mbp?~jtY0?y;AďA )AYGAbD-VD-y=o<%= =ٔE1Q-E>9AYA=EFyM EE>Q 5 5?Q 9 5)]BY0?Q E:y?Q IM@3CI:iH:G 5y-BɮAREB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 156.56 m.RhꬸZhꬸM ProNav: ac range: 156.559326 m, nav range: 142.944580 m, bearing: 66.175657 deg, approach rate: -0.728309 m/s, LOS rate: -0.004724 deg/s, cmd heading: 66.677475 deg, new cmd heading: 66.669493 deg. BhMOUHeadingCmd: 1.163602 target range: 156.559326 and range: 157.20 m.hU?hQ*hQ"hQ hQgYfYfYfYdaddjdZd`9t @Bu>BBMIBcZBBBBB;B5@E `Bɢ 5%A) i)i DAT read: 04:43:09.4567 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.41,-2.361, 2.310,-2.075,-2.504, PHS= 0.244,-1.424, 0.385, RAW= 154.0, 9.2, CAL= 153.7, 9.8, ROT= 356.3, -9.8 Ygot valid direction response: 04:43:09.4567 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.41,-2.361, 2.310,-2.075,-2.504, PHS= 0.244,-1.424, 0.385, RAW= 154.0, 9.2, CAL= 153.7, 9.8, ROT= 356.3, -9.8 PDAT read: Bearing 229.8, 0.9 (Local) ~Local bearing/azimuth received: Bearing 229.8, 0.9 (Local) DAT read: Range 11 to 50 : 129.0 m (Round-trip 172.1 ms) speed 0.8 m/s *DAT read: user:164> BDAT read: Tx time:04:43:10.5304 $Ping request sent.iuEu>u,@ul$>u>+@ u%/>)u@Iu%/qquan/?rI?$ba? u,?)uw#Iu)Aiu%/qq5:publishing transmit ping time5Fpublishing direction and range infoyqu@n"w? +}Grl?Yqqqqq q)qIqiqqqqq q)qIqqquan/?rI?$ba? q)qIqiqqqi?yo<,T;?AbHs?bΕ?b޽ٱby( EAHRS rotation from veh to nav: [[0.387501,-0.901524,-0.192607],[0.915461,0.400907,-0.034710],[0.108510,-0.162874,0.980662]]bH?IVȿtK?@v?šKǻ?` Ŀ a?ibHs?Ib^;bבCYZBy!IbDEVDE0iyl=%=ٔQ->9 ?Y ?=Fy EE>Q 5 5R?Q 9 5').]BYyϕ?Q IM@z3CIa:iX: L 5y+BɮrA iyi}p>?AJi}xCRi}xCji}'?b}i#_@xV ?5@R}@n"w? +}Grl?Zi})Abi}%/j}1E#A J@=,p[@~l=B@Z}jG??_? Z',?2i};B:i}lPB"i}8#?*i}jaJBi}Bi}b:?i}ܸ*i}Bi}Bi}dk? addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 7.308062 s, deltaX: -28.199997 m, approachRate: -3.858752 m/s, rangeRepo size: 4  Added new target pos. range: 128.468796 m, bearing: 64.975178 deg, lat: 36.779291 deg, lon: -121.859554 deg, deltaT: 7.308062 s, deltaX: -28.090530 m, approachRate: -3.843773 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 128.47 m.RhZh  ProNav: ac range: 128.468796 m, nav range: 124.392342 m, bearing: 65.093152 deg, approach rate: 0.000000 m/s, LOS rate: -0.004724 deg/s, cmd heading: 66.669490 deg, new cmd heading: 66.661965 deg. Bh=HeadingCmd: 1.163471 target range: 128.468796 and range: 129.00 m.hE?hA*hA"hA hAgAfAfIfIdIdIdQjdU `@ZdU ?%?`Bɢ%x))! %`Ŀi!)-P))i-᩻i5?5`o<5H|,<?AIbEijEm [4rEm/E EE,E"E:*Exv:VEg4ZEa@a@a@a@YZByIieMb@Mb@Mb@aaaa a9eFx?I +~jtYe+?ye9eaeA eШA)eAaYe̞AbD}VD}:y%4=ٔQ->9"?Y"?=Fy EE>Q 5 5?Q 9 5)H]BY+?Q E:y?Q IM@3CI~:i:O 5yɮ{AjhFNOT Ignoring new targets: 128.47 m.Rh7Zh7} ProNav: ac range: 128.468796 m, nav range: 124.095009 m, bearing: 65.093539 deg, approach rate: -0.699865 m/s, LOS rate: 0.000913 deg/s, cmd heading: 66.661963 deg, new cmd heading: 66.663127 deg. Bha 8HeadingCmd: 1.163491 target range: 128.468796 and range: 129.00 m.hF?h*h"h hgfffdddjdZd? k`Bɢ XW7)  `ʿi)#11i5i=F?=(oBABEfIBEZBBABABABE;BE*@EB@CB@CBēCBė =Bė =Ch5@ @@4@@=@=ԡ^A ԅ< A% .AI) IA OM >, ?A6Fs?6w?6xٱ6_+ JAHRS rotation from veh to nav: [[0.389722,-0.899511,-0.197478],[0.913940,0.404140,-0.037198],[0.113268,-0.165986,0.979601]]6H4?Fɿ ?? n? &??ſX?i6Fs?I6^;6ؑCYV?Q 9z 5v)v^]BY|y~?Q I~M@v4CIvM ;iv'!;vR 5yɮ3Ajh)-FNOT Ignoring new targets: 128.47 m.ԹRh7Zh7- ProNav: ac range: 128.468796 m, nav range: 123.863731 m, bearing: 65.094135 deg, approach rate: -0.668633 m/s, LOS rate: 0.001726 deg/s, cmd heading: 66.663124 deg, new cmd heading: 66.664915 deg. Bh-85HeadingCmd: 1.163522 target range: 128.468796 and range: 129.00 m.h5L?h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE?u`Bɢu1  ,9?A2r?28?2߼ٱ2, JAHRS rotation from veh to nav: [[0.391365,-0.898412,-0.199220],[0.912918,0.406293,-0.038825],[0.115822,-0.166677,0.979185]]2H ? ˿ ɿ6??ࣿ?Uſ|U?i2r?I2^;2֑CYVUZByVDIi=Mb@Mb@Mb@9999 99=S㥛?Q롿Mb`?Y=$?y=\=;=A=EA 9)=ZA9Y=AbDUVDU4dy]'s=%eB=ٔeǻQ-e>9m"?Ym"?=mFym EmEu> Q 5 5?Q 9 5Q =tI)]BY%?Q E%:y%a?Q I%N@J4CI;i;V 5yMBɮMAMJEjhFNOT Ignoring new targets: 128.47 m.Rh8Zh8 ProNav: ac range: 128.468796 m, nav range: 123.581032 m, bearing: 65.097250 deg, approach rate: -0.627918 m/s, LOS rate: 0.006935 deg/s, cmd heading: 66.664914 deg, new cmd heading: 66.674280 deg. BhK9HeadingCmd: 1.163686 target range: 128.468796 and range: 129.00 m.h?h*h"h hgfffdddjdZd 7}?颕`Bɢ9) ̿i)A顙i6i?0!p<BA BE IBE ZBBE =BA BA BE {;BE @Eԑ A .AI I O >p,ΦS?ARr?RO?RLٱRg. ZAHRS rotation from veh to nav: [[0.393394,-0.896969,-0.201710],[0.911761,0.408801,-0.039662],[0.118035,-0.168308,0.978642]]RH^-?@ ɿ &-?)?N7?ſ Q?iRr?IR^;RבCYvvZByvYIbDVDy-@=%-N=ٔ-9Q-5>95 ?Y5 ?=5Fy5 E=.E=>AQ 5M 5E"?Q 9M 5E:)E]BYIyU?Q IUN@E4CIEd:iE:EZ 5yYɮemAiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 128.47 m.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Rh9Zh9 ProNav: ac range: 128.468796 m, nav range: 123.340446 m, bearing: 65.100173 deg, approach rate: -0.644496 m/s, LOS rate: 0.007846 deg/s, cmd heading: 66.674278 deg, new cmd heading: 66.683064 deg. BhL9HeadingCmd: 1.163839 target range: 128.468796 and range: 129.00 m.h?h*h"h hgff9f9d9dAdAjdAZdElD@q颕`Bɢ)ۦ [Ϳi)顙ieLi?p<Pfi>9@ @@/@ԡ^A}U<} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250948E  E E E "E :*E z:VE ZE BE J- *,>m?Apɰr4<p? N?sٱ? 1 AHRS rotation from veh to nav: [[0.397563,-0.894137,-0.206067],[0.909330,0.413965,-0.041859],[0.122732,-0.170741,0.977642]]H`q?Ĝ`e`ʿ:?g~?~nYk?@ſ`H?ip?I^;֑CYZByiI = p=iMb@Mb@Mb@ 9%C?/$/$?YZ$?y<A -A)AYAbDVDyH=%=ٔQ->9"?Y"?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502438=Fy EE>Q 5 5.?Q 9 5X)]BY$?Q E:yܐ?Q IN@4CI ;i7 ;^ 5yɮ9AjhFNOT Ignoring new targets: 128.47 m.Rh7Zh7- ProNav: ac range: 128.468796 m, nav range: 123.009392 m, bearing: 65.100868 deg, approach rate: -0.640837 m/s, LOS rate: 0.001349 deg/s, cmd heading: 66.683062 deg, new cmd heading: 66.685153 deg. Bh-m85HeadingCmd: 1.163875 target range: 128.468796 and range: 129.00 m.h5?h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM 5M@5aBɢ5 н)9 =пi9)999iEu"iE?EoAHRS rotation from veh to nav: [[0.399347,-0.892942,-0.207787],[0.908225,0.416242,-0.043231],[0.125092,-0.171453,0.977218]]2H?˜ʿ.??^"?`-ſ`_E?i2R9|Y|=~Fy~ E~ҴE~>Q 5  5S7?Q 9  5)^BYy?Q IN@5CIL;iz;a 5yBɮ%A!jhAMFNOT Ignoring new targets: 128.47 m.AABq>BBIBZBBBBDBH;B?ERhM/8Zh /8 ProNav: ac range: 128.468796 m, nav range: 122.768784 m, bearing: 65.101609 deg, approach rate: -0.634228 m/s, LOS rate: 0.001956 deg/s, cmd heading: 66.685152 deg, new cmd heading: 66.687378 deg. Bhӫ8%HeadingCmd: 1.163914 target range: 128.468796 and range: 129.00 m.h%%?h!*h!"h! h!g)fIfIfQdQdQdQjdQZd] @颥?aBɢ!) ^пiXG))AI!IiUuʴ9yY}hAi%?o<} gt),秧?ABDAT read: Rx Time:04:43:13.1037 TRx dataTimestamp_ set to:1761540194.625389checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261638<E] E]E],EY"E]D:*E]:VE]g4ZEYBE]19Y = Fy  E E >1Q 5= 55kA?Q 9= 55)52^BYAyAQ IEN@5a5CI5;i5';5e 5yqɮu׮Ayjh-FNOT Ignoring new targets: 128.47 m.Rh5W 8Zh5W 8M ProNav: ac range: 128.468796 m, nav range: 122.488281 m, bearing: 65.102476 deg, approach rate: -0.609987 m/s, LOS rate: 0.001890 deg/s, cmd heading: 66.687378 deg, new cmd heading: 66.689986 deg. BhU8]HeadingCmd: 1.163960 target range: 128.468796 and range: 129.00 m.h]?ha*ha"hi higqfyffddԱdjdZd@/* @mqaBɢm=ؽ)q uӿiq)qqyi}} i?Ho<|. BDAT read: Tx time:04:43:14.1804 $Ping request sent.iK>uY+@)>+@ X8>)T@IX8pY?!l"]?YO:4?^A<ԉ ,'?)j*IQ]iX8:publishing transmit ping timeFpublishing direction and range infoE EE+E"E2:*EAr:VE [4ZEa@a@a@a@y1p? =?Y )IIO?Y2,q?AIi )IpY?!l"]?YO:4? )IiYZByIԉiMb@Mb@Mb@ B p>B B IB C[BB B B B #;B ?E9Q?QˡE?Y(?yu'=AA ~A)OAYA IM<bDUVDUye&r=%e=ٔiQ-m>9iYi=mFym EqEu>yQ 5 5} O?Q 9 5})}^BYT)?Q E:y?Q IN@}5CI}'lt9,?A>{ o?>q?> ٱ>35 FAHRS rotation from veh to nav: [[0.403185,-0.889792,-0.213805],[0.905498,0.421694,-0.047412],[0.132347,-0.174485,0.975725]]>H`?,y]˿??@XF?Uƿ#9?i>{ o?I>^;>ՑCY[ByIbD%VD%y5E=%5^=ٔ=Q-=>99Y9=EFyE EEJOEE>IQ 5U 5MnW?Q 9U 5M)M^BYYy]?Q I]N@M6CIM;iM;MOn 5ye Bɮe AeBEB*** querying acoustic contact ***i ijhE EE(E"Es:*Ei:VEc44ZEBEm0Z@,y?AY~L[By~IiMb@Mb@Mb@ 9> ףp=?Mb?Zd;O?Y1?y<j<=A ۪A)YAbDVD y >%C=ٔQ->9Y=Fy EE>Q 5 5w`?Q 9 5~)^BY[2?Q E:y?Q IN@L6CI:i:q 59yyɮ}Ayjh FNOT Ignoring new targets: 126.28 m.Rh5Zh5E ProNav: ac range: 126.276657 m, nav range: 120.478668 m, bearing: 64.851831 deg, approach rate: -0.633733 m/s, LOS rate: -0.016559 deg/s, cmd heading: 66.690623 deg, new cmd heading: 66.668224 deg. BhE5MHeadingCmd: 1.163580 target range: 126.276657 and range: 126.80 m.hM1?hI*hI"hi hiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.993763gifQfQfQdQdYdYjdYZd]R?E EE,E"Ea:*E&p:VEg4ZEa@a@a@a@bBɢٽ) ֿi)iǡi1?@n<t;I%1?I!I1)5eAa9@ @@@@gA@B<ABo>B?CBIB[BBBBB;B?Eԉ^A vт;- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246139 I I O >YF,D?A2n?2RS?2| ٱ2ú3 :AHRS rotation from veh to nav: [[0.403817,-0.889469,-0.213954],[0.904705,0.422984,-0.050927],[0.135797,-0.173000,0.975515]]2H"?`vb˿W? +?)a?$ƿk7?i2n?I2_;2בCYF~[ByFIIJ=)JI?N=N=bDRVDR:yZh=%ZO=ٔZQ-Z>9\Y\=^Fy^ EbEb>dQ 5j 5fh?Q 9j 5fWx)f!_BYhyjȗ?Q IjN@f6CIfQ;ifL;fhu 5ypɮr1Apjh FNOT Ignoring new targets: 126.28 m.RhZh% ProNav: ac range: 126.276657 m, nav range: 120.209900 m, bearing: 64.844918 deg, approach rate: -0.744100 m/s, LOS rate: -0.019182 deg/s, cmd heading: 66.668227 deg, new cmd heading: 66.647441 deg. Bh%R-HeadingCmd: 1.163217 target range: 126.276657 and range: 126.80 m.h-N?h)*h)"h) h1g1f1f1f9d9d9d9jd9ZdEa?%bBɢW) Կi)iHiN?Vn<;I%N?I)@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497692E  E E (E "E :*E z:VE c44ZE BE #q L,z6?A2n?2^?2l5 ٱ2r1 :AHRS rotation from veh to nav: [[0.403411,-0.889868,-0.213059],[0.904634,0.422851,-0.053233],[0.137462,-0.171265,0.975588]]2H}?y`E˿??]A^?ſ8?i2n?I2E_;2ّCYF[ByFIi9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749980iUMb@Mb@Mb@QQQQ Q9U`"?X9v?&1?YU7?yU9Y=Fy$ EbS:E>Q 5 5 r?Q 9 5p)`_BYq8?Q E:y?Q IN@6CI ;i ;%y 5yBɮAjhFNOT Ignoring new targets: 126.28 m.RhZh ProNav: ac range: 126.276657 m, nav range: 119.908768 m, bearing: 64.834061 deg, approach rate: -0.703917 m/s, LOS rate: -0.025443 deg/s, cmd heading: 66.647442 deg, new cmd heading: 66.614789 deg. BhHeadingCmd: 1.162647 target range: 126.276657 and range: 126.80 m.hє?h*h"h hgfffdddjd Zd ʣ?5SbBɢ=s)9 =*ֿi9)9AAiE iEє?Mnԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001680bEjER4rEɓ/E-  E- E- *E) "E- D:*E- Ar:VE- (N4ZE) a= @a= @a= @a= @ S,UP?A6o?6x?6ٱ68[1 BAHRS rotation from veh to nav: [[0.402610,-0.890223,-0.213092],[0.904765,0.422347,-0.054978],[0.138942,-0.170663,0.975484]]6H]?|@F˿`??&?Kſ*7?i6o?I6 _;4YJ[ByJ,IbDRVDRyZ=%ZX=ٔ^%Q-^>9`Y`=bFyb( Eb;Ef>dQ 5j 5f z?Q 9n 5fUj)f_BYlyn?Q InN@f#7CIf;if;fu| 5yrBɮvDAv9EBn>BBMIB\BBBBB;B?EBB?CBB =B =C4jh1=FNOT Ignoring new targets: 126.28 m.RhEPZhEPU ProNav: ac range: 126.276657 m, nav range: 119.641777 m, bearing: 64.824289 deg, approach rate: -0.695105 m/s, LOS rate: -0.025497 deg/s, cmd heading: 66.614787 deg, new cmd heading: 66.585407 deg. BhU]HeadingCmd: 1.162135 target range: 126.276657 and range: 126.80 m.h]?hY*hY"hY hYgYfafafadadidijdiZdm@}d@额{bBɢQ) տi)顡ii?pm<ӕ;I?I{>iԱm9@i @q@u/@q@}=@}=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253963^AU[R;IIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5056221 Z,amj?A2Io?2R?2B,ٱ2̓0 :AHRS rotation from veh to nav: [[0.401876,-0.890607,-0.212875],[0.904878,0.421875,-0.056728],[0.140329,-0.169828,0.975431]]2H@T?|?˿@? ?~ N?ſ6?i2Io?I2_;2בCYF[ByF:I HHHJAbDRVDR:2yVf=%ZI=ٔZaQ-Z>9XY\=^Fy^, EEf EfEf(Ed"Ef:*Ef]t:VEfc44ZEdBEf.pQ 5v 5r?Q 9v 5r6c)r_BYxyz?Q IzN@rm7CIr;ir;r 5yɮA 5B*** querying acoustic contact ***i1 i1jhAMFNOT Ignoring new targets: 126.28 m.RhUZhUm ProNav: ac range: 126.276657 m, nav range: 119.352989 m, bearing: 64.813574 deg, approach rate: -0.704405 m/s, LOS rate: -0.026198 deg/s, cmd heading: 66.585404 deg, new cmd heading: 66.553182 deg. Bhm֏uHeadingCmd: 1.161572 target range: 126.276657 and range: 126.80 m.he?h*h"h hgff f d d djdZd5`@颵bBɢU) ؿi)项i9ie?mm</;Ie?I 9@  @ @ @ !=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757660^A) I I I O >\`,N ?A 6o?63?6|ٱ6/ >AHRS rotation from veh to nav: [[0.400977,-0.891215,-0.212021],[0.905079,0.421176,-0.058685],[0.141599,-0.168365,0.975501]]6H?Մ#˿@g? ? ?`ſN7?i6o?I6-_;4YF\ByFTIiMb@Mb@Mb@ 9Zd;O?~jt?Mb?YjQ->9Y=Fy1 E;E>Q 5  5?Q 9  5X[)`BYBBIBi\BBBBB;Bz?E^A P; m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261729I I O >!g,?A2o?2dғ?2'ٱ2- :AHRS rotation from veh to nav: [[0.399903,-0.891854,-0.211362],[0.905353,0.420315,-0.060592],[0.142878,-0.167127,0.975528]]2H?` ˿`?r? I?`hdſ@7?i2o?I2j_;2ّCPYb0\BybhIbDjVDjkyr'=%r]=ٔvdQ-v>9tYt=vFyv4 EzC;Ez>|Q 5 5~`?Q 9 5~T)~>`BY y ?Q I N@~8CI~:i~:~ 5yBɮA:Ejh9EFNOT Ignoring new targets: 126.28 m.RhEZhEU ProNav: ac range: 126.276657 m, nav range: 118.768684 m, bearing: 64.786538 deg, approach rate: -0.723751 m/s, LOS rate: -0.033860 deg/s, cmd heading: 66.509486 deg, new cmd heading: 66.471872 deg. Bh]湺]HeadingCmd: 1.160153 target range: 126.276657 and range: 126.80 m.he?ha*ha"ha hagafafifidididqjdqZduL @颥bBɢ) ٿi)顩i i?c5m<+ %BDAT read: Tx time:04:43:17.8303 %$Ping request sent.%?ACRV?Y3B )I>i/ݴv>+@| >*@ -\->)@I-\-+x?JoE?z? ?).!I*Hi-\-M:publishing transmit ping time!MFpublishing direction and range infoys>?ACRV?Y )Ii )I+x?JoE?z? )IiE  E E +E "E :*E |:VE  [4ZE BE J-) uKm,"÷?Aɰ;2p?2?2mٱ2O- :AHRS rotation from veh to nav: [[0.398797,-0.892352,-0.211352],[0.905666,0.419433,-0.062004],[0.143977,-0.166688,0.975441]]2H?$@ ˿@8??m?Vſ6?i2p?I2n^;2ؑCYNM\ByNzIV!>V;?|iMb@Mb@Mb@ 9X9v?/$?I +?Y=?y,=94<7A9A -A)AYAbDVDk1y=%:=ٔ%Q->9Y=Fy9 E+;E> Q 55 5 ڜ?Q 9= 5 L) p`BY=F>?Q E=:y=?Q I=N@ V8CI d;i );  5yEBɮMAM0Eii?AJi,BRi,Bjile?b)7k^@.0@4@Rs>?ACRV?Zi*Hbi-\-jp_jH@0>Z@:R&e>iC@ZvhR?%d? }'?2iB:iEB"iv⚊?*i$]Bi˻Bi8#?iWiiBi?5 addTargetRange:: Added new target pos. range: 124.099998 m, deltaT: 3.527869 s, deltaX: -2.700005 m, approachRate: -0.765336 m/s, rangeRepo size: 4 E Added new target pos. range: 123.587547 m, bearing: 65.082716 deg, lat: 36.779288 deg, lon: -121.859573 deg, deltaT: 3.527869 s, deltaX: -2.689110 m, approachRate: -0.762248 m/s, posRepo size: 4 jhA}FNOT Ignoring new targets: 123.59 m.RhZh ProNav: ac range: 123.587547 m, nav range: 117.870064 m, bearing: 64.791706 deg, approach rate: 0.000000 m/s, LOS rate: -0.033860 deg/s, cmd heading: 66.471872 deg, new cmd heading: 66.424868 deg. BhHeadingCmd: 1.159333 target range: 123.587547 and range: 124.10 m.he?h*h"h hgfffdddjd`f_@ZdY?%2cB)ɢ%h)M>k MܿiI)IIIiM.iUe?Um<] Em8t,?A2bp?2?2ٱ2+ :AHRS rotation from veh to nav: [[0.397716,-0.893113,-0.210172],[0.905962,0.418495,-0.063986],[0.145103,-0.164960,0.975568]]2H+t?`@ʿ? ?]a@?iſ7?i2bp?I2^;2בCYFS\ByF~IBLBLBNIBN\BBN =BLBLBN;BNd?EbD^VD^Fyfg<%f_=ٔf'KQ-j>9hYh=jFyj= EnH;En>pQ 5v 5r?Q 9v 5rF)r`BYtyz?Q IzN@r8C Iri%;ir;r$ 5yAɮMAYeGq}(hA9(hAYnAyU?UԧAjhyFNOT Ignoring new targets: 123.59 m.RhPZhP ProNav: ac range: 123.587547 m, nav range: 117.601303 m, bearing: 64.780526 deg, approach rate: -0.693653 m/s, LOS rate: -0.028920 deg/s, cmd heading: 66.424867 deg, new cmd heading: 66.391251 deg. BhǞHeadingCmd: 1.158746 target range: 123.587547 and range: 124.10 m.hQ?h*h"h hgfffdddjdZd@?E_cBɢM)I MiI)IIQiUiUQ?] m6]z,`x?A6@p?6??6"8ٱ6N7* BAHRS rotation from veh to nav: [[0.396680,-0.893758,-0.209383],[0.906244,0.417617,-0.065713],[0.146173,-0.163685,0.975623]]6H5c?` ʿ?:?`Ұ ˵?Ŀ@N8?i6@p?I6^;6ّCYR\ByRIEf EfEf(Ed"Ef:*EfZ:VEfc44ZEdBEf+9Y=FyA E%*;E%>)Q 5= 5-?Q 9E 5->)-`BYAyEɛ?Q IEN@-8CI-V;i-W;- 5yQɮ]AYB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 123.59 m.Rh|Zh|Թ ProNav: ac range: 123.587547 m, nav range: 117.299500 m, bearing: 64.767751 deg, approach rate: -0.805925 m/s, LOS rate: -0.034202 deg/s, cmd heading: 66.391249 deg, new cmd heading: 66.352824 deg. BhȻHeadingCmd: 1.158075 target range: 123.587547 and range: 124.10 m.h;?h*h"h hgfffdddjdZdZ?cBɢ) Ii)i:i;?m<ujr9 E,S?AVp?V`?VdٱVU) jAHRS rotation from veh to nav: [[0.395703,-0.894282,-0.208996],[0.906488,0.416833,-0.067307],[0.147308,-0.162819,0.975598]]VH0S?@_ʿ?d? ;?<Ŀ`8?iVp?IV!k^;VڑCYz\ByzIiMb@Mb@Mb@ 9V-?Q?9Y=FyE E;E>Q 5 5?Q 9 56)`BY '=?Q E :y &?Q I N@99CIH:i: 5yBɮ\A1EjhAEFNOT Ignoring new targets: 123.59 m.RhMKZhMK ProNav: ac range: 123.587547 m, nav range: 116.984932 m, bearing: 64.756347 deg, approach rate: -0.740462 m/s, LOS rate: -0.026916 deg/s, cmd heading: 66.352822 deg, new cmd heading: 66.318518 deg. BhƓHeadingCmd: 1.157477 target range: 123.587547 and range: 124.10 m.h1(?h*h"h hchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500104gfffdddjdZd=?颵cBɢ~) i)项iXi1(?E EE,E"E:*Ex:VEg4ZEa@a@a@a@jm<iBBIB ]BB =BBB؈;BU?E ei 9@  @ @ /@ M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751939ԙ ^A k<A9IIIaOm ?K{,'?A6q?6k?6=ٱ6՞( >AHRS rotation from veh to nav: [[0.395320,-0.894475,-0.208895],[0.906428,0.416698,-0.068920],[0.148694,-0.162103,0.975506]]6HL?ʿ@v?/?¤d?ɿĿ`Y7?i6q?I6];6ّCYJ\ByJIbDRVDRyZM=%Z$=ٔ^7Q-^>9\Y\=^FybJ Eb-:Eb>dQ 5j 5f'Š?Q 9j 5f-)f$aBYlyn2?Q InN@f9CIf:ifR:fݙ 5yrҘBɮrAr'Ejh FNOT Ignoring new targets: 123.59 m.RhZh% ProNav: ac range: 123.587547 m, nav range: 116.620094 m, bearing: 64.742980 deg, approach rate: -0.731748 m/s, LOS rate: -0.026894 deg/s, cmd heading: 66.318521 deg, new cmd heading: 66.278294 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003997ԑBhHeadingCmd: 1.156774 target range: 123.587547 and range: 124.10 m.h/?h*h"h hgfffdddjdZd@w7@E EE*E"Es:*E~:VE(N4ZEBEm0,U1C?A2Lq?2m?2zٱ2[( :AHRS rotation from veh to nav: [[0.395219,-0.894516,-0.208910],[0.906369,0.416713,-0.069610],[0.149322,-0.161838,0.975454]]2HDK?ߟʿ?l?ѱ@?Ŀ 6?i2Lq?I2-];2ڑCYB\ByFI)i5Mb@Mb@Mb@1111 195l?/$?Zd;OY57?y5<5j5-A5݊A 5ШA)5݊A1Y5(AbDmVDmJyM4=%M*=ٔMQ-M>9QYQ=UFyUO E]69E]>aQ 5m 5e͊?Q 9m 5e%)eLaBYm7?Q Em:ymy?Q IuN@e9CIe:ie*:e 5yyɮ}yAyjhFNOT Ignoring new targets: 123.59 m.RhZh ProNav: ac range: 123.587547 m, nav range: 116.278130 m, bearing: 64.733975 deg, approach rate: -0.711813 m/s, LOS rate: -0.018800 deg/s, cmd heading: 66.278291 deg, new cmd heading: 66.251196 deg. BhoNHeadingCmd: 1.156301 target range: 123.587547 and range: 124.10 m.h?h*h"h hgfffdddjdZdj@dBɢ )  i )  iûi?]Km<]/֌i!yBj>BB(IBg]BB =BBBЈ;BL?E9@ @@0@@@ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759835^A A II)O5>],c?A2p?2S?2%ٱ2N( :AHRS rotation from veh to nav: [[0.395937,-0.894069,-0.209461],[0.906027,0.417491,-0.069396],[0.149493,-0.162301,0.975351]]2HW?@7ʿ -?+?`ñ "? EĿ 6?i2p?I2];0YB ]ByBIIF=)F<bDnVDnβyvF=%v4=ٔzKǹQ-z>9|Y|=~Fy~T E~E~> Q 5 5 c׊?Q 9% 5 ) qaBY!y-^?Q I-N@ A:CI .;i ;  5yEۘBɮM[AM(EjhFNOT Ignoring new targets: 123.59 m.Rh.Zh. ProNav: ac range: 123.587547 m, nav range: 115.954659 m, bearing: 64.725539 deg, approach rate: -0.698646 m/s, LOS rate: -0.018270 deg/s, cmd heading: 66.251196 deg, new cmd heading: 66.225819 deg. BhHHeadingCmd: 1.155859 target range: 123.587547 and range: 124.10 m.h-?h*h"h hgfffdddjdZdq@uVdBɢu!)y }iy)yyyi}Ȼi-?Cem<뇞,x|?A2p?2/?2.ٱ2( :AHRS rotation from veh to nav: [[0.396955,-0.893638,-0.209375],[0.905657,0.418400,-0.068745],[0.149036,-0.162333,0.975416]]2Hg? ʿ %?@?@I?@SĿ6?i2p?I2b];2ّCYF]ByFIiuMb@Mb@Mb@qqqq q9uV-?Mbp?{GzYuh1?yu;uףu"Au/A u"A)uAqYuAbDVDܲyA=%:=ٔ:Q->9Y= Fy X E$#E>Q 5 5ኊ?Q 9% 5[)aBY%|1?Q E%:y%O?Q I%N@:CI':)i:ݥ 5y1ɮ51A9UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 123.59 m.Rhm8Zhm8} ProNav: ac range: 123.587547 m, nav range: 115.652802 m, bearing: 64.721203 deg, approach rate: -0.700392 m/s, LOS rate: -0.010087 deg/s, cmd heading: 66.225822 deg, new cmd heading: 66.212780 deg. Bh}ݹHeadingCmd: 1.155631 target range: 123.587547 and range: 124.10 m.h?h*h"h hgfffdddjdZd @%dBɢ5x)1 5ii9)999i=p ʻiu?uBsmB B MIB ]BB =B B B ;B 3?EB?CBBBʙ =Bʙ =C\5Ա A I I) O5 >k,й?A2!p?2/?2{ٱ2) :AHRS rotation from veh to nav: [[0.398423,-0.892995,-0.209330],[0.905123,0.419716,-0.067751],[0.148360,-0.162476,0.975495]]2H@?jSʿ?? Xx? ĿA7?i2!p?I2];2ڑCYBF]ByFIbDNVDNyVH=%Vd=ٔVA:Q-V>9XYX=ZFyZ\ EZE^>!Q 5- 5%>ꊊ?Q 9- 5%3)%aBY)y5?Q I5N@%:CI%:i%:% 5y9ɮ=A9jhamFNOT Ignoring new targets: 123.59 m.Rhm,Zhm, ProNav: ac range: 123.587547 m, nav range: 115.397209 m, bearing: 64.717715 deg, approach rate: -0.689767 m/s, LOS rate: -0.009435 deg/s, cmd heading: 66.212783 deg, new cmd heading: 66.202294 deg. Bh3ϹHeadingCmd: 1.155448 target range: 123.587547 and range: 124.10 m.h?h*h"h hgfffdddjdZd@dBɢ ) i)i6˻i?Mwm<=Gs EBDAT read: Tx time:04:43:21.4803 E$Ping request sent.Mi}}>y}0 >}t*@ }V>)}@I}Vyy}80n?P?3-? }?)} I}9i}Vyy:publishing transmit ping timeAFpublishing direction and range infoyy}6b١?#'ЌCz?Yyyyyy y)yIyiyyyyy y)yIyyy}80n?P?3-? y)yIyiyyy^A}< A .AI I O >Em  Em Ei Ei "Em :*Em :VEi ZEi BEm 39 ?Y ?=Fy` EՙE>!Q 5- 5%?Q 9- 5% )%aBY)y-ۓ?Q I-N@%;CI%:i%[:% 5y=ɘBɮ=]A=Eii?AJiBRiBji?b*i]@r88wzw1@R6b١?#'ЌCz?Zi9biVj1u[yH@ra-/Z@:QA@ZCJ?^??2iyB:i;DB"iO?*iKFBi˵BiO?iiBi$Bi? addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 3.780482 s, deltaX: -2.599998 m, approachRate: -0.687743 m/s, rangeRepo size: 4  Added new target pos. range: 120.997322 m, bearing: 64.901827 deg, lat: 36.779287 deg, lon: -121.859573 deg, deltaT: 3.780482 s, deltaX: -2.590225 m, approachRate: -0.685157 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 121.00 m.RhZh ProNav: ac range: 120.997322 m, nav range: 115.071312 m, bearing: 64.764751 deg, approach rate: 0.000000 m/s, LOS rate: -0.009435 deg/s, cmd heading: 66.202292 deg, new cmd heading: 66.190740 deg. BhHeadingCmd: 1.155246 target range: 120.997322 and range: 121.50 m.hߓ?h*h"h hgfffdddjd`^@Zd ?dBɢ!)  i )   i Jͻiߓ?om<)[{~,u?A 2o?2r?2N>ٱ2m* >AHRS rotation from veh to nav: [[0.402347,-0.891162,-0.209633],[0.903738,0.423198,-0.064500],[0.146196,-0.163502,0.975650]]2H@?g@Dʿm? ??Ŀ 8?i2o?I2c];2ڑCYFi]ByF)IiMb@Mb@Mb@ 9Fx?:v:vY+?yTT҈A A)/AYAbD5VD5yE6N<%EF=ٔM9;Q-M>9IYI=MFyUd EU4EU>YQ 5e 5]?Q 9e 5])]aBYm+?Q Em:ym?Q ImN@]];CI]:i]:]< 5yqɮ}SAyDzDE EE,E"ET;*E҆:VEg4ZEa%@a%@a%@a%@jh9=FNOT Ignoring new targets: 121.00 m.RhE6ZhE6u ProNav: ac range: 120.997322 m, nav range: 114.797195 m, bearing: 64.764878 deg, approach rate: -0.641001 m/s, LOS rate: 0.000297 deg/s, cmd heading: 66.190742 deg, new cmd heading: 66.191123 deg. BhuP7}HeadingCmd: 1.155253 target range: 120.997322 and range: 121.50 m.h}Uߓ?hy*hy"hy hgfffdddjdZd8? eBɢ) i)i uϻi Uߓ?Wm<m=B>CByIB]BBBBB;B?E9@ @@/@ԙ^A jZX< A= ؟AIA IQ Ou >,ZJ?A6Yn?6?6ʷٱ6Ɨ+ NAHRS rotation from veh to nav: [[0.404933,-0.889767,-0.210579],[0.902820,0.425533,-0.061942],[0.144722,-0.165032,0.975613]]l6Hm? x<ʿ?@;?㶯C?ſ78?i6Yn?I6&v];6ؑCY~]By~FIbDVD0y5=%=K=ٔE9M"?YM"?=UFyUh E]4E]>aQ 5m 5eS?Q 9m 5e)e!bBYqyu6?Q IuN@e;CIe[:iet:eų 5yyɮAjhFNOT Ignoring new targets: 121.00 m.Rh7Zh7 ProNav: ac range: 120.997322 m, nav range: 114.527824 m, bearing: 64.765379 deg, approach rate: -0.700198 m/s, LOS rate: 0.001304 deg/s, cmd heading: 66.191124 deg, new cmd heading: 66.192629 deg. Bh#e8HeadingCmd: 1.155279 target range: 120.997322 and range: 121.50 m.h1?h*h"h hgfffdddjdZdb? 3eBɢ  ) Di)iF/лi1?%}1m<%A] >I A I I O >)Ѿ,%?A2m?2?2"^ٱ2+ :AHRS rotation from veh to nav: [[0.407517,-0.888652,-0.210304],[0.901865,0.427810,-0.060144],[0.143418,-0.165156,0.975784]]2H?o@@ʿ?=a?7ˮ`[?@#ſ9?i2m?I2d];0YB]ByFYIIF?>)F>i]Mb@Mb@Mb@YYYY Y9]S㥛?I +Mbp?Y]$&?y]94];]A]$A ]jA)]҈AYY]AbDuVDuβyJ=%E=ٔsQ;Q->9Y=Fyl E$ݻE>Q 5 5?Q 9 5R)JbBY+&?Q E:y?Q IN@;CIU:i:\ 5yҘBɮܧA EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 121.00 m.Rh|aZh|a ProNav: ac range: 120.997322 m, nav range: 114.264214 m, bearing: 64.765359 deg, approach rate: -0.641083 m/s, LOS rate: -0.000048 deg/s, cmd heading: 66.192627 deg, new cmd heading: 66.192567 deg. BhJHeadingCmd: 1.155278 target range: 120.997322 and range: 121.50 m.h(?h*h"h hgf f f d ddjdZd?EaeBɢEq)A MbiI)IIIiMmѻiU(?UFl<];I](?IY)@) @1@51@1IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.qD5%=D5p=E9 E=E9E9"E9*E=:VE9ZE9aM@aM@aM@aM@^AU<B g>B B IB 3^BB =B B B {;B >Eԡ A I I G% hA9 OM >m 9u hAYu ͩA7ņ,?A2;l?2tb?2/#ٱ2, :AHRS rotation from veh to nav: [[0.410082,-0.887348,-0.210824],[0.900891,0.430142,-0.058088],[0.142228,-0.166108,0.975797]]2H>? 'e`Eʿ?q?@4?Cſ9?i2;l?I2];2ܑCYF]ByFlIbDRVDRyZ,=%ZY=ٔZP;Q-Z>9\Y=Fyp EE > Q 5 5 ?Q 9 5 n) qbBYyZ?Q IN@ %5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246391 EE  EE EA EA "EE &:*EE |:VEA ZEA BEE e;A;l?>?>0ٱ>E, FAHRS rotation from veh to nav: [[0.412626,-0.886250,-0.210477],[0.899953,0.432351,-0.056189],[0.140797,-0.166234,0.975983]]>H@wh?@)\ʿj??Ĭ? *Gſ@@;?i>A;l?I>];>ۑCYR^ByRIbDZVDZkybe>%bI=ٔbdi;Q-f>9dYd=fFyft EjxEj>lQ 5r 5n"?Q 9r 5nc)nbBYpyr?Q IvN@nf ҆, K?A2k?2᳑?2u ٱ2P- :AHRS rotation from veh to nav: [[0.415054,-0.885119,-0.210463],[0.899079,0.434442,-0.054009],[0.139238,-0.166806,0.976109]]2H>? Rrʿ@A? ? @?`YſH9Y=Fyy EoĻE>Q 5 5)-?Q 9 5)bBY(?Q E:y(?Q IN@B1B5IB5^BB1B1B5DB5^;B5>Ea9@ @@/@BDAT read: Rx Time:04:43:24.0433 TRx dataTimestamp_ set to:1761540205.464135checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002756ԡ^A ;Թ A I I) O] >.؆,De?ARj?Re?RU ٱR- ^AHRS rotation from veh to nav: [[0.417295,-0.884240,-0.209727],[0.898296,0.436289,-0.052117],[0.137586,-0.166648,0.976370]]RH`? KRʿ׾?*?@ g?@Tſ`l>?iRj?IR];RבCYf[^ByfIbDrVDryvj=%zV=ٔz;Q-z>9|Y|=~Fy~} E~̻E>Q 5  5)6?Q 9 5)bBYyُ?Q IN@iQ)QQQi]AԻiQ?@k<˺IQ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254831E EE*E"E;*E~:VE(N4ZEBE@  BDAT read: Tx time:04:43:25.1303  $Ping request sent. i ff µ> P*@ l$> )@ ;0>) 3@I ;0 Rݷ?U&m? g]? Y?) џ#I i ;0 % :publishing transmit ping time % Fpublishing direction and range infoy  n3?;m!?Y A) I9 II ) I i ) I Rݷ?U&m? g]? ) I i Oi /߆,K?Ar fj?r\?r ٱrI+ zAHRS rotation from veh to nav: [[0.419331,-0.883644,-0.208171],[0.897559,0.437939,-0.050957],[0.136194,-0.165478,0.976764]]rHR? F Yʿ θ?2?n?@b.ſA?ir fj?Ir];rڑCY ^By IiMb@Mb@Mb@ 9B`"?MbL7A`?Y.?y+=dAĆA A) AY•AbDVDy=%-=ٔB;Q->9Y= Fy  EUEU>YQ 5m 5]A?Q 9 5]&)]3cBY/?Q E:y?Q IN@]@=CI];B =CB  IB ^BB B E^A A >A >Y AIIQIaOu>%,?A6i?6?6 ٱ6J|+ >AHRS rotation from veh to nav: [[0.420930,-0.883070,-0.207377],[0.897015,0.439214,-0.049552],[0.134841,-0.165162,0.977005]]6H?@BUʿY?@?^wB?@ $ſC?i6i?I6];6ّCYF^ByJIIN=)N4=bDRVDRk2yZ4=%ZL=ٔ^#`;Q-^>9\Y\=bFyb EbEEb>dQ 5j 5fDK?Q 9j 5f)fecBYlynr?Q InN@f=CIf:ifz:f 5yr]BɮrArE1B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 118.61 m.Rhl,7Zhl,7 ProNav: ac range: 118.606094 m, nav range: 112.593719 m, bearing: 64.755094 deg, approach rate: -0.677363 m/s, LOS rate: 0.000589 deg/s, cmd heading: 66.203125 deg, new cmd heading: 66.203808 deg. Bh7HeadingCmd: 1.155474 target range: 118.606094 and range: 119.10 m.h?h*h"h hgfffdddjdZd`?fBɢ)h 5i )   i bջi?j<*I?I@ @@/@aԉ^Ayb]T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE*E"E%;*EVE(N4ZEBEKԱ 'J,?A6Ci?6x?6f ٱ6) BAHRS rotation from veh to nav: [[0.422144,-0.883001,-0.205189],[0.896658,0.440023,-0.048841],[0.133414,-0.163366,0.977503]]6H j?@ACʿ k?T)?@?`1Ŀ@G?i6Ci?I6 ^;6ڑCYJ^ByJ IbDVVDV1y^>%bK=ٔfh;Q-j>9pYp=rFyr Ev6KEv>xQ 5~ 5z,U?Q 9~ 5zj)zcBY|y~F?Q IN@z=CIz/;iz~ ;z 5y `Bɮ A Ejh9MFNOT Ignoring new targets: 118.61 m.Rh]w7Zhew7ԡ ProNav: ac range: 118.606094 m, nav range: 112.319885 m, bearing: 64.755522 deg, approach rate: -0.703776 m/s, LOS rate: 0.001103 deg/s, cmd heading: 66.203808 deg, new cmd heading: 66.205095 deg. BhA8HeadingCmd: 1.155497 target range: 118.606094 and range: 119.10 m.hR?h*h"h hgffqfydddjdZd`?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.997665颍fBɢ) i)顱iֻiR?7Hi<UzIR?I9@ @@@^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247891! I I O >bE(N4jE-W4rE5/E  E E -E "E ;*E :VE t4ZE a @a @a @a @2,?AY_By5 IB]>BBN IBE_BB =BBB>;B>EBe>CBe>CBaBe =Be =Cebv5iMb@Mb@Mb@ 9> ףp=?ˡE?Y1?y'=A A)ĆAYAbDVD2y=%8=ٔQ->9Y=Fy EE> Q 5 5 _?Q 9 5 9) cBY:2?Q E:y?Q IN@ >CI 6;i  ; Z 5y!ɮ%FA!jhIUFNOT Ignoring new targets: 118.61 m.Rh]kZh]km ProNav: ac range: 118.606094 m, nav range: 112.019028 m, bearing: 64.753912 deg, approach rate: -0.684420 m/s, LOS rate: -0.003673 deg/s, cmd heading: 66.205092 deg, new cmd heading: 66.200249 deg. BhmN!mHeadingCmd: 1.155412 target range: 118.606094 and range: 119.10 m.hu?h*h"h hgfffdd d jd Zd "?}fBɢ}| )y }i)顁iջi?£h< I?II)bA!e9@a @a@e0@a@m=@m=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500306Q^A ׮A fAzA aAI) I9 OM >y \,v?A2=i?2J?2Aٱ2;% :AHRS rotation from veh to nav: [[0.423729,-0.883310,-0.200542],[0.896388,0.440741,-0.047298],[0.130166,-0.159722,0.978543]]2H `?@D\ɿ4?5?l7E?qĿ8P?i2=i?I2& ^;0YJW_ByJY I PRAbD^VD^fyj% >%j^=ٔj9pYp=rFyr EvEv>xQ 5 5zh?Q 9  5z3)zdBY y Ƒ?Q I N@zW>CIz5L;izcM;z 5y!ɮ%ѢA!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752494jhFNOT Ignoring new targets: 118.61 m.RhRZhR% ProNav: ac range: 118.606094 m, nav range: 111.766853 m, bearing: 64.752787 deg, approach rate: -0.643627 m/s, LOS rate: -0.002876 deg/s, cmd heading: 66.200249 deg, new cmd heading: 66.196869 deg. Bh%-HeadingCmd: 1.155353 target range: 118.606094 and range: 119.10 m.h-?h)*h1"h1Q h1gYfYfYfadadadajdaZdm`?E EE+E"E~ ;*E1:VE [4ZEBE Vջi?g<I?Iԁ5*:ԱU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004309 9@  @ @ /@ ^A #2II!O=>09,XS ?A2"i?2w?2Nٱ2^$ :AHRS rotation from veh to nav: [[0.424331,-0.883495,-0.198445],[0.896359,0.440906,-0.046289],[0.128392,-0.158236,0.979018]]2H <(?Efɿ?7?@2$o?AĿ@T?i2"i?I2|^;2ۑCYFt_ByFj Ihi=Mb@Mb@Mb@9999 99=S?9iYi=mFym Eu痺Eu>yQ 5 5}t?Q 9 5}޳)}GdBY:?Q E:y)?Q IN@}>CI}xBEm9@i @i@m0@i!Q } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508792^A I I O >aX,#?A9Y_By% IbD5VD5yEF>%E1=ٔEQ-E>9IYI=MFyM E}E}>Q 5 5,?Q 9 5ͫ)dBYyQ IN@?CI;i; 5yA >A!I9IQO} ?OX,#E?A&4<ɰ&4?yU9Y=Fy EE>Q 5 5{?Q 9 5)dBY>?Q E:yݕ?Q IN@f?CI:i:Y 5yɮMAjhQ]FNOT Ignoring new targets: 118.61 m.Rh]쉹Zh]쉹 ProNav: ac range: 118.606094 m, nav range: 110.709023 m, bearing: 64.737991 deg, approach rate: -0.711361 m/s, LOS rate: -0.015073 deg/s, cmd heading: 66.176159 deg, new cmd heading: 66.152334 deg. Bh%HeadingCmd: 1.154576 target range: 118.606094 and range: 119.10 m.h&ɓ?h*h"h hgfffdddjdZd` @=gBɢe)a e4ia)aaiimֻim&ɓ?uyeBB IB%`BB =BBB;Bx>Eu9YA ^A] 軝 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518804A I I I O >pD,b?A~h?~g?~ٱ~$ AHRS rotation from veh to nav: [[0.425084,-0.884309,-0.193137],[0.896805,0.440377,-0.042518],[0.122652,-0.155132,0.980250]]~H4?ALȿ`?$/?@ĥ &f?`ÿ5^?i~h?I~p^;|Y%`By IbDVD:y>>%;=ٔ{Y9Y=Fy ElE> Q 5 5 ?Q 9 5 ) dBYyǕ?Q IN@ ?CI  :i : ( 5y%?Bɮ%A%EjhIMFNOT Ignoring new targets: 118.61 m.RhU<ZhU<e ProNav: ac range: 118.606094 m, nav range: 110.389206 m, bearing: 64.731305 deg, approach rate: -0.762169 m/s, LOS rate: -0.015981 deg/s, cmd heading: 66.152336 deg, new cmd heading: 66.132218 deg. Bhe{/mHeadingCmd: 1.154225 target range: 118.606094 and range: 119.10 m.hm?hi*hi"hi higqfqfqfqdyԙd9d9jdAZdEr @ gBɢ !)  wi)111i5ֻi=?=d<=aEI=?IA9@ @@2@DAT read: 04:43:27.6896 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.28, 1.960, 0.325, 2.174, 1.787, PHS= 0.276,-1.417, 0.343, RAW= 151.9, 9.3, CAL= 151.6, 10.0, ROT= 358.4, -10.0 Ygot valid direction response: 04:43:27.6896 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.28, 1.960, 0.325, 2.174, 1.787, PHS= 0.276,-1.417, 0.343, RAW= 151.9, 9.3, CAL= 151.6, 10.0, ROT= 358.4, -10.0 PDAT read: Bearing 223.3, 4.6 (Local) ~Local bearing/azimuth received: Bearing 223.3, 4.6 (Local) DAT read: Range 11 to 50 : 116.3 m (Round-trip 155.1 ms) speed 0.7 m/s *DAT read: user:169> BDAT read: Tx time:04:43:28.7803 $Ping request sent.M)@M6&>MV)@ M¸2>)M+@IM¸2IIM ?9V?Nơ? MA?)MU%IMiM¸2II:publishing transmit ping time Fpublishing direction and range infoyIM`Rf?[[M(ٖNs:?YIIIII I)IIIiIIIII I)IIIIIM ?9V?Nơ? I)IIIiIIIE EE+E"E;*E:VE [4ZEBEN\Y,r}?A}1i?}*?}ٱ}od AHRS rotation from veh to nav: [[0.424327,-0.885340,-0.190053],[0.897218,0.439414,-0.043761],[0.122255,-0.151951,0.980798]]}H+(?T Sȿ?`[?g L?@sÿb?i}1i?I}];}ܑCY-A`By- IԉiMb@Mb@Mb@ 9Mb? rh?~jt?Y@?yC =<A ;A)ĆAYAbDVD1yp=%3=ٔxf:Q->9 ?Y ?=Fy E%:E%>)Q 55 5-롋?Q 95 5-)-/eBY=@?Q E=:y=?Q I=N@-@CI-i:i-:-# 5yIɮM}AIi i Qo?AJi BRi Bji p?b \@ <z rPh4@R `Rf?[[M(ٖNs:?Zi bi ¸2j aG@Y@%A@Z A[.? K?Z?2i B:i =B"i 3:?*i !LBi kBi i i i Bi x? addTargetRange:: Added new target pos. range: 116.300003 m, deltaT: 3.780511 s, deltaX: -2.799995 m, approachRate: -0.740639 m/s, rangeRepo size: 4  Added new target pos. range: 115.814445 m, bearing: 64.653590 deg, lat: 36.779287 deg, lon: -121.859574 deg, deltaT: 3.780511 s, deltaX: -2.791649 m, approachRate: -0.738432 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 115.81 m.RhZh ProNav: ac range: 115.814445 m, nav range: 110.050255 m, bearing: 64.722598 deg, approach rate: 0.000000 m/s, LOS rate: -0.015981 deg/s, cmd heading: 66.132221 deg, new cmd heading: 66.109760 deg. BhHeadingCmd: 1.153833 target range: 115.814445 and range: 116.30 m.hͰ?h*h"h hgfffdddjd@3]@Zd%?='hBɢ=[)A EiA)AAAiM5ջiMͰ?McB ;CB  IB `BB =B B DB ;B ]>E Aa Iq I O >,&,?A24Xi?2q?2eٱ2I< :AHRS rotation from veh to nav: [[0.423814,-0.885831,-0.188902],[0.897501,0.438803,-0.044104],[0.121960,-0.150848,0.981005]]2H?X-ȿS?@W?ڔ8?Nÿdd?i24Xi?I2];2ݑCYB^`ByF IbDNVDN1yVH=%V`=ٔVoU:Q-V>9XYX=ZFyZ E^:E^>`Q 5f 5b?Q 9f 5b)bXeBYdyf?Q IfN@bU@CIb%e1 E5  E5 E5 &E1 "E5 7;*E5 Ǚ:VE5 4ZE1 BE5 Z9v"?Yv"?=vFyv Ez԰:Ez>|Q 5 5~w?Q 9 5~)~eBY y ?Q I N@~@CI~:i~:~ 5yBɮTAE5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 115.81 m.RhMZhM] ProNav: ac range: 115.814445 m, nav range: 109.473351 m, bearing: 64.707404 deg, approach rate: -0.766802 m/s, LOS rate: -0.020401 deg/s, cmd heading: 66.088419 deg, new cmd heading: 66.064059 deg. Bh]`eHeadingCmd: 1.153035 target range: 115.814445 and range: 116.30 m.he?ha*ha"ha hagifififidqdqdqjdqZd}߶?颥hBɢ) i)顩iIлi?b<I?Im9@q @q@u/@qI5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.^AuSqA I I O >ԙ y83,?A29qi?2?2ٱ2 :AHRS rotation from veh to nav: [[0.423485,-0.886322,-0.187334],[0.897690,0.438357,-0.044664],[0.121706,-0.149253,0.981280]]2Ha?@\ ǿ?@ ?@ަ&(?ÿf?i29qi?I29iYq=uFyu EuչEu>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496710Q 5 5o?Q 9 5|)eBY-C?Q E:yt?Q IN@@CI;i; 5yɮAjhFNOT Ignoring new targets: 115.81 m.RhZh ProNav: ac range: 115.814445 m, nav range: 109.154793 m, bearing: 64.697076 deg, approach rate: -0.755009 m/s, LOS rate: -0.024550 deg/s, cmd heading: 66.064062 deg, new cmd heading: 66.032988 deg. BhɆHeadingCmd: 1.152493 target range: 115.814445 and range: 116.30 m.h䄓?h*h"h hgfffdddjdZdw?=hBɢ= )9 =i9)AAAiE+ϻiM䄓?MB:CBZ IB`BB =BBDB;BC>E)@) @)@-/@)@5gA@1ԡ^A55 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748694Aa Ii Iy O > b9,F]?A2~ki?2?2ٱ23 :AHRS rotation from veh to nav: [[0.423564,-0.886243,-0.187528],[0.897654,0.438443,-0.044544],[0.121698,-0.149468,0.981249]]2H?\ȿ`?u?@Φ@'?!ÿcf?i2~ki?I2E];2ڑCYB`ByF; IIJ?>)J>J=Ja=bDNVDNyVh=%VW=ٔZ7Q-Z>9XYX=^Fy^ EpE>!Q 5- 5%Nj?Q 9- 5%u)%eBY)y-q?Q I-N@%@ACI%:i%I:% 5y9ɮ=A9jhaeFNOT Ignoring new targets: 115.81 m.RhmZhm} ProNav: ac range: 115.814445 m, nav range: 108.860001 m, bearing: 64.687478 deg, approach rate: -0.755265 m/s, LOS rate: -0.024657 deg/s, cmd heading: 66.032985 deg, new cmd heading: 66.004113 deg. Bh}_HeadingCmd: 1.151989 target range: 115.814445 and range: 116.30 m.hat?h*h"h hgfffdddjdZd?hBɢ) i)i̻iat?ea<{Iat?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000594E  E E ,E "E ;*E :VE g4ZE BE N\!uA,?A>i?>1?>ٱ>ҁ JAHRS rotation from veh to nav: [[0.423254,-0.886437,-0.187311],[0.897787,0.438144,-0.044820],[0.121799,-0.149195,0.981278]]>H?]@ǿ઺? ? :.? ÿ`f?i>i?I>C];>ۑCYR`ByRH Ili5Mb@Mb@Mb@1111 195x&1?A`"?Mbp?Y5A@?y5Y=5;5A5\A 5;A)5A1Y5AbDMVDMJy] )=%]#=ٔ]UQ-]>9aYa=eFye Em0:Em>iQ 5} 5mҋ?Q 9} 5ml)mfBY}@?Q E}:y}?Q IN@mACIm& ;imm ;mK 5yBɮ-AEjhFNOT Ignoring new targets: 115.81 m.RhZh ProNav: ac range: 115.814445 m, nav range: 108.494141 m, bearing: 64.673510 deg, approach rate: -0.745912 m/s, LOS rate: -0.028574 deg/s, cmd heading: 66.004114 deg, new cmd heading: 65.962068 deg. Bh᜺HeadingCmd: 1.151255 target range: 115.814445 and range: 116.30 m.hU\?h*h"h hgfffdddjdZdcG@ iBɢ6) 9i)i!5̻iU\?#`<QBIU\?I Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504639DD=bEE [4jEEOS4rEEg0E EE'E"EO;*E:VE'4ZEa@a@a@a@91B<A<BB>B9CB IBKaBB =BBBć;B>EB;CB;CBǔCBǡ =Bǡ =C-69@ @@/@a ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757172ԉ II O%> I,u%?AFУi?F>?FwHٱF" RAHRS rotation from veh to nav: [[0.422807,-0.886607,-0.187514],[0.898049,0.437651,-0.044387],[0.121420,-0.149630,0.981258]]FH E?`_@xȿм?y?`?@'ÿxf?iFУi?IFu\;DYZ`ByZ[ IbDbVDbβyj6=%j*=ٔnP:Q-n>9lYl=rFyr Er0:Er>tQ 5z 5v݋?Q 9z 5vc)v.fBY|y~љ?Q I~O@vACIvw;iv;v| 5yɮAjh)-FNOT Ignoring new targets: 115.81 m.Rh5Zh5E ProNav: ac range: 115.814445 m, nav range: 108.136398 m, bearing: 64.659662 deg, approach rate: -0.745951 m/s, LOS rate: -0.028971 deg/s, cmd heading: 65.962067 deg, new cmd heading: 65.920386 deg. BhEMHeadingCmd: 1.150528 target range: 115.814445 and range: 116.30 m.hMD?hI*hQ"hQ hQgQfQfYfYdYdadijdqZd}#@ԑ颵YiBɢҁ ) i)项ibsʻiD?}^`<]ID?IQQQQԹBDAT read: Rx Time:04:43:31.3360 TRx dataTimestamp_ set to:1761540212.772156checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009696Y>i!>E EE+E"E;*EVE [4ZEBE3N3O,r??A$$zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262828Uai?Uɐ?UٱUO uAHRS rotation from veh to nav: [[0.422489,-0.886769,-0.187467],[0.898211,0.437320,-0.044369],[0.121328,-0.149640,0.981268]]UH ?`i``ǿ$? ?zT?c'ÿf?iUai?IU\;QY%aByu I iUMb@Mb@Mb@QQQQ Q9UZd;??MbpYU>?yUL=UU;AUA UA)QQYUAbDmVDmyu=%}&=ٔ}F9Q-}>9yY=Fy E@:E>Q 5 5苊?Q 9 5Z)UfBYh??Q E:y2?Q IO@WBCI;i:; 5yɮAMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 115.81 m.Rh}_Zh}_ ProNav: ac range: 115.814445 m, nav range: 107.772415 m, bearing: 64.646421 deg, approach rate: -0.716700 m/s, LOS rate: -0.026159 deg/s, cmd heading: 65.920389 deg, new cmd heading: 65.880533 deg. BhHeadingCmd: 1.149832 target range: 115.814445 and range: 116.30 m.h-?h*h"h h g !ffIfIdyddjdZd@{ @颽iBɢ+) i)i ʻi -?_<dI-?IIDAT read: 04:43:31.3360 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.35, 2.249, 0.576, 2.445, 2.080, PHS= 0.271,-1.459, 0.321, RAW= 151.4, 9.9, CAL= 151.1, 10.8, ROT= 358.9, -10.8 9@ @@@Ygot valid direction response: 04:43:31.3360 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.35, 2.249, 0.576, 2.445, 2.080, PHS= 0.271,-1.459, 0.321, RAW= 151.4, 9.9, CAL= 151.1, 10.8, ROT= 358.9, -10.8 PDAT read: Bearing 223.9, 4.5 (Local) ~Local bearing/azimuth received: Bearing 223.9, 4.5 (Local) E DAT read: Range 11 to 50 : 113.6 m (Round-trip 151.5 ms) speed 0.7 m/s M *DAT read: user:170> U BDAT read: Tx time:04:43:32.4303 ] $Ping request sent.] iZ>)@E  E E ,E "E *E VE g4ZE a @a @a @a @;0>(@ A>)r@IA]`[?Pn?J? 8[ ?)1IFiAM :publishing transmit ping timeY M Fpublishing direction and range infoy0Mjm?`VaO0i?Y )Ii )I]`[?Pn?J? )IiB A>B B IB aBB B B B ;B =Eq ^A NJκI1 IA OM >V,ӣ[?AR4i?Rpא?RٱR#T nAHRS rotation from veh to nav: [[0.422098,-0.886899,-0.187731],[0.898405,0.436935,-0.044223],[0.121248,-0.149992,0.981224]]RH?zaȿ??i ?`2ÿ0f?iR4i?IR\;RّCYz2aByz} IbDEVDE0Qyu=%u]=ٔ}Jd9Q-}>9yYy=Fy E:E>Q 5 5j?Q 9 51T)sfBYy@?Q IO@BCIR;i; 5yBɮAEiifQ?AJi=BRi=Bjia$?b$i)[@kѺl6DX25@R0Mjm?`VaO0i?ZiFbiAj/gF@GN*|X@C^KA@Z@RY?媂?Y?2iB:i93B"iE"?*iK"DBiƵBii!Li˵BiBi ?} addTargetRange:: Added new target pos. range: 113.599998 m, deltaT: 3.527654 s, deltaX: -2.700005 m, approachRate: -0.765382 m/s, rangeRepo size: 4  Added new target pos. range: 113.120453 m, bearing: 65.416605 deg, lat: 36.779287 deg, lon: -121.859569 deg, deltaT: 3.527654 s, deltaX: -2.693993 m, approachRate: -0.763678 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 113.12 m.RhZh ProNav: ac range: 113.120453 m, nav range: 107.949623 m, bearing: 64.749832 deg, approach rate: 0.000000 m/s, LOS rate: -0.026159 deg/s, cmd heading: 65.880535 deg, new cmd heading: 65.851227 deg. BhiIHeadingCmd: 1.149321 target range: 113.120453 and range: 113.60 m.h?h*h"h hgfffdIdIdQjdU`ff\@ZdUY?额iBɢ() %X i)))11i5Jƻԉi?BC_< I?IQ@Y @Y@]/@Yԩ^A ?Bɺ I I O >E)  E- E) E) "E) *E- 1:VE) ZE) BE) a5 2E) a= JE- ;a= :E- ;a= B\,ru?A2Ii?2?2@ٱ2X :AHRS rotation from veh to nav: [[0.421650,-0.887123,-0.187680],[0.898630,0.436473,-0.044215],[0.121141,-0.150012,0.981235]]2HP? Pc`ȿ?`-?R?`3ÿ Ff?i2Ii?I2w\;2ۑCYB aByFr IbDNVDNNyVf@%VY=ٔVA9Q-V>9XYX=ZFyZ EZq:E^>`Q 5f 5b?Q 9f 5bRM)bfBYdyfQ?Q IjO@bBCIb;ib;bL 5ynחBɮnAnEjhFNOT Ignoring new targets: 113.12 m.Rh Zh  ProNav: ac range: 113.120453 m, nav range: 107.669724 m, bearing: 64.739736 deg, approach rate: -0.785007 m/s, LOS rate: -0.028390 deg/s, cmd heading: 65.851227 deg, new cmd heading: 65.820859 deg. Bhޛ%HeadingCmd: 1.148791 target range: 113.120453 and range: 113.60 m.h% ?h!*h!"h) h)g)f)f)f1d1d1d1jd1Zd=.?ԹiBɢ() / i )   i J»i ?5^<=k9I= ?I9I9@ @@4@@@gA^A9IYIiOu>9 ޥc,L?A2@'j?2?2ݒٱ2X :AHRS rotation from veh to nav: [[0.421023,-0.887434,-0.187619],[0.898933,0.435842,-0.044289],[0.121076,-0.150010,0.981243]]2H ?eȿ?@?@? 3ÿ`Wf?i2@'j?I2];2ܑCYBLaByF IIJ4=)J;J=J=iMb@Mb@Mb@ 9n? ףp= ?MbY6?yQ8=QA ҙA)YGAbDVDy=%<=ٔ9Q->9Y=Fy E:E>Q 5 5?Q 9 5E)fBYd6?Q E:yИ?Q IO@4CCI` ;i. ; 5yɮĜAjhFNOT Ignoring new targets: 113.12 m.RhݹZhݹ ProNav: ac range: 113.120453 m, nav range: 107.362953 m, bearing: 64.729255 deg, approach rate: -0.707648 m/s, LOS rate: -0.024246 deg/s, cmd heading: 65.820860 deg, new cmd heading: 65.789328 deg. Bh HeadingCmd: 1.148240 target range: 113.120453 and range: 113.60 m.h ?h *h "h  h gfffd!d!d!jd!Zd- M?U&jBɢ])Y ] iY)YYYieie?mz^B8CB IBaBBBBDB`;B=EeXGgA 9 gAY 5AE9@A @A@E4@Iaq^Am A ԡ I I O >i,'?AYbaBy IbD5VD5\yE`=%EP=ٔEQ-E>9IYI=MFyM EMEU>QQ 5] 5U6 ?Q 9e 5U>)UfBYayaQ IeO@U|CCIU;iU7;U 5yiɮuAqjhFNOT Ignoring new targets: 113.12 m.RhF޹ZhF޹E ProNav: ac range: 113.120453 m, nav range: 107.084679 m, bearing: 64.719696 deg, approach rate: -0.705269 m/s, LOS rate: -0.024291 deg/s, cmd heading: 65.789325 deg, new cmd heading: 65.760572 deg. BhM]UHeadingCmd: 1.147738 target range: 113.120453 and range: 113.60 m.qh}?hy*hy"hy hgfffdddjdZd`]?u\jBɢ}X)y }iy)yyii? ^<3h:I?IA@A @A@EV4@AԱE EE0E"E ;*E :VE4ZEBExT9 p,?Ayj?$(?ͷٱƟ AHRS rotation from veh to nav: [[0.419889,-0.887556,-0.189569],[0.899454,0.434834,-0.043620],[0.121146,-0.152193,0.980898]]Hw?f@CȿR? R?@NUl?{ÿ c?iyj?I[];ޑCYhaBy Ii5Mb@Mb@Mb@1111 195Q?ˡE?MbY55?y5'=55ݛA1 5vA)5A1Y5AbDMVDMy]`<%]9=ٔ]'Q-]>9aYa=eFye Em:;Em>qQ 5} 5u ?Q 9} 5u]7)ufBY}6?Q E}:y ?Q IO@uCCIu;iu@;u` 5yڗBɮAEjhFNOT Ignoring new targets: 113.12 m.Rhp˹Zhp˹m ProNav: ac range: 113.120453 m, nav range: 106.772774 m, bearing: 64.709943 deg, approach rate: -0.708944 m/s, LOS rate: -0.022232 deg/s, cmd heading: 65.760570 deg, new cmd heading: 65.731226 deg. Bhm tuHeadingCmd: 1.147226 target range: 113.120453 and range: 113.60 m.huPؒ?hq*hq"hq hqgyfyfyfydddjdZd@E?jBɢdu) i)iӷi-Pؒ?-έ]<-qP;I-Pؒ?I1I9)=dA@ @@/@@=@=E EE-E"E ;*EVEt4ZEa@a@a@a@A B 7>B B IB aBB =B B B ';B u=E^A ?B:A I I O >v,?A>8j?>rF?>&Dٱ>@n JAHRS rotation from veh to nav: [[0.419043,-0.887977,-0.189472],[0.899812,0.434042,-0.044115],[0.121412,-0.152003,0.980895]]>H?Nj@ȿB?V?:?`tÿ }c?i>8j?I>j%];>ۑCYRnaByV I XXXXbD^VD^yfs<%fh=ٔjGQ-j>9hYh=nFyn En+;En>pQ 5v 5r?Q 9v 5rD1)rgBYxyz'?Q IzO@r DCIr:ir:ru 5y|ɮAB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 113.12 m.Rh5ϹZh5ϹE ProNav: ac range: 113.120453 m, nav range: 106.523376 m, bearing: 64.701978 deg, approach rate: -0.706906 m/s, LOS rate: -0.022629 deg/s, cmd heading: 65.731227 deg, new cmd heading: 65.707276 deg. BhE{xMHeadingCmd: 1.146808 target range: 113.120453 and range: 113.60 m.hMʒ?hI*hI"hI hIgQfQfQfQdYdYdYjdYZde@$@颍jBɢ9)< i)顑iWϲiʒ?.n]<Š;Iʒ?IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y@ @@/@y^A5yb];ԩ Aa Ii Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493321O >E  E E )E "E ;*E Ǚ:VE FA4ZE BE p_9\Y\=^Fy^ Eb`4;Eb>dQ 5j 5f&?Q 9j 5fW*)fgBYhyjL?Q IjO@fTDCIfW:if:f 5yrBɮrʛArEjh  FNOT Ignoring new targets: 113.12 m.Rh[ԹZh[Թ% ProNav: ac range: 113.120453 m, nav range: 106.240288 m, bearing: 64.692722 deg, approach rate: -0.707888 m/s, LOS rate: -0.023207 deg/s, cmd heading: 65.707274 deg, new cmd heading: 65.679432 deg. Bh%~-HeadingCmd: 1.146322 target range: 113.120453 and range: 113.60 m.h-?h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE E@jBɢl1&) i)iui?&]<г;I?IԱI@I @I@I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748441^A-m; Aa Ii Iy O >W,?A6#k?6}?6ٱ6  >AHRS rotation from veh to nav: [[0.417508,-0.888555,-0.190149],[0.900436,0.432677,-0.044797],[0.122078,-0.152514,0.980733]]6H s? o Vȿ@^?@?@樂|@?ÿ)b?i6#k?I6!];6ߑCYJaByJ IlEBDAT read: Rx Time:04:43:34.9828 ETRx dataTimestamp_ set to:1761540216.300192Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.998366i5Mb@Mb@Mb@1111 195m?Mb`?:vY5.?y5;5T5A1 5ȗA)11Y5AbDeVDekyu~R=%u?=ٔukQ-}>9yYy=}Fy} E:E>Q 5 51?Q 9 5f#)B57CB5 IB5bBB5 =B1B5DB5;B5;=Eɢm7k!)i uiq)qqqiuNi}?}]\<};I}?IN>i> E9@A @A@E/@I@MfA@I1iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.249569^Am <;a A .AI I O >,o*?A9=ik?= ?=^ٱ=u MAHRS rotation from veh to nav: [[0.416502,-0.889245,-0.189129],[0.900788,0.431775,-0.046392],[0.122915,-0.151042,0.980856]]=H?t]5ȿ@?2?@`Vw?[Uÿ+c?i=ik?I=];=ܑCYaBy II0>)==bDVDβy<%8=ٔQ->9 ?Y ?=Fy E;E>Q 5 5;?Q 9 54)\gBYy?Q IO@DCI:i:& 5yɮAjhFNOT Ignoring new targets: 113.12 m.Rh hZh h ProNav: ac range: 113.120453 m, nav range: 105.648056 m, bearing: 64.690138 deg, approach rate: -0.679028 m/s, LOS rate: -0.003178 deg/s, cmd heading: 65.675889 deg, new cmd heading: 65.671658 deg. Bh %HeadingCmd: 1.146187 target range: 113.120453 and range: 113.60 m.h%??h!*h!"h! h!g)f)f9f9d9dAdAjdAZdEM @u[kBɢu *)y } iy)yyyiĒi??\<;I??Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.503149qE EE%E"E ;*Ev:VE 4ZEBEUQ ] BDAT read: Tx time:04:43:36.0803 m $Ping request sent.m i }? ^> Us)@ I> V)@ k]>) +@I k] 6!a?cӻ?a? ?) 2II i k] :publishing transmit ping timea Fpublishing direction and range infoy  W=?e웿h`r|?Y ) I i ) I 6!a?cӻ?a? ) I i A!I)I9OE?$,L?AF |k?F[?FnٱF NAHRS rotation from veh to nav: [[0.416235,-0.889294,-0.189487],[0.900876,0.431573,-0.046542],[0.123167,-0.151332,0.980780]]FH@?u Aȿ??\ԧ ᇿ?@^ÿb?iF |k?IFT];FߑChYZaByn Ii=Mb@Mb@Mb@9999 99=K7?y&1|MbY=I,?y=`廙=9=A 9)=A9Y= AbDuVDuy*=%=ٔkQ->9Y=Fy E :E>Q 5 5H?Q 9 5)gBYO,?Q E:y?Q IO@GECI;i};<+ 5yɮaAi9i=C?AJi=tBRi=tBji=r?b=Ɇ[@D(Ifo7@R=W=?e웿h`r|?Zi=bi=k]j=r0{E@YW@8I0B@Z=-?lCr?4Wp?2i=B:i=,B"i=0~?*i= QBi=Bi9i9i9i=Bi=D? addTargetRange:: Added new target pos. range: 111.199997 m, deltaT: 3.779877 s, deltaX: -2.400002 m, approachRate: -0.634942 m/s, rangeRepo size: 4  Added new target pos. range: 110.727150 m, bearing: 65.553844 deg, lat: 36.779287 deg, lon: -121.859569 deg, deltaT: 3.779877 s, deltaX: -2.393303 m, approachRate: -0.633170 m/s, posRepo size: 4 jh%FNOT Ignoring new targets: 110.73 m.Rh%Zh!5 ProNav: ac range: 110.727150 m, nav range: 105.292053 m, bearing: 64.690769 deg, approach rate: 0.000000 m/s, LOS rate: -0.003178 deg/s, cmd heading: 65.671661 deg, new cmd heading: 65.666301 deg. Bh1eHeadingCmd: 1.146093 target range: 110.727150 and range: 111.20 m.he.?ha*ha"ha hagafififididqdqjdu[@ZduY?DzDbEeęT4jEarEed0E EE'E"Ef;*E:VE'4ZEa@a@a@a@kBɢ%)%e9 %Ji!)!!)i-ni-.?5S\<5F;I5.?BE/>BABE" IBE?bBBE =BABABEʆ;BE=EB 8CB 8CB B ť =B ť =C `5Iq) 9lYl=nFyn Er:Er>tQ 5z 5vvU?Q 9z 5v] )vgBYxy~2?Q I~O@vECIv;iv;v/ 5yBɮAۨE%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 110.73 m.Rh=7Zh=7M ProNav: ac range: 110.727150 m, nav range: 104.938835 m, bearing: 64.691255 deg, approach rate: -0.706785 m/s, LOS rate: 0.000977 deg/s, cmd heading: 65.666299 deg, new cmd heading: 65.667764 deg. BhM+8UHeadingCmd: 1.146119 target range: 110.727150 and range: 111.20 m.hU?hQ*hY"hY hYgYfYfafadadadajdiZdm%?颕kBɢH") i)顡i}i?2\<] ;I?IEU EUEU%EQ"EU ;*EU:VEU 4ZEQBEUxT Mڢ,?A>9k?>Ƒ?>ٱ> FAHRS rotation from veh to nav: [[0.415338,-0.889257,-0.191613],[0.901072,0.431070,-0.047400],[0.124750,-0.152970,0.980325]]>H@?tƆȿ?@?D?ÿ ^?i>9k?I>48];9YYY=]Fy] Eee9Ee>iQ 5u 5mA`?Q 9u 5m)mgBYu6/?Q Eu:yu??Q IuO@mECIm:im] ;m3 5yɮ.AjhFNOT Ignoring new targets: 110.73 m.Rh.9Zh.9E ProNav: ac range: 110.727150 m, nav range: 104.654655 m, bearing: 64.695238 deg, approach rate: -0.680274 m/s, LOS rate: 0.009560 deg/s, cmd heading: 65.667761 deg, new cmd heading: 65.679742 deg. BhE9MHeadingCmd: 1.146328 target range: 110.727150 and range: 111.20 m.hM޺?hI*hI"hI hIgIfQfqfqdydydyjdyZd}@'h?lBɢY*) X i)i=i޺?v[<j;I޺?I    checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214279De<De<Em EmEm)Ei"Em ;*EmM:VEmFA4ZEiau@au@au@au@B,>B6CBB IBrbBBBBB;B9u"?Y}"?=}Fy} E}E}>Q 5 5am?Q 9 5)hBYy9?Q IO@CFCI ;i;7 5yɮ֙AjhFNOT Ignoring new targets: 110.73 m.Rh09Zh09 ProNav: ac range: 110.727150 m, nav range: 104.309135 m, bearing: 64.700140 deg, approach rate: -0.678561 m/s, LOS rate: 0.009659 deg/s, cmd heading: 65.679741 deg, new cmd heading: 65.694496 deg. Bh 9HeadingCmd: 1.146585 target range: 110.727150 and range: 111.20 m.hNÒ?h*h"h hgfffdddjdZd;?-XlBɢ-E$)1 5!i1)111i=ϔi=NÒ?=[ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970806w,$?AlYjbBy= IiMb@Mb@Mb@ 9 rh?X9vQ?Y,?yu<{A A)YAbDVDy$=%%=ٔQ->9Y=Fy EE>Q 5 5y?Q 9 5)5hBY,?Q E:yR?Q IO@FCI:i:(< 5yBɮAܨEjh)-FNOT Ignoring new targets: 110.73 m.Rh5]9Zh5]9E ProNav: ac range: 110.727150 m, nav range: 103.988663 m, bearing: 64.705965 deg, approach rate: -0.665290 m/s, LOS rate: 0.012130 deg/s, cmd heading: 65.694494 deg, new cmd heading: 65.712024 deg. BhE2:MHeadingCmd: 1.146891 target range: 110.727150 and range: 111.20 m.hMT͒?hI*hI"hI hQgQfQfQfYdYdYdYjdaZdex@颍lBɢ&) "i)顙i.iT͒?`[<-;IT͒?IY@Y @Y@]/@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.222828 C1GhA9hAYqADizDmAAEu EuEu(Eq"Euf;*EuǙ:VEuc44ZEqa}@a}@a}@a}@B)>BBg IBbBBBBB{;B ѷ,T?A2k?2Ͳ?2Dٱ2# :AHRS rotation from veh to nav: [[0.415727,-0.887917,-0.196912],[0.900460,0.432270,-0.048115],[0.127842,-0.157308,0.979240]]2H`F?ig4ɿ?`P?]?"ĿU?i2k?I2d"^;0YFbByF[ IbDNVDNyV>%V=ٔVQ-V?9XYX=ZFyZ E^LE^?`Q 5f 5bʁ?Q 9f 5b,)bWhBYdyfF?Q IjO@bFChIb6:ib,;b> 5ypɮr0Apjh FNOT Ignoring new targets: 110.73 m.Rha9Zha9 ProNav: ac range: 110.727150 m, nav range: 103.779427 m, bearing: 64.709829 deg, approach rate: -0.666980 m/s, LOS rate: 0.012342 deg/s, cmd heading: 65.712021 deg, new cmd heading: 65.723636 deg. Bh:HeadingCmd: 1.147094 target range: 110.727150 and range: 111.20 m.hӒ?h*h"hchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.474646 h gfffd!d!d!jd!ZdM 7@lBɢp>)< "i)iȥieӒ?e)[0@)^A% u ; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726563a E  E E E "E ;*E Z:VE ZE BE xT,?A2sk?2"?2ˑٱ27# :AHRS rotation from veh to nav: [[0.416034,-0.887631,-0.197551],[0.900138,0.432827,-0.049114],[0.129101,-0.157390,0.979061]]2HN?@yg\Iɿ ? q?%@b?@\%ĿxT?i2sk?I2H^;2ݑCYFbByFy IbDNVDN2yV=%VK=ٔZfNQ-Z>9XYX=^Fyb Ef Ej>pQ 5v 5r??Q 9v 5r)rhBYtyv8?Q IvO@rGCIr9:ir:rtB 5y~tB9ɮ=9AEӨE}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 110.73 m.Rh^9Zh^9 ProNav: ac range: 110.727150 m, nav range: 103.508484 m, bearing: 64.714920 deg, approach rate: -0.646032 m/s, LOS rate: 0.012169 deg/s, cmd heading: 65.723639 deg, new cmd heading: 65.738949 deg. Bh:HeadingCmd: 1.147361 target range: 110.727150 and range: 111.20 m.hܒ?h*h"h hgfffdddjd!Zd%n@mlBɢm:)Q U"iY)YYYi]^ieܒ?eZVć,k?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2299796[k?6$?6ڼٱ6$ bAHRS rotation from veh to nav: [[0.416302,-0.887114,-0.199301],[0.899851,0.433386,-0.049439],[0.130232,-0.158760,0.978690]]6H?=cɿ ?? P`s?`ARĿ`nQ?i6[k?I6L^;6CYnbByn IieMb@Mb@Mb@aaaa a9eDl?V-S㥛?YeO-?yee/9Yԙ=Fy E\^E>Q 5 5.?Q 9 5)hBY-?Q E:y?Q IO@YGCI ;i ;5F 5ywBɮABA<B&>B5CB IB cBB =BBDBe;B BDAT read: Tx time:04:43:39.7303 $Ping request sent.08C ?Y-3B)))) ))-FI-+>i-Z-^>-*@-V>-;*@ -nF>)-@I-nF))-4%#7B?`3*?:=)e? -?)-̰I-Q+i-nF)):publishing transmit ping timeFpublishing direction and range infoy)-5?w?6>08C ?Y))))) )))I)i))))) )))I)))-4%#7B?`3*?:=)e? )))I)i)))^A% ϩ;1 AQ IY Ii Ou >.ˇ,0?ABak?B?B%ٱB$ JAHRS rotation from veh to nav: [[0.416146,-0.887011,-0.200086],[0.899730,0.433512,-0.050531],[0.131561,-0.158995,0.978474]]hBH@$?dbkɿ?@?"ߩ?YĿO?iBak?IB^;BݑCY(cBy IbD-VD-fy]b>%]<=ٔ] JQ-]>9aYa=eFye Ee[[9Em>Q 5 5}?Q 9 5')hBYy?Q IO@GCI;ii;J 5yvBɮAi9i=%?AJi=EBRi=EBji=Vn?b=*"77Z@Om0@R=5?w?6>08C ?Zi=Q+bi=nFj=04F@Р=#eRW@>@Z=>Dگ?%?.P?2i=B:i=\4B"i=n2z?*i="xFBi=xBi=e?i9i=ƵBi=Bi=4? addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.531261 s, deltaX: -2.599998 m, approachRate: -0.736280 m/s, rangeRepo size: 4  Added new target pos. range: 108.135689 m, bearing: 64.203055 deg, lat: 36.779287 deg, lon: -121.859569 deg, deltaT: 3.531261 s, deltaX: -2.591461 m, approachRate: -0.733863 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 108.14 m.RhZh ProNav: ac range: 108.135689 m, nav range: 102.931602 m, bearing: 64.716890 deg, approach rate: 0.000000 m/s, LOS rate: 0.010035 deg/s, cmd heading: 65.752558 deg, new cmd heading: 65.765510 deg. BhEHeadingCmd: 1.147825 target range: 108.135689 and range: 108.60 m.hM?hI*hI"hI hIgIfIfQfQdQdQdYjd]`f&[@Zd]?kmBɢ 2) ,$i)iixi?5UZ<dq;I?E EE+E"E ;*E:VE [4ZEa@a@a@a@I)-0:: 9@  @ @ _0@ @ @ @ @ Y AI AM >ԉ AIIO? 8ԇ,Q?Aɰ4<2 hk?2Z?2 ٱ2Զ# >AHRS rotation from veh to nav: [[0.415949,-0.887165,-0.199813],[0.899536,0.433643,-0.052812],[0.133500,-0.157772,0.978410]]2H?cxɿ??& ?1Ŀ"O?i2 hk?I2^;2ۑCYFOcByF IxieMb@Mb@Mb@aaaa a9e +?9Y=Fy E7F9E>Q 5 5Q?Q 9 5)5iBY7?Q E:y"?Q IO@HCI ;i. ;N 5yɮ8AjhFNOT Ignoring new targets: 108.14 m.Rh@Zh@ ProNav: ac range: 108.135689 m, nav range: 102.571960 m, bearing: 64.716020 deg, approach rate: -0.732967 m/s, LOS rate: -0.001779 deg/s, cmd heading: 65.765508 deg, new cmd heading: 65.762889 deg. BhMHeadingCmd: 1.147779 target range: 108.135689 and range: 108.60 m.hl?h*h"h h gfffddd!jd!Zd%`DM?UmBɢU*)Q U%iQ)YYYi]xLpiel?eZBaBe IBepcBBaBaBaBeQ;BeIy \ڇ,vk?A2Yk?2?25 ٱ2# :AHRS rotation from veh to nav: [[0.416087,-0.886975,-0.200365],[0.899313,0.433999,-0.053670],[0.134562,-0.157860,0.978250]]2H+? b@ɿ,? ?zS9?`4Ŀ@M?i2Yk?I2^;2ߑCYNcByN IbD^VD^kyjH>%jW=ٔn8Q-n>9pYp=rFyr EvWEv>Y|Q 5 5~ܸ?Q 9 5~5)~jiBYy?Q IO@~EHCI~9E,T?A2WGk?2?2 ٱ26% :AHRS rotation from veh to nav: [[0.416242,-0.886472,-0.202264],[0.898992,0.434559,-0.054510],[0.136217,-0.159145,0.977813]]2H?] ɿ?@?諿o? ^Ŀ>J?i2WGk?I2v_;2ݑCYFcByJ IbDZVDZy9>% G=ٔ XQ- >9 Y=Fy$ E1E>)Q 5E 5-$Ì?Q 9M 5-X)-iBYYy]?Q IeO@-HCI-;i-K;-zU 5yɮAԹB*** querying acoustic contact ***i ijh1EFNOT Ignoring new targets: 108.14 m.RhMjZhjU ProNav: ac range: 108.135689 m, nav range: 102.016357 m, bearing: 64.714764 deg, approach rate: -0.697089 m/s, LOS rate: -0.001546 deg/s, cmd heading: 65.761027 deg, new cmd heading: 65.759110 deg. BhUه]HeadingCmd: 1.147713 target range: 108.135689 and range: 108.60 m.h]B?hY*hY"hY hYgYfafafadadidijdZdy?nBɢa.) #i)ix_iB?oY< ;IB?I@ @@/@AII O>5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.AI AI BU ">BQ BU / IBU cBBU =BQ BQ BU 5;BU o%?=ٔQ->9Y=Fy) EE>Q 5 5͌?Q 9 5)iBY J;?Q E :y ?Q I O@HCI;it;9Y 5y!ɮ%A)jhiuFNOT Ignoring new targets: 108.14 m.RhMZhM ProNav: ac range: 108.135689 m, nav range: 101.709244 m, bearing: 64.710144 deg, approach rate: -0.744926 m/s, LOS rate: -0.011239 deg/s, cmd heading: 65.759108 deg, new cmd heading: 65.745208 deg. BhHeadingCmd: 1.147470 target range: 108.135689 and range: 108.60 m.hO?h*h"h hgfffdddjdZd`f?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004024NnBɢM6) i"i)iViO?*Y<y;IO?II9@ @@@q^A A >A >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257313ԙ A I I O% >ʘ,}?AE2 E2E2*E0"E2;*E2Ǚ:VE2(N4ZE0a:@a:@a:@a:@:0[k?:옑?:ٱ:% FAHRS rotation from veh to nav: [[0.415793,-0.886339,-0.203763],[0.898736,0.434749,-0.057162],[0.139250,-0.159361,0.977350]]:HY?\ ʿ@q??LD ?eĿsF?i:0[k?I:/`;:CYR]dByRp IbDZ VDZ2y-) >%-U=ٔ-Q-->91Y1=5Fy5, E=N:E=>AQ 5M 5E֌?Q 9M 5EY)EjBYIyM ?Q IUO@E$ICIEp:iE:E\ 5y]XBɮ]AYjhFNOT Ignoring new targets: 108.14 m.RhNZhN ProNav: ac range: 108.135689 m, nav range: 101.435196 m, bearing: 64.705947 deg, approach rate: -0.733229 m/s, LOS rate: -0.011261 deg/s, cmd heading: 65.745208 deg, new cmd heading: 65.732582 deg. BhMHeadingCmd: 1.147250 target range: 108.135689 and range: 108.60 m.hْ?h*h"h hgfffdddjdZd@|nBɢ!C) !i)iCMiْ?X<;Iْ?Iqu9@q @q@u0@qԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508110^AA I I O > ,~?A2_k?22?2ٱ2& :AHRS rotation from veh to nav: [[0.415630,-0.885986,-0.205624],[0.898547,0.435012,-0.058124],[0.140946,-0.160605,0.976903]]2H ?YQʿ ?@BB IBdBBBBB;BN9Y=Fy1 E 9E >Q 5 5T⌊?Q 9 58)kjBYCD?Q E:y%D?Q I%O@ICI:is:` 5y-3Bɮ-ՓA-¨EjhFNOT Ignoring new targets: 108.14 m.RhZh  ProNav: ac range: 108.135689 m, nav range: 101.063301 m, bearing: 64.691574 deg, approach rate: -0.726055 m/s, LOS rate: -0.028163 deg/s, cmd heading: 65.732579 deg, new cmd heading: 65.689303 deg. Bh HeadingCmd: 1.146495 target range: 108.135689 and range: 108.60 m.hV?h*h"h hgfffdAdAdAjdIZdM@ @颕nBɢ: ),(: ^$i)iUIiV?X<N;IV?Iy@y @@/@)  BDAT read: Rx Time:04:43:42.2755  TRx dataTimestamp_ set to:1761540223.612174 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013259^A ;Y A I I O >z,%?A2{k?2??2xٱ2$' :AHRS rotation from veh to nav: [[0.415148,-0.886005,-0.206514],[0.898516,0.434885,-0.059528],[0.142552,-0.160843,0.976631]]2H`ȑ?&Z oʿ?@)?sz $??Ŀ@?i2{k?I2a;2ܑC @)B=lABt@@DFblAiFIDDIHiH JH)hh lntllllIp)pip)pIr(lAr,p ttvlAvitti%;A)! !I!Y)YUdByU I]=]=bDmԑVDm:2y>%W=ٔQ->9Y=Fy5 E:E>Q 5 5.댊?Q 9 5')jBYyS?Q IO@ICI:i:Ad 5y ɮ `AjhQ]FNOT Ignoring new targets: 108.14 m.Rh] Zh]  ProNav: ac range: 108.135689 m, nav range: 100.775627 m, bearing: 64.680307 deg, approach rate: -0.765237 m/s, LOS rate: -0.030058 deg/s, cmd heading: 65.689303 deg, new cmd heading: 65.655405 deg. BhHeadingCmd: 1.145903 target range: 108.135689 and range: 108.60 m.h?h*h"h hgfffdddjdZds @UnBɢ]t;)Y ]#iY)Yaamchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264238ieHAi?xnX<%m;I?IE EE,E"E;*E^:VEg4ZEa@a@a@a@9@ @@0@^A ;5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518827A A1 IQ I O >,O ?AԩYdBy Ii Mb@Mb@Mb@     9 J +?sh|??~jt?Y H?y = D= ėA yA hA) rzA Y bD% VD%:2y5=%5.=ٔ=Q-=>99Y9==FyE: EEEE>IQ 5U 5M?Q 9U 5M%)MjBY]3J?Q E]:y]{?Q I]O@M*JCIML:iM:MOh 5ye7Bɮe AmèEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.14 m.RhǀZhǀ ProNav: ac range: 108.135689 m, nav range: 100.417999 m, bearing: 64.654692 deg, approach rate: -0.783179 m/s, LOS rate: -0.056294 deg/s, cmd heading: 65.655405 deg, new cmd heading: 65.578288 deg. BhHeadingCmd: 1.144557 target range: 108.135689 and range: 108.60 m.h؀?h*h"h hgff9f9dAdAdAjdAZdE @颕2oBɢs,) $i)项i.;i؀?Z=X<z BDAT read: Tx time:04:43:43.3803 $Ping request sent.i&>J*@P*@ )M@IDn ?;?H*d? ?)8IF9@ @@/0@B<AB >BB IBeBBBBB;B%G ,& ?AB)l?B;?B~ٱB#B( VAHRS rotation from veh to nav: [[0.412398,-0.886527,-0.209756],[0.898823,0.433477,-0.064914],[0.148472,-0.161763,0.975597]]BH d?m^Hʿ)??,!?ੴĿ@8?iB)l?IBDd;BCxYUeByU IbDeVDeP)yu>%uV=ٔ}?Q-}>9} ?Y} ?=}Fy> E;E>Q 5 5]?Q 9 5)'kBYyؠ?Q IO@uJCIH;iv;k 5yɮAi9i=5 ?AJi=BRi=Bji=U?b=Z@Y@֥&ш0@R=T܃?bl8C ?Zi=Fbi9j=M4E@0OGtV@@=@?@Z=X{)?_y&?,T?2i=sB:i=A,B"i=I)?*i=ymEBi=.Bi=I)?i="xFi=kBi=Bi=;P? addTargetRange:: Added new target pos. range: 105.800003 m, deltaT: 3.781929 s, deltaX: -2.799995 m, approachRate: -0.740362 m/s, rangeRepo size: 4  Added new target pos. range: 105.346611 m, bearing: 64.608085 deg, lat: 36.779289 deg, lon: -121.859566 deg, deltaT: 3.781929 s, deltaX: -2.789078 m, approachRate: -0.737475 m/s, posRepo size: 4 jh FNOT Ignoring new targets: 105.35 m.RhZh ProNav: ac range: 105.346611 m, nav range: 100.391594 m, bearing: 64.598035 deg, approach rate: 0.000000 m/s, LOS rate: -0.056294 deg/s, cmd heading: 65.578285 deg, new cmd heading: 65.513164 deg. BhHeadingCmd: 1.143420 target range: 105.346611 and range: 105.80 m.h[?h*h"h hgfff d d djd@3sZ@Zd@.?额hoBɢ 6!)! -$i)))))i-4i5[?5)X<5(;Ae>A؟AIIO ?yb,J ?AZal?Z-?ZٱZX( ~AHRS rotation from veh to nav: [[0.411026,-0.886967,-0.210588],[0.899109,0.432564,-0.067018],[0.150536,-0.161796,0.975275]]ZH>N?bʿ?!?(D?Ŀs5?iZal?IZad;ZߑCY=3eBy= IbDmVDmyu'=% =ٔ-gQ->9"?Y"?=FyD E;E>Q 5 5B?Q 9 5A)kBYy?Q IO@JCIo;ip;p 5yBɮ A Ejh15FNOT Ignoring new targets: 105.35 m.Rh=ZZh=ZAU ProNav: ac range: 105.346611 m, nav range: 99.936790 m, bearing: 64.563791 deg, approach rate: -0.770712 m/s, LOS rate: -0.058293 deg/s, cmd heading: 65.513166 deg, new cmd heading: 65.409969 deg. BhU ]HeadingCmd: 1.141619 target range: 105.346611 and range: 105.80 m.h] ?hY*hY"hY hYgYfafafadididijdiZdu`?=oBɢ=)= (i)i3i ? {-X< aBu4CBu/ IBueBBqBqBqBu;Bu;EE- E-E-,E)"E-;*E- :VE-g4ZE)BE-au%n!=ٔnȌQ-r>9pYp=vFyvI Ev';Ev>xQ 5~ 5zh?Q 9~ 5zj)zkBYy3?Q IO@zOKCIzr;iz;z@u 5y Bɮ nA Ejh1=FNOT Ignoring new targets: 105.35 m.Rh=ZhEU ProNav: ac range: 105.346611 m, nav range: 99.547241 m, bearing: 64.533903 deg, approach rate: -0.771735 m/s, LOS rate: -0.059442 deg/s, cmd heading: 65.409969 deg, new cmd heading: 65.319955 deg. BhU-#UHeadingCmd: 1.140048 target range: 105.346611 and range: 105.80 m.hU?hY*hY"hY hYgYfafafadadidijdiZdmw?额oBɢu*) 'i)顡i0i?FX<bQ", ?ApYeBy1 IbD%VD%J2yU=%U&=ٔUQ-]>9YYY=]Fy]N EeEe>iQ 5u 5mD?Q 9u 5mx)mlBYqyqQ I}O@mKCImG ;im ;my 5yɮ,AjhFNOT Ignoring new targets: 105.35 m.RhWZhW ProNav: ac range: 105.346611 m, nav range: 99.168701 m, bearing: 64.504633 deg, approach rate: -0.767831 m/s, LOS rate: -0.059599 deg/s, cmd heading: 65.319954 deg, new cmd heading: 65.231807 deg. Bh#HeadingCmd: 1.138510 target range: 105.346611 and range: 105.80 m.h?h*h"h hgfffdddjdZd`? 颍9pBɢ(%) **i)顑iD.i??rX<ڌB!B%t IB%fBB!B%=DB!B%;1B%;EE EE)E"E;*Ey:VEFA4ZEBEm\),: ?A2n?2?2"ٱ28& :AHRS rotation from veh to nav: [[0.404885,-0.889488,-0.211849],[0.900560,0.428032,-0.076024],[0.158300,-0.160002,0.974341]]2H?v˿ d?d?Lv/C?zĿ@-?i2n?I2lc;2CYBeByFG IHae@ae ae@ae ae@am am@am bDuVDuβy}³=%M=ٔiQ->9Y=FyR E)L<E>Q 5 5$?Q 9 5q)`lBQ A+:YQ EY:yء?Q IO@LCI ;i^>a| 5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 105.35 m.RhZh ProNav: ac range: 105.346611 m, nav range: 98.862946 m, bearing: 64.479916 deg, approach rate: -0.765495 m/s, LOS rate: -0.062072 deg/s, cmd heading: 65.231810 deg, new cmd heading: 65.157432 deg. Bhe*HeadingCmd: 1.137212 target range: 105.346611 and range: 105.80 m.h'?h*h"h hgf f f d ddjdZd|_@EhpBɢEI)A E*iI)IIIiM'iU'?UzXie>Թ9@ @@%m0@!^A='<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. AI IY Ii Ou >E  E E ,E "E ;*E k:VE g4ZE a @a @a @a @1>/, ?A6vn?69?6 $ٱ6}@' BAHRS rotation from veh to nav: [[0.403095,-0.890096,-0.212703],[0.901148,0.426568,-0.077282],[0.159521,-0.160524,0.974056]]6HQ?{9˿3?L?ȳ`+k?Ŀ`w+?i6vn?I6|b;6ޑCYJeByJ^ I R49`Y`=fFyfV Ef;Ef>hQ 5n 5jy+?Q 9n 5ji)jlBQ Ar :YpQ Er0:yr?Q IrO@jKLCIj ;ijG?j~ 5yvBɮv AzE|jhFNOT Ignoring new targets: 105.35 m.Rh%Zh%5 ProNav: ac range: 105.346611 m, nav range: 98.574417 m, bearing: 64.456116 deg, approach rate: -0.765933 m/s, LOS rate: -0.063365 deg/s, cmd heading: 65.157430 deg, new cmd heading: 65.085820 deg. Bh5-EHeadingCmd: 1.135962 target range: 105.346611 and range: 105.80 m.hE3g?hA*hI"hI hIgQfQfYfadadidijdiZdu /k@pBɢD) +i)i i3g?Y<ԁ  BDAT read: Rx Time:04:43:45.9219  TRx dataTimestamp_ set to:1761540227.394919 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009776v&6, ?AB>BB IB`fBB =BBDB;B;EBu4CBu4CBqBu =Bu =CuH5z= o?zo?z%ٱzY'  AHRS rotation from veh to nav: [[0.401477,-0.890680,-0.213321],[0.901577,0.425329,-0.079083],[0.161169,-0.160576,0.973776]]zHʱ? sN˿ ?`8?`> /?@Ŀ,)?iz= o?Iz~a;zߑCYeBy` IbE(N4jE [4rEJ/EE EEEE*EA"EEs!;*EEy:VEE(N4ZEABEEx9iYi=mFym[ Euo;Eu>yQ 5 5} 5?Q 9 5}{`)}lBQ AT:YQ?Q E:y[?Q IO@}LCI}+;i};} 5yBɮAEjhFNOT Ignoring new targets: 105.35 m.RhGZhG ProNav: ac range: 105.346611 m, nav range: 98.205818 m, bearing: 64.426769 deg, approach rate: -0.805579 m/s, LOS rate: -0.064380 deg/s, cmd heading: 65.085822 deg, new cmd heading: 64.997449 deg. Bh0HeadingCmd: 1.134419 target range: 105.346611 and range: 105.80 m.h4?h*h"h hgfffdddjdIZdUA$ @额pBɢ5) 4/i)顡i`i4?VY<;P<, ?A6Uo?6??6&ٱ6( >AHRS rotation from veh to nav: [[0.400375,-0.890804,-0.214868],[0.901938,0.424516,-0.079338],[0.161889,-0.162033,0.973415]]6H༟?ẁ˿?C+?{O`ʸ?Ŀ7&?i6Uo?I6?a;6CYFeByJZ ILNAbDRVDR yZ ռ%Zj=ٔZ Q-^?9\Y\=bFyb^ EbW[;Eb>dQ 5j 5fO EBDAT read: Tx time:04:43:47.0303 E$Ping request sent.Mi`尿>*@)>;*@ K6>)@IK6MM?RR?4q? R?)(IQ+iK6:publishing transmit ping timeAFpublishing direction and range infoyVUuw?'[ki?Y )Ii )IMM?RR?4q? ) @  @ @ /@EU EUEU+EQ"EU;*EU:VEU [4ZEQa]@a]@a]@a]@Ii^Al<IIOf>9 j9Y=Fyc E;E>Q 5 5sF?Q 9 5O))mBYL?Q E:y?Q IO@SMCI:i ; 5y ҖBɮtAEii ?AJiPBRiPBji.?b0,8B-3CB- IB-fBB- =B)B)B-;B-;EU9@Y @Y@]/@YEU EUEQEQ"EU;*EU:VEQZEQBEUsԱ bI,$^'!?A2o?2F?2D%)ٱ2* :AHRS rotation from veh to nav: [[0.398084,-0.891376,-0.216744],[0.902492,0.422899,-0.081638],[0.164431,-0.163111,0.972809]]2H 4z?@'@C˿6?@?=洿 ?Ŀ@@!?i2o?I2:`;2CY@y@bDNVDNJٔVoQ-Z?9XYX=ZFyZf E^n;E^?`Q 5f 5bzM?Q 9f 5beI)bKmBYhyj?Q IjO@bMCIb:ib:b 5ylɮlljh FNOT Ignoring new targets: 102.66 m.Rh rZh r ProNav: ac range: 102.656677 m, nav range: 96.680542 m, bearing: 65.119488 deg, approach rate: -0.799443 m/s, LOS rate: -0.053019 deg/s, cmd heading: 64.835202 deg, new cmd heading: 64.783202 deg. Bh%HeadingCmd: 1.130680 target range: 102.656677 and range: 103.10 m.h%!?h!*h)"h) h)g)f)f1f1d1d1d1jdAZdEE6?ujqBɢuJl)q u7iq)iAi!?H[< =I!?Iԑ@ @@@^A8<IIO*>Em  Em Em *Ei "Em &;*Em :VEm (N4ZEi au @au @au @au @ JP,8A!?Aɰ2p?2?2si)ٱ2B4+ :AHRS rotation from veh to nav: [[0.397638,-0.891328,-0.217758],[0.902642,0.422602,-0.081522],[0.164688,-0.164141,0.972592]]2H@r?@… ˿p? ?@޴|?`ſy?i2p?I2_;0YFeByJf IbD VD:2y}9;%<ٔQ->9Y=Fyk E :E>Q 5 5V?Q 9 5@)vmBYy̟?Q IO@MCI:iR:j 5y֖BɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 102.66 m.RhqZhq ProNav: ac range: 102.656677 m, nav range: 96.339752 m, bearing: 65.096718 deg, approach rate: -0.788300 m/s, LOS rate: -0.052858 deg/s, cmd heading: 64.783204 deg, new cmd heading: 64.714651 deg. BhHeadingCmd: 1.129484 target range: 102.656677 and range: 103.10 m.h쒐?h*h "h  h g f ffdddjdZd?颥qBɢIG) c;i)顩i i쒐?\<0=I쒐?IMT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.=0::II)MaA9@ @@/@I f> C :G gA) U 9U gAYU A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497670B% >B% 2CB% IB% fBB% =B! B% DB% ;B% ;Eq ^Au 2g=E}  E} E} (Ey "E} ;*E} :VE} c44ZEy BE} aurW,2=_!?A2)p?2?2P)ٱ2y- :AHRS rotation from veh to nav: [[0.397793,-0.890758,-0.219797],[0.902551,0.422961,-0.080653],[0.164808,-0.166295,0.972206]]2Hqu? M"̿??i?&IſO?i2)p?I2`;0YFfByF IQi]Mb@Mb@Mb@YYYY Y9]Mb?Q? rhY]C?y]<]C Y]oA ]QA)]pAYY]…A im<bDuVDuN2y=%-=ٔQ->9Y=Fyp E ȹE>Q 5 5a?Q 9 58)mBYjC?Q E:y?Q IO@KNCI;iC; 5yɮ%AjhIUFNOT Ignoring new targets: 102.66 m.Rh] йZh] й ProNav: ac range: 102.656677 m, nav range: 95.980774 m, bearing: 65.085791 deg, approach rate: -0.744171 m/s, LOS rate: -0.022736 deg/s, cmd heading: 64.714649 deg, new cmd heading: 64.681747 deg. Bhy HeadingCmd: 1.128909 target range: 102.656677 and range: 103.10 m.h ?h *h"h hgfffdddjd!Zd% ?uqBɢuY=)q u9XYX=^Fy^u E^ZE^>`Q 5j 5bm?Q 9n 5b /)bmBYpyr?Q IrO@bNCIbw;ib;bј 5yBɮAEԑjhFNOT Ignoring new targets: 102.66 m.Rh͹Zh͹ ProNav: ac range: 102.656677 m, nav range: 95.611382 m, bearing: 65.074531 deg, approach rate: -0.734234 m/s, LOS rate: -0.022467 deg/s, cmd heading: 64.681748 deg, new cmd heading: 64.647838 deg. BhvHeadingCmd: 1.128318 target range: 102.656677 and range: 103.10 m.h%l?h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=@t@!rBɢܼB)y }@i)顁iYil?]<h=Il?IԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253750J>i>} 9@y  @y @y @y   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505691A A @AB >B 1CB IB fBB =B B DB ;B ;E^A ] =E  E E +E "E [";*E :VE  [4ZE BE z9AYI=MFyM{ EM,EU>QQ 5] 5Um|?Q 9e 5Ug%)UmBYe4?Q Ee:ye?Q IeO@UOCIU:iU:U 5yuBɮuoAuEjhFNOT Ignoring new targets: 102.66 m.Rh8Zh8 ProNav: ac range: 102.656677 m, nav range: 95.204826 m, bearing: 65.077213 deg, approach rate: -0.728248 m/s, LOS rate: 0.004823 deg/s, cmd heading: 64.647836 deg, new cmd heading: 64.655914 deg. BhS9HeadingCmd: 1.128459 target range: 102.656677 and range: 103.10 m.hUq?h*h"h hgfffdddjdZd@frBɢj;) Ci)iz8޺i Uq? ^< =IUq?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758474i@ @@/@ԑ^A]=Թ A I I O% > BDAT read: Rx Time:04:43:49.5684  TRx dataTimestamp_ set to:1761540230.924150 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010786{dn,]!?A6o?6'?63+ٱ60 BAHRS rotation from veh to nav: [[0.398917,-0.889336,-0.223488],[0.901761,0.424692,-0.080392],[0.166409,-0.169463,0.971386]]6H`ه?qu`@̿:?(.?``L?ſ?i6o?I6#`;6ߑCYJCfByJ IbDTVDTyZ)=%^g=ٔ^Q-^>9`Y`=bFyb~ EbJ Ef>dQ 5j 5fj?Q 9n 5fEr ErEr*Ep"ErC#;*Er:VEr(N4ZEpav@av@av@av@)fnBYxyz?Q IzO@fQOCIf;if;f 5yɮTAjhamFNOT Ignoring new targets: 102.66 m.RhmȰ8ZhuȰ8ԡ ProNav: ac range: 102.656677 m, nav range: 94.958000 m, bearing: 65.078970 deg, approach rate: -0.676714 m/s, LOS rate: 0.004830 deg/s, cmd heading: 64.655916 deg, new cmd heading: 64.661201 deg. Bh$T9HeadingCmd: 1.128551 target range: 102.656677 and range: 103.10 m.h[t?h*h"h hgfffdddjdZd @=rBɢEb)A E+EiA)AAIiM&ȺiM[t?UZ_! cPu,I!?Aɰ;2Qo?2㓓?2(~+ٱ2ڲ1 >AHRS rotation from veh to nav: [[0.400115,-0.888559,-0.224435],[0.901178,0.426003,-0.079996],[0.166692,-0.170248,0.971200]]2H|?oL̿`s?C?z'V?`ſ?i2Qo?I2;`;2CYFZfByF IN=N=DAT read: 04:43:49.5684 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 409,-0.45,-2.755, 1.913,-2.523,-2.981, PHS= 0.328,-1.344, 0.414, RAW= 152.5, 7.1, CAL= 151.9, 7.4, ROT= 358.1, -7.4 Ygot valid direction response: 04:43:49.5684 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 409,-0.45,-2.755, 1.913,-2.523,-2.981, PHS= 0.328,-1.344, 0.414, RAW= 152.5, 7.1, CAL= 151.9, 7.4, ROT= 358.1, -7.4 PDAT read: Bearing 218.2, 6.2 (Local) ~Local bearing/azimuth received: Bearing 218.2, 6.2 (Local) DAT read: Range 11 to 50 : 100.4 m (Round-trip 133.9 ms) speed 0.5 m/s  *DAT read: user:175> BDAT read: Tx time:04:43:50.6819 $Ping request sent.B%0CB% IB%fBB% =B!B%DB%r;B%;E} M? n|ՠOZ_|?Y}Byyyy y)}HI}>i}1}>}X*@}=})@ } A>)}3@I} Ayy}#C?u?wň? }&?)}$I}i} AyyU:publishing transmit ping timeUFpublishing direction and range infoyy} M? n|ՠOZ_|?Yyyyyy y)yIyiyyyyy y)yIyyy}#C?u?wň? y)yIyiyyyiMb@Mb@Mb@ E EE+E"E ;*E:VE [4ZEBEv9)Y)=-Fy- E-]+E5>1Q 5m 556?Q 9m 55)5KnBYmr'?Q Em:ym?Q ImO@5OCI5;i5;5 5y}Bɮ}4Aiyi}*t!?AJi}BRi}Bji}7?b}?X@5K.J vп)@R} M? n|ՠOZ_|?Zi}bi} Aj}~C@T_U@0 =@Z}Z<]f?1@??2i}B:i}B"i}L?*i}f+Bi}UBi}L?iyi}.Bi}Bi}p?m addTargetRange:: Added new target pos. range: 100.400002 m, deltaT: 3.529459 s, deltaX: -2.699997 m, approachRate: -0.764989 m/s, rangeRepo size: 4  Added new target pos. range: 99.961754 m, bearing: 65.450586 deg, lat: 36.779275 deg, lon: -121.859566 deg, deltaT: 3.529459 s, deltaX: -2.694923 m, approachRate: -0.763551 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 99.96 m.Rh Zh ProNav: ac range: 99.961754 m, nav range: 94.550194 m, bearing: 65.191148 deg, approach rate: 0.000000 m/s, LOS rate: 0.004830 deg/s, cmd heading: 64.661203 deg, new cmd heading: 64.668956 deg. BhHeadingCmd: 1.128686 target range: 99.961754 and range: 100.40 m.hx?h*h"h hgfffdddjdY@Zd@n?额rBɢ%:) LHi)顡iN뿺ix?=H`<X=Ix?II 9@  @ @ @ @ =@ >q ^A #=A >A >ԡA.AIIO?_},a!?ABjn?B ?Bo(,ٱB8t3 JAHRS rotation from veh to nav: [[0.403238,-0.886623,-0.226494],[0.899666,0.429363,-0.079046],[0.167332,-0.171894,0.970800]]BH?`6_̿@?@z?^<`#k?@ƿ?iBjn?IBpG`;BCYRfByR IbD^VD^kyf׻=%fC=ٔj˺Q-j>9n ?Yn ?=nFyn Enf En>pQ 5v 5r}?Q 9v 5r)rqnBYxyz/?Q IzP@rOCIr;ir;r, 5y|ɮAB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 99.96 m.Rh5:Zh5:E ProNav: ac range: 99.961754 m, nav range: 94.279312 m, bearing: 65.204625 deg, approach rate: -0.694369 m/s, LOS rate: 0.034647 deg/s, cmd heading: 64.668955 deg, new cmd heading: 64.709504 deg. BhE9:MHeadingCmd: 1.129394 target range: 99.961754 and range: 100.40 m.hM?hI*hQ"hQ hQgQfQfYfYdYdYdYjdaZdeׁ?颍sBɢ?w) lHi)顙iIi?`<i[1 jF,N"?A]m?]?],ٱ]]4 AHRS rotation from veh to nav: [[0.404752,-0.885639,-0.227639],[0.898884,0.431049,-0.078762],[0.167878,-0.172742,0.970555]]]H s? (WC#Ϳ@?O?)}?gƿ?i]m?I]`;]ߑCYfBy I iUMb@Mb@Mb@QQQQ Q9UT㥛 ?DlQYU!?yUOUuUGAUhA UA)UhAQYU(AbDmVDmJy}=%}2=ٔ}GQ->9"?Y"?=Fy EnvE>Q 5 5Ӫ?Q 9 5+ )nBY "?Q E:yi?Q IP@5PCI:iL:. 5yBɮ AEjhq}DNOT Ignoring new targets: 99.96 m.Rh}-:Zh}-: ProNav: ac range: 99.961754 m, nav range: 93.994324 m, bearing: 65.222681 deg, approach rate: -0.595065 m/s, LOS rate: 0.037815 deg/s, cmd heading: 64.709506 deg, new cmd heading: 64.763837 deg. Bh:HeadingCmd: 1.130342 target range: 99.961754 and range: 100.40 m.h?h*h"h hgfffdddjdZdV?BA<B>B.CB#IB!gBB =BBDBN;B`;EBU1CBU1CBUĕCBUĮ =BUį =CU686checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987549IsBɢF9) = JiA)AAAiE1̘iM?M^Na$,{."?A:.qm?:꣒?:J\-ٱ:4 BAHRS rotation from veh to nav: [[0.406578,-0.884633,-0.228297],[0.897945,0.433011,-0.078716],[0.168490,-0.172994,0.970404]]:H_?`N8Ϳ?q?&?$ƿ@ ?i:.qm?I:Ba;:CYJfByJ I LLbDVVDVky^=%^R=ٔ^NѺQ-^>9 ?Y ?=Fy E!%FE->)Q 55 5-?Q 9= 5-)-nBY9y=%?Q I=P@-uPCI-p:i-:- 5yEBɮMAMEjhiuDNOT Ignoring new targets: 99.96 m.Rhu2C:Zh}2C: ProNav: ac range: 99.961754 m, nav range: 93.745689 m, bearing: 65.238845 deg, approach rate: -0.654501 m/s, LOS rate: 0.042663 deg/s, cmd heading: 64.763840 deg, new cmd heading: 64.812462 deg. Bh<:HeadingCmd: 1.131191 target range: 99.961754 and range: 100.40 m.hʐ?h*h"h hgfffdddjdZd H?ssBɢT4u) Ii)iiʐ?a<yAԩ v,O"H"?A2ul?2Q?2-ٱ2u25 :AHRS rotation from veh to nav: [[0.408819,-0.883384,-0.229128],[0.896853,0.435351,-0.078259],[0.168884,-0.173500,0.970245]]2H*?D TͿ?? `?>5ƿ@ ?i2ul?I2;b;2CYB gByFIbDNVDNyV>%VM=ٔVjQ-Z>9Z"?YZ"?=ZFyZ E^4ֻE^>`Q 5f 5b?Q 9f 5b)bnBYdyf҃?Q IjP@bPCIb:ib1:b 5ylɮnWAljhDNOT Ignoring new targets: 99.96 m.Rh >:Zh >: ProNav: ac range: 99.961754 m, nav range: 93.505470 m, bearing: 65.254923 deg, approach rate: -0.620742 m/s, LOS rate: 0.041652 deg/s, cmd heading: 64.812464 deg, new cmd heading: 64.860820 deg. Bh:%HeadingCmd: 1.132035 target range: 99.961754 and range: 100.40 m.h%?h!*h!"h) h)g)f)f1f1d1d1d1jd1Zd=z?ԙiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743670sBɢa) Ii )   i @Ui?a<(B] -CB] OIB] hgBB] =BY B] DB] ;B] $;E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995450A! I) IA OI  E-  E- E- +E) "E- O6;*E- a:VE- [4ZE) BE- G%:=ٔQ->9Y=Fy EJӻE>Q 5 5-̍?Q 9 5)0oBY$!?Q E:y?Q IP@PCI ;i ; 5yɮAjh DNOT Ignoring new targets: 99.96 m.Rh@[:Zh@[:% ProNav: ac range: 99.961754 m, nav range: 93.237717 m, bearing: 65.275921 deg, approach rate: -0.609286 m/s, LOS rate: 0.047921 deg/s, cmd heading: 64.860822 deg, new cmd heading: 64.923999 deg. Bh%;-HeadingCmd: 1.133138 target range: 99.961754 and range: 100.40 m.h- ?h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdEj@sBɢGW) Ii)iS0i ?b< i5>@ @@4@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247842I^A<A1 I9 II O] >q D, {"?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499425YgBy_II%>)%<bD5VD50yE">%ER=ٔEQ-E>9IYI=MFyM EUEU>YQ 5e 5]֍?Q 9e 5])]doBYayaQ ImP@]5QCI]|:i]:]I 5yuBɮuwAqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 99.96 m.Rh]:Zh]: ProNav: ac range: 99.961754 m, nav range: 93.000328 m, bearing: 65.294641 deg, approach rate: -0.611237 m/s, LOS rate: 0.048322 deg/s, cmd heading: 64.924001 deg, new cmd heading: 64.980302 deg. Bh;HeadingCmd: 1.134120 target range: 99.961754 and range: 100.40 m.h*?h*h"h hgfffdddjdQE EE*E"E /;*E:VE(N4ZEa@a@a@a@Zd7@-tBɢ5*V)1 5Hi1)119i=? i=*?ELbť,5"?A2zj?2(?2}/ٱ28 >AHRS rotation from veh to nav: [[0.416769,-0.878616,-0.233105],[0.892801,0.443862,-0.076759],[0.170908,-0.176126,0.969418]]2HV?`_Ϳ`ԑ?%Z@=ٔZdrQ-^>9\Y\=^Fy^ EboEb>dQ 5j 5f⍊?Q 9j 5f)foBYhyn?Q InP@fxQCIf1:if(:f 5yryBɮr0ArEjh DNOT Ignoring new targets: 99.96 m.Rh i:Zh i:ԁAAB>B+CBIBgBB =BBDB;B:E ProNav: ac range: 99.961754 m, nav range: 92.740906 m, bearing: 65.316214 deg, approach rate: -0.611034 m/s, LOS rate: 0.050954 deg/s, cmd heading: 64.980302 deg, new cmd heading: 65.045202 deg. Bh ;HeadingCmd: 1.135253 target range: 99.961754 and range: 100.40 m.hO?h*h"h hgfffdddjd!Zd%[&@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.003454mBtBɢm<a)q urFiq)qqqi6ɹiO?Db<(D [㫈,ܱ"?A2i?24̐?20ٱ2`88 :AHRS rotation from veh to nav: [[0.419220,-0.877252,-0.233844],[0.891485,0.446493,-0.076797],[0.171780,-0.176274,0.969236]]2H`?`sͿ` ? W?`?$ƿ?i2i?I2ee;0Y^@hBybIbDjVDjyrIz>%rI=ٔrQ-r>9tYt=vFyv Ev<Ez>xQ 5U 5z?Q 9U 5z[)zoBYQy]a?Q I]P@zQCIzTqE  E E (E "E /;*E :VE c44ZE a- @a- @a5 @a5 @ԙ ̲,n"?A2}h?2O?21ٱ29 :AHRS rotation from veh to nav: [[0.422535,-0.875278,-0.235272],[0.889731,0.450047,-0.076399],[0.172754,-0.177048,0.968922]]2H` ?G@fοx??ێ ? ƿ i?i2}h?I2Wf;2CYFhByFIHJAbDRVDRyVM>%VM=ٔZ"Q-Z>9XvDAT read: 04:43:53.2165 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 405,-0.45, 1.585,-0.027, 1.811, 1.399, PHS= 0.288,-1.381, 0.368, RAW= 152.3, 8.5, CAL= 151.9, 9.1, ROT= 358.1, -9.1 ~Ygot valid direction response: 04:43:53.2165 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 405,-0.45, 1.585,-0.027, 1.811, 1.399, PHS= 0.288,-1.381, 0.368, RAW= 152.3, 8.5, CAL= 151.9, 9.1, ROT= 358.1, -9.1 PDAT read: Bearing 219.6, 6.6 (Local) ~Local bearing/azimuth received: Bearing 219.6, 6.6 (Local)  DAT read: Range 11 to 50 : 97.8 m (Round-trip 130.4 ms) speed 0.8 m/s *DAT read: user:176> BDAT read: Tx time:04:43:54.3303 $Ping request sent.?Y^B\\\\ \)^GI^t>Y\==Fy= E=nE=>AQ 5M 5E?Q 9M 5E)E pBYQyU?Q IUP@EQCIE:i^İ^j>^*@^>\ ^">)\I^"\\^g nJ?="?GC8z? ^i?)^zSI\i^"\\:publishing transmit ping timeFpublishing direction and range infoy\^bEcr?΋% @\~>?Y\\\\\ \)\I\i\\\\qiE:E+ 5y}BɮΈAE\ \)\I\\\^g nJ?="?GC8z? \)\I\i\\\i\i^F"?AJi^BRi^Bji^̏?b^Q`ٛX@+mx {赏e.@R^bEcr?΋% @\~>?Zi\bi^"j^``7C@6CdT@> @@Z^#*q#? L=?Q?2i^åB:i^B"i^?*i^8_Bi^tBi^?i\i\i^Bi^"_? addTargetRange:: Added new target pos. range: 97.800003 m, deltaT: 3.778486 s, deltaX: -2.599998 m, approachRate: -0.688106 m/s, rangeRepo size: 4  Added new target pos. range: 97.365959 m, bearing: 64.367769 deg, lat: 36.779286 deg, lon: -121.859566 deg, deltaT: 3.778486 s, deltaX: -2.595795 m, approachRate: -0.686993 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 97.37 m.RhZh ProNav: ac range: 97.365959 m, nav range: 92.794876 m, bearing: 64.624095 deg, approach rate: 0.000000 m/s, LOS rate: 0.050840 deg/s, cmd heading: 65.108847 deg, new cmd heading: 65.180236 deg. BhHeadingCmd: 1.137610 target range: 97.365959 and range: 97.80 m.h2?h*h"h hgfffdd!dajdm@3sX@Zdm 쿾?ԩ颽tBɢsh:) Bi)i3f[i2?ra<;I2?IB>B*CBIBzhBB =B>DBDB;B:E9@ @@@E}  E} E} ,Ey "E} /;*E} :VE} g4ZEy BEy a 2Ey a JE} ah?> ?>2ٱ>9 NAHRS rotation from veh to nav: [[0.424907,-0.873839,-0.236348],[0.888459,0.452601,-0.076110],[0.173479,-0.177646,0.968683]]>H1?|@οAn? k?@{ 4?ƿt?i>h?I>g;>CYfhByf4IaM@aM aM@aM aM@aM aM@aU bD]VD]1ye>%m=ٔuīQ-u>9qYq=uFy} E}E}>Q 5 5?Q 9 5N)WpBQ A+:YQ E:y?Q IP@PRCI;i: ? 5yɮ:AjhDNOT Ignoring new targets: 97.37 m.Rh:Zh: ProNav: ac range: 97.365959 m, nav range: 92.462181 m, bearing: 64.651354 deg, approach rate: -0.691721 m/s, LOS rate: 0.056879 deg/s, cmd heading: 65.180236 deg, new cmd heading: 65.262306 deg. Bh$;!HeadingCmd: 1.139042 target range: 97.365959 and range: 97.80 m.h"̑?h*h"h hgfffdddjdZd&)?颥tBɢeN) @i)顩ii"̑?\[a<:I"̑?IQq@q @q@u/@q^AMvт;II IY Om >ԁ Eu  Eu Eu )Eq "Eu =-;*Eu r:VEu FA4ZEq a} @a} @a} @a} @c,A#?A0>g?>N?>F3ٱ>/: JAHRS rotation from veh to nav: [[0.426604,-0.872733,-0.237371],[0.887424,0.454573,-0.076428],[0.174604,-0.178045,0.968408]]>H{M?n@0bοe??ϐnY?@*ƿ 2?i>g?I>$h;%c=ٔPQ->9Y!=%Fy% E%WE%>)Q 55 5-#?Q 9= 5-p)-pBQ A= :Y9Q EE]:yE~?Q IEP@-RCI-*;i-Ah?- 5yMBɮM5AImB*** querying acoustic contact ***ii iijhq}DNOT Ignoring new targets: 97.37 m.Rh}ii:Zhii: ProNav: ac range: 97.365959 m, nav range: 92.243347 m, bearing: 64.669672 deg, approach rate: -0.608026 m/s, LOS rate: 0.051016 deg/s, cmd heading: 65.262307 deg, new cmd heading: 65.317390 deg. Bh ;HeadingCmd: 1.140004 target range: 97.365959 and range: 97.80 m.h?h*h"h hgfffdddjdZd?颵uBɢ}`) :i)项i 6i?`< I?IԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.m9@i @i@m/@i@q@u=Թ^A;A>A> I I O >B <A B >B )CB uIB FiBB =B B B P;B @:E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248284CLj,#?A2g?2s?25ٱ28 :AHRS rotation from veh to nav: [[0.428269,-0.872036,-0.236936],[0.886365,0.456419,-0.077706],[0.175905,-0.176733,0.968413]]2H@h?Sο ]?5? 䳿 ?+ƿ%<=ٔ:GQ- >9 Y = Fy  E5E>)E5 E5E5*E1"E54;*E5:VE5(N4ZE1BE5A ͈,9#?A2pf?2:?2;Z6ٱ2Z-8 :AHRS rotation from veh to nav: [[0.429701,-0.871305,-0.237033],[0.885426,0.458072,-0.078687],[0.177139,-0.176063,0.968310]]2H9?WοhU? Q?$|?>ƿd?i2pf?I2!Xi;2CYF jByFIbDNVDNyV;>%Vc=ٔZ(dQ-Z>9XYX=ZFyZ E^E^>`Q 5f 5b$?Q 9f 5b)b2qBYhyj?Q IjP@bSCIb:ib:b 5ylɮriApjh DNOT Ignoring new targets: 97.37 m.Rh + Zh+ % ProNav: ac range: 97.365959 m, nav range: 91.680069 m, bearing: 64.645877 deg, approach rate: -0.715684 m/s, LOS rate: -0.029981 deg/s, cmd heading: 65.277648 deg, new cmd heading: 65.245786 deg. Bh--HeadingCmd: 1.138754 target range: 97.365959 and range: 97.80 m.h-‘?h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdER?upuBɢun1^)q uj6iq)iB=09i‘?_<vI‘?I Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7539969@ @@4@IE EE)E"E(;*E:VEFA4ZEa @a @a @a @q^AI9IIOe> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004233ԡ Ԉ,eS#?A2[f?25?27ٱ26 :AHRS rotation from veh to nav: [[0.430482,-0.871019,-0.236666],[0.884743,0.459100,-0.080362],[0.178650,-0.174794,0.968262]]2H?cKοO?a? ?`_ƿ?i2[f?I2;i;2CYvZjByvIbD~VD~y C>% D=ٔqQ->9Y=Fy E E>!Q 5- 5%-?Q 9- 5%c)%qBY1y5ؘ?Q I5P@%dSCI%:i%t:% 5y9ɮEDŽAAyjhDNOT Ignoring new targets: 97.37 m.RhZh ProNav: ac range: 97.365959 m, nav range: 91.385124 m, bearing: 64.633690 deg, approach rate: -0.700490 m/s, LOS rate: -0.029038 deg/s, cmd heading: 65.245785 deg, new cmd heading: 65.209105 deg. BhnHeadingCmd: 1.138114 target range: 97.365959 and range: 97.80 m.h?h*h"h hgfffdddjdZdC@颽uBɢe:) 4i)iM:9i?__<&I?I l>i >Bu>Bu(CBuIBu%jBBu =BqBuDBu;Bu9EB=*CB=*CB9B=Ļ =B=ĺ =C=υ6ԩUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256722@ @@4@@@dAbEjEL4rE?/E EE*E"EO6;*Ed:VE(N4ZEBEG xڈ,Fm#?AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509007YjBySI !!iMb@Mb@Mb@ 9(\??MbX?YN?y==AcA A)zbAY\AbDVDP)y)>%%=ٔQ->9Y=Fy EE>Q 5 57?Q 9 5)qBY4Q?Q E:y ?Q IP@SCI;i ; 5ycBɮ0AEjh)-DNOT Ignoring new targets: 97.37 m.Rh5Zh5E ProNav: ac range: 97.365959 m, nav range: 91.000168 m, bearing: 64.600047 deg, approach rate: -0.785585 m/s, LOS rate: -0.068946 deg/s, cmd heading: 65.209107 deg, new cmd heading: 65.107751 deg. BhED=MHeadingCmd: 1.136345 target range: 97.365959 and range: 97.80 m.hMs?hI*hI"hI hQgQfQfQfYdYdYdYjdYZde`$@颭uBɢ'8) %3i)顱i0;9is?^<6pIs?I9@ @@@1]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760740E  E E +E "E %.;*E ;:VE [4ZE a @a @a @a @^A] 7a IQ Ii Ou > C,|#?A \)^IlA^Y^NF\`bjlAib94I``IdiflA dd)dd hjC hI)i)!I%lA%t! !)- lA-i))i159A)1 1I1Y1YkByIbDVDy}d>%T=ٔQ-%>9!Y!=%Fy% E)E->1Q 5= 554??Q 9= 55)5SrBY9yAQ IEP@5TCI5:i5:5[ 5yIɮMAIBDAT read: Rx Time:04:43:56.8611 TRx dataTimestamp_ set to:1761540238.232207checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013381B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 97.37 m.RhZZhZ ProNav: ac range: 97.365959 m, nav range: 90.699829 m, bearing: 64.573599 deg, approach rate: -0.763692 m/s, LOS rate: -0.067473 deg/s, cmd heading: 65.107754 deg, new cmd heading: 65.028148 deg. Bh99HeadingCmd: 1.134955 target range: 97.365959 and range: 97.80 m.h7F?h*h"h hgfffdAdIdIjdIZdM`fc@颽vBɢNyK) r0i)i՝w9i7F?c^<g$9I7F?IA@ @@/@ԁAA AE AABM >BI BM IBM kBBI BI BI BM ;BM 9E^A E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264660ԙ I I O >$i,F#?AE& E&E&)E$"E&9;*E&:VE&FA4ZE$BE&5ף=5tA1 1)5I`A1Y5=~AbDMVDMk1y]>%]G=ٔ]>FQ-]>9aYa=eFye Em2Em>qQ 5} 5uF?Q 9} 5u/)urBY}^?Q E}s:y}?Q IP@unTCIu:iu:u 5yABɮA~EjhDNOT Ignoring new targets: 97.37 m.Rh`Zh` ProNav: ac range: 97.365959 m, nav range: 90.358826 m, bearing: 64.531965 deg, approach rate: -0.846690 m/s, LOS rate: -0.103765 deg/s, cmd heading: 65.028148 deg, new cmd heading: 64.902774 deg. BhmuHeadingCmd: 1.132767 target range: 97.365959 and range: 97.80 m.hu?hq*hq"hq hqgyfyfyfydddjdZd @ԩDAT read: 04:43:56.8611 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 397, 0.38,-1.521,-3.058,-1.320,-1.655, PHS= 0.236,-1.357, 0.291, RAW= 151.7, 10.3, CAL= 151.4, 11.2, ROT= 358.6, -11.2 Ygot valid direction response: 04:43:56.8611 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 397, 0.38,-1.521,-3.058,-1.320,-1.655, PHS= 0.236,-1.357, 0.291, RAW= 151.7, 10.3, CAL= 151.4, 11.2, ROT= 358.6, -11.2 PDAT read: Bearing 220.4, 7.4 (Local) ~Local bearing/azimuth received: Bearing 220.4, 7.4 (Local) DAT read: Range 11 to 50 : 94.9 m (Round-trip 126.6 ms) speed 0.7 m/s  *DAT read: user:177>  R#Rx 1: Read range and direction messages.^direction in FSK: [0.980662,-0.023967,0.194234]Fpublishing direction and range infoy"a?'mVѫ?Y̽B )EIq>i->Us)@X8>)@ +H>)G@I+Hޯ?މ?) Уi? Q ?)]7I*ȼi+H5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.额EvBɢd7) t0i)顡i5b9i?q]<:I?Iu9@q @q@u3@q@}=@}= ^A 9I I O >,)̾#?ABDAT read: Tx time:04:43:57.9803 $Ping request sent.%6=ٔQ->9Y=Fy E;E>!Q 5% 5%N?Q 9- 5%q)% sBY)y-?Q I-P@%TCI%:i%:% 5y1ɮ=A9ii)#?AJiBRiBjiχ?b0\}l)W@=1$uVY2@R"a?'mVѫ?Zi*ȼbi+Hj VιB@憩S@KA@Z x ^?0?{a#?2ilB:iB"ij?*i#zBiiBij?iIitBiBi䫑? addTargetRange:: Added new target pos. range: 94.900002 m, deltaT: 3.529468 s, deltaX: -2.900002 m, approachRate: -0.821654 m/s, rangeRepo size: 4  Added new target pos. range: 94.474136 m, bearing: 64.695218 deg, lat: 36.779275 deg, lon: -121.859568 deg, deltaT: 3.529468 s, deltaX: -2.891823 m, approachRate: -0.819337 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 94.47 m.Rh%Zh!5 ProNav: ac range: 94.474136 m, nav range: 89.307915 m, bearing: 65.205932 deg, approach rate: 0.000000 m/s, LOS rate: -0.103765 deg/s, cmd heading: 64.902773 deg, new cmd heading: 64.756992 deg. Bh19]HeadingCmd: 1.130223 target range: 94.474136 and range: 94.90 m.h]#?hY*hY"hY hagafafafidididijdmW@Zdu?uvBɢA) */i)imk9i #? ]<^;IU#?IQ @  @ @ /@ aiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252197ԙ  g> C^A= ] ;} G fA I I S9 fAY AO >,##?Aԁg?߮?&BٱB+BM>BIBMIBMkBBM =BIBIBMK;BM29E }AHRS rotation from veh to nav: [[0.425642,-0.874859,-0.231193],[0.885047,0.455704,-0.094999],[0.188467,-0.164181,0.968259]]H=?@Ϳ OR?A*?Q?ſ?ig?Ib;YkByIiMb@Mb@Mb@ 9Pn?-?J +?Yd?y?5>H=AzbA )Y}AbD5VD5y=m =%EF=ٔEQ-E>9AYI=MFyM EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503536]r<E]>aQ 5m 5eU?Q 9m 5e)eZsBYuh?Q Eui:yu"?Q IuP@e.UCIe;ie ;e| 5y}FBɮ}AEjhDNOT Ignoring new targets: 94.47 m.Rh:Zh: ProNav: ac range: 94.474136 m, nav range: 88.949013 m, bearing: 65.161204 deg, approach rate: -0.909882 m/s, LOS rate: -0.113852 deg/s, cmd heading: 64.756989 deg, new cmd heading: 64.622263 deg. BhEHeadingCmd: 1.127871 target range: 94.474136 and range: 94.90 m.h^?h*h"h hgfffdddjdZd?ԩ vBɢ F)  /1i)i z9ie^?e|],W`#?AY~kBy~IbD VD Jy>>%%u=ٔ%Q-%?9!Y)=-Fy- E-E-?1Q 5m 55[?Q 9u 55)5sBYqyqQ IuP@5zUCI5 M7,$?A6i?6&y?6X Eٱ6q) BAHRS rotation from veh to nav: [[0.419941,-0.877936,-0.229952],[0.887172,0.450509,-0.099840],[0.191248,-0.162080,0.968067]]6HN? `oͿ`c?"?@z?@Ŀ h?i6i?I6`;6CYJkByJ I ||bDVD yJ=%%'=ٔ%ĽQ-%>9!Y)=-Fy- E-N<E->1Q 5= 55d?Q 9E 55g)5sBYAyE?Q IEP@5UCI5:i5f:5 5yQɮU߀AQmB*** querying acoustic contact ***ii iijhy}DNOT Ignoring new targets: 94.47 m.RhZh ProNav: ac range: 94.474136 m, nav range: 88.231415 m, bearing: 65.068853 deg, approach rate: -0.883207 m/s, LOS rate: -0.116108 deg/s, cmd heading: 64.512428 deg, new cmd heading: 64.344043 deg. Bh^HeadingCmd: 1.123015 target range: 94.474136 and range: 94.90 m.h?h*h"h hgfffdddjdZd ?wBɢT5) n2i)iQ9i?$]< ,~0$?A2% j?2?2}YFٱ2F) :AHRS rotation from veh to nav: [[0.416565,-0.879637,-0.229591],[0.888493,0.447397,-0.102057],[0.192492,-0.161477,0.967922]]2H?`%?cͿ@n?'? k ? FĿ6?i2% j?I2`;2CYFlByF#Idi]Mb@Mb@Mb@YYYY Y9]L7A`? ףp= ?Y]+g?y]Q8>]]GAY ]A)]]AYY] {AbDVDJy$=%$=ٔT%Q->9Y=Fy E`;E>Q 5 5m?Q 9 5v)CtBYk?Q Ef:y?Q IP@^VCI ;i; 5yɮAjhY]DNOT Ignoring new targets: 94.47 m.Rh Zh  ProNav: ac range: 94.474136 m, nav range: 87.783424 m, bearing: 65.011635 deg, approach rate: -0.878850 m/s, LOS rate: -0.112821 deg/s, cmd heading: 64.344043 deg, new cmd heading: 64.171514 deg. BhۚHeadingCmd: 1.120004 target range: 94.474136 and range: 94.90 m.hL\?h*h"h hgfffdddjdZd @}?wBɢ}[.)y 3i)顁iз!9iL\?^<Wsi!>Y @Y  @a @a @a E  E E +E "E 0;*E :VE [4ZE a @a @a @a @Q y ^A D-<=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268019AIIO?}H,Q$?AXY lBy*II=)bD%VD%y5<%5 =ٔ=Q-=>99Y9=EFyE EEEE>Q 5 5'w?Q 9 5j)tBYyQ IP@VCI:i: 5yBɮAmEjhDNOT Ignoring new targets: 94.47 m.RhZh ProNav: ac range: 94.474136 m, nav range: 87.324806 m, bearing: 64.952441 deg, approach rate: -0.906571 m/s, LOS rate: -0.117627 deg/s, cmd heading: 64.171512 deg, new cmd heading: 63.992997 deg. BhsHeadingCmd: 1.116889 target range: 94.474136 and range: 94.90 m.h4?h*h"h hgfffddd jd Zd @@=wwBɢ=V[:)9 =6i9)9AAiE88iM4?M)^D9 zD9 EE  EE EA EA "EE 1;*EE :VEA ZEA BEE \A^A ҊA)YAYwAbDVDk2y/%B=ٔ*pQ->9Y=Fy E<E>Q 5 5c?Q 9 5a)tBY`?Q Eq:y?Q IP@2WCI ;iu ;' 5yɮAjh)-DNOT Ignoring new targets: 94.47 m.Rh5[պ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771524Zh5[պ ProNav: ac range: 94.474136 m, nav range: 86.969315 m, bearing: 64.914052 deg, approach rate: -0.860167 m/s, LOS rate: -0.093266 deg/s, cmd heading: 63.992999 deg, new cmd heading: 63.877363 deg. BhHeadingCmd: 1.114870 target range: 94.474136 and range: 94.90 m.h?h*h"h hgfffdddjdZdY@mwBɢeF) <:i)顑i;~8i?,?_< =I?IIe9@a @a@a@aq^A m<A eAzA  BDAT read: Rx Time:04:44:00.5074  TRx dataTimestamp_ set to:1761540242.013113 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025446 A I I O >E]  E] E] )EY "E] s!;*E] E:VE] FA4ZEY am @am @am @am @_!,…$?A2l?2O?2^Hٱ2( :AHRS rotation from veh to nav: [[0.406901,-0.884396,-0.228636],[0.892542,0.438195,-0.106556],[0.194425,-0.160710,0.967663]]2H ?LCͿ`?d ?@DG?`!Ŀ?i2l?I2a;0YB lByF)IbDNVDNβyVy<%V]=ٔVQ-V>9XYX=ZFyZ EZ<E^>\Q 5b5^?Q 9f5^Y)^tBYdyfT?Q IfP@^WCI^;i^;^a5yhɮn Aljh|DNOT Ignoring new targets: 94.47 m.Rh zۺZh zۺ ProNav: ac range: 94.474136 m, nav range: 86.652000 m, bearing: 64.878793 deg, approach rate: -0.860252 m/s, LOS rate: -0.095941 deg/s, cmd heading: 63.877363 deg, new cmd heading: 63.771197 deg. Bh%HeadingCmd: 1.113017 target range: 94.474136 and range: 94.90 m.h%Zw?h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=# @a%wBɢ%V^)! %w A A B >B 'CB IB mBB B B B ";B 8EBU(CBU(CBU˓CBU˽ =BU˽ =CUu5a~',Dn$?A2ґm?2;?2Hٱ2\) >AHRS rotation from veh to nav: [[0.404127,-0.885448,-0.229485],[0.893716,0.435660,-0.107110],[0.194818,-0.161809,0.967401]]2H5? U_ͿQ?@?k?$Ŀ?i2ґm?I2~a;DAT read: 04:44:00.5074 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407,-0.04, 1.009,-0.575, 1.197, 0.797, PHS= 0.314,-1.327, 0.356, RAW= 151.2, 8.0, CAL= 150.7, 8.5, ROT= 359.3, -8.5 -Ygot valid direction response: 04:44:00.5074 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407,-0.04, 1.009,-0.575, 1.197, 0.797, PHS= 0.314,-1.327, 0.356, RAW= 151.2, 8.0, CAL= 150.7, 8.5, ROT= 359.3, -8.5 5PDAT read: Bearing 217.3, 8.6 (Local) =~Local bearing/azimuth received: Bearing 217.3, 8.6 (Local) MDAT read: Range 11 to 50 : 92.1 m (Round-trip 122.9 ms) speed 0.6 m/s U*DAT read: user:178> eBDAT read: Tx time:04:44:01.6303 e$Ping request sent.mib#۩bE>b[(@b5>baU(@ b>)bū@Ib``b*o?AZq?0#? b ?)bd)IbD+Hib``:publishing transmit ping timeaFpublishing direction and range info0y`bWi?,[侈%)k?Y````` `)`I`i````` `)`I```b*o?AZq?0#? `)`I`i```Y5lBy5$I 99AAbE™T4jErO4rE’/E EE+E"E;*E:VE [4ZEBEe9YYY=]Fy] Ei;E>Q 55?Q 95IN)uBYN?Q E:yЛ?Q IP@WCI{;i0;U5yBɮXAdEi`ib$?AJib_BRib_Bjib@ZbĈ?VB?ZRf?2ib3B:ib B"ib.e?*ib-BibBibL?i`i`ibdBib4?  addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.779047 s, deltaX: -2.800003 m, approachRate: -0.740928 m/s, rangeRepo size: 4 E Added new target pos. range: 91.686646 m, bearing: 66.427004 deg, lat: 36.779275 deg, lon: -121.859568 deg, deltaT: 3.779047 s, deltaX: -2.787491 m, approachRate: -0.737617 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 91.69 m.RhUZhYm ProNav: ac range: 91.686646 m, nav range: 86.196411 m, bearing: 64.855023 deg, approach rate: 0.000000 m/s, LOS rate: -0.095941 deg/s, cmd heading: 63.771195 deg, new cmd heading: 63.599304 deg. BhimHeadingCmd: 1.110017 target range: 91.686646 and range: 92.10 m.hu ?hq*h"h hgfffdddjd`fW@Zd``?1]xBɢ]Cj/)a eYAia)aaaiej=8iu ?}ca<}0=I} ?I% 9@!  @) @- /@) a ^AMNw =AU>AU>ԉA.AIIO ?0,D$?A:n?:;?:sIٱ:z, BAHRS rotation from veh to nav: [[0.400379,-0.886573,-0.231702],[0.895260,0.432388,-0.107468],[0.195464,-0.164405,0.966832]]:H͟?^ hͿ??? ?= ſ`J?i:n?I:a;:CYJkByJ IbDTVDTy^Խ%^K=ٔ^պQ-^>9b ?Yb ?=bFyb Ef-<Ef>hhQ 5n5j?Q 9r5jF)j/uBYpyrN?Q IrP@jIXCIj:ij|:j5ytɮzAxE EE'E"E;*E:VE'4ZEa@a@a@a@B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 91.69 m.Rh#_Zh#_% ProNav: ac range: 91.686646 m, nav range: 85.883514 m, bearing: 64.836349 deg, approach rate: -0.814254 m/s, LOS rate: -0.048771 deg/s, cmd heading: 63.599306 deg, new cmd heading: 63.543083 deg. Bh%-HeadingCmd: 1.109036 target range: 91.686646 and range: 92.10 m.h-?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdEH? DxBɢ=gd) Fi)iZ9i?Ajb<h_B=I?I9@ @@a0@^A&$=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)A5؟AIAIQO}>Q 6,$?ABn>Bn&CBnIBnmBBlBlBnDBn;Bn7EAfn?C?};Iٱ@. AHRS rotation from veh to nav: [[0.400179,-0.886288,-0.233129],[0.895395,0.432327,-0.106585],[0.195254,-0.166090,0.966587]]H?y\-Ϳ?@?@.I?kBſG?ifn?Ib;echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.988264CYkByIiMb@Mb@Mb@ 9On?~jt{GzY8?yDף`AWA A)hUAYqAbDVD0y=%!=ٔ9Q->9"?Y"?=Fy E9E>Q 55?Q 95=)QuBY9?Q E:yĎ?Q IP@XCIR;iQ;+ 5y!ɮ%A)jhIUDNOT Ignoring new targets: 91.69 m.RhU9Zh]9im ProNav: ac range: 91.686646 m, nav range: 85.517914 m, bearing: 64.840328 deg, approach rate: -0.755298 m/s, LOS rate: 0.008256 deg/s, cmd heading: 63.543080 deg, new cmd heading: 63.555069 deg. BhmN9uHeadingCmd: 1.109245 target range: 91.686646 and range: 92.10 m.hu?hq*hq"hy hygyfyffdddjdZd`E?E EE)E"E~ ;*E:VEFA4ZEBEV_=,Y$?A: ln?:b!?:Hٱ:8_0 FAHRS rotation from veh to nav: [[0.401133,-0.885371,-0.234969],[0.895024,0.433429,-0.105215],[0.194996,-0.168098,0.966292]]:H)?T`vο` ?N?Xﺿ?;ſ`?i: ln?I:b;:CYNkByNIIR>)Ri?V=V=bDZVDZyb5%b{=ٔb S:Q-f ?9dYd=fFyf EhnQEn ?pQ 5v5rY?Q 9v5rP8)rguBYtyv?Q IvP@rXCIr:ir";r5y~Bɮ~A~eEjh!%DNOT Ignoring new targets: 91.69 m.Rh-:9Zh-:9= ProNav: ac range: 91.686646 m, nav range: 85.281891 m, bearing: 64.843115 deg, approach rate: -0.725564 m/s, LOS rate: 0.008591 deg/s, cmd heading: 63.555067 deg, new cmd heading: 63.563451 deg. Bh=9EHeadingCmd: 1.109391 target range: 91.686646 and range: 92.10 m.hE?hA*hA"hA hAgIfIfQfQdQdQdQjdYZd]"w?颅xBɢ|0})F2V< bJi)顑iQ9i?d<M;=I?I-9@) @)@-/@)^A==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491900A1I9IIO]T>E EE*E"E1;*EB:VE(N4ZEa@a@a@a@)Y U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743147GD,%?A2|m?2ْ?2~Hٱ22 :AHRS rotation from veh to nav: [[0.403130,-0.883940,-0.236931],[0.894225,0.435523,-0.103353],[0.194547,-0.170204,0.966013]]2H?`9XYX=^Fy^ E^岻E^>`Q 5f5b'?Q 9f5b}1)buBYhyjK?Q IjP@b.YCIb;ib;b5ylɮnAp1jhIMDNOT Ignoring new targets: 91.69 m.Rhuu/9Zhuu/9 ProNav: ac range: 91.686646 m, nav range: 84.992599 m, bearing: 64.847025 deg, approach rate: -0.707061 m/s, LOS rate: 0.009587 deg/s, cmd heading: 63.563448 deg, new cmd heading: 63.575216 deg. Bh9HeadingCmd: 1.109597 target range: 91.686646 and range: 92.10 m.hE?h*h"h hgfffdddjdZd #?]GuhAB9hAYAxBɢY) Mi)i9i E? 1e< c3=IE?Ia9@ @@/@BAB%>B%"CB%IB% mBB% =B!B%DB%́;B%7Eԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996958^A <=A% >A% >E  E E (E "E f;*E :VE c44ZE BE W\lJ,+%?A6l?69Y=Fy EE>Q 55-ˎ?Q 9 5+)uBY %'?Q E :y t?Q I P@wYCIa:i:d5yѕBɮr~A[EjhAEDNOT Ignoring new targets: 91.69 m.RhM:ZhM:] ProNav: ac range: 91.686646 m, nav range: 84.707352 m, bearing: 64.871908 deg, approach rate: -0.656846 m/s, LOS rate: 0.057492 deg/s, cmd heading: 63.575216 deg, new cmd heading: 63.650117 deg. Bh];eHeadingCmd: 1.110904 target range: 91.686646 and range: 92.10 m.he2?ha*ha"ha hagafififididqdqjdqZd}@颥xBɢqi) QOi)顩i'9i2?]uf<"=I2?Ie>i>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2603389@ @@@@@gA^A4=A I I % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511330) O5 >TQ,uE%?A2qk?2Α?2 Gٱ2L8 :AHRS rotation from veh to nav: [[0.410518,-0.879059,-0.242344],[0.891159,0.443072,-0.097585],[0.193159,-0.175906,0.965270]]2H`E??!Ͽ_?K[?U l?ƿ~?i2qk?I2b;2CEb EbEb+E`"Eb;*Eb:VEb [4ZE`af@af@aj@aj@Yj#lByj8I ppbDvVDvy~:=%~[=ٔ8:Q->9Y= Fy  E FE >Q 55@֎?Q 95%)uBY!y%?Q I%P@YCIj;iw;5y-֕Bɮ-"~A-\EMB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 91.69 m.RheQ:ZheQ:u ProNav: ac range: 91.686646 m, nav range: 84.466743 m, bearing: 64.893813 deg, approach rate: -0.643100 m/s, LOS rate: 0.058715 deg/s, cmd heading: 63.650116 deg, new cmd heading: 63.716019 deg. Bhu.!;uHeadingCmd: 1.112054 target range: 91.686646 and range: 92.10 m.h}W?hy*hy"hy hygyfffdddjdZd@颽%yBɢRq) Pi)i@B:iW?&g<V=IW?I!?B:iyI}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763511@ @@@Q B >^A= I =B CB IB mBB =B B DB ;B p7E=BDAT read: Rx Time:04:44:04.1541 ETRx dataTimestamp_ set to:1761540245.553394Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.017951AaIIO?IY,f%?ADzDE" E"E"(E "E" ;*E"v:VE"c44ZE BE"vT"?BwFٱB; nAHRS rotation from veh to nav: [[0.415245,-0.876165,-0.244758],[0.889087,0.447830,-0.094725],[0.192605,-0.178277,0.964946]]BH`^? 9TϿ fs?@??E?ƿ?iBmj?IBo b;BCYDlByLIiMb@Mb@Mb@ 9i|?5?T㥛 rhY?yC QA A)NAY3kA p<<bDVDNyl=%=ٔQ:Q->9Y=Fy EtE>Q 55掊?Q 95:)uBYr?Q E:yg?Q IP@ZCI ;i ;p5yɮ}Ajh%DNOT Ignoring new targets: 91.69 m.Rh%V:Zh%V:) ProNav: ac range: 91.686646 m, nav range: 84.160080 m, bearing: 64.942008 deg, approach rate: -0.560746 m/s, LOS rate: 0.088448 deg/s, cmd heading: 63.716021 deg, new cmd heading: 63.861133 deg. Bhr;HeadingCmd: 1.114587 target range: 91.686646 and range: 92.10 m.hʪ?h*h"h hgfffdd djdZd׊ @gyBɢ)A)a&7 8Ri)iw:iʪ?Ng<  EBDAT read: Tx time:04:44:05.2802 M$Ping request sent.Mi X &> )@ V> (@ nF>) -@I nF 3P ? Ӊz?&a? u ?) בI i nF }:publishing transmit ping timeI}Fpublishing direction and range infoy ^AK= -t? W+!ʏ8C ?Y ) I i ) I 3P ? Ӊz?&a? ) I i E EEE"Ex;*E:VEZEa@a@a@a@IIO ?/bb,L%?ABph?B`?B EٱB = ZAHRS rotation from veh to nav: [[0.420535,-0.873049,-0.246851],[0.886705,0.453105,-0.091925],[0.192104,-0.180226,0.964684]]BH ?@ИϿ_?`? h@?ǿ ?iBph?IBa;@YflByfqIbDlVDlyv=%v=ٔzp:Q->9Y=Fy E8E>!Q 5-5%k?Q 9-5Q%)%'vBYqyuZf?Q IuP@%SZCI%%@Zuje ?Z\??2iB:i B"iv?*i@BiBii@iBiZBih?U addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.541824 s, deltaX: -2.400002 m, approachRate: -0.677617 m/s, rangeRepo size: 4 e Added new target pos. range: 89.286232 m, bearing: 65.408736 deg, lat: 36.779275 deg, lon: -121.859564 deg, deltaT: 3.541824 s, deltaX: -2.400414 m, approachRate: -0.677734 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 89.29 m.RhZh ProNav: ac range: 89.286232 m, nav range: 84.177048 m, bearing: 65.088227 deg, approach rate: 0.000000 m/s, LOS rate: 0.088448 deg/s, cmd heading: 63.861135 deg, new cmd heading: 64.006718 deg. BhHeadingCmd: 1.117128 target range: 89.286232 and range: 89.70 m.h ?h*h"h hgfffdddjdlV@Zd@?EyBɢM' N)M M RiI)IQQiUTq:iU ?]>h<]kA A @AB- >B) B- IB- *mBB- =B) B) B- ;B- X7E h,T%?A22g?2?2qEٱ2? :AHRS rotation from veh to nav: [[0.426518,-0.869409,-0.249420],[0.883947,0.459097,-0.088700],[0.191624,-0.182642,0.964325]]2H`L?2ϿKI?a?$?@`ǿ@?i22g?I2pa;0YJlByJIi%Mb@Mb@Mb@!!!! !9%/$?K7~jt?Y% ?y%I %D<%A%MA %A)%LA!Y%hAbD=VD=ܲyEu>%MD=ٔM4:Q-M>9QYQ=UFyU E]E]>YQ 5e5]?Q 9m5]x)]cvBYmc?Q Em:ymX`?Q IuP@]ZCI];i] ;]'5ԩDD4=E EE'E"E;*E:VE'4ZEBE]A >I I O% >H o,q%?Ajxc?jÍ?j Dٱj"B ~AHRS rotation from veh to nav: [[0.438648,-0.862486,-0.252398],[0.878134,0.471060,-0.083563],[0.190966,-0.184985,0.964009]]jH?@}I'п?%?\d@q?@ǿ(?ijxc?Ija;hYEmByI5@A1AbDMVDMyeX>%e<=ٔm:Q-m>9Y=Fy! EGE>Q 55?Q 95)vBYy\?Q IP@ZCIN:i:+5yBɮ4xASEjh%DNOT Ignoring new targets: 89.29 m.Rh%:Zh%:E ProNav: ac range: 89.286232 m, nav range: 83.724892 m, bearing: 65.172781 deg, approach rate: -0.559814 m/s, LOS rate: 0.107940 deg/s, cmd heading: 64.125204 deg, new cmd heading: 64.261067 deg. BhE(;MHeadingCmd: 1.121567 target range: 89.286232 and range: 89.70 m.hM?hI*hI"hI hIgIfQfQfQdYdYdYjdYZd]+?颍yBɢ_) `Ki)顱iI:i? g<p:I?IE5 E5E1E1"E5O;*E5:VE1ZE1a=@a=@a=@a=@i9@ @@/@@gA@fA^A]<IIOf>ԑԹ ;u,%?AY~mBy~IbDVDfy%G>%%Q=ٔ%Q-->9)Y)=-Fy-% E5E5>9Q 5E5=>?Q 9E5=v )=vBYAyAQ IMP@=[CI=z;i=:=.5yUBɮU'wAUTEmB*** querying acoustic contact ***ii iijhyDNOT Ignoring new targets: 89.29 m.Rh:Zh: ProNav: ac range: 89.286232 m, nav range: 83.525978 m, bearing: 65.211233 deg, approach rate: -0.524700 m/s, LOS rate: 0.101673 deg/s, cmd heading: 64.261070 deg, new cmd heading: 64.376702 deg. Bh;HeadingCmd: 1.123585 target range: 89.286232 and range: 89.70 m.hя?h*h"h hgfffdddjdZd@6?Թ$zBɢ0g) Ii)id:By>BCBIBmBBBBDBw;B,7EB CB!CB•CB =B =C¨6iя? g<x:Iя?I}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bEc44jE:4rEƺ/Ee EeEe*Ea"EeI;*Ee:VEe(N4ZEaBEegj-|,%?AJp`?J#?J!DٱJXD RAHRS rotation from veh to nav: [[0.449809,-0.856006,-0.254806],[0.872601,0.482018,-0.078908],[0.190366,-0.186850,0.963767]]Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743400JH ?@fdNпX?`?H3]?ǿ.?iJp`?IJ^a;JCYbmBybVIiMMb@Mb@Mb@IIII I9MM?1Zdy&1?YMn?yM"۽M`e=MzAMLA MA)MKAIYM\gAbDeVDeJyu_l>%uD=ٔu:Q-}>9yYy=}Fy}* EjE> Q 55 }'?Q 95 f) ,wBY?Q E:yl?Q I=P@ >[CI ;i ; 25yAɮMuAIjhDNOT Ignoring new targets: 89.29 m.Rh:Zh:  ProNav: ac range: 89.286232 m, nav range: 83.290344 m, bearing: 65.246484 deg, approach rate: -0.533171 m/s, LOS rate: 0.079988 deg/s, cmd heading: 64.376705 deg, new cmd heading: 64.482757 deg. Bh [;HeadingCmd: 1.125436 target range: 89.286232 and range: 89.70 m.hM?h*h"h hg9f9f9f9dAdAdAjdAZdM`2?UWzBɢUydN)Q UFiY)YYYi].n:ieM?eQfEU  EU EU 'EQ "EU f;*EU :VEU '4ZEQ a] @a] @a] @a] @ԁ , &?AJ2!_?J{?JCٱJrD VAHRS rotation from veh to nav: [[0.454288,-0.853454,-0.255420],[0.870316,0.486392,-0.077280],[0.190189,-0.187189,0.963737]]JH ?}OXп`? !?ȳX?ǿ`?iJ2!_?IJa;JCY^WnBy^I f4%rV=ٔr,9Q-r>9v ?Yv ?=vFyv. EzeEz>xQ 55z1?Q 95z()zpwBYyAk?Q IP@zr[CIz;iz;z55yBɮBtAUEjh1=DNOT Ignoring new targets: 89.29 m.RhE:ZhE:U ProNav: ac range: 89.286232 m, nav range: 83.092285 m, bearing: 65.276999 deg, approach rate: -0.554446 m/s, LOS rate: 0.085625 deg/s, cmd heading: 64.482757 deg, new cmd heading: 64.574519 deg. BhUk;UHeadingCmd: 1.127038 target range: 89.286232 and range: 89.70 m.h]B?hY*hY"hY hYgafafafadididijdiZduീ@额{zBɢ@m) HBi)顡i8:iB?e<QIB?Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247450Β{:ԩE9@A @A@E0@A@M=@M=BABu>BCB|IB2nBB =B?DBBg;B7E^AE q: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500535 Eu  Eu Eu ,Eq "Eu ;*Eu :VEu g4ZEq BEu "d,)&?AFN^?F?FCٱFID NAHRS rotation from veh to nav: [[0.457084,-0.851929,-0.255522],[0.868856,0.489116,-0.076514],[0.190164,-0.187039,0.963771]]FH @?BzZп ?M?h`MW?ǿ5?iFN^?IFa;FCYVnByZII^ >)^4<ԙiMb@Mb@Mb@ 9}?5^I?Zd;OK?YM"?yj<^=~AJA A)JAYeAbDMVDMyeޅ>%e#=ٔvQ8Q->9"?Y"?=Fy3 EϻE>Q 55>?Q 954)wBYc$?Q E:y-?Q IP@[CI;i;?:5yɮ#rAjh%DNOT Ignoring new targets: 89.29 m.RhEy::ZhEy::U ProNav: ac range: 89.286232 m, nav range: 82.787247 m, bearing: 65.297935 deg, approach rate: -0.591652 m/s, LOS rate: 0.040757 deg/s, cmd heading: 64.574521 deg, new cmd heading: 64.637560 deg. BhU:]HeadingCmd: 1.128138 target range: 89.286232 and range: 89.70 m.h]f?hY*ha"h hgfffdddjdZd0@颅zBɢ۷6)i =i)顉ik|:if?Kd<If?IԹechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751982<} 9@y  @y @} /@y  ^A] oM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003857A I I O ,F&?A4YvVoByv0IbD~VD~Jy >% G=ٔ Q->9Y=Fy7 EE>E- E-E-.E)"E-f;*E-:VE-ـ4ZE)a5@a5@a=@a=@!Q 5E5%]I?Q 9E5%)%;xBYAyIQ IMP@%[CI%;i%;%=5yQɮU>pAQjhy}DNOT Ignoring new targets: 89.29 m.Rh+A:Zh+A: ProNav: ac range: 89.286232 m, nav range: 82.543655 m, bearing: 65.314765 deg, approach rate: -0.609263 m/s, LOS rate: 0.042220 deg/s, cmd heading: 64.637557 deg, new cmd heading: 64.688197 deg. Bh:HeadingCmd: 1.129022 target range: 89.286232 and range: 89.70 m.h˃?h*h"h hgfffdddjdZd@T@zBɢ3uCGe9aYeYA^A} A I I O >B r>B B IB oBB =B B DB K;B 6Eb,z`&?Al]?]?;Dٱ@ AHRS rotation from veh to nav: [[0.459608,-0.851314,-0.253029],[0.867395,0.491470,-0.077989],[0.190750,-0.183632,0.964310]]H9j?=`1п? @t?`}j? Aǿ?i]?I~Bb;CYoBynIAA@AbD5VD5mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509172y"b>%6=ٔQ->9Y=Fy; E ջE>Q 5]5FU?Q 9e5\)xBYy?Q IP@F\CI-/ a e BDAT read: Tx time:04:44:08.9302 m $Ping request sent.m i  r> p'@ > &@  |>) +AHRS rotation from veh to nav: [[0.458531,-0.852907,-0.249599],[0.867893,0.490171,-0.080586],[0.191078,-0.179674,0.964990]]2HX?KϿ?`^?EAu?`ƿ@3?i25]?I2b;2CYF0pByFI HHLNAiMb@Mb@Mb@ 9x?{Gz?:v?YK7?y#==ALA )lIAY=fAbDVDy7>%=ٔi Q->9 ?Y ?=FyB EN:E>Q 55Tc?Q 95)3yBY9?Q E:y?Q IP@\CIv:i:Be CBe IBe $pBBa Ba Ba Be ;Be 6Eԩ ^A- 8ƼE EE&E"E;*E:VE4ZEBE"dl_?>?>zEٱ>x0 NAHRS rotation from veh to nav: [[0.452519,-0.858997,-0.239478],[0.870915,0.483427,-0.088344],[0.191658,-0.168588,0.966874]]>H?|9ο?x?@>?Iſ?i>l_?I>$b;>CY^pBy^ IiMb@Mb@Mb@ 9(\?rh|?EԸ?YN?y==nzAKA zA)Y(dAbDVDyV>%=ٔdQ->9 "?Y "?= Fy G EHT<E>Q 5%5m?Q 9%5)yBY%Q?Q E%:y%;?Q I-P@]CI& ;i ;K5y1ɮ5iA1jhY]DNOT Ignoring new targets: 86.70 m.Rhe;Zhe;u ProNav: ac range: 86.695244 m, nav range: 80.872078 m, bearing: 65.105066 deg, approach rate: -0.787133 m/s, LOS rate: -0.073540 deg/s, cmd heading: 64.811877 deg, new cmd heading: 64.696089 deg. BhuI}HeadingCmd: 1.129160 target range: 86.695244 and range: 87.10 m.h}O?hy*hy"hy hgfffdddjdZdl?{Bɢ,) ,i)i U7:iO?m^<IO?I 1 9@  @ @ @ a ^A ԉ A%.AI)I9OM>/S,b&?AE EE,E"E;*E:VEg4ZEa&@a&@a&@a&@>#`?>c?>^xEٱ>9i+ FAHRS rotation from veh to nav: [[0.447986,-0.862739,-0.234499],[0.873258,0.478478,-0.092086],[0.191649,-0.163525,0.967745]]>HΫ?ο ?a??_Ŀ`?i>#`?I>b;%b?=ٔbͱ7Q-f>9f ?Yf ?=fFyfK EjyG<Ej>lQ 5r5n)v?Q 9r5n)nzBYpyr֢?Q IvQ@nt]CInN:in:nO5yzBɮzgAzMEjh%DNOT Ignoring new targets: 86.70 m.Rh%XZh%X5 ProNav: ac range: 86.695244 m, nav range: 80.538605 m, bearing: 65.072634 deg, approach rate: -0.780403 m/s, LOS rate: -0.076212 deg/s, cmd heading: 64.696091 deg, new cmd heading: 64.598393 deg. Bh57Q=HeadingCmd: 1.127455 target range: 86.695244 and range: 87.10 m.h=oP?h9*hA"hA hAgAfAfIfIdIԑdIdjdZd!?{BɢZ1)  'i)i i%:i oP?]<&IoP?II!)%bA9@ @@0@^AuA>A>A؟AIIOi>B e>B CB WIB 6qBB =B B DB Ԁ;B w6E {,y&?AɰFb?F,?FMEٱF$ jAHRS rotation from veh to nav: [[0.442639,-0.867118,-0.228424],[0.876015,0.472561,-0.096348],[0.191490,-0.157456,0.968782]]FH0T?m=Ϳ@Q?q>?Aຂ?@'ĿD?iFb?IFrb;FCPExceeded connect timeout, disconnecting.YqByII]>)]>EM EMEM$EI"EM;*EM:VEM4ZEIBEMbO=+wA }A)?GAYaAbDVDy0 >%=ٔi9Q->9"?Y"?=FyQ E&<E>Q 55"?Q 95)zBYRe?Q Em:y?Q IQ@]CI. ;i ;T5yBɮeACE%B*** querying acoustic contact ***i! i!jh)5DNOT Ignoring new targets: 86.70 m.Rh5Zh=E ProNav: ac range: 86.695244 m, nav range: 80.022865 m, bearing: 65.003802 deg, approach rate: -0.856293 m/s, LOS rate: -0.115021 deg/s, cmd heading: 64.598392 deg, new cmd heading: 64.390564 deg. BhMUHeadingCmd: 1.123827 target range: 86.695244 and range: 87.10 m.hUُ?hQ*hQ"hQ hQgQfYfYfYdYdadajdaZdef?I颕{Bɢ)6 %i)顙i]9iُ?\< T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.jI% ُ?I) 9@  @ @ /@ y ԡ^AoMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255588A5.AI9IIO]?,'?ADN 4d?NU?NEٱNe VAHRS rotation from veh to nav: [[0.436860,-0.871397,-0.223205],[0.878963,0.466278,-0.100041],[0.191251,-0.152485,0.969624]]NH? |̿w ??Kz?ÿ)?iN 4d?INc;NCE] E]E]*EY"E];*E]y:VE](N4ZEYae@ae@ae@ae@YqByIbD5VD5:yEO>%E5=ٔE :Q-M>9M ?YM ?=MFyMV EUo<EU>YQ 5e5])?Q 9e5])]zBYayeȩ?Q ImQ@]_^CI] ;i]H;]X5yqɮuYdAqԡjhDNOT Ignoring new targets: 86.70 m.RhZh ProNav: ac range: 86.695244 m, nav range: 79.636444 m, bearing: 64.949786 deg, approach rate: -0.833438 m/s, LOS rate: -0.117068 deg/s, cmd heading: 64.390563 deg, new cmd heading: 64.227729 deg. BhHeadingCmd: 1.120985 target range: 86.695244 and range: 87.10 m.hs|?h*h!"h! h!g!f!f)f)d)d)d)jd1Zd5"h@]&|Bɢe.)a e"ia)aiiim۫9ims|?uš\ B A <B W>B CB IB *rBB =B B DB ;B 86EBCBCB˔CB =B =C`5< ȉ,!'?A6f?6?62Dٱ69 BAHRS rotation from veh to nav: [[0.430604,-0.875674,-0.218576],[0.882076,0.459592,-0.103520],[0.191105,-0.148225,0.970313]]6H`?M˿ 9?`i?E`$v?¿ ?i6f?I60b;6C D)F-lAF HHHJ^lAiJ+IHLILiNlA N#P)PRLC R1lARRaWFTTTIT)TiT)XIZ(lAZX X\^9lA|^'iJFi!%;A)! !I!Y!YBrByIbD%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762157VD%P)nManaging dock network, ignoring radio surface power offy9>% O=ٔN9Q->9-"?Y="?=EFyEZ EU<EU>YQ 5e5]!?Q 9e5])]G{BYiym?Q IQ@]^CI]u;i]%;]Q\5yBɮ`cADEjhDNOT Ignoring new targets: 86.70 m.Rh"Zh" ProNav: ac range: 86.695244 m, nav range: 79.291924 m, bearing: 64.899376 deg, approach rate: -0.863443 m/s, LOS rate: -0.126886 deg/s, cmd heading: 64.227732 deg, new cmd heading: 64.075846 deg. Bh)HeadingCmd: 1.118335 target range: 86.695244 and range: 87.10 m.h%?h*h!"h! h!g!f!)fIfIdIdIdQjdQZdU@bE(N4jEmF4rE30Ei EmEiEi"Ei*Em:VEiZEiBEme@ @@/@Q- BDAT read: Rx Time:04:44:11.4465 - TRx dataTimestamp_ set to:1761540252.8600895 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012545ԁ ^A ] AI IY Ii O} >Ή,='?AYVrByI AieMb@Mb@Mb@aaaa a9eQ?(\?~jt?Ye\o?yeG>e=esAeJA e{A)e(FAaYe`AbD}VD}0y6=%@=ٔQ->9Y=Fy^ EE>Q 55?Q 95){BYt?Q E^:y=?Q IQ@_CI:i:_5yrBɮ u BDAT read: Tx time:04:44:12.5302  $Ping request sent. i  /> *@ |= Us)@ 5=) @I 5 )?16B?? ^?) I i 5  :publishing transmit ping time  Fpublishing direction and range infoy  ^[?bAG&UM7P2?Y ) I i ) A I I O >Tr։ )I)?16B?? )Ii, ['?AYEnrByEIybDVDBO>BCBcIBrBB =BBDBs;B6EyT=%/=ٔQ->9Y=Fy c E E >!Q 5-5%۠?Q 9U5%m)%{BYQyQQ I]Q@%_CI%;;i%;%d5yaɮeaAaiiFAW'?AJihBRihBji]}?b&T@z2^Ff$@R^[?bAG&UM7P2?Zibi5j˒sA@q'gQ@9"":@Z?!`I?+o*? 2N?2iB:iB"i7%`?*iVOBi{BiiVOiBiBiĐ?= addTargetRange:: Added new target pos. range: 84.099998 m, deltaT: 3.527909 s, deltaX: -3.000000 m, approachRate: -0.850362 m/s, rangeRepo size: 4 m Added new target pos. range: 83.703445 m, bearing: 63.334083 deg, lat: 36.779275 deg, lon: -121.859570 deg, deltaT: 3.527909 s, deltaX: -2.991798 m, approachRate: -0.848037 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 83.70 m.Rh}Zhy ProNav: ac range: 83.703445 m, nav range: 78.535255 m, bearing: 64.800659 deg, approach rate: 0.000000 m/s, LOS rate: -0.136821 deg/s, cmd heading: 63.907840 deg, new cmd heading: 63.703659 deg. BhHeadingCmd: 1.111839 target range: 83.703445 and range: 84.10 m.hP?h*h"h hgfffdddjd`fU@Zd@?m|Bɢm9!)q }$iyԩ)项iX28iP?\<줐==oA=QHA =9xA)=AA9Y=z\AbDUVDU:yeO-=%e2=ٔe;йQ-m>9m ?Ym ?=uFyuh Eu7=Eu>yQ 55}?Q 95}})}5|BYgr?Q E`:yج?Q IQ@}_CI}:i}:}h5yɮaAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 83.70 m.Rh56Zh56 ProNav: ac range: 83.703445 m, nav range: 78.119339 m, bearing: 64.732644 deg, approach rate: -0.968951 m/s, LOS rate: -0.159297 deg/s, cmd heading: 63.703658 deg, new cmd heading: 63.498527 deg. BhڻHeadingCmd: 1.108258 target range: 83.703445 and range: 84.10 m.hiۍ?h*h"h hgfffdddjdZdh?-|Bɢ-1)) -%i))111i5].7i=iۍ?=]<=>=I=iۍ?IAiiiiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EEE"Ef;*E:VEZEa@a@a@a@9@ @@@@@=! I ^A e<] Gm checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993910 (hA 9(hAY&AIIO>n,'?A4<ɰ2n?23[?2$Eٱ2q :AHRS rotation from veh to nav: [[0.399847,-0.893632,-0.203823],[0.896389,0.427667,-0.116567],[0.191337,-0.136096,0.972043]]2H? ʿ7?@^?Y׽}?`k?i2n?I2b;2CDYFrByJ,IIN=)N<bDRVDRyZ<%Z/=ٔ^Q-^>9\Y\=^Fybl EbT<Eb>dQ 5j5f?Q 9j5fD)f||BYlyn?Q InQ@fk`CIf:if:f"l5yr]Bɮr`Av2Ejh DNOT Ignoring new targets: 83.70 m.Rhr2Zhr2% ProNav: ac range: 83.703445 m, nav range: 77.693863 m, bearing: 64.660291 deg, approach rate: -0.912430 m/s, LOS rate: -0.156010 deg/s, cmd heading: 63.498527 deg, new cmd heading: 63.280281 deg. Bh-"ֻ-HeadingCmd: 1.104449 target range: 83.703445 and range: 84.10 m.h-^?h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE?u }Bɢut5)q u'iq)}.yyi}h.i^?>_<~U=I^?IAA@ABF>BCBIB[sBB =BBDBI;B5E}9@ @@/0@Թ^AU.<echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251602IIOe>DD<E% E%E%*E!"E% ;*E%:VE%(N4ZE!BE%R+kA$FA "wA)@AY=ZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497882bDVDy<%<=ٔ:Q->9Y=Fyq ECI<E>Q 554?Q 95D|)|BYi?Q Eh:y??Q IQ@`CI ;i ;o5yɮ`AjhDNOT Ignoring new targets: 83.70 m.RhZh- ProNav: ac range: 83.703445 m, nav range: 77.306343 m, bearing: 64.608595 deg, approach rate: -0.891687 m/s, LOS rate: -0.119548 deg/s, cmd heading: 63.280282 deg, new cmd heading: 63.124418 deg. Bh-5HeadingCmd: 1.101729 target range: 83.703445 and range: 84.10 m.h5t?h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdM֊?u6}Bɢ}v$;)}. })iy)}F顁iƜit?`<ԣo=It?I)I@I @I@M1@I^A%8=IIO?>QU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749829ԁ EE  EE EE +EA "EE ;*EE :VEE [4ZEA aU @aU @aU @aU @w,'?AYyrByIbD-VD-P)y=C%ER=ٔEQ-E>9AYI=MFyMu EMEM>QYQ 5e5U?Q 9e5UTs)U|BYayiQ ImQ@U*aCIU+;iUF-;USs5yqɮu aAqjhDNOT Ignoring new targets: 83.70 m.Rh Zh  ProNav: ac range: 83.703445 m, nav range: 76.959930 m, bearing: 64.561936 deg, approach rate: -0.890258 m/s, LOS rate: -0.120450 deg/s, cmd heading: 63.124417 deg, new cmd heading: 62.983810 deg. BhTHeadingCmd: 1.099275 target range: 83.703445 and range: 84.10 m.h ?h*h"h hgfffdddjdZd?额]}BɢrL) K.i)ۻ顡iFTi ?r2b<u=I ?IIueA)ueAԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002640E9@A @I@M4@I@Q@UeAԱB ;>B CB IB sBB =B B DB 8;B 5E^A l;=I I O5 >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258012H,['?AyE EE*E"E;*E^:VE(N4ZEBEb9Y=Fyy ED<E>Q 55ˏ?Q 951i) }BY6R?Q E:y ?Q IQ@aCI:i@:w5yCBɮ Z`A (Ejh)5DNOT Ignoring new targets: 83.70 m.Rh5iZh=im ProNav: ac range: 83.703445 m, nav range: 76.556946 m, bearing: 64.524482 deg, approach rate: -0.811339 m/s, LOS rate: -0.075804 deg/s, cmd heading: 62.983811 deg, new cmd heading: 62.870858 deg. BhmPuHeadingCmd: 1.097304 target range: 83.703445 and range: 84.10 m.huqt?hq*hq"hq hqgqfyfyfydyddjdZd@e@ԡ}Bɢ9)  2i)6ieiqt?Ydd<z׈=Iqt?IiߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5101059@ @@4@^Ah=I I) O5 > Ř,À(?A2q?2Ȕ?2?Bٱ2D :AHRS rotation from veh to nav: [[0.390040,-0.896525,-0.210029],[0.901284,0.418420,-0.112300],[0.188560,-0.145495,0.971224]]2H`k?@T=ʿ`R?`c?@"?`¿D?i2q?I2\b;0YRerByRIbDZVDZ yb%f=ٔfb;Q-f?9dYh=jFyj} EjEj?lQ 5r5n;ҏ?Q 9v5nc)n$}BYtyv?Q IvQ@naCIn:in:nIz5yzIBɮz`A~)EB*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 83.70 m.Rh-{Zh-{= ProNav: ac range: 83.703445 m, nav range: 76.314148 m, bearing: 64.501820 deg, approach rate: -0.809880 m/s, LOS rate: -0.075834 deg/s, cmd heading: 62.870860 deg, new cmd heading: 62.802656 deg. Bh=-PEHeadingCmd: 1.096113 target range: 83.703445 and range: 84.10 m.hEoM?hA*hA"hA hIgIfIfIfQdQdQdQjdQZd]@ }Bɢ ؂u) `P< 4i )(8i7i=oM?=e<==I=oM?IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762187E EE'E"EO;*EǙ:VE'4ZEa@a@a@a@A}9@ @@4@q BDAT read: Rx Time:04:44:15.0432  TRx dataTimestamp_ set to:1761540256.392610 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015402ԩ ^A np=A% >A% >AIIaIyO>,!(?AB A"<B&5>B&CB$B$B& =B$B$B&;B&5En5q?n$?nP@ٱn vAHRS rotation from veh to nav: [[0.391975,-0.894412,-0.215367],[0.900741,0.420735,-0.107922],[0.187139,-0.151687,0.970551]]nH?"˿?`T?Ġ+?yjÿ?in5q?Intb;nCY~UrBy~IbDVD03yH%%'=ٔ%A;Q-%>9)Y)=-Fy- E5̇E5>9Q 5=5=܏?Q 9E5=Y)=N}BYAyE?Q IEQ@=7bCI=d:i=:=~5yQɮU`AQjhy}DNOT Ignoring new targets: 83.70 m.RhZh ProNav: ac range: 83.703445 m, nav range: 75.917641 m, bearing: 64.465284 deg, approach rate: -0.811595 m/s, LOS rate: -0.075174 deg/s, cmd heading: 62.802654 deg, new cmd heading: 62.692474 deg. Bh]NHeadingCmd: 1.094190 target range: 83.703445 and range: 84.10 m.hl?h*h"h hgfffddd jd Zd  @]}Bɢ]xI)]% ; ]8iY)efaaie8iml?mg@-=E EE,E"E;*E:VEg4ZEBE1NԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519887$ ,:(?AFp?FC?F{J?ٱFV'L RAHRS rotation from veh to nav: [[0.395897,-0.890749,-0.223228],[0.899318,0.425250,-0.101931],[0.185723,-0.160398,0.969422]]FHaV?̿5?L7?`+?Ŀ?iFp?IFb;FCY^ErBy^IIba>)bpA EXmA)EZ9qYq=uFyu E}?(E}>Q 55#珊?Q 95Q)m}BYK;?Q E:y?Q IQ@bCI` ;i ;*5yɮ5aAjhDNOT Ignoring new targets: 83.70 m.RhZhm ProNav: ac range: 83.703445 m, nav range: 75.617424 m, bearing: 64.458267 deg, approach rate: -0.726521 m/s, LOS rate: -0.017050 deg/s, cmd heading: 62.692476 deg, new cmd heading: 62.671340 deg. Bh7;HeadingCmd: 1.093821 target range: 83.703445 and range: 84.10 m.hU?h*h"h hgfDReached init depth of 60.568050 m.ffddd)jd1Zd=@J @颥 ~Bɢ^Y) o MBDAT read: Tx time:04:44:16.1302 U$Ping request sent.Ui|}?>uY+@'>+@ J4>)T@IJ4vo$X?w_*g?zo? 7s?)^'IQ]iJ4}:publishing transmit ping timeQ}Fpublishing direction and range infoyq?u?oG\B:ujr?Y )Ii )Ivo$X?w_*g?zo? )IiԙE EE+E"E~ ;*EB:VE [4ZEa@a@a@a@TP?i6Wm?I6b;6CYJKrByNIbDVVDVJy^B0<%^=ٔb,O;Q-f>9hYl=nFyn ErEv>|Q 5 5~?Q 95~H)~}BYy6?Q IQ@~bCI~+;i~{;~ņ5y-5Bɮ-`A= EB+>BCBIBysBB =BBDB;BU5EBCBCBB =B =C15iiDmI(?AJijBRijBji?byWS@NbK@{,@Rq?u?oG\B:ujr?ZiQ]biJ4jCo@@&-TQ@JyJ;=@ZLnq?s?a ?2iB:iB"ip+ƚ?*ikkGEBiBip+ƚ?ikkGEiiBi˜? addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.783935 s, deltaX: -2.500000 m, approachRate: -0.660688 m/s, rangeRepo size: 4  Added new target pos. range: 81.208954 m, bearing: 64.284560 deg, lat: 36.779279 deg, lon: -121.859566 deg, deltaT: 3.783935 s, deltaX: -2.494492 m, approachRate: -0.659232 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 81.21 m.RhZh ProNav: ac range: 81.208954 m, nav range: 75.764420 m, bearing: 64.284288 deg, approach rate: 0.000000 m/s, LOS rate: -0.017050 deg/s, cmd heading: 62.671336 deg, new cmd heading: 62.642197 deg. BhHeadingCmd: 1.093313 target range: 81.208954 and range: 81.60 m.h?h*h"h hgffԡfdddjd `ffT@Zd ?uE~BɢuG)y }?iy)ڤiS9i?vk<iY\=I?IgAgADzDAAbE!jE%JJ4rE%/E EEE"E7;*EM:VEZEBEZ9AYA=EFyE EEs\EE>IQ 5U5M"?Q 9]5M4@)M}BY]D(?Q E]:y]?Q I]Q@MFcCIM:iM:MË5yaɮm<`AiB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.21 m.Rh&:Zh&:M ProNav: ac range: 81.208954 m, nav range: 75.393074 m, bearing: 64.304075 deg, approach rate: -0.681420 m/s, LOS rate: 0.036488 deg/s, cmd heading: 62.642199 deg, new cmd heading: 62.701851 deg. BhMT:UHeadingCmd: 1.094354 target range: 81.208954 and range: 81.60 m.hU?hQ*hY"hY hYgYfYfafeBadddjdZdp?\rBɢZ)* i)%ڤ!!i% i-?-*l<-ZcA=I-?I1==99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑE EE&E"E;*Ek:VE4ZEa@a@a@a@9@ @@<0@Թ^A] u \=I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248635 H&,GU(?AF h?F`U?F=ٱFJ RAHRS rotation from veh to nav: [[0.421491,-0.870158,-0.255284],[0.887939,0.453184,-0.078670],[0.184146,-0.193518,0.963660]]FH?@VVпi??`# ?3ȿM?iF h?IFxb;FCYZlrByZIbDfVDfβyju#=%jR=ٔn]Q-n>9pYp=rFyr ErEv>tQ 5z5v?Q 9~5vn:)v}BY|y~}?Q I~Q@vcCIv;iv&;v+5yɮ _A jh)5DNOT Ignoring new targets: 81.21 m.Rh5=:Zh==:M ProNav: ac range: 81.208954 m, nav range: 75.139862 m, bearing: 64.319441 deg, approach rate: -0.678445 m/s, LOS rate: 0.041311 deg/s, cmd heading: 62.701854 deg, new cmd heading: 62.748109 deg. BhM:MHeadingCmd: 1.095161 target range: 81.208954 and range: 81.60 m.hU=.?hQ*hQ"hQ hQgQfQfYfYdadadajdaZde`3?频ɢ) puB=CB=IB=[sBB= =B9B9B=^;B=$5EU9@Q @Q@U/@Q ^A-tY=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504376AM>AM>IIyO>E  E E E "E ;*E ՚:VE ZE ) BE R9IYI=MFyM EMEU>YQ 5e5]u?Q 9e5] 5)]~BYe2?Q Ee:yeZ{?Q IeQ@]cCI]C:i]:]Ғ5yu;Bɮu_Au!EjhDNOT Ignoring new targets: 81.21 m.Rh+:Zh+: ProNav: ac range: 81.208954 m, nav range: 74.895782 m, bearing: 64.345896 deg, approach rate: -0.583589 m/s, LOS rate: 0.063459 deg/s, cmd heading: 62.748108 deg, new cmd heading: 62.827730 deg. Bh4.;HeadingCmd: 1.096551 target range: 81.208954 and range: 81.60 m.h[?h*h"h hgfffBdddjdZd`_?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752702额]rBɢ52)  .=i)u顡iԊɺi[?J9n<%Yԁ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004604E  E E ,E "E O;*E :VE g4ZE a @a @a @a @ǖ3, (?A02b d?2?2=ٱ2JY >AHRS rotation from veh to nav: [[0.438027,-0.857898,-0.268594],[0.879875,0.470385,-0.067512],[0.184261,-0.206757,0.960885]]2H@?s 0ѿ`'??yHޕ?wʿ`?i2b d?I2b;0YNrByR;IbDZVDZfyb=%bS=ٔb Q-b>9dYd=fFyf Ejr¼Ej>lQ 5r5nI%?Q 9r5n0)n=~BYpyrx?Q IvQ@ndCIn;in;n45yxɮz8_AxjhDNOT Ignoring new targets: 81.21 m.Rh%:Zh%:5 ProNav: ac range: 81.208954 m, nav range: 74.670197 m, bearing: 64.372147 deg, approach rate: -0.583009 m/s, LOS rate: 0.068048 deg/s, cmd heading: 62.827727 deg, new cmd heading: 62.906718 deg. Bh5:;=HeadingCmd: 1.097929 target range: 81.208954 and range: 81.60 m.h=?h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM @^rBɢuq) P=i)=ii ? n< ܳC@ @@@%G=hAQ9hAYRAy?ӨAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256581^A]"=IIO>B5 !>B1 B5 IB5 esBB1 B1 B5 DB5 ~;B5 4E q9,(?A6a?6Œ?6 =ٱ6] >AHRS rotation from veh to nav: [[0.446085,-0.852204,-0.273417],[0.875772,0.478607,-0.062916],[0.184477,-0.211385,0.959836]]6H?AEѿ`S?@?J?˿?i6a?I6nbb;6CYFrByF[IbDRVDR1yZ>%ZK=ٔZ,Q-Z>9\Y\`rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508730=Fy% E-rE5>AQ 5E5E1?Q 9M5E*)Ei~BYIyMv?Q IMQ@E?dCIE:iER:Eٙ5yU(Bɮ}]A}EjhyDNOT Ignoring new targets: 81.21 m.DzDE EE&E"E;*Ek:VE4ZEBE`iE 9@A  @A @M /@I I @Q @U gA^A% ɇA,Dk)?A2w_?22?2 0>ٱ2S` :AHRS rotation from veh to nav: [[0.453625,-0.847382,-0.275984],[0.871851,0.486133,-0.059594],[0.184664,-0.213584,0.959313]]2H 1?ѿ@3?`?@$ ?`V˿ల?i2w_?I2B0b;2CYB1sByBIi Mb@Mb@Mb@     9 > ףp=?+y&1|?Y ?y  `; hA 4A cA) 6A Y NAbDuVDuyk+>%'=̹ٔQ->9"?Y"?=Fy EPE>Q 55=?Q 95%)~BYJ?Q E:y$u?Q IQ@dCI:i:5yɮ~\AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.21 m.Rh:Zh: ProNav: ac range: 81.208954 m, nav range: 74.166084 m, bearing: 64.436273 deg, approach rate: -0.593024 m/s, LOS rate: 0.077243 deg/s, cmd heading: 62.997615 deg, new cmd heading: 63.099748 deg. Bh T;HeadingCmd: 1.101298 target range: 81.208954 and range: 81.60 m.hX?h*h"h hgff f BdddjdZd*@5BDAT read: Rx Time:04:44:18.6399 =TRx dataTimestamp_ set to:1761540260.172237=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013758]`rBɢ] r)Y ]P>iY)e{aaie+2XimX?m ĴG,aR )?AjY]?j?j8>ٱj+C_ rAHRS rotation from veh to nav: [[0.460819,-0.843615,-0.275606],[0.868063,0.493072,-0.057849],[0.184696,-0.212585,0.959528]]jH~?@ѿ+??q ?5˿u?ijY]?Ij[b;jCY~msBy~I AB>BCBIBsBB =B@DBBF~;B4EbD-VD-ܲy=>%=N=ٔE;Q-E>9AYA=MFyM EU⪼EU>YQ 5e5]H?Q 9e5]P )]~BYayes?Q IeQ@]dCI]{;i];]q5yqɮu[AqjhDNOT Ignoring new targets: 81.21 m.Rh(:Zh(: ProNav: ac range: 81.208954 m, nav range: 73.947113 m, bearing: 64.466334 deg, approach rate: -0.552902 m/s, LOS rate: 0.076130 deg/s, cmd heading: 63.099746 deg, new cmd heading: 63.190198 deg. BhP;HeadingCmd: 1.102877 target range: 81.208954 and range: 81.60 m.h+?h*h"h hgfffdddjdZd@zU @arBɢC) >i)E  i A~i +?-m<8I+?I/9@ @@L0@^Aujb<%DAT read: 04:44:18.6399 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.22,-0.795,-2.428,-0.652,-1.020, PHS= 0.327,-1.363, 0.324, RAW= 149.9, 8.5, CAL= 149.4, 9.2, ROT= 0.6, -9.2 eYgot valid direction response: 04:44:18.6399 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.22,-0.795,-2.428,-0.652,-1.020, PHS= 0.327,-1.363, 0.324, RAW= 149.9, 8.5, CAL= 149.4, 9.2, ROT= 0.6, -9.2 PDAT read: Bearing 214.2, 9.4 (Local) ~Local bearing/azimuth received: Bearing 214.2, 9.4 (Local) E- E-E-(E)"E-x;*E-՚:VE-c44ZE)BE-DgDAT read: Range 11 to 50 : 79.1 m (Round-trip 105.5 ms) speed 0.8 m/s *DAT read: user:183>  BDAT read: Tx time:04:44:19.7302  $Ping request sent. iMvMT>Mp'@M>M&@ Ml$>)M+AHRS rotation from veh to nav: [[0.467056,-0.840107,-0.275824],[0.864807,0.499023,-0.055538],[0.184300,-0.212595,0.959602]]2H??(@ѿ?`?o`(?S6˿?i2[?I2Cb;2CYRsByVIieMb@Mb@Mb@aaaa a9eOn?J +S㥛?Ye?yeHe/%F=ٔ:Q->9Y=Fy EBE>Q 55S?Q 95)BY??Q E:yh?Q IQ@dCI ;iP ; 5yBɮiXAEiixa+)?AJioBRioBji?bm \lS@ ?sA+)@R`H-?}7+?Čsv?Zi+<bil$j@`@@1ӹP@(u9:@Z$ڗ ?~i׀2?M=R?2i΅B:iB"iл皊?*idG;Bi_Biл皊?iiԱBiBiu? addTargetRange:: Added new target pos. range: 79.099998 m, deltaT: 3.530530 s, deltaX: -2.500000 m, approachRate: -0.708109 m/s, rangeRepo size: 4 % Added new target pos. range: 78.717941 m, bearing: 64.343647 deg, lat: 36.779282 deg, lon: -121.859566 deg, deltaT: 3.530530 s, deltaX: -2.491013 m, approachRate: -0.705563 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 78.72 m.Rh-Zh)E ProNav: ac range: 78.717941 m, nav range: 73.878601 m, bearing: 64.215718 deg, approach rate: 0.000000 m/s, LOS rate: 0.076130 deg/s, cmd heading: 63.190199 deg, new cmd heading: 63.285277 deg. BhAEHeadingCmd: 1.104536 target range: 78.717941 and range: 79.10 m.hMsa?hI*hI"hI hIgIfQffBdddjd`fS@Zd?QbrBɢ$9;)GU >i)BTi>isa?Zl<<{Isa?Iy-S,1ԡ 9@  @ @ /@ @ =@ =E-  E- E- *E) "E- I;*E- :VE- (N4ZE) a5 @a5 @a5 @a5 @ ^A ϩ;I IO%?=V,[)?A6C]X?6?6N(7ٱ6}=U NAHRS rotation from veh to nav: [[0.478244,-0.837203,-0.265280],[0.860017,0.507644,-0.051654],[0.177912,-0.203442,0.962787]]6H`?]@YпB?>?\r ?e ʿ`&?i6C]X?I6>a;4YZ3tByZ-II^4=)^p>bDbVDbfyj>5>%n"=ٔnR9pYp=rFyr ErǼEr>tQ 5z5vJa?Q 9~5v)vcBY|y~}?Q I~Q@vDeCIv ;iv7;vt5yɮ VA jh)5DNOT Ignoring new targets: 78.72 m.Rh5R:Zh=R:E ProNav: ac range: 78.717941 m, nav range: 73.587410 m, bearing: 64.245452 deg, approach rate: -0.581281 m/s, LOS rate: 0.059591 deg/s, cmd heading: 63.285275 deg, new cmd heading: 63.374830 deg. BhM#;MHeadingCmd: 1.106099 target range: 78.717941 and range: 79.10 m.hM?hQ*hQ"hQ hQgQfYfYfYdYdadajdaZdeವ?drBɢ$)<) >i)ҙii?ڊk<K$I?I8RBU>BUCBU%IBU&tBBU =BQBUDBU};BU74E@ @@t0@^A]q1II)O5q>E  E E E "E ;*E ^:VE ZE BE m%UC=ٔUg9YYY=]Fy] EeaBEe>iQ 5u5mk?Q 9u5m)mBYu ?Q Eu:ye?Q IQ@meCImcd,5)?A2vV?2 ?2%5=ٔ o9 Y=Fy EE>Q 5%5v?Q 9-5G)BY)y-҈?Q I-Q@eCI:i:5y5Bɮ=RA=EUB*** querying acoustic contact ***iQ iQjhaeDNOT Ignoring new targets: 78.72 m.Rhm9Zhm9} ProNav: ac range: 78.717941 m, nav range: 73.056656 m, bearing: 64.266371 deg, approach rate: -0.638212 m/s, LOS rate: 0.026417 deg/s, cmd heading: 63.403608 deg, new cmd heading: 63.437817 deg. Bh} :HeadingCmd: 1.107199 target range: 78.717941 and range: 79.10 m.h?h*h"h hgfffdddjdZd?hrBɢ<) )?i)&i޼ػi?th<I?IiM9@I @I@M4@I^A%&t@ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.IIO>ԡAAB>BBIBtBB =BBB|;B3EBUCBUCBQBU =BU =CUǰ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.923153 3j,)?AbE:4jE:4rES)0E EE(E"EO6;*EP:VEc44ZEBEF AHRS rotation from veh to nav: [[0.490145,-0.838866,-0.236776],[0.857497,0.512797,-0.041687],[0.156388,-0.182602,0.970670]]uH@^?Nοp?h?W@?_ǿ?iuYU?Iucb;uCYuByI iMb@Mb@Mb@ 9Dl?v/?S㥫?YO-?yxi=/]=`A2A ^A)2AYHAbDVDy >%5$=ٔ5`99Y9==Fy= EE帻EM>IQ 5U5M[?Q 9]5M))MBY]y.?Q E]:y]P?Q I]Q@M#fCIM;iMA;M5ymBɮm.OAijhDNOT Ignoring new targets: 78.72 m.RhڌZhڌ ProNav: ac range: 78.717941 m, nav range: 72.718880 m, bearing: 64.258592 deg, approach rate: -0.665269 m/s, LOS rate: -0.015393 deg/s, cmd heading: 63.437813 deg, new cmd heading: 63.414367 deg. Bh)HeadingCmd: 1.106789 target range: 78.717941 and range: 79.10 m.hG?h*h"h hgfffTBdddjdZdu@krBɢ=) mO?i)gii G? Sf< I G?I@ @@4@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.176005) ^A Gg̼A >A >IA IQ O] >Q q,)?A2U?2l?2ٱ2 6 :AHRS rotation from veh to nav: [[0.491963,-0.840864,-0.225654],[0.858021,0.512205,-0.038026],[0.147556,-0.174909,0.973465]]2H Q|?@\ =̿ t? c?(x ? hcƿ &?i2U?I2b;2CYF vByFQIbDNVDNyVM>%V=ٔZԁ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.679190w,)?A,2T?2_?2' ٱ2Г, >AHRS rotation from veh to nav: [[0.492989,-0.843488,-0.213284],[0.858993,0.510813,-0.034651],[0.138176,-0.166127,0.976376]]2H@#?`L˿|?`X??Cſ x>?i2T?I2zb;0Y^]vBy^IbDjVDjܲyrB>%rG=ٔr9tYt=vFyv Ev)Ez>|Q 5~5~{?Q 95~)~LBYy?Q IQ@~fCI~:i~:~5y BɮLAEB=>B=CB=%IB=uBB= =B9B9B=|;B=3EjhQ]DNOT Ignoring new targets: 78.72 m.Rh]PZhePm ProNav: ac range: 78.717941 m, nav range: 72.252617 m, bearing: 64.248747 deg, approach rate: -0.687856 m/s, LOS rate: -0.014350 deg/s, cmd heading: 63.401900 deg, new cmd heading: 63.384732 deg. Bhu}HeadingCmd: 1.106272 target range: 78.717941 and range: 79.10 m.h}T?hy*hy"hy hygyfffdddjdZd@@}orBɢ}?7R=)y }]{?iy)3,~顁i< iT?(+d<IT?Iԉ!@! @!@%/@!BDAT read: Rx Time:04:44:22.2362 TRx dataTimestamp_ set to:1761540263.701187checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933647ԱE EE&E"EC#;*E:VE4ZEBE{},ѐ)?A2!U?26|?2yٱ2U" :AHRS rotation from veh to nav: [[0.492840,-0.846751,-0.200302],[0.860503,0.508434,-0.032084],[0.129008,-0.156548,0.979209]]2Hಊ?@|ɿ`=?E?UmQ?@ ĿU?i2!U?I2c;2CYFvByFIJ=J=\iMb@Mb@Mb@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.183255 9S?Zd;??Y/=?y=L=[A/1A bXA)2AYEAbD=VD=yM>%MD=ٔM9QYQ=UFyU E] ;E]>aQ 5m5eI?Q 9m5eX)egBYm+@?Q Em:yu˜?Q IuQ@efCIe:ie:e>5y=Bɮ=IA=EjhDNOT Ignoring new targets: 78.72 m.Rh݃Zh݃ ProNav: ac range: 78.717941 m, nav range: 71.946014 m, bearing: 64.223356 deg, approach rate: -0.693087 m/s, LOS rate: -0.057642 deg/s, cmd heading: 63.384729 deg, new cmd heading: 63.308232 deg. Bh<%HeadingCmd: 1.104937 target range: 78.717941 and range: 79.10 m.h%n?h!*h!"h! h!g!f)f)f5Bd1d1d1jd9Zd=`a @rrBɢNZm=) ܋?i)B:ni Ti%n?Mob - BDAT read: Tx time:04:44:23.3302 - $Ping request sent.- i= W>m7'@^ Z>'@ :Fq>);I:Fq*,?6H&G^?iW? ?)$ZI;i:Fq] :publishing transmit ping time) ] Fpublishing direction and range infoyjwu??{?%E?Y )Ii )I*,?6H&G^?iW? )IiA E  E E *E "E ;*E S:VE (N4ZE a @a @a @a @^A} IY Ii q O} >\q,,*?A@LXnܼ9lYnAU?dž?"ٱˮ AHRS rotation from veh to nav: [[0.491429,-0.850268,-0.188524],[0.862646,0.504984,-0.028870],[0.119749,-0.148442,0.981644]]Hs?@f5!ȿ˚?@(?.`㧾? 'ÿi?iU?I4b;YwByIbDVDP)y%>%%.=ٔ-9)Y)=5Fy5 E5;E5>9Q 5E5=-?Q 9E5=)=BYiym?Q ImQ@=BgCI=q;i=:;=X5yqɮuHAqii: *?AJiܗBRiܗBjit?b/tuR@nZy~?,u81@Rjwu??{?%E?Zi;bi:Fqj;= !H@@@9O@d%*:@ZeGe?ZQ>? ?2i}B:iB"i X?*i*`BiBiy$?iVOiBiBi̮?!- addTargetRange:: Added new target pos. range: 76.300003 m, deltaT: 3.525559 s, deltaX: -2.799995 m, approachRate: -0.794199 m/s, rangeRepo size: 4 = Added new target pos. range: 75.929688 m, bearing: 62.871725 deg, lat: 36.779284 deg, lon: -121.859570 deg, deltaT: 3.525559 s, deltaX: -2.788254 m, approachRate: -0.790869 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 75.93 m.RhMZhI] ProNav: ac range: 75.929688 m, nav range: 71.372711 m, bearing: 63.868145 deg, approach rate: 0.000000 m/s, LOS rate: -0.057642 deg/s, cmd heading: 63.308231 deg, new cmd heading: 63.229385 deg. BhYHeadingCmd: 1.103561 target range: 75.929688 and range: 76.30 m.h|A?h*h"h hgfffdddjd@3S@Zdx?颽vrBɢ|=) ?i)dd\i!i|A?a<׼I|A?IB<AB%>B%CB%IB%vBB% =B!B%DB%h|;B%3EQ9@ @@/@ԁ ^A GI9 IQ Oe >$,e0*?AE EE(E"EU,;*E:VEc44ZEBE=UA |SA)2AY\CAbDVD0yH>%>=ٔ 9Y=Fy Er;E>Q 55?Q 95)BYV?Q E}:y?Q IQ@gCIB;i:5yɮGA%B*** querying acoustic contact ***i! i!ԁjhDNOT Ignoring new targets: 75.93 m.RhZh ProNav: ac range: 75.929688 m, nav range: 71.021049 m, bearing: 63.822938 deg, approach rate: -0.824089 m/s, LOS rate: -0.106463 deg/s, cmd heading: 63.229383 deg, new cmd heading: 63.093091 deg. Bh!HeadingCmd: 1.101182 target range: 75.929688 and range: 76.30 m.h?h*h"h hgfffBdddjd Zd (?uyrBɢu=)y }?iy)L顡iD+i?_<$I?IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ@ @@@ ^A ѼA >A >IY Iq O} >,6J*?A2GW?2?2ѽٱ2O :AHRS rotation from veh to nav: [[0.487147,-0.857231,-0.166861],[0.867352,0.497203,-0.022112],[0.101919,-0.133956,0.985732]]2Hj-?on@[ſZ?@,?\?v%?i2GW?I2c;2C`YbwByb]IbDjVDj:yrm>%rp=ٔvg顱i 3i?^<lI?IE= E=E=,E9"E=2;*E=-:VE=g4ZE9aE@aE@aE@aE@M9@I @I@M4@I^AVoѼIqIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248315I B >B CB 8IB wBB =B B DB (|;B e3E㶘,d*?A21X?2?2!ٱ2r :AHRS rotation from veh to nav: [[0.484447,-0.860233,-0.159089],[0.869790,0.493104,-0.017704],[0.093676,-0.129797,0.987106]]2H@/?@]ĿR?? -?`3`^?i21X?I2`c;0YRwByR|IbDZVDZk1ybU>%bL=ٔf9dYd=fFyj Ej<Ej>lQ 5r5n?Q 9r5nI)nBYtyv?Q IvQ@n;hCIn:in(:n5yzBɮzDAzEjh!%DNOT Ignoring new targets: 75.93 m.Rh-Zh-= ProNav: ac range: 75.929688 m, nav range: 70.414185 m, bearing: 63.741462 deg, approach rate: -0.818070 m/s, LOS rate: -0.111824 deg/s, cmd heading: 62.981987 deg, new cmd heading: 62.847605 deg. Bh=}EHeadingCmd: 1.096898 target range: 75.929688 and range: 76.30 m.hE$g?hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU@?rBɢf=) ?i)j*i=i$g?^<WI$g?IIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5009439@ @@4@DAzDAEM EMEM)EI"EM%;*EM:VEMFA4ZEIBEM+ԡ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752376>䞊,u~*?A~Y?~8z?~Xٱ~  AHRS rotation from veh to nav: [[0.481657,-0.862972,-0.152594],[0.872177,0.489027,-0.012621],[0.085514,-0.127010,0.988208]]~Hx?@x5ÿ?@6L?؉??`Ag?i~Y?I~uNc;~CY%xBy%IqiMb@Mb@Mb@ 9v?zG?{Gz?YX?y W>ף<5PA2A LA)3AY@AbDVDy5)=%55=ٔ=~99YA=EFyE EE<EE>IQ 5U5MŐ?Q 9U5MG)M̀BY]t_?Q E]s:y]˧?Q I]Q@MhCIM:iM:M5yaɮeHDAijhDNOT Ignoring new targets: 75.93 m.Rh!Zh! ProNav: ac range: 75.929688 m, nav range: 70.028206 m, bearing: 63.677970 deg, approach rate: -0.853835 m/s, LOS rate: -0.141227 deg/s, cmd heading: 62.847603 deg, new cmd heading: 62.656077 deg. BhHeadingCmd: 1.093555 target range: 75.929688 and range: 76.30 m.h?h*h"h hgfffBdddjdZd?rBɢв=)  ;?i)^i5Fi?D]<AgI?I!ԡ9@ @@/@^Am}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004654AIIO >EM  EM EM *EI "EM %;*EM :VEM (N4ZEI aU @aU @aU @aU @ ȥ,B*?Aɰ4<2wZ?2 ?2ٱ2Ɍ >AHRS rotation from veh to nav: [[0.478554,-0.865394,-0.148593],[0.874602,0.484795,-0.006688],[0.077825,-0.126759,0.988876]]2H ? N`ÿ@??e{Y?9ޤ?i2wZ?I2Nc;2CYLxByIbDVDfy=%B=ٔ9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256448Y=Fy E <E>Q 55g͐?Q 9 5޸)ڀBYy%F?Q I%Q@hCI;iӻ;95y1ɮ5CA9jhDNOT Ignoring new targets: 75.93 m.Rh"Zh" ProNav: ac range: 75.929688 m, nav range: 69.665939 m, bearing: 63.616555 deg, approach rate: -0.835559 m/s, LOS rate: -0.142388 deg/s, cmd heading: 62.656078 deg, new cmd heading: 62.470876 deg. BhpûHeadingCmd: 1.090322 target range: 75.929688 and range: 76.30 m.h?h*h"h hgfffdddjdZd`Ll@颍rBɢ~=) ?i)顑iVGQi?AAB>B CBIB2xBB =BBDB{;B03Ew\</I?Iu9@q @y@}W4@y@@1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508798^AY a DY D] %=E}  E} E} +Ey "E} +$;*E} :VE} [4ZEy BE} 4}lϬ,亵*?AUULAU^0A UIA)UC5AQYU ?AbDmVDmy}W=%}5=ٔ}P9Y=Fy E]<E>Q 55֐?Q 95h)߀BYf?Q Ek:y?Q IQ@hiCIG;i ;95yBɮBAEB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 75.93 m.Rh5B(Zh5B(E ProNav: ac range: 75.929688 m, nav range: 69.261513 m, bearing: 63.550899 deg, approach rate: -0.900854 m/s, LOS rate: -0.147103 deg/s, cmd heading: 62.470877 deg, new cmd heading: 62.272759 deg. BhEɻEHeadingCmd: 1.086865 target range: 75.929688 and range: 76.30 m.hMb?hI*hI"hI hIgIfQfQfUzBdQdYdYjdYZd] @颍rBɢ~Z=) 7?i)ܻ顑iYib?L\<~?;Ib?Iԩ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761757%9@! @!@%/@!^A#2IIO>  BDAT read: Rx Time:04:44:25.8326  TRx dataTimestamp_ set to:1761540267.228127 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013395,YM*?A2]B\?2} ?2:ٱ2} :AHRS rotation from veh to nav: [[0.471690,-0.870270,-0.141910],[0.879472,0.475929,0.004589],[0.063546,-0.126970,0.989869]]2H+0?@*¿$?u?r?D?@@?i2]B\?I2b;2C|YEcxByEIbDUVDU:2yeJ%ea=ٔe$9iYi=mFym EuE<Eu>E EEE"E(;*E:VEZEa@a@a@a@Q 55ݐ?Q 95=)BYyz?Q IQ@iCI:i:X5yɮBAjhDNOT Ignoring new targets: 75.93 m.Rh*Zh* ProNav: ac range: 75.929688 m, nav range: 68.946266 m, bearing: 63.497991 deg, approach rate: -0.884443 m/s, LOS rate: -0.149115 deg/s, cmd heading: 62.272761 deg, new cmd heading: 62.113311 deg. Bh̻HeadingCmd: 1.084082 target range: 75.929688 and range: 76.30 m.h1Ê?h*h"h hgfffdd d jd Zd @@}rBɢ}=)y }?i)L顁iIai1Ê?)\<p9#B >B CB IB xBB =B B B z{;B 3EBCBCBɕCB =B =C~^6ԁ ӹ,i7*?AYDAT read: 04:44:25.8326 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410,-0.08, 0.961,-0.691, 1.161, 0.926, PHS= 0.137,-1.573, 0.190, RAW= 151.5, 14.2, CAL= 151.8, 15.9, ROT= 358.2, -15.9 Ygot valid direction response: 04:44:25.8326 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410,-0.08, 0.961,-0.691, 1.161, 0.926, PHS= 0.137,-1.573, 0.190, RAW= 151.5, 14.2, CAL= 151.8, 15.9, ROT= 358.2, -15.9 PDAT read: Bearing 218.9, 0.4 (Local) ~Local bearing/azimuth received: Bearing 218.9, 0.4 (Local) -DAT read: Range 11 to 50 : 73.6 m (Round-trip 98.2 ms) speed 0.7 m/s 5*DAT read: user:185> 5BDAT read: Tx time:04:44:26.9302 =$Ping request sent.=iXɿ\B>%:)@}>)@ q>)@Iq.|q?iC6?aFv? l ?)R~Iѭiqe:publishing transmit ping time1eFpublishing direction and range infoyYejxBymIquA y}2р?Jψ.?Y )Ii )I.|q?iC6?aFv? )IibD}VD}kyz<%*=ٔQ->9Y=Fy EE>Q 55搊?Q 95W)BYyQ IQ@(jCI:i=:5yɮBAii*?AJiyBRiyBji?bGXQ@z{pEճo4@R2р?Jψ.?Ziѭbiqj@<$@@稾;zN@득8@ZA6?k?]?2isB:i$B"i?*if:XBipBi X?ii_BiBi?- addTargetRange:: Added new target pos. range: 73.599998 m, deltaT: 3.529036 s, deltaX: -2.700005 m, approachRate: -0.765083 m/s, rangeRepo size: 4 = Added new target pos. range: 73.237930 m, bearing: 62.091435 deg, lat: 36.779294 deg, lon: -121.859570 deg, deltaT: 3.529036 s, deltaX: -2.691757 m, approachRate: -0.762746 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 73.24 m.RhEZhAU ProNav: ac range: 73.237930 m, nav range: 69.009850 m, bearing: 62.634214 deg, approach rate: 0.000000 m/s, LOS rate: -0.149115 deg/s, cmd heading: 62.113310 deg, new cmd heading: 61.898450 deg. BhQ]HeadingCmd: 1.080332 target range: 73.237930 and range: 73.60 m.h]PH?hY*ha"ha hagafafifidididijdu`ffR@Zdu?DzD@AbE (N4jE #E4rE Đ'0E EE&E"E%;*E|:VE4ZEBE~ ,h+?A6om^?6"?6FNٱ6$ BAHRS rotation from veh to nav: [[0.464576,-0.874853,-0.137119],[0.884104,0.467026,0.015712],[0.050292,-0.128527,0.990430]]6H?J???࿩?s`?i6om^?I6b;6CYJSxByfIhiMb@Mb@Mb@ 9ףp= ?MbX?~jtY^?yJ>DzJA.A DA)?5AY9IYI=MFyM EU8<EU>YQ 5e5]*?Q 9e5])]ހBYed?Q Eem:ym?Q IQ@]jCI]yd<I I) O= >lNJ,; +?A6Mm_?6?6O3ٱ6! BAHRS rotation from veh to nav: [[0.461261,-0.876860,-0.135476],[0.886181,0.462838,0.021530],[0.043825,-0.129987,0.990547]]6H@N?=GW[?#? ?2p?@l?i6Mm_?I6>a;4Y^;xBy^IbDdVDdyn%nb=ٔr9pYp=rFyr Ev2<Ev>xQ 5~5z8?Q 9~5z)z؀BYy?Q IQ@zjCIzD;iz;z55y uBɮ BA Ejh19=DNOT Ignoring new targets: 73.24 m.RhE>ZhE>U ProNav: ac range: 73.237930 m, nav range: 68.339989 m, bearing: 62.514382 deg, approach rate: -0.913312 m/s, LOS rate: -0.166648 deg/s, cmd heading: 61.707890 deg, new cmd heading: 61.537197 deg. BhUB<AB>B CBIBxBB =BBDBz;B2E5HeadingCmd: 1.074027 target range: 73.237930 and range: 73.60 m.h5y?h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdMu?5rBɢ51=)9 =ҳ?i9)=99i=SziEy?E\<oE-  E- E- &E) "E- ;;*E- :VE- 4ZE) BE- iEMb@Mb@Mb@AAAA A9EtV?/$?V-YER?yE>EhELAE-A EAA)E6AAYE9qYq=}Fy} E};E>Q 556?Q 95)ˀBYW?Q E|:yߡ?Q IQ@ԙ2kCIM7;i^7;5yɮCAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 73.24 m.Rh Zh  ProNav: ac range: 73.237930 m, nav range: 67.991348 m, bearing: 62.462872 deg, approach rate: -0.823100 m/s, LOS rate: -0.122232 deg/s, cmd heading: 61.537197 deg, new cmd heading: 61.381876 deg. BhƧuHeadingCmd: 1.071316 target range: 73.237930 and range: 73.60 m.hu ?hy*hy"hy hgfffBT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.dddjdZd;?5rBɢ=(i=)9 =ΰ?i9)=^9AiE`ԀiE ?MT]A5 >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494675I I ! O- >E=  E= E= ,E9 "E= m+;*E= :VE= g4ZE9 aM @aM @aM @aM @uԊ,S+?A63`?6hC?6.ٱ6 >AHRS rotation from veh to nav: [[0.457101,-0.879613,-0.131682],[0.888855,0.457029,0.032570],[0.031534,-0.131934,0.990757]]6H&A?@%q???@?-%?3G?i63`?I6Ya;6CY^ xBy^IbDjVDj yr씽%rT=ٔr9tYt=vFyv Ez;Ez>|Q 55~^?Q 95~x)~BYy?Q IQ@~kCI~ ;i~{:~E5yɮCA f>Cjh1DNOT Ignoring new targets: 73.24 m.  G%gA9m9mgAYmARhkZhk ProNav: ac range: 73.237930 m, nav range: 67.673225 m, bearing: 62.414880 deg, approach rate: -0.827275 m/s, LOS rate: -0.125388 deg/s, cmd heading: 61.381879 deg, new cmd heading: 61.237228 deg. BhHeadingCmd: 1.068791 target range: 73.237930 and range: 73.60 m.h'Έ?h*h"h hgfffdddjdZdy?UrBɢU(=)Q U?iQ)]dȂ9YYi],ie'Έ?e ^B>BBIBxBBBBB:z;Bj2EQy ڊ,m+?AF7`?FjX?FμٱF' RAHRS rotation from veh to nav: [[0.456613,-0.879998,-0.130795],[0.889308,0.455637,0.039071],[0.025212,-0.134157,0.990639]]FH'9? (@5u?')? ?@Lљ?@, Q?iF7`?IF a;FCY^wBy^jIbDfVDfyn'%nJ=ٔn9pYp=rFyr Ev:Ev>~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998912|Q 55~?Q 9 5~pp)~BY y ,?Q I Q@~kCI~:i~;~5yɮUDAjh9EDNOT Ignoring new targets: 73.24 m.RhEZhM] ProNav: ac range: 73.237930 m, nav range: 67.338547 m, bearing: 62.363751 deg, approach rate: -0.823800 m/s, LOS rate: -0.126479 deg/s, cmd heading: 61.237229 deg, new cmd heading: 61.083078 deg. Bh]eHeadingCmd: 1.066101 target range: 73.237930 and range: 73.60 m.heu?ha*ha"ha hagafififidqdqdqjdqZdu`@@=rBɢE=)A En?iAI)EX:iiim`iuu?}y^<}=Iu?IE  EE)E"EE;*E :VEFA4ZEBE ,,+?A6G`?6@?6͝ٱ6 >AHRS rotation from veh to nav: [[0.457311,-0.879626,-0.130862],[0.889098,0.455414,0.045854],[0.019262,-0.137318,0.990340]]6HD?%@~s?%?#z?o?ܰ?i6G`?I6a;6CYFwByFRIiUMb@Mb@Mb@QQQQ Q9U)\(?Mb?ʡEYUGA?yU=UUKKAUE,A U=>A)U6AQYU ;AbDm VDm2y} %}A=ٔ}f9Y=Fy EݺE>Q 55?Q 95h)BYC?Q E:y)?Q IQ@.lCI& ;i ;5yeBɮlDAEjhDNOT Ignoring new targets: 73.24 m.RhZh ProNav: ac range: 73.237930 m, nav range: 67.020157 m, bearing: 62.332052 deg, approach rate: -0.755815 m/s, LOS rate: -0.075606 deg/s, cmd heading: 61.083078 deg, new cmd heading: 60.987530 deg. BhOHeadingCmd: 1.064433 target range: 73.237930 and range: 73.60 m.hY??h*h"h hgfffBdddjdZd 7@5rBɢ=g~=)9 =?i9)=;9AiECiEY??M_  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754852,Ox+?A$YE|wByM2IbD]VD]ym%mK=ٔmQ-u>9qYq=uFyu E}E}>Q 55"?Q 95 aQ =tI)BYyQ IR@|lCI3:i:5yɮBBIBoxBBBBDBy;B2EjhAEDNOT Ignoring new targets: 73.24 m.RhM䧺ZhM䧺} ProNav: ac range: 73.237930 m, nav range: 66.716118 m, bearing: 62.301498 deg, approach rate: -0.726978 m/s, LOS rate: -0.073391 deg/s, cmd heading: 60.987531 deg, new cmd heading: 60.895450 deg. Bh}xIHeadingCmd: 1.062826 target range: 73.237930 and range: 73.60 m.h ?h*h"h hgfffddd1jd1Zd5_)@yrBɢz=)76- ɘ?i)Y; i-ui5 ?5`<5$=I5 ?I19@ @@/@ԙBDAT read: Rx Time:04:44:29.4292 %TRx dataTimestamp_ set to:1761540270.756074%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007762E5  E5 E5 (E1 "E5 2;*E5 :VE5 c44ZE1 BE5 $A >IY Iq O} >Y9,먻+?A=ٔ9Y=Fy E%4E%>)Q 555--?Q 955-Z)-BY=0?Q E=:y=a?Q I=R@-lCI-\:i-:-5yAɮEEAAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258854B*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 73.24 m.RhڹZhڹm ProNav: ac range: 73.237930 m, nav range: 66.420334 m, bearing: 62.291129 deg, approach rate: -0.679059 m/s, LOS rate: -0.023910 deg/s, cmd heading: 60.895446 deg, new cmd heading: 60.864202 deg. BhuFuHeadingCmd: 1.062281 target range: 73.237930 and range: 73.60 m.hu?hy*hy"hy hygyfyԡffJBdddjdZd`. @rBɢ[=) ?i) ;  i ~i%?%aa<%eb=I-?I)9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5126921 ^A 9g=E  E E *E "E U,;*E :VE (N4ZE a @a @a @a @I I O >~, +?A6Y^?68?6ٱ6n ^AHRS rotation from veh to nav: [[0.465428,-0.874897,-0.133908],[0.885083,0.460415,0.068158],[0.002022,-0.150243,0.988647]]6H?@(#R?qw?r?/`?&;ÿ@?i6Y^?I6Pa;6CYfZwByjIIn>)n=bDrVDry~S%~P=ٔ~h9Y=Fy E 3E > Q 55 \7?Q 95 S) rBYy?Q IR@  mCI ;i I: 35y-jBɮ-EA-EjhIUDNOT Ignoring new targets: 73.24 m.Rh]ιZh]ιm ProNav: ac range: 73.237930 m, nav range: 66.151672 m, bearing: 62.282797 deg, approach rate: -0.724739 m/s, LOS rate: -0.022568 deg/s, cmd heading: 60.864205 deg, new cmd heading: 60.839107 deg. BhmwuHeadingCmd: 1.061843 target range: 73.237930 and range: 73.60 m.huv?hq*hq"hq hqgyfyfyfydddjdZd7k @颵rBɢ=) 2?i)>;项i3iv?a<p=Iv?Ii9@ @@h0@^Ae3=DAT read: 04:44:29.4292 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.23,-2.499, 2.117,-2.277,-2.463, PHS= 0.066,-1.658, 0.142, RAW= 152.2, 16.2, CAL= 152.7, 18.3, ROT= 357.3, -18.3 Ygot valid direction response: 04:44:29.4292 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.23,-2.499, 2.117,-2.277,-2.463, PHS= 0.066,-1.658, 0.142, RAW= 152.2, 16.2, CAL= 152.7, 18.3, ROT= 357.3, -18.3 PDAT read: Bearing 221.7, -4.7 (Local) ~Local bearing/azimuth received: Bearing 221.7, -4.7 (Local) DAT read: Range 11 to 50 : 71.1 m (Round-trip 94.9 ms) speed 0.8 m/s *DAT read: user:186> IIO+>%BDAT read: Tx time:04:44:30.5302 %$Ping request sent.-P*@Ð>J*@ Ƈ>)Ѝ@IƇ?X?Cc,? x?)EސIQAiƇU:publishing transmit ping time!UFpublishing direction and range infoyM(Y?榿v9s?Y )Ii )I?X?Cc,? )IiԑBB CB}IBwBB =BBBy;B1EԹ ,+?A2y\?2\?2l;ٱ2 FAHRS rotation from veh to nav: [[0.470488,-0.871976,-0.135274],[0.882399,0.464295,0.076168],[-0.003610,-0.155202,0.987876]]2Hy? :@P 9hYh=jFyj EnkEn>pQ 5r5rsA?Q 9v5r0M)rbBYtyv?Q IvR@rSmCIr:ir(:r5y~VBɮ~FA~ܧEiiV+?AJiBRiBji?bWIF8P@Z4m_P W76@RM(Y?榿v9s?ZiQAbiƇjXYR?@/Ɩ|M@y16@Z8U?;'H9?YGo?2imB:iA"i퐛?*i 2BiBiikkGEiioBix?M addTargetRange:: Added new target pos. range: 71.099998 m, deltaT: 3.778954 s, deltaX: -2.500000 m, approachRate: -0.661559 m/s, rangeRepo size: 4 ] Added new target pos. range: 70.749893 m, bearing: 62.208403 deg, lat: 36.779294 deg, lon: -121.859566 deg, deltaT: 3.778954 s, deltaX: -2.488037 m, approachRate: -0.658393 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 70.75 m.RheZhau ProNav: ac range: 70.749893 m, nav range: 66.217468 m, bearing: 62.429666 deg, approach rate: 0.000000 m/s, LOS rate: -0.022568 deg/s, cmd heading: 60.839104 deg, new cmd heading: 60.811886 deg. Bhq}HeadingCmd: 1.061368 target range: 70.749893 and range: 71.10 m.h}ڇ?hy*hy"hy hgfffdddjd`fQ@ZdKq?颽rBɢ=) ?i)ܽ;iBiڇ?xb<&Ȍ, ,?A2Vb[?2y?2l<ٱ2e$ :AHRS rotation from veh to nav: [[0.475635,-0.869023,-0.136274],[0.879594,0.468239,0.084061],[-0.009242,-0.159849,0.987098]]2Hp? qq%? ??킿uĿO?i2Vb[?I2a;2CYF%wByD|iMb@Mb@Mb@ 9Mb?I +:vY#?y9TKKA1(A 8A)7AY8AbD-VD-y= %=C=ٔE\9AYI=MFyM EMeEM>QQ 5]5U M?Q 9e5U0G)UVBYe#?Q Ee:ye?Q IeR@UmCIU ;iU ;US5yiɮmFAqjhEDNOT Ignoring new targets: 70.75 m.RhES:ZhMS:} ProNav: ac range: 70.749893 m, nav range: 65.951714 m, bearing: 62.443922 deg, approach rate: -0.618187 m/s, LOS rate: 0.033293 deg/s, cmd heading: 60.811886 deg, new cmd heading: 60.854823 deg. Bh}ʶ:HeadingCmd: 1.062117 target range: 70.749893 and range: 71.10 m.hs?h*h"h hgfffBdddjdZd?rBɢ=)   ?i ) f; iim'•ius?uZb<}ԁ ¶,z$,?A6Y?6ӈ?6Ym<ٱ6) BAHRS rotation from veh to nav: [[0.481002,-0.865795,-0.137973],[0.876599,0.472338,0.092036],[-0.014514,-0.165217,0.986150]]6H`?@ @ ?:??ƹ %ſ`?i6Y?I6 a;6CYRwByRIbDZVDZ1B`Ab<Bf>Bf CBf8IBfwBBdBdBdBfx;Bf1EB CB CBCB =B =C 5yv|%zP=ٔz`[9xY|=~Fy~$ EE>Q 5 5X?Q 95A)KBYy?Q IR@mCI9:iR: 5y%[Bɮ%FA!jhAMDNOT Ignoring new targets: 70.75 m.RhM6:ZhU6:Ye ProNav: ac range: 70.749893 m, nav range: 65.701263 m, bearing: 62.458904 deg, approach rate: -0.662482 m/s, LOS rate: 0.039781 deg/s, cmd heading: 60.854820 deg, new cmd heading: 60.899938 deg. Bhei:mHeadingCmd: 1.062904 target range: 70.749893 and range: 71.10 m.hmA ?hi*hq"hq hqgqfqfyfydydydjdZd/?颵rBɢՓ=) Å?i)u;项ijiA ?b<@=ԱD<D<bE:4jE:4rENU0E EE(E"EO6;*E:VEc44ZEBEa-2Ea-JEa-:Ea- ^A= <Am .AIy I O >?, A,?A6NX?6?6E֢<ٱ6q/< BAHRS rotation from veh to nav: [[0.487074,-0.862172,-0.139351],[0.873134,0.477078,0.100163],[-0.019876,-0.170459,0.985164]]6H:,?B`? t?I?pZ`ſ@w?i6NX?I6R`;6CYJwByJIiMb@Mb@Mb@ 9㥛 ?+~jtY?yLA`'A 6A)8AY8AbDVDfy&<%.=ٔ;9 ?Y ?=Fy) E tE>Q 55d?Q 95;)EBY?Q E:y}?Q IR@nCI ;i ;5yɮFAB*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 70.75 m.Rhwi:Zhwi:% ProNav: ac range: 70.749893 m, nav range: 65.427979 m, bearing: 62.482781 deg, approach rate: -0.581608 m/s, LOS rate: 0.051028 deg/s, cmd heading: 60.899941 deg, new cmd heading: 60.971871 deg. Bh% ;-HeadingCmd: 1.064160 target range: 70.749893 and range: 71.10 m.h-d6?h)*h)"h1 h1g1f1f1f=Bd9d9d9jd9ZdE`@?mrBɢu=)u uŅ?iq)uT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E  E E %E "E 8;*E -:VE 4ZE a @a @a @a @ e,(Z,?A2$V?2?2<ٱ24 :AHRS rotation from veh to nav: [[0.493403,-0.858414,-0.140281],[0.869435,0.482064,0.108152],[-0.025215,-0.175328,0.984187]]2H? xi?`#?ݯ?@ҙ!qƿ@v~?i2$V?I2`;0lYz wBy~IbD VD P)y-Q;%-T=ٔ-b95"?Y5"?=5Fy5- E=E=>AQ 5M5ETo?Q 9M5E6)E@BYIyM{?Q IUR@EWnCIEW:iE-:E>5yaɮeFAajhDNOT Ignoring new targets: 70.75 m.Rhx:Zhx: ProNav: ac range: 70.749893 m, nav range: 65.203377 m, bearing: 62.504042 deg, approach rate: -0.572670 m/s, LOS rate: 0.054396 deg/s, cmd heading: 60.971869 deg, new cmd heading: 61.035872 deg. BhS;HeadingCmd: 1.065277 target range: 70.749893 and range: 71.10 m.hZ?h*h"h hgff f dddjdZd?rBɢ=)  ?i)4<i-Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999384i]Z?]bBBIB*wBB =BBB x;BR1E9^A ',Cu,?AD8zD8EB EBEB)E@"EB9;*EB:VEBFA4ZE@BEB9qYq=}Fy}1 E} E}>Q 55z?Q 95G1)9BYyx?Q IR@nCI ;i\ ;5y`BɮFAݧEjhDNOT Ignoring new targets: 70.75 m.Rh:Zh: ProNav: ac range: 70.749893 m, nav range: 64.961052 m, bearing: 62.530236 deg, approach rate: -0.583173 m/s, LOS rate: 0.063272 deg/s, cmd heading: 61.035875 deg, new cmd heading: 61.114749 deg. Bh-; HeadingCmd: 1.066654 target range: 70.749893 and range: 71.10 m.h ?h *h "h  h gfffdddjdZd@H@urBɢ}=)y ݆?i)*<顱i%i?-a<3I?IA9@ @@/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503323^AP;iAI I O- >ԙ #,Ɏ,?AJXP?Jb?J %=ٱJ߳8 VAHRS rotation from veh to nav: [[0.510738,-0.849240,-0.133933],[0.858792,0.496649,0.125762],[-0.040284,-0.179252,0.982978]]JHW?,$9{??? )ƿt?iJXP?IJe`;JCY^.wBy^IiEMb@Mb@Mb@AAAA A9EX9v?Zd;OMb?YE?yEj9qYq=uFyu5 Ey}{E>Q 55G?Q 95A,)7BY1?Q E:y`u?Q IR@nCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755374Im;io;j5yLBɮEAԧEjhDNOT Ignoring new targets: 70.75 m.Rh:Zh: ProNav: ac range: 70.749893 m, nav range: 64.729736 m, bearing: 62.557602 deg, approach rate: -0.577570 m/s, LOS rate: 0.068576 deg/s, cmd heading: 61.114750 deg, new cmd heading: 61.197144 deg. Bh@<;uHeadingCmd: 1.068092 target range: 70.749893 and range: 71.10 m.hu:?hq*hq"hy hygyfyff0BdddjdZd"k@rBɢ &=) ?i)o8<i#i:? a< SiI :?IE EE+E"E77;*E:VE [4ZEa@a@a@a@GԩhAܹ9hAYAU3@ @@/@U BDAT read: Rx Time:04:44:33.0258 U TRx dataTimestamp_ set to:1761540274.536108] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008643 Aa Aa Be >Be CBe IBe wBBe =Ba Ba Be w;Be .1E^Au vт;Au >Au >1AIIO?.k+,,?A2oO?2ע?2rs8=ٱ2)7 :AHRS rotation from veh to nav: [[0.515661,-0.846948,-0.129514],[0.855610,0.501089,0.129778],[-0.045017,-0.177735,0.983048]]2HJ?1@@'a???o `ƿ!u?i2oO?I2\`;2CYBHwByBI DDbDn VDn2yN=% "=ٔ 9Y=Fy: E>E>!Q 5%5%?Q 9-5%&)%5BY)y-s?Q I-R@%oC=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259331I%:i%g;%5yE7BɮEDAAjhiuDNOT Ignoring new targets: 70.75 m.RhuC:ZhuC: ProNav: ac range: 70.749893 m, nav range: 64.440804 m, bearing: 62.593611 deg, approach rate: -0.573598 m/s, LOS rate: 0.071806 deg/s, cmd heading: 61.197143 deg, new cmd heading: 61.305652 deg. BhE;ԑHeadingCmd: 1.069986 target range: 70.749893 and range: 71.10 m.hI?h*h"h hgfffdddjdZdS @rBɢҥ=) )?i)kI<iGiI?_<wII?IEE EEEE)EA"EE;;*EEr:VEEFA4ZEABEE5 DAT read: 04:44:33.0258 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.11,-1.272,-3.009,-1.079,-1.341, PHS= 0.172,-1.622, 0.219, RAW= 151.3, 13.5, CAL= 151.4, 15.0, ROT= 358.6, -15.0 = Ygot valid direction response: 04:44:33.0258 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.11,-1.272,-3.009,-1.079,-1.341, PHS= 0.172,-1.622, 0.219, RAW= 151.3, 13.5, CAL= 151.4, 15.0, ROT= 358.6, -15.0 E PDAT read: Bearing 216.5, -5.8 (Local) M ~Local bearing/azimuth received: Bearing 216.5, -5.8 (Local) U DAT read: Range 11 to 50 : 68.6 m (Round-trip 91.5 ms) speed 0.5 m/s ] *DAT read: user:187> e BDAT read: Tx time:04:44:34.1302 e $Ping request sent.e iϿA`>)@:Fq>)@  >)G@I اU?o(?;`-?  ?)pI*ȼi  :publishing transmit ping timea  Fpublishing direction and range infoy [?nD u*V!}?Y )Ii )IاU?o(?;`-? )Ii1 O2,ޮ,?A2N?29e ?Ye ?=eFye? Ee6>Em>iQ 55m👊?Q 95m )m6BY?Q E:y?Q IR@m_oCImY;im:m!5yɮCAi1i5,?AJi5BRi5Bji5l?b5ŵGzP@֌m^Uu1@R5 [?nD u*V!}?Zi5*ȼbi5 j5@@WmEL@̒$M,@Z5jW?6+??2i5gB:i5B"i5zȠ?*i5@n1Bi5{Bi5?i5dG;i5pBi5Bi59?5 addTargetRange:: Added new target pos. range: 68.599998 m, deltaT: 3.530535 s, deltaX: -2.500000 m, approachRate: -0.708108 m/s, rangeRepo size: 4 E Added new target pos. range: 68.261925 m, bearing: 59.938545 deg, lat: 36.779299 deg, lon: -121.859561 deg, deltaT: 3.530535 s, deltaX: -2.487968 m, approachRate: -0.704700 m/s, posRepo size: 4 jhImDNOT Ignoring new targets: 68.26 m.RhuZhq ProNav: ac range: 68.261925 m, nav range: 64.777199 m, bearing: 62.320394 deg, approach rate: 0.000000 m/s, LOS rate: 0.071806 deg/s, cmd heading: 61.305654 deg, new cmd heading: 61.404884 deg. BhHeadingCmd: 1.071717 target range: 68.261925 and range: 68.60 m.h .?h*h"h hgfff?Bdddjd`f&Q@Zd{?-sBɢ-˭=)) -?i))5wZ<11i5=`i= .?=;^<=ԼI= .?IAiiiiAEU EUEU%EQ"EU';*EU:VEU 4ZEQa]@a]@a]@ae@i @  @ @ /@ ԙ ^A mB >B B B B =B B DB w;B 1EA=؟AIAIYOe ?:,$ ,?AN M?NNq?N]r]=ٱN2 ^AHRS rotation from veh to nav: [[0.523381,-0.843592,-0.120099],[0.850383,0.508175,0.136404],[-0.054038,-0.173522,0.983346]]NH?`@վ W6?B?u?ت5ƿw?iN M?IN`;LYnwBynAIIr<)rbDVDky }=%$=ٔ%9-"?Y-"?=-Fy-D E5E5>AQ 5M5Eʬ?Q 9U5E)AYQyU?Q IUR@EoCIEc2;iE3;E&5yaɮelCAaB*** querying acoustic contact ***i ijhԑDNOT Ignoring new targets: 68.26 m.Rh:Zh: ProNav: ac range: 68.261925 m, nav range: 64.484779 m, bearing: 62.337094 deg, approach rate: -0.604756 m/s, LOS rate: 0.034694 deg/s, cmd heading: 61.404883 deg, new cmd heading: 61.455210 deg. Bhz:HeadingCmd: 1.072596 target range: 68.261925 and range: 68.60 m.hJ?h*h"h hgfffdddjdZd*?MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.msBɢmc=)q uX?iq)uXl checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991863 mcA,-?AY~wByjIiMb@Mb@Mb@ 9{Gz?~jt?%A=ٔQ->9 ?Y ?=FyH EE>Q 55?Q 95')4BY$?Q E:y?Q IR@oCIe:iU:)5yAU >A] ؟AIq ԁ I O >G,--?A2bK?2?2|=ٱ2' :AHRS rotation from veh to nav: [[0.526706,-0.843374,-0.106307],[0.847807,0.512119,0.137687],[-0.061679,-0.162648,0.984754]]2H`?@6@;!?`Hc?@? n@Ŀ?i2bK?I2`;0YbwBybIbDjVDjkyr=%rZ=ٔr9v"?Yv"?=vFyvL Ez6Ez>|Q 55~^?Q 95~ )~2BYy?Q IR@~.pCI~;i~r;~ -5y*BɮVAA̧Ejh9=DNOT Ignoring new targets: 68.26 m.RhEѸZhEѸU ProNav: ac range: 68.261925 m, nav range: 63.972290 m, bearing: 62.331462 deg, approach rate: -0.643767 m/s, LOS rate: -0.005712 deg/s, cmd heading: 61.444669 deg, new cmd heading: 61.438244 deg. BhUz]HeadingCmd: 1.072300 target range: 68.261925 and range: 68.60 m.h]A?hY*hY"hY hagafafafidididijdiZduv?额sBɢ<=) ?i)<顡iiA?¹Y<IA?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496013IQU9@Q @Q@U4@Q@Y@]fABA<BBBIB4wBBBBBw;B 1E^A-@ԁAYIqIO]>ԩm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747854Ee  Ee Ee 'Ea "Ee 3;*Ee :VEe '4ZEa BEe %UC=ٔe-;Q-m>9yYy=FyP E6E>Q 55ʑ?Q 95)/BYy}?Q IR@tpCI;i<05yqɮul@AqjhDNOT Ignoring new targets: 68.26 m.RhZh  ProNav: ac range: 68.261925 m, nav range: 63.697872 m, bearing: 62.329073 deg, approach rate: -0.564482 m/s, LOS rate: -0.004937 deg/s, cmd heading: 61.438241 deg, new cmd heading: 61.431041 deg. Bh XHeadingCmd: 1.072174 target range: 68.261925 and range: 68.60 m.hT,S-?A2`L?2?2=ٱ2 :AHRS rotation from veh to nav: [[0.525164,-0.845897,-0.093068],[0.848307,0.511666,0.136279],[-0.067658,-0.150519,0.986289]]2H@$? RӷU%?`_? q? R`8Dÿ@?i2`L?I2y`;0Yr`xByrIimMb@Mb@Mb@iiii i9m-???Ym?5?ym=m9Y=FyT E^y;E>Q 55ԑ?Q 95)'BY(7?Q E:y?Q IR@pCI:i ;\45y/Bɮ?AE EE-E"E);*E:VEt4ZEa@a@a@a@jhimDNOT Ignoring new targets: 68.26 m.RhupZhup ProNav: ac range: 68.261925 m, nav range: 63.404938 m, bearing: 62.309777 deg, approach rate: -0.795397 m/s, LOS rate: -0.052634 deg/s, cmd heading: 61.431042 deg, new cmd heading: 61.372889 deg. Bh}HeadingCmd: 1.071159 target range: 68.261925 and range: 68.60 m.h?h*h"h hgfffBdddjdZdy@U)sBɢU`p=)Q ]?iY)]j2BU >BQ BU ?IBU wBBU =BQ BU DBU w;BU 1EB CB CBBB =C5q Z,܃m-?A0RM?R8s?R4=ٱRq ZAHRS rotation from veh to nav: [[0.522807,-0.848004,-0.086959],[0.849562,0.509926,0.134983],[-0.070124,-0.144448,0.987025]]RHֺ?"`B /?PQ?#G? @B}¿?iRM?IR7`;RCYfxxByfIbDnVDnyv{=%vW=ٔv;Q-z>9xYx=zFyzX E~;E~>Q 5 5ݑ?Q 9 5s)BY y ?Q IR@qCIN:i:75yɮ?A=B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 68.26 m.RhcZhc ProNav: ac range: 68.261925 m, nav range: 63.134766 m, bearing: 62.291182 deg, approach rate: -0.719764 m/s, LOS rate: -0.049751 deg/s, cmd heading: 61.372890 deg, new cmd heading: 61.316866 deg. BhHeadingCmd: 1.070181 target range: 68.261925 and range: 68.60 m.h?h*h"h hgfffdd1d9jd9Zd=E@颅1sBɢ=) ?i)c<顉i良i?@U<߼I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756146ԑm9@i @i@m/@i@u=@u=bEFA4jE<4rE҄0E EE*E"E(;*E:VE(N4ZEBEa,^-?A:M?:?:o!=ٱ:Y FAHRS rotation from veh to nav: [[0.519622,-0.850549,-0.080987],[0.851334,0.507412,0.133279],[-0.072266,-0.138202,0.987764]]:H?7!>? )R=\i-Mb@Mb@Mb@)))) )9-'1Z?/$?{Gzt?Y-B?y->-ף;-LA-t+A -n4A)-@A)Y)bDVD y<%?=ٔG;Q->9Y=Fy] E <E>Q 55e瑊?Q 95C)BYF?Q E:yJ?Q IR@YqCI:i:j;5yɮd?AjhDNOT Ignoring new targets: 68.26 m.Rh ޺Zh ޺= ProNav: ac range: 68.261925 m, nav range: 62.806507 m, bearing: 62.250866 deg, approach rate: -0.788622 m/s, LOS rate: -0.097364 deg/s, cmd heading: 61.316869 deg, new cmd heading: 61.195288 deg. Bh=EHeadingCmd: 1.068059 target range: 68.261925 and range: 68.60 m.hE+?hA*hA"hA hAgIfIfIfMBdQdQdQjdQZd]2 @颅9sBɢA=) ?i)+&<顉ii+?T<0I+?I 9@ @@/@^Aj⼝-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260741AI!I1OEs>E- E-E-(E)"E-);*E-:VE-c44ZE)a5@a5@a5@a5@I Mg,O;-?A2O?2l?2o=ٱ2 >AHRS rotation from veh to nav: [[0.516168,-0.853137,-0.075685],[0.853250,0.504530,0.131961],[-0.074395,-0.132692,0.988361]]2H@r?L `M?@%?? ৠ?i2O?I29`;0YZxByZIbDbVDbfyjU=%jY=ٔn;Q-n>9pYp=rFyra Er,<Er>tQ 5z5v?Q 9z5v)vBY|y~М?Q I~R@vqCIva;iv;v>5yBɮ [>A çEjh15DNOT Ignoring new targets: 68.26 m.Rh=Zh=M ProNav: ac range: 68.261925 m, nav range: 62.518036 m, bearing: 62.213982 deg, approach rate: -0.764462 m/s, LOS rate: -0.098196 deg/s, cmd heading: 61.195292 deg, new cmd heading: 61.084128 deg. BhMȆUHeadingCmd: 1.066119 target range: 68.261925 and range: 68.60 m.hUv?hQ*hQ"hY hYgYfYfafadadadajdiZdmp/ @DAT read: 04:44:36.6221 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 400,-0.01,-2.001, 2.515,-1.843,-2.098, PHS= 0.200,-1.625, 0.212, RAW= 150.3, 13.2, CAL= 150.4, 14.6, ROT= 359.6, -14.6 Ygot valid direction response: 04:44:36.6221 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 400,-0.01,-2.001, 2.515,-1.843,-2.098, PHS= 0.200,-1.625, 0.212, RAW= 150.3, 13.2, CAL= 150.4, 14.6, ROT= 359.6, -14.6 PDAT read: Bearing 215.4, -5.9 (Local) ~Local bearing/azimuth received: Bearing 215.4, -5.9 (Local) DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.7 ms) speed 0.5 m/s *DAT read: user:188> BDAT read: Tx time:04:44:37.7302 $Ping request sent.i}п}Y>}'@}k>}'@ }w>)}@I}wyy}ѝ~?xlv?Ԡ0? }~?)}kI}i}wyy:publishing transmit ping timeFpublishing direction and range infoyy}$$G?sG{!?Yyyyyy y)yIyiyyyyyAAAAB>BBwIBwBB =BBBw;B1E y)yIyyy}ѝ~?xlv?Ԡ0? y)yIyiyyyII@I @I@Q@Qq^Am߼A .Aԩ I I O >E%  E! E% 'E! "E% +$;*E! VE% '4ZE! BE% 5}9  ?Y  ?= Fy e E<E>1Q 5U55?Q 9e55&)5BYiyuV?Q IuR@5qCI5A-ħEiiQ-?AJiBRiBjiI?bc]JO@-DܿV#z0@R$$G?sG{!?Zibiwj*?@sL@f'@ZV4 ?!n??2i-`B:iA"igb?*i Bi\Bi퐛?i 2iBiAzBiV? addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.525576 s, deltaX: -2.900002 m, approachRate: -0.822561 m/s, rangeRepo size: 4  Added new target pos. range: 65.375961 m, bearing: 60.557891 deg, lat: 36.779300 deg, lon: -121.859557 deg, deltaT: 3.525576 s, deltaX: -2.885963 m, approachRate: -0.818579 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 65.38 m.RhZh ProNav: ac range: 65.375961 m, nav range: 62.564304 m, bearing: 62.232465 deg, approach rate: 0.000000 m/s, LOS rate: -0.098196 deg/s, cmd heading: 61.084130 deg, new cmd heading: 60.944900 deg. Bh HeadingCmd: 1.063689 target range: 65.375961 and range: 65.70 m.h &?h *h "h  h gfffdddjdlP@Zd%^?颕LsBɢKc=) ?i)8Z<顙ii&?R<QI&?I]9@a @a@a@a@i@mgA^A=Ai Iq I O >9 t,-?A2#7Q?2߆?2"=ٱ2s :AHRS rotation from veh to nav: [[0.508653,-0.858243,-0.068491],[0.857422,0.497733,0.130726],[-0.078105,-0.125220,0.989050]]2HF?vo???@`5K?i2#7Q?I2`;2CYFxByFILNAiMb@Mb@Mb@ amC 9V-?Mb?~jtYhQ?y@>LA-A ?5A)AA:GY9aYa=mFymi Em)<Em>qQ 5}5uS?Q 9}5u)uBYV?Q E|:y?Q IR@uTrCIu:iu:u5F5yɮp>Ajh15DNOT Ignoring new targets: 65.38 m.Rh='Zh='m ProNav: ac range: 65.375961 m, nav range: 62.199036 m, bearing: 62.173962 deg, approach rate: -0.911038 m/s, LOS rate: -0.146771 deg/s, cmd heading: 60.944897 deg, new cmd heading: 60.768360 deg. BhmtɻuHeadingCmd: 1.060608 target range: 65.375961 and range: 65.70 m.hu‡?hq*hq"hy hygyfyff;BdddjdZd0?EUsBɢE"=)A m?ii)mB B IB =xBB B B B ^w;B 0E^A eA gAzA hAԙ A I I O >|{,E/-?A2vR?2&?2t=ٱ2Dx :AHRS rotation from veh to nav: [[0.504418,-0.860766,-0.068147],[0.859816,0.493480,0.131127],[-0.079241,-0.124736,0.989021]]2H1$?@er@?@-??I`?i2vR?I27`;2CYFxByFIbDNVDN02yV%Z[=ٔZbI;Q-Z>9\Y\=^Fy^m E^W<E^>`Q 5f5b2 ?Q 9j5b#)bBYhyj?Q IjR@brCIb;ib ;bqI5ylɮr>Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 65.38 m.Rh#Zh#% ProNav: ac range: 65.375961 m, nav range: 61.895473 m, bearing: 62.123380 deg, approach rate: -0.855664 m/s, LOS rate: -0.143278 deg/s, cmd heading: 60.768357 deg, new cmd heading: 60.615866 deg. Bh%Ļ-HeadingCmd: 1.057946 target range: 65.375961 and range: 65.70 m.hj?h*h"h hgfffddd jd Zd @?MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.颵^sBɢ=) ?i)/&<项i'ij?%P<%+ιI%j?I!D9zD=@AEM EMEIEI"EM+$;*EM:VEIZEIBEIa]2EIaeJEMf/ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500121Q ],[ .?A2S?2Ѕ?2ţ=ٱ2 >AHRS rotation from veh to nav: [[0.499925,-0.863390,-0.068068],[0.862377,0.489005,0.131074],[-0.079882,-0.124227,0.989033]]2H ? l`?K??`(s`^Ϳ(?i2S?I21_;2CYFxByFIiEMb@Mb@Mb@AAAA A9EK?(\?/$YE^Z?yEG>E,ELAE/A En4A)ECAAYEG=AbD]VD]ymRG%m@=ٔm:Q-u>9qYq=uFyuq E}VG<E}>Q 55?Q 95)QBYB`?Q Er:yߡ?Q IR@sCI3:i:+M5yBɮ6>AEjhDNOT Ignoring new targets: 65.38 m.Rh%Zh% ProNav: ac range: 65.375961 m, nav range: 61.532261 m, bearing: 62.061704 deg, approach rate: -0.848560 m/s, LOS rate: -0.144943 deg/s, cmd heading: 60.615866 deg, new cmd heading: 60.429746 deg. BhƻHeadingCmd: 1.054698 target range: 65.375961 and range: 65.70 m.hX?h*h"h hgfff_Bddd jd Zd w?1=gsBɢ=(=)A E;?iA)E@jԹ ,#.?A2U?2z?2~@=ٱ2P? >AHRS rotation from veh to nav: [[0.495415,-0.865940,-0.068644],[0.864909,0.484403,0.131480],[-0.080602,-0.124508,0.988939]]2H?`ǵU?`t?R?@S߿@d?i2U?I2t_;2CYFxByFIN=N=bDRVDRyZ.%ZW=ٔZ:Q-Z>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0042869^"?Yf"?=fFyfu Ef^<Ej>hQ 5n5j?Q 9r5j)jBYpyr?Q IrR@jWsCIj;ijH;jP5ytɮzr>AxjhDNOT Ignoring new targets: 65.38 m.Rh%-Zh%-5 ProNav: ac range: 65.375961 m, nav range: 61.207424 m, bearing: 62.004280 deg, approach rate: -0.854784 m/s, LOS rate: -0.151909 deg/s, cmd heading: 60.429744 deg, new cmd heading: 60.256558 deg. Bh5л5HeadingCmd: 1.051675 target range: 65.375961 and range: 65.70 m.h=L?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdME@psBɢL=) ;?i)\f<ii L? ɧP< 9TBBIB[xBB =BBB*w;B0Eԑ9@ @@/@^A9A.AIIOj>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256091De =Da Em  Em Ei Ei "Em 3;*Em :VEi ZEi BEm EEKKAA E6A)AAYEp=AbDUVDU:yeW1%m=ٔm":Q-m>9u ?Yu ?=uFyu{ Eu;Eu>yQ 55}p'?Q 95}ҳ)}~BYRZ?Q Ex:yƢ?Q IR@}sCI}:i}:}`U5yɮ>AjhDNOT Ignoring new targets: 65.38 m.Rh+Zh+ ProNav: ac range: 65.375961 m, nav range: 60.748390 m, bearing: 61.921232 deg, approach rate: -0.823608 m/s, LOS rate: -0.150131 deg/s, cmd heading: 60.256557 deg, new cmd heading: 60.005534 deg. BhλHeadingCmd: 1.047294 target range: 65.375961 and range: 65.70 m.h ?h*h"h hgfffQBdddjdZdv@-}sBɢ-)^=)) -s?i1)55<11i5 ޭi= ?=P<=iM>9@ @@:4@@@A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762976^A [R;q Ey  E} E} (Ey "Ey *E} :VE} c44ZEy a @a @a @a @AE؟AIIIaOm>,l[.?A%mW?%?%2=ٱ%/9 UAHRS rotation from veh to nav: [[0.485753,-0.870919,-0.074455],[0.870238,0.473857,0.134705],[-0.082036,-0.130226,0.988085]]%H ?t?S?>?QBc?i%mW?I%_;%C eC)m9lAmhiqq}blAi}I}bFyIyi}lA ҅#с)ҁҍLC ӉҕtґҙөөIө)өiө)ԱIԵ-lAӵtӵ\F ԱԹԽ$lAԽiԹԹiչ;A) IYY6xByIbDVDky,/%X=ٔ:Q->9"?Y"?=Fy~ E <E>Q 55(/?Q 95ӫ)~BYy?Q IR@tCIBBIBQxBB =BBBv;B0E9@ @@/@^Ak<ԉA .AI) I9 OM >Ա *͜,lu.?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264049JX?JE?JK=ٱJ` VAHRS rotation from veh to nav: [[0.483171,-0.872129,-0.077048],[0.871624,0.470852,0.136273],[-0.082570,-0.133000,0.987671]]JH`E?{ lW?@o"?hq?`K# '@?iJX?IJF_;JCY5xBy5I 99AEAbDMVDMN2y]Q%]a=ٔ] :Q-e>9e ?Ye ?=eFye Emw<Em>qQ 5}5u6?Q 9}5u#)uO~BYyy}?Q IR@untCIua;iu;u[5y Bɮ?AԙB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 65.38 m.Rh:Zh: ProNav: ac range: 65.375961 m, nav range: 60.138348 m, bearing: 61.804140 deg, approach rate: -0.835752 m/s, LOS rate: -0.163194 deg/s, cmd heading: 59.827464 deg, new cmd heading: 59.652483 deg. Bh߻HeadingCmd: 1.041132 target range: 65.375961 and range: 65.70 m.hC?h*h"h hgfffdddjdZd2 @E EE)E"EC#;*E:VEFA4ZEBE{ ^AUu<]BDAT read: Tx time:04:44:41.3318 m$Ping request sent.ui;Ͽ33>J*@t;?>X*@ Q>)i@IQY (w?h 1? ? f?),?IѸ2iQ:publishing transmit ping timeiFpublishing direction and range infoyo(N?Bݔޥ ?Y )Ii )IY (w?h 1? ? )IiA I I O >! 4,q.?AV Y?Vq?Vf=ٱV nAHRS rotation from veh to nav: [[0.481980,-0.872526,-0.079963],[0.872232,0.469149,0.138245],[-0.083107,-0.136378,0.987165]]VH?wx`R??@?`Ftږ?iV Y?IV/l_;VCYEwByMuIimMb@Mb@Mb@iiii i9m"~?~jt?~jtYmS?ym>mm`OAi m?5A)mfFAiYm>AbDVDy%8=ٔ,:Q->9Y=Fy EE;E>Q 55@?Q 95)~BYbX?Q E{:y0?Q IR@tCI ;i* ;_5yɮ@Aii&.?AJi{BRi{Bjiꐆ?b4QeN@Q(ԋ)@Ro(N?Bݔޥ ?ZiѸ2biQj4Ɲ?@^ K@ޡ{k@Z3C?+]?1{?2iYB:i4A"iy0w?*i.BiBigb?i@n1i{BitBid? addTargetRange:: Added new target pos. range: 63.299999 m, deltaT: 3.527923 s, deltaX: -2.399998 m, approachRate: -0.680286 m/s, rangeRepo size: 4 % Added new target pos. range: 62.987709 m, bearing: 60.234905 deg, lat: 36.779322 deg, lon: -121.859557 deg, deltaT: 3.527923 s, deltaX: -2.388252 m, approachRate: -0.676957 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 62.99 m.Rh-Zh1E ProNav: ac range: 62.987709 m, nav range: 61.024467 m, bearing: 59.709974 deg, approach rate: 0.000000 m/s, LOS rate: -0.163194 deg/s, cmd heading: 59.652482 deg, new cmd heading: 59.433683 deg. BhAMHeadingCmd: 1.037313 target range: 62.987709 and range: 63.30 m.hMƄ?hQ*hQ"hQ hQgQfQfYf]1BdYdYdajde`fO@Zdei?颕sBɢ=) ?i)<顙irﯼiƄ?[R<=IƄ?IAE5 E5E5*E1"E54;*E5a:VE5(N4ZE1a=@a=@a=@aE@I9@ @@@@=@=^A+Oԙ A A B B B IB xBB =B B B v;B 0EBBBB =B =Cˁ4G䩋,$}.?A>)Y?>?>=ٱ>u FAHRS rotation from veh to nav: [[0.481574,-0.872462,-0.083045],[0.872398,0.468165,0.140509],[-0.083710,-0.140114,0.986591]]>H@?`5@nB ?@i?2?`n ?@&?i>)Y?I>T_;>CY~wBy~LIbD VD ܲy9%e=ٔ%:Q-%>9!Y)=-Fy- E-:E->9Q 5=5=H?Q 9E5=)=}BYAyE1?Q IER@=uCI=:i=(:=b5yQɮUAAQjhDNOT Ignoring new targets: 62.99 m.Rh?.Zh?. ProNav: ac range: 62.987709 m, nav range: 60.733521 m, bearing: 59.656115 deg, approach rate: -0.819018 m/s, LOS rate: -0.152340 deg/s, cmd heading: 59.433683 deg, new cmd heading: 59.271333 deg. BhѻHeadingCmd: 1.034480 target range: 62.987709 and range: 63.30 m.hi?h*h"h hgfffdddjdZd୞?sBɢ%=)! %%?i!i)R=顩i\tii?؈S<OP=Ii?I PExceeded connect timeout, disconnecting.A@A @A@E/0@AԙbEc44jE34rEǒ/E5 E5E5'E1"E5%;*E5:VE5'4ZE1BE5~ h˰,&U.?AiߑIߕAYwBy4IIR=);==i]Mb@Mb@Mb@YYYY Y9]'1Z?"~j?V-Y]B?y]S=]hY]-A Y)YYY]=>AbDuVDufyq%6=ٔQ->9Y=Fy EE>Q 55XS?Q 95I)}BYE?Q E:ym?Q IR@ouCI ;i ;f5yBɮ BAEjhDNOT Ignoring new targets: 62.99 m.RhZh ProNav: ac range: 62.987709 m, nav range: 60.397472 m, bearing: 59.605500 deg, approach rate: -0.749457 m/s, LOS rate: -0.113511 deg/s, cmd heading: 59.271330 deg, new cmd heading: 59.118639 deg. Bh͛HeadingCmd: 1.031815 target range: 62.987709 and range: 63.30 m.h?h*h"h hg f f f BdddjdZd?sBɢւ=) s?i)=i4ʰi?T<1'=I?Iy@y @y@}0@y^AUo=A؟AIIO>! E=  E= E= (E9 "E= (;*E= a:VE= c44ZE9 aE @aE @aE @aM @,$.?AZX?Z>?Z=ٱZA{ jAHRS rotation from veh to nav: [[0.483245,-0.870615,-0.092217],[0.871318,0.468004,0.147574],[-0.085322,-0.151665,0.984743]]ZH|??? ? ׵`iÿ?iZX?IZ.F_;ZCY6wByIbD%VD%y5AJ%=b=ٔ=;Q-=>9E"?YE"?=EFyE EEشEM>IQ 5]5M[?Q 9]5M)MJ}BYYy]?Q I]R@MuCIM3;iM;Mi5yaɮm/CAijhDNOT Ignoring new targets: 62.99 m.RhYZhY ProNav: ac range: 62.987709 m, nav range: 60.127392 m, bearing: 59.565265 deg, approach rate: -0.749872 m/s, LOS rate: -0.112212 deg/s, cmd heading: 59.118641 deg, new cmd heading: 58.997395 deg. BhHeadingCmd: 1.029699 target range: 62.987709 and range: 63.30 m.h,̓?h*h"h hgfffdddjdZd`S?sBɢr=) A_?i)Z=i:i,̓?QU<h='=I,̓?I Q@ @@4@@@aAB>BBQIBwBB =BBBv;B0Ey^Ar = nManaging dock network, ignoring radio surface power offԩ I I O >, .?A2W?2?2ǃ=ٱ2c!< BAHRS rotation from veh to nav: [[0.485500,-0.868950,-0.096003],[0.869989,0.469406,0.150925],[-0.086082,-0.156796,0.983872]]2H@m?o ? ?Q?@{ `Ŀ {?i2W?I2_;2CYJvByJIbDRVDRkyZW%ZS=ٔ^;Q-^>9\Y`=bFyb EbݻEb>dQ 5j5fd?Q 9n5fj})f}BYlyn?Q InR@fvCIfL;if;fVm5ypɮrDAtjh DNOT Ignoring new targets: 62.99 m.Rh?Zh?% ProNav: ac range: 62.987709 m, nav range: 59.837029 m, bearing: 59.522509 deg, approach rate: -0.748180 m/s, LOS rate: -0.110704 deg/s, cmd heading: 58.997398 deg, new cmd heading: 58.868509 deg. Bh--HeadingCmd: 1.027449 target range: 62.987709 and range: 63.30 m.h-u?h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE@?E EE'E"E);*E:VE'4ZEBENċ,/?A2q W?2p?2_=ٱ25' >AHRS rotation from veh to nav: [[0.488651,-0.866793,-0.099452],[0.868132,0.471682,0.154473],[-0.086986,-0.161821,0.982979]]2H F? ļu? 0??D Ŀ t?i2q W?I2_;0YFvByFI HHLNAiUMb@Mb@Mb@QQQQ Q9UK?L7A`?T㥛 YU^:?yU+=UUPAU.A U 6A)UHAQYU\?AbDmVDmy}5 %>=ٔ ;Q->9Y=Fy E? E>Q 55o?Q 95 v)|BY;?Q E:y1?Q IR@OvCI3:i:q5yɮEAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 62.99 m.Rh֗Zh֗ ProNav: ac range: 62.987709 m, nav range: 59.529354 m, bearing: 59.494155 deg, approach rate: -0.716512 m/s, LOS rate: -0.066373 deg/s, cmd heading: 58.868506 deg, new cmd heading: 58.783003 deg. Bh46HeadingCmd: 1.025957 target range: 62.987709 and range: 63.30 m.hR?h*h"h hgff f Bd d d jdZd`,@=sBɢEok=)A E+ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501558B A B B B IB *wBB B B DB v;B 0E.ʋ,p*/?A%U?%6?%G=ٱ%B'-Y mAHRS rotation from veh to nav: [[0.492297,-0.864255,-0.103474],[0.865976,0.474300,0.158508],[-0.087914,-0.167639,0.981921]]%Hʁ?A}?Z?I? 0uſk?i%U?I%._;%CYvByIbD=VD=kyM`%M>=ٔM ;Q-]>9YYY=]Fy] Eew!Ee>iQ 5u5m%{?Q 9u5mn)m|BYqy}?Q I}R@mvCIm;im";mt5yBɮ}EAEjhDNOT Ignoring new targets: 62.99 m.Rh'Zh' ProNav: ac range: 62.987709 m, nav range: 59.219696 m, bearing: 59.466780 deg, approach rate: -0.718941 m/s, LOS rate: -0.063889 deg/s, cmd heading: 58.783005 deg, new cmd heading: 58.700452 deg. Bhb/HeadingCmd: 1.024516 target range: 62.987709 and range: 63.30 m.hX#?h*h"h hgfffdddjdZdSU@sBɢ =) ,?i)=i%ﰼi%X#?%W<-=I-X#?I)ԉ9@ @@@@  >@ >%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753667ԱE EE%E"E%.;*ES:VE 4ZEBE9 ы,͔D/?A}BDAT read: Rx Time:04:44:43.8170 TRx dataTimestamp_ set to:1761540285.120235checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006801T?ԱE?lv=ٱT3 AHRS rotation from veh to nav: [[0.496476,-0.861384,-0.107375],[0.863478,0.477389,0.162802],[-0.088975,-0.173544,0.980799]]HC?t|`??`?Ƕ6ƿb?iT?I_;YavByIiMb@Mb@Mb@ 9B`"?=ٔN";Q->9Y!=%Fy% E%:E%>)Q 555-}?Q 9=5-g)-c|BY=/?Q E=:y=U?Q I=R@-vCI-:i-:-x5yAɮM2FAIjhquDNOT Ignoring new targets: 62.99 m.Rh}Zh} ProNav: ac range: 62.987709 m, nav range: 58.929798 m, bearing: 59.452490 deg, approach rate: -0.674851 m/s, LOS rate: -0.033429 deg/s, cmd heading: 58.700449 deg, new cmd heading: 58.657368 deg. BhHeadingCmd: 1.023764 target range: 62.987709 and range: 63.30 m.h ?h*h"h hgfffBdddjdZd@UsBɢU=)Q ]>?iY)]%=YYi]-i ?X<%=I ?I - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257684 9@  @ @ /@ E%  E% E% *E! "E% %;*E% :VE% (N4ZE! a5 @a5 @a5 @a= @A ^Aed=iIIO>؋,c/?A>ykS?> ?>hP=ٱ>e7 FAHRS rotation from veh to nav: [[0.500730,-0.858642,-0.109560],[0.860874,0.480776,0.166584],[-0.090362,-0.177731,0.979922]]>H?@y @H?`?R?@!ƿ[?i>ykS?I>O_;>CYR(vByRaIIV=)V=V=V=bD^VD^0ybG %bF=ٔf];Q-f>9dYh=jFyj EjFEn>lQ 5r5n?Q 9v5nha)n1|BYtyv?Q IvR@n0wCIn:ing:n5|5yzBɮ~DGA~Ejh%DNOT Ignoring new targets: 62.99 m.Rh%; Zh-; = ProNav: ac range: 62.987709 m, nav range: 58.651161 m, bearing: 59.440081 deg, approach rate: -0.675200 m/s, LOS rate: -0.030213 deg/s, cmd heading: 58.657371 deg, new cmd heading: 58.619967 deg. Bh=ॺEHeadingCmd: 1.023111 target range: 62.987709 and range: 63.30 m.hEQ?hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU @颅sBɢZ=) " ?i);=顉i^+iQ?4Y<B CBIBvBB =BBBw;B0EE9@I @I@M/@I^A% =IIO?>  DAT read: 04:44:43.8170 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411, 0.17, 1.868, 0.079, 2.084, 1.684, PHS= 0.286,-1.560, 0.356, RAW= 151.8, 9.8, CAL= 151.5, 10.6, ROT= 358.5, -10.6  Ygot valid direction response: 04:44:43.8170 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411, 0.17, 1.868, 0.079, 2.084, 1.684, PHS= 0.286,-1.560, 0.356, RAW= 151.8, 9.8, CAL= 151.5, 10.6, ROT= 358.5, -10.6  PDAT read: Bearing 211.3, -8.7 (Local)  ~Local bearing/azimuth received: Bearing 211.3, -8.7 (Local)  DAT read: Range 11 to 50 : 60.8 m (Round-trip 81.1 ms) speed 0.5 m/s  *DAT read: user:190>  BDAT read: Tx time:04:44:44.9302  $Ping request sent. i ǿ E> )@ %/> %:)@ q=>) c9@I q= 5#?їx?C? I?) z.I wּi q= 5 :publishing transmit ping time 5 Fpublishing direction and range infoy  qrq?_Y =η?Y ) I i ) I 5#?їx?C? ) I i D zD ?AE  E E E "E 3;*E |:VE ZE BE IbDMVDMy}%}@=ٔ}&k;Q->9Y=Fy E`PE>Q 55?Q 95Z){BYy?Q IR@zwCI2;i;5yɮ,HAiix/?AJiqBRiqBjiL?b>.f%M@o;1B&@Rqrq?_Y =η?Ziwּbiq=j8a*Sq!>@R? 4J@Ć@ZY?3GBv?h.=0?2iPB:i A"iVz?*iCBieBiy0w?i i\Bi-lBi?} addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 3.779992 s, deltaX: -2.500000 m, approachRate: -0.661377 m/s, rangeRepo size: 4  Added new target pos. range: 60.499229 m, bearing: 59.982037 deg, lat: 36.779325 deg, lon: -121.859550 deg, deltaT: 3.779992 s, deltaX: -2.488480 m, approachRate: -0.658329 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 60.50 m.RhZh ProNav: ac range: 60.499229 m, nav range: 59.044346 m, bearing: 59.540928 deg, approach rate: 0.000000 m/s, LOS rate: -0.030213 deg/s, cmd heading: 58.619969 deg, new cmd heading: 58.579892 deg. BhHeadingCmd: 1.022412 target range: 60.499229 and range: 60.80 m.heނ?h*h"h hgfffdddjd`ffN@Zd?颭tBɢފ=) >i)B=iLni-eނ?5Y<=_;6CYzuByz/I ||iMb@Mb@Mb@ 9%C?~jt?y&1YZ$?yD<`UA )IAY@AbDVDJy81%=ٔ:Q->9 ?Y ?=Fy E"E> Q 55 ?Q 95 R) {BY$?Q E:y?Q IR@ wCI :i : ̄5y!ɮ-HA)EB*** querying acoustic contact ***iA iAjhQUDNOT Ignoring new targets: 60.50 m.Rh]HZh]Hi ProNav: ac range: 60.499229 m, nav range: 58.689617 m, bearing: 59.539452 deg, approach rate: -0.654772 m/s, LOS rate: -0.002741 deg/s, cmd heading: 58.579889 deg, new cmd heading: 58.575434 deg. BhHeadingCmd: 1.022334 target range: 60.499229 and range: 60.80 m.hۂ?h*h"h hgfffeBdddjdZd ?5tBɢ5x=)9 =g>i9)==99i]iieۂ?eZB CBWIBvBBBBBv;B0Eԑ9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995592 ^A 8<D =D %=E EE'E"Eg5;*E:VE'4ZEBE}4,HĿ/?A 2q9O?2?2 C=ٱ2!@ >AHRS rotation from veh to nav: [[0.514632,-0.849942,-0.112925],[0.852325,0.492799,0.175192],[-0.093254,-0.186409,0.978037]]2H@w?2輿`>F??l?}߷=ǿ`L?i2q9O?I2`_;2CYFuByF IbDRVDR:2yZW%Z2=ٔ^:Q-^>9^"?Y^"?=^Fy^ EbUEEb>dQ 5j5fL?Q 9j5f/L)f{BYlynل?Q InR@fxCIfw;if;f5yrBɮr0IArEjhDNOT Ignoring new targets: 60.50 m.Rhe7Zhe7 ProNav: ac range: 60.499229 m, nav range: 58.403042 m, bearing: 59.539815 deg, approach rate: -0.615387 m/s, LOS rate: 0.000784 deg/s, cmd heading: 58.575436 deg, new cmd heading: 58.576531 deg. Bh 8HeadingCmd: 1.022353 target range: 60.499229 and range: 60.80 m.hy܂?h*h"h hgf f1f1d9d9d9jd9ZdER?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251282颥 tBɢv=)uQ ż>i)_C=顩i.Kiy܂?DZ<~},/?A:M?:؂?:<=ٱ:6A RAHRS rotation from veh to nav: [[0.519202,-0.847170,-0.112840],[0.849550,0.497180,0.176284],[-0.093241,-0.187390,0.977850]]:HL?`㼿`/?`?x?޷gǿJ?i:M?I:*_;8YruByrIE EE(E"E8;*E:VEc44ZEa@a@a@a@iMb@Mb@Mb@ 9}?5^I?{Gzt?y&1YM"?yף;`e&YA 6A)LAY=BAbD VD kyN%*=ٔ%Q-%>9% ?Y% ?=-Fy- E-n7E->1Q 5=55~Œ?Q 9=55dE)5}{BYMY"?Q EM:yMN?Q IMR@5lxCI5L;i5K;55yQɮUIIAQjhyDNOT Ignoring new targets: 60.50 m.RhR9ZhR9 ProNav: ac range: 60.499229 m, nav range: 58.101017 m, bearing: 59.543788 deg, approach rate: -0.650089 m/s, LOS rate: 0.008596 deg/s, cmd heading: 58.576529 deg, new cmd heading: 58.588510 deg. Bhɼ9HeadingCmd: 1.022562 target range: 60.499229 and range: 60.80 m.hS?h*h"h hgfffxBdddjdZdF?Թ-tBɢY~=) >i)kj=iYyiS?BZ<#LBB IBuBBBBDBv;B0EBBBB =B =C 4A}؟AIIO> ׭, ./?A 2YL?2AHRS rotation from veh to nav: [[0.523215,-0.844657,-0.113137],[0.847079,0.500933,0.177550],[-0.093295,-0.188733,0.977587]]2H-?o@D? ??.ⷿ i(ȿdH?i2YL?I2L^;2CYFuByFIIJ%>)J>bDRVDRy;%^=ٔ9Q->9"?Y%"?=%Fy% E%RE%>)Q 555-ϒ?Q 955-3@)-a{BY9y=?Q I=R@-xCI-;i-e;-"5yAɮEIAIjhiuDNOT Ignoring new targets: 60.50 m.RhuP9ZhuP9 ProNav: ac range: 60.499229 m, nav range: 57.869522 m, bearing: 59.547955 deg, approach rate: -0.631527 m/s, LOS rate: 0.011411 deg/s, cmd heading: 58.588509 deg, new cmd heading: 58.601057 deg. Bh9HeadingCmd: 1.022781 target range: 60.499229 and range: 60.80 m.h?h*h"h hgfffdddjdZd7@8tBɢ3|=) <>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003809i!)-a=))i-i5?5^!Z<5 H, 0?ATY~ruBy~IiMb@Mb@Mb@ 9ףp= ?I +?{Gzt?Y?y94<ף;YA-A ~8A)Y CAbDVDyq%A=ٔQ->9Y=Fy] E]E]>aQ 5m5evے?Q 9m5e9)eH{BYu?Q Eu:yu?Q IuR@exCIe;ieS;e5y}BɮIAEjhDNOT Ignoring new targets: 60.50 m.Rh7Zh7 ProNav: ac range: 60.499229 m, nav range: 57.595146 m, bearing: 59.548721 deg, approach rate: -0.617502 m/s, LOS rate: 0.001732 deg/s, cmd heading: 58.601056 deg, new cmd heading: 58.603365 deg. Bh+8HeadingCmd: 1.022822 target range: 60.499229 and range: 60.80 m.h?h*h"h hgfffBdddjdZd`l@FtBɢ,i)s=ii%?%mY<%3B CB IB MuBB =B B B v;B 0E^A% <A- eAzA) Y AIIO?| ,+00?ARtbI?R?R=ٱRAX nAHRS rotation from veh to nav: [[0.533933,-0.838392,-0.109611],[0.840354,0.511870,0.178312],[-0.093389,-0.187319,0.977850]]RH?@y -?9Y=Fy EQڼE%>!Q 5M5%^蒊?Q 9U5%_3)%-{BYQyU ?Q IUR@%9yCI%;i%?;%.5yYɮe JAaB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 60.50 m.Rh-9Zh-9 ProNav: ac range: 60.499229 m, nav range: 57.300644 m, bearing: 59.553296 deg, approach rate: -0.607766 m/s, LOS rate: 0.009490 deg/s, cmd heading: 58.603365 deg, new cmd heading: 58.617160 deg. Bhj9HeadingCmd: 1.023062 target range: 60.499229 and range: 60.80 m.h?h*h"hA hIgIfIfIfQdQdQdQjdQZd]@@VtBɢ+c=)  >i ) C=  i 7di?\Y<2I?I%fA%gAjZXBDAT read: Rx Time:04:44:47.4117 TRx dataTimestamp_ set to:1761540288.900942checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013892}9@y @y@}0@yE EE'E"E*;*En:VE'4ZEBEx`,I0?AiI&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276429%IH?%,?%pϾ=ٱ%@ 5AHRS rotation from veh to nav: [[0.536809,-0.836724,-0.108298],[0.838558,0.514968,0.177841],[-0.093034,-0.186281,0.978082]]%H-?`q@g`x?z??ѷǿ@rL?i%IH?I%^;%CYMsuByMIiMb@Mb@Mb@ 9sh|??Zd;O?~jth?Y)?yj<D;.A  :A)YCA IIbDeVDey <%5=ٔMQ->9Y=Fy EeE>Q 55g?Q 95,){BY*?Q E:y?Q IR@yCIyi)=i=iM?X<┻IM?IAMMII wf>CEGYqq9YADAT read: 04:44:47.4117 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 406,-0.08, 2.618, 0.762, 2.797, 2.411, PHS= 0.309,-1.605, 0.342, RAW= 150.8, 9.9, CAL= 150.5, 10.8, ROT= 359.5, -10.8  Ygot valid direction response: 04:44:47.4117 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 406,-0.08, 2.618, 0.762, 2.797, 2.411, PHS= 0.309,-1.605, 0.342, RAW= 150.8, 9.9, CAL= 150.5, 10.8, ROT= 359.5, -10.8 PDAT read: Bearing 210.1, -7.9 (Local) ~Local bearing/azimuth received: Bearing 210.1, -7.9 (Local) DAT read: Range 11 to 50 : 58.0 m (Round-trip 77.4 ms) speed 0.4 m/s %*DAT read: user:191> -BDAT read: Tx time:04:44:48.5301 -$Ping request sent.-ipͿ>q(@;0>0(@ A>)^@IAoȈ%?W)?ʸ#L?  ?)K1IDiAU:publishing transmit ping time)]Fpublishing direction and range infoy/AE>B>BCBIBuBB =BBDBv;B0EA.AIIO?=,&o0?A2yG?2?2)=ٱ2|A :AHRS rotation from veh to nav: [[0.539238,-0.835090,-0.108844],[0.837087,0.517344,0.177877],[-0.092233,-0.187030,0.978015]]2HpA?.ݻk?@??ǿK?i2yG?I2^^;2CYFuByFIbDNVDN0yV =%V=ٔZ˺Q-Z>9Z ?YZ ?=^Fy^ E^nE^>`Q 5f5b?Q 9f5b$)bzBYAyMJ?Q IMS@byCIb*i))-=))i-Pi5?5W<5Z߻I5?I9 E&Changing to mode: 2ԉ@ @@0@ԱE5 E5E1E1"E5;*E5^:VE1ZE1BE5` F"",=0?AY5uBy5IiMb@Mb@Mb@ 9i|?5?J +?~jth?Y1?yH=;]A :A)LAYDAbDVDFy8n%,=ٔQ->9"?Y"?=Fy EE>Q 55_?Q 95?)zBY 2?Q E :y ҈?Q I S@1zCIX;i ;Ӥ5yBɮIAEjh9EDNOT Ignoring new targets: 57.72 m.bhAEPowering the camera and arming the capture device at range: 58.00 m.2hIRhMɹZhMɹ] ProNav: ac range: 57.715141 m, nav range: 56.668221 m, bearing: 59.513663 deg, approach rate: -0.721015 m/s, LOS rate: -0.022029 deg/s, cmd heading: 58.622810 deg, new cmd heading: 58.592630 deg. Bh]qeHeadingCmd: 1.022634 target range: 57.715141 and range: 58.00 m.he?hi*hi"hi hi2higififqfuȂBdqdydyjdyZd}?MtBɢMRb=)Q Ui>iQ)Ul =QQiU를i]?](W<ǻI?I=o7@9 @9@E 0@AI EM  EM EM 'EI "EM a;*EM :VEM '4ZEI a] @a] @a] @a] @^A} `Իq A .AI I O >o(,*0?A2GG?2~?2V=ٱ2'; :AHRS rotation from veh to nav: [[0.541651,-0.833939,-0.105646],[0.835888,0.521048,0.172627],[-0.088914,-0.181812,0.979305]]2H3U? `?l??@ö EǿxV?i2GG?I2`;2CYBuByFIHHbDNVDN yV<%Zh=ٔZsQ-Z>9^ ?Y^ ?=^Fy^ E^Eb>`Q 5f5bR?Q 9j5b)bzBYhyj{?Q IjS@bpzCIb@;ib;b5ylɮrqIApjh DNOT Ignoring new targets: 57.72 m.bh  Powering the camera and arming the capture device at range: 58.00 m.2hRhZh% ProNav: ac range: 57.715141 m, nav range: 56.424057 m, bearing: 59.506832 deg, approach rate: -0.692413 m/s, LOS rate: -0.019454 deg/s, cmd heading: 58.592628 deg, new cmd heading: 58.572047 deg. Bh%U-HeadingCmd: 1.022275 target range: 57.715141 and range: 58.00 m.h-ق?h1*h1"h1 h12h1g1f1f9f9d9d9dAjdAZdEU? tBɢ`o=) ~>i)kW!=i!Biق?%V<%r I%ق?IAԡA)A)B5>B1B5IB5uBB1B1B1B5ev;B50EP5@ @@4@^AAfAzAdA A ؟AI I) O= >) .,0?AE2 E2E2,E0"E2;*E2:VE2g4ZE0BE2!d9r"?Yv"?=vFyv EvNEv>xQ 5~5z&?Q 95z)zzBYyy?Q IS@zzCIzL;izY;zz5y ɮ IA-B*** querying acoustic contact ***i) i)jh9=DNOT Ignoring new targets: 57.72 m.bh9EPowering the camera and arming the capture device at range: 58.00 m.2hARhEZhEU ProNav: ac range: 57.715141 m, nav range: 56.141418 m, bearing: 59.498869 deg, approach rate: -0.691261 m/s, LOS rate: -0.019574 deg/s, cmd heading: 58.572048 deg, new cmd heading: 58.548038 deg. Bh]V]HeadingCmd: 1.021856 target range: 57.715141 and range: 58.00 m.he.̂?ha*ha"ha ha2hagafififididqdqjdqZdu?颥tBɢTk=) >i)|5"=顩ivi.̂?UU5,0?A 60)G?6~?6c=ٱ64 >AHRS rotation from veh to nav: [[0.541624,-0.834432,-0.101812],[0.836320,0.522652,0.165539],[-0.084918,-0.174807,0.980934]]6HT?` _#??_0?6`ƿ`c?i60)G?I6b`;6CYFuByF"IiUMb@Mb@Mb@QQQQ Q9U-?MbX9?~jth?YU?5?yUʡ=QQU1A U;A)QQYUEAbDmVDm1y}q=%}A=ٔ} Q->9 ?Y ?=Fy E`Q:E>Q 55*2?Q 95 )zzBY_6?Q E:y?Q IS@{CI" ;i ;-5yBɮiHAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004615jhDNOT Ignoring new targets: 57.72 m.bhPowering the camera and arming the capture device at range: 58.00 m.2hRhcZhc ProNav: ac range: 57.715141 m, nav range: 55.841869 m, bearing: 59.477838 deg, approach rate: -0.705034 m/s, LOS rate: -0.049766 deg/s, cmd heading: 58.548040 deg, new cmd heading: 58.484608 deg. Bh-HeadingCmd: 1.020749 target range: 57.715141 and range: 58.00 m.h-秂?h)*h)"h1 h12h1g9f9f9f=BdAdAdIjdIZdUiG@tBɢN8m=) >i)%K+#=!!i%Ⱓi-秂?-&'U<-~ֻI-秂?IQyE EE&E"Ex;*E^:VE4ZEa@a@a@a@0@ @@@ԙ^A- B= >B9 B= IB= $uBB= =B9 B9 B= v;B= `0E} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257674 A} ؟AI I O >;,=0?A2qhG?2 ??2OB=ٱ2U/ >AHRS rotation from veh to nav: [[0.540925,-0.835178,-0.099390],[0.837010,0.522943,0.161076],[-0.082552,-0.170320,0.981925]]2HAO?ƹq?`? #? " ſ`k?i2qhG?I2@_;0YFuByFIP PPbDV VDV2yZ%^X=ٔ^CͻQ-^>9b"?Yb"?=bFyb Ef&;Ef>hQ 5j5jJiI)M#=IIiMiu?uؗT<}ұI?I5?i?-@ @@@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508448E EE+E"E ;*E:VE [4ZEBEv־B, 1?AiI"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763869'G??=ٱI , AHRS rotation from veh to nav: [[0.540212,-0.835826,-0.097808],[0.837720,0.523077,0.156892],[-0.079973,-0.166691,0.982761]]HjI?@@ ? ? ?@y@Vſr?i'G?I!>_;CYuByIIJ>)=iMb@Mb@Mb@ 9}?5^I?Cl?Mb`YMB?y;=3A d=A)MAY GAbDVDܲy%;%%)=ٔ- Q-->9)Y)=5Fy5 E5;E5>9Q 5E5=OI?Q 9E5=)=7zBYMLD?Q EM:yMʑ?Q IMS@={CI= ;i= ;=5yQɮUHAYjhyDNOT Ignoring new targets: 57.72 m.bhPowering the camera and arming the capture device at range: 58.00 m.2hRh.Zh. ProNav: ac range: 57.715141 m, nav range: 55.206230 m, bearing: 59.419795 deg, approach rate: -0.758468 m/s, LOS rate: -0.080512 deg/s, cmd heading: 58.426388 deg, new cmd heading: 58.309428 deg. Bh]HeadingCmd: 1.017691 target range: 57.715141 and range: 58.00 m.hC?h*h"h h2hgfff$BdddjdZd@9@!tBɢCa=) 8m>i)$=i Ci C?S<<"IC?I*@ @@/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014123E  E E )E "E +$;*E E:VE FA4ZE a @a @a @a @y ^A 3AI IQ Ia Ou >+wI,'1?ABH?B?Bd=ٱB' JAHRS rotation from veh to nav: [[0.538987,-0.836807,-0.096160],[0.838763,0.522734,0.152400],[-0.077263,-0.162797,0.983630]]BH@a?? %?`9hYh=nFyn En+;En>pQ 5v5rS?Q 9v5rE)rzBYtyz?Q IzS@r{CIr;ir;r5y~Bɮ~dHAEjhIUDNOT Ignoring new targets: 57.72 m.bhQUPowering the camera and arming the capture device at range: 58.00 m.2hQRh]Zh]m ProNav: ac range: 57.715141 m, nav range: 54.930359 m, bearing: 59.389880 deg, approach rate: -0.749995 m/s, LOS rate: -0.081736 deg/s, cmd heading: 58.309427 deg, new cmd heading: 58.219232 deg. Bhm``uHeadingCmd: 1.016117 target range: 57.715141 and range: 58.00 m.hu"?hq*hq"hy hy2hygyfyffdddjdZdT @BA<B>BCBIBBuBB =BBDBu;BG0EBCBCBCB =B =C6tBɢem=) Et>i)%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264615iϡi"?S<`;59I"?IiE(@A @A@E 0@Iԑ^Ae 7 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517817 A I I O >bEFA4jEʷG4rEf0E}  E} E} ,Ey "E} x;*E} 5:VE} g4ZEy BE} Dg4?`|@A?&?@<?@`Ŀ}?iRH?IR^;PYvuByv&IbDVD1y%Eo%-E=ٔ=gѻQ-=>9AYA=EFyE EE;EE>IQ 5U5M,^?Q 9U5M)MyBYYy]:?Q I]S@MA|CIMQ;iM;M5yeBɮmHAmEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 57.72 m.bhPowering the camera and arming the capture device at range: 58.00 m.2hRh`ĺZh`ĺ ProNav: ac range: 57.715141 m, nav range: 54.614525 m, bearing: 59.354672 deg, approach rate: -0.765619 m/s, LOS rate: -0.085842 deg/s, cmd heading: 58.219235 deg, new cmd heading: 58.113000 deg. BhkHeadingCmd: 1.014263 target range: 57.715141 and range: 58.00 m.h`Ӂ?h*h"h h2hgfffdddjdZdY] @}tBɢ}RSc=)y ^>i)M&=顁iAIi`Ӂ?:S<`G;I`Ӂ?IM &@I @I@Uz2@Q@]eA@]eAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771221^AM9) A I I O >`V,U[1?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.021018nI?nk?nE=ٱn#  -AHRS rotation from veh to nav: [[0.536147,-0.838631,-0.096143],[0.841061,0.521031,0.145404],[-0.071847,-0.158820,0.984690]]nH(? Ԝ ?J??d:TĿ@?inI?In^;nCY=uBy='I AAiMb@Mb@Mb@ 9L7A`?S㥛?QY+G?y$>uYAj4A 5>A)LAYfFAbDVDy;%>=ٔ;ԻE= E=E=&E9"E=;*E=:VE=4ZE9aE@aE@aE@aE@Q-u>9qYy=}Fy} E};E}>Q 55i?Q 95B)yBYJ?Q E:y>?Q IS@|CIK;i;j5yɮ HAjh DNOT Ignoring new targets: 57.72 m.bh  Powering the camera and arming the capture device at range: 58.00 m.2h)Rh5Zh5E ProNav: ac range: 57.715141 m, nav range: 54.269585 m, bearing: 59.307051 deg, approach rate: -0.764021 m/s, LOS rate: -0.106148 deg/s, cmd heading: 58.112998 deg, new cmd heading: 57.969227 deg. BhEMHeadingCmd: 1.011754 target range: 57.715141 and range: 58.00 m.hM'?hi*hi"hi hq2hqgqfqfyf}BdydydyjdZd G@tBɢi]=)) MO>iI)M'=IIiMiU'?U$RBBIBWuBB =BBDBu;B80E=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273115^A qZ;ԁ A5 .AIA IQ O] >p\,Eu1?A2֜I?2?2B=ٱ2 :AHRS rotation from veh to nav: [[0.534251,-0.839903,-0.095598],[0.842512,0.519837,0.141224],[-0.068919,-0.155991,0.985351]]2H?|@y?@??ÿ@?i2֜I?I2~^;0YFuByF$IbDNVDN:yVB%Va=ٔV8Q-Z>9^ ?Y^ ?=^Fy^ E^p;Eb?`Q 555br?Q 955b)byBY9y=?Q I=S@b|CIbt?h*h"h h2hgf f)f1d1d1d1jd1Zd=@@额uBɢ_=) >>i)Q'=顡iii>?DR<u'?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.526296y @ @@/@D9zD=AAEE EEEE*EA"EE;*EE:VEE(N4ZEABEEsM checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778572c,1?AԱYuByIi=Mb@Mb@Mb@9999 99=(\?Q?:vY=N?y=\>=Լ=ZA=;5A =?A)=MA9Y=\GA Up9qYq=uFyuEuE}>yQ 55}~?Q 95})}yBYGQ?Q E:y?Q IS@}?}CI}u;i};}y5yɮHAjhDNOT Ignoring new targets: 57.72 m.bhEPowering the camera and arming the capture device at range: 58.00 m.2hARhMZhM] ProNav: ac range: 57.715141 m, nav range: 53.629417 m, bearing: 59.213914 deg, approach rate: -0.838842 m/s, LOS rate: -0.124860 deg/s, cmd heading: 57.853184 deg, new cmd heading: 57.688107 deg. Bh]aHeadingCmd: 1.006847 target range: 57.715141 and range: 58.00 m.h`?h*h"h h2hgfff*BdddjdZd@gG(hA1]9e(hAYe%A额uBɢP=) >i)+(=顡iߟi`?RR<HA >A A B >B B IB kuBB =B B DB u;B B0EA I IO>j,1?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.281243(.;ɰ.;VK?Vȁ?Vx=ٱVg fAHRS rotation from veh to nav: [[0.527549,-0.843818,-0.098307],[0.847358,0.514408,0.131793],[-0.060639,-0.152829,0.986390]]VH?* ? v? ? " ÿ?iVK?IV$|^;VCYruByvIbDEVDE:yU⾽%U@=ٔ]pQ-]>9YYa=eFyeEe<Em>iQ 5u5m ?Q 9}5m/)mVyBYyy}?Q I}S@m}CIm:im:m35yߓBɮHAwEjh%DNOT Ignoring new targets: 57.72 m.bh!%Powering the camera and arming the capture device at range: 58.00 m.2h!Rh-Zh-= ProNav: ac range: 57.715141 m, nav range: 53.286873 m, bearing: 59.159477 deg, approach rate: -0.785003 m/s, LOS rate: -0.125554 deg/s, cmd heading: 57.688106 deg, new cmd heading: 57.523745 deg. Bh=UeHeadingCmd: 1.003979 target range: 57.715141 and range: 58.00 m.he`?ha*ha"ha hi2higififqfqdqdqdqjdyZd}w@(uBɢ3C=) =i)~(=ii`?S<q,W1?A:nL?:"?:n=ٱ: FAHRS rotation from veh to nav: [[0.525293,-0.845208,-0.098441],[0.848926,0.512626,0.128606],[-0.058235,-0.151125,0.986798]]:H@4? @m3f*?ng? 'v?ѭ Xÿٓ?i:nL?I:^;8YRuByRIbDZVDZf`yb%fU=ٔfͻQ-f>9j"?Yj"?=jFyjEj;Ej>pQ 5r5r?Q 9v5r)r1yBYtyvl?Q IvS@r}CIrV:iro:r5yzBɮ~-IA~xEB*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 57.72 m.bh)-Powering the camera and arming the capture device at range: 58.00 m.2h)Rh5QZh5QE ProNav: ac range: 57.715141 m, nav range: 52.979198 m, bearing: 59.109022 deg, approach rate: -0.823262 m/s, LOS rate: -0.135789 deg/s, cmd heading: 57.523744 deg, new cmd heading: 57.371501 deg. BhEaMHeadingCmd: 1.001322 target range: 57.715141 and range: 58.00 m.hMN+?hI*hI"hI hI2hIgQfQfQfQdYdYdYjdaZde@颍6uBɢ؉>=) @=i)w(=顑i=iN+?qS<fI % checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039853׬w,#11?AE6 E6E6'E4"E6;*E6˭:VE6'4ZE4a:@a:@a:@a:@>OM?>tr?> d=ٱ>b FAHRS rotation from veh to nav: [[0.523300,-0.846140,-0.101020],[0.850317,0.510725,0.126966],[-0.055837,-0.152340,0.986749]]>H@߾?`vܹ5? W?j@?`ÿs?i>OM?I>_;>CYhuByIieMb@Mb@Mb@aaaa a9eq= ףp?7A`?Q롿YeK?ye>e\e[Ae 6A e@A)eLAaYeGAqu@AbD}VD}y=%%=ٔ#Q->9Y=Fy E;E>Q 55D?Q 95)xBY)O?Q E:yߘ?Q IS@M~CI? ;i ;5yɮIAjhDNOT Ignoring new targets: 57.72 m.bhPowering the camera and arming the capture device at range: 58.00 m.2hRhY#ZhY# ProNav: ac range: 57.715141 m, nav range: 52.587570 m, bearing: 59.038991 deg, approach rate: -0.792717 m/s, LOS rate: -0.142809 deg/s, cmd heading: 57.371499 deg, new cmd heading: 57.159842 deg. BhĻ HeadingCmd: 0.997627 target range: 57.715141 and range: 58.00 m.h d?h *h "h  h2hgfffBdddjd!Zd%@IUIuBɢU0=)Y ]xBCBBB =BBB v;Bi0EEA@A @A@E/@Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.290650q^A oE<A SAzA cAԩ I I O > ~,1?AFWmM?F?F o[=ٱF2p ZAHRS rotation from veh to nav: [[0.522132,-0.846638,-0.102872],[0.851182,0.509724,0.125181],[-0.053547,-0.152924,0.986786]]FHM?@U`9Y=FyE-6;E->1Q 5=55u?Q 9=55)5xBYAyE ?Q IES@5~CI5-:i5:55yqɮufJAqjhDNOT Ignoring new targets: 57.72 m.bhPowering the camera and arming the capture device at range: 58.00 m.lFinal approach. Armed for intercept at range: 58.00 m.\Transitioning guidance mode to: FINAL_APPROACH:h@Rh"Zh" ProNav: ac range: 57.715141 m, nav range: 52.293926 m, bearing: 58.985335 deg, approach rate: -0.774502 m/s, LOS rate: -0.142316 deg/s, cmd heading: 57.159842 deg, new cmd heading: 56.997969 deg. BhWûHeadingCmd: 0.994802 target range: 57.715141 and range: 58.00 m.h\~?E  E E ,E "E 7;*E P:VE g4ZE BE ZԹ ,2?A2dM?2ւ?2ZsQ=ٱ2 :AHRS rotation from veh to nav: [[0.520820,-0.847236,-0.104585],[0.852135,0.508634,0.123116],[-0.051113,-0.153242,0.986866]]2H@?`ƺ D?F??+@pÿg?i2dM?I2a;2CYuByIԙiMb@Mb@Mb@ 9K7?V-?&1YI?yh>P[A6A @A)LAYHAbDVDy F%H=ٔ:ûQ->9Y!=%Fy%E%;E%>)Q 555-t?Q 955-ӫ)-xBY=dM?Q E=:y=I?Q I=S@-~CI-u ;i- ;-5yEߓBɮEJAMoEjhiuDNOT Ignoring new targets: 57.72 m.bhyRh}=$Zh}=$ ProNav: ac range: 57.715141 m, nav range: 51.979069 m, bearing: 58.929229 deg, approach rate: -0.800964 m/s, LOS rate: -0.143590 deg/s, cmd heading: 56.997970 deg, new cmd heading: 56.828635 deg. BhŻHeadingCmd: 0.991847 target range: 57.715141 and range: 58.00 m.h}?h*h"h hgfffBdddjdZd@@guBɢ?=) i)v(=i i}?U<Q=I}?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.045261a@a @a@e63@aE- E-E-*E)"E-f;*E-^:VE-(N4ZE)a5@a5@a5@a5@^A E<I I O > BA AE 4=BM >BI BM IBM BuBBM =BI BI BM jv;BM 0E% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297034,.2?A6fN?6?6$G=ٱ6qn BAHRS rotation from veh to nav: [[0.519019,-0.848074,-0.106719],[0.853381,0.507029,0.121089],[-0.048582,-0.153920,0.986888]]6HΛ?`l#QN?9? ?ߨÿ?i6fN?I6`;6CYetByeI m9Y=FyE;E>Q 55?Q 95K)~xBYy?Q IS@:CI;i<;5yɮ KAjhDNOT Ignoring new targets: 57.72 m.bhRh$Zh$  ProNav: ac range: 57.715141 m, nav range: 51.675045 m, bearing: 58.873681 deg, approach rate: -0.784294 m/s, LOS rate: -0.144143 deg/s, cmd heading: 56.828636 deg, new cmd heading: 56.661010 deg. Bh ŻHeadingCmd: 0.988921 target range: 57.715141 and range: 58.00 m.h)}?h*h"h hgfffd!d!d!jd!Zd- @]wuBɢ]=)Y ]ia)e*(=aaieim)}?mtV^A]=A>A>!IaIyO8>}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548555IE5  E5 E5 )E1 "E5 ;*E5 B:VE5 FA4ZE1 BE5 e9pYp=rFyvEvP;Ev>xQ 5~5zzƓ?Q 9~5z)zSxBYy?Q IS@zCIzB:iz:zU5y ɮ KA -B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 57.72 m.bh9RhE'ZhE'U ProNav: ac range: 57.715141 m, nav range: 51.376350 m, bearing: 58.818095 deg, approach rate: -0.782773 m/s, LOS rate: -0.146519 deg/s, cmd heading: 56.661009 deg, new cmd heading: 56.493282 deg. BhUɻ]HeadingCmd: 0.985994 target range: 57.715141 and range: 58.00 m.h]j|?hY*hY"hY hYgYfafafadadidijdiZdmb@uBɢ<) 1i)'=i-i j|? xW<-D9=I-j|?I1Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.801276@ @@/@y^Al=IQIaOm>ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052513 E=  E= E9 E9 "E= ;*E= ^:VE9 ZE9 aE @aE @aE @aE @+,Bb2?AYntBynzIiMb@Mb@Mb@ 9T㥛 ?q= ףp?)\(YA?y=Ga7]A EBA)LAYHAbDVDy"%==ٔQ->9Y=Fy!EE>Q 55jѓ?Q 95)$xBYC?Q E:y?Q IS@CIt;i; 5yBɮrLApEjh!-DNOT Ignoring new targets: 57.72 m.bh)Rh-Zh5E ProNav: ac range: 57.715141 m, nav range: 51.050812 m, bearing: 58.767267 deg, approach rate: -0.750433 m/s, LOS rate: -0.117916 deg/s, cmd heading: 56.493280 deg, new cmd heading: 56.339824 deg. BhE١MHeadingCmd: 0.983315 target range: 57.715141 and range: 58.00 m.hM{?hI*hI"hI hIgIfQfQfU҂BdYdYdYjdYZdeg @ԱMuBɢM<)Q UhiQ)U4&=QQi]i]{?]}XB=CB=}IB=tBB= =B9B9B=*w;B=0EBCBCBēCB =B =C5IaIqO}Y> A bV,"|2?A=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556405YE{tByEYIQQbDVDy%M=ٔQ->9Y=Fy%EE>Q 55oۓ?Q 95)wBYyQ IS@CI;i-;5yړBɮLAgEjhDNOT Ignoring new targets: 57.72 m.bhRhZh  ProNav: ac range: 57.715141 m, nav range: 50.752697 m, bearing: 58.720143 deg, approach rate: -0.746582 m/s, LOS rate: -0.118707 deg/s, cmd heading: 56.339823 deg, new cmd heading: 56.197622 deg. Bh%HeadingCmd: 0.980834 target range: 57.715141 and range: 58.00 m.h%{?h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd=f3!@euBɢej<)a mii)m%=iiiu"囼i}{?}"Y<}${J=I}{?I bE}·G4jE}B4rE}/E] E]E](EY"E][";*E]:VE]c44ZEYBE]z;,2?A Y~TtBy~BI iMb@Mb@Mb@ 9On?#~j?v/Y8?y=xi^A6A )?KAYQHAbDVD:yS%I=ٔQ->9Y=Fy)EE>Q 55擊?Q 95)wBYO:?Q E:y?Q IS@:CI~;i|;'5yɮMAjhDNOT Ignoring new targets: 57.72 m.bhRh%EZh%E ProNav: ac range: 57.715141 m, nav range: 50.460995 m, bearing: 58.687028 deg, approach rate: -0.716946 m/s, LOS rate: -0.081862 deg/s, cmd heading: 56.197622 deg, new cmd heading: 56.097701 deg. Bh`HeadingCmd: 0.979090 target range: 57.715141 and range: 58.00 m.hz?h*h"h hgfffBdddjdZd @"@q颭uBɢ_<) wi)<~$=顱i iz?E*[<mO=Iz?IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.060725?@ @@/@Ee EeEaEa"Ee;*Ee5:VEaZEaam@am@am@am@ԙ^Am G= A A @AA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312534B= >B9 B= KIB= ctBB= =B9 B9 B= gw;B= 1Ef,Jѯ2?A2?O?2,?2'=ٱ2=* >AHRS rotation from veh to nav: [[0.516436,-0.847519,-0.122497],[0.855498,0.504346,0.117292],[-0.037627,-0.165370,0.985514]]2H?[`>`?@#?? C@*ſT?i2?O?I2^;0YFtByF IPbDRVDRNyZ%Z\=ٔZQ-^>9\Y\=bFyb-EbT;Eb>dQ 5j5f?Q 9j5f[)fwBYhyn?Q InS@f\CIf3;if;ff5ypɮr]NApjhIMDNOT Ignoring new targets: 57.72 m.bhQRhU1ZhU1e ProNav: ac range: 57.715141 m, nav range: 50.194363 m, bearing: 58.656114 deg, approach rate: -0.705787 m/s, LOS rate: -0.082265 deg/s, cmd heading: 56.097699 deg, new cmd heading: 56.004465 deg. BheamHeadingCmd: 0.977462 target range: 57.715141 and range: 58.00 m.hm:z?hi*hi"hq hqgqfqffdddjdZd`*"@-uBɢ- <)1 5y־iQ)UB#=QQi]]i]:z?eX\N,2?A2O?2u?24=ٱ2Hh. :AHRS rotation from veh to nav: [[0.517035,-0.846512,-0.126854],[0.855220,0.504702,0.117789],[-0.035687,-0.169389,0.984903]]2H`?<]?&?q'?EſS?i2O?I2^;0Y^tBybIbDjVDjyrS%rG=ٔr=Q-r>9tYt=vFyv1Ev#ҺEz>x|Q 55z?Q 95zYy)zwBY y ?Q I S@zCIzd.;iz_/;z5yBɮNAhE5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 57.72 m.bhARhMºZhMºchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.816589 ProNav: ac range: 57.715141 m, nav range: 49.900463 m, bearing: 58.622019 deg, approach rate: -0.730142 m/s, LOS rate: -0.085202 deg/s, cmd heading: 56.004464 deg, new cmd heading: 55.901577 deg. BhiHeadingCmd: 0.975667 target range: 57.715141 and range: 58.00 m.hIy?h*h"h hg f ffdddjdZd#@1muBɢm.<)i miq)uY!=qqiu߈i}Iy?} ^<}6`=I}Iy?I Ef>ECi@ @@0@:G@>@>hA 9 hAY gAm 7H,2?AgN?8?Lq =ٱ Y2 -AHRS rotation from veh to nav: [[0.518660,-0.844927,-0.130730],[0.854303,0.506068,0.118585],[-0.034037,-0.173188,0.984300]]Hܘ? ŻrV?1?[?Lm` +ƿc?igN?I4f^;CYEsByEIIM=)Mp9Y=Fy6EaxE> Q 55 ?Q 95 q) WwBYT/?Q E:yk?Q IS@ CI :i : H5y!ɮ%lOA!jhIUDNOT Ignoring new targets: 57.72 m.bhQRhUoZhUoe ProNav: ac range: 57.715141 m, nav range: 49.566162 m, bearing: 58.596448 deg, approach rate: -0.680058 m/s, LOS rate: -0.052367 deg/s, cmd heading: 55.901577 deg, new cmd heading: 55.824350 deg. BheHeadingCmd: 0.974319 target range: 57.715141 and range: 58.00 m.hly?h*h!"h! h)g)f)f1f5sBd1d9d9jd9Zde:$@uBɢi;) i)+=i_ily?h_<Z^=Ily?B>BBIBtBBBBDBtw;B1EIi!I!-2Acoustic response timeout@@ @@1@I ^A 5[= 2Acoustic response timeoutI I) O5 >)6,*3?A$B/N?B:?B:=ٱBC5 NAHRS rotation from veh to nav: [[0.520083,-0.843511,-0.134179],[0.853515,0.507372,0.118684],[-0.032032,-0.176249,0.983824]]BH`? ,O?d9lYl=nFyn:ErEr>tQ 5z5vx?Q 9z5vk)v9wBYxyz-?Q I~S@v̀CIv:ivR:v5yܓBɮOA_Ejh)5DNOT Ignoring new targets: 57.72 m.bh1Rh5jZh5jE ProNav: ac range: 57.715141 m, nav range: 49.315994 m, bearing: 58.577643 deg, approach rate: -0.678743 m/s, LOS rate: -0.051281 deg/s, cmd heading: 55.824348 deg, new cmd heading: 55.767645 deg. BhM MHeadingCmd: 0.973329 target range: 57.715141 and range: 58.00 m.hM,y?hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZdeK%@DzD?AE EE*E"E;*EVE(N4ZEBEa2EaJEEjUƌ,3?A@jIM?jp?j<ٱj3 8  AHRS rotation from veh to nav: [[0.522211,-0.841778,-0.136768],[0.852272,0.509395,0.118952],[-0.030462,-0.178681,0.983435]]jH?@ E?L?s?1ƿ`Mx?ijIM?Ijf^;jCYUsByUIiMb@Mb@Mb@ 9~jt?X9v?QY$?y<^A3A CA)nJAYHAbDVD:y%:=ٔiQ- >9 Y = Fy >EE>Q 5%5?Q 9%57e) wBY%$?Q E%:y-?Q I-S@CI:iH:Y5y1ɮ5$PA1jhY]DNOT Ignoring new targets: 57.72 m.bhaRheZheu ProNav: ac range: 57.715141 m, nav range: 49.033627 m, bearing: 58.565148 deg, approach rate: -0.641721 m/s, LOS rate: -0.028559 deg/s, cmd heading: 55.767644 deg, new cmd heading: 55.729945 deg. Bhu̜}HeadingCmd: 0.972671 target range: 57.715141 and range: 58.00 m.h}y?hy*h"h hgfff>Bddd2Acoustic response timeoutjdZd-&@EvBɢM)I i)2=顑iiy?Ka<p=V=Iy?Iԩ)E EE(E"EI;*E˭:VEc44ZEa@a@a@a@@@ @@@@@BA<^A H\=A fAzA B B B IB sBB B B B cw;B 1E M 2Acoustic response timeoutIQ Ia Oq ̌,uv43?ARL?R?Z?R<ٱRy9 ZAHRS rotation from veh to nav: [[0.524524,-0.840085,-0.138316],[0.850898,0.511697,0.118911],[-0.029120,-0.180064,0.983224]]RH`?R:?_?p?ѝV ǿv?iRL?IRX^;PYbsByfI hhlbDvVDvy~ %~]=ٔ~mQ-~>9Y=FyBEE > Q 55 &?Q 95 _)  wBYyZ?Q IS@ CI ;i 7; 5y!ɮ-WPA)jhIUDNOT Ignoring new targets: 57.72 m.bhQRh]Zh]m ProNav: ac range: 57.715141 m, nav range: 48.795925 m, bearing: 58.555293 deg, approach rate: -0.641996 m/s, LOS rate: -0.026748 deg/s, cmd heading: 55.729945 deg, new cmd heading: 55.700234 deg. BhmےuHeadingCmd: 0.972152 target range: 57.715141 and range: 58.00 m.hux?hq*hq"hq hqgyfyfyfydddjdZd@p&@5$vBɢ5)1 5: i1)= =99i=iEx?E ca ]gӌ,FN3?A6L?6U?6<ٱ6): BAHRS rotation from veh to nav: [[0.527210,-0.838229,-0.139362],[0.849272,0.514373,0.118987],[-0.028054,-0.181087,0.983067]]6H ? @`<-?u?u? A-ǿHu?i6L?I6j^;6CYJsByJIbDVVDVyZO%^O=ٔ^0Q-b>9`Y`=bFybFEfEf>hQ 5n5j1?Q 9n5jY)jvBYpyr?Q IrS@j0CIjX);ij!*;j 5yvBɮvPAz`E2Acoustic response timeoutB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 57.72 m.bh)Rh-߹Zh-߹Y ProNav: ac range: 57.715141 m, nav range: 48.542065 m, bearing: 58.545620 deg, approach rate: -0.638002 m/s, LOS rate: -0.024435 deg/s, cmd heading: 55.700234 deg, new cmd heading: 55.671065 deg. Bh(HeadingCmd: 0.971643 target range: 57.715141 and range: 58.00 m.hx?h*h"h hgfffdddjd!Zd%Y'@颵8vBɢ̻) )i)==i!i%x?%cd<%1F=I%x?I)i?@ @@/@ԙ2Acoustic response timeout^A JM=II IY Om > E  E E (E "E a;*E :VE c44ZE a @a @a @a @zٌ,!h3?A6(OK?6ߒ?6<ٱ6< BAHRS rotation from veh to nav: [[0.529724,-0.836277,-0.141543],[0.847742,0.516730,0.119679],[-0.026946,-0.183389,0.982671]]6H@? ¿ ??P?` Iyǿ r?i6(OK?I62_^;6CYJsByJIiuMb@Mb@Mb@qqqq q9uS?9Y=FyKE)޻E>Q 55=?Q 95S)vBYH?Q E:y΄?Q IS@RCIC:i:5yɮPAjh9=DNOT Ignoring new targets: 57.72 m.bh9RhE@RZhE@Re ProNav: ac range: 57.715141 m, nav range: 48.273602 m, bearing: 58.540608 deg, approach rate: -0.611917 m/s, LOS rate: -0.011489 deg/s, cmd heading: 55.671065 deg, new cmd heading: 55.655944 deg. BheMmHeadingCmd: 0.971379 target range: 57.715141 and range: 58.00 m.hmSx?hi*hq"hq hqgyfyfyfdddjdZd (@BBBIBsBB =BBBjw;B1EKvBɢd) +i))K=iBDAT read: Response Not Received *response not received*DAT read: user:192> BDAT read: Tx time:04:45:00.9801 %$Ping request sent.%=IMSx?IQIY)]fA@ @@/@@>@=^A G=! I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250012[y,3?ARBcJ?R?Ra<ٱR@ ^AHRS rotation from veh to nav: [[0.532790,-0.833740,-0.144957],[0.845858,0.519475,0.121117],[-0.025679,-0.187143,0.981997]]RH ?¿E??@?yK`Pǿl?iRBcJ?IRW^;PY-sBy-II5=)5=5=1bDEVDEJzyM<%UP=ٔU:SQ-U>9QYY=]Fy]OE] Ee>aQ 5m5eSG?Q 9u5exN)evBYqyuU?Q IuS@eqCIe :ie:eD 5yؓBɮ2PAVEjhDNOT Ignoring new targets: 57.72 m.bhRh$Zh$E EE+E"E[";*E՚:VE [4ZEBEzy Ѥ,ݛ3?AvI?v?vh<ٱv@ AHRS rotation from veh to nav: [[0.535369,-0.832012,-0.145379],[0.844267,0.522200,0.120499],[-0.024340,-0.187251,0.982011]]vH!?`؟`ʛ¿=?`ܵ? پ?|옿 ǿl?ivI?Iv\^;vCYsByIiMb@Mb@Mb@ 9x&1?I +?~jth?YA ?y9<D;KaA75A EA)YIAbDVD:y+y%C=ٔzQQ->9Y=FySE>E>Q 55~R?Q 95H)vBY[ ?Q E:yB?Q IS@CI:i':5yߓBɮPAWEjh%DNOT Ignoring new targets: 57.72 m.bh!Rh%Zh%= ProNav: ac range: 57.715141 m, nav range: 47.772259 m, bearing: 58.531045 deg, approach rate: -0.625331 m/s, LOS rate: -0.014639 deg/s, cmd heading: 55.645520 deg, new cmd heading: 55.627100 deg. Bh= EHeadingCmd: 0.970876 target range: 57.715141 and range: 58.00 m.hEUx?hA*hA"hA hAgAfIfIfM_BdIQdQdYjdYZd]3*@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.769995%ovBɢ%W)) -,9iI)M=IQiUPiUUx?]NQg<]|*=I]Ux?IYE EE)E"E;*E:VEFA4ZEa@a@a@a@?@ @@4@ԁԩA A B B B B B B B DB w;B 71EBaBaBaBe =Be =CeG-4^A5 .=I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.021970 ,3?A}oH?}Q?}V<ٱ}CD AHRS rotation from veh to nav: [[0.538077,-0.829741,-0.148337],[0.842579,0.524654,0.121648],[-0.023111,-0.190442,0.981426]]}H7?@<`¿@h? ? W$? T g`ȿ@g?i}oH?I}v^;}CYsByIbD VD yY=%E=ٔ&BQ->9!Y!=%Fy%WE-E->1Q 5e55]?Q 9e55B)5vBYiymل?Q ImS@5CI5i!> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274566y@y @y@}4@y@@fAbE]:4jE]?4rE]/E EE*E"E[";*E:VE(N4ZEBEa2EaJE3,]3?A:G?:l?:ȱ<ٱ:-C BAHRS rotation from veh to nav: [[0.540709,-0.828034,-0.148302],[0.840930,0.527515,0.120686],[-0.021700,-0.189967,0.981551]]:H@|M?A¿?f?`??8Pȿh?i:G?I:\^;:CYJsByJI PPPRAbDVVDVy^<% d=ٔGzQ->9Y=Fy[E E>!Q 5-5%g?Q 9-5%f=)%vBY1y5s?Q I5S@%сCI% :i%:%5y9ɮ=YPAAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.526057eB*** querying acoustic contact ***ii iijhquDNOT Ignoring new targets: 57.72 m.bhyRh}IZh}I ProNav: ac range: 57.715141 m, nav range: 47.281132 m, bearing: 58.522204 deg, approach rate: -0.680001 m/s, LOS rate: -0.011014 deg/s, cmd heading: 55.611684 deg, new cmd heading: 55.600438 deg. BhHeadingCmd: 0.970411 target range: 57.715141 and range: 58.00 m.hlx?h*h"h hgfffdddjdZd+@vBɢ) :i)@ =ili lx? h< =I lx?IY}@@ @@/@^Am"=IIO$>y checking for new query: numPingsReceived=0, elapsed TxPingTime=1.777955ԩ E  E E 'E "E ;*E :VE '4ZE a @a @a @a @,k3?Ab RG?b(?b_'<ٱb'jB jAHRS rotation from veh to nav: [[0.542950,-0.826706,-0.147520],[0.839514,0.530054,0.119412],[-0.020525,-0.188680,0.981824]]bH_?`t¿@L?3? ɑ? &ȿk?ib RG?IbE^;bC|YsByIiMb@Mb@Mb@ 9v/?&1?9!Y)=-Fy-_E-ŻE5>9Q 5M5=Ls?Q 9M5=6)=vBYU)?Q EU:yU?Q IUS@=CI= Q;i=VP;=5yeBɮeOAmXEBBBIBsBBBBBx;B`1Ejh %DNOT Ignoring new targets: 57.72 m.bh)RhM?Zhm?} ProNav: ac range: 57.715141 m, nav range: 46.989262 m, bearing: 58.503187 deg, approach rate: -0.639355 m/s, LOS rate: -0.041916 deg/s, cmd heading: 55.600438 deg, new cmd heading: 55.543033 deg. Bh}"HeadingCmd: 0.969409 target range: 57.715141 and range: 58.00 m.h-+x?h*h"h hgfff~BdddjdZd,@vBɢ TE)  L5i ) =ihi-+x?i<=I-+x?I!)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.030239?@ @@@Q^A ȿ=ԁ A % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282402I) I9 OM >%,M.4?A  F? ~? <ٱ B=A AHRS rotation from veh to nav: [[0.544540,-0.825739,-0.147077],[0.838516,0.531956,0.117955],[-0.019161,-0.187558,0.982067]] Hl?tl`l¿??L2?`ȿ m?i  F?I @X^; CaYusByuI p<<bDVDy[[%T=ٔgQ->E EE(E"E;*EB:VEc44ZEBEeQ 55}?Q 950)vBYyU?Q IS@CI:i:5yɮOAjh DNOT Ignoring new targets: 57.72 m.bhRhKZhK- ProNav: ac range: 57.715141 m, nav range: 46.731834 m, bearing: 58.486812 deg, approach rate: -0.695544 m/s, LOS rate: -0.044489 deg/s, cmd heading: 55.543033 deg, new cmd heading: 55.493636 deg. Bh-B5HeadingCmd: 0.968547 target range: 57.715141 and range: 58.00 m.h5w?h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdM@l-@vBɢ`) 9i)TV=i;%iw?qRj<:=Iw?Iԑ@@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533970Թ^A]= E GY y A .A R9 Y AI I O >/,"4?AtF?J~?@<ٱ_@ AHRS rotation from veh to nav: [[0.545819,-0.824916,-0.146951],[0.837715,0.533520,0.116577],[-0.017765,-0.186733,0.982250]]H Yw? eK¿@??׽?@0ǿn?itF?I?^;YMsByMIeonly read 2 of 4 data items for bottom velocity. Device response is::BS, +76, +675A ae@ae ae@ae am@am am@am bDuVDuN2y<%>=ٔ`TQ->9 ?Y ?=FyhEgE>Q 55?Q 95 *)vBQ A+:YQ E:y#?Q IS@ !5yܓBɮpOANEjhDNOT Ignoring new targets: 57.72 m.bhRh>Zh>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786158 ProNav: ac range: 57.715141 m, nav range: 46.448433 m, bearing: 58.469103 deg, approach rate: -0.662862 m/s, LOS rate: -0.041673 deg/s, cmd heading: 55.493634 deg, new cmd heading: 55.440183 deg. Bh HeadingCmd: 0.967614 target range: 57.715141 and range: 58.00 m.h w?h *h "h  h gfffdddjdZd%`H.@MvBɢMq)Q UBBIBsBBBBB|x;B1E^A5 = BDAT read: Rx Time:04:45:03.4465  TRx dataTimestamp_ set to:1761540304.802072 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041447Y A} ؟AI I O >z ,64?A% F?%}?%Ά<ٱ%pi@ 5AHRS rotation from veh to nav: [[0.547149,-0.823936,-0.147502],[0.836873,0.535018,0.115751],[-0.016455,-0.186773,0.982265]]%H>?]T¿??١?ِ.ǿn?i% F?I%S^;%CYusBy}IbDVDܲy^z=%Z=ٔeQ->9"?Y"?=FykEE>Q 55.?Q 95e$)vBQ A :YQ EQ:y?Q IS@\CIӃ;iON?0#5yBɮ9OAOE9jhAEDNOT Ignoring new targets: 57.72 m.bhARhU6ZhU6u ProNav: ac range: 57.715141 m, nav range: 46.200237 m, bearing: 58.453902 deg, approach rate: -0.646057 m/s, LOS rate: -0.039782 deg/s, cmd heading: 55.440184 deg, new cmd heading: 55.394336 deg. BhujںHeadingCmd: 0.966814 target range: 57.715141 and range: 58.00 m.hw?h*h"h hgfffdddjdZd /@vBɢ) r;i)x=iG;iw?8k<2 =Iw?I?@ @@0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.289964E EE+E"E*E:VE [4ZEBEpԹ ,eP4?A DAT read: 04:45:03.4465 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 250, 0.19, 0.362,-1.355, 0.603, 0.239, PHS= 0.225,-1.549, 0.320, RAW= 152.6, 11.0, CAL= 152.5, 12.1, ROT= 357.5, -12.1 ԉYgot valid direction response: 04:45:03.4465 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 250, 0.19, 0.362,-1.355, 0.603, 0.239, PHS= 0.225,-1.549, 0.320, RAW= 152.6, 11.0, CAL= 152.5, 12.1, ROT= 357.5, -12.1 PDAT read: Bearing 211.7, -5.4 (Local) ~Local bearing/azimuth received: Bearing 211.7, -5.4 (Local) DAT read: Range 11 to 50 : 46.7 m (Round-trip 62.3 ms) speed 0.5 m/s *DAT read: user:193> BDAT read: Tx time:04:45:04.5301 $Ping request sent.ieEƿYtByIe ף>et*@e D>eX*@ e@X>)ei@Ie@Xaae8=w?4?4+u? e?)e>DIeѸ2ie@XaaM:publishing transmit ping timeUFpublishing direction and range infoyaeOyb`B?_TD֥9h?Yaaaaa a)aIaiaaaaa a)aIaaae8=w?4?4+u? a)aIaiaaaԹaa aa aa aa iMb@Mb@Mb@ 95^I ?!rh?Y8?yl=6A HA)IAYfJAbDeVDefy<%=ٔQ->9 ?Y ?=FyqEE>Q 55_?Q 95)vBQ AT:YR:?Q E:y?Q IS@CI;i^;o(5yɮNAiaie@S4?AJie9BRie9Bjie$,}?begF@a]{#@ReOyb`B?_TD֥9h?ZieѸ2bie@Xje9@,wttC@i]:b"@ZeyT=?-4?.DQ?2ie;B:ieGA"ie?*iep0BieeBiaiaiaie7Bieoo?u addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 15.893869 s, deltaX: -11.299999 m, approachRate: -0.710966 m/s, rangeRepo size: 4  Added new target pos. range: 46.472183 m, bearing: 56.662935 deg, lat: 36.779326 deg, lon: -121.859547 deg, deltaT: 15.893869 s, deltaX: -11.242958 m, approachRate: -0.707377 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 46.47 m.bhRhZh ProNav: ac range: 46.472183 m, nav range: 45.767136 m, bearing: 58.385868 deg, approach rate: 0.000000 m/s, LOS rate: -0.039782 deg/s, cmd heading: 55.394337 deg, new cmd heading: 55.321889 deg. Bh HeadingCmd: 0.965549 target range: 46.472183 and range: 46.70 m.h :.w?h *h "h  h g f f f Bd d dA jdE YG@ZdE /?颕 wBɢ n0) w>i ) U<顙 i 3i :.w? l< w=I :.w?I I ) E  E E )E "E ;*E :VE FA4ZE a @a @a @a @q @q  @q @} /@y @ @ gA B>BB IBsBBBBBx;B1EA^A]Nw =AIIO?,ku4?A2E?2>}?2C`<ٱ2A >AHRS rotation from veh to nav: [[0.547571,-0.823176,-0.150157],[0.836647,0.535671,0.114364],[-0.013707,-0.188251,0.982025]]2H?tW@[8ÿ ?@7$?F?.ȿ@l?i2E?I2L^;2CYFtByFIXbDzVDzy?=%]=ٔ%Q-%>9!Y)=-Fy-uE-YE5>1Q 5=55?Q 9E55)5vBYAyE~?Q IES@5CI5:i5t:5+5yIɮUNAQmB*** querying acoustic contact ***ii iijhy}DNOT Ignoring new targets: 46.47 m.bhyRh Zh  ProNav: ac range: 46.472183 m, nav range: 45.500443 m, bearing: 58.343509 deg, approach rate: -0.754229 m/s, LOS rate: -0.120496 deg/s, cmd heading: 55.321889 deg, new cmd heading: 55.194068 deg. BhdHeadingCmd: 0.963318 target range: 46.472183 and range: 46.70 m.hv?h*h"h hgfffdddjdZd?wBɢGSܼ) >i)uU<i2>iv?Vm< =Iv?I@@ @@O0@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^Ad=DzDAAE EEE"E;*Ek:VEZEBE`1 #,4?A6+F?6o~?6&J<ٱ6KB@ >AHRS rotation from veh to nav: [[0.546787,-0.823795,-0.149621],[0.837180,0.535284,0.112251],[-0.012382,-0.186637,0.982351]]6HF?\&ÿ.? !?|?@[`ǿ ko?i6+F?I6B^;6CYJtByJIbDRVDR:2yZ#$<%ZR=ٔZ_Q-^>9\Y\=bFybyEb ;Eb>dQ 5j5f?Q 9j5f )fvBYhyn?Q InS@fڂCIf&%;if[K;f/5yޓBɮ NA FEjh1=DNOT Ignoring new targets: 46.47 m.bh9RhEZhEU ProNav: ac range: 46.472183 m, nav range: 45.220310 m, bearing: 58.298117 deg, approach rate: -0.712388 m/s, LOS rate: -0.116150 deg/s, cmd heading: 55.194069 deg, new cmd heading: 55.057048 deg. BhUlUHeadingCmd: 0.960927 target range: 46.472183 and range: 46.70 m.h]Lu?hY*hY"hY hYgafafafadididijdiZdmd?额$wBɢ) Bi)#s<顡i\PiLu?~%n<#=ILu?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.957706B@ @@4@Qq^Am2=Au?Au> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.210502ԡ A ؟AI I O >E  E E E "E +$;*E :VE ZE a @a @a @a @),4?ABmF?BC~?BW8<ٱB? NAHRS rotation from veh to nav: [[0.545960,-0.824300,-0.149855],[0.837735,0.534700,0.110884],[-0.011274,-0.186077,0.982471]]BHx?`@s.ÿ@?C?b?^ǿfp?iBmF?IBZ^;BCYj1tByj,IYieMb@Mb@Mb@aaaa a9erh|?㥛 ?~jtYe;?ye>eDebAa a)enJAaYeJAbDVD0y,:=%7=ٔm"Q->9"?Y"?=Fy~EV;E>)Q 5U5-S?Q 9]5-)-qvBY]??Q E]:y]z?Q IeS@-CI-$;i-;-35yiɮu.NAjhDNOT Ignoring new targets: 46.47 m.bhRh1Zh1AAB>BB%IB&tBBBBBx;B1E5 ProNav: ac range: 46.472183 m, nav range: 44.886768 m, bearing: 58.226816 deg, approach rate: -0.722587 m/s, LOS rate: -0.155615 deg/s, cmd heading: 55.057048 deg, new cmd heading: 54.841556 deg. Bh5ջ=HeadingCmd: 0.957166 target range: 46.472183 and range: 46.70 m.h=u?h9*h9"h9 h9g9fAfAfEۂBdIdIdjdZdd?0,4?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.713653j#G?j2~?jv<ٱj= rAHRS rotation from veh to nav: [[0.543639,-0.825824,-0.149905],[0.839274,0.533005,0.107355],[-0.008756,-0.184173,0.982855]]jH|e?'m 0ÿT? a?{?` ǿs?ij#G?Ij^;hY~%tBy~$IbD VD :y%U=ٔ% ׻Q-%>9!Y!=-Fy-E-;E->1Q 5=55Aɔ?Q 9=55)5`vBYAyEח?Q IES@5*CI5-:i5:5Q65yIɮU^NAQjhq}DNOT Ignoring new targets: 46.47 m.bhyRh},BZh,Bԑ ProNav: ac range: 46.472183 m, nav range: 44.608353 m, bearing: 58.165420 deg, approach rate: -0.765046 m/s, LOS rate: -0.169760 deg/s, cmd heading: 54.841556 deg, new cmd heading: 54.656220 deg. BhHeadingCmd: 0.953931 target range: 46.472183 and range: 46.70 m.h4t?h*h"h hgfffdddjdZd ?D D <E EE(E"E*Ea:VEc44ZEBE5}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965504 7,'4?ABmkG?BA?B;ٱBB= NAHRS rotation from veh to nav: [[0.542724,-0.826345,-0.150346],[0.839877,0.532337,0.105940],[-0.007508,-0.183769,0.982941]]BH`]?`kq@>ÿ`F???~ ǿ`@t?iBmkG?IB^;@YV&tByV%Ii5Mb@Mb@Mb@1111 195?Q?QY5@?y5(>511 1)5IA1Y5JAbDUVDUk2yH;%A=ٔ@Q->9Y=FyE`);E>Q 55Ӕ?Q 95)CvBYD?Q E:y?Q IS@SCI:i::5yBɮNAGEjh!%DNOT Ignoring new targets: 46.47 m.bh!Rh-TZh-T= ProNav: ac range: 46.472183 m, nav range: 44.289600 m, bearing: 58.086968 deg, approach rate: -0.750730 m/s, LOS rate: -0.186102 deg/s, cmd heading: 54.656219 deg, new cmd heading: 54.419169 deg. Bh=pEHeadingCmd: 0.949794 target range: 46.472183 and range: 46.70 m.hE%s?hA*hA"hI hIgIfIfIfUЂBdYdYdYjdYZd] ]@颍cwBɢ") SOi)Y<顑i$zi%s?q<Z=I%s?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218382-@@) @)@)@)!E5 E5E5,E1"E5 ;*E5:VE5g4ZE1a=@a=@a=@a=@^AU3=QAYzAYB>BB2IB:tBB =BBB|x;B1EBBBB =BCș4A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469593y ;=,=~4?AVG?V?V¹;ٱVZ< jAHRS rotation from veh to nav: [[0.541477,-0.827108,-0.150648],[0.840693,0.531373,0.104300],[-0.006217,-0.183124,0.983070]]VHS?`w`lHÿ??g?-wy pǿ`Ou?iVG?IVy~^;VCYtyt xzAbDVD0ٔ ^Q->9Y=FyE%;E%>)Q 555-۔?Q 955-y)-*vBY1y=3?Q I=S@-yCI-o7;i-8;-Y=5yUܓBɮUMNAU=EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 46.47 m.bhRhUZh%UQ] ProNav: ac range: 46.472183 m, nav range: 44.003006 m, bearing: 58.014853 deg, approach rate: -0.737736 m/s, LOS rate: -0.186842 deg/s, cmd heading: 54.419170 deg, new cmd heading: 54.201419 deg. Bh]:eHeadingCmd: 0.945993 target range: 46.472183 and range: 46.70 m.he,r?ha*hi"hi higififqfdddjdZd,@%ywBɢ%)) -Ti))UI4rEǖ/EA EEEE(EA"EA*EEخ:VEEc44ZEABEEv "D,Y5?AR H?R&?Ri;ٱRX; ZAHRS rotation from veh to nav: [[0.540409,-0.827762,-0.150893],[0.841387,0.530558,0.102836],[-0.005066,-0.182533,0.983187]]RHK?}wPÿ?U?tS?@t >]ǿDv?iR H?IRx^;RCYf$tByf$IbDnVDn1yv %v<ٔz9xYx=~Fy~E~Q;E~>Q 5 5唊?Q 9 5)vBYy]?Q IS@CI:i:@5yɮTNA!jhAMDNOT Ignoring new targets: 46.47 m.bhIRhMbZhUbBDAT read: Rx Time:04:45:06.9934 TRx dataTimestamp_ set to:1761540308.328273checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974781 ProNav: ac range: 46.472183 m, nav range: 43.702744 m, bearing: 57.937735 deg, approach rate: -0.766960 m/s, LOS rate: -0.198337 deg/s, cmd heading: 54.201420 deg, new cmd heading: 53.968476 deg. BhHeadingCmd: 0.941928 target range: 46.472183 and range: 46.70 m.h+"q?h*h "h  h g f ffdd1d9jd9Zd=N@颭wBɢJ ) FZԱi)*(<iI~i+"q?|t<}=I+"q?I@ @@/@^A&V= u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226015A I) I9 EE  EE EE )EA "EE [";*EE 8:VEE FA4ZEA aM @aM @aM @aU @O] >9 PJ,hA+5?A:XH?:?:4;ٱ:; FAHRS rotation from veh to nav: [[0.539693,-0.828182,-0.151150],[0.841851,0.530010,0.101861],[-0.004248,-0.182219,0.983249]]:H*E?`w@Xÿ@r??`?@fqRǿ v?i:XH?I:^;:CYRtByVIiMb@Mb@Mb@ 9V-?S?Zd;OY|??y>j<dA IA)?KAYKAbDVDβy:%;=ٔQ->9Y=FyEP;E>Q 55?Q 95)uBYC?Q E:y̗?Q IS@ʃCI:i:D5yɮNAjh9=DNOT Ignoring new targets: 46.47 m.bh9RhE6IZhE6IU ProNav: ac range: 46.472183 m, nav range: 43.376236 m, bearing: 57.861592 deg, approach rate: -0.748704 m/s, LOS rate: -0.175915 deg/s, cmd heading: 53.968477 deg, new cmd heading: 53.738330 deg. BhUu]HeadingCmd: 0.937911 target range: 46.472183 and range: 46.70 m.h]p?hY*hY"ha hagafafifmBdididqjdqZdu` @B<A<B>BCBBB =BBBPx;B1E %wBɢ%R)! MdiI)MA}>A.AIIO>a ~9Q,"E5?A&DAT read: 04:45:06.9934 LVL= 29088, 32753, 31826, 32755, AGC= 67, IDX= 411,-0.33, 1.103,-0.647, 1.355, 0.973, PHS= 0.232,-1.575, 0.339, RAW= 152.8, 10.8, CAL= 152.7, 11.8, ROT= 357.3, -11.8 .Ygot valid direction response: 04:45:06.9934 LVL= 29088, 32753, 31826, 32755, AGC= 67, IDX= 411,-0.33, 1.103,-0.647, 1.355, 0.973, PHS= 0.232,-1.575, 0.339, RAW= 152.8, 10.8, CAL= 152.7, 11.8, ROT= 357.3, -11.8 2PDAT read: Bearing 211.3, -5.1 (Local) 2~Local bearing/azimuth received: Bearing 211.3, -5.1 (Local) 6DAT read: Range 11 to 50 : 44.3 m (Round-trip 59.1 ms) speed 0.7 m/s :*DAT read: user:194> >BDAT read: Tx time:04:45:08.0801 >$Ping request sent.>R#Rx 1: Read range and direction messages.B^direction in FSK: [0.977781,-0.046111,0.204496]F:publishing transmit ping time<FFpublishing direction and range infoy I?囧rG,?Y31B q R| )CLIhm>iɿh>*@A>J*@ BR>)Ѝ@IBR ԒLh?d*K ?A7? ?)'@IQAiBR r:publishing transmit ping time<rFpublishing direction and range infoy I?囧rG,?Y ) I i ) I ԒLh?d*K ?A7? ) I i EuH?%?`;ٱ5= -AHRS rotation from veh to nav: [[0.539325,-0.828101,-0.152895],[0.842091,0.529617,0.101929],[-0.003431,-0.183724,0.982972]]H`&B?@ÿ`h?`??>lHǿ@t?iEuH?I7];CY=sBy=IbDMVDMy]%]S=ٔe Q-e>9e ?Ym ?=mFymEmr:Eu>qQ 5}5u?Q 95u)uuBYy՗?Q IS@uCIu|:iu:u H5E EE&E"E;*E^:VE4ZEBEoOA>Ei iWE5?AJiU0BRiU0BjiqD~?b\NE@fzC "@RI?囧rG,?ZiQAbiBRj!P7@[GB@٘x,"@ZrO?Or2;?|j{b?2iB:ijA"i͈?*i%?!Bi(Bi͈?i i i-Bi#I? addTargetRange:: Added new target pos. range: 44.299999 m, deltaT: 3.778188 s, deltaX: -2.400002 m, approachRate: -0.635226 m/s, rangeRepo size: 4  Added new target pos. range: 44.083450 m, bearing: 56.907991 deg, lat: 36.779332 deg, lon: -121.859547 deg, deltaT: 3.778188 s, deltaX: -2.388733 m, approachRate: -0.632243 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 44.08 m.bhRhZh ProNav: ac range: 44.083450 m, nav range: 43.402149 m, bearing: 57.135909 deg, approach rate: 0.000000 m/s, LOS rate: -0.175915 deg/s, cmd heading: 53.738330 deg, new cmd heading: 53.505485 deg. BhHeadingCmd: 0.933847 target range: 44.083450 and range: 44.30 m.ho?h*h"h hgfffdddjdE`f&F@ZdEd?颍wBɢ4) qi) <顑i^4io?/x< Z=Io?II)Q@Q @Q@U0@Q@]=@]= wf> C1 cG^A fA - d95 fAY= hAA ؟AI I O >[W,`5?AY sByI=only read 0 of 1 data item for BIT error. Device response is::TS,00050308332803,35.0, +11.4, 0.0,1495 a=@a= a=@a= a=@a= aE@aE bDMVDM!y]7ٽ%]?=ٔ]Q-]>9e"?Ye"?=eFyeEeEm>Q 55?Q 95n)uBQ A+:YQ E`:yQ IT@CIz:i>/K5y ܓBɮOA5Ejh1=DNOT Ignoring new targets: 44.08 m.bh9Rh=#yZhE#yU ProNav: ac range: 44.083450 m, nav range: 43.069942 m, bearing: 57.051362 deg, approach rate: -0.849299 m/s, LOS rate: -0.217814 deg/s, cmd heading: 53.505486 deg, new cmd heading: 53.249890 deg. BhU{]HeadingCmd: 0.929386 target range: 44.083450 and range: 44.30 m.h]BBBIBtBBBBB+x;Bq1E /],Xz5?A`ZH?ZD?Z;ٱZ?== nAHRS rotation from veh to nav: [[0.538551,-0.828464,-0.153659],[0.842590,0.529039,0.100792],[-0.002211,-0.183753,0.982970]]ZH;? Ƃ@ÿ? ?͹?b;ǿ`}t?iZH?IZ];ZCYsByIbDVDy g<%2=ٔ:.Q->9Y=FyE;E>!Q 5-5%4?Q 955%;)%uBQ A5 :Y1Q E56:y5?Q I5T@%FCI%. ;i%~c?%M5y9ɮEOAA]B*** querying acoustic contact ***iY iYjhimDNOT Ignoring new targets: 44.08 m.bhqRhuG_ZhuG_ ProNav: ac range: 44.083450 m, nav range: 42.739983 m, bearing: 56.965650 deg, approach rate: -0.745716 m/s, LOS rate: -0.195206 deg/s, cmd heading: 53.249890 deg, new cmd heading: 52.990770 deg. BhMHeadingCmd: 0.924863 target range: 44.083450 and range: 44.30 m.hMl?hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]h?wBɢ`,) i)w"<i3il?"M|<]M;=I]l?IaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1@1 @1@5o3@1Ee EeEe*Ea"Ees!;*Ee:VEe(N4ZEaBEexe,P5?A2_8H?2y?2R:ٱ2`? :AHRS rotation from veh to nav: [[0.540109,-0.827101,-0.155519],[0.841593,0.530401,0.101963],[-0.001847,-0.185955,0.982557]]2HH?wÿS?` ? E? B^`\ǿq?i2_8H?I2];2C @)BMlAB#@@@FnlAiFHIDDIDiFElA JJmF)HH NlANtNTAFLLNlAIRj<)RTSFiP)PIRlARDRZF TVCTTiTTiZ CZ A)X XIXY\YbsBybI dfAbDnVDn1yvCB%vV=ٔzyQ->9Y=FyEE>Q 55?Q 95)muBQ A9YQ E:y?Q IT@nCI;i ?O5yBɮPAjhDNOT Ignoring new targets: 44.08 m.bhRhVZhVu ProNav: ac range: 44.083450 m, nav range: 42.437294 m, bearing: 56.886705 deg, approach rate: -0.714922 m/s, LOS rate: -0.187791 deg/s, cmd heading: 52.990769 deg, new cmd heading: 52.752246 deg. Bh}HeadingCmd: 0.920700 target range: 44.083450 and range: 44.30 m.hk?h*h"h hgff!f!d)d1d9jdaZdeN?颭xBɢRC) wi)Z<顱im4|ik?~<=Ik?Ie>i%>1@1 @9@=4@9@A@EbA^A X==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505085E EE(E"E0;*E:VEc44ZEa@a@a@a@! A9 II IY Om >k,5?AAAB>BBIBsBBBBB/x;Bs1EBG?B?Be[:ٱB|A NAHRS rotation from veh to nav: [[0.541616,-0.825771,-0.157334],[0.840626,0.531809,0.102604],[-0.001056,-0.187831,0.982201]]BHT?@l #Ŀg??`9Y=%Fy%E%E%>)Q 555checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756213-##?Q 95-)-MuBQ AT:Y_7?Q E:y?Q IT@-CI-[AHRS rotation from veh to nav: [[0.543465,-0.824416,-0.158066],[0.839432,0.533682,0.102652],[-0.000271,-0.188474,0.982078]]2Hd?a ;Ŀ`?`?@iG?51`ȿ@/m?i22G?I2y5^;2CY5sBy5IbDEVDEyez%e$=ٔeCκQ-m>9iYi=mFyuEuEu>yQ 55}0?Q 95}V)}'uBYyэ?Q IT@}CI}:i}:}W5yBɮPA6EjhDNOT Ignoring new targets: 44.08 m.bhRh-Zh- ProNav: ac range: 44.083450 m, nav range: 41.788589 m, bearing: 56.782944 deg, approach rate: -0.739484 m/s, LOS rate: -0.119055 deg/s, cmd heading: 52.609006 deg, new cmd heading: 52.438539 deg. BhiHeadingCmd: 0.915225 target range: 44.083450 and range: 44.30 m.h2Lj?h*h"h hgfffdddjdZd`&@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2603175/xBɢ5X)1 5i1)=%Ŧ<99i=uiE2Lj?E=z,5?AY5sBy5IiMb@Mb@Mb@ 9oʡ?:v?I +Y-?yT=94KaA GA)GAYpIAbDVDܲyP%9=ٔQ->BBBIBsBBBBB3x;Bu1E9 Y =FyEE>Q 5%5AHRS rotation from veh to nav: [[0.550314,-0.818877,-0.163078],[0.834957,0.540009,0.106005],[0.001258,-0.194499,0.980902]]2H,?=4Ŀ?G?*#?ѝT?Zȿ@c?i2E?I2^;2CYFrsByFIbDRVDRkyV%Z&=ٔZKQ-Z>9\Y\=^Fy^EbEEb>dQ 5f5fJ?Q 9j5f)ftBYhy5?Q I=T@fCIfl  BDAT read: Tx time:04:45:11.6301  $Ping request sent. O >i] ˿] ҍ>] P*@] ^ Z>] P*@ ] :Fq>)] M@I] :FqY Y ] @3fw?I?xm? ] ?)] YI] Fi] :FqY Y  :publishing transmit ping time  Fpublishing direction and range infoyY ] l?^9AYA=mFymEmEm>qQ 5}5uZ?Q 9}5u )utBY+?Q E:y?Q IT@u?CIu:iu;uUd5yBɮQAiic'6?AJia&BRia&Bji>B?b"+K5D@?f>n/k#@Rl?^Bdddjd`fD@Zdrg?%xBɢ%A{)! %Mi!)-<))i-lxji5#i?5`<5c=I5#i?I19@ @@4@i ^AU =A] ?A] ?ԑ A.AIIO>\,(~H6?AxYzesByzIbD VD y⸻%V=ٔQ->9% ?Y% ?=%Fy%E!E%>1Q 5555*e?Q 9=55\)5tBY9y9Q I=T@5_CI5:i54:5g5yAɮMQAIbE-4jE34rEַ/EU EUEU*EQ"EU;*EU:VEU(N4ZEQBEU_up.,Pb6?A>??>Lzw?>ٱ>v S FAHRS rotation from veh to nav: [[0.567993,-0.804706,-0.172720],[0.822997,0.557293,0.110003],[0.007736,-0.204629,0.978809]]>H-? &@ƿ@U?X?")?ͯ?@G1ʿgR?i>??I>^;>CYNksByNIi%Mb@Mb@Mb@!!!! !9%v/? rh?~jtxY%x)?y%C<%Ļ%dA%1A !)%&GA!Y%IAbD=VD=yM:O<%MG=ٔMxQQ-M>9YYY=]Fy]E]TEe>aQ 5m5eq?Q 9u5ea)etBYu)?Q Eu:yuo}?Q IuT@eCIe~ ;ie ;e9k5yBɮRA%EjhDNOT Ignoring new targets: 41.60 m.bhRh OZh O ProNav: ac range: 41.595474 m, nav range: 40.137787 m, bearing: 56.560385 deg, approach rate: -0.703452 m/s, LOS rate: -0.002828 deg/s, cmd heading: 52.140134 deg, new cmd heading: 52.136855 deg. BhtHeadingCmd: 0.909960 target range: 41.595474 and range: 41.80 m.h h?h*hI"hI hIgIfQfQfUOBdQdYdYjdYZd]?-xBɢ-)1 5i1)5o<19i=[bi= h?E?2v?2Bٱ2T :AHRS rotation from veh to nav: [[0.572480,-0.801137,-0.174486],[0.819862,0.561825,0.110360],[0.009617,-0.206233,0.978456]]2HQ?`Uƿ O?I2)1^;2CYBwsByFI n49|Y|=~FyEZ,E> Q 55 ́?Q 95 Ն) tBYy|?Q IT@ CI ];i ; o5y!ɮ%iRA!jhIMDNOT Ignoring new targets: 41.60 m.bhQRhU<8ZhU<8e ProNav: ac range: 41.595474 m, nav range: 39.793213 m, bearing: 56.561715 deg, approach rate: -0.662398 m/s, LOS rate: 0.002579 deg/s, cmd heading: 52.136856 deg, new cmd heading: 52.140880 deg. Bhe8mHeadingCmd: 0.910030 target range: 41.595474 and range: 41.80 m.hmh?hq*hq"hq hqgqfqfyfydydydjdZd?颵xBɢNڐ) i))Z<项i _ih?<~i=Ih?IDzD@AE EE&E"E;*E:VE4ZEBEM 9U hAYU A-0,B&6?ABm9v"?Yz"?=zFy~E yE >)Q 5E5-z?Q 9M5-)-tBaYQyurz?Q IuT@-хCI-9YYY=]Fy]Ee|0Ee>iQ 5u5m1?Q 9u5my)mtBYu+?Q E}:y}{?Q I}T@mCImP ;im? ;mw5yBɮRAjhDNOT Ignoring new targets: 41.60 m.bhRh8Zh8 ProNav: ac range: 41.595474 m, nav range: 39.165829 m, bearing: 56.567126 deg, approach rate: -0.754179 m/s, LOS rate: 0.004126 deg/s, cmd heading: 52.151360 deg, new cmd heading: 52.157236 deg. Bh=59HeadingCmd: 0.910316 target range: 41.595474 and range: 41.80 m.hp i?h*h"h hgfffvBdddjdZd`@yBɢwH) i)/<i -Wip i??<&B=Ip i?I Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509028a@@ @@/@^A]qZ=E EE)E"E;*E:VEFA4ZEBEmԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762484,6?Ar:?r!q?rʃٱrUY ~AHRS rotation from veh to nav: [[0.585660,-0.790331,-0.179945],[0.810397,0.575339,0.110640],[0.016087,-0.210624,0.977435]]rH?cJpǿ?,i?R?'y?ʿ %G?ir:?Ir:^;rCY sBy IbDVD:y-)U=%-M=ٔ5Q-5>95 ?Y= ?==Fy=E=0E=>AQ 5M5Eƫ?Q 9M5EEs)EtBYQyUz?Q IUT@E!CIEr;iE;Ex{5yYɮeQAaԑjhDNOT Ignoring new targets: 41.60 m.bhRh(9Zh(9 ProNav: ac range: 41.595474 m, nav range: 38.898125 m, bearing: 56.570295 deg, approach rate: -0.651778 m/s, LOS rate: 0.007768 deg/s, cmd heading: 52.157237 deg, new cmd heading: 52.166808 deg. Bh9%HeadingCmd: 0.910483 target range: 41.595474 and range: 41.80 m.h%ci?h!*h!"h) h)g)f)fQfQdYdYdYjdYZd]@yBɢu) oi).<iSici?uCYҼ,*6?A2!8?2p?2qĖٱ2@X :AHRS rotation from veh to nav: [[0.589357,-0.787579,-0.179936],[0.807663,0.579477,0.109025],[0.018403,-0.209582,0.977618]]2H?@3`&ǿ_?`??`Hؒ?@ʿ H?i2!8?I2~7^;2CYBsByBIhi}Mb@Mb@Mb@yyyy y9}Gz?J +?Mb?Y}0?y}H=}<}\eAy y)}EAyYychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264376bDVD1yd<%0=ٔQ->9Y=FyE-" E5>AQ 5e5EW?Q 9u5Ek)EtBY}!1?Q E}:y}ށ?Q IT@EKCIE=iE?=E5yBɮQAEjhDNOT Ignoring new targets: 41.60 m.bh Rh Zh  ProNav: ac range: 41.595474 m, nav range: 38.570839 m, bearing: 56.557042 deg, approach rate: -0.647496 m/s, LOS rate: -0.026441 deg/s, cmd heading: 52.166809 deg, new cmd heading: 52.126714 deg. Bh=,EHeadingCmd: 0.909783 target range: 41.595474 and range: 41.80 m.hEh?hA*hI"hI hIgIfIfQfUBdQdQdYjdYZd] @;yBɢ۝)  ni ) (j< iOih?=7<='=I=h?I9?@ @@@)^A·3=} DAT read: 04:45:14.0867 LVL= 26160, 32753, 30146, 32755, AGC= 67, IDX= 406,-0.23,-2.808, 1.691,-2.667,-3.005, PHS= 0.299,-1.543, 0.294, RAW= 149.9, 10.3, CAL= 149.6, 11.3, ROT= 0.4, -11.3  Ygot valid direction response: 04:45:14.0867 LVL= 26160, 32753, 30146, 32755, AGC= 67, IDX= 406,-0.23,-2.808, 1.691,-2.667,-3.005, PHS= 0.299,-1.543, 0.294, RAW= 149.9, 10.3, CAL= 149.6, 11.3, ROT= 0.4, -11.3  PDAT read: Bearing 207.9, -0.9 (Local)  ~Local bearing/azimuth received: Bearing 207.9, -0.9 (Local)  DAT read: Range 11 to 50 : 39.3 m (Round-trip 52.4 ms) speed 0.6 m/s  *DAT read: user:196>  BDAT read: Tx time:04:45:15.1801  $Ping request sent. x_?YM 3BI M 0fI M u I )M CIM >iM ſM +>M p'@M X8>M '@ M I>)M ;IM II I M mL?Y?|\? M Mp?)M i8IM ;iM II I  :publishing transmit ping time  Fpublishing direction and range infoyI M 5`?gfMy |?>x_?YI I I I I I )I II iI I I I I I )I II I I M mL?Y?|\? I )I II iI I I A ؟AI! I1 OE >i E  E E 'E "E U,;*E a:VE '4ZE BE 9"?Y"?=FyEI}j$E}>Q 55 ƕ?Q 95 f)tBYy`?Q IT@lCI:i:5yɮ$QAii6 7?AJinBRinBji9>|?buVd,C@Ev"?+@R5`?gfMy |?>x_?Zi;biIjDV 5@|?@m{ @ZGb60I?\YQ?!q?2iA:iA"i|?} addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.528444 s, deltaX: -2.500000 m, approachRate: -0.708528 m/s, rangeRepo size: 4  Added new target pos. range: 39.107697 m, bearing: 56.454932 deg, lat: 36.779332 deg, lon: -121.859550 deg, deltaT: 3.528444 s, deltaX: -2.487778 m, approachRate: -0.705064 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 39.11 m.bhRhZh ProNav: ac range: 39.107697 m, nav range: 38.229488 m, bearing: 56.454792 deg, approach rate: 0.000000 m/s, LOS rate: -0.026441 deg/s, cmd heading: 52.126713 deg, new cmd heading: 52.098485 deg. BhHeadingCmd: 0.909290 target range: 39.107697 and range: 39.30 m.hɍ,K9)7?AYsByIԱE EE*E"E[";*E:VE(N4ZEa@a@a@a@i-Mb@Mb@Mb@)))) )9-"~?kt?~jt?Y-3?y- =-D<--fA-3A ))))Y-JAbDUVDU:ye%e7=ٔmQ-u>9qYq=}Fy}E}E>Q 55ҕ?Q 95_)tBYU5?Q E:y?Q IT@CI@;i>;5yBɮQAEqIAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIEntering USBL mode with 120.000000 count pings at 39.299999 m (mode 2.000000 count ).IIB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 39.11 m.bhRhZh ProNav: ac range: 39.107697 m, nav range: 37.922230 m, bearing: 56.420446 deg, approach rate: -0.702013 m/s, LOS rate: -0.079108 deg/s, cmd heading: 52.098484 deg, new cmd heading: 51.994611 deg. Bh*YHeadingCmd: 0.907477 target range: 39.107697 and range: 39.30 m.hlPh?h*h"h hgfffBdd!d!jd!Zd%W?ujyBɢu\)q u³iy)}^t;yBA<B>BBIBsBBBBBx;Bd1EiYHilPh?4<%=IlPh?Iu@@q @q@u/@q^AMA=A]?A]?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. A I I O >1 Ѝ,dC7?A66?64ln?6=ؼٱ6U BAHRS rotation from veh to nav: [[0.596552,-0.781721,-0.181765],[0.802139,0.588194,0.102960],[0.026428,-0.207222,0.977937]]6H@?Dǿ?|?[? ?>ʿ`BK?i66?I6^;6CYJsByJIbDRVDR:yZ=%Zk=ٔ^Q-^?9\Y`=bFybEbRxEb?dQ 5j5fܕ?Q 9j5fwY)ftBYlyn?Q InT@fCIf;ifL;f5ypɮrPAti~^@I1Jjh DNOT Ignoring new targets: 39.11 m.bhRh%yZh%yM ProNav: ac range: 39.107697 m, nav range: 37.678158 m, bearing: 56.394712 deg, approach rate: -0.759911 m/s, LOS rate: -0.080641 deg/s, cmd heading: 51.994610 deg, new cmd heading: 51.916909 deg. BhM_]UHeadingCmd: 0.906121 target range: 39.107697 and range: 39.30 m.hUg?hQ*hY"hY hYgYfafafadadidijdiZdm@a?额}yBɢhֽ) i)h;顡i+Eig?3<L =Ig?IA@ @@4@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.998268E EE&E"E3;*E:VE4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252040ԙ ;֍,U\7?Aɰ4<2$6?2m?2%ٱ2ZFT :AHRS rotation from veh to nav: [[0.597890,-0.780637,-0.182025],[0.801047,0.590153,0.100218],[0.029189,-0.205730,0.978173]]2H`!?`@Lǿ -??觹??_Uʿ 2M?i2$6?I2x<^;2CY^sBy^ IdfAddbDjVDjy-<%-C=ٔ5׻Q-5>91Y9=FyE䂻E>Q 55镊?Q 95zR)uBYy?Q IT@چCI";i#;5yɮPAi1JqJjh DNOT Ignoring new targets: 39.11 m.bhRh㨺Zh㨺- ProNav: ac range: 39.107697 m, nav range: 37.372837 m, bearing: 56.362849 deg, approach rate: -0.701690 m/s, LOS rate: -0.073827 deg/s, cmd heading: 51.916910 deg, new cmd heading: 51.820539 deg. Bh-J5HeadingCmd: 0.904439 target range: 39.107697 and range: 39.30 m.h5Qg?h1*h1"h1 h9g9f9f9f9dAdAdAjdAZdM?y颽yBɢ.Է)  i)U^;YYiexAiQg?t<m5=IQg?Iԡ@@ @@4@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504190E EE(E"E9;*EE:VEc44ZEa @a @a @a @^A =A eAzA dAB >B B +IB 0tBB =B B B w;B H1EBiBiBiBiBiCmʹ4 Au .AIy I O >G0ݍ,"Qw7?A2W5?2m?2a8ٱ2P >AHRS rotation from veh to nav: [[0.598602,-0.780428,-0.180577],[0.800416,0.591680,0.096174],[0.031787,-0.202106,0.978848]]2H@'?D"ǿ`? ?۞?`XF?@ɿ@R?i2W5?I2+^;0YF tByFIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756974iMb@Mb@Mb@ 97A`?v/?Y6?yx= MA)CAYJAbD9VD9yE <%M6=ٔMQ-M>9U ?YU ?=UFyUEUiE]>YQ 5e5](?Q 9m5]%K)YYm8?Q Em:ym?Q IuT@]CI];i]W;]Q5y}Bɮ}PA}EԉjqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjhDNOT Ignoring new targets: 39.11 m.bhRh<Zh< ProNav: ac range: 39.107697 m, nav range: 37.059189 m, bearing: 56.314101 deg, approach rate: -0.720868 m/s, LOS rate: -0.112988 deg/s, cmd heading: 51.820539 deg, new cmd heading: 51.673058 deg. BhHeadingCmd: 0.901865 target range: 39.107697 and range: 39.30 m.hf?h*h"h hgfffǂBdddjdZd?颕yBɢfӺ) i)o;0;顩iC<>if?Q<p=If?I=?@9 @9@=1@9Թ- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008380^A =bEEc44jEArEEʧ/E  E E E "E [";*E :VE ZE BE z3,7?A2q5?2m?2 ٱ2M :AHRS rotation from veh to nav: [[0.598908,-0.780400,-0.179683],[0.800089,0.592680,0.092677],[0.034170,-0.199267,0.979349]]2H@*?ƿS?@;??~?ɿ`V?i2q5?I2 >^;2CYJ%tByN%IbDbVDbyf$=%jf=ٔjiܻQ-j>9lYl=nFynErEr>tQ 5v5vC?Q 9z5v1E)tYxyz?Q IzT@v#CIv:iv:vj5yɮ9PAjhDNOT Ignoring new targets: 39.11 m.bhRh'Zh' ProNav: ac range: 39.107697 m, nav range: 36.804337 m, bearing: 56.274016 deg, approach rate: -0.690449 m/s, LOS rate: -0.109350 deg/s, cmd heading: 51.673059 deg, new cmd heading: 51.551971 deg. BhHeadingCmd: 0.899752 target range: 39.107697 and range: 39.30 m.h Vf?h*h"h hgff f d d d jdZd`@EyBɢE ѽ)A EiA)MIv:IIiM`;iU Vf?UI= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511701q bP,B7?AJ6?J^m?Jɬ ٱJI ZAHRS rotation from veh to nav: [[0.598084,-0.780993,-0.179846],[0.800473,0.593113,0.086367],[0.039217,-0.195617,0.979896]]JH`#?5ǿz??&?G? ɿN[?iJ6?IJ`^;HYf6tByf/IEe EeEaEa"Ee+$;*Ee:VEaZEaam@au@au@au@iMb@Mb@Mb@ 9V-?HzG?/$YbA2A )YIAbD-VD-y==%=4=ٔ=5Q-=>9AYA=EFyEEEQ;EM>QQ 5]5UJ ?Q 9]5U0=)UtBY]#@?Q E]:y]?Q I]T@UOCIUa:iUU:Ud5yiɮmOAiB*** querying acoustic contact ***i ixjhDNOT Ignoring new targets: 39.11 m.bhRh&Zh& ProNav: ac range: 39.107697 m, nav range: 36.465336 m, bearing: 56.210461 deg, approach rate: -0.771224 m/s, LOS rate: -0.145930 deg/s, cmd heading: 51.551973 deg, new cmd heading: 51.359537 deg. BhMȻHeadingCmd: 0.896393 target range: 39.107697 and range: 39.30 m.hze?h*h"h hgfffBdddjdZd"@yBɢZ½) ѵi)9)iI7ize?/nj<$3=Ize?IAAB>BBKIBctBBBBDBw;B'1E]?@Y @Y@Y@aQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765250ԁ ^A $=A ?A >I I O >4,7?A0F:6?Fn?FO+ٱFhG RAHRS rotation from veh to nav: [[0.597352,-0.781565,-0.179796],[0.800888,0.593044,0.082930],[0.041812,-0.193535,0.980202]]FH?  ǿ@?6?:?fh?ȿ]?iF:6?IF8^;FCYZ+tByZ(IbDbVDbyj%je=ٔnQ-n>9)Y)=-Fy-E5;E5>9Q 5E5=?Q 9E5=6)=tBYAyE ?Q IET@=rCI=:i=1:=5yU!BɮU]PAUEjhy}DNOT Ignoring new targets: 39.11 m.bhyRhI%ZhI% ProNav: ac range: 39.107697 m, nav range: 36.191803 m, bearing: 56.157885 deg, approach rate: -0.746169 m/s, LOS rate: -0.144506 deg/s, cmd heading: 51.359536 deg, new cmd heading: 51.200616 deg. BhXƻHeadingCmd: 0.893619 target range: 39.107697 and range: 39.30 m.hԹ  f> C i߁ I߅ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268046 19 Y :Ay ? 4A%c, 7?A\z@6?zCn?z3ٱz>G AHRS rotation from veh to nav: [[0.597223,-0.781465,-0.180658],[0.800871,0.593339,0.080952],[0.043930,-0.193030,0.980209]]zHs? ǿ ??@I?`~?8ȿ]?iz@6?IzZ'^;xY6tBy/IbD%VD%yuy<%u@=ٔudQ-}>9yYy=}Fy}El9E>Q 55#?Q 95h/)tBYy?Q IT@CIr;i;;5yBɮPA EjhDNOT Ignoring new targets: 39.11 m.bhRh'Zh' ProNav: ac range: 39.107697 m, nav range: 35.882431 m, bearing: 56.097388 deg, approach rate: -0.744375 m/s, LOS rate: -0.146817 deg/s, cmd heading: 51.200614 deg, new cmd heading: 51.017558 deg. Bhɻ HeadingCmd: 0.890424 target range: 39.107697 and range: 39.30 m.h c?h*h"h hgfffddd!jd!Zd% DG @ezBɢmiѽ)q }iy)顉i.1ic?<DJ=Ic?I@ @@0@ DAT read: 04:45:17.6334 LVL= 30048, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.27, 2.764, 0.935, 2.860, 2.604, PHS= 0.262,-1.624, 0.212, RAW= 148.7, 12.3, CAL= 148.5, 13.5, ROT= 1.5, -13.5 Ygot valid direction response: 04:45:17.6334 LVL= 30048, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.27, 2.764, 0.935, 2.860, 2.604, PHS= 0.262,-1.624, 0.212, RAW= 148.7, 12.3, CAL= 148.5, 13.5, ROT= 1.5, -13.5 PDAT read: Bearing 209.1, 0.8 (Local) %~Local bearing/azimuth received: Bearing 209.1, 0.8 (Local) -DAT read: Range 11 to 50 : 36.9 m (Round-trip 49.2 ms) speed 0.6 m/s 5*DAT read: user:197> =BDAT read: Tx time:04:45:18.7301 =$Ping request sent.=i;ϿY>x&@[>H%@ :Fq>)PwB B B ]IB tBB B B B w;B 1E9 ,7?A,ɰ,nm6?nCn?n=ٱnr^D ~AHRS rotation from veh to nav: [[0.596616,-0.782077,-0.180014],[0.801190,0.593387,0.077375],[0.046305,-0.190389,0.980616]]nH`z? @ ǿY?@?γ?G?^ȿ5a?inm6?In>M^;lYJtBy;I!%AiMb@Mb@Mb@ 9S? rh?QY:?yC >dA )@AYpIA@A@AbDVDy?=%D=ٔ޺Q->9Y=FyE:E>Q 55c/?Q 95$()tBY=?Q E:yJ?Q IT@‡CI:iU:ߢ5yɮOAii;7?AJiBRiBji_?bo˗ A@#?@$!@Rn ?W g?%E?ZiPw<bi:Fqj0z7rJ3@gRv=@E#@Zݍy?C?R~J8?2iA:i*A"ie8r?*ivABiBi͈?iieBiHBijz? addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 3.531591 s, deltaX: -2.399998 m, approachRate: -0.679580 m/s, rangeRepo size: 4  Added new target pos. range: 36.719269 m, bearing: 57.463301 deg, lat: 36.779332 deg, lon: -121.859550 deg, deltaT: 3.531591 s, deltaX: -2.388428 m, approachRate: -0.676304 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 36.72 m.bh!Rh-Zh)= ProNav: ac range: 36.719269 m, nav range: 35.571152 m, bearing: 56.045687 deg, approach rate: 0.000000 m/s, LOS rate: -0.146817 deg/s, cmd heading: 51.017558 deg, new cmd heading: 50.823350 deg. Bh9eHeadingCmd: 0.887035 target range: 36.719269 and range: 36.90 m.hec?ha*ha"ha hagifififidqdqdqjdu@3sB@Zdu ?9额3zBɢiͽ) 'i)Q顩ijL.ic?j<n(X=Ic?IU?@Q @Q@U+0@Qi^A5 \J=E}  E} E} 'Ey "E} U,;*E} ˭:VE} '4ZEy BE} ,y8?A26?2en?2Gٱ2.:D :AHRS rotation from veh to nav: [[0.596130,-0.782126,-0.181407],[0.801404,0.593373,0.075236],[0.048798,-0.190231,0.980526]]2H?,W8ǿ`?? B? ?@zYȿw`?i26?I23/^;2CYF0tByF+IbDN VDN2yV%VX=ٔZ_ػQ-Z>9XY\=^Fy^E^:E^>`Q 5f5b:?Q 9f5b!)btBYhyj[?Q IjT@bCIb;ib<;b-5yn#BɮnZPAr Ejh DNOT Ignoring new targets: 36.72 m.bh Rh :Zh :% ProNav: ac range: 36.719269 m, nav range: 35.292942 m, bearing: 55.988395 deg, approach rate: -0.785890 m/s, LOS rate: -0.163113 deg/s, cmd heading: 50.823349 deg, new cmd heading: 50.650120 deg. Bh%߻-HeadingCmd: 0.884011 target range: 36.719269 and range: 36.90 m.h-Nb?h)*h"h hgfffdddjdZd2?uKzBɢu)q ugÿiq)}yyi}+iNb?<zId=INb?IA@@ @@4@i^AE )2X=ԩ A ؟AI I O >5 ,A-8?AF46?FXn?FJQٱFeC VAHRS rotation from veh to nav: [[0.596215,-0.781937,-0.181938],[0.801190,0.593975,0.072720],[0.051204,-0.189124,0.980617]]FH1?`Iǿ@Y??@Ý?y7?@55ȿ7a?iF46?IFA^;FCYb(tByb&IE% E%E%(E!"E%;*E%:VE%c44ZE!a-@a-@a-@a-@yiMb@Mb@Mb@ 9On?y&1?9"?Y"?=Fy EE>Q 55F?Q 95!)tBY;?Q E:yP?Q IT@CI ;iP ;5yɮzPAB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 36.72 m.bh)Rh5Zh5E ProNav: ac range: 36.719269 m, nav range: 34.973248 m, bearing: 55.938176 deg, approach rate: -0.725942 m/s, LOS rate: -0.115076 deg/s, cmd heading: 50.650122 deg, new cmd heading: 50.498088 deg. BhEMHeadingCmd: 0.881358 target range: 36.719269 and range: 36.90 m.hMa?hI*hI"hQ hQgQfQfYf]BdYdYdajdaZde`^?B1A1B9B9B=dIB=tBB9B9B9B=aw;B= 1EMfzBɢU)Q UǿiQ)UQYi]9'i]a?e)Y? = =bDVDNy%1^%%V=ٔ-Q-->9)Y)=5Fy5E5E5>9Q 5E5=0R?Q 9E5=)=tBYIyIQ IMT@=2CI=-:i=:=\5yU*BɮUPAUEjhyDNOT Ignoring new targets: 36.72 m.bhRh)Zh) ProNav: ac range: 36.719269 m, nav range: 34.695225 m, bearing: 55.893748 deg, approach rate: -0.728148 m/s, LOS rate: -0.117292 deg/s, cmd heading: 50.498088 deg, new cmd heading: 50.363734 deg. BhHeadingCmd: 0.879013 target range: 36.719269 and range: 36.90 m.ha?h*h"h hgfffdddjdZd ?~zBɢe) ʿi)| ߻iC$ia?B< s=Ia?I R>i !>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500141@@ @@/@E EE)E"E';*E˭:VEFA4ZEBEY ,8`8?A26?2tm?2eٱ2D :AHRS rotation from veh to nav: [[0.597307,-0.780277,-0.185449],[0.800047,0.595875,0.069700],[0.056120,-0.190000,0.980179]]2H $?̼ǿ@?i?@ױ??Qȿ]?i26?I2[^;2CYF9tByF1IbDNVDN0yVa?=%VR=ٔZOQ-Z>9XYX=ZFyZE^E^>`Q 5f5b]?Q 9f5b )btBYhyj?Q IjT@bWCIbd:ib:b5yn&BɮnIPArEjh DNOT Ignoring new targets: 36.72 m.bh Rh Zh  ProNav: ac range: 36.719269 m, nav range: 34.412815 m, bearing: 55.848663 deg, approach rate: -0.726890 m/s, LOS rate: -0.116994 deg/s, cmd heading: 50.363735 deg, new cmd heading: 50.227372 deg. BhHeadingCmd: 0.876633 target range: 36.719269 and range: 36.90 m.hk`?h*h"h hgfffdddjdZd?1zBɢ5) B̿i!)5ޛ19i= i]k`?e,({8?A>5?>lm?>(hoٱ>4^E FAHRS rotation from veh to nav: [[0.598862,-0.778557,-0.187651],[0.798719,0.597731,0.069037],[0.058416,-0.191224,0.979807]]>H@)?`@ȿ? ?@f??@zȿZ?i>5?I>U^;>CNchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256135YV0tByV+Ii5Mb@Mb@Mb@1111 195d;O?~jt?{GzY54?y5=5#5r`A51A 5 LA)5>A1Y53GAbDMVDM0y]S%]==ٔ]Q-]>9aYa=eFyeEm?Em>qQ 5}5uj?Q 9}5u)utBY}6?Q E:yG?Q IT@u~CIuM;iu;u5yɮoPAjhDNOT Ignoring new targets: 36.72 m.bhRhJͺZhJͺ ProNav: ac range: 36.719269 m, nav range: 34.105797 m, bearing: 55.810259 deg, approach rate: -0.711020 m/s, LOS rate: -0.089740 deg/s, cmd heading: 50.227370 deg, new cmd heading: 50.111122 deg. BhYvHeadingCmd: 0.874604 target range: 36.719269 and range: 36.90 m.h _?h*h"h hgfffdBddidjdZdU@zBɢpY) пi)x)i vi _?<)v=I _?I@ @@/@ԑMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508042^Aur=AzAfAE  E E E "E ;*E ˭:VE ZE BE s $,8?A65?6l?6tyٱ6E BAHRS rotation from veh to nav: [[0.600344,-0.777026,-0.189253],[0.797422,0.599611,0.067712],[0.060864,-0.191565,0.979591]]6H 6?f`p9ȿ{?`0?U?)?@3ȿ X?i65?I643^;6CYJ-tByJ*I PPPPbDVVDVNy^0޻%^V=ٔbѻQ-b>9`Y`=fFyfEf\Ef>hQ 5n5jv?Q 9n5j)jtBYpyr?Q IrT@jCIj#;ijr;j޷5yv-BɮvPAvEjhDNOT Ignoring new targets: 36.72 m.bhRhH˺Zh%H˺- ProNav: ac range: 36.719269 m, nav range: 33.833675 m, bearing: 55.776565 deg, approach rate: -0.711946 m/s, LOS rate: -0.088862 deg/s, cmd heading: 50.111121 deg, new cmd heading: 50.009226 deg. Bh5s5HeadingCmd: 0.872826 target range: 36.719269 and range: 36.90 m.h5q_?h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMь@}zBɢ}x)  Կi)b/顁iviq_?=W<u=Iq_?I@ @@T0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760876^Ar=I 1 I9 O] >m BDAT read: Rx Time:04:45:21.1801 u TRx dataTimestamp_ set to:1761540322.700990u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014171'+,ɮ8?AV-x4?VNl?V ٱVoFEb EbEb'E`"EbU,;*Eb:VEb'4ZE`aj@aj@aj@aj@ jAHRS rotation from veh to nav: [[0.602172,-0.775218,-0.190854],[0.795879,0.601747,0.066917],[0.062971,-0.192192,0.979335]]VHD?@mȿw?A?s!??`ȿV?iV-x4?IVD^;VCYv*tByv'IiMb@Mb@Mb@ 9&1?ʡE?QY0?y=^AM0A )->AYfFAbDVDy%9=ٔZQ->9Y=Fy E.E>Q 5 5?Q 9 5)Y (2?Q E :y ?Q IT@ɈCI:i:5yɮPA=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 36.72 m.bhIRhU&ZhU&e ProNav: ac range: 36.719269 m, nav range: 33.526001 m, bearing: 55.750237 deg, approach rate: -0.694252 m/s, LOS rate: -0.059953 deg/s, cmd heading: 50.009224 deg, new cmd heading: 49.929515 deg. Bhe$mHeadingCmd: 0.871434 target range: 36.719269 and range: 36.90 m.hmT_?hi*hi"hi higifqfqfuHBdydydyjdyZd`| @颭zBɢAAB>BBBB =BBDB~w;B1EByByByB} =B} =C}\j4I)Q U/ؿiQ)UHYYi]}ieT_?e% 2,ʤ8?A23?2Brk?2#nٱ2|nH :AHRS rotation from veh to nav: [[0.604763,-0.772565,-0.193404],[0.793740,0.604549,0.067071],[0.065105,-0.194074,0.978824]]2H8Z?ٸrȿPf? vX?+?@?jȿR?i23?I234^;2CYBtByFIbDNPVDN:yVwL%Va=ٔZQ-Z>9XYX=^Fy^$E^E^>`Q 5f5b?Q 9f5bM)`Yhyj?Q IjT@bCIb:ib:b5yYɮ] QAYjhDNOT Ignoring new targets: 36.72 m.bhRhyZhy ProNav: ac range: 36.719269 m, nav range: 33.273304 m, bearing: 55.729771 deg, approach rate: -0.666919 m/s, LOS rate: -0.054426 deg/s, cmd heading: 49.929516 deg, new cmd heading: 49.867650 deg. BhhHeadingCmd: 0.870355 target range: 36.719269 and range: 36.90 m.h^?h*h"h hgfffdddjdZd @{Bɢ9h )w< ݿi)]i;i^?z<Nj=I^?IeDAT read: 04:45:21.1801 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402, 0.11, 2.265, 0.467, 2.369, 2.164, PHS= 0.203,-1.652, 0.160, RAW= 148.8, 14.0, CAL= 148.9, 15.4, ROT= 1.1, -15.4 mYgot valid direction response: 04:45:21.1801 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402, 0.11, 2.265, 0.467, 2.369, 2.164, PHS= 0.203,-1.652, 0.160, RAW= 148.8, 14.0, CAL= 148.9, 15.4, ROT= 1.1, -15.4 PDAT read: Bearing 210.5, 1.2 (Local) ~Local bearing/azimuth received: Bearing 210.5, 1.2 (Local) -DAT read: Range 11 to 50 : 34.3 m (Round-trip 45.8 ms) speed 0.8 m/s *DAT read: user:198> BDAT read: Tx time:04:45:22.2801 $Ping request sent.i-tӿ- #>-6&@-5z>-R&@ ->)-nFII O > checking for new query: numPingsReceived=1, elapsed TxPingTime=0.203513! ;8,8?A22?20j?2ٱ2EI :AHRS rotation from veh to nav: [[0.607275,-0.770086,-0.195410],[0.791634,0.607347,0.066681],[0.067331,-0.195187,0.978452]]2Hn? @/ɿU?`bo??9tYx=zFyz(EzEz>|Q 5 5v?Q 9 5)tBY y"?Q IT@CIN:i:5y0BɮPAEiYi]*8?AJi]BRi]Bji]}?b]ずDs@@ǡN7?U "@R]i?B4 ?<?Zi]nF<bi]j]T0Ը1@? u';@M%@Z]t*e#o?sM6X?$H?2i]DA:i]ƍA"i]Pp?*i] j%Bi]Bi]=< ?iYi]uBi]Bi]{?m addTargetRange:: Added new target pos. range: 34.299999 m, deltaT: 3.530223 s, deltaX: -2.600002 m, approachRate: -0.736498 m/s, rangeRepo size: 4 } Added new target pos. range: 34.132095 m, bearing: 56.752620 deg, lat: 36.779328 deg, lon: -121.859550 deg, deltaT: 3.530223 s, deltaX: -2.587173 m, approachRate: -0.732864 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.13 m.bhRhZh% ProNav: ac range: 34.132095 m, nav range: 32.724586 m, bearing: 56.386528 deg, approach rate: 0.000000 m/s, LOS rate: -0.054426 deg/s, cmd heading: 49.867652 deg, new cmd heading: 49.802251 deg. Bh!-HeadingCmd: 0.869213 target range: 34.132095 and range: 34.30 m.h-Ä^?h)*h)"hQ hQgQfQfYfYdYdYdYjde`f&A@Zde TT?e#{Bɢ+) ߿i)/wi%i Ä^?>m<c=IÄ^?)IA-checking for new query: numPingsReceived=1, elapsed TxPingTime=0.456458]?@Y @Y@]4@YE EE(E"E%;*EVEc44ZEa@a@a@a@QB>BBBB =BBDBw;B1Eԁ ^A h=I) IA Om >c>,p[8?A21?20i?2(6ٱ2K :AHRS rotation from veh to nav: [[0.609891,-0.767489,-0.197467],[0.789442,0.610202,0.066595],[0.069383,-0.196504,0.978045]]2H:?`EFɿC?@Ɔ? d ?ñ?'ɿ$L?i21?I2 S^;2CBchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.707481YJtByJIiMb@Mb@Mb@ 9oʡ?:v?9IYI=UFyU,EUEU>Q 5 5J?Q 9 5h)tBY-?Q E:y{?Q IT@4CI ;i ;S5yɮ!QA!jhAMDNOT Ignoring new targets: 34.13 m.bhIRhM7ZhU7e ProNav: ac range: 34.132095 m, nav range: 32.428688 m, bearing: 56.387101 deg, approach rate: -0.684201 m/s, LOS rate: 0.001338 deg/s, cmd heading: 49.802253 deg, new cmd heading: 49.803988 deg. Bhe k8mHeadingCmd: 0.869244 target range: 34.132095 and range: 34.30 m.hm^?hi*hi"hi higifqfqfuDBdydydyjdyZd}2?颭={BɢO) i)P솼顱ib i^?<2X=I^?II@I @I@M/@I=checking for new query: numPingsReceived=1, elapsed TxPingTime=0.960115A^AJc=D zD ?AE  E E *E "E *E :VE (N4ZE BE ~Y KE,P69?A6-0?6h?6ٱ6>K BAHRS rotation from veh to nav: [[0.612750,-0.764804,-0.199029],[0.787057,0.613294,0.066419],[0.071266,-0.197345,0.977740]]6H?Eyyɿ/??@?|>?BɿI?i6-0?I6t^;6CAQmgA 9gAYlAchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.211389Y0tBy+IbDVDJymE=%&=ٔzQ->9 ?Y ?= Fy 1E E>Q 55Q?Q 95l)tBY!y%z?Q I%T@]CIW:i:r5y-7Bɮ5PA5EjhQ]DNOT Ignoring new targets: 34.13 m.bhYRhe8Zhe8u ProNav: ac range: 34.132095 m, nav range: 32.108849 m, bearing: 56.389881 deg, approach rate: -0.678122 m/s, LOS rate: 0.005951 deg/s, cmd heading: 49.803987 deg, new cmd heading: 49.812408 deg. Bhu9}HeadingCmd: 0.869391 target range: 34.132095 and range: 34.30 m.h}a^?hy*hy"hy hygfffdddjdZd٥?颽]{Bɢr ) i) ˔i ia^?<K=Ia^?Iaԉ rg @@  @ @ 4@ M checking for new query: numPingsReceived=1, elapsed TxPingTime=1.464536 E  E E (E "E ;*E :VE c44ZE a @a @a @a @BAp<B>BBpIBtBBBBBw;B21E^A%&V=A-fAzA)AU؟AIiIyO?N,:9?A ɰ";D d)j9lAjjigFhjLCn=lAin+InOFlIlin=lA np)pp pr ttv̏CvlAIvxi)tix)xIzlAzx x|~lA|i||iC"A) IYYE7tByM0Imchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.715513i}Mb@Mb@Mb@yyyy y9}/$?~jt?MbPY},?y}=}}^A}|/A }MA)};AyY}EAAAAAbDVD1y U<%=ٔQ->9"?Y"?=Fy7EE>Q 55xɖ?Q 95)tBYN,?Q E:yv?Q IT@CIe:i@:5yɮPAB*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 34.13 m.bhRhA9ZhA9% ProNav: ac range: 34.132095 m, nav range: 31.751755 m, bearing: 56.402602 deg, approach rate: -0.671184 m/s, LOS rate: 0.024180 deg/s, cmd heading: 49.812409 deg, new cmd heading: 49.851002 deg. Bh%:-HeadingCmd: 0.870064 target range: 34.132095 and range: 34.30 m.h-^?h)*h1"h1 h1g1f1f9f=:Bd9d9dAjdAZdE`l(?颭{BɢR&) wiԹ)i]i^?D<&dK=I^?I@ <% checking for new query: numPingsReceived=1, elapsed TxPingTime=1.968129 @  @ @ 0@  D 4=D 4=E  E E 'E "E C#;*E |:VE '4ZE BE {9Y=Fy<E3}E>Q 55ؖ?Q 95)tBYyu?Q IT@CI:i:=5y>BɮPAEjhDNOT Ignoring new targets: 34.13 m.bhRh%:Zh%:5 ProNav: ac range: 34.132095 m, nav range: 31.433146 m, bearing: 56.418457 deg, approach rate: -0.663873 m/s, LOS rate: 0.033372 deg/s, cmd heading: 49.851003 deg, new cmd heading: 49.899052 deg. Bh59:=HeadingCmd: 0.870903 target range: 34.132095 and range: 34.30 m.h={^?h9*h9"h9 h9gAfAfAfIdIdIdIjdQZdU k@}{Bɢ};) Ki) 3顉i^i{^?y<-=I{^?I1@ @@1@DDAT read: Rx Time:04:45:24.4520 TRx dataTimestamp_ set to:1761540325.725598 PDAT read: Bearing 212.2, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 212.2, 1.5 (Local) % DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.7 M DAT read: 04:45:24.4520 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402,-0.23,-2.605, 1.931,-2.502,-2.625, PHS= 0.122,-1.682, 0.079, RAW= 148.8, 16.4, CAL= 149.0, 18.2, ROT= 1.0, -18.2 U Ygot valid direction response: 04:45:24.4520 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402,-0.23,-2.605, 1.931,-2.502,-2.625, PHS= 0.122,-1.682, 0.079, RAW= 148.8, 16.4, CAL= 149.0, 18.2, ROT= 1.0, -18.2 U R#Rx 2: Read range and direction messages.] \direction in FSK: [0.949827,0.016579,0.312335]e Fpublishing direction and range infoyg-[d?G)?IK?YB )BI#=iK׿ʡ=C>Bo&@ >)5-],Xz9?A:-?:`e?:ٱ:ٴJ BAHRS rotation from veh to nav: [[0.621772,-0.756489,-0.202792],[0.779077,0.623936,0.061180],[0.080247,-0.196031,0.977309]]:H?@(5@ɿ`2?I? S??ɿF?i:-?I:_^;:CYmZtBymEIchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.723487iMb@Mb@Mb@ 9n?+?Mb?YV.?y=</]A.A )YGEA 4< <bDVDy-uJ=%-$=ٔ--Q-5>91Y1=5Fy5AE=ZE=>AQ 5M5Ek閊?Q 9M5E)EuBYM.?Q EU:yUt?Q IUT@EމCIE;iEX;E5y]:Bɮ]jPA]Eii3pn9?AJiARiAjiC2{?b>>@"'?E6#@Rg-[d?G)?IK?Zi5<bijLǵc0@nK}^8@ps[(@Z֣&`x?M D?Q4?2iA:iA"iQON?*i.EBiCBie8r?iiBiAi~? addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 2.519862 s, deltaX: -2.299999 m, approachRate: -0.912748 m/s, rangeRepo size: 4  Added new target pos. range: 31.843145 m, bearing: 56.220663 deg, lat: 36.779324 deg, lon: -121.859550 deg, deltaT: 2.519862 s, deltaX: -2.288950 m, approachRate: -0.908363 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.84 m.bhRhZhu ProNav: ac range: 31.843145 m, nav range: 30.887079 m, bearing: 57.020362 deg, approach rate: 0.000000 m/s, LOS rate: 0.033372 deg/s, cmd heading: 49.899050 deg, new cmd heading: 49.948790 deg. Bhq}HeadingCmd: 0.871771 target range: 31.843145 and range: 32.00 m.h}`,_?hy*h"h hgfffi DDAT read: Rx Time:04:45:24.9517  TRx dataTimestamp_ set to:1761540326.228665 PDAT read: Bearing 210.4, 2.7 (Local)  ~Local bearing/azimuth received: Bearing 210.4, 2.7 (Local)  DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.6  DAT read: 04:45:24.9517 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.41, 3.017, 1.227, 3.104, 2.936, PHS= 0.182,-1.665, 0.124, RAW= 148.4, 14.8, CAL= 148.5, 16.4, ROT= 1.5, -16.4  Ygot valid direction response: 04:45:24.9517 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.41, 3.017, 1.227, 3.104, 2.936, PHS= 0.182,-1.665, 0.124, RAW= 148.4, 14.8, CAL= 148.5, 16.4, ROT= 1.5, -16.4  R#Rx 3: Read range and direction messages. \direction in FSK: [0.958985,0.025112,0.282341] Fpublishing direction and range infoy  $?w1kﶙ?Ix?Y A ) I 5^:>i տ = %@ A> H%@ C>) Pw) O>I Pw-?2Te?2$ٱ2nJ :AHRS rotation from veh to nav: [[0.623488,-0.754693,-0.204210],[0.777448,0.626094,0.059847],[0.082688,-0.196076,0.977096]]2H@?`q&#ʿ@??5?+?ɿ _D?i2>-?I2t^;2CYN|tByNZIbDZVDZy =% _=ٔ ڻQ- >9Y=FyDE&ӻE>!Q 5-5%?Q 9-5%6)%&uBY)y5t?Q I5T@%CI%:i%:%5y=ABɮ=PA=Eiis9?AJiARiAji{?bY>@:NP0?UH!@R$?w1kﶙ?Ix?ZiPw<biCjJ7W0@_+}d8@(WU9%@Zjr?l?z_vj?2i#A:iA"inV?*iBBi3BiPp?i j%iBiAiK}? addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.503067 s, deltaX: -0.500000 m, approachRate: -0.993903 m/s, rangeRepo size: 4 - Added new target pos. range: 31.345596 m, bearing: 56.181660 deg, lat: 36.779324 deg, lon: -121.859552 deg, deltaT: 0.503067 s, deltaX: -0.497549 m, approachRate: -0.989031 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 31.35 m.qbhyRhyZh ProNav: ac range: 31.345596 m, nav range: 30.444839 m, bearing: 56.840544 deg, approach rate: 0.000000 m/s, LOS rate: 0.033372 deg/s, cmd heading: 49.948791 deg, new cmd heading: 49.986362 deg. BhHeadingCmd: 0.872427 target range: 31.345596 and range: 31.50 m.hYW_?h*h"h hg!f!f!f!d)dIdIjdU?@ZdUs?额{BɢH) i) ϼ顡i:iYW_?y<ޒ=IYW_?Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=3.228438@ @@/@ԩ^A r.=I) I9 OE > Dj,9?ABDDAT read: Rx Time:04:45:25.4513 JTRx dataTimestamp_ set to:1761540326.737434ZPDAT read: Bearing 210.9, 2.1 (Local) b~Local bearing/azimuth received: Bearing 210.9, 2.1 (Local) ~DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.6 =DAT read: 04:45:25.4513 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508, 0.22,-2.244, 2.290,-2.136,-2.292, PHS= 0.149,-1.657, 0.111, RAW= 148.9, 15.4, CAL= 149.1, 17.1, ROT= 0.9, -17.1 EYgot valid direction response: 04:45:25.4513 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508, 0.22,-2.244, 2.290,-2.136,-2.292, PHS= 0.149,-1.657, 0.111, RAW= 148.9, 15.4, CAL= 149.1, 17.1, ROT= 0.9, -17.1 MR#Rx 4: Read range and direction messages.]E,?]Ԧd?]篽ٱ]؃JE EE(E"EU,;*E:VEc44ZEa@a@a@a@-\direction in FSK: [0.955675,0.015013,0.294040]-Fpublishing direction and range infoyDF 3???YFADDDD D)DIFu>iFԿFS=FR&@F>Fۋ&@ FΘ>)FBBIBtBBBBBx;BY1EiMb@Mb@Mb@ 9Fx?)\(?I +?Y+?yGa=94<Z\A-A MA)C9AYQDAIM@AbDUVDU0y<%=ٔ»Q->9Y=FyJEQ 5%5S?Q 9%5z)EuBY%`,?Q E%:y%z?Q I-T@,CIs:?Ǥ3"@RF 3???ZiF<biFΘjFYJQ@0@67@Tag&@ZFk&8Y?lXϔ?iRr,#9?A2߁,?2nXd?2tٱ2]H >AHRS rotation from veh to nav: [[0.625398,-0.752625,-0.205993],[0.775241,0.629328,0.054305],[0.088766,-0.193656,0.977045]]2HB? ]ʿ@?s#?ͫ?c?@ȿC?i2߁,?I2^;2CYFtByFtIbDnVDnyvs=%v=ٔvQ-v?9xYx=zFyzME~k}E~?Q 5 5?Q 9 5 )XuBY y y?Q I T@FCI:i@;5yɮqOA=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 30.95 m.bhIRhME8ZhUE8e ProNav: ac range: 30.947533 m, nav range: 28.862497 m, bearing: 56.006200 deg, approach rate: -0.758132 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.041627 deg, new cmd heading: 50.043803 deg. Bhe=8mHeadingCmd: 0.873429 target range: 30.947533 and range: 31.10 m.hm _?hi*hi"hi higqfqfqfydydydyjdyZd m?颭|BɢEE)< i)项iFi _?<p=I _?IIDDAT read: Rx Time:04:45:25.9511 TRx dataTimestamp_ set to:1761540327.237510PDAT read: Bearing 209.7, 3.2 (Local) ~Local bearing/azimuth received: Bearing 209.7, 3.2 (Local) DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.7 DAT read: 04:45:25.9511 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.10, 3.019, 1.230, 3.110, 2.927, PHS= 0.194,-1.652, 0.139, RAW= 148.5, 14.4, CAL= 148.5, 15.9, ROT= 1.5, -15.9  Ygot valid direction response: 04:45:25.9511 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.10, 3.019, 1.230, 3.110, 2.927, PHS= 0.194,-1.652, 0.139, RAW= 148.5, 14.4, CAL= 148.5, 15.9, ROT= 1.5, -15.9  R#Rx 5: Read range and direction messages.\direction in FSK: [0.961412,0.025175,0.273959]Fpublishing direction and range infoy.M?fǙ?ψ.?YfA )IF>itӿV>H%@>H%@ q>)Pw)R|IPwyԡE checking for new query: numPingsReceived=5, elapsed TxPingTime=4.235368 xx,9?A4<ɰ4<2BG,?2d?2Bʼٱ2:F :AHRS rotation from veh to nav: [[0.625904,-0.751969,-0.206851],[0.774449,0.630574,0.051043],[0.092052,-0.192143,0.977040]]2Hg?!zʿI?-?D"?ຐ?`%ȿC?i2BG,?I2K^;2CYrtByvzIbD-VD-yê<%<=ٔQ-%>9)Y1=UFy]QEeEe>iQ 55m0?Q 95m})mtuBYyy?Q IT@mlCIm;imm;m5yHBɮOAEԱii]39?AJi1ARi1AjiYy?bR"`w=@c?a @R.M?fǙ?ψ.?ZiPw<biqjAAB 0@F;7@bD3%@ZE*;?Pl?4ʴ8|?2iA:iA"inm?*i(-1ABiBiiii}Ai>z?] addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.500076 s, deltaX: -0.300001 m, approachRate: -0.599911 m/s, rangeRepo size: 4  Added new target pos. range: 30.649002 m, bearing: 55.807388 deg, lat: 36.779322 deg, lon: -121.859564 deg, deltaT: 0.500076 s, deltaX: -0.298531 m, approachRate: -0.596970 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.65 m.bhRhZh ProNav: ac range: 30.649002 m, nav range: 28.561377 m, bearing: 56.007809 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.043802 deg, new cmd heading: 50.047567 deg. BhHeadingCmd: 0.873495 target range: 30.649002 and range: 30.80 m.h-[_?h1*h1"h9 h9gffDDAT read: Rx Time:04:45:26.4508 TRx dataTimestamp_ set to:1761540327.748691PDAT read: Bearing 209.4, 4.1 (Local) ~Local bearing/azimuth received: Bearing 209.4, 4.1 (Local)  DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.6 5DAT read: 04:45:26.4508 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.04, 0.201,-1.589, 0.269, 0.092, PHS= 0.211,-1.636, 0.134, RAW= 147.9, 14.2, CAL= 147.8, 15.6, ROT= 2.2, -15.6 =Ygot valid direction response: 04:45:26.4508 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.04, 0.201,-1.589, 0.269, 0.092, PHS= 0.211,-1.636, 0.134, RAW= 147.9, 14.2, CAL= 147.8, 15.6, ROT= 2.2, -15.6 =R#Rx 6: Read range and direction messages.E\direction in FSK: [0.962453,0.036974,0.268920]EFpublishing direction and range infoywi?7?]^|5?YfA )AIbX>ishѿL7 >4%@}>%@ 'g>)nF=I'g0ׁl?kP?OeM? _6>)p|InF=i'gfYdddjdL>@Zd ?=checking for new query: numPingsReceived=6, elapsed TxPingTime=4.538840E] E]E]%EY"E]';*E]:VE] 4ZEYam@am@am@am@}<|Bɢ7)M; i)顁iٻi[_?hN<X=I[_?I=p>i9B>BBIB$uBBBBBw;BA1EB}CB}CByB} =B} =C}=5 @@  @ @ @ 9 ] checking for new query: numPingsReceived=6, elapsed TxPingTime=4.739838^A Nw =aAIIAOe ?k,:?AYtByII<)p;==!i}Mb@Mb@Mb@yyyy y9}> ףp=?Q?~jth?Y}1?y}\=}D;}+]Ay y)}7AyY}DA p<<bDVDy=%=ٔQ->9Y=FyWEE>Q 55/?Q 95)uBY2?Q E:y}?Q IT@CI(;i?';5yEBɮNAEii9?AJi6ARi6Aji_1|?bN,=@A?@ot7 @Rwi?7?]^|5?ZinF=bi'gj2]K/@i>7@+J*$@Z m?>e ? ?2iA:i]zA"iNmV?*ib<Bi1BinV?iiiAi{?% addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.511181 s, deltaX: -0.500000 m, approachRate: -0.978127 m/s, rangeRepo size: 4 5 Added new target pos. range: 30.151403 m, bearing: 56.443696 deg, lat: 36.779321 deg, lon: -121.859564 deg, deltaT: 0.511181 s, deltaX: -0.497599 m, approachRate: -0.973429 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 30.15 m.bh9RhAZhAU ProNav: ac range: 30.151403 m, nav range: 28.118778 m, bearing: 56.181856 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.047566 deg, new cmd heading: 50.051913 deg. BhQ]HeadingCmd: 0.873571 target range: 30.151403 and range: 30.30 m.h]T_?hY*hY"hY hYgafafafeUBdididijdiZdu8?]Y|Bɢ]u )Y ]riY)e(aaie һimT_?mQi%ѿl=m%@%>m%@ r>)=IrXI?<,?ml? >Q)`ㄾI=irchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.039799bE:4jE?4rExE0E  E E +E "E );*E :VE  [4ZE BE a2E aJE #>,ݔ":?AYtByI9bDeVDefyJ;%G=ٔQ->9Y=Fy[EE>iQ 55m=?Q 95mc)muBYyQ IT@mĊCImw@Zd%?}DDAT read: Rx Time:04:45:27.4504 TRx dataTimestamp_ set to:1761540328.753189PDAT read: Bearing 210.7, 4.8 (Local) ~Local bearing/azimuth received: Bearing 210.7, 4.8 (Local) DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.6 EDAT read: 04:45:27.4504 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.36,-0.371,-2.109,-0.321,-0.447, PHS= 0.178,-1.617, 0.082, RAW= 147.3, 15.3, CAL= 147.2, 16.9, ROT= 2.8, -16.9 MYgot valid direction response: 04:45:27.4504 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.36,-0.371,-2.109,-0.321,-0.447, PHS= 0.178,-1.617, 0.082, RAW= 147.3, 15.3, CAL= 147.2, 16.9, ROT= 2.8, -16.9 UR#Rx 8: Read range and direction messages.]\direction in FSK: [0.955671,0.046740,0.290702]]Fpublishing direction and range infoy< ۔?FR?Tcݚ?YA )IE6>iο="$@ܸ>ԉl$@ >)+H=IJm?^4DH?DkE? 9>)I+H=ichecking for new query: numPingsReceived=8, elapsed TxPingTime=5.536908~|BɢMR) i)C iʻi_?<IE_?IIE EE(E"E+$;*E:VEc44ZEa@a@a@a@BE <AE <BI BI BM IBM kuBBM =BI BI BM w;BM $1EԹ  0; @@  @ @ 1@  checking for new query: numPingsReceived=8, elapsed TxPingTime=5.747740^A@o=AzAgAAIIO%(?,L:?A :,?:,c?:mսٱ:uA BAHRS rotation from veh to nav: [[0.625638,-0.751174,-0.210511],[0.773115,0.633089,0.038623],[0.104259,-0.186913,0.976828]]:H:? ʿ[?`CB?oƣ? ?`ǿ@-B?i:,?I:)R^;:CYN uByNIieMb@Mb@Mb@aaaa a9em?/$?Ye.?ye=eeZAe-A ezNA)e6AaYe3CAbD}VD}Ny=DDAT read: Rx Time:04:45:27.9502 TRx dataTimestamp_ set to:1761540329.252939PDAT read: Bearing 212.2, 3.6 (Local) ~Local bearing/azimuth received: Bearing 212.2, 3.6 (Local) DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.7 DAT read: 04:45:27.9502 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.28,-2.418, 2.206,-2.336,-2.424, PHS= 0.109,-1.608, 0.045, RAW= 148.1, 17.0, CAL= 148.3, 18.8, ROT= 1.7, -18.8 Ygot valid direction response: 04:45:27.9502 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.28,-2.418, 2.206,-2.336,-2.424, PHS= 0.109,-1.608, 0.045, RAW= 148.1, 17.0, CAL= 148.3, 18.8, ROT= 1.7, -18.8 R#Rx 9: Read range and direction messages.\direction in FSK: [0.946233,0.028084,0.322266]Fpublishing direction and range infoy̗G?"?ɜL?Y3A )?Id;=iͿQ8=m%@>%@ >)9Y=FybExE>!(?e?핪? E?>)IivοX9=Y3$@ >$@ r>iE EE+E"E=-;*E:VE [4ZEa@a@a@a@ AHRS rotation from veh to nav: [[0.625264,-0.751015,-0.212182],[0.773035,0.633320,0.036378],[0.107059,-0.186770,0.976553]]=H`*? P(˿?'D?&? 2h?`ǿ??i=r-,?I=6^;=CY3uB)k]=Ir54??M}? O>)TIk]=irchecking for new query: numPingsReceived=10, elapsed TxPingTime=6.588022yIB >B B IB uBB B B B w;B %1EiMb@Mb@Mb@ 9K7?Zd;O?y&1|YI,?yj=`YA5,A LA)/5AYAAbDVD1y<%<ٔQ->9% ?Y% ?=-Fy-iE->9E->1Q 5}55 e?Q 9}55)5uBY-?Q E:y?Q IU@56CI5'~%@ MQ>)=IMQ 6?1?4X? "e>),ܔI=iMQchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.073618E EE(E"E*E|:VEc44ZEBEp9"?Y"?=FynE-4E> Q 55 :u?Q 95 ^)  vBYyׂ?Q IU@ dCI :i =: 5y%VBɮ%]MAEEiyi}:?AJi}EARi}EAji}[|?b}{#_*;@tlRQ?1ӯO/"@R}T?^b?Hs%N?Zi}=bi}MQj}/-M,@\b5@>'@Z}?Β` \?ᗐB?2i}A:i}BfA"i} 1?*i}pƌHBi}/Bi} 1?iyi} Bi} Ai}A? addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.498237 s, deltaX: -0.200001 m, approachRate: -0.401417 m/s, rangeRepo size: 4  Added new target pos. range: 28.658844 m, bearing: 56.588810 deg, lat: 36.779317 deg, lon: -121.859562 deg, deltaT: 0.498237 s, deltaX: -0.199020 m, approachRate: -0.399449 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.66 m.bhRhZhe ProNav: ac range: 28.658844 m, nav range: 26.515875 m, bearing: 57.129586 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.066154 deg, new cmd heading: 50.070460 deg. BhamHeadingCmd: 0.873894 target range: 28.658844 and range: 28.80 m.hm_?hi*hi"hi hqgqfqfqfydychecking for new query: numPingsReceived=11, elapsed TxPingTime=7.259562dydjd<@Zd`aO? |Bɢ E) 7i)&iyi%_?%֙<%=I-_?I)@ @@@!} DDAT read: Rx Time:04:45:29.4496  TRx dataTimestamp_ set to:1761540330.769126 PDAT read: Bearing 209.7, 6.0 (Local) ^A y= ~Local bearing/azimuth received: Bearing 209.7, 6.0 (Local)  DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.6  DAT read: 04:45:29.4496 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.05, 0.411,-1.351, 0.453, 0.307, PHS= 0.206,-1.612, 0.102, RAW= 147.1, 14.6, CAL= 147.0, 16.1, ROT= 3.0, -16.1 - Ygot valid direction response: 04:45:29.4496 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.05, 0.411,-1.351, 0.453, 0.307, PHS= 0.206,-1.612, 0.102, RAW= 147.1, 14.6, CAL= 147.0, 16.1, ROT= 3.0, -16.1 = T#Rx 12: Read range and direction messages.m \direction in FSK: [0.959462,0.050283,0.277315]m Fpublishing direction and range infoyy } ??OHx?/?Y} 3Ay y y y y )} AI} R>i} Vο} `=E  E E 'E "E 8;*E :VE '4ZE a @a @a @a @} O$@} w>} Y3$@ } ޏ>)} PwV=I} ޏy y } X,?O^d1?S}%? } 5>)} +I} PwV=i} ޏy y  checking for new query: numPingsReceived=12, elapsed TxPingTime=7.596818AA@AB >B B EIB uBB B B B w;B +1EIAIQOe>f0,Q:?A\Uj,?Uc?UٱU= mAHRS rotation from veh to nav: [[0.624981,-0.750638,-0.214339],[0.772153,0.634805,0.028328],[0.114800,-0.183207,0.976348]]UH@?;uo˿`z?@RP?? c?Qsǿ ?>?iUj,?IU:^;UCY {uBy IiMb@Mb@Mb@ 9oʡ?RQ?9Y=FysE8E>Q 55Ƅ?Q 95_~)'vBY.?Q E:yB?Q IU@CI;il;@5yɮLAii\9:?AJiARiAji)?beܕ;@&7?D>Y@R??OHx?/?ZiPwV=biޏjT*ff,@(Q6@T.%@Z T*?5?Nx?2i}A:i3cA"iqa1?*iQ:BiBiqa1?iZ1v<iiIAi=? addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.508403 s, deltaX: -0.400000 m, approachRate: -0.786777 m/s, rangeRepo size: 4  Added new target pos. range: 28.260870 m, bearing: 57.232098 deg, lat: 36.779317 deg, lon: -121.859562 deg, deltaT: 0.508403 s, deltaX: -0.397974 m, approachRate: -0.782792 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.26 m.bhchecking for new query: numPingsReceived=12, elapsed TxPingTime=7.763585RhZh ProNav: ac range: 28.260870 m, nav range: 26.160925 m, bearing: 57.125871 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.070460 deg, new cmd heading: 50.074692 deg. BhHeadingCmd: 0.873968 target range: 28.260870 and range: 28.40 m.hb_?h*h"h hgfff$Bddd jd `ff<@Zd P?}}Bɢ}#)y }iy).顁ivib_?< =Ib_?I@ @@ @9 ] DDAT read: Rx Time:04:45:29.9494 ] TRx dataTimestamp_ set to:1761540331.268765e PDAT read: Bearing 210.3, 5.0 (Local) m ~Local bearing/azimuth received: Bearing 210.3, 5.0 (Local)  DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.6  DAT read: 04:45:29.9494 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 504,-0.22, 0.651,-1.111, 0.727, 0.584, PHS= 0.168,-1.650, 0.098, RAW= 148.1, 15.3, CAL= 148.1, 17.0, ROT= 1.9, -17.0  Ygot valid direction response: 04:45:29.9494 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 504,-0.22, 0.651,-1.111, 0.727, 0.584, PHS= 0.168,-1.650, 0.098, RAW= 148.1, 15.3, CAL= 148.1, 17.0, ROT= 1.9, -17.0  T#Rx 13: Read range and direction messages. \direction in FSK: [0.955779,0.031706,0.292372] Fpublishing direction and range infoyY ^A 2g=] rֽ?n0;?兗7?Y] AY Y Y Y Y )] CI] 1,>i] 33ӿ] 9=] m%@] ܸ>] m%@ ] >)] =I] 闾Y Y ]  )] #I] =i] 闾Y Y  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.039673i E EE)E"E3;*E:VEFA4ZEBEV`,Ō:?Af,?fc?fICٱf+3= eAHRS rotation from veh to nav: [[0.624991,-0.750389,-0.215181],[0.771807,0.635316,0.026201],[0.117047,-0.182453,0.976223]]fH?/ ˿ ?@T?gԚ?`?Zǿ7=?if,?IfJ^;fCYuBy IԱbDVDyʤ=%<=ٔ&Q->9Y=FyxEE>Q 55?Q 95w)?vBYy =?Q I U@CI!;i; 5y5]Bɮ5mLA5Eiir3:?AJiARiAji{?b#2Ϲ:@{_^?֦LY @Rrֽ?n0;?兗7?Zi=bi闾jD.Ύ,@pwݖg5@J%@Z8:W?ti~?Qn?2ii>%checking for new query: numPingsReceived=13, elapsed TxPingTime=8.268223Q@Q @Y@Y@Y ^A} 9=A zA fAI I O% >9 ,e:?ARDDAT read: Rx Time:04:45:30.4490 VTRx dataTimestamp_ set to:1761540331.777168fPDAT read: Bearing 210.0, 5.9 (Local) j~Local bearing/azimuth received: Bearing 210.0, 5.9 (Local) DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.5 +?Pc?ٱ=DAT read: 04:45:30.4490 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501,-0.50, 0.243,-1.525, 0.297, 0.157, PHS= 0.189,-1.637, 0.096, RAW= 147.4, 15.0, CAL= 147.4, 16.6, ROT= 2.6, -16.6 Ygot valid direction response: 04:45:30.4490 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501,-0.50, 0.243,-1.525, 0.297, 0.157, PHS= 0.189,-1.637, 0.096, RAW= 147.4, 15.0, CAL= 147.4, 16.6, ROT= 2.6, -16.6 T#Rx 14: Read range and direction messages.\direction in FSK: [0.957336,0.043472,0.285688]Fpublishing direction and range infoyPRޑ6?D]B?WԷH?YRAPPPP P )RAIR7A>iR7ѿR=R$@R >R$@ RV>)R9=IRVPPRQLo?`t?\RK? R>)R:IR9=iRVPP=checking for new query: numPingsReceived=14, elapsed TxPingTime=8.576876 UAHRS rotation from veh to nav: [[0.625184,-0.749716,-0.216958],[0.771305,0.635978,0.024909],[0.119306,-0.182914,0.975863]]H?F˿?@Y?Ӂ?ϊ? iǿ@E:?i+?I9I^;CYeuByI AE EEE"Eg5;*E:VEZEa@a@a@a@B>BBjIB6vBBBBBw;B"1Ei5Mb@Mb@Mb@1111 195oʡ?(\µ?y&1Y1y5=5`e5xWA5h+A 5MA)5M0A1Y5(@AbDVDP)y4W=%#=ٔQ->9Y=Fy}EwE>Q 55⠗?Q 951p)YvBYt.?Q E:y)?Q IU@CI;i;e 5y ɮLA9iPiR:?AJiRARiRAjiR@~?bR2:@,p?ˮE@RRޑ6?D]B?WԷH?ZiR9=biRVjR +@lg(5@ڌ %@ZRoG@ ?dr?vdĤ?2iRCA:iR\A"iRo*?*iR7NCBiRBiPiR7NCiRBiR_AiR }? addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.508403 s, deltaX: -0.600000 m, approachRate: -1.180167 m/s, rangeRepo size: 4  Added new target pos. range: 27.365326 m, bearing: 56.904207 deg, lat: 36.779317 deg, lon: -121.859565 deg, deltaT: 0.508403 s, deltaX: -0.597015 m, approachRate: -1.174296 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 27.37 m.bh!Rh)Zh)] ProNav: ac range: 27.365326 m, nav range: 25.296835 m, bearing: 56.759898 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.078216 deg, new cmd heading: 50.082328 deg. BhaeHeadingCmd: 0.874102 target range: 27.365326 and range: 27.50 m.he_?hi*hi"hi higififfHBdddjd;@Zd ?K}Bɢb')  $i))]=i[wi_?<=I_?I!5checking for new query: numPingsReceived=14, elapsed TxPingTime=8.771866i@@ @@@ԑ ^A 2g=IQ Ia Om >Ž,Ҍ ;?A2+?2c?2oٱ2< :AHRS rotation from veh to nav: [[0.625109,-0.749497,-0.217930],[0.770976,0.636464,0.022557],[0.121798,-0.182119,0.975704]]2H?@ !˿֫?@]??/.?Oǿ8?i2+?I2}^;2CYRuByR3IbD^VD^βyfM=%f=ٔfQ-f?9hYx=zFyzE~E~ ?Q 5 5{?Q 9 5ok)jvBY y &?Q IU@CIX;i*;$5y=ZBɮ=\KA=ܦEQ}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 27.37 m.bhRhP ZhP  ProNav: ac range: 27.365326 m, nav range: 25.083097 m, bearing: 56.750940 deg, approach rate: -0.720373 m/s, LOS rate: -0.030449 deg/s, cmd heading: 50.082328 deg, new cmd heading: 50.055225 deg. Bh-HeadingCmd: 0.873628 target range: 27.365326 and range: 27.50 m.h_?h*h"h hgf)f1f1d1d9d9jd9Zd= Wx?}DDAT read: Rx Time:04:45:30.9489 }TRx dataTimestamp_ set to:1761540332.276828PDAT read: Bearing 211.3, 4.8 (Local) ~Local bearing/azimuth received: Bearing 211.3, 4.8 (Local) DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.6 DAT read: 04:45:30.9489 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 499, 0.17,-2.082, 2.481,-1.998,-2.110, PHS= 0.130,-1.646, 0.068, RAW= 148.2, 16.3, CAL= 148.4, 18.1, ROT= 1.6, -18.1 Ygot valid direction response: 04:45:30.9489 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 499, 0.17,-2.082, 2.481,-1.998,-2.110, PHS= 0.130,-1.646, 0.068, RAW= 148.2, 16.3, CAL= 148.4, 18.1, ROT= 1.6, -18.1 T#Rx 15: Read range and direction messages.\direction in FSK: [0.950145,0.026540,0.310676]Fpublishing direction and range infoyy}+ Ȗg?0XJ-?\?Y}fAyyyy y)}CI}>i}!ҿ}C=}~%@}>}%@ }?>)})}c I}% checking for new query: numPingsReceived=15, elapsed TxPingTime=9.275500 +Ɏ,w&;?A+?c?(ٱ>< -AHRS rotation from veh to nav: [[0.625314,-0.748977,-0.219127],[0.770416,0.637212,0.020511],[0.124268,-0.181645,0.975481]]H? Y ̿>? d??п?@#@ǿ`#7?i+?I@y^;Y=uBy=AIbDMVDMJ2y]T=%]A=ٔeVQ-e>9aYa=mFymEmEEu>qQ 5}5uJ?Q 9}5ue)uvBYy?Q IU@u#CIu:iu:ԩu5y ϓBɮ FA ݦEii;?AJiTARiTAjiz?b79@ٛ^?|y> @R+ Ȗg?0XJ-?\?Zi<bi?jz4+@g4@t0Y&@Z*>2?eW+?Ԥ?2i%A:i\A"i6>?*ifIBiBi 1?iܷDiBi&Aiy;}?e addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.499660 s, deltaX: -0.200001 m, approachRate: -0.400274 m/s, rangeRepo size: 4 u Added new target pos. range: 27.166306 m, bearing: 56.170653 deg, lat: 36.779317 deg, lon: -121.859565 deg, deltaT: 0.499660 s, deltaX: -0.199020 m, approachRate: -0.398312 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 27.17 m.bhqRh}Zhy ProNav: ac range: 27.166306 m, nav range: 24.769011 m, bearing: 56.676340 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 50.055226 deg, new cmd heading: 50.015781 deg. BhHeadingCmd: 0.872940 target range: 27.166306 and range: 27.30 m.hy_?h*h"h hgfffdddjdL;@ZdP?w}Bɢ9) ~i)7OHiiy_?x<-=Iy_?Ia?@ @@o0@DDAT read: Rx Time:04:45:31.4486 TRx dataTimestamp_ set to:1761540332.786093PDAT read: Bearing 210.1, 6.6 (Local) ~Local bearing/azimuth received: Bearing 210.1, 6.6 (Local) DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.7 }DAT read: 04:45:31.4486 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496, 0.03, 2.248, 0.509, 2.290, 2.159, PHS= 0.191,-1.605, 0.087, RAW= 147.0, 15.0, CAL= 146.9, 16.6, ROT= 3.1, -16.6 Ygot valid direction response: 04:45:31.4486 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496, 0.03, 2.248, 0.509, 2.290, 2.159, PHS= 0.191,-1.605, 0.087, RAW= 147.0, 15.0, CAL= 146.9, 16.6, ROT= 3.1, -16.6 T#Rx 16: Read range and direction messages.\direction in FSK: [0.956920,0.051825,0.285688]Fpublishing direction and range infoy\G/?J2̈?WԷH?Y3A )AIC>ipͿ-=Y3$@ >$@ V>)k]=IVE EE*E"E9;*EV:VE(N4ZEa@a@a@a@B<A<BBBIB}vBB =BBBw;B1EBBBB =B =C4NV9l?2?[? >)UaIk]=iV=checking for new query: numPingsReceived=16, elapsed TxPingTime=9.617292^A= r=AE >AE ?I I O >1 Ў,4@;?A2+?2hc?2 ٱ2< :AHRS rotation from veh to nav: [[0.625642,-0.748362,-0.220288],[0.769761,0.638062,0.018579],[0.126654,-0.181193,0.975258]]2HA?g2̿ ?`k?d?06?U1ǿP5?i2+?I2]^;2CY^vBy^UIIb=)bAbDVD:y 1=% A=ٔ ɹQ- >91Y9=EFyEEM̺E}>Q 55>ė?Q 95^)vBY%X,?Q E-:yM?Q IUU@ICIiףп=$@ԇ>$@ Q >)l$=IQ Dn'Y?ֶm?mA? ?>)#Il$=iQ  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.048168! @!  @! @% 0@! D D 4=bEijEmFA4rEmʃ/E  E E (E "E E;*E :VE c44ZE BE ԁ9Y=FyE+E> Q 5M5 ӗ?Q 9U5 V) vBYy?Q IU@ uCI R;?AJiARiAji||?b).j9@G U?b/4@RM" ?d?\.?Zil$=biQ j>K*@9PEM4@A^qJ%@Zo:-?sC7s?|?2ijA:iVA"i??*ig@BigBi6>?iigBiAi8{?] addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.498952 s, deltaX: -0.199999 m, approachRate: -0.400838 m/s, rangeRepo size: 4 m Added new target pos. range: 26.569244 m, bearing: 56.509558 deg, lat: 36.779319 deg, lon: -121.859565 deg, deltaT: 0.498952 s, deltaX: -0.199020 m, approachRate: -0.398877 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.57 m.bhRhZh ProNav: ac range: 26.569244 m, nav range: 24.237265 m, bearing: 56.396352 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 49.970634 deg, new cmd heading: 49.926802 deg. BhHeadingCmd: 0.871387 target range: 26.569244 and range: 26.70 m.h9_?h*h"h hgfffdddjd@3:@Zd?ԩ5}Bɢ5L0)9 =pi9)E*WAAiEiu9_?ui;Ͽv=$@S$@ ;>)¸2=I;Q1&b?}߷?y? />)I¸2=i; checking for new query: numPingsReceived=18, elapsed TxPingTime=10.600867E  E E *E "E y>;*E :VE (N4ZE a @a @a @a @B >B B IB vBB B B B w;B 1E ^A] 9=1IYIiOq>,;?A2j+?2@c?2Mm ٱ2v9 :AHRS rotation from veh to nav: [[0.625518,-0.747726,-0.222786],[0.768651,0.639563,0.011612],[0.133804,-0.178508,0.974798]]2H=?^A̿ɘ?@Mw?LJ? y ?Yƿ1?i2j+?I2j<^;0YRqvByRI^checking for new query: numPingsReceived=18, elapsed TxPingTime=10.787609iMb@Mb@Mb@ 9Fx?L7A`?Mb`Y+?y+=QA )-AY=AbDVD02yMS=%U!=ٔ](Q-e>9Y=FyEN E>Q 5m5^㗊?Q 9u5LO)vBY},?Q E:y{?Q IU@CI }?b1_ 9@0~?F @R(;?擹#d?gd?Zi¸2=bi;jIeX*@`fL 4@d6$@ZT?Wx? ?2iJA:iRA"iZ9?*icJ@Bi2BiZ9?ig@i2BiAi(}?= addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.508399 s, deltaX: -0.400002 m, approachRate: -0.786787 m/s, rangeRepo size: 4 m Added new target pos. range: 26.171156 m, bearing: 56.678677 deg, lat: 36.779318 deg, lon: -121.859564 deg, deltaT: 0.508399 s, deltaX: -0.398088 m, approachRate: -0.783024 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 26.17 m.bhqRhyZhy ProNav: ac range: 26.171156 m, nav range: 23.966404 m, bearing: 56.659956 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 49.926801 deg, new cmd heading: 49.880935 deg. BhHeadingCmd: 0.870587 target range: 26.171156 and range: 26.30 m.h^?h*h"h hgfffCBdddjdL:@Zd?u}Bɢu X.)q >i)<_顙i[gi^?ƛ<L7=I^?II)fAU?@Q @Q@U/@QuDDAT read: Rx Time:04:45:32.9480 }TRx dataTimestamp_ set to:1761540334.292820PDAT read: Bearing 210.8, 5.7 (Local) ~Local bearing/azimuth received: Bearing 210.8, 5.7 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.5 DAT read: 04:45:32.9480 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507,-0.47, 2.137, 0.418, 2.216, 2.095, PHS= 0.144,-1.632, 0.077, RAW= 148.1, 16.0, CAL= 148.2, 17.7, ROT= 1.8, -17.7 Ygot valid direction response: 04:45:32.9480 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507,-0.47, 2.137, 0.418, 2.216, 2.095, PHS= 0.144,-1.632, 0.077, RAW= 148.1, 16.0, CAL= 148.2, 17.7, ROT= 1.8, -17.7 T#Rx 19: Read range and direction messages.\direction in FSK: [0.952191,0.029924,0.304033]Fpublishing direction and range infoyqu3Zx?nY?z0Gu?YuAqqqq q)uCIut>iu`пu-=um%@u5>u~%@ u2+>)u=Iu2+qqu8A] $?^/?2o"? u+ >)uIu=iu2+qq checking for new query: numPingsReceived=19, elapsed TxPingTime=11.060979A D zD E  E E )E "E 9;*E :VE FA4ZE BE |5,<;?A2b+?2D9c?2 ٱ2a: NAHRS rotation from veh to nav: [[0.625402,-0.747185,-0.224914],[0.768332,0.639966,0.010419],[0.136153,-0.179325,0.974323]]2HK?̿`-?z?V?sm?ƿ-?i2b+?I2B^;2CYVvByVIbDrVDr:yv0=%F=ٔXQ->9Y=FyE%E%>)Q 5U5-?Q 9U5-pI)-wBYQyU{?Q IUU@-ÌCI-;i-;-"5ye˓BɮeLDAaԩi i ;?AJi ARi Aji {?b ;8@ GRO?~!v@R 3Zx?nY?z0Gu?Zi =bi 2+j n{*@c}3@giR%@Z `-'?m ?l9[_?2i A:i PA"i FXA1 A5 AAB= >B9 B= IB= wBB9 B9 B9 B= `w;B= 1Ene,0;?A pQi I̿ = %@ > $@ q>) l$=I q '<;j?qC?#T? b>) 퀾I l$=i q Nchecking for new query: numPingsReceived=20, elapsed TxPingTime=11.644969Er ErEr(Ep"ErL;*Er>:VErc44ZEpBEr<2Er<JEr8<:Er8<+?b?_ ٱ69 %AHRS rotation from veh to nav: [[0.626050,-0.746552,-0.225216],[0.767470,0.641028,0.008498],[0.138025,-0.178166,0.974272]]H ?̿ ? M?lg?Ϫ?(ƿ@<-?i+?I={^;Y=vBy=IieMb@Mb@Mb@aaaa a9e(\?~jt?Ye.?ye=eePAe (A e7KA)e5,AaYe(9Y=FyE E>Q 559?Q 95B).wBY)/?Q E:y-?Q IU@CI:ih;e&5yГBɮCAզEi i ;?AJi ARi Aji F{?b jrb8@kW?.(1@R pQBdididqjdu9@Zdu@?颥~BɢC2) 7i)^liiF^? F<=IF^?I@ @@>0@Y^A =ԉ A >A ?I I O% >YB,@;?A2`*?2b?2ٱ2%9 :AHRS rotation from veh to nav: [[0.626383,-0.745926,-0.226360],[0.766849,0.641788,0.007134],[0.139954,-0.178052,0.974018]]2HT ?Z̿`??8}?? hƿ '+?i2`*?I2^a^;2CVDDAT read: Rx Time:04:45:33.9475 VTRx dataTimestamp_ set to:1761540335.300777^PDAT read: Bearing 209.0, 6.8 (Local) ^~Local bearing/azimuth received: Bearing 209.0, 6.8 (Local) fDAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.7 zDAT read: 04:45:33.9475 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.10, 2.351, 0.615, 2.424, 2.252, PHS= 0.201,-1.592, 0.128, RAW= 147.9, 14.3, CAL= 147.9, 15.7, ROT= 2.1, -15.7 ~Ygot valid direction response: 04:45:33.9475 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.10, 2.351, 0.615, 2.424, 2.252, PHS= 0.201,-1.592, 0.128, RAW= 147.9, 14.3, CAL= 147.9, 15.7, ROT= 2.1, -15.7 ~T#Rx 21: Read range and direction messages.\direction in FSK: [0.962045,0.035277,0.270600]Fpublishing direction and range infoyTV@4?ʶ?RlyQ?YVATTTT T)V@IVM>iV˿Vo>V4%@Vr>V4%@ VK>)VQ =IVKTTVH cf?8I ?^G? V>)Vc~IVQ =iVKTTUchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.069756YvByIbDVDky=%k=ٔ Q- ?9 Y = FyE=PE=?AQ 5M5E ?Q 9M5E<)EKwBYIyM?Q IMU@E CIE-:iE:Eo)5yYɮ]uCAYqiTiV?;?AJiVARiVAjiV[z?bV"8@EtN?d$@RV@4?ʶ?RlyQ?ZiVQ =biVKjV|)@3@r#@ZV;9{?~wd?,:-c?2iVA:iVNA"iVAiJ?*iVΤEBiV BiV??iVˑCiTiVAiV{?E EEE"Ea?;*E:VEZEa@a@a@a@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504036 s, deltaX: -0.299999 m, approachRate: -0.595194 m/s, rangeRepo size: 4 M Added new target pos. range: 25.076511 m, bearing: 55.955843 deg, lat: 36.779319 deg, lon: -121.859565 deg, deltaT: 0.504036 s, deltaX: -0.298529 m, approachRate: -0.592277 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 25.08 m.bhQRhQZhQe ProNav: ac range: 25.076511 m, nav range: 23.071112 m, bearing: 56.339284 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 49.800951 deg, new cmd heading: 49.766003 deg. BhaHeadingCmd: 0.868581 target range: 25.076511 and range: 25.20 m.hL[^?h*h"h hgfffdddjd@339@Zd8?5~Bɢ5B)1 =}i9)=4r99i=wieL[^?e=~iu>ԡ@ @@4@]checking for new query: numPingsReceived=21, elapsed TxPingTime=12.299841^A c=I I O > nl,5;?A6c*?6b?6ٱ619 JAHRS rotation from veh to nav: [[0.626784,-0.745193,-0.227660],[0.766146,0.642640,0.005786],[0.141992,-0.178048,0.973723]]6H?#ͿE??>w?,?Cƿ (?i6c*?I6t^;6CYZvByZI==bDeVDeܲyu=%T=ٔ⬻Q->9Y=FyEE>Q 55 ?Q 957)lwBYy~?Q IU@-CI;ii;,5yԓBɮBA֦E%B*** querying acoustic contact ***i! i!jhQ]DNOT Ignoring new targets: 25.08 m.bhYRh]ֹZh]ֹm ProNav: ac range: 25.076511 m, nav range: 22.809393 m, bearing: 56.331325 deg, approach rate: -0.763095 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.766001 deg, new cmd heading: 49.741850 deg. Bhm߀HeadingCmd: 0.868159 target range: 25.076511 and range: 25.20 m.h?^?h*h"h hgfffdddjdZd ?E2~BɢERK)I Mi)Hw顡DDAT read: Rx Time:04:45:34.4472 TRx dataTimestamp_ set to:1761540335.809302PDAT read: Bearing 206.7, 7.4 (Local) ~Local bearing/azimuth received: Bearing 206.7, 7.4 (Local) i[#mi?^?DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.6 B CB2IB|wBB =BBDB2w;B0EE EE)E"E9;*E:VEFA4ZEBEii/ĿG>m%@^ Z> |o>)I|oG?oV{?D ? gE>)ZIi|oechecking for new query: numPingsReceived=22, elapsed TxPingTime=12.672051Q@Q @Q@U4@Q) e checking for new query: numPingsReceived=22, elapsed TxPingTime=12.803367Y ^A =AIIO >,H 9Y=FyEE>Q 55%?Q 95/)wBY)2?Q E:y}?Q IU@YCI:iU:15y̓BɮtBA̦EiQiU;?AJiU8ARiU8AjiU}w?bUc48@z8@WC?>l@RUĠ?gՕ"5@?] A?ZiQbiU|ojUVD*@v@hI33@ݜX!@ZUV5:?1m?bi-}?ſ->-~%@-Gt>-m%@ -V>)-=I-V))-SeFg?~XM]?}3S? -6>)-tI-=i-V))checking for new query: numPingsReceived=23, elapsed TxPingTime=13.104646E  E E (E "E B;*E g:VE c44ZE a@a@a@a@^A}= A .AI I O > checking for new query: numPingsReceived=23, elapsed TxPingTime=13.3149785,)%9 ?Y ?=FyE(E>Q 5 53?Q 9 5=))wBY y S}?Q IU@~CI7;i;45yѓBɮAAͦEiYi]B] CB] jIB] wBB] =BY E  E E 'E "E ,K;*E :VE '4ZE BE LIU>iUſU;O>U%@U@X>Q U,m>)QIU,mQQUvv ?=~?n{? Ua>)U.XIQiU,mQQ- checking for new query: numPingsReceived=24, elapsed TxPingTime=13.661347 ^A @o=A؟AI)I9OE>=,C%=ٔQ->9"?Y"?=FyEعE>Q 55C?Q 955!)wBY 4?Q E:y~?Q IU@CI;i;M95yɮ@Aiiy4iUyƿU`P>Ux&@U[>UH%@ U:Fq>)UPws,A_9lYp=rFyrErIEr>tQ 5z5vN?Q 9~5v)vxBY|y|Q I~U@vˍCIv;iv ;v[<5yɮW@A iiim߇T,w!@ZmIc2?s-P?g?2im-A:im_MA"imXh?*imU>Bim=Bimo~dx?iiimKBim{Aimv? addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.500875 s, deltaX: -0.299999 m, approachRate: -0.598950 m/s, rangeRepo size: 4  Added new target pos. range: 23.881748 m, bearing: 54.727879 deg, lat: 36.779325 deg, lon: -121.859562 deg, deltaT: 0.500875 s, deltaX: -0.298521 m, approachRate: -0.595999 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.88 m.bhRhZh ProNav: ac range: 23.881748 m, nav range: 22.185543 m, bearing: 55.256048 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.641374 deg, new cmd heading: 49.616801 deg. BhHeadingCmd: 0.865977 target range: 23.881748 and range: 24.00 m.h ]?)hI*hI"hI hIgIfQfQfQdQdYdYjde8@iߙIߙDDAT read: Rx Time:04:45:36.4463 TRx dataTimestamp_ set to:1761540337.578027checking for new query: numPingsReceived=25, elapsed TxPingTime=14.328039Zd?U~BɢUNB)Y ],iY)]0YaieJie]?mB9 B= IB= 2xBB9 B9 B= DB= nv;B= }0EB CB CB˔CB =B =C05I I E  E E *E "E a?;*E A:VE (N4ZE BE ,dzi|Ͽ +>'@d{>m7'@ 'g>);I'gWbx?:?~I? m0?))N{I;i'g5checking for new query: numPingsReceived=26, elapsed TxPingTime=14.682266=d*?=;b?=e@ٱ=O: uAHRS rotation from veh to nav: [[0.627096,-0.743120,-0.233501],[0.764349,0.644802,0.000666],[0.150067,-0.178894,0.972356]]=H,?@_Ϳu?8?E? g5?`ƿ?i=d*?I=K_;=CYwBySIi-Mb@Mb@Mb@)))) )9-/$?Zd;O?Q?Y-&1?y-j=-u<)-$A ))-O'A)Y-p9A 9=p<bDEVDEk2yUr=%U!=ٔ]ڽQ-]>9YYY=eFyeEǙ:E>Q 55^?Q 95)KxBY2?Q E:yp?Q IU@CI:i:@5yՓBɮ?AΦEiizt)@ICb^1@x#@ZU*2? G?t?2iA:iIA"ic,?*il2 KBiߎBi٩?iiiAAiau? addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503882 s, deltaX: -0.400000 m, approachRate: -0.793836 m/s, rangeRepo size: 4 -DDAT read: Rx Time:04:45:36.9462 =TRx dataTimestamp_ set to:1761540338.081685MPDAT read: Bearing 208.8, 5.4 (Local) ]~Local bearing/azimuth received: Bearing 208.8, 5.4 (Local) mchecking for new query: numPingsReceived=26, elapsed TxPingTime=14.836159 Added new target pos. range: 23.483465 m, bearing: 53.995631 deg, lat: 36.779326 deg, lon: -121.859562 deg, deltaT: 0.503882 s, deltaX: -0.398283 m, approachRate: -0.790429 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.48 m.bhRh1Zh9 ProNav: ac range: 23.483465 m, nav range: 21.907089 m, bearing: 54.919478 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.616799 deg, new cmd heading: 49.579198 deg. BhHeadingCmd: 0.865320 target range: 23.483465 and range: 23.60 m.h]?h*h"h hgffflBdddjd7@Zd ?=~Bɢ=D5)9 =^iA)EAAiECim]?mi п !> T'@ > 6'@ ޏ>) I ޏ !8C'?g ?a? TL?) YI i ޏ - checking for new query: numPingsReceived=27, elapsed TxPingTime=15.091101^Ae =ԩbEjEϲ>4rE@o/E- E-E-+E)"E-sH;*E-#:VE- [4ZE)a5@a5@a5@a5@IIO? &,zm9|Y|=~Fy~Eݸ:E> Q 555 k?Q 955 < ) yxBY1y5?Q I5U@ CI ;i d; D5yE͓BɮE@?AEĦEiqiuI[?2iuЈA:iuHA"iu%44?*iu"jKBiu9Biuc,?iuU>iuBiu|Aiu0Nt?  addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.502735 s, deltaX: -0.200001 m, approachRate: -0.397825 m/s, rangeRepo size: 4 % Added new target pos. range: 23.284452 m, bearing: 53.832458 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.502735 s, deltaX: -0.199013 m, approachRate: -0.395860 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 23.28 m.bhIRhQZhQe ProNav: ac range: 23.284452 m, nav range: 21.560938 m, bearing: 54.678398 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.579199 deg, new cmd heading: 49.549745 deg. BhaHeadingCmd: 0.864806 target range: 23.284452 and range: 23.40 m.hc]?h*h"h hgfffdddjd`ff7@Zd ? ~Bɢ JI) i)9i:ic]?><:=I%c]?IaDDAT read: Rx Time:04:45:37.4459 TRx dataTimestamp_ set to:1761540338.586378PDAT read: Bearing 212.0, 4.2 (Local) ~Local bearing/azimuth received: Bearing 212.0, 4.2 (Local) -DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.7 9UZ#Rx 28: Read range message, but no direction.yYAmchecking for new query: numPingsReceived=28, elapsed TxPingTime=15.352760@@ @@@i^A} Nw =I I O >ԑ m DAT read: 04:45:37.4459 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.26,-0.926,-2.619,-0.776,-0.889, PHS= 0.065,-1.685, 0.069, RAW= 150.1, 17.4, CAL= 150.6, 19.5, ROT= 359.4, -19.5 } Ygot valid direction response: 04:45:37.4459 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.26,-0.926,-2.619,-0.776,-0.889, PHS= 0.065,-1.685, 0.069, RAW= 150.1, 17.4, CAL= 150.6, 19.5, ROT= 359.4, -19.5 } Z#Rx 29: Read direction message, but no range. ^direction in FSK: [0.942590,-0.009871,0.333807]yI M ž)?m_d7{{]?I I I I I )M =IM =iM ׿M O=M ϩ'@M |>M 8(@ M @>)M @IM @I M 4‒j?4jä?'h? M &?)M YN,,%?B] CB]IB]xBB] =BYBYB]v;B]P0EE EE*E"EL;*E:VE(N4ZEBE9YYY=eFyeE8:E>Q 55k|?Q 95)xBY4?Q E:yT?Q IU@OCI:i<:EI5yғBɮ>AŦEii8q?bA|5@l̿ډC@Rž)?m_d7{{]?ZiD+bi@j<`'@6V0@My1%@Z_6o-?d?$r)?2iA:i=A"id?*ia*WBiBiil2 KiߎBijAi p?y addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.258968 s, deltaX: -0.400000 m, approachRate: -1.544591 m/s, rangeRepo size: 4  Added new target pos. range: 22.886105 m, bearing: 53.993647 deg, lat: 36.779326 deg, lon: -121.859568 deg, deltaT: 0.258968 s, deltaX: -0.398348 m, approachRate: -1.538213 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.89 m.bhRhZh ProNav: ac range: 22.886105 m, nav range: 20.802088 m, bearing: 53.862653 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.549744 deg, new cmd heading: 49.512066 deg. BhHeadingCmd: 0.864149 target range: 22.886105 and range: 23.00 m.h8]?h*h"h hgfffBdddjd 7@Zd _[?u~Bɢ3R6) w߿i)bm顙i3i8]?<=I8]?IUDDAT read: Rx Time:04:45:37.9458 eTRx dataTimestamp_ set to:1761540339.088222PDAT read: Bearing 210.1, 5.6 (Local) ~Local bearing/azimuth received: Bearing 210.1, 5.6 (Local) DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.6 ԩDAT read: 04:45:37.9458 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.44,-0.527,-2.244,-0.401,-0.560, PHS= 0.135,-1.639, 0.115, RAW= 149.4, 15.5, CAL= 149.7, 17.3, ROT= 0.3, -17.3 Ygot valid direction response: 04:45:37.9458 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.44,-0.527,-2.244,-0.401,-0.560, PHS= 0.135,-1.639, 0.115, RAW= 149.4, 15.5, CAL= 149.7, 17.3, ROT= 0.3, -17.3 T#Rx 30: Read range and direction messages.\direction in FSK: [0.954748,0.004999,0.297375]Fpublishing direction and range info@ @@@yY]hK?£yt?+0?Y]AYYYY Y)]<I]q= >i]ѿ]=]&@]c>]m7'@ ]#>)];I]#YY]:F?v2vRM?~)? ]?)]I];i]#YY checking for new query: numPingsReceived=30, elapsed TxPingTime=15.907408 ^A =Iq I O >Rt4,ڮ9Y=FyE9E>E! E4E'E"EY;*E ;VE'4ZEa@a@a@a@ f>C] Gqԡy9YrbAQ 55?Q 95\)xBYyW?Q IU@tCIk =i{ =L5yɮ=AiQiUnn?*iUP<,vp=% H=ٔ lQ- >9Y=FyE$:E>!Q 5-5%L?Q 9-5% )%yBY)y-p?Q I-U@%CI%:i%;%P5y=֓Bɮ==A=ƦE]B*** querying acoustic contact ***iY iYu addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504806 s, deltaX: -0.600000 m, approachRate: -1.188576 m/s, rangeRepo size: 4 jhq}DNOT Ignoring new targets: 22.59 m.bhyRh}9Zh}9 ProNav: ac range: 22.587591 m, nav range: 20.219517 m, bearing: 53.734598 deg, approach rate: -0.778653 m/s, LOS rate: -0.162257 deg/s, cmd heading: 49.480178 deg, new cmd heading: 49.303344 deg. DAT read: 04:45:38.4454 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 495, 0.09,-0.710,-2.420,-0.584,-0.690, PHS= 0.081,-1.685, 0.061, RAW= 149.4, 17.3, CAL= 149.9, 19.3, ROT= 0.1, -19.3 Ygot valid direction response: 04:45:38.4454 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 495, 0.09,-0.710,-2.420,-0.584,-0.690, PHS= 0.081,-1.685, 0.061, RAW= 149.4, 17.3, CAL= 149.9, 19.3, ROT= 0.1, -19.3 Z#Rx 32: Read direction message, but no range.\direction in FSK: [0.943800,0.001647,0.330514]yJ% 3?ָ= Z? 3%'? );IT=i׿#y=#>p'@ iw>):Iiwp\W?, ?^ꠙ? +?) 7I:iiwchecking for new query: numPingsReceived=32, elapsed TxPingTime=16.6038041Bhm޻HeadingCmd: 0.860506 target range: 22.587591 and range: 22.10 m.hJ\?h*h"h hgfffBM>BM CBMIBMxBBM =BIBIBMu;BM:0Edddjd6@Zdv?E EE,E"E>T;*E:VEg4ZEBE"Y?C, =?AY_xByIiMb@Mb@Mb@ 9"~?K?~jtx?Y3?y^=;7KAj"A QFA) $AY5A 4<<bDVDky=%+=ٔQ->9Y=FyEE>Q 55n?i"jKiBiAiڠr?U addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503201 s, deltaX: -0.200001 m, approachRate: -0.397457 m/s, rangeRepo size: 4 m Added new target pos. range: 21.791485 m, bearing: 54.706938 deg, lat: 36.779324 deg, lon: -121.859568 deg, deltaT: 1.008007 s, deltaX: -0.796106 m, approachRate: -0.789783 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 21.79 m.bhiRhuZhq ProNav: ac range: 21.791485 m, nav range: 19.714420 m, bearing: 54.303044 deg, approach rate: 0.000000 m/s, LOS rate: -0.162257 deg/s, cmd heading: 49.303345 deg, new cmd heading: 49.066385 deg. BhHeadingCmd: 0.856370 target range: 21.791485 and range: 21.90 m.h;[?h*h"h hgfffSBd%DAT read: 04:45:38.9453 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.10,-1.520, 3.070,-1.381,-1.522, PHS= 0.105,-1.645, 0.098, RAW= 149.8, 16.3, CAL= 150.2, 18.2, ROT= 359.8, -18.2 -Ygot valid direction response: 04:45:38.9453 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.10,-1.520, 3.070,-1.381,-1.522, PHS= 0.105,-1.645, 0.098, RAW= 149.8, 16.3, CAL= 150.2, 18.2, ROT= 359.8, -18.2 -Z#Rx 34: Read direction message, but no range.5^direction in FSK: [0.949966,-0.003316,0.312335]y)1f?|{b*kIK? )<I= =i\ҿ9=T'@>g'@ >)B@I~ܧ?{?f9 ? '?)jIdiUchecking for new query: numPingsReceived=34, elapsed TxPingTime=17.101173ddyjd`f5@ZdN?=:Bɢ=]C)A E[ۿiI)MIQiUi};[?} <}{1=I;[?IDqzDu@AE E E'E"ECJ;*E:VE'4ZEa@a@a@a@@ @@/@A^A= &$=y  DDAT read: Rx Time:04:45:39.4450  TRx dataTimestamp_ set to:1761540340.600553 PDAT read: Bearing 211.2, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 211.2, 4.9 (Local) = DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.6 U Z#Rx 35: Read range message, but no direction.y Y A u checking for new query: numPingsReceived=35, elapsed TxPingTime=17.367584A .AI I O >$J,Έ*=?Aɰp;b]+?b3c?b"ٱbt7h ~AHRS rotation from veh to nav: [[0.623414,-0.745197,-0.236722],[0.765754,0.643086,-0.007789],[0.158037,-0.176415,0.971546]]bH`?Lο ?`)?:?”ƿ ?ib]+?IbXo`;bCYmxBymIbDVDJy=%6=ٔsʻQ->9 ?Y ?=FyE;E>Q 55{?Q 9E5V)gyBYAyE-?Q IEU@CI$'@ >)@I?\4? s [? ?)Ii checking for new query: numPingsReceived=36, elapsed TxPingTime=17.609343i i%/Z?%@<%F=I-/Z?I)B%<1A%4<B]>BYB]?IB]0yBBYBYBYB]u;B]0EE! E%E%*E!"E!*E%#:VE%(N4ZE!BE%%'@ %iw>)%;I%iw!!%9 2|?d?sd? %?)%M5I%;i%iw!!:checking for new query: numPingsReceived=37, elapsed TxPingTime=17.945499F;+?FLc?FT$ٱFݒ8 NAHRS rotation from veh to nav: [[0.623590,-0.744485,-0.238493],[0.765175,0.643761,-0.008866],[0.160133,-0.176960,0.971104]]FH`r?` ο Q|?@?R(`:?ƿ`H?iF;+?IFL`;FCYZxByZII^<)^<^=^=hiEMb@Mb@Mb@AAAA A9E7A`?kt?~jthYE6?yE =EDEQFAE!A A)E;#AAYEQ4AAA@AbDVDβy%l<%%"=ٔ%Q-->9U"?YU"?=UFyUEUE]>YQ 5e5]Ø?Q 9m5]p)]yBY7?Q E:y?Q IU@]CI];i]q;]]5yɮNY,t@i=?ADAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.7 RDAT read: 04:45:40.4445 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.11,-2.220, 2.350,-2.078,-2.249, PHS= 0.131,-1.639, 0.127, RAW= 149.9, 15.4, CAL= 150.2, 17.2, ROT= 359.8, -17.2 VYgot valid direction response: 04:45:40.4445 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.11,-2.220, 2.350,-2.078,-2.249, PHS= 0.131,-1.639, 0.127, RAW= 149.9, 15.4, CAL= 150.2, 17.2, ROT= 359.8, -17.2 VT#Rx 38: Read range and direction messages.z^direction in FSK: [0.955273,-0.003335,0.295708]zFpublishing direction and range infoyimD5?ݖv:Qk-?YmAiiii i)iIm$>imѿmJ >mp'@m>mg'@ m`>)mB@Im`iimb8?ᤦ⚽?e ? m*?)mImdim`i%$+?%b?%P%ٱ%4: ]AHRS rotation from veh to nav: [[0.623799,-0.743712,-0.240350],[0.764878,0.644126,-0.007966],[0.160740,-0.178869,0.970654]]%H(?| οy??cP ?/ƿ ?i%$+?I%*`;%CYuxByuIbDVDyc=%7=ٔQ->9Y=FyE6QE>iUchecking for new query: numPingsReceived=38, elapsed TxPingTime=18.467253Q 5]5ј?Q 9e5i)yBYay?Q IU@CCI/r?U addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503249 s, deltaX: -0.500000 m, approachRate: -0.993544 m/s, rangeRepo size: 4  Added new target pos. range: 20.597433 m, bearing: 54.014676 deg, lat: 36.779322 deg, lon: -121.859571 deg, deltaT: 0.503249 s, deltaX: -0.497524 m, approachRate: -0.988624 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.60 m.bhRhZh ProNav: ac range: 20.597433 m, nav range: 18.437325 m, bearing: 54.217174 deg, approach rate: 0.000000 m/s, LOS rate: -0.162257 deg/s, cmd heading: 48.594665 deg, new cmd heading: 48.369506 deg. BhHeadingCmd: 0.844207 target range: 20.597433 and range: 20.70 m.hX?h*h"h hgfffdddjd@34@ZdhW?mBɢmZD)q uڿiq)u^qqiu&i}X?}|<_]=IX?I1@1 @1@1@1checking for new query: numPingsReceived=38, elapsed TxPingTime=18.605005B>BBkIBxyBBBBBlu;B/EE E$E'E"E[I;*E;VE'4ZE! BE`,؃=?APPDDAT read: Rx Time:04:45:40.9444 TRx dataTimestamp_ set to:1761540342.113187PDAT read: Bearing 209.3, 5.5 (Local) ~Local bearing/azimuth received: Bearing 209.3, 5.5 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.7 d*?b?&ٱo; AHRS rotation from veh to nav: [[0.624361,-0.742824,-0.241631],[0.764279,0.644842,-0.007524],[0.161403,-0.179976,0.970339]]H?@6ο`t?`?~ݨ?r ǿ@ ?id*?I,`;C5DAT read: 04:45:40.9444 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.47,-0.419,-2.137,-0.278,-0.456, PHS= 0.139,-1.637, 0.134, RAW= 149.9, 15.2, CAL= 150.1, 17.0, ROT= 359.9, -17.0 =Ygot valid direction response: 04:45:40.9444 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.47,-0.419,-2.137,-0.278,-0.456, PHS= 0.139,-1.637, 0.134, RAW= 149.9, 15.2, CAL= 150.1, 17.0, ROT= 359.9, -17.0 ET#Rx 39: Read range and direction messages.YxByI^direction in FSK: [0.956303,-0.001669,0.292372]Fpublishing direction and range infoy˨(b ? [Y[兗7?Y̤A )<IV>i7ѿL7 >ԇ>ϩ'@ >)@I闾%|?"烿?N? j?)[I"i闾%checking for new query: numPingsReceived=39, elapsed TxPingTime=18.943167iMb@Mb@Mb@ 9(\? rh?{GztY.?yC=ףEAA CA) AY2AbD=VD=02yMTy=%M=ٔUQ-U>9QYQ=FyENǺE>Q 55☊?Q 95^)yBY.?Q E:y{?Q IU@rCI&=?AJiARiAjiq?b{)*3@7PɄ1@R˨(b ? [Y[兗7?Zi"bi闾jSw%@Et&q+-@Et!@Z\?r8aH?H%؎ ?2inA:i-A"i#tr?*i JBiaBiiiBiAi6 r? addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504560 s, deltaX: -0.100000 m, approachRate: -0.198193 m/s, rangeRepo size: 4  Added new target pos. range: 20.497902 m, bearing: 54.049710 deg, lat: 36.779322 deg, lon: -121.859571 deg, deltaT: 0.504560 s, deltaX: -0.099531 m, approachRate: -0.197263 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.50 m.bhRhZh= ProNav: ac range: 20.497902 m, nav range: 18.070187 m, bearing: 54.173966 deg, approach rate: 0.000000 m/s, LOS rate: -0.162257 deg/s, cmd heading: 48.369504 deg, new cmd heading: 48.113983 deg. Bh9EHeadingCmd: 0.839747 target range: 20.497902 and range: 20.60 m.hEV?hA*hA"hA hAgAfIfifm!Bdidqdqjdu4@Zduo?BɢT,?) Yڿi)zYi0Ni-V?-K<-Ài=I5V?I1= checking for new query: numPingsReceived=39, elapsed TxPingTime=19.109476I @  @ @ /@ E  E E )E "E ,K;*E :VE FA4ZE a @a @a @a @q ^A 5[=ԡIIAOm ?(i,bj=?ABDDAT read: Rx Time:04:45:41.4440 FTRx dataTimestamp_ set to:1761540342.617086jPDAT read: Bearing 204.9, 7.9 (Local) n~Local bearing/azimuth received: Bearing 204.9, 7.9 (Local) vDAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.7 vZ#Rx 40: Read range message, but no direction.y@YBA@~checking for new query: numPingsReceived=40, elapsed TxPingTime=19.379086*?-b?7&ٱq; AHRS rotation from veh to nav: [[0.624884,-0.742272,-0.241977],[0.763710,0.645511,-0.007912],[0.162071,-0.179856,0.970250]]H ?@οOp??4?`ǿ`I ?i*?I0`;IYxBy I AbDVDky5 <%=-=ٔ=ỺQ-E>9qYy=FyE׺E>Q 55?Q 95\)$zBYy{?Q IU@CI_;i;i5yӓBɮ;A%E=B*** querying acoustic contact ***i9 i9u addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503899 s, deltaX: -0.600000 m, approachRate: -1.190716 m/s, rangeRepo size: 4 jhquDNOT Ignoring new targets: 20.50 m.bhqRhZh ProNav: ac range: 20.497902 m, nav range: 17.750271 m, bearing: 54.135645 deg, approach rate: -0.684978 m/s, LOS rate: -0.083527 deg/s, cmd heading: 48.113984 deg, new cmd heading: 47.996950 deg. BhKeHeadingCmd: 0.837705 target range: 20.497902 and range: 20.00 m.hsV?h*h"h hgfffdddjd4@Zdg?yBɢkeI) ۿi)i.isV?<=0m=IsV?I@ @@/@MDAT read: 04:45:41.4440 LVL= 30176, 32753, 32482, 32755, AGC= 62, IDX= 497, 0.18,-0.030,-1.792, 0.078,-0.212, PHS= 0.285,-1.534, 0.246, RAW= 148.9, 11.2, CAL= 148.7, 12.2, ROT= 1.3, -12.2 ]Ygot valid direction response: 04:45:41.4440 LVL= 30176, 32753, 32482, 32755, AGC= 62, IDX= 497, 0.18,-0.030,-1.792, 0.078,-0.212, PHS= 0.285,-1.534, 0.246, RAW= 148.9, 11.2, CAL= 148.7, 12.2, ROT= 1.3, -12.2 ]Z#Rx 41: Read direction message, but no range.m\direction in FSK: [0.977164,0.022175,0.211325]y9l]D?e}T?\ ?u~ )>I>iZĿm{>R&@+H>x&@ ^ Z>)޹Bi Bm IBm yBBi Bi Bm DBm 1u;Bm /EBU CBU CBUɓCBU =BU =CUg5E  E E 'E "E O;*E :VE '4ZE BE 7p,k=?A2*?2zjb?27'ٱ22; RAHRS rotation from veh to nav: [[0.625294,-0.741939,-0.241938],[0.763267,0.646027,-0.008458],[0.162574,-0.179375,0.970255]]2Hh?@οl?A?MR9?@ƿS ?i2*?I2e_;0YrxByzI) DDAT read: Rx Time:04:45:41.9438 TRx dataTimestamp_ set to:1761540343.121043EPDAT read: Bearing 205.4, 7.8 (Local) M~Local bearing/azimuth received: Bearing 205.4, 7.8 (Local) ]DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.9 ]Z#Rx 42: Read range message, but no direction.yYAechecking for new query: numPingsReceived=42, elapsed TxPingTime=19.879015iMb@Mb@Mb@ 9 rh?)\(?:vYC+?yGa=TQFAQA =BA)AY1AbDVDyT=%,=ٔQ->9Y=FyE5E5>9Q 5E5=?Q 9M5=)=NzBYM+?Q EM:yMRv?Q IMU@=ÏCI=:i=:=m5Qyqɮ}:Ayii+=?AJiќARiќAjir?bjL'3@U?ߑ@R9l]D?e}T?\ ?Zi޹<bi^ Zj9GN%@d5-Z-@5￰8@Z.sc?+ZlD??2imA:ip*A"iѠ?*i4Ζ=BiBi<e?iPiBiAiT*q?5 addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503957 s, deltaX: -0.299999 m, approachRate: -0.595287 m/s, rangeRepo size: 4 E Added new target pos. range: 19.602316 m, bearing: 54.375467 deg, lat: 36.779323 deg, lon: -121.859570 deg, deltaT: 1.007856 s, deltaX: -0.895586 m, approachRate: -0.888605 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 19.60 m.bhiRhuZhq ProNav: ac range: 19.602316 m, nav range: 17.514414 m, bearing: 53.975613 deg, approach rate: 0.000000 m/s, LOS rate: -0.083527 deg/s, cmd heading: 47.996952 deg, new cmd heading: 47.879156 deg. BhHeadingCmd: 0.835649 target range: 19.602316 and range: 19.70 m.hU?h*h"h hgfffBdddjd@33@Zd¾?EBɢmvI)i mۿii)mqqiu:ݺiuU?}ţ<}ar=I}U?IyN>i>ԑ!@! @!@!@! DAT read: 04:45:41.9438 LVL= 30448, 32753, 32578, 32755, AGC= 62, IDX= 511,-0.04,-1.790, 2.750,-1.682,-1.952, PHS= 0.264,-1.537, 0.226, RAW= 149.0, 11.7, CAL= 148.8, 12.9, ROT= 1.2, -12.9  Ygot valid direction response: 04:45:41.9438 LVL= 30448, 32753, 32578, 32755, AGC= 62, IDX= 511,-0.04,-1.790, 2.750,-1.682,-1.952, PHS= 0.264,-1.537, 0.226, RAW= 149.0, 11.7, CAL= 148.8, 12.9, ROT= 1.2, -12.9  Z#Rx 43: Read direction message, but no range. \direction in FSK: [0.974547,0.020414,0.223250]y  q~/?zZ^?Nu? v B ) I +>i jĿ lg> Bo&@ Q> 6&@ f>) bEFA4jErE/E # E E )E "E [;*E 4:VE FA4ZE a% @a% @a- @a- @Ii Iy O >w,=?AYbyByb3IbDjVDj0yrB=%r=ٔvQ-v?9tYt=vFyvEE?)Q 5-5- ?Q 955-')-izBY9y9Q I=U@-ݏCI-";i-#;-p5yAɮE":AAQjhDNOT Ignoring new targets: 19.60 m.bhRhTZhT ProNav: ac range: 19.602316 m, nav range: 17.308445 m, bearing: 53.961878 deg, approach rate: -0.689415 m/s, LOS rate: -0.046519 deg/s, cmd heading: 47.879155 deg, new cmd heading: 47.837461 deg. BhfHeadingCmd: 0.834921 target range: 19.602316 and range: 19.70 m.heU?h*h"h hgfffdddjdZd@?BɢDm)~< ٿi)Ҳi ɺieU?Q4<t=IeU?I@ @@/0@ԉDDAT read: Rx Time:04:45:42.4435 TRx dataTimestamp_ set to:1761540343.625673 PDAT read: Bearing 205.6, 7.7 (Local)  ~Local bearing/azimuth received: Bearing 205.6, 7.7 (Local) DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.6 %Z#Rx 44: Read range message, but no direction.yYA-checking for new query: numPingsReceived=44, elapsed TxPingTime=20.380203ԩ^A)IIO> <=},{=?A2DAT read: 04:45:42.4435 LVL= 30192, 32753, 32114, 32755, AGC= 62, IDX= 508,-0.25, 2.562, 0.813, 2.669, 2.408, PHS= 0.255,-1.550, 0.217, RAW= 148.9, 12.0, CAL= 148.8, 13.2, ROT= 1.2, -13.2 6Ygot valid direction response: 04:45:42.4435 LVL= 30192, 32753, 32114, 32755, AGC= 62, IDX= 508,-0.25, 2.562, 0.813, 2.669, 2.408, PHS= 0.255,-1.550, 0.217, RAW= 148.9, 12.0, CAL= 148.8, 13.2, ROT= 1.2, -13.2 :Z#Rx 45: Read direction message, but no range.B\direction in FSK: [0.973365,0.020389,0.228351]y.m(%?IT? :?ur} )I\>iffƿ?5^>R&@PwV> k>)IkHb?ݾ"MJ?ͥZ-? #S?){AWIikVchecking for new query: numPingsReceived=45, elapsed TxPingTime=20.636333~)?~qa?~c(ٱ~P>  AHRS rotation from veh to nav: [[0.627851,-0.738794,-0.244923],[0.760924,0.648809,-0.006490],[0.163703,-0.182293,0.969521]]~H Z?3YϿ}Y? ?Ɣz 4?aUǿP?i~)?I~U`;|BM>BIBMIBMyBBIBIBIBMu;BM/EԹYu>yByuGIE E E&E"EQ;*E:VE4ZEBEȥ9Y=FyEE>Q 55?Q 95)zBYyfu?Q IU@CI:i;t5y-דBɮ-9A-Ei!i% =?AJi%֘ARi%֘Aji%Hr?b%ʏ2@K9E ?C\Ls@R%.m(%?IT? :?Zi%<bi%kj%xGm$@K,@ @Z%H??F?fR !?2i%eA:i%%A"i%CX?*i%[>Bi%Bi%#tr?i% Ji%aBi% Ai%q? addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504630 s, deltaX: -0.500000 m, approachRate: -0.990825 m/s, rangeRepo size: 4  Added new target pos. range: 19.104794 m, bearing: 54.326150 deg, lat: 36.779324 deg, lon: -121.859568 deg, deltaT: 0.504630 s, deltaX: -0.497522 m, approachRate: -0.985915 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.10 m.bhRhZhM ProNav: ac range: 19.104794 m, nav range: 17.254843 m, bearing: 53.958728 deg, approach rate: 0.000000 m/s, LOS rate: -0.046519 deg/s, cmd heading: 47.837460 deg, new cmd heading: 47.766562 deg. BhIUHeadingCmd: 0.833684 target range: 19.104794 and range: 19.20 m.hUMlU?hQ*hQ"hQ hQgYfyffdddjd@333@ZdD?BɢjD)oǭ; jؿi)|iSiMlU?<\l=IMlU?I!DDAT read: Rx Time:04:45:42.9433 TRx dataTimestamp_ set to:1761540344.128704 PDAT read: Bearing 207.7, 7.3 (Local) ~Local bearing/azimuth received: Bearing 207.7, 7.3 (Local) %DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.9 )@) @1@5/@1DAT read: 04:45:42.9433 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.41,-0.286,-2.015,-0.187,-0.379, PHS= 0.195,-1.591, 0.148, RAW= 148.7, 14.1, CAL= 148.7, 15.5, ROT= 1.3, -15.5 Ygot valid direction response: 04:45:42.9433 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.41,-0.286,-2.015,-0.187,-0.379, PHS= 0.195,-1.591, 0.148, RAW= 148.7, 14.1, CAL= 148.7, 15.5, ROT= 1.3, -15.5 T#Rx 46: Read range and direction messages.\direction in FSK: [0.963382,0.021862,0.267238]Fpublishing direction and range infoy4b?l c?֚n?Y3A )=IG>i˿P>x&@d{>x&@ c>)޹uf,t>?A2U(?2`?2<(ٱ2#? vAHRS rotation from veh to nav: [[0.630379,-0.736250,-0.246087],[0.758748,0.651364,-0.005151],[0.164085,-0.183471,0.969234]]2H@,?[`Ͽ@G??u?`{ǿ@?i2U(?I29`;2CY%MyBy%PIԑiMb@Mb@Mb@ 9NbX9?&1?y&1checking for new query: numPingsReceived=46, elapsed TxPingTime=21.124315Y%?yP=`eCAA ?A)AY/AbDVDβy=%-N=ٔ-|Q-->91Y1=5Fy5E5N E=>9Q 5e5=y'?Q 9m5=)=zBYm/&?Q Em:yms?Q ImU@=(CI=;i=O;=nx5yyɮ}9Ayii<>?AJisARisAjiƮt?bc2@d-]:P?|ͨ`@R4b?l c?֚n?Zi޹<bicjLyS#@jnK/+@BC@Zr(_?3жp?nPo?2i_A:iA"i*h?*iߣCBi0BiiߣCi0BiAi2s?G addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503031 s, deltaX: -0.300001 m, approachRate: -0.596387 m/s, rangeRepo size: 4  Added new target pos. range: 18.806280 m, bearing: 54.762836 deg, lat: 36.779324 deg, lon: -121.859565 deg, deltaT: 0.503031 s, deltaX: -0.298513 m, approachRate: -0.593429 m/s, posRepo size: 4 ԹjhDNOT Ignoring new targets: 18.81 m.bhN9Y-kARhZh ProNav: ac range: 18.806280 m, nav range: 17.197493 m, bearing: 54.430523 deg, approach rate: 0.000000 m/s, LOS rate: -0.046519 deg/s, cmd heading: 47.766563 deg, new cmd heading: 47.710425 deg. BhE% E%$E%*E!"E%[I;*E%;VE%(N4ZE!a-@a-@a-@a-@MHeadingCmd: 0.832704 target range: 18.806280 and range: 18.90 m.hM,U?hI*hI"hI hIgQfQfqf}Bdddjd`f2@Zd{? Bɢ1S) ]ٿi)gi-i,U?<cd=I,U?Ii@i @i@u0@qu DDAT read: Rx Time:04:45:43.4430 u TRx dataTimestamp_ set to:1761540344.630294 PDAT read: Bearing 204.7, 8.4 (Local)  ~Local bearing/azimuth received: Bearing 204.7, 8.4 (Local)  DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.6  ^AQ  DAT read: 04:45:43.4430 LVL= 30192, 32753, 31954, 32755, AGC= 62, IDX= 503, 0.22,-1.493, 3.034,-1.399,-1.672, PHS= 0.281,-1.532, 0.229, RAW= 148.5, 11.4, CAL= 148.3, 12.5, ROT= 1.7, -12.5  Ygot valid direction response: 04:45:43.4430 LVL= 30192, 32753, 31954, 32755, AGC= 62, IDX= 503, 0.22,-1.493, 3.034,-1.399,-1.672, PHS= 0.281,-1.532, 0.229, RAW= 148.5, 11.4, CAL= 148.3, 12.5, ROT= 1.7, -12.5  T#Rx 47: Read range and direction messages. \direction in FSK: [0.975866,0.028963,0.216440] Fpublishing direction and range infoyq u K:?7w|?K?Yu ̔Aq u uq u | q )u >Iu ;ߏ>iu Ŀu ~j>u H%@u %K>u %@ u f_>)u iƌ?_b?IvH\? u .>)u 9s@,{1/>?ADZI'?Z` _?Z)ٱZQ? bAHRS rotation from veh to nav: [[0.634797,-0.732192,-0.246837],[0.754869,0.655862,-0.004166],[0.164941,-0.183685,0.969048]]ZHAP?nZϿ '??fq?ǿ q?iZI'?IZ_;XY~yyBy~kI )-<bD-VD-0y=?=%EQ=ٔEMQ-E>9m ?Ym ?=mFymEmyEu>qQ 5}5u3?Q 95u6)uzBYyr?Q IU@uHCIu%;iu;u{5yӓBɮ8AEiAiEV(>?AJiEARiEAjiEr?bE2@Q?'?GR$@REK:?7w|?K?ZiE<biEf_jE|*$@3+@z* @ZEQ^o?z&?FYgb?2iE_A:iEW!A"iE?*iE>BiEBBiECX?iE[>iEBiEAiEr? addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.501590 s, deltaX: -0.299999 m, approachRate: -0.598097 m/s, rangeRepo size: 4  Added new target pos. range: 18.507769 m, bearing: 54.174761 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.501590 s, deltaX: -0.298512 m, approachRate: -0.595131 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.51 m.bhRhZh ProNav: ac range: 18.507769 m, nav range: 17.187540 m, bearing: 54.325613 deg, approach rate: 0.000000 m/s, LOS rate: -0.046519 deg/s, cmd heading: 47.710425 deg, new cmd heading: 47.654082 deg. Bh=HeadingCmd: 0.831721 target range: 18.507769 and range: 18.60 m.h=T?h9*hA"hA hAgAfAfIfIdIdIdIjdU2@ZdU -?mchecking for new query: numPingsReceived=47, elapsed TxPingTime=21.628536颅BɢV) kֿi)(顉iiT?-<S=IT?IBYAYBaBaBeIBe/zBBaBeADBaBet;Be/EE EE)E"EUS;*EA:VEFA4ZEBEYA}>iA؟AIIO ?,R>?A>|&?>W^?>O*ٱ>4B FAHRS rotation from veh to nav: [[0.637047,-0.729523,-0.248934],[0.752837,0.658203,-0.002337],[0.165554,-0.185918,0.968518]]>Hb? @XϿ=??$c0?(ǿ?i>|&?I>_;>CYNyByRIi-Mb@Mb@Mb@)))) )9-x&1?l?Mb`Y-!?y-=--lAA-=A -@A)-A)Y-.AbDEVDEyUF=%U=ٔU쐺Q-]>9]"?Y]"?=]Fy]EeEe>iQ 5u5mE?Q 9u5m)m{BY}!?Q E}:y}m?Q I}U@muCIm(;im(;m5yɮ7AB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.502250 s, deltaX: -0.100000 m, approachRate: -0.199105 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 18.51 m.bhRhmxh:Zhmxh:ԑDAT read: 04:45:43.9429 LVL= 29616, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.10,-0.689,-2.442,-0.596,-0.858, PHS= 0.271,-1.539, 0.218, RAW= 148.5, 11.8, CAL= 148.3, 12.9, ROT= 1.7, -12.9 Ygot valid direction response: 04:45:43.9429 LVL= 29616, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.10,-0.689,-2.442,-0.596,-0.858, PHS= 0.271,-1.539, 0.218, RAW= 148.5, 11.8, CAL= 148.3, 12.9, ROT= 1.7, -12.9 Z#Rx 49: Read direction message, but no range.\direction in FSK: [0.974332,0.028918,0.223250]yX~4-?K̀ی?Nu?s )=I>iĿd;_>BR> f>)IfݩBO?;R,?u7W? >)+RIif checking for new query: numPingsReceived=49, elapsed TxPingTime=22.143293 ProNav: ac range: 18.507769 m, nav range: 16.839529 m, bearing: 54.351741 deg, approach rate: -0.663056 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.654083 deg, new cmd heading: 47.734087 deg. Bh{ ;HeadingCmd: 0.833117 target range: 18.507769 and range: 18.50 m.h(GU?h*h"h hg!f!fAfEBdIdIdIjdM2@ZdU 4f?额$BɢE) ҿi)Ŀi݆i(GU?ʦ<_E=I(GU?IE% E% E%*E!"E%O;*E%:VE%(N4ZE!a-@a-@a-@a-@Թ ?@!  @! @% /@! e DDAT read: Rx Time:04:45:44.4426 m TRx dataTimestamp_ set to:1761540345.636749u PDAT read: Bearing 205.3, 8.3 (Local) u ~Local bearing/azimuth received: Bearing 205.3, 8.3 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.6  DAT read: 04:45:44.4426 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.05,-2.393, 2.158,-2.304,-2.544, PHS= 0.253,-1.536, 0.196, RAW= 148.4, 12.3, CAL= 148.3, 13.5, ROT= 1.7, -13.5  Ygot valid direction response: 04:45:44.4426 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.05,-2.393, 2.158,-2.304,-2.544, PHS= 0.253,-1.536, 0.196, RAW= 148.4, 12.3, CAL= 148.3, 13.5, ROT= 1.7, -13.5  T#Rx 50: Read range and direction messages. \direction in FSK: [0.971942,0.028847,0.233445] Fpublishing direction and range infoya e S%?l$?%E?Ye Aa e a a a )e <Ie 7>ie Ŀe 9H>e %@e [>a e :Fq>)a Ie :Fqa a e aYр?p;?B%I? e >)e \Ia ie :Fqa a  checking for new query: numPingsReceived=50, elapsed TxPingTime=22.403482 ^A%QO=IAU.AIYIiO} ?œ,#u>?A;ɰ49- ?Y5 ?=5Fy5 E=俻E=>IQ 5]5MV?Q 9e5Mߟ)MD{BYayeFl?Q IeU@MCIMo;iMRp;Me5y}דBɮ}%7A}Echecking for new query: numPingsReceived=50, elapsed TxPingTime=22.635588iqiuh>?AJiuIARiuIAjiuGq?bus~h1@)$bi?@RuS%?l$?%E?Ziqbiu:Fqju[=6i#@ƞL*@B^]@Zu두yW?=ڡ?B,r?2iuVA:iuMA"iubw?*iueJ4?BiuBiuѠ?iqiuBiu)AiuSr?BBBIBzBBBBDBt;B/E addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504205 s, deltaX: -0.500000 m, approachRate: -0.991660 m/s, rangeRepo size: 4  Added new target pos. range: 17.910723 m, bearing: 54.098838 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 1.006455 s, deltaX: -0.597046 m, approachRate: -0.593217 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 17.91 m.bhRh%ZhAU ProNav: ac range: 17.910723 m, nav range: 16.520071 m, bearing: 54.307829 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.734088 deg, new cmd heading: 47.821810 deg. BhQ]HeadingCmd: 0.834648 target range: 17.910723 and range: 18.00 m.h]~U?hY*hY"hY hYgafffdddjd2@Zdg?E E E(E"EL;*E:VEc44ZEBEݡIM ̌>iM tÿM `P>M MQ%@M BR>M %@ M Vh>)M nF=IM VhI I M 'Ц?mi?B? M D>)M 2SIM nF=iM VhI I  checking for new query: numPingsReceived=51, elapsed TxPingTime=22.903860q ^A -B=A ؟AI I O >,#>?APvM#?vٟ[?v,+ٱvE AHRS rotation from veh to nav: [[0.644852,-0.721485,-0.252240],[0.745870,0.666090,0.001594],[0.166865,-0.189166,0.967663]]vH?g$п*?`P?Z?[?6ȿ ?ivM#?Ivj_;tY5zBy5Ichecking for new query: numPingsReceived=51, elapsed TxPingTime=23.139927i=Mb@Mb@Mb@9999 99=Mb?Mb?Y=#?y====?A=lA =>A)=A9Y=,AbDqVDqy=%=ٔɺQ->9"?Y"?=FyEsbE>Q 55*h?Q 95Ә){{BYG#?Q E:ydh?Q IU@ːCI`;i%;5yɮN6Aii>?AJiARiAjiRq?bG1%1@5EŠ?@Re8'(?&?:/2?ZinF=biVhj."\#*#@r_x*@gKKH@Zw8i?p6 ?Rd^?2iSA:iUA"iD?*ie<Bi1Bi?iiiAilr? addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504065 s, deltaX: -0.299999 m, approachRate: -0.595160 m/s, rangeRepo size: 4  Added new target pos. range: 17.612267 m, bearing: 54.092757 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.504065 s, deltaX: -0.298456 m, approachRate: -0.592099 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.61 m.bhRhZh  ProNav: ac range: 17.612267 m, nav range: 16.200445 m, bearing: 54.257393 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.821809 deg, new cmd heading: 47.900860 deg. Bh HeadingCmd: 0.836028 target range: 17.612267 and range: 17.70 m.hV?h*h"h hg9f9f9fE BdAdAdAjdM@31@ZdM@*?Ee EeEe-Ea"Ee[I;*EeL:VEet4ZEaam@am@am@am@颵>Bɢ,ZN) >̿i)ƽiBMRiV?<}=IV?Iix>@ @@@! iߙ Iߝ A DDAT read: Rx Time:04:45:45.4421  TRx dataTimestamp_ set to:1761540346.645037 PDAT read: Bearing 208.9, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 208.9, 7.6 (Local)  DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.5  DAT read: 04:45:45.4421 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.09, 2.203, 0.453, 2.276, 2.156, PHS= 0.149,-1.658, 0.076, RAW= 148.0, 16.0, CAL= 148.0, 17.7, ROT= 2.0, -17.7  Ygot valid direction response: 04:45:45.4421 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.09, 2.203, 0.453, 2.276, 2.156, PHS= 0.149,-1.658, 0.076, RAW= 148.0, 16.0, CAL= 148.0, 17.7, ROT= 2.0, -17.7  T#Rx 52: Read range and direction messages. \direction in FSK: [0.952081,0.033247,0.304033] Fpublishing direction and range infoy  աrw?0?z0Gu?Y fA   ) <I u>i X9Կ 㥛= 5> MQ%@ 2+>) 5=I 2+ $ ~p:-?dn?t(՘? >) 휎I 5=i 2+ % checking for new query: numPingsReceived=52, elapsed TxPingTime=23.408243^A G5=Q A%.AI)I9OM>ݨ,m>?A2"?2YZ?2 ,ٱ2 F NAHRS rotation from veh to nav: [[0.647457,-0.718961,-0.252774],[0.743512,0.668719,0.002407],[0.167304,-0.189499,0.967523]]2H?@`q-п?%f? c?6j?`}Aȿ?i2"?I2a_;2CYVbzByVIj=hbDrVDr:yv9>%zU=ٔzQ-z>9~ ?Y~ ?=~Fy~EE>Q 5 5t?Q 95){BYyy}{g?Q I}U@CIr?AJiARiAji$t?b?DA*c0@FP?;QO@Rաrw?0?z0Gu?Zi5=bi2+jأ!@v-oy))@}@Zl]k? c??2iKIA:iA"i`?*ivSHBiBiieJ4?iiDAisr? addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504223 s, deltaX: -0.400002 m, approachRate: -0.793303 m/s, rangeRepo size: 4 - Added new target pos. range: 17.214249 m, bearing: 54.793757 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.504223 s, deltaX: -0.398018 m, approachRate: -0.789369 m/s, posRepo size: 4 )jhIUDNOT Ignoring new targets: 17.21 m.bhQRhQZhQe ProNav: ac range: 17.214249 m, nav range: 15.954324 m, bearing: 54.275591 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.900861 deg, new cmd heading: 47.959581 deg. BhaHeadingCmd: 0.837053 target range: 17.214249 and range: 17.30 m.hIV?h*h"h hgffIfIdQdQdYjd]L1@Zd]CP? checking for new query: numPingsReceived=52, elapsed TxPingTime=23.643505颭IBɢ JP) ſi)w~ɽ顱i2BBBRIBzBBBBB$t;BN/EiIV?<"? =IIV?IYQ@Q @Y@]/@YE E E%E"EQ;*E:VE 4ZEBEȥ DDAT read: Rx Time:04:45:45.9420  TRx dataTimestamp_ set to:1761540347.148761 PDAT read: Bearing 205.1, 9.0 (Local)  ~Local bearing/azimuth received: Bearing 205.1, 9.0 (Local)  DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.5  DAT read: 04:45:45.9420 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.00, 2.600, 0.851, 2.667, 2.449, PHS= 0.253,-1.553, 0.174, RAW= 147.8, 12.7, CAL= 147.6, 14.0, ROT= 2.4, -14.0  Ygot valid direction response: 04:45:45.9420 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.00, 2.600, 0.851, 2.667, 2.449, PHS= 0.253,-1.553, 0.174, RAW= 147.8, 12.7, CAL= 147.6, 14.0, ROT= 2.4, -14.0  T#Rx 53: Read range and direction messages. \direction in FSK: [0.969445,0.040632,0.241922] Fpublishing direction and range infoy  ?Vͤ?79K?Y ̈A ) I 7>i ƿ -2> %@ b> $@ 5z>) +=I 5z  \?O+?b嬞? LC>) TbI +=i 5z 5 checking for new query: numPingsReceived=53, elapsed TxPingTime=23.9113129 0,>?AY]zBy]IiMb@Mb@Mb@ 9 r?S㥫?9"?Y"?=FyEE>Q 55.?Q 95){BY.$?Q E:yp?Q IU@CI;i;z5yBɮ5A%EiiM>?AJiARiAjir?bh+~0@c|?xh&w@R?Vͤ?79K?Zi+=bi5zjhH"@K1V1y)@|r@Zp?1?||?Z?2iKA:iGA"if?*i&>BiBii>iBizAixr? addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503724 s, deltaX: -0.199999 m, approachRate: -0.397041 m/s, rangeRepo size: 4  Added new target pos. range: 17.015242 m, bearing: 54.329102 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.503724 s, deltaX: -0.199007 m, approachRate: -0.395072 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.02 m.bhRhZh ProNav: ac range: 17.015242 m, nav range: 15.673458 m, bearing: 54.314950 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.959580 deg, new cmd heading: 48.028867 deg. BhHeadingCmd: 0.838262 target range: 17.015242 and range: 17.10 m.hTV?h*h"h hgafafafe,Bdididijdm1@Zdu ?-TBɢ-R{L)1 5ÿi1)5]̽11i5jAiMTV?UQ7AM >ԙ A.AIIO>q乏,}>?ADDAT read: Rx Time:04:45:46.4417 TRx dataTimestamp_ set to:1761540347.652806PDAT read: Bearing 209.8, 7.8 (Local) ~Local bearing/azimuth received: Bearing 209.8, 7.8 (Local) "DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.5 6DAT read: 04:45:46.4417 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.07, 2.244, 0.501, 2.304, 2.227, PHS= 0.119,-1.681, 0.032, RAW= 147.6, 17.1, CAL= 147.7, 18.9, ROT= 2.3, -18.9 :Ygot valid direction response: 04:45:46.4417 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.07, 2.244, 0.501, 2.304, 2.227, PHS= 0.119,-1.681, 0.032, RAW= 147.6, 17.1, CAL= 147.7, 18.9, ROT= 2.3, -18.9 :T#Rx 54: Read range and direction messages.>\direction in FSK: [0.945323,0.037968,0.323917]BFpublishing direction and range infoyl@?Bdp??YA );IF=i+׿o=$@Θ>$@ [>)l$=I[䨾 uR?\dI?? P">)]ӘIl$=i[䨾nchecking for new query: numPingsReceived=54, elapsed TxPingTime=24.423489YzBy9IbDVDkAy=%=ٔQ->9 ?Y ?=FyEE>Q 556?Q 95[)|BYyQ IU@;CI$:i:75yBɮ4AEii>?AJiARiAji+w?bj/@j~ex0?3cʇ@Rl@?Bdp??Zil$=bi[䨾jP @gR:(@жx@Z?`3T? ?2iAA:iA"i]eT?*iMEGBiҌBif?ieJ4?iBiuAiۓr? addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504045 s, deltaX: -0.400000 m, approachRate: -0.793579 m/s, rangeRepo size: 4  Added new target pos. range: 16.617224 m, bearing: 55.402271 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.504045 s, deltaX: -0.398018 m, approachRate: -0.789648 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.62 m.bhRhZh ProNav: ac range: 16.617224 m, nav range: 15.317782 m, bearing: 54.291681 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 48.028866 deg, new cmd heading: 48.111458 deg. BhHeadingCmd: 0.839703 target range: 16.617224 and range: 16.70 m.hV?h*h"h hgfffdd d jd @30@Zd `v?`Bɢ^^G) -i)nϽiiV?$u<=IV?I)9ichecking for new query: numPingsReceived=54, elapsed TxPingTime=24.652399Bu>BqBuIBuj{BBqBqBqBus;Bu1/EBIBIBIBIBICMȗ4 @  @ @ /@ @ gA@ gAEe % Ee Ee &Ea "Ee O];*Ee x:VEe 4ZEa BEe $@ ɩ>)9=Iɩ5)řI9=iɩchecking for new query: numPingsReceived=55, elapsed TxPingTime=24.919552O ?, ??A2 ?2X?2~f-ٱ2SE JAHRS rotation from veh to nav: [[0.653296,-0.713439,-0.253395],[0.738107,0.674675,0.003407],[0.168528,-0.189258,0.967357]]2H?}7п??Dk?T?9ȿ?i2 ?I2_;0tYR{ByvhIiMb@Mb@Mb@ 9uV?{Gz?Mb?Yr(?yף=<(>A ;A)AY=*AbD5VD5ye$>%m3=ٔm~2Q-m>9u"?Yu"?=uFyu#EuEu>Q 55a?Q 95Q =tI)C|BY)?Q E:yx?Q IV@bCI;i;35yɮ3Aii1 ??AJiXARiXAjiv?bbq/@UX؈?9܌a@R?8X9?ŠPu?`FI?Zi9=biɩj@s @\@$'@JsL@Z|\= ?XMthE?ނ'?2i ?A:icA"i![?*i&EBi׌Bi`?i&EiBihAiv?m addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504127 s, deltaX: -0.200001 m, approachRate: -0.396727 m/s, rangeRepo size: 4  Added new target pos. range: 16.418264 m, bearing: 55.277778 deg, lat: 36.779322 deg, lon: -121.859566 deg, deltaT: 0.504127 s, deltaX: -0.198959 m, approachRate: -0.394661 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.42 m.bhRhZh ProNav: ac range: 16.418264 m, nav range: 14.560669 m, bearing: 55.084615 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 48.111460 deg, new cmd heading: 48.181026 deg. BhHeadingCmd: 0.840918 target range: 16.418264 and range: 16.50 m.h_FW?h*h"h hgfff7Bdddjd0@ZdM?额kBɢ^I) i)9'ҽ项i#i_FW?y<Oq7ɏ,7&??A%5Q=ٔ=羺Q-=>99Y9=EFyE'EEEE>IQ 5U5Ml?Q 9U5Mfz)Mo|BYYy]Fx?Q I]V@MCIM;iIM5yaɮe~2AaB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 16.42 m.bhRhչZhչ ProNav: ac range: 16.418264 m, nav range: 14.307921 m, bearing: 55.076101 deg, approach rate: -0.682165 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.181025 deg, new cmd heading: 48.155031 deg. BheDDAT read: Rx Time:04:45:47.4414 TRx dataTimestamp_ set to:1761540348.660826PDAT read: Bearing 209.9, 8.2 (Local) ~Local bearing/azimuth received: Bearing 209.9, 8.2 (Local) DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.6 EDAT read: 04:45:47.4414 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.05, 1.954, 0.213, 2.001, 1.943, PHS= 0.113,-1.686, 0.014, RAW= 147.2, 17.5, CAL= 147.3, 19.3, ROT= 2.7, -19.3 MYgot valid direction response: 04:45:47.4414 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.05, 1.954, 0.213, 2.001, 1.943, PHS= 0.113,-1.686, 0.014, RAW= 147.2, 17.5, CAL= 147.3, 19.3, ROT= 2.7, -19.3 MT#Rx 56: Read range and direction messages.U\direction in FSK: [0.942753,0.044459,0.330514]]Fpublishing direction and range infoy"R+?OXæ? 3%'?ỲA )Il=i׿B`e<l$@a>"$@ iw>)A=IiwmHeadingCmd: 0.840464 target range: 16.418264 and range: 16.50 m.hm(W?hq*hq"hq hqgqfqfyfydydydjd0@Zd ?Kv&?cb?05? >)IA=iiwchecking for new query: numPingsReceived=56, elapsed TxPingTime=25.444355 tBɢ nQ) i):Խi؆i%(W?Mʖm checking for new query: numPingsReceived=56, elapsed TxPingTime=25.659288B <A <B >B B IB {BB B B B s;B /E E  E E E "E M;*E :VE ZE BE 9)Y)=-Fy-,E5o.E5>9Q 5E5=?Q 9E5=r)=|BYE./?Q EM:yM4?Q IMV@=CI=K ;i= ;=5yUBɮU1AUEiiJ*??AJi)ARi)AjiN w?bQ;4.@t?6 -@R"R+?OXæ? 3%'?ZiA=biiwj` @-O<'@-!.@ZLgk?4?@qK.%?2i9A:iA"iKc?*i^aABiBiiiҌBi_Aigu?DDAT read: Rx Time:04:45:47.9413 TRx dataTimestamp_ set to:1761540349.164812PDAT read: Bearing 206.1, 9.2 (Local) ~Local bearing/azimuth received: Bearing 206.1, 9.2 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.6 DAT read: 04:45:47.9413 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.02, 3.049, 1.321, 3.102, 2.940, PHS= 0.210,-1.574, 0.117, RAW= 147.3, 14.2, CAL= 147.2, 15.7, ROT= 2.8, -15.7 %Ygot valid direction response: 04:45:47.9413 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.02, 3.049, 1.321, 3.102, 2.940, PHS= 0.210,-1.574, 0.117, RAW= 147.3, 14.2, CAL= 147.2, 15.7, ROT= 2.8, -15.7 %T#Rx 57: Read range and direction messages.-\direction in FSK: [0.961542,0.047027,0.270600]-Fpublishing direction and range infoy?U?RlyQ?Yf~A )<I= W>ixɿ="$@}>l$@ K>)+H=IK70My?"|?Pg+s? ]>)3~I+H=iKchecking for new query: numPingsReceived=57, elapsed TxPingTime=25.935423 addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503893 s, deltaX: -0.400000 m, approachRate: -0.793819 m/s, rangeRepo size: 4  Added new target pos. range: 16.020243 m, bearing: 55.292231 deg, lat: 36.779322 deg, lon: -121.859566 deg, deltaT: 0.503893 s, deltaX: -0.398022 m, approachRate: -0.789893 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.02 m.bhRhZh ProNav: ac range: 16.020243 m, nav range: 13.971633 m, bearing: 55.020422 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.155033 deg, new cmd heading: 48.119754 deg. BhHeadingCmd: 0.839848 target range: 16.020243 and range: 16.10 m.hJW?h*h"h hgfffEBdddjd/@Zd@?eBɢe(@)a mGii)m׽iiim}AiuJW?uȥ׏,G`??A2?2wwW?2w.ٱ20C NAHRS rotation from veh to nav: [[0.656574,-0.710845,-0.252210],[0.734956,0.678111,0.002068],[0.169556,-0.186721,0.967670]]2H ?=@4$п@Ä?`?`??xǿ(?i2?I2`;2CYV{ByZIbDbVDbk2yj;/>%jR=ٔnQ-n>9n ?Yn ?=rFyr0ErEr>tQ 5z5və?Q 9z5v#m)v|BY|y~?Q I~V@vϑCIvQ;iv;vV5yBɮd0AEi)i-HJ??AJi-#}AԑRi-#}Aji-r?b-=Rml.@?2n@R-?U?RlyQ?Zi-+H=bi-Kj-Mc @Nm#dc'@6VQU@Z- ?. ?6>9W}?2i-;A:i-A"i-ɋ?*i-΍9Bi-Bi-Kc?i-^aAi)i-]Ai-v? addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503986 s, deltaX: -0.200001 m, approachRate: -0.396838 m/s, rangeRepo size: 4  Added new target pos. range: 15.821234 m, bearing: 54.375722 deg, lat: 36.779323 deg, lon: -121.859564 deg, deltaT: 0.503986 s, deltaX: -0.199009 m, approachRate: -0.394870 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.82 m.bhRhZh ProNav: ac range: 15.821234 m, nav range: 13.869718 m, bearing: 55.254363 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.119755 deg, new cmd heading: 48.089020 deg. BhHeadingCmd: 0.839312 target range: 15.821234 and range: 15.90 m.h"V?h*h"h hgfffd d d jd Zd  &6?Թ颽Bɢ D) `i)yٽi6߸i"V?<׶ "$@ [>) A=I [䨾   +j|.? r?? >) nI A=i [䨾  }checking for new query: numPingsReceived=58, elapsed TxPingTime=26.431305-@@1 @1@1@1 ^Aq  checking for new query: numPingsReceived=58, elapsed TxPingTime=26.672020B B B RIB |BB B B B s;B .EA ؟AI I O >ޏ,6w}??A(:U?:h,W?:h/ٱ:? BAHRS rotation from veh to nav: [[0.657311,-0.710787,-0.250447],[0.734087,0.679055,-0.000555],[0.170462,-0.183485,0.968130]]:H?ľ`Tп}?к?2B?q|ǿ?i:U?I:`;:CYJ2|ByNI R4%^4=ٔ^Q-b>9b"?Yb"?=bFyb4Ef%Ef>hQ 5n5jי?Q 9n5jbf)j}BYlyr?Q IrV@jCIjN:ij:jK5yvBɮvL/AvEE= E=!E=)E9"E=Q;*E=:VE=FA4ZE9BE=ȥMQ%@ -\>)5=I-\;W?}?9M? i>)ڜI5=i-\checking for new query: numPingsReceived=59, elapsed TxPingTime=26.963354 ^A <A ?A > A I I O JZ,'??A"checking for new query: numPingsReceived=59, elapsed TxPingTime=27.1715096Z?671W?6}/ٱ6s< BAHRS rotation from veh to nav: [[0.657226,-0.711618,-0.248304],[0.734100,0.679035,-0.002996],[0.170739,-0.180311,0.968678]]6H?@jϿ`}??h?lǿ h?i6Z?I64`;4YJa|ByJ5I LLiMb@Mb@Mb@ 9On? rh?/$?Y8?yC ><:AA r8A)AY&AbDVDNy=%'=ٔQ->9Y=Fy9E9E>Q 55晊?Q 95h^)K}BY;?Q E:y ?Q IV@#CI:i:5yɮ.Ai!i%%??AJi%qARi%qAji%^r?b%jh,@).?28LBi@R%K,*?@%ڠ?` B?Zi%5=bi%-\j%^@'%@ߨ! @Z%IOo?ƀ?S+*^?2i%,A:i%@"i%Qu?*i%BBi%Bi%Pl?i!i%Bi%RTAi%Ht?5 addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.505440 s, deltaX: -0.300000 m, approachRate: -0.593543 m/s, rangeRepo size: 4 E Added new target pos. range: 15.124705 m, bearing: 54.245337 deg, lat: 36.779323 deg, lon: -121.859564 deg, deltaT: 0.505440 s, deltaX: -0.298513 m, approachRate: -0.590601 m/s, posRepo size: 4 IjhIUDNOT Ignoring new targets: 15.12 m.bhQRhQZhYe ProNav: ac range: 15.124705 m, nav range: 13.270123 m, bearing: 54.746670 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.057522 deg, new cmd heading: 48.026453 deg. BhiuHeadingCmd: 0.838220 target range: 15.124705 and range: 15.20 m.huV?hq*hq"hq hqgqfyfyf}hBdyddjd`ff.@ZdT?E EE+E"EO;*E4:VE [4ZEa@a@a@a@eBɢe\lH)i mii)mݽiiim#7iuV?u]i> @@ @@1@yDDAT read: Rx Time:04:45:49.4405 TRx dataTimestamp_ set to:1761540350.676749PDAT read: Bearing 211.3, 5.4 (Local) ~Local bearing/azimuth received: Bearing 211.3, 5.4 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.6 =DAT read: 04:45:49.4405 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.31, 0.507,-1.179, 0.616, 0.566, PHS= 0.043,-1.700, 0.006, RAW= 148.9, 18.7, CAL= 149.9, 21.8, ROT= 0.1, -21.8 EYgot valid direction response: 04:45:49.4405 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.31, 0.507,-1.179, 0.616, 0.566, PHS= 0.043,-1.700, 0.006, RAW= 148.9, 18.7, CAL= 149.9, 21.8, ROT= 0.1, -21.8 ET#Rx 60: Read range and direction messages.M\direction in FSK: [0.928484,0.001621,0.371368]MFpublishing direction and range infoyj*$?7Z?% ~}?Y3kA ):I 0=iٿ;R&@>p'@ >):I¾?Y?he"T?+b'? H?)XI:i¾mchecking for new query: numPingsReceived=60, elapsed TxPingTime=27.439608! ^A ~M<A I I O >M,j??A02i?2dW?20ٱ28 >AHRS rotation from veh to nav: [[0.656605,-0.712967,-0.246066],[0.734573,0.678505,-0.005802],[0.171094,-0.176944,0.969236]]2H?Ͽ?`P?w f?@ƿ?i2i?I2F`;2CYF|ByFOIbDRVDRyZ=%Z]=ٔZQ-Z>9\Y\=^Fy^=Eb ;Eb>dQ 5j5fn?Q 9j5f]X)fx}BYhyj(?Q InV@fECIf";ifA;fɰ5yzBɮz.A~Ei1i5O??AJi5jARi5jAji5xk?b5ZK)+@3&-E?-o@R5j*$?7Z?% ~}?Zi5:bi5¾j5hA@rf#@jlV@Z5>(@,?\?0:K˪?2i5_A:i5 @"i5o?*i5K^RBi5pBi5o?i1i1i5pPAi5ʉs? addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.502615 s, deltaX: -0.500000 m, approachRate: -0.994797 m/s, rangeRepo size: 4 - Added new target pos. range: 14.627182 m, bearing: 52.788482 deg, lat: 36.779324 deg, lon: -121.859564 deg, deltaT: 0.502615 s, deltaX: -0.497523 m, approachRate: -0.989870 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 14.63 m.bhQRhYZhYm ProNav: ac range: 14.627182 m, nav range: 13.027523 m, bearing: 54.506691 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.026455 deg, new cmd heading: 47.998723 deg. BhiuHeadingCmd: 0.837736 target range: 14.627182 and range: 14.70 m.huuV?h*h"h hgfffdddjd`ff-@Zd@?]checking for new query: numPingsReceived=60, elapsed TxPingTime=27.675650]Bɢ]]E)a eia)e߽aaimV8ԑAAAAB>BBIB}BB =BBB=s;B.EiuV?ɨ< R&@  >) nF) I nFh,I??A2̙?2ZpW?2[0ٱ2X7 :AHRS rotation from veh to nav: [[0.656422,-0.713403,-0.245289],[0.734626,0.678434,-0.007223],[0.171565,-0.175454,0.969423]]2Hi?1eϿ?`?}? Fuƿ?i2̙?I2{`;2C\Yn|BynoIiMb@Mb@Mb@ 9\(\?MbX9?Mb?Y:?y!><5AA 6A)AY$AbD] VD]:2y=%,=ٔFQ->9Y=FyBEj9E>Q 55?Q 95YP)}BY @??Q E :y `?Q I V@rCI*{14?Y`AO>T,??A )9I%=i~ڿ<ۋ&@|٠>'@ g>);I g݀G?checking for new query: numPingsReceived=62, elapsed TxPingTime=28.480797m?mW?mS1ٱmK6 }AHRS rotation from veh to nav: [[0.655910,-0.714019,-0.244866],[0.734971,0.678046,-0.008425],[0.172046,-0.174444,0.969520]]mH7?=@WϿ? ?@? -Tƿ`O?ԁim?Im_;mCY|ByII=)=bDVDy<=%/=ٔQ->99Y9=EFyEGEEr:EE>IQ 5U5Mf?Q 9U5MNH)M}BYyy}v?Q I}V@MCIM;iM;M5yBɮ],AEii??AJi^ARi^Ajik?bw$K?Q!*@{14?Zi;bi gjjɣH@7qE?#@v@@ZqI?4?bSp?2iA:iE@"i.Qx?*i.KBiJBiiBii6EAi-p?U addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.502668 s, deltaX: -0.600000 m, approachRate: -1.193632 m/s, rangeRepo size: 4 e Added new target pos. range: 13.930638 m, bearing: 52.738694 deg, lat: 36.779324 deg, lon: -121.859565 deg, deltaT: 0.502668 s, deltaX: -0.597028 m, approachRate: -1.187718 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 13.93 m.bhiRhiZhq ProNav: ac range: 13.930638 m, nav range: 12.325912 m, bearing: 53.754731 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 47.965519 deg, new cmd heading: 47.932830 deg. BhHeadingCmd: 0.836586 target range: 13.930638 and range: 14.00 m.h{*V?h*h"h hgfffdddjd,@ZdU?颅Bɢ>) Tԩi)<顱idD9i{*V?&< BBIB}BB =BBBr;B.EEe 2 Ee Ee *Ea "Ee i;*Ee x:VEe (N4ZEa BEe (, @?AB?B W?BÐ1ٱBw 6 JAHRS rotation from veh to nav: [[0.655516,-0.714331,-0.245011],[0.735208,0.677781,-0.009060],[0.172536,-0.174195,0.969478]]BH@?\Ͽ@҆?b?H?Lƿ?RDDAT read: Rx Time:04:45:50.9399 VTRx dataTimestamp_ set to:1761540352.188840ZPDAT read: Bearing 208.2, 6.1 (Local) Z~Local bearing/azimuth received: Bearing 208.2, 6.1 (Local) bDAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.7 vDAT read: 04:45:50.9399 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.10, 2.118, 0.356, 2.247, 2.119, PHS= 0.101,-1.718, 0.084, RAW= 149.5, 16.7, CAL= 149.9, 18.6, ROT= 0.1, -18.6 zYgot valid direction response: 04:45:50.9399 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.10, 2.118, 0.356, 2.247, 2.119, PHS= 0.101,-1.718, 0.084, RAW= 149.5, 16.7, CAL= 149.9, 18.6, ROT= 0.1, -18.6 zT#Rx 63: Read range and direction messages.~\direction in FSK: [0.947767,0.001654,0.318959]~Fpublishing direction and range infoyPR!cT?˅_[?ˬQi?YR\APPPP P)R8IR=iRmۿR1=R<&@R;>Rp'@ R6>)R:IR6PPR).+?aqGL9?ώƘZ? R?)R씾IR:iR6PP%checking for new query: numPingsReceived=63, elapsed TxPingTime=28.951998iB?IB^;BCY5}By5IQiMb@Mb@Mb@ 9RQ?ʡE?YB?y-2>Z4AA +5A)?AY3#AbDVDf?y=%6=ٔQ-->9)Y)=-Fy-LE5Wz:E5>9Q 5E5=?Q 9E5=?)=~BYG?Q E:yr?Q IV@=ΒCI=iAiRPm?e addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504096 s, deltaX: -0.200000 m, approachRate: -0.396749 m/s, rangeRepo size: 4 u Added new target pos. range: 13.731667 m, bearing: 52.055133 deg, lat: 36.779325 deg, lon: -121.859565 deg, deltaT: 0.504096 s, deltaX: -0.198972 m, approachRate: -0.394710 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 13.73 m.ԁbhRhZh ProNav: ac range: 13.731667 m, nav range: 11.920043 m, bearing: 53.194005 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 47.932830 deg, new cmd heading: 47.899100 deg. BhHeadingCmd: 0.835997 target range: 13.731667 and range: 13.80 m.hV?h*h"h hgfffUBd!d!d!jd%+@Zd% &?颥ȀBɢӐ<) ׏i)?ui0 p9iV?Q <t ,)@?A>h ?>r?X?>1ٱ>6 FAHRS rotation from veh to nav: [[0.653943,-0.715503,-0.245794],[0.736522,0.676350,-0.009306],[0.172901,-0.174947,0.969278]]>H?f`)vϿ?`? !?dƿ@R?i>h ?I>+^;>CYR0}ByRI TV<bDZVDZkybˋ=%b8=ٔf[Q-f>9dYd=fFyjPEj);Ej>lQ 5r5n-+?Q 9r5n8)nA~BYtyv?Q IvV@nCIn:in=:n5yxɮzb+A|B*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 13.73 m.bh!Rh-4$Zh-4$= ProNav: ac range: 13.731667 m, nav range: 11.611665 m, bearing: 52.980062 deg, approach rate: -0.806302 m/s, LOS rate: -0.574240 deg/s, cmd heading: 47.899099 deg, new cmd heading: 47.240256 deg. Bh= żEHeadingCmd: 0.824498 target range: 13.731667 and range: 13.80 m.hEMS?hA*hA"hA hIgIfI]DDAT read: Rx Time:04:45:51.4395 eTRx dataTimestamp_ set to:1761540352.692801mPDAT read: Bearing 210.9, 4.2 (Local) u~Local bearing/azimuth received: Bearing 210.9, 4.2 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.7 DAT read: 04:45:51.4395 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.29,-1.798, 2.816,-1.640,-1.722, PHS= 0.026,-1.700, 0.038, RAW= 150.3, 18.5, CAL= 151.3, 21.6, ROT= 358.7, -21.6 Ygot valid direction response: 04:45:51.4395 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.29,-1.798, 2.816,-1.640,-1.722, PHS= 0.026,-1.700, 0.038, RAW= 150.3, 18.5, CAL= 151.3, 21.6, ROT= 358.7, -21.6 f)f)d1d9eT#Rx 64: Read range and direction messages.ԉdAjdZdIc?^direction in FSK: [0.929537,-0.021094,0.368125]Fpublishing direction and range infoyY]6ľ?;^{.MZ?Y]3SAYYYY Y)]9I]])@ ]>)]U@I]YY]21?8{Ȫ?'?SE? ]˓?)]SI]޹i]YYchecking for new query: numPingsReceived=64, elapsed TxPingTime=29.491142ЀBɢD) #i)CiPm9i%MS?=IMS?I@ @@44@Ա checking for new query: numPingsReceived=64, elapsed TxPingTime=29.691868B <A B% >B! B% 3IB% }BB% =B! B! B% r;B% .EBBBBBC74^AE <AM >AM >A E ! E E (E "E Y;*E :VE c44ZE BE ֬,9EC@?Am ?X?.M2ٱ:6 AHRS rotation from veh to nav: [[0.652806,-0.716619,-0.245565],[0.737449,0.675324,-0.010338],[0.173244,-0.174343,0.969325]]H ?`nϿ.?`@?+ ,?Pƿ?im ?I^;YmP}By}IiUMb@Mb@Mb@QQQQ Q9UZd;?+?Mb`YU>?yU>UU^4AUrA U^4A)UrAQYUf"AbDeVDef?yu=%}&=ٔ}:Q-}>9Y=FyUEF;E>Q 55:?Q 950)t~BYC?Q E:yr?Q IV@&CI\:i :5y Bɮ+AEiiV,@?AJi'RARi'RAji8e?b2ϋRk(@|cѿe9W@R6ľ?;^{.MZ?Zi޹bijnfff@t!@f@Zl6A?s[?sŮ?2iC A:ig@"i$n?*i󐈈IBi[Bi$n?i󐈈IiiN3Ai-e? addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503961 s, deltaX: -0.600000 m, approachRate: -1.190569 m/s, rangeRepo size: 4   Added new target pos. range: 13.134627 m, bearing: 51.467252 deg, lat: 36.779326 deg, lon: -121.859567 deg, deltaT: 0.503961 s, deltaX: -0.597039 m, approachRate: -1.184693 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 13.13 m.bhRhZh% ProNav: ac range: 13.134627 m, nav range: 11.206760 m, bearing: 51.467213 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 47.240255 deg, new cmd heading: 46.388126 deg. Bh!-HeadingCmd: 0.809626 target range: 13.134627 and range: 13.20 m.h-CO?h)*h1"h1 h1g1f1f9f=[Bd9d9d9jdE`ff*@ZdE@?uDDAT read: Rx Time:04:45:51.9394 uTRx dataTimestamp_ set to:1761540353.196673PDAT read: Bearing 210.7, 3.7 (Local) ~Local bearing/azimuth received: Bearing 210.7, 3.7 (Local) DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.6 DAT read: 04:45:51.9394 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.13,-1.214,-2.870,-1.039,-1.132, PHS= 0.020,-1.693, 0.049, RAW= 150.8, 18.4, CAL= 151.8, 21.5, ROT= 358.2, -21.5 Ygot valid direction response: 04:45:51.9394 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.13,-1.214,-2.870,-1.039,-1.132, PHS= 0.020,-1.693, 0.049, RAW= 150.8, 18.4, CAL= 151.8, 21.5, ROT= 358.2, -21.5 T#Rx 65: Read range and direction messages.^direction in FSK: [0.929958,-0.029225,0.366501]Fpublishing direction and range infoyquHD8?K&흿ѨCt?YuQAqqqq q)u;Iu ףu)@ u7 >)u@Iu7 qquC6?jz| ?ՏfV/? uG ?)uFIuѭiu7 qqchecking for new query: numPingsReceived=65, elapsed TxPingTime=29.959330颍ۀBɢH<) i)Tv顑i9iCO?/OS=ICO?II)fAQ@Y @Y@]p4@Y@a@a^A5=i A I I O >% checking for new query: numPingsReceived=65, elapsed TxPingTime=30.195501l,>#]@?A-fBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-jBattery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-jBattery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.-nBattery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-rBattery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-vBattery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-vBattery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.-zBattery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-~Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.Calculating totals. Valid battery stick count: 17. Valid reserve battery stick count: 1.baH)b4lA``ɶb A]%YFailed to receive data from 10 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 24, 26, 27, 28, 44, 47, 54, 58, 62.Y-V}By-IbDEVDEβyM<%Uu=ٔUQ-U?9YYY=]Fy]XEeEe?iQ 5u5mIE?Q 9u5m\*)m~BYqyQ IV@mFCImG;im;m5yBɮ*AEiiJL@?AJiPARiPAjiwc?bB>(@}4ɵaؿrm @RHD8?K&흿ѨCt?Ziѭbi7 j[` @C!@Az0@bE%c44jE%A84rE%“/E}# E}EyEy"E}[;*E}4:VEyZEya@a@a@a@Zj睁7?U;T1?׹ԯ?2i A:il@"i F?*i LGBiCBiو?i LGiCBi0Aihe? addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503872 s, deltaX: -0.099999 m, approachRate: -0.198462 m/s, rangeRepo size: 4  Added new target pos. range: 13.035123 m, bearing: 50.909801 deg, lat: 36.779327 deg, lon: -121.859566 deg, deltaT: 0.503872 s, deltaX: -0.099504 m, approachRate: -0.197480 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.04 m.bhRhZh)Qu ProNav: ac range: 13.035123 m, nav range: 11.037531 m, bearing: 51.456051 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 46.388128 deg, new cmd heading: 45.764479 deg. BhqHeadingCmd: 0.798741 target range: 13.035123 and range: 13.10 m.hHzL?h*h"h h gffAfIdQdYdjd@33*@Zd@?MBɢMF)I MiQ)UPCQQiU 9i]HzL?Y]˯u=IHzL?Iԁ]@@Y @Y@]/@YDDAT read: Rx Time:04:45:52.4390 TRx dataTimestamp_ set to:1761540353.703856PDAT read: Bearing 209.0, 4.4 (Local) ~Local bearing/azimuth received: Bearing 209.0, 4.4 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.8 DAT read: 04:45:52.4390 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 494, 0.32,-1.414,-3.101,-1.234,-1.361, PHS= 0.049,-1.695, 0.083, RAW= 150.9, 17.4, CAL= 151.5, 19.6, ROT= 358.5, -19.6  Ygot valid direction response: 04:45:52.4390 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 494, 0.32,-1.414,-3.101,-1.234,-1.361, PHS= 0.049,-1.695, 0.083, RAW= 150.9, 17.4, CAL= 151.5, 19.6, ROT= 358.5, -19.6 5T#Rx 66: Read range and direction messages.E^direction in FSK: [0.941735,-0.024660,0.335452]EFpublishing direction and range infoy$ރ"?0@g* x?YHA )I9H=iؿ=(@|>%:)@ %>)c9@I%6.?i?)Q,&z@?AB9B9B=_IB=E~BB= =B9B9B=r;B=.EUchecking for new query: numPingsReceived=66, elapsed TxPingTime=30.699392Ymu}ByuIy}@AbDVDk2y=%/=ٔQ->9Y=Fy]EE> Q 55 JT?Q 95 0") ~BYyQ IV@ tCI Z:i : #5y%Bɮ%X*A!)iIiM m@?AJiMGARiMGAjiMb?bM35'MDm'@doӿX {@RM$ރ"?0@g* x?ZiMwּbiM%jMh%K^@ ؉ @4@ZMfXm%? Z?(=n?2iM4A:iM@"iM֔?*iMבEBiMBiM~㢑?iIiIiM+AiMb? addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.507183 s, deltaX: -0.600000 m, approachRate: -1.183006 m/s, rangeRepo size: 4  Added new target pos. range: 12.438124 m, bearing: 50.796306 deg, lat: 36.779327 deg, lon: -121.859566 deg, deltaT: 0.507183 s, deltaX: -0.596999 m, approachRate: -1.177088 m/s, posRepo size: 4 jhEDNOT Ignoring new targets: 12.44 m.bhARhIZhI] ProNav: ac range: 12.438124 m, nav range: 10.749384 m, bearing: 50.731860 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 45.764480 deg, new cmd heading: 44.975989 deg. BhYHeadingCmd: 0.784979 target range: 12.438124 and range: 12.50 m.hdH?h*h"h hgfffdddjd)@Zd N?E  E#E'E"EX;*E;VE'4ZEBE  [(@ ޏ> Us)@  ?>) @I ?    I?]r{&?t?   ?) ŏI i ?   checking for new query: numPingsReceived=67, elapsed TxPingTime=30.967663ԉ A .AI I O% >$,@?A4Fܚ"?FhqZ?F 2ٱF 5 ^AHRS rotation from veh to nav: [[0.647593,-0.721489,-0.245106],[0.742090,0.670191,-0.012091],[0.172991,-0.174061,0.969421]]FH`?p_Ͽ3?`4r?È $?@Gƿ ?iFܚ"?IF];DY~}ByIiMb@Mb@Mb@ 9Gz?Dl?{GzYp=?yO >#x/AA x/A)AYAbDVDy%=%%D=ٔ-s!:Q-->9- ?Y- ?=5Fy5aE<E>Q 55a?Q 95 )~BY@?Q E:yR?Q IV@CI ;i] ;5yɮ!*AiIiMd#@?AJiMCARiMCAjiMRb?bM A'@yjֿjRk@RM)H2g?(\?ZiMbiM?jM'zc@: @O@ZMr2?#??2}Z?2iMA:iM@"iMD𢜊?*iM]?BiMEBiM F?iMבEiMBiM(AiMa? addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.501429 s, deltaX: -0.200000 m, approachRate: -0.398860 m/s, rangeRepo size: 4 % Added new target pos. range: 12.239114 m, bearing: 50.653168 deg, lat: 36.779328 deg, lon: -121.859566 deg, deltaT: 0.501429 s, deltaX: -0.199010 m, approachRate: -0.396885 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 12.24 m.bh)Rh1Zh1E ProNav: ac range: 12.239114 m, nav range: 10.507502 m, bearing: 50.571539 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 44.975990 deg, new cmd heading: 44.268048 deg. BhAMHeadingCmd: 0.772623 target range: 12.239114 and range: 12.30 m.hME?hI*hI"hI hIgQfQfQfUBdYdYdYjd](@Zd]@?ԉ颕BɢMG) i) 顙i:iE?p=IE?IUGuchecking for new query: numPingsReceived=67, elapsed TxPingTime=31.204058ql>i>H9Y%hA9@9 @A@E/@A@M=@M>ԹE%# E%E!E!"E%[;*E%:VE!ZE!a-@a-@a-@a-@ ^A% np=- DDAT read: Rx Time:04:45:53.4384 - TRx dataTimestamp_ set to:1761540354.709570= PDAT read: Bearing 205.5, 4.4 (Local) E ~Local bearing/azimuth received: Bearing 205.5, 4.4 (Local) ] DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.8 Aq I  DAT read: 04:45:53.4384 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.40, 2.696, 0.954, 2.913, 2.668, PHS= 0.129,-1.670, 0.201, RAW= 151.9, 14.5, CAL= 152.2, 16.2, ROT= 357.8, -16.2  Ygot valid direction response: 04:45:53.4384 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.40, 2.696, 0.954, 2.913, 2.668, PHS= 0.129,-1.670, 0.201, RAW= 151.9, 14.5, CAL= 152.2, 16.2, ROT= 357.8, -16.2  U T#Rx 68: Read range and direction messages.] ^direction in FSK: [0.959586,-0.036864,0.278991]] Fpublishing direction and range infoy) - la?UTkߢ?Y- 3;A) ) ) ) ) )- ;I- >i- տ- M>- )@- >- P*@Iq O >o+, ٰ@?A Ð>)M@IÐ3'J?/e?:? ?)JIFiÐchecking for new query: numPingsReceived=68, elapsed TxPingTime=31.516167"?zZ?1ٱ7 -AHRS rotation from veh to nav: [[0.647023,-0.721676,-0.246061],[0.742673,0.669566,-0.010904],[0.172624,-0.175688,0.969193]]Hh?`~Ͽ?m?U?|ƿ?i"?I];CY}ByIbDVDyy< =%0=ٔUR:Q->9Y=FyfE:E>Q 55p?Q 95@)BY y-j?Q I-V@ȓCI;iA<5yE BɮE*AEEiii@?AJiE:ARiE:AjiX^?b$W&@Q wۿY] @Rla?UTkߢ?ZiFbiÐj̻6@| Zm@4@Z֢uÅ?8?]l{?R?2i+@:i@"idʟ?*iABiBi֔?iiBi"Ai`? addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504285 s, deltaX: -0.600000 m, approachRate: -1.189804 m/s, rangeRepo size: 4 % Added new target pos. range: 11.642083 m, bearing: 49.799264 deg, lat: 36.779328 deg, lon: -121.859566 deg, deltaT: 0.504285 s, deltaX: -0.597031 m, approachRate: -1.183915 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 11.64 m.bhIRhIZhQ] ProNav: ac range: 11.642083 m, nav range: 10.171106 m, bearing: 50.248885 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 44.268047 deg, new cmd heading: 43.432703 deg. BhaHeadingCmd: 0.758044 target range: 11.642083 and range: 11.70 m.h&B?h*h"h hgfffdddjd`ff'@Zd`&? Bɢ @@)  Si)!i:i&B?=I&B?I!ԡA@AAB>BB~IBx~BB =BBBr;B.E checking for new query: numPingsReceived=68, elapsed TxPingTime=31.708702@@ @@@^AU\=E1 E*E)E"E2h;*E;VEFA4ZEBE_ 92,@?A6"?6nZ?6 1ٱ6[9 BAHRS rotation from veh to nav: [[0.647050,-0.721126,-0.247594],[0.742658,0.669605,-0.009419],[0.172582,-0.177783,0.968818]]6H@?`w%Ͽ?fm?^J,?ƿ?i6"?I6W];6CYF}ByFI}DDAT read: Rx Time:04:45:53.9383 TRx dataTimestamp_ set to:1761540355.212802PDAT read: Bearing 205.7, 3.5 (Local) ~Local bearing/azimuth received: Bearing 205.7, 3.5 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.7 DAT read: 04:45:53.9383 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.05, 2.364, 0.630, 2.609, 2.359, PHS= 0.108,-1.684, 0.206, RAW= 152.6, 14.7, CAL= 153.0, 16.6, ROT= 357.0, -16.6 Ygot valid direction response: 04:45:53.9383 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.05, 2.364, 0.630, 2.609, 2.359, PHS= 0.108,-1.684, 0.206, RAW= 152.6, 14.7, CAL= 153.0, 16.6, ROT= 357.0, -16.6 T#Rx 69: Read range and direction messages.^direction in FSK: [0.957009,-0.050155,0.285688]Fpublishing direction and range infoyy}G`џ? =c᭩WԷH?Y}9Ayyyy y)yI}/=i}P׿}R>}t*@}G\>}*@ }V>)}b@I}Vyy}Xa?!=?[D? }?)}I}QwVi}Vyychecking for new query: numPingsReceived=69, elapsed TxPingTime=31.979441i5Mb@Mb@Mb@1111 195Gz?? rhY1y5=5C5t/A5 A 5-A)5+ A1Y5AbDVD:2yA=%F=ٔ8Q->9"?Y"?=FyjE%CE->)Q 555-~?Q 9=5- )-CBY=6??Q E=:y={?Q I=V@-CI-:i-:-p5yBɮ)AEiyi}@?AJi}8ARi}8Aji}eI[?b}[m&@نu⿦Yma @R}G`џ? =c᭩WԷH?Zi}QwVbi}Vj}@#0#@>d3*@Z}tT?l$?:F?2i}@:i}@"i}U?*i}Sy?Bi}8Bi}D𢜊?i}Ai}EBi}!Ai}^? addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503232 s, deltaX: -0.099999 m, approachRate: -0.198714 m/s, rangeRepo size: 4 M Added new target pos. range: 11.542549 m, bearing: 49.078914 deg, lat: 36.779329 deg, lon: -121.859564 deg, deltaT: 0.503232 s, deltaX: -0.099534 m, approachRate: -0.197790 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 11.54 m.bhIRhQZhQ ProNav: ac range: 11.542549 m, nav range: 10.095812 m, bearing: 49.896464 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 43.432702 deg, new cmd heading: 42.741297 deg. BhHeadingCmd: 0.745976 target range: 11.542549 and range: 11.60 m.hO>?h*h"h hgfffځBdddjd@33'@Zd@bf? BɢڹH) i)p99i=L':iEO>?AEl=IEO>?II?@ @@/@- checking for new query: numPingsReceived=69, elapsed TxPingTime=32.211540A ^A =E < E :E *E "E ,r;*E $ ;VE (N4ZE a @a @a @a @q A I IO >9, @?A2g}"?2SZ?2<1ٱ2\; :AHRS rotation from veh to nav: [[0.648015,-0.719968,-0.248441],[0.741901,0.670464,-0.007849],[0.172221,-0.179232,0.968615]]2H?@ Ͽ@?pt?X ?ƿ?i2g}"?I2E];2CYB}ByBI DDbDNVDN:yVH<%VR=ٔVv:Q-Z>9XYX=ZFyZnE^UE^>`Q 5f5b!?Q 9f5bs)bgBYdyfQ{?Q IjV@bCIbL;ib;b5ylɮn})Al~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 11.54 m.bh RhzZhz ProNav: ac range: 11.542549 m, nav range: 9.815204 m, bearing: 49.714109 deg, approach rate: -0.776789 m/s, LOS rate: -0.519234 deg/s, cmd heading: 42.741299 deg, new cmd heading: 42.178610 deg. Bh%,%HeadingCmd: 0.736156 target range: 11.542549 and range: 11.60 m.h%t:itD +@>+@ >)" @I?t?`̢? {P?)iQI)i^AZ5=checking for new query: numPingsReceived=70, elapsed TxPingTime=32.536713A II9OMs>B% >B! B% IB% ~BB! B! B! B% r;B% y.E} checking for new query: numPingsReceived=70, elapsed TxPingTime=32.715454 .j@,ZA?A2V!?2Y?2P-1ٱ2a9> :AHRS rotation from veh to nav: [[0.649628,-0.717823,-0.250427],[0.740502,0.672033,-0.005388],[0.172162,-0.181941,0.968121]]2H?@gп1?J?vj ?Iǿ?i2V!?I2];2CYN}ByRIEr6 Er1Er)Ep"Erl;*Erf;VErFA4ZEpBErJ9 Y==Fy=rEMEu>Q 558?Q 95)BYyz?Q IV@?CIBiBidʟ?iSy?i8BiAi\? addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.505549 s, deltaX: -0.600000 m, approachRate: -1.186829 m/s, rangeRepo size: 4  Added new target pos. range: 10.945508 m, bearing: 48.266553 deg, lat: 36.779330 deg, lon: -121.859563 deg, deltaT: 0.505549 s, deltaX: -0.597041 m, approachRate: -1.180976 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 10.95 m.bh Rh Zh  ProNav: ac range: 10.945508 m, nav range: 9.566494 m, bearing: 49.420454 deg, approach rate: 0.000000 m/s, LOS rate: -0.519234 deg/s, cmd heading: 42.178611 deg, new cmd heading: 41.366647 deg. Bh!EHeadingCmd: 0.721984 target range: 10.945508 and range: 11.00 m.hE8?hI*hI"hI hIgIfIfQfQdQdQdQjd]&@Zd]?BɢA) ki)iGWP:i8?zb=DDAT read: Rx Time:04:45:54.9378 TRx dataTimestamp_ set to:1761540356.220806PDAT read: Bearing 205.5, 2.3 (Local) ~Local bearing/azimuth received: Bearing 205.5, 2.3 (Local)  DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.7 5DAT read: 04:45:54.9378 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.01, 3.030, 1.313,-2.977, 3.047, PHS= 0.085,-1.689, 0.215, RAW= 153.5, 14.9, CAL= 154.0, 16.9, ROT= 356.0, -16.9 =Ygot valid direction response: 04:45:54.9378 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.01, 3.030, 1.313,-2.977, 3.047, PHS= 0.085,-1.689, 0.215, RAW= 153.5, 14.9, CAL= 154.0, 16.9, ROT= 356.0, -16.9 =T#Rx 71: Read range and direction messages.E^direction in FSK: [0.954483,-0.066744,0.290702]EFpublishing direction and range infoyog?: Tcݚ?Y,A ):I{=i'1ؿ(\>v+@%>,@ >)@II8?-N~?gNP?5{? ?)=^I)ichecking for new query: numPingsReceived=71, elapsed TxPingTime=32.992775IQQ@Q @Q@]/@Yy ^Au =A} fAzA} fA checking for new query: numPingsReceived=71, elapsed TxPingTime=33.223370ԩAIIO>G,N !A?A2 ?2X?21ٱ2^$B :AHRS rotation from veh to nav: [[0.652638,-0.714141,-0.253114],[0.737875,0.674936,-0.001714],[0.172060,-0.185648,0.967435]]2Hi?=3п ??0\ ?`Lǿ@:?i2 ?I2];2CYB}ByBIiEMb@Mb@Mb@AAAA AE]g E]=EYEY"E];*E];VEYZEYam@au@au@au@9E> ףp=?X9v?MbYE1?yE}=EE-AE A E`+A)E AAYE3AAAbDVDܲya=%#=ٔ[9Q- >9Y!=%Fy-wEEEM>QQ 5U5U?Q 9]5U|)UBY]2?Q E]:y]-n?Q I]V@UmCIU:iU:UI5yBɮ,Aii!A?AJi+ARi+AjiU?b#Y,Ã$@f@Rog?: Tcݚ?Zi)bij ϩ@69)mQ@{#j@Z-?8k?-{M?2i@:iN@"ie0ʜ?*iI=BiBiU?i]?iBiAiX?}DDAT read: Rx Time:04:45:55.4375 TRx dataTimestamp_ set to:1761540356.729589PDAT read: Bearing 205.6, 1.9 (Local) ~Local bearing/azimuth received: Bearing 205.6, 1.9 (Local) DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.7 DAT read: 04:45:55.4375 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495,-0.40, 1.298,-0.415, 1.582, 1.331, PHS= 0.069,-1.701, 0.207, RAW= 153.7, 15.3, CAL= 154.3, 17.4, ROT= 355.7, -17.4 Ygot valid direction response: 04:45:55.4375 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495,-0.40, 1.298,-0.415, 1.582, 1.331, PHS= 0.069,-1.701, 0.207, RAW= 153.7, 15.3, CAL= 154.3, 17.4, ROT= 355.7, -17.4 T#Rx 72: Read range and direction messages.^direction in FSK: [0.951554,-0.071547,0.299041]Fpublishing direction and range infoy"s?fP-{#?Y3#A )9IO=i^ٿS>>+@ܸ>Z,@ |>)@I|.a?{j}"?_? ?)II)i|checking for new query: numPingsReceived=72, elapsed TxPingTime=33.4932445 addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 1.011238 s, deltaX: -0.800000 m, approachRate: -0.791110 m/s, rangeRepo size: 4 E Added new target pos. range: 10.746498 m, bearing: 47.814108 deg, lat: 36.779332 deg, lon: -121.859563 deg, deltaT: 0.502455 s, deltaX: -0.199010 m, approachRate: -0.396075 m/s, posRepo size: 4 jhIeDNOT Ignoring new targets: 10.75 m.bhaRhaZhi} ProNav: ac range: 10.746498 m, nav range: 9.343509 m, bearing: 48.520532 deg, approach rate: 0.000000 m/s, LOS rate: -0.519234 deg/s, cmd heading: 41.366648 deg, new cmd heading: 40.476037 deg. BhyHeadingCmd: 0.706440 target range: 10.746498 and range: 10.20 m.hB4?h*h"h hgfffBdddjd`ff$@Zd ?$BɢXA) i)2ib:iB4?}>IB4?II @  @ @ /@ ^A =i B A B >B CB IB ~BB =B B DB Lr;B [.EA .AI I O >N,=>A?Achecking for new query: numPingsReceived=72, elapsed TxPingTime=33.723755:?:{W?: J1ٱ:LG BAHRS rotation from veh to nav: [[0.656220,-0.709440,-0.257041],[0.734642,0.678449,0.002987],[0.172270,-0.190793,0.966396]]:H?\sп /?@ڵ?wh? ? kȿ?i:?I:r];:CYJ}ByM"IIU=)U4<]=]=bDeVDe:yuP=%u:=ٔ}Q-}>9} ?Y} ?=Fy|EeIE>ԩQ 55??Q 95)BYyl?Q IV@CI:i:5yBɮ,AEii.A?AJic"ARic"AjiS?b>P#@|3<]E:G@R"s?fP-{#?Zi)bi|j)VJ@z!r@]x@Z:s%?>UK?V|CCBiiBi?iSy?iBi^AiKV?jhY]DNOT Ignoring new targets: 10.75 m.bhYRheZhe ProNav: ac range: 10.746498 m, nav range: 9.065061 m, bearing: 48.382221 deg, approach rate: -0.934593 m/s, LOS rate: -0.478493 deg/s, cmd heading: 40.476036 deg, new cmd heading: 40.048364 deg. Bh1HeadingCmd: 0.698976 target range: 10.746498 and range: 10.20 m.h2?h*h"h hgfEB E3EE"Ew;*Et ;VEZEBEI2?I@ @@0@DDAT read: Rx Time:04:45:55.9374 TRx dataTimestamp_ set to:1761540357.228970PDAT read: Bearing 203.6, 2.3 (Local) ~Local bearing/azimuth received: Bearing 203.6, 2.3 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.6 5DAT read: 04:45:55.9374 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509, 0.18,-2.584, 1.971,-2.294,-2.593, PHS= 0.111,-1.674, 0.255, RAW= 153.8, 14.0, CAL= 154.2, 15.7, ROT= 355.8, -15.7 MYgot valid direction response: 04:45:55.9374 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509, 0.18,-2.584, 1.971,-2.294,-2.593, PHS= 0.111,-1.674, 0.255, RAW= 153.8, 14.0, CAL= 154.2, 15.7, ROT= 355.8, -15.7 MT#Rx 73: Read range and direction messages.]^direction in FSK: [0.960106,-0.070506,0.270600]]Fpublishing direction and range infoy˗1?wJ RlyQ?Y!A )IS=iEֿ\>+@5z>9>,@ K>)Y@IKM&M?䫎3K?1%? 5?) byIi iK}checking for new query: numPingsReceived=73, elapsed TxPingTime=33.997181a ^A =A I IO%>AV,)[A?A(2V1?2V?21ٱ2M >AHRS rotation from veh to nav: [[0.660324,-0.703932,-0.261633],[0.730862,0.682474,0.008372],[0.172665,-0.196745,0.965131]]2H`!? п7c?`?%??.ɿZ?i2V1?I2];2CYF}ByF-IiMb@Mb@Mb@ 9Q? rh?9AYA=EFyEEMfKEM>]checking for new query: numPingsReceived=73, elapsed TxPingTime=34.227589Q 55̚?Q 95h) BY3)?Q E:yab?Q IV@CIjr;iq;5y|Bɮ,A~Ei1i5rNA?AJi5 ARi5 Aji5(Q?b5RCL#@$R*oe@R5˗1?wJ RlyQ?Zi5i bi5Kj5†@0k]@PQJp@Z5W7.?Nʼ?n)G6?2i5@:i5@"i5Ӝ?*i5 >Bi5ևBi5C?i5>i5Bi5 Ai5U? addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.499381 s, deltaX: -0.099999 m, approachRate: -0.200247 m/s, rangeRepo size: 4  Added new target pos. range: 10.049877 m, bearing: 46.942880 deg, lat: 36.779333 deg, lon: -121.859563 deg, deltaT: 1.008164 s, deltaX: -0.696621 m, approachRate: -0.690980 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.05 m.bhRhZh5 ProNav: ac range: 10.049877 m, nav range: 8.851264 m, bearing: 47.832342 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 40.048363 deg, new cmd heading: 39.366834 deg. Bh1=HeadingCmd: 0.687081 target range: 10.049877 and range: 10.10 m.h=/?h9*h9"h9 h9g9fAfafeBdididijdm@33$@Zdm@p?ԁ颽3BɢöK) Si)(D=DE%; E%KE%&E!"E%Dq;*E%;VE%4ZE!aM@aM@aM@aM@iH1:iu/?y>I/?Iq@q @q@}a0@yԱ^AM> DDAT read: Rx Time:04:45:56.4371  TRx dataTimestamp_ set to:1761540357.733192% PDAT read: Bearing 204.3, 1.8 (Local) % ~Local bearing/azimuth received: Bearing 204.3, 1.8 (Local) 5 DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.7 ] DAT read: 04:45:56.4371 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.06, 0.125,-1.594, 0.416, 0.147, PHS= 0.079,-1.697, 0.224, RAW= 153.9, 14.9, CAL= 154.4, 16.9, ROT= 355.6, -16.9 e Ygot valid direction response: 04:45:56.4371 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.06, 0.125,-1.594, 0.416, 0.147, PHS= 0.079,-1.697, 0.224, RAW= 153.9, 14.9, CAL= 154.4, 16.9, ROT= 355.6, -16.9 e T#Rx 74: Read range and direction messages.m ^direction in FSK: [0.953994,-0.073406,0.290702]u Fpublishing direction and range infoy  P6?[ʲTcݚ?Y A     ) 8I ʡ=i L7ٿ B`e> o+@A ؟AI I O >  %> iw,@  >) @I    &*_?=?!=ns?  g?) YI iFi    checking for new query: numPingsReceived=74, elapsed TxPingTime=34.509270\,cuA?AZ\?`Z$3T?Z41ٱZT AHRS rotation from veh to nav: [[0.665508,-0.697181,-0.266529],[0.726091,0.687439,0.014824],[0.172887,-0.203389,0.963713]]ZH`K?MO ѿ#9e"?Ye"?=eFyeEm鏼Em>qQ 55uQښ?Q 95u=)u BYy`?Q IV@uؔCIu;iuu;uO5yBɮ+AiIiMnA?AJiMARiMAjiMP?bMR=9"@mE7p&7@RMP6?[ʲTcݚ?ZiMiFbiMjM@@$@ʹ@ZM^y?@"g?[ip?2iM@:iM@"iM4Ĝ?*iMCBiMׇBiM4Ĝ?iIiMiBiM AiMT?] addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504222 s, deltaX: -0.500000 m, approachRate: -0.991627 m/s, rangeRepo size: 4 m Added new target pos. range: 9.552359 m, bearing: 46.731708 deg, lat: 36.779333 deg, lon: -121.859563 deg, deltaT: 0.504222 s, deltaX: -0.497519 m, approachRate: -0.986705 m/s, posRepo size: 4 jhimBNOT Ignoring new targets: 9.55 m.bhi6Short final. Range: 9.60 m.VTransitioning guidance mode to: SHORT_FINAL:h@@RhZh ProNav: ac range: 9.552359 m, nav range: 8.619572 m, bearing: 47.588750 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 39.366833 deg, new cmd heading: 38.811760 deg. Bh|HeadingCmd: 0.677393 target range: 9.552359 and range: 9.60 m.hi-?h*h"h hgfffdd djd@33#@Zd l?]:BɢeN)a eUia)egaiimǔ:ii-?>Ii-?IB>BBIB~BB =BBBCr;BS.EBB CBB =B =C=5uchecking for new query: numPingsReceived=74, elapsed TxPingTime=34.732330@ @@ 4@ E5Q E5-E5*E1"E5;*E5K;VE5(N4ZE1BE5rԱ A] .AIa Iq O >% DDAT read: Rx Time:04:45:56.9369 % TRx dataTimestamp_ set to:1761540358.2367325 PDAT read: Bearing 202.6, 2.4 (Local) 5 ~Local bearing/azimuth received: Bearing 202.6, 2.4 (Local) E DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.6 @c,qA?A4<ɰ;DAT read: 04:45:56.9369 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.25,-0.139,-1.873, 0.150,-0.152, PHS= 0.116,-1.676, 0.258, RAW= 153.8, 13.8, CAL= 154.1, 15.6, ROT= 355.9, -15.6 Ygot valid direction response: 04:45:56.9369 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.25,-0.139,-1.873, 0.150,-0.152, PHS= 0.116,-1.676, 0.258, RAW= 153.8, 13.8, CAL= 154.1, 15.6, ROT= 355.9, -15.6 T#Rx 75: Read range and direction messages.^direction in FSK: [0.960698,-0.068864,0.268920]Fpublishing direction and range infoyQUMk?]^|5?YUAQQQQ Q)U9IUh=iU+ֿU>U+@UϢv>U!,@ U'g>)U@IU'gQQU?N? E? ? UL?)U]wIUiiU'gQQUH?U^R?U+2yٱU5\ AHRS rotation from veh to nav: [[0.671367,-0.689670,-0.271333],[0.720655,0.692951,0.021806],[0.172981,-0.210177,0.962239]]UH{?`@]ѿ?,?jT?=$?ʿ?iUH?IUw];UCYH~By`I =checking for new query: numPingsReceived=75, elapsed TxPingTime=35.030113iMb@Mb@Mb@ 9uV??~jth?Yr(?y<D;`+AA z&A)EAYAbD5VD5y==%E$=ٔEUHQ-E>9m ?Ym ?=mFymEu6Eu>qQ 5}5uE욊?Q 95u)u=BY(?Q E:ԩy\?Q IV@uCIu;iui;u5yɮ*AiQiU&A?AJiUARiUAjiUMO?bUN?!@\k[d俳}@RUMk?]^|5?ZiUibiU'gjǗl\@ӗ#@htC@ZUi?).?7y?2iU@:iUr@"iU^\Ϝ?*iUjABiUFBiUe0ʜ?iUjAiUׇBiUeAiUxP? addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503540 s, deltaX: -0.300000 m, approachRate: -0.595782 m/s, rangeRepo size: 4  Added new target pos. range: 9.253765 m, bearing: 46.396922 deg, lat: 36.779334 deg, lon: -121.859564 deg, deltaT: 0.503540 s, deltaX: -0.298594 m, approachRate: -0.592989 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.25 m. 9.55 m.RhZh ProNav: ac range: 9.552359 m, nav range: 8.293414 m, bearing: 47.523744 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 38.811761 deg, new cmd heading: 38.078052 deg. Bh|HeadingCmd: 0.664587 target range: 9.552359 and range: 9.30 m.hf"*?h*h"h hgff!f%Bd!d)d)jd-"@Zd-@]?}DBɢlD) i)V i:if"*?>If"*?Ichecking for new query: numPingsReceived=75, elapsed TxPingTime=35.236679U@@Q @Q@U4@QD) zD) bEFA4jErE5/EM > EM .EM 'EI "EM s;*EM ;VEM '4ZEI a} @a @a @a @ ^A= TZ >)AiIyIO>Kk,EA?AFDDAT read: Rx Time:04:45:57.4365 JTRx dataTimestamp_ set to:1761540358.740749NPDAT read: Bearing 202.4, 2.6 (Local) N~Local bearing/azimuth received: Bearing 202.4, 2.6 (Local) VDAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.6 jDAT read: 04:45:57.4365 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501,-0.49,-1.592, 2.951,-1.319,-1.604, PHS= 0.114,-1.683, 0.241, RAW= 153.4, 14.1, CAL= 153.7, 15.9, ROT= 356.3, -15.9 nYgot valid direction response: 04:45:57.4365 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501,-0.49,-1.592, 2.951,-1.319,-1.604, PHS= 0.114,-1.683, 0.241, RAW= 153.4, 14.1, CAL= 153.7, 15.9, ROT= 356.3, -15.9 T#Rx 76: Read range and direction messages.^direction in FSK: [0.959737,-0.062064,0.273959]Fpublishing direction and range infoyDF()?54Ưψ.?YF3 ADDDD D)F8IFx=iFl׿Fv>FuY+@Fd{>F>+@ Fq>)F@IFqDDF_ &?y?> D? FJ(?)F|IF)AiFqDDechecking for new query: numPingsReceived=76, elapsed TxPingTime=35.547844eaS?e)M?e92ٱeҔi AHRS rotation from veh to nav: [[0.685093,-0.672388,-0.280251],[0.707407,0.705906,0.035672],[0.173845,-0.222690,0.959264]]eH I?4@ѿ ?@ǖ?C?@?`̿I?ieaS?IeB^;aY_~ByoIԱbDVD:yV=%;=ٔQ->9Y=FyE5E>!Q 5-5%4?Q 9-5%1)%VBYIy W?Q IV@%&CI%leCiFևBiF@iF,P? addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504017 s, deltaX: -0.600000 m, approachRate: -1.190437 m/s, rangeRepo size: 4  Added new target pos. range: 8.656748 m, bearing: 46.013636 deg, lat: 36.779333 deg, lon: -121.859565 deg, deltaT: 1.007557 s, deltaX: -0.895611 m, approachRate: -0.888893 m/s, posRepo size: 4 jhbh zIgnoring new targets. Set target to previous: 8.66 m. 9.55 m.Rh Zh  ProNav: ac range: 9.552359 m, nav range: 8.010141 m, bearing: 47.502355 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 38.078052 deg, new cmd heading: 37.421241 deg. BhE|HeadingCmd: 0.653124 target range: 9.552359 and range: 8.70 m.hE 3'?hA*hI"hI hIgIfIfQfQdQdQdQjd]`ff!@Zd]?LBɢ 6I) Bi)Miڨ:i 3'?զ >I 3'?IAyA}AAB>BCBIB%BB =BBDBgr;Bb.E?@ @@4@Echecking for new query: numPingsReceived=76, elapsed TxPingTime=35.740467 E = E DE )E "E s;*E h;VE FA4ZE BE 9 AM؟AIqIO>_*s,FA?ALnB?n̙J?n3ٱnrn zAHRS rotation from veh to nav: [[0.692029,-0.663804,-0.283654],[0.700400,0.712559,0.041239],[0.174745,-0.227210,0.958040]]nH%?=c'ҿ@i?H?O?^?`7ͿB?inB?In0P^;nCY~~ByI%DDAT read: Rx Time:04:45:57.9364 -TRx dataTimestamp_ set to:1761540359.2449395PDAT read: Bearing 201.7, 2.8 (Local) =~Local bearing/azimuth received: Bearing 201.7, 2.8 (Local) EDAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.6 mDAT read: 04:45:57.9364 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.32, 0.742,-1.019, 1.011, 0.722, PHS= 0.122,-1.696, 0.244, RAW= 153.2, 14.0, CAL= 153.6, 15.8, ROT= 356.4, -15.8 }Ygot valid direction response: 04:45:57.9364 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.32, 0.742,-1.019, 1.011, 0.722, PHS= 0.122,-1.696, 0.244, RAW= 153.2, 14.0, CAL= 153.6, 15.8, ROT= 356.4, -15.8 }T#Rx 77: Read range and direction messages.^direction in FSK: [0.960319,-0.060418,0.272280]Fpublishing direction and range infoy)-r?_+﮿ ^ m?Y- A)))) ))-9I-#=i-ٿ-#y>-D +@-5z>-+@ -0>)-" @I-0))-뇧??W-? -k?)-иzI-)i-0))=checking for new query: numPingsReceived=77, elapsed TxPingTime=36.028122iMb@Mb@Mb@ 9?Q?Mb?Yf&?y\=<1,AA (A)tAY(AbDMVDM0y]>%]$=ٔ]BQ-e>9e"?Ye"?=eFyeEvE>Q 55 ?Q 95)tBY&?Q E:yY?Q IV@OCI:i:5yɮ)Ai)i-A?AJi-ARi-Aji-LK?b-Jtio @?QYg@R-r?_+﮿ ^ m?Zi-)bi-0j-Pµy@ ;O@|5H@Z-z8?|TM? @0P?2i-w@:i-ϫ@"i-@cҜ?*i-ըCBi-Bi-^\Ϝ?i-ըCi-FBi-@i-CL?e addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504190 s, deltaX: -0.099999 m, approachRate: -0.198337 m/s, rangeRepo size: 4 u Added new target pos. range: 8.557156 m, bearing: 45.602756 deg, lat: 36.779334 deg, lon: -121.859565 deg, deltaT: 1.511747 s, deltaX: -0.995203 m, approachRate: -0.658313 m/s, posRepo size: 4 jhqbhquzIgnoring new targets. Set target to previous: 8.56 m. 9.55 m.RhyZh ProNav: ac range: 9.552359 m, nav range: 7.691093 m, bearing: 47.451557 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 37.421240 deg, new cmd heading: 36.705694 deg. Bh|HeadingCmd: 0.640635 target range: 9.552359 and range: 8.60 m.h$?h*h"h hgfffBdddjd@33!@Zd q?额VBɢC) Hi)顡iz:i$?>I$?I  ugGׄ9YqAI@I @Q@U4@Q@]{>@]>checking for new query: numPingsReceived=77, elapsed TxPingTime=36.243874! E R E @E ,E "E ;*E M;VE g4ZE a @a @a @a @^A=  >I AIIO>z,= A?AY~ByII!)%;bD5VD5ܲyM"V>%MF=ٔQ->9Y=FyEE>Q 55?Q 95)BYyQ IV@qCI6:ip:5yBɮ6(AvEB*** querying acoustic contact ***iDDAT read: Rx Time:04:45:58.4361 TRx dataTimestamp_ set to:1761540359.748852PDAT read: Bearing 200.2, 4.3 (Local) ~Local bearing/azimuth received: Bearing 200.2, 4.3 (Local) DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.5 %DAT read: 04:45:58.4361 LVL= 29168, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.27,-0.785,-2.571,-0.558,-0.856, PHS= 0.173,-1.670, 0.254, RAW= 152.2, 13.1, CAL= 152.3, 14.6, ROT= 357.7, -14.6 -Ygot valid direction response: 04:45:58.4361 LVL= 29168, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.27,-0.785,-2.571,-0.558,-0.856, PHS= 0.173,-1.670, 0.254, RAW= 152.2, 13.1, CAL= 152.3, 14.6, ROT= 357.7, -14.6 -T#Rx 78: Read range and direction messages.5^direction in FSK: [0.966930,-0.038836,0.252069]=Fpublishing direction and range infoyO?*E⣿!?YAq )8I&1>iտJ >P*@ j>*@ w>)@Iw Jc?ɴ b?? ;?)jjIQl$iwUchecking for new query: numPingsReceived=78, elapsed TxPingTime=36.511803Y iu addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503913 s, deltaX: -0.500000 m, approachRate: -0.992235 m/s, rangeRepo size: 4 jhqbhq}zIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.Rh} Zh}  ProNav: ac range: 9.552359 m, nav range: 7.425462 m, bearing: 47.405933 deg, approach rate: -0.682907 m/s, LOS rate: -0.121490 deg/s, cmd heading: 36.705693 deg, new cmd heading: 36.563925 deg. Bh|HeadingCmd: 0.638161 target range: 9.552359 and range: 8.10 m.h^#?h*h"h hgfffdddjd@33 @Zd@G?\Bɢ*I) oi)i4:i^#?<]>>I^#?IM@@I @I@MQ4@IԁԡB>BCB-IBBB =BBBr;B.E checking for new query: numPingsReceived=78, elapsed TxPingTime=36.748135^A >A >A >A .A I EE E EE >EE (EA "EE Vz;*EE ?;VEE c44ZEA BEE `,mTB?AN5k ?NAE?N6ٱNw VAHRS rotation from veh to nav: [[0.706173,-0.645706,-0.290490],[0.685486,0.726216,0.052153],[0.177283,-0.235955,0.955456]]NH`?@@bҿ`?(=?@ij? 4? 3ο ?iN5k ?IN];LY^%By^IbDjVDjyn#=%rF=ٔvϻQ-z>9~ ?Y ?=Fy EDPE>Q 5e5+?Q 9m5)BYqyufT?Q I}V@CI i=\ҿ=>=+(@=[>=+(@ =s>)=@I=s99=hL?[_?2;? =c ?)=p[I=i=s99checking for new query: numPingsReceived=79, elapsed TxPingTime=37.015396 addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503825 s, deltaX: -0.100000 m, approachRate: -0.198482 m/s, rangeRepo size: 4  Added new target pos. range: 8.059513 m, bearing: 45.584702 deg, lat: 36.779334 deg, lon: -121.859565 deg, deltaT: 2.015660 s, deltaX: -1.492846 m, approachRate: -0.740624 m/s, posRepo size: 4 )jhbhIUzIgnoring new targets. Set target to previous: 8.06 m. 9.55 m.RhUZhU ProNav: ac range: 9.552359 m, nav range: 7.163002 m, bearing: 47.401092 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 36.563925 deg, new cmd heading: 35.843439 deg. Bh1|HeadingCmd: 0.625586 target range: 9.552359 and range: 8.00 m.hh& ?h*h"h hgfffdddjd @ZdH?额fBɢ <)! %ii!)%))i-:i5h& ?y} >I}h& ?II)gAQu ?@q  @q @u 2@q @y @y ԁ  checking for new query: numPingsReceived=79, elapsed TxPingTime=37.251713^A >ԱE: EEE)E"E\p;*E;VEFA4ZEa@a@a@a@AI I!O-?ԉ,<)B?A2 ?2~vB?27ٱ2O{ :AHRS rotation from veh to nav: [[0.713466,-0.636502,-0.292970],[0.677600,0.733202,0.057207],[0.178394,-0.239332,0.954409]]2H?9^ҿ?dv?@EJ??mο?i2 ?I2];0YBkByBI DDHHi Mb@Mb@Mb@     9 S㥛?i|?5??Y $&?y q= <  A z&A) A Y AbD-VD-1Աy=%=ٔQ->9Y=FyE ,E >Q 5%5x??Q 9%5^)̀BY-&?Q E-:y5[?Q I5V@CIAQ;iP;5y=BɮE&AEwEii+B?AJi@Ri@ji7M?basL@)˩Hf?R~?r^#?ZibisjyhHW:@W8@2 @ZQT?!N/?TGܷ?2i@:iС@"iC霊?*iCI8BiBi@cҜ?ijAi݆Bi$@iDL?jhIbhIUzIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.RhURmZhURmuDDAT read: Rx Time:04:45:59.4357 uTRx dataTimestamp_ set to:1761540360.756831}PDAT read: Bearing 199.1, 7.1 (Local) ~Local bearing/azimuth received: Bearing 199.1, 7.1 (Local) DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.5 DAT read: 04:45:59.4357 LVL= 26912, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.23,-1.037,-2.868,-0.907,-1.165, PHS= 0.230,-1.658, 0.214, RAW= 149.6, 12.9, CAL= 149.6, 14.2, ROT= 0.4, -14.2 Ygot valid direction response: 04:45:59.4357 LVL= 26912, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.23,-1.037,-2.868,-0.907,-1.165, PHS= 0.230,-1.658, 0.214, RAW= 149.6, 12.9, CAL= 149.6, 14.2, ROT= 0.4, -14.2 T#Rx 80: Read range and direction messages.\direction in FSK: [0.969422,0.006768,0.245307]Fpublishing direction and range infoyqu鹵?yѵ{?/;f?Yu@qu iqq q)qIuk>iuX9Կu"[>u'@uf>u'@ u}>)u;Iu}qquҙKE!? {+W?IK@}? u'?)ueIu;iu}qq checking for new query: numPingsReceived=80, elapsed TxPingTime=37.523750 ProNav: ac range: 9.552359 m, nav range: 6.803143 m, bearing: 47.305885 deg, approach rate: -0.744829 m/s, LOS rate: -0.207481 deg/s, cmd heading: 35.843439 deg, new cmd heading: 35.542712 deg. Bhd|HeadingCmd: 0.620337 target range: 9.552359 and range: 8.00 m.hn?h*h"h h!g!f!f!f-Bd)d)d)jd-@Zd5s?oBɢ c>) \i)|i:i n? I<R>In?I@ @@4@^A > I I O >B! A% <B- >B- CB- IB- BB- =B) B- DB- r;B- .E checking for new query: numPingsReceived=80, elapsed TxPingTime=37.755405Q H,CB?A?\?? 9ٱ~E| E7E*E"E;*E ;VE(N4ZEBE$%==ٔKQ->9Y=FyEмE>Q 55N?Q 95)BYy Y?Q IV@CI;i; 5yɮ %Aiio0B?AJi@Ri@jikqR?bD @Ċ]۩?!_,J?R鹵?yѵ{?/;f?Zi;bi}j#ȼ@`n@RC@ZZx?fj?qu?2iӟ@:i@"i<՜?*i9BiBi<՜?i9@i]BiW@iK?M addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504154 s, deltaX: -0.500000 m, approachRate: -0.991760 m/s, rangeRepo size: 4 ] Added new target pos. range: 7.462405 m, bearing: 47.099602 deg, lat: 36.779335 deg, lon: -121.859563 deg, deltaT: 3.023639 s, deltaX: -2.089953 m, approachRate: -0.691205 m/s, posRepo size: 4 jhYbhYezIgnoring new targets. Set target to previous: 7.46 m. 9.55 m.RheZhm} ProNav: ac range: 9.552359 m, nav range: 6.528849 m, bearing: 47.252494 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 35.542713 deg, new cmd heading: 34.966006 deg. Bh}1}|HeadingCmd: 0.610272 target range: 9.552359 and range: 7.50 m.h:?h*h"h hgfffdddjdZd?uBɢD@) {Fi)m:iqiuº:i:?>I:?IiDDAT read: Rx Time:04:45:59.9356 TRx dataTimestamp_ set to:1761540361.260884PDAT read: Bearing 199.2, 8.2 (Local) ~Local bearing/azimuth received: Bearing 199.2, 8.2 (Local) DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.5 DAT read: 04:45:59.9356 LVL= 28928, 32753, 32754, 32755, AGC= 55, IDX= 507, 0.23, 0.021,-1.845, 0.103,-0.116, PHS= 0.238,-1.684, 0.174, RAW= 148.3, 13.4, CAL= 148.2, 14.7, ROT= 1.8, -14.7 Ygot valid direction response: 04:45:59.9356 LVL= 28928, 32753, 32754, 32755, AGC= 55, IDX= 507, 0.23, 0.021,-1.845, 0.103,-0.116, PHS= 0.238,-1.684, 0.174, RAW= 148.3, 13.4, CAL= 148.2, 14.7, ROT= 1.8, -14.7 T#Rx 81: Read range and direction messages.\direction in FSK: [0.966790,0.030383,0.253758]Fpublishing direction and range infoy$??N=?Y@q )IFs>iP׿-2>%@|o>~%@ G\>)=IG\w*g? A? /? u>@ @@4@)=oI=iG\checking for new query: numPingsReceived=81, elapsed TxPingTime=38.024250ԑ^A >A zA gAԹ I I) O= >T,^B?AF?F%==ٔ3Q->9Y=FyE-ļE5>iE> EFEE"Es;*Ev;VEZEa@a@a@a@Q 5%5m^?Q 9%5m)mBY%.?Q E%:y%f?Q I-V@m CImiI?Ia>i> E@@I @I@M4@I@U!>@U=DDAT read: Rx Time:04:46:00.4353 TRx dataTimestamp_ set to:1761540361.764843PDAT read: Bearing 198.0, 10.0 (Local) ~Local bearing/azimuth received: Bearing 198.0, 10.0 (Local) DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.5  DAT read: 04:46:00.4353 LVL= 27488, 32753, 32370, 32755, AGC= 54, IDX= 504, 0.28,-1.650, 2.743,-1.623,-1.839, PHS= 0.291,-1.656, 0.172, RAW= 146.9, 12.6, CAL= 146.6, 13.8, ROT= 3.4, -13.8 % Ygot valid direction response: 04:46:00.4353 LVL= 27488, 32753, 32370, 32755, AGC= 54, IDX= 504, 0.28,-1.650, 2.743,-1.623,-1.839, PHS= 0.291,-1.656, 0.172, RAW= 146.9, 12.6, CAL= 146.6, 13.8, ROT= 3.4, -13.8 % T#Rx 82: Read range and direction messages.- \direction in FSK: [0.969425,0.057594,0.238533]- Fpublishing direction and range infoyAf?A..}?iC?Y@`kr~ )6I>iӿ 0>$@z0a>#@ Ϣv>)s=IϢv}i?~)`Is=iϢvM checking for new query: numPingsReceived=82, elapsed TxPingTime=38.5324101 ^AU >I I O >ƽ,yB?A2p?2]:?2;ٱ2~ >AHRS rotation from veh to nav: [[0.734014,-0.611418,-0.295621],[0.654238,0.753380,0.066264],[0.182200,-0.242045,0.953004]]2H }?@sҿ`??`?`SR?@Tο@?i2p?I2cC^;2CYU3ByUII]<)]4=ԉbDmVDmkyt>%T=ٔcQ->9Y=FyEPۼE>)Q 555-l?Q 9=5-)-BY9y=d?Q I=V@-+CI-:i-:-5yABu>BqBuIBubBBu =BqBqBur;Bu.Eɮ"Aiaie0pB?AJie@Rie@jieCKZ?be6tW;@썳FdN?Xc3?ReAf?A..}?iC?Zies=bieϢvje#>,@r< @ԡ%Ok@Ze[ c?0?Ȭi^?2ieW@:ie@"ieh_ʜ?*ie&QS4BieBiaieCI8ie Bie[@ieQ? addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503959 s, deltaX: -0.500000 m, approachRate: -0.992144 m/s, rangeRepo size: 4 E Added new target pos. range: 6.865412 m, bearing: 48.856735 deg, lat: 36.779335 deg, lon: -121.859560 deg, deltaT: 4.031651 s, deltaX: -2.686947 m, approachRate: -0.666463 m/s, posRepo size: 4 jhIbhIMzIgnoring new targets. Set target to previous: 6.87 m. 9.55 m.RhQZhQchecking for new query: numPingsReceived=82, elapsed TxPingTime=38.763729 ProNav: ac range: 9.552359 m, nav range: 5.974646 m, bearing: 46.872350 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 34.264129 deg, new cmd heading: 33.751021 deg. Bh|HeadingCmd: 0.589066 target range: 9.552359 and range: 6.90 m.h?h*h"h hgfffdddjd@Zd?Bɢ9) =h(i9)EgzAAiEC:iM?IMPg>IM?II?@ @ @ /@EMS EMGEM(EI"EM;*EM;VEMc44ZEIBEMI I  O >= DDAT read: Rx Time:04:46:00.9351 E TRx dataTimestamp_ set to:1761540362.268836M PDAT read: Bearing 196.4, 11.9 (Local) U ~Local bearing/azimuth received: Bearing 196.4, 11.9 (Local) e DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5  DAT read: 04:46:00.9351 LVL= 26000, 32753, 28402, 32755, AGC= 53, IDX= 502, 0.26,-1.599, 2.762,-1.622,-1.852, PHS= 0.356,-1.624, 0.187, RAW= 145.6, 11.4, CAL= 145.2, 12.4, ROT= 4.8, -12.4  Ygot valid direction response: 04:46:00.9351 LVL= 26000, 32753, 28402, 32755, AGC= 53, IDX= 502, 0.26,-1.599, 2.762,-1.622,-1.852, PHS= 0.356,-1.624, 0.187, RAW= 145.6, 11.4, CAL= 145.2, 12.4, ROT= 4.8, -12.4  T#Rx 83: Read range and direction messages. \direction in FSK: [0.973247,0.081726,0.214735] Fpublishing direction and range infoyA E v$? ?h`r|?YE 3@A E eA E n A )E 5IE E>iE ;ϿE |?>E "@E %K>E 0"@ E k]>)E =IE k]A A E QK??K;8:? E >)E ?&KIE =iE k]A A  checking for new query: numPingsReceived=83, elapsed TxPingTime=39.033291ܟ,weB?A6i?67?6<ٱ6 >AHRS rotation from veh to nav: [[0.740090,-0.603631,-0.296473],[0.647035,0.759312,0.069215],[0.183336,-0.243054,0.952530]]6HҮ?@Pjҿ? IL? ?w?aϿ{?i6i?I6?^;6CYrFByvIiMb@Mb@Mb@ 9/$?l?~jt?Y&1?y>D<*AA $A)1AYAbDVD02y+=%8=ٔL*Q->9 Y = Fy EU_EU>YQ 5e5]{?Q 9e5] )]1BYe/5?Q Ee:yem?Q IeV@]RCI]:i]H:]5yBɮE"AoEiyi}4B?AJi}$@Ri}$@ji}a\?b}#ο@3$B,?1?R}v$? ?h`r|?Zi}=bi}k]j};%@ǗI֏@Fxw@Z}E+dn?!Ҝ?BY(,=?2i}~@:i}<@"i}V˜?*i}370Bi} Bi}<՜?i}&QS4i}Bi}S@i} U?E addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.503993 s, deltaX: -0.300000 m, approachRate: -0.595247 m/s, rangeRepo size: 4 u Added new target pos. range: 6.566916 m, bearing: 49.323952 deg, lat: 36.779335 deg, lon: -121.859558 deg, deltaT: 4.535644 s, deltaX: -2.985443 m, approachRate: -0.658218 m/s, posRepo size: 4 jhqbhq}zIgnoring new targets. Set target to previous: 6.57 m. 9.55 m.RhyZhy ProNav: ac range: 9.552359 m, nav range: 5.668011 m, bearing: 46.527071 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 33.751021 deg, new cmd heading: 33.118176 deg. Bh|HeadingCmd: 0.578021 target range: 9.552359 and range: 6.60 m.h3?h*h"h hgfffKBddd jd `ff@Zd `y?!UBɢ]jM3)] ]"iY)]顁i`:i3?S>I3?Ichecking for new query: numPingsReceived=83, elapsed TxPingTime=39.268192u@@y @y@}/@yaEm N Em DEi Ei "Em @;*Em h;VEi ZEi a @a @a @a @y ^A >A ?A ?I I O- >ʪ,_CB?AY}kByIbDVDk1yFK>%d=ٔQ->9Y=FyEE>Q 55?Q 95ܥ)CBYyQ IV@rCI:i:5yɮ!!AB*** querying acoustic contact ***i iDDAT read: Rx Time:04:46:01.4347 TRx dataTimestamp_ set to:1761540362.772845PDAT read: Bearing 198.9, 11.5 (Local) ~Local bearing/azimuth received: Bearing 198.9, 11.5 (Local) %DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 MDAT read: 04:46:01.4347 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499, 0.21,-2.146, 2.169,-2.200,-2.320, PHS= 0.276,-1.749, 0.077, RAW= 144.9, 14.3, CAL= 144.5, 15.6, ROT= 5.5, -15.6 QUYgot valid direction response: 04:46:01.4347 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499, 0.21,-2.146, 2.169,-2.200,-2.320, PHS= 0.276,-1.749, 0.077, RAW= 144.9, 14.3, CAL= 144.5, 15.6, ROT= 5.5, -15.6 ]T#Rx 84: Read range and direction messages.e\direction in FSK: [0.958728,0.092315,0.268920]eFpublishing direction and range infoy#[?b?]^|5?Yf@ )7IO>i;߿-=!@r>vh!@ 'g>) =I'g$$ZBj ?4 3?g? `>)I =i'gchecking for new query: numPingsReceived=84, elapsed TxPingTime=39.536331 addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504009 s, deltaX: -0.400000 m, approachRate: -0.793637 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.RhZh ProNav: ac range: 9.552359 m, nav range: 5.423957 m, bearing: 46.224159 deg, approach rate: -0.698322 m/s, LOS rate: -0.905731 deg/s, cmd heading: 33.118177 deg, new cmd heading: 32.168643 deg. Bhf|HeadingCmd: 0.561449 target range: 9.552359 and range: 6.20 m.h?h*h"h hgfffd d d jd-@Zd5e?}Bɢ}4) <i)u顁ij:i?W>I?Iԁ@ @@/@@@BqBqBuSIBuBBu =BqBqBuwr;Bu`.EB=CB=CB=ȔCB= =B= =C=o6ԩ checking for new query: numPingsReceived=84, elapsed TxPingTime=39.772312^A >I) I9 OE > Eu K Eu AEq Eq "Eu ;*Eu ;VEq ZEq BEu %5N=ٔ1Q-5>99Y9==Fy=EAEE>IQ 5U5M?Q 9U5M)MXBYQyQQ IUV@MCIMB:iM:Mb5yeBɮ` ApEiiKvB?AJih@Rih@jic?b[S@?iXC9?'?R#[?b?]^|5?Zi =bi'gjJ&U @@dy5@Z^;^?ZNt?fdZ5?2i@:ib@"iE.o?*i.R,BiBiV˜?i7C3iBi@i1X?jh bh  zIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.Rh$Zh$E ProNav: ac range: 9.552359 m, nav range: 5.148590 m, bearing: 45.847627 deg, approach rate: -0.699865 m/s, LOS rate: -1.008162 deg/s, cmd heading: 32.168644 deg, new cmd heading: 30.978810 deg. BhE,M|HeadingCmd: 0.540682 target range: 9.552359 and range: 6.20 m.hM'j ?hI*hI"hI hIgQfQfQfQdYdYydjdZdOT?BɢZ/) i)iL@:i 'j ?  )>I 'j ?IDDAT read: Rx Time:04:46:01.9346  TRx dataTimestamp_ set to:1761540363.281533?@ @@y0@MPDAT read: Bearing 196.4, 13.3 (Local) M~Local bearing/azimuth received: Bearing 196.4, 13.3 (Local) ]DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.5 ԩ^A >-DAT read: 04:46:01.9346 LVL= 29072, 32753, 30066, 32755, AGC= 53, IDX= 498, 0.22,-1.258, 3.020,-1.352,-1.524, PHS= 0.368,-1.694, 0.128, RAW= 143.9, 12.2, CAL= 143.4, 13.3, ROT= 6.6, -13.3 =Ygot valid direction response: 04:46:01.9346 LVL= 29072, 32753, 30066, 32755, AGC= 53, IDX= 498, 0.22,-1.258, 3.020,-1.352,-1.524, PHS= 0.368,-1.694, 0.128, RAW= 143.9, 12.2, CAL= 143.4, 13.3, ROT= 6.6, -13.3 =T#Rx 85: Read range and direction messages.m\direction in FSK: [0.966729,0.111854,0.230050]mFpublishing direction and range infoy*"xwr?\}}?gz}"Er?Y@qru )5Ij>iؿo> @^ Z>- @ ,m>)=I,me?%T?t ? ~>)ZI=i,mchecking for new query: numPingsReceived=85, elapsed TxPingTime=40.089699A=؟AIAIQOe> 췐,:B?A&checking for new query: numPingsReceived=85, elapsed TxPingTime=40.275562RrB>R.?R@ٱRi ZAHRS rotation from veh to nav: [[0.761668,-0.575689,-0.297395],[0.620313,0.780479,0.077876],[0.187278,-0.243794,0.951573]]RH@_? lӿ?? ?? 4Ͽ`Is?iRrB>IR?^;RCY=ByE5IbEjE#E4rEEM ENE+E"Eˀ;*E;VE [4ZEa @a @a @a @i5Mb@Mb@Mb@1111 1959v?I +?~jthY54?y594>5D5)A5S@ 5$A)5A1Y5\AbDMVDMk1y]B=%]-=ٔ]K Q-]>9e"?Ye"?=eFyeEeEm>qQ 5}5ui?Q 9}5uޘ)umBY}:?Q E}:y}k?Q IV@uCIu:iu:u 5yɮAiAiEB?AJiE @RiE @jiEJ\?bE::@#U]^?x-k?RE*"xwr?\}}?gz}"Er?ZiE=biE,mjE6 @29.@#D@ZEl9P?U0u?d;?2iE@:iEf@"iE~ל?*iE.*BiEBiAiE370iEBiE1@iEY? addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.508688 s, deltaX: -0.200000 m, approachRate: -0.393168 m/s, rangeRepo size: 4 m Added new target pos. range: 5.969986 m, bearing: 49.430276 deg, lat: 36.779334 deg, lon: -121.859557 deg, deltaT: 5.548341 s, deltaX: -3.582373 m, approachRate: -0.645666 m/s, posRepo size: 4 jhibhzIgnoring new targets. Set target to previous: 5.97 m. 9.55 m.RhZh ProNav: ac range: 9.552359 m, nav range: 4.809844 m, bearing: 45.360260 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 30.978811 deg, new cmd heading: 30.318217 deg. Bh1|HeadingCmd: 0.529153 target range: 9.552359 and range: 6.00 m.hv?h*h"h hgfffrBdddjd@Zd`?-Bɢ-$*)) -i))5*] 11i59:i=v?9=*>I=v?IaADDAT read: Rx Time:04:46:02.4343 TRx dataTimestamp_ set to:1761540363.780852 PDAT read: Bearing 200.3, 12.2 (Local)  ~Local bearing/azimuth received: Bearing 200.3, 12.2 (Local) DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.6 EDAT read: 04:46:02.4343 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 511, 0.08,-1.524, 2.730,-1.635,-1.650, PHS= 0.228,-1.858,-0.029, RAW= 143.5, 16.6, CAL= 143.0, 18.0, ROT= 7.0, -18.0 MYgot valid direction response: 04:46:02.4343 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 511, 0.08,-1.524, 2.730,-1.635,-1.650, PHS= 0.228,-1.858,-0.029, RAW= 143.5, 16.6, CAL= 143.0, 18.0, ROT= 7.0, -18.0 MT#Rx 86: Read range and direction messages.U\direction in FSK: [0.943967,0.115905,0.309017]]Fpublishing direction and range infoy(4K4?E?;[@?Y3@ )Ixi>ihJ @V>@ |٠>)5=I|٠gD~? x?ֱC? >)'I5=i|٠uchecking for new query: numPingsReceived=86, elapsed TxPingTime=40.543591i #2;I ) fA @@  @ @ /@ @ =@ >ԙ BU>BUCBUIBUBBU =BQBUDBUAr;BU>.E^A%U>A-gAzA-hAchecking for new query: numPingsReceived=86, elapsed TxPingTime=40.780121AYIIO?C,nC?AEJV EJHEJ(EH"EJ;*EJ;VEJc44ZEHBEJ]fM,?fAٱfk nAHRS rotation from veh to nav: [[0.766324,-0.569389,-0.297562],[0.614239,0.785097,0.079582],[0.188302,-0.243759,0.951380]]fH ?p8@A ӿا?`?t_? H?`3Ͽ q?ifE>If\^;fCYvByvRIIz<)z4<bDVDJyն=%!=ٔhQ->9Y=FyE%${E%>aQ 55?Q 95)BYyi?Q IV@CI[:i:%5yBɮAqEii{B?AJiL@RiL@ji[c?b%no @hksfs?ׄ?R(4K4?E?;[@?Zi5=bi|٠jDW4 @^y@*@Zk?@?`&b?2iw@:iI@"i􀐖Ĝ?*i!+BiBih_ʜ?i.R,iii@i8#^?- addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.499319 s, deltaX: -0.400000 m, approachRate: -0.801091 m/s, rangeRepo size: 4 = Added new target pos. range: 5.571882 m, bearing: 50.885418 deg, lat: 36.779334 deg, lon: -121.859555 deg, deltaT: 6.047660 s, deltaX: -3.980476 m, approachRate: -0.658185 m/s, posRepo size: 4 jh9bhAEzIgnoring new targets. Set target to previous: 5.57 m. 9.55 m.RhIZhIU ProNav: ac range: 9.552359 m, nav range: 4.431015 m, bearing: 44.764845 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 30.318216 deg, new cmd heading: 29.560954 deg. BhYe|HeadingCmd: 0.515936 target range: 9.552359 and range: 5.60 m.hea?ha*ha"ha hagafififididqdqjdu`ff@Zdu?颥Bɢ') ei) 顩i*:ia?>Ia?IԙDDAT read: Rx Time:04:46:02.9345 TRx dataTimestamp_ set to:1761540364.287765PDAT read: Bearing 199.9, 12.8 (Local) ~Local bearing/azimuth received: Bearing 199.9, 12.8 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.6 DAT read: 04:46:02.9345 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510,-0.04,-0.766,-2.842,-0.906,-0.902, PHS= 0.238,-1.895,-0.049, RAW= 142.9, 16.7, CAL= 142.3, 18.1, ROT= 7.7, -18.1 Ygot valid direction response: 04:46:02.9345 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510,-0.04,-0.766,-2.842,-0.906,-0.902, PHS= 0.238,-1.895,-0.049, RAW= 142.9, 16.7, CAL= 142.3, 18.1, ROT= 7.7, -18.1 T#Rx 87: Read range and direction messages. \direction in FSK: [0.941945,0.127356,0.310676] Fpublishing direction and range infoyGj$?db3M?\?Y̼@ )3IFs>i\9H@;>\@ ?>) >I?Qq9;?~~?%ho? r>)I >i?%checking for new query: numPingsReceived=87, elapsed TxPingTime=41.050545E?@ @@@^A M> G = 9A YE iAA! I) I9 OE >ǐ,B C?Ab,)>b"*?b"Cٱb3s~checking for new query: numPingsReceived=87, elapsed TxPingTime=41.283524 AHRS rotation from veh to nav: [[0.771064,-0.562835,-0.297787],[0.607935,0.789808,0.081350],[0.189408,-0.243762,0.951160]]bH ? ӿ@4t?F?^Ӵ?>?3Ͽo?ib,)>Ib!I^;`Y ܀By ~IDzD?AEa EJE-E"E݉;*E;VEt4ZEa@a@a@a@iMb@Mb@Mb@ 9kt?Fx?I +Y 0?yK>94@ b"A)AYfAbDVDܲy-#>%-"=ٔ-Q-->91Y1=5Fy5E=E=>aQ 5m5em̛?Q 9m5e)eBYm^7?Q Em:ymp?Q ImV@eCIe:ie:ea)5y}Bɮ}A}gEiijC?AJiڻ@Riڻ@jidd?b 0H@d]U?w;.?RGj$?db3M?\?Zi >bi?j3CMe @OIf@Y]l@ZS?-Z Z?W?2i7@:i/S@"iT~✊?*i<BiBiV˜?i!+iBij@i^?M addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.506913 s, deltaX: 0.300000 m, approachRate: 0.591818 m/s, rangeRepo size: 4 } Added new target pos. range: 5.870376 m, bearing: 51.175398 deg, lat: 36.779334 deg, lon: -121.859554 deg, deltaT: 6.554573 s, deltaX: -3.681983 m, approachRate: -0.561743 m/s, posRepo size: 4 jhybhyzIgnoring new targets. Set target to previous: 5.87 m. 9.55 m.RhZh ProNav: ac range: 9.552359 m, nav range: 4.088037 m, bearing: 44.006722 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 29.560953 deg, new cmd heading: 28.837458 deg. Bh|HeadingCmd: 0.503309 target range: 9.552359 and range: 5.90 m.h?h*h"h hgfffBdddjd@Zd?}Bɢ}($) SӾi)I 顁i0:i?>I?I)DDAT read: Rx Time:04:46:03.4342 TRx dataTimestamp_ set to:1761540364.788948PDAT read: Bearing 199.0, 13.2 (Local) ~Local bearing/azimuth received: Bearing 199.0, 13.2 (Local) DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.6 DAT read: 04:46:03.4342 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 507,-0.11,-2.568, 1.616,-2.720,-2.718, PHS= 0.253,-1.903,-0.046, RAW= 142.7, 16.5, CAL= 142.0, 17.8, ROT= 8.0, -17.8  Ygot valid direction response: 04:46:03.4342 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 507,-0.11,-2.568, 1.616,-2.720,-2.718, PHS= 0.253,-1.903,-0.046, RAW= 142.7, 16.5, CAL= 142.0, 17.8, ROT= 8.0, -17.8  T#Rx 88: Read range and direction messages. \direction in FSK: [0.942863,0.132511,0.305695] Fpublishing direction and range infoy+?d'?ќ?Y̬@ )I7>ij<e@r>@ >)5>IyZP?di?F/? _>)I5>i- checking for new query: numPingsReceived=88, elapsed TxPingTime=41.551929Y 5 @@1  @1 @5 /@1 @9 @9 ԁB<A<B>BBIBLBBBBBr;B.E^AU>echecking for new query: numPingsReceived=88, elapsed TxPingTime=41.788120Ae>Ae>ԹA.AIIO?9ѐ,GC?AE"Y E"[E"(E "E"=;*E";VE"c44ZE BE"jc&?jCqEٱjT rAHRS rotation from veh to nav: [[0.780533,-0.549513,-0.298000],[0.595020,0.799234,0.084710],[0.191622,-0.243435,0.950800]]jH ?`@mӿ`g ?S???(Ͽl?ij>IjjJ^;jCY~By~IbD VD βy=0=%U=ٔUVQ-U>9] ?Y] ?=]Fy]EewEe>iQ 5u5mDߛ?Q 9u5mρ)mBYqyuk?Q I}V@mNCIm ;im2 ;m-5yBɮxAhEiiim ~2C?AJim@Rim@jimpa?bmhyC@iP5j?{wG?Rm+?d'?ќ?Zim5>bimjm\ҡW@ @0c@ZmXN?+?iK?2imh*h"h hgfffdddjd@ZdT?Bɢ$) Ͼi) 顩iuq:i %> >I %>IeDDAT read: Rx Time:04:46:03.9341 uTRx dataTimestamp_ set to:1761540365.297310PDAT read: Bearing 197.9, 12.6 (Local) ~Local bearing/azimuth received: Bearing 197.9, 12.6 (Local) DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.6 DAT read: 04:46:03.9341 LVL= 32752, 30289, 32754, 32755, AGC= 51, IDX= 506,-0.17,-2.316, 1.903,-2.439,-2.458, PHS= 0.244,-1.877,-0.025, RAW= 143.3, 16.3, CAL= 142.8, 17.7, ROT= 7.2, -17.7 %Ygot valid direction response: 04:46:03.9341 LVL= 32752, 30289, 32754, 32755, AGC= 51, IDX= 506,-0.17,-2.316, 1.903,-2.439,-2.458, PHS= 0.244,-1.877,-0.025, RAW= 143.3, 16.3, CAL= 142.8, 17.7, ROT= 7.2, -17.7 %T#Rx 89: Read range and direction messages.-\direction in FSK: [0.945149,0.119400,0.304033]-Fpublishing direction and range infoyimQ>?L?z0Gu?Ym@iimQvi i)iIm#y>imAm̼mQ @m>mW@ m2+>)m>Im2+iimV3? M?Iʹ? mO>)mIm>im2+iiMchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.073608]?@Y @Y@]/@a^A5!8> A ؟AI I O >1 א,{aC?AJ>JJ$?JFٱJoRchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.291496 ZAHRS rotation from veh to nav: [[0.785297,-0.542865,-0.297668],[0.588351,0.804039,0.085819],[0.192748,-0.242527,0.950804]]JH&!? '_` ӿ? ?@???  Ͽ@l?iJ>IJX-^;HYByIi5Mb@Mb@Mb@1111 195> ףp=?E?S㥛Y51?y5F>5/ݼ5K'A5@ 5A)5@1Y5zADM=DM%=EU` EUtEU+EQ"EUi;*EU+;VEU [4ZEQae@ae@ae@ae@bDeVDekyu=%u,=ٔ}Q-}>9}"?Y}"?=}Fy}EE>Q 55%?Q 95z)BY8?Q E:ye?Q IV@yCI :i: 25yBɮAiEii!SC?AJi@Ri@ji[?bC@t /&?& ?RQ>?L?z0Gu?Zi>bi2+jgj~@T3 @\8@Z yF?v?gON?2id@:iF@"i?*i!BiBivA✊?iCiBi@ia?5 addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.508362 s, deltaX: -0.100000 m, approachRate: -0.196710 m/s, rangeRepo size: 4 E Added new target pos. range: 5.273383 m, bearing: 49.126512 deg, lat: 36.779336 deg, lon: -121.859550 deg, deltaT: 7.564118 s, deltaX: -4.278976 m, approachRate: -0.565694 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 5.27 m. 9.55 m.RhZh ProNav: ac range: 9.552359 m, nav range: 3.386728 m, bearing: 42.307190 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 28.104589 deg, new cmd heading: 27.425312 deg. Bh|HeadingCmd: 0.478662 target range: 9.552359 and range: 5.30 m.h/>h*h"h hgAfAfIfMuBdIdQdQjdU@33@Zd]`]?ABɢ#) i) iM:i />  .>I />I eDDAT read: Rx Time:04:46:04.4338 mTRx dataTimestamp_ set to:1761540365.797855}PDAT read: Bearing 197.8, 10.0 (Local) }~Local bearing/azimuth received: Bearing 197.8, 10.0 (Local) DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.6 DAT read: 04:46:04.4338 LVL= 32752, 26801, 31090, 32755, AGC= 50, IDX= 503,-0.18, 0.977,-0.959, 0.945, 0.922, PHS= 0.157,-1.836,-0.021, RAW= 145.4, 17.5, CAL= 145.1, 19.1, ROT= 4.9, -19.1 @ @@@- Ygot valid direction response: 04:46:04.4338 LVL= 32752, 26801, 31090, 32755, AGC= 50, IDX= 503,-0.18, 0.977,-0.959, 0.945, 0.922, PHS= 0.157,-1.836,-0.021, RAW= 145.4, 17.5, CAL= 145.1, 19.1, ROT= 4.9, -19.1 - T#Rx 90: Read range and direction messages.5 \direction in FSK: [0.941495,0.080715,0.327218]5 Fpublishing direction and range infoyae" ?ۘ?#e#?Ye@aaehery a)e2Ie >ie 뿉e1ei"@ea>e "@ e㭪>)e%=Ie㭪i aae@\?T(?`@q5? eS>)e{Ie%=ie㭪aa checking for new query: numPingsReceived=90, elapsed TxPingTime=42.587700ԙ ^A )]>A fAzA dABu>BuCBuGIBuBBu =BqBqBuq;Bu-EAYIiIyO? },x C?A2K>2N"?2Gٱ2~>checking for new query: numPingsReceived=90, elapsed TxPingTime=42.795307 BAHRS rotation from veh to nav: [[0.790362,-0.535747,-0.297159],[0.581137,0.809160,0.086831],[0.193930,-0.241318,0.950872]]2HJ?$ӿ??`:??ο m?i2K>I2TB^;2CYJByJIbDRVDR yZ=%^C=ٔf;Q-f>9lYp=rFyvEzGE~> Q 5-5 y?Q 9=5 t) ƁBYAyMc?Q IMV@ CI h*h"h hgfffdddjd@33@Zd@? ŁBɢ ") Si)i i4+:i>AEq>IE>IA@ @@@@>@ >ԑUDDAT read: Rx Time:04:46:04.9336 eTRx dataTimestamp_ set to:1761540366.305081PDAT read: Bearing 196.8, 6.9 (Local) ~Local bearing/azimuth received: Bearing 196.8, 6.9 (Local) DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.6 DAT read: 04:46:04.9336 LVL= 31728, 29281, 23858, 32755, AGC= 49, IDX= 501,-0.17,-1.017,-2.678,-0.933,-0.996, PHS= 0.081,-1.638, 0.019, RAW= 148.2, 17.9, CAL= 148.4, 19.8, ROT= 1.6, -19.8 Ygot valid direction response: 04:46:04.9336 LVL= 31728, 29281, 23858, 32755, AGC= 49, IDX= 501,-0.17,-1.017,-2.678,-0.933,-0.996, PHS= 0.081,-1.638, 0.019, RAW= 148.2, 17.9, CAL= 148.4, 19.8, ROT= 1.6, -19.8 T#Rx 91: Read range and direction messages.\direction in FSK: [0.940514,0.026271,0.338738]Fpublishing direction and range infoyY]'֮? t?<?Y]@Y]{]ar]2] Y)]1I]T=i]ѿ]㥛<]~%@]>]%@ ];>)])]{I]< ^A 9g>i];ﰾYY checking for new query: numPingsReceived=91, elapsed TxPingTime=43.109344A5 .AI9 II O] >(,C?AHbg>b<?b:mIٱby\} zAHRS rotation from veh to nav: [[0.795681,-0.527956,-0.296907],[0.573319,0.814601,0.087926],[0.195440,-0.240183,0.950850]]bH@8v?ӿX? 5?O?*? Uο\m?ibg>Ib7^;bCYByIi-Mb@Mb@Mb@)))) )9-i|?5?MbX9?L7A`堿Y-1?y-!>-+-z&A-@ -MA)-=@)Y-AbDEVDEy<% *=ٔ RQ- >9 ?Y ?=FyE;E>Q 5E5?Q 9E5n)ցBYMg6?Q EM:yMT?Q IMV@̗CIC;i;95yUBɮU A]`Echecking for new query: numPingsReceived=91, elapsed TxPingTime=43.299541iirC?AJiF@RiF@ji??b u@^?j3-D?R'֮? t?<?Zi<bi;ﰾjGFǧ@Ts%@ 7@Z^dH?/4?IS?2i-)@:i5@"iܬ?*i):(BiBih?iiBi@i}NW? addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.507226 s, deltaX: -0.300000 m, approachRate: -0.591453 m/s, rangeRepo size: 4  Added new target pos. range: 4.477340 m, bearing: 42.964802 deg, lat: 36.779338 deg, lon: -121.859550 deg, deltaT: 8.571889 s, deltaX: -5.075019 m, approachRate: -0.592054 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.48 m. 9.55 m.RhZh  ProNav: ac range: 9.552359 m, nav range: 2.750478 m, bearing: 40.706169 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 26.755538 deg, new cmd heading: 26.047241 deg. Bh |HeadingCmd: 0.454610 target range: 9.552359 and range: 4.50 m.h>h*h"h hgfff%ZBd!d!d!jd%@Zd- M?E=| E=[E=(E9"E=;*E=;VE=c44ZE9aE@aE@aE@aE@́Bɢ") 촾i)d i:i>$ >I>I@ @@@ = DDAT read: Rx Time:04:46:05.4333 E TRx dataTimestamp_ set to:1761540366.804620M PDAT read: Bearing 207.3, -3.6 (Local) M ~Local bearing/azimuth received: Bearing 207.3, -3.6 (Local) ] DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.6  DAT read: 04:46:05.4333 LVL= 32752, 28097, 27266, 32755, AGC= 50, IDX= 498,-0.15, 1.994, 0.775, 2.208, 2.234, PHS=-0.139,-1.414,-0.070, RAW= 152.6, 23.6, CAL= 156.2, 33.6, ROT= 353.8, -33.6  Ygot valid direction response: 04:46:05.4333 LVL= 32752, 28097, 27266, 32755, AGC= 50, IDX= 498,-0.15, 1.994, 0.775, 2.208, 2.234, PHS=-0.139,-1.414,-0.070, RAW= 152.6, 23.6, CAL= 156.2, 33.6, ROT= 353.8, -33.6  T#Rx 92: Read range and direction messages. ^direction in FSK: [0.828049,-0.089955,0.553392] Fpublishing direction and range infoy9 = 鯘a?lIf )b?Y= y@9 = = m= j 9 )= 2I= Vi= = )\= t*@= B>= !z.@ = Q ?)= e@I= Q 9 9 = H?_.l8?cCL ? = ?)= AӾI= iݽi= Q 9 9  checking for new query: numPingsReceived=92, elapsed TxPingTime=43.567200^A >J>I A9IAIQO]?0X,E*C?A;ɰp;Bc>B"?BJٱB9| ZAHRS rotation from veh to nav: [[0.801515,-0.519427,-0.296260],[0.564753,0.820389,0.089533],[0.196542,-0.239075,0.950902]]BH? &ҿ t?@? ?`L(?@οm?iBc>IBQ^;BCYb6BybIbD~VD~ܲy N >% :=ٔ "(Q- >91Y1=5Fy5E=üE=>AQ 5M5E&?Q 9M5Eg)EBYIyMQ?Q IMV@ECIE;;iE;E=5yyɮ}Ayiaie~C?AJieWx@RieWx@jie.?be} @SpVֿ/щ-@Re鯘a?lIf )b?ZieiݽbieQ B>BCByIBBB =BBDBq;B-Eje @yk&(@?@@Ze-|?)`?d3?2ie:?:ie@"ie~?ٜ?*ie2Ľ:BieBiaieS$iaiec@ie=?P?  addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.499539 s, deltaX: -0.600000 m, approachRate: -1.201107 m/s, rangeRepo size: 4 = Added new target pos. range: 3.880361 m, bearing: 39.054929 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 9.071428 s, deltaX: -5.671998 m, approachRate: -0.625260 m/s, posRepo size: 4 jh9bh9EzIgnoring new targets. Set target to previous: 3.88 m. 9.55 m.RhAZhAu ProNav: ac range: 9.552359 m, nav range: 2.438607 m, bearing: 39.900040 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 26.047241 deg, new cmd heading: 25.493329 deg. Bhy}|HeadingCmd: 0.444943 target range: 9.552359 and range: 3.90 m.h}>h*h"h hgfffdddjd@33@Zd@4?ҁBɢ LY")  i )  i9i> >I>Ichecking for new query: numPingsReceived=92, elapsed TxPingTime=43.807941A@@ @@/@E=z E=~E=)E9"E=4;*E=0;VE=FA4ZE9BE=ԩ AU ؟A DDAT read: Rx Time:04:46:05.9332  TRx dataTimestamp_ set to:1761540367.318264 DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.6  Z#Rx 93: Read range message, but no direction.I y Y 3s@ - checking for new query: numPingsReceived=93, elapsed TxPingTime=44.084778IA Oe >BM,%_?%Kٱ%ky{Y eAHRS rotation from veh to nav: [[0.807340,-0.510496,-0.295967],[0.555921,0.826197,0.091384],[0.197876,-0.238312,0.950817]]%H?U ҿ ?`4p?@d?T?ο m?i%N>I%7^;%CYAByIiMb@Mb@Mb@ 9q= ףp?Mb? rhY+?y>C M$A\@ A)@Y AbDVD:2y4=%1=ٔAQ->9"?Y"?=FyE)E>Q 55G9?Q 95Gb)BY.?Q E:yBF?Q IV@CI ;i" ;A5yBɮAaEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.513644 s, deltaX: -0.100000 m, approachRate: -0.194688 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.Rh%Zh%5 ProNav: ac range: 9.552359 m, nav range: 2.128888 m, bearing: 39.247755 deg, approach rate: -0.700890 m/s, LOS rate: -1.690828 deg/s, cmd heading: 25.493329 deg, new cmd heading: 23.252971 deg. Bh5 =|HeadingCmd: 0.405841 target range: 9.552359 and range: 3.80 m.h=a>h9*h9"h9 hAgAfAfAfMFBdIdIdQjdU`ff@ZdU?}؁Bɢ ) Xi)B i f9i >8>Ia>Iԁ?@ @@0@@@DDAT read: Rx Time:04:46:06.4329 TRx dataTimestamp_ set to:1761540367.570214checking for new query: numPingsReceived=93, elapsed TxPingTime=44.320042ԱE5 } E5 xE5 (E1 "E5 ;*E5 -;VE5 c44ZE1 aE @aE @aE @aE @^A 1> A1 I9 II OY z,)&C?A2)>2b?2>oMٱ2&{ :AHRS rotation from veh to nav: [[0.813543,-0.500638,-0.295820],[0.546294,0.832329,0.093766],[0.199277,-0.237887,0.950631]]2H ?:ҿ<{?p?@?`? sοk?i2)>I2j^;2CYBUByBI DDbDNVDN!yR =%Vr=ٔVQ-V?9XYX=ZFyZE^p E^?`Q 5f5bGG?Q 9f5b^)bBYdyfHC?Q IfW@b9CIb:ibB:bD5ylɮnPAljhbhzIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.RhfZhfԱ ProNav: ac range: 9.552359 m, nav range: 1.899858 m, bearing: 38.708934 deg, approach rate: -0.643120 m/s, LOS rate: -1.695384 deg/s, cmd heading: 23.252971 deg, new cmd heading: 21.442273 deg. Bhp|HeadingCmd: 0.374238 target range: 9.552359 and range: 3.80 m.h)>h*h"h hgfffdddjdZd`͏?iIDAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.5 Z#Rx 94: Read range message, but no direction.yY3S@ checking for new query: numPingsReceived=94, elapsed TxPingTime=44.565948݁Bɢ! )! %i!)%u !!i-8i-)>15J>I5)>I10::B>BCBIBˁBB =BBDBDBlq;B-EBuCBuCBqBu =Bu =Cuǝ6@ @@0@^Ae *> DDAT read: Rx Time:04:46:06.9325  TRx dataTimestamp_ set to:1761540368.071677 checking for new query: numPingsReceived=94, elapsed TxPingTime=44.820343A I I O >1 E5  E5 E1 E1 "E5 I;*E5 E7;VE1 ZE1 BE5 2!?2Nٱ2]| :AHRS rotation from veh to nav: [[0.820174,-0.489451,-0.296230],[0.535762,0.838709,0.097599],[0.200681,-0.238757,0.950117]]2H >?(S߿@nҿ$??I2FN^;2CYB_ByBIbDNVDNkyVI=%VK=ٔViQ-V>9XYX=ZFyZEZ3E^>`Q 5f5b%X?Q 9f5b2Y)bBYdyf@?Q IfW@b\CIbl:ib:b=H5yjBɮn,AnbE  addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.497478 s, deltaX: -0.500000 m, approachRate: -1.005070 m/s, rangeRepo size: 4 jh bh zIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.RhZh% ProNav: ac range: 9.552359 m, nav range: 1.627148 m, bearing: 37.992273 deg, approach rate: -0.709829 m/s, LOS rate: -2.177959 deg/s, cmd heading: 21.442274 deg, new cmd heading: 18.933622 deg. Bh%ֺ-|HeadingCmd: 0.330454 target range: 9.552359 and range: 3.30 m.h-F1>h)*h)"h1 h1g1f1f9f9d9d9dAjdE`ff @ZdE Y?Bɢ;) i) !i%hi%F1>)-d>I-F1>I)#2@@ @@3@A]DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 }Z#Rx 95: Read range message, but no direction.y!Y%,@!checking for new query: numPingsReceived=95, elapsed TxPingTime=45.090099y^A |5>A9 IA IQ Oe >ԙ ,;$D?A>DDAT read: Rx Time:04:46:07.4324 FTRx dataTimestamp_ set to:1761540368.579704VPDAT read: Bearing 203.1, -11.5 (Local) Z~Local bearing/azimuth received: Bearing 203.1, -11.5 (Local) ~DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.4 UZ#Rx 96: Read range message, but no direction.yf&@<mchecking for new query: numPingsReceived=96, elapsed TxPingTime=45.357506IbEUc44jEU²>4rEU.0E EyEE"E;*EQ.;VEZEa@a@a@a@Y-jBy--IiUMb@Mb@Mb@QQQQ Q9UV-?bX9ȶ?Zd;OYU-?yUE=UjU!AU@ Q)U@QYU3 AbDVD02y#=%=ٔQ->9Y=FyEE>Q 55o?Q 95R)+BY'/?Q E:y2?Q IW@CIW;iU;L5yɮAy addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.763962 s, deltaX: -0.700000 m, approachRate: -0.916276 m/s, rangeRepo size: 4 jhbhBIntercept lockout. Range: 2.60 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT:h@hh*h"h hgfff7Bdddjd@Zd ?]Bɢe[=)a eia)e iiimȂiiu<a>IIgAgAMDAT read: 04:46:07.4324 LVL= 24800, 26721, 13090, 32755, AGC= 43, IDX= 506,-0.13, 0.786,-0.831, 1.502, 1.353, PHS=-0.465,-2.140, 0.105, RAW= 164.1, 23.6, CAL= 166.1, 34.7, ROT= 343.9, -34.7 ]Ygot valid direction response: 04:46:07.4324 LVL= 24800, 26721, 13090, 32755, AGC= 43, IDX= 506,-0.13, 0.786,-0.831, 1.502, 1.353, PHS=-0.465,-2.140, 0.105, RAW= 164.1, 23.6, CAL= 166.1, 34.7, ROT= 343.9, -34.7 eZ#Rx 97: Read direction message, but no range.m^direction in FSK: [0.789899,-0.227993,0.569280]y  `nrF?.Ϳ0}7?  ` ah "3 ) +I {i  = = -M7@  9@  ?) @I    *0 ?v$0j?7 ʎ? 3E?) ӾI ޏi  checking for new query: numPingsReceived=97, elapsed TxPingTime=45.593567ԩ  i @q  @q @u 0@q @} ;>@} R>^AM 9T>B >B CB IB BB =B B DB Eq;B -EA.ADDAT read: Rx Time:04:46:07.9324 TRx dataTimestamp_ set to:1761540369.084068PDAT read: Bearing 221.3, -25.4 (Local) ~Local bearing/azimuth received: Bearing 221.3, -25.4 (Local) IIeDAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.4 uZ#Rx 98: Read range message, but no direction.yYchecking for new query: numPingsReceived=98, elapsed TxPingTime=45.852333IO?2,~7ID?A4<ɰ4<EB EB}E@E@"EBu;*EBm0;VE@ZE@BEBn ?n7Rٱn zAHRS rotation from veh to nav: [[0.842077,-0.450448,-0.296653],[0.499350,0.858980,0.113145],[0.203853,-0.243411,0.948259]]nH@K?%ܿ[ҿZ?|??? (Ͽ#X?in_>In8M^;nCY%By%III-4=)-p;bDuVDu:y=%+=ٔq޻Q->9 ?Y ?=FyEE>Q 55?Q 95M)BBYy'?Q IW@CI:i;)Q5yBɮAYEii_aED?AJi%@Ri%@ji>bWX@k=:?R`nrF?.Ϳ0}7?Ziޏbi jfA?~1?M?Z3= *?+?3?2i).?:iR?"i͡$?*i;BijBi?i):(iBi?iP? addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504364 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.586711 m, bearing: 23.705950 deg, lat: 36.779338 deg, lon: -121.859553 deg, deltaT: 11.350876 s, deltaX: -6.965647 m, approachRate: -0.613666 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjdZdH?=Bɢ=Ɖ)A EH`iA)E* IIiM&iimIiIq}}yyԡiIDAT read: 04:46:07.9324 LVL= 22224, 24849, 15106, 32755, AGC= 43, IDX= 504, 0.03, 2.015, 1.555, 2.917,-3.096, PHS=-1.070,-1.587,-0.314, RAW= 186.2, 43.5, CAL= 185.2, 53.2, ROT= 324.8, -53.2 Ygot valid direction response: 04:46:07.9324 LVL= 22224, 24849, 15106, 32755, AGC= 43, IDX= 504, 0.03, 2.015, 1.555, 2.917,-3.096, PHS=-1.070,-1.587,-0.314, RAW= 186.2, 43.5, CAL= 185.2, 53.2, ROT= 324.8, -53.2  Z#Rx 99: Read direction message, but no range.u^direction in FSK: [0.489489,-0.345297,0.800731]y*AS?NWֿ@p?Va; )Ii"˿ĠO@ \B?N@ ,m?) g@I,m,?_T A?N L? ܓ?) BIuFi,mchecking for new query: numPingsReceived=99, elapsed TxPingTime=46.138145?@ @@0@ 1 5 ֐C IG  9 Y G|A^A b>1  DDAT read: Rx Time:04:46:08.4321  TRx dataTimestamp_ set to:1761540369.590201 PDAT read: Bearing 287.2, -30.1 (Local)  ~Local bearing/azimuth received: Bearing 287.2, -30.1 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.4 \#Rx 100: Read range message, but no direction.y Y f@ =checking for new query: numPingsReceived=100, elapsed TxPingTime=46.356762A}؟AIIO?,F jD?AE EE,E"Es;*E=;VEg4ZEa"@a"@a"@a"@Xzr>z?z^rSٱzO  AHRS rotation from veh to nav: [[0.850440,-0.433610,-0.297882],[0.484474,0.866223,0.122243],[0.205027,-0.248277,0.946743]]zH6?@Bۿӿ?`?NK?`P>?@ϿK?izr>Izk^;xY]By]aIiMb@Mb@Mb@ 9v/?9"?Y"?=FyEE>Q 55[?Q 95GH)`BY*?Q E:yo?Q IW@CI ;im ;U5yBɮAZEiieD?AJi@Ri@ji =b#E\?H<`Q^?R*AS?NWֿ@p?ZiuFbi,mjHH?6??Zt?:y\d?*[66?2i=:i'/?"i]؜?*iNFBiBih?i2Ľ:iBi_?i >E addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.506133 s, deltaX: -0.500000 m, approachRate: -0.987883 m/s, rangeRepo size: 4 U Added new target pos. range: 2.089267 m, bearing: 6.260283 deg, lat: 36.779338 deg, lon: -121.859561 deg, deltaT: 0.506133 s, deltaX: -0.497445 m, approachRate: -0.982834 m/s, posRepo size: 4 jhQbhQhYhY*hY"hY hYgYfafafe$Bdadidijdm@Zdm?额Bɢu) Ei)_ 顡i)5iM<b.>IIY@Y @Y@eh1@aDAT read: 04:46:08.4321 LVL= 12512, 15073, 13618, 18083, AGC= 44, IDX= 504,-0.06,-0.354, 0.818, 0.239, 1.602, PHS=-1.854,-0.739,-1.406, RAW= 306.5, 55.5, CAL= 307.6, 58.8, ROT= 202.4, -58.8 Ygot valid direction response: 04:46:08.4321 LVL= 12512, 15073, 13618, 18083, AGC= 44, IDX= 504,-0.06,-0.354, 0.818, 0.239, 1.602, PHS=-1.854,-0.739,-1.406, RAW= 306.5, 55.5, CAL= 307.6, 58.8, ROT= 202.4, -58.8 \#Rx 101: Read direction message, but no range.`direction in FSK: [-0.478940,-0.197405,0.855364]yy}z[޿Dɿ $_?y}0}:}25 }F)},I}Oi}/=}}.@}w?}˫@ }G\?)}=b@I}G\y}sf⿡{VU? _? }A)}/wI}x 0i}G\checking for new query: numPingsReceived=101, elapsed TxPingTime=46.603882^AQZ> AIIO >9 B >B CB  IB BB =B B DB !q;B -E0 ,sڃD?ARk>RO>RNfTٱRD ZAHRS rotation from veh to nav: [[0.859403,-0.415005,-0.298660],[0.467992,0.873734,0.132558],[0.205937,-0.253691,0.945109]]RH :?@qڿ>ӿ???'\?@y<пT>?iRk>IRN^;PYbBybInDDAT read: Rx Time:04:46:08.9321 rTRx dataTimestamp_ set to:1761540370.088242vDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.3 v\#Rx 102: Read range message, but no direction.ylYllzchecking for new query: numPingsReceived=102, elapsed TxPingTime=46.838806bDVD:y c>%k=9ٔ#Q->9Y=FyERE>Q 555j?Q 955D)tBY1y5u?Q I=W@CI~$P,Z;t\RK^f?ZnsVzB( ҿP?2in{:iny"in gH?*inb4TBinBin~?ٜ?in;inBin?in_? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.498041 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.089190 m, bearing: 205.829036 deg, lat: 36.779335 deg, lon: -121.859562 deg, deltaT: 0.498041 s, deltaX: -0.000077 m, approachRate: -0.000154 m/s, posRepo size: 4 jhbhhh*h!"h9 h9gAEM EMEM(EI"EM;*EM:;VEMc44ZEIBEM=a]2EM=a]JEMĝIIQ@Q @Q@U4@Q@Y@Y^A5;>AIzAMfAԉchecking for new query: numPingsReceived=102, elapsed TxPingTime=47.091690A .AI I O >ԡ ',D?AY~ЁBy~I   AԑiMb@Mb@Mb@ 9J +?Q?~jth?Y(?y\=D;A@ A)@Y\AbDVDy޳=%?=ٔQ->9 ?Y ?=FyEE>Q 55?Q 95@)BY)?Q E:y?Q IW@$CIu ;i7 ;\5yBɮA%B*** querying acoustic contact ***i! i!jh1bh1h1h1*h1"h1 h1g9f9f9f=!BdAdAdAjdAZdMb?uBɢu0)y }ǽiy)} yyi}ዺi0<P!>IIDDAT read: Rx Time:04:46:09.4320 TRx dataTimestamp_ set to:1761540370.592693DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2  \#Rx 103: Read range message, but no direction.yY@checking for new query: numPingsReceived=103, elapsed TxPingTime=47.343582)@) @)@5/@1ԩEe EeEaEa"Ee;*EeF;VEaZEaam@am@am@am@^AM.9>A ؟AI I O >  checking for new query: numPingsReceived=103, elapsed TxPingTime=47.592136;-,~D?AJv>J]>J;VٱJm RAHRS rotation from veh to nav: [[0.876990,-0.377722,-0.297010],[0.433306,0.888834,0.149063],[0.207689,-0.259423,0.943168]]JHL?,ؿ7ӿI?@Tq?{??aпn.?iJv>IJa^;HYnBynItv@AbDzVDzfyV>%Y=ٔQ- >9 "?Y "?= Fy E׽E>Q 5%5%Ӝ?Q 9%5C=)BY!y-\?Q I-W@CCIp:ig: `5y5Bɮ5A5[Em addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504451 s, deltaX: -0.100000 m, approachRate: -0.198235 m/s, rangeRepo size: 4 jhibhihihi*hi"hi higqfqfqfqdydydyjd@Zd?颭Bɢ) i) 项iBiȽ<=II@@ @@/@AABr>BCBG IBOBB =BBDBp;Bh-E^A|1>!IDDAT read: Rx Time:04:46:09.9319 %TRx dataTimestamp_ set to:1761540371.100043UPDAT read: Bearing 242.2, -53.9 (Local) e~Local bearing/azimuth received: Bearing 242.2, -53.9 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.1 \#Rx 104: Read range message, but no direction.yYf?checking for new query: numPingsReceived=104, elapsed TxPingTime=47.865856IO>IEu  Eu Eu *Eq "Eu ;*Eu ,?;VEu (N4ZEq BEu =a} 2Eu =a} JEu h2|>2Vٱ2g :AHRS rotation from veh to nav: [[0.885542,-0.358747,-0.295154],[0.415221,0.896151,0.156541],[0.208344,-0.261178,0.942539]]2H@\V?@ֿҿ?D? ??#пF)?i2a>I2y?^;2CYR ByRIbDZVDZkyh=%I=ٔ׺Q-%>9!Y!=%Fy% E-ME->1Q 5=55C朊?Q 9=559)5BY9y= ?Q IEW@5eCI5;i5#;5c5yIɮM1AI} addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.507350 s, deltaX: -0.200000 m, approachRate: -0.394205 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd?Zd@?  Bɢ ) %9i!)- 19i=~ƺUDAT read: 04:46:09.9319 LVL= 32752, 22081, 28050, 32755, AGC= 42, IDX= 501,-0.01, 1.940, 2.869,-2.389,-1.992, PHS=-2.249,-1.377,-0.441, RAW= 238.8, 42.6, CAL= 242.0, 50.6, ROT= 268.0, -50.6 mYgot valid direction response: 04:46:09.9319 LVL= 32752, 22081, 28050, 32755, AGC= 42, IDX= 501,-0.01, 1.940, 2.869,-2.389,-1.992, PHS=-2.249,-1.377,-0.441, RAW= 238.8, 42.6, CAL= 242.0, 50.6, ROT= 268.0, -50.6 }\#Rx 105: Read direction message, but no range.iF<t=I`direction in FSK: [-0.022152,-0.634344,0.772734]yim@A뮖oL;?imImAVmm m)m*ImimAmᾩm^@mV>?m(@ m=b?)m@Im=bim"!PֿN0q?.v^? mƻ@)m$>ImͿim=b]checking for new query: numPingsReceived=105, elapsed TxPingTime=48.160870@ @@/@@,>@=9q 5 DDAT read: Rx Time:04:46:10.4318 M TRx dataTimestamp_ set to:1761540371.606129^Ae MR!>Au ?Au ? PDAT read: Bearing 231.0, -41.7 (Local) % ~Local bearing/azimuth received: Bearing 231.0, -41.7 (Local) 5 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed -0.2 ] DAT read: 04:46:10.4318 LVL= 32752, 30177, 31218, 32755, AGC= 48, IDX= 501, 0.16, 3.119,-2.778,-1.492,-0.861, PHS=-2.201,-1.872,-0.675, RAW= 221.8, 50.4, CAL= 222.0, 58.1, ROT= 288.0, -58.1 e Ygot valid direction response: 04:46:10.4318 LVL= 32752, 30177, 31218, 32755, AGC= 48, IDX= 501, 0.16, 3.119,-2.778,-1.492,-0.861, PHS=-2.201,-1.872,-0.675, RAW= 221.8, 50.4, CAL= 222.0, 58.1, ROT= 288.0, -58.1 e V#Rx 106: Read range and direction messages.m ^direction in FSK: [0.163296,-0.502575,0.848972]m Fpublishing direction and range infoy9 = jJ?/*?Y= ?9 9 = u= y 9 )= 0I= / i= ￉= ,= w@= z0a?= w@ = ˁ?)= |٠@I= ˁ9 9 = \̊(߿?ף? = w?)= `I= {٠i= ˁ9 9  checking for new query: numPingsReceived=106, elapsed TxPingTime=48.396683E}  E} E} (Ey "E} ;*E} D;VE} c44ZEy a @a @a @a @ԑ I I O >:,fD?A!M>=>\Wٱ@ AHRS rotation from veh to nav: [[0.893590,-0.340803,-0.292147],[0.397383,0.903284,0.161755],[0.208765,-0.260637,0.942595]]HJ?@տ@ҿn?? c?Ҹ?@Gп)?i!M>IZT^;CY]3Bye$ IIm<)iimMb@Mb@Mb@iiii i9m'1Z?K?Ym"?ym^=mmAm @ mA)m@iYmAbDVDk2y">%!=ٔ\Q->9Y=FyE E>Q 55s?Q 95%5)ڂBY%y$?Q E%:y%?Q I%W@CIMII O >1 B b>B CB IB BB  =B B DB p;B A-EuA,y E?A:DDAT read: Rx Time:04:46:10.9320 BTRx dataTimestamp_ set to:1761540372.111063^PDAT read: Bearing 246.0, -54.2 (Local) ^~Local bearing/azimuth received: Bearing 246.0, -54.2 (Local) fDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.3 f\#Rx 107: Read range message, but no direction.y@<jchecking for new query: numPingsReceived=107, elapsed TxPingTime=48.869911l-9>->-bWٱ-;M eAHRS rotation from veh to nav: [[0.900925,-0.324033,-0.288683],[0.380356,0.909869,0.165733],[0.208960,-0.259115,0.942971]]-H_?ԿyҿW??6?`6?Xп,?i-9>I-@^;-CYmWByuQ IbDVDܲyS>%m=ٔQ-?9Y=FyECdE? Q 555  ?Q 955 =2) BY1y= ?Q I=W@ CI ;i 2;  k5yAɮEAAE EE'E"E;*EpD;VE'4ZEBEg=a2Eg=aJEi)Vj i_i<ʛ=II AeDAT read: 04:46:10.9320 LVL= 32752, 32753, 22562, 32755, AGC= 44, IDX= 502, 0.42, 2.639,-2.671,-1.917,-1.475, PHS=-2.068,-1.151,-0.486, RAW= 245.3, 43.6, CAL= 248.2, 51.0, ROT= 261.8, -51.0 Ygot valid direction response: 04:46:10.9320 LVL= 32752, 32753, 22562, 32755, AGC= 44, IDX= 502, 0.42, 2.639,-2.671,-1.917,-1.475, PHS=-2.068,-1.151,-0.486, RAW= 245.3, 43.6, CAL= 248.2, 51.0, ROT= 261.8, -51.0 \#Rx 108: Read direction message, but no range.[Rӻ `direction in FSK: [-0.089760,-0.622886,0.777146]yf׳j{'XD t=a?"X ),IZiSE {>iE >Z@B?@ c?)y7@Ic[t.ڿhH?%씾? # @)BIaۿic= checking for new query: numPingsReceived=108, elapsed TxPingTime=49.177612a ?@  @ @ /@ ^A V=I! I1 OE >G,E?AY qBy p IIiMb@Mb@Mb@ 9Mb?X9v?9Y=%Fy-E5E=>IQ 5e5M?Q 9m5My.)MBYu%?Q Eu:y}[?Q I}W@M̙CIM;iM0;Mn5yBɮASEDDAT read: Rx Time:04:46:11.4319 TRx dataTimestamp_ set to:1761540372.613453PDAT read: Bearing 257.1, -60.3 (Local) ~Local bearing/azimuth received: Bearing 257.1, -60.3 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.4 \#Rx 109: Read range message, but no direction.yYf?checking for new query: numPingsReceived=109, elapsed TxPingTime=49.369610iiB'E?AJi2?Ri2?ji@ba+Ŀlj%u&C?Rf׳j{'XD t=a?Ziaۿbicj>ǿS+= 뿄?Z_cw6޿?2igX:i="i8?*i;޵DBiBiPO?i;޵Diid?i+F@M addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.502390 s, deltaX: -0.200000 m, approachRate: -0.398097 m/s, rangeRepo size: 4 y} Added new target pos. range: 1.790609 m, bearing: 257.648113 deg, lat: 36.779340 deg, lon: -121.859565 deg, deltaT: 1.007324 s, deltaX: 0.099425 m, approachRate: 0.098702 m/s, posRepo size: 4 jhRStopped intercept timer at range: 1.80 m.bhhh*h"h hgfffHBdddjd?Zd`?eBɢm)i m+>ii)mB 顩i3Xi|<2¡=IIE EE)E"EU;*E!R;VEFA4ZEa@a@a@a@mԱa@a @a@e/@a 5 DAT read: 04:46:11.4319 LVL= 23280, 21361, 17490, 28195, AGC= 40, IDX= 502, 0.48, 2.646,-2.299,-1.754,-1.457, PHS=-2.079,-0.797,-0.341, RAW= 255.3, 36.1, CAL= 257.8, 44.6, ROT= 252.2, -44.6 = Ygot valid direction response: 04:46:11.4319 LVL= 23280, 21361, 17490, 28195, AGC= 40, IDX= 502, 0.48, 2.646,-2.299,-1.754,-1.457, PHS=-2.079,-0.797,-0.341, RAW= 255.3, 36.1, CAL= 257.8, 44.6, ROT= 252.2, -44.6 E \#Rx 110: Read direction message, but no range.M `direction in FSK: [-0.217663,-0.677941,0.702153]y  G~`˿fIЎ x?  Z qS RD  #n) (I Vi 1L  @ K!? @  SFG?) ڌ@I SFG  ,yevJ-? )?  4.@) 6!I i SFGe checking for new query: numPingsReceived=110, elapsed TxPingTime=49.617397^A Ի=I I O >N,[(;E?A2,>2->2lVٱ2 RAHRS rotation from veh to nav: [[0.914196,-0.292220,-0.280807],[0.347900,0.921259,0.173920],[0.207873,-0.256689,0.943875]]2H`A? ҿ@ѿC?z?B? ? mп84?i2,>I28^^;2CYVByZ I \\bDfVDf02yn>%nR=ٔn;;Q-n>9pYp=rFyrEr¾Ev>xtQ 5~5vW1?Q 9~5v)+)vBYy7 ?Q IW@vCIv0;iv:vq5y Bɮ A TEi i Ji Ri ji a<@b ؿn]A?l ¶?R G~`˿fIЎ x?Zi bi SFGj 5Ѵ3ֿ$PQvC?Z rYɿuтU6eT?2i :i "i 3u?*i dFBi yBi i NFi yBi ?i c@jhU]TStarting intercept timer at range: 1.80 m.bhYhYhY*hY"hY hYgafafafadididijdqZdu?额Bɢy) >i)j 顩i*i<%;=IIB X>B CB !IB BB  =B CDB DB Cp;B ,EBCBCB–CB =B =C6)DDAT read: Rx Time:04:46:11.9321 TRx dataTimestamp_ set to:1761540373.112235DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.3 \#Rx 111: Read range message, but no direction.yYf@checking for new query: numPingsReceived=111, elapsed TxPingTime=49.863243)@1 @1@5O0@1qE- E-E-*E)"E-;*E-K;VE-(N4ZE)BE-=a=2E-=a=JE-Sy T,TE?AV!p>V&>VTٱV fAHRS rotation from veh to nav: [[0.919355,-0.279687,-0.276696],[0.334971,0.925330,0.177647],[0.206350,-0.256006,0.944394]]VH\k?cѿdѿ(p?`N? $?i?gbпz8?iV!p>%checking for new query: numPingsReceived=111, elapsed TxPingTime=50.111561IVT_^;VCY-By- IbDEaVDEy4=%@=ٔco;Q->9Y=Fy!EpE>Q 55E?Q 95~')(BY y?Q IW@CIiQ)U QQiU]|@iY]E<]=IYԁI@@ @@4@@%=@%=^A=A>A?ԹDDAT read: Rx Time:04:46:12.4322 TRx dataTimestamp_ set to:1761540373.619420PDAT read: Bearing 315.0, -62.3 (Local) ~Local bearing/azimuth received: Bearing 315.0, -62.3 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.4  \#Rx 112: Read range message, but no direction.yY3@ checking for new query: numPingsReceived=112, elapsed TxPingTime=50.372417A I I O > bE:4jE?4rE?/EE  EE EE )EA "EE ;*EE N;VEE FA4ZEA a] @a] @a] @a] @^([,ynE?A2 =2C>2Rٱ2l :AHRS rotation from veh to nav: [[0.924410,-0.267964,-0.271406],[0.322148,0.929514,0.179509],[0.204174,-0.253373,0.945577]]2H@Ĕ?S&ѿ@^ѿ? ?(?`_"?C7п)B?i2 =I2{x^;2CYRByR IiUMb@Mb@Mb@QQQQ Q9U'1Z?On?I +YU"?yU>U9U;AU@ UA)UM@QYUAbDuVDuyI>%J=ٔ;Q->9Y=Fy%EE>Q 55X?Q 95#)6BYQ'?Q E:y ?Q IW@0CIU:i:4y5yBԹɮAUE addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.507185 s, deltaX: 0.200000 m, approachRate: 0.394334 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 2.30 m.bhhh*h"h hgfffyBdddjd`ff@Zd ¿?5(Bɢ5y)9 =>i9)= 99i=QiAEcS5m5@5>5@ 5B>)5I@I5BҾ15,S?v[Ff?8} ? 5*3@)5B B f!IB 9BB  =B B DB o;B ,EA I I OE >A  DDAT read: Rx Time:04:46:12.9324  TRx dataTimestamp_ set to:1761540374.120694 PDAT read: Bearing 306.7, -57.1 (Local)  ~Local bearing/azimuth received: Bearing 306.7, -57.1 (Local)  DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.5  \#Rx 114: Read range message, but no direction.y Y f&@  checking for new query: numPingsReceived=114, elapsed TxPingTime=50.873619b,rE?A2=2@ >2Oٱ2' :AHRS rotation from veh to nav: [[0.928464,-0.260956,-0.264302],[0.312141,0.933880,0.174461],[0.201300,-0.244480,0.948529]]2H ? пTп@?W?`T? 4?`!KϿYZ?i2=I26^;2CYRByR!IIV<)V;V=TbDZVDZ0E EE'E"E;*EZ;VE'4ZEBEq=a 2Eq=a JE9)Y)=-Fy-)E-ԼE5>YQ 5e5]-l?Q 9e5]3 )]FBYaye" ?Q IeW@]SCI]:i]{:]|5yqɮ\AiisE?AJi%@Ri%@jiJ@b-̆O-IJ)?RWsYOL?P;]^Q?ZibiBҾjƑŌzzeU?ZtL=Q޿RGZ?2i0:iԜ"iO?*i#oTBi.BiidFiwBi?i@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.501274 s, deltaX: 0.300000 m, approachRate: 0.598475 m/s, rangeRepo size: 4 U Added new target pos. range: 2.586342 m, bearing: 238.326456 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 1.507241 s, deltaX: 0.795733 m, approachRate: 0.527940 m/s, posRepo size: 4 jhQbhQhQhQ*hQ"hQ hQgYfYfYfYdadadajde@Zdm ?-Bɢ?) ;>i) 4 iWgi;<!eEVE,@Eú>EwȞ@ E>)E|@IEAE5-,Q?4&? E ^7@)E=̺IEiEU checking for new query: numPingsReceived=115, elapsed TxPingTime=51.187462Ai Iq I O > G ! U 9Q YU /sAԙ :h,wE?A2"h=2 G>2Kٱ2By :AHRS rotation from veh to nav: [[0.932037,-0.255382,-0.257073],[0.303700,0.937528,0.169726],[0.197668,-0.236264,0.951371]]2H@@?,Xпsп@o?;? ?.M?=οq?i2"h=I2_^;2CYRByV6!IqDDAT read: Rx Time:04:46:13.4325 TRx dataTimestamp_ set to:1761540374.624753PDAT read: Bearing 312.7, -45.6 (Local) ~Local bearing/azimuth received: Bearing 312.7, -45.6 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.5 DAT read: 04:46:13.4325 LVL= 22560, 14689, 13282, 23923, AGC= 43, IDX= 508, 0.20, 0.879, 2.977, 2.094, 2.617, PHS=-1.636, 0.406,-0.567, RAW= 298.4, 19.8, CAL= 297.5, 26.1, ROT= 212.5, -26.1 Ygot valid direction response: 04:46:13.4325 LVL= 22560, 14689, 13282, 23923, AGC= 43, IDX= 508, 0.20, 0.879, 2.977, 2.094, 2.617, PHS=-1.636, 0.406,-0.567, RAW= 298.4, 19.8, CAL= 297.5, 26.1, ROT= 212.5, -26.1  V#Rx 116: Read range and direction messages.iuMb@Mb@Mb@qqqq q9u?oʡ?Q롿Yu ?yu->u\uAu?@ uA)u@qYuA`direction in FSK: [-0.757389,-0.482510,0.439939]Fpublishing direction and range infoyոh<wp޿=w*'?Y,@ Xa93 s])Ishѿi;>&r@;>'@ Z;>)b]m@IZ;龩F Q!V&?5"¡? ASG@)-IS$iZ;龩checking for new query: numPingsReceived=116, elapsed TxPingTime=51.415024bD-VD-fy=)>%=-=ٔ={9AYA=EFyE.EMEM>QQ 5]5UՁ?Q 9]5U)URBY]%?Q E]:y]?Q I]W@UzCIU7:iU:U 5yĔBɮ AVEiiE?AE EE+E"E";*EQ;VE [4ZEa@a@a@a%@Ji+@Ri+@jiw@b#FqX$J?Rոh<wp޿=w*'?ZiS$biZ;jYl Z?ss?ZLC2Oir㿵1X?2iп:i3"i \䜊?*iFBi Biiii @iT~@ԡ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504059 s, deltaX: 0.100000 m, approachRate: 0.198390 m/s, rangeRepo size: 4  Added new target pos. range: 2.685817 m, bearing: 221.134708 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 0.504059 s, deltaX: 0.099475 m, approachRate: 0.197348 m/s, posRepo size: 4 jhbhhh9*hA"hI hIgQfyffBdddjd@Zdg?2Bɢ߽) j>i)  i (i </+! cn,`[E?A:/=:9>:Gٱ:p FAHRS rotation from veh to nav: [[0.935160,-0.250968,-0.249980],[0.296545,0.940661,0.164979],[0.193742,-0.228412,0.954092]]:H?пXϿ??? ?@<Ϳ?i:/=I:^;:CYN4ByN`!IbDVVDVy^l>%^=ٔbEbia)er aaieƅiimBCB!IBBB =BBDBjn;B,E@ @@*0@DDAT read: Rx Time:04:46:13.9328 TRx dataTimestamp_ set to:1761540375.129234PDAT read: Bearing 317.6, -38.9 (Local) ~Local bearing/azimuth received: Bearing 317.6, -38.9 (Local) DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.5 DAT read: 04:46:13.9328 LVL= 22480, 15473, 12786, 20723, AGC= 42, IDX= 511, 0.19, 2.077,-2.082, 3.064,-2.638, PHS=-1.466, 0.600,-0.626, RAW= 306.2, 16.3, CAL= 304.5, 22.1, ROT= 205.5, -22.1 Ygot valid direction response: 04:46:13.9328 LVL= 22480, 15473, 12786, 20723, AGC= 42, IDX= 511, 0.19, 2.077,-2.082, 3.064,-2.638, PHS=-1.466, 0.600,-0.626, RAW= 306.2, 16.3, CAL= 304.5, 22.1, ROT= 205.5, -22.1 V#Rx 117: Read range and direction messages. `direction in FSK: [-0.836271,-0.398881,0.376224] Fpublishing direction and range infoy+'RdCٿ*?YL@Wq<1 P)*I㥻i?A @>@ |>)e@I|ž9^šXt? V/B)cI,i|žUchecking for new query: numPingsReceived=117, elapsed TxPingTime=51.896255^Ac<E EE*E"E=;*E-I;VE(N4ZEBE =a-2E =a-JE rLu,X9E?AB =B2>BBٱB؟g NAHRS rotation from veh to nav: [[0.937759,-0.248579,-0.242520],[0.291285,0.943244,0.159511],[0.189105,-0.220225,0.956943]]BH? oϿ Ͽi?@/?j?4?W0̿`G?iB =IBk^;BCi|I|checking for new query: numPingsReceived=117, elapsed TxPingTime=52.127800Ye@Byeo!I iimAmAbD}VD}y\j=%>=ٔ39"?Y"?=Fy5E_E>Q 55?Q 95)dBYy  ?Q I W@CI;i7;c5y5ɔBɮ=G A9Qii_EE?AJiK@RiK@ji q@b V#Rx 118: Read range and direction messages. `direction in FSK: [-0.795198,-0.590567,0.137445] Fpublishing direction and range infoy+0|Crt yjȗ?Y3S@`:D! D% <EM  EM EM ,EI "EM ;*EM T;VEM g4ZEI a] @a] @a] @a] @": c)+Iǿifff?3334@0 >ݣ@ 0 >)q@I0 3( ]3?\? >cD@)& I- i0  checking for new query: numPingsReceived=118, elapsed TxPingTime=52.479656v{,E?A23j=2G>2l=ٱ28\ >AHRS rotation from veh to nav: [[0.939783,-0.248624,-0.234507],[0.288056,0.945475,0.151991],[0.183932,-0.210390,0.960159]]2H@?ϿVοo?@TA?ot?? ʿ ? AV@ - A)@Y@bDVDf?y=b>%=2=ٔ=;9AYA=EFyE:EMjEM>qQ 5}5u츝?Q 9}5un)umBY}&?Q E}:y} ?Q I}W@uܚCIu:iuU:u`5ԩyϔBɮc AWEii{E?AJiR@RiR@ji@b{y/':wwt ?R+0|Crt yjȗ?Zi- bi0 j-SV6=!#挛?Zk7?o.x迿d&?2i !:i"i ?checking for new query: numPingsReceived=118, elapsed TxPingTime=52.631538*iηSBiBiiFi Bi<@i+y@= addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.505622 s, deltaX: 0.100000 m, approachRate: 0.197776 m/s, rangeRepo size: 4 m Added new target pos. range: 3.282594 m, bearing: 230.462972 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 0.505622 s, deltaX: 0.099473 m, approachRate: 0.196733 m/s, posRepo size: 4 jhqbhqhqhq*hq"hq hqgyfyfyf}SBdddjd`ff @Zd@2?>BɢĽ) >?i) ii!%<-TOI)I)@ @@?0@BF>BB"IBƒBB =BBB*m;Bb+E ^A q;A >A ? PExceeded connect timeout, disconnecting. DDAT read: Rx Time:04:46:14.9333  TRx dataTimestamp_ set to:1761540376.137045 PDAT read: Bearing 327.3, -31.3 (Local)  ~Local bearing/azimuth received: Bearing 327.3, -31.3 (Local)  DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.6  DAT read: 04:46:14.9333 LVL= 21312, 12273, 14738, 23443, AGC= 47, IDX= 3, 0.24, 2.407,-1.774,-3.102,-2.563, PHS=-1.211, 0.834,-0.583, RAW= 312.6, 10.6, CAL= 310.9, 12.9, ROT= 199.1, -12.9  Ygot valid direction response: 04:46:14.9333 LVL= 21312, 12273, 14738, 23443, AGC= 47, IDX= 3, 0.24, 2.407,-1.774,-3.102,-2.563, PHS=-1.211, 0.834,-0.583, RAW= 312.6, 10.6, CAL= 310.9, 12.9, ROT= 199.1, -12.9  V#Rx 119: Read range and direction messages.% `direction in FSK: [-0.921100,-0.318959,0.223250]% Fpublishing direction and range infoy   LyZiԿNu?Y y@ @S / 9 [) /I i U? }? @ q=> @ f>) e^@I f McD[˿pg&? ;) ]=I 3i f  checking for new query: numPingsReceived=119, elapsed TxPingTime=52.915363I I O >, F?A R=R>R7ٱRwS nAHRS rotation from veh to nav: [[0.941390,-0.249636,-0.226863],[0.286173,0.947090,0.145345],[0.178576,-0.201748,0.963020]]RH@?Ͽ Ϳ P?N???ɿ ?iR=IRm^;RCYvqByv!IbD~VD~ky =% d=E EE)E"E;*ES;VEFA4ZEBEw =a%2Ew =a%JE'9QYQ=UFy]>E]λE]>aQ 5m5eɝ?Q 9m5e/)euBYyc ?Q IW@eCIee%舑,]%F?A@=~==̖>=w2ٱ= J MAHRS rotation from veh to nav: [[0.942417,-0.252104,-0.219758],[0.285886,0.948248,0.138181],[0.173549,-0.193050,0.965719]]=HG(?y"п` !̿K? X??6?޵ȿ*?i=~=I=^;9Y]By]!IIea=)e=m=m=DDAT read: Rx Time:04:46:15.4333 TRx dataTimestamp_ set to:1761540376.640712PDAT read: Bearing 328.1, -30.3 (Local) ~Local bearing/azimuth received: Bearing 328.1, -30.3 (Local) DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.6 EDAT read: 04:46:15.4333 LVL= 30320, 16433, 15538, 31011, AGC= 45, IDX= 500, 0.39, 0.339, 2.507, 1.117, 1.667, PHS=-1.226, 0.885,-0.594, RAW= 313.0, 10.0, CAL= 311.3, 11.8, ROT= 198.7, -11.8 MYgot valid direction response: 04:46:15.4333 LVL= 30320, 16433, 15538, 31011, AGC= 45, IDX= 500, 0.39, 0.339, 2.507, 1.117, 1.667, PHS=-1.226, 0.885,-0.594, RAW= 313.0, 10.0, CAL= 311.3, 11.8, ROT= 198.7, -11.8 UV#Rx 120: Read range and direction messages.]`direction in FSK: [-0.927193,-0.313838,0.204496]]Fpublishing direction and range infoy|5b!ԿrG,?Y3@pv1@< #y)-I휿i\b?bϮ@¸2>ܭ@ BR>)5]@IBR|Ar̿DM64? D~:)?2I,4iBRT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԩieMb@Mb@Mb@aaaa a9e/$?ʡE?lYe?ye>ee Ae@ eA)e@aYe=@bD VD k1E5 E5E5(E1"E5;*E5c;VE5c44ZE1a=@a=@aE@aE@ye=%e"=ٔm"9qYq=}Fy}CE}►E>Q 55ᝊ?Q 95 )BY!?Q E:y%A?Q I%W@$CI'0@  ) B A p<B E>B B G"IB BB B B B k;B *E^A=yb]IIO>,,DF?AImŬ=mIؖ>m3-ٱmvB }AHRS rotation from veh to nav: [[0.943257,-0.254748,-0.213001],[0.286231,0.948937,0.132631],[0.168337,-0.186073,0.968008]]mH)/?Mп C˿`Q? ]?@??=ǿ?imŬ=ImJu^;mCYBy!IbDVD0y=%F=ٔMV9Y=FyGEd9E>nManaging dock network, ignoring radio surface power offQ 55?Q 95)BYyw?Q IW@DCI:i:5yϔBɮ AOEDDAT read: Rx Time:04:46:15.9335 TRx dataTimestamp_ set to:1761540377.1448445PDAT read: Bearing 331.7, -34.3 (Local) =~Local bearing/azimuth received: Bearing 331.7, -34.3 (Local) uDAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.6 DAT read: 04:46:15.9335 LVL= 32752, 20081, 17090, 32755, AGC= 48, IDX= 503,-0.45,-0.015, 2.269, 0.952, 1.374, PHS=-1.286, 0.940,-0.466, RAW= 308.6, 8.4, CAL= 306.5, 9.2, ROT= 203.5, -9.2 B*** querying acoustic contact ***i ijhbhhh*h"h hgfffdddjd Zd H"?Ygot valid direction response: 04:46:15.9335 LVL= 32752, 20081, 17090, 32755, AGC= 48, IDX= 503,-0.45,-0.015, 2.269, 0.952, 1.374, PHS=-1.286, 0.940,-0.466, RAW= 308.6, 8.4, CAL= 306.5, 9.2, ROT= 203.5, -9.2 %R#Rx 1: Read range and direction messages.-`direction in FSK: [-0.905263,-0.393620,0.159881]-Fpublishing direction and range infoyP7631ٿČsv?Y̌@qNB )0Iiףp?Z@Q >.@ l$>)Oc@Il$uJBɢuIJ)y },$?iNL.Oÿ? h?)#I.il$%2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E} EyEyEy"E}غ;*EyVEyZEyBE}=a2E}=aJE}J"ٱJ2 VAHRS rotation from veh to nav: [[0.943786,-0.263546,-0.199530],[0.290546,0.949243,0.120500],[0.157645,-0.171699,0.972454]]JH}3?@п2ɿL?3`?پ?-?9ſX?iJ*=IJ/v^;HY^By^!IrDDAT read: Rx Time:04:46:16.4336 vTRx dataTimestamp_ set to:1761540377.648810zPDAT read: Bearing 335.9, -37.8 (Local) z~Local bearing/azimuth received: Bearing 335.9, -37.8 (Local) DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed -0.6 -DAT read: 04:46:16.4336 LVL= 31024, 16785, 17650, 32755, AGC= 49, IDX= 504,-0.20,-1.448, 0.876,-0.320,-0.041, PHS=-1.304, 0.963,-0.323, RAW= 304.4, 6.8, CAL= 302.1, 6.2, ROT= 207.9, -6.2 5Ygot valid direction response: 04:46:16.4336 LVL= 31024, 16785, 17650, 32755, AGC= 49, IDX= 504,-0.20,-1.448, 0.876,-0.320,-0.041, PHS=-1.304, 0.963,-0.323, RAW= 304.4, 6.8, CAL= 302.1, 6.2, ROT= 207.9, -6.2 5R#Rx 1: Read range and direction messages.=`direction in FSK: [-0.878597,-0.465193,0.107999]EFpublishing direction and range infoypr,v쿪-ݿNiإ?Yr@pr0yrArD p)r1Iry馿ir+v?rB`rP@r=rw@ rk=)r9h@Irkݽppr&?C iN? rD)rIr)irkݽppe2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.iMb@Mb@Mb@ 9p= ף?T㥛 ?lY%?y>A@ A)(@Y(@bD E] E]E]*EY"E];*E]o;VE](N4ZEYae@ae@am@am@VD fy 7j=% =ٔ C9Y=FyME;E>!Q 55%?Q 95%)%BY(?Q E:y>Q IW@%xCI%:i%:%5yՔBɮ APEipiriF?AJir=@Rir=@jirQy@brkR"bv&9?Rr,v쿪-ݿNiإ?Zir)birkݽjrn)-A? IH|L ?ZrW70M,Nc忺e?2irC:irP"irVm?*ir3[4RBirBipipirOBirؑ@irn@m addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 1.008098 s, deltaX: 0.400000 m, approachRate: 0.396787 m/s, rangeRepo size: 4 u Added new target pos. range: 4.476235 m, bearing: 223.202314 deg, lat: 36.779334 deg, lon: -121.859565 deg, deltaT: 1.008098 s, deltaX: 0.397884 m, approachRate: 0.394688 m/s, posRepo size: 4 jhybhhh*h"h hgfff́Bdddjd@Zd`?OBɢ%ý)%M| %o*?i!)-))i5i9EB CB s"IB BB B B B j;B (*EBCBCB̔CB =B =Cܿ5I A.AIAIQOe? 㡑,`F?A2`=2L>2vGٱ2, :AHRS rotation from veh to nav: [[0.943992,-0.267861,-0.192691],[0.292861,0.949182,0.115261],[0.152025,-0.165237,0.974467]]2H.5?$ѿ@ȿ 9Z ?Y^ ?=^Fy^QE^;Eb>`Q 5f5bm%?Q 9j5b)bBYhyj>Q IjW@rDDAT read: Rx Time:04:46:16.9339 vTRx dataTimestamp_ set to:1761540378.152789zPDAT read: Bearing 341.2, -40.8 (Local) z~Local bearing/azimuth received: Bearing 341.2, -40.8 (Local) DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed -0.6 -DAT read: 04:46:16.9339 LVL= 32752, 18161, 20050, 32755, AGC= 51, IDX= 507, 0.04, 0.671, 3.006, 1.944, 2.077, PHS=-1.305, 0.974,-0.177, RAW= 300.3, 5.2, CAL= 298.0, 2.5, ROT= 212.0, -2.5 =Ygot valid direction response: 04:46:16.9339 LVL= 32752, 18161, 20050, 32755, AGC= 51, IDX= 507, 0.04, 0.671, 3.006, 1.944, 2.077, PHS=-1.305, 0.974,-0.177, RAW= 300.3, 5.2, CAL= 298.0, 2.5, ROT= 212.0, -2.5 =R#Rx 1: Read range and direction messages.E`direction in FSK: [-0.847241,-0.529415,0.043619]EFpublishing direction and range infoypr޶࿥GU?Yr@prrFrRN p)r3Ir= irXy?r}?5r@r޹=rBo@bCIb,rF?A%=%1>%/ٱ%ȉ% =AHRS rotation from veh to nav: [[0.944114,-0.272095,-0.186047],[0.295271,0.949007,0.110457],[0.146505,-0.159218,0.976312]]%H@.6?iѿ dǿ@?C^?F??`EaĿ@=?i%=I%w^;%CYEȃByE"IiMb@Mb@Mb@ 9Pn?ʡE?S㥛Y$?y-=/ݼbA@ =@)@Y@bDVDN5DDAT read: Rx Time:04:46:17.4341 5TRx dataTimestamp_ set to:1761540378.656912EPDAT read: Bearing 344.5, -40.6 (Local) E~Local bearing/azimuth received: Bearing 344.5, -40.6 (Local) UDAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.6 }DAT read: 04:46:17.4341 LVL= 32752, 17169, 24386, 32755, AGC= 51, IDX= 508, 0.40,-1.254, 1.072, 0.042, 0.118, PHS=-1.270, 0.999,-0.120, RAW= 299.5, 4.0, CAL= 297.3, -0.0, ROT= 212.7, 0.0 Ygot valid direction response: 04:46:17.4341 LVL= 32752, 17169, 24386, 32755, AGC= 51, IDX= 508, 0.40,-1.254, 1.072, 0.042, 0.118, PHS=-1.270, 0.999,-0.120, RAW= 299.5, 4.0, CAL= 297.3, -0.0, ROT= 212.7, 0.0 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.841511,-0.540240,-0.000000]Fpublishing direction and range infoy152c꿆qrIY5@115C5B_ 1)1I5\i5w?55E@55=5, @ 5)5m@I5115{ՌᅣA?B? 5H@)5֏I5"$i5112Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.y`Q=%=ٔ+9 "?Y "?= Fy WE~;E>!Q 555%A?Q 955%~)%BY=%?Q E=:y=>Q IEW@%țCI%fX;i%In;%V5yMٔBɮUAbE%(N4jE%KJ4rE%ē/E EE,E"E;*E]t;VEg4ZEa@a@a@a@UQEK==Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1L=EEntering Midcourse tracking update period 60.000000 s sec at 5.000000 m (mode 5.000000 count ).1LEqLMJM MAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJMResuming normal ranging with 1.000000 count pings 5.000000 m (mode 5.000000 count ).J1Ki1i5 F?AJi5@Ri5@ji5=@b5n^5}&eR52c꿆qrIZi5"$bi5j5<>NeK ٱNr  VAHRS rotation from veh to nav: [[0.943226,-0.282890,-0.174061],[0.303206,0.947289,0.103487],[0.135611,-0.150389,0.979282]]^DDAT read: Rx Time:04:46:17.9344 bTRx dataTimestamp_ set to:1761540379.160800fPDAT read: Bearing 203.7, -15.4 (Local) j~Local bearing/azimuth received: Bearing 203.7, -15.4 (Local) rDAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.6 DAT read: 04:46:17.9344 LVL= 32752, 23457, 30386, 32755, AGC= 51, IDX= 512,-0.08,-0.200,-1.166, 0.479, 0.685, PHS=-0.783,-1.806,-0.249, RAW= 169.7, 36.2, CAL= 170.8, 47.8, ROT= 339.2, -47.8  Ygot valid direction response: 04:46:17.9344 LVL= 32752, 23457, 30386, 32755, AGC= 51, IDX= 512,-0.08,-0.200,-1.166, 0.479, 0.685, PHS=-0.783,-1.806,-0.249, RAW= 169.7, 36.2, CAL= 170.8, 47.8, ROT= 339.2, -47.8 R#Rx 1: Read range and direction messages.^direction in FSK: [0.627942,-0.238533,0.740805]Fpublishing direction and range infoy`bDW+?F<ο;ի?Ybf@``b[bv `)`IbrHib+翉b~b=@b?!?b>@ bU?)bq@IbU``bRߵ?{J?S(f? b)^?)b !Ib޹ibU``}2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.NH.?ҿGƿg?0P?'~?[??ÿGV?iNE=IN`;NCYmރBym1"I}=}=ԉbDVD:y=%=ٔ9Y=FyE- E- E-(E)"E-a;*E-{;VE-c44ZE)BE-=a=2E-=a=JE-Q 55\?Q 95)BYy[>Q IW@CI[:i:5yޔBɮABjN@qLLj?1KqKi`ibJF?AJibo@Ribo@jibA=bb{ @@'נ(&@RbDW+?F<ο;ի?Zib޹bibUjb@^;!\?Τ2@ZbD9?mg$ ?^g?2ibn>:ib@@"ibY?*ibsBibwBibU"?i`i`ibʨ@ib1w@u addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503888 s, deltaX: 0.400000 m, approachRate: 0.793826 m/s, rangeRepo size: 4  Added new target pos. range: 5.669868 m, bearing: 4.427460 deg, lat: 36.779341 deg, lon: -121.859571 deg, deltaT: 0.503888 s, deltaX: 0.397882 m, approachRate: 0.789624 m/s, posRepo size: 4 BNOT Ignoring new targets: 5.67 m.hh*h"h h2hgfffddjd@ZdGS?Z%%?Z%%?Z%# >Z% [>UeK )Y ]?i]$9)Y]!&5YiYiaae{ 91Y9==Fy9=E=>aQ 5m5e{u?Q 9m5e)eǃBQ Au+:YqQ Eu:yqQ IuW@eCIe;ie?e5yBɮ}AREJjLL"jqKK addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503527 s, deltaX: 0.200000 m, approachRate: 0.397199 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 5.67 m.hh*h "h  h 2h g f ffddjd@Zd]?) ??i9)顭,{5ii_ B A>B B "IB 9AYA=MFyIIEU>YQ 5e5] ?Q 9e5]4)]ЃBQ Ae :YaQ EmW:yiQ ImW@]>CI];i]e?]Ӯ5yqɮuAqRjԑLtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseKAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*jKCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRBNOT Ignoring new targets: 5.67 m.hh*h"h h2hgfffddjdZd ?DDAT read: Rx Time:04:46:18.9348 TRx dataTimestamp_ set to:1761540380.200171PDAT read: Bearing 340.7, -32.7 (Local) ~Local bearing/azimuth received: Bearing 340.7, -32.7 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.6 5DAT read: 04:46:18.9348 LVL= 32752, 20689, 32146, 32755, AGC= 55, IDX= 5,-0.42,-2.869,-0.657,-1.864,-1.634, PHS=-1.132, 1.022,-0.274, RAW= 306.7, 4.1, CAL= 304.3, 1.3, ROT= 205.7, -1.3 =Ygot valid direction response: 04:46:18.9348 LVL= 32752, 20689, 32146, 32755, AGC= 55, IDX= 5,-0.42,-2.869,-0.657,-1.864,-1.634, PHS=-1.132, 1.022,-0.274, RAW= 306.7, 4.1, CAL= 304.3, 1.3, ROT= 205.7, -1.3 =R#Rx 1: Read range and direction messages.i)i mȚ?im~9)imC5qiqiqyyIyIy`direction in FSK: [-0.900845,-0.433547,0.022687]Fpublishing direction and range infoy"X =ۿNGY;?Yf@P} )7I`吿iЂ?I)K@C=@ ޹<)e@I޹$aKdŽ88St? #A)mǓIZ,i޹E2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Ee Ee Ee)Ea"Ee;*Eez;VEeFA4ZEaBEe =au2Ee =auJEeOȑ,"G?AR=R>R6ٱRl  AHRS rotation from veh to nav: [[0.941981,-0.298614,-0.153301],[0.312630,0.946765,0.076799],[0.122207,-0.120270,0.985191]]RH@$?ӿ``ÿ?K??H?`ʾ?iR=IR<'_;PY=By={"ImAmAaa aa aa aa iMb@Mb@Mb@ 9/$?:v?~jthY?y<D@^@ /@)@Y@bDVDyC=%%=ٔn9Y=FyÛ<E>Q 5 5ǟ?Q 9 5e)BQ AT:Y?Q E:yz>Q IW@eCIr;i;&5yޔBɮ%$A%IEii G?AJiY@RiY@jiy@bT 9cn@$?R"X =ۿNGY;?ZiZ,bi޹jNSX]&ZҨ1f̿ZD8| e{}92i>:i"i?(?*ia]BiBi "?ia]iBi@iXy@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.535844 s, deltaX: 0.300000 m, approachRate: 0.559864 m/s, rangeRepo size: 4  Added new target pos. range: 6.167222 m, bearing: 223.692994 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 1.039371 s, deltaX: 0.497354 m, approachRate: 0.478514 m/s, posRepo size: 4 %BNOT Ignoring new targets: 6.17 m.h!h!*h!"h! h!2h!g)f)f)f-\Bd1d1jd5@Zd5 ?eDDAT read: Rx Time:04:46:19.4349 mTRx dataTimestamp_ set to:1761540380.688685uPDAT read: Bearing 340.1, -29.9 (Local) u~Local bearing/azimuth received: Bearing 340.1, -29.9 (Local) DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.6 DAT read: 04:46:19.4349 LVL= 32752, 23761, 32754, 32755, AGC= 53, IDX= 502,-0.13, 2.463,-1.624,-2.907,-2.627, PHS=-1.091, 1.047,-0.324, RAW= 309.3, 4.0, CAL= 306.9, 1.3, ROT= 203.1, -1.3 Ygot valid direction response: 04:46:19.4349 LVL= 32752, 23761, 32754, 32755, AGC= 53, IDX= 502,-0.13, 2.463,-1.624,-2.907,-2.627, PHS=-1.091, 1.047,-0.324, RAW= 309.3, 4.0, CAL= 306.9, 1.3, ROT= 203.1, -1.3 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.919585,-0.392236,0.022687]Fpublishing direction and range infoyim)m΍ImLB/iiii2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Zu?Zu?Zu-=ZuUz>6) \?i\9)顭5DYzDYEu EuEu*Eq"Eu;*EuL_;VEu(N4ZEqa@a@a@a@iiBB"IBUBBBBBg;B(Ep)@ @@4@ԱDDAT read: Rx Time:04:46:19.9352 TRx dataTimestamp_ set to:1761540381.192787PDAT read: Bearing 340.3, -29.2 (Local) ~Local bearing/azimuth received: Bearing 340.3, -29.2 (Local) DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.7 %DAT read: 04:46:19.9352 LVL= 32752, 25969, 32754, 32755, AGC= 54, IDX= 504, 0.00,-2.860,-0.703,-1.972,-1.696, PHS=-1.062, 1.038,-0.319, RAW= 309.6, 3.8, CAL= 307.2, 1.0, ROT= 202.8, -1.0 -Ygot valid direction response: 04:46:19.9352 LVL= 32752, 25969, 32754, 32755, AGC= 54, IDX= 504, 0.00,-2.860,-0.703,-1.972,-1.696, PHS=-1.062, 1.038,-0.319, RAW= 309.6, 3.8, CAL= 307.2, 1.0, ROT= 202.8, -1.0 5R#Rx 1: Read range and direction messages.=`direction in FSK: [-0.921723,-0.387457,0.017452]=Fpublishing direction and range infoy]~(HؿW7) ߑ?Y@qe )6Ii/݄?S@ԇ=@ 5<)b@I5oP|JtBſ*˰? [>)vI/i5U2Acoustic response timeout]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A}<IIO,?^ӑ,NG?AE EE(E"E;*E@h;VEc44ZEBE=a%2E=a%JEMt5ٱM =ӽ ]AHRS rotation from veh to nav: [[0.941792,-0.305692,-0.139927],[0.316412,0.946619,0.061605],[0.113626,-0.102294,0.988243]]MH)#?`vӿ#@?J???/?iM=IM{^;MCY/By"I ;bDVD0y5Q=%5<ٔ59Y99Y9==Fy9E;EE>iiQ 5u5m??Q 9u5m)mBYyy}n>Q I}W@mCIm:im:m5yBɮAJEiiVLG?AJir@Rir@jiKw@bx;2,W\ q8?R]~(HؿW7) ߑ?Zi/bi5jaFY"kiŶԿZnݒ=2iH:iȢ"i?*i6^BiBii6^iBi@if3x@ addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.992616 s, deltaX: 0.600000 m, approachRate: 0.604464 m/s, rangeRepo size: 4  Added new target pos. range: 6.764037 m, bearing: 221.154893 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 0.992616 s, deltaX: 0.596815 m, approachRate: 0.601255 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.76 m.hh*h"h h2hgff f d d jd @33@Zd`X?ZQZQZQZUUn>mt5)i m?iu9)qu6qiqiyytb)Ix 0iA"2Acoustic response timeout"Querying Benthos address 50 with 120 pings in terminal homing one-way mode.n=n>nٱn'yɽEz EzEz*Ex"Ezտ;*Ezg;VEz(N4ZExa~@a~@a~@a~@ AHRS rotation from veh to nav: [[0.941767,-0.307962,-0.135038],[0.317799,0.946377,0.058090],[0.109907,-0.097622,0.989136]]nH"? ӿHV?`H??@"?`?in=Ing^;nCY%SBy%"IiMb@Mb@Mb@ 9`"?%=ٔ;Q->9AYA=EFyAM ;EU>QQ 55UQ؞?Q 95U)U BY?Q E:y[>Q IW@UCIU&;iUU;U5yBɮAKEiiףlG?AJi@Ri@jipv@b}mZ%@2 3?RƵ9yj.\ؿP7V?Zix 0biAjO!TH.ZʶH迮KlI],2i:i"iylg!?*i@!>\BiBiia]iiQ@iv@} addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504713 s, deltaX: 0.100000 m, approachRate: 0.198132 m/s, rangeRepo size: 4  Added new target pos. range: 6.863508 m, bearing: 220.624253 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 0.504713 s, deltaX: 0.099471 m, approachRate: 0.197084 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.86 m.hh*h"h h2hgfffIBddjd@Zd%?Z?Z?Zѕ<Z[>=)9 =?i=9)9EAiAiAIM/ןBM CBM "IBM oBBI BI BM DBM g;BM Y(E /@  @ @ 1@ @ fA@ fAi eDDAT read: Rx Time:04:46:20.9356 mTRx dataTimestamp_ set to:1761540382.200671uPDAT read: Bearing 341.7, -28.8 (Local) u~Local bearing/azimuth received: Bearing 341.7, -28.8 (Local) DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.5 DAT read: 04:46:20.9356 LVL= 32752, 24225, 28946, 32755, AGC= 54, IDX= 508, 0.10,-0.721, 1.418, 0.169, 0.412, PHS=-1.032, 1.050,-0.288, RAW= 309.3, 3.0, CAL= 306.9, -0.2, ROT= 203.1, 0.2 Ygot valid direction response: 04:46:20.9356 LVL= 32752, 24225, 28946, 32755, AGC= 54, IDX= 508, 0.10,-0.721, 1.418, 0.169, 0.412, PHS=-1.032, 1.050,-0.288, RAW= 309.3, 3.0, CAL= 306.9, -0.2, ROT= 203.1, 0.2 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.919816,-0.392335,-0.003491]Fpublishing direction and range infoyae!oIQ:xٿQC1mlYe@aae^eq a)aIeieff?ete澬@ePwV=eg@ ed)eib@Ied;aaeH=Ŀ,*n? e>)eUIeLB/ied;aaE2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԑ^Au<IIO?b,1G?AE. E.E.)E,"E.p;*E. n;VE.FA4ZE,BE.)=a22E.)=a2JE.Z#<۽ٱZȌ bAHRS rotation from veh to nav: [[0.941889,-0.309396,-0.130839],[0.318479,0.946341,0.054861],[0.106844,-0.093343,0.989885]]ZH#?%ӿ Q@a?lH? ?@ Z?@N巿"?iZ=IZ7s^;ZCYjpByj"IIn<)n=r=r=bDvVDvyU=%]/=ٔ]@;Q-]>9aYa=eFyae:Em>Q 55?Q 952)BYy>Q IW@CI:ig:5yɮAii׌G?AJi@Ri@jiPw@b!3;q`^{OR!oIQ:xٿQC1mlZiLB/bid;j a40<޿Z:=J翂!BɅv2i:i^"i,]2 ?*iP4dBi{Biylg!?iii@iu@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503171 s, deltaX: 0.500000 m, approachRate: 0.993698 m/s, rangeRepo size: 4 U Added new target pos. range: 7.360752 m, bearing: 221.745971 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 0.503171 s, deltaX: 0.497244 m, approachRate: 0.988220 m/s, posRepo size: 4 UBNOT Ignoring new targets: 7.36 m.hQhQ*hQ"hQ hY2hYgYfyffddjd@Zd?ZZZZͩ>#<۽) ?i9)ii   bfϽٱf. %AHRS rotation from veh to nav: [[0.942326,-0.310773,-0.124267],[0.319018,0.946286,0.052624],[0.101238,-0.089232,0.990852]]fH'?`ӿϿj?G?@{??`׶?ifF=Ifv~^;dYBy"Iԁi=Mb@Mb@Mb@9999 99=m?9Y=Fy!:E>Q 556?Q 95),BY?Q E:y +>Q I W@CI:i:5yBɮ9ALEi9i="G?AJi=@Ri=@ji=v@b=s(>khs??R=Ǖ֜^cؿsNru?Zi=x 0bi=j=s{,ٿZ=C)迕P@+8۫2i=m:i=ݳ"i=j.?*i=ubaBi=Bi9i=6^i9i=@i=;Pu@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504574 s, deltaX: 0.100000 m, approachRate: 0.198187 m/s, rangeRepo size: 4  Added new target pos. range: 7.460222 m, bearing: 221.013451 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 0.504574 s, deltaX: 0.099470 m, approachRate: 0.197136 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.46 m.hh*h"h h2hgfff\Bdd jd @Zd `?ZM?ZM?ZM.=]2Acoustic response timeoutԱZM+>Ͻ) =?iR9)-4ii)t>AA@AB5>BB#IBBB =BBB~f;B(EBmCBmCBmȓCBiBm =Cmȑ-55 9= ?i= ? a6@  @ @ /@ @ =@ =  DDAT read: Rx Time:04:46:21.9360  TRx dataTimestamp_ set to:1761540383.208344 DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.5  X#Rx 1: Read range message, but no direction.y Y A % 2Acoustic response timeout- Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E EE-E"E;*Ey;VEt4ZEBE5#=a 2E5#=a JEt%u3=ٔuQ-}>9yYy=}FyyE>Q 55?Q 95M);BYyQ IW@/CIN:i:5yBɮ;AME addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503099 s, deltaX: 0.500000 m, approachRate: 0.993840 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.46 m.hh*h"h h2hgfffddjd @Zd@%?Z Z Z Z !)! %]?i%:))-)i)i115M0@  DDAT read: Rx Time:04:46:22.4361  TRx dataTimestamp_ set to:1761540383.719734 DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.5  X#Rx 1: Read range message, but no direction.y Y A  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A ԅ<I I! O- >M,iG?A2X=2h>2aeƽٱ2< :AHRS rotation from veh to nav: [[0.942865,-0.310684,-0.120336],[0.318826,0.946206,0.055171],[0.096722,-0.090385,0.991199]]2H+? ?ӿ@Qξ g? RG?]??@¸?`w#?i2X=I2Ӭ^;2CYBƄByBN#IDDbEG4jErEͰ/E EE)E"E;*EOs;VEFA4ZEa%@a%@a%@a%@imMb@Mb@Mb@iiii i9moʡ?kt?Mb?Ym ?ym =m9Y = Fy tAE>Q 5U5/?Q 9U5)HBYU?Q EU:yU>Q I]W@QCI7;i1;5yɮ\A addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.511390 s, deltaX: 0.100000 m, approachRate: 0.195546 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.46 m.hh*h"h h2hgfff~Bd d jd @33 @Zd  w?ZM?ZM?ZM>ZM>aeƽ) ?i9)   i i5uB5 CB5 T#IB5 ʄBB5  =B1 B5 DB5 e;B5 'E 9@  @ @ 0@ Q DDAT read: Rx Time:04:46:22.9363 TRx dataTimestamp_ set to:1761540384.216676PDAT read: Bearing 340.8, -27.1 (Local) ~Local bearing/azimuth received: Bearing 340.8, -27.1 (Local) DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 DAT read: 04:46:22.9363 LVL= 32752, 27825, 32754, 32755, AGC= 59, IDX= 4,-0.21,-0.002, 2.110, 0.846, 1.123, PHS=-1.023, 1.032,-0.321, RAW= 310.4, 3.5, CAL= 308.0, 0.6, ROT= 202.0, -0.6 Ygot valid direction response: 04:46:22.9363 LVL= 32752, 27825, 32754, 32755, AGC= 59, IDX= 4,-0.21,-0.002, 2.110, 0.846, 1.123, PHS=-1.023, 1.032,-0.321, RAW= 310.4, 3.5, CAL= 308.0, 0.6, ROT= 202.0, -0.6 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.927133,-0.374586,0.010472]Fpublishing direction and range infoy3*]ho8׿/;r?YfAl );Ii?Z-\@5z=@ +<)ܢa@I+i (ck5cyƿ2IeO(? |=)myI|0i+2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^AR5<IIO%?l,9H?Aɰ4<E. E.E.*E,"E.4;*E.L_;VE.(N4ZE,BE.=a22E.=a2JE.)VF½ٱVo[ ~AHRS rotation from veh to nav: [[0.943306,-0.310024,-0.118571],[0.318123,0.946369,0.056423],[0.094719,-0.090945,0.991341]]VH/? pӿ@Z!\?`H????&H ?iVGp=IVrF`;VCY-ՄBy-a#I =p<=<bDEVDEy}=%})=ٔ3;Q->9Y=FyOۺE>  Q 55 D?Q 9%5 ) UBYIyM>Q IUW@ tCI %F½)) -?i-c9))-4)i)i19=iN , l/H?AXjYgot valid direction response: 04:46:23.4364 LVL= 32752, 25313, 30386, 32755, AGC= 57, IDX= 501,-0.41,-0.947, 1.197,-0.078, 0.163, PHS=-1.008, 1.079,-0.286, RAW= 310.1, 2.4, CAL= 307.8, -0.8, ROT= 202.2, 0.8 jR#Rx 1: Read range and direction messages.nbdirection in FSK: [-0.925780,-0.377804,-0.013962]nFpublishing direction and range infoyp3a -ؿ4Y Abv )9I%i?nI1@+=o@ d) a@Id<|zV"eƿ?{.? =)ҁ)IC0id<2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.DIzDM@AEU EUEQEQ"EU;*EU2g;VEQZEQa]@a]@a]@a]@uL=u=>u&ٱu AHRS rotation from veh to nav: [[0.944477,-0.307502,-0.115781],[0.315368,0.947271,0.056743],[0.092228,-0.090107,0.991653]]uH(9?ӿ٣@.? P?@u ?;?8@?iuL=IuAa;uCYBy#IiMb@Mb@Mb@ 9jt?X9v?9Y=FyE>Q 55W?Q 9%5)aBY%W?Q E%:y%[?Q I%W@CIu;ia:5y5Bɮ5TA5NEii3.H?AJiARiAjiv@bIٕS* ̖CRp3a -ؿ4ZiC0bid<jN#WGMD88C Z=fK50$俟u82i:i"i2d6?*ijBfBi҃Bi1-?iP4di҃BiX Ai6u@ addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.505221 s, deltaX: 0.200001 m, approachRate: 0.395868 m/s, rangeRepo size: 4  Added new target pos. range: 8.554150 m, bearing: 220.694338 deg, lat: 36.779344 deg, lon: -121.859579 deg, deltaT: 0.505221 s, deltaX: 0.198935 m, approachRate: 0.393757 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.55 m.hh*h"h hgfffBddjd@33!@Zd ~?ZMW?ZMW?ZMzm>ZM[?}&) ?i?9)顅,w5iiBm CBm #IBm BBm  =Bi Bm DBm {e;Bm ~'E 9M 9@I  @I @M /@I a DDAT read: Rx Time:04:46:23.9367 TRx dataTimestamp_ set to:1761540385.224658PDAT read: Bearing 341.7, -26.0 (Local) ~Local bearing/azimuth received: Bearing 341.7, -26.0 (Local) DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4  DAT read: 04:46:23.9367 LVL= 32752, 26353, 32754, 32755, AGC= 57, IDX= 503, 0.33, 1.528,-2.654, 2.342, 2.618, PHS=-0.988, 1.057,-0.320, RAW= 311.3, 2.8, CAL= 308.9, -0.3, ROT= 201.1, 0.3 Ygot valid direction response: 04:46:23.9367 LVL= 32752, 26353, 32754, 32755, AGC= 57, IDX= 503, 0.33, 1.528,-2.654, 2.342, 2.618, PHS=-0.988, 1.057,-0.320, RAW= 311.3, 2.8, CAL= 308.9, -0.3, ROT= 201.1, 0.3 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.932941,-0.359992,-0.005236]%Fpublishing direction and range infoyH+c͎ ׿sNruYAf )I|iK? ףܭ@+H=@ )`@I;y{VͧRýɿ?j6 ? k<)dII5~1i;=2Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^AU4<IYIqO} ?XH,fQH?AE EE'E"EF;*Eg;VE'4ZEBE"=a&2E"=a&JEqbٱb湽 ~AHRS rotation from veh to nav: [[0.944672,-0.307105,-0.115247],[0.314957,0.947385,0.057129],[0.091639,-0.090266,0.991693]]bH:?ӿـ@A(?`P? @?`u?@?ib^=IbCf`;bCY By #IbDVD:y5֣=%5&=ٔ=:Q-=>99Y9=EFyAE0uEE>iQ 5u5mi?Q 9u5m_)mlBYyy}<?Q I}W@mCIm-:imF:mZ5yɮg@ii`NH?AJi;ARi;Aji3u@b~ #\ /դRH+c͎ ׿sNruZi5~1bi;jh2NYHiZKғ.u(O!rS俵2˭2i:i"i/U$?*iSTeBiBiiSTeii Aiާu@5 addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.502761 s, deltaX: 0.400000 m, approachRate: 0.795606 m/s, rangeRepo size: 4 Am Added new target pos. range: 8.951987 m, bearing: 219.513826 deg, lat: 36.779344 deg, lon: -121.859580 deg, deltaT: 0.502761 s, deltaX: 0.397838 m, approachRate: 0.791306 m/s, posRepo size: 4 mBNOT Ignoring new targets: 8.95 m.hihi*hq"hq hqgqfqfyfydydyjd"@Zd@Z?ZZZZw<?) ?io:)5i!i!)-㐆ԡ tl,NkH?A2n=2>2zٱ2/P RAHRS rotation from veh to nav: [[0.944833,-0.306918,-0.114419],[0.314666,0.947500,0.056825],[0.090972,-0.089694,0.991806]]2H mDAT read: 50 u:unknown deviceResponse_: 50 uDAT read: Ok }:unknown deviceResponse_: Ok }*DAT read: user:200> BDAT read: Tx time:04:46:24.8799 $Ping request sent.y>;@G@ @)Y@AAAAbDVDܲyt<%R=ٔ :Q->9Y=Fy\E>Q 55cw?Q 95L)sBY`?Q E:y ?Q IW@ѝCI ;i& ;5yBɮ@EEEU EUEU(EQ"EU;*EUn;VEUc44ZEQa]@a]@a]@ae@BNOT Ignoring new targets: 8.95 m.hԩh*h "h  hgfff%Bd!dijdqZduS?Z`?Z`?Z}>Zk ? z)  ?i3:)5ii'vB! B% #IB% 0BB%  =B! B! B% 7e;B% Z'EI O >!,PsH?A8bI=b'>bٱb_ jAHRS rotation from veh to nav: [[0.944704,-0.307796,-0.113116],[0.315307,0.947366,0.055488],[0.090084,-0.088086,0.992031]]bH;?@ӿ3`-?P?h??@͌?ibI=Ib_;`YrByr#IbDVD:y%=%%O=ٔ-;Q-->9)Y)=5Fy159:E5>9Q 5E5=K?Q 9E5=%)=yBYAyM ?Q IMW@=CI=>:i=;=-5yqɮu@qBNOT Ignoring new targets: 8.95 m.hh*h"h hgfffddjdZd ?ZZZZC ?) ?iV:)6ii   ɉ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7672521',2H?Aɰ Y] By]#IbDVDβyd<%B=ٔQ->9Y=FyE>Q 5-5k?Q 955)BYAyAQ IEW@CI;i';5yeBɮm@mFEBNOT Ignoring new targets: 8.95 m.hh*h"h hgfffddjdZdy?ZZZ)ZQ)a e?ie:)im16iiiiqqu&/,H?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271305F =F>F;4ٱF NAHRS rotation from veh to nav: [[0.944407,-0.309087,-0.112075],[0.316545,0.946929,0.055898],[0.088849,-0.088267,0.992126]]FH 8?`ӿ밼HB?=M?@? ׾??iF =IFt^;FCYV,ByV#Ii5Mb@Mb@Mb@1111 195\(\?E?:vY5>y5F>5T151@ 1)5^@1Y1 M49aYa=mFyim0;Em>qQ 5}5ui?Q 9}5u)uBY?Q E:yM2?Q IW@u'CIuY;iu;u 5yɮ@BNOT Ignoring new targets: 8.95 m.hh*h"h hgfffB dAdIjdIZdM|?Z?Z?Z>ZM2?;4)B%>BB#IBNBB =BBBe;BA'E ?i:)N6ii  @6,H?A2s =23>2ϴٱ2`: :AHRS rotation from veh to nav: [[0.944246,-0.309876,-0.111246],[0.317214,0.946738,0.055343],[0.088171,-0.087546,0.992251]]2H`D7? ӿ`z ;M?@K?U?]?`li?i2s =I2h^;2CYB9ByB#IbDJVDJJyR-t=%RB=ٔVi:Q-V>9TYX=ZFyXZK:EZ>\Q 5b5^?Q 9b5^̾)^BYdyf}2?Q IfX@^DCI^K:i^:^5yjBɮjJ@nGE)}BNOT Ignoring new targets: 8.95 m.hyh*h"h hgfffddjdZd`@ZZZZg}2?ϴ)  ?i :)$k6ii checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027196Ա EU  EU EU ,EQ "EU ^;*EU `;VEU g4ZEQ ae @ae @ae @ae @L<,H?A>==>v|>>%ٱ>< FAHRS rotation from veh to nav: [[0.943956,-0.311046,-0.110443],[0.318241,0.946442,0.054492],[0.087578,-0.086586,0.992388]]>H 4?,ӿE^?AI?i?k? |*?i>==I>-M^;>CYN/ByN#Ii%Mb@Mb@Mb@!!!! !9%#~j?Gz?y%p=>%t%@! %@)%G@!Y%@bD=VD=fyM3%MA=ٔMI:Q-M>9QYQ=UFyQU%;ԙE]>Q 55"?Q 951)BY>Q E:y5?Q IX@_CIv:i;|5yɮ@-BNOT Ignoring new targets: 8.95 m.h)h)*h)"h) h)g1f1fQfUBdYdYjdYZd]@3@Z>Z>Z>Z5?%) ?i:)6ii BB $IB^BB =BBBe;B='EBeCBeCBaBe =Be =CeLjo5^A 5%<I I9 Ou >! C,I?A6=6v>6Uٱ6/E BAHRS rotation from veh to nav: [[0.943900,-0.311466,-0.109738],[0.318575,0.946347,0.054203],[0.086967,-0.086122,0.992482]]6H`m4? ӿ`c?yH??`C? h?i6=I6];4YF#ByJ#IVDDAT read: Rx Time:04:46:27.0219 VTRx dataTimestamp_ set to:1761540388.264725^PDAT read: Bearing 342.7, -25.8 (Local) ^~Local bearing/azimuth received: Bearing 342.7, -25.8 (Local) fDAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.5 zDAT read: 04:46:27.0219 LVL= 32752, 25329, 32754, 32755, AGC= 60, IDX= 64, 0.20,-0.284, 1.842, 0.549, 0.802, PHS=-0.984, 1.086,-0.296, RAW= 311.0, 2.2, CAL= 308.7, -1.0, ROT= 201.3, 1.0 ~Ygot valid direction response: 04:46:27.0219 LVL= 32752, 25329, 32754, 32755, AGC= 60, IDX= 64, 0.20,-0.284, 1.842, 0.549, 0.802, PHS=-0.984, 1.086,-0.296, RAW= 311.0, 2.2, CAL= 308.7, -1.0, ROT= 201.3, 1.0 ~R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.931549,-0.363196,-0.017452]Fpublishing direction and range infoyTV)#x@Z>׿W7) ߑYVATTVbT T)V<IVm{iV ?VPV@VnF=Vi@ V5)V`@IV5 V7<)VIVE1iV5QQ 5]5U[̟?Q 9e5U)UBYaye 6?Q IeX@UwCIU;iUN:U5yiɮu@qiTiVAI?AJiVARiVAjiVпu@bV}E!AGR :TſRV)#x@Z>׿W7) ߑZiVE1biV5<jVU?0v[ W}ZVkt a*2iV:iV"iVvgge?*iVYBiV܃BiVj.?iTiV܃BiVw%AiVu}u@E% E%E%-E!"E%d;*E%d;VE%t4ZE!BE%j=aE2E%j=aEJE%?K,./I?A2=2 >2lٱ2K JAHRS rotation from veh to nav: [[0.943769,-0.312192,-0.108791],[0.319081,0.946267,0.052600],[0.086524,-0.084356,0.992672]]2H\3? ӿٻk?G?@b?v&?R?i2=I2^;0YR)ByR#I~DDAT read: Rx Time:04:46:27.5220 ~TRx dataTimestamp_ set to:1761540388.768907PDAT read: Bearing 341.7, -23.7 (Local)  ~Local bearing/azimuth received: Bearing 341.7, -23.7 (Local) DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 =DAT read: 04:46:27.5220 LVL= 32752, 26817, 32754, 32755, AGC= 57, IDX= 513,-0.01, 0.475, 2.936, 1.335, 1.713, PHS=-1.136, 1.268,-0.422, RAW= 313.2, 2.7, CAL= 310.8, -0.2, ROT= 199.2, 0.2 MYgot valid direction response: 04:46:27.5220 LVL= 32752, 26817, 32754, 32755, AGC= 57, IDX= 513,-0.01, 0.475, 2.936, 1.335, 1.713, PHS=-1.136, 1.268,-0.422, RAW= 313.2, 2.7, CAL= 310.8, -0.2, ROT= 199.2, 0.2 MR#Rx 2: Read range and direction messages.Ubdirection in FSK: [-0.944371,-0.328865,-0.003491]UFpublishing direction and range infoy|~)H89р տQC1mlY~A||~h| |)~9I~shi~M?~bؾ~@~A=~^@ ~d)~/^@I~d;||~￳9-Ϳhx? ~S:)~>DI~3i~d;||checking for new query: numPingsReceived=2, elapsed TxPingTime=3.055457iMb@Mb@Mb@ 9S?jt?{GzY/>y >ף@ l@)@Y@bE(N4jErE0E EE)E"E);*Eo;VEFA4ZEa@a@a@a@bDuVDuܲy<% =ٔH:Q->9Y=Fyl:E>Q 55ݟ?Q 95)BY>Q E:yH+?Q IX@CI-;i;5y%Bɮ%@-HEi|i~51I?AJi~ARi~Aji~Ys@b~ 6$i"w' PkR~)H89р տQC1mlZi~3bi~d;j~߰ff(xKZ~&Y9鿁DtMs<h2i~:i~"i~6V?*i~ۧPBi~ Bi~2d6?i|i~Bi~(Ai~u@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504182 s, deltaX: 0.200000 m, approachRate: 0.396682 m/s, rangeRepo size: 4  Added new target pos. range: 9.747607 m, bearing: 217.859041 deg, lat: 36.779345 deg, lon: -121.859580 deg, deltaT: 0.504182 s, deltaX: 0.198931 m, approachRate: 0.394561 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.75 m.hh*h"h hgfffBddjd#@Zd ?Z%>Z%>Z%y>Z%'H+?ul)q u?iu:)y}6yiyirB B $IB cBB  =B B B d;B :'E 9A 9@  @ @ 4@ quDDAT read: Rx Time:04:46:28.0222 uTRx dataTimestamp_ set to:1761540389.275712}PDAT read: Bearing 342.7, -25.8 (Local) ~Local bearing/azimuth received: Bearing 342.7, -25.8 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.4 DAT read: 04:46:28.0222 LVL= 32752, 23265, 31282, 32755, AGC= 62, IDX= 4,-0.26,-1.872, 0.249,-1.041,-0.782, PHS=-0.988, 1.076,-0.303, RAW= 311.0, 2.4, CAL= 308.7, -0.7, ROT= 201.3, 0.7 Ygot valid direction response: 04:46:28.0222 LVL= 32752, 23265, 31282, 32755, AGC= 62, IDX= 4,-0.26,-1.872, 0.249,-1.041,-0.782, PHS=-0.988, 1.076,-0.303, RAW= 311.0, 2.4, CAL= 308.7, -0.7, ROT= 201.3, 0.7 R#Rx 3: Read range and direction messages.bdirection in FSK: [-0.931622,-0.363224,-0.012217]Fpublishing direction and range infoyqu=e?׿I:Yu!AqquZu2z q^A}<IAIQO]?IT)>,ǝSI?AI|i^?"@+=i@ +H)`@I+H<Abdȧ/_ȿ@8x [? T<)*IE1i+H<=checking for new query: numPingsReceived=3, elapsed TxPingTime=3.613860AYɰ];E} E}E}+Ey"E};*E}v;VE} [4ZEyBE}5#=a2E}5#=aJE}mٱ R MAHRS rotation from veh to nav: [[0.943748,-0.312739,-0.107394],[0.319447,0.946184,0.051860],[0.085395,-0.083250,0.992863]]H03?Կ`(~ q?#G?`s?zܵ?`O?i=I|^;CYUBy#II>)C=bDVDy-u%-=ٔ5;Q-U>9QYY=]FyY](:E]>aQ 5m5e?Q 9m5ek)eBYyd+?Q IX@eCIee%EiiDQI?AJi ARi Aji\u@b"*1 Iy->--l@) -V@)-@)Y-@bDeVDeP)yu{%=ٔQ->9Y=FyE>Q 55?Q 95)BYa>Q E:yj?Q IX@֞CIH$Z%a>Z%m>Z%3j?Q)Y ]?i]:)Y]6YiYiaaeuBB#IBSBB =BBBd;B,'E q @q  @y @} 0@y % DDAT read: Rx Time:04:46:29.0225 - TRx dataTimestamp_ set to:1761540390.2807265 PDAT read: Bearing 342.6, -25.4 (Local) 5 ~Local bearing/azimuth received: Bearing 342.6, -25.4 (Local) E DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 Q m DAT read: 04:46:29.0225 LVL= 32752, 27201, 32754, 32755, AGC= 58, IDX= 502,-0.05,-2.479,-0.373,-1.666,-1.397, PHS=-0.980, 1.069,-0.313, RAW= 311.4, 2.5, CAL= 309.0, -0.6, ROT= 201.0, 0.6  Ygot valid direction response: 04:46:29.0225 LVL= 32752, 27201, 32754, 32755, AGC= 58, IDX= 502,-0.05,-2.479,-0.373,-1.666,-1.397, PHS=-0.980, 1.069,-0.313, RAW= 311.4, 2.5, CAL= 309.0, -0.6, ROT= 201.0, 0.6  R#Rx 5: Read range and direction messages. bdirection in FSK: [-0.933529,-0.358348,-0.010472] Fpublishing direction and range infoy! % OFxhc-ֿ/;rY% (A! ! % Aj! ! )! I% Hzi% Ԉ?% A% '@% ¸2=% @ % +)% `@I% +2e,ʕI?AE: E:E:(E8"E:y;*E:p;VE:c44ZE8BE:=aB2E:=aBJE:-= ٱ=7 MAHRS rotation from veh to nav: [[0.944217,-0.312135,-0.105002],[0.318455,0.946638,0.049631],[0.083907,-0.080301,0.993233]]ԑ=H@7?ӿbế`a?J?Li?z? ?i=7|=I=?/_;=CYBy#IbDVDJyu2%,=ٔ O;Q-m>9iYi=mFyquGEu>yQ 55} ?Q 95})}BYy0?Q IX@}CI}Y#Vk,XI?AYrByr#IMDDAT read: Rx Time:04:46:29.5225 MTRx dataTimestamp_ set to:1761540390.784749UPDAT read: Bearing 342.5, -25.3 (Local) ]~Local bearing/azimuth received: Bearing 342.5, -25.3 (Local) mDAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 DAT read: 04:46:29.5225 LVL= 32752, 26097, 32754, 32755, AGC= 57, IDX= 502, 0.46,-1.947, 0.160,-1.137,-0.864, PHS=-0.981, 1.070,-0.317, RAW= 311.5, 2.5, CAL= 309.1, -0.5, ROT= 200.9, 0.5 Ygot valid direction response: 04:46:29.5225 LVL= 32752, 26097, 32754, 32755, AGC= 57, IDX= 502, 0.46,-1.947, 0.160,-1.137,-0.864, PHS=-0.981, 1.070,-0.317, RAW= 311.5, 2.5, CAL= 309.1, -0.5, ROT= 200.9, 0.5 R#Rx 6: Read range and direction messages.bdirection in FSK: [-0.934169,-0.356724,-0.008727]Fpublishing direction and range infoyIMcWֿ͑B7߁YIIIMeI I)M9IM"{iM?MMMt@IMO@ M5)MNh`@IM5y=@@ ?@)@Y@E5 E5E1E1"E5;*E5]t;VE1ZE1a=@a=@a=@a=@bD}VD}fyB%1=ٔQ->9Y=FyE>Q 55+?Q 95)BY>Q E;y>Q IX@CI:i: 5yBɮj@@EiIiMT9I?AJiIRiIjiMA?#soe TRMcWֿ͑B7߁ZiMg1biM5<jMGM ݒ 'ZM 2Z+i]V俊H筿2iMl:iM"iMZws?*iMHUBiM˃BiMg?iMHUiM˃BiM(AiMkt@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504023 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 !m Added new target pos. range: 10.443872 m, bearing: 219.546115 deg, lat: 36.779350 deg, lon: -121.859572 deg, deltaT: 0.504023 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 10.44 m.hqhq*hq"hq hqgyfyf9f=FBd9dAjdAZdE)?Z>Z>Z:f*>Z%>) \?i:)顽6iiŝB B #IB ?BB  =B B B d;B 'Ey ^A }<I! II Oe >r,I?Aj*=j7>jٱj rAHRS rotation from veh to nav: [[0.945096,-0.309939,-0.103595],[0.316020,0.947528,0.048198],[0.083221,-0.078290,0.993451]]jH`9>? ӿ2 9?`%R?w?`M? Y?ij*=Ij_;jCYzByz#IbD VD y%j=ٔw;Q-?9Y!=%Fy!%E-?)Q 555-:#?Q 955-)-BY9y=g>Q I=X@-CI-:i-:-5AyIɮM5@IuDNOT Ignoring new targets: 10.44 m.hqhy*hy"hy hygyfyffddjdZd .?ZIZIZIZMeg>}) 5?i:)顅j6iiĵ  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.807223x,]QI?A2\==2l|>2Aٱ2? :AHRS rotation from veh to nav: [[0.945566,-0.308644,-0.103168],[0.314675,0.947982,0.048048],[0.082972,-0.077897,0.993503]]2HB? ӿ:i#?`U??=? @?i2\==I2.`;0YBByB#IF=DbDJ VDJ2yR<%VS=ٔV):Q-V>9TYX=ZFyXZ:rEZ>Q 55.?Q 95)BY!y%>Q I%X@,CIw;i;5y)ɮ-@) addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504494 s, deltaX: 0.500000 m, approachRate: 0.991092 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 10.44 m.hh*h"h hgfffddjd&@Zd@?ԹZZZZ> A)  4?i:)7ii!!%ҁ,J?A4<ɰ2==2x<>2ٱ2g >AHRS rotation from veh to nav: [[0.946346,-0.306335,-0.102900],[0.312371,0.948725,0.048430],[0.082788,-0.077974,0.993512]]2H wH?ӿW?`[?@˨? 1??i2==I2`;2CYBByB#IBU)>BUCBU#IBU+BBU =BQBUDBUd;BU'EiMb@Mb@Mb@ 9 r?I +?Mb`Y>y94=@@ )@Y3@ <bDVDk1y<%=ٔB9Q->9Y=FyE>Q 55=?Q 95)BY>Q E ;y>Q IX@ECI:i:l5yBɮ@iQiUwI?AJiU/ARiU/AjiU|u@bU0m=#Z$*0 QӿRUR:]Τjr׿|p}ZiU 1biU<jUB̽ ʀT~_ZU,PN{գZv2iU:iU"iUS 6|?*iUi$YBiURBiUH_j?iUWiUŃBiU0AiUt@= addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503510 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 10.941345 m, bearing: 219.889636 deg, lat: 36.779351 deg, lon: -121.859574 deg, deltaT: 1.008004 s, deltaX: 0.497473 m, approachRate: 0.493523 m/s, posRepo size: 4 UDNOT Ignoring new targets: 10.94 m.hQhQ*hQ"hQ hQgQfYfYf]BdydjdZd E?Z>Z>Z4=ZM>) ?i:)i 7iib`@,"J?Achecking for new query: numPingsReceived=9, elapsed TxPingTime=6.815337YBy#IbD-VD- y}a%}-=ٔ}Q-}>9Y=FyE>Q 55oK?Q 95)BYyQ IX@\CI/:ij:5yɮ@ii*J?AJim5ARim5Ajit@b2}/'%(HiSHhT?RmSEWOHJ ׿W7) ߑ?Zi5~1bi5jNN!5dy%׿Za/9(>3J2iU:iz "i@6g?*iK{[BiBBiiii3Aict@ addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504254 s, deltaX: 0.400000 m, approachRate: 0.793250 m/s, rangeRepo size: 4   Added new target pos. range: 11.339211 m, bearing: 219.223281 deg, lat: 36.779351 deg, lon: -121.859574 deg, deltaT: 0.504254 s, deltaX: 0.397866 m, approachRate: 0.789020 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.34 m.hh*h"h hgfffd!d!jd%&@Zd-?ZIZIZIZIY)Y ] ?i]:)aeG7aiaiiimbfԑ c,h[Z1 ٱZ. fAHRS rotation from veh to nav: [[0.947864,-0.301649,-0.102765],[0.307693,0.950234,0.048788],[0.082934,-0.077865,0.993508]]ZHT?8NӿN=?`Qh?? &;?@?iZ "=IZv{_;ZCYBy#I  yiMb@Mb@Mb@ 9^I +?Mb?Mbp?YX>y<;?@ @)YbDVDyd<%G=ٔQ->9Y=FyDE>Q 5U5W?Q 9U5)BY]>Q E];y]ʷ>Q I]X@oCI3J?AJi)Ri)ji-Au@b-%Y^oeοR-V O[ 6ps׿_2qZi- 1bi-<j-Gp!DOT,S"0Z-m5g"lU俼Y:ű2i-:i- "i-Dx?*i- ![Bi-nBi-Zws?i-i$Yi)i-4Ai->t@ addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.339211 m, bearing: 219.565821 deg, lat: 36.779352 deg, lon: -121.859574 deg, deltaT: 0.503669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.34 m.hh*h "h  h g f ffBddjdZd@/?Z=>Z=>Z=4=Z=]ʷ>Uchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.319309]1 )Y ]?i]?:)aes7aiaiii=BCBBB =BBDB~d;B'EBBBB =B =CȆ59@ @@/@^A a<I I O > DDAT read: Rx Time:04:46:32.0234  TRx dataTimestamp_ set to:1761540393.304682 PDAT read: Bearing 343.5, -26.2 (Local)  ~Local bearing/azimuth received: Bearing 343.5, -26.2 (Local) = DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4 u DAT read: 04:46:32.0234 LVL= 32752, 25521, 32754, 32755, AGC= 57, IDX= 511,-0.11,-2.030, 0.105,-1.180,-0.940, PHS=-0.988, 1.090,-0.284, RAW= 310.6, 2.0, CAL= 308.3, -1.2, ROT= 201.7, 1.2  Ygot valid direction response: 04:46:32.0234 LVL= 32752, 25521, 32754, 32755, AGC= 57, IDX= 511,-0.11,-2.030, 0.105,-1.180,-0.940, PHS=-0.988, 1.090,-0.284, RAW= 310.6, 2.0, CAL= 308.3, -1.2, ROT= 201.7, 1.2  T#Rx 11: Read range and direction messages. bdirection in FSK: [-0.928929,-0.369666,-0.020942] Fpublishing direction and range infoy  ]AȹǙ׿_2qY f>A c ) 9I |i ? sh x@ 5= /@ ) Ma@I Թ -=p￴"e1iǿhI#? sH=) I 0i  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.597025kL,;9VJ?AE EE(E"E;*Eo;VEc44ZEBE=a2E=aJEDٱ AHRS rotation from veh to nav: [[0.948513,-0.299487,-0.103102],[0.305552,0.950924,0.048796],[0.083429,-0.077787,0.993473]]H8Z?*ӿ@d)?m??[?鳿 ?iE=Ib_;CYe Bym#IAAbDVDܲy{[=%K=ٔáQ->9Y=FyE>Q 55b?Q 95C)BY1y5>Q I5X@CI%) ]?i:)"7iiJ u,pJ?AF4=F"f>F2 ٱF^ RAHRS rotation from veh to nav: [[0.949126,-0.297409,-0.103475],[0.303375,0.951694,0.047340],[0.084397,-0.076324,0.993505]]FH>_?ӿ`Z}j?Ht? =???iF4=IF)_;FCYVByZ#Ii5Mb@Mb@Mb@1111 195Gz?y5t<5T<15@ 5(@)5@1Y5@bDM VDM2y] =%eP=ٔe!Q-e>9iYi=mFyimEm>qQ 5}5un?Q 95u)uBYǽ>Q E;y>Q IX@uCIu;iu;u&5yɮ8@iIDDAT read: Rx Time:04:46:32.5234 %TRx dataTimestamp_ set to:1761540393.8200145PDAT read: Bearing 343.1, -25.7 (Local) =~Local bearing/azimuth received: Bearing 343.1, -25.7 (Local) UDAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4 DNOT Ignoring new targets: 11.84 m.hh*h"h hgfff*BdDAT read: 04:46:32.5234 LVL= 32752, 27617, 32754, 32755, AGC= 57, IDX= 511, 0.17,-0.802, 1.319, 0.025, 0.285, PHS=-0.985, 1.080,-0.304, RAW= 311.1, 2.3, CAL= 308.8, -0.8, ROT= 201.2, 0.8  Ygot valid direction response: 04:46:32.5234 LVL= 32752, 27617, 32754, 32755, AGC= 57, IDX= 511, 0.17,-0.802, 1.319, 0.025, 0.285, PHS=-0.985, 1.080,-0.304, RAW= 311.1, 2.3, CAL= 308.8, -0.8, ROT= 201.2, 0.8 d jdZd}?bEFA4jEmF4rEp/E5 E5E5,E1"E5;*E51];VE5g4ZE1aE@aE@aE@aE@MT#Rx 12: Read range and direction messages.Ubdirection in FSK: [-0.932233,-0.361589,-0.013962]]Fpublishing direction and range infoydc-SG$׿4Yk )I(|iq=?㥛C@l$=iw@ d)`@Id<Zuǽ>Zuǽ>ZuG=Zu>2 ) )?ij: 3_ᅰxȿus? <)%Ia1id<checking for new query: numPingsReceived=12, elapsed TxPingTime=8.139818)顽x*7ii=;II_9!9@A @A@E0@AI u checking for new query: numPingsReceived=12, elapsed TxPingTime=8.327278^Ae xr<Iq I O >B %>B B #IB 5BB =B B B B &E`,J?ANC=N>NٱN噚 ZAHRS rotation from veh to nav: [[0.949543,-0.295960,-0.103805],[0.301845,0.952240,0.046138],[0.085193,-0.075143,0.993527]]NH@b?ҿ`lQ?@x?@c?-ϵ?@< ?iNC=IN$?_;NCY^Byb#If=f=bDj VDjf2yr<%rR=ٔr}Q-v>9tYt=vFytzEz>QQ 5]5Uy?Q 9]5U)UƄBYaye>Q IeX@UCIU:iU:U)5ymBɮm@mBEiIiM{tJ?AJiIRiIjiM~t@bME7&*7tR'ſRMdc-SG$׿4ZiMa1biMd<jMO$,Z/c"tjLI ZM׶VR n 9X@2iM=:iM"iMr?*iM2\BiMBiMr?iMK{[iIiM%)! %'?i%:)!%27!i)i115Ǥ;I1I9 9iDDAT read: Rx Time:04:46:33.0235 TRx dataTimestamp_ set to:1761540394.314598DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 Z#Rx 13: Read range message, but no direction.y@ @@4@Y@A5checking for new query: numPingsReceived=13, elapsed TxPingTime=8.592681^A;IIOI>E= E= E=*E9"E=;*E=z;VE=(N4ZE9BE= =aM2E= =aMJE=VRٱV! rAHRS rotation from veh to nav: [[0.949963,-0.294544,-0.103989],[0.300293,0.952811,0.044452],[0.085989,-0.073455,0.993585]]VH@f?@ҿ7?l}?@o¦?Z?Ͳq?iV U=IV_;TY3By#IbD-VD-y=ݿ=%EE=ٔEOQ-E>9IYI=MFyIM~EM>QQ 5]5U\?Q 9e5U3)UτBYaye>Q IeX@UCIU;iU ;U-5yiɮu@q addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.494584 s, deltaX: 0.100000 m, approachRate: 0.202191 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.84 m.hh*h"h hgfffddjd(@Zd??ZZZZE>R) @i!:):7iiIu;II919@ @@4@DDAT read: Rx Time:04:46:33.5236 TRx dataTimestamp_ set to:1761540394.818040PDAT read: Bearing 342.4, -31.9 (Local) ~Local bearing/azimuth received: Bearing 342.4, -31.9 (Local) DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.4 DAT read: 04:46:33.5236 LVL= 32752, 25665, 32754, 32755, AGC= 58, IDX= 513, 0.00,-0.249, 2.119, 0.869, 1.073, PHS=-1.220, 1.091,-0.248, RAW= 305.2, 3.8, CAL= 302.8, 0.5, ROT= 207.2, -0.5 Ygot valid direction response: 04:46:33.5236 LVL= 32752, 25665, 32754, 32755, AGC= 58, IDX= 513, 0.00,-0.249, 2.119, 0.869, 1.073, PHS=-1.220, 1.091,-0.248, RAW= 305.2, 3.8, CAL= 302.8, 0.5, ROT= 207.2, -0.5 T#Rx 14: Read range and direction messages.`direction in FSK: [-0.889383,-0.457080,0.008727]Fpublishing direction and range infoy Hwu@ݿB7߁?Y3CAAd ):I(i㥋?}t@ԇ=@ 5<)qg@I5[ՊRty? 5C)6I*i5EQ  EU EU )EQ "EQ *EU m;VEU FA4ZEQ a] @a] @a] @a] @m checking for new query: numPingsReceived=14, elapsed TxPingTime=9.134482a ^AU [R;Ia Iq O >Ȯ,J?A>=>*>>Sٱ>fk FAHRS rotation from veh to nav: [[0.950229,-0.293563,-0.104333],[0.299169,0.953251,0.042552],[0.086964,-0.071648,0.993632]]>HFh?@ҿ @%??@gɥ?CC?~W?i>=I>A _;>CYNLByN#I ieMb@Mb@Mb@aaaa a9e`"?/$?ye,=et9Y=Fy4E>Q 55될?Q 95)لBYJ>Q E;y>Q IX@͟CI ;i3;05yBɮl@CEiiZJ?AJi(BARi(BAjiz@bĕ%Z'7D/IE?R Hwu@ݿB7߁?Zi*bi5j#K\yF!f5f!":=hۿZvqp+r濱=Ʊd2i/:i5 "id'?*igqvBilBii2\iBiAAi t@  addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503442 s, deltaX: 0.200000 m, approachRate: 0.397265 m/s, rangeRepo size: 4  Added new target pos. range: 12.134841 m, bearing: 224.577195 deg, lat: 36.779352 deg, lon: -121.859576 deg, deltaT: 0.998026 s, deltaX: 0.298398 m, approachRate: 0.298988 m/s, posRepo size: 4 %DNOT Ignoring new targets: 12.13 m.h!h!*h!"h! h!g)f)f)f-GBd1d1jd5`ff(@Zd5z?ZJ>ZJ>Z=Z> checking for new query: numPingsReceived=14, elapsed TxPingTime=9.335262S) @i3:)iiAAE~;;IAII9AyA}AAB#>BB#IBNBB =BBBhd;B&Ei9 @  @ @% 4@! ԙ  DDAT read: Rx Time:04:46:34.0238  TRx dataTimestamp_ set to:1761540395.322211 PDAT read: Bearing 343.6, -25.7 (Local)  ~Local bearing/azimuth received: Bearing 343.6, -25.7 (Local)  DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 = DAT read: 04:46:34.0238 LVL= 32752, 22097, 32754, 32755, AGC= 61, IDX= 3, 0.29,-0.607, 1.511, 0.214, 0.468, PHS=-0.972, 1.088,-0.297, RAW= 311.3, 2.0, CAL= 309.0, -1.1, ROT= 201.0, 1.1 M Ygot valid direction response: 04:46:34.0238 LVL= 32752, 22097, 32754, 32755, AGC= 61, IDX= 3, 0.29,-0.607, 1.511, 0.214, 0.468, PHS=-0.972, 1.088,-0.297, RAW= 311.3, 2.0, CAL= 309.0, -1.1, ROT= 201.0, 1.1 U T#Rx 15: Read range and direction messages.] bdirection in FSK: [-0.933408,-0.358302,-0.019197]] Fpublishing direction and range infoy  GO{pjֿ]~Y HA QV ) =I xi C? b ܭ@ 5= @ nF) `@I nF< ϻ]\E'ȿL8W? }<) S I Κ1i nF< } checking for new query: numPingsReceived=15, elapsed TxPingTime=9.611496E5  E5 E5 *E1 "E5 ;*E5 ub;VE5 (N4ZE1 BE5 =a= 2E5 =a= JE5 ,mJ?AH=aI==r>=<ٱ=ґ mAHRS rotation from veh to nav: [[0.950437,-0.292833,-0.104492],[0.298379,0.953533,0.041762],[0.087407,-0.070871,0.993649]]=H`i?@Ƚҿ?X?a?M`?$?i=aI=I=._;=CY}UBy}#IbDVDyUQ&=%U3=ٔU~Q-]>9YYY=]FyYeEe>Q 55?Q 95Ĕ)BYy|>Q IX@CI[:i:45yɮ@i!i%J?AJi%FARi%FAji%t@b%/+5'O#<οR%GO{pjֿ]~Zi%Κ1bi%nF<j%f#P) {JRZ%ˎD2i%:i%5"i%2l?*i%_Bi%vBi!i%_i%vBi%_EAi%{Wt@U addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504171 s, deltaX: 0.300000 m, approachRate: 0.595037 m/s, rangeRepo size: 4  Added new target pos. range: 12.433179 m, bearing: 218.515795 deg, lat: 36.779352 deg, lon: -121.859577 deg, deltaT: 0.504171 s, deltaX: 0.298338 m, approachRate: 0.591740 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.43 m.hh*h"h hgfffddjd)@ԹZd@: ?ZZZZ|>-<)) 5@i5:)15<51i1i99E;IAIAEchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.840024e9I9 )9 ) 9@  @ @ 3@  DDAT read: Rx Time:04:46:34.5238  TRx dataTimestamp_ set to:1761540395.825456 PDAT read: Bearing 343.0, -26.2 (Local)  ~Local bearing/azimuth received: Bearing 343.0, -26.2 (Local) - DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 e DAT read: 04:46:34.5238 LVL= 32752, 24769, 32754, 32755, AGC= 59, IDX= 500,-0.24, 2.153,-2.013, 2.985,-3.034, PHS=-0066,-0.308, RAW= 310.9, 2.6, CAL= 308.5, -0.5, ROT= 201.5, 0.5 m !unknown deviceResponse_: 04:46:34.5238 LVL= 32752, 24769, 32754, 32755, AGC= 59, IDX= 500,-0.24, 2.153,-2.013, 2.985,-3.034, PHS=-0066,-0.308, RAW= 310.9, 2.6, CAL= 308.5, -0.5, ROT= 201.5, 0.5 m Z#Rx 16: Read range message, but no direction.y Y u checking for new query: numPingsReceived=16, elapsed TxPingTime=10.108539y Ee EeEaEa"Eea;*Eeo;VEaZEaam@am@am@am@^A=2;IIIYOe?н,AJ?Ab+L=b%@>b3ٱb AHRS rotation from veh to nav: [[0.950687,-0.291915,-0.104788],[0.297443,0.953843,0.041364],[0.087876,-0.070493,0.993634]]bHl?ҿ^ӺO ??-?? ?ib+L=Ibc-_;bCY%bBy%$I)iMb@Mb@Mb@ 9Mb?㥛 ?:v?Y>y=T<@@ (@)@Y@bDVDy=>=%=ٔmQ->9Y=FydE> Q 55 ?Q 95 A) BY>Q E;y>Q IX@ CI :i ; [95yAɮE@A addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.43 m.hh*h"h hgfffgBddjdZd?Z >Z >Z A>Z Ŭ>%3)! %?i%5:)!-5)i)i)15:QI1IY=checking for new query: numPingsReceived=16, elapsed TxPingTime=10.343403BBB)$IBwBBBBBB&EԉQ @Q  @Q @U U1@Q ԩ  DDAT read: Rx Time:04:46:35.0241  TRx dataTimestamp_ set to:1761540396.329924 PDAT read: Bearing 344.5, -26.6 (Local)  ~Local bearing/azimuth received: Bearing 344.5, -26.6 (Local) - DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 DAT read: 04:46:35.0241 LVL= 32752, 26849, 31858, 32755, AGC= 59, IDX= 502, 0.03,-1.204, 0.936,-0.343,-0.122, PHS=-0.980, 1.103,-0.265, RAW= 310.3, 1.6, CAL= 308.1, -1.7, ROT= 201.9, 1.7 Ee EeEe,Ea"Ee.;*Ee2g;VEeg4ZEaBEe#=am2Ee#=amJEeŒ,K?A:Ygot valid direction response: 04:46:35.0241 LVL= 32752, 26849, 31858, 32755, AGC= 59, IDX= 502, 0.03,-1.204, 0.936,-0.343,-0.122, PHS=-0.980, 1.103,-0.265, RAW= 310.3, 1.6, CAL= 308.1, -1.7, ROT= 201.9, 1.7 :T#Rx 17: Read range and direction messages.>bdirection in FSK: [-0.927428,-0.372824,-0.029666]BFpublishing direction and range infoy9'H}JW׿ `YLAhr| );IHzi/?M@+z￵#Iƿ&,O? 7=)IIr0i<~checking for new query: numPingsReceived=17, elapsed TxPingTime=10.683850]=]!S>]ٱ]1B AHRS rotation from veh to nav: [[0.950462,-0.292107,-0.106280],[0.297524,0.953920,0.038948],[0.090005,-0.068640,0.993573]]]H/j?߱ҿ'5 ?@? ? ?[Z?i]=I][`;]CY-yBy-,$II54=)5=bD=VD=yM=%U1=ٔUiQ-U>9YYY=]FyY]9E]>iQ 55习?Q 95)BYy>Q IX@CI:i:o=5yBɮ@DEiizK?AJiKARiKAjiu@bBu '?d?P.4,ؿR9'H}JW׿ `Zir0bi<j,Ԩ‘#ؒ nm~Zy}'ߙzU?Js#]2i:i"if?*ïcBi@Bii"CcbiiVLAi`t@M addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504468 s, deltaX: 0.300000 m, approachRate: 0.594686 m/s, rangeRepo size: 4 ] Added new target pos. range: 12.731580 m, bearing: 219.431824 deg, lat: 36.779352 deg, lon: -121.859578 deg, deltaT: 1.007713 s, deltaX: 0.298401 m, approachRate: 0.296117 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.73 m.hh*h"h hgfffddjd)@Zd?ZZZZ}> ) X@i:)ii!%/:I!I!9ԑchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.848035u9@q @q@u94@q^Au ه:I I O% > u̒,5_2K?A:H=:R>:m$ٱ:b BAHRS rotation from veh to nav: [[0.950254,-0.292444,-0.107211],[0.297811,0.953881,0.037669],[0.091251,-0.067723,0.993522]]:H@zh?`hҿ@4rT?`2?@MI?9\?RV?i:H=I:i`;8YRByR<$IuDDAT read: Rx Time:04:46:35.5240 uTRx dataTimestamp_ set to:1761540396.834111PDAT read: Bearing 343.6, -26.0 (Local) ~Local bearing/azimuth received: Bearing 343.6, -26.0 (Local) DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.4 DAT read: 04:46:35.5240 LVL= 32752, 28305, 32754, 32755, AGC= 58, IDX= 502, 0.27,-1.591, 0.518,-0.772,-0.514, PHS=-0.974, 1.077,-0.301, RAW= 311.2, 2.2, CAL= 309.0, -0.9, ROT= 201.0, 0.9 Ygot valid direction response: 04:46:35.5240 LVL= 32752, 28305, 32754, 32755, AGC= 58, IDX= 502, 0.27,-1.591, 0.518,-0.772,-0.514, PHS=-0.974, 1.077,-0.301, RAW= 311.2, 2.2, CAL= 309.0, -0.9, ROT= 201.0, 0.9 T#Rx 18: Read range and direction messages.bdirection in FSK: [-0.933465,-0.358324,-0.015707]Fpublishing direction and range infoyquWRF_ֿy&YuIAqqunu q)u:IuXyiu#ۉ?uuέ@unF=u@ u)u`@Iuye=e`e91Y1=5Fy9=>:E=>AQ 5m5E@Š?Q 9m5E)EBYm{>Q Eu;yu?Q IuX@E(CIE;iE;EiA5y}Bɮ}@}:Eiqiub5K?AJiuHARiuHAjiu t@buoe'EؽY2ɿRuWRF_ֿy&ZiuΚ1biu<juTO#w,<KvgZuÉN[o3㿮^2iu:iu"iuU茝?*iu ZBiuBiuf?iu_iuBiuKAiuot@M addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504187 s, deltaX: -0.200000 m, approachRate: -0.396678 m/s, rangeRepo size: 4 ] Added new target pos. range: 12.532649 m, bearing: 218.477712 deg, lat: 36.779353 deg, lon: -121.859577 deg, deltaT: 0.504187 s, deltaX: -0.198931 m, approachRate: -0.394557 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 12.53 m.hYh*h"h hgfffBddjd@33)@Zd@?Z{>Z{>Z}>Z? m$)  @i:)B 5ii9=Vo;I9IA99@ @@B4@ checking for new query: numPingsReceived=18, elapsed TxPingTime=11.352156) BM !>BM CBM [$IBM BBI BI BI BM Vd;BM &EY ^A ;I I O >&?Ӓ,MK?Aɰ;63=6 >6Ͻٱ6.5 >AHRS rotation from veh to nav: [[0.949860,-0.293368,-0.108170],[0.298664,0.953673,0.036165],[0.092549,-0.066659,0.993474]]6H@Ae? ҿ`Q?|?D?G??i63=I6`;4YFByFM$I Npu checking for new query: numPingsReceived=19, elapsed TxPingTime=11.855206 bْ,\gK?A6H=6>6yZٱ6J BAHRS rotation from veh to nav: [[0.949402,-0.294186,-0.109951],[0.299580,0.953396,0.035884],[0.094271,-0.067008,0.993289]]6H a?ҿ%P,?8?m_? "?m'?i6H=I6,`;6CYFByFZ$I HHbDRVDRNyZ[=%ZK=ٔZQ-^>9\Y\=^Fy`b%;Eb>dQ 5j5fנ?Q 9j5f̉)fBYhyjt?Q InX@fICIf:if:fG5yrBɮrL@r;EiiUK?AJiKMARiKMAji^t@bېQ' eXƿR~ `V׿4Zi0bid<j>#ɩU3 4W{Z+L3 㱲2i:io"iB?*i>^BiBiU茝?iiBi4NAi|t@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503825 s, deltaX: 0.299999 m, approachRate: 0.595443 m/s, rangeRepo size: 4 E Added new target pos. range: 12.831002 m, bearing: 219.284239 deg, lat: 36.779354 deg, lon: -121.859577 deg, deltaT: 0.503825 s, deltaX: 0.298353 m, approachRate: 0.592176 m/s, posRepo size: 4 EDNOT Ignoring new targets: 12.83 m.hAhI*hI"hi higqfyffddjd)@Zd?ZZZZt?eyZ)i u@iu:)y}L5ii<n;II!DDAT read: Rx Time:04:46:36.5243 TRx dataTimestamp_ set to:1761540397.841007PDAT read: Bearing 343.7, -26.3 (Local) ~Local bearing/azimuth received: Bearing 343.7, -26.3 (Local)  DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4 -DAT read: 04:46:36.5243 LVL= 32752, 26785, 32450, 32755, AGC= 59, IDX= 505,-0.01,-3.132,-1.028,-2.312,-2.051, PHS=-0.979, 1.068,-0.306, RAW= 311.2, 2.4, CAL= 308.8, -0.7, ROT= 201.2, 0.7 5Ygot valid direction response: 04:46:36.5243 LVL= 32752, 26785, 32450, 32755, AGC= 59, IDX= 505,-0.01,-3.132,-1.028,-2.312,-2.051, PHS=-0.979, 1.068,-0.306, RAW= 311.2, 2.4, CAL= 308.8, -0.7, ROT= 201.2, 0.7 =T#Rx 20: Read range and direction messages.Ebdirection in FSK: [-0.932254,-0.361598,-0.012217]EFpublishing direction and range infoy~zi$׿I:YQAh~ );Izi9?έ@+=iw@ +H)`@I+H< !2]ᅳȿ61$ɷ? <)-Ia1i+H<echecking for new query: numPingsReceived=20, elapsed TxPingTime=12.124092DU=DU<E] E]EYEY"E];*E]j;VEYZEYae@ae@ae@ae@I  9} 9@  @ @ 2@ q checking for new query: numPingsReceived=20, elapsed TxPingTime=12.359195BBCB$IBÅBBBBBXd;B&EBiBiBiBiBiCm,4^A;I IO%?2,8K?A@@پ=ܜ>]%Ľٱ AHRS rotation from veh to nav: [[0.949065,-0.294833,-0.111130],[0.300219,0.953230,0.034949],[0.095628,-0.066532,0.993191]]H^?@ҿ@s6?ۀ? ?@{?@B8?iپ=Ic`;CY By l$IiMb@Mb@Mb@ 9uV?yt>;@ )|@Y@bDVD:y>=%=ٔQQ->9Y=Fy:E> Q 5 5 䠊?Q 95 ) BY>Q E;y&8?Q IX@ eCI 3:i : L5yɮ%f@!iIiMuK?AJiMzPARiMzPAjiMflt@bMzL^bK(n:ac=`ĿRM~zi$׿I:ZiMa1biM+H<jMM>$>+I ]}ZMc^z9' ų2iML:iM!"iM#Ϗ?*iM_A\BiMBiIiM>^iIiMGQAiMӱt@u addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503071 s, deltaX: 0.200001 m, approachRate: 0.397560 m/s, rangeRepo size: 4  Added new target pos. range: 13.029963 m, bearing: 218.819235 deg, lat: 36.779354 deg, lon: -121.859576 deg, deltaT: 0.503071 s, deltaX: 0.198960 m, approachRate: 0.395492 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.03 m.hh*h"h hgfffBddjd@33*@Zd`?Z>Z>Z]<>Z&8?]%Ľ) @i:)S6ii;II%DDAT read: Rx Time:04:46:37.0244 %TRx dataTimestamp_ set to:1761540398.3448025PDAT read: Bearing 343.7, -26.6 (Local) 5~Local bearing/azimuth received: Bearing 343.7, -26.6 (Local) EDAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 mDAT read: 04:46:37.0244 LVL= 32752, 27361, 32754, 32755, AGC= 59, IDX= 506, 0.25,-2.553,-0.442,-1.724,-1.461, PHS=-0.989, 1.064,-0.307, RAW= 311.0, 2.6, CAL= 308.6, -0.5, ROT= 201.4, 0.5 uYgot valid direction response: 04:46:37.0244 LVL= 32752, 27361, 32754, 32755, AGC= 59, IDX= 506, 0.25,-2.553,-0.442,-1.724,-1.461, PHS=-0.989, 1.064,-0.307, RAW= 311.0, 2.6, CAL= 308.6, -0.5, ROT= 201.4, 0.5 uT#Rx 21: Read range and direction messages.}bdirection in FSK: [-0.931020,-0.364863,-0.008727]Fpublishing direction and range infoy!%<֒Y׿B7߁Y%3SA!!%j% !)!I%/}i%'1?%/%@%9=%Z@ %5)%I`@I%5.bpzkRȿQj*? %<)%c9I%l(1i%50,3K?ARwl=R5H>RƽٱR ZAHRS rotation from veh to nav: [[0.948707,-0.295616,-0.112100],[0.300962,0.953036,0.033823],[0.096836,-0.065825,0.993121]]RH[?@`ҿB?E?@1Q?`Fʸ?ٰ ?iRwl=IRW`;RCYbBybq$IbDnVDnܲyv<%vQ=ٔv7KQ-v>9xYx=zFyxz& ;E~>|Q 55~?Q 9 5~)~BY y _8?Q I X@~wCI~;i~;~UP5yɮ @ii<K?AJiRARiRAji2t@b/.r(\0i)FTR<֒Y׿B7߁Zil(1bi5<jAU$ER m`mZ2,ŒidF|&2i:i""i"Δ?*iϒ\BiBi#Ϗ?iϒ\iBi8RAit@ԉ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503795 s, deltaX: 0.099999 m, approachRate: 0.198492 m/s, rangeRepo size: 4  Added new target pos. range: 13.129427 m, bearing: 219.049336 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.503795 s, deltaX: 0.099464 m, approachRate: 0.197430 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.13 m.hh*h"h hgfffd d9jd=`ff*@Zd=@=?ZZZZ_8? ƽ)1 5y@i=:)AEz+6AiIi;ԹII}9@ @@/@DDAT read: Rx Time:04:46:37.5244 TRx dataTimestamp_ set to:1761540398.853714PDAT read: Bearing 344.5, -26.9 (Local) ~Local bearing/azimuth received: Bearing 344.5, -26.9 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 DAT read: 04:46:37.5244 LVL= 32752, 26097, 32754, 32755, AGC= 58, IDX= 507,-0.39, 1.834,-2.329, 2.679, 2.919, PHS=-0.983, 1.080,-0.284, RAW= 310.5, 2.1, CAL= 308.3, -1.1, ROT= 201.7, 1.1 Ygot valid direction response: 04:46:37.5244 LVL= 32752, 26097, 32754, 32755, AGC= 58, IDX= 507,-0.39, 1.834,-2.329, 2.679, 2.919, PHS=-0.983, 1.080,-0.284, RAW= 310.5, 2.1, CAL= 308.3, -1.1, ROT= 201.7, 1.1 T#Rx 22: Read range and direction messages.%bdirection in FSK: [-0.928961,-0.369679,-0.019197]%Fpublishing direction and range infoy3)8 ׄШ׿]~Ye ):I{iq=?shyj@Q =/@ nF)Ma@InF<P<,cpһbogǿS9\? ,I=)II0inF<mchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.144984D zD @AbE}(N4jE}#E4rE}ȓ/E  E E 'E "E ;*E i;VE '4ZE a- @a- @a- @a- @ ^Ae vт;Iq I O > ,2K?AY~By~|$IiMb@Mb@Mb@ 9/$?S㥛?~jth?Y>y$>D;@ @)f@Y@bDVD:y)=%?=ٔQ->9Y=FyE>Q 55]?Q 95ۀ)!BY >Q E;yJ?Q IX@CI ;iT ;T5yBɮ@Z >Z>ZJ?) G@i:)顥hJ6iichecking for new query: numPingsReceived=22, elapsed TxPingTime=13.371286Mt;IQIQ Y]gABBB$IBBBBBB(d;B&E-!9Y9@ @@/@i^A ፨;I I) O= > DDAT read: Rx Time:04:46:38.0247  TRx dataTimestamp_ set to:1761540399.356722 PDAT read: Bearing 345.3, -27.1 (Local)  ~Local bearing/azimuth received: Bearing 345.3, -27.1 (Local)  DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4  DAT read: 04:46:38.0247 LVL= 32752, 26721, 31602, 32755, AGC= 59, IDX= 509,-0.11, 2.836,-1.317,-2.594,-2.369, PHS=-0.976, 1.097,-0.269, RAW= 310.4, 1.6, CAL= 308.2, -1.6, ROT= 201.8, 1.6  Ygot valid direction response: 04:46:38.0247 LVL= 32752, 26721, 31602, 32755, AGC= 59, IDX= 509,-0.11, 2.836,-1.317,-2.594,-2.369, PHS=-0.976, 1.097,-0.269, RAW= 310.4, 1.6, CAL= 308.2, -1.6, ROT= 201.8, 1.6  T#Rx 23: Read range and direction messages.% bdirection in FSK: [-0.928124,-0.371223,-0.027922]% Fpublishing direction and range infoy  80Rٛk׿|p}Y 3[A ah r{ ) ;I #yi j? ^ -\@ < !@ ) ia@I < RvSǿ4gW? q=) I 0i < E checking for new query: numPingsReceived=23, elapsed TxPingTime=13.639198ԙ EE  EE EE +EA "EE ;*EE C|;VEE [4ZEA BEE z)=aM 2EE z)=aM JEE /Ff̽ٱF7 ]AHRS rotation from veh to nav: [[0.947832,-0.297535,-0.114396],[0.302849,0.952505,0.031879],[0.099478,-0.064860,0.992924]]FHT?` ӿ Ia? z?`bR?_w??iF=IFa;DYmBymr$I ѐCEGYqy9YAbDVDβy%9=ٔ;ŻQ->9Y=Fy;E>Q 55[?Q 95~)&BYyUK?Q IX@CIl:i:W5y ɮ 8@)iiK?AJiZARiZAjibu@b;+nK)]Ƥ;YؿR80Rٛk׿|p}Zi 0bi<jFڹ$&DR!Z3sV@‘2i :i'"ix?*iaaBiBiiϒ\iiGVAirt@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503008 s, deltaX: 0.500000 m, approachRate: 0.994020 m/s, rangeRepo size: 4  Added new target pos. range: 13.626765 m, bearing: 219.680888 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.503008 s, deltaX: 0.497338 m, approachRate: 0.988728 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.63 m.hh*h"h hgfffddjd`ff+@Zdc?ZiZiZiZmUK?}f̽)y }3@i}:)y顅/m6ii9;IIԡ%checking for new query: numPingsReceived=23, elapsed TxPingTime=13.87542109 @  @ @ /@  DDAT read: Rx Time:04:46:38.5249  TRx dataTimestamp_ set to:1761540399.860674 PDAT read: Bearing 345.7, -27.2 (Local)  ~Local bearing/azimuth received: Bearing 345.7, -27.2 (Local)  DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.4 DAT read: 04:46:38.5249 LVL= 32752, 25137, 32754, 32755, AGC= 60, IDX= 509, 0.11,-2.747,-0.617,-1.891,-1.674, PHS=-0.972, 1.101,-0.262, RAW= 310.3, 1.5, CAL= 308.2, -1.8, ROT= 201.8, 1.8 %Ygot valid direction response: 04:46:38.5249 LVL= 32752, 25137, 32754, 32755, AGC= 60, IDX= 509, 0.11,-2.747,-0.617,-1.891,-1.674, PHS=-0.972, 1.101,-0.262, RAW= 310.3, 1.5, CAL= 308.2, -1.8, ROT= 201.8, 1.8 -T#Rx 24: Read range and direction messages.Ubdirection in FSK: [-0.928028,-0.371185,-0.031411]]Fpublishing direction and range infoy ^A3;IIO>z,K?AD=D=E EE(E"E;*EVEc44ZEa"@a"@a"@a"@MKg}׿IzYM`AIIM1bM I)M<IMxiM?M$MM@MPwνٱ7 =AHRS rotation from veh to nav: [[0.947275,-0.298863,-0.115545],[0.304137,0.952135,0.030661],[0.100851,-0.064186,0.992829]]HP? ӿW v?w?`e?Xѹ?@n@A?iM=Ifb;YAyIiMb@Mb@Mb@ 9-?S?y&1|Y5>y/>`@ (@)|@YG@bDVD:29ٔ,Q->9Y=Fy/;E>Q 55 ?Q 95yz)*BYڴ>Q E;yTP?Q IX@CI;i>;~\5yɮiIiMHK?AJiM^ARiM^AjiMRu@bM핓)ˁc۬?[ۿRMKg}׿IzZiIbiM=jMLJ%n!O'~ZMcwwVA_俏~ ع2iM :iMW*"iMu初?*iMwcBiMBiM#Ϗ?iIiMBiMYAiMt@ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503952 s, deltaX: 0.300000 m, approachRate: 0.595295 m/s, rangeRepo size: 4  Added new target pos. range: 13.925161 m, bearing: 219.784148 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.503952 s, deltaX: 0.298396 m, approachRate: 0.592112 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.93 m.hh*h"h hgfffBddjd,@Zd  @1?ZMڴ>ZMڴ>ZMe?ZMTP?}ν)y }@i:)顅6iis6;III]?))?uchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.379401yB5>B5CB5$IB5BB1B1B1B5 d;B5&E} x9 {>i >ԡ @  @ @ @ -DDAT read: Rx Time:04:46:39.0250 -TRx dataTimestamp_ set to:1761540400.3646205PDAT read: Bearing 345.4, -27.6 (Local) =~Local bearing/azimuth received: Bearing 345.4, -27.6 (Local) MDAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 DAT read: 04:46:39.0250 LVL= 32752, 25921, 32242, 32755, AGC= 62, IDX= 511, 0.40,-1.843, 0.291,-0.981,-0.755, PHS=-0.985, 1.092,-0.270, RAW= 310.2, 1.8, CAL= 308.0, -1.4, ROT= 202.0, 1.4 Ygot valid direction response: 04:46:39.0250 LVL= 32752, 25921, 32242, 32755, AGC= 62, IDX= 511, 0.40,-1.843, 0.291,-0.981,-0.755, PHS=-0.985, 1.092,-0.270, RAW= 310.2, 1.8, CAL= 308.0, -1.4, ROT= 202.0, 1.4 T#Rx 25: Read range and direction messages.bdirection in FSK: [-0.926907,-0.374495,-0.024432]Fpublishing direction and range infoy)-A8F"׿{JY-dA))-Ae-} ))->I-(|i-Ƌ?-q=-?@-=-@ -+ȼ)-ܢa@I-+<))-'zi"VƿjF#? -b=)-I-|0i-+<))checking for new query: numPingsReceived=25, elapsed TxPingTime=14.651598E EE)E"E;*Evl;VEFA4ZEBE=a2E=aJE]Խٱ]bu AHRS rotation from veh to nav: [[0.946129,-0.301515,-0.118022],[0.306755,0.951357,0.028654],[0.103642,-0.063315,0.992597]]]HF?Lӿ6? q?W?D? b5[?i]nf=I]c;]CYBye$I AbDVDy%<ٔwQ->9Y=Fy;E>Q 55?Q 9 5,w).BY y Q?Q I X@ˠCI;i_;`5yBɮ@AiiUL?AJicARicAjiu@b{ ^*z?uNDZ=ֿRA8F"׿{JZi|0bi+<j4t0%/1"N>"x >Z-[$ ?i62i:i9-"i{?*igBiBix?iaaiBi^Ai/u@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503946 s, deltaX: 0.300000 m, approachRate: 0.595302 m/s, rangeRepo size: 4  Added new target pos. range: 14.223478 m, bearing: 220.115151 deg, lat: 36.779355 deg, lon: -121.859578 deg, deltaT: 0.503946 s, deltaX: 0.298317 m, approachRate: 0.591962 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.22 m.hh*h"h hgfffd d jd ,@Zd  ?ZIZIZIZMQ?Խ) ?ia:)額ǚ6ii%Ǔ ,4L?AN$M=Nc>Nt׽ٱNGe VAHRS rotation from veh to nav: [[0.945707,-0.302319,-0.119337],[0.307589,0.951104,0.028093],[0.105009,-0.063275,0.992456]]NH;C?0Yӿ㌾?ro?Ĝ?@?`23?iN$M=INd;NCY^By^_$IiMMb@Mb@Mb@IIII]DDAT read: Rx Time:04:46:39.5249 eTRx dataTimestamp_ set to:1761540400.868812mPDAT read: Bearing 356.5, -21.8 (Local) m~Local bearing/azimuth received: Bearing 356.5, -21.8 (Local) }DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.3 DAT read: 04:46:39.5249 LVL= 32752, 24561, 32754, 32755, AGC= 61, IDX= 512,-0.23,-1.397, 0.664,-0.643,-0.671, PHS=-0.624, 1.380,-0.015, RAW= 312.8, -8.4, CAL= 312.6, -12.0, ROT= 197.4, 12.0 Ygot valid direction response: 04:46:39.5249 LVL= 32752, 24561, 32754, 32755, AGC= 61, IDX= 512,-0.23,-1.397, 0.664,-0.643,-0.671, PHS=-0.624, 1.380,-0.015, RAW= 312.8, -8.4, CAL= 312.6, -12.0, ROT= 197.4, 12.0 T#Rx 26: Read range and direction messages.bdirection in FSK: [-0.933388,-0.292506,-0.207912]Fpublishing direction and range infoyael VPejҿhٜʿYe`Aaae_e a)e=Iewieף?eueR@DzD?AE EE(E"EF;*E%f;VEc44ZEa@a@a@a@eQ e@ ePwV)ew\@IePwV>aae>O^緁[˿d4ޤ¿ eM:)eF>Ie>5iePwV>aachecking for new query: numPingsReceived=26, elapsed TxPingTime=15.188335 I9MQ?MbX9?MbYM\>yM!>MM@I M@)MO@IYM@bD5VD5y%>=ٔQQ->9Y=Fy ;E>Q 55?Q 95yt)0BY>Q E%;yOS?Q IX@ܠCI:i:d5AyIɮMG@Iiaie7L?AJie^ARie^Ajie}q@beJ)jJ6K8X)Rel VPejҿhٜʿZie>5biePwV>je` n%mckƛZeZ)O:FVZKҿ2ie:iep+"ie?*ieEBie[{BiaiaieBie`Aie9u@ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504192 s, deltaX: -0.300000 m, approachRate: -0.595012 m/s, rangeRepo size: 4  Added new target pos. range: 13.925084 m, bearing: 216.584923 deg, lat: 36.779355 deg, lon: -121.859578 deg, deltaT: 0.504192 s, deltaX: -0.298394 m, approachRate: -0.591827 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.93 m.hh*h"h hgff f Bd d jd,@Zd *?Zu>Zu>Zu˄?ZuOS?t׽) @i:)顭G6ii$ /B B $IB BB  =B B ~DB d;B &Eԡ ^A h%<I I O >,[OL?A2=2h>2ڽٱ2D% JAHRS rotation from veh to nav: [[0.945311,-0.302941,-0.120890],[0.308293,0.950883,0.027884],[0.106505,-0.063628,0.992274]]2H??dcӿ?m?~?`C?I?i2=I2d;0YRByRN$IbD^VD^yb %bu=ٔfQ-f?h9hYh=jFylnR;En?pQ 5v5r!?Q 9v5rnr)r2BYtyzS?Q IzX@rCIr;ir;rmg5y|ɮ~*@|%DNOT Ignoring new targets: 13.93 m.h!h)*h)"h) h)g)f1f1f1d1d9jd9Zd= ?ZYZYZYZ];S?uڽ)q u@iu" :)qu 6qiyiyy9Q u checking for new query: numPingsReceived=27, elapsed TxPingTime=15.891238,ǹiL?A0ɰ0N=N>NݽٱN3 VAHRS rotation from veh to nav: [[0.944987,-0.303334,-0.122426],[0.308784,0.950724,0.027858],[0.107943,-0.064129,0.992087]]NHU=?iӿHW ?Tl?@؆?@!?j,?iN=INC e;NCY^By^O$IbDjVDjN2yr1;%rI=ٔriQ-r>9tYt=vFytvX:Ez>1YQ 5e5])?Q 9e5]o)]5BYiymS?Q ImX@]CI]t2;i];]k5yՔBɮ@3Ei i WL?AJi cARi cAji )y@b  })C =5(R hp~zeydڿʾ7Zi -bi k]=j f[ $Q!9#Ԗ|Z Ħ}>HYqџ忝2i :i P%"i ?*i .olBi Bi i wci Bi peAi I v@M addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.505150 s, deltaX: 0.300000 m, approachRate: 0.593883 m/s, rangeRepo size: 4 e Added new target pos. range: 14.223392 m, bearing: 222.930938 deg, lat: 36.779355 deg, lon: -121.859579 deg, deltaT: 0.505150 s, deltaX: 0.298308 m, approachRate: 0.590534 m/s, posRepo size: 4 mDNOT Ignoring new targets: 14.22 m.hihi*hi"hq hqgqfqfyfydydyjd,@Zd?ZZZZӧS?Uݽ)Q U.@i]:)Y]6YiYiaa]@R!,yL?A.checking for new query: numPingsReceived=28, elapsed TxPingTime=16.395115R(=Rb'>ROٱR脽 ^AHRS rotation from veh to nav: [[0.944572,-0.304047,-0.123850],[0.309573,0.950474,0.027655],[0.109308,-0.064463,0.991915]]RH9?uӿ` ?Gj?@Q?`? Ž?iR(=IRGe;RCYbByb@$IBn>BlBn$IBnBBn =BlBlBn$d;Bn&EiMb@Mb@Mb@ 9S㥛?Pn?I +Y$>y>94@|@ @)"@Yf@ 4< bDVD0y%7%%=ٔ-&Q-->9)Y)=5Fy15:E5>9Q 5E5=2?Q 9E5=m)=7BYM>Q EM5;yM7E?Q IMX@=CI=P ;i= ;=o5yUהBɮU@]4E addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502456 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 14.22 m.h1h1*h1"h9 h9g9f9fAfEWBdAdAjdIZdMWX?Z>Z>ZU@>Z7E?O) f@i:)!%6!i!i))-L:&ٱ:` BAHRS rotation from veh to nav: [[0.944204,-0.304657,-0.125156],[0.310249,0.950259,0.027455],[0.110566,-0.064752,0.991757]]:H`6?@~ӿ` ?h??` N?y?i:x=I:>e;:CYj{Byn.$IbD VD2yusv%}*=ٔ+Q->9Y=FyS:E>Q 55;?Q 95]j):BY!y%iE?Q I-X@!CI;ie;t5y1ɮ5@9ai1i5]L?AJi5YhARi5YhAji5tu@b5bմ+G7nIzwR5;4+t׿sNruZi5 1bi5;j52y@&dğ".~3Z5kAYU6b9Ж2i5:i52"i5S?*i5HԲ]Bi5Bi5S?i1i1i5iAi57v@ addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504318 s, deltaX: 0.300000 m, approachRate: 0.594863 m/s, rangeRepo size: 4  Added new target pos. range: 14.521792 m, bearing: 219.743008 deg, lat: 36.779355 deg, lon: -121.859579 deg, deltaT: 1.006774 s, deltaX: 0.298400 m, approachRate: 0.296392 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.52 m.h h *h "h  h g f ffddjd@33-@Zd= 4?ZZZZ;iE?&) @im:)6iԑiVB5CB5$IB5҅BB5 =B1B1B5Fd;B5&EBCBCBBBCςX5ԙ^A]LM<IIO ?<>3,AL?AN=N1>N}ٱN$ VAHRS rotation from veh to nav: [[0.943519,-0.305657,-0.127851],[0.311353,0.949918,0.026735],[0.113276,-0.065032,0.991433]]NHN1?ӿk]3?e?w`??ѹ?iN=INƒe;NCY^qBy^!$IiMMb@Mb@Mb@IIII I9MNbX9?~jt?y&1YM>yM=M`eM@M"@ M@)M߷@IYM@Y]@AbDeVDeP)yu%u=ٔ}iQ-}>9yYy=}Fy_;E>Q 55E?Q 95g)Q E>;y*?Q IX@5CIz:i:x5yɮi@ԩiiL?AJiXhARiXhAjiZu>ZuUu>Zu*?})  @is:)页7iitfgIej|ieP?ee@e¸2=e9>@ e+)ez0a@Ie+b:,s-L?A~d=~L>~ٱ~Ą AHRS rotation from veh to nav: [[0.943148,-0.306259,-0.129138],[0.311905,0.949770,0.025527],[0.114834,-0.064354,0.991298]]~H`E.?ӿ`??d?#?`e?y?i~d=I~Ie;~CY5bBy5$IbDMVDM0y]Fv%],=ٔ]XQ-e>9aYa=eFyam :Em>qQ 5}5u|N?Q 9}5ue)u?BYyy*?Q IX@uFCIuQ;iu;u|5yɮR@iQiUzL?AJiUmARiUmAjiUu@bU*+jr?&?1WÿRUNO@׿/;rZiU;0biU+<jU .>& :"Kv)ZU鋴h迪yx췿2iU:iU4"iUJV╝?*iU *_BiUBiUJV╝?iQiQiUkAiUOu@ addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503775 s, deltaX: 0.299999 m, approachRate: 0.595502 m/s, rangeRepo size: 4 m Added new target pos. range: 14.820041 m, bearing: 219.991981 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.503775 s, deltaX: 0.298389 m, approachRate: 0.592307 m/s, posRepo size: 4 mDNOT Ignoring new targets: 14.82 m.hihq*hq"hq hqgqfqffddjd-@Zd?ZZZZ*?) @i:)# 7ii!!- oi}!>5DDAT read: Rx Time:04:46:42.5254 5TRx dataTimestamp_ set to:1761540403.892831=PDAT read: Bearing 346.6, -28.9 (Local) E~Local bearing/azimuth received: Bearing 346.6, -28.9 (Local) UDAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.3 uDAT read: 04:46:42.5254 LVL= 32752, 24785, 31618, 32755, AGC= 60, IDX= 501, 0.47, 2.992,-1.153,-2.413,-2.198, PHS=-0.991, 1.089,-0.259, RAW= 309.7, 1.8, CAL= 307.6, -1.5, ROT= 202.4, 1.5 Ygot valid direction response: 04:46:42.5254 LVL= 32752, 24785, 31618, 32755, AGC= 60, IDX= 501, 0.47, 2.992,-1.153,-2.413,-2.198, PHS=-0.991, 1.089,-0.259, RAW= 309.7, 1.8, CAL= 307.6, -1.5, ROT= 202.4, 1.5 T#Rx 32: Read range and direction messages.bdirection in FSK: [-0.924229,-0.380940,-0.026177]Fpublishing direction and range infoy15>IPaؿP!ΚY1115`5{ 1)5<I5-}i5Zd?55@5=5˫@ 5Pwּ)5=b@I5Pw<115%RmŽſfJ? 5F9>)5I5x 0i5Pw<11checking for new query: numPingsReceived=32, elapsed TxPingTime=18.175650Ա@ @@@@=@=bEmǷG4jEmI4rEmA/E EE)E"Eտ;*Ev;VEFA4ZEa@a@a@a@ ^A zl<I I O >dA,M?A6=6ͣ>6jٱ6A >AHRS rotation from veh to nav: [[0.942825,-0.306733,-0.130364],[0.312363,0.949642,0.024676],[0.116231,-0.063986,0.991159]]6H`+? ӿ`ǯ?@xc?D?K?]a ?i6=I6e;6CYPyPIV=)V<\i-Mb@Mb@Mb@)))) )9-Zd;?i|?5?Mb`Y-y>y-q=--t@-O@ -@)- @)Y)bDEVDEβٔUpfQ-]>9YYY=eFyae:Ee>iQ 5u5mU?Q 9u5mZd)mCBYu>Q E}S;y}?Q I}X@mSCIm" ;im ;mi5yٔBɮp@checking for new query: numPingsReceived=32, elapsed TxPingTime=18.411297iyi}%$L?AJiyRiyB5>B5CB5z$IB5BB1B1B1B50d;B5&Eji}v@b}}Id+j|fؿR}>IPaؿP!ΚZi}x 0bi}Pw<j}sC&x3ToL#EJZ}|< N4俬U绿2i}c:i}2"i}2(?*i}l'bBi}'Bi}Ax?i} *_iyi}kAi}Dv@ addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.820041 m, bearing: 220.919610 deg, lat: 36.779357 deg, lon: -121.859577 deg, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.82 m.hh*h"h hgfffBddjdZd?Z>Z>Zzr>Z;?Uj)Q U @iU:)Y]F7YiYiaaeF5vI] Gi] ·?] NbY ] 9=] >@ ] +)] oNb@I] +)] 7I] F/i] + IG! 9 #G,[M?A9 Y"AN;b=Nţ>NٱN zAHRS rotation from veh to nav: [[0.942681,-0.306592,-0.131732],[0.312256,0.949689,0.024220],[0.117679,-0.063966,0.990989]]NHr*?4ӿ?c?͘?6 ?`/?iN;b=IN3d;NCYcBy$I p<<bDVDky+;%<ٔ%I^Q-%>9!Y!=-Fy)-- E->QQ 5]5Uf]?Q 9]5Ub)UHBYaye?Q IeX@U`CIU:iU:U45yiɮm^@qii`tM?AJiqARiqAji0v@b]+ =~CĿRdᅊ敔ؿ/;rZiF/bi+<j&{G6#(ZoK/h ,2i:i5"i~?*i#fBiBi~?iiBimAi5u@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504897 s, deltaX: 0.300000 m, approachRate: 0.594181 m/s, rangeRepo size: 4 U Added new target pos. range: 15.118552 m, bearing: 221.025136 deg, lat: 36.779356 deg, lon: -121.859577 deg, deltaT: 0.504897 s, deltaX: 0.298512 m, approachRate: 0.591232 m/s, posRepo size: 4 UDNOT Ignoring new targets: 15.12 m.hQhQ*hQ"hY hYgYfYfYfadadajde`ff.@Zde?ZZZZ?)  @i$:)7ii   jIte DDAT read: Rx Time:04:46:43.5256 e TRx dataTimestamp_ set to:1761540404.900813u PDAT read: Bearing 346.7, -28.8 (Local) u ~Local bearing/azimuth received: Bearing 346.7, -28.8 (Local)  DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.3  DAT read: 04:46:43.5256 LVL= 32752, 24433, 29682, 32755, AGC= 62, IDX= 503, 0.45, 2.949,-1.206,-2.470,-2.251, PHS=-0.982, 1.090,-0.264, RAW= 310.0, 1.7, CAL= 307.9, -1.5, ROT= 202.1, 1.5  Ygot valid direction response: 04:46:43.5256 LVL= 32752, 24433, 29682, 32755, AGC= 62, IDX= 503, 0.45, 2.949,-1.206,-2.470,-2.251, PHS=-0.982, 1.090,-0.264, RAW= 310.0, 1.7, CAL= 307.9, -1.5, ROT= 202.1, 1.5  T#Rx 34: Read range and direction messages. bdirection in FSK: [-0.926211,-0.376096,-0.026177] Fpublishing direction and range infoM,p:M?Ay)-!` ]ؿP!ΚY)))-q_-s )))I-Zd{i-?-+-"@-<-@ -Pwּ)-ua@I-Pw<))-7h1~ GBV}ٱB` nAHRS rotation from veh to nav: [[0.942707,-0.305913,-0.133116],[0.311639,0.949897,0.024025],[0.119096,-0.064133,0.990809]]BH*?ӿ ? e?"?}?k?iB(=IBjd;BCYzYByz$I EU EUEU(EQ"EUy;*EUZ;VEUc44ZEQa]@a]@a]@a]@i=Mb@Mb@Mb@9999 99=V-?y=t==;=G@=9@ =@)=߷@9Y=3@bDuVDu1y51%:=ٔTQ->9Y=FykE>Q 55e?Q 95a)OBY >Q E T;y 0>Q I X@nCI;i;5yɮ@i)i-9M?AJi)Ri)ji-pfv@b-8P,@{e@TٿR-!` ]ؿP!ΚZi-@`0bi-Pw<j-PY3&1e#aZ-$%YS俅%_22i-d:i-6"i-g%?*i-kbBi-Bi-g%?i-l'bi-XBi-+pAi-TVv@9E addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 15.118552 m, bearing: 220.588881 deg, lat: 36.779357 deg, lon: -121.859578 deg, deltaT: 0.503085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.12 m.hYhY*hY"hY hagafafafmBdidijdiZdm?Z>Z>Z4>Z0>V})  @i+:)F'7ii%_k)dI'0i<Zchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.714006ZN=Z^>ZMٱZȃ fAHRS rotation from veh to nav: [[0.942592,-0.305683,-0.134457],[0.311406,0.949991,0.023299],[0.120611,-0.063833,0.990645]]ZH)?`Pӿ5`?Sf?@ۗ?@_?UW]?iZN=IZe;ZCE~ E~E~'E|"E~۵;*E~&p;VE~'4ZE|BE~=a2E~=a JE~9aYa=mFyimeϹEm>1Q 5=55n?Q 9=55 `)5VBYAyE>Q IEX@5~CI5:i5:5R5yIɮMi@QiiYM?AJi}sARi}sAjiΠv@b{)&,Id*1ۿR7\# Fؿ|p}Zi'0bi<jxx&q#UMZΣ]N俨])Up2i:i7"iQ?*i!cBiBiikbi'BiErAiFv@ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504071 s, deltaX: 0.100000 m, approachRate: 0.198386 m/s, rangeRepo size: 4  Added new target pos. range: 15.218027 m, bearing: 220.792999 deg, lat: 36.779357 deg, lon: -121.859578 deg, deltaT: 0.504071 s, deltaX: 0.099475 m, approachRate: 0.197343 m/s, posRepo size: 4 eDNOT Ignoring new targets: 15.22 m.haha*ha"ha higifififqdqdqjdu.@Zdux?ZZZZ>M)  @i:)17ii߶i)-(I/i<=checking for new query: numPingsReceived=36, elapsed TxPingTime=20.1939419IIQOe?{9^,z{M?ADz=Dz<E~ E~E~.E|"E~a;*E~k;VE~ـ4ZE|a@a@a @a @YcBy$Ii}Mb@Mb@Mb@yyyy y9}\(\?Zd;O?~jt?Y}z>y}j<}D9yYy=}FyyE>Q 55y?Q 95^)bBYH|>Q EW;yj>Q IX@CI:iE:5y۔Bɮ~@5Eii(zM?AJiRiji w@b07,Zx[|teԿRSUAƃ?iLؿ_2qZi/bi<jbp&m_#j:$Zh翫ʀ(|2iL:iH6"i2?*i0dBiBiQ?i!ciBisAi5wv@M addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503866 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 15.218027 m, bearing: 221.150542 deg, lat: 36.779357 deg, lon: -121.859579 deg, deltaT: 0.503866 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.22 m.hYhY*ha"ha hagafafifmBdidijdiZdu-?ZH|>ZH|>Z=ZEj>) \@ig:)顭g;7iiII 1DDAT read: Rx Time:04:46:45.0259 %TRx dataTimestamp_ set to:1761540406.1644685PDAT read: Bearing 346.9, -29.9 (Local) =~Local bearing/azimuth received: Bearing 346.9, -29.9 (Local) Uchecking for new query: numPingsReceived=36, elapsed TxPingTime=20.437838B}>ByByByByByByB}d;B}&E9a = 9@9  @9 @E /@A @M =@I ԉ ^AjZX<IDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 DAT read: 04:46:45.0259 LVL= 32752, 26209, 30818, 32755, AGC= 63, IDX= 506, 0.20,-2.776,-0.641,-1.886,-1.678, PHS=-0.996, 1.081,-0.253, RAW= 309.3, 1.9, CAL= 307.2, -1.4, ROT= 202.8, 1.4 Ygot valid direction response: 04:46:45.0259 LVL= 32752, 26209, 30818, 32755, AGC= 63, IDX= 506, 0.20,-2.776,-0.641,-1.886,-1.678, PHS=-0.996, 1.081,-0.253, RAW= 309.3, 1.9, CAL= 307.2, -1.4, ROT= 202.8, 1.4 T#Rx 37: Read range and direction messages.bdirection in FSK: [-0.921588,-0.387400,-0.024432]Fpublishing direction and range infoy2q}X?)ؿ{JYyAafbx )?I~i5^?7澬@=@ +ȼ)b@I+<#pjZ￶D.,Ŀo' ? >)kI/i+< checking for new query: numPingsReceived=37, elapsed TxPingTime=20.691992IO>f,WM?A6o=6>6ٱ6Ɂ >AHRS rotation from veh to nav: [[0.942558,-0.303986,-0.138482],[0.309690,0.950602,0.021161],[0.125208,-0.062832,0.990139]]6Hn)?tӿ ƹ? Uk?@S? ? 7?i6o=I6sce;6CYFkByF$ILbDRVDRJyZ=%ZJ=ٔZ[;Q-^>9\Y\=^Fy`bEb>dQ 5j5f?Q 9j5f])fjBYhyj>Q InY@fCEE EEEE*EA"EE;*EE d;VEE(N4ZEABEE==aM2EE==aUJEEA5)9 =S@i=]:)9=D79i9iAAEQQ@ ޹)oNb@I޹<`ȈKAJOſtr? Y>)/ IF/i޹<Echecking for new query: numPingsReceived=39, elapsed TxPingTime=21.193853IIIaOm?:n,mM?AE= E=E=.E9"E=[;*E=%f;VE=ـ4ZE9aE@aE@aE@aE@YUByU6$II]<)]<]=]=i]Mb@Mb@Mb@YYYY Y9]Mb?ˡE?/$?Y]>y]'=]9Y=FyE>Q 55D?Q 95[)yBY>Q EP;y]>Q IY@CI,;i*;5y ɮ @ iyi}6ɪM?AJiyRiyji}bv@b}_J},]8rY<ֿR}bkؿNGY;Zi}F/bi}޹<j}25F'8$?)-FZ}&H/连\jx'2i}!:i}4:"i}}?*i})\eBi}Bi}2?iyiyi}9wAi}=tv@ addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.257085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.516466 m, bearing: 220.980360 deg, lat: 36.779358 deg, lon: -121.859579 deg, deltaT: 0.257085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.52 m.hh*h"h hgfff!BddjdZdsD?9ZE>ZE>ZEz%>ZEM]>Y)y }) @i}:)顅HO7iiTDAT read: 04:46:46.0261 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.13, 2.839,-1.346,-2.579,-2.329, PHS=-1.014, 1.028,-0.295, RAW= 309.7, 3.2, CAL= 307.3, -0.0, ROT= 202.7, 0.0  Ygot valid direction response: 04:46:46.0261 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.13, 2.839,-1.346,-2.579,-2.329, PHS=-1.014, 1.028,-0.295, RAW= 309.7, 3.2, CAL= 307.3, -0.0, ROT= 202.7, 0.0  Z#Rx 41: Read direction message, but no range.bdirection in FSK: [-0.922538,-0.385906,-0.000000]yΑn8^Ifؿ )@Iʁi?= @d=@ )kb@IM~¢NᜃſMU^SO? <>)0bI/i-checking for new query: numPingsReceived=41, elapsed TxPingTime=21.696743Rv,M?A2=2>2!ٱ2^ :AHRS rotation from veh to nav: [[0.942764,-0.302138,-0.141096],[0.307886,0.951206,0.020329],[0.128070,-0.062607,0.989787]]2H+?;Vӿr¿`h?Gp?@'є?`d? V?i2=I2be;2CYBByBE$IbDNVDN1yRX=%V==ٔVܻQ-V>9XYX=ZFyXZ6E^>\Q 5b5^??Q 9f5^Z)^BYdyf}>Q IfY@^CI^;i^;^c5yjݔBɮj@n6EiiM?AJi }ARi }Ajiv@b 8--iRΑn8^IfؿZi/bijZHP'Fb^0$VYZ1a8迋p俈T92i$:i>"i܍?*ix!niBiBii)\eiBi`yAiWv@Em EmEm&Ei"Ema;*Emk;VEm4ZEiBEm=au2Em=auJEm!)  @iY:)顭X7iim9},iM?AaDAT read: 04:46:46.5261 LVL= 32752, 28657, 32754, 32755, AGC= 62, IDX= 508, 0.10, 2.082,-2.068, 2.985,-3.083, PHS=-1.016, 1.060,-0.259, RAW= 308.9, 2.4, CAL= 306.6, -0.9, ROT= 203.4, 0.9 Ygot valid direction response: 04:46:46.5261 LVL= 32752, 28657, 32754, 32755, AGC= 62, IDX= 508, 0.10, 2.082,-2.068, 2.985,-3.083, PHS=-1.016, 1.060,-0.259, RAW= 308.9, 2.4, CAL= 306.6, -0.9, ROT= 203.4, 0.9 Z#Rx 43: Read direction message, but no range. bdirection in FSK: [-0.917641,-0.397099,-0.015707]y)-.TQ]_jٿy&))-o) ))->I-J i-?--@-+=-<@ -)-13c@I-<)- 5cᅩtjÿݯ|^? -#?)-+I-.E EE(E"E;*E n;VEc44ZEa@a@a@a@]K=]?>]Fٱ] =AHRS rotation from veh to nav: [[0.942796,-0.301384,-0.142489],[0.307147,0.951456,0.019820],[0.129598,-0.062452,0.989598]]]Hb+? Iӿ@=¿M?Rr?K?@? @ɪ?i]K=I]e;]Ci-<Uchecking for new query: numPingsReceived=43, elapsed TxPingTime=22.262697YMByR$IԉiMb@Mb@Mb@ 9q= ףp?x&?Mb?Yk>y7==^@"@ )YbD VD2y=% =ٔ)Q->9Y=Fy 1E >Q 55򜡊?Q 95uX)BY}w>Q E[;y?Q IY@ΡCI!;i:;5yIɮME@IiiGM?AJiRijiw@biER-; ϿR.TQ]_jٿy&Zi.bi<jt'UL$^ZǍ=;[?J2i':i<"it?*i;jBi!Bi}?i~hiBi{Aiw@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 15.814836 m, bearing: 221.604842 deg, lat: 36.779359 deg, lon: -121.859581 deg, deltaT: 0.503990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4  DNOT Ignoring new targets: 15.81 m.h h *h"h hgfff7Bd9d9jdAZdE ݖ?Z}w>Z}w>Z!>Z?F) ) @i:)Qc7ii2B B $IB ͅBB =B B B c;B &EBBBBBC#4} DDAT read: Rx Time:04:46:47.0263  TRx dataTimestamp_ set to:1761540408.197729 PDAT read: Bearing 346.8, -30.8 (Local)  ~Local bearing/azimuth received: Bearing 346.8, -30.8 (Local)  DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2  Z#Rx 44: Read range message, but no direction.yy Y} Ay - checking for new query: numPingsReceived=44, elapsed TxPingTime=22.487009 = S9A u nManaging dock network, ignoring radio surface power off 9@  @ @ @ DAT read: 04:46:47.0263 LVL= 32752, 24545, 32754, 32755, AGC= 62, IDX= 510, 0.11,-3.123,-0.981,-2.222,-2.005, PHS=-1.016, 1.069,-0.261, RAW= 309.0, 2.3, CAL= 306.8, -1.0, ROT= 203.2, 1.0 Ygot valid direction response: 04:46:47.0263 LVL= 32752, 24545, 32754, 32755, AGC= 62, IDX= 510, 0.11,-3.123,-0.981,-2.222,-2.005, PHS=-1.016, 1.069,-0.261, RAW= 309.0, 2.3, CAL= 306.8, -1.0, ROT= 203.2, 1.0 Z#Rx 45: Read direction message, but no range.bdirection in FSK: [-0.918995,-0.393882,-0.017452]yhh2ol\5ٿW7) ߑ_ )IiԈ?ˡ@l$=uY@ 5)b@I5<{&`vLĿ~? >)R$I%/i5<checking for new query: numPingsReceived=45, elapsed TxPingTime=22.706093^A59<IAYIYOe?,EN?AEj EjEhEh"Ej;*Ejp;VEhZEhBEj#=ar2Ej#=arJEj-rSٱr"* AHRS rotation from veh to nav: [[0.942577,-0.300851,-0.145042],[0.306569,0.951673,0.018292],[0.132529,-0.061707,0.989256]]rH)?@#Aӿ¿ў?t? ???irK=IrJ7d;pYMByM~$IbD]VD]y@>%,=̻ٔQ->9Y=FyE>Q 5-5?Q 9-5V)BY)y-?Q I-Y@ܡCI;i;5y9ɮ=@9ii N?AJiARiAjitMw@bҝ-|b eѿRhh2ol\5ٿW7) ߑZi%/bi5<j(B)Kb+%\ ݮZ=\ K2U:o`2i[):i@"i?*i3mBi Bi?ix!nii Bi~Aiv@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.521520 s, deltaX: 0.300001 m, approachRate: 0.575244 m/s, rangeRepo size: 4  Added new target pos. range: 16.113140 m, bearing: 221.396753 deg, lat: 36.779358 deg, lon: -121.859581 deg, deltaT: 0.521520 s, deltaX: 0.298305 m, approachRate: 0.571991 m/s, posRepo size: 4 %DNOT Ignoring new targets: 16.11 m.h!h!*h!"h! h!g)f)f)f)d1d1jd5@330@Zd5Q?ZqZqZqZuG?S) @i:)页ii], ٱ} EAHRS rotation from veh to nav: [[0.942440,-0.300704,-0.146232],[0.306404,0.951739,0.017614],[0.133878,-0.061406,0.989093]]H@x(?>ӿ¿@?t?~ ?"?p`?iZ=I,c;CYԅBy$IiuMb@Mb@Mb@qqqq q9uMb?zG?Q?Yu>yu =u9Y=FydE>Q 55y?Q 95ST)BY%>Q EA;yZ9?Q IY@CI:i:W5yɮ@ii+N?AJiRijiw@bm3|膌-m[L eѿRiW4ٿW7) ߑZi.bij<'۾J%y"`EZ s} y$Nκ2iU*:i8?"i/_?*iMXlBiBi}?i;jiBiRAiZ%>Z]>ZZ9? ) p @i9:)%5iiAAM#o+BUCBU$IBUBBU =BQBU}DBUc;BU&E5DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3 Z#Rx 48: Read range message, but no direction.yY3Achecking for new query: numPingsReceived=48, elapsed TxPingTime=23.478500ԡm w9 E 9@A  @A @E 4@A @M =@M = DAT read: 04:46:48.0264 LVL= 32752, 25873, 30882, 32755, AGC= 63, IDX= 511, 0.24, 0.853, 3.010, 1.775, 1.977, PHS=-1.022, 1.078,-0.246, RAW= 308.6, 2.1, CAL= 306.4, -1.3, ROT= 203.6, 1.3 Ygot valid direction response: 04:46:48.0264 LVL= 32752, 25873, 30882, 32755, AGC= 63, IDX= 511, 0.24, 0.853, 3.010, 1.775, 1.977, PHS=-1.022, 1.078,-0.246, RAW= 308.6, 2.1, CAL= 306.4, -1.3, ROT= 203.6, 1.3 Z#Rx 49: Read direction message, but no range.bdirection in FSK: [-0.916127,-0.400246,-0.022687]yqu@PٿNGY;qqueux q)qIuЂiu?um{uZ@uQ =uD @ u޹)uclc@Iu޹=9 ٱ=| UAHRS rotation from veh to nav: [[0.942171,-0.300923,-0.147510],[0.306593,0.951692,0.016795],[0.135330,-0.061049,0.988918]]=HC&?QBӿ¿9?Ct?2? R?A@7?i=Ț=I='c;=CYۅBy$IbDVD0y<%$=ٔAQ->9Y= Fy :E>Q 5%5?Q 9%5Q)BY!y-r9?Q I-Y@CIl:iB:¯5yUߔBɮU8@U7EiiimzLN?AJim~ARim~Ajimew@bm(A#--B~aoROB׿Rm@PٿNGY;ZimR.bim޹<jm&i(u8%y]Zm)Ө730忝%:2im,:im@"im#8?*imhVnBimBim#8?imMXliiim+Aimw@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.505215 s, deltaX: 0.199999 m, approachRate: 0.395869 m/s, rangeRepo size: 4 % Added new target pos. range: 16.311832 m, bearing: 221.847672 deg, lat: 36.779359 deg, lon: -121.859582 deg, deltaT: 0.505215 s, deltaX: 0.198692 m, approachRate: 0.393283 m/s, posRepo size: 4 MDNOT Ignoring new targets: 16.31 m.hIhI*hI"hI hIgIfIfQfQdQdYjd]`ff0@Zd]?ZZZZ[r9?9 ) S@ik:)5ii5/) ,N?A )))I-!i-#ۉ?-u-9>@-5=-@ ))-c@I))-/-M;\s۞¿yb? -z?)-EI-!z.i)checking for new query: numPingsReceived=51, elapsed TxPingTime=24.256454D&%=D&<E* E*E*)E("E*;*E*Z;VE*FA4ZE(a.@a2@a2@a2@mU=mkҡ>m ٱmy AHRS rotation from veh to nav: [[0.941388,-0.302260,-0.149760],[0.307853,0.951314,0.015125],[0.137898,-0.060342,0.988607]]mH?:Xӿ Z+ÿ ޳?@)q???5宿`?imU=Imb;mCYBy$IiMb@Mb@Mb@ 9/$?~jt?~jt?Y1>y><V@G@  @)@Y(@bDVDy=%=ٔuQ->9Y=Fy4;E>Q 5 5󾡊?Q 9 5N)υBYW>Q E,;yX?Q IY@CI:i8:_5y̔Bɮ%@%-Eii.WlN?AJiRiji!x@bvΘv-sRROB׿RزkE5DٿNGY;Zi!z.bijƳ ([u"%YD5Z}`i翊MO Ϳ2i-:i@"i˝?*islBii/_?isli BijAi"w@m addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503522 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.311832 m, bearing: 222.139669 deg, lat: 36.779360 deg, lon: -121.859582 deg, deltaT: 0.503522 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.31 m.hh*h"h hgfffBddjdZd,C?Z=W>Z=W>Z=?Z=X?M )I M @iM:)QU5QiQiYY]DBCB$IBBB =BB~DBc;B&E~Local bearing/azimuth received: Bearing 346.9, -25.3 (Local) DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 DAT read: 04:46:49.0266 LVL= 32752, 20945, 28066, 32755, AGC= 63, IDX= 513, 0.38,-2.543,-0.073,-1.740,-1.352, PHS=-1.089, 1.325,-0.432, RAW= 314.7, 1.8, CAL= 312.6, -1.2, ROT= 197.4, 1.2 -Ygot valid direction response: 04:46:49.0266 LVL= 32752, 20945, 28066, 32755, AGC= 63, IDX= 513, 0.38,-2.543,-0.073,-1.740,-1.352, PHS=-1.089, 1.325,-0.432, RAW= 314.7, 1.8, CAL= 312.6, -1.2, ROT= 197.4, 1.2 -T#Rx 52: Read range and direction messages.5bdirection in FSK: [-0.954031,-0.298975,-0.020942]5Fpublishing direction and range infoyy}x/lhj{h"ӿ_2qY}Ayy}Q}m y)yI}Zdi}?}/ݾ}¯@}=}@ })}w\@I}5i}覓,N?A2==2\>2Aٱ2G6y8 ^AHRS rotation from veh to nav: [[0.940909,-0.303216,-0.150832],[0.308797,0.951017,0.014495],[0.139049,-0.060215,0.988453]]2H ?gӿtNÿ@V?n?Y?`X?@qԮh?i2==I2+b;2CYfByf$IbDnVDn1yv4=%zL=ٔz=Q-z>9xY|=~Fy|~v,;E~>Q 5 5š?Q 95kL)څBYyX?Q IY@#CIP ;i\ ;5yɮ@!iiN?AJiARiAji%q@b;H/3sOWgCֿRx/lhj{h"ӿ_2qZi>5bi<j\yGX*6%f(>#qZ;[L(4>`'MS2i:iU"i됒`?*i:}IBi|Bi#8?iiBimAiOw@Eu EuEu&Eq"Eu.;*Eup;VEu4ZEqBEu#=a2Eu#=aJEu-@=X@ +=)d@I+ʄŠᅳ'n!ش? @)I"-i+uchecking for new query: numPingsReceived=53, elapsed TxPingTime=24.996534@ @@4@ ^A LM<I I O >Jp,]N?AVyP=V2>V(ٱV x ^AHRS rotation from veh to nav: [[0.940351,-0.304353,-0.152016],[0.309921,0.950662,0.013797],[0.140317,-0.060087,0.988282]]VH[? zӿAuÿ?`k?sA? ?î ?iVyP=IV4Pb;TYfByf$IbDrVDry=%==ٔ%HAQ-->99Y9=EFyAM;;EU>iQ 55m,͡?Q 95mI)mBYy.GZZ'B?R 6Z?`nۿ ۷p?Zi "-bi +j 8:(S& RZ 7Vvhl߮2i 5:i A"i 4FН?*i 㸅sBi Bi /_?i i i qAi w@  addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503694 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.610493 m, bearing: 223.056297 deg, lat: 36.779360 deg, lon: -121.859582 deg, deltaT: 0.503694 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 16.61 m.h!h!*h!"h! h!g)f)f)f)d1d1jdqZdu ?ZZZZB B #%IB BBB B B DB d;B &E- PDAT read: Bearing 347.7, -32.2 (Local) 5 ~Local bearing/azimuth received: Bearing 347.7, -32.2 (Local) E DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.3 m DAT read: 04:46:50.0268 LVL= 32752, 23089, 28866, 32755, AGC= 67, IDX= 4,-0.40,-1.292, 0.863,-0.354,-0.158, PHS=-1.032, 1.066,-0.240, RAW= 308.0, 2.3, CAL= 305.8, -1.1, ROT= 204.2, 1.1 u Ygot valid direction response: 04:46:50.0268 LVL= 32752, 23089, 28866, 32755, AGC= 67, IDX= 4,-0.40,-1.292, 0.863,-0.354,-0.158, PHS=-1.032, 1.066,-0.240, RAW= 308.0, 2.3, CAL= 305.8, -1.1, ROT= 204.2, 1.1 u T#Rx 54: Read range and direction messages.} bdirection in FSK: [-0.911952,-0.409847,-0.019197] Fpublishing direction and range infoy  .mZ:ڿ]~Y A 1Z p ) CI i r? u @ l$= {ʪ@ nF) d@I nF< ܂B)1N? @) w|"I .i nF<  checking for new query: numPingsReceived=54, elapsed TxPingTime=25.495478^A jZX<I I O ,N?Az:=z>z<2ٱz?x %AHRS rotation from veh to nav: [[0.939810,-0.305538,-0.152985],[0.311106,0.950282,0.013288],[0.141319,-0.060083,0.988139]]zH?@ӿÿ`'?h?6??-î ֞?iz:=Iz?b;xYuByu$Ii}Mb@Mb@Mb@yyyy y9}rh|?K?~jt?Y}{>y}^:>}9Y=Fyt4;E>Q 55 ԡ?Q 9 5F)BY >Q E -;y @w?Q I Y@GCI.Z5>]checking for new query: numPingsReceived=54, elapsed TxPingTime=25.719336Z5'#?Z5@w?<2) = @ie:)[h6ii115#tI1 i5 K?5 ~5 !@5 ¸2=5 @ 5 )5 c@I5 <1 5 $c@eUK¿&p)? 5 ?)5 Y1I5 @.i5 < checking for new query: numPingsReceived=55, elapsed TxPingTime=25.995764^Ak<I IO5>S,SN?A@LɰN4vp)ٱv^dx AHRS rotation from veh to nav: [[0.939159,-0.307094,-0.153864],[0.312642,0.949787,0.012655],[0.142252,-0.059989,0.988011]]vH ?`mӿ`ұÿ U?d??`P5?@䶮@ɝ?ivVo=IvVb;vCY%By%$IbD5VD5kyEڼ%E4=ٔM[Q-M>9IYI=MFyQUr;EU>YQ 5e5]ڡ?Q 9e5]C)]BYiymw?Q ImY@]XCI]:i]:]5yqɮu@yDNOT Ignoring new targets: 16.91 m.hh*h"h hgfffddjdZd@?ZZZZw?p)) w @i_:)6ii~~BY B] <%IB] WBB] =BY B] ~DB] [d;B] &Eu DDAT read: Rx Time:04:46:51.0270 } TRx dataTimestamp_ set to:1761540412.215938 PDAT read: Bearing 347.3, -32.6 (Local)  ~Local bearing/azimuth received: Bearing 347.3, -32.6 (Local)  DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.3 ^A I I  DAT read: 04:46:51.0270 LVL= 32752, 25521, 32754, 32755, AGC= 63, IDX= 502,-0.38, 0.315, 2.472, 1.258, 1.468, PHS=-1.051, 1.050,-0.254, RAW= 307.9, 2.8, CAL= 305.6, -0.5, ROT= 204.4, 0.5  Ygot valid direction response: 04:46:51.0270 LVL= 32752, 25521, 32754, 32755, AGC= 63, IDX= 502,-0.38, 0.315, 2.472, 1.258, 1.468, PHS=-1.051, 1.050,-0.254, RAW= 307.9, 2.8, CAL= 305.6, -0.5, ROT= 204.4, 0.5  T#Rx 56: Read range and direction messages. bdirection in FSK: [-0.910649,-0.413089,-0.008727] Fpublishing direction and range infoyy } {{i $D pڿB7߁Y} fAy y } cy y )} ?I} +i} ff?} J } @} +H=} 㭪@ } 5)} &Qd@I} 5Ó,"O?A 6qy=6pK>6h0ٱ6y) HI-i5<>checking for new query: numPingsReceived=56, elapsed TxPingTime=26.519072 FAHRS rotation from veh to nav: [[0.938558,-0.308421,-0.154874],[0.313990,0.949347,0.012269],[0.143245,-0.060144,0.987858]]6H?`)ӿÿ k? a?s ?@U?`0ˮ?i6qy=I6gb;6CYBy$Ii-Mb@Mb@Mb@)))) )9-X9v? r?{Gz?Y-s>y-C>-#<-l@-1@ - @)-@)Y-@AbDVD\y;5%!=ٔTQ->9Y=Fy=;E>Q 55ᡊ?Q 95@@)BYS>Q E-;y?Q IY@lCIU:i:K5y!ɮ%@!ii O?AJiARiAji'y@bBHoV/Ћnn~s8ÿR{{i $D pڿB7߁Zi-bi5<j#i(!W'`yrZ::翜!޳Lo=2i::iG"i=ŝ?*iy4sBi Bii2riiAity@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 1.010898 s, deltaX: 0.299999 m, approachRate: 0.296765 m/s, rangeRepo size: 4  Added new target pos. range: 17.207321 m, bearing: 223.052985 deg, lat: 36.779360 deg, lon: -121.859585 deg, deltaT: 1.010898 s, deltaX: 0.298334 m, approachRate: 0.295118 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.21 m.hh!*h!"h! h!g!f!f)f-Bd)d)jd5L1@Zd5>X?ZS>ZS>Zs -?Z?h0)  @i:).6iiގEٱEy AHRS rotation from veh to nav: [[0.937176,-0.311717,-0.156631],[0.317283,0.948264,0.011242],[0.145023,-0.060232,0.987593]]EH@Y?@*ӿ| Ŀ_N? .X?? ?`֮ ]?iE|=IE/b;ECYBy$I AbDVDNyN%-=ٔjyQ->9Y!=%Fy)-;E->1Q 5=55衊?Q 9=55=)5 BY9y=?Q IEY@5~CI5;i5;5k5yqɮu@q addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.497351 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 17.21 m.hh*h"h hgfffddjdZd?ZAZAZAZEQ?m)q u @iu:)qu6qiqiyxSڿn p\?k )AIQi?q=s=@ :)md@I亩SBB;S^P? <@)ЩrI-i亝checking for new query: numPingsReceived=58, elapsed TxPingTime=27.284868DzD@AE EE'E"E1;*E[;VE'4ZEa@a@a@a@a ^A5 W<IA IQ O] >ғ,@JO?A]w=] >];ٱ]@=@ 5<)c@I5RsᅧJ¿j? ?)z|I@.i5checking for new query: numPingsReceived=59, elapsed TxPingTime=27.499846B<A<B >B CB B B  =B B B _d;B BIBIBIBIBICM5Y-By5$IiiMb@Mb@Mb@ 9$C?Mb?Mbp?YZ>y@>; @)|@Y3@bDE VDE2yM%U =ٔUźQ-U>9YYY=]Fya}b;E}>Q 55"?Q 959)BYy>Q E:;y?Q IY@CI":iL:5yɮ]@ii MO?AJi ARi Ajix@bkmPg/z!'?RMz;܌ڿB7߁?Zi@.bi5jω) ('<Z46WVoEЂ2i=:iNL"iæ?*itSqBigBi=ŝ?ii BiÊAiWy@- addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503389 s, deltaX: 0.300001 m, approachRate: 0.595963 m/s, rangeRepo size: 4 e Added new target pos. range: 17.505589 m, bearing: 222.851811 deg, lat: 36.779360 deg, lon: -121.859585 deg, deltaT: 1.000740 s, deltaX: 0.298267 m, approachRate: 0.298047 m/s, posRepo size: 4 eDNOT Ignoring new targets: 17.51 m.haha*ha"hi higififqfuBԑddjd1@Zd?Zy>Zy>Z[9?Z?;)  @i:)6ii%^uvٱuwechecking for new query: numPingsReceived=60, elapsed TxPingTime=28.049900 AHRS rotation from veh to nav: [[0.935762,-0.315334,-0.157842],[0.320802,0.947096,0.009776],[0.146409,-0.059784,0.987416]]uH ?n.Կ)4Ŀ?N???`?iuO=IuLa;qY υBy $IIC=)p=bDMVDMy>ͽ%+=ٔ}Q->9Y=Fy;E>Q 55?Q 956)BYy*?Q IY@CI:i:5yϔBɮ@/Ei i <0nO?AJi Ri ji @y@b g/-vR ,=*y_(VڿsNruZi '-bi ;j zI)o;''YmdZ lfWLiyX/2i ?:i KJ"i Vʝ?*i pBi сBi Oqŝ?i i i ƋAi рy@ addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.505016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.505589 m, bearing: 223.364891 deg, lat: 36.779360 deg, lon: -121.859585 deg, deltaT: 0.505016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.51 m.hh*h"h hgfffddjdZd;?ZaZaZaZe7*?uv)  @i:)顝ii?4rEmȖ/E EE'E"E;*Ei;VE'4ZEa% @a% @a% @a% @ 9@  @ @ 0@ i ԙDDAT read: Rx Time:04:46:53.0274 TRx dataTimestamp_ set to:1761540414.224752PDAT read: Bearing 347.1, -32.4 (Local) ~Local bearing/azimuth received: Bearing 347.1, -32.4 (Local) DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.3 %DAT read: 04:46:53.0274 LVL= 32752, 24641, 32754, 32755, AGC= 65, IDX= 505, 0.01,-0.439, 1.720, 0.487, 0.722, PHS=-1.059, 1.043,-0.279, RAW= 308.5, 3.2, CAL= 306.1, -0.1, ROT= 203.9, 0.1 5Ygot valid direction response: 04:46:53.0274 LVL= 32752, 24641, 32754, 32755, AGC= 65, IDX= 505, 0.01,-0.439, 1.720, 0.487, 0.722, PHS=-1.059, 1.043,-0.279, RAW= 308.5, 3.2, CAL= 306.1, -0.1, ROT= 203.9, 0.1 B=>B=CB=#%IB=BBB= =B9B=DB=Cd;B=&EUT#Rx 61: Read range and direction messages.]bdirection in FSK: [-0.914253,-0.405141,-0.001745]eFpublishing direction and range infoy񒞎AVBٿn p\Y3AA` )AIPi?َL@d=`@ ),c@I:8ƹQdA¿ٕ? ?)dgI].i:}checking for new query: numPingsReceived=61, elapsed TxPingTime=28.511757^A<IIO?,yO?A=z>0ٱ*w uAHRS rotation from veh to nav: [[0.935174,-0.316789,-0.158413],[0.322225,0.946618,0.009203],[0.147041,-0.059651,0.987330]]H?DFԿFĿS?J?Hق?`=?` 5?i=I(`;CYByw$IiMb@Mb@Mb@ 9S?(\?{GztY/]>yz>ףV@@ )O@Y@ 4<bDVDfy쬽%=ٔpQ->9Y=Fy6;E>Q 55!?Q 953)BY 9>Q E L;y l?Q I Y@CI3_8]2y7I2im,A:imN"imY?*imÝ,qBimBim=ŝ?imtSqimځBimŒAimV}y@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503058 s, deltaX: 0.299999 m, approachRate: 0.596351 m/s, rangeRepo size: 4  Added new target pos. range: 17.804214 m, bearing: 223.032834 deg, lat: 36.779360 deg, lon: -121.859584 deg, deltaT: 0.503058 s, deltaX: 0.298626 m, approachRate: 0.593621 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.hh*h"h hgf f f Zu9>ZuX?Zul?0) \@i2:)額*5iiK!,}O?AuS=ujn>uٱuĿw AHRS rotation from veh to nav: [[0.934767,-0.317735,-0.158921],[0.323185,0.946293,0.009014],[0.147522,-0.059787,0.987250]]uH?UԿWĿ?H? v?`?s?iuS=Iu,`;uCYByo$IbDVD:y%m=ٔQQ-?9Y=FyI;E?DDAT read: Rx Time:04:46:53.5274  TRx dataTimestamp_ set to:1761540414.729412PDAT read: Bearing 347.7, -32.2 (Local) ~Local bearing/azimuth received: Bearing 347.7, -32.2 (Local) -DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.2 )UDAT read: 04:46:53.5274 LVL= 32752, 25249, 32754, 32755, AGC= 64, IDX= 505, 0.01,-1.111, 1.042,-0.191, 0.033, PHS=-1.042, 1.054,-0.268, RAW= 308.6, 2.8, CAL= 306.2, -0.5, ROT= 203.8, 0.5 ]Ygot valid direction response: 04:46:53.5274 LVL= 32752, 25249, 32754, 32755, AGC= 64, IDX= 505, 0.01,-1.111, 1.042,-0.191, 0.033, PHS=-1.042, 1.054,-0.268, RAW= 308.6, 2.8, CAL= 306.2, -0.5, ROT= 203.8, 0.5 ]T#Rx 62: Read range and direction messages.ebdirection in FSK: [-0.914925,-0.403530,-0.008727]mFpublishing direction and range infoyqQ 5}5u?Q 9}5u1)uBYyy}Hl?Q IY@uCIu[:iu1:u5yɮ@_GyoٿB7߁Yb )@IB`iy?L7Z@+H=@ 5)c@I5<5hӓDÿg\l6? ?y?)II!z.i5<uchecking for new query: numPingsReceived=62, elapsed TxPingTime=29.018019iiO?AJiRijiv#y@b6J0eЦ"ÿR_GyoٿB7߁Zi!z.bi5<jOi{)p!(eZ\vo8翼?[F,2iA:iN"i,?*innBioBi,?iÝ,qiсBiލAi[y@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.804214 m, bearing: 223.040396 deg, lat: 36.779360 deg, lon: -121.859584 deg, deltaT: 0.504660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.80 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5?ZQZQZQYZU3Hl?) @iL:)顕\5iiԱ ,KO?A6 +=6ط>6h]ٱ6dy >AHRS rotation from veh to nav: [[0.934483,-0.318171,-0.159714],[0.323673,0.946126,0.009001],[0.148245,-0.060106,0.987122]]6H`I?`\Կ~qĿ`? F? o?`? =Ʈ?i6 +=I6_;4Y^BybW$I ``dfAiMMb@Mb@Mb@IIII I9M$C?|?5^?YMZ>yM=MII M @)IIYM@bDeVDeymɽ%mQ=ٔuQ-u>9qYy=}Fyy}:E>Q 55?Q 950)$BYFr>Q E`;y'I?Q IY@̢CI:ib:V5yɮ'@EDNOT Ignoring new targets: 17.80 m.hIhI*hI"hI hIgIfIfqfu,BdqdyjdyZd}`?ԙZEFr>ZEFr>ZE>ZE'I?mh])i m@im:)quI5qiqiyy}9 E0,&O?A2checking for new query: numPingsReceived=63, elapsed TxPingTime=29.7510726=6>6ٱ6wSz BAHRS rotation from veh to nav: [[0.934269,-0.318463,-0.160384],[0.324014,0.946009,0.009023],[0.148852,-0.060396,0.987013]]6H? aԿwĿ ? E?xz? ?`C쮿 ?i6=I64_;6CYFByJ9$IR@APbDRVDR:2yZ%ZW=ٔ^2ӺQ-^>9`Y`=bFy`b:Eb>dQ 5j5fk ?Q 9j5f\.)f)BYlynBI?Q InY@fآCIf;ifU;f5yrBɮr|@v%EiAiE?O?AJiEҐARiEҐAjiE/ y@bE'Ae0?_"g?K5-REMM?xٿQC1mlZiE.biEd;jE4?6VQ*4In(ѧθZE̎B翏V3<22iED:iER"iE͌?*iEpBiEVBiEæ?iEpiEBiEAiE/y@5 addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503391 s, deltaX: 0.300001 m, approachRate: 0.595960 m/s, rangeRepo size: 4 M Added new target pos. range: 18.102587 m, bearing: 222.962501 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.503391 s, deltaX: 0.298372 m, approachRate: 0.592725 m/s, posRepo size: 4 MDNOT Ignoring new targets: 18.10 m.hIhI*hI"hI hQgQfQfQfddjd@332@Zd"?E EE(E"E1;*Eik;VEc44ZEBEJ=a-2EJ=a-JEi Z,O?A 2=2>2qٱ2lz >AHRS rotation from veh to nav: [[0.934110,-0.318697,-0.160847],[0.324272,0.945921,0.008976],[0.149288,-0.060543,0.986939]]2H9?eԿ`Ŀ?D?b? ?`x@?i2=I2_;2CYNByR6$IbDZVDZ:yf-%fI=ٔf:Q-j>9hYh=jFyhn7A:En>pQ 5v5r?Q 9v5r,)r.BYtyvVI?Q IvY@rCIr:irW:r75y~Bɮ~@~&EiIiM-%O?AJiIRiIjiMy@bM.}CQ0ȮErn.-RM(/LgYٿa|ZiIbiM;jMf\I*Hx(NsEZM(<6<翪wZv%2iM#D:iMNR"iM@}?*iM3oBiM1BiM@}?iMpiMoBiM"AiMmCy@M addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503841 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 18.102587 m, bearing: 223.003885 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.503841 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.10 m.haha*ha"ha hagafififididqjdqZdu?ZZZZVI?%q)) - @i-:))- 5)i)i11=)'ԡ - DDAT read: Rx Time:04:46:55.0278 - TRx dataTimestamp_ set to:1761540416.240807= PDAT read: Bearing 347.5, -32.3 (Local) BE >BE CBE $IBE BBE  =BA BE ~DBE 9d;BE &E] ~Local bearing/azimuth received: Bearing 347.5, -32.3 (Local) m DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.1  DAT read: 04:46:55.0278 LVL= 32752, 28657, 32754, 32755, AGC= 64, IDX= 509,-0.04,-0.628, 1.517, 0.282, 0.521, PHS=-1.047, 1.041,-0.283, RAW= 308.8, 3.2, CAL= 306.4, -0.1, ROT= 203.6, 0.1  Ygot valid direction response: 04:46:55.0278 LVL= 32752, 28657, 32754, 32755, AGC= 64, IDX= 509,-0.04,-0.628, 1.517, 0.282, 0.521, PHS=-1.047, 1.041,-0.283, RAW= 308.8, 3.2, CAL= 306.4, -0.1, ROT= 203.6, 0.1  T#Rx 65: Read range and direction messages. bdirection in FSK: [-0.916361,-0.400348,-0.001745] Fpublishing direction and range infoy) - \ER H(Oٿn p\Y- A) ) - o-  ) )) I) i- }??- `吾- iw@- d=- D @ - )- clc@I- :) ) - Afÿ]d? - :?)- {dI- R.i- :) )  checking for new query: numPingsReceived=65, elapsed TxPingTime=30.527210D,P?Axɰz;qs= >ٱfy AHRS rotation from veh to nav: [[0.934053,-0.318661,-0.161244],[0.324180,0.945958,0.008449],[0.149838,-0.060164,0.986878]]H?dԿ@Ŀ@_?HE?M?-?ͮ?is=I^;CY xBy *$I=ԡiMb@Mb@Mb@ 9V-?V-?~jt?Y|?>ym=D<(@@ @)Y@bDVDfy z% =ٔ  Q->9Y=FyaE>!Q 5-5%/?Q 9-5%*)%8BY5H>Q E5;y5$?Q I5Y@%CI%:i%]:%5y9ɮ=W@AiYi]biP?AJi]4ARi]4Aji]x@b]0jtpw5aqR]\ER H(Oٿn p\Zi]R.bi]:j]$$(?* %(oY_~Z]'aLN[l2i]F:i]YV"i]i@?*i]SqBi]=Bi]Y?iYi]VBi]/Ai]"y@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504163 s, deltaX: 0.299999 m, approachRate: 0.595044 m/s, rangeRepo size: 4  Added new target pos. range: 18.400570 m, bearing: 222.867298 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.504163 s, deltaX: 0.297983 m, approachRate: 0.591045 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.40 m.hh*h"h hgfffBddjd2@Zd?ZH>ZH>Z->Zw$?) G@i:)l5iid\ ,-P?AB%=B>BٱBw RAHRS rotation from veh to nav: [[0.934018,-0.318577,-0.161614],[0.324013,0.946021,0.007754],[0.150420,-0.059608,0.986823]]BHy?cԿǯĿ?E??@? 儮?iB%=IBf^;BCYZnByZ$IbDbVDbkyj䌽%j=ٔjQ-n?9lYl=nFylrEr?~DDAT read: Rx Time:04:46:55.5278 ~TRx dataTimestamp_ set to:1761540416.744870 PDAT read: Bearing 346.8, -32.2 (Local)  ~Local bearing/azimuth received: Bearing 346.8, -32.2 (Local) DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 EDAT read: 04:46:55.5278 LVL= 32752, 29329, 32754, 32755, AGC= 63, IDX= 509,-0.12,-2.258,-0.107,-1.352,-1.098, PHS=-1.058, 1.036,-0.298, RAW= 309.0, 3.5, CAL= 306.6, 0.5, ROT= 203.4, -0.5 MYgot valid direction response: 04:46:55.5278 LVL= 32752, 29329, 32754, 32755, AGC= 63, IDX= 509,-0.12,-2.258,-0.107,-1.352,-1.098, PHS=-1.058, 1.036,-0.298, RAW= 309.0, 3.5, CAL= 306.6, 0.5, ROT= 203.4, -0.5 MT#Rx 66: Read range and direction messages.U`direction in FSK: [-0.917720,-0.397133,0.008727]]Fpublishing direction and range infoy|~V][jٿB7߁?Y|||~r| |)~?I~li~?~u~@~5z=~<@ ~5<)~13c@I~5||~`Vl9uÿq}? ~;?)~G|I~.i~5||}checking for new query: numPingsReceived=66, elapsed TxPingTime=31.028746atQ 55v?Q 95v*)v>BYy$?Q IY@vCIvG,:GP?AR@=Rd>R/ٱRw fAHRS rotation from veh to nav: [[0.934102,-0.318034,-0.162196],[0.323514,0.946191,0.007855],[0.150970,-0.059810,0.986727]]RH@*?ZԿĿ s? 2G??@R?@^ E?iR@=IR[^;PYnoByn$IiMb@Mb@Mb@ 9Cl?~jt?Q?YO>y<u<@  @)YbD VD N2yUD;%U)=ٔ]'Q-]>9aYa=eFyaeEm>iQ 5u5ma"?Q 9u5m()mIBY}XQ>Q E};y}>Q I}Y@mCIm;im[;m5yɮ@DNOT Ignoring new targets: 18.40 m.hh*h"h h%DDAT read: Rx Time:04:46:56.0278 -TRx dataTimestamp_ set to:1761540417.2487495PDAT read: Bearing 347.2, -32.5 (Local) 5~Local bearing/azimuth received: Bearing 347.2, -32.5 (Local) EDAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 mDAT read: 04:46:56.0278 LVL= 32752, 27121, 30626, 32755, AGC= 64, IDX= 510,-0.27,-1.892, 0.267,-0.974,-0.729, PHS=-1.061, 1.041,-0.289, RAW= 308.7, 3.4, CAL= 306.3, 0.2, ROT= 203.7, -0.2 uYgot valid direction response: 04:46:56.0278 LVL= 32752, 27121, 30626, 32755, AGC= 64, IDX= 510,-0.27,-1.892, 0.267,-0.974,-0.729, PHS=-1.061, 1.041,-0.289, RAW= 308.7, 3.4, CAL= 306.3, 0.2, ROT= 203.7, -0.2 }T#Rx 67: Read range and direction messages.`direction in FSK: [-0.915657,-0.401945,0.003491]Fpublishing direction and range infoy)-MM?xٿQC1ml?Y)))-i-w ))-@I-·i-}??--i@-s=-@ -d;)-c@I-d))-\V<←vK|[ÿQ? -)T?)-rI-.i-d))checking for new query: numPingsReceived=67, elapsed TxPingTime=31.531328B<A<B>BB$IB݅BBBB}DBd;B&EgfffBddjdZdL?Z]XQ>Z]XQ>Z] =Z]]>/) G@i:)D6ii míi}>9@ @@0@@@gA!Q  checking for new query: numPingsReceived=67, elapsed TxPingTime=31.767714^AM T<IQ Ia Ou >,RaP?A2mh=2/G>2Rٱ2y :AHRS rotation from veh to nav: [[0.934294,-0.317172,-0.162781],[0.322709,0.946464,0.008066],[0.151507,-0.060067,0.986629]]2H? LԿĿA?oI??d?`w?i2mh=I2C^;2CYBqByB!$IDFAbDNVDNyR<%V=ٔV޺Q-V ?9XYX=ZFyX^*E^ ?\Q 5b5^C'?Q 9f5^C()^PBYdyf\>Q IfY@^ CI^:i^;^5ylɮn@li9i=OP?AJi9Ri9ji=}x@b=;07~\q?R=MM?xٿQC1ml?Zi=.bi=dj=} *y(w܃|F\Z=(|P\忢04s2i=FE EE)E"E;*Eb;VEFA4ZEBE=a%2E=a%JEXR) r@i :)顝66ii ԑ .,j{P?A2=2>2Wٱ2u :AHRS rotation from veh to nav: [[0.934430,-0.316623,-0.163065],[0.322042,0.946698,0.007233],[0.152083,-0.059272,0.986589]]2H?CԿRĿW?XK?}?`xw?X"?i2=I2/^;2CYfnByf$IbDr VDr:2yvt_%zF=ٔzQ-z>9xY|=~Fy|.ٺE>Q 5 5-?Q 95[')YBYy>Q IY@CI:i6:&5yɮ%@!iQiU+pP?AJiQRiQjiUx@bU;07~\qRUMM?xٿQC1mlZiQbiUd;jỤ|*<+;(ƶ.ZUyDI忟{ån2iUF:iUCV"iU!oŝ?*iUܕ@nBiUBiU@}?iU_IaoiU=BiUAiU x@u addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.400511 m, bearing: 222.863169 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.503912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.40 m.hh*h"h hgfffddjdZd@?ZZZZM>W) @i:)Z6ii\z5 DDAT read: Rx Time:04:46:57.0280 5 TRx dataTimestamp_ set to:1761540418.256731= PDAT read: Bearing 347.0, -33.1 (Local) E ~Local bearing/azimuth received: Bearing 347.0, -33.1 (Local) U DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 u DAT read: 04:46:57.0280 LVL= 32752, 28449, 32754, 32755, AGC= 65, IDX= 511, 0.17, 0.215, 2.366, 1.144, 1.384, PHS=-1.067, 1.027,-0.284, RAW= 308.3, 3.6, CAL= 305.9, 0.5, ROT= 204.1, -0.5 } Ygot valid direction response: 04:46:57.0280 LVL= 32752, 28449, 32754, 32755, AGC= 65, IDX= 511, 0.17, 0.215, 2.366, 1.144, 1.384, PHS=-1.067, 1.027,-0.284, RAW= 308.3, 3.6, CAL= 305.9, 0.5, ROT= 204.1, -0.5 B >B B $IB ͅBB  =B B ~DB c;B &EBCBCBBBC5 T#Rx 69: Read range and direction messages. `direction in FSK: [-0.912799,-0.408315,0.008727] Fpublishing direction and range infoy1 5 "5.!ڿB7߁?Y5 fA1 1 5 !o5  1 )5 AI5 ui5 t?5 sh5 /@5 =5 ت@ 5 5<)5 ]c@I5 51 1 5 0gšZg¿&? 5 V?)5 I5 X$.i5 51 1  checking for new query: numPingsReceived=69, elapsed TxPingTime=32.544453 $,2ٱ2r :AHRS rotation from veh to nav: [[0.934701,-0.315673,-0.163354],[0.320978,0.947065,0.006464],[0.152666,-0.058475,0.986546]]2H?@3ԿĿ?ZN?6zz?`?oɑ?i2=I2^;2CYUrBy]#$Ii Mb@Mb@Mb@     9 |?5^? rh?:v?Y M>y C< < @ ׷@ @) "@ Y @bDm VDm2y<%$=ٔQ->9Y=FyE>Q 5 55?Q 95L&)gBYDP>Q E;y>Q IY@$CI.;i;5y%Bɮ%@%'EiYi]HnP?AJi]ARi]Aji]:y@b]mR;1T:X4`?R]"5.!ڿB7߁?Zi]X$.bi]5j]V $+6oj)ol))Z]Iv^~&9翱_㌿快^a[2i]UK:i] Y"i]{?*i]tBi]sBi]{?i]coi]ZBi]Ai]x@u addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504070 s, deltaX: 0.299999 m, approachRate: 0.595154 m/s, rangeRepo size: 4  Added new target pos. range: 18.699053 m, bearing: 223.121454 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.504070 s, deltaX: 0.298542 m, approachRate: 0.592263 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.70 m.hh*h"h hgfffӀBddjd2@ZdhV?ZDP>ZDP>Ztͬ=Z>) @i:)6ii'+,ʮP?Aɰ6r=6 >6ٱ6hq BAHRS rotation from veh to nav: [[0.934821,-0.315086,-0.163801],[0.320359,0.947276,0.006133],[0.153232,-0.058208,0.986474]]6H ?]*ԿjĿ@?P?y?`?@rͭ2?i6r=I6!^;6CYF}ByJ/$IIN<)Np;bDRVDRJyZ=%Z=ٔ^Q-^?9\Y\=bFy`bEb?dQ 5j5f9?Q 9j5f%)fpBYhyn>Q InY@f,CIf:if;f$5ypɮr(@p DNOT Ignoring new targets: 18.70 m.hh*h"h hgf-DDAT read: Rx Time:04:46:57.5280 -TRx dataTimestamp_ set to:1761540418.7688155PDAT read: Bearing 347.8, -33.0 (Local) =~Local bearing/azimuth received: Bearing 347.8, -33.0 (Local) MDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 mDAT read: 04:46:57.5280 LVL= 32752, 26721, 32754, 32755, AGC= 63, IDX= 511,-0.04,-2.420,-0.269,-1.494,-1.266, PHS=-1.052, 1.041,-0.272, RAW= 308.4, 3.1, CAL= 306.0, -0.2, ROT= 204.0, 0.2 }Ygot valid direction response: 04:46:57.5280 LVL= 32752, 26721, 32754, 32755, AGC= 63, IDX= 511,-0.04,-2.420,-0.269,-1.494,-1.266, PHS=-1.052, 1.041,-0.272, RAW= 308.4, 3.1, CAL= 306.0, -0.2, ROT= 204.0, 0.2 }T#Rx 70: Read range and direction messages.bdirection in FSK: [-0.913540,-0.406734,-0.003491]Fpublishing direction and range infoy)-dLV;pڿQC1mlY)))-ah) ))-?I-𧆿i-}??-C-9>@-k]=-@ -d)-c@I-d;))-c<Μ2r¿l*˛? -?)-?y_I-@.i-d;))checking for new query: numPingsReceived=70, elapsed TxPingTime=33.052166f9f9d9dAjdAZdE@]?ZZZZu> )) 5$@i5 :)15Z61i1i99=l;3,P?A^=^>^ ٱ^p jAHRS rotation from veh to nav: [[0.934886,-0.314229,-0.165068],[0.319465,0.947582,0.005487],[0.154692,-0.057863,0.986267]]^H?RԿ ſr? R?1yv?@?3?i^=I^p^;\YnBynE$IԁiMb@Mb@Mb@ 9Fx?l?/$?YK>y=,=@@  @)O@Y@bDVDy-=%=ٔ;Q->DDAT read: Rx Time:04:46:58.0281 TRx dataTimestamp_ set to:1761540419.272777PDAT read: Bearing 344.3, -30.3 (Local) ~Local bearing/azimuth received: Bearing 344.3, -30.3 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 %DAT read: 04:46:58.0281 LVL= 32752, 26193, 32498, 32755, AGC= 65, IDX= 513,-0.23, 2.124,-2.447, 2.815, 3.071, PHS=-0.845, 0.810,-0.300, RAW= 311.2, 4.6, CAL= 308.9, 2.7, ROT= 201.1, -2.7 -Ygot valid direction response: 04:46:58.0281 LVL= 32752, 26193, 32498, 32755, AGC= 65, IDX= 513,-0.23, 2.124,-2.447, 2.815, 3.071, PHS=-0.845, 0.810,-0.300, RAW= 311.2, 4.6, CAL= 308.9, 2.7, ROT= 201.1, -2.7 -T#Rx 71: Read range and direction messages.=`direction in FSK: [-0.931918,-0.359597,0.047106]EFpublishing direction and range infoyE|REӞ ׿P7V?YAUAAAQBe>BaBaBaBe =BaBaBec;Be&EQf~ )AIQXi)\O?έ@l=@ A=)`@IAK3Kg0+ȿ ? j<)I5~1iAchecking for new query: numPingsReceived=71, elapsed TxPingTime=33.5660719Y=FyҺE>Q 55JA?Q 95<$)BYS>Q E;y?Q IY@9CI=i=5yɮ @ii.uP?AJiRijiu@bԐqKm1V:* /?RE|REӞ ׿P7V?Zi5~1biAj":ϥ,d"'o[Z=6n+lVB2i>:i.e"ih@?*i ^BiBii_IaoisBiAiܖx@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.016046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.699121 m, bearing: 219.799236 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 1.016046 s, deltaX: 0.000069 m, approachRate: 0.000068 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.70 m.hh*hԡ"h hgfffBddjdZd㣹?ZMS>ZMS>ZM ><>ZMG? ) G@i:)顭6ii%NYGliA% A9- liAY5 v0A checking for new query: numPingsReceived=71, elapsed TxPingTime=33.792576 :E  E E E "E 4;*E n;VE ZE BE =a 2E =a JE [:Eٱ:upn BAHRS rotation from veh to nav: [[0.934790,-0.314248,-0.165577],[0.319423,0.947600,0.004904],[0.155360,-0.057473,0.986185]]:H?Կ1ſkq?R?Xt? ?(mӎ?i: =I:^;:CYJByJW$I llbDvVDv0yz`k=%~'=ٔ~:Q-~>9Y=Fy ➷E >Q 55G?Q 95 #)BYy?Q IY@ECIL;i;5y)ɮ-'@)UDNOT Ignoring new targets: 18.70 m.hQhQ*hQ"hY hYgYfYfafadadajdaZdm?DDAT read: Rx Time:04:46:58.5281 TRx dataTimestamp_ set to:1761540419.776528DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 Z#Rx 72: Read range message, but no direction.yYchecking for new query: numPingsReceived=72, elapsed TxPingTime=34.047199ԹZZZZ?E) @i1:)p6ii  5 checking for new query: numPingsReceived=72, elapsed TxPingTime=34.295174E  E E )E "E ;*E x;VE FA4ZE a @a @a @a @A B,cQ?A6=6>6k ٱ6Bm >AHRS rotation from veh to nav: [[0.934691,-0.314262,-0.166109],[0.319392,0.947612,0.004419],[0.156018,-0.057184,0.986098]]6H? Կ@Cſp?@R?:r?g?`3G`?i6=I6~^;6CYbBybj$IiMb@Mb@Mb@ 9Mb?㥛 ?~jt?Y@>y=D=@1@  @)9@YG@AAAAbDVD:y=%-=ٔQ->9Y=Fy!%6E%>)Q 555-M?Q 955-o!)-BY=HT>Q E=;y=:?Q I=Y@-PCI- ;i- ;- 5yAɮE3@Au addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 18.70 m.hyhy*hy"hy hygfff'BddjdZd` ?ZHT>ZHT>Z%>Z:?k ) @iy:)6iiIIDDAT read: Rx Time:04:46:59.0283 TRx dataTimestamp_ set to:1761540420.281660PDAT read: Bearing 348.0, -34.0 (Local) ~Local bearing/azimuth received: Bearing 348.0, -34.0 (Local) BBB$IBBBBBBc;B&EDAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.3 AuDAT read: 04:46:59.0283 LVL= 32752, 22769, 32114, 32755, AGC= 68, IDX= 2, 0.23, 0.519, 2.672, 1.474, 1.689, PHS=-1.068, 1.029,-0.259, RAW= 307.5, 3.3, CAL= 305.1, -0.1, ROT= 204.9, 0.1 Ygot valid direction response: 04:46:59.0283 LVL= 32752, 22769, 32114, 32755, AGC= 68, IDX= 2, 0.23, 0.519, 2.672, 1.474, 1.689, PHS=-1.068, 1.029,-0.259, RAW= 307.5, 3.3, CAL= 305.1, -0.1, ROT= 204.9, 0.1 T#Rx 73: Read range and direction messages.bdirection in FSK: [-0.907043,-0.421035,-0.001745]Fpublishing direction and range infoySc~,=ڿn p\Y̘AXr} )DI9iF?@k=ff@ ) d@I:F:@lwuf? @)TkI?-i:checking for new query: numPingsReceived=73, elapsed TxPingTime=34.5895469@ @@@q^A! I1 II OU >ԙ = checking for new query: numPingsReceived=73, elapsed TxPingTime=34.799232*H,J@"Q?A2=2>2H%!ٱ2vl >AHRS rotation from veh to nav: [[0.934567,-0.314294,-0.166744],[0.319410,0.947608,0.004098],[0.156720,-0.057090,0.985992]]2H?bԿWſ 7q?R?p?g?:>?i2=I2w^;2CY By w$IbD%VD%0y5(x=%5o=ٔ5Q-5?99Y9==Fy9EC19EE?IQ 5U5MQ?Q 9U5ME )MBYQyU:?Q IUY@Ee EeEe+Ea"Ee;*Eega;VEe [4ZEaBEe,=am2Ee,=auJEeG! KviH* ۿn p\Yr )BIi?>@X@ )d@IFFx͙0|| }? &@)mI"-i checking for new query: numPingsReceived=74, elapsed TxPingTime=35.131859 TN,H2Π!ٱ2 n :AHRS rotation from veh to nav: [[0.934438,-0.314396,-0.167272],[0.319558,0.947557,0.004182],[0.157185,-0.057361,0.985902]]2H`?Կ.iſs?cR?!q?? m^?i2"=I2C^;2CYRȅByR$IIV4=)V=bDZVDZ1y=%M=ٔ Q- >9 Y = Fy9E>Q 5%5V?Q 9-5)BY)y-:?Q I-Y@cCI:it:5y1ɮ5@9iib2Q?AJiRiji?z@b%`071Oԯ RG! KviH* ۿn p\Zi"-bij[8+lUZ78*a:Z18濷!=;22iQ:iX"iߝ?*iSwBi:Bi!oŝ?iti:BiAi5y@ addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.505622 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.997517 m, bearing: 224.034956 deg, lat: 36.779360 deg, lon: -121.859586 deg, deltaT: 0.505622 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.00 m.hh*h"h hgfffddjdZdƈ?ZZZZ+:?Π!) 5@i:)6ii)  DDAT read: Rx Time:04:47:00.0284  TRx dataTimestamp_ set to:1761540421.291293 PDAT read: Bearing 349.1, -34.4 (Local)  ~Local bearing/azimuth received: Bearing 349.1, -34.4 (Local) B >B B $IB BB B B B c;B &E% DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.3 } DAT read: 04:47:00.0284 LVL= 32752, 22417, 28402, 32755, AGC= 64, IDX= 499, 0.05,-2.115, 0.051,-1.137,-0.953, PHS=-1.060, 1.049,-0.228, RAW= 307.0, 2.6, CAL= 304.7, -0.8, ROT= 205.3, 0.8  Ygot valid direction response: 04:47:00.0284 LVL= 32752, 22417, 28402, 32755, AGC= 64, IDX= 499, 0.05,-2.115, 0.051,-1.137,-0.953, PHS=-1.060, 1.049,-0.228, RAW= 307.0, 2.6, CAL= 304.7, -0.8, ROT= 205.3, 0.8  T#Rx 75: Read range and direction messages. bdirection in FSK: [-0.903994,-0.427316,-0.013962] Fpublishing direction and range infoy  ]||L&Yۿ4Y A W n ) @I i E? xi v@ 9= 5-@ d) Re@I d< I\QPU,2VQ?A2B=2=>2C"ٱ2Al :AHRS rotation from veh to nav: [[0.934014,-0.315395,-0.167763],[0.320496,0.947243,0.003528],[0.157799,-0.057062,0.985821]]2Hp?n/Կ`>yſ?@O?l?2? J7؋?i2B=I2'7^;2CY~хBy~$Ii%Mb@Mb@Mb@!!!! !9%"~j?ʡE?~jt?Y%Sc>y%=!%(@%@ % @)!!Y%@ ]p<]4<bD]VD]y=%/=ٔhQ->9Y=Fy;E>)Q 555\?Q 955)ӆBY5Ђ>Q E5O;y5W?Q I=Y@qCIe;i;5yAɮE@AiiRQ?AJiƘARiƘAjiz@b4KǸwC1N%R 6,ѿR]||L&Yۿ4Zi2,bid<j#c+қ * 4+ZQ]n9ĺ\2i8T:iX"iEbꝊ?*iQЌyBiƀBi؝?iSwiiEAiTz@ addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504011 s, deltaX: 0.100000 m, approachRate: 0.198409 m/s, rangeRepo size: 4  Added new target pos. range: 19.096962 m, bearing: 224.481776 deg, lat: 36.779362 deg, lon: -121.859587 deg, deltaT: 0.504011 s, deltaX: 0.099445 m, approachRate: 0.197308 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.10 m.hh*h!"h! h!g!f)f)f-VBd)d1jd5@333@Zd5`QJ?ZuЂ>ZuЂ>ZuuV>Zu[W?C") \@iC:)顭j7ii@?Ff[, oQ?A0B=BQ>B"ٱBvk JAHRS rotation from veh to nav: [[0.933553,-0.316603,-0.168052],[0.321633,0.946860,0.002871],[0.158213,-0.056731,0.985774]]BH`?9CԿſࡕ?L?.g?`R@? u?iB=IB];BCYn܅Byr$IbDzVDz0y~=%p=ٔOQ-?9 Y = Fy in;E?)Q 555-a?Q 9E5-)-BYAyM X?Q IMY@-|CI-;i-L;-5mDDAT read: Rx Time:04:47:00.5284 uTRx dataTimestamp_ set to:1761540421.793939PDAT read: Bearing 349.2, -34.7 (Local) ~Local bearing/azimuth received: Bearing 349.2, -34.7 (Local) DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.2 MDAT read: 04:47:00.5284 LVL= 32752, 23265, 28850, 32755, AGC= 65, IDX= 499, 0.00, 1.535,-2.579, 2.519, 2.701, PHS=-1.064, 1.048,-0.225, RAW= 306.8, 2.6, CAL= 304.5, -0.8, ROT= 205.5, 0.8 yqɮuD@yYgot valid direction response: 04:47:00.5284 LVL= 32752, 23265, 28850, 32755, AGC= 65, IDX= 499, 0.00, 1.535,-2.579, 2.519, 2.701, PHS=-1.064, 1.048,-0.225, RAW= 306.8, 2.6, CAL= 304.5, -0.8, ROT= 205.5, 0.8 T#Rx 76: Read range and direction messages.bdirection in FSK: [-0.902497,-0.430469,-0.013962]Fpublishing direction and range infoyqu#B7Όۿ4YqqquZup q)uAIu'1iu$?ufffiqiurQ?AJiqRiqjiu {@buKH!&<1tAp 6,ѿRu#B7Όۿ4Ziu,biqju ~n*H Û*/Zup`N-@U׽2iu?U:iuW"iu?*iu^yBiuЀBiuߝ?iuwgxiu)BuuY@qu@ q)ue@Iqqqu(A[c <<? uA)uPY=Iu,iqqqchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.112228iuAiu9\z@e addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.502646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 19.096962 m, bearing: 224.755257 deg, lat: 36.779363 deg, lon: -121.859587 deg, deltaT: 0.502646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.10 m.hh*h"h hgfffddjdZdZ?ZyZyZyZ}s X?") @iH:) 7ii=}b,sQ?A0=>#ٱo k AHRS rotation from veh to nav: [[0.932998,-0.318089,-0.168327],[0.323081,0.946368,0.002405],[0.158534,-0.056627,0.985728]]H?[Կ`ſ[? H?ҳc?`J?< ?i=I];CYBy$I AiEMb@Mb@Mb@AAAA A9Eq= ףp?MbX9?Q?YEk>yE!>E\=E@E@ A)AAYE@bDVDkyB=%-=ٔr4Q->9Y=FyY;E>Q 55g?Q 95C)BY>Q E<;y{t?Q IY@CI:i:5yɮ@iAiAJiARiAjiE'{@bEKH!&<1tAp 6,ѿRE#B7Όۿ4ZiAbiAjEB?*2$*k&<ZE8B.|濢o+^C`2iEU:iEV"iEp?*iE[^wBiEـBiEEbꝊ?iAiEـBiEAiEz@5DNOT Ignoring new targets: 19.10 m.h1h1*h9"h9 h9g9f9fAfE^BdAdAjdAZdM8?Zm>Zm>ZmO?Zm{t?}#) G@i :)顅~7iԉig&B9B=%IB=)BB9B9B9B=c;B=&E]TRx dataTimestamp_ set to:1761540422.298127mPDAT read: Bearing 348.7, -34.8 (Local) u~Local bearing/azimuth received: Bearing 348.7, -34.8 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2  DAT read: 04:47:01.0286 LVL= 32752, 26609, 32370, 32755, AGC= 67, IDX= 501,-0.05, 1.632,-2.483, 2.616, 2.810, PHS=-1.076, 1.034,-0.238, RAW= 306.8, 3.1, CAL= 304.4, -0.4, ROT= 205.6, 0.4 Ygot valid direction response: 04:47:01.0286 LVL= 32752, 26609, 32370, 32755, AGC= 67, IDX= 501,-0.05, 1.632,-2.483, 2.616, 2.810, PHS=-1.076, 1.034,-0.238, RAW= 306.8, 3.1, CAL= 304.4, -0.4, ROT= 205.6, 0.4 T#Rx 77: Read range and direction messages.%bdirection in FSK: [-0.901811,-0.432075,-0.006981]-Fpublishing direction and range infoy!%8>#ۿa|Y%A!!%g%r~ !)%CI%^i%Z?%Fs!%k]=%P@ %)%Le@I%;!!% ) Ȁ+%Pc? %DA)% $\A@A @A@M/@II%iw,i%;!!checking for new query: numPingsReceived=77, elapsed TxPingTime=36.614948Թ^A 8<I I O >  checking for new query: numPingsReceived=77, elapsed TxPingTime=36.815208 h,yQ?AF=FO>F #ٱF}l RAHRS rotation from veh to nav: [[0.932407,-0.319748,-0.168461],[0.324775,0.945788,0.002427],[0.158552,-0.056975,0.985705]]FHF?vԿ!ſ?`C?c? rK?@+?iF=IF];FCYVByZ$I`b@AbDbVDb:yj<%jr=ٔnKeQ-n?p9pYp=rFypv;Ev?xQ 5~5zjl?Q 9~5E EE(E"E;*Er;VEc44ZEBE=a2E=aJE@)iqiuQ?AJiu)ARiu)Ajiu0T{@buDnݧ}1{Ъ 4 @TRu8>#ۿa|Ziuiw,biu;juf{a6+6+@ oZu/ra#_"s濿"2iuY:iuY"iuZ?*iu)|BiuBiuZ?iuQЌyiqiuaAiu({@} addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504188 s, deltaX: 0.299999 m, approachRate: 0.595015 m/s, rangeRepo size: 4  Added new target pos. range: 19.395252 m, bearing: 225.001292 deg, lat: 36.779365 deg, lon: -121.859588 deg, deltaT: 0.504188 s, deltaX: 0.298290 m, approachRate: 0.591625 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.40 m.hh*h"h hgfffddjd3@Zd Ra?ZZZZt? #) @i :)7iiCԁ n,Q?A2e=2>2#ٱ2.n :AHRS rotation from veh to nav: [[0.931706,-0.321671,-0.168677],[0.326770,0.945100,0.002620],[0.158574,-0.057560,0.985668]]2H?AԿ8ſ?C>?we?@)L?x@?i2e=I2];2CYRByR$IbDZVDZܲyv=%vI=ٔv dQ-v>9xYx=zFyxz;E~>QYQ 5e5Uq?Q 9e5U)UBYayeu?Q IeY@UCIU,;iUW-;UM%5yu”Bɮu@qiiWwQ?AJiRiji9Z{@b{Xd1 yV 4 @TRDjwsP9Rۿa|Zi,bijD3++G9+*nZ3?pT|Du濦^2iY:iY"id?*iyBiBi?i^yiiAi?{@ addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.506032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.395252 m, bearing: 225.022397 deg, lat: 36.779365 deg, lon: -121.859588 deg, deltaT: 0.506032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.40 m.hh*h"h hgfffddjdZd`?ZZZZ?u?%#)! %@i-:))-j'7)i)i115UU DDAT read: Rx Time:04:47:02.0288 ] TRx dataTimestamp_ set to:1761540423.305475m PDAT read: Bearing 348.5, -34.8 (Local) u ~Local bearing/azimuth received: Bearing 348.5, -34.8 (Local)  DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.3  DAT read: 04:47:02.0288 LVL= 32752, 26353, 32754, 32755, AGC= 67, IDX= 503,-0.06, 0.965, 3.122, 1.943, 2.148, PHS=-1.080, 1.019,-0.249, RAW= 306.9, 3.4, CAL= 304.4, 0.0, ROT= 205.6, -0.0  Ygot valid direction response: 04:47:02.0288 LVL= 32752, 26353, 32754, 32755, AGC= 67, IDX= 503,-0.06, 0.965, 3.122, 1.943, 2.148, PHS=-1.080, 1.019,-0.249, RAW= 306.9, 3.4, CAL= 304.4, 0.0, ROT= 205.6, -0.0  T#Rx 79: Read range and direction messages. `direction in FSK: [-0.901832,-0.432086,0.000000] B >B B #%IB BBB  =B B }DB d;B &EBBBBBCʓ4E Fpublishing direction and range infoyQ U r쿛XMKۿYU fAQ Q U fU  Q )U CIU q=iU n?U ~Q U s=U P@ U )U Le@IU Q Q U &Eܳ9bX? U gA)U tIU iw,iU Q Q e checking for new query: numPingsReceived=79, elapsed TxPingTime=37.607075u,Q?A2B=2ʽ>2 '#ٱ2lp :AHRS rotation from veh to nav: [[0.931031,-0.323514,-0.168877],[0.328647,0.944449,0.002599],[0.158655,-0.057921,0.985634]]2H@?rԿƝſ@?`8?RJe?N?˧O?i2B=I2;];2CY%By%$II-=)-p;-=)Թi5Mb@Mb@Mb@1111 195ʡE?^I +?V-?Y5o>y5X9>5<5@5@ 5M@)11Y5=@bDmVDmky %2=ٔ_;Q->9Y=Fy;E>Q 55w?Q 95)BY1>Q E2;yÁ?Q IY@CI7:i:C)5yɮ @ iiQ?AJiARiAji{@b4I1Q2!Rr쿛XMKۿZiiw,bijnc7+j7+#J)dZ)e|. ~J82i]:i\"i8l?*i}BiKBiiyiBi+Ai^{@ addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.501316 s, deltaX: 0.299999 m, approachRate: 0.598423 m/s, rangeRepo size: 4  Added new target pos. range: 19.693544 m, bearing: 225.188468 deg, lat: 36.779365 deg, lon: -121.859588 deg, deltaT: 0.501316 s, deltaX: 0.298292 m, approachRate: 0.595018 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.69 m.hh*h"h hgfff|Bddjd3@Zdl?ZE1>ZE1>ZEC(?ZE}Á?] '#)Y ]@i]*:)Y]617aiai9 {,Q?AN=Nޮ>NT#ٱNm ^AHRS rotation from veh to nav: [[0.930279,-0.325697,-0.168828],[0.330688,0.943739,0.001539],[0.158828,-0.057261,0.985644]]NH ?`7Կ@&ſ)?3?6Y?zT?`RQf?iN=IN];NCYjByj$I xz<DDAT read: Rx Time:04:47:02.5288 TRx dataTimestamp_ set to:1761540423.810141-PDAT read: Bearing 347.8, -34.5 (Local) -~Local bearing/azimuth received: Bearing 347.8, -34.5 (Local) DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 DAT read: 04:47:02.5288 LVL= 32752, 26017, 32754, 32755, AGC= 65, IDX= 503,-0.12, 0.443, 2.606, 1.411, 1.635, PHS=-1.091, 1.016,-0.269, RAW= 307.2, 3.8, CAL= 304.8, 0.7, ROT= 205.2, -0.7 bD|VD|y@v%W=ٔQ->9Y=FYgot valid direction response: 04:47:02.5288 LVL= 32752, 26017, 32754, 32755, AGC= 65, IDX= 503,-0.12, 0.443, 2.606, 1.411, 1.635, PHS=-1.091, 1.016,-0.269, RAW= 307.2, 3.8, CAL= 304.8, 0.7, ROT= 205.2, -0.7 T#Rx 80: Read range and direction messages.%`direction in FSK: [-0.904760,-0.425748,0.012217]-Fpublishing direction and range infoy8쿍&4r?ۿI:?Yy5|;E=>9Q 5E5=|?Q 9E5=V)=BYIyM ?Q IMY@=ƣCI=:i=:=,5yUBɮ]@]Ee )AI㥋iJ ?^@ԇ=;@ +H<)5e@I+Hq &3f? G@)8I,i+Hchecking for new query: numPingsReceived=80, elapsed TxPingTime=38.128967iiZQ?AJiRiji#{@bD\c1C\ 9?R8쿍&4r?ۿI:?Zi,bi+Hj'Z+Z I+IoZ<{=Vn濬Bv2i\:i*^"iQꝊ?*iloyBiBiZ?iiBi?Ai^{@E addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504666 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 19.693544 m, bearing: 224.832624 deg, lat: 36.779365 deg, lon: -121.859588 deg, deltaT: 0.504666 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 19.69 m.hqhy*hy"hy hygyfyffddjdZd`V?ZZZZ ?T#) A @i:):7)i)i)15k=I1I1Aqi߱I߱checking for new query: numPingsReceived=80, elapsed TxPingTime=38.327469:x>i>bE:4jEɲ>4rE@o/E5  E5 E5 *E1 "E5 s;*E5 l;VE5 (N4ZE1 aE @aE @aE @aE @e 9@a  @a @e /@a @m hA@m hAԡ ^A<IIO>b,}R?A2>2 >2c#ٱ2k >AHRS rotation from veh to nav: [[0.929584,-0.327728,-0.168728],[0.332612,0.943064,0.000725],[0.158884,-0.056795,0.985662]]2H&?|Կſ`I?-?G?LV?B?i2>I2<^;2CYBByB$IiMMb@Mb@Mb@IIII I9MzG?-? rh?YM W>yM?5>MC<DDAT read: Rx Time:04:47:03.0289 TRx dataTimestamp_ set to:1761540424.313619PDAT read: Bearing 349.0, -34.5 (Local) ~Local bearing/azimuth received: Bearing 349.0, -34.5 (Local) DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.3 DAT read: 04:47:03.0289 LVL= 32752, 28081, 31778, 32755, AGC= 65, IDX= 505,-0.16, 2.548,-1.565,-2.761,-2.555, PHS=-1.078, 1.035,-0.250, RAW= 307.1, 3.2, CAL= 304.7, -0.2, ROT= 205.3, 0.2 Ygot valid direction response: 04:47:03.0289 LVL= 32752, 28081, 31778, 32755, AGC= 65, IDX= 505,-0.16, 2.548,-1.565,-2.761,-2.555, PHS=-1.078, 1.035,-0.250, RAW= 307.1, 3.2, CAL= 304.7, -0.2, ROT= 205.3, 0.2  T#Rx 81: Read range and direction messages. bdirection in FSK: [-0.904077,-0.427355,-0.003491]Fpublishing direction and range infoyS2쿫D|YۿQC1mlYAm"| )Iiz?Z@d=B->B-CB-5%IB-RBB- =B)B)B-%d;B-&E5-@ d)Re@Id;GrO 䘫(ײ4? A)eI2,id;uchecking for new query: numPingsReceived=81, elapsed TxPingTime=38.604649M?@M@ Mz@)MO@IYM3@bD%VD%y5,e%5=9ٔ]޸Q-]>9aYa=eFyae1;Em>iQ 5u5m?Q 95m )m*BY>Q E@;y?Q IY@m٣CImhiZ>ZH3?Z?c#)  @i:)`D7ii    =I IiuGB;9Y*A] checking for new query: numPingsReceived=81, elapsed TxPingTime=38.831326ԙ 5 :E  E E (E "E [;*E ߂;VE c44ZE BE X&=a 2E X&=a JE `~>~"ٱ~Ti AHRS rotation from veh to nav: [[0.928385,-0.331461,-0.168032],[0.336183,0.941797,-0.000365],[0.158373,-0.056150,0.985782]]~H U?6տſ?2#?07E?`?i~i>I~N^;|Y-܅B=DDAT read: Rx Time:04:47:03.5290 =TRx dataTimestamp_ set to:1761540424.816807MPDAT read: Bearing 349.0, -34.6 (Local) M~Local bearing/azimuth received: Bearing 349.0, -34.6 (Local) ]DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.3 DAT read: 04:47:03.5290 LVL= 32752, 26481, 30786, 32755, AGC= 65, IDX= 505,-0.11, 1.216,-2.905, 2.190, 2.398, PHS=-1.080, 1.025,-0.253, RAW= 307.0, 3.4, CAL= 304.6, -0.0, ROT= 205.4, 0.0 Ygot valid direction response: 04:47:03.5290 LVL= 32752, 26481, 30786, 32755, AGC= 65, IDX= 505,-0.11, 1.216,-2.905, 2.190, 2.398, PHS=-1.080, 1.025,-0.253, RAW= 307.0, 3.4, CAL= 304.6, -0.0, ROT= 205.4, 0.0 T#Rx 82: Read range and direction messages.bdirection in FSK: [-0.903335,-0.428935,-0.000000]Fpublishing direction and range infoy9=sۿY=̠A99=qg=Bx 9)9I=q=i=33?=7=v@=s==@ =)=oe@I=99y$IbDVD벉=ɳKF_L? =l/A)=frI=,i=99Uchecking for new query: numPingsReceived=82, elapsed TxPingTime=39.119438y2%$=ٔ:Q->9Y=Fy;E>Q 5 5G?Q 9 5)4BY y ~?Q I Y@CIfBҤ>Bwl"ٱB=iJDDAT read: Rx Time:04:47:04.0291 NTRx dataTimestamp_ set to:1761540425.320771RPDAT read: Bearing 349.9, -34.2 (Local) V~Local bearing/azimuth received: Bearing 349.9, -34.2 (Local) ^DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.3 nDAT read: 04:47:04.0291 LVL= 32752, 23649, 28706, 32755, AGC= 64, IDX= 506,-0.07, 2.027,-2.090, 2.994,-3.095, PHS=-1.060, 1.049,-0.238, RAW= 307.3, 2.7, CAL= 305.0, -0.7, ROT= 205.0, 0.7 Bv<AtBxBzCBz/%IBzLBBz =BxBxBz;d;Bz&ErYgot valid direction response: 04:47:04.0291 LVL= 32752, 23649, 28706, 32755, AGC= 64, IDX= 506,-0.07, 2.027,-2.090, 2.994,-3.095, PHS=-1.060, 1.049,-0.238, RAW= 307.3, 2.7, CAL= 305.0, -0.7, ROT= 205.0, 0.7 eT#Rx 83: Read range and direction messages.mbdirection in FSK: [-0.906240,-0.422587,-0.012217]uFpublishing direction and range infoyLNw9WIv- ۿI:YNfALLNa\N"p L)N@INiNE?NFsN@NA=NX@ N+H)Nd@IN+HIBh^;BCYυBy$I!i=Mb@Mb@Mb@9999 99=NbX9?On?y=>=t<9=1@ =7@)=|@9Y=@QQbDUVDUye;%=ٔ0H:Q->9Y=Fy.;E>Q 55C?Q 95)?BYZz>Q EY;yj?Q IY@CI:i@:d:5yɮ@iLiNTR?AJiNARiNAjiNݓ{@bN%uJ47L2=!fϿRNw9WIv- ۿI:ZiN"-biN+H<jN`, 2,^Hj,+!;ZNUW濥|ĄH62iNUc:iNa"iNFFꝊ?*iNszBiNBiN=W흊?iLiLiNAiNθ{@ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503964 s, deltaX: 0.199999 m, approachRate: 0.396851 m/s, rangeRepo size: 4  Added new target pos. range: 20.190804 m, bearing: 225.223976 deg, lat: 36.779365 deg, lon: -121.859589 deg, deltaT: 0.503964 s, deltaX: 0.198971 m, approachRate: 0.394812 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.19 m.hh*h"h hgfffnBddjdL4@Zd|B?Z5Zz>Z5Zz>Z5cN(?Z5+j?Ewl")I M) @iMl:)imJX7iiiiqq} =IyIy gAfAIz:9@ @!@%4@!iIIIUchecking for new query: numPingsReceived=83, elapsed TxPingTime=39.841675q E  E E %E "E a;*E d;VE 4ZE BE =a 2E =a JE L,nR?Ab>b>b'!ٱb@j nAHRS rotation from veh to nav: [[0.927719,-0.333696,-0.167283],[0.338462,0.940980,-0.000021],[0.157417,-0.056600,0.985909]]bH? H[տ`iſ`^??9&?`?ib>Ib24_;bCYrąByr$IbD~VD~βy v% s=ٔ Y:Q- ?9Y=Fy1;E?!Q 5-5%͑?Q 9-5%/Q =-tI)%FBY)y-?Q I-Z@%CI%]:i%:%L=5y=Bɮ=@= EDNOT Ignoring new targets: 20.19 m.hh*h"h h!g!f!f)fIdQdQjdYZd]@x?ZZZZㅂ? '!)  @i :)\`7ii!!% =I!UDDAT read: Rx Time:04:47:04.5291 ]TRx dataTimestamp_ set to:1761540425.828806ePDAT read: Bearing 348.3, -34.0 (Local) e~Local bearing/azimuth received: Bearing 348.3, -34.0 (Local) uDAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.3 DAT read: 04:47:04.5291 LVL= 32752, 27825, 32754, 32755, AGC= 66, IDX= 506, 0.00, 0.859, 3.017, 1.812, 2.043, PHS=-1.082, 1.019,-0.275, RAW= 307.6, 3.7, CAL= 305.2, 0.7, ROT= 204.8, -0.7 Ygot valid direction response: 04:47:04.5291 LVL= 32752, 27825, 32754, 32755, AGC= 66, IDX= 506, 0.00, 0.859, 3.017, 1.812, 2.043, PHS=-1.082, 1.019,-0.275, RAW= 307.6, 3.7, CAL= 305.2, 0.7, ROT= 204.8, -0.7 T#Rx 84: Read range and direction messages.`direction in FSK: [-0.907710,-0.419421,0.012217]Fpublishing direction and range infoyQU= checking for new query: numPingsReceived=84, elapsed TxPingTime=40.347561Sࡔ,އR?AE EE&E"E;*Eg;VE4ZEa@a@a@a@ ɰ z>z>za!ٱzk UAHRS rotation from veh to nav: [[0.927404,-0.334759,-0.166905],[0.339543,0.940591,0.000131],[0.156945,-0.056792,0.985973]]zH L? lտ!]ſ?Q?!??@?iz>Izh_;zCYByi$II<)=bDVDyWڽ%/=ٔ/:Q->9Y=Fy;E> Q 55 ?Q 95 ) PBYy?Q IZ@ CI ;i ; ^A5y!ɮ%F@!ii( uR?AJiRiji1K{@btS2Ъ f?R=BCB%IB8BB =BDDB|DB@d;B&EDAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.3 DAT read: 04:47:05.0292 LVL= 32752, 24561, 32754, 32755, AGC= 65, IDX= 508,-0.00, 2.344,-1.779,-2.989,-2.771, PHS=-1.067, 1.037,-0.262, RAW= 307.7, 3.2, CAL= 305.3, -0.1, ROT= 204.7, 0.1 Ygot valid direction response: 04:47:05.0292 LVL= 32752, 24561, 32754, 32755, AGC= 65, IDX= 508,-0.00, 2.344,-1.779,-2.989,-2.771, PHS=-1.067, 1.037,-0.262, RAW= 307.7, 3.2, CAL= 305.3, -0.1, ROT= 204.7, 0.1 %T#Rx 85: Read range and direction messages.-bdirection in FSK: [-0.908507,-0.417866,-0.001745]5Fpublishing direction and range infoyqu|ARڿn p\YṳAqY@Y @Y@Y@Yqu_q q)uAIuuiuj?u$u$ګ@ud=u@ u)ud@Iu:qqu䫲￀@*g? uZp@)ueIux-iu:qqchecking for new query: numPingsReceived=85, elapsed TxPingTime=40.641121 ^A} 3=I I O > ,(R?A:X>:>: ٱ:l FAHRS rotation from veh to nav: [[0.927284,-0.335382,-0.166325],[0.340198,0.940354,0.000495],[0.156239,-0.057042,0.986071]]:HN?`vտ%Jſ@?`?07@??4?i:X>I:(_;:CYNByNb$I\i%Mb@Mb@Mb@!!!! !9%+?1Zd?I +?Y%v>>y%"=%94<%(@%@ !)%O@!Y%@ 9=4<bDEVDEyM%Uj=ٔU;Q-U>9QYY=]FyYe:Ee>aQ 5m5e?Q 9u5e')eVBYu\>Q Euw;yua?Q IuZ@eCIe:ie?;emD5yɮ@ii^R?AJiARiAjiS{@b72|.g!OTOR|ARڿn p\Zix-bi:j7 P8,} iJ,]Zۓ3v5 v(V2i"f:i!fchecking for new query: numPingsReceived=85, elapsed TxPingTime=40.851379"i4Kޝ?*iXyyBiBiFFꝊ?iiBi7Ai{@] addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.505094 s, deltaX: 0.300001 m, approachRate: 0.593951 m/s, rangeRepo size: 4 m Added new target pos. range: 20.488705 m, bearing: 225.000283 deg, lat: 36.779364 deg, lon: -121.859588 deg, deltaT: 0.505094 s, deltaX: 0.297901 m, approachRate: 0.589794 m/s, posRepo size: 4 mDNOT Ignoring new targets: 20.49 m.hihq*h"h hgfff5Bddjd4@Zd?Z\>Z\>Z+?Z+a? ) @iG:)}5i!i!!-K%=I)E5 E5E5-E1"E5;*E5`;VE5t4ZE1BE5=aE2E5=aEJE5} @ } +<)} md@I} +y y } N2|otRU.SF8q? } ;@)} VI} -i} +y y % checking for new query: numPingsReceived=86, elapsed TxPingTime=41.126102a 5,pR?AYnBynW$I9bDzVDzyM)8%MJ=ٔMQ-U>9QYQ=UFyQ}E}>Q 55]?Q 95e)]BYyQ IZ@(CIN:i;G5yɮ0@iicR?AJiRiji{@b&Dx2Mk: {v?R*k Xڿ/;r?Zi-bi+jjq,6[n,s.zZ濺vs'bV 뱻2iMe:ig"i΁۝?*iYvBi.Bi]靊?iXyyiBiAie{@ addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503526 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.488705 m, bearing: 224.717472 deg, lat: 36.779364 deg, lon: -121.859588 deg, deltaT: 0.503526 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.49 m.hh*h"h hgfffddjdZd?Z Z Z Z )! % @i%$:)!i%O5iiiiqquf%=IqIychecking for new query: numPingsReceived=86, elapsed TxPingTime=41.355328EU EUEU,EQ"EU";*EU=T;VEUg4ZEQa]@ae@ae@ae@e9@a @i@i@iԙ^A 3=I I O >[,xR?ADDAT read: Rx Time:04:47:06.0294 TRx dataTimestamp_ set to:1761540427.340796PDAT read: Bearing 349.3, -33.6 (Local) A"@AA B&>B$B&$IB&BB& =B$B$B&d;B&&E2~Local bearing/azimuth received: Bearing 349.3, -33.6 (Local) :DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.2 JDAT read: 04:47:06.0294 LVL= 32752, 23409, 32754, 32755, AGC= 65, IDX= 510,-0.07, 2.107,-2.016, 3.050,-3.006, PHS=-1.068, 1.035,-0.271, RAW= 308.0, 3.3, CAL= 305.5, 0.0, ROT= 204.5, -0.0 RYgot valid direction response: 04:47:06.0294 LVL= 32752, 23409, 32754, 32755, AGC= 65, IDX= 510,-0.07, 2.107,-2.016, 3.050,-3.006, PHS=-1.068, 1.035,-0.271, RAW= 308.0, 3.3, CAL= 305.5, 0.0, ROT= 204.5, -0.0 RT#Rx 87: Read range and direction messages.V`direction in FSK: [-0.909961,-0.414693,0.000000]VFpublishing direction and range infoy+pSgfHUڿY3Aq[ )I9iz?@k= )I$BYᅥċ.SG߭? -@) oIifchecking for new query: numPingsReceived=87, elapsed TxPingTime=41.627914ԑYUByUX$I aaiMb@Mb@Mb@ 9 ףp= ?T㥛 ?~jt?YQ8>y=<V@@  @)YbDVDܲy-c;%-$=ٔ1Q-5>91Y9==Fy99E=>Q 55s?Q 95)hBY@D>Q E;y3?Q IZ@4CI:i:jL5yɮ!@iiR?AJiLARiLAjiO{@bx]2 =!R+pSgfHUڿZibij@L-"-C'xZ:7 w3bH`W2ih:ibj"i ӝ?*igBzBiBi4Kޝ?iiBi,AiOT{@m addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503370 s, deltaX: 0.299999 m, approachRate: 0.595982 m/s, rangeRepo size: 4  Added new target pos. range: 20.787136 m, bearing: 224.788402 deg, lat: 36.779363 deg, lon: -121.859588 deg, deltaT: 0.503370 s, deltaX: 0.298431 m, approachRate: 0.592867 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.79 m.hh*h"h hgfff-Bddjd`f4@Zd7?Z@D>Z@D>Z`>Z3?))) -@i-:)1551i1iYYYIYIachecking for new query: numPingsReceived=87, elapsed TxPingTime=41.8593679@ @@0@@>@!>EM  EM EM +EI "EM ö;*EM P;VEM [4ZEI BEM G=a] 2EM G=a] JEM F,LR?A2 >2>2ٱ2H5n :AHRS rotation from veh to nav: [[0.927247,-0.336276,-0.164717],[0.341141,0.940011,0.001332],[0.154389,-0.057427,0.986340]]2H? տvſC??U??g?i2 >I22^;0YBByBM$IbDJVDJyR{%V=ٔV;Q-V?9TYX=ZFyXZN;EZ?\Q 5b5^è?Q 9b5^)^nBYdyf3?Q IfZ@^;CI^K:i^d:^N5yhɮj@hDNOT Ignoring new targets: 20.79 m.hh*h"h hg f f f ddjdZd?ZZZZ3?-)) - @i5 :)152 6QiQiYY]P(=IYIame>im>EDDAT read: Rx Time:04:47:06.5293 ETRx dataTimestamp_ set to:1761540427.845633UPDAT read: Bearing 349.3, -33.5 (Local) ]~Local bearing/azimuth received: Bearing 349.3, -33.5 (Local) uDAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2 DAT read: 04:47:06.5293 LVL= 32752, 24497, 30354, 32755, AGC= 65, IDX= 510,-0.15, 0.341, 2.504, 1.283, 1.513, PHS=-1.070, 1.036,-0.274, RAW= 308.0, 3.4, CAL= 305.6, 0.1, ROT= 204.4, -0.1 Ygot valid direction response: 04:47:06.5293 LVL= 32752, 24497, 30354, 32755, AGC= 65, IDX= 510,-0.15, 0.341, 2.504, 1.283, 1.513, PHS=-1.070, 1.036,-0.274, RAW= 308.0, 3.4, CAL= 305.6, 0.1, ROT= 204.4, -0.1 T#Rx 88: Read range and direction messages.`direction in FSK: [-0.910682,-0.413104,0.001745]Fpublishing direction and range infoyAEt,`9O$=,Jpڿn p\?YEAAAE_Ev A)AIEiE?EIAEs=E㭪@ E:)E&Qd@IE亩AAE.ҸՁj9K7? EF@)EqIE-iE亩AAchecking for new query: numPingsReceived=88, elapsed TxPingTime=42.136097-9@) @)@-3@)!Q^Am3=IyIO> checking for new query: numPingsReceived=88, elapsed TxPingTime=42.363255y E]  E] E] *EY "E] [;*E] ga;VE] (N4ZEY ae @ae @am @am @>”,j S?AM5 >M H>M ٱMOl AHRS rotation from veh to nav: [[0.927477,-0.335983,-0.164019],[0.340777,0.940143,0.001166],[0.153809,-0.056975,0.986457]]MH@?@տĿ`K??S?? +@ ?iM5 >IMi^;MCYBy H$I9bDUVDU:2ywq%.=ٔ:Q->9Y=FyjE>Q 55?Q 95e)yBYy3?Q I Z@FCI;iq;S5yɮ@iQiUR?AJiUARiUAjiU]z@bU'ӿ2,u!v<e?RUt,`9O$=,Jpڿn p\?ZiU-biUjU[|h-fHJD, ZUE\{ӌ[濝kad2iU*f:iUh"iUp坊?*iUsBiUրBiQiUYviUրBiUAiU{@ addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504837 s, deltaX: -0.199999 m, approachRate: -0.396165 m/s, rangeRepo size: 4  Added new target pos. range: 20.588217 m, bearing: 224.697668 deg, lat: 36.779363 deg, lon: -121.859587 deg, deltaT: 0.504837 s, deltaX: -0.198919 m, approachRate: -0.394027 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.59 m.hh*h"h hgfffd djd@34@Zd?ZQZQZQZU3?u )q u @iu:)y}26yii&=II I)a5DDAT read: Rx Time:04:47:07.0295 5TRx dataTimestamp_ set to:1761540428.349613MDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 UZ#Rx 89: Read range message, but no direction.y1Y5A1echecking for new query: numPingsReceived=89, elapsed TxPingTime=42.622936Bu >BuCBu$IBuBBqBuCDBu}DBuc;Bu&EBCBCBB =B =CJ59@ @@4@ԑ^A $=I I O >Թ {XȔ, #S?A ɰ YByC$I = =iMb@Mb@Mb@ 9#~j?+?Mb?Y%>y==(@@ )Y=@checking for new query: numPingsReceived=89, elapsed TxPingTime=42.867271bDVDJy%l%%S=ٔ-Q-->9)Y)=-Fy15E5>9Q 5E5=?Q 9E5={)=BYE->Q EM;yM?Q IMZ@=NCI=:i=:=PV5yUBɮUA@]!E addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503980 s, deltaX: 0.299999 m, approachRate: 0.595260 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 20.59 m.hh*h"h hgfffBddjd5@Zd?ԹZ->Z->ZJq>Z?) @i_:)S6ii&=IIE% E%E!E!"E%1;*E%[j;VE!ZE!BE%J=a52E%J=a5JE% U DDAT read: Rx Time:04:47:07.5295 ] TRx dataTimestamp_ set to:1761540428.852723e PDAT read: Bearing 349.3, -33.3 (Local) e ~Local bearing/azimuth received: Bearing 349.3, -33.3 (Local) } DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.2  DAT read: 04:47:07.5295 LVL= 32752, 26929, 32306, 32755, AGC= 65, IDX= 511, 0.43, 1.897,-2.233, 2.831, 3.063, PHS=-1.064, 1.033,-0.276, RAW= 308.2, 3.4, CAL= 305.7, 0.1, ROT= 204.3, -0.1  Ygot valid direction response: 04:47:07.5295 LVL= 32752, 26929, 32306, 32755, AGC= 65, IDX= 511, 0.43, 1.897,-2.233, 2.831, 3.063, PHS=-1.064, 1.033,-0.276, RAW= 308.2, 3.4, CAL= 305.7, 0.1, ROT= 204.3, -0.1  T#Rx 90: Read range and direction messages. `direction in FSK: [-0.911402,-0.411514,0.001745] Fpublishing direction and range infoyY ] DF4*K=Vڿn p\?YY Y Y ] 1i] 2~ Y )Y I] '1i] X9?] O] !@Y ] /@ Y )] 4d@IY Y Y ] 4؞:&$¿d2|>2+ٱ2[j :AHRS rotation from veh to nav: [[0.927813,-0.335547,-0.163007],[0.340278,0.940324,0.001175],[0.152885,-0.056558,0.986624]]2H ?yտjĿ`?"??S?@?!l?i2К>I2];0YbByb?$IbDjVDjyv%va=ٔvg(;Q-v>9xYx=zFyxz+պE~>!Q 5%5%ж?Q 9-5%)%BY)y-?Q I-Z@%VCI%:i%:%Y5y1ɮ]z@Yii6S?AJiARiAjiz@br[1G 3 60!u"?RDF4*K=Vڿn p\?Zi'-bijl2_-\L֢-F] .Zg$s!PN ^E2ih:il"iٝ?*i-ZvBi€Bi΁۝?i-Zvi€BiХAiz@ addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503110 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.886772 m, bearing: 224.562450 deg, lat: 36.779363 deg, lon: -121.859587 deg, deltaT: 1.007090 s, deltaX: 0.298555 m, approachRate: 0.296454 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.89 m.hh*h"h! h!g!f!f!f)d)d)jd)Zd-?ZZZZ;?+) G@i:)w6ii$=IIchecking for new query: numPingsReceived=90, elapsed TxPingTime=43.3713269@ @@/@DzDbEŷG4jEŏB4rE09E% E%E%)E!"E%;*E%m;VE%FA4ZE!a]@ae@ae@ae@^AP"=II O >i ] DDAT read: Rx Time:04:47:08.0296 e TRx dataTimestamp_ set to:1761540429.356210m DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.2 u Z#Rx 91: Read range message, but no direction.yY By Ay B >B CB $IB BB  =B B B c;B &Eԑ Y] AY  checking for new query: numPingsReceived=91, elapsed TxPingTime=43.631203Ք,aWS?AR >RԲ>R~ٱRلj ~AHRS rotation from veh to nav: [[0.928042,-0.335049,-0.162728],[0.339786,0.940502,0.001359],[0.152590,-0.056554,0.986670]]RH?sqտ@CĿ`? ?EV?? ͒?iR >IR];PYBy-M$Ii%Mb@Mb@Mb@!!!! !9%ˡE?X9v?X9v?Y%'>y%<%<%l@%@ !)%9@!Y%@bD=VD=0yM@D=%M2=ٔU:*:Q-U>9QYQ=]FyY]ԛE]>iQ 5u5m?Q 9u5m)mBYu->Q Eu;yu@?Q I}Z@m_CIm:im:m]5yɮ@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503487 s, deltaX: 0.200001 m, approachRate: 0.397231 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 20.89 m.hh*h"h hgfff$Bddjd@335@ZdZ->ZM?>Z@?~) @i:)  6 i i!"=II f>ay9@ @@/@O9Y ~AImchecking for new query: numPingsReceived=91, elapsed TxPingTime=43.875725^AC"=IIO>E EE+E"E;*EW;VE [4ZEBE=a 2E=a JEʶJDx>JMٱJi nAHRS rotation from veh to nav: [[0.928233,-0.334666,-0.162424],[0.339386,0.940646,0.001401],[0.152314,-0.056425,0.986720]]JH?)kտLĿ@??V? ?`㬿6?iJb>IJƘ];JCYzByzT$I  A @A AAbD%VD%:y5=%=_=ٔEG:Q-E>9AYA=MFyIMEM>QQ 5]5UK?Q 9]5U)UBYaye?Q IeZ@UgCIUj;iU;U`5yiɮmf@iDNOT Ignoring new targets: 20.89 m.hh*h"h hgfffddjdZd?ZZZZ?M) @iV:)>6ii!=IIDDAT read: Rx Time:04:47:08.5294 TRx dataTimestamp_ set to:1761540429.861140PDAT read: Bearing 352.1, -33.3 (Local) ~Local bearing/azimuth received: Bearing 352.1, -33.3 (Local) DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.1 =DAT read: 04:47:08.5294 LVL= 32752, 23153, 30434, 32755, AGC= 65, IDX= 512,-0.21,-2.113, 0.096,-1.141,-0.978, PHS=-1.033, 1.119,-0.207, RAW= 307.6, 1.3, CAL= 305.6, -2.1, ROT= 204.4, 2.1 MYgot valid direction response: 04:47:08.5294 LVL= 32752, 23153, 30434, 32755, AGC= 65, IDX= 512,-0.21,-2.113, 0.096,-1.141,-0.978, PHS=-1.033, 1.119,-0.207, RAW= 307.6, 1.3, CAL= 305.6, -2.1, ROT= 204.4, 2.1 UT#Rx 92: Read range and direction messages.]bdirection in FSK: [-0.910072,-0.412827,-0.036644]]Fpublishing direction and range infoyxOkڿ(א¢Y3AqZv )IX9id;?S˫@޹<㭪@ Q )&Qd@IQ =P*,ᅨGp(jJ? @)tWI-iQ =}checking for new query: numPingsReceived=92, elapsed TxPingTime=44.148361ԑ9@ @@0@Թ^AII1O=>  checking for new query: numPingsReceived=92, elapsed TxPingTime=44.379196E  E E *E "E ;*E e;VE (N4ZE a= @a= @a= @a= @G,S?A`YByV$IiMb@Mb@Mb@ 9ʡE?~jt? ףp= ?Y>yD=Q8=(@1@ M@)O@Y@bDVDN2y;%=ٔQ->9Y=FyE>Q 5 5Ţ?Q 9 5h)BY|+>Q E;y/?Q IZ@qCI:if:Oe5yɮ%M@!i i wS?AJi MARi MAji +{@b Ó2N)!ֹ$`R xOkڿ(א¢Zi -bi Q =j m{1!-x0f,Ё0 Z _xk濿䰟Ocÿ2i g:i i"i o??*i qBi ~Bi i Yvi i sAi 6z@u addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504930 s, deltaX: -0.300001 m, approachRate: -0.594144 m/s, rangeRepo size: 4  Added new target pos. range: 20.787642 m, bearing: 224.860340 deg, lat: 36.779363 deg, lon: -121.859587 deg, deltaT: 1.008417 s, deltaX: -0.099131 m, approachRate: -0.098303 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.79 m.hh*h"h hgfff0Bddjd`f4@Zd?Z|+>Z|+>ZŲ>Zg/?) p @i:)̳6DDAT read: Rx Time:04:47:09.0296 TRx dataTimestamp_ set to:1761540430.364858PDAT read: Bearing 354.8, -38.2 (Local) ~Local bearing/azimuth received: Bearing 354.8, -38.2 (Local)  DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.1 5DAT read: 04:47:09.0296 LVL= 32752, 26001, 32754, 32755, AGC= 65, IDX= 513, 0.25, 1.607,-2.193, 2.884, 2.900, PHS=-1.191, 1.235,-0.060, RAW= 302.2, 0.2, CAL= 300.6, -3.8, ROT= 209.4, 3.8 =Ygot valid direction response: 04:47:09.0296 LVL= 32752, 26001, 32754, 32755, AGC= 65, IDX= 513, 0.25, 1.607,-2.193, 2.884, 2.900, PHS=-1.191, 1.235,-0.060, RAW= 302.2, 0.2, CAL= 300.6, -3.8, ROT= 209.4, 3.8 ET#Rx 93: Read range and direction messages.Mbdirection in FSK: [-0.869298,-0.489824,-0.066274]MFpublishing direction and range infoyK뿛nHY߿{SYAe )Iri{?uǨ@d;@ ԇ)i@Iԇ=̜Rh< f? F)Q0I8(iԇ=checking for new query: numPingsReceived=93, elapsed TxPingTime=44.656673B>BB$IBBB =BBBc;B&Ei!i99EW!=IAIAIQ)UfA@ @@/@9 ^A I I O >5,5S?A8Nchecking for new query: numPingsReceived=93, elapsed TxPingTime=44.883301Y By a$IbD VD2ymd=%u=ٔqQ-u?9yYy=}FyyyE}?Q 55Ȣ?Q 95)BYyQ IZ@wCIy;i;h5yɮ@E EE+E"EU;*E1];VE [4ZEBE.=aM2E.=aMJEW6'ZSڿP!ΚYIIIM_I I)IIMʁiMQ?MB`eM@M=M/@ MPwּ)M4d@IMPw9Y= Fy E->QQ 55U΢?Q 95U#)UӇBYyQ IZ@UCIU6'ZSڿP!ΚZi'-biPw<jRT -CC\-Bv5Z7$J_濤^OGҀH¿2ij:ipm"ip띊?*i"DtBizBip띊?i"DtizBiAi.z@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.086037 m, bearing: 224.689956 deg, lat: 36.779364 deg, lon: -121.859586 deg, deltaT: 0.503802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.09 m.hh*h"h hgffifidqdqjdqZdu%?ZZZZ!)! %_@i-:))-6)i)iIQU!=IQIQDDAT read: Rx Time:04:47:10.0297 TRx dataTimestamp_ set to:1761540431.373802 PDAT read: Bearing 349.5, -34.6 (Local) ~Local bearing/azimuth received: Bearing 349.5, -34.6 (Local) %DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 MDAT read: 04:47:10.0297 LVL= 32752, 25585, 31954, 32755, AGC= 69, IDX= 2, 0.48,-2.938,-0.778,-1.968,-1.754, PHS=-1.082, 1.021,-0.258, RAW= 307.1, 3.5, CAL= 304.7, 0.2, ROT= 205.3, -0.2 UYgot valid direction response: 04:47:10.0297 LVL= 32752, 25585, 31954, 32755, AGC= 69, IDX= 2, 0.48,-2.938,-0.778,-1.968,-1.754, PHS=-1.082, 1.021,-0.258, RAW= 307.1, 3.5, CAL= 304.7, 0.2, ROT= 205.3, -0.2 UT#Rx 95: Read range and direction messages.]`direction in FSK: [-0.904077,-0.427355,0.003491]]Fpublishing direction and range infoyS2쿫D|YۿQC1ml?YfAc| )EI~i!?Z@5z=5-@ d;)Re@Idą3򫿿g? A)`{I2,id}checking for new query: numPingsReceived=95, elapsed TxPingTime=45.657597AA?AB>BB$IBBB =BB~DBc;B&E  : i>i >A @ @@/@iߙIߝAchecking for new query: numPingsReceived=95, elapsed TxPingTime=45.891567qE= E=E=+E9"E=;*E=Ni;VE= [4ZE9BE==am2E==auJE=vٳ>v4ٱvGdc ~AHRS rotation from veh to nav: [[0.927955,-0.335614,-0.162059],[0.340065,0.940402,-0.000294],[0.152499,-0.054838,0.986781]]vH α?zտUĿ??<3?൓?ivX>Iv"];vCAYEByE$IiMb@Mb@Mb@ 9w/?+?Mb?Y&>y=@=V@G@ 7@)@Yz@bDeVDe0y}=%}=ٔQ->9Y=Fy^:E>Q 55@Ԣ?Q 95-)BY1?>Q E;yT?Q IZ@CIn;i;r5yBɮ?@i!i%_S?AJi%|ARi%|Aji%H{@b%cRnK'3Kj2"{P?R%S2쿫D|YۿQC1ml?Zi%2,bi%dj%-r~-qI,.3bIZ%e?LFbز濚2i2i%qp:i%k"i% ?*i%q{Bi% Bi% ?i%-Zvi!i%aAi%a{@- addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.505142 s, deltaX: 0.099998 m, approachRate: 0.197961 m/s, rangeRepo size: 4 = Added new target pos. range: 21.185690 m, bearing: 225.540164 deg, lat: 36.779366 deg, lon: -121.859587 deg, deltaT: 0.505142 s, deltaX: 0.099653 m, approachRate: 0.197278 m/s, posRepo size: 4 =DNOT Ignoring new targets: 21.19 m.hAhA*hA"hA hAgAfAfIfMlBdIdIjdUL5@ZdUG?Z1?>Z1?>Ze>ZT?4) = @i :) - 6)i)i115P~$=I9I9iDDAT read: Rx Time:04:47:10.5297 TRx dataTimestamp_ set to:1761540431.877700PDAT read: Bearing 350.4, -34.2 (Local) ~Local bearing/azimuth received: Bearing 350.4, -34.2 (Local) -DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 ]DAT read: 04:47:10.5297 LVL= 32752, 26465, 28994, 32755, AGC= 64, IDX= 498, 0.07, 2.143,-1.982, 3.105,-2.978, PHS=-1.060, 1.042,-0.243, RAW= 307.3, 2.9, CAL= 305.0, -0.5, ROT= 205.0, 0.5 mYgot valid direction response: 04:47:10.5297 LVL= 32752, 26465, 28994, 32755, AGC= 64, IDX= 498, 0.07, 2.143,-1.982, 3.105,-2.978, PHS=-1.060, 1.042,-0.243, RAW= 307.3, 2.9, CAL= 305.0, -0.5, ROT= 205.0, 0.5 uT#Rx 96: Read range and direction messages.}bdirection in FSK: [-0.906273,-0.422602,-0.008727]Fpublishing direction and range infoy0 ۿB7߁YagBq )@IiB`?x@4QO=X@ 5)d@I5<稈( }L˧? F@)eMI"-i5<checking for new query: numPingsReceived=96, elapsed TxPingTime=46.175201%9@! @!@!@!ԙ^AI IQ Ii Om > u,)]T?A2checking for new query: numPingsReceived=96, elapsed TxPingTime=46.395096F$ >F<>FIٱFQc NAHRS rotation from veh to nav: [[0.927679,-0.336322,-0.162173],[0.340760,0.940150,-0.000477],[0.152627,-0.054819,0.986762]]FH ?KտĿ@? ?0E?`I?@F?iF$ >IFB];FCY~ÅBy~$IbD VD y5<%=d=ٔEQ-M>9QYY=eFyam;Eu>Q 55ע?Q 95)BYyU?Q IZ@CE EE'E"E;*Eg;VE'4ZEam@am@am@am@IAiM {@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 21.185690 m, bearing: 225.365090 deg, lat: 36.779366 deg, lon: -121.859587 deg, deltaT: 0.503898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 21.19 m.hYhY*ha"ha hgfffdd jdZd?ZZZZU?I)  @i:)7iiaae"'=IaIa9@ @@@@=@=DDAT read: Rx Time:04:47:11.0298 %TRx dataTimestamp_ set to:1761540432.380752-PDAT read: Bearing 349.9, -34.5 (Local) -~Local bearing/azimuth received: Bearing 349.9, -34.5 (Local) =DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.2 uDAT read: 04:47:11.0298 LVL= 32752, 24417, 32754, 32755, AGC= 65, IDX= 499,-0.11,-0.436, 1.734, 0.535, 0.749, PHS=-1.083, 1.030,-0.258, RAW= 307.2, 3.4, CAL= 304.8, 0.0, ROT= 205.2, -0.0 Ygot valid direction response: 04:47:11.0298 LVL= 32752, 24417, 32754, 32755, AGC= 65, IDX= 499,-0.11,-0.436, 1.734, 0.535, 0.749, PHS=-1.083, 1.030,-0.258, RAW= 307.2, 3.4, CAL= 304.8, 0.0, ROT= 205.2, -0.0 T#Rx 97: Read range and direction messages.B>BCB$IB BB =BBDB7d;B&EԱ`direction in FSK: [-0.904827,-0.425779,0.000000]Fpublishing direction and range infoywmWR{?ۿYAa_ )AIi ׃?@s=;@ )5e@I鹂Ѱȧ_ Elirw? A)^sI,ichecking for new query: numPingsReceived=97, elapsed TxPingTime=46.675636 ^A $=I! I9 OE >O,!T?A2H5 >2Ǵ>2.Rٱ2cCc NAHRS rotation from veh to nav: [[0.927258,-0.337300,-0.162545],[0.341722,0.939801,-0.000801],[0.153030,-0.054803,0.986701]]2H@?TտFĿ??h?J}? ?i2H5 >I2Ƃ];0YVʅByV$I||imMb@Mb@Mb@iiii i9m ףp= ?ʡE?kt?YmQ8>ym=m 0=ii m @)iiYm(@AAbDVDyY<%6=ٔoQ->9Y=Fy:;E>Q 55Pܢ?Q 95)BY3`>Q Er;ySu?Q IZ@CI:i: y5yɮH@iaie>^T?AJieARieAjie{@be]}/Y3ΖUd5"RewmWR{?ۿZie,bieje| -xV.]ZexJG@dA,`Jy2ier:iem"ie+?*ieA{Bie݀Bie ?ieq{ieBieAie{@% addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503052 s, deltaX: 0.200001 m, approachRate: 0.397575 m/s, rangeRepo size: 4 5 Added new target pos. range: 21.384941 m, bearing: 225.569153 deg, lat: 36.779366 deg, lon: -121.859589 deg, deltaT: 0.503052 s, deltaX: 0.199251 m, approachRate: 0.396085 m/s, posRepo size: 4 =DNOT Ignoring new targets: 21.38 m.h9h9*h9"h9 h9gAfAfAfEsBdIdIjdM5@ZdM`8?Zm3`>Zm3`>ZmS?ZmSu?checking for new query: numPingsReceived=97, elapsed TxPingTime=46.899357.R)  @i :)顕7ii*=IIE  E E &E "E ;*E %f;VE 4ZE =9@A @A@E1@IBE 0=a}2E 0=a}JE = DDAT read: Rx Time:04:47:11.5297 = TRx dataTimestamp_ set to:1761540432.884696M PDAT read: Bearing 350.6, -34.6 (Local) M ~Local bearing/azimuth received: Bearing 350.6, -34.6 (Local) ] DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.0  DAT read: 04:47:11.5297 LVL= 32752, 24177, 32658, 32755, AGC= 67, IDX= 499,-0.33,-2.190,-0.021,-1.212,-1.015, PHS=-1.073, 1.039,-0.241, RAW= 307.0, 3.0, CAL= 304.6, -0.4, ROT= 205.4, 0.4  Ygot valid direction response: 04:47:11.5297 LVL= 32752, 24177, 32658, 32755, AGC= 67, IDX= 499,-0.33,-2.190,-0.021,-1.212,-1.015, PHS=-1.073, 1.039,-0.241, RAW= 307.0, 3.0, CAL= 304.6, -0.4, ROT= 205.4, 0.4  T#Rx 98: Read range and direction messages. bdirection in FSK: [-0.903313,-0.428925,-0.006981] Fpublishing direction and range infoy9 = .jdsۿa|Y= fA9 9 = q^=  9 )= CI= Xi= ?= v= v@= PwV== @ = )= oe@I= ;9 9 = 2J}09)? = GCA)= WI= ,i= ;9 9  checking for new query: numPingsReceived=98, elapsed TxPingTime=47.167183, :T?A E > > Iٱ a AHRS rotation from veh to nav: [[0.926628,-0.338883,-0.162843],[0.343226,0.939252,-0.001558],[0.153479,-0.054448,0.986651]] H?Bտ@Ŀ i?Y?0Y 4? ૿?i E >I ]; Y-DžBy-$IbDVDy-<%Y=ٔQ->9Y=Fy%Y;E%>)Q 555-5ࢊ?Q 955-9)-BYqyuu?Q IuZ@-CI-]%,*TT?A2 >2\>2ٱ2_ :AHRS rotation from veh to nav: [[0.925925,-0.340752,-0.162945],[0.344980,0.938607,-0.002493],[0.153791,-0.053904,0.986632]]2H`-?տbĿ'? ?>ld`k?@^ }?i2 >I2%];0@YB˅ByF$Ii Mb@Mb@Mb@     9 (\?㥛 ?+?Y .>y > =  t@ z@) @ Y @bDVD0y؂<%J=ٔKQ->9Y=Fyȝ;E>DDAT read: Rx Time:04:47:12.0299  TRx dataTimestamp_ set to:1761540433.388868PDAT read: Bearing 351.0, -35.0 (Local) ~Local bearing/azimuth received: Bearing 351.0, -35.0 (Local) -DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.2 MDAT read: 04:47:12.0299 LVL= 32752, 24881, 29682, 32755, AGC= 66, IDX= 500, 0.28, 0.771, 2.940, 1.765, 1.944, PHS=-1.071, 1.041,-0.223, RAW= 306.5, 2.8, CAL= 304.2, -0.7, ROT= 205.8, 0.7 BQAU4=B]>BYB]$IB]BBYBYB]~DB]d;B] 'EB%CB%CB!B% =B% =C%F5Ygot valid direction response: 04:47:12.0299 LVL= 32752, 24881, 29682, 32755, AGC= 66, IDX= 500, 0.28, 0.771, 2.940, 1.765, 1.944, PHS=-1.071, 1.041,-0.223, RAW= 306.5, 2.8, CAL= 304.2, -0.7, ROT= 205.8, 0.7 T#Rx 99: Read range and direction messages.bdirection in FSK: [-0.900252,-0.435199,-0.012217]Fpublishing direction and range infoymLUKۿI:Y̬A1as )BIi}??Zd.@+H=@ +H)}e@I+H<GT伿d4+k|٨? A)FI8>,i+H<checking for new query: numPingsReceived=99, elapsed TxPingTime=47.677692Q 55㢊?Q 95.)BYh>Q Ei;y?Q IZ@CI,bi+H<jb)[-0<.QjZ6m忓D3翁ﬦC2i(w:ij"i?*iq}BiUBib0?iq{iiުAi$|@} addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504172 s, deltaX: 0.300001 m, approachRate: 0.595037 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 21.484129 m, bearing: 226.459922 deg, lat: 36.779366 deg, lon: -121.859589 deg, deltaT: 0.504172 s, deltaX: 0.298119 m, approachRate: 0.591303 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.48 m.hh*h"h hgfffBddjd5@Zd 8?Zmh>Zmh>Zm5?Zm ?})  @i:)額l7ii6=II I)y@y @@4@@@fA checking for new query: numPingsReceived=99, elapsed TxPingTime=47.907146 ^A S,=I E5  E5 E5 *E1 "E5 @;*E5 fW;VE5 (N4ZE1 BE5 p+=a] 2E5 p+=a] JE5 Vw,ƉnT?A67p>60e>6ٱ6|&_ >AHRS rotation from veh to nav: [[0.925314,-0.342194,-0.163396],[0.346384,0.938088,-0.003023],[0.154315,-0.053801,0.986556]]6H@+?տ`,Ŀ'+??>h?ɋݑ?i67p>I6;^;6CYFąByF$IIJ=)J=bDR VDR:2yZa%Z_=ٔZ⽺Q-Z>9\lY=Fy;E>Q 5%5梊?Q 9%5=)%BY)y-?Q I-Z@ĤCI:iN:@5y1ɮ5@9DNOT Ignoring new targets: 21.48 m.hh*h"h hgfffddjdZd`3?ZAZAZAZE?])Y ]D@i]K:)Y]"7aiaiaim;=III) DDAT read: Rx Time:04:47:12.5299 TRx dataTimestamp_ set to:1761540433.893466%PDAT read: Bearing 350.5, -35.2 (Local) -~Local bearing/azimuth received: Bearing 350.5, -35.2 (Local) =DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.1 eDAT read: 04:47:12.5299 LVL= 32752, 27057, 32754, 32755, AGC= 67, IDX= 500, 0.09,-0.817, 1.356, 0.177, 0.373, PHS=-1.088, 1.028,-0.240, RAW= 306.5, 3.3, CAL= 304.1, -0.2, ROT= 205.9, 0.2 mYgot valid direction response: 04:47:12.5299 LVL= 32752, 27057, 32754, 32755, AGC= 67, IDX= 500, 0.09,-0.817, 1.356, 0.177, 0.373, PHS=-1.088, 1.028,-0.240, RAW= 306.5, 3.3, CAL= 304.1, -0.2, ROT= 205.9, 0.2 mV#Rx 100: Read range and direction messages.ubdirection in FSK: [-0.899552,-0.436799,-0.003491]uFpublishing direction and range infoy^[!쿼YۿQC1mlYi )C9@9 @9@=/@AICi?uk=kש@ d)e@Id;NXOQIUtd? tA)FkI!,id;checking for new query: numPingsReceived=100, elapsed TxPingTime=48.2175109^Ae m-=i Iq I O > ",cT?A6checking for new query: numPingsReceived=100, elapsed TxPingTime=48.4111606n%>6?>6ٱ6dN_ BAHRS rotation from veh to nav: [[0.924668,-0.343728,-0.163829],[0.347902,0.937525,-0.003420],[0.154769,-0.053835,0.986483]]6H@?տ[ĿD?4?Pl{?@3@D?i6n%>I6^;6CYJByJ$IbDRVDR0y^N%bJ=ٔfcQ-j>9pYp=rFytzLj;E~>QDD<bEu(N4jEuI4rEu/E EEE"E;*E2g;VEZEa%@a%@a%@a%@Q 5E58ꢊ?Q 9M5*)0BYyy}R?Q I}Z@ϤCI @=i@=Ć5yɮ@iIiM.yT?AJiIRiIjiM6}@bM {S3/D";92RM^[!쿼YۿQC1mlZiM!,biMd;jMQᨁC-}( /zZMN^_اW翱Fߤ2iMWx:iMj"iM|/?*iMj}BiMBiM?iMA{iIiMAiMC|@E addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504598 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 21.484129 m, bearing: 226.688702 deg, lat: 36.779368 deg, lon: -121.859589 deg, deltaT: 0.504598 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 21.48 m.hyhy*hy"hy hygfffddjdZdV?ZZZZR?q) @i:)M+7ii1=KA=I9Iԑ@ @@@%DDAT read: Rx Time:04:47:13.0301 -TRx dataTimestamp_ set to:1761540434.3978125PDAT read: Bearing 350.6, -35.1 (Local) =~Local bearing/azimuth received: Bearing 350.6, -35.1 (Local) MDAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.2 B]>BYB]%IB])BB] =BYBYB]d;B],'EDAT read: 04:47:13.0301 LVL= 32752, 25537, 32754, 32755, AGC= 67, IDX= 502,-0.01,-0.797, 1.380, 0.195, 0.395, PHS=-1.090, 1.031,-0.243, RAW= 306.6, 3.3, CAL= 304.2, -0.1, ROT= 205.8, 0.1 Ygot valid direction response: 04:47:13.0301 LVL= 32752, 25537, 32754, 32755, AGC= 67, IDX= 502,-0.01,-0.797, 1.380, 0.195, 0.395, PHS=-1.090, 1.031,-0.243, RAW= 306.6, 3.3, CAL= 304.2, -0.1, ROT= 205.8, 0.1 V#Rx 101: Read range and direction messages.bdirection in FSK: [-0.900317,-0.435231,-0.001745]Fpublishing direction and range infoy!%BUf;.ۿn p\Y%3A!!%c! !)!I%i%?%x%<@!%@ %)%}e@I%:!!%*ﯻ߁iY? %A)%=lI%8>,i%:!! checking for new query: numPingsReceived=101, elapsed TxPingTime=48.693737 IG ^A C;=I I O% >- 4Z9) Y- FAf*(,?T?A2>>28>2ٱ2t_ :AHRS rotation from veh to nav: [[0.923941,-0.345469,-0.164271],[0.349632,0.936879,-0.003792],[0.155212,-0.053931,0.986408]]2H ?`)ֿ ſ``?@?&o?Ȝ?i2>>I2}_;2CYB…ByB$IԙiMb@Mb@Mb@ 9-?(\?V-?Y?5>yz><@ d@)Yf@bDVD0y-^;%-5=ٔ-Q-->91Y1=5Fy1=;E=>AQ 5M5EF?Q 9M5E)E;BYM-l>Q EMf;yM?Q IUZ@EܤCIE;iEX ;E5yYɮ]@YiQiUuT?AJiUBARiUBAjiU)6}@bU^|3{z"+&wRUBUf;.ۿn p\ZiU8>,biU:jUUs)-@U0z/댟՜ZU ,XC5q翙`42iU{:iUim"iU ?*iU<ՀBiUBiQiUj}iUBiUAiU}@ addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504346 s, deltaX: 0.299999 m, approachRate: 0.594828 m/s, rangeRepo size: 4  Added new target pos. range: 21.782631 m, bearing: 226.686779 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.504346 s, deltaX: 0.298502 m, approachRate: 0.591860 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.78 m.hh!*h!"h! h!g!f!f)f-BdIdQjdU`f5@ZdUw?uchecking for new query: numPingsReceived=101, elapsed TxPingTime=48.915337Z-l>Z-l>ZG/?Z-?) f@i0:)%37!i!iyG=IIE EEE"EU;*Ex;VEZEBE.=a=2E.=aEJE5 DDAT read: Rx Time:04:47:13.5301 5 TRx dataTimestamp_ set to:1761540434.901465= PDAT read: Bearing 351.1, -34.7 (Local) E ~Local bearing/azimuth received: Bearing 351.1, -34.7 (Local) U DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.3 u DAT read: 04:47:13.5301 LVL= 32752, 23793, 27986, 32755, AGC= 65, IDX= 502,-0.07,-2.407,-0.243,-1.429,-1.234, PHS=-1.071, 1.036,-0.239, RAW= 306.9, 3.0, CAL= 304.6, -0.4, ROT= 205.4, 0.4  Ygot valid direction response: 04:47:13.5301 LVL= 32752, 23793, 27986, 32755, AGC= 65, IDX= 502,-0.07,-2.407,-0.243,-1.429,-1.234, PHS=-1.071, 1.036,-0.239, RAW= 306.9, 3.0, CAL= 304.6, -0.4, ROT= 205.4, 0.4  V#Rx 102: Read range and direction messages. bdirection in FSK: [-0.903313,-0.428925,-0.006981] Fpublishing direction and range infoy1 5 .jdsۿa|Y1 1 1 5 \5 Rm 1 )5 AI5 i5 ?5 jt5 g@^A Ա I I 5 PwV=5 @ 5 )5 oe@I5 ;1 1 5 I!c/Fkξg K? 5 TA)5 ۫WI5 ,i5 ;1 1 m checking for new query: numPingsReceived=102, elapsed TxPingTime=49.209175O} >+h.,LmT?A>> ٱr,a AHRS rotation from veh to nav: [[0.923292,-0.346936,-0.164826],[0.351134,0.936317,-0.003899],[0.155681,-0.054276,0.986315]]H?14ֿſx?@O?o_?ʫ?i>I1`;CYByn$I bDVDfy%]%%H=ٔ%Q-%>I9QYQ=UFyQUY;E]>YQ 5e5] ?Q 9e5])]FBYy?Q IZ@]CI];i];]>5yBɮ@Ei9i=T?AJi9Ri9ji=|@b=13gd"%o wÿR=.jdsۿa|Zi=,bi=;j=y$-"n0P/[V<3Z=42>&7"翇Ϳ2i=z:i=in"i=d ?*i=|Bi=FBi9i9i=Bi=լAi=}@M addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503653 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 21.782631 m, bearing: 226.417132 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.503653 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 21.78 m.hYhY*hY"hY hagafffddjdZdZ?ZZZZ?  )   @i :)   <7 iiL=IIԁ9@ @@/@echecking for new query: numPingsReceived=102, elapsed TxPingTime=49.419582DzDE EE'E"E;*Ed;VE'4ZEa@a@a@a@ԡ^A B=I IA Om > K5,6T?AY~By~h$IDDAT read: Rx Time:04:47:14.0303 TRx dataTimestamp_ set to:1761540435.404761PDAT read: Bearing 351.5, -34.3 (Local) AA@AB>BB$IB$BB =BBBd;B#'E~Local bearing/azimuth received: Bearing 351.5, -34.3 (Local)  DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.3 5DAT read: 04:47:14.0303 LVL= 32752, 20321, 28466, 32755, AGC= 65, IDX= 504,-0.11,-1.934, 0.240,-0.961,-0.770, PHS=-1.062, 1.055,-0.235, RAW= 307.2, 2.7, CAL= 304.9, -0.8, ROT= 205.1, 0.8 =Ygot valid direction response: 04:47:14.0303 LVL= 32752, 20321, 28466, 32755, AGC= 65, IDX= 504,-0.11,-1.934, 0.240,-0.961,-0.770, PHS=-1.062, 1.055,-0.235, RAW= 307.2, 2.7, CAL= 304.9, -0.8, ROT= 205.1, 0.8 =V#Rx 103: Read range and direction messages.Ebdirection in FSK: [-0.905480,-0.424158,-0.013962]EFpublishing direction and range infoy|a. -ih%ۿ4YAaO2o )Ii= ?ףp@A=I@ d)Re@Id<̚,Ķ!ȿњn\.? A)‚=Ic-id<checking for new query: numPingsReceived=103, elapsed TxPingTime=49.696247ԱiMMb@Mb@Mb@IIII I9MZd;O?n?S㥛?YMj<>yMV>M/91Y1=5Fy1=E=>9Q 55=?Q 95=+)=RBYm>Q Ed;y?Q IZ@=CI=~:i=:=5yɮO@iiT?AJiARiAji|@b/ v36Q.ܓ/(dvDZ4YՠsY2i|:ir"icq?*iDu}BiBi ?iDu}iUBiAi}@m addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503296 s, deltaX: 0.300001 m, approachRate: 0.596073 m/s, rangeRepo size: 4  Added new target pos. range: 22.081081 m, bearing: 226.163707 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.503296 s, deltaX: 0.298450 m, approachRate: 0.592992 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.08 m.hh*h"h hgfffrBddjd@336@Zd ?Zm>Zm>Z۟%?Zc?))) - @i-:)15E71i1i99="L=I9IA9@ @@/@@hA@hA  checking for new query: numPingsReceived=103, elapsed TxPingTime=49.926121E  E E E "E @;*E x;VE ZE BE p+=a- 2E p+=a5 JE a= :E aE 9 ^AU <H=I I O >P<, T?A2ݽ>2>2 ٱ2d :AHRS rotation from veh to nav: [[0.922162,-0.349448,-0.165842],[0.353756,0.935330,-0.003795],[0.156443,-0.055168,0.986145]]2HY?[]ֿQ:ſ ?9?.o U???i2ݽ>I2w`;2CYBByBO$IbDJVDJ1yR%V=ٔV!Q-V?9XYX=ZFyXZ<EZ?\Q 5b5^?Q 9f5^)^YBYdyf?Q IfZ@^CI^:i^:^Q5yhɮj@lYDNOT Ignoring new targets: 22.08 m.hh*h"h hgfffddjdZdh:?ZZZZ? ) @i:)iiGcW=IIDDAT read: Rx Time:04:47:14.5302 TRx dataTimestamp_ set to:1761540435.908648-PDAT read: Bearing 348.7, -34.3 (Local) -~Local bearing/azimuth received: Bearing 348.7, -34.3 (Local) =DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.2 eDAT read: 04:47:14.5302 LVL= 32752, 25041, 30642, 32755, AGC= 66, IDX= 504,-0.22,-2.171,-0.026,-1.221,-0.976, PHS=-1.093, 0.995,-0.289, RAW= 307.6, 4.3, CAL= 305.2, 1.7, ROT= 204.8, -1.7 mYgot valid direction response: 04:47:14.5302 LVL= 32752, 25041, 30642, 32755, AGC= 66, IDX= 504,-0.22,-2.171,-0.026,-1.221,-0.976, PHS=-1.093, 0.995,-0.289, RAW= 307.6, 4.3, CAL= 305.2, 1.7, ROT= 204.8, -1.7 mV#Rx 104: Read range and direction messages.u`direction in FSK: [-0.907378,-0.419267,0.029666]uFpublishing direction and range infoyŽv= yGڿ `?Y̰Aaw )BIm狿iR~?˫@`=t@ <)d@I(M p18oؑ&? @)TI-\-ichecking for new query: numPingsReceived=104, elapsed TxPingTime=50.190907ԉ4:9@ @@/@Թi I  DDAT read: Rx Time:04:47:15.0303  TRx dataTimestamp_ set to:1761540436.164106 checking for new query: numPingsReceived=104, elapsed TxPingTime=50.433605 EM  EM EM +EI "EM ;*EM g;VEM [4ZEI am @am @am @am @^A} G=I I O >5oC,gU?Ab>bw>bd9!ٱbGd nAHRS rotation from veh to nav: [[0.921471,-0.351118,-0.166152],[0.355395,0.934707,-0.004251],[0.156796,-0.055133,0.986091]]bH|?xֿwDſ@ɾ??iq? Z:?ib>Ib_;bCYrByvI$IIM<)M%=qbDeVDey#%5=ٔOQ->9Y=Fy;E>Q 55?Q 958)eBYy-M?Q I-Z@ CI;iX;O5yAɮe@iiiJ'T?AJiگARiگAjiD|@bj 3;Wn"3L?RŽv= yGڿ `?Zi-\-bij;Z2.K$Zi/V'XZW2=32%%濂52iJ{:it"i2E?*i*SwBiBid ?ij}iBiZAi)}@e addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503887 s, deltaX: -0.100000 m, approachRate: -0.198458 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 21.981617 m, bearing: 225.840286 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.503887 s, deltaX: -0.099464 m, approachRate: -0.197394 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.98 m.hh*h"h hgfffddjd6@Zd M?ZZZZM?-d9!)) -@i-K:))-45PDAT read: Bearing 350.1, -34.4 (Local) BBB$IBBB =BBBd;B'E~Local bearing/azimuth received: Bearing 350.1, -34.4 (Local) 5DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.3 UDAT read: 04:47:15.0303 LVL= 32752, 25713, 30018, 32755, AGC= 65, IDX= 505,-0.23,-2.590,-0.426,-1.628,-1.403, PHS=-1.085, 1.022,-0.270, RAW= 307.4, 3.7, CAL= 305.0, 0.5, ROT= 205.0, -0.5 ]Ygot valid direction response: 04:47:15.0303 LVL= 32752, 25713, 30018, 32755, AGC= 65, IDX= 505,-0.23,-2.590,-0.426,-1.628,-1.403, PHS=-1.085, 1.022,-0.270, RAW= 307.4, 3.7, CAL= 305.0, 0.5, ROT= 205.0, -0.5 eV#Rx 105: Read range and direction messages.m`direction in FSK: [-0.906273,-0.422602,0.008727]mFpublishing direction and range infoy0 ۿB7߁?YAqdBu )AIH኿iЂ?q=>@ A=X@ 5<)d@I5@U]#* zBX? s@)؂I"-i5iic\=IIchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.705982+: 9@  @ @! @! ^AE &V= DDAT read: Rx Time:04:47:15.5303  TRx dataTimestamp_ set to:1761540436.671482 PDAT read: Bearing 347.6, -34.3 (Local)  ~Local bearing/azimuth received: Bearing 347.6, -34.3 (Local)  checking for new query: numPingsReceived=105, elapsed TxPingTime=50.944611I IOM>J,r,U?AEN ENEN'EL"EN;*EN=;VEN'4ZELBENR=aj2ENR=ajJEN=dr>=t!ٱ=0c }AHRS rotation from veh to nav: [[0.920747,-0.352952,-0.166281],[0.357138,0.934038,-0.005035],[0.157090,-0.054750,0.986066]]=Hv?Ŗֿ Hſ`Y??Bt?$@ٍ?i=>I=_;=CYBy<$IiMb@Mb@Mb@ 9/$?&1?:v?Y&1>y=<d@V@ r@)@YbDVD y%=ٔ(Q->9Y=Fy%d;E%>)Q 555-?Q 955-)-rBY5]O>Q E=;y=l?Q I=Z@-CI-m ;i- ;- 5yAɮE@Ai i U?AJi ARi Aji M|@b  1P4"?R 0 ۿB7߁?Zi "-bi 5j >S.D=/2𹠊Z aa^念ckI&Q2i }:i r"i /~?*i Y>yBi Bi /~?i |i i IAi }}@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.507312 s, deltaX: 0.100000 m, approachRate: 0.197118 m/s, rangeRepo size: 4  Added new target pos. range: 22.080980 m, bearing: 226.292098 deg, lat: 36.779367 deg, lon: -121.859589 deg, deltaT: 0.507312 s, deltaX: 0.099363 m, approachRate: 0.195862 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.08 m.hh*h"h hgfffNBddjd@336@Zd`?Z]O>Z]O>Z?a?Zl?t!)  @i:)05ii\xb=II !DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.2 DAT read: 04:47:15.5303 LVL= 32752, 26577, 32754, 32755, AGC= 67, IDX= 505,-0.25, 2.093,-2.056, 3.037,-2.987, PHS=-1.101, 0.976,-0.303, RAW= 307.6, 4.8, CAL= 305.3, 2.6, ROT= 204.7, -2.6 %Ygot valid direction response: 04:47:15.5303 LVL= 32752, 26577, 32754, 32755, AGC= 67, IDX= 505,-0.25, 2.093,-2.056, 3.037,-2.987, PHS=-1.101, 0.976,-0.303, RAW= 307.6, 4.8, CAL= 305.3, 2.6, ROT= 204.7, -2.6 %V#Rx 106: Read range and direction messages.-`direction in FSK: [-0.907573,-0.417437,0.045363]-Fpublishing direction and range infoy, A*Hڿ99?Yg )CI팿i#y?"˫@=@ 9=)d@I96KݖؕB@]>Q ^Ae gW=Ii I O >@sQ,#FU?A B1>BE>B!ٱB'a JAHRS rotation from veh to nav: [[0.920120,-0.354525,-0.166407],[0.358605,0.933471,-0.005888],[0.157424,-0.054257,0.986040]]BH q?ֿLſ`?? xv&?ǫ?iB1>IB/^;BCYRpByR $IbDZVDZJyb%b=ٔfQ-f?9dYd=fFyhj;Ej?lQ 5r5n?Q 9r5n)nyBYtyv|l?Q IvZ@n!CIn:in$:n5yxɮz@xi)i-:U?AJi)Ri)ji-E|@b-M#D 45Po"H00?R-, A*Hڿ99?Zi-x-bi-9j- $%.S)֗/ Z- n:}yi-Bi-˰Ai-r|@M addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503658 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 22.080980 m, bearing: 225.843484 deg, lat: 36.779366 deg, lon: -121.859588 deg, deltaT: 0.503658 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 22.08 m.hYha*ha"ha hagafafifididijdiZdu6o?ZZZZ|l?!) 1@i:)顭iimh=IIuDDAT read: Rx Time:04:47:16.0305 TRx dataTimestamp_ set to:1761540437.175552checking for new query: numPingsReceived=106, elapsed TxPingTime=51.445213q9@ @@/@E EE)E"E@;*Em;VEFA4ZEa@a@a@a@ԡ^Au \=II!OE> B A <B >B B $IB BB =B B DB _d;B &E PDAT read: Bearing 350.9, -34.8 (Local)  ~Local bearing/azimuth received: Bearing 350.9, -34.8 (Local) % DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 M DAT read: 04:47:16.0305 LVL= 32752, 25265, 30162, 32755, AGC= 66, IDX= 507,-0.29,-3.072,-0.906,-2.096,-1.886, PHS=-1.084, 1.026,-0.253, RAW= 307.0, 3.4, CAL= 304.6, 0.0, ROT= 205.4, -0.0 U Ygot valid direction response: 04:47:16.0305 LVL= 32752, 25265, 30162, 32755, AGC= 66, IDX= 507,-0.29,-3.072,-0.906,-2.096,-1.886, PHS=-1.084, 1.026,-0.253, RAW= 307.0, 3.4, CAL= 304.6, 0.0, ROT= 205.4, -0.0 U V#Rx 107: Read range and direction messages.] `direction in FSK: [-0.903335,-0.428935,0.000000]] Fpublishing direction and range infoy  sۿY A   b u  ) BI i S? 7 v@ s= @  ) oe@I    򽫴n}{?  gAA) XtI ,i   } checking for new query: numPingsReceived=107, elapsed TxPingTime=51.705097W,_U?A2">2>2@"ٱ2` :AHRS rotation from veh to nav: [[0.919735,-0.355387,-0.166695],[0.359430,0.933151,-0.006295],[0.157789,-0.054126,0.985988]]2Hxn?ֿAVſ ?@_?y@j2?`Y7?i2">I2a];2CLY^qBy^!$I ``iMb@Mb@Mb@ 9(\?L7A`?~jt?Y.>y+=<z@l@ @)@Y@bDVDNy|;%57=ٔ5VQ-=>99Y9==Fy9E;EE>IQ 5U5M ?Q 95MR)MBYY<>Q E;yB?Q IZ@M,CIM/"e ?*i5݅Bi5Bi1i1i1i5oAi5||@5 addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503610 s, deltaX: 0.299999 m, approachRate: 0.595698 m/s, rangeRepo size: 4 E Added new target pos. range: 22.379597 m, bearing: 226.900068 deg, lat: 36.779366 deg, lon: -121.859588 deg, deltaT: 0.503610 s, deltaX: 0.298616 m, approachRate: 0.592952 m/s, posRepo size: 4 EDNOT Ignoring new targets: 22.38 m.hAhA*hA"hI hIgifqffCBddjd6@Zd`d?Z]Y<>Z]Y<>Z]>Z]ӖB?@") @i:)顕5ii%j=IIDDAT read: Rx Time:04:47:16.5305 TRx dataTimestamp_ set to:1761540437.680252PDAT read: Bearing 348.4, -34.2 (Local) ~Local bearing/azimuth received: Bearing 348.4, -34.2 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 I)}\#Rx 108: Read range message, but no direction.yYE E=E(E"E;*EŊ;VEc44ZEBE!=a2E!=aJE],yU?A2$>2>2"ٱ2i` :AHRS rotation from veh to nav: [[0.919521,-0.355810,-0.166974],[0.359848,0.932988,-0.006457],[0.158082,-0.054148,0.985940]]2Hl?ֿ`c_ſ? ?-rz I2%n];2CYBbByB$IbDJ VDJ2yRc%Ve=ٔVN\Q-V>9XYX=ZFyXZ̯:EZ>rDAT read: 04:47:16.5305 LVL= 32752, 28145, 32754, 32755, AGC= 66, IDX= 507,-0.43, 2.394,-1.741,-2.941,-2.688, PHS=-1.100, 0.991,-0.297, RAW= 307.7, 4.5, CAL= 305.3, 2.1, ROT= 204.7, -2.1 vYgot valid direction response: 04:47:16.5305 LVL= 32752, 28145, 32754, 32755, AGC= 66, IDX= 507,-0.43, 2.394,-1.741,-2.941,-2.688, PHS=-1.100, 0.991,-0.297, RAW= 307.7, 4.5, CAL= 305.3, 2.1, ROT= 204.7, -2.1 v\#Rx 109: Read direction message, but no range.z`direction in FSK: [-0.907898,-0.417586,0.036644]y`|bH  Իڿ(א¢?``bmb `)`Ib̌ib-}?bbb$ګ@b|٠=b@ bQ =)bd@IbQ `bnQ:6 ? bNJ@)bIbx-ibQ checking for new query: numPingsReceived=109, elapsed TxPingTime=52.205345Q 5%5?Q 9%5$)BY)y-B?Q I-Z@4CI:i_:5y1ɮ5@1ii@kU?AJiRijil|@bZ ;Q4+.ٰ" g>?RH  Իڿ(א¢?Zix-biQ j9h.#7 0k [Z '?濬 \#Rx 110: Read range message, but no direction.yYfA checking for new query: numPingsReceived=110, elapsed TxPingTime=52.499973ԁ d,U?AB>B'>B`"ٱB` JAHRS rotation from veh to nav: [[0.919385,-0.356110,-0.167086],[0.360145,0.932873,-0.006546],[0.158201,-0.054157,0.985921]]BHk?ֿcſ ??z ??l?iB>IB+];BCYbXByb$IbDVDayG;%8=ٔ7Q->9!Y!=-Fy)U=:E]>iQ 55m?Q 95m)mBYyB?Q IZ@m>CImp;im};m5yBɮ@%B*** querying acoustic contact ***i! i%e addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503653 s, deltaX: 0.299999 m, approachRate: 0.595647 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 22.38 m.haha*hi"hi hiPExceeded connect timeout, disconnecting.B>BCB$IB݅BB =BBB|d;B&EBmCBmCBiBiBiCme5DAT read: 04:47:17.0307 LVL= 32752, 27489, 32754, 32755, AGC= 67, IDX= 508, 0.38,-1.446, 0.717,-0.474,-0.261, PHS=-1.084, 1.023,-0.258, RAW= 307.1, 3.5, CAL= 304.7, 0.2, ROT= 205.3, -0.2 Ygot valid direction response: 04:47:17.0307 LVL= 32752, 27489, 32754, 32755, AGC= 67, IDX= 508, 0.38,-1.446, 0.717,-0.474,-0.261, PHS=-1.084, 1.023,-0.258, RAW= 307.1, 3.5, CAL= 304.7, 0.2, ROT= 205.3, -0.2 \#Rx 111: Read direction message, but no range. `direction in FSK: [-0.904077,-0.427355,0.003491]yS2쿫D|YۿQC1ml?ak )CIi?Z@5z=5-@ d;)Re@Iduvб ٜA/iX? A)zI2,id%checking for new query: numPingsReceived=111, elapsed TxPingTime=52.709328gԁfffddjd6@Zd@?ZZZZgB?-`")1 5@i5E:)15\51i1i99=4l=IaIa iiIi)i]9@Y @Y@]/@YԱ  DDAT read: Rx Time:04:47:17.5307  TRx dataTimestamp_ set to:1761540438.687913 PDAT read: Bearing 348.5, -34.3 (Local)  ~Local bearing/azimuth received: Bearing 348.5, -34.3 (Local) ^A Jc= DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2  \#Rx 112: Read range message, but no direction.y Y IQ I  checking for new query: numPingsReceived=112, elapsed TxPingTime=52.987141O >k,HU?AE EE)E"E;*E&p;VEFA4ZEBE+%=a2E+%=a"JEnn>n!"ٱn_ zAHRS rotation from veh to nav: [[0.919177,-0.356649,-0.167077],[0.360637,0.932681,-0.006889],[0.158287,-0.053922,0.985920]]nH i?Vֿbſ`??o7|B??inM>In ];nCYEWByE$IaiEMb@Mb@Mb@AAAA A9E#~j?Zd;O?y&1?YE%>yEj<=E`9Y=FyM:E>Q 55?Q 95z)BY.>Q E;yZ+?Q IZ@HCIS;i;5yɮ@iqiuU?AJiulARiulAjiukf}@burl챀44yb#zC?RuS2쿫D|YۿQC1ml?Ziu2,biudju(}9]. o0.xG(Zuhf˻rQD\05MⲪڽ2iux:iupv"iuq?*iuBiu Biu/~?iuyiuBiuAiu|@ԉ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.678064 m, bearing: 226.855546 deg, lat: 36.779367 deg, lon: -121.859588 deg, deltaT: 1.007661 s, deltaX: 0.298468 m, approachRate: 0.296198 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.68 m.hh*h"h hgfff(BddjdZd%?Ze.>Ze.>Zeu>ZeZ+?u!")q }@i}:)y}b 6yiyi!!%n=I!I)5l>i5>DAT read: 04:47:17.5307 LVL= 32752, 27617, 32754, 32755, AGC= 69, IDX= 508, 0.19,-2.409,-0.271,-1.463,-1.212, PHS=-1.094, 0.986,-0.295, RAW= 307.6, 4.5, CAL= 305.2, 2.0, ROT= 204.8, -2.0 Ygot valid direction response: 04:47:17.5307 LVL= 32752, 27617, 32754, 32755, AGC= 69, IDX= 508, 0.19,-2.409,-0.271,-1.463,-1.212, PHS=-1.094, 0.986,-0.295, RAW= 307.6, 4.5, CAL= 305.2, 2.0, ROT= 204.8, -2.0 \#Rx 113: Read direction message, but no range.`direction in FSK: [-0.907224,-0.419197,0.034899]yy}ȘзڿXޡ?yy}ky y)}EI}1i}j|?}= }˫@}|٠=}t@ }5=)}d@I}5y}l7Оᅳa|vF? }Ȍ@)} \q,!U?A: >:X>:|"ٱ:e^ FAHRS rotation from veh to nav: [[0.918965,-0.357201,-0.167064],[0.361133,0.932486,-0.007283],[0.158386,-0.053640,0.985919]]:H)h?bֿ@Wbſ??_}E?v?i: >I:\;:CYJNByN#IbDVVDVy^U%^=ٔbeQ-b?9`Y`=fFydf:Ef?hQ 5v5j?Q 9z5j)jBY y|+?Q IZ@jNCIjWB1 B5 $IB5 ÅBB1 B1 B1 B5 ld;B5 &E] nManaging dock network, ignoring radio surface power off DAT read: 04:47:18.0309 LVL= 32752, 23537, 26978, 32755, AGC= 66, IDX= 510,-0.02,-1.789, 0.393,-0.785,-0.599, PHS=-1.089, 1.037,-0.231, RAW= 306.3, 3.1, CAL= 304.0, -0.4, ROT= 206.0, 0.4  Ygot valid direction response: 04:47:18.0309 LVL= 32752, 23537, 26978, 32755, AGC= 66, IDX= 510,-0.02,-1.789, 0.393,-0.785,-0.599, PHS=-1.089, 1.037,-0.231, RAW= 306.3, 3.1, CAL= 304.0, -0.4, ROT= 206.0, 0.4  \#Rx 115: Read direction message, but no range. bdirection in FSK: [-0.898772,-0.438360,-0.006981]y  5bz=]ܿa| [ bi ) BI Zdi j? Dl @ k]= ɩ@ ) f@I ; {IIrO{ܜ? A) Y]I ,i ; checking for new query: numPingsReceived=115, elapsed TxPingTime=53.722649^A% h=I1 IA OM >9 m f>m C :G  5 DO91 Y5 6>6o"ٱ6e] ^AHRS rotation from veh to nav: [[0.918856,-0.357550,-0.166919],[0.361428,0.932369,-0.007602],[0.158348,-0.053344,0.985941]]6H Dg?ֿ]ſ !?? #@D?OԌ?i6f >I6<];6CYjOByj#IiMb@Mb@Mb@ 9㥛 ?l?{Gz?Y>y=#=@@ @)@Y@bDVD:y;%;=ٔŷ8Q->9Y=Fy>:E>Q 55!?Q 95)BY>Q E;y&?Q IZ@VCI:i:,5yBɮ@Ei!i%5]U?AJi%ϷARi%ϷAji%Q~@b%*'4o^$$l%ĿR%5bz=]ܿa|Zi%,bi%;j%.],r0x Z%mS_]x G$2i%ӆ:i%u"i%S?*i%Bi%Bi%q?i%݅i%Bi%Ai%9}@5DNOT Ignoring new targets: 22.68 m.h1h1*h1"h1 h1g1f9f9f=6BdAdAjdAZdE`U?Zm>Zm>Zm'~>Zmǎ&?o")! %3@i%:)!%5J6!i!i))-sq=I)I1DDAT read: Rx Time:04:47:18.5308 TRx dataTimestamp_ set to:1761540439.696612=PDAT read: Bearing 347.8, -34.4 (Local) E~Local bearing/azimuth received: Bearing 347.8, -34.4 (Local) 19@a @a@m3@iDAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.2 E5 E5E5)E1"E5;*E5a;VE5FA4ZE1BE5w =aE2E5w =aEJE5oԉ D~,MU?A&checking for new query: numPingsReceived=116, elapsed TxPingTime=54.211113J­ >J>J>"ٱJb[ VAHRS rotation from veh to nav: [[0.918754,-0.357868,-0.166797],[0.361678,0.932269,-0.008009],[0.158366,-0.052969,0.985959]]JHof?`Oֿ Yſ%? %?g WE?@?iJ­ >IJ\;JCYrNByr#IbDzVDzJyc%W=ٔ JQ- >9 Y =Fy<:E>Q 5%5$?Q 9%5)ĈBY)y-&?Q I-Z@]CI:i:}5y1ɮ5@1iAiEJU?AJiEARiEAjiEȴ|@bE94ӫY$">#z >?REfLjA쿦]CڿP7V?ZiE?-biEAjE \[/-~Ay0]ZE@5濍P rJf#2iẼ:iEz|"iE#?*iE BiEBiAiE iAiE'AiE4}@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503423 s, deltaX: -0.100000 m, approachRate: -0.198641 m/s, rangeRepo size: 4  Added new target pos. range: 22.877031 m, bearing: 226.234336 deg, lat: 36.779367 deg, lon: -121.859591 deg, deltaT: 1.008699 s, deltaX: 0.198967 m, approachRate: 0.197251 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.88 m.hh*h"h hgfffddjd7@Zd[?ZZZZ˚&?>") @i:)Tj6iyiUr=III@I @I@Mr4@I@UgA@UgAԡDDAT read: Rx Time:04:47:19.0309 %TRx dataTimestamp_ set to:1761540440.200433=PDAT read: Bearing 351.7, -35.5 (Local) E~Local bearing/azimuth received: Bearing 351.7, -35.5 (Local) }DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 \#Rx 117: Read range message, but no direction.^AIIWJIO >yY̸A% checking for new query: numPingsReceived=117, elapsed TxPingTime=54.501076DM =DM <EU  EU EU +EQ "EU ;*EU ^~;VEU [4ZEQ a] @a] @a] @a] @ ,,V?A> >>>>"ٱ>S[ FAHRS rotation from veh to nav: [[0.918792,-0.357721,-0.166904],[0.361528,0.932327,-0.008052],[0.158489,-0.052942,0.985940]]>Hf?ֿ@]ſ E#??}@^I?6Ҍ?i> >I>];>CY`y`bDMVDM0y .;%;=ٔ=IQ-E>9IYy=}FyyഹE>Q 55)?Q 95)ӈBYy&?Q IZ@fCIi:z5B>BBt$IBBBBBBBd;B&Eyɮ @uDAT read: 04:47:19.0309 LVL= 32752, 25153, 29842, 32755, AGC= 66, IDX= 510, 0.22,-0.632, 1.551, 0.376, 0.563, PHS=-1.092, 1.033,-0.231, RAW= 306.2, 3.2, CAL= 303.9, -0.3, ROT= 206.1, 0.3 }Ygot valid direction response: 04:47:19.0309 LVL= 32752, 25153, 29842, 32755, AGC= 66, IDX= 510, 0.22,-0.632, 1.551, 0.376, 0.563, PHS=-1.092, 1.033,-0.231, RAW= 306.2, 3.2, CAL= 303.9, -0.3, ROT= 206.1, 0.3 }\#Rx 118: Read direction message, but no range.bdirection in FSK: [-0.898015,-0.439933,-0.005236]yQUzrwt'ܿsNruQQUAbUt Q)UBIUƋiUX9?UDlU@Ud=UӺ@ U)UF7f@IU;QUiyw,һoy P? U B)UbIUo+iU;checking for new query: numPingsReceived=118, elapsed TxPingTime=54.724930 addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503821 s, deltaX: 0.100000 m, approachRate: 0.198484 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 22.88 m.hh*h"h hgff f d d jd7@Zd a?ZQZQZQZU&?m")i m@im:)imU6iiqiqq}Hq=IyIy@! @!@%t4@!) ^Aa I I O >% DDAT read: Rx Time:04:47:19.5309 5 TRx dataTimestamp_ set to:1761540440.704547U PDAT read: Bearing 349.8, -35.9 (Local) ] ~Local bearing/azimuth received: Bearing 349.8, -35.9 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0  DAT read: 04:47:19.5309 LVL= 32752, 27633, 32754, 32755, AGC= 68, IDX= 510,-0.07, 3.139,-0.986,-2.140,-1.930, PHS=-1.113, 0.988,-0.254, RAW= 306.0, 4.2, CAL= 303.6, 1.3, ROT= 206.4, -1.3 E]  E] E] )EY "E] ۵;*E] d;VE] FA4ZEY BE] =am 2E] =am JE] A>"ٱmZ AHRS rotation from veh to nav: [[0.918667,-0.358109,-0.166762],[0.361863,0.932194,-0.008370],[0.158452,-0.052656,0.985962]]H`e?BֿwXſ (?@?d$)H?`?i >I\;CYQBy#Ii-Mb@Mb@Mb@1)))) )9-x&?J +?I +?Y-7 >y-H=-94=-@) -@)-@)Y-Q@bDVDy _<%,=ٔ8Q->9Y=FyN:E%>!Q 5-5%,?Q 955%)%BY5>Q E5;y5,C?Q I5Z@%nCI%;i%;%r5y9ɮE@Ai9i=L-V?AJi=ϷARi=ϷAji=Β~@b= @14J>Pm$h zG?R= fAȧsܿNGY;?Zi=+bi=޹j=C"n.tI{0MʪZ=6Z忁LgH2i=Ç:i=Ku"i=Q^ ?*i=?Bi=Bi9i=i=Bi=Ai=H}@ addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.976439 m, bearing: 227.906010 deg, lat: 36.779367 deg, lon: -121.859591 deg, deltaT: 1.007935 s, deltaX: 0.099407 m, approachRate: 0.098625 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.98 m.h!h!*h)"h) h)g)f)f1f5=Bd1d1jd1Zd=!9?Z}>Z}>Z}}>Z}[,C?") @i:)页6iiVs=IIMchecking for new query: numPingsReceived=119, elapsed TxPingTime=55.220039aԙ e : @  @ @ o0@ DDAT read: Rx Time:04:47:20.0310 %TRx dataTimestamp_ set to:1761540441.208307=PDAT read: Bearing 350.7, -36.3 (Local) E~Local bearing/azimuth received: Bearing 350.7, -36.3 (Local) }DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 \#Rx 120: Read range message, but no direction.yYfAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DIzDM@AEU EUEU+EQ"EU;*EUNi;VEU [4ZEQa]@a]@a]@a]@^A!I9IQO] ?cR, RV?A"4<ɰ v!>v>v"ٱvZX %AHRS rotation from veh to nav: [[0.918359,-0.359009,-0.166519],[0.362689,0.931869,-0.008835],[0.158346,-0.052281,0.985999]]vH2c?ֿPſI6??`D?ĪM?iv!>Ivh\;tYUBy#I 4<<bDVDy a<% .=ٔ Ep9Q- >9Y=5Fy1=:E=>AQ 5E5E0?Q 9M5Es)EBYIyu_C?Q I}Z@EvCIE;iE+9 ~,lV?AbDDAT read: Rx Time:04:47:20.5310 jTRx dataTimestamp_ set to:1761540441.713323vPDAT read: Bearing 351.9, -36.5 (Local) v~Local bearing/azimuth received: Bearing 351.9, -36.5 (Local) DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.2 =DAT read: 04:47:20.5310 LVL= 32752, 25073, 32754, 32755, AGC= 67, IDX= 511,-0.03,-2.288,-0.092,-1.241,-1.071, PHS=-1.115, 1.024,-0.214, RAW= 305.2, 3.3, CAL= 302.8, -0.3, ROT= 207.2, 0.3 MYgot valid direction response: 04:47:20.5310 LVL= 32752, 25073, 32754, 32755, AGC= 67, IDX= 511,-0.03,-2.288,-0.092,-1.241,-1.071, PHS=-1.115, 1.024,-0.214, RAW= 305.2, 3.3, CAL= 302.8, -0.3, ROT= 207.2, 0.3 MR#Rx 2: Read range and direction messages.]bdirection in FSK: [-0.889404,-0.457092,-0.005236]]Fpublishing direction and range infoydfbܜu*@ݿsNruYdddfad d)dIfRifo?f"[ft@fk=f@ f)fqg@If;ddf Z&C%ߡ? fAC)f0mE EE,E"E;*E>^;VEg4ZEBE=a2E=aJE@=>="ٱ= X uAHRS rotation from veh to nav: [[0.918215,-0.359450,-0.166364],[0.363108,0.931704,-0.008956],[0.158222,-0.052184,0.986024]]=H b?@:׿mKſ@(=? ?W@? 巪`?i=^C">I=r\;=CYjBy$I iUMb@Mb@Mb@QQQQ Q9U rh?333333?Mb?YUC >yU=U@=U@Q U@)U׷@QYU@bDVDy=%'=ٔy9Q->9Y=FyPp:E>Q 554?Q 95)BY(&>Q E;yl?Q IZ@CIh;i ;5y1ɮ5A@1idifmV?AJifgARifgAjifI@bf*4y/%h{Rfbܜu*@ݿsNruZif*bif;jfys2.Ԋ\hZ1԰Zfzyp俦J翀[Ќ=2ifӊ:ifq"ifz/Z(&>ZG?ZOl?")  @i :)  #61i1iQQUrw=IQIYU2Acoustic response timeout9@ @@4@a ԑ ^A ur=I I) O5 >ס,V?A28#>2vI>2ԙ"ٱ2;W :AHRS rotation from veh to nav: [[0.917889,-0.360381,-0.166147],[0.363973,0.931362,-0.009381],[0.158123,-0.051862,0.986056]]2H`Y_?|׿@LDſ UK?@?16c=?෍ ƍ?i28#>I2k];2CYBgByB$IbDJVDJ:yR旼%R=ٔV9Q-V?9TYX=ZFyXZhM;EZ?\Q 5b5^6?Q 9b5^)^ BYdyfEl?Q IfZ@^CI^:i^:^z5yaɮeo@ԉDDAT read: Rx Time:04:47:21.0311 TRx dataTimestamp_ set to:1761540442.216658PDAT read: Bearing 323.3, -41.0 (Local) ~Local bearing/azimuth received: Bearing 323.3, -41.0 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 5DAT read: 04:47:21.0311 LVL= 32752, 23441, 31314, 32755, AGC= 67, IDX= 513,-0.49, 3.064,-1.521,-2.214,-1.927, PHS=-1.190, 0.450,-0.331, RAW= 298.4, 14.9, CAL= 296.1, 21.5, ROT= 213.9, -21.5 =Ygot valid direction response: 04:47:21.0311 LVL= 32752, 23441, 31314, 32755, AGC= 67, IDX= 513,-0.49, 3.064,-1.521,-2.214,-1.927, PHS=-1.190, 0.450,-0.331, RAW= 298.4, 14.9, CAL= 296.1, 21.5, ROT= 213.9, -21.5 EDNOT Ignoring new targets: 23.18 m.hAhA*hA"hI hIgIfIfQfQdQdQjdQZd]`?eR#Rx 1: Read range and direction messages.m`direction in FSK: [-0.772258,-0.518936,0.366501]mFpublishing direction and range infoynʃVĖX>ѨCt?Y3A[Rz )IQiff>xr@%>_@ 7 >)n@I7 ZZZ^:T(?cA*{? NG@)YI1#i7 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ZEl?ԙ") @i:)6iE% E%E%*E!"E%s;*E%`;VE%(N4ZE!a-@a-@a-@a-@iYez=IaIii>Թ9@ @@/@@@hA^A 5tr=I9 II B B B z$IB BB B B B "d;B &EOe >} 2Acoustic response timeout ],}zV?AY~jBy~$I   AiMb@Mb@Mb@ 9x&?:v?I +?Y7 >y=94=d@@ @)Y@bDVDkySs<%;=ٔQ->9Y=FyE>Q 559?Q 95R)BYq3>Q E;yԉ?Q IZ@CI ;i ;J5yɮ:@i)i-ݍV?AJi-2ARi-2Aji-@b-H[Gb1q((yL6|!@R-nʃVĖX>ѨCt?Zi-1#bi-7 j-M@* + 1]WZB@Z-4=n⿖ioNJ ?2i-:i-Y"i-ož?*i-+GbBi-ΑBi-Q^ ?i-?i-Bi-Ai-բ~@ addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503335 s, deltaX: 0.100000 m, approachRate: 0.198676 m/s, rangeRepo size: 4  Added new target pos. range: 23.274805 m, bearing: 232.804438 deg, lat: 36.779370 deg, lon: -121.859595 deg, deltaT: 0.503335 s, deltaX: 0.099464 m, approachRate: 0.197611 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.27 m.hh*h "h  h g f)f1f5PBd1d1jd=`ff7@Zd=Z?Zq3>Zq3>Z[(?Zuԉ?) 3@iN:)I6iDDAT read: Rx Time:04:47:21.5311 TRx dataTimestamp_ set to:1761540442.718952 PDAT read: Bearing 327.6, -49.9 (Local) ~Local bearing/azimuth received: Bearing 327.6, -49.9 (Local) 5DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.2 eDAT read: 04:47:21.5311 LVL= 32752, 23185, 32754, 32755, AGC= 67, IDX= 512, 0.07, 2.134,-1.652,-2.424,-2.301, PHS=-1.746, 0.694,-0.167, RAW= 290.4, 11.4, CAL= 287.8, 16.2, ROT= 222.2, -16.2 mYgot valid direction response: 04:47:21.5311 LVL= 32752, 23185, 32754, 32755, AGC= 67, IDX= 512, 0.07, 2.134,-1.652,-2.424,-2.301, PHS=-1.746, 0.694,-0.167, RAW= 290.4, 11.4, CAL= 287.8, 16.2, ROT= 222.2, -16.2 uR#Rx 1: Read range and direction messages.}`direction in FSK: [-0.711390,-0.645049,0.278991]}Fpublishing direction and range infoy:\=?YZ )I|߿i1? +0@%K>㼠@ Ð>)%3x@IÐkgWXKʱ?B;? J>@) 1KIiÐ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ipz=IIE= E=E=(E9"E=;*E=^~;VE=c44ZE9BE=(=aM2E=(=aMJE=z,V?A2,%>2C>2@"ٱ2UJ2Acoustic response timeout VAHRS rotation from veh to nav: [[0.917243,-0.362232,-0.165692],[0.365744,0.930663,-0.009899],[0.157789,-0.051521,0.986128]]2H Z?.׿@a5ſXh??E@k2?@` \?i2,%>I2md];2CY^fBy^$IbDjVDj0yrq%rL=ٔri^:Q-r>9tYt=vFytz};Ez>|Q 55~F]DDAT read: Rx Time:04:47:22.0312 eTRx dataTimestamp_ set to:1761540443.222872mDAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 uX#Rx 1: Read range message, but no direction.yaYe̼Aau2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.D zD ?AE  E E )E "E X;*E %f;VE FA4ZE a @a @a @a @) [,1zV?A2\&>2 >2"ٱ2U :AHRS rotation from veh to nav: [[0.916839,-0.363313,-0.165559],[0.366812,0.930241,-0.010034],[0.157655,-0.051530,0.986149]]2HV?@׿ 1ſy?? .? b?i2\&>I2];2CYNjByR$IbDb VDbf2yy<%@=ٔb9Q->9Y=Fym.;E> Q 5%5 #??Q 9-5 ) 0BY1y54?Q I=Z@ CI ;i ; 5yYɮ]A@aAAAAAAB#>BCB$IBÅBB =BBB,d;B&EBCBCBB =B =Cm5 addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503920 s, deltaX: 0.200001 m, approachRate: 0.396890 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 23.27 m.hh*h"h hgfffddjd7@2Acoustic response timeoutZd`V?Z Z Z Z 4?") %@i%:)!%6!i!iIIMυ=IIIQY@ @@@9y ^AA II Ia Om >m DDAT read: Rx Time:04:47:22.5312 m TRx dataTimestamp_ set to:1761540443.724905} DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1  X#Rx 1: Read range message, but no direction.yi Yi i  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.h,RV?A$F;ɰDE} E}E}&Ey"E}R;*E};VE}4ZEyBE}F3=a2E}F3=aJE}>!ٱGV AHRS rotation from veh to nav: [[0.916389,-0.364516,-0.165407],[0.368018,0.929764,-0.010077],[0.157463,-0.051638,0.986174]]H@S?I)^;Y%pBy%$IiMb@Mb@Mb@ 9Q?Mb?/$?Y\>y>,=@ @)@Y@bDVD:y<%5=ٔ 9Q- >9 Y =MFyIU=;EU>YQ 5e5]A?Q 9e5])]=BYeF>Q Ee;ym?Q ImZ@]CI]':qi]:]5yɮ@ addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.502033 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 23.27 m.hh*h"h hgfffuBddjdZd`?ZF>ZF>Z_=?Z? !)  ?i:)7ii=II!@ @@0@ԙ2Acoustic response timeout^A 0= I I O >q•,= W?ALM])>M[>M!ٱMV AHRS rotation from veh to nav: [[0.915801,-0.366027,-0.165327],[0.369517,0.929167,-0.010263],[0.157373,-0.051692,0.986185]]MH=N?l׿ o)ſ )?`?$?cwԎ?iM])>IM^;MCYeBy$IDDAT read: Rx Time:04:47:23.0313 TRx dataTimestamp_ set to:1761540444.228729-PDAT read: Bearing 352.8, -36.4 (Local) -~Local bearing/azimuth received: Bearing 352.8, -36.4 (Local) =DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 eDAT read: 04:47:23.0313 LVL= 32752, 24561, 32754, 32755, AGC= 71, IDX= 2,-0.06, 2.276,-1.812,-2.959,-2.802, PHS=-1.103, 1.035,-0.202, RAW= 305.2, 2.9, CAL= 302.9, -0.7, ROT= 207.1, 0.7 mYgot valid direction response: 04:47:23.0313 LVL= 32752, 24561, 32754, 32755, AGC= 71, IDX= 2,-0.06, 2.276,-1.812,-2.959,-2.802, PHS=-1.103, 1.035,-0.202, RAW= 305.2, 2.9, CAL= 302.9, -0.7, ROT= 207.1, 0.7 mR#Rx 1: Read range and direction messages.ubdirection in FSK: [-0.890146,-0.455511,-0.012217]uFpublishing direction and range infoy!|h('ݿI:YA_ )GI/iz?Nt@4QO=+@ +H);Ug@I+H<=r<t'GHA?I 3s?bDVDfyS%P=ٔs9Q->9Y=Fy;E>Q 55]D?Q 95f)IBYyO?Q IZ@CI ;i;5 SEC)" RIz*i+H<2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.yɮ@iiW?AJiARiAjiL@bJ4py%|BnҿR!|h('ݿI:Ziz*bi+H<j.;az.rr1?ZCkɲjuDu2iӍ:is"i+4@?*iwųBi~Bi+4@?iwųiBiAiO@D%=D%<bEjErE+/E E+E(E"E;*E;VEc44ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503824 s, deltaX: 0.100000 m, approachRate: 0.198483 m/s, rangeRepo size: 4 % Added new target pos. range: 23.573486 m, bearing: 229.318081 deg, lat: 36.779373 deg, lon: -121.859599 deg, deltaT: 1.509777 s, deltaX: 0.298681 m, approachRate: 0.197831 m/s, posRepo size: 4 -DNOT Ignoring new targets: 23.57 m.h)h)*h)"h) h)g)f1f1f1d1dYjde@37@Zdek?ZZZZO?!) ?i:)7iiV~=II9@ @@0@B>BCB$IBȅBBBBB&d;B&E 2Acoustic response timeout G1 I } UR9 Y ?A^A t0=I I O >$ȕ, $W?A2#+>2>>2u!ٱ2ܻV :AHRS rotation from veh to nav: [[0.915210,-0.367645,-0.165007],[0.371125,0.928525,-0.010366],[0.157024,-0.051751,0.986238]]2HfI?`׿ſ?z?:@[?"C?i2#+>I2H_;2CYBhByB$I|iMb@Mb@Mb@ 9MbX9?Dl?L7A`?Y!>yO >+=@@ )@Y@bD VD2y<%Y=ٔWs:Q->9Y=FyK;E> Q 55 3G?Q 955 ) RBY5uY>Q E=y;y=_?Q I=Z@ CI );i ; 05yAɮEV@ADNOT Ignoring new targets: 23.57 m.hh*h"h hgfffBddjdZd)?)ZuY>ZuY>Zw7?Z_?u!) R?i:)7i5DDAT read: Rx Time:04:47:23.5312 =TRx dataTimestamp_ set to:1761540444.733483EPDAT read: Bearing 353.2, -36.7 (Local) E~Local bearing/azimuth received: Bearing 353.2, -36.7 (Local) UDAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 }DAT read: 04:47:23.5312 LVL= 32752, 24385, 30194, 32755, AGC= 67, IDX= 498,-0.31, 0.659, 2.879, 1.730, 1.875, PHS=-1.114, 1.049,-0.189, RAW= 304.8, 2.7, CAL= 302.6, -0.9, ROT= 207.4, 0.9 Ygot valid direction response: 04:47:23.5312 LVL= 32752, 24385, 30194, 32755, AGC= 67, IDX= 498,-0.31, 0.659, 2.879, 1.730, 1.875, PHS=-1.114, 1.049,-0.189, RAW= 304.8, 2.7, CAL= 302.6, -0.9, ROT= 207.4, 0.9 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.887706,-0.460143,-0.015707]Fpublishing direction and range infoy15UV@hB$rݿy&Y5̼A115A_5u 1)5CI5i5E?57A5;@5A=5@ 5)5g@I5<115c7Bᅯ ÒJP?;n? 54C)5CI5t*i5<112Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.i#X=III)E= E=E=*E9"E=&;*E=v;VE=(N4ZE9BE=0=aM2E=0=aMJE=Ε,=W?A2,>2>2;!ٱ2T~W :AHRS rotation from veh to nav: [[0.914637,-0.369138,-0.164855],[0.372629,0.927922,-0.010380],[0.156804,-0.051936,0.986263]]2HD?׿ſ'? ?A%?Xx?i2,>I2X_;2CB2Acoustic response timeoutYF\ByJ$ILNAbDvVDvya}%Y=ٔ:Q->9 Y = Fy  F;E>Q 55I?Q 9%5)\BY!y%?Q I%[@ǥCIH;iT;r5y)ɮ5@1Yiaiec.W?AJieʻARieʻAjie\@be+w4#?% ׿ReUV@hB$rݿy&Ziet*bie<jed8M.F1𺭔ZemfvZ?>迍2ieD:ie-p"ieY?*ievBieq~BieY?iaieBieAie&p@ addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504754 s, deltaX: -0.100000 m, approachRate: -0.198117 m/s, rangeRepo size: 4  Added new target pos. range: 23.473715 m, bearing: 229.832576 deg, lat: 36.779376 deg, lon: -121.859599 deg, deltaT: 0.504754 s, deltaX: -0.099771 m, approachRate: -0.197664 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.47 m.hh*h"h hgfffddjd7@ZdOq?ZZZZ=?;!) U?i:)7ii=II9@ @@/@ԉԹ=DDAT read: Rx Time:04:47:24.0314 ETRx dataTimestamp_ set to:1761540445.236631MPDAT read: Bearing 353.1, -36.1 (Local) M~Local bearing/azimuth received: Bearing 353.1, -36.1 (Local) ]DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.2 DAT read: 04:47:24.0314 LVL= 32752, 23009, 30258, 32755, AGC= 70, IDX= 3, 0.21,-2.351,-0.167,-1.314,-1.156, PHS=-1.094, 1.033,-0.202, RAW= 305.3, 2.9, CAL= 303.1, -0.7, ROT= 206.9, 0.7 Ygot valid direction response: 04:47:24.0314 LVL= 32752, 23009, 30258, 32755, AGC= 70, IDX= 3, 0.21,-2.351,-0.167,-1.314,-1.156, PHS=-1.094, 1.033,-0.202, RAW= 305.3, 2.9, CAL= 303.1, -0.7, ROT= 206.9, 0.7 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.891731,-0.452401,-0.012217]Fpublishing direction and range infoy9=a{Vn"ܿI:Y=3A99=Y=2v 9)=FI=1i=X9?=N=@=4QO==qH@ =+H)= g@I=+H<99=pZDhч? =C)=MI=+i=+H<992Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^A=IIO>DA zDE @AEM  EM EM ,EI "EM @;*EM e;VEM g4ZEI aU @aU @a] @a] @ {Օ,WW?AY]By $IbD-VD-fy=-;%=F=ٔEQ-E>9AYA=EFyIMEM>QԹQ 55UM?Q 95U)UgBY yQ I[@UҥCIUE@>M DDAT read: Rx Time:04:47:24.5314 U TRx dataTimestamp_ set to:1761540445.741307e PDAT read: Bearing 353.1, -36.4 (Local) e ~Local bearing/azimuth received: Bearing 353.1, -36.4 (Local) u DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.2  DAT read: 04:47:24.5314 LVL= 32752, 22497, 28882, 32755, AGC= 67, IDX= 499, 0.01, 1.715,-2.362, 2.771, 2.928, PHS=-1.111, 1.038,-0.200, RAW= 305.0, 3.0, CAL= 302.8, -0.6, ROT= 207.2, 0.6  Ygot valid direction response: 04:47:24.5314 LVL= 32752, 22497, 28882, 32755, AGC= 67, IDX= 499, 0.01, 1.715,-2.362, 2.771, 2.928, PHS=-1.111, 1.038,-0.200, RAW= 305.0, 3.0, CAL= 302.8, -0.6, ROT= 207.2, 0.6  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.889368,-0.457073,-0.010472] Fpublishing direction and range infoyI M [7u9@ݿ/;rYI I I M W^A i=M p I )M CIM ?5iM /݄?M LM X@M PwV=M @ M +)M qg@IM +2ە,^qW?AE EEE"E;*Ek;VEZEBE#=a 2E#=a JE-> ٱ'W AHRS rotation from veh to nav: [[0.913177,-0.372978,-0.164300],[0.376407,0.926390,-0.010934],[0.156284,-0.051859,0.986350]]H8?`׿ſ ?@?d ? E`-?i1>IA`;CYWBy$IԱiMb@Mb@Mb@ 9On?l?Mb?Y>y>=@ @)@Y@bD-VD-y=ü%=.=ٔEΒ:Q-E>9AYA=MFy <E>Q 55P?Q 95B)rBYY>Q Ey;yZY>Z33H?ZOz+>z ٱz%V -AHRS rotation from veh to nav: [[0.912474,-0.374789,-0.164084],[0.378181,0.925663,-0.011265],[0.156109,-0.051774,0.986382]]zH2?@׿ſ4?`?>]?# q?iz2>Iz_;zCY5GBy]#IIe=)e=e=e=bDmVDm0y}%&=ٔ9Q->9Y=Fy!;E>Q 55"S?Q 95ε)~BYyz?Q I[@CI:i$:p5yɮ@i!i%zW?AJi%ARi%Aji%O@b% 9]r5 %}!пR%[j5 ݿ/;rZi%*bi!j%q+.*j82c>Z%bVl 9F2i%Ǒ:i%v"i%묶>?*i%?*Bi%n~Bi%+4@?i!i%~Bi%GAi%.<@e addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503412 s, deltaX: 0.300001 m, approachRate: 0.595936 m/s, rangeRepo size: 4  Added new target pos. range: 24.070477 m, bearing: 229.739818 deg, lat: 36.779373 deg, lon: -121.859598 deg, deltaT: 0.503412 s, deltaX: 0.298395 m, approachRate: 0.592745 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.07 m.hh*h"h hgfffddjd@338@Zd1?ZZZZz?U )Q U?iU=:)Y]67aiaiyyF=IIB=>B=CB=$IB=ÅBB= =B9B9B=c;B=&E U2Acoustic response timeoutu4:1@ @@3@a ^A v=I  DDAT read: Rx Time:04:47:25.5315  TRx dataTimestamp_ set to:1761540446.748797 PDAT read: Bearing 353.2, -35.9 (Local)  ~Local bearing/azimuth received: Bearing 353.2, -35.9 (Local)  DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.3 E DAT read: 04:47:25.5315 LVL= 32752, 20145, 27954, 32755, AGC= 66, IDX= 501,-0.38, 1.076,-3.000, 2.120, 2.284, PHS=-1.107, 1.043,-0.208, RAW= 305.4, 2.9, CAL= 303.1, -0.6, ROT= 206.9, 0.6 M Ygot valid direction response: 04:47:25.5315 LVL= 32752, 20145, 27954, 32755, AGC= 66, IDX= 501,-0.38, 1.076,-3.000, 2.120, 2.284, PHS=-1.107, 1.043,-0.208, RAW= 305.4, 2.9, CAL= 303.1, -0.6, ROT= 206.9, 0.6 U R#Rx 1: Read range and direction messages.e bdirection in FSK: [-0.891749,-0.452410,-0.010472]e Fpublishing direction and range infoy I O >,}W?A4DQHܿ/;rYAN2m )I-i?TJ@qH@ ) g@I4$Tm_.J? C)>mRI+i>2Acoustic response timeout>Querying Benthos address 50 with one ping in standard two-way mode.dEU EUEU)EQ"EU ;*EUy;VEUFA4ZEQBEU5=a]2EU5=a]JEUt>ٱCU MAHRS rotation from veh to nav: [[0.911164,-0.378357,-0.163173],[0.381640,0.924234,-0.011972],[0.155340,-0.051365,0.986525]]H B(? 7ؿ`Ŀl?@R?􄈿`0?zL@?i6>I~_;CY]8By]#IiMb@Mb@Mb@ 9/$?S㥛?y&1?Y>y$>`<@ )Y@bDVD0y[%=ٔ:Q->9Y=Fy\;E> Q 5 5 V?Q 95 O) BY

Q E;y=0?Q I=[@ CI ;i ; 5yAɮEg@AiiJW?AJiARiAji_@bY8kI5a%uTϿR4DQHܿ/;rZi+bij9Z

 addTargetRange:: Added new target pos. range: 115.699997 m, deltaT: 3.535970 s, deltaX: -2.200005 m, approachRate: -0.622178 m/s, rangeRepo size: 4  Added new target pos. range: 115.119621 m, bearing: 9.900929 deg, lat: 36.779307 deg, lon: -121.859550 deg, deltaT: 3.535970 s, deltaX: -2.188583 m, approachRate: -0.618949 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 115.12 m.RhZh ProNav: ac range: 115.119621 m, nav range: 111.683464 m, bearing: 9.454235 deg, approach rate: 0.000000 m/s, LOS rate: -0.150829 deg/s, cmd heading: 19.916342 deg, new cmd heading: 19.703651 deg. BhHeadingCmd: 0.343894 target range: 115.119621 and range: 115.70 m.h>h*h"h hg!f!f)f-؀Bd)d)d)jd1Zd5@?eBɢeI#()a m@ux^Iyԡ2Acoustic response timeout@ @@/@E EE(E"E,K;*E:VEc44ZEa@a@a@a@^A e<  2Acoustic response timeoutA ؟AI I O% >~,F-?A"4<ɰ"495"?Y5"?=5Fy=}.E=E=>AQ 5M?5Ew?Q 9M?5Eu)E%BYIyIQ IU@EYDIE:iE:Ec?5y]cBɮ]sA] EjhFNOT Ignoring new targets: 115.12 m.Rh /Zh / ProNav: ac range: 115.119621 m, nav range: 111.459099 m, bearing: 9.399479 deg, approach rate: -0.625799 m/s, LOS rate: -0.153031 deg/s, cmd heading: 19.703651 deg, new cmd heading: 19.539055 deg. Bh һHeadingCmd: 0.341021 target range: 115.119621 and range: 115.70 m.hI>h*h"h hgfffdddjdZd?%Bɢ%&)) -eft_Ii AA@AB B B IB ܀BB B B B Tr;B J.E軍2Acoustic response timeout1M9@I @I@Q@Qa E  E E 'E "E L;*E :VE '4ZE BE ݡe>eΐ׽ٱe{= }AHRS rotation from veh to nav: [[0.929044,-0.332528,-0.162181],[0.354738,0.925131,0.135254],[0.105062,-0.183189,0.977448]]eH?!HտUĿ? ?P?^? rǿ @G?ie&>Ie)^;eʐCYBy3IiMb@Mb@Mb@ 9K7?MbX9?Q롿YI,?y!>\A$@  A)@YAbD-VD-y==%==ٔ=;Q-E>9E ?YE ?=EFyE.EM]EM>QQ 5]?5Uw?Q 9]?5U)U'BY]21?Q Ee:ye?Q Ie@UYDIU:iU:U$?5yaBɮA E-B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 115.12 m.RheZhm ProNav: ac range: 115.119621 m, nav range: 111.115089 m, bearing: 9.320784 deg, approach rate: -0.609441 m/s, LOS rate: -0.139846 deg/s, cmd heading: 19.539056 deg, new cmd heading: 19.302241 deg. BhHeadingCmd: 0.336888 target range: 115.119621 and range: 115.70 m.h|>h*h"h hgfffBd!d!d)jd)Zd-ý?aBɢ#) =i),iߒhi|>x`<{(=I|>I2Acoustic response timeoutԉ D-% p>i% > 9@  @ @ 4@ @ =@ = rG ) e 9a Ym FAE  E E (E "E ,K;*E g:VE c44ZE a @a @a @a @ 2Acoustic response timeout^ANw =A>A?IIO?,iqq?A6ʼn>6>6 Խٱ6; BAHRS rotation from veh to nav: [[0.930453,-0.329824,-0.159603],[0.351520,0.926422,0.134818],[0.103393,-0.181545,0.977932]]6HF?տmĿO???A? w?`<ǿ 8K?i6ʼn>I63^;6̐CYJByJBIIN;>)N>bDVVDVy^@=%^!=ٔ^ Y;Q-^>9`Y`=bFyb.Ef>Ef>hQ 5n?5jZw?Q 9n?5j)j)BYlyn?Q In@jYDIjg:ij:j?5yv_Bɮv AtjhFNOT Ignoring new targets: 115.12 m.Rh,Zh,- ProNav: ac range: 115.119621 m, nav range: 110.794487 m, bearing: 9.247629 deg, approach rate: -0.659623 m/s, LOS rate: -0.150948 deg/s, cmd heading: 19.302241 deg, new cmd heading: 19.082142 deg. Bh-0ϻ5HeadingCmd: 0.333046 target range: 115.119621 and range: 115.70 m.h5>h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE ?Bɢ5) l=i) ,))i-xi=>=fa<==IE>IAqqyyB->B)B-IB-BB)B)B)B-?r;B-?.EA}2Acoustic response timeoutqi@i @i@u4@qԙ D9 zD= @AEE  EE EE ,EA "EE C;*EE :VEE g4ZEA BEE >w,?Av>v>vntѽٱvd= AHRS rotation from veh to nav: [[0.931269,-0.328000,-0.158601],[0.349736,0.926795,0.136878],[0.102095,-0.182938,0.977809]]vH@? ԿMĿ`b?`N?4? "?@jǿ5J?iv>Iv"^;vːCYByEIiMb@Mb@Mb@ 9/$?K7?lY,?yI >XA@ / A)@YAbDVD1y<%%=ٔ,;Q->9Y=Fy.EE>Q 5?5w?Q 9?5S)+BY/?Q E:y ?Q I@ZDI:i:?5yɮ Ajh!%FNOT Ignoring new targets: 115.12 m.Rh-;Zh-; ProNav: ac range: 115.119621 m, nav range: 110.478912 m, bearing: 9.181275 deg, approach rate: -0.635314 m/s, LOS rate: -0.133967 deg/s, cmd heading: 19.082142 deg, new cmd heading: 18.882510 deg. Bh᷻HeadingCmd: 0.329562 target range: 115.119621 and range: 115.70 m.hY>h*h"h hgfff Bd ddjd9Zd= D@BɢN\) 0j=i),iiY>\jb<p=IY>Iԉ9@ @@/@2Acoustic response timeoutԱ^A ]=Iq I O >E  E E *E "E [I;*E :VE (N4ZE a @a @a @a @ ð,?A> >>t>>ͽٱ> ? VAHRS rotation from veh to nav: [[0.932446,-0.325373,-0.157085],[0.347104,0.927402,0.139440],[0.100311,-0.184545,0.977691]]>H?Կ@`Ŀ6?G? ,?? /ǿ?I?i> >I>F^;>̐CYbByfQIbDMVDMk]2Acoustic response timeoutyu7=%}A=ٔ};Q->9Y=Fy.E޻E>Q 5?5x?Q 9?5X),BYy ?Q I@!ZDI-N;iO;?5y[Bɮ AEjh)-FNOT Ignoring new targets: 115.12 m.Rh5_Zh5_E ProNav: ac range: 115.119621 m, nav range: 110.207550 m, bearing: 9.124388 deg, approach rate: -0.596454 m/s, LOS rate: -0.125345 deg/s, cmd heading: 18.882510 deg, new cmd heading: 18.711430 deg. BhE  HeadingCmd: 0.326576 target range: 115.119621 and range: 115.70 m.h 4>h *h"h hgfffdddB}<A}<B}>ByB}IB}BByByByB}#r;B}1.EjdZd`@1 M BɢU )Q U Ȓ=iQ )U !/,Y Y i] 䍻ie 4>e vcIi y  BDAT read: Rx Time:05:08:45.6318  TRx dataTimestamp_ set to:1761541726.964956 2Acoustic response timeout 9@!  @! @% 5@! @- fA@- gAY bE5c44jE564rE5?0E EE'E"EL;*E:VE'4ZEBEݡ2>29ɽٱ2? :AHRS rotation from veh to nav: [[0.933802,-0.322482,-0.154979],[0.344005,0.928302,0.141124],[0.098358,-0.185096,0.977786]]2H ?`Կ\ÿ,?? Z?-?6ǿJ?i2 >I2(^;0YBByFEI HHbDNVDNyV%V*=ٔZG;Q-Z>9XYX=^Fy^.E^E^>`Q 5f?5bx?Q 9f?5b)b-BYhyj? ?Q Ij@b6ZDIb;ib+;b?5ynYBɮrW At2Acoustic response timeoutIjhFNOT Ignoring new targets: 115.12 m.RhZhe ProNav: ac range: 115.119621 m, nav range: 109.903473 m, bearing: 9.060915 deg, approach rate: -0.613685 m/s, LOS rate: -0.128454 deg/s, cmd heading: 18.711430 deg, new cmd heading: 18.520486 deg. BhePmHeadingCmd: 0.323243 target range: 115.119621 and range: 115.70 m.hm+>hi*hi"hq hqgqfqfqfydyddjdZd @Bɢ]) 0N=i),i8i%+>%?d<%=I%+>I!q@ @@0@ԡ5 2Acoustic response timeout^A l=I I O > ,䗿?A2k>2>27Žٱ2kA :AHRS rotation from veh to nav: [[0.935201,-0.319191,-0.153352],[0.340724,0.929051,0.144123],[0.096469,-0.187035,0.977605]]2H@*?mԿÿ n?Ⱥ? r?.? ǿH?i2k>I2^;0YF€ByF^IiMb@Mb@Mb@ 9!rh?|?5^?~jtYl'?y=ļAA@  A)@YAE EE*E"EP;*E :VE(N4ZEa@a@a@a@bDVD0y=%7=ٔ;Q- >9 Y = Fy .EE>Q 5%?5/x?Q 9%?58)2BY-)?Q E-:y->Q I-@IZDI:i:?5y1ɮ5 A9UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 115.12 m.RhmCZhmC} ProNav: ac range: 115.119621 m, nav range: 109.624878 m, bearing: 9.009772 deg, approach rate: -0.699560 m/s, LOS rate: -0.128749 deg/s, cmd heading: 18.520487 deg, new cmd heading: 18.366667 deg. Bh}HeadingCmd: 0.320559 target range: 115.119621 and range: 115.70 m.hI >h*h"h hgfffBdddjdZdS @ԱBɢi) =i)'+iiI >d<=II >IDAT read: 05:08:45.6318 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411, 0.14,-0.048,-1.412, 0.535,-0.067, PHS= 0.122,-1.300, 0.558, RAW= 163.0, 7.4, CAL= 162.5, 7.4, ROT= 347.5, -7.4 Ygot valid direction response: 05:08:45.6318 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411, 0.14,-0.048,-1.412, 0.535,-0.067, PHS= 0.122,-1.300, 0.558, RAW= 163.0, 7.4, CAL= 162.5, 7.4, ROT= 347.5, -7.4 PDAT read: Bearing 169.4, -7.9 (Local) ~Local bearing/azimuth received: Bearing 169.4, -7.9 (Local) DAT read: Range 11 to 50 : 113.5 m (Round-trip 151.4 ms) speed 0.4 m/s TDAT read: user:313>Tx time:05:08:46.7262 R#Rx 1: Read range and direction messages.!@! @)@-/@)^direction in FSK: [0.968165,-0.214637,0.128796]Fpublishing direction and range infoy]VO4?,9y˿OZ_|?YB )I#=iff?6@ A>  A>)I Aۉxc8?bs?z$V^? ??)ҡIi A2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^A By By B} IB} BBy By By B} q;B} .EB1B1B1B1B1C5ɜA4A I) I9 OE >= DAT read: E 2Acoustic response timeoutA ,a?A2>2>2 ٱ2PC :AHRS rotation from veh to nav: [[0.936856,-0.315272,-0.151341],[0.336736,0.930044,0.147062],[0.094390,-0.188738,0.977481]]2H?i-Կ@&_ÿ???)? (ȿG?i2>I21^;2ːCY^By^YIbDjVDjyr%r_=ٔru;Q-r>9tYt=vFyv.EvtAEz>xQ 5?5zAx?Q 9?5z4)z5BYy>Q I@zYZDIzϠbtxU[@WwC5=8M"-@R]VO4?,9y˿OZ_|?Zibi Aj?Z@@Epi0@F=@Z 5$?߱T?>?2iMA:iB"ilÛ?*i1BiBilÛ?iiBilBi > addTargetRange:: Added new target pos. range: 113.500000 m, deltaT: 3.793517 s, deltaX: -2.199997 m, approachRate: -0.579936 m/s, rangeRepo size: 4  Added new target pos. range: 112.930672 m, bearing: 8.651198 deg, lat: 36.779305 deg, lon: -121.859550 deg, deltaT: 3.793517 s, deltaX: -2.188950 m, approachRate: -0.577024 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 112.93 m.RhZh ProNav: ac range: 112.930672 m, nav range: 109.211884 m, bearing: 8.983283 deg, approach rate: 0.000000 m/s, LOS rate: -0.128749 deg/s, cmd heading: 18.366667 deg, new cmd heading: 18.216865 deg. BhHeadingCmd: 0.317944 target range: 112.930672 and range: 113.50 m.hɢ>h!*h!"h! h!g!f!f)f)d)d)d1jd5`\@Zd5j?eBɢe[)a eP=ia)m+iiim iuɢ>uڟeIyI) 9@  @ @ /@ @>@>E E E)E"EL;*E:VEFA4ZEBEa2EaJEBg,^?A 6=6k>6~ ٱ6=sC >AHRS rotation from veh to nav: [[0.938409,-0.311875,-0.148738],[0.333005,0.931155,0.148522],[0.092178,-0.188905,0.977660]]6Hq?ӿ ÿO???@? .ȿH?i6=I6F&^;6͐CY^ɀBybfIIf<)f=f=diMb@Mb@Mb@ 9v/?kt?MbYx)?y =AZ@ A)@YAbD VD2ydD=%==ٔN;Q->9Y=Fy.EE>Q 5?5XWx?Q 9?5)Q I@kZDI:i:?5yTBɮ_ AEjhFNOT Ignoring new targets: 112.93 m.Rh%Zh%5 ProNav: ac range: 112.930672 m, nav range: 108.936729 m, bearing: 8.937472 deg, approach rate: -0.669333 m/s, LOS rate: -0.111719 deg/s, cmd heading: 18.216866 deg, new cmd heading: 18.079087 deg. Bh5X=HeadingCmd: 0.315540 target range: 112.930672 and range: 113.50 m.h=h>h9*h9"h9 h9gAfAfAfESBdIdIdIjdIZdMv?}Bɢ}Ch) $=i) 3+顁iih>Mf<2Acoustic response timeout^J =I-h>I1q9@ @@@ԙE E(E&E"EO;*E;VE4ZEa@a@a@a@^A ]=  2Acoustic response timeoutA9 II IY Oe >l ,_2?A:=:䡬>:#&ٱ:xB FAHRS rotation from veh to nav: [[0.939840,-0.308856,-0.145975],[0.329469,0.932433,0.148387],[0.090282,-0.187555,0.978096]]:H`+?@LӿO¿ ?}? Z? ?`ȿL?i:=I:T@^;:ϐCPYRӀByRsIbD^VD^:yfZ=%f[=ٔf;Q-f>9hYh=jFyj.EnK(En>pQ 5v?5rjx?Q 9v?5r)rABYtyvK>Q Iv@r{ZDIr:ir:r?5y|ɮ~ AjhFNOT Ignoring new targets: 112.93 m.Rh Zh ] ProNav: ac range: 112.930672 m, nav range: 108.699554 m, bearing: 8.898308 deg, approach rate: -0.604997 m/s, LOS rate: -0.100120 deg/s, cmd heading: 18.079087 deg, new cmd heading: 17.961339 deg. BheleHeadingCmd: 0.313484 target range: 112.930672 and range: 113.50 m.he >hi*hi"hi higififfdddjdZd`Z?Bɢ ) p=AABBBIBBBBBBq;B-Eii)ue*qqiuDi} >}nf<}N;=I} >I@ @@0@ 2Acoustic response timeout^A Nw =! E  E E )E "E mR;*E :VE FA4ZE BE ,L?A2%s=2>2rٱ2EB :AHRS rotation from veh to nav: [[0.941333,-0.305320,-0.143777],[0.325674,0.933539,0.149808],[0.088482,-0.187844,0.978205]]2H@f? ^ӿIg¿?`?@,?¦? B ȿ`uM?i2%s=I2/$^;2ːCYBـByF{IbDNVDNyVo=%VN=ٔVZ;Q-V>9Z"?YZ"?=ZFyZ.E^)E^>`Q 5f?5b$~x?Q 9f?5b)bGBYdyf/>Q Ij@bZDIbB:ib:bc?5ynRBɮn AljhFNOT Ignoring new targets: 112.93 m.Rh }Zh }% ProNav: ac range: 112.930672 m, nav range: 108.446785 m, bearing: 8.856972 deg, approach rate: -0.670695 m/s, LOS rate: -0.109935 deg/s, cmd heading: 17.961338 deg, new cmd heading: 17.837043 deg. Bh%喻-HeadingCmd: 0.311315 target range: 112.930672 and range: 113.50 m.h-d>h)*h)"h) h)g)f12Acoustic response timeoutf1fdQdYdajdiZduବ?Bɢ) =i) e*ili d>g<0)=Id>II=t>i=>@ @@0@@@fAq- 2Acoustic response timeout^A% y=ԡ I I) O9 ,e?AԑE EE&E"EV;*E:VE4ZEa@a@a@a@YmBymI 2Acoustic response timeoutAԹi-Mb@Mb@Mb@)))) )9-(\?T㥛 ?I +Y-'?y-=-94-A-p@ -A)-h@)Y-(AbDEVDEfyU =%U=ٔQ->9Y=Fy.EE>Q 5?5x?Q 9?5)QBYz(?Q E:y0>Q I@ZDI. ;i ;R?5yPBɮ AEB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 112.93 m.RhԺZhԺ% ProNav: ac range: 112.930672 m, nav range: 108.089050 m, bearing: 8.804565 deg, approach rate: -0.632759 m/s, LOS rate: -0.093004 deg/s, cmd heading: 17.837042 deg, new cmd heading: 17.679301 deg. Bh%O-HeadingCmd: 0.308562 target range: 112.930672 and range: 113.50 m.h->h)*h)"h) h)g1f1f9f=[Bd9d9d9jdAZdE@mBɢu,)q u&>iq)u)yyi}eӹi>mYh<@ =I>I9@ @@~0@BI BI BM IBM #BBI BI BI BM @q;BM -E ^A- <] 2Acoustic response timeoutI I!O->( ,}\?A6=6>65~ٱ6pC >AHRS rotation from veh to nav: [[0.944101,-0.298592,-0.139701],[0.318484,0.935547,0.152711],[0.085099,-0.188667,0.978347]]6H6?#ӿ@@ b???ɵ?;&ȿN?i6=I6h1^;6̐C D)FlAF\DDDJkAiJxiIJ SFHILiNr@ LL)LL RlARPPPRlAIR)TiT)TIVkAVT XXXXiX\Y\YbBybIbDnVDn0yr=%v=ٔv4Q I @~ZDI~:i~;~?5yɮ Ajh9EFNOT Ignoring new targets: 112.93 m.RhE!кZhM!к] ProNav: ac range: 112.930672 m, nav range: 107.893707 m, bearing: 8.776662 deg, approach rate: -0.635785 m/s, LOS rate: -0.090981 deg/s, cmd heading: 17.679301 deg, new cmd heading: 17.595440 deg. Bh]yeHeadingCmd: 0.307098 target range: 112.930672 and range: 113.50 m.he;>ha*hi"hi higifffdddjdZd"@%Bɢ%޼)Q Uh:>iY)nA)顉ii;>h<qIDzDE EE%E"E,K;*E:VE 4ZEBELԙ &, ?A6ϕ=66>6ٱ6?C@ BAHRS rotation from veh to nav: [[0.945480,-0.295201,-0.137561],[0.314821,0.936584,0.153943],[0.083393,-0.188857,0.978457]]6H`A?ҿ@&?~?f?@Y?w,ȿO?i6ϕ=I6!^;6ΐC=2Acoustic response timeoutYEByEIiMb@Mb@Mb@ 9Zd;O?Mb?{GzY~*?y=#rAC@ IA)~@Y@bD-VD-yU=%]6=ٔex;Q-e>9iYi=mFym.EuEu>yQ 5?5}x?Q 9?5})}^BYL+?Q E:yS>Q I@}ZDI}:i}s:}?5yMBɮR AEjhFNOT Ignoring new targets: 112.93 m.Rh=ѺZh=Ѻ ProNav: ac range: 112.930672 m, nav range: 107.602333 m, bearing: 8.735457 deg, approach rate: -0.645037 m/s, LOS rate: -0.091465 deg/s, cmd heading: 17.595440 deg, new cmd heading: 17.471491 deg. Bh{HeadingCmd: 0.304935 target range: 112.930672 and range: 113.50 m.hr >h*h"h hgfffdBdddjdZd@%Bɢ%)! -I>i))-ύ())i5Ż 9=_CiUr >m|5i<ԩP7؀G5hAI9Iu9uhAY}AE" EE&E"EZ;*E:VE4ZEa@a@a@a@@! @!@%4@!BDAT read: Rx Time:05:08:49.2788 TRx dataTimestamp_ set to:1761541730.7481612Acoustic response timeout ^Ae 7<Am >Am >I I O >g-,?A,.@J=J9>JꃧٱJ*B RAHRS rotation from veh to nav: [[0.946639,-0.292510,-0.135327],[0.311769,0.937526,0.154418],[0.081703,-0.188369,0.978694]]JH J?{ҿaR?6???vȿvQ?iJ=IJrE^;JʐClBA<B!B!B%IB%8BB!B!B!B%p;B%-EYeByeIbDuVDuβy=%X=ٔ;Q->9Y=Fy.EE>Q 5?5x?Q 9?5)dBYy>Q I@ZDI|:i=:;?5yKBɮ AEjhFNOT Ignoring new targets: 112.93 m.RhZºZhZº ProNav: ac range: 112.930672 m, nav range: 107.359779 m, bearing: 8.701431 deg, approach rate: -0.604259 m/s, LOS rate: -0.084958 deg/s, cmd heading: 17.471491 deg, new cmd heading: 17.369182 deg. Bh9iHeadingCmd: 0.303149 target range: 112.930672 and range: 113.50 m.hg6>h*h"h hgfffdddjdZd@ @Bɢhȼ) q>i)'i ˻i%g6>%i<%dI)U2Acoustic response timeout9@ @@/@9D =D =E% 6 E% E% )E! "E% l;*E% :VE% FA4ZE! BE% Ja - DAT read: 05:08:49.2788 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.35,-1.214,-2.599,-0.679,-1.244, PHS= 0.132,-1.310, 0.521, RAW= 161.6, 7.9, CAL= 161.2, 8.1, ROT= 348.8, -8.1 = Ygot valid direction response: 05:08:49.2788 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.35,-1.214,-2.599,-0.679,-1.244, PHS= 0.132,-1.310, 0.521, RAW= 161.6, 7.9, CAL= 161.2, 8.1, ROT= 348.8, -8.1 E PDAT read: Bearing 169.3, -7.7 (Local) E ~Local bearing/azimuth received: Bearing 169.3, -7.7 (Local) e DAT read: Range 11 to 50 : 111.3 m (Round-trip 148.4 ms) speed 0.6 m/s 4,ј?ATDAT read: user:314>Tx time:05:08:50.3762 R#Rx 1: Read range and direction messages.^direction in FSK: [0.971169,-0.192297,0.140901]Fpublishing direction and range infoy  ko?GW[0ȿ:N ?Y B ) HI +>i  B`? J4@ 0 > 4@ >) @I  N[?;Y[{?%A*? :?) at I 4+Hi ! =2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.Eݾ=E8d>E+ѠٱEcB uAHRS rotation from veh to nav: [[0.948999,-0.286714,-0.131130],[0.305363,0.939366,0.156030],[0.078443,-0.188115,0.979009]]EH3^?Yҿ@@?H? ??#ȿ T?iEݾ=IE%^;AY&ByIIiMMb@Mb@Mb@IIII I9Mp= ף?l?y&1|YM%?yM=M`M AM@ MA)MQ@IYM(@bDVDyG=%=ٔ;Q->9Y=Fy%.E%IE%>)Q 55@5-x?Q 95@5-)-mBY56&?Q E=:y=>Q I=@-ZDI-S;i-};-@5yeIBɮe AeEi i И?AJi {BRi {Bji [>b /c8!Z@dK5XA5/@R ko?GW[0ȿ:N ?Zi 4+Hbi j Z@,K.@:p;@Z g$]?#N??2i ZtA:i ?B"i Vԁߛ?*i J6Bi Bi i i i Bi p>=DAT read: =2Acoustic response timeoutE addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.526402 s, deltaX: -2.199997 m, approachRate: -0.623864 m/s, rangeRepo size: 4 U Added new target pos. range: 110.741730 m, bearing: 8.189130 deg, lat: 36.779305 deg, lon: -121.859550 deg, deltaT: 3.526402 s, deltaX: -2.188942 m, approachRate: -0.620730 m/s, posRepo size: 4 jhY]FNOT Ignoring new targets: 110.74 m.RheZhau ProNav: ac range: 110.741730 m, nav range: 107.011261 m, bearing: 8.649847 deg, approach rate: 0.000000 m/s, LOS rate: -0.084958 deg/s, cmd heading: 17.369183 deg, new cmd heading: 17.230576 deg. BhqqHeadingCmd: 0.300730 target range: 110.741730 and range: 111.30 m.hR>h*h"h hgfffOBdddjd@3[@Zd?BɢѰϼ) >i)&iӻi R> wi< xI1I9)9 9@  @ @ 4@ @ @ hAԡ E " E E &E "E Z;*E &:VE 4ZE a @a @a @a @ ^A <2Acoustic response timeoutAI)I9OE?q6<,?9?A22>/ٱ2 -B :AHRS rotation from veh to nav: [[0.950080,-0.284122,-0.128928],[0.302438,0.940189,0.156769],[0.076675,-0.187936,0.979184]]2Hg? /ҿ@#[?? ??Fȿ`yU?i29tYt=zFyz.Ej E> Q 5@5 y?Q 9@5 s) rBYy%:>Q I%@ ZDI V;i b; K@5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 110.74 m.RhiϺZhiϺ ProNav: ac range: 110.741730 m, nav range: 106.782936 m, bearing: 8.616276 deg, approach rate: -0.615331 m/s, LOS rate: -0.090667 deg/s, cmd heading: 17.230576 deg, new cmd heading: 17.129647 deg. BhxHeadingCmd: 0.298969 target range: 110.741730 and range: 111.30 m.hn>h*h"h! h!g!f!f)fIdIdIdQjdQZdU?颥Bɢ) >i)%iػin>8j<IB B B IB [BB B B B p;B -E@ @@/@]2Acoustic response timeout ^A"<9 A .AD zD bE-4jEʅ04rE\00E%  E% E% +E! "E% >T;*E% :VE% [4ZE! BE% "EC,7 ?AY%NBy% I))11bD=VD=kyMw=%MD=ٔMQ-M>9U ?YU ?=UFyU.EUE]>aQ 5e@5ey?Q 9m@5e)exBYiyiQ Im@e [DIe:ied:e@5yuHBɮ}AyjhFNOT Ignoring new targets: 110.74 m.Rh޺Zh޺2Acoustic response timeout5 ProNav: ac range: 110.741730 m, nav range: 106.524002 m, bearing: 8.578023 deg, approach rate: -0.655561 m/s, LOS rate: -0.097083 deg/s, cmd heading: 17.129647 deg, new cmd heading: 17.014609 deg. Bh=A=HeadingCmd: 0.296961 target range: 110.741730 and range: 111.30 m.h=D >hA*hI"hI hIgQfYfafidddjdZd@#?Q颁ɢp) >i)k$顑i߻iD >j<Iy@y @y@y@q 2Acoustic response timeout^Ae <ԡ A ؟AI I O >GwI,'?A2/=2>2ƕٱ25\@ :AHRS rotation from veh to nav: [[0.951914,-0.280049,-0.124225],[0.297524,0.941745,0.156831],[0.073068,-0.186250,0.979782]]2Hv?@Rѿ3Ϳ ?`"?` ??ǿ _Z?i2/=I2\^;2̐CYBdByF%Ii Mb@Mb@Mb@     9 /$?1Zd?MbY 1(?y "=   @ A)  Y bD-VD-:y==%=E=ٔ=9E"?YE"?=EFyE.EMOEM>Eu EuEqEq"EuW;*Euj:VEqZEqa@a@a@a@Q 5@5l-y?Q 9@56)}BYk*?Q E:y)>Q I@[DI =iI = @5yɮAjh9EFNOT Ignoring new targets: 110.74 m.RhmZhm ProNav: ac range: 110.741730 m, nav range: 106.249054 m, bearing: 8.530591 deg, approach rate: -0.585096 m/s, LOS rate: -0.101199 deg/s, cmd heading: 17.014609 deg, new cmd heading: 16.871944 deg. Bh犻%HeadingCmd: 0.294471 target range: 110.741730 and range: 111.30 m.h%Ė>h!*h!"h! h!g)f)f)f-Bd1d1d1jd1Zd=`?A2Acoustic response timeout颭Bɢ|h) >i)=#顱ib2iĖ>j<I@ @@/@@=@=iAAB>BBGIBBBBBBp;B-EBiBiBiBiBiCmȰ4ԙ ^A e<A A >U 2Acoustic response timeoutI I O >P,B?A:Dʨ=:Tߙ>:ٱ:J? NAHRS rotation from veh to nav: [[0.952752,-0.278264,-0.121786],[0.295276,0.942508,0.156493],[0.071238,-0.185060,0.980142]]:H|?ѿ_-? )?@?9lYl=nFyn.ErEr>tQ 5z@5v'Ay?Q 9z@5v/)vBY|y~>Q I~@v/[DIv;ivD;v @5yFBɮAEjh)-FNOT Ignoring new targets: 110.74 m.Rh5 Zh5 E ProNav: ac range: 110.741730 m, nav range: 106.000458 m, bearing: 8.487831 deg, approach rate: -0.698071 m/s, LOS rate: -0.120353 deg/s, cmd heading: 16.871944 deg, new cmd heading: 16.743363 deg. BhE1MHeadingCmd: 0.292227 target range: 110.741730 and range: 111.30 m.hM>hI*hI"hI hQgQfQfYfYdYdYdYjdaZdef?频ɢ8 ) >i)^ "顙i>|i>j<JiIa@a @i@m0@iE EE*E"E>T;*E:VE(N4ZEBEa2EaJEQ2Acoustic response timeout)Y fV,\?AY}By DII>)>==9iMb@Mb@Mb@ 9L7A`?q= ףp?:vY+'?y=T@ hA)@Y=@ 4<<bD VD2yr=%<=ٔQ->9Y=Fy.EE>Q 5@5Vy?Q 9@5Ÿ)BY)?Q E:y>Q I@A[DIv:iQ:@5yDBɮ<AEjh%FNOT Ignoring new targets: 110.74 m.Rh%Zh%5 ProNav: ac range: 110.741730 m, nav range: 105.727448 m, bearing: 8.438802 deg, approach rate: -0.629166 m/s, LOS rate: -0.113281 deg/s, cmd heading: 16.743364 deg, new cmd heading: 16.595898 deg. Bh5|=HeadingCmd: 0.289653 target range: 110.741730 and range: 111.30 m.h=hM>h9*hA"hA hAgAfAfIfMBdIdIdIjdQZdU#,@}2Acoustic response timeout颍Bɢ.) >i) i,hihM>9Ik<FI!i@ @@20@E EE(E"EL;*E:VEc44ZEa @a @a @a @ԑ^A `=<A dAzA dAIq I O >- 2Acoustic response timeout \,5yv?A6=6˪>6Pٱ6R< >AHRS rotation from veh to nav: [[0.954233,-0.275100,-0.117298],[0.291237,0.943945,0.155403],[0.067971,-0.182452,0.980862]]6H@?=ѿ>? 4?>?f?Zǿ9c?i6=I6Q6^;6͐CYJByJ[IbDR VDR2yZE=%Z]=ٔ^E9\Y`=bFyb.Eb>Eb>dQ 5j@5f>iy?Q 9j@5f)fBYlyn>Q In@fQ[DIf;if;f%@5ypɮrAtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 110.74 m.RhpZhp- ProNav: ac range: 110.741730 m, nav range: 105.494728 m, bearing: 8.397383 deg, approach rate: -0.629528 m/s, LOS rate: -0.112291 deg/s, cmd heading: 16.595898 deg, new cmd heading: 16.471366 deg. Bh- 5HeadingCmd: 0.287480 target range: 110.741730 and range: 111.30 m.h50>h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdE` !@qɢu?)y }F>iy)}I#yiyi0>|k<jϬIԙBIBMCBMyIBMBBIBIBIBMDq;BM-Ei@q @q@u4@q@y@}gA2Acoustic response timeout^AO<I9IIOU>D zD ?AE  E E )E "E V;*E :VE FA4ZE BE 2Hٱ2d; :AHRS rotation from veh to nav: [[0.954825,-0.273848,-0.115395],[0.289632,0.944477,0.155166],[0.066496,-0.181579,0.981125]]2H? ѿU?'9?~? ?=ǿ@ae?i2w=I2"^;2ʐCY^BybmIbDjVDj1rBDAT read: Rx Time:05:08:52.9257 vTRx dataTimestamp_ set to:1761541734.284205v2Acoustic response timeoutyz=%zF=ٔz9k;Q-~>9yYy=}Fy}.EE>Q 5 @5~y?Q 9=@5)BYAyM>Q IM@c[DIh*h"h hgff)f)d1d1d1jd1Zd=! @ɢ ) >i)ci&i 6>k<U(!Iaq@q @q@u1@yQ2Acoustic response timeout^A= oE<AE >AE >y I I O >mj,-?A2=2>2 ٱ2: :AHRS rotation from veh to nav: [[0.955565,-0.272247,-0.113034],[0.287585,0.945185,0.154659],[0.064732,-0.180294,0.981481]]2H`?lѿ_ g?>??I?ǿIh?i2=I2B^;2̐CYFByFwIEb+ EbEb(E`"Ebb;*Eb&:VEbc44ZE`aj@aj@aj@aj@iMb@Mb@Mb@ 9Fx?/$?{GzY+?y1>ףE A@ A);@YbD VDf2yg=%<=ٔ;Q->9Y=Fy.EwE> Q 5@5 *y?Q 9@5 ) Y%1/?Q E%:y%e>Q I%@ u[DI N;i  M; @5y5@Bɮ5A=EQjh!UFNOT Ignoring new targets: 110.74 m.RheIZheIeDAT read: 05:08:52.9257 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.50,-1.677,-3.095,-1.136,-1.732, PHS= 0.156,-1.319, 0.551, RAW= 161.5, 7.2, CAL= 161.0, 7.1, ROT= 349.0, -7.1 Ygot valid direction response: 05:08:52.9257 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.50,-1.677,-3.095,-1.136,-1.732, PHS= 0.156,-1.319, 0.551, RAW= 161.5, 7.2, CAL= 161.0, 7.1, ROT= 349.0, -7.1 PDAT read: Bearing 166.8, -8.1 (Local) ~Local bearing/azimuth received: Bearing 166.8, -8.1 (Local) DAT read: Range 11 to 50 : 109.0 m (Round-trip 145.4 ms) speed 0.5 m/s  ProNav: ac range: 110.741730 m, nav range: 104.953148 m, bearing: 8.298017 deg, approach rate: -0.697302 m/s, LOS rate: -0.132264 deg/s, cmd heading: 16.324791 deg, new cmd heading: 16.172503 deg. BhHeadingCmd: 0.282263 target range: 110.741730 and range: 111.30 m.hՄ>h*h"h hgfffBTDAT read: user:315>Tx time:05:08:54.0262 R#Rx 1: Read range and direction messages.d d d jdZd @U^direction in FSK: [0.974100,-0.189346,0.123601]UFpublishing direction and range infoy+?t}<ȿA7X?YBԁ )JIw>iԨV ?e4@>3@ =)@I2w)?.;h?+erP? n9?)IDɢe) H?i2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.i)CiPiՄ>%l<%YiI!@ @@4@B9A=<BABABEIBEˁBBABABABEq;BE-EԱ^A} ~M< DAT read:  2Acoustic response timeout A I I O >fq,qǙ?A>3=>>>ٱ>09 FAHRS rotation from veh to nav: [[0.956160,-0.270760,-0.111562],[0.285828,0.945764,0.154378],[0.063712,-0.179498,0.981693]]>Hݘ?"TѿU`K?C??nO?ƿj?i>3=I>'^;%bC=ٔb;Q-b>9dYd=fFyf.EjoEj>lQ 5r@5ny?Q 9r@5n)lYpyry>Q Iv@n[DInl:in:n6 @5yxɮzAxii?AJiBRiBji=b|B?iZ@!wq4U\*@R+?t}<ȿA7X?ZiDbijy DZ@zn5)@x=7@Z ?pQ?g]?2iMA:i'B"i vE@?*iyYBiBii1ii/Bi. >M addTargetRange:: Added new target pos. range: 109.000000 m, deltaT: 3.537725 s, deltaX: -2.300003 m, approachRate: -0.650136 m/s, rangeRepo size: 4 ] Added new target pos. range: 108.453423 m, bearing: 6.968970 deg, lat: 36.779305 deg, lon: -121.859557 deg, deltaT: 3.537725 s, deltaX: -2.288307 m, approachRate: -0.646830 m/s, posRepo size: 4 jhYeFNOT Ignoring new targets: 108.45 m.RheZhau ProNav: ac range: 108.453423 m, nav range: 104.592659 m, bearing: 7.899622 deg, approach rate: 0.000000 m/s, LOS rate: -0.132264 deg/s, cmd heading: 16.172503 deg, new cmd heading: 16.015429 deg. Bhy}HeadingCmd: 0.279522 target range: 108.453423 and range: 109.00 m.h}>h*h"h hgfffdddjd@[@Zd@q9?Bɢ;) O?i)hE5 E5E5&E1"E5US;*E5:VE54ZE1BE5YuXlIqIeA)!@! @!@%/@!@-=@-=QiYIYe2Acoustic response timeoutq^AM <AY Ia Iy O >ԙ w,8ᙿ?A2fQ=2 >2&ٱ2ss8 :AHRS rotation from veh to nav: [[0.956789,-0.269298,-0.109699],[0.284042,0.946312,0.154317],[0.062253,-0.178808,0.981913]]2H?`,<ѿC -?@0H??߯?-ƿk?i2fQ=I2)^;0YFByFIb2Acoustic response timeoutiMb@Mb@Mb@ 9K7?n?V-Y)?yV> A@ v@)@Y\@bD5VD5kԉEGfA%9%fAY%Ay]R%]4=ٔ]R;Q-e>9aYa=eFye.EmzEm>Q 5@5y?Q 9@5ק)BY-?Q E:y>Q I@[DI:i:0$@5y?BɮDAjh)-FNOT Ignoring new targets: 108.45 m.Rh5 Zh5 E ProNav: ac range: 108.453423 m, nav range: 104.302673 m, bearing: 7.842185 deg, approach rate: -0.623453 m/s, LOS rate: -0.123828 deg/s, cmd heading: 16.015429 deg, new cmd heading: 15.842642 deg. BhEMHeadingCmd: 0.276506 target range: 108.453423 and range: 109.00 m.hM:>hI*hQ"hQ hQgQfQfYf]BdYdYdYjdaZde?频ɢ@ ) 3 ?i)L顙iA i:>l< IԩE]. E]E]*EY"E]ye;*E]:VE](N4ZEYae@ae@ae@ae@m9@i @i@m/@iu2Acoustic response timeout^A e<A fAzA fA A I I O% >d ~,>@?ABBBIBBBBBBq;B-EB$!=B>B.xٱB~8 JAHRS rotation from veh to nav: [[0.957457,-0.267617,-0.107970],[0.282111,0.946778,0.155002],[0.060742,-0.178867,0.981996]]BH|? ѿ@ꣻ?L??`?ƿl?iB$!=IB>^;@ÝByI== ;bDVDyb=%D=ٔn;Q->9Y=Fy.E蠻E>Q 5@5y?Q 9@5e)BYy>Q I@[DId:i:'@5y=BɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.45 m.Rh "Zh "2Acoustic response timeout ProNav: ac range: 108.453423 m, nav range: 104.036850 m, bearing: 7.789574 deg, approach rate: -0.661501 m/s, LOS rate: -0.131256 deg/s, cmd heading: 15.842641 deg, new cmd heading: 15.684406 deg. Bh(HeadingCmd: 0.273745 target range: 108.453423 and range: 109.00 m.h>(>h*h"h hgfffdddjdZd 8K?1ɢ=+;)9 =/?i9)=9AiEw iE>(>M m(>II 9@  @ @ /@ EE EEEE&EA"EEQ;*EEx:VEE4ZEABEEȥJ,H2?AԡK[=>>tٱ[7 AHRS rotation from veh to nav: [[0.958178,-0.265700,-0.106292],[0.279898,0.947477,0.154740],[0.059595,-0.178020,0.982221]]H`e?@:ѿ5? Q??9?[ƿZn?iK[=I,^;ːCiIIi ) s@I)i)I      iiiA) 5FIYY%ށBy%IiMb@Mb@Mb@ 9 rh?jt? rhY,?y >C  A@ I@)$@Yf@bDVDy=%?=ٔu0;Q->9Y=Fy.E᲻E>Q 5@5y?Q 9@5)}BY`1?Q E:y ?Q I@[DI& ;i ;+@5yɮAjhFNOT Ignoring new targets: 108.45 m.RhZh ProNav: ac range: 108.453423 m, nav range: 103.760811 m, bearing: 7.731451 deg, approach rate: -0.624074 m/s, LOS rate: -0.131755 deg/s, cmd heading: 15.684406 deg, new cmd heading: 15.509574 deg. BhشHeadingCmd: 0.270693 target range: 108.453423 and range: 109.00 m.hJ>h *h "h  h gfffBdddjdZd?颉ɢ@;) ?i)顑iuiJ>om<4I?>i]>E2Acoustic response timeoutY@a @a@e/@a@i@i^A u<E ) E E 'E "E `;*E :VE '4ZE a @a @a @a @A A .AI I O >滋,C71?Aɰ4<2$=2>2oٱ28 >AHRS rotation from veh to nav: [[0.958760,-0.264080,-0.105073],[0.278132,0.947849,0.155644],[0.058491,-0.178449,0.982209]]2H`*?п` 溿`?T? ?}?jƿBn?i2$=I2M^;2ʐC2Acoustic response timeoutYByIbD-VD-yeA=%eZ=Աٔ09;Q->9 ?Y ?=Fy.EzE>1Q 5M@55y?Q 9U@554)5yBYYy] >Q I]@5[DI5ާ;i5i;5 /@5yeh*h"h hgfffdd!d!jd!Zd%;@uBɢu<)q }!?iy)}8))i-Oi5#>5Rm<5IYA)A)B9B9B=IB=BB= =B9B9B=q;B=-E @ @@/@2Acoustic response timeout^A c<A >A >1 A ؟AI I! O5 >Z,EJ?A>=>~>>kٱ>69 FAHRS rotation from veh to nav: [[0.959364,-0.262313,-0.103986],[0.276284,0.948124,0.157252],[0.057342,-0.179592,0.982069]]>H?п@Ҟ?W? ?[? ƿm?i>=I>9^;>͐CbEc44jE64rE/E - E E E "E d;*E :VE ZE BE =9u"?Yu"?=uFyu.EuE}>Q 5@5lz?Q 9@5)tBYy>Q I@[DIy:i:Y2@5y;BɮkAjhFNOT Ignoring new targets: 108.45 m.Rh`Zh`U ProNav: ac range: 108.453423 m, nav range: 103.257370 m, bearing: 7.625513 deg, approach rate: -0.660907 m/s, LOS rate: -0.139338 deg/s, cmd heading: 15.346397 deg, new cmd heading: 15.190983 deg. BhU@]HeadingCmd: 0.265133 target range: 108.453423 and range: 109.00 m.h]x>hY*ha"ha hagafafifidididijdZd@ɢ{1<) 5$?i)܌iXix>/n<'I52Acoustic response timeout@ @@]0@Iq^A<A I) I9 OE >ԙ  2Acoustic response timeoutƘ,d?A2Gv=2u>2fٱ228 :AHRS rotation from veh to nav: [[0.960024,-0.260505,-0.102424],[0.274233,0.948671,0.157543],[0.056126,-0.179333,0.982186]]2H`?п@|8?@[?\*? ?aƿn?i2Gv=I2.^;2ːCYBByBIi Mb@Mb@Mb@     9 v/?+?S㥛Y x)?y > /ݼ   3@) @ Y p@bD%VD%0y5<%5N=ٔH;Q->9Y=Fy.E髻E>Q 5@5 (z?Q 9@5e)pBY@.?Q E:y1>Q I@[DI;i ;5@5yɮ?AjhFNOT Ignoring new targets: 108.45 m.RhZh ProNav: ac range: 108.453423 m, nav range: 102.996162 m, bearing: 7.569924 deg, approach rate: -0.635131 m/s, LOS rate: -0.135508 deg/s, cmd heading: 15.190983 deg, new cmd heading: 15.023794 deg. BhHeadingCmd: 0.262215 target range: 108.453423 and range: 109.00 m.hA>h*h"h hgf!f!f%Bd)d)d)jd)Zd-@Yɢ]\iA<)a e&?ia)e| aaieimA>m՗nqIy@ @@4@EE' EEEE)EA"EE _;*EE:VEEFA4ZEAaU@aU@aU@aU@ԡE2Acoustic response timeout^A5<A I I O >B! B! B%  IB% BB! B! B! B% q;B% .EBCBCBBBCʰo4 ,C~?A2m=2_^>2aٱ2G7 :AHRS rotation from veh to nav: [[0.960664,-0.258770,-0.100815],[0.272202,0.949332,0.157080],[0.055059,-0.178343,0.982427]]2H?௏п@ιk? `?5?0?ƿ p?i2m=I2D^;2ʐCY%By-IbDEVDEyUW;%UH=ٔ]~+;Q-]>9aYa=eFye/EmEm>yQ 5@5}Q I@}\DI}:i}7:}h9@5y:Bɮ+AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.45 m.RhgZhg ProNav: ac range: 108.453423 m, nav range: 102.744148 m, bearing: 7.516332 deg, approach rate: -0.633227 m/s, LOS rate: -0.134989 deg/s, cmd heading: 15.023793 deg, new cmd heading: 14.862623 deg. BhHHeadingCmd: 0.259402 target range: 108.453423 and range: 109.00 m.hMЄ>h*h"h hgfffdddjdZd`] @-Bɢ-)A<)1 5#'?i1)5[ 19i=,Hi=MЄ>EpoIABDAT read: Rx Time:05:08:56.5728 TRx dataTimestamp_ set to:1761541738.0640172Acoustic response timeout@ @@4@E3 EEE"Ej;*E:VEZEBEQڥ,e?AEʲf=E >E]ٱEps7 ]AHRS rotation from veh to nav: [[0.961176,-0.257415,-0.099388],[0.270611,0.949777,0.157140],[0.053946,-0.177935,0.982562]]EH@?~yпxq Q?d?-? ƞ?`ƿ&q?iEʲf=IEA^;E͐CYmBymIIu>)u}=}p=i-Mb@Mb@Mb@)))) )9-J +?ʡE?Zd;OY-(?y->-j-vA-@ -I@)-@)Y-z@IbDEVDE02y]<%]-=ٔ]W;Q-e>9aYa=eFye/EmhEm>qQ 5}@5uSz?Q 9}@5u )uiBYY-?Q E:y>Q I@u\DIu:iun;u=@5y9BɮAEjhFNOT Ignoring new targets: 108.45 m.RhZh ProNav: ac range: 108.453423 m, nav range: 102.447220 m, bearing: 7.453283 deg, approach rate: -0.634955 m/s, LOS rate: -0.135215 deg/s, cmd heading: 14.862623 deg, new cmd heading: 14.672929 deg. BhHeadingCmd: 0.256091 target range: 108.453423 and range: 109.00 m.hY>h*h"h hgfffBdddjdZdd @Bɢ P<) %*?i!)5511i5#.#i=Y>=o<=wIADAT read: 05:08:56.5728 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.49,-0.564,-2.026,-0.027,-0.647, PHS= 0.185,-1.334, 0.576, RAW= 161.2, 6.6, CAL= 160.5, 6.3, ROT= 349.5, -6.3 Ygot valid direction response: 05:08:56.5728 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.49,-0.564,-2.026,-0.027,-0.647, PHS= 0.185,-1.334, 0.576, RAW= 161.2, 6.6, CAL= 160.5, 6.3, ROT= 349.5, -6.3 PDAT read: Bearing 164.5, -8.1 (Local) ~Local bearing/azimuth received: Bearing 164.5, -8.1 (Local) DAT read: Range 11 to 50 : 106.8 m (Round-trip 142.4 ms) speed 0.4 m/s TDAT read: user:316>Tx time:05:08:57.6762  R#Rx 1: Read range and direction messages.^direction in FSK: [0.977317,-0.181135,0.109734]Fpublishing direction and range infoy='1.F?VEp/ǿ,=?YB )HIp=>it?4@=G3@ z0=)2@Iz0Ὡ?Mѧa? ?zz? 7?) ZIt;iz0Ὡ-2Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.9@9 @9@E 4@AyԹ E= ( E= %E= +E9 "E= `;*E= ;VE= [4ZE9 aM @aM @aM @aM @^Ae <A .AI I O >G,w?A>DAT read: B2Acoustic response timeoutE_=Eŝ>EKYٱE}8 ]AHRS rotation from veh to nav: [[0.961696,-0.255851,-0.098398],[0.268942,0.950085,0.158142],[0.053026,-0.178547,0.982501]]EH5?_п0Y6?`g?=?4&?ƿp?iE_=IEj^;EʐCYmBymIbDVDk1y=%a=ٔe&;Q->9 ?Y ?=Fy /EOE>Q 5@5ez?Q 9@5)gBYy>Q I@*\DI[:i1:@@5yɮAiIiM2Y?AJiMBRiMBjiM =bMVêY@_?3Z/]R'@RM='1.F?VEp/ǿ,=?ZiMt;biMz0jME+Y@7&@Yf4@ZM ~=6?as? ?2iM7A:iMNB"iMk?*iMO]BiMΪBiMVԁߛ?iMJ6iMBiM BiM> addTargetRange:: Added new target pos. range: 106.800003 m, deltaT: 3.778783 s, deltaX: -2.199997 m, approachRate: -0.582197 m/s, rangeRepo size: 4 % Added new target pos. range: 106.264580 m, bearing: 6.323988 deg, lat: 36.779308 deg, lon: -121.859559 deg, deltaT: 3.778783 s, deltaX: -2.188843 m, approachRate: -0.579245 m/s, posRepo size: 4 jh!FNOT Ignoring new targets: 106.26 m.RhZh ProNav: ac range: 106.264580 m, nav range: 102.521263 m, bearing: 7.280182 deg, approach rate: 0.000000 m/s, LOS rate: -0.135215 deg/s, cmd heading: 14.672928 deg, new cmd heading: 14.524277 deg. BhHeadingCmd: 0.253496 target range: 106.264580 and range: 106.80 m.hIʁ>h*h"h hgfffdddjd@3Z@Zd7?!AɢEu<)A M,?iI)MIIiMn&iUIʁ>UpIYBAAE<BQBQBU IBU,BBQBQBQBUq;BU.E9@9 @9@=/@9Q-2Acoustic response timeout^A] )<ԁ Am ؟AIy I O >(,@͚?Aɰ;E0 E2$E2(E0"E0*E2;VE2c44ZE0BE2R9="?Y="?==Fy=/EEEE>IQ 5U@5Myz?Q 9U@5M)MdBYQyQQ IU@M;\DIM;iM;MD@5ye8Bɮe#AeEjhFNOT Ignoring new targets: 106.26 m.RhZh ProNav: ac range: 106.264580 m, nav range: 102.274673 m, bearing: 7.227367 deg, approach rate: -0.639055 m/s, LOS rate: -0.137204 deg/s, cmd heading: 14.524276 deg, new cmd heading: 14.365450 deg. BhRHeadingCmd: 0.250724 target range: 106.264580 and range: 106.80 m.h^>h*h"h hgfffdddjdZd@G?Bɢy<) %?i)i)i^>Np<=I^>Iԑ2Acoustic response timeout@ @@/@^A<A>A> Aa Ii Iy O >E 2Acoustic response timeoutS,皿?A:5IN=:u>:_MQٱ:׎8 FAHRS rotation from veh to nav: [[0.962917,-0.252139,-0.096000],[0.264918,0.950987,0.159507],[0.051077,-0.179024,0.982518]]:H8?` #п`xj? |n?j?&?Dƿp?i:5IN=I:V^;8YN ByRI PP`i-Mb@Mb@Mb@)))) )9-(\?Q?~jtY-z4?y-(>--A-x@ -@)-@)Y-3@bDEVDE:yU=%UH=ٔ];Q-]>9YYa=eFye/Ee(Ee>iQ 5u@5mz?Q 9u@5m)m]BY}9?Q E}:y}=>Q I}@mN\DIm6;im ;mG@5yɮzAjhFNOT Ignoring new targets: 106.26 m.Rh#Zh# ProNav: ac range: 106.264580 m, nav range: 101.997658 m, bearing: 7.169014 deg, approach rate: -0.677845 m/s, LOS rate: -0.143176 deg/s, cmd heading: 14.365450 deg, new cmd heading: 14.189915 deg. BhĻHeadingCmd: 0.247661 target range: 106.264580 and range: 106.80 m.hǚ}>h*h"h hgfffBdddjdZd߭?频ɢGu<) U0?i)SU项iX-iǚ}>c0q<GIE% EE)E"EO];*E]:VEFA4ZEa@a@a@a@@ @@@iߡIߡ2Acoustic response timeout^Au=BI BI BM ( IBM 6BBI BI BI BM q;BM .Ea A I I O >:,4?A2D=2]D>2 Oٱ27 :AHRS rotation from veh to nav: [[0.963559,-0.250092,-0.094909],[0.262680,0.951673,0.159118],[0.050528,-0.178250,0.982687]]2H@z?пK`?@t? ]? ީ?`ƿ ,r?i2D=I2 `^;0YF ByFIbDNVDNyV8<%VV=ٔZq:Q-Z>9XYX=ZFyZ/E^ǻE^>`Q 5f@5b>z?Q 9f@5b)bWBYdyj>Q Ij@b`\DIby:ib:bJ@5yn7Bɮ%aA%E]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 106.26 m.RhuaZhua ProNav: ac range: 106.264580 m, nav range: 101.738243 m, bearing: 7.114436 deg, approach rate: -0.656475 m/s, LOS rate: -0.138466 deg/s, cmd heading: 14.189915 deg, new cmd heading: 14.025766 deg. BhHeadingCmd: 0.244796 target range: 106.264580 and range: 106.80 m.hz>h*h"h hgfffdddjdZd"?2Acoustic response timeout)ɢ5V#<)U UH1?iQ)]YYi]J1iez>eVqIi)@) @)@- 0@)@5=@5=YE) EE(E"E`;*Ex:VEc44ZEBEԡ Gk,h?A<eKٱe=G9i }AHRS rotation from veh to nav: [[0.964167,-0.248014,-0.094190],[0.260592,0.951939,0.160950],[0.049745,-0.179727,0.982458]]eH t?@Ͽ`? Hv?@?+x?NǿKp?ie;=Ie@^;aYByIiMb@Mb@Mb@ 9S?`AK@ @)@Y@bDVDy%%.=ٔ`:Q->9Y=Fy/EEE>Q 5@5z?Q 9@5})RBY3?Q E:yj>Q I@u\DI:i:O@5y6BɮAjhFNOT Ignoring new targets: 106.26 m.RhZh  ProNav: ac range: 106.264580 m, nav range: 101.429077 m, bearing: 7.053507 deg, approach rate: -0.678905 m/s, LOS rate: -0.134203 deg/s, cmd heading: 14.025765 deg, new cmd heading: 13.842422 deg. Bh 4HeadingCmd: 0.241596 target range: 106.264580 and range: 106.80 m.hdw>h*h"h hgfffBdd!d!jd!Zd-CJ?UBɢUwh<)Y ],?iY)]RYaies4iedw>m/arIi ԡ2Acoustic response timeoutrG-hAAA@I @Im9mhAYm#A@M`0@QE % E E )E "E O];*E :VE FA4ZE a @a @a @a @^A 9=  2Acoustic response timeoutA .AI I O >,(6?A2C4=2O0>2}Gٱ2F: :AHRS rotation from veh to nav: [[0.964701,-0.246262,-0.093315],[0.258788,0.952143,0.162640],[0.048798,-0.181048,0.982263]]2H?Ͽ㷿?@w?``? ?,ǿn?i2C4=I2*[^;0YtyvIIzt>)z=bD|VD|y `b% Z=ٔ%;Q->9 ?Y ?=Fy /ERE>!)Q 55@5-z?Q 95@5-z)-MBY1y=e>Q I=@-\DI-:i-:-]R@5yAɮEAMEjhiuFNOT Ignoring new targets: 106.26 m.Rhu*Zhu* ProNav: ac range: 106.264580 m, nav range: 101.180656 m, bearing: 7.004577 deg, approach rate: -0.660474 m/s, LOS rate: -0.130412 deg/s, cmd heading: 13.842423 deg, new cmd heading: 13.695270 deg. BhHeadingCmd: 0.239028 target range: 106.264580 and range: 106.80 m.ht>h*h"h hgfffdddjdZd1@ɢ(<) S,?i)-i8it>r<=It>IBM>BIBIBIBIBIBIBMq;BM-Ey@y @y@}4@yQe2Acoustic response timeouty^A =A ؟AI I O >ԩ D =D 4=E . E #E 'E "E ye;*E ;VE '4ZE BE :Dٱ:To; ZAHRS rotation from veh to nav: [[0.965350,-0.244065,-0.092363],[0.256504,0.952563,0.163796],[0.048004,-0.181812,0.982161]]:H`&?=Ͽ@j?e{?A? ?`Eǿm?i:]_*=I:?^;:ːCYfBydbDnVDnkyvp%vN=ٔz;;Q-z>9z"?Yz"?=~Fy~$/E~OĻE~>Q 5 @5z?Q 9@5w)HBYy&>Q I@\DI3:i:U@5yɮ%A!jhAMFNOT Ignoring new targets: 106.26 m.RhMZhUe ProNav: ac range: 106.264580 m, nav range: 100.919022 m, bearing: 6.953173 deg, approach rate: -0.660777 m/s, LOS rate: -0.130161 deg/s, cmd heading: 13.695270 deg, new cmd heading: 13.540658 deg. BhemHeadingCmd: 0.236329 target range: 106.264580 and range: 106.80 m.hm?r>hi*hi"hi higifqfqfqdqdydyjdyZd@ԙ颱ɢ-<) ,?i9)=ZAAiE<;iM?r>MsIy2Acoustic response timeout@ @@00@ BDAT read: Rx Time:05:09:00.2197  TRx dataTimestamp_ set to:1761541741.592111 2Acoustic response timeout ^A =A >A IAIE-1 E-'E-(E)"E-2h;*E-";VE-c44ZE)a=@a=@a=@a=@I9OM?j,eo?A";ɰ"4B@ٱBN> NAHRS rotation from veh to nav: [[0.966658,-0.239172,-0.091479],[0.251705,0.953159,0.167727],[0.047079,-0.185161,0.981580]]BH@?2ο.k?`G?x?? Xǿ@i?iB=IBH^;@YVByVIiMb@Mb@Mb@ 9Cl?V-?L7A`堿Y/?yh>+A )@Y=@bDVDyH%=ٔ:Q->9Y=Fy)/EE>Q 5@5E{?Q 9@5bs)ABY3?Q E:y[>Q I@\DIj;ig;|Z@51y=5Bɮ=A=E2Acoustic response timeoutjhFNOT Ignoring new targets: 106.26 m.RhJ ZhJ M ProNav: ac range: 106.264580 m, nav range: 100.564377 m, bearing: 6.885156 deg, approach rate: -0.632718 m/s, LOS rate: -0.121776 deg/s, cmd heading: 13.540658 deg, new cmd heading: 13.335889 deg. Bhe%mHeadingCmd: 0.232755 target range: 106.264580 and range: 106.80 m.hm`Wn>hi*hi"hi hqgqfqfqf}BdydydyjdyZda[ @ɢH#<) p*?i)Vi?i`Wn>bt<q}=I `Wn>I YBYBYB]! IB]1BBYBYBYB]lq;B]-Eq@q @q@u1@qԁ DAT read: 05:09:00.2197 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417,-0.28,-0.854,-2.273,-0.376,-0.955, PHS= 0.203,-1.273, 0.536, RAW= 159.9, 6.5, CAL= 159.3, 6.2, ROT= 350.7, -6.2  Ygot valid direction response: 05:09:00.2197 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417,-0.28,-0.854,-2.273,-0.376,-0.955, PHS= 0.203,-1.273, 0.536, RAW= 159.9, 6.5, CAL= 159.3, 6.2, ROT= 350.7, -6.2  PDAT read: Bearing 163.6, -7.4 (Local)  ~Local bearing/azimuth received: Bearing 163.6, -7.4 (Local) ^A @o= DAT read: Range 11 to 50 : 104.5 m (Round-trip 139.4 ms) speed 0.6 m/s % BDAT read: Tx time:05:09:01.2777 - $Ping request sent.- i 񢿉 L7 ? )2@ V= 1@ k=) +@I kݽ 1/g_?9Hk?rPu̼? "2?) I 5&i kݽ u :publishing transmit ping time) u Fpublishing direction and range infoy  K e?vrĿNiإ?Y ) I i ) I 1/g_?9Hk?rPu̼? Ա ) I i A I I! O5 >E,?ARۅ =R]>R@>ٱRln? %AHRS rotation from veh to nav: [[0.967205,-0.237276,-0.090636],[0.249717,0.953536,0.168552],[0.046431,-0.185657,0.981517]]RHW?` _ο3?^??`ŧ?ǿ@h?iRۅ =IR0^;RʐCYUByUI yyy}AԩbDVDky#=%==ٔ:Q->9bEuFA4jEuC4rEu0E' E#E.E"E _;*E;VEـ4ZEBEQ 5%@5{?Q 9%@5o);BY!y%G>Q I%@\DI;i5;J^@5ym6BɮmAmEii ?AJiBRiBjiC=bG攀Y@@˟_0 @.ku&@RK e?vrĿNiإ?Zi5&bikݽj"(:gY@ }1&@SZ2@Z2E?Eo.)?&蔽7?2i7A:i8B"i{񋜊?*i`CBiBi vE@?i`CiBiBi$= addTargetRange:: Added new target pos. range: 104.500000 m, deltaT: 3.527814 s, deltaX: -2.300003 m, approachRate: -0.651963 m/s, rangeRepo size: 4 - Added new target pos. range: 103.975937 m, bearing: 6.422483 deg, lat: 36.779319 deg, lon: -121.859565 deg, deltaT: 3.527814 s, deltaX: -2.288643 m, approachRate: -0.648742 m/s, posRepo size: 4 jh)5FNOT Ignoring new targets: 103.98 m.Rh5Zh1e ProNav: ac range: 103.975937 m, nav range: 101.358917 m, bearing: 6.479188 deg, approach rate: 0.000000 m/s, LOS rate: -0.121776 deg/s, cmd heading: 13.335890 deg, new cmd heading: 13.179614 deg. BhimHeadingCmd: 0.230028 target range: 103.975937 and range: 104.50 m.hu_k>hq*hq"hq hqgqfqfyfydyddjd Z@Zd?)ɢ-<)1 5).?i1)]kaaieuCim_k>m uI  @  @ @ 0@ 1 ^A=aA1IAIQOm ?m,?AF+?=FX>FFB:ٱF ? NAHRS rotation from veh to nav: [[0.967932,-0.234859,-0.089155],[0.247065,0.954206,0.168674],[0.045458,-0.185292,0.981632]]FHM?οҶϟ? ڈ??;F?ǿi?iF+?=IFBS^;DEv1 EvEv)Et"Ev2h;*Ev:VEvFA4ZEtaz@az@az@az@AYByIiMb@Mb@Mb@ 9Dl?!rh?L7A`堿YO-?yl=IA5@ @)@Y@bDVDy3̼%=ٔp:Q->9Y=Fy4/EĖE>Q 5@5c9{?Q 9@5k)4BY/?Q E:yz>Q I@\DI:i:c@5y ɮAEiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 103.98 m.RhZh ProNav: ac range: 103.975937 m, nav range: 100.965004 m, bearing: 6.412423 deg, approach rate: -0.660264 m/s, LOS rate: -0.112346 deg/s, cmd heading: 13.179614 deg, new cmd heading: 12.978539 deg. Bh4HeadingCmd: 0.226518 target range: 103.975937 and range: 104.50 m.heg>h*h"h hgIfIfIfU_BdQdQdQjdQZd]@ ?keJTimed out from 2025-10-27T04:59:02.8Z5ejfCompleted lineCaptureHoming:MicromodemComms:CheckInq5jAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInjVCompleted lineCaptureHoming:MicromodemCommsMBɢM0<)Q Uy*?iQ)U;QQiUDGi]eg>]u<]g =Ieeg>IBe<Ae4=BqBqBqԙBqBqBqBqBuHq;Bu-EB1B1B1B5 =B5 =C5}4!@! @!@%/@!  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A= G= IAIQO]>,̛?A2<2|>23ٱ2? :AHRS rotation from veh to nav: [[0.968743,-0.232192,-0.087316],[0.244159,0.954698,0.170112],[0.043861,-0.186114,0.981549]]2H ?xͿRZ @??@>?t?ǿh?i29pYp=vFyv8/EvEv>xQ 5~@5z>M{?Q 9~@5zi)z0BYy>Q I@z\DIz:izW:zf@5yɮAjh9=FNOT Ignoring new targets: 103.98 m.RhEZhEU ProNav: ac range: 103.975937 m, nav range: 100.719788 m, bearing: 6.371051 deg, approach rate: -0.690251 m/s, LOS rate: -0.116738 deg/s, cmd heading: 12.978538 deg, new cmd heading: 12.854122 deg. BhU;]HeadingCmd: 0.224347 target range: 103.975937 and range: 104.50 m.h](e>hY*hY"hY hYgafafafaE4 E E-E"Ej;*E:VEt4ZEBEnzv<$"=I(e>I=9@9 @A@E4@A*DAT read: user:317> %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242775^AE =! IA IY I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494079qO ?I,Y?A(ɰ*;EB9 EB'EB(E@"EBso;*EB";VEBc44ZE@aF@aF@aF@aF@V]V$ٱVx? ^AHRS rotation from veh to nav: [[0.970461,-0.226649,-0.082679],[0.237875,0.956101,0.171133],[0.040262,-0.185745,0.981773]]VH?Ϳt* r?a??F?`}ǿj?iV]&?iMb@Mb@Mb@ 9|?5^?(\µ?:vY-?y=Լ@ @)Y @bDVDk1y5?<%5=ٔ51;Q-=>99Y9==Fy=>/EEO*EE>IQ 5U@5M*o{?Q 9U@5M#e)M+BYUN/?Q EU:y] >Q I]@M ]DIM:iM:MAl@5ye5BɮetAajhFNOT Ignoring new targets: 103.98 m.RhiٺZhiٺchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746179 ProNav: ac range: 103.975937 m, nav range: 100.303192 m, bearing: 6.311709 deg, approach rate: -0.664422 m/s, LOS rate: -0.095038 deg/s, cmd heading: 12.854122 deg, new cmd heading: 12.675356 deg. BhrHeadingCmd: 0.221227 target range: 103.975937 and range: 104.50 m.h@b>h*h"h hgfff^BdddjdZdK?BɢkS<) /?i)mּ i 5Oi @b>{;w<3I9@ @@0@@@fABBB IB,BB =BBBNq;B-E)^A =I! I9 OE >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997917a i3,; ?AFFiٱF@ ZAHRS rotation from veh to nav: [[0.971412,-0.223261,-0.080701],[0.234249,0.956633,0.173149],[0.038544,-0.187103,0.981584]]FH@?@ϓ̿ը??)? ?@ǿ`"i?iF9!Y!=%Fy%B/E%&E->)1Q 5=@55'{?Q 9=@55b)5(BYAyE>Q IE@5]DI5:i5R:5zo@5yiɮmAuEjhFNOT Ignoring new targets: 103.98 m.RhҺZhҺ ProNav: ac range: 103.975937 m, nav range: 100.057877 m, bearing: 6.277097 deg, approach rate: -0.651096 m/s, LOS rate: -0.092090 deg/s, cmd heading: 12.675356 deg, new cmd heading: 12.571265 deg. Bh|HeadingCmd: 0.219410 target range: 103.975937 and range: 104.50 m.h`>h*h"h hgfffddd!jd)Zd- 6@DzDE+ EE)E"Eb;*E:VEFA4ZEBEw<FIa@ @@0@i߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251037ԁ^A 8<I I O >Ա HZ,#?A2Vn<2FFn>2)ٱ2T@ :AHRS rotation from veh to nav: [[0.972397,-0.219859,-0.078141],[0.230441,0.957452,0.173731],[0.036620,-0.186942,0.981688]]2H@?Z$̿ `?r?9AYA=EFyEF/EM,EM>QQ 5@5U{?Q 9@5U`)U&BY+?Q E:yv>Q I@U)]DIUߔhA*hA"hA hAgAfAfIfMDBdIdIdQjdQZdU8@颅Bɢ]<) 7?i)7pͼ顉iUԑi^> x<MIA@I @I@M4@IԹE# E!E&E"E[;*E:VE4ZEa@a@a@a@^A-"<IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754013 e,:I-ٱ:h4@A@A@BF>BDBF! IBF1BBDBDBDBFq;BF-E RAHRS rotation from veh to nav: [[0.973270,-0.216865,-0.075592],[0.227025,0.958223,0.173976],[0.034704,-0.186487,0.981844]]:H%?`?˿@Y'?é? D?@ġ?ǿDk?i:e49pYp=rFyrJ/EvEv>xQ 5~@5z{?Q 9]@5zo^)z#BYaye>Q Ie@z:]DIzmh9*h9"h9 h9g9f9fAfAdAdAdIjdIZdMp@颹ɢ<) :?i)4ȼi Xi&(]>dx<߰Ii@i @i@m3@i@u=@u=5BDAT read: Rx Time:05:09:03.8181 5TRx dataTimestamp_ set to:1761541745.1208035checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007750^Al<AzAgAI E ' E BE *E "E _;*E Z;VE (N4ZE BE Vl,V?A6AT;64f>6 ٱ6b@Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258148 >AHRS rotation from veh to nav: [[0.974249,-0.213479,-0.072568],[0.223161,0.958946,0.174989],[0.032233,-0.186677,0.981892]]6H -?`KS˿ԓ`?`?f?ǀ? ǿk?i6AT;I6^;6̐CYN*ByN IbDVVDVy^=%^L=ٔb\;Q-b>9`Yd=fFyfN/Ef%#Ef>hQ 5n@5jo{?Q 9n@5j)\)j BYpyr>Q Ir@jK]DIj^;ij;jy@5ytɮvTAvEjhFNOT Ignoring new targets: 103.98 m.Rh Zh - ProNav: ac range: 103.975937 m, nav range: 99.295547 m, bearing: 6.177982 deg, approach rate: -0.648559 m/s, LOS rate: -0.083509 deg/s, cmd heading: 12.374368 deg, new cmd heading: 12.273162 deg. Bh->eUHeadingCmd: 0.214207 target range: 103.975937 and range: 104.50 m.hUY[>hQ*hQ"hQ hYgYfYfYfadadadajdaZdm`p @Bɢ3<) B?i)%Isü!!i%T\i-Y[>Ijx<Ia@i @i@m/@qy1e9aYeA5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509914^Am F<Թ Ay I I O >.,ݔp?AE6) E6E6'E4"E6`;*E6:VE6'4ZE4a:@a:@a:@a:@>@;>,\b>@>jٱ>*? JAHRS rotation from veh to nav: [[0.975227,-0.210010,-0.069488],[0.219160,0.959936,0.174617],[0.030033,-0.185520,0.982181]]>H5?ʿ`ɱn ?̷?Y? ?ǿn?i>@;I>5^;>ʐCYR:ByR- Ii Mb@Mb@Mb@     9 RQ?)\(?~jtxY "?y Ga= Ļ 3A @ Q@) @ Y p@bDE VDE2yUY=%]'=ٔ];Q-]>9aYa=eFyeS/Ee Em>qQ 5}@5u{?Q 9}@5uY)u!BY}-#?Q E}:y}>Q I@u_]DIu:ius:u}@5yDAT read: 05:09:03.8181 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 161,-0.28,-1.573,-3.050,-1.091,-1.646, PHS= 0.175,-1.359, 0.511, RAW= 159.7, 7.9, CAL= 159.3, 8.0, ROT= 350.7, -8.0 Ygot valid direction response: 05:09:03.8181 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 161,-0.28,-1.573,-3.050,-1.091,-1.646, PHS= 0.175,-1.359, 0.511, RAW= 159.7, 7.9, CAL= 159.3, 8.0, ROT= 350.7, -8.0 PDAT read: Bearing 164.3, -8.7 (Local) ~Local bearing/azimuth received: Bearing 164.3, -8.7 (Local) DAT read: Range 11 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.6 m/s -BDAT read: Tx time:05:09:04.8761 -$Ping request sent.5i󭿉?b2@0 > 5>)I5$4ڿc???~7j6y? c1?)9 Ii5]:publishing transmit ping time)]Fpublishing direction and range infoyE? Z{ĿH@l?Y )Ii )I$4ڿc???~7j6y? )Iiɮ@iix?AJi_BRi_Bjio=bo;X@5E0e oM,@RE? Z{ĿH@l?Zibi5jQj%(X@>'A!@cF3@ZiC?)2?g3= ?2i A:iB"i5?*iqvBi Bik?iyYiΪBijBi\,= addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.779710 s, deltaX: -2.300003 m, approachRate: -0.608513 m/s, rangeRepo size: 4  Added new target pos. range: 101.687119 m, bearing: 4.964060 deg, lat: 36.779326 deg, lon: -121.859574 deg, deltaT: 3.779710 s, deltaX: -2.288818 m, approachRate: -0.605554 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 101.69 m.RhZh ProNav: ac range: 101.687119 m, nav range: 99.707504 m, bearing: 5.600139 deg, approach rate: 0.000000 m/s, LOS rate: -0.083509 deg/s, cmd heading: 12.273162 deg, new cmd heading: 12.143525 deg. BhHeadingCmd: 0.211944 target range: 101.687119 and range: 102.20 m.hY>h *h "h  h g f ffxBdddjďY@ZdE`"?BBB4 IB@BB =BBBqq;B-EBɢI<) EK?i)t=PExceeded connect timeout, disconnecting.i_iEY>EyIII]fA)Y@ @@4@@gA@gA! ^A e#,m?A4<ɰ4<EN& EN$EN&EL"EN8^;*EN;VEN4ZELBEN99Y9==Fy=W/EEEE>IIQ 5U@5Me{?Q 9]@5MW)M"BYYyYQ I]@Mq]DIM);iM :M@5yaɮm0@mEjhFNOT Ignoring new targets: 101.69 m.RhUjZhUj ProNav: ac range: 101.687119 m, nav range: 99.441124 m, bearing: 5.567992 deg, approach rate: -0.684288 m/s, LOS rate: -0.082800 deg/s, cmd heading: 12.143525 deg, new cmd heading: 12.046827 deg. BhLcHeadingCmd: 0.210257 target range: 101.687119 and range: 102.20 m.hMW>h*h"h hgfffdddjdZd ?Bɢ]=)  O?i ) 8  i 5ciMW>Dy<{QIy@ @@/@Ա^A"< I9 II OU >E*,w1?A:\@: [>:0Ӽٱ:"< BAHRS rotation from veh to nav: [[0.976885,-0.204102,-0.063548],[0.212206,0.961763,0.173151],[0.025777,-0.182634,0.982843]]:H B? ʿD )?`?)?We?`ǿ@ss?i:\@I:z^;8YJRByNK I%only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 a%@a% a%@a% a%@a% a%@a% bD5VD5N2yMp=%MI=ٔU+9YYY=]Fy][/EeEe>qQ 5}@5uQ|?Q 9@5uU)qQ A+:YQ E:y>Q I@u]DIu^V;iu>u@5yɮ*@ԹjhFNOT Ignoring new targets: 101.69 m.RhZh  ProNav: ac range: 101.687119 m, nav range: 99.186646 m, bearing: 5.538203 deg, approach rate: -0.624181 m/s, LOS rate: -0.073254 deg/s, cmd heading: 12.046827 deg, new cmd heading: 11.957230 deg. Bh IHeadingCmd: 0.208693 target range: 101.687119 and range: 102.20 m.hU>h*h!"h! h!g!f)f)f)d1d1d9jd9Zd=@k? Bɢ R=) EX?i)V;ivfiU>Hhy<%.>I!E- E#E)E"Ed;*E;VEFA4ZEa@a@a@a@@ @@/@^Amm<IIO >B <A <B B B Z IB ^BB B B B eq;B -Ee nManaging dock network, ignoring radio surface power off9 y0, Ĝ?A2\@2W>20潼ٱ2-; >AHRS rotation from veh to nav: [[0.977590,-0.201686,-0.060332],[0.209237,0.962444,0.172979],[0.023179,-0.181726,0.983076]]2H@kH?`ɿ㮿@G?@W? *$?:?Bǿ[u?i2\@I2^;2ːCYFiByFg IbDNVDNyV=%VU=ٔZ;Q-Z>9XY\=^Fy^_/E~E~>Q 5 @5`|?Q 9 @5S)Q A :YQ EZ:y>Q I@]DIs:ivL?ʆ@5yɮ%@%E]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 101.69 m.RhuZhu ProNav: ac range: 101.687119 m, nav range: 98.942764 m, bearing: 5.509952 deg, approach rate: -0.629095 m/s, LOS rate: -0.073054 deg/s, cmd heading: 11.957230 deg, new cmd heading: 11.872268 deg. BhHHeadingCmd: 0.207210 target range: 101.687119 and range: 102.20 m.h.T>h*h"h hgfffdddjdZd?-Bɢ5*==T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.)q uSd?iq)}syyi}Wii.T>y<II@I @I@I@I@U=@Q^A%'<A)zA-dAAIIO>>bEe:4jEe:4rEeS)0E/ EE(E"Eaf;*E:VEc44ZEBEη  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492671ԙ 7,ݜ?A2o@2 T>2ٱ2: >AHRS rotation from veh to nav: [[0.978275,-0.199229,-0.057315],[0.206273,0.963054,0.173140],[0.020703,-0.181201,0.983228]]2H N?WɿZX )g?W? s)?@3?`1ǿv?i2o@I2?^;2ǐCY^~Byb I ddbDjVDj02yrA=%rG=ٔr;Q-v>9tYt=vFyvc/EzEz>|Q 5@5~.|?Q 9@5~Q)~!BQ A9YQ E1:y>Q I @~]DI~:i~Ù?~@5yɮu@yjh!UFNOT Ignoring new targets: 101.69 m.Rh]ʏZheʏ ProNav: ac range: 101.687119 m, nav range: 98.691078 m, bearing: 5.481108 deg, approach rate: -0.547058 m/s, LOS rate: -0.062855 deg/s, cmd heading: 11.872268 deg, new cmd heading: 11.785515 deg. Bh,HeadingCmd: 0.205696 target range: 101.687119 and range: 102.20 m.hR>h*h"h hgfffdddjdZda|?%Bɢ-%=)) -So?i))-SG)1i5mimR>uKyIqUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744815ԡ9@! @!@%0@!E 4 E +E E "E j;*E =;VE ZE a @a @a @a @^AE u<I I O > J=,?A6@6Q>6Pٱ6J: >AHRS rotation from veh to nav: [[0.978965,-0.196591,-0.054594],[0.203189,0.963655,0.173448],[0.018512,-0.180892,0.983329]]6H`S?)ɿ?B?3?? {'ǿmw?Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996133i6@I60^;6ɐCYrByr Iamam amam amam amam imMb@Mb@Mb@iiii i9mx&?i|?5?:vYm7)?ym=mTmAm@ m@)m@iYm@bD VD:2yx=%?=ٔ2;Q->9Y=Fyh/EE>Q 5@5D|?Q 9@5N)BQ AT:Y+?Q E:y>Q I@]DIF;i;c@5y8Bɮ@EjhFNOT Ignoring new targets: 101.69 m.RhzZhz ProNav: ac range: 101.687119 m, nav range: 98.415649 m, bearing: 5.435132 deg, approach rate: -0.754601 m/s, LOS rate: -0.126313 deg/s, cmd heading: 11.785514 deg, new cmd heading: 11.647203 deg. Bh _ HeadingCmd: 0.203282 target range: 101.687119 and range: 102.20 m.h +)P>h*h"h hgfffBdddjdZd ͦ@BɢkQ=) v?i)iIpi%+)P>%y<%uBYBYB] IB]}BB] =BYBYB]q;B]-EBBBB =B =C@3I)9@ @@ 0@ Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248029) ^AM <I I O >Q 4D,?A:R@:(O>:ٱ:8D<zD>AAEB, EB"EB&E@"EBc;*EB;VEB4ZE@BEBt9Y= Fy k/EBǻE>!Q 55@5%X|?Q 95@5%|L)%BY1y=ž>Q I=@%]DI%`;i%|j;%ď@5yIɮU@UEjhFNOT Ignoring new targets: 101.69 m.RhZh= ProNav: ac range: 101.687119 m, nav range: 98.166214 m, bearing: 5.393620 deg, approach rate: -0.633780 m/s, LOS rate: -0.105744 deg/s, cmd heading: 11.647203 deg, new cmd heading: 11.522351 deg. Bh=$EHeadingCmd: 0.201103 target range: 101.687119 and range: 102.20 m.hEM>hA*hA"hA hAgIfIfifidqdqdqjdqZd}`Q@BɢR=) ?i) {  i mtiM>y<gI)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501443@ @@4@Q^A<ԁ A9 IA IQ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752090Om >\J,v+?A";ɰ 4V%y@VL>V9cٱVK8 bAHRS rotation from veh to nav: [[0.980028,-0.192751,-0.048911],[0.198374,0.964785,0.172737],[0.013893,-0.178990,0.983753]]VHc\?ȿ Pd??>? +t?#ƿ@z?iV%y@IV&m^;VːCYrByr IiMb@Mb@Mb@ 9 rh?M? rhY,?yn>CzA@ @)@Y3@bDVDy r}=% :=ٔ ۢ;Q- >9Y=Fyp/EE>!Q 5-@5%:p|?Q 9-@5%fI)%BY-p0?Q E-:y-R>Q I-@%]DI%U:i%H:%@5y=9Bɮ=@9jhaeFNOT Ignoring new targets: 101.69 m.Rhm Zhm  ProNav: ac range: 101.687119 m, nav range: 97.879845 m, bearing: 5.340493 deg, approach rate: -0.667028 m/s, LOS rate: -0.124110 deg/s, cmd heading: 11.522351 deg, new cmd heading: 11.362502 deg. BhYHeadingCmd: 0.198313 target range: 101.687119 and range: 102.20 m.hK>h*h"h hgfffĀBdddjdZd@@Bɢf\=) ?i)-itxiK> y<IԑE6 E$E'E"El;*E;VE'4ZEa@a@a@a@i@q @q@ud2@qBDAT read: Rx Time:05:09:07.4135 TRx dataTimestamp_ set to:1761541748.900108checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005066^AU<AI AI BU >BQ BU IBU BBQ BQ BQ BU q;BU .E A I I O >DQ,QE?A6l@6@J>6@ٱ6٘6 BAHRS rotation from veh to nav: [[0.980360,-0.191713,-0.046266],[0.196866,0.965292,0.171624],[0.011757,-0.177362,0.984075]]6H_?ȿ*2?@?@? L?ɳƿ}?i6l@I6MC^;6̐C\checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256095Y}By} IbDVDyuv=%A=ٔ<;Q->9Y=Fyt/EnE>Q 5@5܆|?Q 9@5kF) BYy>Q I@]DI6:i:G@5yɮ@B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 101.69 m.Rh Zh  ProNav: ac range: 101.687119 m, nav range: 97.601898 m, bearing: 5.288869 deg, approach rate: -0.655871 m/s, LOS rate: -0.122164 deg/s, cmd heading: 11.362502 deg, new cmd heading: 11.207189 deg. BhHeadingCmd: 0.195602 target range: 101.687119 and range: 102.20 m.hKH>h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5 a @eBɢe:Ia=)a eR?ia)mpيiiimX{iuKH>uMyIy)@1 @1@=/@9DD%=E1 E,E)E"E2h;*E;VEFA4ZEBE_i > A`0@ l$> x 0@ %/>) :@I %/ )y?{{id?+sUT? ;)?) 3%I i %/ - :publishing transmit ping timeA 5 Fpublishing direction and range infoy  bA?aWoKrl?Y ) I i A I I O > ) I )y?{{id?+sUT? ) I i oW,w0_?ARD`@RfI>RٱR5 ZAHRS rotation from veh to nav: [[0.980675,-0.190672,-0.043824],[0.195406,0.965628,0.171401],[0.009637,-0.176653,0.984226]]RHa?@gȿ@&p`?@m?@{?``?ƿ~?iRD`@IR4^;RʐC))i-uI))I)i1 11)11 ]r@YaaqɑIɑ)ɑiɑ)IpkA !i!!iQ]iA)] e5FIaYaY˂By IbDUVDUy=%==ٔ;Q->9Y=Fyy/Ey\E>Q 5@5|?Q 9@5MC)BYy>Q I@]DI:i:(@5y-:Bɮ-@-EIiiZY?AJiBRiBji.=bUEX@4)F _(0@RbA?aWoKrl?Zibi%/j:*hI*hI"hI hIgQfQfQfQdYdYdYjd}X@Zd ?Bɢ[]=) ?i)&iPi;BE>y<Iy@ @@/@@@=ԡ E 4 E E E "E j;*E :VE ZE a @a @a @a @^A m< A .AII)O5>^,|?A25X@2dH>24ٱ2n:6 :AHRS rotation from veh to nav: [[0.980883,-0.190043,-0.041852],[0.194444,0.965686,0.172168],[0.007697,-0.177014,0.984178]]2H`ec?@RSȿm`?? ??gƿ@c~?i25X@I2K^;2̐CYnʂByn IBBB IBĂBBBBBq;B-EiMb@Mb@Mb@ 9K7?^I +?Y)?yX9>̼hA@ @)@Y=@bDVD:y#%I=ٔS;Q->9 ?Y ?=Fy}/EV#E>Q 5@5+|?Q 9@5/@)BY0?Q E:yR>Q I@^DI:i:@5yɮ@EjhDNOT Ignoring new targets: 99.40 m.Rhm,Zhm, ProNav: ac range: 99.398621 m, nav range: 97.092018 m, bearing: 5.176308 deg, approach rate: -0.675810 m/s, LOS rate: -0.150746 deg/s, cmd heading: 11.037199 deg, new cmd heading: 10.867357 deg. BhλHeadingCmd: 0.189671 target range: 99.398621 and range: 99.90 m.h(9B>h*h"h hgfffԀBddd jd Zd H?]Bɢ]Ӧ=)Y ]?iY)&sv顡i>i(9B>z<ޏI@ @@/@! ^A u<D zD @AA ؟AI I E - E E &E "E d;*E x:VE 4ZE BE =ke,?AY}؂By} IbD VD2y=%I=ٔQ->9"?Y"?=Fy/EE>Q 5@59|?Q 9@5<)BYyQ I@!^DI:i ;'@5yɮ!@jh!-DNOT Ignoring new targets: 99.40 m.Rh-$Zh-$= ProNav: ac range: 99.398621 m, nav range: 96.832306 m, bearing: 5.118198 deg, approach rate: -0.641480 m/s, LOS rate: -0.143913 deg/s, cmd heading: 10.867357 deg, new cmd heading: 10.692562 deg. BhEŻEHeadingCmd: 0.186620 target range: 99.398621 and range: 99.90 m.hEl?>hI*hI"hI hIgIfIfQfQdQdYdYjdYZd]s?颍BɢB=) O?i)>h顑iil?>II-9@) @)@-/@)ԑ UCgA595gAY5zA^AR5<Թ A I I O >9k, ?A2.O@2CG>2!Zٱ2|4 :AHRS rotation from veh to nav: [[0.981121,-0.189799,-0.037129],[0.193368,0.966039,0.171401],[0.003336,-0.175345,0.984501]]2H We?WKȿ@H??w? Uk?`qƿ@ ?i2.O@I2 S^;0@YZۂByZ Ionly read 0 of 1 data item for water mass range. Device response is::WD, +0.00 +0.00, +0.00,426.30 a@a a@a a@a a@a bD%VD%k1y5\<%5T=ٔ=99IYQ=UFyU/Ee':Ee>qQ 5@5ux|?Q 9@5u9)uBQ A+:YQ Ez:y>Q I@u2^DIuQ;iu4>u@5y;Bɮ@jhDNOT Ignoring new targets: 99.40 m.Rh 3!Zh 3!E* EE(E"Ea;*Ej:VEc44ZEa@a@a@a@ ProNav: ac range: 99.398621 m, nav range: 96.582649 m, bearing: 5.062175 deg, approach rate: -0.626420 m/s, LOS rate: -0.140933 deg/s, cmd heading: 10.692562 deg, new cmd heading: 10.524058 deg. BhqHeadingCmd: 0.183679 target range: 99.398621 and range: 99.90 m.hx<>h*h"h hgfff dddjdZd@L?eBɢmmp=)q u4?iq)uɀXqqiuei}x<>} z<mIԱ9@ @ @ 0@ @@BA<B!B!B% IB%BB!B!B!B%@q;B%-E^AM ]<AM >AM > A I I O >|r,*oʝ?A6 K@6 F>6júٱ6m4 >AHRS rotation from veh to nav: [[0.981221,-0.189641,-0.035251],[0.192883,0.966080,0.171714],[0.001491,-0.175289,0.984516]]6H(f?$Fȿ`^ e?` ??SmX?oƿ'?i6 K@I6?<^;6ɐCYFڂByF IIJ>)J]>bDRVDR:yZ摻%ZS=ٔZ*;Q-Z>9\Y\=^Fyb/EbEb>dQ 5j@5f]|?Q 9j@5f6)fֻBQ Aj :YlQ EnJ:yn>Q In@fC^DIfLh*h"h hgfffdddjdZd@]$?Bɢ=) )?i)K!!i%i%49>-z<-I)@ @@1@IEe= EeUEe'Ea"Ees;*Ee\;VEe'4ZEaBEeԡ nx,0L䝿?AJG@J PF>J69ٱJE4 nAHRS rotation from veh to nav: [[0.981305,-0.189559,-0.033271],[0.192457,0.966123,0.171951],[-0.000451,-0.175140,0.984544]]JHf?{Cȿ@k?z?{?ц= jƿ`a?iJG@IJ<,^;HYւBy IԁbDVDyMw%u3=ٔuى;Q-}>9yYy=}Fy}/E/wE>Q 5@5Y}?Q 9@5Q3)ɻBQ A9YQ E$:yq>Q I@W^DI;i&?>@5yɮW@jh DNOT Ignoring new targets: 99.40 m.Rhg.Zhg.% ProNav: ac range: 99.398621 m, nav range: 96.042000 m, bearing: 4.940022 deg, approach rate: -0.671316 m/s, LOS rate: -0.152474 deg/s, cmd heading: 10.357890 deg, new cmd heading: 10.156562 deg. Bh%Hѻ-HeadingCmd: 0.177265 target range: 99.398621 and range: 99.90 m.h-5>5*DAT read: user:319> =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253944h)*hI"hI hQgQfQfQfQdYdYdYjdYZde0@Bɢ<=) y?i)6:ii5>=[{<[Iԩ9@ @@1@E0 E+EE"EJg;*E=;VEZEa@a@a@a@^Am < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506022 A I I O >8~,%?A2?C@2 E>2t ;ٱ2t4 :AHRS rotation from veh to nav: [[0.981404,-0.189340,-0.031559],[0.191940,0.966134,0.172465],[-0.002164,-0.175315,0.984510]]2H g?H<ȿ(`z??@U?mapƿ ?i2?C@I28C^;2ʐCYB҂ByB IB|B|B~ !IB~BB|B|B|B~"q;B~-Eaeae aeae aeae aeae ieMb@Mb@Mb@aaaa a9eDl?|?5^? ףp= YeO-?yeM>eQ8eAe@ e@)e@aYe@bDVD0yü%W=ٔ;Q->9Y=Fy/EE>Q 5@57}?Q 9@510)BQ AT:Y'5?Q E:y>Q I@h^DIB;i;@5y=Bɮ@EjhDNOT Ignoring new targets: 99.40 m.Rh2Zh2  ProNav: ac range: 99.398621 m, nav range: 95.796928 m, bearing: 4.881364 deg, approach rate: -0.651405 m/s, LOS rate: -0.156313 deg/s, cmd heading: 10.156562 deg, new cmd heading: 9.980139 deg. Bh ֻHeadingCmd: 0.174186 target range: 99.398621 and range: 99.90 m.h]2>h*h"h hgff!f%Bd!d!d!jd)Zd-@ɢ"=) t?i),ii]2>{<8I9@ @@4@@=@> Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7572481^A<A I I O >bE}-4jE}˅04rE}˝/E= " E= /E= *E9 "E= Z;*E= Y;VE= (N4ZE9 BE= R_;ٱR874 ZAHRS rotation from veh to nav: [[0.981527,-0.189038,-0.029498],[0.191281,0.966235,0.172630],[-0.004131,-0.175083,0.984545]]RHh? d2ȿ@4{? f?`?`p@!iƿ`d?iR=@IRQ)^;PY~ǂBy~ I 4< p<bD VD 0y&c%R=ٔ%~;Q-%>9!Y)=-Fy-/E-E->1Q 5=@550}?Q 9=@55,)5BYAyE>Q IE@5y^DI5;i5;5@5yMABɮM@MEjhq}DNOT Ignoring new targets: 99.40 m.Rh}74Zh}74 ProNav: ac range: 99.398621 m, nav range: 95.543320 m, bearing: 4.820427 deg, approach rate: -0.653985 m/s, LOS rate: -0.157559 deg/s, cmd heading: 9.980138 deg, new cmd heading: 9.796840 deg. BhCػHeadingCmd: 0.170987 target range: 99.398621 and range: 99.90 m.h?/>BDAT read: Rx Time:05:09:11.0105 TRx dataTimestamp_ set to:1761541752.428229checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010366h*h"h hgfffdddjdZdJ@1UBɢR<=) Ҍ?i)*p顙i5Ji?/>O`|<3=I?/>I@ @@/@q^A<ԡU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261569A I I O >Թ S,1?A25@2D>2;ٱ24 :AHRS rotation from veh to nav: [[0.981705,-0.188381,-0.027713],[0.190317,0.966256,0.173579],[-0.005921,-0.175677,0.984430]]2H@ j?ȿ`@M\?? 7?@x`|ƿ`s?i25@I2G^;2ȐCYFByF IE( EE$E"E`;*E:VE4ZEa-@a-@a-@a5@ԙieMb@Mb@Mb@aaaa a9eˡE??MbYe'?yeL>e@eAe@ ep@)e@aYe@bD}VD}βy/%)=ٔr;Q->9Y=Fy/EE>Q 5@5I}?Q 9@5))BY/?Q E:y>Q I@^DI ;i ;%@5yɮK@jhDNOT Ignoring new targets: 99.40 m.Rh1Zh1 ProNav: ac range: 99.398621 m, nav range: 95.237953 m, bearing: 4.745417 deg, approach rate: -0.631091 m/s, LOS rate: -0.155517 deg/s, cmd heading: 9.796840 deg, new cmd heading: 9.571090 deg. BhuջHeadingCmd: 0.167047 target range: 99.398621 and range: 99.90 m.ha+>h*hI"hI hIgIfIfQfUBdQdQdQjdYZd]# @DAT read: 05:09:11.0105 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 419,-0.43, 0.832,-0.717, 1.224, 0.738, PHS= 0.196,-1.410, 0.442, RAW= 157.0, 8.9, CAL= 156.7, 9.5, ROT= 353.3, -9.5 Ygot valid direction response: 05:09:11.0105 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 419,-0.43, 0.832,-0.717, 1.224, 0.738, PHS= 0.196,-1.410, 0.442, RAW= 157.0, 8.9, CAL= 156.7, 9.5, ROT= 353.3, -9.5 PDAT read: Bearing 163.1, -8.5 (Local) ~Local bearing/azimuth received: Bearing 163.1, -8.5 (Local) DAT read: Range 11 to 50 : 97.6 m (Round-trip 130.2 ms) speed 0.7 m/s BDAT read: Tx time:05:09:12.0761 $Ping request sent.izM>^/@> /@ )>)Q@I)l~=?>g ?㙀? 9m%?)$I|i)5:publishing transmit ping time5Fpublishing direction and range infoyT)xX?<#"LuG ?Y )Ii )Il~=?>g ?㙀? )Ii颡ɢ,Jw=) M?i)l 顩i3ia+>.}<Y=Ia+>II)AAAABBB IB݂BBBBB8q;B-EBBBBBCI{4y@y @y@<3@@fA@fA^A = A I I O >,&O?A2q1@2`C>2;ٱ25 :AHRS rotation from veh to nav: [[0.981794,-0.188120,-0.026282],[0.189801,0.966176,0.174582],[-0.007449,-0.176392,0.984292]]2Hj?Tȿ隿iK? ?X?@B~ƿ@Q?i2q1@I2g2^;2ʐCYFByF IbDNVDNk2yV4%Za=ٔZ;Q-Z>9\Y\=^Fy^/E^kEb>`Q 5f@5b/\}?Q 9j@5b&)bBYhyj8>Q Ij@b^DIb;ib;bS@5ynBBɮr@rEi1i5;?AJi58BRi58Bji5=b5S'W@pdY&R0@R5T)xX?<#"LuG ?Zi5|bi5)j5+W@Q9$@x 1@Z51-T? ޚ?]%Tu?2i5 A:i5%B"i5է?*i5TBi5ȤBi5{񋜊?i5 Mi5 Bi53Bi57=5 addTargetRange:: Added new target pos. range: 97.599998 m, deltaT: 3.527722 s, deltaX: -2.300003 m, approachRate: -0.651980 m/s, rangeRepo size: 4 E Added new target pos. range: 97.110352 m, bearing: 6.037947 deg, lat: 36.779327 deg, lon: -121.859569 deg, deltaT: 3.527722 s, deltaX: -2.288269 m, approachRate: -0.648653 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 97.11 m.RhMZhII] ProNav: ac range: 97.110352 m, nav range: 95.101105 m, bearing: 4.976882 deg, approach rate: 0.000000 m/s, LOS rate: -0.155517 deg/s, cmd heading: 9.571090 deg, new cmd heading: 9.399474 deg. BhaeHeadingCmd: 0.164052 target range: 97.110352 and range: 97.60 m.he0'>hi*hi"hi h g fffd!d!d)jd-`ffX@Zd-f?颵Bɢ=) W?E2 E"E,E"Ei;*E;VEg4ZEBE(-}<-N=I-0'>I1y@ @@/@iIAԩ^A ]= AU .AIq I O >Ù,Vh?AԱYBy IIp=)4<==iMb@Mb@Mb@ 9Q?'1Z?:vY(?y">TA@ @)@Y3@@AAAbD VD2y%,=ٔQ->9 ?Y ?=Fy/EE>Q 5@5u}?Q 9@5")oBY M.?Q E :y S>Q I @^DI;ih;{@5yCBɮ@5B*** querying acoustic contact ***i1 i1jhAMDNOT Ignoring new targets: 97.11 m.RhM+ZhM+] ProNav: ac range: 97.110352 m, nav range: 94.796524 m, bearing: 4.915062 deg, approach rate: -0.644768 m/s, LOS rate: -0.131287 deg/s, cmd heading: 9.399474 deg, new cmd heading: 9.213419 deg. Bh]3}HeadingCmd: 0.160804 target range: 97.110352 and range: 97.60 m.h}$>h*h"h hgfffBdddjdZd^t?ɢu=) W?i)ii$>~<$=I$>Ia@a @i@m/@iE' E?EE"E _;*E;VEZEa@a@a@a@ - T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.^A =BA BA BE IBE ĂBBA BA BA BE 2N~'<ٱ27 :AHRS rotation from veh to nav: [[0.982460,-0.185002,-0.023366],[0.186191,0.966381,0.177314],[-0.010223,-0.178554,0.983877]]2HPp? $ǿH헿?`?`7?ƿ{?i2^@I2~H^;0YFByF IbDNVDNyV %Vw=ٔZr Q Ij@b^DIb :ib[:b^@5ypɮrP@pjh  DNOT Ignoring new targets: 97.11 m.Rh @Zh@% ProNav: ac range: 97.110352 m, nav range: 94.584740 m, bearing: 4.872377 deg, approach rate: -0.641639 m/s, LOS rate: -0.129611 deg/s, cmd heading: 9.213419 deg, new cmd heading: 9.085078 deg. Bh%汻-HeadingCmd: 0.158565 target range: 97.110352 and range: 97.60 m.h-^">h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd= 8n?ɢ?=) }?i)X̻i`i^">gV<%x=I%^">I!@ @@0@@=@=*DAT read: user:320> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249672A^A=AgAzAfAqE , E E &E "E c;*E :VE 4ZE BE tԙ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500550<Ӧ,o?A2n@2,=>2?<ٱ2U: :AHRS rotation from veh to nav: [[0.982917,-0.182718,-0.022073],[0.183677,0.966261,0.180563],[-0.011664,-0.181533,0.983316]]2H`t?Ocǿ@\???ㇿv<ǿRw?i2n@I2(2^;0YjByj IbDrVDryz8%zF=ٔ~\d;Q->9"?Y"?=Fy/E *ʻE >Q 5@5}?Q 9@5w)NBYy>Q I%@^DI;i+;@5y-DBɮ-@-EjhQUDNOT Ignoring new targets: 97.11 m.Rh]Zh]m ProNav: ac range: 97.110352 m, nav range: 94.319366 m, bearing: 4.819118 deg, approach rate: -0.641674 m/s, LOS rate: -0.129142 deg/s, cmd heading: 9.085078 deg, new cmd heading: 8.924853 deg. BhmBuHeadingCmd: 0.155768 target range: 97.110352 and range: 97.60 m.hu>hq*hy"hy hygyfyffdddjdZd ?颹ɢ=) 1y?i)idi> <$=I>Iq9@ @@ 1@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752985^Aȿ=A! I) I9 OU > E  E E %E "E X;*E ]:VE 4ZE a- @a- @a- @a- @,)y?AY~vBy~w I   iMb@Mb@Mb@ 9S㥛?ˡE?/$Y$&?y=,@ @)Y <bDVDNyƁ%;=ٔQ->9Y=Fy/EE> Q 5@5 ۲}?Q 9@5 G) @BY'?Q E:y>Q I@ ^DI 3&;i n$; @5y%EBɮ-@-EjhIUDNOT Ignoring new targets: 97.11 m.Rh]dZh]dm ProNav: ac range: 97.110352 m, nav range: 94.041435 m, bearing: 4.782532 deg, approach rate: -0.637001 m/s, LOS rate: -0.084100 deg/s, cmd heading: 8.924853 deg, new cmd heading: 8.814771 deg. BhmfmHeadingCmd: 0.153847 target range: 97.110352 and range: 97.60 m.hu>hq*hq"hq hqgqfyfyf}BdddjdZd@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004628QɢU,p=)Q U9r?iQ)]闻YYi]Bie>eIiBBB IBBBBBBq;B-E%9@! @!@%]1@)^A =1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256838I I O% >Q ,]О?A2@2`6>2jh<ٱ2> :AHRS rotation from veh to nav: [[0.984043,-0.176900,-0.019134],[0.177366,0.966649,0.184744],[-0.014185,-0.185189,0.982600]]2H`G}?੤ƿ䗓`??୥? Iǿvq?i2@I23^;2ɐCYB]ByFX IbDNVDNyV%Va=ٔV;Q-Z>9XYX=ZFyZ/E E >Q 5@5y}?Q 9@5s)3BYy>Q I@^DI;i; @5y)ɮ-{@)jhq}DNOT Ignoring new targets: 97.11 m.RhZh ProNav: ac range: 97.110352 m, nav range: 93.803688 m, bearing: 4.752078 deg, approach rate: -0.631697 m/s, LOS rate: -0.081122 deg/s, cmd heading: 8.814771 deg, new cmd heading: 8.723176 deg. Bh^HeadingCmd: 0.152248 target range: 97.110352 and range: 97.60 m.h>h*h"h hgfffdddjdZd@-Bɢ5>u=)1 =e?i9)=$9AiE8iE>MрE' EE+E"E _;*Ej:VE [4ZEBEA- >ԁ q hA 9 hAY 2AI I O >,<ꞿ?A0echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761861u@u22>ux<ٱu1B AHRS rotation from veh to nav: [[0.984783,-0.172847,-0.018077],[0.173125,0.966599,0.188980],[-0.015192,-0.189233,0.981815]]uH W?ƿ(?b?}0?8ȿk?iu@Iu%^;uȐCYZByT IimMb@Mb@Mb@iiii i9mv/?/$?L7A`堿Ymx)?ym,=m+mAm@ i)iiYm@bDVD1y%/=ٔp ;Q->9Y=Fy/EE>Q 5-@5I}?Q 9-@5)'BY5*?Q E5:y5Vh>Q I5@_DIh*h"h hgfffiBdddjdZd@颉ɢl]=) Rd?i){Jioi(y>0<r* =I(y>IE" E E*E"EZ;*E:VE(N4ZEa@a@a@a@Ա9@ @@4@ BDAT read: Rx Time:05:09:14.6077  TRx dataTimestamp_ set to:1761541755.956256 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013708 ^A ]=B B B s IB sBB B B B r;B .EI! I1 O= >, ?A2|@2,>2'̃<ٱ2D :AHRS rotation from veh to nav: [[0.985637,-0.168064,-0.016574],[0.168112,0.967069,0.191094],[-0.016088,-0.191135,0.981432]]2HV? "ſ`?9?@u?@Vy wȿg?i2|@I2=^;2ɐCpY]KBy]B IIe=)e=m=imAAibDuVDufy%K=ٔ5;Q->9Y=Fy/EROE>Q 5@5*}?Q 9@5)BYyc>Q I@_DIK:i:@5yGBɮ@Ejh DNOT Ignoring new targets: 97.11 m.Rh  Zh  ProNav: ac range: 97.110352 m, nav range: 93.241051 m, bearing: 4.702819 deg, approach rate: -0.683628 m/s, LOS rate: -0.059030 deg/s, cmd heading: 8.643229 deg, new cmd heading: 8.574952 deg. Bh% "%HeadingCmd: 0.149661 target range: 97.110352 and range: 97.60 m.h%@>h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd= @iɢm~w=)i mt]?iq)uh qqiui}@>}j<}#I uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2647319@ @@/@ԑDzDE( E"E-E"E`;*E;VEt4ZEBERԡ = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5196052,0?ArX@r@^(>r(<ٱrD zAHRS rotation from veh to nav: [[0.986367,-0.163909,-0.014628],[0.163658,0.967779,0.191365],[-0.017210,-0.191150,0.981410]]rHQ?Ŀ`? ?~?wȿg?irX@Ir%^;rːC )lA  lAi tI  I ir@ ) kAGa%kAI%)!i!)!I%kA%\) )- C))i)1Y1Y=ABy=5 IQbDUVDUN2ye_%e\=ٔmE;Q-m>9iYi=mFyu/EBE>Q 5@5 ~?Q 9@5)BYyd^>Q I@)_DIu:i:@5yɮ3Ajh9=DNOT Ignoring new targets: 97.11 m.RhEzZhEzu ProNav: ac range: 97.110352 m, nav range: 92.991920 m, bearing: 4.681955 deg, approach rate: -0.650977 m/s, LOS rate: -0.054666 deg/s, cmd heading: 8.574952 deg, new cmd heading: 8.512191 deg. Bhu}HeadingCmd: 0.148566 target range: 97.110352 and range: 97.60 m.h}!>hy*h"h hgfffdddjdZd? @-Bɢ- Ul=)) -X?i1)5.11i5i=!>=ǟ<=CIAԉ@ @@/@DAT read: 05:09:14.6077 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405, 0.30,-2.224, 2.547,-1.832,-2.209, PHS= 0.087,-1.483, 0.332, RAW= 157.1, 12.4, CAL= 157.4, 14.0, ROT= 352.6, -14.0 Ygot valid direction response: 05:09:14.6077 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405, 0.30,-2.224, 2.547,-1.832,-2.209, PHS= 0.087,-1.483, 0.332, RAW= 157.1, 12.4, CAL= 157.4, 14.0, ROT= 352.6, -14.0 ԱPDAT read: Bearing 166.0, -10.9 (Local) ~Local bearing/azimuth received: Bearing 166.0, -10.9 (Local) DAT read: Range 11 to 50 : 95.5 m (Round-trip 127.4 ms) speed 0.7 m/s TDAT read: user:321>Tx time:05:09:15.6761 R#Rx 1: Read range and direction messages.^direction in FSK: [0.962214,-0.124969,0.241922]Fpublishing direction and range infoyQU!u? g779K?YUBQQQQ Q)UJIU-=iUҽU>U~{/@Uk]>UF/@ U5z>)U@IU5zQQU츧?+?5z}? U%?)UE^IU@iU5zQQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A<AfAzAhAII Ia Om > E , E E (E "E c;*E :VE c44ZE a @a @a @a @K,Y7?A2/@2`\#>2<ٱ2D :AHRS rotation from veh to nav: [[0.987140,-0.159341,-0.012810],[0.158830,0.968594,0.191308],[-0.018076,-0.190883,0.981446]]2H? MeĿ <T??|? xnȿ@h?i2/@I2I^;2ɐCY=9 Y = Fy /EBE>Q 5%@5~?Q 9%@5) BY%d$?Q E%:y-:">Q I-@:_DI:i:v@5y5IBɮ5cA5Eii-?AJi BRi Bji =bŲχV@D3ZDտ'+06@R!u? g779K?Zi@bi5zjZWV@.@s'1,7@ZmVk?C?a"17?2i_@:iB"i\?*iB~PBiBiiiDAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021012iuBi = addTargetRange:: Added new target pos. range: 95.500000 m, deltaT: 3.780333 s, deltaX: -2.099998 m, approachRate: -0.555506 m/s, rangeRepo size: 4 5 Added new target pos. range: 95.020584 m, bearing: 4.617112 deg, lat: 36.779327 deg, lon: -121.859569 deg, deltaT: 3.780333 s, deltaX: -2.089767 m, approachRate: -0.552800 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 95.02 m.Rh=ZhAu ProNav: ac range: 95.020584 m, nav range: 92.728622 m, bearing: 4.669450 deg, approach rate: 0.000000 m/s, LOS rate: -0.054666 deg/s, cmd heading: 8.512191 deg, new cmd heading: 8.442645 deg. Bhq}HeadingCmd: 0.147352 target range: 95.020584 and range: 95.50 m.h}n>hy*hy"hy hygyfffFBdddjdW@Zd?Bɢ8c=) nV?i)rii n> Tˁ< IBBBG IBOBBBBDBHr;B=.E @ @@/@1^A < checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272806a A .AI I O >j2,kQ?A2@20>2<ٱ2(E :AHRS rotation from veh to nav: [[0.987915,-0.154602,-0.011085],[0.153839,0.969276,0.191932],[-0.018929,-0.191317,0.981346]]2H@?ÿ}? O?`8?@$b}ȿ /g?i2@I22,^;2ːCYv>Byv1 I ||bDVD!yU<%UV=ٔ];Q-]>9e ?Ye ?=eFym/EuWEu>Q 5@5\4~?Q 9@5)BYy >Q I@J_DI;iE;@5yJBɮaAEjhDNOT Ignoring new targets: 95.02 m.Rh Zh  ProNav: ac range: 95.020584 m, nav range: 92.482735 m, bearing: 4.658484 deg, approach rate: -0.672425 m/s, LOS rate: -0.030070 deg/s, cmd heading: 8.442645 deg, new cmd heading: 8.409658 deg. BhHeadingCmd: 0.146776 target range: 95.020584 and range: 95.50 m.hL>h*h"h hgfffdddjdZd 9#?1bE=FA4jE=²>4rE=0E2 E"E'E"Ei;*E;VE'4ZEBE(-<-6Iq@ @@ 0@ a^A<checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525310AII O>ԉԹ `,fk?Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.783348@ >١<ٱ6cD AHRS rotation from veh to nav: [[0.988654,-0.149931,-0.009212],[0.148909,0.970156,0.191374],[-0.019756,-0.190574,0.981474]]H ?0ÿ@݂`v? ?~?`:dȿ@9Y=Fy/E6E>Q 5@5M~?Q 9@5_)BYE/?Q EM:yM^>Q IM@^_DINhQ*hY"hY hYgfffNBdddjdZd?Bɢ_=) 8X?i)@99 i i ><IԹE% E(E)E"EO];*E;VEFA4ZEa@a@a@a@@ @@0@@@cA checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032491B >B B 4 IB @BB B B B +r;B /.EBABABABABACEʞ4^A }<A >A > A- ؟AI1 IA OU >e,q?A2V@2>2<ٱ2C :AHRS rotation from veh to nav: [[0.989376,-0.145191,-0.007345],[0.143911,0.970997,0.190931],[-0.020589,-0.189960,0.981576]]2H?¿=~ k?g?pp?P Pȿi?i2V@I2}9^;2ɐCYBGByB= IbDNVDNyR H=%V\=ٔV;Q-V>9Z"?YZ"?=Fy/E XE >Q 5@5c~?Q 9@5W)BYy%2>Q I%@n_DI:i: @5y-KBɮ-A1jhy}DNOT Ignoring new targets: 95.02 m.RhcZhc ProNav: ac range: 95.020584 m, nav range: 91.915977 m, bearing: 4.633352 deg, approach rate: -0.730278 m/s, LOS rate: -0.031340 deg/s, cmd heading: 8.367736 deg, new cmd heading: 8.334028 deg. BhHeadingCmd: 0.145456 target range: 95.020584 and range: 95.50 m.hz>h*h"h hgfffdddjdZd[?Bɢp=) :]?i)v:ihiz>;<0mIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.285129@ @@4@^A}R5<A II)O5q>E$ E"E(E"Eg\;*E;VEc44ZEBE/2hu<ٱ23B :AHRS rotation from veh to nav: [[0.990053,-0.140604,-0.005126],[0.139001,0.971826,0.190350],[-0.021783,-0.189169,0.981703]]2H?Ot?2?e]?`9N6ȿ j?i2@I28"^;2ːCYNLByRB IIV=)V>bDZVDZyv<%vG=ٔvP>;Q-v>9xYx=zFyz/EzJE~>Q 5@5z~?Q 9 @5M)BY y  >Q I @_DI:i:@5yOBɮAEjhDNOT Ignoring new targets: 95.02 m.Rh$Zh$  ProNav: ac range: 95.020584 m, nav range: 91.641594 m, bearing: 4.622394 deg, approach rate: -0.655215 m/s, LOS rate: -0.026244 deg/s, cmd heading: 8.334028 deg, new cmd heading: 8.301058 deg. Bh HeadingCmd: 0.144881 target range: 95.020584 and range: 95.50 m.h[>h*h"h hgff!f!d!d!d)jd)Zd- ?Q]Bɢe|=)a e_?ia)epW:aiimFԞim[>uNہIy)@1 @1@54@9ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.791198^AM̓<ԱA I I O >E A E E +E "E v;*E j:VE [4ZE a @a @a @a @ g,'?A>e@> >>b3<ٱ>aA FAHRS rotation from veh to nav: [[0.990671,-0.136245,-0.002891],[0.134326,0.972699,0.189242],[-0.022972,-0.187865,0.981926]]>H?|pg1? Z ?9?䅗@ ȿ`k?i>e@I>CG^;>ɐCYR`ByR[ IiMMb@Mb@Mb@IIII I9Mm?MbP?Mb`?YM.?yM:M;IM@ M@)M@IYM@bDmVDm0yu=%uB=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040645ٔ1;Q->9Y=Fy/E 0E >Q 5=@5~?Q 9=@5:)BY=.?Q E=:y= >Q IE@_DI;i;`@5yMPBɮM@MEjhDNOT Ignoring new targets: 95.02 m.RhZh ProNav: ac range: 95.020584 m, nav range: 91.343010 m, bearing: 4.611879 deg, approach rate: -0.705144 m/s, LOS rate: -0.024913 deg/s, cmd heading: 8.301058 deg, new cmd heading: 8.269410 deg. BhȈԱHeadingCmd: 0.144328 target range: 95.020584 and range: 95.50 m.h>h*h"h hgffftBddd)B1A5p<B9B9B9B9B9B9B9B=q;B= .EjdQZdU`'@]Bɢ]#|=)Y ]fj?iY)e&;aaieAim>mIq@ @!@%4@!@-=@-=^A+< AI IQ Ia Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.2925149 ,ԟ?AYkBy i IbD%VD%k1y5_=%5O=ٔ5Q-5>99Y9=EFyE/EEEE>IQ 5U@5M(~?Q 9U@5MM )MBYQyYQ I]@M_DIMD;iM;M@5ye>Bɮe;@ajhDNOT Ignoring new targets: 95.02 m.RhHZhHE, E E'E"Ec;*E:VE'4ZEBEth*h"h hgfffdddjdZdh@ Bɢؚ=) cp?i)چN;i'i%L>%<-li I)@ @@/@BDAT read: Rx Time:05:09:18.2044 TRx dataTimestamp_ set to:1761541759.488986checking for new query: numPingsReceived=0, elapsed TxPingTime=6.5464379^Ax/O+,?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798200,YBy I AiMb@Mb@Mb@ 9/$?p= ף?~jtx?Y,?y=;A@ @)@Y@bDVDyL=%/=ٔQ->9Y=Fy%/E!E%>)Q 55@5-~?Q 95@5-g )-BY=,?Q E=:y=l>Q I=@-_DI-:i-Q:-@5yE?BɮE@MEeB*** querying acoustic contact ***ia iajhquDNOT Ignoring new targets: 95.02 m.Rh}ĒZh}Ēԉ ProNav: ac range: 95.020584 m, nav range: 90.773811 m, bearing: 4.572880 deg, approach rate: -0.666313 m/s, LOS rate: -0.064156 deg/s, cmd heading: 8.241902 deg, new cmd heading: 8.152027 deg. Bh0HeadingCmd: 0.142280 target range: 95.020584 and range: 95.50 m.hƱ>h*h"h hgfffBdddjdZd@  @Bɢ쟋=) _|?i)`4;igiƱ>n<S#IE; E8E+E"EDq;*E ;VE [4ZEa@a@a@a@y@y @y@}/@yԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.048465BI BI BM S IBM YBBI BI BI BM q;BM -E ^AE 8<A .AI I O >xC,x~ ?A0V@V=V]<ٱVG: ^AHRS rotation from veh to nav: [[0.992073,-0.125571,0.004901],[0.122546,0.975337,0.183575],[-0.027831,-0.181520,0.982993]]VH?`t? 0_?@5?f?``<ǿt?iV@IV^;VȐCYjByj IbDrVDrkyze=%zl=ٔ~eQ I@ _DI  ;i  ; @5y%@Bɮ%H@%EjhIUDNOT Ignoring new targets: 95.02 m.RhUiZhUie ProNav: ac range: 95.020584 m, nav range: 90.542290 m, bearing: 4.552295 deg, approach rate: -0.668964 m/s, LOS rate: -0.059630 deg/s, cmd heading: 8.152027 deg, new cmd heading: 8.090115 deg. Bhe#mHeadingCmd: 0.141199 target range: 95.020584 and range: 95.50 m.hm>hq*hq"hq hqgqfqfyfydydydjdZd\ @颵Bɢ=) ?i);项i4i>nJ< `ֹI>I5DAT read: 05:09:18.2044 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 405,-0.22, 0.523,-1.043, 0.914, 0.488, PHS= 0.136,-1.486, 0.382, RAW= 156.9, 11.0, CAL= 157.0, 12.1, ROT= 353.0, -12.1 EYgot valid direction response: 05:09:18.2044 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 405,-0.22, 0.523,-1.043, 0.914, 0.488, PHS= 0.136,-1.486, 0.382, RAW= 156.9, 11.0, CAL= 157.0, 12.1, ROT= 353.0, -12.1 MPDAT read: Bearing 162.6, -10.5 (Local) M~Local bearing/azimuth received: Bearing 162.6, -10.5 (Local) UDAT read: Range 11 to 50 : 93.1 m (Round-trip 124.2 ms) speed 0.5 m/s ]TDAT read: user:322>Tx time:05:09:19.2761 ԁ@ @@/@@@fAR#Rx 1: Read range and direction messages.^direction in FSK: [0.970495,-0.119162,0.209619]Fpublishing direction and range infoyp{K?{d9h?Y3B )KIC >i?5>LB/@ D>^/@ @X>)'@I@Xmg.??򘖺u? G$%?)DI5i@XT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԱEU# EUEU(EQ"EU[;*EUO:VEUc44ZEQBEUg DAT read:  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553002h,D#?AJ@J@=J<ٱJZ8 RAHRS rotation from veh to nav: [[0.992172,-0.124727,0.006174],[0.121544,0.975840,0.181557],[-0.028670,-0.179385,0.983361]]JH@߿? QJy?|?@:?B=?[ƿw?iJ@IJSG^;JʐCYZByZ I`bDfVDfynO=%nL=ٔr ;Q-r>9pYt=vFyv/Ev%%Ev>xQ 5@5ze~?Q 9@5  _Cz)zBY!y-_>Q I5@z_DIz2@Z-ILjT?jYW?N0?2i-k@:i-bB"i-]Ɯ?*i-<)Bi-Bi-5?i-B~Pi)i-Bi-gܞ= addTargetRange:: Added new target pos. range: 93.099998 m, deltaT: 3.532066 s, deltaX: -2.400002 m, approachRate: -0.679489 m/s, rangeRepo size: 4 - Added new target pos. range: 92.632370 m, bearing: 2.323919 deg, lat: 36.779327 deg, lon: -121.859570 deg, deltaT: 3.532066 s, deltaX: -2.388214 m, approachRate: -0.676152 m/s, posRepo size: 4 jh)MDNOT Ignoring new targets: 92.63 m.RhUZhQe ProNav: ac range: 92.632370 m, nav range: 90.291710 m, bearing: 4.444366 deg, approach rate: 0.000000 m/s, LOS rate: -0.059630 deg/s, cmd heading: 8.090115 deg, new cmd heading: 8.007687 deg. BhamHeadingCmd: 0.139760 target range: 92.632370 and range: 93.10 m.hm`>h*h"h hgfffdddjd`fFW@ZdH?eBɢe=)a e?i);i3i`>5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810459+<l:I`>IM 9@I  @I @M /@I I Em * Em Em &Ei "Em a;*Em :VEm 4ZEi au @au @au @au @^A ?BIԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060830B>BB IB}BBBBBYq;B-EAAIIIaOm?,C?Aɰ6m@6W=6 <ٱ64 >AHRS rotation from veh to nav: [[0.992216,-0.124277,0.007848],[0.120910,0.976572,0.178009],[-0.029787,-0.175675,0.983998]]6H9Y=Fy/EzE>Q 5@5?Q 9@5)BYy)?Q E:y >Q I @_DIW;i;@5yABɮH@jhYeDNOT Ignoring new targets: 92.63 m.RheZhe ProNav: ac range: 92.632370 m, nav range: 89.946922 m, bearing: 4.394043 deg, approach rate: -0.714968 m/s, LOS rate: -0.104754 deg/s, cmd heading: 8.007686 deg, new cmd heading: 7.856137 deg. BhȏHeadingCmd: 0.137115 target range: 92.632370 and range: 93.10 m.hg >h*h"h hgfffڀBdddjd!ZdKE?Bɢa=) ?i)|;iviEg >EIIԡ9@ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313515^A= ?B:Em 3 Em *Em )Ei "Em j;*Em ;VEm FA4ZEi BEm ,]?A>@>@=>><ٱ>dn1 FAHRS rotation from veh to nav: [[0.992161,-0.124641,0.009034],[0.121160,0.977123,0.174791],[-0.030614,-0.172326,0.984564]]>Hȿ?v迿@z?@Y?D?_?&Y@ƿ?i>@I>?^;>ʐCYNByN IbDZVDZfy~a=%~V=ٔ~ ;Q-~>9Y=Fy/E N/:E > Q 5@5 !?Q 9@5 ) ٺBYy2>Q I@ _DI ;i : J@5y-BBɮ-@-E]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564606jhI]DNOT Ignoring new targets: 92.63 m.RheF޺ZheF޺u ProNav: ac range: 92.632370 m, nav range: 89.701187 m, bearing: 4.357880 deg, approach rate: -0.658446 m/s, LOS rate: -0.097164 deg/s, cmd heading: 7.856137 deg, new cmd heading: 7.747351 deg. Bhu]}HeadingCmd: 0.135217 target range: 92.632370 and range: 93.10 m.h}Dv >hy*hy"h hgfffdddjdZd@wW?ԱBɢZ=) [?i)X;IIiM!ȧiUDv >UIYei>ie>@ @@/0@@=@=^ATP;!- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820304I I1 O >1 ;,k~w?A2@2@^=2[=ٱ2u- :AHRS rotation from veh to nav: [[0.991980,-0.125973,0.010317],[0.122369,0.977619,0.171136],[-0.031645,-0.168501,0.985193]]2HM? #!?S?H?? 3nſ`?i2@I22^;2ȐCY^Byb IE) EE(E"E`;*E:VEc44ZEa @a @a @a @iMb@Mb@Mb@ 9!rh?S?:vYl'?y/>TA@ @);@Y@bDVDy(=%==ٔ;Q->9Y=Fy/E9;E>Q 5A53?Q 9A5Q =tI)˺BY-?Q E:y>Q I@`DIF;i;A5y ɮ i@ E-B*** querying acoustic contact ***i) i)jh9=DNOT Ignoring new targets: 92.63 m.RhEZhEU ProNav: ac range: 92.632370 m, nav range: 89.423302 m, bearing: 4.303502 deg, approach rate: -0.641445 m/s, LOS rate: -0.125909 deg/s, cmd heading: 7.747350 deg, new cmd heading: 7.583712 deg. BhUҬ]HeadingCmd: 0.132361 target range: 92.632370 and range: 93.10 m.h]>hY*hY"ha hagafafifmBdididijdqZdu\>?颙ɢn[=) ɍ?i) <顩i5t<5 I1}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069960@ @@0@ABQBQBU IBUBBQBQBQBU7q;BU-Ey^AM ϩ;I I O >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320488"$,Y?A2 @24=2=ٱ2* :AHRS rotation from veh to nav: [[0.991777,-0.127465,0.011418],[0.123738,0.977883,0.168623],[-0.032659,-0.165824,0.985614]]2H?P@b?M?@J?@p?@9ſ`'?i2 @I2 "^;2ːCqYƂBy I  A p<p<bDVDy-:=%-7=ٔ-;Q-5>91Y1=5Fy5/E=J;E=>AQ 5MA5EK?Q 9MA5E)EBYQyU|>Q IU@E%`DIEG;iEu;EA5yYɮ]@YjhDNOT Ignoring new targets: 92.63 m.RhZh ProNav: ac range: 92.632370 m, nav range: 89.135605 m, bearing: 4.246515 deg, approach rate: -0.645254 m/s, LOS rate: -0.128226 deg/s, cmd heading: 7.583713 deg, new cmd heading: 7.412198 deg. BhHeadingCmd: 0.129367 target range: 92.632370 and range: 93.10 m.hx>h*h"h hgfffdddjdZd`1@D zD bEc44jE64rE0E E"E%E"E*E;VE 4ZEBE59_<5CI9ԡ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573208^A X<I! I1 OE > M*,n4?A2 @2>2=ٱ2G) :AHRS rotation from veh to nav: [[0.991530,-0.129346,0.011748],[0.125573,0.977824,0.167604],[-0.033167,-0.164709,0.985784]]2H?ki?@?@VJ? t?61ſ?i2 @I2H^;0@BjAi@I@@IFCiD DD)DH Jr@HHHLLIL)LiL)PIPPP PPTTiTTiXZiA)ZѾ Z5FIXYXYfłByf IbDv VDv2y%u=ٔ:Q- ?9 Y=Fy/E׵;E%?9Q 5A5=Y]?Q 9A5=)=BYy y>Q I @=3`DI=5ha*ha"ha hagqfqfyfydddjdZd@ɢ=) N?i)+<iCi%">-z[<-X{I)9ԁ@ @@5@@@E%# E%)E%*E!"E%[;*E%0;VE%(N4ZE!a5@a5@a5@a5@ԩ  !51,Š?A@B,@B>B$ =ٱB' JAHRS rotation from veh to nav: [[0.991272,-0.131261,0.012231],[0.127444,0.977894,0.165773],[-0.033720,-0.162767,0.986088]]BH?) ?@P? J? 8?@CĿ?iB,@IB];BǐCYMÂByM IiMb@Mb@Mb@ 9S㥛?5^I ?QY$?yX>A5@ )~@Y@bDVDNy%<=ٔ:Q->9Y=Fy0Ew;E> Q 5A5 s?Q 9A5 ) BY-?Q E:y>Q I@ F`DI ~ ;i ;  A5y%DBɮ%@-EjhIUDNOT Ignoring new targets: 92.63 m.RhUXZh]Xe ProNav: ac range: 92.632370 m, nav range: 88.647476 m, bearing: 4.136708 deg, approach rate: -0.770392 m/s, LOS rate: -0.188843 deg/s, cmd heading: 7.281471 deg, new cmd heading: 7.081851 deg. BhmmHeadingCmd: 0.123602 target range: 92.632370 and range: 93.10 m.hm"=hi*hq"hq hqgqfqfyf}BdyddjdZd@V@uBɢu7d=)u< u?iq)}8 E- / E- 3E- %E) "E- af;*E- t ;VE- 4ZE) BE- η60 =ٱ6k& >AHRS rotation from veh to nav: [[0.990951,-0.133622,0.012719],[0.129726,0.977750,0.164852],[-0.034464,-0.161710,0.986236]]6H`޵? L ? ܚ?@I??6Ŀ??i6i?@I6^;6ȐCpY~By~ II,>)< = =E2Acoustic response timeoutbDVDN2yU[&%UU=ٔU:Q-U>9YYY=]Fy]0Ee6;Ee>iQ 5uA5m6?Q 9uA5m)mBYqyu>Q Iu@mV`DIm;im3;mA5yɮ@jhDNOT Ignoring new targets: 92.63 m.Rh2Zh2= ProNav: ac range: 92.632370 m, nav range: 88.406738 m, bearing: 4.077077 deg, approach rate: -0.628777 m/s, LOS rate: -0.156171 deg/s, cmd heading: 7.081851 deg, new cmd heading: 6.902473 deg. BhE[ֻEHeadingCmd: 0.120471 target range: 92.632370 and range: 93.10 m.hEq=hI*hI"hI hIgIfIfqfqdqdydyjdyZd} @ɢJ=) ?i)kF<iiq=4<P  BDAT read: Tx time:05:09:22.8761  $Ping request sent. i j > .@ K6> !z.@  +H>) e@I +H   H n^`?(vä?Df-f?  A5"?) DE7I iݽi +H   :publishing transmit ping time  Fpublishing direction and range infoy  U]4?DK7 mVѫ?Y      ) I i      ) I    H n^`?(vä?Df-f?  ) I i   A ؟AI I O >=,L5?AEZF EZ5EZ(EX"EZ>{;*EZ ;VEZc44ZEXa^@a^@a^@a^@ YuByu IiMb@Mb@Mb@ 9NbX9?%C?/$Y%?yZd>,AK@ @)@YbD-VD-02y=$%=-=ٔ=Q-=>9E"?YE"?=EFyE 0EMEM>QQ 5}A5U?Q 9}A5U&)UvBY}/?Q E}:y}d>Q I@Uk`DIUd;iU;U*A5yEBɮ9@Eii?AJi}BRi}Bjid=b·V@>'#O1@RU]4?DK7 mVѫ?Ziiݽbi+Hj]eϐ-V@<Ί@/@Z4t? A3f!?gl"i?2i@:ilB"iOe#Ӝ?*i oBiKBiէ?iiBiҰBik{=1= addTargetRange:: Added new target pos. range: 90.699997 m, deltaT: 3.533871 s, deltaX: -2.400002 m, approachRate: -0.679142 m/s, rangeRepo size: 4 M Added new target pos. range: 90.244385 m, bearing: 3.199207 deg, lat: 36.779330 deg, lon: -121.859570 deg, deltaT: 3.533871 s, deltaX: -2.387985 m, approachRate: -0.675742 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 90.24 m.RhuZhy ProNav: ac range: 90.244385 m, nav range: 88.411964 m, bearing: 3.986144 deg, approach rate: 0.000000 m/s, LOS rate: -0.156171 deg/s, cmd heading: 6.902473 deg, new cmd heading: 6.673162 deg. BhBBB IBBBBBBp;B-EHeadingCmd: 0.116469 target range: 90.244385 and range: 90.70 m.h=h*h"h hgfffBdddjd̬V@Zd?qɢuܧ=)q }?iy)}HXԉ ED,?ARX@Rx>R=ٱRb% fAHRS rotation from veh to nav: [[0.990484,-0.136911,0.013997],[0.132791,0.977461,0.164123],[-0.036152,-0.160703,0.986341]]RH ?Iq?L?`\G?@?`yĿ ?iRX@IR]b^;RɐCYnByn IbDv VDv2y~-%~y=ٔd;Q-?9Y=Fy  0E <E ?QQ 5]A5U߰?Q 9]A5U)UeBYYy]>Q Ie@Uz`DIU :iU|:UA5ymHBɮm,@mEqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 90.24 m.RhCZhC ProNav: ac range: 90.244385 m, nav range: 88.200188 m, bearing: 3.930594 deg, approach rate: -0.650340 m/s, LOS rate: -0.170997 deg/s, cmd heading: 6.673162 deg, new cmd heading: 6.506112 deg. BhHeadingCmd: 0.113553 target range: 90.244385 and range: 90.70 m.h=h*h"h hgfffd d dIjdIZdU?颙ɢ=) ?i)]b<顡inޱi=<`=I=IE8 E&E'E"En;*E;VE'4ZEBE۾ZPL,3?A\^@z\@z`>z=ٱzM' AHRS rotation from veh to nav: [[0.990383,-0.137581,0.014563],[0.133289,0.977062,0.166084],[-0.037079,-0.162546,0.986004]]zH8? D@%Ӎ?@?D?@@Ax@ @)@Y@bDVDy%=ٔh:Q->9 Y = Fy 0E t:E>Q 5%A5?Q 9%A5)IBY%#?Q E%:y%>Q I%@`DI:is:A5y1ɮ5>@1jhY]DNOT Ignoring new targets: 90.24 m.Rhe,Zhe,u ProNav: ac range: 90.244385 m, nav range: 87.884827 m, bearing: 3.850689 deg, approach rate: -0.593378 m/s, LOS rate: -0.150888 deg/s, cmd heading: 6.506112 deg, new cmd heading: 6.265537 deg. Bhuϻ}HeadingCmd: 0.109354 target range: 90.244385 and range: 90.70 m.h}=hy*hy"hy hygfff BdddjdZd?9ɢ=!=)9 =;?iA)Et9 R,X8L?A:!Z@:`>:\=ٱ:) FAHRS rotation from veh to nav: [[0.990403,-0.137397,0.014992],[0.132941,0.976678,0.168603],[-0.037808,-0.164992,0.985570]]:H`?=@L?7?@? ʔ?[tſʉ?i:!Z@I:^;:ːCYNByN IbDZVDZk2y^g%bn=ٔb ;Q-b?9dYd=fFyf0EfEj?hQ 5nA5j*?Q 9rA5jR)j7BYpyr>Q Ir@j`DIjI;ij;jA5ytɮzI@zEjhDNOT Ignoring new targets: 90.24 m.Rh+Zh%+- ProNav: ac range: 90.244385 m, nav range: 87.683517 m, bearing: 3.799451 deg, approach rate: -0.587807 m/s, LOS rate: -0.149955 deg/s, cmd heading: 6.265537 deg, new cmd heading: 6.111470 deg. Bh-ͻ5HeadingCmd: 0.106665 target range: 90.244385 and range: 90.70 m.h5Ss=h1*h9"h9 hgfffdddjdZd?Աɢi=) -?i)U5<iZ~iSs=<v=ISs=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453229I!!))G>i>E=7 E=E=*E9"E=m;*E=e;VE=(N4ZE9BE=-Z,hj?A2R@2 >2=ٱ2|, :AHRS rotation from veh to nav: [[0.990488,-0.136682,0.015895],[0.131967,0.976281,0.171638],[-0.038978,-0.167908,0.985032]]2H?~@F? L?@=?`=?@ ~ſa?i2R@I2^^;2ȐCYBnByBl IbDJVDJyRI%V-=ٔV7";Q-V>9XYX=ZFyZ0EZ|EZ>\Q 5bA5^?Q 9fA5^)^BYdyf>Q If@^`DI^y:i^-:^#A5yjIBɮj@lpjhDNOT Ignoring new targets: 90.24 m.Rh%+Zh%+5 ProNav: ac range: 90.244385 m, nav range: 87.405632 m, bearing: 3.728568 deg, approach rate: -0.584503 m/s, LOS rate: -0.149568 deg/s, cmd heading: 6.111470 deg, new cmd heading: 5.898148 deg. Bh=KͻEHeadingCmd: 0.102942 target range: 90.244385 and range: 90.70 m.hMO=hI*hI"hI hIgQfQfQfYdddjdZd6?Yɢ]͟=)Y ]Ku?iY)e}E( E%E'E"E`;*E;VE'4ZEa%@a%@a%@a%@a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212073B B B  IB }BB =B B B 4q;B -E&a,K?A>=D@>>>%=ٱ>d/ bAHRS rotation from veh to nav: [[0.990651,-0.135319,0.017319],[0.130281,0.976056,0.174189],[-0.040475,-0.170304,0.984560]]>Hi?%R??;?K?) ſ?i>=D@I>'^;)r4=r=pYimMb@Mb@Mb@iiii i9m-?ʡE?:vYm5?ym>mTm3Ai m@)m@iYmG@yybDVDy%>=ٔd;Q->9Y=Fy 0E쀻E>Q 5A5[?Q 9A5|)BY#?Q E:y>Q I@`DIX;i ;'A5yɮx@jhimDNOT Ignoring new targets: 90.24 m.RhuZhu ProNav: ac range: 90.244385 m, nav range: 87.145775 m, bearing: 3.676796 deg, approach rate: -0.584792 m/s, LOS rate: -0.116857 deg/s, cmd heading: 5.898148 deg, new cmd heading: 5.742370 deg. BheHeadingCmd: 0.100223 target range: 90.244385 and range: 90.70 m.hA=h*h"h hgfff̀BdddjdZd`l@aɢm=)i f?i),<顑iǶiA=<"%=IA=Iԉ9@ @@N0@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465198Ա^A =II IY Ou > D9 zD= ?AEE / EE EE )EA "EE af;*EE j:VEE FA4ZEA BEE ηB9c,=ٱBZ1 JAHRS rotation from veh to nav: [[0.990857,-0.133582,0.018910],[0.128185,0.975859,0.176828],[-0.042074,-0.172787,0.984060]]BH?3`"]?@\h?`<:?`K?@Ɗƿk}?iB2@IB%^;@YR8ByV+ IbD\VD\yf%fV=ٔfN;Q-f>9hYh=jFyj$0EnEn>pQ 5vA5rb?Q 9vA5rE)rBYtyv>Q Iz@r`DIry:ir:r+A5y|ɮ~A~EB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 90.24 m.Rh-nZh-n= ProNav: ac range: 90.244385 m, nav range: 86.915070 m, bearing: 3.630951 deg, approach rate: -0.629372 m/s, LOS rate: -0.125399 deg/s, cmd heading: 5.742370 deg, new cmd heading: 5.604470 deg. BhEEHeadingCmd: 0.097816 target range: 90.244385 and range: 90.70 m.hES=hI*hI"hI hIgIfIfQfQdQdQdYjdYZd] @ԙEBɢEƣ=)I MTZ?iI)M[^AM"=IIO>5 BDAT read: Rx Time:05:09:25.3985 = TRx dataTimestamp_ set to:1761541766.809191 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983054) im,B?A2@2s>23=ٱ2,6 :AHRS rotation from veh to nav: [[0.991185,-0.130849,0.020762],[0.124992,0.975523,0.180921],[-0.043927,-0.176731,0.983278]]2H@ɷ?` B?r?`{7?m(?@}"ƿ w?i2@I2 _;0Y^Byb IiEMb@Mb@Mb@AAAA A9E+?+η?ktYEv?yEv=E 0EAA E@)E@AYE@bD VD:2y%;=ٔ;Q->E EEE"EV;*E4:VEZEa@a@a@a@9Y=Fy(0E'E>Q 5 A50?Q 9 A5i)BY  ?Q E :y >Q I@`DI:i#:.A5yJBɮ^AEjhAMDNOT Ignoring new targets: 90.24 m.RhMZhM] ProNav: ac range: 90.244385 m, nav range: 86.646500 m, bearing: 3.595409 deg, approach rate: -0.609431 m/s, LOS rate: -0.080903 deg/s, cmd heading: 5.604470 deg, new cmd heading: 5.497511 deg. Bhe^eHeadingCmd: 0.095950 target range: 90.244385 and range: 90.70 m.heB=hi*hi"hi higififqfuBdqdydyjdyZd}u @ɢ=) L?i)N<iiB=H]<!=IB=I9@ @@4@!mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.220716BA<BBBA IBJBBBBBKq;B-EQ^AM C"=I I O >ԁ Qt,?ҡ?ADAT read: 05:09:25.3985 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 407,-0.24,-3.131, 1.618,-2.788,-3.113, PHS= 0.083,-1.508, 0.280, RAW= 155.8, 13.4, CAL= 156.1, 15.1, ROT= 353.9, -15.1 %Ygot valid direction response: 05:09:25.3985 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 407,-0.24,-3.131, 1.618,-2.788,-3.113, PHS= 0.083,-1.508, 0.280, RAW= 155.8, 13.4, CAL= 156.1, 15.1, ROT= 353.9, -15.1 %PDAT read: Bearing 163.5, -11.0 (Local) -~Local bearing/azimuth received: Bearing 163.5, -11.0 (Local) 5DAT read: Range 11 to 50 : 88.6 m (Round-trip 118.2 ms) speed 0.4 m/s ^@^@=^6w<=ٱ^9 MAHRS rotation from veh to nav: [[0.991582,-0.127414,0.023042],[0.121036,0.975330,0.184614],[-0.045996,-0.180271,0.982541]]^H ?OL?1?5?o?ƌ@ ǿp?i^@I^^;^ɐC}*DAT read: user:324> BDAT read: Tx time:05:09:26.4761 $Ping request sent.b.@b|o>b].@ bV>)b@IbV``b+pA?jЈ1?XRiѮ? b?)boIbi ڽibV``:publishing transmit ping timeFpublishing direction and range infoy`b[{m^?wCQfJ0?Y````YByI AbDVD 8Y` `)`I`i````` `)`I`yW%<=ٔ;Q->9Y=Fy,0E``b+pA?jЈ1?XRiѮ? `)`I`i```E>Q 5A5F?Q 9A5)̹BYqyub>Q Iu@`DI/{@{,1?A2 @2=2C=ٱ2$< :AHRS rotation from veh to nav: [[0.992066,-0.123163,0.025220],[0.116310,0.975310,0.187731],[-0.047719,-0.183308,0.981897]]2H? Kә?`ƽ?5?`?@nvǿk?i2 @I2^;0YBByFIbDNVDNyVV%VT=ٔZR;Q-Z>9XYX=ZFy^00E^IE^>`Q 5fA5bZ?Q 9fA5b )bBYhyjр>Q Ij@baDIb;;iba;)b6A5yqɮAEjhDNOT Ignoring new targets: 88.15 m.Rh-9Zh-9e ProNav: ac range: 88.154686 m, nav range: 86.147972 m, bearing: 3.531118 deg, approach rate: -0.612625 m/s, LOS rate: -0.078344 deg/s, cmd heading: 5.384619 deg, new cmd heading: 5.294655 deg. BhmWHeadingCmd: 0.092409 target range: 88.154686 and range: 88.60 m.hA=h*h"h hgfffdd!d)jd)Zd5v?Y颍Bɢ=)J _8?i)<顡iҹiA=%<=IA=IEu" EuEu'Eq"EuZ;*EuZ:VEu'4ZEqa@a@a@a@9@ @@ $4@ @fA@ԁB B B IB BB =B B B q;B -EBBBBBC4ԩ ^Am =A I I O >,( ?A:&|@:=:HR=ٱ:A BAHRS rotation from veh to nav: [[0.993042,-0.113830,0.030181],[0.105995,0.975627,0.192140],[-0.051317,-0.187604,0.980903]]:H`? #?u"?@U8??(Flȿ@c?i:&|@I:_;:ȐCYJByJIiMb@Mb@Mb@ 9%C?{Gz?S㥛YZ$?y#=/ݼvA @)@Y@bD5VD5yE`%E-=ٔM;Q-M>9IYI=UFyU50EUEU>YQ 5eA5]Bs?Q 9mA5])]BYm$?Q Em:ym#>Q Im@]aDI];i]u;]#:A5yqɮu Ayjh=DNOT Ignoring new targets: 88.15 m.RhEFZhEFU ProNav: ac range: 88.154686 m, nav range: 85.847084 m, bearing: 3.511341 deg, approach rate: -0.657788 m/s, LOS rate: -0.043386 deg/s, cmd heading: 5.294655 deg, new cmd heading: 5.235117 deg. BhU4]HeadingCmd: 0.091370 target range: 88.154686 and range: 88.60 m.h}6 =hy*hy"hy hgfff}BdddjdZd}? ɢ Ž=) w1?i9)E_T;*E:VE(N4ZEBE"ԑ iߩ Iߩ ,$%?A:N@:@d=:Z=ٱ:B@ FAHRS rotation from veh to nav: [[0.993518,-0.108790,0.032980],[0.100464,0.976021,0.193106],[-0.053198,-0.188541,0.980624]]:H@?`ٻ??;? ?@<"ȿDa?i:N@I: _;:ɐCYN݁ByNIIR4=)Rt>V=V=bDZVDZ:2ybx%bU=ٔf;Q-f>9dYd=fFyf90EjlEj>lQ 5rA5n?Q 9rA5n)nBYtyv>Q Iv@n&aDIn:in:n=A5yxɮziAxB*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 88.15 m.Rh-=Zh-=5 ProNav: ac range: 88.154686 m, nav range: 85.602043 m, bearing: 3.496058 deg, approach rate: -0.663835 m/s, LOS rate: -0.041521 deg/s, cmd heading: 5.235117 deg, new cmd heading: 5.189137 deg. Bh=EHeadingCmd: 0.090568 target range: 88.154686 and range: 88.60 m.hEw{=hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU>9?颁ɢc=) H+?i)<顉iiw{=v<g E5  E5 E5 (E1 "E5 V;*E5 :VE5 c44ZE1 a= @a= @a= @aE @x/,:??AB#%@B@=BCa=ٱBD JAHRS rotation from veh to nav: [[0.993914,-0.104267,0.035553],[0.095422,0.976128,0.195113],[-0.055048,-0.190533,0.980136]]BH$? C3?@m?`p9QYQ=UFyU>0EU~*E]>YQ 5eA5]?Q 9eA5])]BYm=?Q Em:ym=Q Im@]9aDI]i ;i] ;]AA5yyɮ}LA}E jh!%DNOT Ignoring new targets: 88.15 m.RhM`ZhM`] ProNav: ac range: 88.154686 m, nav range: 85.300201 m, bearing: 3.487665 deg, approach rate: -0.600696 m/s, LOS rate: -0.016761 deg/s, cmd heading: 5.189137 deg, new cmd heading: 5.163870 deg. Bh] 8eHeadingCmd: 0.090127 target range: 88.154686 and range: 88.60 m.heB=ha*ha"ha hgfffBdddjdZd`d?Bɢs=)  ,?i ) ><  i iB=k<%A=ٔ%a;Q-%>9!Y!=-Fy-B0E-wXE->1Q 5=A55y?Q 9=A55M)5BYAyE =Q IE@5JaDI5:i5:5EA5yMKBɮMAMEqjhy}DNOT Ignoring new targets: 88.15 m.Rh䎹Zh䎹 ProNav: ac range: 88.154686 m, nav range: 85.033363 m, bearing: 3.481220 deg, approach rate: -0.644465 m/s, LOS rate: -0.015616 deg/s, cmd heading: 5.163870 deg, new cmd heading: 5.144473 deg. Bhx+HeadingCmd: 0.089788 target range: 88.154686 and range: 88.60 m.h=h*h"h hgfffdddjdZd @Bɢ=) +%?i)c~<i@im=m=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501570 ,y?AR@R@5=R"q=ٱRzyF ZAHRS rotation from veh to nav: [[0.994700,-0.094184,0.041258],[0.084327,0.976810,0.196800],[-0.058836,-0.192278,0.979575]]RH@?l@?v?B?0?@ȿX?iR@IR_;RʐCYe΁BymI qqqqE EE*E"E>T;*EVE(N4ZEa@a@a@a@iMMb@Mb@Mb@IIII I9MHzG?MbMb`?YM=*?yMM;M AMx@ M@)Mv@IYM@bDaVDayu%u6=ٔuj;Q-u>9yYy=}Fy}G0E&GE>Q 5A5Ѐ?Q 9A5)BYJ*?Q E:y{=Q I@^aDI8:i:nIA5yɮAjhDNOT Ignoring new targets: 88.15 m.RhȶZhȶ ProNav: ac range: 88.154686 m, nav range: 84.735146 m, bearing: 3.481067 deg, approach rate: -0.665099 m/s, LOS rate: -0.000343 deg/s, cmd heading: 5.144473 deg, new cmd heading: 5.144012 deg. BhpHeadingCmd: 0.089780 target range: 88.154686 and range: 88.60 m.h޷=h*h"h hgfffBdddjdZd{@颭BɢI=) "?i)GS<顱iii޷=z<:+o,ʖ?A2q@2آ=2w=ٱ2/2F :AHRS rotation from veh to nav: [[0.995016,-0.089542,0.043873],[0.079286,0.977303,0.196450],[-0.060468,-0.191993,0.979532]]2H`,?8춿 v? L?F?G%?`7ȿRX?li2q@I22_;2ɐCYفByIbDVDyS=%<=ٔv;Q->9Y=FyK0E>E>Q 5A5耊?Q 9A5d){BYy=g=Q I@paDI ;iH!;9MA5yɮA jhDNOT Ignoring new targets: 88.15 m.Rh 8Zh 8 ProNav: ac range: 88.154686 m, nav range: 84.446724 m, bearing: 3.481909 deg, approach rate: -0.646672 m/s, LOS rate: 0.001894 deg/s, cmd heading: 5.144012 deg, new cmd heading: 5.146546 deg. Bh\8HeadingCmd: 0.089824 target range: 88.154686 and range: 88.60 m.h=h*h"h hgfffdddjdZd @%Bɢ%=)! %'?i))-<))i-͛i5=5TU<5;I5=I9DizDiEu EuEu(Eq"EuUS;*Eu4:VEuc44ZEqBEuY- 9)Y-YAY #,?Aɰ2a}@2=2,}=ٱ2"D :AHRS rotation from veh to nav: [[0.995261,-0.085535,0.046261],[0.075020,0.978051,0.194394],[-0.061873,-0.190003,0.979832]]2H,?嵿`?4?0L??֭RȿZ?i2a}@I257_;2ȐCYb؁BybIAbDeVDe2y}Yٻ%}Q=ٔnk;Q->9Y=FyO0E1E>Q 5A5?Q 9A5)tBYyU=Q I@aDIM  BDAT read: Tx time:05:09:30.0760  $Ping request sent. x_?Ye ̬Ba a a a a )e IIe p=>ie J ¿e >a e X8>e '-@ e I>)e @Ie Ia a e +aŠ?[Dg?tO? e 5?^A *:<A >A >)e Bi8Ie )˽ie Ia a  :publishing transmit ping time  Fpublishing direction and range infoya e v_&y9? T>x_?Ya a a a a a )a Ia ia a a a a a )a Ia a a e +aŠ?[Dg?tO? a )a Ia ia a a A .AI I O >P,͢?ABq`@Bؒ=BFP=ٱB3@ jAHRS rotation from veh to nav: [[0.995443,-0.082164,0.048400],[0.071498,0.978920,0.191319],[-0.063099,-0.186986,0.980334]]BH?`Ǩ?`M?PS?!}?I'*ǿ@^?iBq`@IB._;BʐCYrByrIiUMb@Mb@Mb@QQQQ Q9UFx?Mb?Mb?YU+?yU9- ?Y- ?=-Fy-U0E5E5>9Q 5eA5=?Q 9eA5=D)=jBYm+?Q Em:ymq=Q Im@=aDI=;i=B;=UA5yuJBɮuAuEiih\Ƣ?AJiBRiBji[_E<b~xT@r¾ F:0@Rv_&y9? T>x_?Zi)˽biIj6@U@'b?1m)@Z5K?p.5e?J!Y ?2i?:iB"i -?*i5UBiBi]Ɯ?i oiiKBi==- addTargetRange:: Added new target pos. range: 86.400002 m, deltaT: 3.791499 s, deltaX: -2.199997 m, approachRate: -0.580245 m/s, rangeRepo size: 4 ] Added new target pos. range: 85.965637 m, bearing: 0.690223 deg, lat: 36.779333 deg, lon: -121.859584 deg, deltaT: 3.791499 s, deltaX: -2.189049 m, approachRate: -0.577357 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 85.97 m.RheZhau ProNav: ac range: 85.965637 m, nav range: 84.147255 m, bearing: 2.655390 deg, approach rate: 0.000000 m/s, LOS rate: 0.003414 deg/s, cmd heading: 5.151201 deg, new cmd heading: 5.155903 deg. BhHeadingCmd: 0.089987 target range: 85.965637 and range: 86.40 m.h\K=h*h"h hgfffBdddjdU@Zd?]Bɢ]l<=)Y ]K1?iY)e<i I Xr,E碿?A0YrByrIbDzVDzy%a%%m=ٔ%Q-%?9-"?Y-"?=-Fy-X0E5E5?1Q 5A55r.?Q 9A55)5dBYyQ I@5aDI5.E  E E *E "E Q;*E :VE (N4ZE a @a @a @a @i,4?A@>r4@>ه=>3=ٱ>< FAHRS rotation from veh to nav: [[0.995659,-0.077124,0.052100],[0.066141,0.980146,0.186922],[-0.065481,-0.182665,0.980992]]>Hq?aά??`Z]?? cðaǿId?i>r4@I> _;>ȐCPYRByRIB>BBIBƁBBBBBq;B-EiMb@Mb@Mb@ 9Dl?+?9 ?Y ?=Fy\0E%zHE%>)Q 55A5-HG?Q 95A5-)-[BY5-?Q E=:y=u>Q I=@-aDI- ;i-X ;-[A5yAɮEAAjhimDNOT Ignoring new targets: 85.97 m.Rh+Zh+ ProNav: ac range: 85.965637 m, nav range: 83.626038 m, bearing: 2.633240 deg, approach rate: -0.688356 m/s, LOS rate: -0.037567 deg/s, cmd heading: 5.137719 deg, new cmd heading: 5.089233 deg. Bh@κHeadingCmd: 0.088824 target range: 85.965637 and range: 86.40 m.hK=h*h"h hgfffBdddjdZd@=?BɢΪ=) 5?i)S<iȂiK=/V<6"IK=I@ @@4@^A0::AzA9 A% ؟AI) I9 OM >M,\U?A24&@2I=2.=ٱ2ߴ8 :AHRS rotation from veh to nav: [[0.995677,-0.075484,0.054131],[0.064404,0.980949,0.183277],[-0.066934,-0.178999,0.981570]]2H@?R?|?c?`u?"@mƿ i?i24&@I2_;2ƐCYBByFIbDNVDNNyVL=%Vg=ٔVĆ;Q-Z>9Z"?YZ"?=ZFyZ`0E^E^>`Q 5fA5bS[?Q 9fA5b)bSBYdyfX=Q Ij@baDIb|:ibt:b^A5ylɮn8AnEbEIjEM:4rEM/E E E)E"EL;*E:VEFA4ZEBEY n,05?A2g"@2@V=2H=ٱ26 :AHRS rotation from veh to nav: [[0.995604,-0.075152,0.055897],[0.063935,0.981447,0.180761],[-0.068445,-0.176393,0.981937]]2H@?0=?` ^?h?-#?`@ ƿl?i2g"@I2^;0YZByZIbDfVDf:yj <%nG=ٔn9pYp=rFyrd0ErWEv>Q 5%A5r?Q 9%A5)IBY!y%c=Q I-@aDI;i;bA5y1ɮ5 A5EjhYeDNOT Ignoring new targets: 85.97 m.Rhm9Zhu9 ProNav: ac range: 85.965637 m, nav range: 83.107224 m, bearing: 2.605466 deg, approach rate: -0.752947 m/s, LOS rate: -0.040447 deg/s, cmd heading: 5.050753 deg, new cmd heading: 5.005652 deg. Bh޺HeadingCmd: 0.087365 target range: 85.965637 and range: 86.40 m.hy=h*h"h hgfff 9dddjdZdC(?颭Bɢ=) ;?i)C<项iliy=<_)Iy=IE EE*E"EM;*Ej:VE(N4ZEa@a@a@a@am9@i @i@m/@iAA@AB>BBIBՁBBBBBdq;B-EByByByB} =ByC}o4ԑ^A "5Թ A I I O >G, O?Aɰ;2"@2{=2=ٱ22 :AHRS rotation from veh to nav: [[0.995505,-0.075286,0.057467],[0.064000,0.981985,0.177793],[-0.069817,-0.173315,0.982389]]2H,? E`Ql?Ib?@kl??߱3/ƿ`o?i2"@I2^;2ȐCYFByF IiMb@Mb@Mb@ 9S㥛?B`"۹?Mb`Y$?y= A@ @)AYG@bD-VD-Ny5\=%UD=ٔ]F;Q-]>9aYa=eFyei0EmX$9Em>qQ 5}A5u?Q 9A5ur)u;BY&?Q E:y^>Q I@uaDIu:iu':ufA5ԑyɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 85.97 m.Rh/Zh/% ProNav: ac range: 85.965637 m, nav range: 82.820778 m, bearing: 2.571015 deg, approach rate: -0.630901 m/s, LOS rate: -0.076143 deg/s, cmd heading: 5.005651 deg, new cmd heading: 4.901939 deg. Bh%Q-HeadingCmd: 0.085555 target range: 85.965637 and range: 86.40 m.h-r7=h)*h)"hI hIgQfQfQfUBdYdYdYjdYZde[@BɢzA=) eC?i)į<iHir7=9i<uIr7=IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@E  EEE"EC;*E :VEZEBEA > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497806 AQ Ia Iq O} >,=i?A2C%@2@ =2b=ٱ2:/ :AHRS rotation from veh to nav: [[0.995374,-0.075629,0.059255],[0.064269,0.982563,0.174470],[-0.071417,-0.169855,0.982878]]2H@?i\V?@s?'q? U?^H@˽ſs?i2C%@I2^;0YFByF IJ=J=bDNVDN:yV?G<%VQ=ٔZM;Q-Z>9\Y\=^Fy^l0E^}M:E^>`Q 5fA5b?Q 9fA5b#)b/BYhyj:_>Q Ij@baDIbf;ib;biA5ynIBɮnoArEjhAEDNOT Ignoring new targets: 85.97 m.RhmZhu ProNav: ac range: 85.965637 m, nav range: 82.594208 m, bearing: 2.543529 deg, approach rate: -0.584010 m/s, LOS rate: -0.071043 deg/s, cmd heading: 4.901939 deg, new cmd heading: 4.819255 deg. BhCHeadingCmd: 0.084112 target range: 85.965637 and range: 86.40 m.hB=h*h"h hgfffdddjdZd !@Bɢh3=) C?i)<i"iB=%$&<%$9I-B=I1i@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749778) ^A= qE  E E (E "E ,K;*E :VE c44ZE a @a @a @a @I Aq Iy I O >,?A2$,@2Ņ=2ݔ=ٱ2, :AHRS rotation from veh to nav: [[0.995232,-0.076475,0.060530],[0.065099,0.983012,0.171606],[-0.072625,-0.166847,0.983304]]2H?⓳@? Y?t?/?@A[ſ:w?i2$,@I2^;0YB"ByF IBz>BxBzIBzBBxBxBxBzq;Bz-E BDAT read: Rx Time:05:09:32.5920 TRx dataTimestamp_ set to:1761541774.124238checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002932i5Mb@Mb@Mb@1111 195)\(?n?MbY5G!?y5V>55 A5-@ 5$@)5A1Y53@bDVD1y)<%&=ٔ!;Q->9YY=]Fyeq0Ee^:Ee>iQ 5uA5m?Q 9uA5m)mBY}+%?Q E:y>Q I@mbDIm,]?A44R1@R@<=R{=ٱRׯ) ^AHRS rotation from veh to nav: [[0.995128,-0.077164,0.061364],[0.065807,0.983353,0.169371],[-0.073412,-0.164507,0.983640]]RH ?&k?ذ?w??$˲ſy?iR1@IRw4_;RʐCYjByj IbDrVDr0yzN%zN=ٔ~?;Q-~>9~ ?Y~ ?=~Fy~u0E:E> Q 5A5 ˁ?Q 9A5 )  BYy(>Q I@ bDI &;i v; cqA5y!ɮ%A!jhIMDNOT Ignoring new targets: 85.97 m.QRh]8Zh]8m ProNav: ac range: 85.965637 m, nav range: 82.040825 m, bearing: 2.451086 deg, approach rate: -0.648980 m/s, LOS rate: -0.109380 deg/s, cmd heading: 4.663436 deg, new cmd heading: 4.540981 deg. Bhm!}HeadingCmd: 0.079255 target range: 85.965637 and range: 86.40 m.h{P=h*h"h hgfffdddjdZd- n @]Bɢ]H=)Y ]#??ia)e4 BDAT read: Tx time:05:09:33.6760 $Ping request sent.-"-@-b>--\-@ -r>)-_(@I-r))-[?F?8? -@?)-ccI-޹i-r)):publishing transmit ping timeFpublishing direction and range infoy)-m?{⩝?Y))))a@a @a@e0@aԉ) )))I)i))))) )))I)))-[?F?8? )))I)i)))ԩ^A_;AzAgAA I I O >L,w?Ai]MH@]ό=]=ٱ]$ AHRS rotation from veh to nav: [[0.994784,-0.079908,0.063404],[0.068505,0.983884,0.165167],[-0.075580,-0.159962,0.984226]]]HD?t@;??{? /$?`UļUE AUp@ U;@)QQYU@bDmVDm:y}?=%}0=ٔ};Q-}>9Y=Fyz0E;E>Q 5A5お?Q 9A5r)BY(?Q E:y>Q I@2bDI2 ;i ;nuA5yFBɮ.AEii$)?AJiBRiBji"ת<b6#T@m|KdSz {4@Rm?{⩝?Zi޹birj} T@ = 1`?qz.@Z\V r?{@?<-<T?2i?:iB"i7s䜊?*iqBiBiOe#Ӝ?iqiKBiBi~D< addTargetRange:: Added new target pos. range: 83.900002 m, deltaT: 3.528121 s, deltaX: -2.500000 m, approachRate: -0.708592 m/s, rangeRepo size: 4  Added new target pos. range: 83.478333 m, bearing: 1.194877 deg, lat: 36.779334 deg, lon: -121.859603 deg, deltaT: 3.528121 s, deltaX: -2.487305 m, approachRate: -0.704994 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 83.48 m.RhZh ProNav: ac range: 83.478333 m, nav range: 81.844284 m, bearing: 1.197865 deg, approach rate: 0.000000 m/s, LOS rate: -0.109380 deg/s, cmd heading: 4.540981 deg, new cmd heading: 4.381172 deg. Bh%HeadingCmd: 0.076466 target range: 83.478333 and range: 83.90 m.h%$=h!*h!"h! h!g!f)f)f-YBd)d1d1jd5T@Zd5M?颅Bɢ\h=) C?i)6C<顉iNi$=ԙBA<B>BBIBBBBBB*r;B..E<',ף?AFS@F=F9=ٱFج# RAHRS rotation from veh to nav: [[0.994601,-0.081400,0.064372],[0.069910,0.983967,0.164077],[-0.076695,-0.158690,0.984345]]FH?`ִz? ?|?v? N`OĿ ?iFS@IF_;DxYByIbDVDy%;=ٔ';Q->9"?Y"?=Fy~0ET;E>Q 5A5w?Q 9A5)޸BYy~>Q I@EbDIT;*EML:VEMFA4ZEIBEM"y ,SY?A>4<ɰ9Y=Fy0E9;E>Q 5A5p ?Q 9A5)˸BYy>Q I@TbDI:i:r|A5yɮAjhQ]DNOT Ignoring new targets: 83.48 m.Rh]Zhem ProNav: ac range: 83.478333 m, nav range: 81.346832 m, bearing: 1.085348 deg, approach rate: -0.605719 m/s, LOS rate: -0.138151 deg/s, cmd heading: 4.197659 deg, new cmd heading: 4.042585 deg. BhmuHeadingCmd: 0.070556 target range: 83.478333 and range: 83.90 m.h}=hy*hy"hy hygyfyffdddjdZd`?Bɢ=) 3?i)/=i"Pi = O< yA>B B B IB BB B B B !r;B *.EA I I O > E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494399,I ?A66c@6=6ǡ=ٱ6p" >AHRS rotation from veh to nav: [[0.994296,-0.083508,0.066349],[0.071754,0.983986,0.163167],[-0.078912,-0.157476,0.984365]]6HE?`>? u^?|?? 3*(Ŀ?i66c@I6`;6ȐCY=By=IiMb@Mb@Mb@ 9^I +?+?X9vYX?yv>>/ A h@)AY@bDVD0y%C=ٔ%;Q->9Y=Fy0E;E>Q 5A5!?Q 9A5)BY ?Q E:y>Q I@dbDI;i3:A5y%EBɮ%|A%EjhIMDNOT Ignoring new targets: 83.48 m.RhU0ZhU0e ProNav: ac range: 83.478333 m, nav range: 81.102875 m, bearing: 1.023172 deg, approach rate: -0.604255 m/s, LOS rate: -0.154467 deg/s, cmd heading: 4.042585 deg, new cmd heading: 3.855496 deg. BheԻmHeadingCmd: 0.067291 target range: 83.478333 and range: 83.90 m.hmω=hi*hi"hi hqgqfqfqfu8BdydydyjdyZd?5Bɢ==)9 =&+?iI)Me`=QQiUMimω=mE}  E} E} 'Ey "E} O;*E} >:VE} '4ZEy BE} 79QYQ=UFyU0E]k;E]>aQ 5mA5ep4?Q 9mA5eP)eBYiyme>Q Iu@etbDIe:ieN:eqA5y}DBɮ}A}EjhDNOT Ignoring new targets: 83.48 m.Rh+Zh+ ProNav: ac range: 83.478333 m, nav range: 80.880920 m, bearing: 0.966097 deg, approach rate: -0.582043 m/s, LOS rate: -0.150081 deg/s, cmd heading: 3.855495 deg, new cmd heading: 3.683802 deg. BhͻHeadingCmd: 0.064294 target range: 83.478333 and range: 83.90 m.hҬ=h*h"h hgfffdddjdZdi@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998480Bɢw=) $?i)4e=i Bi%Ҭ=%<% ,>?A< A@ @)`AYAbDVDy%A=ٔQ8;Q->9Y=Fy0EE>Q 5A5UI?Q 9A5 )BY!?Q E:y>Q I@bDI ;i ;!A5yɮAjh)-DNOT Ignoring new targets: 83.48 m.Rh5Zh5E ProNav: ac range: 83.478333 m, nav range: 80.631607 m, bearing: 0.907711 deg, approach rate: -0.590663 m/s, LOS rate: -0.138753 deg/s, cmd heading: 3.683802 deg, new cmd heading: 3.508103 deg. BhEsMHeadingCmd: 0.061228 target range: 83.478333 and range: 83.90 m.hM)z=hI*hI"hQ hQgQfQfYf]OBdYdYdYjdaZde x@ԉMBɢM=)I U?iQ)U=QQiU{i])z=]L<]/BBIBՁBBBBBq;B-EmPExceeded connect timeout, disconnecting. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503766}9@y @y@}/@yԹ^A &t<A eAzA dAA .A I! I1 OE >s,X?A:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754358: _@:~=:aY=ٱ:s& fAHRS rotation from veh to nav: [[0.994035,-0.083860,0.069732],[0.071226,0.983339,0.167245],[-0.082596,-0.161280,0.983446]]:H!?`wٱ?;?w?Fh?$դĿ`dx?i: _@I:_;:ƐCYnBynI ttbDzVDz1y,%Z=ٔ f;Q- >9  ?Y  ?= Fy0EE>Q 5%A5[?Q 9%A5)pBY)y->Q I-@bDIX ;iu ;hA5y1ɮ54A1jhY]DNOT Ignoring new targets: 83.48 m.Rhe Zhe u ProNav: ac range: 83.478333 m, nav range: 80.410088 m, bearing: 0.855685 deg, approach rate: -0.590446 m/s, LOS rate: -0.139054 deg/s, cmd heading: 3.508103 deg, new cmd heading: 3.351595 deg. Bhuݾ}HeadingCmd: 0.058496 target range: 83.478333 and range: 83.90 m.h}o=hy*hy"hy hgfffdddjdZd y@颽Bɢ=)  ?i)=ioƽio=<),`r?A$Y=By=}IbDMVDMN2y}4%}D=ٔ}Q-}>9"?Y"?=Fy0EE>Q 5A5p?Q 9A5˹)WBYyQ I@bDI;iU; A5yCBɮAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 83.48 m.RhZh ProNav: ac range: 83.478333 m, nav range: 80.164284 m, bearing: 0.797602 deg, approach rate: -0.589903 m/s, LOS rate: -0.139821 deg/s, cmd heading: 3.351595 deg, new cmd heading: 3.176812 deg. Bh꿻HeadingCmd: 0.055446 target range: 83.478333 and range: 83.90 m.h)c=h*h"h hgfffdddjdZd z @5Bɢ=t=)9 =l?i9)= =AAiEaiE)c=MI nManaging dock network, ignoring radio surface power offm DAT read: 05:09:36.1892 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.20,-2.992, 1.666,-2.671,-2.974, PHS= 0.084,-1.599, 0.259, RAW= 154.9, 14.0, CAL= 155.3, 15.9, ROT= 354.7, -15.9 } Ygot valid direction response: 05:09:36.1892 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.20,-2.992, 1.666,-2.671,-2.974, PHS= 0.084,-1.599, 0.259, RAW= 154.9, 14.0, CAL= 155.3, 15.9, ROT= 354.7, -15.9  PDAT read: Bearing 161.2, -12.4 (Local)  ~Local bearing/azimuth received: Bearing 161.2, -12.4 (Local)  DAT read: Range 11 to 50 : 81.7 m (Round-trip 109.0 ms) speed 0.4 m/s  *DAT read: user:327>  BDAT read: Tx time:05:09:37.2760  $Ping request sent. ~ψ.?Y= fB9 9 9 9 9 )= II= 1=i= ̿= >= c-@= 5z>= x-@ = q>)= @I= q9 9 = a^_v?uHW?]? = ?)= zI= qi= q9 9  :publishing transmit ping time  Fpublishing direction and range infoy9 = =L~ψ.?Y9 9 9 9 9 9 )9 I9 i9 9 9 9 9 9 )9 I9 9 9 L",2:?Aua^_v?uHW?]? q)qIqiqqq;ɰ494A )vAYAbD=VD=yP%+=ٔ7;Q->9Y=Fy0EE>Q 5A5?Q 9A5):BY$?Q E:yc>Q I@bDI:iH:BA5y)ɮ-A1iqiu(?AJiuBRiuBjiu|<but4'vS@z_5j˝E6@Ru=L~ψ.?Ziuqbiuqju*߱S@|e@~0@ZusQ? M?}H9?2iu5@:iuB"iu ;?*iuBiuBiqiuiqiuɟBiu< addTargetRange:: Added new target pos. range: 81.699997 m, deltaT: 3.527772 s, deltaX: -2.200005 m, approachRate: -0.623624 m/s, rangeRepo size: 4 - Added new target pos. range: 81.289307 m, bearing: 1.521130 deg, lat: 36.779334 deg, lon: -121.859591 deg, deltaT: 3.527772 s, deltaX: -2.189026 m, approachRate: -0.620512 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 81.29 m.Rh5Zh1e ProNav: ac range: 81.289307 m, nav range: 79.893074 m, bearing: 1.515263 deg, approach rate: 0.000000 m/s, LOS rate: -0.139821 deg/s, cmd heading: 3.176812 deg, new cmd heading: 2.964405 deg. BhimHeadingCmd: 0.051739 target range: 81.289307 and range: 81.70 m.huS=hq*hq"hq hqgqfqfyf}BdyddjdlT@Zd@4?Bɢou=)K >i)F =i%2i%S=-r<-7A% >q II!O5> *,&?A61@6=6=ٱ631 >AHRS rotation from veh to nav: [[0.994281,-0.079433,0.071391],[0.065691,0.981904,0.177619],[-0.084208,-0.171914,0.981506]]6H%?@U`F?Ѱ?k?:?`Dƿ h?i61@I6t_;6ǐCYJYByJIIN=)NbDRVDRy~=h%~Z=ٔA:Q->9Y=Fy 0E E >Q 5A5?Q 9A5۵)#BY!y%Ϗ>Q I%@bDIW:i:A5y-BBɮ-FA-EjhaeDNOT Ignoring new targets: 81.29 m.Rhmq Zhmq  ProNav: ac range: 81.289307 m, nav range: 79.666962 m, bearing: 1.472967 deg, approach rate: -0.649885 m/s, LOS rate: -0.121911 deg/s, cmd heading: 2.964405 deg, new cmd heading: 2.837157 deg. BhUHeadingCmd: 0.049518 target range: 81.289307 and range: 81.70 m.hJ=h*h"h hgfffdddjdZd?Bɢv=) >i) =i QiJ=>Â<\a E  E E &E "E F;*E :VE 4ZE a @a @a @a @R0,$ Ĥ?A:)@:F=:ͭ=ٱ:5 FAHRS rotation from veh to nav: [[0.994417,-0.077029,0.072124],[0.062854,0.981379,0.181508],[-0.084763,-0.175962,0.980741]]:HB?`+v? 8? tg?@;?`ƿ:b?i:)@I:<"`;:ȐCYNQByNIi%Mb@Mb@Mb@!!!! !9%RQ?A`"?/$Y%"?y%=%,%A! !)%A!Y%AbD=VD=0yM4!%MD=ٔM:Q-U>9QYQ=UFyU0EB]<AYBaBaBe4IBepBBaBaBaBep;Be-E׻E>Q 5A5?Q 9A5M) BY(%?Q E:y]>Q I@bDI:i:HA5yɮ=A9jhaeDNOT Ignoring new targets: 81.29 m.RhmĺZhmĺ ProNav: ac range: 81.289307 m, nav range: 79.396973 m, bearing: 1.435370 deg, approach rate: -0.613535 m/s, LOS rate: -0.085729 deg/s, cmd heading: 2.837157 deg, new cmd heading: 2.723981 deg. BhWkHeadingCmd: 0.047542 target range: 81.289307 and range: 81.70 m.hܻB=h*h"h hgfffBdddjdZdD?Q-BɢUb=)Q U>iY)]$ =YYi]-)ieܻB=e7,ۢݤ?A2@2u=2=ٱ2c9 :AHRS rotation from veh to nav: [[0.994560,-0.074385,0.072921],[0.059785,0.980885,0.185174],[-0.085301,-0.179807,0.979997]]2H`o? `?+?ic?ȳ?@Iֵǿ!\?i2@I2L`;2ƐCTY^+By^IbDfVDfynD%rT=ٔrE:Q-r>9tYt=vFyv0EvxEv>xQ 5~A5zł?Q 9A5z)zBYyZ>Q I@zbDIz;iz;zA5y ɮ Ajh1=DNOT Ignoring new targets: 81.29 m.Rh=ɺZhEɺM ProNav: ac range: 81.289307 m, nav range: 79.166206 m, bearing: 1.403620 deg, approach rate: -0.638351 m/s, LOS rate: -0.088084 deg/s, cmd heading: 2.723981 deg, new cmd heading: 2.628453 deg. BhMqUHeadingCmd: 0.045875 target range: 81.289307 and range: 81.70 m.hU;=hQ*hY"hY hYgYfYfafadadadijdiZdmL?额BɢBV=) p>i)d=顡i[hi;=&<:=,}?A2@2=i=24 =ٱ2; :AHRS rotation from veh to nav: [[0.994693,-0.071589,0.073900],[0.056702,0.980746,0.186873],[-0.085855,-0.181691,0.979601]]2H?S`? ?Eb? w? Aǿ@X?i2@I2b`;2ŐCY^BybI ddbDjVDjy5]%5E=ٔ5ϯ:Q-5>99Y9==Fy=0EEEE>IQ 5UA5Mۂ?Q 9UA5M)M۷BYQyUV>Q IU@MbDIM;iM;M$A5yeABɮez AeEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.29 m.RhºT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Zhº ProNav: ac range: 81.289307 m, nav range: 78.907379 m, bearing: 1.368420 deg, approach rate: -0.623318 m/s, LOS rate: -0.085049 deg/s, cmd heading: 2.628453 deg, new cmd heading: 2.522506 deg. BhxiHeadingCmd: 0.044026 target range: 81.289307 and range: 81.70 m.hT4=h*h"h hgfffdddjdZdy]? Bɢ yA=) t8>i)=i#XiT4=%ԡ %D,d?AZ@ZX=Z1ΰ=ٱZ= nAHRS rotation from veh to nav: [[0.994879,-0.067899,0.074874],[0.052744,0.980660,0.188476],[-0.086224,-0.183562,0.979219]]ZH ?@a*?`9?a??~ǿU?iZ@IZ`;ZȐCY-By-IqiMb@Mb@Mb@ 9MbX9?V-?MbY!?yh=A @) AYAbDVDy%?=ٔb:Q->9Y=Fy0EsE>Q 5A5?Q 9A5w)ƷBY#?Q E :y j>Q I @ cDI:i:A5y@Bɮ\ AEjh9EDNOT Ignoring new targets: 81.29 m.RhEYZhEYU ProNav: ac range: 81.289307 m, nav range: 78.640793 m, bearing: 1.342864 deg, approach rate: -0.624188 m/s, LOS rate: -0.060039 deg/s, cmd heading: 2.522506 deg, new cmd heading: 2.445579 deg. BhU$]HeadingCmd: 0.042683 target range: 81.289307 and range: 81.70 m.h].=hY*hY"ha hagafafifmۀBdididqjdqZdu @Bɢ/=)! % =i!)%p=!!i%im.=uzA >)IIO?7L,2?A$ɰ&;Jͦ@JH=J-=ٱJк@ RAHRS rotation from veh to nav: [[0.995062,-0.064303,0.075604],[0.048838,0.980367,0.191039],[-0.086404,-0.186404,0.978666]]JH ?'vZ?U?)_?s?@@ǿ`9pYp=rFyv0EvEv>xQ 5~A5zv ?Q 9~A5zC)zBY|y~1>Q I@zcDIz;iz];zA5y =Bɮ  A Ejh15DNOT Ignoring new targets: 81.29 m.Rh=Zh=ԁ ProNav: ac range: 81.289307 m, nav range: 78.338409 m, bearing: 1.314592 deg, approach rate: -0.623998 m/s, LOS rate: -0.058566 deg/s, cmd heading: 2.445579 deg, new cmd heading: 2.360437 deg. Bh HeadingCmd: 0.041197 target range: 81.289307 and range: 81.70 m.h(=h*h"h hgfffdddjdZdy@ Bɢ 9 =) =i1)5=99i=!}iE(=EaT,_aR?AV @V7=VZ=ٱVTB bAHRS rotation from veh to nav: [[0.995253,-0.060279,0.076403],[0.044616,0.980330,0.192255],[-0.086489,-0.187933,0.978366]]VH@?`ܮ(?@צ?^?͛?)$ 3ȿN?iV @IV`;VɐCYjǀByjeIi]Mb@Mb@Mb@YYYY Y9]#~j?y&1?/$Y]%?y]`<]Y]@ ]@)YYY]QAiibDuVDuy稽%=ٔ-9Q->9Y=Fy0EE>Q 5A5'?Q 9A5)BY!&?Q E:y=Q I@2cDI:iZ:A5yɮ AEjhDNOT Ignoring new targets: 81.29 m.RhZh ProNav: ac range: 81.289307 m, nav range: 78.005142 m, bearing: 1.300275 deg, approach rate: -0.642559 m/s, LOS rate: -0.027723 deg/s, cmd heading: 2.360437 deg, new cmd heading: 2.317302 deg. Bh5HeadingCmd: 0.040445 target range: 81.289307 and range: 81.70 m.h-%=h*h"h hgff f Bd d d jd1Zd# @ Bɢ =)1 5pԹ M DAT read: 05:09:39.7865 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 413,-0.11, 2.674, 0.989, 3.012, 2.645, PHS= 0.131,-1.611, 0.323, RAW= 155.2, 12.5, CAL= 155.4, 14.0, ROT= 354.6, -14.0 MZ,9l?AYgot valid direction response: 05:09:39.7865 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 413,-0.11, 2.674, 0.989, 3.012, 2.645, PHS= 0.131,-1.611, 0.323, RAW= 155.2, 12.5, CAL= 155.4, 14.0, ROT= 354.6, -14.0 8DAT read: $Error in header *Received a bad headerBX#Rx 1: Read direction message, but no range.F^direction in FSK: [0.965990,-0.091313,0.241922]yIMHb?4Z E`79K?IIII I)MMIM$>iM?5οMB`>M-\-@Mf_>M^-@ M5z>)M @IM5zIMî?~V:?lb? MD#?)Mt\_IMiM5zZT****** received valid address query ******ZR****** received valid ping request ******Zreceived new query, but waiting for acoustic response period to elapse%d@%'=%CҰ=ٱ%C eAHRS rotation from veh to nav: [[0.995439,-0.056538,0.076843],[0.040811,0.980413,0.192676],[-0.086231,-0.188661,0.978249]]%H? ?`/?_?`?`A` &ȿM?i%d@I%Q_;%ȐCYuByuGIbDVD y%G=ٔF"Q->9Y=Fy0EE> Q 5A5 >?Q 95A5 ) BY9y==Q I=@ CcDI S;i ; KA5yEE]  E] E] *EY "E] D;*E] L:VE] (N4ZEY a @a @a @a @! sa,?A:K@:s=:u=ٱ:{B FAHRS rotation from veh to nav: [[0.995565,-0.053546,0.077345],[0.037801,0.980607,0.192303],[-0.086142,-0.188527,0.978283]]:H?\j`̳?Z?@"a?@e?@m @!ȿN?i:K@I:`;:ƐCYNByN3IBpBpBr:IBrBBpBpBpBrq;Br.EiMb@Mb@Mb@ 9"~j?Mb?y&1|YS#?y<`A@ )E AYAbDVDy`%J=ٔBlQ->9Y=Fy0E"E>Q 5A5ES?Q 9A5)yBYc#?Q E:yCx=Q I@ScDI;i;A5yɮ AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.29 m.RhZh- ProNav: ac range: 81.289307 m, nav range: 77.485046 m, bearing: 1.282319 deg, approach rate: -0.686154 m/s, LOS rate: -0.019406 deg/s, cmd heading: 2.284575 deg, new cmd heading: 2.263252 deg. Bh-U5HeadingCmd: 0.039501 target range: 81.289307 and range: 81.70 m.h5!=h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdE`i@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseĀBɢGe<)% %i!)% T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseg,🥿?A :/@:8 =:/=ٱ:EB BAHRS rotation from veh to nav: [[0.995719,-0.050074,0.077693],[0.034344,0.980796,0.191988],[-0.085815,-0.188498,0.978317]]:H?@]? ?b?? ȿ_N?i:/@I:_;:ǐCY^Byb%I f9xYx=zFyz0EzE~>Q 5A5rg?Q 9 A5=)lBY y j=Q I @ccDIl:i:A5yɮ? AjhAEDNOT Ignoring new targets: 81.29 m.RhMiZhMiU ProNav: ac range: 81.289307 m, nav range: 77.245361 m, bearing: 1.276138 deg, approach rate: -0.635388 m/s, LOS rate: -0.016437 deg/s, cmd heading: 2.263253 deg, new cmd heading: 2.244651 deg. Bh]~4eHeadingCmd: 0.039177 target range: 81.289307 and range: 81.70 m.hew =ha*ha"ha hagafififididqdqjdqZdu @颥ƀBɢF<) Ƚi)i&=顩iiw =<BT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse m,S͹?A2*@2<29=ٱ2C :AHRS rotation from veh to nav: [[0.995890,-0.046376,0.077792],[0.030658,0.980865,0.192262],[-0.085220,-0.189087,0.978255]]2HU?5?d? >c?` ?е4ȿ@M?i2*@I2_;2ȐCLYjByjIbDrVDr0y% %-F=ٔ-սQ-->91Y1=5Fy50E51E5>ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseIQ 5UA5M}?Q 9UA5M߬)M_BYQyUZ=Q I]@MscDIMr;iM;MA5ye;Bɮev AajhDNOT Ignoring new targets: 81.29 m.RhZh ProNav: ac range: 81.289307 m, nav range: 76.982903 m, bearing: 1.270051 deg, approach rate: -0.634478 m/s, LOS rate: -0.014765 deg/s, cmd heading: 2.244651 deg, new cmd heading: 2.226327 deg. Bh!"HeadingCmd: 0.038857 target range: 81.289307 and range: 81.70 m.h?(=h*h"h hgfffdddjdZd@M8@ȀBɢ<) $i)=ii?(=<G`t,ӥ?A2`@2R<2ѭ=ٱ2C :AHRS rotation from veh to nav: [[0.996024,-0.043115,0.077962],[0.027402,0.980935,0.192396],[-0.084771,-0.189494,0.978216]]2Hl?@-R?d?`c?k?XAȿM?i2`@I2h`;0YBByFI|iMb@Mb@Mb@ 9/$??y&1|Y1(?y<&A$@ 3@) AYAbD-VD-y=%=I=ٔ=pQ-E>9AYA=EFyE0EMEM>QQ 5]A5UГ?Q 9]A5Un)UQBY]R(?Q Ee:ye=Q Ie@UcDIU; ;iUa;U4A5yiɮm AmEjh)5DNOT Ignoring new targets: 81.29 m.Rhe~Zhe~ ProNav: ac range: 81.289307 m, nav range: 76.718323 m, bearing: 1.261977 deg, approach rate: -0.622787 m/s, LOS rate: -0.019069 deg/s, cmd heading: 2.226327 deg, new cmd heading: 2.202024 deg. BhdQHeadingCmd: 0.038433 target range: 81.289307 and range: 81.70 m.hwk=h*h"h h!g!f!f!f-Bd)d)dijdqZdu@@ʀBɢl<) )MT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseiQ)]?=YYi]3iewk=eW:VE [4ZEBEv9`Y`=bFyb0EfEf>hQ 5nA5j?Q 9nA5j)j?BYlyno=Q Ir@jcDIj:ij:jA5ytɮv AvEjhDNOT Ignoring new targets: 81.29 m.RhZh- ProNav: ac range: 81.289307 m, nav range: 76.377487 m, bearing: 1.252651 deg, approach rate: -0.679967 m/s, LOS rate: -0.018688 deg/s, cmd heading: 2.202024 deg, new cmd heading: 2.173921 deg. Bh-5M5HeadingCmd: 0.037942 target range: 81.289307 and range: 81.70 m.h5(i=h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE\@̀Bɢȉ<) i)) =iEWi%(i=%U<%%kl;I%(i=II%z]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseԡ@ @@0@D=D<E-  E-E-(E)"E-D;*E-:VE-c44ZE)aM@aM@aU@aU@^A0;B>BBIB]BBBBBWr;BH.E Iy I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseKŃ,?ApY}By% IiMb@Mb@Mb@ 9Zd;O?~jt?MbY~*?y=;@ `@) AYAbDVDfy/%8=ٔ Q- >9 Y=Fy0EE>Q 5%A5LɃ?Q 9-A5O)/BY-*?Q E-:y-=Q I-@cDI:is:A5y1ɮ= A9B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.29 m.RhZh ProNav: ac range: 81.289307 m, nav range: 76.082840 m, bearing: 1.240409 deg, approach rate: -0.635917 m/s, LOS rate: -0.026524 deg/s, cmd heading: 2.173921 deg, new cmd heading: 2.137053 deg. Bh HeadingCmd: 0.037299 target range: 81.289307 and range: 81.70 m.hm=h*h"h hgfffBdd!d!jd!Zd%@UπBɢUn<)Q U"iY)] =YYi]ޑiem=ep,`+?AJC@J59!Y!=-Fy-0E-kʻE5>9Q 5MA5=?Q 9MA5=Ȫ)= BYIyU=Q IU@=cDI=KG;i=F;=6A5yaɮeAajhDNOT Ignoring new targets: 81.29 m.RhuZhu ProNav: ac range: 81.289307 m, nav range: 75.812309 m, bearing: 1.229582 deg, approach rate: -0.686907 m/s, LOS rate: -0.027590 deg/s, cmd heading: 2.137053 deg, new cmd heading: 2.104455 deg. BhyHeadingCmd: 0.036730 target range: 81.289307 and range: 81.70 m.hq=h*h"h hgfffddidijdiZdun@рBɢ v<) >-i)k~ =IIiM秼iUq=]C<]-;I]q=iIq1@1 @1@50@1ԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^A} ፨;I I O >X,עE?AE} E}E}(Ey"E}1A;*E}:VE}c44ZEya*@a*@a.@a.@Le1@e#v? k=?Mߴ ;ƿ W_?ie1@Ie`;eŐCYwByIi5Mb@Mb@Mb@1111 195p= ף?sh|??Y5%?y5=55A5@ 5@)5A1Y5(A Mp9Y=Fy0EtҺE>Q 5A5?Q 9A5)BY{&?Q E :y >Q I @cDIC ;iC ;=A5yɮAEjhY]DNOT Ignoring new targets: 81.29 m.Rhe"Zh" ProNav: ac range: 81.289307 m, nav range: 75.516724 m, bearing: 1.201453 deg, approach rate: -0.641195 m/s, LOS rate: -0.061258 deg/s, cmd heading: 2.104455 deg, new cmd heading: 2.019737 deg. Bh)(HeadingCmd: 0.035251 target range: 81.289307 and range: 81.70 m.hmc=h*h"h hgT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsefffBdddjdZd]@@mӀBɢmbz<)i mJ7iq)ud =qqiu #i}mc=r<lfh;Imc=I=9@9 @A@E5@A ^A] "5;I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseU~,n_?A2Ѵ@2ß<2P=ٱ25 :AHRS rotation from veh to nav: [[0.996565,-0.033405,0.075784],[0.019438,0.983828,0.178056],[-0.080506,-0.175972,0.981098]]2H`?`r f? u?{?`? <ƿ'e?i2Ѵ@I26 `;2ȐCYB{ByBIbDNVDNNyV<%Vl=ٔVBQ-V?9XYX=ZFyZ0EZOE^?Q 5%A5X ?Q 9%A5ʨ)BY)y->Q I-@cDI:i::A5y1ɮ5 A1jhyDNOT Ignoring new targets: 81.29 m.RhZh ProNav: ac range: 81.289307 m, nav range: 75.297211 m, bearing: 1.180437 deg, approach rate: -0.641975 m/s, LOS rate: -0.061640 deg/s, cmd heading: 2.019738 deg, new cmd heading: 1.956507 deg. Bh6)HeadingCmd: 0.034147 target range: 81.289307 and range: 81.70 m.h< =h*h"h hgfffdddjdZd[@EԀBɢE<)A Ez2iA)EZ =IIiMդiU< =eIA>ԁ A I I O >^,Hy?A2@2<2B=ٱ2Ӣ4 :AHRS rotation from veh to nav: [[0.996671,-0.033231,0.074455],[0.019588,0.984018,0.176986],[-0.079146,-0.174938,0.981393]]2H?@x?? }?z?Badƿg?i2@I21`;2ƐCY@yBIIF=)FC=bDNVDNβyVNR;%VJ=ٔVA]Q-V>9XYX=ZFyZ0E^^9E^>`Q 5fA5b ?Q 9fA5bѧ)bBYdyf>Q Ij@bcDIb:ib4:bA5ylɮn AnEYjhDNOT Ignoring new targets: 81.29 m.Rh0Zh0 ProNav: ac range: 81.289307 m, nav range: 75.045311 m, bearing: 1.156138 deg, approach rate: -0.619599 m/s, LOS rate: -0.059969 deg/s, cmd heading: 1.956507 deg, new cmd heading: 1.883365 deg. Bh$HeadingCmd: 0.032871 target range: 81.289307 and range: 81.70 m.h=h*h"h hgfffdddjdZd`0@ՀBɢj<) 24i)~ =iVi=  < )γ;I =I ]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse@ @@/@ԉE EE%E"EC;*E:VE 4ZEa5@a=@a=@a=@ԹBBBBBBBBq;B.E^A; T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA9 II IY Om > ,}%?A2I@2;<2/=ٱ2V3 :AHRS rotation from veh to nav: [[0.996785,-0.033027,0.072996],[0.019742,0.984242,0.175722],[-0.077650,-0.173716,0.981730]]2H ?蠿寲?\7?~?`~?`೿U<ƿTj?i2I@I2W`;2ȐCYFuByFIiMb@Mb@Mb@ 9Mb?X9v?y&1|Y#?y=`&A@ v@)AYQA!%AAbD-VD-ky=n%=A=ٔEhQ-E>9AYA=EFyM0EMȽ9EM>QQ 5]A5U6?Q 9]A5UV)UBYe$&?Q Ee:yeU>Q Ie@UdDIU ;iU2 ;UYA5yiɮm-AmEԹB*** querying acoustic contact ***i  i jh1=DNOT Ignoring new targets: 81.29 m.Rh=ӺZh=ӺM ProNav: ac range: 81.289307 m, nav range: 74.777878 m, bearing: 1.117075 deg, approach rate: -0.629447 m/s, LOS rate: -0.092271 deg/s, cmd heading: 1.883365 deg, new cmd heading: 1.765755 deg. BhML}uHeadingCmd: 0.030818 target range: 81.289307 and range: 81.70 m.huv<hq*hq"hq hygyfyfyfBdddjdZds @׀Bɢ<)  Di) =i%i%v<-J<-N;I-vݻ,`?AZ@Z9- ?Y- ?=-Fy-0E-E:E->9Q 5=A5=@L?Q 9EA5=)=׶BYAyEV>Q IE@=dDI=y:i=p:=A5yIɮU AQjhq}DNOT Ignoring new targets: 81.29 m.Rh}Zh ProNav: ac range: 81.289307 m, nav range: 74.524231 m, bearing: 1.079648 deg, approach rate: -0.667344 m/s, LOS rate: -0.098805 deg/s, cmd heading: 1.765755 deg, new cmd heading: 1.653093 deg. BhHeadingCmd: 0.028852 target range: 81.289307 and range: 81.70 m.hZ<h*h"h hgfffdddjdZd n4!@!颥ـBɢx<) 0i) =顱imciZ<Uف<Hԙ E-  E- E- %E) "E- 1A;*E- r:VE- 4ZE) aM @aM @aU @aU @뤱,uƦ?AB1B1B1B1B1B1B1B5q;B5-E@s<E5=ٱ/ AHRS rotation from veh to nav: [[0.997016,-0.033539,0.069529],[0.021113,0.984818,0.172303],[-0.074252,-0.170321,0.982587]]H ? ,̱?ࣞ??? -ſZq?i@I_;ǐCYwByI qiMb@Mb@Mb@ 9'1Z?/$?MbY"?y,>=A@ hA)AY AbDVD1y %1=ٔkQ->9"?Y"?=Fy0Ex:E>Q 5A5d?Q 9A5ɢ)BYs(?Q E:y!>Q I@%dDI:i ;A5yɮAjh9=DNOT Ignoring new targets: 81.29 m.RhEZhEU ProNav: ac range: 81.289307 m, nav range: 74.233124 m, bearing: 1.021108 deg, approach rate: -0.630260 m/s, LOS rate: -0.127239 deg/s, cmd heading: 1.653093 deg, new cmd heading: 1.476785 deg. BhU]HeadingCmd: 0.025775 target range: 81.289307 and range: 81.70 m.h]%<hY*hY"hY hYgYfafafeBdididijdiZdu!"@额ۀBɢpV<) jFiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)=!!i%FĞi-%<-ǁ<- SN,8ᦿ?AN@Nٱ9xYx=~Fy~0E~:E~>Q 5 A5w?Q 9 A5!)BYy^>Q I@4dDI;i;A5y:Bɮ AEjhDNOT Ignoring new targets: 81.29 m.RhZh ProNav: ac range: 81.289307 m, nav range: 74.008034 m, bearing: 0.975430 deg, approach rate: -0.616710 m/s, LOS rate: -0.125532 deg/s, cmd heading: 1.476785 deg, new cmd heading: 1.339334 deg. BhMHeadingCmd: 0.023376 target range: 81.289307 and range: 81.70 m.h~<h*h"h hgfffdddjdZd`"@bE-4jE,4rE0EM EMEM)EI"EM9;*EMd:VEMFA4ZEIBEM 4,?AYflByfIbDnVDn:yvq%vK=ٔzQ-z>9xYx=zFyz0E~E~>Q 5 A5ό?Q 9 A5C)BYyQ I@EdDI:i:A5yɮnAjhAMDNOT Ignoring new targets: 81.29 m.RhMZhM] ProNav: ac range: 81.289307 m, nav range: 73.754463 m, bearing: 0.923626 deg, approach rate: -0.643201 m/s, LOS rate: -0.131857 deg/s, cmd heading: 1.339334 deg, new cmd heading: 1.183388 deg. Bh]eHeadingCmd: 0.020654 target range: 81.289307 and range: 81.70 m.he2<ha*ha"hi higififqfqdqdqdqjdyZd}Υ#@颥ހBɢʊ<) @ci)y=顱iiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei2<Ł<9A>) u Q I,{?A2R@2D<2Os=ٱ25/ :AHRS rotation from veh to nav: [[0.997380,-0.034583,0.063534],[0.023169,0.984770,0.172308],[-0.068526,-0.170385,0.982992]]2H ?δC?`?`=?@4?@䊱`-ſt?i2R@I2 2`;2ƐCYBqByFIIJ<)J=iMb@Mb@Mb@ 9T㥛 ?E?I +Y!?yF>9A A)+AY= AbDeVDe0yuʯ<%}A=ٔ}bQ-}>9yY=Fy1E2k;E>Q 5A5֢?Q 9A5)BY(?Q E:yP>Q I@VdDIi ;i ;4A5yɮKAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.29 m.Rh"+Zh"+ ProNav: ac range: 81.289307 m, nav range: 73.491791 m, bearing: 0.860505 deg, approach rate: -0.620406 m/s, LOS rate: -0.149618 deg/s, cmd heading: 1.183388 deg, new cmd heading: 0.993348 deg. Bh]ͻHeadingCmd: 0.017337 target range: 81.289307 and range: 81.70 m.h<h*h"h hgfffBddd jd Zd  p~$@=Bɢ=<)9 =]i9)E=AAiEaiMG,/M/?A2Acoustic response timeout6v@6h<6_8=ٱ6>0 >AHRS rotation from veh to nav: [[0.997499,-0.035119,0.061337],[0.024042,0.984665,0.172793],[-0.066465,-0.170886,0.983046]]6H@?@g?l?_??@ſu?i6v@I6J<`;6ȐCPY_ByI@AbDVDyR%5=ٔQ->9Y=Fy1E:E> Q 5A5 r?Q 9A5 ) sBYy>Q I@ idDI ;i =: (A5y%;Bɮ%A)jhIUDNOT Ignoring new targets: 81.29 m.RhU-ZhU-e ProNav: ac range: 81.289307 m, nav range: 73.210335 m, bearing: 0.792160 deg, approach rate: -0.623814 m/s, LOS rate: -0.152059 deg/s, cmd heading: 0.993348 deg, new cmd heading: 0.787529 deg. BheлmHeadingCmd: 0.013745 target range: 81.289307 and range: 81.70 m.hm2a<hi*hq"hq hqgqfqfyfydydydyjdZde%@颵Bɢ<) i)=项i*i2a<<B B IB NBI B B B B Yq;B -EI O >3,QK?AJG@J9A3@ A)Y AbD-VD-y=~%=A=ٔEQ-E>9IYI=MFyM 1EU:EU>iQ 5}A5mτ?Q 9}A5m*)m\BY%?Q E:y>Q I@m{dDImj;imа;mA5yɮAjh15DNOT Ignoring new targets: 81.29 m.ARh]G6Zh]G6m ProNav: ac range: 81.289307 m, nav range: 72.953896 m, bearing: 0.721884 deg, approach rate: -0.579465 m/s, LOS rate: -0.159359 deg/s, cmd heading: 0.787529 deg, new cmd heading: 0.575959 deg. BhmڻuHeadingCmd: 0.010052 target range: 81.289307 and range: 81.70 m.huŲ$<hq*hq"hy hygfff4BdddjdZd`L&@Bɢw<) i) =!!i%=i-Ų$<-{:<-?,e?A:@: <:t=ٱ:'3@ FAHRS rotation from veh to nav: [[0.997715,-0.035793,0.057306],[0.025222,0.984144,0.175569],[-0.062681,-0.173722,0.982798]]:HG?S`3W?`ә?~? y? <ƿs?i:@I:9Y=Fy1E4:E>Q 5A5ℊ?Q 9A5)HBYy>Q I@dDI-:iF:(A5yɮA5Ejhy}DNOT Ignoring new targets: 81.29 m.Rh=Zh= ProNav: ac range: 81.289307 m, nav range: 72.727264 m, bearing: 0.659292 deg, approach rate: -0.598646 m/s, LOS rate: -0.165852 deg/s, cmd heading: 0.575959 deg, new cmd heading: 0.387598 deg. BhHeadingCmd: 0.006765 target range: 81.289307 and range: 81.70 m.h׫;h*h"h hgfffdddjdZd`'@Ա颵Bɢz <) i)=i6Wi׫;hx<b,m?A22Acoustic response timeout:y@:k<:x=ٱ:4 FAHRS rotation from veh to nav: [[0.997837,-0.035689,0.055203],[0.025392,0.983867,0.177088],[-0.060632,-0.175304,0.982646]]:H@H?E`C?c?`{?ժ?3 Ypƿ@q?i:y@I:N`;:ʐClY=:By=I Mp9iYi=mFym1Eu9Eu>yQ 5A5},?Q 9A5})}3BYy>Q I@}dDI}:i}:}A5yɮAEjh1=DNOT Ignoring new targets: 81.29 m.Rh=OBZh=OBM ProNav: ac range: 81.289307 m, nav range: 72.486534 m, bearing: 0.592369 deg, approach rate: -0.609052 m/s, LOS rate: -0.169879 deg/s, cmd heading: 0.387598 deg, new cmd heading: 0.186163 deg. BhM,HeadingCmd: 0.003249 target range: 81.289307 and range: 81.70 m.hT;h*h"h hgfffdddjdZde'@=Bɢ=6<)9 =iA)E"=AAiEWiMT;M辂< =IT;IE EE*E"E8;*E:VE(N4ZEa@a@a@a@!B->B)B-IB-?Bi@i @q@u/@qB- =B)B)B-(q;B--E12Acoustic response timeout^A <I) I9 OM >a ,4L?A2@2<2Kp=ٱ2e>6 :AHRS rotation from veh to nav: [[0.997959,-0.035324,0.053200],[0.025304,0.983625,0.178440],[-0.058632,-0.176730,0.982512]]2HG?`9Y=Fy1EdjE>Q 5A5 ?Q 9A5[)BQ A+:YQ E:yٲ>Q I@dDI ;i>A5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.29 m.RhIZhI ProNav: ac range: 81.289307 m, nav range: 72.241028 m, bearing: 0.523701 deg, approach rate: -0.626458 m/s, LOS rate: -0.175815 deg/s, cmd heading: 0.186163 deg, new cmd heading: 359.979461 deg. BhQHeadingCmd: 6.282827 target range: 81.289307 and range: 81.70 m.h @h*h"h hgfffdddjd Zd @ߜ(@5Bɢ=(;)9 =i9)==AAiEiE껹M BDAT read: Tx time:05:09:49.7260 $Ping request sent. 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2498801,%?Aɰ2z@2l<2pg=ٱ29 :AHRS rotation from veh to nav: [[0.998087,-0.034975,0.050979],[0.025155,0.982995,0.181903],[-0.056474,-0.180273,0.981994]]2H`T?@;衿@?B™?@t?H?ꬿ-ǿ~l?i2z@I2`;2ɐCYNByRIbDZVDZy%%%P=ٔ%Q-%>9)Y)=-Fy-1E-˹E5>1Q 5=A55?Q 9EA55)5 BQ AE :YAQ EEW:yE>Q IE@5dDI5 ;i5=i;ijb|n<<"=IN@I@ @@+1@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500335^A=II)OU>E=  E= E= *E9 "E= =;*E= :VE= (N4ZE9 aU @aU @aU @aU @B A E,EAE`@ E`A)EAAYE AYYbDeVDe:yu iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754323%E=ٔQ->9Y=Fy1E BܺE >9Q 5EB5=5?Q 9MB5=)=BQ AuT:Yuv#?Q Eu:yuP>Q Iu@=dDI=X;i=<=B5y:Bɮ*AEjh%DNOT Ignoring new targets: 81.29 m.Rh%^ Zh%^ u ProNav: ac range: 81.289307 m, nav range: 71.740929 m, bearing: 0.393141 deg, approach rate: -0.574777 m/s, LOS rate: -0.140207 deg/s, cmd heading: 359.779340 deg, new cmd heading: 359.586437 deg. Bhuq}HeadingCmd: 6.275967 target range: 81.289307 and range: 81.70 m.h}@hy*h"h hgfffBdddjdZdV*@Bɢ@?) ri)d<i󂐼i컉*<*=I@I9@ @@@0@i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004358^A ȿ=ԑ A I I O >,w觿?AE EE$E"Ea?;*Er:VE4ZEBE@><> W=ٱ>!> JAHRS rotation from veh to nav: [[0.998321,-0.033347,0.047351],[0.024002,0.982302,0.185759],[-0.052708,-0.184310,0.981454]]>H??t>?ⓘ?o??`@|ǿh?i>@I> "`;>ƐCYRByR[IbDZVDZyb Ѽ%bI=ٔfQ-f>9dYd=fFyj#1EnǑEn>pQ 5vB5rMI?Q 9vB5r )rܵBYxyz>Q Iz@rdDIrX;ir Z;rB5y ɮ UA ԩjh)DNOT Ignoring new targets: 81.29 m.Rh1Zh1 ProNav: ac range: 81.289307 m, nav range: 71.509270 m, bearing: 0.336580 deg, approach rate: -0.634298 m/s, LOS rate: -0.155368 deg/s, cmd heading: 359.586428 deg, new cmd heading: 359.416198 deg. BhAջHeadingCmd: 6.272996 target range: 81.289307 and range: 81.70 m.hb@h*h"h hgfffdd d)jd1Zd5+@BɢD) oi)<i i#&rc<$3=Ib@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257469!@! @!@%4@! ^AE $=1 Aq Iy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508360q,[?AYBy<IbD%VD%0y5%5A=ٔ=Q-=>99Y9=EFyE'1EEEE>IQ 5UB5M^?Q 9UB5M)MŵBYYyYQ I]@MdDIM;iM7;MB5yaɮe$AajhDNOT Ignoring new targets: 81.29 m.Rh%Zh% ProNav: ac range: 81.289307 m, nav range: 71.255783 m, bearing: 0.274248 deg, approach rate: -0.587446 m/s, LOS rate: -0.144966 deg/s, cmd heading: 359.416193 deg, new cmd heading: 359.228533 deg. Bhƻ HeadingCmd: 6.269721 target range: 81.289307 and range: 81.70 m.h @h *h"h hgfffdddjd!Zd%+@UBɢU )Q U:iQ)]q ,?A2@2<2G=ٱ2}D :AHRS rotation from veh to nav: [[0.998593,-0.029845,0.043832],[0.020913,0.981236,0.191671],[-0.048730,-0.190485,0.980480]]2H`y?q?Tj?If??@`aȿ`?i2@I2`;2ǐCYBUByBIiEMb@Mb@Mb@AAAA A9E?M?{GzYE ?yEn>E#EAEI@ A)AAYEp A U49qYq=uFyu,1E}E}>Q 5B5s?Q 9B5h)BYt$?Q E:ym>Q I@dDI#:i:0 B5y;BɮAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 81.29 m.RhZh ProNav: ac range: 81.289307 m, nav range: 71.004631 m, bearing: 0.227488 deg, approach rate: -0.636181 m/s, LOS rate: -0.118866 deg/s, cmd heading: 359.228526 deg, new cmd heading: 359.087749 deg. Bh'HeadingCmd: 6.267263 target range: 81.289307 and range: 81.70 m.hl@h*h"h hgfffBdddjdZd,@-Bɢ-)1 5$&i1)5ԧ<99i=Ai=nEPA>U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265400I I O > D ,5?A20@2"<2ca?=ٱ2ɗG :AHRS rotation from veh to nav: [[0.998736,-0.027263,0.042218],[0.018550,0.980727,0.194501],[-0.046707,-0.193472,0.979993]]2H? ꛿@?`?b?e?駿ȿ@\?i20@I2_;2ƐCYB7ByBIbDNVDN1yVa%VX=ٔVQ-V>9XYX=ZFyZ/1EZ̻E^>`Q 5fB5b?Q 9fB5b)bBYdyfHj>Q If@b eDIb:ib':bB5ylɮnAljhDNOT Ignoring new targets: 81.29 m.Rh Zh  ProNav: ac range: 81.289307 m, nav range: 70.769974 m, bearing: 0.184039 deg, approach rate: -0.619742 m/s, LOS rate: -0.115132 deg/s, cmd heading: 359.087743 deg, new cmd heading: 358.956963 deg. Bh%HeadingCmd: 6.264981 target range: 81.289307 and range: 81.70 m.h%z@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5=t-@Bɢʂ) .i)`@<i ix!ʅ<1N;=Iz@I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516486^A[<=1 I A A @AB B B !IB BB B B B q;B -EBBBB =B =CǺ4E  E E (E "E :;*E :VE c44ZE BE 1<2E 1<JE c%<:E d%<I! O5 >Y ,UO?AZ;@Z-)9Y=Fy41E*E>Q 5B5?Q 9B5ф)BY!?Q E:yT">Q I@eDIG ;i ;_B5yɮAEjhDNOT Ignoring new targets: 81.29 m.RhZh ProNav: ac range: 81.289307 m, nav range: 70.495956 m, bearing: 0.149167 deg, approach rate: -0.591991 m/s, LOS rate: -0.075630 deg/s, cmd heading: 358.956958 deg, new cmd heading: 358.851937 deg. BhOHeadingCmd: 6.263148 target range: 81.289307 and range: 81.70 m.)h-k@h)*h1"h1 h1g1f1f9f=Bd9d9d9jdAZdEe.@ Bɢ +) ;i)ӻ<ii&%Z<%8=I}k@I9@9 @9@=/@9Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020312ԉ ^A= X;=I I O >f,ɫi?A02K@2zT<210=ٱ2N >AHRS rotation from veh to nav: [[0.998991,-0.021334,0.039522],[0.012956,0.979459,0.201228],[-0.043003,-0.200513,0.978747]]2H?@ؕ@-9hYh=jFyj81EnEn>pQ 5vB5r㱅?Q 9vB5r)r|BYtyz>Q Iz@r.eDIr:ir9:rB5y~  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524324 , ?A`Y-~By-IbDEVDEk1yU%U4=ٔUQ-U>9YYY=]Fy]<1E]Ee>aQ 5mB5eɅ?Q 9uB5e)eiBYqyqQ Iu@e@eDIe;ie ;eB5yyɮ!AjhDNOT Ignoring new targets: 81.29 m.RhZh ProNav: ac range: 81.289307 m, nav range: 69.985733 m, bearing: 0.084929 deg, approach rate: -0.619155 m/s, LOS rate: -0.078524 deg/s, cmd heading: 358.765576 deg, new cmd heading: 358.658522 deg. BhWHeadingCmd: 6.259772 target range: 81.289307 and range: 81.70 m.hP@h*h"h hgfffdddjdZd /@ Bɢ ,)  Si)FO<i]i^̿3A<;=IP@I!BBBIBBB =BBBq;B.EE EE*E"Eg5;*EVE(N4ZEBE}<2E~<JE:E9@ @@F0@iIEDAT read: 05:09:52.2259 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 338,-0.29,-2.884, 1.750,-2.620,-2.875, PHS= 0.094,-1.613, 0.211, RAW= 153.3, 14.7, CAL= 153.7, 16.5, ROT= 356.3, -16.5 UYgot valid direction response: 05:09:52.2259 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 338,-0.29,-2.884, 1.750,-2.620,-2.875, PHS= 0.094,-1.613, 0.211, RAW= 153.3, 14.7, CAL= 153.7, 16.5, ROT= 356.3, -16.5 UPDAT read: Bearing 161.5, -9.5 (Local) ]~Local bearing/azimuth received: Bearing 161.5, -9.5 (Local) eDAT read: Range 11 to 50 : 71.8 m (Round-trip 95.8 ms) speed 0.5 m/s mR#Rx 1: Read range and direction messages.}^direction in FSK: [0.956821,-0.061875,0.284015]Fpublishing direction and range infoy2oG?5aHN-?YB )GI=ivοbX><+@G\>>+@ r>)@Ir2W?z;?f1? ?)NI)AirT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա^A% ·3=I I O > ',b?AY~~By~I   AiMb@Mb@Mb@ 9Mb?I +?~jtY ?y94=ļ"Av@  A)XAYAbDVDyZ%V=ٔQ->Թ9Y=Fy@1EE>Q 5B5݅?Q 9B5@)]BY!?Q E:yۗ=Q I@OeDI;i-;B5yɮA}*DAT read: user:330> }BDAT read: Tx time:05:09:53.6260 $Ping request sent.6-,%]?A2#@2:2N=ٱ2'U :AHRS rotation from veh to nav: [[0.999305,-0.009472,0.036055],[0.001797,0.978296,0.207204],[-0.037236,-0.206995,0.977633]]2H@N?f@u?p]?3N??~ʿ@H?i2#@I2Y_;0YBb~ByFqI HHbDNVDNyVF߽%VJ=ٔZiQ-Z>9Z ?YZ ?=^Fy^D1E^E^>`Q 5fB5b?Q 9fB5bց)bRBYhyj8=Q Ij@b_eDIb%;ib;br!B5yn=Bɮn_ArEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 71.44 m.RhZh ProNav: ac range: 71.438576 m, nav range: 69.186729 m, bearing: 0.058094 deg, approach rate: -0.657577 m/s, LOS rate: -0.033584 deg/s, cmd heading: 358.558867 deg, new cmd heading: 358.520194 deg. BhcHeadingCmd: 6.257358 target range: 71.438576 and range: 71.80 m.hF<@h*h"h hgfffdddjdZd d?Bɢ:`,)  +hi ) ê<iZiӼ$<uS=IF<@IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923iE9@I @I@M0@I@U=@U=BA<BBBIB~BBBBBr;B!.EE  E E )E "E 77;*E V:VE FA4ZE BE AU ? A}؟AIIO>5,3ب?A2@2@2 =ٱ2U FAHRS rotation from veh to nav: [[0.999370,-0.005031,0.035123],[-0.002355,0.978311,0.207130],[-0.035403,-0.207082,0.977683]]2H?@t?JcQN?=?@\ ʿ@-I?i2@I2ȹ_;2ŐCYn:~BynXIieMb@Mb@Mb@aaaa a9eV-?~jth?I +Ye|?yeD;e94ae`@ e A)eAaYe3AbD}VD}y%!=ٔ*lQ->9"?Y"?=FyI1EE>Q 5B5 ?Q 9B5؁)IBY?Q E:yQ I@teDI ;i ;%B5yɮAjhDNOT Ignoring new targets: 71.44 m.Rh7Zh7 ProNav: ac range: 71.438576 m, nav range: 68.870277 m, bearing: 0.058703 deg, approach rate: -0.647603 m/s, LOS rate: 0.001254 deg/s, cmd heading: 358.520181 deg, new cmd heading: 358.522019 deg. BhJ\8HeadingCmd: 6.257390 target range: 71.438576 and range: 71.80 m.h<@h *h "h  h g fffjBdddjdZd?IBɢ  } )   si ) <i|iDQӼ|<Tc=I<@I0::Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007610]9@Y @Y@]l4@Yԁ^A5"=EGgA% 9%gAY%lAAE.AIIIaOm>ԡE  E E *E "E 9;*E :VE (N4ZE a @a @a @a @ @;,?AiHIHNchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259334V@VW@V=ٱVZY ^AHRS rotation from veh to nav: [[0.999417,0.005281,0.033737],[-0.012263,0.977566,0.210271],[-0.031870,-0.210562,0.977061]]VH9?%u? E?z8H? +?>QʿD?iV@IVc_;TYj#~ByjJIIn%=)nC=n=n=bDrVDryzn%~T=ٔ~QQ-~>9~ ?Y ?=FyM1EҼE> Q 5B5 !?Q 9B5 ) CBYy8Q I@ eDI S:i : A)B5y!ɮ%^A-EjhIUDNOT Ignoring new targets: 71.44 m.RhU8ZhU8e ProNav: ac range: 71.438576 m, nav range: 68.630371 m, bearing: 0.061168 deg, approach rate: -0.622734 m/s, LOS rate: 0.006420 deg/s, cmd heading: 358.522012 deg, new cmd heading: 358.529432 deg. Bhe9uHeadingCmd: 6.257519 target range: 71.438576 and range: 71.80 m.hu=@hq*hq"hq hqgqfyfyfydyddjdZd?5Bɢ5=)1 5ryi1)5ۻ<99i=O0xiEAҼEسBY B] _IB] E~BBY BY BY B] =r;B] ?.ED <D <E  E E &E "E 8;*E :VE 4ZE BE ׏D,6?A<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764036e@e\@eS<ٱexY uAHRS rotation from veh to nav: [[0.999416,0.010144,0.032633],[-0.016776,0.977579,0.209901],[-0.029772,-0.210326,0.977178]]eH 7?7Ƅ?K? -@SH?? |ʿ E?ie@Ie%_;eǐCY.~ByPIiMb@Mb@Mb@ 9)\(?{Gz{Gz?YG!?yף#<#A  A)AYA11bD=VD=yM8<%M=ٔM`Q-M>9U"?YU"?=UFyUS1E]' E]>aQ 5mB5e>?Q 9mB5eO)eABYma!?Q Em:ym"6Q Iu@eeDIem ;ie;e-B5y}>Bɮ}9AyjhDNOT Ignoring new targets: 71.44 m.RhQ9ZhQ9 ProNav: ac range: 71.438576 m, nav range: 68.295822 m, bearing: 0.073957 deg, approach rate: -0.629637 m/s, LOS rate: 0.024186 deg/s, cmd heading: 358.529443 deg, new cmd heading: 358.567996 deg. Bhʄ:=HeadingCmd: 6.258192 target range: 71.438576 and range: 71.80 m.hEC@hA*hA"hA hAgAfAfIfMxBdIdIdQjdQZdU@@ԙBɢ[) wi)1.<isi̼و<Ө 9Y=FyW1EE%>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2669759IQ 55B5=V?Q 9=B5=)9YAyEGQ IE@=eDI=6=i=A==1B5yIɮMAMEjhquDNOT Ignoring new targets: 71.44 m.Rh}9Zh}9 ProNav: ac range: 71.438576 m, nav range: 68.004700 m, bearing: 0.086244 deg, approach rate: -0.552020 m/s, LOS rate: 0.023400 deg/s, cmd heading: 358.567993 deg, new cmd heading: 358.605014 deg. Bhx:HeadingCmd: 6.258838 target range: 71.438576 and range: 71.80 m.hgH@h*h"h hgfffdddjdZd @Bɢi') i)˲<i1oi*sǼ<bR,J?ANF@N@@N<ٱNX ZAHRS rotation from veh to nav: [[0.999396,0.019680,0.028654],[-0.025251,0.977519,0.209330],[-0.023890,-0.209927,0.977425]]NH ?'?uW?@|ۙG?T? v ʿ G?iNF@INk_;NŐCYr)~ByrMI tttB~>B~CB~FIB~~BB|B|B|B~#r;B~4.EvAbDVD y-=%-G=ٔ-Q-->9QYQ=UFyU[1E]4.E]>aQ 5eB5enk?Q 9mB5e)aYiE EE)E"E2;*E:VEFA4ZEBE$ X,c?ABDAT read: Rx Time:05:09:56.1228 TRx dataTimestamp_ set to:1761541797.564242checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024131:%@:v @:<ٱ:gW FAHRS rotation from veh to nav: [[0.999356,0.024226,0.026469],[-0.029212,0.977666,0.208124],[-0.020836,-0.208763,0.977744]]:H?Θ??靿 I?`̣?U`ʿ`I?i:%@I:_;:ȐCYR&~ByRKIiMb@Mb@Mb@ 9S㥛?Zd;OMb?Y$&?yj<1$Av@ E A)XAYA <bDVD:y%>=ٔQ->9Y=Fy`1E E >Q 5B5?Q 9B5t)BBYL&?Q E:y{pQ I%@eDIi ;i ;9B5y-?Bɮ-`A-EjhQDNOT Ignoring new targets: 71.44 m.Rhi1:Zhi1: ProNav: ac range: 71.438576 m, nav range: 67.482109 m, bearing: 0.111784 deg, approach rate: -0.751948 m/s, LOS rate: 0.038776 deg/s, cmd heading: 358.639272 deg, new cmd heading: 358.681923 deg. Bh:ԱHeadingCmd: 6.260180 target range: 71.438576 and range: 71.80 m.hfS@h*h"h hgfffBdddjdZd @] Bɢ] [)a e}{ia)eri>bE1jE5c44rE5/E EE'E"E9;*E:VE'4ZEa@a@a@a@E9@A @I@M/@I@U=@U=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274904 ^Am 5%<A I 9 II O >^,~?A^ @^R@^:<ٱ^m,V fAHRS rotation from veh to nav: [[0.999312,0.028287,0.023992],[-0.032647,0.977805,0.206959],[-0.017605,-0.207600,0.978055]]^H\? H? `?-J?}?ʿ:L?i^ @I^ _;\Yn?~Byn[IbDzVDzβy=%T=ٔ* Q->9 Y = Fy d1EE>Q 5%B5ė?Q 9%B5݃)DBY!y%~Q I%@eDI:i:t)@V>;*@ >)@I.?c=j?οw? Dd?)IQ+iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A-B<B>BB@IB~BB =BBBq;B#.EBYBYBYB] =BYC]5A)I1IAEM EMEIEI"EM4;*EMI:VEIZEIBEM U *DAT read: user:331> ] BDAT read: Tx time:05:09:57.4260 ] $Ping request sent.] AHRS rotation from veh to nav: [[0.999279,0.031317,0.021476],[-0.035044,0.978369,0.203877],[-0.014626,-0.204482,0.978761]]6H`??@?`;N? ?mz,ʿR?i6@I6ݠ_;4YRM~ByRdIIV=)Vp9Y=Fyh1EE>Q 5B5讆?Q 9B5)FBY;&?Q E:yQ I@eDI:i{:'@B5yɮAiiD?AJiBRiBjiC@b0P@""q2'4@RHnW?6ɥTcݚ?ZiQ+bijbӶP@N=J?3@Z 7?ga{[?2iwm:iB"ic?*iwBiBiiqiiBi|@% addTargetRange:: Added new target pos. range: 69.400002 m, deltaT: 3.809997 s, deltaX: -2.400002 m, approachRate: -0.629922 m/s, rangeRepo size: 4 5 Added new target pos. range: 69.051231 m, bearing: 359.198526 deg, lat: 36.779332 deg, lon: -121.859603 deg, deltaT: 3.809997 s, deltaX: -2.387344 m, approachRate: -0.626600 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 69.05 m.Rh=Zh9M ProNav: ac range: 69.051231 m, nav range: 66.963371 m, bearing: 359.207066 deg, approach rate: 0.000000 m/s, LOS rate: 0.034216 deg/s, cmd heading: 358.723174 deg, new cmd heading: 358.765402 deg. BhIHeadingCmd: 6.261638 target range: 69.051231 and range: 69.40 m.hV_@h*h"h hgfffBdddjdYQ@Zdr?] Bɢ]N6)a eria)ek,m?A >@>@>@<<ٱ>O FAHRS rotation from veh to nav: [[0.999232,0.034380,0.018814],[-0.037464,0.978884,0.200953],[-0.011508,-0.201503,0.979420]]>H?H?C?p.@S?`Ӹ?Eɿ iW?i>@I>0_;>ŐCYRh~ByRtIXZ@AbDZVDZ0ybƏ=%bZ=ٔfQ-f>9f ?Yj ?=jFyjl1Ej-ӻEj>lQ 5rB5nrÆ?Q 9vB5nD)nIBYtyvQ Iv@neDIn:in:noCB5yxɮz]A|jh%DNOT Ignoring new targets: 69.05 m.Rh%019Zh-0195 ProNav: ac range: 69.051231 m, nav range: 66.719566 m, bearing: 359.210651 deg, approach rate: -0.656203 m/s, LOS rate: 0.009682 deg/s, cmd heading: 358.765412 deg, new cmd heading: 358.776204 deg. Bh=9EHeadingCmd: 6.261826 target range: 69.051231 and range: 69.40 m.hE`@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdUNN?颅 BɢOS)  li)a<顉i<^iTmN<^;I`@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503407@ @@0@@@i^A0;A؟AI!I9OEQ>ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876 r,Y˩?AB"<A B$B$B&RIB&1~BB$B$B$B&Ar;B&C.EBl@B9@B. <ٱBJzK NAHRS rotation from veh to nav: [[0.999202,0.036540,0.016141],[-0.039006,0.979643,0.196924],[-0.008617,-0.197396,0.980286]]BHv?`h?W?`@;Y?4? ХGDɿ^?iBl@IB_;P@YZ~ByZIbDbVDb2yj=%jJ=ٔjQ-n>9n"?Yn"?=nFyrp1Er&yEr>tQ 5zB5vن?Q 9zB5v~)vLBYxyzQ I~@vfDIv:ivS.;vFB5y @Bɮ A EE% E%E%(E!"E%77;*E%:VE%c44ZE!BE%@y,B橿?A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258968:@:@:$;ٱ:F BAHRS rotation from veh to nav: [[0.999175,0.038293,0.013487],[-0.040174,0.980510,0.192317],[-0.005860,-0.192700,0.981240]]@:H>?*?? W`?ԝ?[xcȿQf?i:@I:_;:ǐCYN~ByNI PPTTi%Mb@Mb@Mb@!!!! !9%{Gz?L7A`?~jt?Y%#?y%+=%9QYQ=]Fy]t1E]0E]>aQ 5mB5e?Q 9mB5e])eOBYu,$?Q Eu:yub,?A2@2@28Q;ٱ2XB :AHRS rotation from veh to nav: [[0.999184,0.038938,0.010738],[-0.040264,0.981272,0.188372],[-0.003202,-0.188651,0.982039]]2HP?`??f?`? :j%ȿ@l?i2@I27_;0YF~ByFIbDNVDNkyVmq=%VD=ٔZQлQ-Z>9XYX=^Fy^y1E^bE^>`Q 5fB5b?Q 9fB5b>)bRBYhyjEBB~IBx~BB =BBBr;B.EE  EE)E"EG;*E:VEFA4ZEBE)`҆,Ԝ?A02n@2;@2ͷ9ٱ2]> >AHRS rotation from veh to nav: [[0.999205,0.039082,0.007854],[-0.039860,0.981878,0.185276],[-0.000471,-0.185441,0.982655]]2H}?? ?hk??>ǿ`q?i2n@I2I_;2ȐCYF~ByFIiMMb@Mb@Mb@IIII I9MZd;O?Mb?~jt?YMj?yM=M9} ?Y} ?=}Fy}}1Ex:E>Q 5B5?Q 9B5p)YT?Q E:y*=Q I@BfDI!*;iG);)RB5yABɮvAjhDNOT Ignoring new targets: 69.05 m.Rh-Zh- ProNav: ac range: 69.051231 m, nav range: 65.647804 m, bearing: 359.170266 deg, approach rate: -0.612311 m/s, LOS rate: -0.070019 deg/s, cmd heading: 358.744485 deg, new cmd heading: 358.654574 deg. Bh7@HeadingCmd: 6.259703 target range: 69.051231 and range: 69.40 m.h}O@h*h"h hgfffBdddjdZd Q@1ɢ5*)9 =Ni9)=vy<99i=TiE]E R,5(;?A4<ɰ4<24@2@2ּٱ2ȍ; :AHRS rotation from veh to nav: [[0.999236,0.038730,0.005230],[-0.039034,0.982510,0.182070],[0.001913,-0.182135,0.983272]]2H?@[ԣ?` lu?Jp?`N?W_?6Pǿv?i24@I2_;2ŐCYF~ByFIJ=J=bDNVDNk1yVj=%V5=ٔZQ- >9 "?Y "?= Fy 1E:E>Q 5%B55?Q 9%B5)SBY!y-=Q I-@UfDIR:i:5VB5y1ɮ5A5EjhYeDNOT Ignoring new targets: 69.05 m.RheZheu ProNav: ac range: 69.051231 m, nav range: 65.363716 m, bearing: 359.137428 deg, approach rate: -0.613869 m/s, LOS rate: -0.071266 deg/s, cmd heading: 358.654572 deg, new cmd heading: 358.555631 deg. BhuC}HeadingCmd: 6.257977 target range: 69.051231 and range: 69.40 m.h}XA@hy*h"h hgfffdddjdZd 5@ԱBɢj) Gi)n<iQi~μ:<ĺ;IXA@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912-9@) @1@51@1AAAABBBIB~BB =BBBs;B.EE  E E &E "E 9;*E :VE 4ZE BE ^,2X?A2D@2@2ٱ27 :AHRS rotation from veh to nav: [[0.999294,0.037508,0.002316],[-0.037319,0.983204,0.178655],[0.004424,-0.178616,0.983909]]2H6?K4?b?kgv?-?{r?`ƿ.|?i2D@I2_;0YFByFIPiMb@Mb@Mb@ 9MbX9?(\?Mb?Y!?yz><I"AzA A)AYA@AbDVDfy% <%-$=ٔ-ѤQ-->91Y1=5Fy51EUd;EU>YQ 5eB5]4P?Q 9eB5])]OBYm&?Q Em:ymL?>Q Im@]ifDI]H:i]<:]ZB5yuBBɮ}A}EjhDNOT Ignoring new targets: 69.05 m.RhzZhz ProNav: ac range: 69.051231 m, nav range: 65.051270 m, bearing: 359.081101 deg, approach rate: -0.629732 m/s, LOS rate: -0.114072 deg/s, cmd heading: 358.555644 deg, new cmd heading: 358.385851 deg. BhHeadingCmd: 6.255013 target range: 69.051231 and range: 69.40 m.h)@h*h"h hgf f f  Bd1d1d1jd1Zd= @ɢ&@ ) )Di) ,a<  i Pi 漉<gi%>9@ @@4@@a@egAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274834) ^A X;E  E E )E "E :;A I I O >H,s?A*E:VEFA4ZEa@a@a@a@R'@R@RٱRo1 ^AHRS rotation from veh to nav: [[0.999374,0.035187,-0.003624],[-0.034037,0.984456,0.172303],[0.009631,-0.172072,0.985037]]RH??mHm@? ? O? vƿl?iR'@IR_;RǐC]DAT read: 05:09:59.9193 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.29, 0.873,-0.840, 1.101, 0.795, PHS= 0.179,-1.590, 0.261, RAW= 152.2, 12.6, CAL= 152.3, 14.1, ROT= 357.7, -14.1 eYgot valid direction response: 05:09:59.9193 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.29, 0.873,-0.840, 1.101, 0.795, PHS= 0.179,-1.590, 0.261, RAW= 152.2, 12.6, CAL= 152.3, 14.1, ROT= 357.7, -14.1 mPDAT read: Bearing 157.4, -4.6 (Local) m~Local bearing/azimuth received: Bearing 157.4, -4.6 (Local) uDAT read: Range 11 to 50 : 66.9 m (Round-trip 89.2 ms) speed 0.6 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [0.969091,-0.038922,0.243615]Fpublishing direction and range infoy)-*_z?{L .?Y-̅B)))) ))-JI-K7>i-˿-ˡ>-P*@-z0a>-*@ -d{>)-@I-d{))-wvC=h?ݨ?s? -?)-bI-Ql$i-d{))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.aY1ByIbDVDNy=%%=ٔ%!Q-%>9)Y)=-Fy-1E-;E->Q 5B5[m?Q 9B5@)LBYyB>Q I@fDI-:iF:A_B5yHBɮ ~A i)i-x?AJi- BRi- Bji-J@b-TWk P@0ROK70@R-*_z?{L .?Zi-Ql$bi-d{j-[=P@ܖ;MkޔX 1@Z-˅^?۽Ob?2i-:i-B"i-'?*i-NBi-Bi-c?i)i)i-Bi-Ƃ@ԉ addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 3.777424 s, deltaX: -2.500000 m, approachRate: -0.661827 m/s, rangeRepo size: 4  Added new target pos. range: 66.563995 m, bearing: 358.261519 deg, lat: 36.779329 deg, lon: -121.859603 deg, deltaT: 3.777424 s, deltaX: -2.487236 m, approachRate: -0.658448 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 66.56 m.RhZh ProNav: ac range: 66.563995 m, nav range: 64.448540 m, bearing: 359.013264 deg, approach rate: 0.000000 m/s, LOS rate: -0.114072 deg/s, cmd heading: 358.385845 deg, new cmd heading: 358.194418 deg. Bh!-HeadingCmd: 6.251672 target range: 66.563995 and range: 66.90 m.h- @h)*h1"h1 h1g1f1f9f9d9d9d9jdEP@Zdes?颵Bɢ ) ;i)S<项izNiaU<ڿv  BDAT read: Tx time:05:10:01.1759  $Ping request sent. BQ BU IBU BBQ BQ BU DBU r;BU .E ^Ae $<E EE'E"E1;*E:VE'4ZEBE[>#x!AKA +A)+AYA ;p;bDVD:y-[<%-=ٔ5.Q-5>95 ?Y5 ?==Fy=1E=Q;E=>AQ 5MB5Er?Q 9MB5E})ECBYU#?Q EU:yU>Q IU@EfDIEs:iE:EcB5y]IBɮ]@AeE}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 66.56 m.Rh8Zh8 ProNav: ac range: 66.563995 m, nav range: 64.140472 m, bearing: 358.936178 deg, approach rate: -0.640164 m/s, LOS rate: -0.160954 deg/s, cmd heading: 358.194409 deg, new cmd heading: 357.962041 deg. BhܻHeadingCmd: 6.247616 target range: 66.563995 and range: 66.90 m.h y@h *h "h  h g f f1f5?Bd9d9d9jd9ZdE :?ԑBɢ) 8i)oEH<ij Mi}<,ƴ?A2@2@2loٱ2s- NAHRS rotation from veh to nav: [[0.999423,0.032696,-0.009226],[-0.030669,0.985149,0.168938],[0.014613,-0.168557,0.985584]]2HE?x?)傿gX??=?@Iſ?i2@I2_;2ƐChYM@ByUIbDeVDeβyu*`%uX=ٔuѻQ-u>9}"?Y}"?=}Fy}1EQ;E>Q 5B5?Q 9B5{)=BYy>Q I@fDI@;i];fB5yɮHAjhDNOT Ignoring new targets: 66.56 m.Rh3Zh3 ProNav: ac range: 66.563995 m, nav range: 63.908287 m, bearing: 358.877172 deg, approach rate: -0.615527 m/s, LOS rate: -0.156994 deg/s, cmd heading: 357.962045 deg, new cmd heading: 357.784385 deg. Bh|׻checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758839HeadingCmd: 6.244515 target range: 66.563995 and range: 66.90 m.h@h*h"h hgfffdddjdZd`f?ɢ ;&) 8i)zn?<iKid<EB <A B >B B IB MBB B B B r;B y.EBCBCBB =B =C&4w,׈Ϊ?AB)@B#@BٱBO- VAHRS rotation from veh to nav: [[0.999438,0.031285,-0.012058],[-0.028803,0.985219,0.168859],[0.017162,-0.168417,0.985566]]BHd??~?`-? ?ſ‰?iB)@IBV_;BȐCYfGByfIz=zp=bDVDk2AE EE%E"E4;*E:VE 4ZEBE9Y=Fy1E;E>Q 5B5?Q 9B5y)7BYyׄ>Q I@fDI;i?;jB5yɮ 0A EjhIUDNOT Ignoring new targets: 66.56 m.Rhur2Zhur2 ProNav: ac range: 66.563995 m, nav range: 63.655499 m, bearing: 358.811966 deg, approach rate: -0.602423 m/s, LOS rate: -0.156009 deg/s, cmd heading: 357.784379 deg, new cmd heading: 357.587986 deg. Bh"ֻHeadingCmd: 6.241088 target range: 66.563995 and range: 66.90 m.h@h*h"h hgfffdddjdZd@?颅Bɢ) l7i)5<IiUJieTn,i[?< y,,A꪿?A;ɰ;23@2Y.@2tٱ2K- :AHRS rotation from veh to nav: [[0.999432,0.030408,-0.014543],[-0.027519,0.985250,0.168892],[0.019464,-0.168396,0.985527]]2H`X?A#? wȍ -+?`@?H?@ſp?i23@I2_;2ǐCXYU7ByUIi-Mb@Mb@Mb@)))) )9- ףp= ?S?Zd;OY-Q?y-/]>-j-#A-A -A)))Y-AMAAMAAbDUVDU:2ye^ %e,=ٔIQ->9Y=Fy1E<3;E>Q 5B5cȇ?Q 9B5Xw)+BY-'"?Q E5:y5>Q I5@fDIa PI,=e?A8Y 'By IbDVD{Uy-;!%-U=ٔ5Q-5>91Y9==Fy=1E=E=>AQ 5MB5Eۇ?Q 9MB5Ezu)E"BYQyQQ IU@EfDIE#;iE;EqB5y]JBɮ]A]EjhDNOT Ignoring new targets: 66.56 m.Rh`Zh` ProNav: ac range: 66.563995 m, nav range: 63.154194 m, bearing: 358.655848 deg, approach rate: -0.623884 m/s, LOS rate: -0.195887 deg/s, cmd heading: 357.325226 deg, new cmd heading: 357.117772 deg. BhoHeadingCmd: 6.232881 target range: 66.563995 and range: 66.90 m.hs@h*h"h hgfffdddjdZd`@BɢCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018627) q@i)!<i.fHi NƇ<=I s@I IfA)eAԱ@ @@/@@@B >B B IB lBB  =B B B r;B m.E^AP<E EE&E"E(;*E:VE4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272457! n,,?A6I@6D@6ļٱ6 / BAHRS rotation from veh to nav: [[0.999403,0.028558,-0.019448],[-0.024814,0.984933,0.171148],[0.024043,-0.170564,0.985053]]6H?A>?@I꓿h?0?ພ?ſ?i6I@I6n_;6ĐCYJByJI LLLNA|i%Mb@Mb@Mb@!!!! !9%A`"?1Zd?lY%?y%"[>%%x!A%zA %A)%ZA!Y%AbD=VD=yED%MI=ٔM8Q-M>9U ?YU ?=UFyU1EU6;EU>aQ 5eB5e?Q 9mB5ess)eBYm"?Q Em:ym>Q Im@efDIeC:ieX:eiuB5yyɮ}AyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 66.56 m.RhTZhT ProNav: ac range: 66.563995 m, nav range: 62.910496 m, bearing: 358.580451 deg, approach rate: -0.598755 m/s, LOS rate: -0.185964 deg/s, cmd heading: 357.117779 deg, new cmd heading: 356.890714 deg. Bh@HeadingCmd: 6.228918 target range: 66.563995 and range: 66.90 m.hLS@h*h"h hgfff,BdddjdZd`@颅Bɢ|/) Ci)H<顉iZGiGG^0<~'=ILS@I)i@i @i@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522941Y^A9=E  E E (E "E C;*E ;:VE c44ZE a @a @a @a @ԁ A ؟AI I O% >,(9?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774407:fS@:4N@:7ؼٱ:3 BAHRS rotation from veh to nav: [[0.999372,0.027865,-0.021870],[-0.023629,0.984376,0.174487],[0.026391,-0.173861,0.984417]]:H??(e2?U?(?Aƿ W?i:fS@I:$7_;:ƐCYJ~ByJI R9b"?Yb"?=bFyb1Ef H;Ef>hQ 5nB5j?Q 9nB5jq)j BYlyr>Q Ir@jfDIj:ij:jxB5yvKBɮvAtjhDNOT Ignoring new targets: 66.56 m.RhtWZhtW- ProNav: ac range: 66.563995 m, nav range: 62.677910 m, bearing: 358.507738 deg, approach rate: -0.600290 m/s, LOS rate: -0.188365 deg/s, cmd heading: 356.890717 deg, new cmd heading: 356.671769 deg. Bh-E5HeadingCmd: 6.225097 target range: 66.563995 and range: 66.90 m.h53@h1*h1"h9 h9g9f9fAfAdAdAdAQjdYZde@uBɢuzC)y }Niy)}Ŝ  BDAT read: Rx Time:05:10:03.6663  TRx dataTimestamp_ set to:1761541805.156170checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027639A AAA B >B B IB WBB B B B vr;B `.E E  E E )E "E (;*E :VE FA4ZE BE a 2E a JE {$9!Y!=%Fy%1E-P9E->1Q 5=B55?Q 9=B55ro)5BY9yE>Q IE@5gDI58;i5;5k|B5yMHBɮMAMEjhDNOT Ignoring new targets: 66.56 m.Rh[VZh[V ProNav: ac range: 66.563995 m, nav range: 62.429768 m, bearing: 358.429666 deg, approach rate: -0.593287 m/s, LOS rate: -0.187406 deg/s, cmd heading: 356.671768 deg, new cmd heading: 356.436622 deg. BhHeadingCmd: 6.220993 target range: 66.563995 and range: 66.90 m.h_@Թh*h"h hgfffdddjdZd @MBɢUS)Y ]0Xia)e8 ^direction in FSK: [0.964931,-0.043817,0.258819] Fpublishing direction and range infoy! % "?^6oV!}?Y% 3B! ! ! ! ! )% GI% u>i% ^ɿ% n>% ;*@% |o>% t*@ % >)% @I% ! ! % _;J?]o׌?ȹh? % ?)% oI% 9i% ! !  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.4,l?A=+Q@=K@={ٱ=; MAHRS rotation from veh to nav: [[0.999235,0.029146,-0.026073],[-0.023898,0.982857,0.182815],[0.030954,-0.182052,0.982802]]=H?j؝?Ʋx s? {f?c?@{Mǿ@s?i=+Q@I=8_;QE} E}E}'Ey"E}0;*E}:VE}'4ZEya@a@a@a@9Y~ByII=)4j<I"A )YAbDVDy%=ٔ_Q->9Y=Fy1Ek/E > Q 5B5 3?Q 9B5 Xm) BY?Q E:y3z>Q I@ gDI W;i ; B5yIɮMAIyiIiMH3j?AJiMBRiMBjiMn@bMiO@z?%*ˢ0@RM"?^6oV!}?ZiM9biM jM~0N@ D 9XI2@ZMG?3Bv ?2iM:iMuB"iMn?*iM%BiMBiM'?iM%iMBiMwBiMp@ addTargetRange:: Added new target pos. range: 64.599998 m, deltaT: 3.784009 s, deltaX: -2.300003 m, approachRate: -0.607822 m/s, rangeRepo size: 4   Added new target pos. range: 64.276276 m, bearing: 358.873005 deg, lat: 36.779328 deg, lon: -121.859596 deg, deltaT: 3.784009 s, deltaX: -2.287720 m, approachRate: -0.604576 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 64.28 m.RhZh- ProNav: ac range: 64.276276 m, nav range: 61.975304 m, bearing: 358.882188 deg, approach rate: 0.000000 m/s, LOS rate: -0.187406 deg/s, cmd heading: 356.436618 deg, new cmd heading: 356.131031 deg. Bh)5HeadingCmd: 6.215659 target range: 64.276276 and range: 64.60 m.h5@h1*h1"h1 h1g1f9f9f=BdAdAdAjdE`f&P@ZdM BDAT read: Tx time:05:10:04.9759 $Ping request sent.,|?AJ>@JU9@JٱJ8D VAHRS rotation from veh to nav: [[0.999032,0.032436,-0.029709],[-0.026167,0.981184,0.191293],[0.035355,-0.190331,0.981083]]JH`?d? l˚ e?J|? ?@\ȿe?iJ>@IJ-_;JŐCY^g~By^tIbDfVDfBpBpBrIBr%BBpBpBpBrYr;BrR.Ey~ 6%~]=ٔECQ->9Y= Fy 1E  ̻E >Q 5B50F?Q 9B5k)BY!y%v>Q I%@+gDI;i-;@B5y1ɮ5A1jhY]DNOT Ignoring new targets: 64.28 m.Rhe"Zhe"u ProNav: ac range: 64.276276 m, nav range: 61.756062 m, bearing: 358.827979 deg, approach rate: -0.574279 m/s, LOS rate: -0.142497 deg/s, cmd heading: 356.131036 deg, new cmd heading: 355.967834 deg. D=D<E EE(E"E/;*E:VEc44ZEBEʈ$, Z?A(J*@J%@JiٱJG VAHRS rotation from veh to nav: [[0.998890,0.035302,-0.031194],[-0.028558,0.980386,0.195006],[0.037466,-0.193899,0.980306]]JH? ?Nl>R_??.?ȿ`^?iJ*@IJb_;JĐCY^I~BybaIiEMb@Mb@Mb@AAAA A9E~jt?Cl?/$YE?yE;=E,E#AA A)EAAYAbD] VD]f2ym%mC=ٔu{Q-u>9qYq=}Fy}1E}E}>Q 5B5[?Q 9B5k)۴BY~?Q E:y%>Q I@AM >I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006688 O >,F?AH~M@~@~!ٱ~K  AHRS rotation from veh to nav: [[0.998731,0.038407,-0.032573],[-0.031190,0.979568,0.198679],[0.039538,-0.197411,0.979523]]~H??s:`X?Qn? `>?`DɿAX?i~M@I~_;~ƐCY~By@I !!bD5VD5!yE%EL=ٔEQ-M>9IYI=MFyM1EU%ػEU>YQ 5eB5]pp?Q 9eB5]1j)]ӴBYaym >Q Im@]KgDI]:i]:]fB5yuJBɮuAuEjhDNOT Ignoring new targets: 64.28 m.RhƺZhƺ ProNav: ac range: 64.276276 m, nav range: 61.256161 m, bearing: 358.756846 deg, approach rate: -0.611745 m/s, LOS rate: -0.086858 deg/s, cmd heading: 355.857582 deg, new cmd heading: 355.753546 deg. BhpnHeadingCmd: 6.209071 target range: 64.276276 and range: 64.60 m.h@h*h"h hgfffdddjdZd x?Bɢ?r) i);  i y?iXɗ|<Q=I@I9@ @@4@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258709B>BBIB~BB =BBBr;B2.E^AIqIO>DzD@AE EE'E"EU,;*E:VE'4ZEBE?ɿO?i @IRu_;Y ~By;IiEMb@Mb@Mb@AAAA A9Ejt?:v?9qYq=uFyu1E}xE}>Q 5B5뇈?Q 9B5i)ϴBY!?Q E:y =Q I@]gDI ;i ;CB5yɮ*AjhEDNOT Ignoring new targets: 64.28 m.RhM|ZhM|] ProNav: ac range: 64.276276 m, nav range: 60.977810 m, bearing: 358.742278 deg, approach rate: -0.629736 m/s, LOS rate: -0.033110 deg/s, cmd heading: 355.753545 deg, new cmd heading: 355.709640 deg. Bh]ȵHeadingCmd: 6.208304 target range: 64.276276 and range: 64.60 m.hn@h*h"h hgfffBdddjdZd?BɢON) i)q;ig>!i%A[%+<%OF=I%n@I)9@ @@4@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762654^A Ia Iy ԁ O >bE]-4jE]^+4rE]A0E  E E *E "E 0;*E :VE (N4ZE a @a @a @a @`,?A2/@2@2Fu3ٱ2}V :AHRS rotation from veh to nav: [[0.998240,0.048238,-0.034487],[-0.039974,0.976995,0.209483],[0.043799,-0.207736,0.977204]]2H?? V@kwC?Z?l?ʿAE?i2/@I2i_;2ŐCYB}ByFIbDNVDNkyV(%Vm=ٔV#ۻQ-V?9XYX=ZFyZ1EZ[aE^?9Q 5EB5=?Q 9EB5=i)=˴BYIyM@)>^AG=AzAeAԙIIO]>Ա E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266728AH,H ?A2\@2*@2H=ٱ2Z :AHRS rotation from veh to nav: [[0.997937,0.053369,-0.035678],[-0.044577,0.976009,0.213120],[0.046196,-0.211090,0.976375]]2H@?=S?@RD@Ҧv;?`G??`˿u>?i2\@I2)_;BHBHBJ~IBJx~BBJ =BHBHBJr;BJ(.EBIBIBIBM =BM =CM42ƐCYr}Byr IIzY>)z=bD VD 뱝EPExceeded connect timeout, disconnecting.ԹyIM%:=ٔŲQ->9Y=Fy1E,E>Q 5B5?Q 9%B5i)ȴBY!y%lr ,'?A2]~@2+y@2Eٱ2m\ :AHRS rotation from veh to nav: [[0.997603,0.058778,-0.036505],[-0.049566,0.975206,0.215679],[0.048277,-0.213352,0.975782]]2H]?@&? ̰```4?[?ȷ? !O˿9?i2]~@I2_;2ŐCYF}ByFIi Mb@Mb@Mb@     9 !rh?9AYA=EFyE1EE"TEM>IQ 5UB5Mƈ?Q 9]B5M j)M˴BYe'?Q Ee:ye獽Q Ie@MgDIMu*;iM*;M~B5yiɮm*Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770755-B*** querying acoustic contact ***i) i)jhY]DNOT Ignoring new targets: 64.28 m.RheZ9ZheZ9 ProNav: ac range: 64.276276 m, nav range: 60.230927 m, bearing: 358.730538 deg, approach rate: -0.621936 m/s, LOS rate: 0.027906 deg/s, cmd heading: 355.641011 deg, new cmd heading: 355.674276 deg. Bh6:HeadingCmd: 6.207687 target range: 64.276276 and range: 64.60 m.h`@h*h"h hgfffeBdd!d!jd!Zd-`t@Bɢ.) i)`v:顩im9ih<|=I`@IIE EE(E"ECJ;*E:VEc44ZEa@a@a@a@9@ @@/@^A#'=II)OU>i BDAT read: Rx Time:05:10:07.4632  TRx dataTimestamp_ set to:1761541808.936179 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023820ԙ 2Z,NzA?A2O@2MJ@2Nٱ2X_ :AHRS rotation from veh to nav: [[0.997193,0.064940,-0.037269],[-0.055266,0.974207,0.218785],[0.050515,-0.216111,0.975061]]2H@?런?K,? "?*ݩ?@˿3?i2O@I2`_;0Yf}ByfIbDnVDnyv%;%vO=ٔz'Q-z>9xYx=~Fy~1E~mE~>Q 5 B5܈?Q 9 B5j)δBYyřQ I@gDI:i:B5yMBɮ%EjhAMDNOT Ignoring new targets: 64.28 m.RhM":ZhM":e ProNav: ac range: 64.276276 m, nav range: 59.973099 m, bearing: 358.743587 deg, approach rate: -0.699171 m/s, LOS rate: 0.035539 deg/s, cmd heading: 355.674287 deg, new cmd heading: 355.713603 deg. Bhe:eHeadingCmd: 6.208374 target range: 64.276276 and range: 64.60 m.hm@hi*hi"hi higififqfqdqdydyjdZd`L @颩ɢX巽) i)*9项i7i6ᚍ<#=I@IqU9@Q @Q@U40@Q@]fA@]gA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274670ԹA@AA@ABBBLIB'~BB =BBBsr;B`.E^AU%)=]nManaging dock network, ignoring radio surface power offAe>AaII!OE> E  E E %E "E /;*E |:VE 4ZE BE i6ƿ6`P>6+(@6:Fq>6(@ 4)6r@I4446 @t?9֫?_E3? 6l ?)6qI6Fi4"@@PWٱ9_44 5AHRS rotation from veh to nav: [[0.996764,0.070737,-0.038172],[-0.060698,0.973733,0.219453],[0.052693,-0.216426,0.974876]]H`~??S (?@ ??`۳˿/2?i"@I_;ƐC5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.YU}}ByUI YYiMb@Mb@Mb@ 9L7A`?T㥛 Mb`Y+'?y(A@ A)E AYAbDVD:y%%% =ٔ- Q-->9)Y)=-Fy51E5:/E5>9Q 5eB5=X?Q 9eB5=k)=ڴBYm'?Q Em:ymWQ Im@=gDI=;i=;=fB5yuNBɮu|AuEi4i68\?AJi6YxBRi6YxBji6d@b6HM@u%kG0@R6g?t V!}?Zi6Fbi4j6b&M@NJƾa3@Z6v r? ZY˚u?2i6:i6IlB"i6n-j?*i6`Bi6Bi6c?i4i6Bi6mBi6a@] addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.781576 s, deltaX: -2.199997 m, approachRate: -0.581767 m/s, rangeRepo size: 4 m Added new target pos. range: 62.086967 m, bearing: 358.803195 deg, lat: 36.779326 deg, lon: -121.859596 deg, deltaT: 3.781576 s, deltaX: -2.189308 m, approachRate: -0.578941 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 62.09 m.RhuZhq ProNav: ac range: 62.086967 m, nav range: 59.374168 m, bearing: 358.780834 deg, approach rate: 0.000000 m/s, LOS rate: 0.035539 deg/s, cmd heading: 355.713602 deg, new cmd heading: 355.770495 deg. BhHeadingCmd: 6.209366 target range: 62.086967 and range: 62.40 m.h!@h*h"h hgfffXBdddjd@33O@Zd?U Bɢu)q uRiy)}lyyi}+g6iN.؍<Q %BDAT read: Tx time:05:10:08.8259 %$Ping request sent.%E  E E (E "E 0;*E :VE c44ZE a @a @a @a @U,L4u?A6@6@6aٱ6 _ >AHRS rotation from veh to nav: [[0.996283,0.076771,-0.039082],[-0.066371,0.973264,0.219889],[0.054918,-0.216478,0.974742]]6H?`>?@`$?V%?@?˿`1?i6@I6_;4YN}ByNIbDZVDZ:yrkb=%r=ٔvQ-v?9tYt=zFyz1Ez<Ez?Q 5%B5?Q 9-B5l)BY)y-0%Q I-@gDI:i:B5y1ɮ]9AYjhDNOT Ignoring new targets: 62.09 m.Rh:Zh: ProNav: ac range: 62.086967 m, nav range: 59.178944 m, bearing: 358.807479 deg, approach rate: -0.663851 m/s, LOS rate: 0.090903 deg/s, cmd heading: 355.770484 deg, new cmd heading: 355.850682 deg. Bhy;HeadingCmd: 6.210766 target range: 62.086967 and range: 62.40 m.h%@h!*h!"h! h!g!f!f)f)d)d)dQjdqZdu@?颡ɢE̽) Ei)X顩i4iP<ԡ % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501273ۘ#,Y?AB>BB'IB}BBBBBr;B.E<wȿ@E@jٱ_ -AHRS rotation from veh to nav: [[0.995786,0.082453,-0.040152],[-0.071669,0.972807,0.220252],[0.057220,-0.216446,0.974616]]H@z?@?X@;!?71?K?@˿0?iwȿ@IJ_;Y]h}ByeIbDuVDufy%?=ٔsQ->9Y=Fy1EKE>Q 5B5?Q 9B5m)BYy*Q I@gDI:i:B5yOBɮAEjh9=DNOT Ignoring new targets: 62.09 m.RhE:ZhE:U ProNav: ac range: 62.086967 m, nav range: 58.904495 m, bearing: 358.846694 deg, approach rate: -0.659515 m/s, LOS rate: 0.094676 deg/s, cmd heading: 355.850670 deg, new cmd heading: 355.968865 deg. BhU;]HeadingCmd: 6.212829 target range: 62.086967 and range: 62.40 m.h]~@hY*hY"hY hagafafafidiEu  EuEqEq"EuE;*EuI:VEqZEqBEu KCM rG),稬?A2(hA8RS9R(hAYRXAZE@Z@ZiYsٱZd#^ bAHRS rotation from veh to nav: [[0.995269,0.087981,-0.041230],[-0.076909,0.972675,0.219062],[0.059376,-0.214855,0.974839]]ZH`=??@@R' ?`: ?f?[˿`1?iZE@IZ!_;XYj}ByjIlIr%=)r=iMb@Mb@Mb@ 9uV?Dl/$?Yr(?yO</'A A)t AYAbD VD2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005840y=%E=ٔQ->9Y = Fy 1EOE>Q 5-B56?Q 9-B53o)BY5t)?Q E5:y50Q I=@gDIg;iX_;_B5yEPBɮM0AIuB*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 62.09 m.Rh):Zh): ProNav: ac range: 62.086967 m, nav range: 58.633793 m, bearing: 358.887409 deg, approach rate: -0.654292 m/s, LOS rate: 0.098862 deg/s, cmd heading: 355.968860 deg, new cmd heading: 356.091567 deg. Bh;HeadingCmd: 6.214970 target range: 62.086967 and range: 62.40 m.h @hI*hI"hQ hQgQfYfafeOBdadidjdZd?ɢ) i )-l|))i-~1i5I5<5b0,_ì?A4<ɰ4<2F}@2x@2zٱ2[ >AHRS rotation from veh to nav: [[0.994848,0.092076,-0.042412],[-0.080787,0.972826,0.216986],[0.061239,-0.212442,0.975253]]2H ? C?@q@d!?0?@Z? I1˿E5?i2F}@I2_;0YF}ByFIbDNVDN0yV">%V\=ٔZQ-Z>9XY\=^Fy^1E^,E^>`Q 5fB5bJ?Q 9jB5bSp)b BYhyj$5Q Ij@bgDIb;ibY;bB5ynRBɮnQArExjh DNOT Ignoring new targets: 62.09 m.Rh:Zh:% ProNav: ac range: 62.086967 m, nav range: 58.393776 m, bearing: 358.924807 deg, approach rate: -0.658559 m/s, LOS rate: 0.103035 deg/s, cmd heading: 356.091557 deg, new cmd heading: 356.204213 deg. Bh%l;-HeadingCmd: 6.216936 target range: 62.086967 and range: 62.40 m.h-$@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdEp? ɢ ) i)g>i#0i㔍<hU;I%$@I!@ @@/@!^A}|<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510499B<A<BBBBBBBB!s;B.EAiIyIIO}>EM EMEM)EI"EM*;*EM:VEMFA4ZEIBEM9Y=Fy1EE>Q 5B5d?Q 9B5q)BY#(?Q E:yQ I@hDI;i;²B5ySBɮAjhDNOT Ignoring new targets: 62.09 m.Rh:Zh%:- ProNav: ac range: 62.086967 m, nav range: 58.086594 m, bearing: 358.965722 deg, approach rate: -0.646313 m/s, LOS rate: 0.086541 deg/s, cmd heading: 356.204201 deg, new cmd heading: 356.327595 deg. Bh5m;5HeadingCmd: 6.219090 target range: 62.086967 and range: 62.40 m.h5@h9*h9"h9 h9g9fAfAfEuBdAdIdIjdIZdM`@yɢ}QM)y i)N顁i/i[DxE<`sI@Iy9@ @@/@@@dAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013526ԡ^A <A >A E=  E= E= *E9 "E= %;*E= :VE= (N4ZE9 aE @aE @aE @aE @A I I O >q+=,%Vu=ٔVԨQ-Z?9XYX=ZFyZ1E^,E^?`Q 5fB5bv?Q 9fB5bur)b,BYdyfQ Ij@bhDIb:ib:bB5ynTBɮnAnEjhDNOT Ignoring new targets: 62.09 m.Rh x:Zh x:} ProNav: ac range: 62.086967 m, nav range: 57.870857 m, bearing: 358.995329 deg, approach rate: -0.645689 m/s, LOS rate: 0.088944 deg/s, cmd heading: 356.327609 deg, new cmd heading: 356.416762 deg. Bh}*t;HeadingCmd: 6.220646 target range: 62.086967 and range: 62.40 m.h@h*h"h hgfffdddjdZd@Թɢ ) 0i)'ϻiC/i3<\I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2661689@ @@0@^AqZ;AIIOn> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519500A B >B B LIB '~BB B B B s;B .ED,?A6<@6Z7@6 ٱ6O >AHRS rotation from veh to nav: [[0.993817,0.100409,-0.047400],[-0.088612,0.974461,0.206336],[0.066907,-0.200860,0.977333]]6H`X?i?DL.?6i? ? ƵɿNF?i6<@I6]^;4YFS~ByJgIbDzVDz1y=%D=ٔ Q- >9 Y =Fy1EaE>Q 5%B54?Q 9-B5s)>BY)y-b!Q I-@&hDIH:iG:QB5y9ɮ=UA9jhaeDNOT Ignoring new targets: 62.09 m.Rhm:Zhm:} ProNav: ac range: 62.086967 m, nav range: 57.602432 m, bearing: 359.032975 deg, approach rate: -0.644628 m/s, LOS rate: 0.090828 deg/s, cmd heading: 356.416756 deg, new cmd heading: 356.530219 deg. Bh}Vy;HeadingCmd: 6.222626 target range: 62.086967 and range: 62.40 m.h@h*h"h hgfffdddjdZd@ɢ7) 7{i)i.i x霌<t»I@IDDE EE&E"E/;*E:VE4ZEBEʈԙ =J,k*?A2x7@2F2@2}njٱ20I :AHRS rotation from veh to nav: [[0.993641,0.101094,-0.049574],[-0.089218,0.975508,0.201060],[0.068686,-0.195359,0.978324]]2H@?E?aֶ[7?U?c?ɿmN?i2x7@I2(^;0YNo~ByRyIeBDAT read: Rx Time:05:10:11.3098 mTRx dataTimestamp_ set to:1761541812.716748uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023146iMb@Mb@Mb@ 9/$?~jtxQ?Y1(?yĻ<"A A)/ AY(AybDVDkyDv=%2=ٔ}Q->9Y=Fy1EE>Q 5B5?Q 9B5Jt)PBY_(?Q E:ylQ I@9hDIw;i;_B5y5UBɮ5A5EmB*** querying acoustic contact ***ii iijhy}DNOT Ignoring new targets: 62.09 m.Rh4V:Zh4V: ProNav: ac range: 62.086967 m, nav range: 57.300114 m, bearing: 359.054986 deg, approach rate: -0.639653 m/s, LOS rate: 0.046818 deg/s, cmd heading: 356.530219 deg, new cmd heading: 356.596601 deg. Bh;HeadingCmd: 6.223785 target range: 62.086967 and range: 62.40 m.h?)@h*h"h hgfffBdddjdZdH @eBɢe?)I3 si):顉i.iMs <I?)@IbEc44jEQ,D?A:(9@:3@:⾏ٱ:C FAHRS rotation from veh to nav: [[0.993559,0.100865,-0.051636],[-0.089004,0.976699,0.195287],[0.070131,-0.189434,0.979386]]:H)Ra=bDTVDTy^lv>%bs=ٔb_Q-b?9dYd=fFyf1Ef :Ef?hQ 5nB5jӸ?Q 9rB5jt)j]BYpyrQ Ir@jGhDIjg:ij:jDB5yvVBɮzAzEjhDNOT Ignoring new targets: 62.09 m.Rhb:Zh%b:- ProNav: ac range: 62.086967 m, nav range: 57.084087 m, bearing: 359.070874 deg, approach rate: -0.669397 m/s, LOS rate: 0.049418 deg/s, cmd heading: 356.596609 deg, new cmd heading: 356.644453 deg. Bh5;=HeadingCmd: 6.224620 target range: 62.086967 and range: 62.40 m.h=0@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMc @频ɢq)  _i) 项iB.i]{o}Ћ<I0@IDAT read: 05:10:11.3098 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.04, 1.154,-0.523, 1.269, 1.059, PHS= 0.197,-1.537, 0.166, RAW= 149.1, 13.6, CAL= 149.1, 15.0, ROT= 0.9, -15.0 Ygot valid direction response: 05:10:11.3098 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.04, 1.154,-0.523, 1.269, 1.059, PHS= 0.197,-1.537, 0.166, RAW= 149.1, 13.6, CAL= 149.1, 15.0, ROT= 0.9, -15.0 PDAT read: Bearing 157.1, 1.6 (Local) ~Local bearing/azimuth received: Bearing 157.1, 1.6 (Local) DAT read: Range 11 to 50 : 59.7 m (Round-trip 79.7 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages.-\direction in FSK: [0.965807,0.015172,0.258819]5Fpublishing direction and range infoy^?.?V!}?YnB )DI^I>ijĿ)>ۋ&@s>ۋ&@ )5 *DAT read: user:335> = BDAT read: Tx time:05:10:12.5759 = $Ping request sent.= @Ex9@EEٱE.= ]AHRS rotation from veh to nav: [[0.993532,0.100126,-0.053565],[-0.088328,0.977885,0.189575],[0.071361,-0.183618,0.980404]]EH? ֡?@lJ?D? D? ˀǿ@x_?iE>@IE._;EƐCYmBymIIiMb@Mb@Mb@ 9Zd;?x&?:v?Y?y7=< A@ ) AYAbDVDy>%!=ٔQ->9Y=Fy2E:E>Q 5B5[Ӊ?Q 9B5t)lBYE ?Q EM:yMAv[땿t%[x?2i:iaB"i)X?*iF BiBin?iF iBi(bBiW@ addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 3.778565 s, deltaX: -2.700001 m, approachRate: -0.714557 m/s, rangeRepo size: 4  Added new target pos. range: 59.400566 m, bearing: 358.705423 deg, lat: 36.779324 deg, lon: -121.859600 deg, deltaT: 3.778565 s, deltaX: -2.686401 m, approachRate: -0.710958 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 59.40 m.bhPowering the camera and arming the capture device at range: 59.70 m.2hRh%Zh!5 ProNav: ac range: 59.400566 m, nav range: 56.539696 m, bearing: 358.711390 deg, approach rate: 0.000000 m/s, LOS rate: 0.049418 deg/s, cmd heading: 356.644447 deg, new cmd heading: 356.721866 deg. Bh1=HeadingCmd: 6.225971 target range: 59.400566 and range: 59.70 m.h=(;@h9*h9"h9 h92hIgIfIfIfU߀BdQdQdQjdUM@Zd]?%Bɢ%\l)) -Mi))-V#))i-;/i5LYj5?A >I1IAOM>g^,l|?A>+T@>N@>Qٱ>\S6 JAHRS rotation from veh to nav: [[0.993682,0.097366,-0.055828],[-0.085713,0.979447,0.182586],[0.072458,-0.176648,0.981604]]>H@=??|J@W?^??bƿKi?i>+T@I>t._;>ŐCYR/ByRIbD^VD^:yf=%f_=ٔf3DQ-f>9hYh=jFyj2En1;En>pQ 5vB5r扊?Q 9vB5rmt)rwBYtyvB B IB %BB =B B B s;B .E9 ^A zI1 II EU  EU EU ,EQ "EU 3;*EU :VEU g4ZEQ BEU S^e,U?A2@2u@26ٱ2 . :AHRS rotation from veh to nav: [[0.994131,0.091008,-0.058490],[-0.079583,0.981444,0.174453],[0.073281,-0.168774,0.982927]]2H?RL?c_g?vT? ²?bſ#t?i2@I2vZa;2ÐCYFByF)I HHHHbDRVDR0yVg>%ZJ=ٔZQ-Z>9Y=Fy 2Epr<E%>!Q 5-B5%q?Q 9-B5%2t)%BY1yUh =Q IU@%zhDI%;i%};%B5yeXBɮeAeEjhDNOT Ignoring new targets: 59.40 m.bhPowering the camera and arming the capture device at range: 59.70 m.2hRh!Zh! ProNav: ac range: 59.400566 m, nav range: 56.052608 m, bearing: 358.684864 deg, approach rate: -0.611376 m/s, LOS rate: -0.035346 deg/s, cmd heading: 356.686822 deg, new cmd heading: 356.641939 deg. BhºHeadingCmd: 6.224576 target range: 59.400566 and range: 59.70 m.h/@h*h"h h2hgfffddd!jd!Zd%@7;?颕Bɢac) v+i),顙i)l0inpm<Ǿ@:I/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006989!E5@I @I@M/@Q^A=[RӻIIOg>Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260312Ok,~V?A2T@2"@2 rٱ2@+' :AHRS rotation from veh to nav: [[0.994452,0.085665,-0.061049],[-0.074397,0.983053,0.167548],[0.074368,-0.162077,0.983972]]2H??A@ +u?7r?` ?Ŀ|?i2T@I2a;2ƐCYfByfHIieMb@Mb@Mb@aaaa a9e^I +?K7?{Gz?YeX?yeI >e#9Y=Fy2EUK<E>Q 5B5?Q 9B5/s)BYS?Q E:y>Q I@hDIK ;i ;4B5yYBɮAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 59.40 m.bhPowering the camera and arming the capture device at range: 59.70 m.2hRhZh  ProNav: ac range: 59.400566 m, nav range: 55.798889 m, bearing: 358.639313 deg, approach rate: -0.615783 m/s, LOS rate: -0.111058 deg/s, cmd heading: 356.641934 deg, new cmd heading: 356.504658 deg. Bh oHeadingCmd: 6.222180 target range: 59.400566 and range: 59.70 m.h@h*h"h h2hgfff%ABd!d!d!jd!Zd- ?QYɢ]^)Y ewia)e5aaieSy1imymws,έ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7634798^׿@^@^Șٱ^+! fAHRS rotation from veh to nav: [[0.994777,0.080710,-0.062482],[-0.069735,0.984429,0.161356],[0.074532,-0.156156,0.984916]]Bj<Aj<Bn>BlBn@IBnBBlBlBlBn1s;Bn.E^H@7? g?@/ڱ r?O??@ÿ`o?i^׿@I^;`;^ŐCY~By~rIbDVDy>%%0=ٔ%뺹Q-%>9)Y=Fy2ER!<E>Q 5B58*?Q 9B5q)BYy>Q I@hDI;i6;\B5yɮAjhDNOT Ignoring new targets: 59.40 m.bhPowering the camera and arming the capture device at range: 59.70 m.2hRhEZhEU ProNav: ac range: 59.400566 m, nav range: 55.511490 m, bearing: 358.585727 deg, approach rate: -0.594470 m/s, LOS rate: -0.111413 deg/s, cmd heading: 356.504647 deg, new cmd heading: 356.343058 deg. BhU옻]HeadingCmd: 6.219359 target range: 59.400566 and range: 59.70 m.h]@hY*hY"hY ha2hag!f!f!f!d)d)d)jd)Zd-]@ԙ额Bɢ>:)  i)z>it3i H \< wbP$z,vꭿ?A2@2p@2 ٱ2i :AHRS rotation from veh to nav: [[0.995013,0.076855,-0.063582],[-0.066101,0.985430,0.156713],[0.074699,-0.151729,0.985595]]2H@%?ˬ? F찿ࣈ?-?? kÿ?i2@I2i_;0]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267913YByI!I=4>)=>E=E=iMb@Mb@Mb@ 9㥛 ?(\?{GztY?yG>ףA A)vAY=AbDVD02y=%=ٔQ->9Y=Fy2E;E>Q 5B5C?Q 9 B5o)BY ?Q E :y d>Q I @hDI:i:B5yXBɮAEjhAMDNOT Ignoring new targets: 59.40 m.bhIMPowering the camera and arming the capture device at range: 59.70 m.2hIRhUJZhUJe ProNav: ac range: 59.400566 m, nav range: 55.209152 m, bearing: 358.497027 deg, approach rate: -0.601228 m/s, LOS rate: -0.177355 deg/s, cmd heading: 356.343045 deg, new cmd heading: 356.075489 deg. BheomHeadingCmd: 6.214690 target range: 59.400566 and range: 59.70 m.hm@hi*hi"hi hi2hqgqfqfqf}CBdydydjdZd5 @颁ɢw^6) i)F顉iRj5iqG:e<v,/?A;ɰ;b@bS@bʘٱbr jAHRS rotation from veh to nav: [[0.995305,0.072327,-0.064317],[-0.061742,0.986207,0.153569],[0.074537,-0.148876,0.986043]]bH?? w``? "?@?@bÿ@?ib@Ibl_;bƐCppipIrq/FpIrCit tt)tt v^r@xxxx|I|)|i|)|I~xkA| i i  hA) ? <5FI YY&ByIbDVDy=%Y=ٔ/9Q->9Y=Fy2E><E>Q 5B5V?Q 9B5gn)BYy>Q I@hDIK:i:B5y_BɮAEIjhYeDNOT Ignoring new targets: 59.40 m.bhaePowering the camera and arming the capture device at range: 59.70 m.2haRhbHZhbH ProNav: ac range: 59.400566 m, nav range: 54.986012 m, bearing: 358.429764 deg, approach rate: -0.578826 m/s, LOS rate: -0.175188 deg/s, cmd heading: 356.075493 deg, new cmd heading: 355.872885 deg. BhuHeadingCmd: 6.211154 target range: 59.400566 and range: 59.70 m.h@h*h"h h2hgfffdddjdZd@额Bɢ{?) i)Li6iZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771940<%BBIBBBBBB^s;B.Eԁ*@ @@/@^Av<A>A>E EE'E"E2;*ES:VE'4ZEBE$ BDAT read: Rx Time:05:10:15.0567  TRx dataTimestamp_ set to:1761541816.496163 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023952 ܇,/ ?AԹ6@e1@Pٱ -AHRS rotation from veh to nav: [[0.995535,0.068638,-0.064794],[-0.058211,0.986823,0.150970],[0.074303,-0.146525,0.986412]]Hl?@>?^ͭ ?R?@?Q¿ఐ?i6@IH_;ǐCY.ByIieMb@Mb@Mb@aaaa a9e|?5^?i|?5?L7A`堿Ye?yeq>e+ejAehA eAA)e AaYe AbD}VD}0y=%%=ٔ}9Q->9Y=Fy!2E;E>Q 5B5Xo?Q 9B5k)BY?Q E:y>Q I@hDI7 ;i ;nB5yɮAjhDNOT Ignoring new targets: 59.40 m.bhPowering the camera and arming the capture device at range: 59.70 m.2hRh Zh  ProNav: ac range: 59.400566 m, nav range: 54.697796 m, bearing: 358.320906 deg, approach rate: -0.594297 m/s, LOS rate: -0.225646 deg/s, cmd heading: 355.872882 deg, new cmd heading: 355.544591 deg. Bh HeadingCmd: 6.205424 target range: 59.400566 and range: 59.70 m.h Ւ@h *h "h  h 2hgfffRBdddjdZd%e @IɢUH0)Q UbiQ)UySQYi])8i]Ae}ϊ,b>?AiXIZArDAT read: 05:10:15.0567 LVL= 32736, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.19,-2.002, 2.570,-1.805,-2.192, PHS= 0.292,-1.477, 0.343, RAW= 151.4, 9.4, CAL= 151.1, 10.2, ROT= 358.9, -10.2 vYgot valid direction response: 05:10:15.0567 LVL= 32736, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.19,-2.002, 2.570,-1.805,-2.192, PHS= 0.292,-1.477, 0.343, RAW= 151.4, 9.4, CAL= 151.1, 10.2, ROT= 358.9, -10.2 zPDAT read: Bearing 154.0, 1.5 (Local) z~Local bearing/azimuth received: Bearing 154.0, 1.5 (Local) DAT read: Range 11 to 50 : 57.4 m (Round-trip 76.6 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.984014,-0.018894,0.177085]Fpublishing direction and range infoyXZ&,j }?PXki?YZeBXZXX X)XIZ>iZVZ>Z)@Z'>iY >By I AZ(@ ZK6>)Zr@IZK6XXZ"HW?7p^s?v? ZAW ?)Z#J(IZFiZK6XX5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.bDVDk2y=%N=ٔQ->9 ?Y ?=Fy%2EE>Q 5B5?Q 9B5i)BYyQ I@hDIW:i9:B5y%`Bɮ-A)iXiZ??AJiZrdBRiZrdBjiZlo@bZ'tL@ `Cl5O7.:$@RZ&,j }?PXki?ZiZFbiZK6jZ:K@TiyX @,@ZZ=Qo?ʞdŖ/*5 ?2iZ3:iZ\B"iZۤ?*iZFBiZݜBiXiXiZBiZYBiZ@ addTargetRange:: Added new target pos. range: 57.400002 m, deltaT: 3.780119 s, deltaX: -2.299999 m, approachRate: -0.608446 m/s, rangeRepo size: 4 - Added new target pos. range: 57.111835 m, bearing: 357.087428 deg, lat: 36.779324 deg, lon: -121.859600 deg, deltaT: 3.780119 s, deltaX: -2.288731 m, approachRate: -0.605465 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 57.11 m.bh)5Powering the camera and arming the capture device at range: 57.40 m.2h1Rh5Zh1e ProNav: ac range: 57.111835 m, nav range: 54.460724 m, bearing: 358.230444 deg, approach rate: 0.000000 m/s, LOS rate: -0.225646 deg/s, cmd heading: 355.544596 deg, new cmd heading: 355.252952 deg. BhimHeadingCmd: 6.200334 target range: 57.111835 and range: 57.40 m.hm"i@hq*hq"hq hq2hqԙgqfffdddjd@3L@Zd t?1ɢ=*)9 =%ݾi9)=RBZAAiE:iE,M- }BDAT read: Tx time:05:10:16.3259 }$Ping request sent.} ɕ,EX?AD?AzD?AE EE)E"EI@;*E:VEFA4ZEBE9Y=Fy)2Ed<E> Q 5=B5 ?Q 9=B5 g) BYAyE>Q IE@ hDI ;i ; >B5yMbBɮMAMEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 57.11 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hRh҆Zh҆ ProNav: ac range: 57.111835 m, nav range: 54.243233 m, bearing: 358.145282 deg, approach rate: -0.599640 m/s, LOS rate: -0.235740 deg/s, cmd heading: 355.252947 deg, new cmd heading: 354.996437 deg. Bh!HeadingCmd: 6.195857 target range: 57.111835 and range: 57.40 m.huD@h*h"h h2hgff f dIdQdQjdQZdU@p@?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249588ɢg:)  $ݾi )  Z_  i;iUٲ<kt;=IuD@I e"@a @i@mm0@q1^A y=A dAzA fAY  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501467A ؟AI I O >T6,8s?A2^s@2,n@2Bٱ2U NAHRS rotation from veh to nav: [[0.996073,0.061141,-0.064028],[-0.050830,0.987098,0.151834],[0.072485,-0.147983,0.986330]]2H@?`M? drN?@Jo?\?¿?i2^s@I2 v^;2ƐCYV&ByVIiuMb@Mb@Mb@qqqq q9u/$?rh|? ףp= Yu&?yu{>uQ8uAuA uA)uAqYu AbDVDN2yo%<ٔ>:Q->9"?Y"?=Fy-2E;;E>ԱQ 5B57?Q 9B5e)BY?Q E:y>Q I@iDIU:i:B5yɮAjhDNOT Ignoring new targets: 57.11 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hRhsZhs ProNav: ac range: 57.111835 m, nav range: 54.007072 m, bearing: 358.046926 deg, approach rate: -0.595458 m/s, LOS rate: -0.249081 deg/s, cmd heading: 354.996432 deg, new cmd heading: 354.700076 deg. Bh*%HeadingCmd: 6.190684 target range: 57.111835 and range: 57.40 m.h%@h!*h!"h! h!2h!g!f)f)f-@Bd1d1d1jd1Zd=?aɢe0FbE=:4jE=h=4rE=ºv0E EE(E"E2;*EVEc44ZEa@a@a@a@) i)q<>Q=I@IO @ @@4@^A]3=]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753486AIIO> 1 , ?AR@R`@RDٱRp" bAHRS rotation from veh to nav: [[0.996304,0.059010,-0.062413],[-0.048257,0.985677,0.161594],[0.071054,-0.157985,0.984882]]RH?6?@)?? 0? 8Ŀ&?iR@IR^;RÐCYr6ByrIIz=)zx>~=~=bDVDy-=%-R=ٔ=Oq;Q-=>9AYA=EFyE12EM;EM>YQ 5eB5]r?Q 9eB5]zc)]vBYiym>Q Im@]iDI]:i]:]@B5y}cBɮ}kA}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005543B>BBIBgBBBBDBs;B.EBBBB =B =C[41jhYeDNOT Ignoring new targets: 57.11 m.bhaePowering the camera and arming the capture device at range: 57.40 m.2haRhmZh ProNav: ac range: 57.111835 m, nav range: 53.781822 m, bearing: 357.951893 deg, approach rate: -0.540952 m/s, LOS rate: -0.229183 deg/s, cmd heading: 354.700084 deg, new cmd heading: 354.413794 deg. BhIHeadingCmd: 6.185688 target range: 57.111835 and range: 57.40 m.h'@h*h"h h2hgfffdddjdZd@?ɢ4) i)kiE>iǽό<j=I'@IY@ @@53@E EEE"Eg5;*E:VEZEBE}=,p?AYByIonly read 1 of 4 data items for bottom velocity. Device response is::BS, +199 -56,A a@a a@a a@a a@a bDVDyϽ%7=ٔQ->9Y=Fy62EE>Q 5B5@ӊ?Q 9B5 a)mBQ A+:YQ E:yQ I@$iDI:i>fB5ydBɮ.AEjh1=DNOT Ignoring new targets: 57.11 m.bh9=Powering the camera and arming the capture device at range: 57.40 m.2hARhEՓZhMՓe ProNav: ac range: 57.111835 m, nav range: 53.526638 m, bearing: 357.843187 deg, approach rate: -0.603918 m/s, LOS rate: -0.258489 deg/s, cmd heading: 354.413790 deg, new cmd heading: 354.086122 deg. Bhef1mHeadingCmd: 6.179969 target range: 57.111835 and range: 57.40 m.huN@hq*hq"hq hq2hqgyfyffdddjdZdX|?颵BɢE) Ii)r项iJ?icӽ)<1}=IN@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511657}@y @y@/@^AUu \=E EEE"EU,;*E:VEZEa@a@a@a@)A.AIIO>Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765500,>®?A>3u@>p@>6ŏٱ>1 RAHRS rotation from veh to nav: [[0.996252,0.062091,-0.060222],[-0.050616,0.983049,0.176217],[0.070143,-0.172508,0.982507]]>HK?hʯ?@lծ ]ꩿ#u? G??ƿp?i>3u@I>v^;>ĐCYZ ByZIbDbVDbβyj<%j[=ٔn ;Q-n>9n ?Yr ?=rFyr92ErлEr>tQ 5zB5v劊?Q 9zB5v _)vdBQ A~ :Y|Q E`:yP>Q I@v3iDIv$1;ivQ?vB5y ɮ "A jh15DNOT Ignoring new targets: 57.11 m.bh1=Powering the camera and arming the capture device at range: 57.40 m.2h9RhEҌZhEҌU ProNav: ac range: 57.111835 m, nav range: 53.312744 m, bearing: 357.752369 deg, approach rate: -0.577598 m/s, LOS rate: -0.246230 deg/s, cmd heading: 354.086132 deg, new cmd heading: 353.812586 deg. BhU(]HeadingCmd: 6.175195 target range: 57.111835 and range: 57.40 m.h]2@hY*hY"hY hY2hYgafafafadididijdiZdm @颙ɢEX) i)"x顡i˿@i9*ݽ2<=I2@I9j@ @@/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013388BYA]<Be>BeCBaBaBe =BaBaBes;Be.E^A5c=ԑA ؟AI I O >E%  E% E% 'E! "E% 8;*E% :VE% '4ZE! BE% ׏9v"?Yv"?=vFyv>2EzEz>|Q 5B5~}?Q 9B5~\)~YBQ A9YQ E 6:y >Q I @~CiDI~':i~?~jB5yfBɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 57.11 m.bhPowering the camera and arming the capture device at range: 57.40 m.2hRhZh ProNav: ac range: 57.111835 m, nav range: 53.079460 m, bearing: 357.653694 deg, approach rate: -0.549652 m/s, LOS rate: -0.233515 deg/s, cmd heading: 353.812596 deg, new cmd heading: 353.515273 deg. BhB HeadingCmd: 6.170005 target range: 57.111835 and range: 57.40 m.hp@h*h"h h2hgfffd d d jd Zd . @9ɢ=GhT)A EiA)E AAiEFAiM罉M- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517415 ,?A28@23@2Iٱ2= :AHRS rotation from veh to nav: [[0.995913,0.069854,-0.057257],[-0.057967,0.980472,0.187922],[0.069266,-0.183834,0.980514]]2H@?`?Pԭ`? ?e? ǿ@^`?i28@I2^;2ĐCYFByFrIa a aa aa aa iMb@Mb@Mb@ 9 ףp= ?M?S㥫YQ?yn>/]AI@ A)`AYz AbD-VD-:y=2%=D=ٔE:Q-E>9AYA=EFyEB2EMEM>QQ 5]B5U?Q 9]B5U[)UQBQ AeT:YeD?Q Ee:yeC >Q Ie@USiDIU;iU;U B5yiɮmAqE EE&E"E4;*E:VE4ZEa@a@a@a@jhDNOT Ignoring new targets: 57.11 m.bhPowering the camera and arming the capture device at range: 57.40 m.%lFinal approach. Armed for intercept at range: 57.40 m.%\Transitioning guidance mode to: FINAL_APPROACH:h%@Rh%Zh-] ProNav: ac range: 57.111835 m, nav range: 52.829140 m, bearing: 357.599375 deg, approach rate: -0.605098 m/s, LOS rate: -0.131927 deg/s, cmd heading: 353.515264 deg, new cmd heading: 353.351535 deg. Bh]eHeadingCmd: 6.167148 target range: 57.111835 and range: 57.40 m.heFY@ha*ha"ha hagififfBdddjdZdn@Bɢ=[) n i )   i BBi ԏ<=IFY@IA@ @@0@@>@!>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770186^AN9=I A .AI! I1 OM >,?A2@2@2Ӎٱ2}"@ >AHRS rotation from veh to nav: [[0.995700,0.073547,-0.056333],[-0.061600,0.979777,0.190374],[0.069195,-0.186085,0.980094]]2H@?Ӳ?׬@ `UZ?@/^?ö? ǿ \?i2@I2vK^;2ƐCYFByF]IbDNVDNyV%VU=ٔZ_A9Q-Z>9Z ?YZ ?=ZFyZF2E^sE^>rBDAT read: Rx Time:05:10:18.8039 vTRx dataTimestamp_ set to:1761541820.276309vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022684B>BBIBNBB =BBBr;B].EAQ 5MB5E2#?Q 9MB5EZ)EJBYIyM8>Q IM@EciDIE:iE1:EB5y]gBɮ]A]EjhDNOT Ignoring new targets: 57.11 m.bhRhZh= ProNav: ac range: 57.111835 m, nav range: 52.588200 m, bearing: 357.547670 deg, approach rate: -0.627826 m/s, LOS rate: -0.135347 deg/s, cmd heading: 353.351531 deg, new cmd heading: 353.195706 deg. Bh=ƹEHeadingCmd: 6.164428 target range: 57.111835 and range: 57.40 m.hEB@hA*hA"hA hAgAfIfIfIdIdQdQjdqZd` @ɢk) i) viP=Ci47󽉧$<}7=IB@IQB@ @@1@E EE'E"EU,;*E:VE'4ZEBE 2,)?A0@ZhAh9hAYsBy?AY5By5PIIE>)EIM=only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V a@a a@a a@a a@a @AbDVDy :% )=ٔ Q->9Y=FyJ2EE>!Q 5-B5%;?Q 9-B5%Y)%@BQ A-+:Y)Q E5:y1Q I5@%viDI%;i%>%B5y=hBɮ=A=EjhaeDNOT Ignoring new targets: 57.11 m.bhiRhmZhm} ProNav: ac range: 57.111835 m, nav range: 52.307598 m, bearing: 357.486841 deg, approach rate: -0.601111 m/s, LOS rate: -0.131007 deg/s, cmd heading: 353.195694 deg, new cmd heading: 353.012231 deg. Bh}ѳHeadingCmd: 6.161226 target range: 57.111835 and range: 57.40 m.h(@h*h"h hgfffdddjdZd J)@ԡɢ"l) i)9֋ibCin<DAT read: 05:10:18.8039 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.38,-0.148,-1.812, 0.065,-0.258, PHS= 0.211,-1.509 RAW= 151.9, 11.6, CAL= 151.8, 12.8, .2,Bearing 155.5, -0.3 (Local) yLocal bearing/azimuth received: 05:10:18.8039 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.38,-0.148,-1.812, 0.065,-0.258, PHS= 0.211,-1.509 RAW= 151.9, 11.6, CAL= 151.8, 12.8, .2,Bearing 155.5, -0.3 (Local) %DAT read: Range 11 to 50 : 55.3 m (Round-trip 73.8 ms) speed 0.4 m/s -X#Rx 1: Read range message, but no direction.yY3]B-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.=I=(@IA@@ @@4@E EEE"E/;*E:VEZEa@a@a@a@^A p=  *DAT read: user:337>  BDAT read: Tx time:05:10:20.0759  $Ping request sent. ,ӅC?A4<ɰ2,ڿ@2@22fٱ2OF :AHRS rotation from veh to nav: [[0.995162,0.081667,-0.054610],[-0.069463,0.977993,0.196735],[0.069475,-0.191990,0.978935]]2H^?@(?@LȱK?.?ɱ? ȿnS?i2,ڿ@I2}];0YFByFCIbDNVDN:yVt%V{=ٔV&bQ-Z ?9XYX=ZFyZN2E^ƼE^ ?p)Q 55C5-^L?Q 9=C5-X)-:BQ A] :YYQ E]b:y]R>Q I]@-iDI-};i-O?-C5yɮbA addTargetRange:: Added new target pos. range: 55.299999 m, deltaT: 3.779819 s, deltaX: -2.100002 m, approachRate: -0.555583 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 57.11 m.bhRh Zh   ProNav: ac range: 57.111835 m, nav range: 52.103283 m, bearing: 357.444157 deg, approach rate: -0.582679 m/s, LOS rate: -0.122207 deg/s, cmd heading: 353.012235 deg, new cmd heading: 352.883680 deg. Bh =HeadingCmd: 6.158982 target range: 57.111835 and range: 55.30 m.h=b@h9*h9"h9 h9g9fAfAfAdAdIdIjdM`fK@ZdM`o?颙ɢ^")  i)R顡i1DiF^<w=Ib@Ii@i @i@m0@i@q@ufAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250686AAB >B CB IB 0BB  =B B DB r;B $.E9^AM8=IIO>a E  E E )E "E &;*E *:VE FA4ZE BE 9`Yd=fFyfR2EfJ/Ef>hQ 5nC5jq`?Q 9nC5j X)j2BQ Ar9YpQ Er7:yr}>Q Ir@jiDIj ;ij?jC5yvjBɮvAxjhDNOT Ignoring new targets: 57.11 m.bhRh%zZh%z5 ProNav: ac range: 57.111835 m, nav range: 51.866795 m, bearing: 357.395601 deg, approach rate: -0.620871 m/s, LOS rate: -0.128059 deg/s, cmd heading: 352.883691 deg, new cmd heading: 352.737358 deg. Bh5ů=HeadingCmd: 6.156428 target range: 57.111835 and range: 55.30 m.9h=v@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU0?ɢą) %i) cy  i gDiB<]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503072Mu=Iuv@Iy @  @ @ /@ q^AHu=IIOB>ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754821 u+,9Y=FyV2E3%E>Q 5C5ԙ8w?Q 9C5PX)5BQ AT:Y!?Q E:yQ I@iDIR6;i5;\C5ykBɮAEE EE(E"E%;*E :VEc44ZEa@a@a@a@B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 57.11 m.bhRhZh  ProNav: ac range: 57.111835 m, nav range: 51.596302 m, bearing: 357.393359 deg, approach rate: -0.626149 m/s, LOS rate: -0.005218 deg/s, cmd heading: 352.737361 deg, new cmd heading: 352.730599 deg. Bh +eHeadingCmd: 6.156311 target range: 57.111835 and range: 55.30 m.h@h*h"h hgf!f!f%Bd!d)d)jd)Zd- x?ɢŁ) A*i).iDií-n<e=I@I@ @@@@@@@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006834IIO>! M,?ABV>BVCBVIBVBBV =BTBVDBVq;BV-Efchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259063YjByj)IbDvVDvk1y~6%~S=ٔ~Q-~>9Y=FyZ2E E >Q 5C5܋?Q 9C5X)7BYyQ I@iDI ;i; C5y)ɮ-$A)jhIUDNOT Ignoring new targets: 57.11 m.bhQRh]ĸZh]ĸm ProNav: ac range: 57.111835 m, nav range: 51.351189 m, bearing: 357.391306 deg, approach rate: -0.639098 m/s, LOS rate: -0.005376 deg/s, cmd heading: 352.730612 deg, new cmd heading: 352.724426 deg. Bhm%luHeadingCmd: 6.156203 target range: 57.111835 and range: 55.30 m.hu@hq*hq"hq hqgyfffdddjdZdǛ?颹ɢb) G+i)ciJDi <i=I@IIeA)fA5?@1 @1@=/@9IIO>E EE%E"E*;*Ed:VE 4ZEBE9Y=Fy^2EґE>Q 5C5?Q 9C5=Y)ABY %?Q E :y Q I @iDIWbE]-4jE]Ǩ,4rE]S}/E EE)E"E*E|:VEFA4ZEa@a@a@a@ԡ} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014772 %,į?AYByI%J>)%>-=)bD5VD5yE%Ec=ٔEQ-M>9IYI=MFyMb2EUEU>YQ 5eC5],?Q 9eC5]Y)]IBYayaQ Ie@]iDI]:i]B:]C5yunBɮu AuEjhDNOT Ignoring new targets: 57.11 m.bhRh9 :Zh 9 : ProNav: ac range: 57.111835 m, nav range: 50.823807 m, bearing: 357.416397 deg, approach rate: -0.642117 m/s, LOS rate: 0.030867 deg/s, cmd heading: 352.766539 deg, new cmd heading: 352.800103 deg. Bhx:%HeadingCmd: 6.157524 target range: 57.111835 and range: 55.30 m.h%o @h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=@eBɢe%)i m'ii)mwOiiimEi}}A<}[J=I}o @IԱ-A@1 @1@50@9I!I1OEQ>B<A=B>BBxIBBB =BBDBq;B-EBuCBuCBqBu =Bu =Cu95checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266870 E  E E E "E ';*E :VE ZE BE 9|Y|=Fyf2EE> Q 5C5 ͋?Q 9C5 iZ) RBYy½Q I@ iDI w;i ; UC5y!ɮ%A!jhIUDNOT Ignoring new targets: 57.11 m.bhQRhU.:ZhU.:e ProNav: ac range: 57.111835 m, nav range: 50.569805 m, bearing: 357.430828 deg, approach rate: -0.666426 m/s, LOS rate: 0.038052 deg/s, cmd heading: 352.800116 deg, new cmd heading: 352.843625 deg. Bhm:mHeadingCmd: 6.158283 target range: 57.111835 and range: 55.30 m.hm@hq*hq"hq hqgqfqfyfydyddjdZd@颱ɢ6) \#i)K项iEiz<5+=I@Ii>i>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518851@@ @@4@A^A|=I9IIOU>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785sy, ?A Y By GIiMb@Mb@Mb@ E EE(E"E=-;*E8:VEc44ZEa@a@a@a@9jt?:v{Gz?Y ?yT#<A@ rA)AYbDVDyl8=%==ٔQ->9Y=Fyj2EE>Q 5C5!䋊?Q 9C53[)^BY ?Q E:yQ I@iDI ;i ;C5yoBɮ~AB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 57.11 m.bh)Rh5Y:Zh5Y:E ProNav: ac range: 57.111835 m, nav range: 50.300247 m, bearing: 357.451225 deg, approach rate: -0.623474 m/s, LOS rate: 0.047431 deg/s, cmd heading: 352.843638 deg, new cmd heading: 352.905158 deg. BhE4;MHeadingCmd: 6.159357 target range: 57.111835 and range: 55.30 m.hMt@hI*hI"hI hQgQfQfYf]BdYdYdajdaZde`Vs @颍Bɢ-t)1 5i1)5}11i=XfFi==^ԙ fa,|_?AB&>B&CB$B$B& =B$B$B&q;B&.ERchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274657T>U׾@>#@>iɓٱ>RL bAHRS rotation from veh to nav: [[0.992286,0.113322,-0.050265],[-0.100848,0.973691,0.204343],[0.072099,-0.197697,0.977608]]>H??@L&ѹy(?'?u?%NɿH?i>U׾@I>J];9aYa=eFyen2EmEm>qQ 5}C5u~?Q 9}C5u[)ujBYyy}Q I@ujDIuM;iuY;uC5ypBɮAEjhDNOT Ignoring new targets: 57.11 m.bhRhs:Zhs: ProNav: ac range: 57.111835 m, nav range: 50.057556 m, bearing: 357.471819 deg, approach rate: -0.624761 m/s, LOS rate: 0.053272 deg/s, cmd heading: 352.905165 deg, new cmd heading: 352.967245 deg. Bh=;HeadingCmd: 6.160440 target range: 57.111835 and range: 55.30 m.hT"@h*h"h hgfffdddjdZd- @颡ɢ) i)_iFiUa]3<] =IeT"@IDD<E EEE"Em+;*E:VEZEBE߄iU`U>UaU(@UA>U0(@ UȭT>)U^@IUȭTQQU,?rӭ?]m[? UH ?)U֞AIUDiUȭTQQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A )=I1 IY a Om >P ,R,?App|"@@ٱgK AHRS rotation from veh to nav: [[0.991962,0.116298,-0.049868],[-0.103899,0.973518,0.203638],[0.072230,-0.196819,0.977776]]H`&?Ž?@U'? ?}?`a1ɿI?i"@Iv];YByiIimMb@Mb@Mb@iiii i9mGz?Mb?Ymp?ymm9Y=Fys2EE>Q 5C5e?Q 9C5\)wBY~?Q E:y*˽Q I@jDI:is:gC5y)ɮ-A)iyi}#?AJi}SSBRi}SSBji}K@b} SI@m|!ܿx&%@R}(O?_|Fa5d?Zi}Dbi}ȭTj}6qWI@54Ȼ r,@Z},ղ?r6]x]go'6؈?2i}e:i}JB"i}X\?*DAT read: user:338> BDAT read: Tx time:05:10:23.8759 $Ping request sent.q ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250732s,+F?A2@2@2矓ٱ2xI :AHRS rotation from veh to nav: [[0.991689,0.118829,-0.049330],[-0.106616,0.973583,0.201913],[0.072020,-0.194975,0.978160]]2H?`k?A@+K '?G?o?ȿ M?i2@I2i^;0YBByFIbDNVDN:yVL >%Vq=ٔV":Q-V?9XYX=ZFyZv2EZ'E^?`Q 5fC5b ?Q 9fC5b9])bBYdyfнQ If@b%jDIb<:ib3:b^"C5ynrBɮnAnEjhDNOT Ignoring new targets: 52.83 m.bhRh UN:Zh UN: ProNav: ac range: 52.831814 m, nav range: 49.577393 m, bearing: 357.503084 deg, approach rate: -0.667316 m/s, LOS rate: 0.045097 deg/s, cmd heading: 353.043107 deg, new cmd heading: 353.085170 deg. Bh:%HeadingCmd: 6.162499 target range: 52.831814 and range: 53.10 m.h%13@h!*h!"h) h)g)f)f)f1d1d1d1jd1YZd ?%Bɢ%)! -i))-))i-b:HiK*<^ZBABEIBEBBABABABE)r;BE,.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502824^ANw =E  E E 'E "E %;*E :VE '4ZE BE +a,f3`?AB+@B@B$ٱBA/F NAHRS rotation from veh to nav: [[0.991488,0.120592,-0.049082],[-0.108619,0.973990,0.198861],[0.071786,-0.191837,0.978798]]BH@E?@߾?9lYl=rFyrz2ErӟEr>tQ 5zC5v 6?Q 9zC5v])vBYxy~-սQ I~@v5jDIv#;iv;v%C5ysBɮ`AEjh)5DNOT Ignoring new targets: 52.83 m.bh1Rh5E:Zh5E:E ProNav: ac range: 52.831814 m, nav range: 49.324612 m, bearing: 357.520874 deg, approach rate: -0.611183 m/s, LOS rate: 0.043233 deg/s, cmd heading: 353.085181 deg, new cmd heading: 353.138824 deg. BhM]:MHeadingCmd: 6.163435 target range: 52.831814 and range: 53.10 m.hM:@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde?ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754968-Bɢ5c)1 uiq)uyyi}Ii}?6< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893 ,z?Aɰ23@2@2|?ٱ2D :AHRS rotation from veh to nav: [[0.991413,0.121395,-0.048613],[-0.109587,0.974126,0.197657],[0.071349,-0.190633,0.979065]]2H?@?㨿 @ ,? L?C?fȿ@T?i23@I2}^;2ĐCYF:ByFIiMb@Mb@Mb@ 9v?{Gz?:v?Y?yף<T<A@ E A)Y AbD-VD-0y==%=D=ٔ=I:Q-=>9AYA=EFyE~2EMEM>E] EYE]*EY"E]);*EYVE](N4ZEYae@ae@ae@ae@IQ 5mC5MJ?Q 9uC5Md^)MBYu?Q Eu:yuZQ I}@MEjDIM;iM;M)C5yɮA=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 52.83 m.bhIRhU_9ZhU_9e ProNav: ac range: 52.831814 m, nav range: 49.076206 m, bearing: 357.529477 deg, approach rate: -0.563126 m/s, LOS rate: 0.019602 deg/s, cmd heading: 353.138812 deg, new cmd heading: 353.164753 deg. Bhe?W:HeadingCmd: 6.163888 target range: 52.831814 and range: 53.10 m.h>@h*h"h hgfffĀBdddjdZd@? ɢj4W) ݾi) i)Ji]R%<%6@Ii?@ @@0@@ =@ p=!5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264365I^A! I I O- >q B >B B IB DBB =B B B r;B .EN$,[铰?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514758^|@^J@^_iٱ^:A fAHRS rotation from veh to nav: [[0.991486,0.120785,-0.048650],[-0.109192,0.974761,0.194725],[0.070942,-0.187755,0.979651]]^H@??@訿 @>1??@C)? Yȿ`LY?i^|@I^N^;^CYJByIbD-VD-y=d=%=J=ٔE:Q-E>9AYA=MFyM2EM/:EM>QQ 5]C5U!_?Q 9eC5U^)UBYayeQ Ie@UTjDIU;iU;U(-C5ymtBɮmNAqjhDNOT Ignoring new targets: 52.83 m.bhRh9Zh9 ProNav: ac range: 52.831814 m, nav range: 48.835938 m, bearing: 357.537782 deg, approach rate: -0.631899 m/s, LOS rate: 0.021948 deg/s, cmd heading: 353.164739 deg, new cmd heading: 353.189776 deg. Bhq:HeadingCmd: 6.164324 target range: 52.831814 and range: 53.10 m.h%B@h*h"h hgfffdddjdZd@A?Q颽BɢW) $̾i)-iKim󽉧G< %*,Eح?AE@ES@E<ٱE5? UAHRS rotation from veh to nav: [[0.991633,0.119616,-0.048544],[-0.108224,0.975312,0.192492],[0.070370,-0.185628,0.980097]]EHt?(?ڨ`5? ?@?ǿ\?iE@IE^;EŐCYebByeI qqqqiMb@Mb@Mb@ 9/$?x&?Mbp?Y&?y7=;A  A)zAY(AbD VD fyD=%<=ٔ%F:Q-%>9!Y!=%Fy%2E-);E->1Q 5=C55s?Q 9=C55^)5BYE*?Q EE:yE= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270832) S1,ǰ?A2쥾@2@2ٱ2B< :AHRS rotation from veh to nav: [[0.991825,0.118017,-0.048535],[-0.106849,0.975999,0.189759],[0.069765,-0.183022,0.980630]]2H@?c6?`٨lZ c;?`J?@ܱ?BmǿRa?i2쥾@I2-^;0YnzBynIbDz VDz:2yP>%_=ٔ:Q->9 Y = Fy 2Ex;E>Q 5%C5?Q 9%C5^)BY!y% BCBIBwBBBBBq;B-E9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522796^A~E<II O>q E  E E *E "E %;*E :VE (N4ZE BE +AHRS rotation from veh to nav: [[0.991988,0.116609,-0.048599],[-0.105548,0.976405,0.188397],[0.069421,-0.181758,0.980890]]6H]? ڽ?ᨿ* >?@g?`ű?Cǿrc?i6@I6MY^;6ÐCYJByJIbDRVDRk1yZ{=%ZP=ٔZye:Q-Z>9\Y\=^Fy^2EbZ;Eb>dQ 5jC5f?Q 9jC5f^)fBYhyj5 BDAT read: Rx Time:05:10:26.3477  TRx dataTimestamp_ set to:1761541827.840273 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028034 p%>,iU?A6@6X@6ٱ6{: >AHRS rotation from veh to nav: [[0.992107,0.115764,-0.048185],[-0.104844,0.976625,0.187649],[0.068782,-0.181116,0.981054]]6HW??׺`@? ?ఛ?.ǿd?i6@I6];4YJByJ%IIN=)N9iYq=uFyu2Eu`:Eu>Q 5C5U?Q 9C5L^)BY?Q E:yon=Q I@jDI;iI;W;C5y1ɮ5A9UB*** querying acoustic contact ***iQ iQjhaeDNOT Ignoring new targets: 52.83 m.bhaRhmZhm ProNav: ac range: 52.831814 m, nav range: 47.909698 m, bearing: 357.465011 deg, approach rate: -0.549747 m/s, LOS rate: -0.067594 deg/s, cmd heading: 353.061248 deg, new cmd heading: 352.970396 deg. Bh9HeadingCmd: 6.160496 target range: 52.831814 and range: 53.10 m.h"@h*h"h hgfffBdddjdZd@ @eBɢeߐ')i m2|ii)Uɼ顉i؞PiD<m=I"@I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278965!@! @!@-/@)^Am u<) A ؟AI I B >B B :IB BB B B B q;B -EBCBCBB =BCˎ5O >C E,U0?A4<ɰJDAT read: 05:10:26.3477 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.15,-0.315,-2.006,-0.172,-0.443, PHS= 0.229,-1.518, 0.227, RAW= 149.9, 12.1, CAL= 149.8, 13.4, ROT= 0.2, -13.4 NYgot valid direction response: 05:10:26.3477 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.15,-0.315,-2.006,-0.172,-0.443, PHS= 0.229,-1.518, 0.227, RAW= 149.9, 12.1, CAL= 149.8, 13.4, ROT= 0.2, -13.4 RPDAT read: Bearing 156.9, 1.6 (Local) R~Local bearing/azimuth received: Bearing 156.9, 1.6 (Local) ZDAT read: Range 11 to 50 : 50.7 m (Round-trip 67.6 ms) speed 0.4 m/s ZR#Rx 1: Read range and direction messages.^\direction in FSK: [0.972770,0.003396,0.231748]^Fpublishing direction and range infoy02#t ?#f"k?] A?Y2JB0000 0)0I2~j>i2M¿2rh>2p'@2@X>2T'@ 2|o>)2d;I2|o002RM?N#;?Ia0? 2?)2XI2d;i2|o00nT****** received valid address query ******nR****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.=@=X@=}ٱ=Q: UAHRS rotation from veh to nav: [[0.992271,0.114531,-0.047752],[-0.103759,0.976878,0.186930],[0.068057,-0.180530,0.981212]]=H?Q?@rB?O? 0l?ǿf?i=@I=];=CYByGIbDVD0yp>%A=ٔ:Q->9 "?Y "?= Fy 2E );E>9Q 5EC5=Œ?Q 9EC5=])=BYAyE s=Q IE@=jDI=:i=:=?C5yUxBɮUIAi0i2&?AJi2IBRi2IBji2f>@b2ڃN_H@(/{'?H\a'@R2#t ?#f"k?] A?Zi2d;bi2|oj2ruH@d0YS-@Z2dm:ߋ?C̫: B?2i2I/:i2@B"i2K?*i2Bi2>Bi2K?i2i2>Bi2@Bi2g>@E addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 3.784000 s, deltaX: -2.399998 m, approachRate: -0.634249 m/s, rangeRepo size: 4  Added new target pos. range: 50.443443 m, bearing: 356.744552 deg, lat: 36.779329 deg, lon: -121.859607 deg, deltaT: 3.784000 s, deltaX: -2.388371 m, approachRate: -0.631176 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 50.44 m.bhRhZh ProNav: ac range: 50.443443 m, nav range: 48.229839 m, bearing: 356.744570 deg, approach rate: 0.000000 m/s, LOS rate: -0.067594 deg/s, cmd heading: 352.970407 deg, new cmd heading: 352.882766 deg. BhHeadingCmd: 6.158966 target range: 50.443443 and range: 50.70 m.h@@h*h"h hgfffd d d jdYI@Zd`ؾ?EU EUEU'EQ"EU(;*EU:VEU'4ZEQBEU BDAT read: Tx time:05:10:27.6759 %$Ping request sent.%K,H1?A@^ž@^Ͽ@^<ٱ^9 jAHRS rotation from veh to nav: [[0.992382,0.113746,-0.047337],[-0.103101,0.977059,0.186348],[0.067447,-0.180048,0.981343]]^H?w?<dD?B?@9D?` ǿ(g?i^ž@I^];^ÐC}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250661YByZIi]Mb@Mb@Mb@YYYY Y9]L7A`?S㥛? rhY]+?y]$>]C]AY ]/ A)]AYY]\AbDuVDuy[=%(=ٔ:Q->9 ?Y ?=Fy2E:E>Q 5C5׌?Q 9C5])BYU ?ԩQ E:y>Q I@jDI=;i=;DCC5yyBɮ AEjhDNOT Ignoring new targets: 50.44 m.bhRhZh ProNav: ac range: 50.443443 m, nav range: 47.972313 m, bearing: 356.686523 deg, approach rate: -0.563139 m/s, LOS rate: -0.127615 deg/s, cmd heading: 352.882762 deg, new cmd heading: 352.707686 deg. Bh)HeadingCmd: 6.155910 target range: 50.443443 and range: 50.70 m.h8@h*h"h hgfffBdddjdZd]?eBɢeO)i mii)m ˼iiiuaQTiu^Tuf<}=I}8@IyEe EeEe&Ea"Ee4;*Een:VEe4ZEaam@au@au@au@@ @@@ i! I! - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969^A ]=9 A I I O%>dS,N?A24ʾ@2@2ٱ28 :AHRS rotation from veh to nav: [[0.992497,0.112939,-0.046844],[-0.102476,0.977350,0.185161],[0.066695,-0.178972,0.981591]]2H@?@?@;tF? ]?? ƿ1i?i24ʾ@I2];2C@@i@I@@IF&CiD DD)DH J=r@HHHLLIL)LiL)LINtkAPP PPTTiTTiTViA)Zp Z.5FIXYXY^̀By^jI ``dfAbDjVDjkyrN=%rY=ٔv;Q-v>9tYt=zFyz2Ez:Ez>|Q 5C5~錊?Q 9C5~R\)~BY y >Q I @~jDI~;i~;~FC5yɮm Ajh9DNOT Ignoring new targets: 50.44 m.bhRh Zh  ProNav: ac range: 50.443443 m, nav range: 47.770672 m, bearing: 356.640447 deg, approach rate: -0.536020 m/s, LOS rate: -0.123000 deg/s, cmd heading: 352.707690 deg, new cmd heading: 352.568879 deg. BhԨHeadingCmd: 6.153488 target range: 50.443443 and range: 50.70 m.h_@h*h"h hg!f!f!f!d)d)d)jd)Zd5`?9BBBrIBҀBBBBBB-E Bɢ ) Bi)gl̼iUi r E< %=I _@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754854e?@i @i@m/@iiD@AzD@AE EE%E"E&;*EE:VE 4ZEBEY,Zch?A,,JϾ@J@J"iٱJU7 VAHRS rotation from veh to nav: [[0.992610,0.112098,-0.046462],[-0.101781,0.977604,0.184202],[0.066070,-0.178112,0.981790]]JHv?s?ɧ TH??@?^ƿ j?iJϾ@IJ];JŐCY]ڀBy]{IbDmVDmy}=%}B=ٔm:Q->9Y=Fy2E:E>Q 5C5*?Q 9C5[)BYyV>Q I@jDI7 ;iu ;)=>iMb@Mb@Mb@ 9Q?n? rhY?yV>C Ah@  A)hAYAbD VD 0yG%=ٔ%0;Q-%>9%"?Y%"?=%Fy-2E-:E->9Q 5=C5=?Q 9EC5=MZ)=BYE ?Q EE:yE0 >Q IE@=jDI=<:i=:=OC5yU|BɮU AUEmB*** querying acoustic contact ***iq iqjhy}DNOT Ignoring new targets: 50.44 m.bhRh!Zh! ProNav: ac range: 50.443443 m, nav range: 47.208836 m, bearing: 356.506973 deg, approach rate: -0.581879 m/s, LOS rate: -0.141568 deg/s, cmd heading: 352.412162 deg, new cmd heading: 352.165965 deg. BhP»HeadingCmd: 6.146456 target range: 50.443443 and range: 50.70 m.hį@h*h"h hgfBBBIBBBBBBq;B-EffBdddjdZd@5? Bɢ[)  Ƚi ) μiZi љ<)B=Iį@I-R=-=ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762779%FΞ@ @@@ԱE EE*E"E%;*E:VE(N4ZEBE+ PCO >i,\8?A&+G2hA<@9hAYӞAuӾ@uf@uٱufi7 AHRS rotation from veh to nav: [[0.992779,0.111313,-0.044722],[-0.101355,0.977753,0.183649],[0.064170,-0.177790,0.981974]]uH??妿nI?́?@mm?ƿTl?iuӾ@IuN^;uÐCYByIbDVDy=%I=ٔ]:Q->9 ?Y ?=Fy2E%{عE%>1Q 5EC55+?Q 9EC55|Y)5BYIyU >Q IU@5jDI5;i5;5DSC5yaɮm| AqjhQ]DNOT Ignoring new targets: 50.44 m.bhaRhZhԩ ProNav: ac range: 50.443443 m, nav range: 46.985374 m, bearing: 356.452372 deg, approach rate: -0.508234 m/s, LOS rate: -0.124773 deg/s, cmd heading: 352.165974 deg, new cmd heading: 352.001393 deg. BhBMHeadingCmd: 6.143583 target range: 50.443443 and range: 50.70 m.hU<@hQ*hY"hY hgfffdddjdZd@m Bɢm)q uHgiq)uμqqik\iPn<GbJ=I<@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266860 ፨ E  E E )E "E %;*E :VE FA4ZE a @a @a @a @ @@  @ @ `4@ I mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518607^A}B=A>A>qA؟AIIO?ӈs,α?A;ɰ2˾@2@2;ٱ2s8 :AHRS rotation from veh to nav: [[0.992753,0.112101,-0.043303],[-0.102300,0.977407,0.184962],[0.063059,-0.179192,0.981791]]2H? ?+\0 F?٬?$?`ƿ@j?i2˾@I2^;2ŐCYBByFIi Mb@Mb@Mb@     9 p= ף?㥛 ? rhY ?y >     A) QA Y AbD%VD% y5Y=%5=ٔ=;Q-=>9="?YE"?=EFyE2EEaݺEE>IԱQ 5C5ME?Q 9C5MCX)MBY ?Q E:yH>Q I@MkDIMz, z?A~ʾ@~@~nbٱ~CU8 mAHRS rotation from veh to nav: [[0.992778,0.112153,-0.042588],[-0.102516,0.977492,0.184392],[0.062309,-0.178694,0.981930]]~H ? ?Υ>G? '??sƿk?i~ʾ@I~ ^;~ƐCYByIbDVDyX<%!=ٔ-U:Q-->99YA=EFyM2EU;ٹE]>qQ 5C5uC\?Q 9C5u"W)uBY1y5!>Q I5@ukDIuyׁ,?A"DAT read: 05:10:30.1450 LVL= 31936, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.06,-1.460,-3.140,-1.281,-1.577, PHS= 0.220,-1.518, 0.252, RAW= 150.9, 11.9, CAL= 150.9, 13.1, ROT= 359.1, -13.1 &Ygot valid direction response: 05:10:30.1450 LVL= 31936, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.06,-1.460,-3.140,-1.281,-1.577, PHS= 0.220,-1.518, 0.252, RAW= 150.9, 11.9, CAL= 150.9, 13.1, ROT= 359.1, -13.1 .PDAT read: Bearing 157.2, 0.3 (Local) .~Local bearing/azimuth received: Bearing 157.2, 0.3 (Local) 2DAT read: Range 11 to 50 : 48.6 m (Round-trip 64.9 ms) speed 0.4 m/s 6R#Rx 1: Read range and direction messages.:^direction in FSK: [0.973856,-0.015298,0.226651]:Fpublishing direction and range infoy %)?( T+#?YfBB | )DIGa>i %>(@ȭT>(@  j>)-@I j 6y߶?=*?Y[mog?  ?)TIi j FT****** received valid address query ******FR****** received valid ping request ******HJQuerying Benthos address 50 with one ping in standard two-way mode.z\@z*@zzٱz,: AHRS rotation from veh to nav: [[0.992702,0.113440,-0.040917],[-0.103948,0.976929,0.186558],[0.061136,-0.180943,0.981592]]zH6?i ?@ ZC??2M?")ǿ2i?iz\@Iz)^;zĐCYByIiMb@Mb@Mb@ 9J +?7A`?X9vY?y>A;@  A)AYAbDVDܲy=%2=ٔ6(;Q->9Y=Fy2E\KE>Q 5C5vq?Q 9C5#V)BY?Q E%:y%>Q I%@&kDI;i;`C5y-Bɮ- A- Ei i?AJijABRijABji@b)G@>鯉jI%@R%)?( T+#?Zibi jjrdG@ubŖ |N+@Zaj?x>՟겿yɆu9?2id:i8B"iWҧ?*ixBiBiWҧ?iFiBig9Bi@U addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 3.779990 s, deltaX: -2.100002 m, approachRate: -0.555558 m/s, rangeRepo size: 4 e Added new target pos. range: 48.354195 m, bearing: 355.578996 deg, lat: 36.779330 deg, lon: -121.859613 deg, deltaT: 3.779990 s, deltaX: -2.089249 m, approachRate: -0.552713 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 48.35 m.bhiRhmZhq ProNav: ac range: 48.354195 m, nav range: 46.350685 m, bearing: 355.598823 deg, approach rate: 0.000000 m/s, LOS rate: -0.143015 deg/s, cmd heading: 351.536777 deg, new cmd heading: 351.344447 deg. BhHeadingCmd: 6.132117 target range: 48.354195 and range: 48.60 m.hN:@h*h"h hgfff>BdddjdLH@Zd?Bɢϼ) i)%μ!!i%lci--N<-Mh=IEN:@BYBYB]IB]#BBYBYBYB]q;B]-EIiy*DAT read: user:340> BDAT read: Tx time:05:10:31.4258 $Ping request sent.G,)&?A2o@2=@2Muٱ2l< :AHRS rotation from veh to nav: [[0.992640,0.114579,-0.039216],[-0.105280,0.976480,0.188157],[0.059853,-0.182643,0.981356]]2H?U?+R??? ?``ǿ Dg?i2o@I2^;2ÐCYBByBIJ=J=LNAAbDNVDNNyV%VW=ٔZ];Q-Z>9XY\=^Fy^2E^5kE^>`Q 5fC5b?Q 9fC5bWU)bBYh~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250096yj!>Q Iu@b3kDIb9>,c??AbE]-4jE]-4rE]/E&  E&E&%E$"E&D;*E&8:VE& 4ZE$a*@a.@a.@a.@R0@R@R2ZpٱR= ZAHRS rotation from veh to nav: [[0.992579,0.115639,-0.037624],[-0.106529,0.976070,0.189574],[0.058646,-0.184159,0.981145]]RH 4??C E;?@C??ǿe?iR0@IR*^;PYByQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754000iMb@Mb@Mb@ 9MbX?K7?Q롿Y ?yI >\A@ `A)QAYAbDVDy κ% =ٔ;Q->9 ?Y ?=Fy2E'E>ԁQ 5C5?Q 9C5PT)BYe?Q E:y=Q I@HkDI:i:hC5yBɮ A Ejh DNOT Ignoring new targets: 48.35 m.bh Rh'Zh'5 ProNav: ac range: 48.354195 m, nav range: 45.841351 m, bearing: 355.462899 deg, approach rate: -0.569512 m/s, LOS rate: -0.146838 deg/s, cmd heading: 351.173029 deg, new cmd heading: 350.934322 deg. Bh5ɻEHeadingCmd: 6.124959 target range: 48.354195 and range: 48.60 m.hE@hA*hA"hI hIgIfQfYfeBdadadijdiZdu a?eBɢm Ӽ)i m ii)mvϼiqiugi}"}E<}Qx=I}@II)aAԱ @  @ @ /@ @ =@ =A! A% AAB- >B) B- IB- 3BB) B) B) B- q;B- -EBCBCBBB =CZ4 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006020 ^AM 8k= A؟AE EE$E"E /;*E-:VE4ZEBE9"?Y"?=Fy2EE > Q 5C5 K?Q 9C5 S) BYy=Q I@ UkDI ;i * ; lC5y)ɮ-d A)jhIUDNOT Ignoring new targets: 48.35 m.bhQRh]c!Zh]c!m ProNav: ac range: 48.354195 m, nav range: 45.638412 m, bearing: 355.411357 deg, approach rate: -0.553088 m/s, LOS rate: -0.141096 deg/s, cmd heading: 350.934327 deg, new cmd heading: 350.779015 deg. BhmuHeadingCmd: 6.122249 target range: 48.354195 and range: 48.60 m.huv@hq*hq"hq hygyfyfyfydddjdZd>$?颱ɢ^) `= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510042 H,{?A2x@2ms@2cٱ2yA :AHRS rotation from veh to nav: [[0.992114,0.120952,-0.032867],[-0.112433,0.974714,0.193111],[0.055393,-0.187892,0.980626]]2Hf??Ԡhȼ 0?ط?\? ȿJa?i2x@I2^;2ƐCYBBy@ DDHHiMb@Mb@Mb@ 9K7?(\?S㥛Y ?yz>/ݼ$@ A)YGA )-p;bD5VD502yEA:%EF=ٔE';Q-E>9IYI=MFyM2EMEU>QQ 5C5Uy?Q 9C5UR)UBY?Q E:yb >Q I@UckDIU:iUv:UoC5yBɮm Ajh1=DNOT Ignoring new targets: 48.35 m.bh9Rh=@%ZhE@%M ProNav: ac range: 48.354195 m, nav range: 45.414032 m, bearing: 355.349174 deg, approach rate: -0.518745 m/s, LOS rate: -0.144473 deg/s, cmd heading: 350.779009 deg, new cmd heading: 350.591536 deg. BhUMƻuHeadingCmd: 6.118977 target range: 48.354195 and range: 48.60 m.h}@hy*hy"hy hygyfyff$BdddjdZd`?ԱE EE)E"E*;*Ed:VEFA4ZEa@a@a@a@ɢ۽) P9 ,F?AB&>B$B&IB&=BB$B$B$B&q;B&-EB[h@B)c@BJ]ٱBB JAHRS rotation from veh to nav: [[0.991965,0.122654,-0.031015],[-0.114411,0.974329,0.193889],[0.054000,-0.188782,0.980533]]BH,?Df?eŸ@J@-? X? 楫?*ȿ`?iB[h@IBy^;BCYRByRIbDXVDXybV=%fR=ٔfkk;Q-f>9hYh=jFyj2Ej}En>aQ 5mC5e]ԍ?Q 9uC5e R)e|BYqyuG >Q Iu@erkDIe/:ie':e6sC5yBɮ$ A EjhDNOT Ignoring new targets: 48.35 m.bhRh6Zh6 ProNav: ac range: 48.354195 m, nav range: 45.193077 m, bearing: 355.287925 deg, approach rate: -0.572835 m/s, LOS rate: -0.159566 deg/s, cmd heading: 350.591534 deg, new cmd heading: 350.406890 deg. BhۻHeadingCmd: 6.115754 target range: 48.354195 and range: 48.60 m.hB@h*h"h hgfffdddjdZd @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014562Bɢ$)! %hT=i!)%Jμ!!i%li-s+-Y <-;A}=I5B@I1@ @@0@E EE&E"E%.;*E:VE4ZEBE8*,(׮?A:$Y@:S@:DVٱ:idC BAHRS rotation from veh to nav: [[0.991838,0.124170,-0.028966],[-0.116263,0.974018,0.194351],[0.052346,-0.189397,0.980504]]:H#?ɿ?]oý@'+?}?`%ͪ?`(>ȿJ`?i:$Y@I:;^;:ƐCYJ$ByNIbDVVDV0y^<%^K=ٔ^;Q-^>9`Y`=bFyb2Eb Ef>dQ 5jC5fN捊?Q 9nC5fMQ)fwBYlynV>Q In@fkDIf;if;fvC5ypɮv At B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 48.35 m.bhRh%-Zh%-5 ProNav: ac range: 48.354195 m, nav range: 44.983250 m, bearing: 355.229722 deg, approach rate: -0.542988 m/s, LOS rate: -0.151320 deg/s, cmd heading: 350.406900 deg, new cmd heading: 350.231476 deg. Bh5ϻ=HeadingCmd: 6.112692 target range: 48.354195 and range: 48.60 m.h=-@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM4@yɢ}Y) =i)ͼ顁iuni•.ʺ<n=I -@Iy@@ @@1@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518208ԑ^A |=E EE*E"E);*E:VE(N4ZEa@a@a@a@ A9 IA IY O >,Ȳ?Ai0I2A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770266:J@:{E@:wQٱ:B BAHRS rotation from veh to nav: [[0.991689,0.125665,-0.027594],[-0.118022,0.973920,0.193778],[0.051226,-0.188911,0.980657]]:H ??A6[*?`?@>:?@:.ȿ`a?i:J@I:^;:CYHyJIPIR;>)R=V=Vp=i-Mb@Mb@Mb@)))) )9-(\? rh?:vY-?y-C >-Լ-A-@ -A)-v@)Y-QAbDVD02yk6%0=ٔZ;Q->9Y=Fy2ExE>Q 5C5?Q 9C5P)rBY; ?Q E:yO=Q I@kDIL:iv:zC5yBɮ A EjhAMDNOT Ignoring new targets: 48.35 m.bhIRhUZhUe ProNav: ac range: 48.354195 m, nav range: 44.733822 m, bearing: 355.164269 deg, approach rate: -0.525449 m/s, LOS rate: -0.138652 deg/s, cmd heading: 350.231473 deg, new cmd heading: 350.034022 deg. BheOmHeadingCmd: 6.109246 target range: 48.354195 and range: 48.60 m.hm~@hi*hi"hi higqfqfqfuBdydydyjdyZd @颩ɢP)) {=i)kͼ顱iUpi2㗡<Ш=I~@IA@ @@2@BIBIBMIBMLBBM =BIBIBMq;BM-EBDAT read: Rx Time:05:10:33.8922 TRx dataTimestamp_ set to:1761541835.400200%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023154^A ) A I I D zD E  E E E "E ';*E :VE ZE BE I,ⲿ?AF:@F5@FKٱFC RAHRS rotation from veh to nav: [[0.991532,0.127300,-0.025678],[-0.119951,0.973534,0.194535],[0.049763,-0.189808,0.980559]]FH࠺?]K? TK ! 0'?@?~z?`Kȿ `?iF:@IF^;FCYZ(ByZIbDbVDbyjH<%jh=ٔn;lQ-r>9tYt=vFyv2EvEv>xQ 5~C5z ?Q 9C5zO)zmBYy3=Q I@zkDIze;iz/;z}C5y Bɮ AEjh1=DNOT Ignoring new targets: 48.35 m.bh9RhE&ZhE&U ProNav: ac range: 48.354195 m, nav range: 44.545631 m, bearing: 355.114896 deg, approach rate: -0.552763 m/s, LOS rate: -0.145633 deg/s, cmd heading: 350.034026 deg, new cmd heading: 349.885282 deg. BhUǻ]HeadingCmd: 6.106650 target range: 48.354195 and range: 48.60 m.h]i@hY*hY"hY hYgafafafadididijdiZdm @9ɢ=$K)9 ==i9)EͼAAiEqiM4MAAE>a A I I O >- DAT read: 05:10:33.8922 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410,-0.33, 0.971,-0.736, 1.111, 0.870, PHS= 0.203,-1.561, 0.196, RAW= 149.8, 13.1, CAL= 149.8, 14.5, ROT= 0.2, -14.5 5 Ygot valid direction response: 05:10:33.8922 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410,-0.33, 0.971,-0.736, 1.111, 0.870, PHS= 0.203,-1.561, 0.196, RAW= 149.8, 13.1, CAL= 149.8, 14.5, ROT= 0.2, -14.5 E PDAT read: Bearing 157.9, 0.3 (Local) E ~Local bearing/azimuth received: Bearing 157.9, 0.3 (Local) M DAT read: Range 11 to 50 : 46.7 m (Round-trip 62.3 ms) speed 0.4 m/s U R#Rx 1: Read range and direction messages.] \direction in FSK: [0.968142,0.003379,0.250380] Fpublishing direction and range infoy  nid?ɚ@k?=9?Y :B     ) EI ;O>i ǿ 9H> T'@  j> T'@  >) d;I    dč ?I ?-*?  (?) jI d;i    T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.t,M?AɰB)@B$@BSGٱBgD NAHRS rotation from veh to nav: [[0.991337,0.129109,-0.024111],[-0.122001,0.973179,0.195034],[0.048645,-0.190402,0.980500]]BH?ॆ?@q;H$??@?`_ȿA`?iB)@IB\^;BÐCAY},By}IE EE)E"E1;*E:VEFA4ZEa@a@a@a@iMb@Mb@Mb@ 9Zd;O?p= ף?y&1Y~ ?y>`A@ A)YAbDVDy <%,=ٔa;Q->9 Y = Fy 2E58E5>9Q 5EC5="?Q 9EC5=:O)=gBYE?Q EE:yE=Q IE@=kDI=':i=:=C5yuBɮu AuEi1i5?AJi59BRi59Bji5+@b5e~}F@«{R?BgD'@R5nid?ɚ@k?=9?Zi5d;bi5j5HFwe*F@n6/4P!+@Z5Vn?䰿x L?2i5=D:i5U1B"i5~繜?*i5Bi5NBi5ۤ?i1i5ݜBi51Bi5 N@ addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 3.779911 s, deltaX: -1.899998 m, approachRate: -0.502657 m/s, rangeRepo size: 4 5 Added new target pos. range: 46.463791 m, bearing: 356.043521 deg, lat: 36.779331 deg, lon: -121.859613 deg, deltaT: 3.779911 s, deltaX: -1.890404 m, approachRate: -0.500119 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 46.46 m.bh9Rh=ZhAiu ProNav: ac range: 46.463791 m, nav range: 44.388874 m, bearing: 355.063501 deg, approach rate: 0.000000 m/s, LOS rate: -0.145633 deg/s, cmd heading: 349.885292 deg, new cmd heading: 349.670877 deg. Bhq}HeadingCmd: 6.102908 target range: 46.463791 and range: 46.70 m.h}K@hy*h"h hgfffBdddjdYG@ZdoD?ɢ%Ot)! %D=i!)-_̼))i-si5853<5އ=I5K@I9m*DAT read: user:341> uBDAT read: Tx time:05:10:35.2258 u$Ping request sent.},'?A2v@2E@2#Cٱ2 F< >AHRS rotation from veh to nav: [[0.991154,0.130789,-0.022539],[-0.123878,0.972646,0.196506],[0.047624,-0.191976,0.980244]]2H?? @y?`'? b?`ȿ'^?i2v@I2^;2ŐCYF-ByJINchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249293 PPTTbDZVDZ yb ;%b^=ٔbD6;Q-f>9f ?Yf ?=fFyf2EjHEj>lQ 5rC5n2?Q 9rC5nN)nbBYpyv=Q Iv@nkDIn#:in:nC5yUBɮU AUEjhDNOT Ignoring new targets: 46.46 m.bhRh7Zh7 ProNav: ac range: 46.463791 m, nav range: 44.190018 m, bearing: 355.015723 deg, approach rate: -0.536908 m/s, LOS rate: -0.129580 deg/s, cmd heading: 349.670879 deg, new cmd heading: 349.526900 deg. Bh۱HeadingCmd: 6.100395 target range: 46.463791 and range: 46.70 m.hp6@h*h"h hgfffdddjd ZdMལ?Bɢ ˝) @=i!)%˼!AiEuiMR-;M-,#2?A2 @2@2!?ٱ25G :AHRS rotation from veh to nav: [[0.990940,0.132621,-0.021226],[-0.125877,0.972174,0.197566],[0.046837,-0.193104,0.980060]]2HƵ??`X` ?I??@ȿ@\?i2 @I2^;2CYN#ByRIbDZVDZ:ly`=% G=ٔ&:Q->9Y9==Fy=2EE$EE>IQ 5UC5MlF?Q 9UC5M"N)M\BYQyUq=Q IU@MkDIM=;iM;MC5yɮ AB*** querying acoustic contact ***i ijh5DNOT Ignoring new targets: 46.46 m.bh1RhM Zhm  ProNav: ac range: 46.463791 m, nav range: 43.961926 m, bearing: 354.961029 deg, approach rate: -0.511727 m/s, LOS rate: -0.123344 deg/s, cmd heading: 349.526898 deg, new cmd heading: 349.361965 deg. BhLHeadingCmd: 6.097517 target range: 46.463791 and range: 46.70 m.h@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753360h*h"h hgfffdddjdZd?? 9ɢ=i)9 =p=i9)Ew˼AAiE7viM>M?Ƥ9Y=Fy2E諻E>Q 5]C5Y?Q 9]C5M)WBY] ?Q E]:y].=Q I]@kDI֘E  E E -E "E a?;*E :VE t4ZE BE )Fn?bDLVDLyr%rY=ٔr4;Q-v>9tYt=vFyv2Ez*ڻEz>|Q 5C5~Xk?Q 9C5~M)~SBYy $=Q I @~kDI~6:i~:~C5yɮ Ajh9=DNOT Ignoring new targets: 46.46 m.bh9RhEߺZhEߺU ProNav: ac range: 46.463791 m, nav range: 43.527092 m, bearing: 354.886524 deg, approach rate: -0.570736 m/s, LOS rate: -0.097769 deg/s, cmd heading: 349.242681 deg, new cmd heading: 349.137320 deg. BhU2]HeadingCmd: 6.093596 target range: 46.463791 and range: 46.70 m.h]@hY*ha"ha hagafafifidididijdqZdu`?ԙ颥BɢѤ) H=i)Oʼ顩ixi#BQ+<RC=I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509258Q@Q @Q@U0@Y^A=I!IAOm> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761177 ' ,2?AY~-By~IbEFA4jE:4rEo0Ee EeEe)Ea"Ee/;*Ee:VEeFA4ZEaam@au@au@au@iMb@Mb@Mb@ 9 rh?sh|??YC ?y=̼AA@ A)v@YAbDVD:2yY=% 9=ٔ Q- >9Y=Fy2EE>!Q 5%C5%?Q 9-C5%M)%OBY- ?Q E-:y- B B B IB [BB =B B B q;B .EBiBiBiBm =Bm =Cmnk4ԁ +6, ?Aɰ4<:@:Ȭ@:N*ٱ: HFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265364 FAHRS rotation from veh to nav: [[0.989761,0.142068,-0.013769],[-0.136547,0.970538,0.198521],[0.041567,-0.194608,0.980000]]:H?E/?3\z?@$i?CH?ȿ(\?i:@I:X_;:ĐCYR/ByRIbDZVDZk2yb/<%ba=ٔfT9dYd=fFyf2Ej;Ej>lQ 5rC5n?Q 9rC5nM)nLBYpyv;Q Iv@nlDIn;in:nC5yzBɮz AzEjhDNOT Ignoring new targets: 46.46 m.bh!Rh%ݚZh%ݚ5 ProNav: ac range: 46.463791 m, nav range: 43.086468 m, bearing: 354.830710 deg, approach rate: -0.548200 m/s, LOS rate: -0.067697 deg/s, cmd heading: 349.042611 deg, new cmd heading: 348.969035 deg. Bh59=HeadingCmd: 6.090659 target range: 46.463791 and range: 46.70 m.h=@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUm_@颁ɢW) P=i)ɼ顉i!{{i%E< h=I@IYU?@Q @Q@U4@QEm EmEm*Ei"Em=;*Em:VEm(N4ZEiBEm=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517211 V`,賳?A2Ɯ@2@2%ٱ2IJ :AHRS rotation from veh to nav: [[0.989457,0.144348,-0.011786],[-0.139115,0.969900,0.199852],[0.040279,-0.196105,0.979755]]2H@?z? #@ l ?@?u? ɿ'Z?i2Ɯ@I2_;2ÐCY^$BybI ``ddbDjVDj:yrK%rH=ٔvN;Q-v>9tYt=zFyz3EzϻEz>|Q 5C5~?Q 9 C5~M)~HBY y ѤQ I @~lDI~:i~:~EC5yɮ$ Ajh-DNOT Ignoring new targets: 46.46 m.bh)Rh]Zhe ProNav: ac range: 46.463791 m, nav range: 42.862419 m, bearing: 354.803710 deg, approach rate: -0.512357 m/s, LOS rate: -0.062066 deg/s, cmd heading: 348.969036 deg, new cmd heading: 348.887614 deg. Bha*UHeadingCmd: 6.089238 target range: 46.463791 and range: 46.70 m.hU @hY*hY"ha hachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771903gifffdddjdZd7J@]Bɢ].<)Y em=ia)eɼaai|i*Fј<e=I @I=@@9 @9@E5@AE} E}E}'Ey"E}/;*E}:VE}'4ZEya@a@a@a@) ^AE S=E BDAT read: Rx Time:05:10:37.6894 M TRx dataTimestamp_ set to:1761541839.180196U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022641Y A ؟AI I O >,γ?A>G@>}@>5ٱ>~K FAHRS rotation from veh to nav: [[0.989057,0.147223,-0.009553],[-0.142322,0.969184,0.201065],[0.038860,-0.197506,0.979531]]>H`[? 1? 7¿`??s? GɿQX?i>G@I>,_;9]"?Y]"?=]Fy]3E]Ee>aQ 5uC5e_?Q 9uC5eM)eDBYuy?Q Eu:yu0sQ Iu@e lDIe`;ie ;eC5yBɮ AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 46.46 m.bhRhIZhI ProNav: ac range: 46.463791 m, nav range: 42.615646 m, bearing: 354.793315 deg, approach rate: -0.606916 m/s, LOS rate: -0.025713 deg/s, cmd heading: 348.887620 deg, new cmd heading: 348.856255 deg. Bh,MHeadingCmd: 6.088690 target range: 46.463791 and range: 46.70 m.hM@hI*hI"hQ hQgQfQfYf]BdYdYdYjdaZde@@ @ԩɢ) H=i)ȼi}i)G5<g|=I@I BA<BBBIBVBB =BBBq;B .EPExceeded connect timeout, disconnecting.>@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273196 ^A! A= eAzA= gAE  E E (E "E 77;*E :VE c44ZE BE ) װ,e賿?A2hb@27]@2}ٱ2L :AHRS rotation from veh to nav: [[0.988540,0.150774,-0.007519],[-0.146176,0.968456,0.201806],[0.037709,-0.198394,0.979397]]2H?L?~¿`?? N?dɿ7W?i2hb@I2^;2ĐCYF(ByFIbDNVDNJyzὼ%zQ=ٔ~A;Q-~>9|Y=Fy 3E"E> Q 5C5 ˎ?Q 9C5 XN) ABYyQ I@ .lDI Q;i ; }C5y!ɮ% A)jhIUDNOT Ignoring new targets: 46.46 m.bhQRhU¹ZhU¹u ProNav: ac range: 46.463791 m, nav range: 42.393440 m, bearing: 354.785039 deg, approach rate: -0.568701 m/s, LOS rate: -0.021294 deg/s, cmd heading: 348.856256 deg, new cmd heading: 348.831295 deg. BhuiDAT read: 05:10:37.6894 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.02, 1.931, 0.270, 2.048, 1.895, PHS= 0.138,-1.580, 0.108, RAW= 149.1, 15.5, CAL= 149.3, 17.2, ROT= 0.7, -17.2 Ygot valid direction response: 05:10:37.6894 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.02, 1.931, 0.270, 2.048, 1.895, PHS= 0.138,-1.580, 0.108, RAW= 149.1, 15.5, CAL= 149.3, 17.2, ROT= 0.7, -17.2 PDAT read: Bearing 158.8, -0.5 (Local) HeadingCmd: 6.088254 target range: 46.463791 and range: 46.70 m.h@h*h"h  h g f~Local bearing/azimuth received: Bearing 158.8, -0.5 (Local) -DAT read: Range 11 to 50 : 44.5 m (Round-trip 59.4 ms) speed 0.4 m/s ffdddjdZdƌ@R#Rx 1: Read range and direction messages.\direction in FSK: [0.955207,0.011671,0.295708]Fpublishing direction and range infoy}g?>M?-?Y2B )CIO >iq=ʿ/=ۋ&@c> &@ `>)+H = BDAT read: Tx time:05:10:39.0258 = $Ping request sent.= ,?A 2D@2?@29ٱ24L >AHRS rotation from veh to nav: [[0.988052,0.154019,-0.005548],[-0.149768,0.968032,0.201205],[0.036360,-0.197970,0.979533]]2H??v+ÿ ?`? ? WɿVX?i2D@I26_;0YF"ByFIEN ENEN*EL"EN0;*EN:VEN(N4ZELaR@aR@aV@aV@IV=)V=Z=Z=iMb@Mb@Mb@ 9MbX?L7A`?9 ?Y ?=Fy 3E6E>Q 5C5ގ?Q 9C5NQ =tI)@BY ?Q E:yǽQ I@=lDI;iW;MC5yBɮL Aiil볿?AJi1BRi1Bji@beV%E@;?.ےU/*@R}g?>M?-?Zi+H<bi`j=D@h B t,@Z4?5wwOҰ?2iL:i,'B"iɠ?*iqBiBiWҧ?iiBi(Bi@M addTargetRange:: Added new target pos. range: 44.500000 m, deltaT: 3.781241 s, deltaX: -2.200001 m, approachRate: -0.581820 m/s, rangeRepo size: 4 ] Added new target pos. range: 44.274914 m, bearing: 355.622249 deg, lat: 36.779330 deg, lon: -121.859607 deg, deltaT: 3.781241 s, deltaX: -2.188877 m, approachRate: -0.578878 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 44.27 m.bhaRheZhi} ProNav: ac range: 44.274914 m, nav range: 42.007271 m, bearing: 355.483668 deg, approach rate: 0.000000 m/s, LOS rate: -0.021294 deg/s, cmd heading: 348.831285 deg, new cmd heading: 348.803134 deg. BhyHeadingCmd: 6.087763 target range: 44.274914 and range: 44.50 m.h@h*h"h hgfffBdddjd@F@Zd`-w?AIɢM㉩)Q UY=iQ)UǼQQiU i]H]1y<]2g=Ie@IIfA)fAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252763=A@9 @9@9@9^A( n=qAAIIIaO}>B >B B IB QBB =B B B q;B .E9 } nManaging dock network, ignoring radio surface power off checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502743,?A2c#@22@2bٱ2&>K :AHRS rotation from veh to nav: [[0.987474,0.157738,-0.003831],[-0.153790,0.967620,0.200152],[0.035279,-0.197056,0.979757]]2H b?0?3coaÿ`???!9ɿ+Z?i2c#@I2s_;2ŐC9tYt=vFyv3Ez2Ez>|Q 5}C5~?Q 9}C5~~O)~?BYyϽQ I@~JlDI~ ,w6?Aɰ2v@2E@2; ٱ2iK :AHRS rotation from veh to nav: [[0.986806,0.161894,-0.001887],[-0.158245,0.966898,0.200166],[0.034230,-0.197226,0.979760]]2H??^^AĿ??? >ɿ 2Z?i2v@I2x_;0YDyDbDNVDN!ٔVs-;Q-V>9XYX=ZFyZ3EZ9:E^>`Q 5fC5b?Q 9fC5bP)b>BYdyfٽQ If@bXlDIb:ib:bC5ynBɮn AnEjh)-DNOT Ignoring new targets: 44.27 m.bh)Rh59Zh59E ProNav: ac range: 44.274914 m, nav range: 41.589165 m, bearing: 355.498048 deg, approach rate: -0.558081 m/s, LOS rate: 0.021070 deg/s, cmd heading: 348.822105 deg, new cmd heading: 348.846514 deg. BhE\g:MHeadingCmd: 6.088520 target range: 44.274914 and range: 44.50 m.hM(@hI*hI"hQ hQgQfQfQfYdYdadijdiZdui?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013381eBɢm[)q u $=iy)}JǼyyi}riNVG{<aH=I(@I)A@A @A@A@AE EE&E"E%.;*EV:VE4ZEa@a@a@a@Q^A `T=ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264052A ؟AI I O >I,RP?A26޼@2@2Pٱ2{L :AHRS rotation from veh to nav: [[0.986216,0.165465,0.000172],[-0.162135,0.966158,0.200625],[0.033030,-0.197887,0.979668]]2H?`-?&?Ŀ?@?I?@]Tɿ qY?i26޼@I2SH_;0YF(ByFI HHiUMb@Mb@Mb@YQQQQ Q9UGz?{Gz?:vYU?yU#9"?Y"?=Fy3EDE>Q 5C5Z?Q 9C5 Q)?BY?Q E:yQ I@glDI:i#:ͯC5yBɮG AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 44.27 m.bhRhB:ZhB: ProNav: ac range: 44.274914 m, nav range: 41.345562 m, bearing: 355.522254 deg, approach rate: -0.569680 m/s, LOS rate: 0.056941 deg/s, cmd heading: 348.846502 deg, new cmd heading: 348.919549 deg. BhP;HeadingCmd: 6.089795 target range: 44.274914 and range: 44.50 m.h@h*h"h h g f f f̀BdddjdZd 9?AɢM[)I Mh=iI)MƼIQiUǀi]"F]ث<]7=I]@IYmt>im)>AQAU?ABaBaBeIBeLBBaBaBaBeq;Be-E@ @@;1@ԉ^A<H= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515930AIIOn>ԱD zD AAE  E E )E "E &;*E :VE FA4ZE BE F?r4ɿb[?i2@I2^;2ƐCYF1ByFIbDZVDZ1yjaG=%nV=ٔMM;Q-U>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7676929qYq=}Fy}3E} E>Q 5C5M)?Q 9C5Q)YyIQ I@vlDI%;i&;QC5Թyɮ AjhDNOT Ignoring new targets: 44.27 m.bhRh :Zh :% ProNav: ac range: 44.274914 m, nav range: 41.118649 m, bearing: 355.546156 deg, approach rate: -0.556840 m/s, LOS rate: 0.058977 deg/s, cmd heading: 348.919558 deg, new cmd heading: 348.991658 deg. Bh%!;5HeadingCmd: 6.091053 target range: 44.274914 and range: 44.50 m.h5@h1*h1"h9 h9g9f9fAfAdIdIdIjdIZdU`ff@ɢ)  =i)JƼi'i6D-3<5'=I5@I1A@ @@4@^AAfAzAdAU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026922A .AI! I9 9 OM > , ?A2ᦼ@2@2Sٱ2"J :AHRS rotation from veh to nav: [[0.985170,0.171545,0.003424],[-0.168805,0.965477,0.198390],[0.030727,-0.196026,0.980117]]2H ?@-? l?gſ@0?d?w? dɿ]?i2ᦼ@I2^;2ÐCEB EBEB'E@"EBO;*EBI:VEB'4ZE@aJ@aJ@aJ@aJ@Y}2By}IiMb@Mb@Mb@ 9(\?MbP?~jtxY?y:ĻAp@ A)`@YAbDAVDAyUf:%U(=ٔUr;Q-U>9] ?Y] ?=]Fy]"3Ee Ee>iQ 5uC5m>?Q 9uC5mS)mBBYu?Q E}:y}!.Q I}@mlDIm:;imJ;m`C5yBɮ AEjhDNOT Ignoring new targets: 44.27 m.bhRha:Zha: ProNav: ac range: 44.274914 m, nav range: 40.862129 m, bearing: 355.579456 deg, approach rate: -0.550066 m/s, LOS rate: 0.071856 deg/s, cmd heading: 348.991658 deg, new cmd heading: 349.092185 deg. BhAE;%HeadingCmd: 6.092808 target range: 44.274914 and range: 44.50 m.h%I@h)*h)"h) h)g1f1f1f=ˀBd9dAdAjdIZdM`&@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272180颥Bɢ-A) @=i)Nżi*i*B6<6=II@IY@@ @@0@qBQ BQ BQ BQ BQ BQ BQ BU q;BU -Eԙ ^A K'=- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523829AM؟AIYIiOu>\1(,\?A(2@2^@2"ٱ2qDI >AHRS rotation from veh to nav: [[0.984892,0.173100,0.004918],[-0.170654,0.965366,0.197345],[0.029413,-0.195203,0.980322]]2H )f=bDnVDnyr=%rO=ٔv}Z;Q-v>9z"?Yz"?=zFyz&3Ez;E~>|Q 5C5~P?Q 9C5~T)~DBY y  0Q I @~lDI~;i~;~ӺC5yBɮi AEjhAEDNOT Ignoring new targets: 44.27 m.bhARhMK:ZhMK:] ProNav: ac range: 44.274914 m, nav range: 40.644035 m, bearing: 355.608677 deg, approach rate: -0.562357 m/s, LOS rate: 0.075752 deg/s, cmd heading: 349.092198 deg, new cmd heading: 349.180333 deg. Bh]O;eHeadingCmd: 6.094347 target range: 44.274914 and range: 44.50 m.he@ha*haE EE+E"E8;*E:VE [4ZEBE׏ii)m.ļiiimD恼iu^Au<}! =I}@Iyԁ%A@! @!@%4@!^Al=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775996ԩAAIQIiOuy> X.,+?AnBDAT read: Rx Time:05:10:41.4868 rTRx dataTimestamp_ set to:1761541842.968136zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.033048 Ɓ@|@ٱVI AHRS rotation from veh to nav: [[0.984466,0.175455,0.006514],[-0.173278,0.964926,0.197212],[0.028316,-0.195277,0.980339]]H? Su?tz?-ƿ`?@>??`ȿ`^?iƁ@I٩^;YTByIiMMb@Mb@Mb@IIII I9M(\?{Gz?{Gzt?YIyM#9yYy=Fy+3EE>Q 5C5g?Q 9C57U)IBY?Q E:yQ I@lDIT ;i ;)C5yɮ AjhDNOT Ignoring new targets: 44.27 m.bh!Rh%:Zh-:5 ProNav: ac range: 44.274914 m, nav range: 40.369442 m, bearing: 355.639195 deg, approach rate: -0.553581 m/s, LOS rate: 0.061942 deg/s, cmd heading: 349.180335 deg, new cmd heading: 349.272511 deg. Bh= *;EHeadingCmd: 6.095955 target range: 44.274914 and range: 44.50 m.hE@hA*hA"hA hAgAfIfIfMـBdIdQdQjdQZdUI- @颁ɢEb)  >i)ü顉ieZi2?<4rE /E EEE"E*EVEZEa@a@a@a@=@@9 @9@=4@9Qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278721^A= 2=AA AE >y Ai I I O >5,x&״?A4<ɰB$A&4=B(B(B*IB*VBB(B(B(B*Wq;B*-EB!B!B!B!B!C%4Rl@Rg@RcݼٱR{.H ZAHRS rotation from veh to nav: [[0.984055,0.177683,0.008001],[-0.175789,0.964741,0.195893],[0.027088,-0.194176,0.980593]]RH`a}?T?@b?`>ƿ'?`??`ȿa?iRl@IR^;RCdYE]ByMIbD]VD]ܲy:=%c=ٔ`;Q->9Y=Fy/3EDE>Q 5C5w?Q 9C5V)LBYy!Q I@lDIl:i:8C5yBɮE AA]B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 44.27 m.bhRh:Zh: ProNav: ac range: 44.274914 m, nav range: 40.175800 m, bearing: 355.661677 deg, approach rate: -0.520394 m/s, LOS rate: 0.060709 deg/s, cmd heading: 349.272515 deg, new cmd heading: 349.340286 deg. Bh&;HeadingCmd: 6.097138 target range: 44.274914 and range: 44.50 m.h@h*h"h hgfffdddjd Zd `5@mDAT read: 05:10:41.4868 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.03,-2.018, 2.543,-1.996,-2.174, PHS= 0.258,-1.521, 0.134, RAW= 146.4, 13.1, CAL= 146.2, 14.3, ROT= 3.8, -14.3 uYgot valid direction response: 05:10:41.4868 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.03,-2.018, 2.543,-1.996,-2.174, PHS= 0.258,-1.521, 0.134, RAW= 146.4, 13.1, CAL= 146.2, 14.3, ROT= 3.8, -14.3 }PDAT read: Bearing 154.4, 2.6 (Local) }~Local bearing/azimuth received: Bearing 154.4, 2.6 (Local) DAT read: Range 11 to 50 : 42.6 m (Round-trip 56.8 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.966885,0.064220,0.246999]Fpublishing direction and range infoy9=pj{?A kp?⩝?Y=f*B9999 9)=BI=>i=!¿=L7 >=Ƈ#@= j>=N#@ =r>)=ԇ=I=r99=]E{?@ ?GNj/? =>)=uiI=ԇ=i=r99T****** received valid address query ******R****** received valid ping request ******BQuerying Benthos address 50 with one ping in standard two-way mode.ɢ;) (3>i)Bm¼i‚i%>%<<%  BDAT read: Tx time:05:10:42.7758  $Ping request sent. ;,?A2qZ@2@U@2Լٱ2G :AHRS rotation from veh to nav: [[0.983686,0.179646,0.009476],[-0.178014,0.964445,0.195339],[0.025953,-0.193839,0.980690]]2H@Zz??g?)ƿ ??y?`ȿa?i2qZ@I2W^;2CYBgByB*I HHbDNVDNTyZo]=%ZQ=ٔ^=;Q-^>9\Y\=bFyb33EbʼEb>dQ 5jC5f?Q 9jC5fV)fOBYlynm#Q In@flDIf:if[:fC5ypɮrm ApiiFݴ?AJi)BRi)Bji@b_̌}D@{@<=z$@Rpj{?A kp?⩝?Ziԇ=birjyBsD@N %@Z /?MWͿYO?2i(:i#B"iѪ?*iBiBiiqiBiBis@5 addTargetRange:: Added new target pos. range: 42.599998 m, deltaT: 3.782889 s, deltaX: -1.900002 m, approachRate: -0.502262 m/s, rangeRepo size: 4 E Added new target pos. range: 42.384407 m, bearing: 356.327761 deg, lat: 36.779330 deg, lon: -121.859606 deg, deltaT: 3.782889 s, deltaX: -1.890507 m, approachRate: -0.499752 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 42.38 m.bhIRhUZhQe ProNav: ac range: 42.384407 m, nav range: 39.951267 m, bearing: 355.842667 deg, approach rate: 0.000000 m/s, LOS rate: 0.060709 deg/s, cmd heading: 349.340298 deg, new cmd heading: 349.408360 deg. BhamHeadingCmd: 6.098326 target range: 42.384407 and range: 42.60 m.hm}%@hi*hi"hi hqgqfqfqfqdydydyjd}LE@Zd5?MBɢMc)I MVJ>iQ)Uj>QQiU/*i]K=]#<];*E :VE c44ZE a @a @a @a @I I) 1 O= >yB, ?ANG@NB@NZɼٱNybF bAHRS rotation from veh to nav: [[0.983309,0.181611,0.010974],[-0.180271,0.964352,0.193722],[0.024600,-0.192467,0.980995]]NHEw???@Ry?` ǿ??0? âȿOd?iNG@INi^;NÐCYjfByj'IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501546iMb@Mb@Mb@ 9ʡE?ˡE?Mb`?Y-?y'=;Ap@ A)`@YbDVDky%8=ٔEH;Q->9Y=Fy73EEE> Q 5C5 L?Q 9C5 W) QBY?Q E:yQ I@ lDI ;i 6; C5y%Bɮ- A-EjhIUDNOT Ignoring new targets: 42.38 m.bhQRh]:Zh]:m ProNav: ac range: 42.384407 m, nav range: 39.697990 m, bearing: 355.856469 deg, approach rate: -0.577161 m/s, LOS rate: 0.031653 deg/s, cmd heading: 349.408354 deg, new cmd heading: 349.450025 deg. Bhmɭ:uHeadingCmd: 6.099053 target range: 42.384407 and range: 42.60 m.hur+@hq*hq"hq hqgyfyfyf}BdddjdZds?UBɢUY6()Q UH>iQ)]!ؿYYi]ieԙ BH,%?A::@:[5@:Q2ٱ:&C BAHRS rotation from veh to nav: [[0.983054,0.182912,0.012161],[-0.181855,0.964718,0.190391],[0.023093,-0.189376,0.981633]]:H.u? i??Gǿ?`^?`?y=ȿi?i::@I:_;:ĐCYNByNIIER ERER'EP"ER=;*ER:VER'4ZEPBER%n_=ٔn;Q-r>9pYp=rFyv;3Ev Ev>xQ 5~C5z및?Q 9~C5zGX)zSBYyQ I@zlDIzv;iz;zC5y Bɮ A Ejh15DNOT Ignoring new targets: 42.38 m.bh9Rh=:ZhE:M ProNav: ac range: 42.384407 m, nav range: 39.487732 m, bearing: 355.868542 deg, approach rate: -0.572105 m/s, LOS rate: 0.033026 deg/s, cmd heading: 349.450018 deg, new cmd heading: 349.486430 deg. BhUR:UHeadingCmd: 6.099689 target range: 42.384407 and range: 42.60 m.hU0@hY*hY"hY hYgYfafafadadidijdiZdmt?y颥BɢD,) x>i)eii;/<,m  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259903%O,??A=S5@="0@=ٱ=? MAHRS rotation from veh to nav: [[0.982967,0.183331,0.012901],[-0.182487,0.965299,0.186804],[0.021793,-0.185976,0.982313]]=Hvt?`w?@k?@[ǿ`?1?P?@ǿo?i=S5@I=u^;=ŐCY]By]gIIe=)eI?iEMb@Mb@Mb@AAAA A9E/$?p= ף?MbP?YE&?yE=E:EAE@ EA)AAYEAbD]VD]kym=%m3=ٔu6:;Q-u>9qYy=}Fy}@3E}궺E}>Q 5C5Ə?Q 9C5X)Y?Q E:yQ I@lDI:i<:C5yBɮAjhDNOT Ignoring new targets: 42.38 m.bhRhtyZhty ProNav: ac range: 42.384407 m, nav range: 39.227013 m, bearing: 355.868156 deg, approach rate: -0.570407 m/s, LOS rate: -0.000852 deg/s, cmd heading: 349.486436 deg, new cmd heading: 349.485268 deg. BhHeadingCmd: 6.099669 target range: 42.384407 and range: 42.60 m.h|0@h*h"h hgfffBdddjdZd?-Bɢ-PAS)1 5B>i1)5$11i5玄i=;=/<=lZQ B >B B SIB BB =B B B p;B -EV,ILY?AY~By~sIbDVD0y%:I=%%c=ٔ-Q-->9)Y)=5Fy5C3E5E5>9Q 5EC5=$؏?Q 9EC5=&Y)9YIyIQ IM@=lDI=:i=:=C5yUBɮUAUEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 42.38 m.bhRhxZhx1] ProNav: ac range: 42.384407 m, nav range: 39.021076 m, bearing: 355.867846 deg, approach rate: -0.563005 m/s, LOS rate: -0.000850 deg/s, cmd heading: 349.485262 deg, new cmd heading: 349.484329 deg. Bh]JeHeadingCmd: 6.099652 target range: 42.384407 and range: 42.60 m.heZ0@ha*hi"hi higififfdddjdZd`A@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761585mBɢm)i m(>iq)uqqiu7!i} ;}/<}m1\,$s?A;ɰ;2W-@2&(@2 ٱ2'l: :AHRS rotation from veh to nav: [[0.982853,0.183759,0.015279],[-0.183457,0.966160,0.181324],[0.018558,-0.181018,0.983305]]2H s?m?@}J?{ǿ ?`5??`+ǿ`;w?i2W-@I2_;2CYBByFIbDNVDN1yVh=%VS=ٔV9XYX=ZFyZG3E^$E^>`Q 5fC5bꏊ?Q 9fC5bY)`YdyfdQ If@b mDIbW:ibp:bBC5ylɮn`AljhDNOT Ignoring new targets: 42.38 m.bhRh zZh z ProNav: ac range: 42.384407 m, nav range: 38.799629 m, bearing: 355.867797 deg, approach rate: -0.578260 m/s, LOS rate: -0.000129 deg/s, cmd heading: 349.484333 deg, new cmd heading: 349.484184 deg. Bh%ŵ%HeadingCmd: 6.099650 target range: 42.384407 and range: 42.60 m.h%U0@h)*h)"h) h)g)f)f1f1d1d1d1jdZd*"@!ɢ%2:;)) ->i))-))i-SiU;],<]J c,N ?A2=.@2 )@2rٱ2h8 :AHRS rotation from veh to nav: [[0.982896,0.183436,0.016298],[-0.183354,0.966492,0.179652],[0.017203,-0.179568,0.983595]]2H@s?z?@x?#xǿ`? ?@?`ƿy?i2=.@I2^;0YfByfI]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525202iMb@Mb@Mb@ 9(\?:v?{GzY?y=#A )v@YbDVD0y=%;=ٔ K;Q->9Y=FyL3EO9E>Q 5C5?Q 9C5Y)OBY?Q E:yQ I@mDIz ;i ;C5yBɮAjh DNOT Ignoring new targets: 42.38 m.bh Rh ̀Zh̀% ProNav: ac range: 42.384407 m, nav range: 38.553158 m, bearing: 355.843318 deg, approach rate: -0.563287 m/s, LOS rate: -0.056303 deg/s, cmd heading: 349.484196 deg, new cmd heading: 349.410288 deg. Bh%%HeadingCmd: 6.098360 target range: 42.384407 and range: 42.60 m.h-%@h)*h)"h) h)g)fffBBdddjdZd @MBɢMh@r;)Q U>iQ)U6QQiU;i]B=].<][Ji,?A2./@2)@2$Cٱ2ɵ5 >AHRS rotation from veh to nav: [[0.982943,0.183107,0.017201],[-0.183246,0.967119,0.176356],[0.015656,-0.176500,0.984176]]2HCt?@ p?3?tǿ?Ւ?9?ƿ_~?i2./@I2^;2ÐCYFԁByFIbDRVDRܲyZ=%Z[=ٔZˇ;Q-Z>9\Y\=^Fy^O3E^9Eb>`Ej  EjEj'Eh"EjG;*Ej:VEj'4ZEhBEj)i)FiiֆiFg>k3<0 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2796513/p,?APllYE܁ByMIonly read 0 of 1 data item for altitude. Device response is::BD, -23.00, , +2.81, 8.07, 0.00 a@a a@E  EE)E"EE;*E:VEFA4ZEa@a@a@a@a a@a a@a bDVD0y{<%=ٔQ->9Y=FyU3E%E%>)Q 55C5-)?Q 95C5-Y)-FBQ A5+:Y1Q E5:y1Q I=@-:mDI-b:i-?-C5yAɮEAAjhimDNOT Ignoring new targets: 42.38 m.bhiRhu톺Zhu톺 ProNav: ac range: 42.384407 m, nav range: 38.053638 m, bearing: 355.792519 deg, approach rate: -0.572458 m/s, LOS rate: -0.058981 deg/s, cmd heading: 349.346363 deg, new cmd heading: 349.256875 deg. Bh!HeadingCmd: 6.095683 target range: 42.384407 and range: 42.60 m.h@h*h"h hgfffdddjdZd @Bɢ;) Z>i)^ii@@< iUq=ʿUsh=U0"@U>U!@ U0>)UK=IU0QQUH[5 ?" ~K^?O? U>)U<IUK=iU0QQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ^A} <By By B} IB} ˁBB} =By By B} Eq;B} -EA .AI I O >v,ު۵?Ai)iiAEQ<k EBDAT read: Tx time:05:10:46.5758 E$Ping request sent.E|,q?AF9F@FA@Fo"ٱF;2 ZAHRS rotation from veh to nav: [[0.983526,0.179449,0.021775],[-0.180493,0.968288,0.172745],[0.009914,-0.173829,0.984726]]FH y? /??L?fǿ6??M?@ @ƿ߂?iF9F@IF\=_;DYbBybIbDjVDjlyvS<%vL=ٔv-;Q-z>9xYx=zFyz\3E~:E~>Q 5 C5K?Q 9 C5Y)>BQ A 9Y Q E G:yF Q I@TmDI:i'?C5yɮA=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 40.10 m.bhIRhUdžZhUdže ProNav: ac range: 40.095997 m, nav range: 37.853767 m, bearing: 355.958067 deg, approach rate: -0.568024 m/s, LOS rate: -0.058916 deg/s, cmd heading: 349.199869 deg, new cmd heading: 349.129552 deg. Bhe!mHeadingCmd: 6.093460 target range: 40.095997 and range: 40.30 m.hm@hi*hi"hi higqfqfqfqdydydyjdZd8?颭Bɢc?<) c>i)项iࡈibGBl<dLi ᥃,L?A ɰ FL@FeG@FaٱFo_2 NAHRS rotation from veh to nav: [[0.983676,0.178536,0.022525],[-0.179731,0.968551,0.172066],[0.008903,-0.173306,0.984828]]Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753459FH Ez? D??@lǿ]?C?`;?.ƿ?iFL@IF7_;FŐCY^By^I9aa aa aa aa iMb@Mb@Mb@ 9!rh?I +?V-Yl?y94> v@)QAYA 4<bDVD1yʊ<%<=ٔ;Q->9Y=Fy`3E:E>Q 5C5`?Q 9C5X)2BQ AT:Y?Q E:y>Q I@dmDI);i;tC5yBɮAEjh)-DNOT Ignoring new targets: 40.10 m.bh1Rh5W?Zh=W?E ProNav: ac range: 40.095997 m, nav range: 37.617550 m, bearing: 355.886029 deg, approach rate: -0.545105 m/s, LOS rate: -0.167283 deg/s, cmd heading: 349.129545 deg, new cmd heading: 348.912073 deg. BhMMHeadingCmd: 6.089664 target range: 40.095997 and range: 40.30 m.hM@hQ*hQ"hQ hQgQfYfYf]eBdYdadajdaZde ? ɢ6<) e>i)ci3iV*F%<%=I%@I!Ue>iU>iBBBIBBBBBBq;B-EBqBqBqBu =Bu =Cu25?@ @@0@ԑechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006516^A- < AY Ia Iy O >ω,t')?AE& E&E&)E$"E&9;*E&;:VE&FA4ZE$BE&h9Y=Fyd3E&;E>Q 5 C5 s?Q 9C5"X)&BYy@>Q I@rmDIiiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260564)l顁iZɉijIޭ<xS=I@I]@@Y @Y@e0@a^A y=!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515604A ؟AI Ia O} >J, kE?A2d@2_@2ٱ2s1 :AHRS rotation from veh to nav: [[0.984211,0.175499,0.023006],[-0.176832,0.969263,0.171055],[0.007722,-0.172422,0.984993]]2H~?v?Î?oƿ3???ƿ?i2d@I2jQ^;2CYBByFIhiMb@Mb@Mb@ 9Gz?ʡE?QYp>y-2>A@ @)AYAbD5VD5!y=n<%EB=ٔEn:Q-E>9M"?YM"?=MFyMi3Eŏ;E>Q 5C5?Q 9C5CW)BY?Q E:ym>Q I@mDI:i:C5yɮeAE5 E5E5,E1"E5=-;*E5:VE5g4ZE1a=@a=@a=@a=@jhiuDNOT Ignoring new targets: 40.10 m.bhqRhuAOZhuAO ProNav: ac range: 40.095997 m, nav range: 37.173645 m, bearing: 355.740963 deg, approach rate: -0.525152 m/s, LOS rate: -0.181195 deg/s, cmd heading: 348.704189 deg, new cmd heading: 348.474291 deg. BhHeadingCmd: 6.082024 target range: 40.095997 and range: 40.30 m.h@h*h"h hgfff}Bdddjd!Zd% ?ɢXQ<) >i)lliai^M1<ҕ&=I@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765451@ @@5@)A A @AB >B B IB BB B B B q;B .E^A =a AM .AIQ Ia Ou >,Á_?A >r@>l@>цٱ>2 FAHRS rotation from veh to nav: [[0.984498,0.173883,0.022995],[-0.175230,0.969359,0.172158],[0.007645,-0.173519,0.984801]]>H?A?@狗?mƿ ?@H ? P? 5ƿ }?i>r@I>];>CYLyLTV@AbDZVDZ:yb%bQ=ٔbL9Q-b>9f ?Yf ?=fFyfl3Ej;Ej>lQ 5rC5nc?Q 9rC5nV)nBYtyv>Q Iv@nmDIn/:inH:nC5~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017492yBɮqAEjh)5DNOT Ignoring new targets: 40.10 m.bh1Rh=QZh=QM ProNav: ac range: 40.095997 m, nav range: 36.982010 m, bearing: 355.674011 deg, approach rate: -0.522295 m/s, LOS rate: -0.183421 deg/s, cmd heading: 348.474284 deg, new cmd heading: 348.272388 deg. BhMUHeadingCmd: 6.078500 target range: 40.095997 and range: 40.30 m.hU@hQ*hQ"hQ hYgYfYfYfYdadadajdaZdmI@频ɢP<) >i)顙iiQ<m7=I@IIQ@ @@/@A^Al"=E- E-E-(E)"E-:;*E-:VE-c44ZE)BE-1ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269485ԙ j,Iy?A2~@2x@2ٱ2?y3 :AHRS rotation from veh to nav: [[0.984758,0.172340,0.023470],[-0.173788,0.969482,0.172924],[0.007048,-0.174367,0.984655]]2H"?@???>ƿ?]"? |?Qƿ@L?i2~@I2;];2ĐCY^BybIIf0>)f<bDjVDj02yr^%rI=ٔv^:Q-v>9v"?Yv"?=zFyzq3Ezk;Ez>QQ 5]C5U?Q 9eC5UU)UBYayee>Q Ie@UmDIU;iUU;UC5yiɮmAqyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 40.10 m.bhRhPZhP ProNav: ac range: 40.095997 m, nav range: 36.769062 m, bearing: 355.598287 deg, approach rate: -0.510508 m/s, LOS rate: -0.182588 deg/s, cmd heading: 348.272384 deg, new cmd heading: 348.043897 deg. BhHeadingCmd: 6.074512 target range: 40.095997 and range: 40.30 m.hgb@h*h"h hgfffdddjdZd`@ɢdN<)  a>i )   i ?{ifU<ƑI=Igb@I@ @@@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525034ԱE= E=E=&E9"E=1;*E=:VE=4ZE9aU@aU@aU@aU@^Au#'=A}>A}>A I I  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773387^,}$?A2Q@2 @2ٱ2;26 :AHRS rotation from veh to nav: [[0.984952,0.171204,0.023616],[-0.172677,0.969209,0.175548],[0.007166,-0.176984,0.984188]]2H??.?Cƿ@?`Yx?@Y}?jƿw~?i2Q@I2];2ŐCYBByBIi Mb@Mb@Mb@     9 Pn?-?ˡEY ?y ?5> ' A @ A) QA Y pAbDVDy%?=ٔYQ->9Y=Fyu3E,;E>Q 5C5?Q 9C5T)BY ?Q E:yk>Q I@mDI:i:gC5y’BɮAEjhDNOT Ignoring new targets: 40.10 m.bh Rh  RZh  R% ProNav: ac range: 40.095997 m, nav range: 36.547779 m, bearing: 355.522191 deg, approach rate: -0.530770 m/s, LOS rate: -0.183629 deg/s, cmd heading: 348.043900 deg, new cmd heading: 347.814232 deg. Bh% %HeadingCmd: 6.070504 target range: 40.095997 and range: 40.30 m.h-A@h)*h)"h) h)g)f)f1f5xBd1d9d9jd9Zd= @iɢmPP<)i mi>iq)uqqiui}:Y}逯<}k{Z=IA@IB>BBIBBB =BBBq;B-E ?@  @@@^AB=!BDAT read: Rx Time:05:10:49.0310 %TRx dataTimestamp_ set to:1761541850.532120%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026469A)I1IAOUu>1 wi> EU  EU EU )EQ "EU 8;*EU :VEU FA4ZEQ BEU ׏9Y=Fyy3ES:E>Q 5C5͐?Q 9C5T)BYy >Q I@mDIv;i;C5yɮUAjh -DNOT Ignoring new targets: 40.10 m.bh)Rh-PZh-P1E ProNav: ac range: 40.095997 m, nav range: 36.336647 m, bearing: 355.448490 deg, approach rate: -0.520200 m/s, LOS rate: -0.182645 deg/s, cmd heading: 347.814242 deg, new cmd heading: 347.591855 deg. BhEMHeadingCmd: 6.066622 target range: 40.095997 and range: 40.30 m.hM!@hI*hI"hQ hQgQfQfYfYdYdYdYjdaZde@; @}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277491额Bɢ?<) >i)顡i`i]o</i=I!@II)m@@q @q@}/@yaԑ^A<H=m DAT read: 05:10:49.0310 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407, 0.39,-2.244, 2.305,-2.189,-2.368, PHS= 0.226,-1.565, 0.135, RAW= 147.4, 13.7, CAL= 147.3, 15.1, ROT= 2.7, -15.1  Ygot valid direction response: 05:10:49.0310 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407, 0.39,-2.244, 2.305,-2.189,-2.368, PHS= 0.226,-1.565, 0.135, RAW= 147.4, 13.7, CAL= 147.3, 15.1, ROT= 2.7, -15.1  PDAT read: Bearing 153.7, 0.4 (Local)  ~Local bearing/azimuth received: Bearing 153.7, 0.4 (Local)  DAT read: Range 11 to 50 : 38.2 m (Round-trip 51.0 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.A I! II u \direction in FSK: [0.964401,0.045480,0.260505]O > Fpublishing direction and range infoy9 = j !_?T4'I?QfJ0?Y= B9 9  ,=ƶ?Aaa a)aIelg>ieQȿeq= >e$@eGt>e"$@ eV>)eA=IeVaaely_Z?Q?šF3L? eU>)e%tIeA=ieVaavT****** received valid address query ******vR****** received valid ping request ******zQuerying Benthos address 50 with one ping in standard two-way mode.Yy E EEE"EM;*Ed:VEZEa@a@a@a@i]Mb@Mb@Mb@YYYY Y9]'1Z?/$?ˡEY]?y]>Y]rAY ]@)YYY]AbDVD:yk:%(=ٔQ->9Y=Fy~3EE>Q 5D5␊?Q 9D5\S)״BY ?Q E :y ^=Q I @mDI;i%;D5yÒBɮ]Aiaiet¶?AJieBRieBjie@beȑuSB@!w(?AeL#@Rej !_?T4'I?QfJ0?ZieA=bieVje݉qSQB@= j.be#@ZeQ~u2`?lR?0dj@T?2ie{8:ieB"ietn?*ieX .Bie>Bief?ieX .ie BieBieQ@ addTargetRange:: Added new target pos. range: 38.200001 m, deltaT: 3.786401 s, deltaX: -2.099998 m, approachRate: -0.554616 m/s, rangeRepo size: 4  Added new target pos. range: 38.006916 m, bearing: 355.501149 deg, lat: 36.779338 deg, lon: -121.859604 deg, deltaT: 3.786401 s, deltaX: -2.089081 m, approachRate: -0.551733 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 38.01 m.bhRh Zh = ProNav: ac range: 38.006916 m, nav range: 36.731213 m, bearing: 355.499036 deg, approach rate: 0.000000 m/s, LOS rate: -0.182645 deg/s, cmd heading: 347.591851 deg, new cmd heading: 347.324351 deg. Bh9EHeadingCmd: 6.061954 target range: 38.006916 and range: 38.20 m.hE@hA*hA"hA hIgIfIfIfUSBdQdQ}*DAT read: user:345> BDAT read: Tx time:05:10:50.4258 $Ping request sent.i )   iVi5b=<=x=I=@I9?@ @@/@@@B <A <B >B B IB BB B B B Yq;B -E! ^A- c=Q - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250724A].AIiIyO>=,嶿?A2@2V@2)ֻٱ27 :AHRS rotation from veh to nav: [[0.985213,0.169613,0.024223],[-0.171209,0.969214,0.176950],[0.006536,-0.178481,0.983922]]2H݆?`޵?͘?,ſ?K?&z?tƿI|?i2@I2n];0YFByFIbDNVDNyV+%VW=ٔVR:Q-Z>9Z ?YZ ?=ZFyZ3E^-;E^>``Q 5fD5b?Q 9jD5bR)bʴBYhyj=Q Ij@bmDIbd*;ibd:bfD5ynŒBɮrMArEqI~~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLI~ Entering USBL mode with 120.000000 count pings at 38.200001 m (mode 2.000000 count ).I I jhDNOT Ignoring new targets: 38.01 m.bhRh%01Zh%015 ProNav: ac range: 38.006916 m, nav range: 36.532627 m, bearing: 355.442502 deg, approach rate: -0.541204 m/s, LOS rate: -0.154909 deg/s, cmd heading: 347.324354 deg, new cmd heading: 347.153830 deg. Bh5Ի=HeadingCmd: 6.058977 target range: 38.006916 and range: 38.20 m.h=$@h9*h9"h9 hAgAfAfIfIdIdIdIjdQZdU?!ɢ%b{-<)) -¾>i))-|׍))i-wi5֖e5A<==I=$@IaE] E]E]%EY"E]9;*E]:VE] 4ZEYBE]I T,m?A2L@2@29Tӻٱ27 :AHRS rotation from veh to nav: [[0.985062,0.170458,0.024425],[-0.172079,0.969106,0.176697],[0.006449,-0.178261,0.983962]]2H?@??ƿ`?? {jz? ?ƿ@|?i2L@I2M];2ÐCYFByFIHJBAbDNVDN02yvW%vH=ٔv]9Q-v>9xYx=zFyz3E~y E~>Q 5 D5?Q 9 D5AR)BY y =Q I @mDI:i: D5yɮAi5^@AIM1JU]B*** querying acoustic contact ***iY i]xjhimDNOT Ignoring new targets: 38.01 m.bhiRhuK+ZhuK+ ProNav: ac range: 38.006916 m, nav range: 36.318859 m, bearing: 355.381239 deg, approach rate: -0.519500 m/s, LOS rate: -0.149758 deg/s, cmd heading: 347.153818 deg, new cmd heading: 346.968947 deg. BhͻHeadingCmd: 6.055750 target range: 38.006916 and range: 38.20 m.h@h*h"h hgchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754902fffdddjdZd,?-BɢU ;)Y ]<>ia)egii0ӍihP<`=I@IiA@ @@0@E EE&E"E<;*E:VE4ZEa@a@a@a@ԑU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006774^A A >A ? A ؟AI I O- >,@L?AB0B0B2IB2BB2 =B0B0B2Xq;B2-EBP@B@B)]ٱBf6 JAHRS rotation from veh to nav: [[0.984982,0.170847,0.024948],[-0.172558,0.969137,0.176057],[0.005901,-0.177718,0.984064]]BH@? R??@cƿ,? ?+x? yƿ@s}?iBP@IBGj];BCYRByR|Ii-Mb@Mb@Mb@)))) )9-m?Zd;?MbY-?y-=-@ԙ-A-@ -A)))Y-AbDVDN2y7d%<=ٔ:Q->9"?Y"?=Fy3EޒE>Q 5D5?Q 9D5R)BYw?Q E:yi)8=顙i(ik<TB=I@Ii@i @i@m4@i@u=@u0>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258894^AED=AqIyIO~>E  E E )E "E y>;*E :VE FA4ZE BE S9Y=%Fy%3E%=E%>)Q 55D5--?Q 95D5-Q)-BY9y=i)2Oi]oi m ԑ bEM:4jEM̭54rEMI"0E)  E- E- (E) "E) *E- :VE- c44ZE) a= @a= @a= @a= @,L?A0ɰ2p;Nn@Nvi@N|ٱN^; ZAHRS rotation from veh to nav: [[0.984438,0.173700,0.026641],[-0.175643,0.967767,0.180490],[0.005569,-0.182360,0.983216]]NH?;?`G?@x{ƿ?H?v?Wǿv?iNn@IN];NCYbBybYIiMMb@Mb@Mb@IIII I9M|?5^?9yYy=}Fy}3EE>Q 5D5@?Q 9D5UR)BYH?Q E:ywQ I@nDIfiA)MAIIiMiU{mU `C,Ef?A>UW@>$R@>ܣٱ>-? JAHRS rotation from veh to nav: [[0.983937,0.176240,0.028409],[-0.178445,0.966559,0.184178],[0.005001,-0.186289,0.982482]]>Hi|? ??? Kƿ ?`&?@{t?Sǿ~p?i>UW@I>_];>ĐCYRzByRAIbDZVDZ02ybnн%bV=ٔf:Q-f>9dYd=jFyj3EjMEj>lQ 5rD5n{R?Q 9rD5nR)nBYtyvQ Iv@nnDInd:in:n D5yzɒBɮzx Axjh%DNOT Ignoring new targets: 38.01 m.bh!Rh%vZh-v5 ProNav: ac range: 38.006916 m, nav range: 35.413830 m, bearing: 355.289826 deg, approach rate: -0.582506 m/s, LOS rate: -0.017427 deg/s, cmd heading: 346.712068 deg, new cmd heading: 346.692941 deg. Bh=[?EHeadingCmd: 6.050933 target range: 38.006916 and range: 38.20 m.hE?@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU@5@颅Bɢ>:) pt>i)惼顉i~юizmQ <*2=I?@IE EE+E"E1;*E:VE [4ZEBE[+,?A27@22@2,ٱ2C >AHRS rotation from veh to nav: [[0.983247,0.179813,0.029883],[-0.182216,0.965298,0.187073],[0.004792,-0.189384,0.981891]]2Hv?`?`?Rǿ??s?=ȿk?i27@I2`];2ÐCYF}ByFEIbDRVDRNyZv<%ZL=ٔZA:Q-Z>9\Y\=Fy3E E > Q 5D5 e?Q 9D5 S) BYy⊽Q I@ +nDI r;i ; D5y)ɮ-_ A)EB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 38.01 m.bhYRh]pZh]pm ProNav: ac range: 38.006916 m, nav range: 35.184795 m, bearing: 355.284458 deg, approach rate: -0.557329 m/s, LOS rate: -0.013149 deg/s, cmd heading: 346.692944 deg, new cmd heading: 346.676733 deg. BhmcuHeadingCmd: 6.050651 target range: 38.006916 and range: 38.20 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771623h@h*h"h hgfffdddjdZd`Z;@Bɢ D:) x>i)=iDin̵<z=I @I9 @@  @ @ /@ E EE(E"E9;*E:VEc44ZEa@a@a@a@Y^AM3=5 BDAT read: Rx Time:05:10:52.8784 5 TRx dataTimestamp_ set to:1761541854.312186= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023868ԉ Ay I I O >B] >BY B] rIB] BB] =BY B] DB] q;B] -E/d,Κ?A 67@6@6.Jٱ6F >AHRS rotation from veh to nav: [[0.982536,0.183371,0.031604],[-0.186021,0.963938,0.190315],[0.004434,-0.192870,0.981214]]6Hp?`x?f.? ǿ@?=\?A)r?ȿ`f?i67@I6];6CYJxByJ>IiMb@Mb@Mb@ 9㥛 ?y&1?~jtY?y`<Z@ A)Y15AAbD5VD5yEKϼ%M?=ٔM[:Q-M>9QYQ=UFyU3EUEU>Q 5D5z?Q 9D5T)BY?Q E:yQ I@iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274967)u顉iibl<'i=Ip@I!@! @!@%/@!ԡE EEE"E*E:VEZEBEhi xɿ "> $@  j> S$@  >) ¸2=I    Ad?*?<ou?  Z>) jI ¸2=i    T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A I I O >,?AE@E@EB~ٱE)I }AHRS rotation from veh to nav: [[0.981801,0.186967,0.033318],[-0.189873,0.962780,0.192360],[0.003887,-0.195185,0.980759]]EHj? ?`?@Mȿ?`@?co?ȿ_b?iE@IEk];EÐCYtBy9IbDVDNy%;=ٔ:Q->9Y=Fy3EE>Q 5D5?Q 9D5U)}BYyQ I @MnDI;i};d#D5y̒Bɮ A"EIii.?AJiwBRiwBji!@bl]wA@kԪ+g?6"@R P?ND+?=9?Zi¸2=bijhժqA@Fj1f Eqi!@Z0?V?kF)?2i0[:i B"ie ?*i)3BiޒBitn?iiBi Biv@ addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 3.776986 s, deltaX: -1.900002 m, approachRate: -0.503047 m/s, rangeRepo size: 4 - Added new target pos. range: 36.116215 m, bearing: 354.392645 deg, lat: 36.779338 deg, lon: -121.859604 deg, deltaT: 3.776986 s, deltaX: -1.890701 m, approachRate: -0.500585 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 36.12 m.bh1Rh=ZhAU ProNav: ac range: 36.116215 m, nav range: 34.684559 m, bearing: 355.343448 deg, approach rate: 0.000000 m/s, LOS rate: 0.060751 deg/s, cmd heading: 346.757229 deg, new cmd heading: 346.843369 deg. BhQ]HeadingCmd: 6.053559 target range: 36.116215 and range: 36.30 m.h]@hY*hY"hY hYgafafifidididijdu`f&B@ZduN?颽Bɢ0m) a>i)}i+i6#k<nW=I@Iԁ@ @@/@@@=*DAT read: user:346> BDAT read: Tx time:05:10:54.1258 $Ping request sent.9m ?Ym ?=mFyu3Eu:;Eu>yQ 5D5}?Q 9D5}UV)}|BY?Q E:yDQ I@}\nDI}$;i};}&D5yɮV AjhDNOT Ignoring new targets: 36.12 m.bhRh;Zh; ProNav: ac range: 36.116215 m, nav range: 34.443016 m, bearing: 355.387892 deg, approach rate: -0.632048 m/s, LOS rate: 0.117113 deg/s, cmd heading: 346.843372 deg, new cmd heading: 346.977639 deg. Bh;HeadingCmd: 6.055902 target range: 36.116215 and range: 36.30 m.h@h*h"h hgfffBdddjdZd\?!)ɢ-g)) -;>i))5t{11i55i=hEo@ @@/0@^A`T=IA9IIIYOe>} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502652ԁ ,s귿?A@VTGffAt-9-fAY-nAE4<ɰE4<Ee EeEe&Ea"Ee';*Ee|:VEe4ZEaBEe9QYQ=UFyU3E]=E]>aQ 5eD5e?Q 9mD5eW)e{BYiymHQ Im@eknDIe:ie ;es*D5y}ΒBɮ}^ A}#Ejh%DNOT Ignoring new targets: 36.12 m.bh!Rh-!:Zh-!:e ProNav: ac range: 36.116215 m, nav range: 34.207798 m, bearing: 355.433629 deg, approach rate: -0.567406 m/s, LOS rate: 0.111089 deg/s, cmd heading: 346.977626 deg, new cmd heading: 347.115781 deg. Bhez;eHeadingCmd: 6.058313 target range: 36.116215 and range: 36.30 m.hm@hi*hi"hq hqgqfqfyfydydydyjdZdb?ԉBɢ>5) ;>i)xi=i%Df%ȷ<%B(=Ie@Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755203%@@! @!@%0@!Թ ^AE &V=Au ؟AIy I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006705O >/,7?AP2@2|@2>jٱ2L jAHRS rotation from veh to nav: [[0.979079,0.200096,0.036947],[-0.203448,0.959466,0.195023],[0.003574,-0.198460,0.980103]]2H T?œ??` ʿ@?@?Gm? gɿ]?i2@I2];2ÐCY~kBy~.I bDVDy.=%eJ=ٔu:Q-}>9"?Y"?=Fy3E>,E>Q 5%D5(Α?Q 9%D5X)yBY)y-nMQ I5@|nDIE;i:b;H.D5yaɮe AiԙB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 36.12 m.bhRh ;Zh ;  ProNav: ac range: 36.116215 m, nav range: 33.949295 m, bearing: 355.486644 deg, approach rate: -0.591786 m/s, LOS rate: 0.122291 deg/s, cmd heading: 347.115787 deg, new cmd heading: 347.276043 deg. Bh ڧ;HeadingCmd: 6.061110 target range: 36.116215 and range: 36.30 m.E EE(E"E=-;*E:VEc44ZEa%@a%@a%@a%@h@h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE@n?额BɢUֺ) L>i)v顡iPKigc<=I@Ia@a @a@m0@i@ugA@ufAiߡIߡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259032^A=S,= A B B B @IB zBB B B B q;B -EI I O >N,~?A:6_@:Z@:[ٱ:K FAHRS rotation from veh to nav: [[0.978089,0.204700,0.037953],[-0.208162,0.958636,0.194128],[0.003355,-0.197775,0.980242]]:HL?3? n?@ ʿ@%?`1?|k? Pɿ$^?i:6_@I:];:ĐCYLyLpi%Mb@Mb@Mb@!!!! !9%Cl?MbMbpY%;?y%%%A! !)%A!Y%AbD=VD=kyMr:%MX=ٔUU:Q-U>9QYQ=]Fym3Em-`Em>qQ 5D5uߑ?Q 9D5u=Z)uzBYI?Q E:yqQ I@unDIu‘;Zh= >;M ProNav: ac range: 36.116215 m, nav range: 33.736065 m, bearing: 355.544127 deg, approach rate: -0.612479 m/s, LOS rate: 0.166156 deg/s, cmd heading: 347.276051 deg, new cmd heading: 347.449588 deg. BhM;UHeadingCmd: 6.064139 target range: 36.116215 and range: 36.30 m.hUn @hY*hY"hY hYgYfYfafeBdadadijdiZdm`?颙ɢ@9) FL>i) s顡iH`iM`9!<Fy ,8?A:;@:6@:azLٱ:K FAHRS rotation from veh to nav: [[0.977179,0.208802,0.039034],[-0.212396,0.957736,0.193982],[0.003120,-0.197846,0.980228]]:H E?`?`4?/˿`ƥ?i?`Ii?Sɿ^?i:;@I:ȑ];:ÐCYNByNQITTbDZVDZybo>%bT=ٔb:Q-b>9dYd=fFyf3Ef8Ej>hQ 5nD5jf?Q 9rD5j[)hYpyrGvQ Ir@jnDIjY;ij;j4D5yvђBɮzQ Az$EjhDNOT Ignoring new targets: 36.12 m.bhRh% O;Zh% O;5 ProNav: ac range: 36.116215 m, nav range: 33.500324 m, bearing: 355.610333 deg, approach rate: -0.640288 m/s, LOS rate: 0.181085 deg/s, cmd heading: 347.449592 deg, new cmd heading: 347.649606 deg. Bh5;9EHeadingCmd: 6.067630 target range: 36.116215 and range: 36.30 m.hE*@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU@频ɢZt;) >i)p顙i؊iz\%<ԑEM  EM EI EI "EM *;*EM :VEI ZEI aU @aU @a] @a] @ la,_R?A2@2@2;ٱ28K :AHRS rotation from veh to nav: [[0.976343,0.212518,0.039888],[-0.216210,0.957061,0.193101],[0.002862,-0.197157,0.980368]]2H3>?3?8l?@Ƭ˿=?? ^rg?s<ɿ,_?i2@I2];0Y^Byb\Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270748ԡiMb@Mb@Mb@ 9?MbMb?Y ?y<AA )YAbDVDy#=%8=ٔ:Q->9Y=Fy3ERE> Q 5D5 $ ?Q 9D5 b]) |BY ?Q E:ymiQ I@ nDI  ;i X ; 8D5y!ɮ% A!jhIMDNOT Ignoring new targets: 36.12 m.bhQRhUD;;Zh]D;;e ProNav: ac range: 36.116215 m, nav range: 33.226490 m, bearing: 355.682354 deg, approach rate: -0.617403 m/s, LOS rate: 0.163722 deg/s, cmd heading: 347.649607 deg, new cmd heading: 347.867452 deg. Bhm;mHeadingCmd: 6.071433 target range: 36.116215 and range: 36.30 m.hm-I@hq*hq"hq hqgqfyfyf}BdyddjdZdQn@5Bɢ5(h;)9 =>>i9)= l99i==iEXE@BqBqBqBu =BqBqBuDq;Bu-EU@@Y @Y@y@y@=@=u DDAT read: Rx Time:05:10:56.3006 u TRx dataTimestamp_ set to:1761541857.596069} PDAT read: Bearing 154.3, 0.2 (Local)  ~Local bearing/azimuth received: Bearing 154.3, 0.2 (Local)  DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.6  DAT read: 05:10:56.3006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 160, 0.04,-3.100, 1.441,-3.095, 3.137, PHS= 0.148,-1.650, 0.008, RAW= 146.0, 17.0, CAL= 145.8, 18.6, ROT= 4.2, -18.6  Ygot valid direction response: 05:10:56.3006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 160, 0.04,-3.100, 1.441,-3.095, 3.137, PHS= 0.148,-1.650, 0.008, RAW= 146.0, 17.0, CAL= 145.8, 18.6, ROT= 4.2, -18.6  R#Rx 1: Read range and direction messages. \direction in FSK: [0.945223,0.069413,0.318959] Fpublishing direction and range infoyq u ?D??UT ű?ˬQi?Yu Bq q q q q )u CIu P>iu 33ӿu ou 4"@ u 6>)u Q =Iu 6q q u N)u tIu Q =iu 6q q  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.544755^A% G,l?ADlzDn@AEr ErEpEp"ErC#;*ErE:VEpZEpBEr{9 ?Y ?=Fy3EӻE>!Q 5%D5%D?Q 9-D5%^)%BYIyM-lQ IU@%nDI%;i%;%$i ) ^h  i ibU<?Q = DDAT read: Rx Time:05:10:56.8003 = TRx dataTimestamp_ set to:1761541858.096678M PDAT read: Bearing 153.6, 0.9 (Local) M ~Local bearing/azimuth received: Bearing 153.6, 0.9 (Local) ˂!,TV?ADAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.5 *DAT read: 05:10:56.8003 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.08, 0.749,-0.987, 0.742, 0.677, PHS= 0.174,-1.618, 0.021, RAW= 145.6, 16.3, CAL= 145.3, 17.8, ROT= 4.7, -17.8 .Ygot valid direction response: 05:10:56.8003 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.08, 0.749,-0.987, 0.742, 0.677, PHS= 0.174,-1.618, 0.021, RAW= 145.6, 16.3, CAL= 145.3, 17.8, ROT= 4.7, -17.8 6;ɰ6;>R#Rx 2: Read range and direction messages.B\direction in FSK: [0.948928,0.078016,0.305695]FFpublishing direction and range infoyqu̮]?FX?ќ?Yu3Bqqqq q)u?Iu-2>iuϿu1u:M"@ u>)u=IuqquCT2?9nר?nm+&? ut>)u Iu=iuqqjchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.056250z@z@zٱzG AHRS rotation from veh to nav: [[0.975414,0.216613,0.040585],[-0.220371,0.956851,0.189404],[0.002194,-0.193691,0.981060]]zH6?@?Ǥ?5̿? a>?a?ȿd?iz@Ize];zÐCYByzIabD}VD}yz=%;=ٔRI:Q- >9-"?Y"?=Fy3EfE>Q 5D56?Q 9D5`)BYymQ I@bEuc44jEuh=4rEuͰ/E EE(E"E/;*E:VEc44ZEa@a@a@a@nDIGeBiuBiu@ addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.500609 s, deltaX: -0.400002 m, approachRate: -0.799030 m/s, rangeRepo size: 4  Added new target pos. range: 33.628792 m, bearing: 355.415675 deg, lat: 36.779338 deg, lon: -121.859606 deg, deltaT: 0.500609 s, deltaX: -0.397976 m, approachRate: -0.794984 m/s, posRepo size: 4 ԁjhDNOT Ignoring new targets: 33.63 m.bhRhZh ProNav: ac range: 33.628792 m, nav range: 32.688633 m, bearing: 355.482214 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 348.077806 deg, new cmd heading: 348.305372 deg. BhHeadingCmd: 6.079075 target range: 33.628792 and range: 33.80 m.hɇ@h*h"h hgfffdddjd`f@@Zd?颕Bɢ|;) e>i)օc顡is6i6Q<!&;Iɇ@IIeA)checking for new query: numPingsReceived=2, elapsed TxPingTime=3.279169?@ @@/@ԱBE >BA BE YIBE BBE =BA BE DBE ]q;BE -EBBBB =B =Cɐ4 ^A= <A)I1IAOU>d(,`?AR@R@RpٱRtEX~DDAT read: Rx Time:05:10:57.3002 TRx dataTimestamp_ set to:1761541858.600641 PDAT read: Bearing 152.2, 1.6 (Local)  ~Local bearing/azimuth received: Bearing 152.2, 1.6 (Local) DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.5 EDAT read: 05:10:57.3002 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.10, 1.366,-0.413, 1.344, 1.242, PHS= 0.225,-1.611, 0.058, RAW= 145.3, 14.9, CAL= 145.0, 16.3, ROT= 5.0, -16.3 UYgot valid direction response: 05:10:57.3002 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.10, 1.366,-0.413, 1.344, 1.242, PHS= 0.225,-1.611, 0.058, RAW= 145.3, 14.9, CAL= 145.0, 16.3, ROT= 5.0, -16.3 UR#Rx 3: Read range and direction messages.]\direction in FSK: [0.956153,0.083653,0.280667]]Fpublishing direction and range infoy|~Θ?@j?rwkq?Y~fB|||| |)~@I~fff>i~?5ο~hm=~:M"@~%>~p!@ ~>)~¸=I~||~0hD?ylh?X? ~>)~6I~¸=i~||}checking for new query: numPingsReceived=3, elapsed TxPingTime=3.547040 }AHRS rotation from veh to nav: [[0.975091,0.218054,0.040625],[-0.221797,0.956921,0.187373],[0.001983,-0.191716,0.981448]]RH3? 0?@̤? c̿@??@M>`?(ȿh?iR@IR];RĐCYByIAAD=DR=E  E E +E "E 2;*E :VE  [4ZE BE #9Y=Fy3E,0E>Q 5 D5uQ?Q 9 D5ab)BY %?Q E :y OQ I @nDI;ii ;DD5y֒BɮAi|i~p?AJi~BRi~Bji~l@b~ ?@9_@$,"@R~Θ?@j?rwkq?Zi~¸=bi~j~[U@@5`>$ yx!@Z~^㫇?rlٶUwKp?2i~):i~B"i~=j眊?*i~*:Bi~9Bi~=j眊?i~0i~Bi~ Bi~ɂ@ addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.503963 s, deltaX: -0.200001 m, approachRate: -0.396856 m/s, rangeRepo size: 4  Added new target pos. range: 33.429905 m, bearing: 355.279617 deg, lat: 36.779337 deg, lon: -121.859607 deg, deltaT: 0.503963 s, deltaX: -0.198887 m, approachRate: -0.394646 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.43 m. bhRhZh% ProNav: ac range: 33.429905 m, nav range: 32.261322 m, bearing: 355.432351 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 348.305360 deg, new cmd heading: 348.566510 deg. Bh!MHeadingCmd: 6.083633 target range: 33.429905 and range: 33.60 m.hM @hQ*hQ"hQ hQgQfQfYf]OBdYdYdajde@@Zde`?Bɢm<) >i)Ŕ]iiJWL/<5|#;I @I checking for new query: numPingsReceived=3, elapsed TxPingTime=3.783492 @  @ @ @ 9 ^Ae ;y AIIO?J1,kŸ?A6@6@6ٱ6{> >AHRS rotation from veh to nav: [[0.974955,0.218816,0.039767],[-0.222396,0.958079,0.180625],[0.001424,-0.184945,0.982748]]6H2?(?[\?@uw̿??RW?Iǿ`r?i6@I6];4YFˁByFINDDAT read: Rx Time:05:10:57.8000 RTRx dataTimestamp_ set to:1761541859.104781VPDAT read: Bearing 152.5, 1.6 (Local) Z~Local bearing/azimuth received: Bearing 152.5, 1.6 (Local) ^DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.5 hvDAT read: 05:10:57.8000 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.12,-0.058,-1.839,-0.081,-0.173, PHS= 0.217,-1.621, 0.048, RAW= 145.2, 15.2, CAL= 144.9, 16.6, ROT= 5.1, -16.6 zYgot valid direction response: 05:10:57.8000 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.12,-0.058,-1.839,-0.081,-0.173, PHS= 0.217,-1.621, 0.048, RAW= 145.2, 15.2, CAL= 144.9, 16.6, ROT= 5.1, -16.6 zR#Rx 4: Read range and direction messages.~\direction in FSK: [0.954529,0.085189,0.285688]~Fpublishing direction and range infoyPR;ϥ?ε?WԷH?YRBPPPP P)RAIR?5^>iR|ϿRD=R0"@Rԇ>R!@bD%VD% RV>)RK=IRVPPR\?Q?wh? RUr>)Rz1IRK=iRVPP=checking for new query: numPingsReceived=4, elapsed TxPingTime=4.055579yEo=%EY=ٔE:Q-M>9IYI=MFyM3EUܺEU>YQ 5eD5]lc?Q 9eD5]c)]BYayePQ Im@]nDI]:i]-<] HD5y9ɮ=ZAAiPiRƸ?AJiR BRiR BjiR%o@bRVJ?@bc,@\"@RR;ϥ?ε?WԷH?ZiRK=biRVjR5?@)Ә!@ZR2\9p?rm=G҆ ?E EE%E"E /;*E|:VE 4ZEa@a@a@a@2iR$':iRA"iRZ՜?*iRr;BiRdBiRZ՜?iR*:iRdBiRAiR2o@ addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504140 s, deltaX: -0.399998 m, approachRate: -0.793426 m/s, rangeRepo size: 4 - Added new target pos. range: 33.031933 m, bearing: 355.294987 deg, lat: 36.779335 deg, lon: -121.859608 deg, deltaT: 0.504140 s, deltaX: -0.397972 m, approachRate: -0.789408 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 33.03 m.bh)Rh1Zh1E ProNav: ac range: 33.031933 m, nav range: 31.838564 m, bearing: 355.295346 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 348.566519 deg, new cmd heading: 348.792494 deg. BhAMHeadingCmd: 6.087577 target range: 33.031933 and range: 33.20 m.hMo@hI*hI"hI hQgQfqfyfydydydyjd@@Zd y? Bɢ=<) >i)Wi+i~MH%S<%ؔI%o@I!)A@ @@@iIIIUchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.287711Y B A <B >B B IB BB =B B B Yq;B -E^AM ;ԉ A}.AIIO>S8,丿?A2@2{@2eٱ2@; :AHRS rotation from veh to nav: [[0.975115,0.218146,0.039538],[-0.221699,0.958771,0.177789],[0.000876,-0.182130,0.983274]]2H$4?8?Y>?@`̿???pL?@Pǿ@v?i2@I2];0YBByBIiMMb@Mb@Mb@III]DDAT read: Rx Time:05:10:58.2999 eTRx dataTimestamp_ set to:1761541859.608822mPDAT read: Bearing 154.2, 1.0 (Local) m~Local bearing/azimuth received: Bearing 154.2, 1.0 (Local) }DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.5 DAT read: 05:10:58.2999 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.15, 1.015,-0.758, 0.998, 0.954, PHS= 0.163,-1.667, 0.000, RAW= 145.4, 16.9, CAL= 145.2, 18.4, ROT= 4.8, -18.4 Ygot valid direction response: 05:10:58.2999 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.15, 1.015,-0.758, 0.998, 0.954, PHS= 0.163,-1.667, 0.000, RAW= 145.4, 16.9, CAL= 145.2, 18.4, ROT= 4.8, -18.4 R#Rx 5: Read range and direction messages.\direction in FSK: [0.945548,0.079400,0.315649]Fpublishing direction and range infoyY]p1;A?kRYS? \ 3?Y]BYYYY Y)]BI]y&>i]B`տ]]i"@]>]0"@ ]l>)]=I]lYYI I9MI +?A`"?Mb?YM9?yMY=M9 ?Y ?=Fy3EȺ:E> ]=Ӫ?uYA?c? ]+>)]I]=i]lYYchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.563382Q 5%D5{?Q 9%D5d)BY%?Q E%:y%rQ I%@oDIɋ;i;oLD5y5ؒBɮ5~A5'EiYi]渿?AJi]TBRi]TBji]Qw@b]+e ?@Y*V@36$@R]p1;A?kRYS? \ 3?Zi]=bi]lj]ڢ-D@?@<"LSQH|#@Z];/Mu?kKϳ?2i]":i]A"i]b?Ŝ?*i]_Bi]eBi]SȜ?i]_i]Bi]'Ai]+x@ addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504041 s, deltaX: -0.200001 m, approachRate: -0.396795 m/s, rangeRepo size: 4  Added new target pos. range: 32.832966 m, bearing: 355.352141 deg, lat: 36.779333 deg, lon: -121.859607 deg, deltaT: 0.504041 s, deltaX: -0.198967 m, approachRate: -0.394744 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 32.83 m.bhRhZh ProNav: ac range: 32.832966 m, nav range: 31.394251 m, bearing: 355.358108 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 348.792489 deg, new cmd heading: 348.988930 deg. Bh HeadingCmd: 6.091006 target range: 32.832966 and range: 33.00 m.h @h *h "h hgfffsBdAdAdIjdM@@ZdMX? Bɢ<)9 &>i9)E~QAAiEItiMDMNJi}>@@ @@@a checking for new query: numPingsReceived=5, elapsed TxPingTime=4.792477^A NJκԡ Ae ؟AIq I O > @,?A2@2[@2Fٱ2U6 :AHRS rotation from veh to nav: [[0.975516,0.216470,0.038845],[-0.219928,0.960057,0.172978],[0.000151,-0.177286,0.984159]]2Hm7? K??&̿ʸ?!$?#?Lƿ;~?i2@I2];2CYBByBIJ=J=bDNVDNyV=%VK=ٔV;:Q-Z>9Z"?YZ"?=ZFyZ3E^ɓ;E^>`Q 5fD5bZ?Q 9fD5bWe)`YdyfQ Ij@boDIb8;ib;bOD5ylɮnAl~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 32.83 m.bh 1Rhmxr:Zhuxr: ProNav: ac range: 32.832966 m, nav range: 31.160425 m, bearing: 355.378956 deg, approach rate: -0.589982 m/s, LOS rate: 0.052996 deg/s, cmd heading: 348.988925 deg, new cmd heading: 349.051937 deg. Bh{;HeadingCmd: 6.092105 target range: 32.832966 and range: 33.00 m.h@h*h"h hgfffdddjdZd o?  Bɢ-ճ<)) -4>i))5,GL11i5i=fC=<=.I=@IA=DDAT read: Rx Time:05:10:58.7996 =TRx dataTimestamp_ set to:1761541860.113938MPDAT read: Bearing 153.8, 1.0 (Local) U~Local bearing/azimuth received: Bearing 153.8, 1.0 (Local) mDAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 DAT read: 05:10:58.7996 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 501, 0.28,-0.021,-1.819,-0.034,-0.101, PHS= 0.182,-1.673, 0.024, RAW= 145.6, 16.2, CAL= 145.3, 17.8, ROT= 4.7, -17.8 >@ @@/@EYgot valid direction response: 05:10:58.7996 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 501, 0.28,-0.021,-1.819,-0.034,-0.101, PHS= 0.182,-1.673, 0.024, RAW= 145.6, 16.2, CAL= 145.3, 17.8, ROT= 4.7, -17.8 MR#Rx 6: Read range and direction messages.M\direction in FSK: [0.948928,0.078016,0.305695]UFpublishing direction and range infoy9i=̮]?FX?ќ?Y=fB9999 9)=DI=5^:>i=$ֿ=<="@=Ð>=:M"@ =>)==I=99=+]?)?PK@k? =>)=LI==i=99checking for new query: numPingsReceived=6, elapsed TxPingTime=5.134704E] E]EYEY"E]m+;*E]:VEYZEYau@au@au@au@ԉ^A_A I! I1 O= >Թ  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.294844&FF,P?Aɰ4<^2@^@^U&:ٱ^T0B|B|B~IB~ՁBB~ =B|B~DB~\q;B| }AHRS rotation from veh to nav: [[0.976147,0.213794,0.037813],[-0.217111,0.961734,0.167125],[-0.000636,-0.171348,0.985210]]^H 9!Y)=-Fy-3E-;E5>1Q 5=D55Q?Q 9=D55e)5BYE?Q EE:yE2Q IE@5#oDI58:i5o:5,TD5yMڒBɮUAU(EiqiuJ?AJiuBRiuBjiuc@buWcUG>@` e[>@#@Ru̮]?FX?ќ?Ziu=biujuo >@~"@Zu4?Q{t*a?2iu%:iuA"iu Eל?*iueѩBiuBiuZ՜?iu*:iuBiuSAius@ addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.505116 s, deltaX: -0.400002 m, approachRate: -0.791900 m/s, rangeRepo size: 4 M Added new target pos. range: 32.434959 m, bearing: 355.215011 deg, lat: 36.779335 deg, lon: -121.859608 deg, deltaT: 0.505116 s, deltaX: -0.398006 m, approachRate: -0.787951 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 32.43 m.bhQRh]ZhY ProNav: ac range: 32.434959 m, nav range: 31.040812 m, bearing: 355.322817 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.051927 deg, new cmd heading: 349.131874 deg. BhHeadingCmd: 6.093501 target range: 32.434959 and range: 32.60 m.h@h*h"h hgfffBdddjdL@@Zd+?U BɢU:=<)Q U>iY)]m0DYYi]JiiMjԿMj<Mi"@IM "@ M2+>)M%=ƅ9hAYNsAIM2+IIM[aF?~0r_?41l? Mk>)MRIM%=iM2+IIchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.632214EM  EI EM 'EI "EM 2;*EI VEM '4ZEI BEM #M, 7?A"checking for new query: numPingsReceived=7, elapsed TxPingTime=5.798808J3@J.@LJk::ٱJ) bAHRS rotation from veh to nav: [[0.976976,0.210111,0.037036],[-0.213342,0.963664,0.160740],[-0.001917,-0.164940,0.986302]]JHbC??V?N˿U? ? Lg_@ſȏ?iJ3@IJΚ];HYzByz IbDVD1y5=%=S=ٔ=,Y;Q-=>9AYA=EFyE3EE#<EE>IQ 5D5M?Q 9D5Me)M~BYyu!Q I@M1oDIM7$@$Ԩ6@03#@RD_?sXHԴ?z0Gu?Zi%=bi2+j2nI>@LBтeTiyY"@Z_lW?L)AU7?2i,:iuA"iP}ܜ?*i+BipBi Eל?iipBiAi+q@ addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503356 s, deltaX: -0.199997 m, approachRate: -0.397327 m/s, rangeRepo size: 4 - Added new target pos. range: 32.235973 m, bearing: 355.500050 deg, lat: 36.779335 deg, lon: -121.859608 deg, deltaT: 0.503356 s, deltaX: -0.198986 m, approachRate: -0.395319 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 32.24 m.bh1Rh1Zh9m ProNav: ac range: 32.235973 m, nav range: 30.845499 m, bearing: 355.309159 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.131868 deg, new cmd heading: 349.201937 deg. BhiuHeadingCmd: 6.094724 target range: 32.235973 and range: 32.40 m.hu@hq*hq"hq hqgqfyfyfydddjd@33@@ZdS?BɢǪ<) ?i)<i%i%@%<% :I%@I)?@ @@/@DDAT read: Rx Time:05:10:59.7993 TRx dataTimestamp_ set to:1761541861.120994PDAT read: Bearing 153.4, 1.4 (Local)  ~Local bearing/azimuth received: Bearing 153.4, 1.4 (Local) DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 =DAT read: 05:10:59.7993 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 498,-0.23,-1.375, 3.109,-1.390,-1.492, PHS= 0.218,-1.638, 0.057, RAW= 145.5, 15.1, CAL= 145.2, 16.5, ROT= 4.8, -16.5 MYgot valid direction response: 05:10:59.7993 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 498,-0.23,-1.375, 3.109,-1.390,-1.492, PHS= 0.218,-1.638, 0.057, RAW= 145.5, 15.1, CAL= 145.2, 16.5, ROT= 4.8, -16.5 MR#Rx 8: Read range and direction messages.U\direction in FSK: [0.955457,0.080232,0.284015]UFpublishing direction and range infoy(]?'?HN-?YfB )Id;_>iѿxi=j"@V>0"@ r>)=Ir(?}2B?K? !>) LI=irchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.071353 ^AE ?BIE  E E E "E 1;*E :VE ZE a5 @a5 @a5 @a5 @I A I I O >T,:T?ABPU@BP@B@Z;ٱBي% JAHRS rotation from veh to nav: [[0.977836,0.206091,0.036910],[-0.209344,0.965204,0.156705],[-0.003330,-0.160958,0.986956]]BHoJ?0a??ʿ?`?Hk`HĿ#?iBPU@IB];BCYb!Byb Ichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.302794i-Mb@Mb@Mb@)))) )9-E?㥛 ?-t-rA-@ -v@)-A)Y-AbDEVDE2yum'=%}$=ٔ}a:;Q-}>9Y=Fy3E<E>ԉQ 5D5ϒ?Q 9D5|e)vBY ?Q E:y]=Q I@CoDI:i#:[D5yɮAii^G?AJiARiAjiw@b`dЃ>@UQ}@D:7$"@R(]?'?HN-?Zi=birjJ,>@#& o @Zh?28U"Gk?2i:iA"iΦ뜊?*i9BiBii_iiAio@= addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503700 s, deltaX: -0.300003 m, approachRate: -0.595599 m/s, rangeRepo size: 4 u Added new target pos. range: 31.937490 m, bearing: 355.356898 deg, lat: 36.779335 deg, lon: -121.859607 deg, deltaT: 0.503700 s, deltaX: -0.298483 m, approachRate: -0.592581 m/s, posRepo size: 4 jhyAA@AB B B IB BB B B DB q;B -EDNOT Ignoring new targets: 31.94 m.bhRhZhE ProNav: ac range: 31.937490 m, nav range: 30.570095 m, bearing: 355.300060 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.201945 deg, new cmd heading: 349.271188 deg. BhAMHeadingCmd: 6.095932 target range: 31.937490 and range: 32.10 m.hM@hI*hI"hI hIgQfQfQfUBdadadijdm @@Zdm ?ԹBɢ<) ?i)D4i œi b? ,<f`;I@I@@ @@@@@m DDAT read: Rx Time:05:11:00.2991 u TRx dataTimestamp_ set to:1761541861.624681} PDAT read: Bearing 153.9, 0.9 (Local) } ~Local bearing/azimuth received: Bearing 153.9, 0.9 (Local)  DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4  DAT read: 05:11:00.2991 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.05,-0.374,-2.165,-0.372,-0.477, PHS= 0.205,-1.642, 0.062, RAW= 146.0, 15.3, CAL= 145.8, 16.7, ROT= 4.2, -16.7  Ygot valid direction response: 05:11:00.2991 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.05,-0.374,-2.165,-0.372,-0.477, PHS= 0.205,-1.642, 0.062, RAW= 146.0, 15.3, CAL= 145.8, 16.7, ROT= 4.2, -16.7  R#Rx 9: Read range and direction messages. \direction in FSK: [0.955250,0.070149,0.287361] Fpublishing direction and range infoyi m ֶh?%L?gd?Ym fAi i i i i )i Im Q>im -ҿm }=m e#@m ܸ>m 4"@ m ;>)m Q =Im ;i i m M ??q? m m>)m _Im Q =im ;i i  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570701^A 0:: Eu  Eu Eu (Eq "Eu 77;*Eu :VEu c44ZEq BEu [,Fr?ABt@Bn@Bۖ;ٱB ^AHRS rotation from veh to nav: [[0.978610,0.202471,0.036434],[-0.205671,0.966863,0.151245],[-0.004604,-0.155504,0.987825]]BHP??v?nSʿ?\?@urÿ@B?iBt@IB];BCYf0Byf ItbDnVDny=%:=ٔ>;Q->9Y=Fy3E <E>Q 5D5㒊?Q 9D5!e)nBYym=Q I@RoDI`:i:_D5yޒBɮqA)Eiig?AJiARiAji~:@b0+$9>@Rp@Ap,/"@Rֶh?%L?gd?ZiQ =bi;js|[>@Tp`a @Z[wa%?Rhε0?2i{,:iA"iᜊ?*iXBi.BiP}ܜ?iii8Aiyh@ addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.503687 s, deltaX: -0.299999 m, approachRate: -0.595606 m/s, rangeRepo size: 4 % Added new target pos. range: 31.639048 m, bearing: 354.926746 deg, lat: 36.779335 deg, lon: -121.859607 deg, deltaT: 0.503687 s, deltaX: -0.298443 m, approachRate: -0.592516 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 31.64 m.bh!Rh)Zh)e ProNav: ac range: 31.639048 m, nav range: 30.402502 m, bearing: 355.248320 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.271176 deg, new cmd heading: 349.339711 deg. BhamHeadingCmd: 6.097128 target range: 31.639048 and range: 31.80 m.hm@hi*hi"hq hqgqfqfyfydydydjd?@Zd@?颭Bɢp<) w?i)܎-项i^dchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.806858i=>Ebpi տ X94= (#@ > #@ >) k=I tj?}yH?!ѣ? G}>) dI k=i A I I O > checking for new query: numPingsReceived=10, elapsed TxPingTime=7.089350b,?AEU EUEQEQ"EUg5;*EU:VEQZEQa]@a]@a]@a]@Y3By$ IiMb@Mb@Mb@ 9{Gz? ףp= ?{GzY?yQ8>ף\ A@ )Y@AbDVDy]<% =ٔQ->9Y=Fy3EE> Q 5D5 ?Q 9D5 ?d9) aBY= ?Q E=:y==Q I=@ doDI &;i ;; 9dD5yMBɮMdAM*EiiE?AJiARiAji@bW_=@ʇa?v M4#@R}uf?i ?uY?Zik=bij} [=@'.|*;*"@Z|aGv?vrCSD2?2i?:iA"i}:Ŝ?*iBi]Biieѩi]BiAi?@checking for new query: numPingsReceived=10, elapsed TxPingTime=7.310852 addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504569 s, deltaX: -0.400000 m, approachRate: -0.792755 m/s, rangeRepo size: 4   Added new target pos. range: 31.241074 m, bearing: 354.245089 deg, lat: 36.779335 deg, lon: -121.859608 deg, deltaT: 0.504569 s, deltaX: -0.397974 m, approachRate: -0.788741 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 31.24 m.bh Rh9Zh9M ProNav: ac range: 31.241074 m, nav range: 30.136620 m, bearing: 354.964857 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.339724 deg, new cmd heading: 349.423457 deg. BhIuHeadingCmd: 6.098590 target range: 31.241074 and range: 31.40 m.hu'@hq*hq"hq hqgyfyfyf}Bdddjd`ff?@Zd`\q?Bɢ <) <?i)۝#ii= <^x;I '@I BBB IB!BBBBBq;B-Eq?@ @@/@ @ =@ =ԑ ^AE #2; DDAT read: Rx Time:05:11:01.2988  TRx dataTimestamp_ set to:1761541862.633767 PDAT read: Bearing 156.5, -0.8 (Local)  ~Local bearing/azimuth received: Bearing 156.5, -0.8 (Local)  DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4  DAT read: 05:11:01.2988 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.13,-2.687, 1.864,-2.637,-2.712, PHS= 0.126,-1.663, 0.031, RAW= 147.3, 17.0, CAL= 147.3, 18.8, ROT= 2.7, -18.8 }Ygot valid direction response: 05:11:01.2988 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.13,-2.687, 1.864,-2.637,-2.712, PHS= 0.126,-1.663, 0.031, RAW= 147.3, 17.0, CAL= 147.3, 18.8, ROT= 2.7, -18.8 T#Rx 11: Read range and direction messages.\direction in FSK: [0.945598,0.044593,0.322266]Fpublishing direction and range infoy  }pF~WB?#lԦ?ɜL?Y ) AI %>i /Կ < "$@ > "$@ >) A=I 9h2?-]?UFjX? >) }—I A=i checking for new query: numPingsReceived=11, elapsed TxPingTime=7.613264A9IAIYOe?j, T?A`@/@ <ٱ UAHRS rotation from veh to nav: [[0.981436,0.188601,0.034846],[-0.191632,0.971725,0.137939],[-0.007846,-0.142056,0.989828]]Hg?`$?\ס?gȿ_??V.¿બ?i`@I];Ye+Bym I==bDVDܲE5 E5E5)E1"E577;*E5:VE5FA4ZE1BE1a=2E1a=JE5 9QYQ=]Fy]3E] =E]>ԉaQ 5D5e ?Q 9D5eqc)eVBYy >Q I@eroDIe4/z귿q?2i::iA"i̜?*iZ5Bi>BiiXiibAig@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504517 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.241062 m, bearing: 354.370035 deg, lat: 36.779335 deg, lon: -121.859609 deg, deltaT: 0.504517 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.24 m.bhRhZh ProNav: ac range: 31.241062 m, nav range: 29.923019 m, bearing: 354.709294 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.423462 deg, new cmd heading: 349.491761 deg. BhHeadingCmd: 6.099782 target range: 31.241062 and range: 31.40 m.hj1@h*h"h hgff!f!d!d!d)jd)Zd- ?颅Bɢ<)  ?i)[顉iϟi;3< q,=ƹ?A2 @2@2 <ٱ2 NAHRS rotation from veh to nav: [[0.982230,0.184463,0.034618],[-0.187487,0.972805,0.136011],[-0.008588,-0.140084,0.990102]]2Hln?{?x?ǿ 8!? h?rH?i2 @I2B];2ÐCYV"ByV IbD^VD^Nyf/A%f_=rDDAT read: Rx Time:05:11:01.7985 rTRx dataTimestamp_ set to:1761541863.136788vPDAT read: Bearing 156.3, -1.4 (Local) z~Local bearing/azimuth received: Bearing 156.3, -1.4 (Local) DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 5DAT read: 05:11:01.7985 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506, 0.11,-1.984, 2.561,-1.910,-2.013, PHS= 0.131,-1.665, 0.058, RAW= 148.0, 16.5, CAL= 148.1, 18.3, ROT= 1.9, -18.3 EYgot valid direction response: 05:11:01.7985 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506, 0.11,-1.984, 2.561,-1.910,-2.013, PHS= 0.131,-1.665, 0.058, RAW= 148.0, 16.5, CAL= 148.1, 18.3, ROT= 1.9, -18.3 MT#Rx 12: Read range and direction messages.ٔj;Q-U>9YYY=]Fy]3Ee3<Em>}\direction in FSK: [0.948904,0.031478,0.313992]}Fpublishing direction and range infoyprS9j]?B?v9s?YrApppp p)pIr$>irտrhm=Q 5D5?Q 9D5b)LBYrMQ%@rr>rm%@ rƇ>)r=IrƇppr?ԝ?s}r?[b/? r>)rIr=irƇppyJ>Q I@oDI\;i;FkD5yBɮA+Eԉchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.097344ipir"ȹ?AJirARirAjiry@brT> ܌\=@Ysd0+?/un#@RrS9j]?B?v9s?Zir=birƇjrA[=@ć' 3/lBv"@ZrM;[?]źD?2irO:irA"ir1bɜ?*ir ǷBirBir̜?irZ5ipirZAir @  addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.503021 s, deltaX: -0.299999 m, approachRate: -0.596395 m/s, rangeRepo size: 4  Added new target pos. range: 30.942581 m, bearing: 353.709625 deg, lat: 36.779334 deg, lon: -121.859611 deg, deltaT: 0.503021 s, deltaX: -0.298481 m, approachRate: -0.593377 m/s, posRepo size: 4 jh!MDNOT Ignoring new targets: 30.94 m.bhIRhQZhQ ProNav: ac range: 30.942581 m, nav range: 29.544327 m, bearing: 354.273114 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.491764 deg, new cmd heading: 349.554521 deg. BhHeadingCmd: 6.100877 target range: 30.942581 and range: 31.10 m.hc:@h*h"h hgfffd!d)d1jd5?@Zde??bE}:4jE}A84rE}ē/E  EE*E"EC;*E-:VE(N4ZEa-@a-@a-@a-@Ա Bɢ ͝<)   ?i )QQi]i]:e$ҳB A <B >B B ! IB 1BB B B B q;B -EBaBaBaBe =Be =CeD4A I I O > w,=๿?A2/@2*@2GJ<ٱ2] :AHRS rotation from veh to nav: [[0.983038,0.180139,0.034433],[-0.183174,0.973693,0.135535],[-0.009112,-0.139544,0.990174]]2H u?`?1?@rǿ}(?9Y?8`?i2/@I2B];0YBByB IiMb@Mb@Mb@ 9S㥛?Zd;O?L7A`堿Y$?yj<>+ A@ `@)zAYbD VD ky][3%]4=ٔ]X:Q-e>9aYa=eFye3Em$<Em>qQ 5}D5u3?Q 9}D5ua)u>BY}l?Q E:yL>Q I@uoDIus:iu{:u oD5yBɮ[AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 30.94 m.bhRhZh5 ProNav: ac range: 30.942581 m, nav range: 29.313156 m, bearing: 354.161159 deg, approach rate: -0.569650 m/s, LOS rate: -0.278054 deg/s, cmd heading: 349.554520 deg, new cmd heading: 349.216011 deg. Bh5>=HeadingCmd: 6.094969 target range: 30.942581 and range: 31.10 m.h= @h9*hA"hA hAgAfAfIfMBdididqjdqZdu ,?Bɢ<) T?iDDAT read: Rx Time:05:11:02.2984 TRx dataTimestamp_ set to:1761541863.640754PDAT read: Bearing 154.8, -1.3 (Local) ~Local bearing/azimuth received: Bearing 154.8, -1.3 (Local) DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 eDAT read: 05:11:02.2984 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.48,-2.445, 2.091,-2.362,-2.522, PHS= 0.179,-1.626, 0.115, RAW= 148.2, 14.9, CAL= 148.3, 16.4, ROT= 1.7, -16.4 )mؔiiiui}@}ݳ<}Bi п=~%@I%>%@ C>))܄I~,}?AYBy I bDVD2yU%>=ٔQ->9Y=Fy4EE>Q 5D5\G?Q 9D5`)1BYyQ I@oDI6);i*;rD5yɮrAii鹿?AJiARiAjii@bqr:jz=@?ṡA\!@R=? |k$?Ix?Zi<biCj Άo=@6 jSh @ZND??ţG$6?2iW:i}A"iA?*i8Bi~BiiiiAi$@U addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503966 s, deltaX: -0.200001 m, approachRate: -0.396854 m/s, rangeRepo size: 4 e Added new target pos. range: 30.743589 m, bearing: 353.465988 deg, lat: 36.779334 deg, lon: -121.859612 deg, deltaT: 0.503966 s, deltaX: -0.198992 m, approachRate: -0.394852 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 30.74 m.bhiRhmZhi} ProNav: ac range: 30.743589 m, nav range: 29.093765 m, bearing: 353.833194 deg, approach rate: 0.000000 m/s, LOS rate: -0.278054 deg/s, cmd heading: 349.216016 deg, new cmd heading: 348.860506 deg. BhyHeadingCmd: 6.088765 target range: 30.743589 and range: 30.90 m.h)@h*h"h hgfffdddjd`f>@Zd 5?Bɢ<) >i)i i:G{<1?R&@>R&@ ޏ>)nFiޏchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.138574IE  E E 'E "E :;*E :VE '4ZE a @a @a @a @q ,??AYrByrIchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.326854iMb@Mb@Mb@ 9K7A`?ʡE?{GzY ?y-2># v@)hAYAbD=VD=0Yy\%?=ٔQ->9Y=Fy4EB)B)B- IB-,BB- =B)B-DB-q;B-.EE>Q 5D59]?Q 9D5`) BYT?Q E:yo=Q I@oDIf;i;vD5yBɮA,Eiin ?AJiARiAji@b8u=>=@K+?," @RB@?r?/?ZinF<biޏj⬗3$=@*S ޣ~ @ZOc7?~VӾyM?2ij:i!A"i?*i_ Bi Bii ǷiiAi[@ addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.506641 s, deltaX: -0.299999 m, approachRate: -0.592134 m/s, rangeRepo size: 4  Added new target pos. range: 30.445070 m, bearing: 352.829914 deg, lat: 36.779334 deg, lon: -121.859614 deg, deltaT: 0.506641 s, deltaX: -0.298519 m, approachRate: -0.589212 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.45 m.bhRhZh ProNav: ac range: 30.445070 m, nav range: 28.859150 m, bearing: 353.367156 deg, approach rate: 0.000000 m/s, LOS rate: -0.278054 deg/s, cmd heading: 348.860518 deg, new cmd heading: 348.462781 deg. BhHeadingCmd: 6.081823 target range: 30.445070 and range: 30.60 m.hK@h*h "h  h g f ffBdddjd>@Zd}?ԁBɢܫ<) >i)@iVfi1NlG<9%=IK@I@@ @@4@@=@=DDAT read: Rx Time:05:11:03.2979 TRx dataTimestamp_ set to:1761541864.651084PDAT read: Bearing 154.9, -3.2 (Local) ~Local bearing/azimuth received: Bearing 154.9, -3.2 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 ] DAT read: 05:11:03.2979 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501, 0.09,-1.849, 2.697,-1.700,-1.909, PHS= 0.162,-1.633, 0.164, RAW= 150.1, 14.4, CAL= 150.2, 16.1, ROT= 359.8, -16.1 i u Ygot valid direction response: 05:11:03.2979 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501, 0.09,-1.849, 2.697,-1.700,-1.909, PHS= 0.162,-1.633, 0.164, RAW= 150.1, 14.4, CAL= 150.2, 16.1, ROT= 359.8, -16.1 u T#Rx 15: Read range and direction messages. ^direction in FSK: [0.960773,-0.003354,0.277315] Fpublishing direction and range infoyH?$ayk/?YA )BIT%>i%ѿ'>ϩ'@>g'@ )B@I J?q ?O/? I?)Idi checking for new query: numPingsReceived=15, elapsed TxPingTime=9.611012^A c<A fAzA fAԑ E  E E +E "E =-;*E VE [4ZE BE pV,3?A2?s@2n@2w3<ٱ2 ZAHRS rotation from veh to nav: [[0.984493,0.171720,0.035869],[-0.175083,0.974594,0.139687],[-0.010971,-0.143800,0.989546]]2H??u]?iƿ/?@?`wh¿\?i2?s@I2];2CYfByfIbDVDky-%-L=ٔ5;Q-5>91Y1==Fy=4E=<E=>AQ 5MD5En?Q 9eD5Eo_)EBYayev=Q Im@EoDIEØ;iEk;EzD5yɮAii\)?AJi`ARi`Aji@b]uR<@QB|kA̹>|= @RH?$ayk/?Zidbij%9ͳ<@ X@Ze(^?P:?2iF:iA"i^9Yᜊ?*ibXBi֑Bi^9Yᜊ?i8i~Bi?Ai{B@  addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.503689 s, deltaX: -0.400000 m, approachRate: -0.794140 m/s, rangeRepo size: 4  Added new target pos. range: 30.047096 m, bearing: 352.088500 deg, lat: 36.779336 deg, lon: -121.859615 deg, deltaT: 0.503689 s, deltaX: -0.397974 m, approachRate: -0.790119 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.05 m.bhRh!Zh!)= ProNav: ac range: 30.047096 m, nav range: 28.906158 m, bearing: 353.192111 deg, approach rate: 0.000000 m/s, LOS rate: -0.278054 deg/s, cmd heading: 348.462782 deg, new cmd heading: 348.160813 deg. Bh9EHeadingCmd: 6.076552 target range: 30.047096 and range: 30.20 m.hEs@hA*hA"hA hAgIfIfIfIdQdQdQjdU@33>@Zd]?颅Bɢ;<) H>i)顉iiSo<#F=Is@Ichecking for new query: numPingsReceived=15, elapsed TxPingTime=9.830763@ @@/@a^AUy=IIOd>ԁ DDAT read: Rx Time:05:11:03.7976  TRx dataTimestamp_ set to:1761541865.153910 PDAT read: Bearing 155.9, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 155.9, -3.9 (Local)  DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4  DAT read: 05:11:03.7976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498, 0.32,-2.498, 2.055,-2.337,-2.528, PHS= 0.132,-1.655, 0.147, RAW= 150.4, 15.2, CAL= 150.7, 17.0, ROT= 359.3, -17.0  Ygot valid direction response: 05:11:03.7976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498, 0.32,-2.498, 2.055,-2.337,-2.528, PHS= 0.132,-1.655, 0.147, RAW= 150.4, 15.2, CAL= 150.7, 17.0, ROT= 359.3, -17.0  T#Rx 16: Read range and direction messages.% ^direction in FSK: [0.956233,-0.011683,0.292372]- Fpublishing direction and range infoy  Jv?^퇿兗7?Y A ) I +>i ӿ +> '@ ԇ> aU(@ >) ū@I 闾 6?E?m۾? ?) I D+Hi 闾 M checking for new query: numPingsReceived=16, elapsed TxPingTime=10.108919 o9,M?A2N@2{@28<ٱ2[ :AHRS rotation from veh to nav: [[0.984767,0.169997,0.036537],[-0.173513,0.974379,0.143101],[-0.011274,-0.147261,0.989033]]2H@6?t??@5ƿ.?&Q?@t¿`)?i2N@I2];0YNՁByNIIR=)R=bDZVDZ1yA%=L=ٔ=XD:Q-=>9AYA=EFyE 4EM0;EM>QQ 5}D5Uց?Q 9D5U^)UBYy=Q I@UoDIU]i))5S11i5Зi=6Z=?<=т^=I=:@IaԹchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.335183@! @!@-/@)AA?ABBBIBBBBBBq;B .E^A] ]=I I O > b,h]g?A2@2@2=<ٱ2e :AHRS rotation from veh to nav: [[0.984864,0.169202,0.037599],[-0.172941,0.973770,0.147865],[-0.011594,-0.152129,0.988293]]2H`?g?@5@?"ƿ)?@= 0=\ A9 9-DAT read: 05:11:04.2976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.26,-3.094, 1.474,-2.914,-3.111, PHS= 0.119,-1.654, 0.153, RAW= 150.9, 15.3, CAL= 151.3, 17.1, ROT= 358.7, -17.1 Ygot valid direction response: 05:11:04.2976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.26,-3.094, 1.474,-2.914,-3.111, PHS= 0.119,-1.654, 0.153, RAW= 150.9, 15.3, CAL= 151.3, 17.1, ROT= 358.7, -17.1 T#Rx 17: Read range and direction messages.)=A9Y=AbDVDk2y$%%=ٔ;+:Q->9Y=F^direction in FSK: [0.955547,-0.021684,0.294040]Fpublishing direction and range infoyquíOד?\g4?Yqqqqq q)qIuF=iuFӿu>u(@uܸ>u)@ uΘ>)uU@IuΘqqug:z??ּ? u@ ?)ujIu޹iuΘqqy 4E\:E>checking for new query: numPingsReceived=17, elapsed TxPingTime=10.693867Q 5D5n?Q 9D5+^)BYB?Q E:y=Q I@oDI;i:; D5yBɮA.Eiqiusfj?AJiqRiqjiuF@bu\5hk<<@&y23y`!@RuíOד?\g4?Ziu޹biuΘjuM<@:/Jݶ @Zu;۷Y?NL;J¿Ž?2iu:iu7A"iu(3Ԝ?*iu[l:BiuBEM EMEM&EI"EM<;*EMr:VEM4ZEIBEM“i)i#藼iKa;<vu=I}@Iq@q @q@q@q@y@y checking for new query: numPingsReceived=17, elapsed TxPingTime=10.843211^AM &t@=Q I I O >K,;?AR@R{@R><ٱR`R! ZAHRS rotation from veh to nav: [[0.984780,0.169480,0.038535],[-0.173415,0.972967,0.152518],[-0.011645,-0.156879,0.987549]]RH@Q?`?캣?v2ƿ"??^هĿ?iR@IR];RCYvByvIbDVDܲy-g>%-=ٔ5q)9Q-5 ?91Y1=5Fy=4E]ȺE]?aQ 5mD5e?Q 9mD5e])eBYiyur=Q Iu@eoDIe:ie:eD5yɮ AB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 29.55 m.bh Rh lZh lE ProNav: ac range: 29.549587 m, nav range: 28.302290 m, bearing: 351.805145 deg, approach rate: -0.568728 m/s, LOS rate: -0.245537 deg/s, cmd heading: 347.394049 deg, new cmd heading: 347.178680 deg. BhE(MHeadingCmd: 6.059411 target range: 29.549587 and range: 29.70 m.hM@hI*hI"hI hIgqfqfqfydydydyjdyZd ?$Bɢ4<) >i)Xݻii%eRc<G=I@Ia}DDAT read: Rx Time:05:11:04.7973 TRx dataTimestamp_ set to:1761541866.166365PDAT read: Bearing 157.7, -5.5 (Local) ~Local bearing/azimuth received: Bearing 157.7, -5.5 (Local) DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.5 DAT read: 05:11:04.7973 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495,-0.06, 2.058, 0.362, 2.253, 2.086, PHS= 0.073,-1.679, 0.123, RAW= 151.4, 16.4, CAL= 151.9, 18.5, ROT= 358.1, -18.5 Ygot valid direction response: 05:11:04.7973 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495,-0.06, 2.058, 0.362, 2.253, 2.086, PHS= 0.073,-1.679, 0.123, RAW= 151.4, 16.4, CAL= 151.9, 18.5, ROT= 358.1, -18.5 T#Rx 18: Read range and direction messages.^direction in FSK: [0.947802,-0.031442,0.317305]Fpublishing direction and range infoy#yeT?q~iHs%N?YfA )I=iyֿm=)@C>)@ MQ>)3@IMQp2?Ϲ?8[? 6G ?)LܒIiMQchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.115407@ @@0@yE EE)E"E:;*E:VEFA4ZEa@a@a@a@^A -tY=I I ԡ O >% checking for new query: numPingsReceived=18, elapsed TxPingTime=11.346895u,?A@BBBIBBBBBBq;B-E-O~@-y@-@<ٱ-k& =AHRS rotation from veh to nav: [[0.984719,0.169587,0.039603],[-0.173752,0.972097,0.157603],[-0.011771,-0.162076,0.986708]]-Hт?` ?F?=ƿ j?U,?`W Ŀ?i-O~@I-];-CYUByUtI YYeAeAiMb@Mb@Mb@ 9(\?MbX?{GzYz?y=#rA `@)AYAbDVDy % 0=ٔ9Q->9Y=Fy4EqBE>!Q 5-D5%?Q 9-D5%^)%سBY5?Q E5:y5xQ I5@%oDI%;i%;%D5y=Bɮ=E AAii?AJi6ARi6Aji(@bB;@,j+T"@R#yeT?q~iHs%N?ZibiMQjI)k;@\7Pj!@ZN?T-¿ zR?2i|:iYA"iM Ɯ?*i7V]BiBi(3Ԝ?ibXii Aig@ԩ- addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.503862 s, deltaX: -0.400002 m, approachRate: -0.793871 m/s, rangeRepo size: 4 = Added new target pos. range: 29.151573 m, bearing: 351.221820 deg, lat: 36.779335 deg, lon: -121.859622 deg, deltaT: 0.503862 s, deltaX: -0.398014 m, approachRate: -0.789927 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 29.15 m.bhARhMZhI] ProNav: ac range: 29.151573 m, nav range: 27.881399 m, bearing: 351.662126 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 347.178679 deg, new cmd heading: 346.844967 deg. BhYeHeadingCmd: 6.053586 target range: 29.151573 and range: 29.30 m.he@ha*ha"ha hgfff=BdddjdL=@Zd@?5'Bɢ5@<)9 =^y>i9)=ջ99i=䗼iekeA%:)@5> |٠>)I|٠KAe;?KZO?DY D] %=Ee  Ee Ee +Ea "Ee 4;*Ee :VEe [4ZEa BEe 6l!@Rf#j?s$;[@?Zibi|٠jxҀ޾M;@GXAxM!@Z_ t-?eu¿lI?2ir:imA"im̜?*i]oBiBim̜?i[l:iBiAi>&@ addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.505513 s, deltaX: -0.199999 m, approachRate: -0.395635 m/s, rangeRepo size: 4  Added new target pos. range: 28.952587 m, bearing: 351.188040 deg, lat: 36.779334 deg, lon: -121.859624 deg, deltaT: 0.505513 s, deltaX: -0.198986 m, approachRate: -0.393632 m/s, posRepo size: 4 jh%DNOT Ignoring new targets: 28.95 m.bh!Rh!Zh)] ProNav: ac range: 28.952587 m, nav range: 27.628626 m, bearing: 351.204107 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 346.844956 deg, new cmd heading: 346.586688 deg. BhYeHeadingCmd: 6.049079 target range: 28.952587 and range: 29.10 m.he@ha*ha"ha hagifififidddjd=@Zd ?checking for new query: numPingsReceived=19, elapsed TxPingTime=11.850856)Bɢ%~!<)Q UW>iY)e/`ѻaiiٗio<=I@I@ @@%0@!A^Ae |=i  DDAT read: Rx Time:05:11:05.7969  TRx dataTimestamp_ set to:1761541867.176250 PDAT read: Bearing 156.6, -5.1 (Local)  ~Local bearing/azimuth received: Bearing 156.6, -5.1 (Local)  DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4  DAT read: 05:11:05.7969 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.25,-2.635, 1.933,-2.449,-2.648, PHS= 0.115,-1.658, 0.154, RAW= 151.1, 15.3, CAL= 151.4, 17.2, ROT= 358.6, -17.2  Ygot valid direction response: 05:11:05.7969 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.25,-2.635, 1.933,-2.449,-2.648, PHS= 0.115,-1.658, 0.154, RAW= 151.1, 15.3, CAL= 151.4, 17.2, ROT= 358.6, -17.2  T#Rx 20: Read range and direction messages. ^direction in FSK: [0.954993,-0.023339,0.295708]% Fpublishing direction and range infoy  TM?rC旿-?Y A ) CI =i X9Կ -> (@ ܸ> )@ `>) G@I ` Ķn?,X[?/y?n? G ?) r㈾I *ȼi ` = checking for new query: numPingsReceived=20, elapsed TxPingTime=12.126041Iy I O >x,kdϺ?Arwe@rG`@r?8<ٱr{3| ]AHRS rotation from veh to nav: [[0.984193,0.172085,0.041839],[-0.176738,0.969449,0.170095],[-0.011290,-0.174800,0.984539]]rH~??k?Yƿ??'_ƿ@X?irwe@Ir%];rCE EE-E"E9;*EVEt4ZEa@a@a@a@YeByLIiMb@Mb@Mb@ 91Zd?X9v? rhY"?y}=C @ v@)AYbDVDyR%=ٔ9Q->9Y=Fy"4EE>Q 5 D5듊?Q 9 D5^)BY0?Q E:yQ I@pDI:iy;[D5y9ɮ=[ AAiiG˺?AJioARioAjiU@b'gsD;@2B1S%_= @RTM?rC旿-?Zi*ȼbi`jG6J/;@BgEj> @ZtX?¿-+4?2i:iAchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.355528"i1՜?*ikBiBiiiibAi@ addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504372 s, deltaX: -0.400000 m, approachRate: -0.793065 m/s, rangeRepo size: 4 B9A9QBiBiBmIBmBBiBiBiBmq;Bm-E Added new target pos. range: 28.554613 m, bearing: 351.535817 deg, lat: 36.779334 deg, lon: -121.859624 deg, deltaT: 0.504372 s, deltaX: -0.397974 m, approachRate: -0.789049 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.55 m.bhRhZh ProNav: ac range: 28.554613 m, nav range: 27.298174 m, bearing: 351.157850 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 346.586693 deg, new cmd heading: 346.171323 deg. BhHeadingCmd: 6.041830 target range: 28.554613 and range: 28.70 m.hV@h*h"h hgfffBdd!d)jd-@3<@Zd-6?]+Bɢ]*p;)a $/>i)oʻ顉iYi%w<<~=IV@IY @Y  @Y @] 0@Y ԉ U DDAT read: Rx Time:05:11:06.2968 U TRx dataTimestamp_ set to:1761541867.676767e PDAT read: Bearing 155.4, -5.3 (Local) e ~Local bearing/azimuth received: Bearing 155.4, -5.3 (Local) u DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.5  DAT read: 05:11:06.2968 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.46,-1.824, 2.740,-1.624,-1.863, PHS= 0.141,-1.635, 0.195, RAW= 151.5, 14.3, CAL= 151.7, 16.0, ROT= 358.3, -16.0 ԡ  Ygot valid direction response: 05:11:06.2968 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.46,-1.824, 2.740,-1.624,-1.863, PHS= 0.141,-1.635, 0.195, RAW= 151.5, 14.3, CAL= 151.7, 16.0, ROT= 358.3, -16.0  T#Rx 21: Read range and direction messages.5^direction in FSK: [0.960839,-0.028517,0.275637]5Fpublishing direction and range infoyQ U #0?I/-3 ?YU AQ ^A}=Q Q Q Q )U BIU Nb>iU GѿU G>U %:)@U r>U Us)@ U 5>)U @IU 5Q Q U 㺑q?BUC2?}? U  ?)U RIU iU 5Q Q IIO>6,ﺿ?A"checking for new query: numPingsReceived=21, elapsed TxPingTime=12.657495BI@BD@B2<ٱB?9 NAHRS rotation from veh to nav: [[0.983594,0.175178,0.043067],[-0.180064,0.967845,0.175652],[-0.010912,-0.180525,0.983510]]BHy?9Y9==Fy=&4EEEE>IQ 5UD5M?Q 9UD5Mf_)MBYQyUѹQ I]@M*pDIMK;iM;MD5yBɮ A0EԹii'P뺿?AJiARiAji@bʙ>;@FcLHuC@R#0?I/-3 ?Zibi5jD#@:@16CLۘ?$@E% E%E%(E!"E%g5;*E%:VE%c44ZE!BE%}i)nǻ顁igiN{ҹ<?=I1@IA@A @A@M5@Ichecking for new query: numPingsReceived=21, elapsed TxPingTime=12.861346^A-=IIOn>A q,@?Ab.,@b&@bl-<ٱb= rAHRS rotation from veh to nav: [[0.982941,0.178556,0.044103],[-0.183617,0.966482,0.179436],[-0.010585,-0.184473,0.982781]]bH@@t???ŀǿk??@Мǿ r?ib.,@Ib'];bCYdBy&I p<<bD%VD%y5p%5J=ٔ=SQ-=>99YA=EFyE*4EEEE>IQ 5UD5M??Q 9UD5M`)MBmDDAT read: Rx Time:05:11:06.7966 mTRx dataTimestamp_ set to:1761541868.180791uPDAT read: Bearing 155.7, -5.7 (Local) }~Local bearing/azimuth received: Bearing 155.7, -5.7 (Local) DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.5 DAT read: 05:11:06.7966 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504,-0.35, 2.088, 0.361, 2.296, 2.062, PHS= 0.128,-1.656, 0.190, RAW= 151.7, 14.6, CAL= 152.0, 16.4, ROT= 358.0, -16.4 Ygot valid direction response: 05:11:06.7966 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504,-0.35, 2.088, 0.361, 2.296, 2.062, PHS= 0.128,-1.656, 0.190, RAW= 151.7, 14.6, CAL= 152.0, 16.4, ROT= 358.0, -16.4 T#Rx 22: Read range and direction messages.^direction in FSK: [0.958730,-0.033480,0.282341]Fpublishing direction and range infoyim;n?Oy?$Ix?YmAiiii i)iImo>imӿm\B>mUs)@mw>m)@ mC>)m@ImCiimB*Y?ryD?"? mŜ ?)m|ImQimCiichecking for new query: numPingsReceived=22, elapsed TxPingTime=13.126946YYyQ I@M:pDIMhB B `IB BB =B B B q;B .EBaBaBaBe =Be =Ce4 ^A ~=I I O >,{$?Ab@b @b)<ٱb*C jAHRS rotation from veh to nav: [[0.982280,0.181826,0.045452],[-0.187134,0.964912,0.184189],[-0.010367,-0.189431,0.981839]]bHn?F?`E?ǿ ??@;F?ȿ :k?ib@Ib,];bCYy%Ii Mb@Mb@Mb@     9 Q? rh? rhY (?y C = C A  ) A Y AbD5VD5J2y}]p%}.=ٔQ->9Y=Fy /4EUE>9Q 5ED5=W,?Q 9mD5=a)=BYmv?Q Em:ym'Q Im@=MpDI=;i=6;=iD5yyɮ}{ AyPDAT read: Bearing 158.1, -6.8 (Local) ~Local bearing/azimuth received: Bearing 158.1, -6.8 (Local) DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.6 DAT read: 05:11:07.2964 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 502,-0.33,-3.052, 1.561,-2.833,-3.002, PHS= 0.052,-1.675, 0.125, RAW= 152.1, 16.7, CAL= 152.6, 18.9, ROT= 357.4, -18.9 Ygot valid direction response: 05:11:07.2964 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 502,-0.33,-3.052, 1.561,-2.833,-3.002, PHS= 0.052,-1.675, 0.125, RAW= 152.1, 16.7, CAL= 152.6, 18.9, ROT= 357.4, -18.9 T#Rx 23: Read range and direction messages.^direction in FSK: [0.945111,-0.042917,0.323917]Fpublishing direction and range infoy WZ>?`'>?Y3A )CIT=iffֿ>)@;>t*@ [>)@I[䨾?VuD?Je? 6?)II9i[䨾Echecking for new query: numPingsReceived=23, elapsed TxPingTime=13.629595ii+?AJiARiAji@b廁-<:@Y7{!@R WZ>?`'>?Zi9bi[䨾j?V9@C胜'lY!@ZI?`MĿbkZ??2i:iA"iK9 ?*idBiBiiuii8Ai@ addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.502686 s, deltaX: -0.300001 m, approachRate: -0.596796 m/s, rangeRepo size: 4 !M Added new target pos. range: 27.758709 m, bearing: 350.374983 deg, lat: 36.779335 deg, lon: -121.859625 deg, deltaT: 0.502686 s, deltaX: -0.298460 m, approachRate: -0.593731 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 27.76 m.bhQRhQZhQ ProNav: ac range: 27.758709 m, nav range: 26.652777 m, bearing: 350.822332 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 345.591535 deg, new cmd heading: 345.234369 deg. BhHeadingCmd: 6.025476 target range: 27.758709 and range: 27.90 m.h@h*h"h hgfffBdddjd`f;@Zd?51Bɢ5m9)q }P=iy)}|yyi}Жik򃾉T<w=I@ID%=D=E EE'E"E(;*En:VE'4ZEBE],"C?Att}Ȼ@}@},O<ٱ}H AHRS rotation from veh to nav: [[0.980655,0.189975,0.047167],[-0.195514,0.962312,0.189025],[-0.009479,-0.194590,0.980839]]}Ha?Q?@D&?ɿB? 1?iTȿc?i}Ȼ@I}];yYaBy"IAbDVD0y%/=ٔ Q- >9 Y=Fy34EqE>Q 5ED5%C?Q 9ED5(b)BYIyMQ IM@_pDI;iT;SD5yUBɮU AQ}B*** querying acoustic contact ***iy iy addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.259414 s, deltaX: -0.400000 m, approachRate: -1.541935 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 27.76 m.bhRh5Zh5 ProNav: ac range: 27.758709 m, nav range: 26.379192 m, bearing: 350.814832 deg, approach rate: -0.671585 m/s, LOS rate: -0.018601 deg/s, cmd heading: 345.234370 deg, new cmd heading: 345.211638 deg. Bh?LHeadingCmd: 6.025080 target range: 27.758709 and range: 27.50 m.ht@h!*h"hY hYgafafifidqdqdqjd};@Zd`9?3Bɢ9) к=i)Kii%q% <%M=I%t@I)}DAT read: 05:11:07.7961 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.28, 2.188, 0.534, 2.385, 2.248, PHS= 0.041,-1.669, 0.092, RAW= 151.5, 17.4, CAL= 152.1, 19.6, ROT= 357.9, -19.6 Ygot valid direction response: 05:11:07.7961 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.28, 2.188, 0.534, 2.385, 2.248, PHS= 0.041,-1.669, 0.092, RAW= 151.5, 17.4, CAL= 152.1, 19.6, ROT= 357.9, -19.6 Z#Rx 25: Read direction message, but no range.^direction in FSK: [0.941425,-0.034520,0.335452]yIM?4B& ?+g* x?IIII I)MBIM'=iMˡտMj=M%:)@M|>M)@ M%>)M@IM%IMg{K ?#%f? 2|[? M ?)M8IMQ iM%checking for new query: numPingsReceived=25, elapsed TxPingTime=14.131783@ @@p4@QE5 E5E5)E1"E5U,;*E5:VE5FA4ZE1aU@aU@aU@aU@ԁ ^A =I  DDAT read: Rx Time:05:11:08.2960  TRx dataTimestamp_ set to:1761541869.443258% checking for new query: numPingsReceived=25, elapsed TxPingTime=14.376734IQ ԩ AQ AU AAB] >BY B] @IB] zBB] =BY BY B] r;B] .EOu >w,mS_?A%@%W@%2<ٱ%J =AHRS rotation from veh to nav: [[0.979779,0.194191,0.048201],[-0.199871,0.961022,0.191019],[-0.009228,-0.196791,0.980402]]%H YZ???ϭ?]ɿ`?Ps?.悿n0ɿ`t_?i%@I%];%ĐCYMVByMIiMb@Mb@Mb@ 9rh|?~jt?~jtxY?yD<ĻXA@ )AYbDVD2yG%8=ٔQ->9Y=Fy84E %E >Q 5D5IY?Q 9D5qc)BY?Q E:yD@ >^direction in FSK: [0.955102,-0.018339,0.295708]Fpublishing direction and range infoy)-ַ2?fuǒ-?Y-fA)))) ))-AI-F=i-tӿ->-q(@->-(@ -`>)-r@I-`))-$?i΍?_v? -Ae ?)-KI-Fi-`)) checking for new query: numPingsReceived=26, elapsed TxPingTime=14.650407^Ax=A?A?I)I9OE>ԹE  E E E "E *;*E :VE ZE BE 9hYh=jFyj<4En<En>pQ 5vD5rk?Q 9vD5rd)rBYtyv@Q Iz@r~pDIr:ir:rUD5y|ɮ~ A|DDAT read: Rx Time:05:11:08.7958 TRx dataTimestamp_ set to:1761541869.947672checking for new query: numPingsReceived=26, elapsed TxPingTime=14.881159iqiuDl?AJiuKARiuKAjiu@bu)79@ 0߿e[ @Ruַ2?fuǒ-?ZiuFbiu`juZe99@d5$J4Ƭ@Zu%D?sn6ÿ"iM ҿM ">I M >I M Q >)I IM Q I I M J Ƀ?lA?*? M ?)M II iM Q I I ^A = checking for new query: numPingsReceived=27, elapsed TxPingTime=15.169507I I O% >,Ⓕ?AEz EzEz'Ex"Ez /;*Ez:VEz'4ZExa-@a-@a-@a5@nd@n_@nv<ٱnsN AHRS rotation from veh to nav: [[0.978202,0.201542,0.050018],[-0.207469,0.958773,0.194195],[-0.008817,-0.200339,0.979687]]nH@nM?@ ?`웩?Tʿ`D?^?`౤ɿY?ind@In];nÐCYkBy.IIE<)E;U=U=Qi}Mb@Mb@Mb@yyyy y9}l?X9v?y&1|?Y}?y}<}`;}A}@ }QA)}AyY}AbDVD2y9 =%$=ٔZhQ->9Y=FyA4E*E>Q 5D5 ?Q 9D5e)BY?Q E:yQ I@pDIl;i9;D5yBɮy A3Eiyi}^?AJi}ARi}Aji}1@b}S9@z߿ے"=@R}6?}Lºђ\.?Ziybi}Q j}X9@B"aË@Z}6 N?GT%}Ŀ[Do[?2i}:i}A"i}ۜ?*i}HiBi}RBi}ۜ?i}\hi}Bi}Ai}@ DDAT read: Rx Time:05:11:09.2957 TRx dataTimestamp_ set to:1761541870.4603225PDAT read: Bearing 154.7, -4.4 (Local) E~Local bearing/azimuth received: Bearing 154.7, -4.4 (Local) DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.5 B>BB.IBkBB =BBDB#r;B$.E addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503702 s, deltaX: -0.400000 m, approachRate: -0.794120 m/s, rangeRepo size: 4   Added new target pos. range: 26.763786 m, bearing: 350.406430 deg, lat: 36.779335 deg, lon: -121.859627 deg, deltaT: 0.503702 s, deltaX: -0.397974 m, approachRate: -0.790098 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.76 m.bhRhZh=Z#Rx 28: Read range message, but no direction.y Y A Echecking for new query: numPingsReceived=28, elapsed TxPingTime=15.430554U ProNav: ac range: 26.763786 m, nav range: 25.693087 m, bearing: 350.573799 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.290788 deg, new cmd heading: 345.333006 deg. BhQyHeadingCmd: 6.027198 target range: 26.763786 and range: 26.90 m.h@h*h"h hgfffBBdddjd@3:@Zd?PExceeded connect timeout, disconnecting. 7Bɢ U+:)  =i)oܷi5Õi==<=?w=IE@IA@ @@/@ԩ C +G  M q9I YU tA DAT read: 05:11:09.2957 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.13,-2.740, 1.810,-2.579,-2.813, PHS= 0.175,-1.615, 0.190, RAW= 150.4, 13.8, CAL= 150.5, 15.4, ROT= 359.5, -15.4  Ygot valid direction response: 05:11:09.2957 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.13,-2.740, 1.810,-2.579,-2.813, PHS= 0.175,-1.615, 0.190, RAW= 150.4, 13.8, CAL= 150.5, 15.4, ROT= 359.5, -15.4  Z#Rx 29: Read direction message, but no range. ^direction in FSK: [0.964059,-0.008413,0.265556]y  #?#IH:<? ) @I 333>i Rο \B> '@ Ϣv> 0(@ >) ^@I ֓'d?$Owv?kN? /?) vI Di % checking for new query: numPingsReceived=29, elapsed TxPingTime=15.656299^A Pڀ=I I O >v[,Ƣ?A%C@%>@%! <ٱ%$P UAHRS rotation from veh to nav: [[0.977359,0.205374,0.050892],[-0.211412,0.957639,0.195529],[-0.008579,-0.201862,0.979376]]%H@F?`I? {?˿`??ɿ` W?i%C@I%];!YmoBym3I }4<}p;bD}VD} y<%V=ٔ#Q->9Y=FyE4E\-E>Q 5D5얔?Q 9D5f)BYy:#Q I@pDIr$,F|ʻ?AV'%@V@Vz <ٱVL2Q nAHRS rotation from veh to nav: [[0.976558,0.208903,0.051908],[-0.215081,0.956663,0.196305],[-0.008650,-0.202868,0.979168]]VH@??@S??ɇ˿ ? ?ɿXU?iV'%@IV<];VCYvrByv6IbD%VD%0y5P<%5I=ٔU49Q-]>9] ?Y] ?=]Fy]I4Ee|Ee>iQ 5uD5DAT read: 05:11:09.7954 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.07, 2.402, 0.661, 2.553, 2.344, PHS= 0.161,-1.638, 0.165, RAW= 150.1, 14.4, CAL= 150.3, 16.1, ROT= 359.7, -16.1 Ygot valid direction response: 05:11:09.7954 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.07, 2.402, 0.661, 2.553, 2.344, PHS= 0.161,-1.638, 0.165, RAW= 150.1, 14.4, CAL= 150.3, 16.1, ROT= 359.7, -16.1 Z#Rx 31: Read direction message, but no range.^direction in FSK: [0.960766,-0.005031,0.277315]yy}CYL?T*t/?yyyy y)yI}/$>i}ѿ}(>}ϩ'@}>}'@ }ޏ>)}@I}ޏy}w#??m? }?)}}I}i}ޏchecking for new query: numPingsReceived=31, elapsed TxPingTime=16.152670m7?Q 9D5mg)mBYy'Q I@mpDIm B B 'IB fBB B B B ,r;B ).E- DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 ^A= e= DAT read: 05:11:10.2953 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.01,-2.261, 2.280,-2.127,-2.330, PHS= 0.171,-1.628, 0.159, RAW= 149.7, 14.3, CAL= 149.8, 15.9, ROT= 0.2, -15.9  Ygot valid direction response: 05:11:10.2953 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.01,-2.261, 2.280,-2.127,-2.330, PHS= 0.171,-1.628, 0.159, RAW= 149.7, 14.3, CAL= 149.8, 15.9, ROT= 0.2, -15.9  T#Rx 32: Read range and direction messages. \direction in FSK: [0.961735,0.003357,0.273959] Fpublishing direction and range infoyy } n?,5L[k?ψ.?Y} Ay y y y y )y I} />i} Nbп} ">} m7'@} r>} T'@ } q>)} d;I} qy  nManaging dock network, ignoring radio surface power offy } AD_?n'b?#Ӽ? } ?)} II} d;i} qy y - checking for new query: numPingsReceived=32, elapsed TxPingTime=16.460091Թ Au ؟AIy I O >,仿?AYUzByUAI YYIiMb@Mb@Mb@ 9㥛 ?Zd;O?Mb`?Y?yj<=;nA@ )3AYbDVDy%=%%+=ٔ-Q-->9-"?Y-"?=5Fy5M4E5E5>9Q 5eD5=P”?Q 9eD5=h)=BYm?Q Em:ymqQ Im@=pDI=;i=;=D5yuBɮu& AqMchecking for new query: numPingsReceived=32, elapsed TxPingTime=16.647873iiim_޻?AJimARimAjim@bmNhJr8@rUCQ?\|t@Rmn?,5L[k?ψ.?Zimd;bimqjmx8@@!'w@ZmT?i..ÿ$Mj?2imy:im6A"im=,꜊?*imj#BimBim6:?imimFBimAim@5 addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.509777 s, deltaX: -0.199999 m, approachRate: -0.392326 m/s, rangeRepo size: 4 E Added new target pos. range: 25.968056 m, bearing: 351.073618 deg, lat: 36.779336 deg, lon: -121.859626 deg, deltaT: 0.509777 s, deltaX: -0.198959 m, approachRate: -0.390287 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 25.97 m.bhIRhQZhQq ProNav: ac range: 25.968056 m, nav range: 24.995895 m, bearing: 350.628328 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.406874 deg, new cmd heading: 345.452601 deg. BhHeadingCmd: 6.029285 target range: 25.968056 and range: 26.10 m.h@h*h"h hgfffQBdddjd:@Zd`?m;Bɢm;)  =i )}i =i-Ɩ<vY=I@I!E EE(E"E0;*E:VEc44ZEBEi ˿ T> x&@ [> %@  s>) + ? [?  &S?) ̋\I +*,?AB@B@B8 <ٱBOQ ZAHRS rotation from veh to nav: [[0.975032,0.215585,0.053243],[-0.221902,0.955035,0.196639],[-0.008456,-0.203544,0.979029]]BH w3? L?B?Eg̿?x+?Q ʿ 5T?iB@IB];@YbByfNI@AbDVD:y-(C=%-<=ٔUhQ-]>9YYY=]Fy]R4EeEe>iQ 5D5mה?Q 9D5mi)mBYyQ I@mpDIm ;im;mD5yBɮ A5EiaieE?AJieARieAjie <@beW8@On?% @Rex8|?QW*Q?#?Zie+<biesjeOh(8@Ҿ3dl6@Ze+?M7¿5b?2iep:ieiA"iei)l顩i iw<?==I@I@@ @@/@E EE&E"EU,;*EVE4ZEa@a@a@a@I ^A gW=M DDAT read: Rx Time:05:11:11.2948 U TRx dataTimestamp_ set to:1761541872.479463e PDAT read: Bearing 156.5, -2.8 (Local) e ~Local bearing/azimuth received: Bearing 156.5, -2.8 (Local) q  DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 B >B B :IB uBB B B B q;B .E DAT read: 05:11:11.2948 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.45, 1.690,-0.060, 1.779, 1.631, PHS= 0.160,-1.646, 0.103, RAW= 148.4, 15.4, CAL= 148.5, 17.0, ROT= 1.5, -17.0  Ygot valid direction response: 05:11:11.2948 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.45, 1.690,-0.060, 1.779, 1.631, PHS= 0.160,-1.646, 0.103, RAW= 148.4, 15.4, CAL= 148.5, 17.0, ROT= 1.5, -17.0  T#Rx 34: Read range and direction messages.- \direction in FSK: [0.955977,0.025033,0.292372]- Fpublishing direction and range infoyQ U 5p2]?æI?兗7?YU 3AQ Q Q Q Q )Q IU #>iU !ҿU =U %@U >U H%@ U >)U Pw)U dIU Pw,A !?Aii.checking for new query: numPingsReceived=34, elapsed TxPingTime=17.458670Fк@F@F\<ٱF=Q ^AHRS rotation from veh to nav: [[0.974289,0.218699,0.054149],[-0.225128,0.954463,0.195752],[-0.008872,-0.202909,0.979157]]FH`-?`P?^?̿ ?f?+ɿAU?iFк@IF^;DYfByf]IiMb@Mb@Mb@ 9|?5^?ʡE?MbpY?y=A@ A)Y(A)bD5VD5:2yE=P=%E,=ٔMKg:Q-M>9U ?YU ?=UFyUW4EU>E]>YQ 5eD5]?Q 9D5]ij)]BYC?Q E:yVȽQ I@]pDI]W;i]>;]D5yɮ Aiiim?AJim,ARim,Ajim_@bmW(8@;kVv>? R@Rm5p2]?æI?兗7?ZimPw<bim闾jmЩP8@ ͼx^@ZmgS|?D)Ay1t?2imX:imA"im_ۜ?*imBimZBiiimj#iiimfAim{ @m addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.506446 s, deltaX: -0.300001 m, approachRate: -0.592366 m/s, rangeRepo size: 4 } Added new target pos. range: 25.271490 m, bearing: 351.988359 deg, lat: 36.779337 deg, lon: -121.859624 deg, deltaT: 0.506446 s, deltaX: -0.298588 m, approachRate: -0.589575 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.27 m.bhRhZh ProNav: ac range: 25.271490 m, nav range: 24.550217 m, bearing: 351.030947 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.494000 deg, new cmd heading: 345.533921 deg. BhHeadingCmd: 6.030704 target range: 25.271490 and range: 25.40 m.h@h*h"h hgfff}Bdddjd`ff9@Zd`|??BYɢo;) %>i)项ii1Ec<-2=I@I]checking for new query: numPingsReceived=34, elapsed TxPingTime=17.655474?@ @@/@^AC;=ԙE  E E +E "E (;*E E:VE [4ZE BE Ա  ,i:?AF4<ɰF;@@aq<ٱ՛ODDAT read: Rx Time:05:11:11.7946 TRx dataTimestamp_ set to:1761541872.982227PDAT read: Bearing 156.5, -2.5 (Local) ~Local bearing/azimuth received: Bearing 156.5, -2.5 (Local)  DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 Z#Rx 35: Read range message, but no direction.yYAchecking for new query: numPingsReceived=35, elapsed TxPingTime=17.919109 %AHRS rotation from veh to nav: [[0.973619,0.221507,0.054783],[-0.227991,0.954145,0.193975],[-0.009304,-0.201348,0.979476]]H'?@WZ? ?.Ϳ\?.?  ɿ W?i@I];CY=By=aIbDMVDM2y]<%]I=ٔ]t:Q-e>9aYa=eFye[4EmUEm>qQ 5}D5ub?Q 9}D5uk)uBYyy}?νQ I@upDIu:iu :u>D5ԉyBɮ{ A6EB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.502764 s, deltaX: -0.299999 m, approachRate: -0.596700 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 25.27 m.bhRhZh ProNav: ac range: 25.271490 m, nav range: 24.315462 m, bearing: 351.000030 deg, approach rate: -0.606609 m/s, LOS rate: -0.080661 deg/s, cmd heading: 345.533915 deg, new cmd heading: 345.440269 deg. Bhm]HeadingCmd: 6.029070 target range: 25.271490 and range: 25.10 m.h$@h*h"h hgfffdddjd9@ZdN"?-@Bɢ-À;)) 5 )>i1)511i5i=k=<=KS/=I=$@IA@@ @@0@Ա^A l;= DAT read: 05:11:11.7946 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.21,-1.179,-2.938,-1.098,-1.239, PHS= 0.163,-1.653, 0.097, RAW= 148.2, 15.4, CAL= 148.3, 17.1, ROT= 1.7, -17.1  Ygot valid direction response: 05:11:11.7946 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.21,-1.179,-2.938,-1.098,-1.239, PHS= 0.163,-1.653, 0.097, RAW= 148.2, 15.4, CAL= 148.3, 17.1, ROT= 1.7, -17.1  Z#Rx 36: Read direction message, but no range. \direction in FSK: [0.955372,0.028355,0.294040]yi m vh?st ??i i i i i )m AIm y&>im ӿm =m ~%@i m %@ m Θ>)m )m ꉾIm  ,T?A2n@2=@2<ٱ2N :AHRS rotation from veh to nav: [[0.973218,0.223172,0.055144],[-0.229685,0.953968,0.192845],[-0.009568,-0.200346,0.979679]]2H@$?@? ;?OfͿ?$?,ɿY?i2n@I2];0YFByFjIbEe-4jEe14rEe./Eb E`Eb&E`"EbU,;*E`VEb4ZE`aj@aj@aj@aj@bDVDNy !=%c=ٔV?:Q->9]"?Y]"?=]Fy]^4EeuEe>iQ 5mD5mH?Q 9uD5mk)m~BYqyuѽQ Iu@mpDIm;im ;mwD5yBɮU AjhI]DNOT Ignoring new targets: 25.27 m.bhaRh|Zh| ProNav: ac range: 25.271490 m, nav range: 24.102266 m, bearing: 350.972296 deg, approach rate: -0.511243 m/s, LOS rate: -0.067093 deg/s, cmd heading: 345.440260 deg, new cmd heading: 345.356323 deg. DDAT read: Rx Time:05:11:12.2945 TRx dataTimestamp_ set to:1761541873.480790PDAT read: Bearing 157.6, -3.0 (Local) ~Local bearing/azimuth received: Bearing 157.6, -3.0 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 DAT read: 05:11:12.2945 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.05, 0.755,-0.993, 0.840, 0.728, PHS= 0.129,-1.677, 0.067, RAW= 148.3, 16.4, CAL= 148.5, 18.2, ROT= 1.5, -18.2 Ygot valid direction response: 05:11:12.2945 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.05, 0.755,-0.993, 0.840, 0.728, PHS= 0.129,-1.677, 0.067, RAW= 148.3, 16.4, CAL= 148.5, 18.2, ROT= 1.5, -18.2 %T#Rx 37: Read range and direction messages.-\direction in FSK: [0.949647,0.024867,0.312335]-Fpublishing direction and range infoyc?u7v?IK?Y3A )I>iֿL7=%@C>H%@ >)Pw)ΒIPwBiBmSIBmBBm =BiBmDBm@r;Bm0.EB1B1B1B5 =B5 =C5GW5hM$@h*h"h hgfffdddjd`f8@Zd@:?BBɢ%;)! %3>i!)%8))i-"ޔi-eۂ5<5~.=I5$@I1?@ @@/0@I ^A .= checking for new query: numPingsReceived=37, elapsed TxPingTime=18.663328ԉ A)I1IAOU>,pr?AYBy}IQiMb@Mb@Mb@ 9Dl?A`"?y&1|YO ?y=`A hA)AYQAbD VDf2ywt=%&=ٔDzDAAE EE)E"E';*E8:VEFA4ZEBE91Y1==Fy=d4E=E=>AQ 5MD5E+?Q 9MD5Ek)EvBYU?Q EU:yUEEQ IU@EqDIE ;iE;ED5yqɮ} AiiC^?AJi0ARi0Aji@bĊVņ7@@[$Ƕ?(eSu@Rc?u7v?IK?ZibijiA)MԶQyi}۔iOh<@5=I@IDDAT read: Rx Time:05:11:12.7942 TRx dataTimestamp_ set to:1761541873.987285PDAT read: Bearing 154.1, -1.2 (Local) ~Local bearing/azimuth received: Bearing 154.1, -1.2 (Local) DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 =DAT read: 05:11:12.7942 LVL= 31008, 32753, 32754, 32755, AGC= 65, IDX= 495, 0.20, 0.523,-1.294, 0.578, 0.373, PHS= 0.252,-1.621, 0.161, RAW= 147.5, 13.1, CAL= 147.4, 14.5, ROT= 2.6, -14.5 MYgot valid direction response: 05:11:12.7942 LVL= 31008, 32753, 32754, 32755, AGC= 65, IDX= 495, 0.20, 0.523,-1.294, 0.578, 0.373, PHS= 0.252,-1.621, 0.161, RAW= 147.5, 13.1, CAL= 147.4, 14.5, ROT= 2.6, -14.5 MT#Rx 38: Read range and direction messages.\direction in FSK: [0.967151,0.043918,0.250380]Fpublishing direction and range infoyJNӧ?ksm|?=9?YA y )I%>i|Ͽ/$>S$@ j>$@ >)9=I>?P2"?UG{? Y>)jI9=ichecking for new query: numPingsReceived=38, elapsed TxPingTime=18.950966m@@i @i@uO0@qԩ ^A .= checking for new query: numPingsReceived=38, elapsed TxPingTime=19.166723A I I O >#,m䏼?A 6@6@6 .<ٱ6'{L >AHRS rotation from veh to nav: [[0.972540,0.225838,0.056248],[-0.232495,0.953758,0.190507],[-0.010623,-0.198353,0.980073]]6H ?A?y̬?`aͿ.?b?`fcɿ@\?i6@I6-];4YFByFzIbD5VD5yEe%E:=ٔEj;Q-M>9IYI=UFyUh4EU޻EU>YQ 5eD5]??Q 9eD5]Hl)]oBYiymPQ Im@] qDI]:i]:]D5yu Bɮu A}7Eii/?AJiARiAji|@bX7@ ,2?L;@RJNӧ?ksm|?=9?Zi9=bijwݛ7@Ԅ | Wo]*@Z8?_*P?2iS:i޼A"i_?*i}I]BiBi=,꜊?iiBi+Ai@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.506495 s, deltaX: -0.299999 m, approachRate: -0.592304 m/s, rangeRepo size: 4  Added new target pos. range: 24.475420 m, bearing: 352.017121 deg, lat: 36.779337 deg, lon: -121.859619 deg, deltaT: 0.506495 s, deltaX: -0.298481 m, approachRate: -0.589307 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.48 m.bhRhZh  ProNav: ac range: 24.475420 m, nav range: 23.521202 m, bearing: 351.891572 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 345.264150 deg, new cmd heading: 345.178877 deg. Bh HeadingCmd: 6.024508 target range: 24.475420 and range: 24.60 m.h@h*h"h hgfffdd!d!jd%8@Zd%-?-FBɢ5$<)1 5F>i1)5319i=/єi=YqEѴi]B`տ]j=]$@]ܸ>]$@ ]>)]+=I]YY]> Z?hd)?"y? ]>)]TI]+=i]YYchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.460281ԡ ^Au ;6=A} ?Ay A I I O >*,?A%checking for new query: numPingsReceived=39, elapsed TxPingTime=19.670862Mw@Mr@MP;<ٱM2I eAHRS rotation from veh to nav: [[0.971764,0.228953,0.057053],[-0.235678,0.953523,0.187750],[-0.011415,-0.195894,0.980559]]MH ?TN?5?*οB?.?`@ɿ``?iMw@IM];MÐCYuByuIiMb@Mb@Mb@ 9HzG?K7?MbY= ?yI >A A)AYAbDVDy%Y>=%-)=ٔ-:Q-->91Y1=5Fy5m4E=ݻE=>AQ 5MD5EV?Q 9MD5EFl)EbBYM?Q EU:yU&+:Q IU@E2qDIE:iE:ED5y Bɮ A8EiiP?AJiARiAji@b/M7@7VF@?(6X@RegW??Tcݚ?Zi+=bijkE7@" JB#@ZK/;?~?Y?Z ?2iN:i.A"iϱ?*iۧ=BiBi@h*h"h hgfffBdddjd8@Zd`?D <D E EEE"E(;*E:VEZEBEi1)511i5i=Y=<=7*=I=>@AIi!@! @)@-<1@)qDDAT read: Rx Time:05:11:13.7939 TRx dataTimestamp_ set to:1761541874.992777PDAT read: Bearing 156.3, -1.5 (Local) ~Local bearing/azimuth received: Bearing 156.3, -1.5 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 % DAT read: 05:11:13.7939 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.18,-1.018,-2.802,-0.973,-1.106, PHS= 0.189,-1.652, 0.089, RAW= 147.2, 15.2, CAL= 147.2, 16.7, ROT= 2.8, -16.7 - Ygot valid direction response: 05:11:13.7939 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.18,-1.018,-2.802,-0.973,-1.106, PHS= 0.189,-1.652, 0.089, RAW= 147.2, 15.2, CAL= 147.2, 16.7, ROT= 2.8, -16.7 - T#Rx 40: Read range and direction messages.5 \direction in FSK: [0.956679,0.046789,0.287361]= Fpublishing direction and range infoyj>?#ܷ?gd?YA )@I7A>itӿE=l$@ԇ>l$@ ;>)+H=I;Vsʕv?=HD? J? -X>)suI+H=i;U checking for new query: numPingsReceived=40, elapsed TxPingTime=19.938959^Ae .=ԡ A I I O>?y2,`ʼ?ABvo@BFj@BM;<ٱBhI ZAHRS rotation from veh to nav: [[0.971520,0.229956,0.057170],[-0.236679,0.953381,0.187211],[-0.011454,-0.195410,0.980655]]BH?`4o?\E?Kο??hu`/ɿ a?iBvo@IBp];BC`YrByrIbD~VD~ky nѼ% A=ٔ 78Q- >9Y=Fyq4E E>Q 5ED5Ij?Q 9MD5Gl)XBYIyMjQ IM@AqDI.;i;sD5yQɮU AYiYi]?AJi]ARi]Aji]@b]Q7@~eo?36%@R]j>?#ܷ?gd?Zi]+H=bi];j]<Xt7@H:ͨ4N4@Z].{?4b^|?2i]FE:i]CA"i]};?*i]ZBi]IBi]};?i]}I]iYi](Ai]M~@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503467 s, deltaX: -0.299999 m, approachRate: -0.595867 m/s, rangeRepo size: 4  Added new target pos. range: 24.077484 m, bearing: 352.377611 deg, lat: 36.779339 deg, lon: -121.859619 deg, deltaT: 0.503467 s, deltaX: -0.298481 m, approachRate: -0.592851 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.08 m.bhRhZh ProNav: ac range: 24.077484 m, nav range: 23.269773 m, bearing: 351.820007 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 345.077276 deg, new cmd heading: 344.996136 deg. BhHeadingCmd: 6.021318 target range: 24.077484 and range: 24.20 m.h@h*h"h hgfffdddjd@338@Zd?checking for new query: numPingsReceived=40, elapsed TxPingTime=20.174810JBɢh"<) I>i)iim`<-=I@I@ @@4@Em EmEm)Ei"Em9;*Em:VEmFA4ZEiau@au@au@au@!^A}S,== DDAT read: Rx Time:05:11:14.2938 E TRx dataTimestamp_ set to:1761541875.497352M PDAT read: Bearing 158.9, -3.0 (Local) M ~Local bearing/azimuth received: Bearing 158.9, -3.0 (Local) ] DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4 i B A B >B B IB BB =B B DB Sr;B <.E DAT read: 05:11:14.2938 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.07, 2.246, 0.527, 2.322, 2.251, PHS= 0.097,-1.678, 0.027, RAW= 148.0, 17.5, CAL= 148.2, 19.4, ROT= 1.8, -19.4 - Ygot valid direction response: 05:11:14.2938 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.07, 2.246, 0.527, 2.322, 2.251, PHS= 0.097,-1.678, 0.027, RAW= 148.0, 17.5, CAL= 148.2, 19.4, ROT= 1.8, -19.4 - T#Rx 41: Read range and direction messages.5 \direction in FSK: [0.942757,0.029627,0.332161]= Fpublishing direction and range infoy9 = >9+?IJlV?` B?Y= A9 9 9 9 9 )= AI= =i= ֿ= /<= MQ%@= a>= ~%@ = -\>)= =I= -\9 9 = )?c]?6ٶB? = l@>)= ˁI= =i= -\9 9 u checking for new query: numPingsReceived=41, elapsed TxPingTime=20.467960A I I O >8,1 伿?AY=By=IIE<)E=Ye=e=cG E{9AYMdAԁiMb@Mb@Mb@ 9K7?V-?Zd;OYI ?yh>jA@ hA)Y ep9Y=Fyw4EE>Q 5 D5?Q 9 D5Bl)HBY ?Q E:y;Q I@UqDI:i:[D5y=BɮE AE9Eii߼?AJiARiAji@b 6@>7?2t@R>9+?IJlV?` B?Zi=bi-\jkn|6@B@Y ԉ4@Z[s-}"?',*W}`3\?2iJ:iA"i뜊?*iMBiqBiiۧ=iiAiy@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504575 s, deltaX: -0.200001 m, approachRate: -0.396375 m/s, rangeRepo size: 4  Added new target pos. range: 23.878712 m, bearing: 351.978996 deg, lat: 36.779339 deg, lon: -121.859618 deg, deltaT: 0.504575 s, deltaX: -0.198772 m, approachRate: -0.393940 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.88 m.bhRh Zh = ProNav: ac range: 23.878712 m, nav range: 22.944967 m, bearing: 351.905140 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 344.996133 deg, new cmd heading: 344.881665 deg. Bh9EHeadingCmd: 6.019320 target range: 23.878712 and range: 24.00 m.hEF@hA*hA"hA hAgAfIfIfMBdIdQdqjdu8@Zd}?ԱMBɢ@;) @>i)|i3iG<<4=IF@ID zD @AE  E E E "E ';*E :VE ZE BE ie ˡտe j=e 4%@e c>e MQ%@ e Θ>)e 5=Ie Θa a e 4t ??L?}? e >)e ZIe 5=ie Θa a Echecking for new query: numPingsReceived=42, elapsed TxPingTime=20.993744AIIO?IA,Vd?A2W@2hR@21A<ٱ2J JAHRS rotation from veh to nav: [[0.970822,0.232586,0.058378],[-0.239508,0.952484,0.188176],[-0.011837,-0.196667,0.980399]]2H?@]?`?`/οz?#?=@b,ɿm_?i2W@I2];0Y5By5IQbDVD0y-<%-:=ٔ-d:Q-->91Y1=5Fy5{4E=ݻE=>9Q 5eD5=g?Q 9mD5=Cl)=;BYiym[Q Im@=dqDI=;;i=;=D5y}Bɮ} Ayii?AJiػARiػAjiU@bZ%m6@ L?62@R5-?AfF ??Zi5=biΘju\6@5 7=e@ZF5x?nxI{"¿leN?2iT:iA"iP?*iDBieBiiieBiAi4~@% addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504347 s, deltaX: -0.400000 m, approachRate: -0.793104 m/s, rangeRepo size: 4 5 Added new target pos. range: 23.480732 m, bearing: 351.537638 deg, lat: 36.779339 deg, lon: -121.859618 deg, deltaT: 0.504347 s, deltaX: -0.397980 m, approachRate: -0.789099 m/s, posRepo size: 4 jh9=DNOT Ignoring new targets: 23.48 m.bh9RhAZhAU ProNav: ac range: 23.480732 m, nav range: 22.704926 m, bearing: 351.819332 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 344.881659 deg, new cmd heading: 344.795080 deg. BhQ]HeadingCmd: 6.017809 target range: 23.480732 and range: 23.60 m.h]@yh*h"h hgfffdddjd7@Zd'?%checking for new query: numPingsReceived=42, elapsed TxPingTime=21.183084]OBɢe<)a ejF>ia)eqaiimuima߇ud-B B IB BB =B B B Nr;B 9.E DAT read: 05:11:15.2933 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.38, 0.641,-1.145, 0.709, 0.572, PHS= 0.172,-1.671, 0.093, RAW= 147.8, 15.4, CAL= 147.9, 17.0, ROT= 2.1, -17.0  Ygot valid direction response: 05:11:15.2933 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.38, 0.641,-1.145, 0.709, 0.572, PHS= 0.172,-1.671, 0.093, RAW= 147.8, 15.4, CAL= 147.9, 17.0, ROT= 2.1, -17.0  T#Rx 43: Read range and direction messages. \direction in FSK: [0.955662,0.035043,0.292372]AaIiIO>H,T#?A*Fpublishing direction and range infoy~ɔ? ?兗7?YfA )AI 0>iTտv=%@>4%@ >)Q =I闾H?=8?? J>)IQ =i闾6checking for new query: numPingsReceived=43, elapsed TxPingTime=21.505333FP@FRK@F,n@<ٱFxI bAHRS rotation from veh to nav: [[0.970616,0.233486,0.058218],[-0.240348,0.952467,0.187189],[-0.011745,-0.195681,0.980597]]FHI?@? έ?@οz??@  ɿ@ a?iFP@IF^;FÐCYByIԡa=@a= i=Mb@Mb@Mb@9999 99=B`"?l?X9vY=?y=>==A=@ =A)=IA9I=bD%VD%k1y5;%5 =ٔ59aYa=eFye4EmۺEm>yQ 5D5}o?Q 9D5}?l)}*BY?Q E:y;:Q I@}wqDI}t.;i}<;}D5yBɮ A:EiiQ ?AJiuARiuAjiZW@bֆ'6@B?p@R~ɔ? ?兗7?ZiQ =bi闾jq@r6@_cB <7ʡ@Z65}?cqx¿+_=1?2iR:iA"i?*iBi(Bi?iiiAii@ addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503301 s, deltaX: -0.300001 m, approachRate: -0.596067 m/s, rangeRepo size: 4  Added new target pos. range: 23.182243 m, bearing: 351.547603 deg, lat: 36.779338 deg, lon: -121.859618 deg, deltaT: 0.503301 s, deltaX: -0.298489 m, approachRate: -0.593062 m/s, posRepo size: 4 checking for new query: numPingsReceived=43, elapsed TxPingTime=21.686846jhDNOT Ignoring new targets: 23.18 m.bhRhZh ProNav: ac range: 23.182243 m, nav range: 22.322796 m, bearing: 351.676902 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 344.795080 deg, new cmd heading: 344.687179 deg. BhHeadingCmd: 6.015926 target range: 23.182243 and range: 23.30 m.hx@h!*h!"h! h!g!f!f)f)d)d1d1jd5L7@Zd5X?eRBɢe<)a eB>ia)mdiiim'Viu+ֈuAi Nbп m= $@ }> "$@ 'g>) A=I 'g &9'??_ym? #(>) ~I A=i 'g -checking for new query: numPingsReceived=44, elapsed TxPingTime=21.955761AYIIO>P,jB?A@||H@C@==<ٱ6H AHRS rotation from veh to nav: [[0.970390,0.234510,0.057859],[-0.241267,0.952505,0.185807],[-0.011537,-0.194264,0.980881]]Ho ?@o??ο@z??@Šȿ@ac?iH@I];CYBy{I bDVDJy-yF%-C=ٔ- Q-->91Y1=5Fy54E5E}>Q 5D5ƕ?Q 9%D5=l)BY!y-@:Q I-@qDI7i)s[iN:ie<94=I?v@I I)checking for new query: numPingsReceived=44, elapsed TxPingTime=22.190884?@ @@1@ Eq  Eu Eu 'Eq "Eq *Eu :VEu '4ZEq a} @a} @a} @a} @^A 3=AA Y Iy I O >W,_?A6DDAT read: Rx Time:05:11:16.2930 :TRx dataTimestamp_ set to:1761541877.512751>PDAT read: Bearing 156.6, -2.0 (Local) >~Local bearing/azimuth received: Bearing 156.6, -2.0 (Local) A@AB?ABF>BDBDBDBF =BDBDBFr;BF.EVDAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 jDAT read: 05:11:16.2930 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.20,-0.669,-2.433,-0.603,-0.741, PHS= 0.174,-1.647, 0.094, RAW= 147.8, 15.3, CAL= 147.8, 1= 2.2, -16.9 r!unknown deviceResponse_: 05:11:16.2930 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.20,-0.669,-2.433,-0.603,-0.741, PHS= 0.174,-1.647, 0.094, RAW= 147.8, 15.3, CAL= 147.8, 1= 2.2, -16.9 rZ#Rx 45: Read range message, but no direction.y4Y44vchecking for new query: numPingsReceived=45, elapsed TxPingTime=22.459417Y5By5wIԑama imMb@Mb@Mb@iiii i9mQ?x&? rhYm\?ym7 >mC mAm@ i)mAiYmAbDVDyP% =ٔQ->9Y=Fy4E E >Q 5-D5*ߕ?Q 9-D5ll) BY-?Q E5:y5+żQ I5@qDIn;iu;D5yEBɮM AM;E}B*** querying acoustic contact ***iy iy addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503438 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 22.68 m.bhRhYZh Y ProNav: ac range: 22.684771 m, nav range: 21.762989 m, bearing: 351.644672 deg, approach rate: -0.591263 m/s, LOS rate: -0.190458 deg/s, cmd heading: 344.601704 deg, new cmd heading: 344.324755 deg. BhHeadingCmd: 6.009601 target range: 22.684771 and range: 22.80 m.hN@ha*ha"ha hagafafifmBdididqjdqZdu?颅XBɢ;) >i)gQ顑ifiO8s<žF=IN@Ichecking for new query: numPingsReceived=45, elapsed TxPingTime=22.695591A@ @@0@D zD E  E E &E "E U,;*E :VE 4ZE BE C$_,8?A2E@2@@2N=<ٱ2|G >AHRS rotation from veh to nav: [[0.970307,0.234872,0.057787],[-0.241600,0.952558,0.185104],[-0.011570,-0.193569,0.981018]]2H@ ?J?H?ο Z{?~? 籇ȿd?i2E@I2h^;2CYFByFgIbDRVDR1bDDAT read: Rx Time:05:11:16.7927 bTRx dataTimestamp_ set to:1761541878.016756fPDAT read: Bearing 155.5, -1.6 (Local) j~Local bearing/azimuth received: Bearing 155.5, -1.6 (Local) rDAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.5 ]DAT read: 05:11:16.7927 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.04,-2.306, 2.193,-2.246,-2.414, PHS= 0.210,-1.631, 0.124, RAW= 147.6, 14.3, CAL= 147.6, 15.7, ROT= 2.4, -15.7 eYgot valid direction response: 05:11:16.7927 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.04,-2.306, 2.193,-2.246,-2.414, PHS= 0.210,-1.631, 0.124, RAW= 147.6, 14.3, CAL= 147.6, 15.7, ROT= 2.4, -15.7 mT#Rx 46: Read range and direction messages.ya%R=ٔT8Q->9Y=Fy4EWE>Q 5 D5L?Q 9 D5l)BYydǼQ I@qDI$ibпb=b$@br>b$@ bK>)b+=IbK``b'>,y?x9v?"v]? b>)bxIb+=ibK`i`ib?AJibKA`checking for new query: numPingsReceived=46, elapsed TxPingTime=23.010246RibKAjib K@bbH2γo5@+,˵?m3ʂ@Rb|Tt??RlyQ?Zib+=bibKjbbu\[5@ <@ZbL*'?B k¿h ]?2ib=M:ibߪA"ib,4?*ibBibBi`ibib(BibCAibKG@M addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504005 s, deltaX: -0.400000 m, approachRate: -0.793642 m/s, rangeRepo size: 4 ] Added new target pos. range: 22.286633 m, bearing: 351.461454 deg, lat: 36.779338 deg, lon: -121.859618 deg, deltaT: 1.007443 s, deltaX: -0.398138 m, approachRate: -0.395197 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 22.29 m.bhaaRhZh ProNav: ac range: 22.286633 m, nav range: 21.533197 m, bearing: 351.435288 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 344.324753 deg, new cmd heading: 344.078980 deg. BhHeadingCmd: 6.005311 target range: 22.286633 and range: 22.40 m.h+@h*h"h hgf ffddd)jd-`ff6@Zd- J?[Bɢ°;) =i)9JiJݓiE%<%FS=I%+@I!ԑ?@ @@0@mchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.198961Թ ^A 4|E=E]  E] E] *EY "E] %;*E] :VE] (N4ZEY am @am @am @au @ A .AI9 Ia O >Юf,?A-;ɰ-4<U=@%8@<<ٱH %AHRS rotation from veh to nav: [[0.970053,0.235807,0.058240],[-0.242620,0.952064,0.186306],[-0.011516,-0.194857,0.980764]]H ?`.?ѭ? (ϿOw?? ȿkb?iU=@Iʽ^;CY5By5]IDDAT read: Rx Time:05:11:17.2926 TRx dataTimestamp_ set to:1761541878.520740PDAT read: Bearing 155.2, -1.9 (Local) ~Local bearing/azimuth received: Bearing 155.2, -1.9 (Local) DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.5 DAT read: 05:11:17.2926 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.09,-0.042,-1.831, 0.028,-0.156, PHS= 0.215,-1.630, 0.140, RAW= 147.9, 14.0, CAL= 147.9, 15.4, ROT= 2.1, -15.4 Ygot valid direction response: 05:11:17.2926 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.09,-0.042,-1.831, 0.028,-0.156, PHS= 0.215,-1.630, 0.140, RAW= 147.9, 14.0, CAL= 147.9, 15.4, ROT= 2.1, -15.4 T#Rx 47: Read range and direction messages.\direction in FSK: [0.963448,0.035328,0.265556]Fpublishing direction and range infoyOy?Ώ?<?YA )?I(\>iףп)\>4%@5z>4%@ >)Q =I颢.n?EJ?=&x? #>)zIQ =ichecking for new query: numPingsReceived=47, elapsed TxPingTime=23.467180BBBIBBB =BBBq;B.EBABABABABE =CEn5imMb@Mb@Mb@iiii i9mm??MbYm?ym>mmAm@ i)iiYmAbDVDyCؼ%=ٔ8ҸQ->9 ?Y ?=Fy4EE>Q 5D5* ?Q 9D5l)BY^?Q E:yAQ I@qDIg@h1*h1"h9 h9gafafafmBdididijdm@336@Zdu?_Bɢ)?;) =i ) jC  i/i=)=#<=c=IE>@IA}l>i}>Q  @  @ @ /@ @ @ E checking for new query: numPingsReceived=47, elapsed TxPingTime=23.705116ԁ bEc44jEc44rE̓/E% E%E!E!"E%&;*E%:VE!ZE!BE%i]Sӿ]F=]%@]%>]H%@ ]r>)]Pw9"?Y"?=Fy4EE>YY]%3?@j?v? ]u>)]3I]PwiCiH<ԣr=I׿@Ie@@i @i@i@iy checking for new query: numPingsReceived=48, elapsed TxPingTime=24.211004^A c=Ա E  E E &E "E /;*E :VE 4ZE a @a @a @a @A I IO>w,ݽ?ADDAT read: Rx Time:05:11:18.2922 TRx dataTimestamp_ set to:1761541879.534532%PDAT read: Bearing 157.5, -3.2 (Local) %~Local bearing/azimuth received: Bearing 157.5, -3.2 (Local) 5DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 B=<A9BABABEyIBEBBABABEDBE*r;BE%.E}DAT read: 05:11:18.2922 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.41, 0.759,-0.983, 0.851, 0.727, PHS= 0.134,-1.664, 0.081, RAW= 148.5, 16.1, CAL= 148.7, 17.9, ROT= 1.3, -17.9 Ygot valid direction response: 05:11:18.2922 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.41, 0.759,-0.983, 0.851, 0.727, PHS= 0.134,-1.664, 0.081, RAW= 148.5, 16.1, CAL= 148.7, 17.9, ROT= 1.3, -17.9 T#Rx 49: Read range and direction messages.\direction in FSK: [0.951349,0.021589,0.307357]Fpublishing direction and range infoy:stq?͑v?uY?Y̬AQ )?IL7 >iԿT=H%@ޏ>x&@ >)޹)FI޹9YYYԁ=Fy4EE>Q 5D5e@?Q 9D5m)˲BY ?Q E:ysQ I@qDIW;i};D5yBɮ A=Eii5⽿?AJiARiAji@bYFq4@?pֳ~k@R:stq?͑v?uY?Zi޹<bij[zS4@4=M > @Z hD?P|ÿarR?2ioR:iA"iN?*i/BiˍBi?i/iiAiV@ addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.505487 s, deltaX: -0.199999 m, approachRate: -0.395656 m/s, rangeRepo size: 4  Added new target pos. range: 21.490643 m, bearing: 350.811510 deg, lat: 36.779338 deg, lon: -121.859620 deg, deltaT: 0.505487 s, deltaX: -0.198994 m, approachRate: -0.393667 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.49 m.bhRhZh5 ProNav: ac range: 21.490643 m, nav range: 20.594656 m, bearing: 350.813105 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 343.492262 deg, new cmd heading: 343.152319 deg. Bh1=HeadingCmd: 5.989138 target range: 21.490643 and range: 21.60 m.h=@h9*h9"hA hAgAfAfIfMBdIdIdIjdU5@Zdu?fBɢ) 6=i)1;iϒig6< T=I@I  checking for new query: numPingsReceived=49, elapsed TxPingTime=24.715393 ?@  @ @ /@ E}  E} E} *Ey "E} *;*E} :VE} (N4ZEy BE} imϿm-2>mMQ%@mVh>m4%@ mr>)mQ =ImriiIO ?L,Ŭ?A?f?YJ?KT? +c>)hIQ =ir:checking for new query: numPingsReceived=50, elapsed TxPingTime=25.002861)E@E@EC<ٱEuNK }AHRS rotation from veh to nav: [[0.968816,0.240377,0.060129],[-0.247497,0.950432,0.188213],[-0.011907,-0.197226,0.980286]]EH`??Fɮ?`Ͽ`i?^?b>ɿ`^?iE@IEX_;ECYzByAIbDVDy\%6=ٔ-a:Q-->9)Y1=5Fy54E=97E=>Q 5D5V?Q 9D5$n)BYyQ I@qDIH;i ;D5y !Bɮ : A >EiiZ?AJiARiAji@bDZl4@R?;W?Ȣp@Ru?1%.?⩝?ZiQ =birjs H4@ j%o@Z.e ?:hĿpWΞ?2i8W:iAA"ip!?*ioBiBi,4?ihiBiAiv@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502269 s, deltaX: -0.400000 m, approachRate: -0.796385 m/s, rangeRepo size: 4   Added new target pos. range: 21.092669 m, bearing: 350.585702 deg, lat: 36.779339 deg, lon: -121.859620 deg, deltaT: 0.502269 s, deltaX: -0.397974 m, approachRate: -0.792352 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 21.09 m.bhRh1Zh9E ProNav: ac range: 21.092669 m, nav range: 20.452410 m, bearing: 350.772001 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 343.152310 deg, new cmd heading: 342.883752 deg. BhIMHeadingCmd: 5.984450 target range: 21.092669 and range: 21.20 m.hM@hQ*hQQ"hQ hqgqfyfyfydyddjd@335@Zd??jBɢhPG) =i),E9iymi󘾉<ȁ=I@I @ @@/@ checking for new query: numPingsReceived=50, elapsed TxPingTime=25.218880ԉԱ E  E E E "E 0;*E :VE ZE a @a @a @a @^A W^=A9 Ia I O >G,q ?AB%>B!B%`IB%BB!B!B%DB%r;B%u.E=DDAT read: Rx Time:05:11:19.2918 ETRx dataTimestamp_ set to:1761541880.547505MPDAT read: Bearing 156.2, -2.9 (Local) M~Local bearing/azimuth received: Bearing 156.2, -2.9 (Local) eDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 DAT read: 05:11:19.2918 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.03,-2.015, 2.502,-1.925,-2.085, PHS= 0.171,-1.652, 0.116, RAW= 148.5, 15.0, CAL= 148.6, 16.7, ROT= 1.4, -16.7 Ygot valid direction response: 05:11:19.2918 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.03,-2.015, 2.502,-1.925,-2.085, PHS= 0.171,-1.652, 0.116, RAW= 148.5, 15.0, CAL= 148.6, 16.7, ROT= 1.4, -16.7 T#Rx 51: Read range and direction messages.\direction in FSK: [0.957537,0.023402,0.287361]Fpublishing direction and range infoyAE_#?X(Μ?gd?YEAAAAA A)AIE/>iEtӿEh=EH%@E >E%@ E;>)E+)EdIE+99Y9==Fy=4EEEE>IQQ 5}E5Mek?Q 9}E5Mn)MBY ?Q E:y3۽Q I@MrDIMFJ?Q*'@RE_#?X(Μ?gd?ZiE+<biE;jEz3@ƪ *o@E4@ZEf'k?TPpĿа?2iEV:iEA"iEz?*iE m&BiEBiEz?iE=iEBiEAiE@ addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.510704 s, deltaX: -0.200001 m, approachRate: -0.391618 m/s, rangeRepo size: 4  Added new target pos. range: 20.893814 m, bearing: 350.406905 deg, lat: 36.779338 deg, lon: -121.859621 deg, deltaT: 0.510704 s, deltaX: -0.198854 m, approachRate: -0.389373 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.89 m.bhRhZh Ya؀G5}91Y5fAԁyD?AU ProNav: ac range: 20.893814 m, nav range: 20.135714 m, bearing: 350.529091 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 342.883747 deg, new cmd heading: 342.607625 deg. BhY]HeadingCmd: 5.979631 target range: 20.893814 and range: 21.00 m.he#Y@ha*ha"ha hagafafifmBdididqjdu5@Zdɍ?nBɢ T) @ܻi)29iᑼi%{k%<%`=I%#Y@I)checking for new query: numPingsReceived=51, elapsed TxPingTime=25.727388ԩ @@  @ @ /@ D} =D} R=E  E E 'E "E /;*E 8:VE '4ZE BE ʈi"9ȿ"u>"MQ%@" D>"$@ "PwV>)"l$=I"PwV "F??#Mn? "n>)"RDI"l$=i"PwV echecking for new query: numPingsReceived=52, elapsed TxPingTime=26.016029˹@@H<ٱaP AHRS rotation from veh to nav: [[0.966568,0.248462,0.063355],[-0.256119,0.947328,0.192284],[-0.012243,-0.202082,0.979292]]H@??@ 8?Bdп@P?? `ɿ\V?i˹@I_;CYaBy"I>=bD5VD5y=%E#=ٔE/:Q-E>9IY=Fy4EE>Q 5E5ق?Q 9E5o)BY!y-E5y=$Bɮ=AE?Ei i"C?AJi"ARi"Aji"u,I_?A]@]@]H<ٱ]PR AHRS rotation from veh to nav: [[0.965558,0.252043,0.064584],[-0.259898,0.945984,0.193820],[-0.012244,-0.203930,0.978909]]]H?z!??+п@E??`m`_ʿ8S?i]@I]4_;YAADDAT read: Rx Time:05:11:20.2915 %TRx dataTimestamp_ set to:1761541881.557655MPDAT read: Bearing 154.8, -1.7 (Local) M~Local bearing/azimuth received: Bearing 154.8, -1.7 (Local) ]DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 DAT read: 05:11:20.2915 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.31, 2.696, 0.899, 2.758, 2.572, PHS= 0.226,-1.628, 0.142, RAW= 147.7, 13.8, CAL= 147.6, 15.2, ROT= 2.4, -15.2 Ygot valid direction response: 05:11:20.2915 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.31, 2.696, 0.899, 2.758, 2.572, PHS= 0.226,-1.628, 0.142, RAW= 147.7, 13.8, CAL= 147.6, 15.2, ROT= 2.4, -15.2 T#Rx 53: Read range and direction messages.\direction in FSK: [0.964170,0.040411,0.262189]Fpublishing direction and range infoy،R{?,?;f$?Y3Aԡ )Ilg>iNbпsh>$@Ϣv>$@ ԇ>)+=Iԇj?T?x? Չ>)xvI+=iԇchecking for new query: numPingsReceived=53, elapsed TxPingTime=26.509190B>BBGIBBB =BBBr;B.EY%[By%IiMb@Mb@Mb@ 9?V-?I +Y ?yh=9A@ zA)YbDVDy%=ٔ6Q->9 ?Y ?=Fy4EE>Q 5 E5?Q 9E5p)BY?Q E:yQ I@*rDIbi!> checking for new query: numPingsReceived=53, elapsed TxPingTime=26.735670} @@y  @y @} 4@y @ =@ =) Ea  Ee Ee %Ea "Ea *Ee :VEe 4ZEa BEe i"ɿ"Mb> "%K>"$@ "f_>)"9=I"f_ "p9w?^# ?I)"9 "?Y "?= Fy 4EE>Q 5eE5 ?Q 9eE5q)BYayewQ Im@:rDIa&D,hy?ABDg@Bb@B)@<ٱBV JAHRS rotation from veh to nav: [[0.963380,0.259670,0.066856],[-0.267882,0.942967,0.197615],[-0.011728,-0.208288,0.977997]]BH ?`n?@{?$ѿ ,?rK?.ʿK?iBDg@IB>_;BC!Y=SBy=I 4<Be>BaDDAT read: Rx Time:05:11:21.2912 TRx dataTimestamp_ set to:1761541882.563457DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.5 Z#Rx 55: Read range message, but no direction.yYAchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.497353Be.IBekBBe =BaBaBer;Bex.EbDVDfy~D<%==ٔdQ->9Y=Fy4E+E>Q 5E5}Ɩ?Q 9E5r)BYykQ I@JrDI\;i;E5yɮA B*** querying acoustic contact ***i  i A] addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.506695 s, deltaX: -0.100000 m, approachRate: -0.197358 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 20.00 m.bhRhӹZhӹ ProNav: ac range: 19.998281 m, nav range: 19.218283 m, bearing: 350.403512 deg, approach rate: -0.563476 m/s, LOS rate: -0.023118 deg/s, cmd heading: 341.745237 deg, new cmd heading: 341.715033 deg. Bh}HeadingCmd: 5.964052 target range: 19.998281 and range: 20.00 m.hپ@h*h"h hgf ffd9d9d9jdE4@ZdE?颕zBɢy) i)0H项iice5 <р=Iپ@Ii@q @q@u3@qԙE checking for new query: numPingsReceived=55, elapsed TxPingTime=27.742716Թ ^A z=Iq I O >?,?AE* E*E*%E("E*);*E*:VE* 4ZE(BE*M2E*N9Y=Fy4E+E>Q 5%E5ږ?Q 9-E5s)~BY-c ?Q E-:y-3Q I-@YrDI. ;i ;E5y=4Bɮ=XA9jhaeDNOT Ignoring new targets: 20.00 m.bhaRhm}9Zhm}9} ProNav: ac range: 19.998281 m, nav range: 18.981730 m, bearing: 350.409299 deg, approach rate: -0.558422 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.715020 deg, new cmd heading: 341.732596 deg. Bh}:HeadingCmd: 5.964359 target range: 19.998281 and range: 20.00 m.hܾ@h*h"h hgfffhBdddjdZd@?ԩ}Bɢ') Xͽi) OMii==_<r=Iܾ@IUDDAT read: Rx Time:05:11:21.7909 UTRx dataTimestamp_ set to:1761541883.065197ePDAT read: Bearing 155.3, -1.2 (Local) e~Local bearing/azimuth received: Bearing 155.3, -1.2 (Local) }DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4  DAT read: 05:11:21.7909 LVL= 30336, 31329, 32754, 32755, AGC= 62, IDX= 510,-0.28, 2.731, 0.918, 2.769, 2.614, PHS= 0.218,-1.651, 0.111, RAW= 147.1, 14.4, CAL= 146.9, 15.9, ROT= 3.1, -15.9 Ygot valid direction response: 05:11:21.7909 LVL= 30336, 31329, 32754, 32755, AGC= 62, IDX= 510,-0.28, 2.731, 0.918, 2.769, 2.614, PHS= 0.218,-1.651, 0.111, RAW= 147.1, 14.4, CAL= 146.9, 15.9, ROT= 3.1, -15.9 T#Rx 56: Read range and direction messages.E\direction in FSK: [0.960334,0.052010,0.273959]MFpublishing direction and range infoyQU N?E'?ψ.?YUAQUvUazU Q)U>IUd;_>iUSӿUS=UO$@U>U$@ Uq>)Uk]=IUqQQ?@ @@/@@@fAUc@dH?DY$7?B? U>)UـIUk]=iUqQQchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.042809^Ae=IIOi>!  checking for new query: numPingsReceived=56, elapsed TxPingTime=28.246668 ,&վ?A;ɰ2$@2_@2fv3<ٱ2eW :AHRS rotation from veh to nav: [[0.961176,0.267421,0.068027],[-0.275720,0.940560,0.198304],[-0.010953,-0.209362,0.977777]]2H`?j?@j?`eѿ ? b?`n^ʿI?i2$@I2Ο_;2CYbUBybIbDjVDjpyvK=%vr=ٔvvQ-v?9xYx=zFyz4E~?E~?Q 5 E5p閊?Q 9 E5t)xBY y 7Q I @erDI:i:E5yɮAiiim0,ľ?AJim5ARim5Ajim@bmmz2@8%?kM/B@Rm N?E'?ψ.?Zimk]=bimqjm%.2@; v @Zm ];?;CĿ83?2imH:imQA"im?*imIDBimBim?imIDimBimlAim@m addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.501740 s, deltaX: -0.500000 m, approachRate: -0.996532 m/s, rangeRepo size: 4 } Added new target pos. range: 19.401281 m, bearing: 350.405200 deg, lat: 36.779340 deg, lon: -121.859621 deg, deltaT: 1.008435 s, deltaX: -0.597000 m, approachRate: -0.592007 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 19.40 m.bhRh%Zh!5 ProNav: ac range: 19.401281 m, nav range: 18.802794 m, bearing: 350.405221 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.732587 deg, new cmd heading: 341.746754 deg. Bh1]HeadingCmd: 5.964606 target range: 19.401281 and range: 19.50 m.h]޾@hY*hY"hY hYgafafafadididijdm3@Zdm`Z ?EM EMEM'EI"EM*;*EM*:VEM'4ZEIau@au@a}@a}@]Bɢe) i)OQi/i&<me=I޾@Ii@q @q@u/@yB<AB >B B !IB `BmDDAT read: Rx Time:05:11:22.2909 }TRx dataTimestamp_ set to:1761541883.573783PDAT read: Bearing 154.4, -0.9 (Local) ~Local bearing/azimuth received: Bearing 154.4, -0.9 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 -DAT read: 05:11:22.2909 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.02,-1.042,-2.854,-1.007,-1.181, PHS= 0.241,-1.627, 0.130, RAW= 147.0, 13.7, CAL= 146.8, 15.1, ROT= 3.2, -15.1 5Ygot valid direction response: 05:11:22.2909 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.02,-1.042,-2.854,-1.007,-1.181, PHS= 0.241,-1.627, 0.130, RAW= 147.0, 13.7, CAL= 146.8, 15.1, ROT= 3.2, -15.1 ET#Rx 57: Read range and direction messages.M\direction in FSK: [0.963967,0.053894,0.260505]MFpublishing direction and range infoyqu??QfJ0?Yqquuq q)u?Iuv>iuAпu>uY3$@uGt>u(#@ uV>)ud=IuVqquG?! Z10?X5o:k? u >)uuIud=iuVqqmchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.536390B B B B r;B q.EBBBB =BC4 ^Ae Pڀ=I I O ><*,N?Af@f@fw\1<ٱfW AHRS rotation from veh to nav: [[0.959974,0.271532,0.068702],[-0.279880,0.939432,0.197826],[-0.010825,-0.209136,0.977827]]fH`?`?y?ѿ? ZR?r+@ʿ [J?if@IfI_;fCYYBy5IiEMb@Mb@Mb@AAAA A9ES?&1?{GzYE?yEP=E#ESAA EA)EAAYEAyybDVDchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.750891y<%1=ٔ?Q->9Y=Fy4E:E>Q 5E5?Q 9E5.v)rBY?Q E:y$KQ I@urDI~ ;i ;E5y7BɮAKEiiܸ便?AJi6ARi6Aji@bgʳ2@.ݺ?Fs7@R??QfJ0?Zid=biVj+2@V u@Zm DDAT read: Rx Time:05:11:22.7906 m TRx dataTimestamp_ set to:1761541884.072623u PDAT read: Bearing 153.4, -0.1 (Local) } ~Local bearing/azimuth received: Bearing 153.4, -0.1 (Local)  DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4  DAT read: 05:11:22.7906 LVL= 28016, 32753, 31474, 32755, AGC= 62, IDX= 506, 0.37,-1.570, 2.883,-1.555,-1.746, PHS= 0.278,-1.609, 0.148, RAW= 146.5, 12.9, CAL= 146.2, 14.1, ROT= 3.8, -14.1  Ygot valid direction response: 05:11:22.7906 LVL= 28016, 32753, 31474, 32755, AGC= 62, IDX= 506, 0.37,-1.570, 2.883,-1.555,-1.746, PHS= 0.278,-1.609, 0.148, RAW= 146.5, 12.9, CAL= 146.2, 14.1, ROT= 3.8, -14.1  T#Rx 58: Read range and direction messages. \direction in FSK: [0.967740,0.064277,0.243615] Fpublishing direction and range infoyi m  aJ?/xt? .?Ym ̘Ai m pmi m z i )m >Im V>im Ϳm P>m _#@m f>m N#@ m d{>)m ԇ=Im d{i i m [?Qf?:/? m Y|>)m rfIm ԇ=im d{i i  checking for new query: numPingsReceived=58, elapsed TxPingTime=29.021486ԡ ;,?A>.ݸ@>׿@>d*<ٱ>xX JAHRS rotation from veh to nav: [[0.958742,0.275677,0.069395],[-0.284086,0.938072,0.198282],[-0.010436,-0.209815,0.977685]]>H? ?ñ?v.ҿ@?Ja? S_`7ʿ2I?i>.ݸ@I>+_;>CY^JBy^IbDfVDf:y%%%i=ٔ%Q-->9)Y)=-Fy-4E5iMEU>YQ 5eE5]C?Q 9eE5];w)]mBYiymOQ Im@]rDI]:i]:]"E5yJBɮAiiۥ?AJiARiAji@bEc2@:5?+>\@R aJ?/xt? .?Ziԇ=bid{jM.$J2@I xO@ZFK?AIſ1(cw?2iHJ:iQA"i~?*i5]BirBi5No?i5]iiAi@q addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.498840 s, deltaX: -0.400000 m, approachRate: -0.801860 m/s, rangeRepo size: 4  Added new target pos. range: 19.003424 m, bearing: 350.195475 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.498840 s, deltaX: -0.397976 m, approachRate: -0.797803 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.00 m.bhRhZh ProNav: ac range: 19.003424 m, nav range: 18.489880 m, bearing: 350.157565 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.766137 deg, new cmd heading: 341.781801 deg. Bh HeadingCmd: 5.965218 target range: 19.003424 and range: 19.10 m.h@h*h"h hgfffd!d!d!jd%3@Zd%:?颕Bɢ K;) i)[顙i'di̢<F=I@I}@@y @@0@ԩchecking for new query: numPingsReceived=58, elapsed TxPingTime=29.254967E  E E 'E "E C#;*E :VE '4ZE a @a @a @a @^A c=A >A >I I O > R=,!"?ABZ>BZCBZIBZVBBZ =BXBXBZr;BZ.E||EDDAT read: Rx Time:05:11:23.2904 MTRx dataTimestamp_ set to:1761541884.581180PDAT read: Bearing 154.0, -0.4 (Local) ~Local bearing/azimuth received: Bearing 154.0, -0.4 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 @^@-,<ٱWDAT read: 05:11:23.2904 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.14, 2.238, 0.415, 2.257, 2.088, PHS= 0.252,-1.628, 0.125, RAW= 146.5, 13.7, CAL= 146.3, 15.0, ROT= 3.7, -15.0 Ygot valid direction response: 05:11:23.2904 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.14, 2.238, 0.415, 2.257, 2.088, PHS= 0.252,-1.628, 0.125, RAW= 146.5, 13.7, CAL= 146.3, 15.0, ROT= 3.7, -15.0 T#Rx 59: Read range and direction messages.\direction in FSK: [0.963912,0.062333,0.258819]Fpublishing direction and range infoyAE6b^?*?V!}?  AHRS rotation from veh to nav: [[0.957708,0.279117,0.069927],[-0.287551,0.937253,0.197158],[-0.010509,-0.208928,0.977875]]H?@ ?? iENbпE>AEGt>E.k#@ E >)E A=IE AAE{?ehin?o$B:? E>)ET$tIE A=iE AAchecking for new query: numPingsReceived=59, elapsed TxPingTime=29.623857ieMb@Mb@Mb@aaaa a9eHzG?Dl?MbpYe= ?yeO=eeAe@ eA)eAaYe AbDVD0y%=ٔe 9Q->9Y=Fy4EӻE>Q 5 E5p(?Q 9E5x)fBY^ ?Q E5:y5,Q I=@rDI;i;'E5yEMBɮE0AELEiAiE2%?AJiEARiEAjiE@bE*ж2@?/Yp]@RE6b^?*?V!}?ZiE A=biE jEn8{1@w, {^]4J4@ZE&4?n_)wſKU|լn?2iEH:iEsA"iE<?*iE9<BiEBiE<?iE9<iEBiEAiE@  addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.508557 s, deltaX: -0.300001 m, approachRate: -0.589907 m/s, rangeRepo size: 4 u Added new target pos. range: 18.705156 m, bearing: 350.076023 deg, lat: 36.779341 deg, lon: -121.859623 deg, deltaT: 0.508557 s, deltaX: -0.298267 m, approachRate: -0.586497 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 18.71 m.bhqRhyZhy ProNav: ac range: 18.705156 m, nav range: 18.203947 m, bearing: 350.076044 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.781792 deg, new cmd heading: 341.804569 deg. BhHeadingCmd: 5.965615 target range: 18.705156 and range: 18.80 m.hR@h*h"h hgfffBdddjd2@Zd@]?5Bɢ=P1)9 =i9)=d99iE#checking for new query: numPingsReceived=59, elapsed TxPingTime=29.758549iE n< ;=I R@I ) @  @ @ /@ Y E  E E (E "E );*E 8:VE c44ZE BE MiտE=.k#@G\>1#@ ޏ>)'g=Iޏ_?1XEo?Cޯ2? >)FI'g=iޏbchecking for new query: numPingsReceived=60, elapsed TxPingTime=30.060011qY JBy IbDUVDU0ybH<%%=ٔQ->9 ?Y ?=Fy4EE>Q 5E5>?Q 9E5y)`BYyQ I@rDI:;i%;,E5yPBɮ2AMEiiPE?AJi ARi AjiQ@b(91@*oY?_T~73@Rϭy?O?/?Zi'g=biޏjPr1@_xk%OQ@Zm?shqĿ%}?2i)=:i{A"i__?*i}BisBi__?i5]idBiAi@ԙ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.505692 s, deltaX: -0.199999 m, approachRate: -0.395495 m/s, rangeRepo size: 4  Added new target pos. range: 18.506166 m, bearing: 350.512210 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.505692 s, deltaX: -0.198990 m, approachRate: -0.393500 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.51 m.bhRhZh ProNav: ac range: 18.506166 m, nav range: 17.948978 m, bearing: 350.167813 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.804577 deg, new cmd heading: 341.824522 deg. Bh HeadingCmd: 5.965963 target range: 18.506166 and range: 18.60 m.h ,@h *h "h  hgff9f9d9d9d9jdE2@ZdE>?颥Bɢ|:)T> i)JKl顩i싼ij<r;=I,@Ichecking for new query: numPingsReceived=60, elapsed TxPingTime=30.263744i@i @i@u/@qE  E E )E "E %;*E L:VE FA4ZE a @a @a @a @ ^A ;=A ؟AAAAAAB->B-CB)B)B- =B)B-DB-r;B-.EIDDAT read: Rx Time:05:11:24.2901 TRx dataTimestamp_ set to:1761541885.591169PDAT read: Bearing 156.0, -0.8 (Local)  ~Local bearing/azimuth received: Bearing 156.0, -0.8 (Local) =DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.5 DAT read: 05:11:24.2901 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501, 0.33,-1.882, 2.600,-1.868,-1.969, PHS= 0.189,-1.670, 0.056, RAW= 146.3, 15.7, CAL= 146.2, 17.2, ROT= 3.8, -17.2 %Ygot valid direction response: 05:11:24.2901 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501, 0.33,-1.882, 2.600,-1.868,-1.969, PHS= 0.189,-1.670, 0.056, RAW= 146.3, 15.7, CAL= 146.2, 17.2, ROT= 3.8, -17.2 -T#Rx 61: Read range and direction messages.I9OU?,%h?AJw@R\direction in FSK: [0.953178,0.063310,0.295708]RFpublishing direction and range infoyYSuo?͍5?-?YA )I7A>iտB`e=K>N#@ `>)ԇ=I`!̬沝?"NS?EH? [:>)<Iԇ=i`Jr@J S2<ٱJeV jAHRS rotation from veh to nav: [[0.955155,0.287299,0.071675],[-0.295905,0.935021,0.195386],[-0.010884,-0.207833,0.978104]]JH ?c?@RY? ҿ?@g? GJ@Eʿ@L?iJw@IJ_;H~checking for new query: numPingsReceived=61, elapsed TxPingTime=30.602200YNBGy IEG{9AYEdAiMb@Mb@Mb@ 9/$?sh|??9"?Y"?=Fy4E%TE%>IiQ 5uE5mY?Q 9uE5m{)mTBYu?Q E}:y}(Q I}@mrDIm;imI;m0E5yTBɮ.Aiie?AJiAARiAAji.@b@,1@fs>?wqY@RYSuo?͍5?-?Ziԇ=bi`jг{1@QNJ@Z d?@PS;!ſ>?2iwB:i݋A"i vN?*i| BiBi~?i| iikAi@U addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504297 s, deltaX: -0.100000 m, approachRate: -0.198297 m/s, rangeRepo size: 4  Added new target pos. range: 18.406923 m, bearing: 350.140569 deg, lat: 36.779341 deg, lon: -121.859623 deg, deltaT: 0.504297 s, deltaX: -0.099243 m, approachRate: -0.196795 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.41 m.bhRhZh ProNav: ac range: 18.406923 m, nav range: 17.677322 m, bearing: 350.102297 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.824521 deg, new cmd heading: 341.847863 deg. BhHeadingCmd: 5.966371 target range: 18.406923 and range: 18.50 m.h@h*h"h hgfffBdddchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.766861jd2@Zd g?UBɢU1)y }`iy)}uyiX!i5#<ra=I@Ix>i>yU?@Q @Q@U/@Q@Y@YE  E E (E "E /;*E :VE c44ZE BE ʈ,M?A T#Rx 62: Read range and direction messages.\direction in FSK: [0.951276,0.068188,0.300706]Fpublishing direction and range infoyQUȱp?+:t?->?YUAQQQQ Q)QIUp=>iU+ֿU 0=U1#@Uq>U"@ Ua>)UC=IUaQQU,+ ?. ?BYp? Un>)UNIUC=iUaQQBchecking for new query: numPingsReceived=62, elapsed TxPingTime=31.076885~j@~ee@~G3<ٱ~VRU mAHRS rotation from veh to nav: [[0.954669,0.288888,0.071772],[-0.297468,0.934759,0.194262],[-0.010970,-0.206806,0.978320]]~H?`#}?_?` ӿ?`?`kwxʿfN?i~j@I~n`;~CYPBy IbDVDk2yEf4<%M==ٔM(Q9Q-M>9QYQ=UFyU4EUxEU>aQ 5eE5e)m?Q 9mE5e,|)eLBYiym"*Q Im@erDIe :ie:e4E5yqɮ}AyiQiU…?AJiUFARiUFAjiUP@bUo6m 1@!nU?|J5@RUȱp?+:t?->?ZiUC=biUajUǗO1@G Ya&,Q@ZUWg6a?+gĿ*A?2iUT8:iUA"iU ?*iU=BiUBiU__?iU5]iUsBiUAiUe@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.498842 s, deltaX: -0.500000 m, approachRate: -1.002321 m/s, rangeRepo size: 4  Added new target pos. range: 17.909439 m, bearing: 350.386287 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.498842 s, deltaX: -0.497484 m, approachRate: -0.997278 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.91 m.bhRhZh ProNav: ac range: 17.909439 m, nav range: 17.388008 m, bearing: 350.156073 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.847853 deg, new cmd heading: 341.865086 deg. BhHeadingCmd: 5.966671 target range: 17.909439 and range: 18.00 m.h@h*h"h hgfffdddjd2@Zd ~?]Bɢ]eC)Y ]ia)e{aaienimmVE-  E- E- *E) "E- C#;*E- *:VE- (N4ZE) aU @aU @aU @aU @ԁ ,?AB|]@BLX@B4<ٱB"S JAHRS rotation from veh to nav: [[0.954191,0.290493,0.071644],[-0.298994,0.934631,0.192527],[-0.011033,-0.205129,0.978673]]BH`?n?`EW?"ӿ@?`?`@AʿIQ?iB|]@IB2a;BCYVNByV IbD^VD^yrn%vf=ٔz99Q-z>9Y = Fy 4EB9B9B9B9B= =B9B9B=r;B=.EDDAT read: Rx Time:05:11:25.2897  TRx dataTimestamp_ set to:1761541886.597102-PDAT read: Bearing 154.9, 0.0 (Local) 5~Local bearing/azimuth received: Bearing 154.9, 0.0 (Local) mDAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 DAT read: 05:11:25.2897 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.08,-2.586, 1.838,-2.593,-2.720, PHS= 0.236,-1.680, 0.082, RAW= 145.9, 14.6, CAL= 145.6, 16.0, ROT= 4.4, -16.0 Ygot valid direction response: 05:11:25.2897 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.08,-2.586, 1.838,-2.593,-2.720, PHS= 0.236,-1.680, 0.082, RAW= 145.9, 14.6, CAL= 145.6, 16.0, ROT= 4.4, -16.0 T#Rx 63: Read range and direction messages. \direction in FSK: [0.958429,0.073747,0.275637]Fpublishing direction and range infoyAr?8u? ?Y3A )@Iq>i= ׿="@w>"@ 5>)nF=I5|O??a?{I,? '>)@˂InF=i5KEU>YQ 5eE5]ǁ?Q 9mE5]C})]BBYiy+Q I@]rDI]);i];]l8E5yWBɮKANEchecking for new query: numPingsReceived=63, elapsed TxPingTime=31.582119ii6?AJizARizAji@b)v1@?/?ip@RAr?8u? ?ZinF=bi5jyY1@[ɶr8b@Ztr ?sſX?=?2i;:i*A"ic?*i/[BiBii/[iiAi@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.507091 s, deltaX: -0.100000 m, approachRate: -0.197204 m/s, rangeRepo size: 4  Added new target pos. range: 17.809973 m, bearing: 350.229534 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.507091 s, deltaX: -0.099466 m, approachRate: -0.196151 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 17.81 m.bh Rh Zh- ProNav: ac range: 17.809973 m, nav range: 17.139818 m, bearing: 350.153792 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.865093 deg, new cmd heading: 341.884186 deg. Bh)5HeadingCmd: 5.967005 target range: 17.809973 and range: 17.90 m.h5@h9*h9"h9 h9g9fffdddjd`f1@Zd@?9uBɢu{G)q uiq)Ɓ顙iƉim⡾<j@=I@Iy  checking for new query: numPingsReceived=63, elapsed TxPingTime=31.774899 (! @!  @) @- 4@) ԙ EM  EM EI EI "EM 1;*EM S:VEI ZEI BEM ['}OJ?t3?v9s?YĚAAAAA A)AIE #>iEտEDA EƇ>)AIEƇAAE-)?4ı?n2n? E.>)EIAiEƇAA-checking for new query: numPingsReceived=64, elapsed TxPingTime=32.056789A-.AI9IIO]"?,ʿ?A,.@*K@E@><ٱN 5AHRS rotation from veh to nav: [[0.953514,0.292804,0.071255],[-0.301125,0.934917,0.187759],[-0.011641,-0.200488,0.979627]]H@/?M?=?`Eӿ?}? Sׇ@ɿY?i*K@I.Kb;CYEWByMIQQiUMb@Mb@Mb@QQQQ Q9UMbX?EԸ?y&1YU ?yU=U`eUAU$@ UA)U AQYUA p<4<ԹbDVDfy7<%<ٔc:Q->9 ?Y ?=Fy4ERE>Q 5 E5U?Q 9 E5~~)6BY  ?Q E :y  Q I@rDI;i;=E5y]ZBɮ]A]OEiiim/ƿ?AJimARimAjim@bm10680@0}h?{o@Rm>'}OJ?t3?v9s?ZiibimƇjm`O0@%j"=oB@ZmljGH?e'.S9Ŀ ?2im1:imA"im?*imsDBim8Bim?im=imBimpAim@ addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.499563 s, deltaX: -0.299999 m, approachRate: -0.600523 m/s, rangeRepo size: 4  Added new target pos. range: 17.511482 m, bearing: 350.521251 deg, lat: 36.779341 deg, lon: -121.859621 deg, deltaT: 0.499563 s, deltaX: -0.298491 m, approachRate: -0.597503 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.51 m.bhRh!Zh!U ProNav: ac range: 17.511482 m, nav range: 16.805075 m, bearing: 350.436615 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.884190 deg, new cmd heading: 341.909274 deg. BhQ]HeadingCmd: 5.967443 target range: 17.511482 and range: 17.60 m.h]J@hY*hY"ha hagafafifmBdididijdu1@Zd?Bɢ\./) 0i)X!i1숼i<=IJ@Ichecking for new query: numPingsReceived=64, elapsed TxPingTime=32.279587 9E]  EY E] )EY "E] +$;*EY VE] FA4ZEY am @am @am @am @i @  @ @ 0@ Bu <Aq ԁ B >B CB B B B B DB r;B .Em DDAT read: Rx Time:05:11:26.2893 u TRx dataTimestamp_ set to:1761541887.605151 PDAT read: Bearing 153.4, 1.0 (Local) ~Local bearing/azimuth received: Bearing 153.4, 1.0 (Local) EDAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 ^A5]=ԱDAT read: 05:11:26.2893 LVL= 31712, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.25,-1.303, 3.097,-1.331,-1.497, PHS= 0.296,-1.644, 0.121, RAW= 145.3, 13.1, CAL= 145.0, 14.3, ROT= 5.0, -14.3 Ygot valid direction response: 05:11:26.2893 LVL= 31712, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.25,-1.303, 3.097,-1.331,-1.497, PHS= 0.296,-1.644, 0.121, RAW= 145.3, 13.1, CAL= 145.0, 14.3, ROT= 5.0, -14.3 T#Rx 65: Read range and direction messages.\direction in FSK: [0.965328,0.084455,0.246999]Fpublishing direction and range infoyi m L??ܞ?⩝?Ym fAi m {i i i )m ?Im P>im nҿm =m :M"@m  j>m p!@ m r>)m ¸=Im ri i m s +?Sb^?:>? m I>)m GjIm ¸=im ri i checking for new query: numPingsReceived=65, elapsed TxPingTime=32.638042Ae؟AIiIO?AM,0g￿?AQYSByIiMb@Mb@Mb@ 9V-?bX9ȶ?Zd;OYh?yE=jA )YAbD VD:2y_%=ٔQ->9"?Y"?=Fy4EE>Q 5E5{?Q 9E5)(BYL?Q E:yB%Q I@sDI%=E% E%E%*E!"E%U,;*E%:VE%(N4ZE!BE%i5 ؿ5 T=5 1#@5 A>5 4"@ 5 Ð>)5 Q =I5 Ð1 1 5 E^?S.?OC.Z? 5 y>)5 HI5 Q =i5 Ð1 1  checking for new query: numPingsReceived=66, elapsed TxPingTime=33.114410^Au =1A.AIIchecking for new query: numPingsReceived=66, elapsed TxPingTime=33.286755O?u, ?AR8@R3@RF<ٱRH ZAHRS rotation from veh to nav: [[0.952833,0.295225,0.070368],[-0.303254,0.935387,0.181905],[-0.012118,-0.194664,0.980795]]RH@}?@??@hӿ?H?`Vш`ȿb?iR8@IRWc;RCYfOByf Ij=j=llbDrVDr yz}%z=ٔz_:Q-z>9~ ?Y~ ?=~Fy~4E~:E> Q 5E5 !ԗ?Q 9E5 >) BYy'Q I@ sDI :i p: GE5y%aBɮ%A-PEii?AJiARiAji9I@bn&0@|j0?Ē"Q@R;û{?ZA(??ZiQ =biÐj}j/@w4@qaC@Z֪>Iv~?|E0BƿD!?2i::i~A"ie?*i%BiBi?iiBicAi@u addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.502303 s, deltaX: -0.500000 m, approachRate: -0.995415 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 16.715210 m, bearing: 349.658282 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.502303 s, deltaX: -0.497477 m, approachRate: -0.990391 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.72 m.bhRhZh ProNav: ac range: 16.715210 m, nav range: 16.173740 m, bearing: 350.103876 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.932930 deg, new cmd heading: 341.955390 deg. BhHeadingCmd: 5.968247 target range: 16.715210 and range: 16.80 m.h@h*h"h hgfffdddjd0@Zd@BCBIB[BB =BBBr;B|.EBCBCBB =B =Cv5DDAT read: Rx Time:05:11:27.2889  TRx dataTimestamp_ set to:1761541888.618559]PDAT read: Bearing 155.2, -0.3 (Local) m~Local bearing/azimuth received: Bearing 155.2, -0.3 (Local)  DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 e DAT read: 05:11:27.2889 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.29, 2.891, 1.036, 2.893, 2.768, PHS= 0.225,-1.687, 0.082, RAW= 146.1, 14.8, CAL= 145.9, 16.2, ROT= 4.1, -16.2 ^A Nw = Ygot valid direction response: 05:11:27.2889 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.29, 2.891, 1.036, 2.893, 2.768, PHS= 0.225,-1.687, 0.082, RAW= 146.1, 14.8, CAL= 145.9, 16.2, ROT= 4.1, -16.2  T#Rx 67: Read range and direction messages. \direction in FSK: [0.957836,0.068659,0.278991] Fpublishing direction and range infoy3ٗ?02??YA )?Ifff>i׿="@ )C=I )?vKyD?#k]? >)cIC=iU checking for new query: numPingsReceived=67, elapsed TxPingTime=33.626320 A ؟AI I O >֕ ,0?AB4@B/@BxJ<ٱBG NAHRS rotation from veh to nav: [[0.952678,0.295753,0.070244],[-0.303729,0.935521,0.180411],[-0.012358,-0.193209,0.981080]]BH`W|?`??Kpӿ??@N`ȿ`e?iB4@IBc;BCYvMByz Ii]Mb@Mb@Mb@YYYY Y9]|?5^?kt?I +Y] ?y] =]9]=A]Q@ ]A)] AYY]AbDmVDm:2y*%3=ٔ :Q->9"?Y"?=Fy4ErE>Q 5E5闊?Q 9E5Z)BY?Q E:y(Q I@*sDI:iH:KE55checking for new query: numPingsReceived=67, elapsed TxPingTime=33.794758yɮAi9i=x'?AJi=ARi=Aji=3@b=hĤw/@n{@?\؊@R=3ٗ?02??Zi=C=bi9j=_U/@V7qy@Z= +z?xemƿ<Ǵx?2i=;:i=2}A"i=,] ?*i=DmBi=Bi=c?i=ݻi=Bi=9Ai=a@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.511105 s, deltaX: -0.099998 m, approachRate: -0.195652 m/s, rangeRepo size: 4 M Added new target pos. range: 16.615553 m, bearing: 349.509396 deg, lat: 36.779342 deg, lon: -121.859623 deg, deltaT: 0.511105 s, deltaX: -0.099657 m, approachRate: -0.194984 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 16.62 m.bhQRhQZhQ ProNav: ac range: 16.615553 m, nav range: 16.027914 m, bearing: 350.113994 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.955388 deg, new cmd heading: 341.975641 deg. BhHeadingCmd: 5.968601 target range: 16.615553 and range: 16.70 m.h@h*h"h hgfffBdddjd@30@Zd@?)-Bɢ5Lh)Y eii)uqi3Ii5\ <ji ^ٿ Y= .k#@ 0> 1#@ #>) 'g=I # "k-?U{P?q9j? C>) cI 'g=i #  checking for new query: numPingsReceived=68, elapsed TxPingTime=34.079914^A <ԩA.AIIO >,"P?An.@na)@nJ<ٱnviE zAHRS rotation from veh to nav: [[0.952448,0.296572,0.069912],[-0.304449,0.935598,0.178796],[-0.012384,-0.191578,0.981399]]nHtz?@??|ӿj?? \ȿ@g?in.@In@c;nCY%CBy%IbD1VD1yE%%E6=ٔMrw8Q-M>9M ?Yu ?=uFyu5EuںE}>yQ 5E5}b?Q 9E5}q)}BYyx)Q I@}:sDI}K:i};}OE5yeBɮ AQEiqiuG?AJiuARiuAjiu_.@bu.w.@ 4?>_%,@RuWI{?)^s̟?+0?Ziu'g=biu#ju|.@NEbp@@Zu5Q|2OP? 'QKƿBv ?2iu5:iuLtA"iu ?*iuBiuBiu?iu%iqiu{AiuE@E addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.500249 s, deltaX: -0.500000 m, approachRate: -0.999502 m/s, rangeRepo size: 4 u Added new target pos. range: 16.118080 m, bearing: 349.470489 deg, lat: 36.779341 deg, lon: -121.859624 deg, deltaT: 0.500249 s, deltaX: -0.497473 m, approachRate: -0.994450 m/s, posRepo size: 4 jhy}DNOT Ignoring new targets: 16.12 m.bhyRhZh ProNav: ac range: 16.118080 m, nav range: 15.687768 m, bearing: 349.632833 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.975633 deg, new cmd heading: 341.993599 deg. BhHeadingCmd: 5.968915 target range: 16.118080 and range: 16.20 m.hY@h*h"h hgfffdddjd@330@ZdGS?=Bɢ=)9 E.iA)Eqiaaie~im蠾mA0B B IB VBB B B B r;B q.Em DDAT read: Rx Time:05:11:28.2885  TRx dataTimestamp_ set to:1761541889.628897A ؟AI I a O >,:m?APDAT read: Bearing 153.0, 1.0 (Local) ~Local bearing/azimuth received: Bearing 153.0, 1.0 (Local) DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.5 %DAT read: 05:11:28.2885 LVL= 27216, 32753, 28978, 32755, AGC= 63, IDX= 502, 0.02,-2.745, 1.647,-2.767,-2.956, PHS= 0.313,-1.635, 0.146, RAW= 145.6, 12.5, CAL= 145.2, 13.7, ROT= 4.8, -13.7 -Ygot valid direction response: 05:11:28.2885 LVL= 27216, 32753, 28978, 32755, AGC= 63, IDX= 502, 0.02,-2.745, 1.647,-2.767,-2.956, PHS= 0.313,-1.635, 0.146, RAW= 145.6, 12.5, CAL= 145.2, 13.7, ROT= 4.8, -13.7 qT#Rx 69: Read range and direction messages.\direction in FSK: [0.968142,0.081297,0.236838]Fpublishing direction and range infoy n?Ȩvϴ?4ӋHP?ỲAPj2q )?IA>iGѿ>"@f_>0"@ Gt>)=IGt-@(@DGK<ٱXB!@-??⑦? jr>)`I=iGtchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.706882 AHRS rotation from veh to nav: [[0.952421,0.296824,0.069203],[-0.304532,0.936020,0.176430],[-0.012407,-0.189110,0.981878]]H`9"?Y "?= Fy 5E 'E >Q 5E5?Q 9EE5)BYE?Q EE:yE|@Q IE@NsDI;i;kTE5yMhBɮU"AUREii?h?AJi%ARi%Aԡji>@bVKm2/@b?бY@R n?Ȩvϴ?4ӋHP?Zi=biGtjА.@;y٫ZyJ @Z ?%BƿB?2ig5:ivA"i++?*i#^BiׇBi,] ?iiBilxAiL@checking for new query: numPingsReceived=69, elapsed TxPingTime=34.802895 addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.510089 s, deltaX: -0.100000 m, approachRate: -0.196045 m/s, rangeRepo size: 4  Added new target pos. range: 16.018518 m, bearing: 349.583950 deg, lat: 36.779343 deg, lon: -121.859624 deg, deltaT: 0.510089 s, deltaX: -0.099562 m, approachRate: -0.195185 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.02 m.bhRh9Zh9} ProNav: ac range: 16.018518 m, nav range: 15.526485 m, bearing: 349.683264 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.993610 deg, new cmd heading: 342.016225 deg. BhyHeadingCmd: 5.969309 target range: 16.018518 and range: 16.10 m.h@h*h"h hgfffBdddjd0@Zd@U? Bɢ [y)  1i)5𱟻99iEi}YD<1i yֿ l= N#@ Ulx> "@ ԇ>) C=I ԇ e'A\?-Ff?gqq? >) `xI C=i ԇ  checking for new query: numPingsReceived=70, elapsed TxPingTime=35.103134aA.AI IO%>.#,2Y?Ab+@b}&@b#H<ٱb@ AHRS rotation from veh to nav: [[0.952342,0.297237,0.068517],[-0.304785,0.936279,0.174607],[-0.012251,-0.187168,0.982251]]bHy??N?@ӿ@?@Y?@"ǿn?ib+@Ibb;`Y9y=IbDuVDuJy};%C=ٔ¹Q->9 ?Y ?=Fy 5E+&E>Q 5E5\+?Q 9E5)BYy@Q I@]sDI:id:XE5yɮAii?AJiVxARiVxAji1@b(%-@Wa"?Z=G@RfQ.?Qz5X?;f$?ZiC=biԇjf>V-@q,?]8 @Zz?bx:lǿL>[?2i5:i2mA"i1 ?*ixBiBie?iDmiinrAi;$@q addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.497446 s, deltaX: -0.500000 m, approachRate: -1.005134 m/s, rangeRepo size: 4  Added new target pos. range: 15.521049 m, bearing: 349.154488 deg, lat: 36.779341 deg, lon: -121.859625 deg, deltaT: 0.497446 s, deltaX: -0.497469 m, approachRate: -1.000046 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.52 m.bhRhZh% ProNav: ac range: 15.521049 m, nav range: 15.151981 m, bearing: 349.399557 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.016231 deg, new cmd heading: 342.033878 deg. Bh!-HeadingCmd: 5.969617 target range: 15.521049 and range: 15.60 m.h-@h)*h)"h1 h1g1f1f9f9d9d9d9jdE@33/@Zde`X?颭Bɢ̒) 3i)!ii󋠾R<JBy B} IB} QBB} =By By B} r;B} p.EI I O > R),*?AfDDAT read: Rx Time:05:11:29.2882 jTRx dataTimestamp_ set to:1761541890.636859zPDAT read: Bearing 155.3, 0.1 (Local) ~Local bearing/azimuth received: Bearing 155.3, 0.1 (Local) 5DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.5 DAT read: 05:11:29.2882 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.28,-2.664, 1.728,-2.668,-2.802, PHS= 0.240,-1.708, 0.091, RAW= 146.0, 14.5, CAL= 145.8, 15.9, ROT= 4.2, -15.9  Ygot valid direction response: 05:11:29.2882 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.28,-2.664, 1.728,-2.668,-2.802, PHS= 0.240,-1.708, 0.091, RAW= 146.0, 14.5, CAL= 145.8, 15.9, ROT= 4.2, -15.9 eT#Rx 71: Read range and direction messages. mi>qcGM,9QYUdpA\direction in FSK: [0.959159,0.070436,0.273959]Fpublishing direction and range infoydfDu=m?,M?ψ.?Yddddd d)f>Ifu>ifڿf5^=fe#@f>f4"@ fq>)fQ =IfqddfiD?;[7?.Ѱ? f>)f߁IfQ =ifqddchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.676025YIByII <) =iMb@Mb@Mb@ 9K7? rh?QY ?yC=u&A@ )AY3AbDVDy~<% =ٔQ->9"?Y "?= Fy 5E E >Q 5]E5@E?Q 9]E5)BYe ?Q Ee:yeCQ Ie@qsDIK(2@RfDu=m?,M?ψ.?ZifQ =bifqjfRم-@;`+[C>Q@Zfn@=?>:ƿ]@?2if]1:iflA"ifk#?*if|Bif݈Bif,] ?if#^if݈BifoAif2@ addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.510516 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 15.521088 m, bearing: 349.389758 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.510516 s, deltaX: 0.000038 m, approachRate: 0.000075 m/s, posRepo size: 4 =checking for new query: numPingsReceived=71, elapsed TxPingTime=35.810749jhDNOT Ignoring new targets: 15.52 m.bhRhZh ProNav: ac range: 15.521088 m, nav range: 14.987087 m, bearing: 349.501511 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.033880 deg, new cmd heading: 342.057945 deg. BhHeadingCmd: 5.970037 target range: 15.521088 and range: 15.60 m.h @h*h"h hgfffBdddjdZd@?) 颕 Bɢ Vw) t.i )  i i T nciֿ#="@:Fq>"@  A>)nF=I AE~?^Cn4?P$? >)nSqInF=i Achecking for new query: numPingsReceived=72, elapsed TxPingTime=36.084480^A<ԱAIIO?(3,?Aɰ491Y9==Fy=5E=5E=>AQ 5E5EX?Q 9E5Eو)E߱BYyCQ I@EsDIEUxB B IB LBB =B B DB r;B r.E^A <U DDAT read: Rx Time:05:11:30.2876 U TRx dataTimestamp_ set to:1761541891.636783e PDAT read: Bearing 156.2, -0.2 (Local) e ~Local bearing/azimuth received: Bearing 156.2, -0.2 (Local) u DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.5  DAT read: 05:11:30.2876 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.33, 1.003,-0.891, 1.004, 0.887, PHS= 0.217,-1.733, 0.073, RAW= 146.2, 15.2, CAL= 146.0, 16.6, ROT= 4.0, -16.6  Ygot valid direction response: 05:11:30.2876 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.33, 1.003,-0.891, 1.004, 0.887, PHS= 0.217,-1.733, 0.073, RAW= 146.2, 15.2, CAL= 146.0, 16.6, ROT= 4.0, -16.6  T#Rx 73: Read range and direction messages. \direction in FSK: [0.955988,0.066849,0.285688] Fpublishing direction and range infoyQ U N̋vt?KyC?WԷH?YU 3kAQ U Q U  Q )U =IU ?5^>iU ݿU =U N#@U ԇ>U e#@ U V>)U 5=Q IU VQ Q U ]G?njE?F`+^j? U !">)U IU 5=iU VQ Q  checking for new query: numPingsReceived=73, elapsed TxPingTime=36.616138A}.AIIO>:,?A~*@~$@~=<ٱ~;ԡ  AHRS rotation from veh to nav: [[0.952290,0.297885,0.066402],[-0.304976,0.937058,0.170034],[-0.011572,-0.182172,0.983199]]~H@(y???ӿa? ?@jQǿ\v?i~*@I~+b;~CY]@By]IiMb@Mb@Mb@ 9w/?333333?I +Y?y=94=A~@ 3A) AYAbDVD0y%=ٔ> Q->9 ?Y ?=Fy5E_7E>!Q 5%E5%r?Q 9-E5%@)%ֱBY-L?Q E-:yM2Q IU@%sDI%`;i% ;%eE5y]rBɮ]A]TEi i ?AJi jARi jAji @b ي+@_I?D򪡶@R N̋vt?KyC?WԷH?Zi 5=bi Vj ~V+@Ҝi\%@Z :X`?s\;ǿ}M}?2i (:i "^A"i b ?*i 2=Bi ɈBi i i i fAi |@ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.501054 s, deltaX: -0.500000 m, approachRate: -0.997896 m/s, rangeRepo size: 4  Added new target pos. range: 14.625556 m, bearing: 349.243441 deg, lat: 36.779342 deg, lon: -121.859625 deg, deltaT: 0.501054 s, deltaX: -0.497555 m, approachRate: -0.993016 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 14.63 m.Uchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.822849bhiRhiZhi} ProNav: ac range: 14.625556 m, nav range: 14.422551 m, bearing: 349.317416 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.076064 deg, new cmd heading: 342.099551 deg. BhyHeadingCmd: 5.970764 target range: 14.625556 and range: 14.70 m.h@h*h"h hgfffBdddjd`ff-@ZdL0?EBɢE Z)I MGiI)MXIIiMUiu}z<}i d;߿ %= Ƈ#@ 'g> .k#@ `>) A=I ` Gaz?o v?!@-k9? j>) I A=i ` ] checking for new query: numPingsReceived=74, elapsed TxPingTime=37.086761Q^AuM<AIIO ?YD,(?A@2.@2)@2{9<ٱ27; RAHRS rotation from veh to nav: [[0.952476,0.297403,0.065891],[-0.304404,0.937323,0.169599],[-0.011322,-0.181597,0.983308]]2H`z?@?<ް?Z{ӿ?n?/@>ǿ Bw?i2.@I2gb;`2CYM;ByMIbD]VD]ym%m-=ٔu Q-u>9qYq=}Fy}5E}֩:E}>Q 5E5?Q 9E5`)ϱBYy2Q I@sDI;i/;jE5yɮAii ?AJicARicAjil@b= +@f?8,/@Rb$T?C=?-?Zi A=bi`j"z段*@zVEj^Ɔ4ܗ@Z\QD?MsSǿ 3?2i%:iMWA"i4č?*ipBiBi1 ?iiɈBi_AiW@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503934 s, deltaX: -0.400000 m, approachRate: -0.793754 m/s, rangeRepo size: 4  Added new target pos. range: 14.227582 m, bearing: 349.093142 deg, lat: 36.779341 deg, lon: -121.859625 deg, deltaT: 0.503934 s, deltaX: -0.397974 m, approachRate: -0.789734 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.23 m.bhRh ZhI] ProNav: ac range: 14.227582 m, nav range: 13.991647 m, bearing: 349.162519 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.099560 deg, new cmd heading: 342.118296 deg. BhYeHeadingCmd: 5.971091 target range: 14.227582 and range: 14.30 m.he-@ha*ha"ha hagifffdddjd,@Zd!?Bɢ8) \Ri)`iiʟ|< DDAT read: Rx Time:05:11:31.2873  TRx dataTimestamp_ set to:1761541892.644675 PDAT read: Bearing 155.0, 0.3 (Local)  ~Local bearing/azimuth received: Bearing 155.0, 0.3 (Local)  DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 H?J,*?A!DAT read: 05:11:31.2873 LVL= 32000, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.09, 2.277, 0.373, 2.277, 2.115, PHS= 0.264,-1.697, 0.118, RAW= 146.2, 13.8, CAL= 145.9, 15.1, ROT= 4.1, -15.1 Ygot valid direction response: 05:11:31.2873 LVL= 32000, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.09, 2.277, 0.373, 2.277, 2.115, PHS= 0.264,-1.697, 0.118, RAW= 146.2, 13.8, CAL= 145.9, 15.1, ROT= 4.1, -15.1 T#Rx 75: Read range and direction messages.\direction in FSK: [0.963002,0.069029,0.260505]Fpublishing direction and range infoypH?|߫?QfJ0?YaA} );I+>iL7ٿ=N#@Ϣv>"@ V>)C=IVok?|4Eh?Ǒz#? O>)vIC=iVEchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.676346Ym@BymIAieMb@Mb@Mb@aaaa a9ex&1?9"?Y"?=Fy$5EE>Q 5E5e?Q 9E5)ȱBY?Q E:y~0Q I@sDII;i;nE5yvBɮA%UEii[B)?AJiu`ARiu`Aji]@b;+@!?wm< @RpH?|߫?QfJ0?ZiC=biVjE&"*@ܕҭҙTb @Zz.?Ɏ?h Õǿ ?2in%:iWVA"i6pF?*iBiLJBi6pF?iiiKZAi]@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503958 s, deltaX: -0.200000 m, approachRate: -0.396858 m/s, rangeRepo size: 4  Added new target pos. range: 14.028568 m, bearing: 349.078750 deg, lat: 36.779340 deg, lon: -121.859625 deg, deltaT: 0.503958 s, deltaX: -0.199014 m, approachRate: -0.394901 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.03 m.bhRhZh  ProNav: ac range: 14.028568 m, nav range: 13.643404 m, bearing: 349.078767 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.118302 deg, new cmd heading: 342.140135 deg. Bh HeadingCmd: 5.971472 target range: 14.028568 and range: 14.10 m.hL@h*h"h hgff!f%Bd!d!d)jd-@33,@Zd-AA?额Bɢ3䔼) nKi)'Ļ顡i[}i嘟<iΈL=$@>$@ >)k]=IFxFc?s~:?ފ6? I>AIIO?GR,BK?A)mjImk]=imii.checking for new query: numPingsReceived=76, elapsed TxPingTime=38.126644^:@^V5@^7<ٱ^7 fAHRS rotation from veh to nav: [[0.952905,0.296354,0.064394],[-0.303062,0.938389,0.166070],[-0.011211,-0.177765,0.984009]]^H@2~?x?|?`eӿ@H?A?`ƿ}?i^:@I^wfb;\Y8ByI-=)QbDu VDu:2y%J=ٔQ->9Y=Fy(5E];E>iQ 5mE5m?Q 9uE5m)mñBYqyu.Q Iu@msDImd:im:mGrE5yyɮAiiimI?AJim[ARim[AjimH@bm m*@`w.?N|IqP@Rm h?àY?uY?Zimk]=bimjm?ԯe~)@mT{ @ZmZ=?lC%ȿZ2?2im%:imNA"im?*imNBimBimb ?iiiiimVAim@ addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504047 s, deltaX: -0.300000 m, approachRate: -0.595183 m/s, rangeRepo size: 4 M Added new target pos. range: 13.730088 m, bearing: 348.658540 deg, lat: 36.779340 deg, lon: -121.859625 deg, deltaT: 0.504047 s, deltaX: -0.298480 m, approachRate: -0.592167 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 13.73 m.bhQRhYZhY ProNav: ac range: 13.730088 m, nav range: 13.408852 m, bearing: 349.048358 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.140131 deg, new cmd heading: 342.157930 deg. BhHeadingCmd: 5.971782 target range: 13.730088 and range: 13.80 m.h@h*h"h hgfffdddjd+@Zd g?%Bɢ-")) -"]i))-8Xʻ11i5{i5?p=<=~B B IB BBB B B B r;B s.EB]CB]CBYB] =B] =C]G95I IA O} >!Y,h?A$ɰ$DB)A@B;@B3<ٱBc6 NAHRS rotation from veh to nav: [[0.953152,0.295673,0.063860],[-0.302291,0.938718,0.165618],[-0.010978,-0.177163,0.984120]]BH9? M? Y?Xӿ ? 2?`y{Jƿ}?iB)A@IBib;@YV4ByVIjDDAT read: Rx Time:05:11:32.2870 jTRx dataTimestamp_ set to:1761541893.652805nPDAT read: Bearing 154.8, 1.0 (Local) r~Local bearing/azimuth received: Bearing 154.8, 1.0 (Local) zDAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 mDAT read: 05:11:32.2870 LVL= 30560, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.11, 0.479,-1.425, 0.463, 0.295, PHS= 0.286,-1.675, 0.124, RAW= 145.7, 13.3, CAL= 145.4, 14.6, ROT= 4.6, -14.6 uYgot valid direction response: 05:11:32.2870 LVL= 30560, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.11, 0.479,-1.425, 0.463, 0.295, PHS= 0.286,-1.675, 0.124, RAW= 145.7, 13.3, CAL= 145.4, 14.6, ROT= 4.6, -14.6 }T#Rx 77: Read range and direction messages.\direction in FSK: [0.964592,0.077609,0.252069]Fpublishing direction and range infoyhjXI*?`2޳?!?bDb VDb2Yj3[Ahj`whh h)j:Ijn>ijffֿj=j"@j,m>ji"@ jw>)jl=IjwyE c%E$=hhjkVU ?"#B ?o!Ջ? j>)jTnIjl=ijwhhchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.675270ٔUQ->9Y=Fy-5E3:ԱE>Q 5E5kØ?Q 9E5)BYy.Q I@sDI:i:vE5y5yBɮ5(A1ihiji?AJijZARijZAjij7@bjk^K*@[?`Ǖ| @RjXI*?`2޳?!?Zijl=bijwjjw *@ RNLDTxe@Zj6 5?ƿ$?2ije:ijQA"ijG`P?*ijBijNBihij2=ihijqRAij1@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504083 s, deltaX: -0.100000 m, approachRate: -0.198381 m/s, rangeRepo size: 4  Added new target pos. range: 13.630593 m, bearing: 349.537598 deg, lat: 36.779340 deg, lon: -121.859625 deg, deltaT: 0.504083 s, deltaX: -0.099495 m, approachRate: -0.197378 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.63 m.bhRh!Zh!U ProNav: ac range: 13.630593 m, nav range: 13.152704 m, bearing: 349.175467 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.157917 deg, new cmd heading: 342.178494 deg. BhQ]HeadingCmd: 5.972141 target range: 13.630593 and range: 13.70 m.h]@hY*hY"hY hYgafafafdddjd`ff+@Zd@?Bɢ)! %fiA)EѻAIiMyiM)AUga,?AfG@fB@fo4<ٱfmU6 nAHRS rotation from veh to nav: [[0.953393,0.294920,0.063745],[-0.301530,0.938964,0.165608],[-0.011013,-0.177110,0.984129]]fH2??`Q?CLӿ ?2?ፆƿ}?ifG@If cb;dYv;ByzI}DDAT read: Rx Time:05:11:32.7868 }TRx dataTimestamp_ set to:1761541894.156734PDAT read: Bearing 157.1, -0.8 (Local) ~Local bearing/azimuth received: Bearing 157.1, -0.8 (Local) DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 ԩDAT read: 05:11:32.7868 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.20, 1.367,-0.528, 1.394, 1.272, PHS= 0.197,-1.755, 0.078, RAW= 146.9, 15.4, CAL= 146.8, 17.0, ROT= 3.2, -17.0  Ygot valid direction response: 05:11:32.7868 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.20, 1.367,-0.528, 1.394, 1.272, PHS= 0.197,-1.755, 0.078, RAW= 146.9, 15.4, CAL= 146.8, 17.0, ROT= 3.2, -17.0 T#Rx 78: Read range and direction messages.\direction in FSK: [0.954814,0.053382,0.292372]Fpublishing direction and range infoyy}>]Ս?T?兗7?Y}fVAy}yy y)}<I}^I>i}ף࿉}w=}$@}>}(#@ }>)}d=I}闾yy}0@6?92?Do4? }:>)}뉾I}d=i}闾yychecking for new query: numPingsReceived=78, elapsed TxPingTime=39.139645i%Mb@Mb@Mb@!!!! !9%'1Z?#~j?9Y=Fy25ER:E>Q 5E58ؘ?Q 9E5)BYx?Q E:y:Q I@sDI:i:zE5y}BɮA}VEiyi}?AJi}PUARi}PUAji}D@b}w<u)@w֭>?58.@R}>]Ս?T?兗7?Zi}d=bi}闾j}K}0)@;[2\-Ǻ @Z}N:?Y<ȿミ#?2i}!:i}IA"i}4?*i}Bi}_Bi}4?i}i}_Bi}XMAi}u@  addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503929 s, deltaX: -0.300000 m, approachRate: -0.595322 m/s, rangeRepo size: 4 = Added new target pos. range: 13.332113 m, bearing: 348.665414 deg, lat: 36.779339 deg, lon: -121.859625 deg, deltaT: 0.503929 s, deltaX: -0.298480 m, approachRate: -0.592306 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 13.33 m.bhARhAZhAu ProNav: ac range: 13.332113 m, nav range: 12.834053 m, bearing: 348.918554 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.178489 deg, new cmd heading: 342.198864 deg. Bhq}HeadingCmd: 5.972497 target range: 13.332113 and range: 13.40 m.h}@h*h"h hgfffdddjd*@Zdx ?Bɢ) 6Zi)%tػ!!i%wi--<-0h,*?A >H@>B@>G9<ٱ>6 RAHRS rotation from veh to nav: [[0.953405,0.294840,0.063944],[-0.301481,0.939047,0.165228],[-0.011331,-0.176807,0.984180]]>HJ?`?^? xKӿ ?.&?`4ƿg~?i>H@I>8vb;>CBf>BfCBfIBf=BBf =BdBdBfr;Bf.EY1ByI AbD-VD-0yEN%MP=ٔMS:Q-U>9YYY=]Fy]65Ee9Em>yQ 5E5}蘊?Q 9E5}z)}BYy)Q I@}sDI}l;i}m;}+~E5yBɮA`EB*** querying acoustic contact ***i ijhMDNOT Ignoring new targets: 13.33 m.bhIRhUyZhUye ProNav: ac range: 13.332113 m, nav range: 12.633377 m, bearing: 348.883082 deg, approach rate: -0.553761 m/s, LOS rate: -0.099437 deg/s, cmd heading: 342.198870 deg, new cmd heading: 342.090766 deg. Bhe|DDAT read: Rx Time:05:11:33.2867 TRx dataTimestamp_ set to:1761541894.665563PDAT read: Bearing 153.9, 1.3 (Local) ~Local bearing/azimuth received: Bearing 153.9, 1.3 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 DAT read: 05:11:33.2867 LVL= 26976, 32753, 29490, 32755, AGC= 57, IDX= 500,-0.16, 0.133,-1.766, 0.117,-0.086, PHS= 0.321,-1.635, 0.159, RAW= 145.7, 12.3, CAL= 145.4, 13.4, ROT= 4.6, -13.4 Ygot valid direction response: 05:11:33.2867 LVL= 26976, 32753, 29490, 32755, AGC= 57, IDX= 500,-0.16, 0.133,-1.766, 0.117,-0.086, PHS= 0.321,-1.635, 0.159, RAW= 145.7, 12.3, CAL= 145.4, 13.4, ROT= 4.6, -13.4 T#Rx 79: Read range and direction messages.-HeadingCmd: 5.970610 target range: 13.332113 and range: 13.40 m.h5=@h1*h9"h9 h9Igf\direction in FSK: [0.969642,0.078016,0.231748]ffFpublishing direction and range infoddadqjdqyvO?J&V>?] A?Y3SA`i2s )9IZ>iGѿ">"@[>i"@ |o>)l=I|oZd3۱?&2,?weԵt$?,|*? >)EZIl=i|o%checking for new query: numPingsReceived=79, elapsed TxPingTime=39.675266uBɢu4U)q oi)^߻i ui /<Up,Y?AY58By=IqiUMb@Mb@Mb@QQQQ Q9UX9v?/$?~jtYU>yU=UDU=AQ UA)U AQYUAbDmVDmy}<%}=ٔQ->9Y=Fy;5EE>Q 5E5f?Q 9E5u)BY?Q E:yQ I@tDI<:i:E5yBɮAii򖘪?AJi!RARi!RAji@b23w)@Rrd?JVu5Y@RvO?J&V>?] A?Zil=bi|oj-JF)@v5Ij\O\@ZJ]?p#ǿ}Q?2i:i4JA"i?Z'?*iBiBi6pF?iiLJBiuGAi@ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.508829 s, deltaX: -0.200000 m, approachRate: -0.393059 m/s, rangeRepo size: 4  Added new target pos. range: 13.133060 m, bearing: 349.360239 deg, lat: 36.779340 deg, lon: -121.859625 deg, deltaT: 0.508829 s, deltaX: -0.199054 m, approachRate: -0.391200 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.13 m.bhRhZh- ProNav: ac range: 13.133060 m, nav range: 12.466236 m, bearing: 348.906501 deg, approach rate: 0.000000 m/s, LOS rate: -0.099437 deg/s, cmd heading: 342.090762 deg, new cmd heading: 341.937195 deg. Bh15HeadingCmd: 5.967930 target range: 13.133060 and range: 13.20 m.h5H@h9*h9"h9 h9g9f9fAfEBdAdIdIjdM`ff*@ZdM ?uDDAT read: Rx Time:05:11:33.7865 uTRx dataTimestamp_ set to:1761541895.164858}PDAT read: Bearing 155.2, 0.5 (Local) ~Local bearing/azimuth received: Bearing 155.2, 0.5 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 5DAT read: 05:11:33.7865 LVL= 30416, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.26, 0.580,-1.326, 0.581, 0.406, PHS= 0.276,-1.687, 0.131, RAW= 146.2, 13.4, CAL= 145.9, 14.7, ROT= 4.1, -14.7 =Ygot valid direction response: 05:11:33.7865 LVL= 30416, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.26, 0.580,-1.326, 0.581, 0.406, PHS= 0.276,-1.687, 0.131, RAW= 146.2, 13.4, CAL= 145.9, 14.7, ROT= 4.1, -14.7 eT#Rx 80: Read range and direction messages.e\direction in FSK: [0.964792,0.069157,0.253758]mFpublishing direction and range infoyqu.?&H?N=?YufNAquvqu q)u:IuO>iu׿u$>uN#@u|o>u"@ uG\>)uC=IuG\q颩ɢ) ai)顱isԙquH >?JO{?p0? u>)upIuC=iuG\qqchecking for new query: numPingsReceived=80, elapsed TxPingTime=40.139317i'i;<O=IH@Iq@q @q@u/@q@y@y^A V<A ?A ? 5 checking for new query: numPingsReceived=80, elapsed TxPingTime=40.348839A I I O >Dw,J|?A2CQ@2L@2D><ٱ2M6 NAHRS rotation from veh to nav: [[0.953737,0.293701,0.064225],[-0.300415,0.939302,0.165717],[-0.011656,-0.177345,0.984080]]2H`?@?q?9ӿ?76? ߇@<ƿ}?i2CQ@I2wa;0YV.ByVIbDbVDbyfOa%j]=ٔj|f:Q-j>9lYl=nFyn?5ErcF;Er>tQ 5vE5v ?Q 9zE5v()vBYxyzQ Iz@v tDIv;iv;v߅E5yɮAii ?AJiZMARiZMAji@1b.2(@b?g?xr @R.?&H?N=?ZiC=biG\j`A6(@< ;9@Z 5^ם?^fǿqa?2i-:iyDA"iy(?*i BiBiG`P?iiNBi{FAi.@E EE*E"E*E:VE(N4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.499295 s, deltaX: -0.300000 m, approachRate: -0.600848 m/s, rangeRepo size: 4  Added new target pos. range: 12.834581 m, bearing: 349.181907 deg, lat: 36.779341 deg, lon: -121.859625 deg, deltaT: 0.499295 s, deltaX: -0.298478 m, approachRate: -0.597799 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 12.83 m.bh RhZh% ProNav: ac range: 12.834581 m, nav range: 12.405046 m, bearing: 349.091458 deg, approach rate: 0.000000 m/s, LOS rate: -0.099437 deg/s, cmd heading: 341.937192 deg, new cmd heading: 341.826958 deg. Bh!MHeadingCmd: 5.966006 target range: 12.834581 and range: 12.90 m.hM@hI*hI"hI hIgQfQfQfQdYdYdYjd])@Zd]?Bɢ_ͼ) wi)i ;riae<_.=I@IB<A4=B>BBIB8BB =BBBr;B.EaY@Y @Y@Y@YiIDDAT read: Rx Time:05:11:34.2863 TRx dataTimestamp_ set to:1761541895.669679DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 Z#Rx 81: Read range message, but no direction.yYIA checking for new query: numPingsReceived=81, elapsed TxPingTime=40.604893] Gyԑ ]_9aYm{iA^A}  =Թ A .AI I O >i},B?AJK@JF@JF<ٱJj6 RAHRS rotation from veh to nav: [[0.953527,0.294270,0.064740],[-0.301062,0.939154,0.165380],[-0.012135,-0.177185,0.984103]]JHK?O?В?`Dӿ` ?`,+?ڈƿ}?iJK@IJ`;HYZ%ByZII^<)^p=b=b=zonly read 2 of 4 data items for beam range. Device response is::RA, 0.05, 76.80, 83.25, az@az az@az az@az az@az bD~ VD~2y 0%G=}DDAT read: Rx Time:05:11:34.7861 TRx dataTimestamp_ set to:1761541895.927676ԙchecking for new query: numPingsReceived=81, elapsed TxPingTime=40.861168ٔ:Q->9  ?Y ?=FyC5E%ȺE->IQ 5E5M ?Q 9E5M)MBQ A+:YQ E:y4Q I@MtDIMM E5yBɮ>AaEM addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504821 s, deltaX: -0.299999 m, approachRate: -0.594269 m/s, rangeRepo size: 4 jhIuDNOT Ignoring new targets: 12.83 m.bhqRh}(Zh}( ProNav: ac range: 12.834581 m, nav range: 12.180337 m, bearing: 349.043162 deg, approach rate: -0.481594 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.826953 deg, new cmd heading: 341.679392 deg. BhHeadingCmd: 5.963430 target range: 12.834581 and range: 12.60 m.hlԾ@h*h"h hgfffdddjd@33)@Zd#H?5Bɢ5Hʼ)1 5Dži9)=O>99i=piE붣ECOi ܿ = _#@ w> Ƈ#@ 5>) =I 5 Z?9 O]?.Q? *+>) 8I =i 5  checking for new query: numPingsReceived=82, elapsed TxPingTime=41.125965^A =! A I I O >,^¿?A4<ɰ2H@2aC@2JC<ٱ2(7 :AHRS rotation from veh to nav: [[0.953415,0.294566,0.065042],[-0.301426,0.938782,0.166824],[-0.011919,-0.178657,0.983839]]2H@`?`,??@Jӿ@ ?`zZ?@2i`?ƿ {?i2H@I28j`;2CYF'ByFI LN<bDNVDNyV;%VF=ٔZQ-Z>9XY\=^Fy^G5E^UE^>`Q 5fE5b[0?Q 9fE5b)bBQ Aj :YhQ Ej:yjQ Ij@b&tDIb ;ib}S?b2E5ynBɮrPArbEii8 ¿?AJiFARiFAji0@b H'@ P?OǼl @R3? WB? ?Zi=bi5jo'@d7.'@Zli?#CǿBBB%?2iw:i=A"i!\?*i7`BiXBi!\?iii@Ai@5 addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505662 s, deltaX: -0.100000 m, approachRate: -0.197761 m/s, rangeRepo size: 4 E Added new target pos. range: 12.436585 m, bearing: 348.895684 deg, lat: 36.779341 deg, lon: -121.859625 deg, deltaT: 1.010483 s, deltaX: -0.397996 m, approachRate: -0.393867 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 12.44 m.bhIIRhUZhQe ProNav: ac range: 12.436585 m, nav range: 12.038864 m, bearing: 349.045236 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.679394 deg, new cmd heading: 341.566605 deg. BhaHeadingCmd: 5.961462 target range: 12.436585 and range: 12.50 m.hLľ@h*h"h hgfffdddjd)@ZdH?mBɢmoټ)i miq)uqqiu5ni}帤}<}=I}Lľ@IDDAT read: Rx Time:05:11:35.2860 TRx dataTimestamp_ set to:1761541896.431967PDAT read: Bearing 155.6, 1.1 (Local) ~Local bearing/azimuth received: Bearing 155.6, 1.1 (Local) %checking for new query: numPingsReceived=82, elapsed TxPingTime=41.370380=@@A @A@E/@IyE5 E5E5,E1"E52;*E5-:VE5g4ZE1a=@a=@a=@a=@ԩ^Ar =A1 zA5 gABa Ba Ba Ba Ba Ba Ba Be r;Be .E A5 ؟AIA IQ O] > DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4  DAT read: 05:11:35.2860 LVL= 30560, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.06,-0.967,-2.874,-0.990,-1.148, PHS= 0.283,-1.681, 0.114, RAW= 145.6, 13.5, CAL= 145.2, 14.8, ROT= 4.8, -14.8  Ygot valid direction response: 05:11:35.2860 LVL= 30560, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.06,-0.967,-2.874,-0.990,-1.148, PHS= 0.283,-1.681, 0.114, RAW= 145.6, 13.5, CAL= 145.2, 14.8, ROT= 4.8, -14.8  T#Rx 83: Read range and direction messages. \direction in FSK: [0.963433,0.080902,0.255446] Fpublishing direction and range infoyq u p?U?l39Y?Yu DAq u `wq q q )u :Iu `>iu +׿u x=u "@u :Fq>u 0"@ u A>)u =Iu Aq q u aؑ?X W?8=f? u K>)u qIu =iu Aq q  checking for new query: numPingsReceived=83, elapsed TxPingTime=41.630058͊,jP-¿?AԱeF@eA@e7oB<ٱea9 AHRS rotation from veh to nav: [[0.953357,0.294666,0.065438],[-0.301611,0.938488,0.168142],[-0.011867,-0.180036,0.983588]]eH???@Mӿ ??Mm ǿ`y?ieF@Ie2 `;eCY!ByIaa aa aa aa iMb@Mb@Mb@ 9V-?/$?y&1Y|>y`eA@ 3A) AYbD5VD5:2y%=ٔ)ϸQ->9"?Y"?=FyM5EE>Q 5E5F?Q 9E5Ŕ)BQ AT:Y?Q E:yQ I@7tDI+;iA;ݏE5yɮ~Aii}z+¿?AJiCARiCAjid@bl|Ł'@Q !l?! @Rp?U?l39Y?Zi=bi Ajŷy'@^cVQHz @Z?sſ˰#)?2i{:i;A"i#?*i BiBiy(?iiBi=Ai@ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504010 s, deltaX: -0.200000 m, approachRate: -0.396817 m/s, rangeRepo size: 4  Added new target pos. range: 12.237594 m, bearing: 349.849466 deg, lat: 36.779342 deg, lon: -121.859625 deg, deltaT: 0.504010 s, deltaX: -0.198992 m, approachRate: -0.394817 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.24 m.bhRhZh ProNav: ac range: 12.237594 m, nav range: 11.819247 m, bearing: 349.034407 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.566614 deg, new cmd heading: 341.393844 deg. BhHeadingCmd: 5.958447 target range: 12.237594 and range: 12.30 m.h@h*h"h hgf f f Bd ddjd5(@Zd5ͨ?DDAT read: Rx Time:05:11:35.7858 TRx dataTimestamp_ set to:1761541896.936062EPDAT read: Bearing 153.9, 1.0 (Local) U~Local bearing/azimuth received: Bearing 153.9, 1.0 (Local) DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 BɢƼ) ʋi)i"ki/D<p&=I@IE DAT read: 05:11:35.7858 LVL= 28560, 32753, 32242, 32755, AGC= 57, IDX= 506, 0.39,-0.668,-2.570,-0.673,-0.892, PHS= 0.326,-1.633, 0.175, RAW= 146.0, 12.0, CAL= 145.7, 13.1, ROT= 4.3, -13.1 M Ygot valid direction response: 05:11:35.7858 LVL= 28560, 32753, 32242, 32755, AGC= 57, IDX= 506, 0.39,-0.668,-2.570,-0.673,-0.892, PHS= 0.326,-1.633, 0.175, RAW= 146.0, 12.0, CAL= 145.7, 13.1, ROT= 4.3, -13.1 U T#Rx 84: Read range and direction messages.] \direction in FSK: [0.971234,0.073027,0.226651]] Fpublishing direction and range infoy߹Z?;?+#?Y@Ao} )9Iy>i%ѿ333>e#@PwV>"@  j>)`=I jT !?Hy?D_ ? >)HUI`=i j checking for new query: numPingsReceived=84, elapsed TxPingTime=41.963348EM  EM EM (EI "EM 1;*EM :VEM c44ZEI BEM [9AYA=EFyEQ5EMEM>QQ 5]E5UY?Q 9]E5U)UBYYyYQ I]@UFtDIU:iU:UE5yeBɮmtAmcEiiq;¿?AJi?ARi?AjiT@bƊ0'@HDx?&@R߹Z?;?+#?Zi`=bi jjlE&@, o@Z?-F[ǿ"mZ`?2iX:i7A"iۅ!?*iF\"BiBiۅ!?iiBi5;AiP@ addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.256711 s, deltaX: -0.300000 m, approachRate: -1.168630 m/s, rangeRepo size: 4  Added new target pos. range: 11.939116 m, bearing: 349.043539 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.256711 s, deltaX: -0.298478 m, approachRate: -1.162701 m/s, posRepo size: 4 jhMDNOT Ignoring new targets: 11.94 m.bhIRhQZhQe ProNav: ac range: 11.939116 m, nav range: 11.700471 m, bearing: 349.085384 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.393837 deg, new cmd heading: 341.257565 deg. BhaeHeadingCmd: 5.956068 target range: 11.939116 and range: 12.00 m.h@h*h"h hgfffdddjd(@Zd Ov?)ɢ-Mռ)) -gi1)5e11i5yii={=<=.=I=@IA@ @@/@ ]DDAT read: Rx Time:05:11:36.2857 mTRx dataTimestamp_ set to:1761541897.440064PDAT read: Bearing 155.3, 1.0 (Local) ~Local bearing/azimuth received: Bearing 155.3, 1.0 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 Z#Rx 85: Read range message, but no direction.yaYef>AaMchecking for new query: numPingsReceived=85, elapsed TxPingTime=42.400047E EEE"E=;*E:VEZEa@a@a@a@) ^A= $=A A B B B IB .BB =B B B r;B `.EA .AI I O >a,k¿?A.DAT read: 05:11:36.2857 LVL= 31936, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.08,-0.471,-2.379,-0.487,-0.659, PHS= 0.290,-1.676, 0.128, RAW= 145.7, 13.2, CAL= 145.4, 14.5, ROT= 4.6, -14.5 2Ygot valid direction response: 05:11:36.2857 LVL= 31936, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.08,-0.471,-2.379,-0.487,-0.659, PHS= 0.290,-1.676, 0.128, RAW= 145.7, 13.2, CAL= 145.4, 14.5, ROT= 4.6, -14.5 6Z#Rx 86: Read direction message, but no range.6\direction in FSK: [0.965029,0.077644,0.250380]yƤ?+Q?=9?| ):Iz>i+ֿo>"@k>i"@ >)l=I?Cu!?tbQ?  >)ߤlIl=iJchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.629192LrA?@r:@r=<ٱr< AHRS rotation from veh to nav: [[0.953076,0.295382,0.066306],[-0.302510,0.937640,0.171229],[-0.011593,-0.183253,0.982997]]rH? ?p?`T\ӿ$??-tǿ t?irA?@Ir_;rCYBy%I9=@AbD=VD=fyUS%])=ٔQQ->9 ?Y ?=FyV5E!E>Q 5E5n?Q 9E5)yBYyQ I@VtDI:i :E5y!ɮ%A)i1i5*\¿?AJi5o=ARi5o=Aji5G?@b5q:&@蕼j?fL@R5Ƥ?+Q?=9?Zi5l=bi5j5&@39.ʱ@Z5k[p?ngߑƿwh@?2i5:i55A"i5+?*i5Bi5SBi1i5 i1i5'7Ai5e@ addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504002 s, deltaX: -0.100000 m, approachRate: -0.198413 m/s, rangeRepo size: 4 % Added new target pos. range: 11.839634 m, bearing: 349.588723 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.504002 s, deltaX: -0.099482 m, approachRate: -0.197383 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 11.84 m.bh)Rh)Zh)] ProNav: ac range: 11.839634 m, nav range: 11.447187 m, bearing: 349.037021 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.257561 deg, new cmd heading: 341.092534 deg. BhaeHeadingCmd: 5.953188 target range: 11.839634 and range: 11.90 m.hm@hi*hi"hi higififqfqdddjd'@Zd?BɢFؼ) i)VL i7fic~<4=I@I@ @@/@DDAT read: Rx Time:05:11:36.7855 %TRx dataTimestamp_ set to:1761541897.945245EPDAT read: Bearing 157.4, -0.9 (Local) M~Local bearing/azimuth received: Bearing 157.4, -0.9 (Local) uDAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.6 Z#Rx 87: Read range message, but no direction.yY9Achecking for new query: numPingsReceived=87, elapsed TxPingTime=42.893116 E]  E] E] %EY "E] g5;*E] V:VE] 4ZEY BE] }A ?I AI!I1OE>,¿?A>DAT read: 05:11:36.7855 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.24, 0.610,-1.298, 0.641, 0.509, PHS= 0.203,-1.762, 0.088, RAW= 147.0, 15.2, CAL= 146.9, 16.8, ROT= 3.1, -16.8 BYgot valid direction response: 05:11:36.7855 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.24, 0.610,-1.298, 0.641, 0.509, PHS= 0.203,-1.762, 0.088, RAW= 147.0, 15.2, CAL= 146.9, 16.8, ROT= 3.1, -16.8 BZ#Rx 88: Read direction message, but no range.F\direction in FSK: [0.955919,0.051771,0.289032]y,.EH˨?Sg?\.?,.,, ,).<I.;O>i.7Έ.X9=.Y3$@.ԇ>.$@ .Q >).k]=I.Q ,.i'?K ?ZL? ._>).TI.k]=i.Q Vchecking for new query: numPingsReceived=88, elapsed TxPingTime=43.132538j8@jh3@j<<ٱjS? rAHRS rotation from veh to nav: [[0.952830,0.295996,0.067088],[-0.303286,0.936956,0.173584],[-0.011478,-0.185743,0.982531]]jH@}? ?,? iӿ?@8?mǿp?ij8@Ij_;jCYxyx1iMb@Mb@Mb@ 9x&?+?/$Y7 ?y=A@ A)/ AY AbDVD1y,%7=ٔQ->9Y=FyZ5E)E>Q 5E5す?Q 9E5)pBY ?Q E:yQ1Q I@etDI[i= ۿ== =="@=d{>="@ =>)=`=I=99=Fl5?ñ9'#?kl? =>)= G{I=`=i=99^A ;6=U checking for new query: numPingsReceived=89, elapsed TxPingTime=43.449448Ա E}  E} Ey Ey "E} 4;*E} E:VEy ZEy a @a @a @a @A ؟AI I O >*,Pr¿?AB@B@BBIBB)BB@B@B@BB_r;BB=.EB]CB]CBYB] =B] =C]G41@,@'l7<ٱ? -AHRS rotation from veh to nav: [[0.952583,0.296800,0.067048],[-0.304073,0.936647,0.173874],[-0.011195,-0.186017,0.982483]]H {??*?uӿ?`~A?e톿eǿp?i1@I%|_;CY=By=IIE=)Ea=m=m=bDuVDuy%7=ٔ*&Q->9"?Y"?=Fy_5EE>Q 5E5󕙊?Q 9E5checking for new query: numPingsReceived=89, elapsed TxPingTime=43.630161Ř)fBY y /2Q I@ttDIfi Cۿ #= #@ 5z> _#@ ) 5z=I K5˽?gQ?@l? Ct>) $`zI 5z=i e checking for new query: numPingsReceived=90, elapsed TxPingTime=43.936928^Ae ==D%=D%=bEjE34rE30E  E E (E "E 2;*E :VE c44ZE BE #9 ?Y ?=Fye5EE>Q 5E51?Q 9E55)^BYL ?Q E:y8Q I@tDI* ;i;E5yɮAiqiu¿?AJiu/ARiu/Ajiu¨@bux!)%@xaǜ?у(@@Ruwo#? |Xt"?<?Ziu5z=biqjuPDj$@9BW\3C@Zu$Tr?'<얷ȿ>.u?2iu&:iu&A"iu$_?*iu!;BiuWBiuۅ!?iuF\"iuWBiu*Aiu@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503032 s, deltaX: -0.400000 m, approachRate: -0.795177 m/s, rangeRepo size: 4  Added new target pos. range: 10.944191 m, bearing: 348.535971 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.503032 s, deltaX: -0.397970 m, approachRate: -0.791143 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.94 m.bhRhZh  ProNav: ac range: 10.944191 m, nav range: 10.670755 m, bearing: 348.922415 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 340.794993 deg, new cmd heading: 340.641741 deg. Bh HeadingCmd: 5.945320 target range: 10.944191 and range: 11.00 m.h@@h*h9"h9 h9g9f9fAfEBdAdAdIjdM&@ZdM?颽Bɢ$) %i)gi_i<0A=I@@Im@@q @q@q@q) E DDAT read: Rx Time:05:11:38.2850 U TRx dataTimestamp_ set to:1761541899.456976u PDAT read: Bearing 156.4, -0.5 (Local)  ~Local bearing/azimuth received: Bearing 156.4, -0.5 (Local)  DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.6  Z#Rx 91: Read range message, but no direction.yI YM ,AI % checking for new query: numPingsReceived=91, elapsed TxPingTime=44.415043^A -B=Q E  E E &E "E 0;*E :VE 4ZE a @a @a @a @A ؟AI I O >ʸ,a¿?A^@^@^#<ٱ^A AHRS rotation from veh to nav: [[0.951554,0.300072,0.067102],[-0.307320,0.935228,0.175791],[-0.010005,-0.187896,0.982138]]^H s?_4?-?`!ӿc?R?} ȿ`m?i^@I^c^;^CYEByEIBYA]p<BYBYB]IB]BBYBYBYB]Pr;B]6.EԑbDVDy2%N=ٔ[SQ->9"?Y"?=Fyi5EK1E>Q 5E5?Q 9E58)YBYy9Q I@tDI;i;E5y%Bɮ%A%eEeB*** querying acoustic contact ***ia ia addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503483 s, deltaX: -0.200000 m, approachRate: -0.397233 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 10.94 m.bhRh#&Zh#& ProNav: ac range: 10.944191 m, nav range: 10.457467 m, bearing: 348.908433 deg, approach rate: -0.542834 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.641751 deg, new cmd heading: 340.598949 deg. Bh]ǺHeadingCmd: 5.944573 target range: 10.944191 and range: 10.80 m.h9@h*h"h hgfffdddjd%@Zd?Bɢ) ꢾDAT read: 05:11:38.2850 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498, 0.33, 0.339,-1.563, 0.365, 0.202, PHS= 0.239,-1.720, 0.119, RAW= 146.9, 14.2, CAL= 146.7, 15.6, ROT= 3.3, -15.6 -Ygot valid direction response: 05:11:38.2850 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498, 0.33, 0.339,-1.563, 0.365, 0.202, PHS= 0.239,-1.720, 0.119, RAW= 146.9, 14.2, CAL= 146.7, 15.6, ROT= 3.3, -15.6 5Z#Rx 92: Read direction message, but no range.=\direction in FSK: [0.961565,0.055444,0.268920]yG$?cc?]^|5? )Ijt>i(ܿF=$@}>#@ 'g>)k=I'g^&?c@ ?D:gj? Z>)}Ik=i'gchecking for new query: numPingsReceived=92, elapsed TxPingTime=44.655132i)顑i]]i^<C@=I9@I@ @@@^A g@=)  DDAT read: Rx Time:05:11:38.7847  TRx dataTimestamp_ set to:1761541899.961248 PDAT read: Bearing 157.8, -0.4 (Local)  ~Local bearing/azimuth received: Bearing 157.8, -0.4 (Local)  DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4  Z#Rx 93: Read range message, but no direction.y Y f&A  checking for new query: numPingsReceived=93, elapsed TxPingTime=44.901348A I I O >=p,ÿ?A8~ @~@~ڊ<ٱ~zB %AHRS rotation from veh to nav: [[0.951099,0.301503,0.067137],[-0.308743,0.934566,0.176818],[-0.009432,-0.188900,0.981951]]~H`fo?`K?/?`sӿ ?@?HQ-ȿ$l?i~ @I~?^;~CD1zD5?AE= E=E='E9"E=77;*E=;:VE='4ZE9BE=9YYY=eFyem5Em#PEu>yQ 5E5}ՙ?Q 9E5}z)}RBY  ?Q E :y BQ I @}tDI}=Ij2@IDAT read: 05:11:38.7847 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496,-0.29,-2.154, 2.221,-2.144,-2.258, PHS= 0.205,-1.760, 0.070, RAW= 146.5, 15.4, CAL= 146.3, 17.0, ROT= 3.7, -17.0 Ygot valid direction response: 05:11:38.7847 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496,-0.29,-2.154, 2.221,-2.144,-2.258, PHS= 0.205,-1.760, 0.070, RAW= 146.5, 15.4, CAL= 146.3, 17.0, ROT= 3.7, -17.0 Z#Rx 94: Read direction message, but no range.\direction in FSK: [0.954311,0.061713,0.292372]yy}_a4-?ɘ?兗7?yyyy y)}<I}Q>i}GΈ})\=}_#@}>}.k#@ }>)} A=I}闾y}7TY?#cZ?o\Ѐ ? }h>)}I} A=i}闾checking for new query: numPingsReceived=94, elapsed TxPingTime=45.155502u?@q @q@u/@q ^A &t@=A I M DDAT read: Rx Time:05:11:39.2849 ] TRx dataTimestamp_ set to:1761541900.464423m PDAT read: Bearing 156.8, -0.3 (Local) m ~Local bearing/azimuth received: Bearing 156.8, -0.3 (Local) } DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 } Z#Rx 95: Read range message, but no direction.yI YM 3+Aԁ I  checking for new query: numPingsReceived=95, elapsed TxPingTime=45.402634I O >3=,\ÿ?A2t@2E@2<ٱ2CC :AHRS rotation from veh to nav: [[0.950639,0.302896,0.067380],[-0.310164,0.933988,0.177383],[-0.009203,-0.189526,0.981833]]2Hk?b???ӿ ;?{? ق`Bȿ@,k?i2t@I2^;2CYB ByFIJ@AJAAbDNVDNkyVϼ%VP=ٔZrQ-Z>9XYX=ZFy^q5E^zE^>Q 5E5O虊?Q 9E5)MBYyDQ I@tDI$:i#<ٯE5yɮA!i9i=ÿ?AJi=T*ARi=T*Aji=@b=TQ$@Q3?>ENi@R=_a4-?ɘ?兗7?Zi= A=bi=闾j=)"$@vNrxV@Z=^RVB?>OǿZξ?2i=:i=!A"i=Z8?*i= Bi=Bi9i=!;i=oBi=Ai=@ addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503175 s, deltaX: 0.300000 m, approachRate: 0.596214 m/s, rangeRepo size: 4 E EE(E"E4;*E:VEc44ZEa@a @a @a @  Added new target pos. range: 10.645715 m, bearing: 348.843223 deg, lat: 36.779342 deg, lon: -121.859626 deg, deltaT: 0.503175 s, deltaX: 0.298478 m, approachRate: 0.593189 m/s, posRepo size: 4 jh DNOT Ignoring new targets: 10.65 m.bhRhAZhA} ProNav: ac range: 10.645715 m, nav range: 9.934958 m, bearing: 348.488328 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.546293 deg, new cmd heading: 340.500410 deg. BhHeadingCmd: 5.942853 target range: 10.645715 and range: 10.70 m.h+@h*h"h hgfffdddjd`ff%@Zd`.?yɢ}fO) _i)-;&顁i:XBBBIBBBBBB;r;B,.Ei?<tA<=I+@IAa@a @a@e/@a DAT read: 05:11:39.2849 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.04,-0.607,-2.513,-0.590,-0.739, PHS= 0.234,-1.729, 0.104, RAW= 146.6, 14.5, CAL= 146.4, 15.9, ROT= 3.6, -15.9 Ygot valid direction response: 05:11:39.2849 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.04,-0.607,-2.513,-0.590,-0.739, PHS= 0.234,-1.729, 0.104, RAW= 146.6, 14.5, CAL= 146.4, 15.9, ROT= 3.6, -15.9 Z#Rx 96: Read direction message, but no range.\direction in FSK: [0.959844,0.060388,0.273959]yIM՝P ?.^#4?ψ.?IIII I)M;IMo>iMOݿM=M#@M>MƇ#@ Mq>)M=IMqIM %2?H?M? Mw>)MIM=iMqchecking for new query: numPingsReceived=96, elapsed TxPingTime=45.661922cG!MY~9QYULgAq ^A C;=ԡ A= .AIY I O >,%;ÿ?A]DDAT read: Rx Time:05:11:39.7846 ]TRx dataTimestamp_ set to:1761541900.968404mPDAT read: Bearing 158.2, -1.4 (Local) m~Local bearing/azimuth received: Bearing 158.2, -1.4 (Local) }DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.5 DAT read: 05:11:39.7846 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.11, 0.614,-1.290, 0.656, 0.539, PHS= 0.177,-1.784, 0.074, RAW= 147.3, 15.8, CAL= 147.3, 17.5, ROT= 2.7, -17.5 Ygot valid direction response: 05:11:39.7846 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.11, 0.614,-1.290, 0.656, 0.539, PHS= 0.177,-1.784, 0.074, RAW= 147.3, 15.8, CAL= 147.3, 17.5, ROT= 2.7, -17.5 T#Rx 97: Read range and direction messages.\direction in FSK: [0.952658,0.044926,0.300706]Fpublishing direction and range infoyY]--|?@ԑ?->?Y]3#AYYYY Y)]<I]}?5>i]Z俉]P=]"$@]0>]"$@ ]a>)]A=I]aYY]H9Y?fC?!0=u? ].>)]tI]A=i]aYYchecking for new query: numPingsReceived=97, elapsed TxPingTime=45.916779 %;ɰ%p;r@C@U<ٱC AHRS rotation from veh to nav: [[0.950224,0.304166,0.067511],[-0.311442,0.933442,0.178018],[-0.008870,-0.190183,0.981709]]H;h?@tw?dH? ӿ?K?*`Wȿ@(j?ir@I];ÐCY-By5I====i}Mb@Mb@Mb@yyyy y9}K7A`?V-?y&1|Y} ?y}h=}`y}@ }`A)}E AyY}= AbDD=D=E EE)E"E<;*E:VEFA4ZEBE“9 ?Y ?=Fyw5EE>)Q 55E5-?Q 95E5-'A)-FBY]3 ?Q Ee:ymDQ Im@-tDI-?Zi]A=bi]aj]y#@O~KV@G9@Z]v ?Zkɿ{ 4?2i]:i]A"i]2%?*i]~Bi]Bi]2%?i] iYi]Ai]K@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503981 s, deltaX: -0.500000 m, approachRate: -0.992101 m/s, rangeRepo size: 4  Added new target pos. range: 10.148245 m, bearing: 347.906859 deg, lat: 36.779343 deg, lon: -121.859626 deg, deltaT: 0.503981 s, deltaX: -0.497470 m, approachRate: -0.987081 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.15 m.bhRhZh ProNav: ac range: 10.148245 m, nav range: 9.723969 m, bearing: 348.574681 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.500421 deg, new cmd heading: 340.437846 deg. BhHeadingCmd: 5.941761 target range: 10.148245 and range: 10.20 m.h"@h*h"h hg fffBdddjd`ff$@Zd!?颕Bɢ ) i)+顙i׾UiϮ1?<<=I"@Iichecking for new query: numPingsReceived=97, elapsed TxPingTime=46.147614e @@a  @a @e /@a ԑ ^A l;=A؟AIIO] ?,]ÿ?A"DDAT read: Rx Time:05:11:40.2846 "TRx dataTimestamp_ set to:1761541901.469275*PDAT read: Bearing 159.9, -2.4 (Local) *~Local bearing/azimuth received: Bearing 159.9, -2.4 (Local) 2DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 FDAT read: 05:11:40.2846 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.30, 2.492, 0.644, 2.556, 2.483, PHS= 0.110,-1.795, 0.029, RAW= 147.8, 17.4, CAL= 148.0, 19.3, ROT= 2.0, -19.3 JYgot valid direction response: 05:11:40.2846 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.30, 2.492, 0.644, 2.556, 2.483, PHS= 0.110,-1.795, 0.029, RAW= 147.8, 17.4, CAL= 148.0, 19.3, ROT= 2.0, -19.3 NT#Rx 98: Read range and direction messages.N\direction in FSK: [0.943226,0.032938,0.330514]RFpublishing direction and range infoy "cU.?Eݠ? 3%'?Y )":I"G=i"忉"h<"%@"|>"MQ%@ "iw>)"5=I"iw "^'/?@O?ۖ_)? "%>)"II"5=i"iw ^checking for new query: numPingsReceived=98, elapsed TxPingTime=46.415722ԉ,@ھ@ <ٱ]E -AHRS rotation from veh to nav: [[0.949531,0.306245,0.067858],[-0.313562,0.932483,0.179315],[-0.008362,-0.191543,0.981449]]Hb??$_?eԿ`??# `yȿh?i,@ISm];CY= By=IbDUVDU02yeg%2=ٔQ->9"?Y"?=Fy|5EHE>Q 5%E5?Q 9%E5o)@BY!y%ZFQ I-@tDI$B!B!B!B% =B!B!B%r;B%.E] Added new target pos. range: 10.148245 m, bearing: 347.499052 deg, lat: 36.779343 deg, lon: -121.859626 deg, deltaT: 0.500871 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 10.15 m.bhaRhaZha ProNav: ac range: 10.148245 m, nav range: 9.474686 m, bearing: 348.472667 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.437856 deg, new cmd heading: 340.386130 deg. BhHeadingCmd: 5.940859 target range: 10.148245 and range: 10.20 m.h@h*h"h hgfffdddjdZd ?额Bɢ.) i)1项irSicE<L7=I@Ichecking for new query: numPingsReceived=98, elapsed TxPingTime=46.651245PExceeded connect timeout, disconnecting.a@a @a@a@a ^AI AAyIIO>a,}ÿ?AJDDAT read: Rx Time:05:11:40.7843 NTRx dataTimestamp_ set to:1761541901.972986RPDAT read: Bearing 159.4, -1.7 (Local) R~Local bearing/azimuth received: Bearing 159.4, -1.7 (Local) ZDAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 nDAT read: 05:11:40.7843 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.32,-0.653,-2.509,-0.607,-0.687, PHS= 0.136,-1.777, 0.036, RAW= 147.3, 16.9, CAL= 147.4, 18.7, ROT= 2.6, -18.7 rYgot valid direction response: 05:11:40.7843 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.32,-0.653,-2.509,-0.607,-0.687, PHS= 0.136,-1.777, 0.036, RAW= 147.3, 16.9, CAL= 147.4, 18.7, ROT= 2.6, -18.7 vT#Rx 99: Read range and direction messages.v\direction in FSK: [0.946235,0.042968,0.320613]zFpublishing direction and range infoyHJ6G?zZp?C.j?YJAHHHH H)HIJC >iJt㿉Jt=J"$@J>J$@ J>)J9=IJHHJU1?"Lw? +? JL>)J9IJ9=iJHH checking for new query: numPingsReceived=99, elapsed TxPingTime=46.919266ܷ@׾@<ٱD AHRS rotation from veh to nav: [[0.949399,0.306694,0.067675],[-0.313964,0.932425,0.178913],[-0.008230,-0.191108,0.981535]]Hza?ߠ?S?Կ`m? ?ڀ6vȿ@h?iܷ@I];CYYe ByeIi5Mb@Mb@Mb@1111 195HzG?㥛 ?~jtxY5= ?y5=5Ļ5A5@ 5A)5/ A1Y1 E- E-E-*E)"E-4;*E-I:VE-(N4ZE)BE-9Y=Fy5E<E>Q 5E51?Q 9E5 )8BY ?Q E:y BQ I@tDI.:iz:E5y%Bɮ%<A%hEiHiJgE~ÿ?AJiJARiJAjiJFQ@bJTNs"@*?_H+ @RJ6G?zZp?C.j?ZiJ9=biJjJ6x2"@T&%T zL@ZJX)?Ե[ɿ%f?2iJ-:iJA"iJk0?*iJ =BiJކBiJk0?iJ~iJBiJAiJ`]@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503711 s, deltaX: -0.400000 m, approachRate: -0.794105 m/s, rangeRepo size: 4 E Added new target pos. range: 9.750259 m, bearing: 347.924089 deg, lat: 36.779344 deg, lon: -121.859627 deg, deltaT: 0.503711 s, deltaX: -0.397985 m, approachRate: -0.790107 m/s, posRepo size: 4 jhAEBNOT Ignoring new targets: 9.75 m.bhAM6Short final. Range: 9.80 m.MVTransitioning guidance mode to: SHORT_FINAL:hM@@RhQZhQ ProNav: ac range: 9.750259 m, nav range: 9.302220 m, bearing: 348.008751 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.386138 deg, new cmd heading: 340.324348 deg. Bh%|HeadingCmd: 5.939780 target range: 9.750259 and range: 9.80 m.h%@h!*h!"h) h)g)f)f)f5Bd1=checking for new query: numPingsReceived=99, elapsed TxPingTime=47.154739d1dqjd}#@Zd}`ō?ԱBɢZ) ϫi)Ŀ7i )-Pi ү < :=I @I e A@a  @i @m 4@i ^AIDDAT read: Rx Time:05:11:41.2842 TRx dataTimestamp_ set to:1761541902.476993PDAT read: Bearing 160.6, -2.5 (Local) ~Local bearing/azimuth received: Bearing 160.6, -2.5 (Local) DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 =DAT read: 05:11:41.2842 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.10, 0.738,-1.097, 0.797, 0.747, PHS= 0.092,-1.799, 0.006, RAW= 147.7, 18.0, CAL= 147.9, 20.0, ROT= 2.1, -20.0 MYgot valid direction response: 05:11:41.2842 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.10, 0.738,-1.097, 0.797, 0.747, PHS= 0.092,-1.799, 0.006, RAW= 147.7, 18.0, CAL= 147.9, 20.0, ROT= 2.1, -20.0 MV#Rx 100: Read range and direction messages.U\direction in FSK: [0.939062,0.034434,0.342020]UFpublishing direction and range infoy$ ?`SO?Kj?YA )Ij=iE濉;$@|٠>4%@ ¸>)Q =I¸(U&?vH?ZJg? u>)IQ =i¸}checking for new query: numPingsReceived=100, elapsed TxPingTime=47.424400AIIO?6.,Oÿ?A=ٔO۹Q->9Y!=%Fy%5E%E%>)Q 5UE5-D?Q 9UE5-0)-3BYYy]BQ I]@-tDI-.;i-;-E5yaɮm{Aiiiÿ?AJiARiAji/@bѲw?!@p{ ?!gB" @R$ ?`SO?Kj?ZiQ =bi¸jtIOH!@ҧQAk7@Z*?4܉(ɿR?2i:ib A"iK|-?*iSBi'Bii =iކBi+AiM@E EE%E"E%.;*E:VE 4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504007 s, deltaX: -0.200000 m, approachRate: -0.396820 m/s, rangeRepo size: 4  Added new target pos. range: 9.551274 m, bearing: 347.690518 deg, lat: 36.779344 deg, lon: -121.859627 deg, deltaT: 0.504007 s, deltaX: -0.198985 m, approachRate: -0.394806 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.55 m. 9.75 m.BBBIBBB =BBBq;B-ERh Zh  ProNav: ac range: 9.750259 m, nav range: 9.070117 m, bearing: 347.981054 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.324339 deg, new cmd heading: 340.276202 deg. Bh|HeadingCmd: 5.938940 target range: 9.750259 and range: 9.60 m.h% @h!*h!"h! h!gAfIfIfIdIdQdQjdU@33#@ZdU@~?ԡEBɢE)Mۺ MiI)Mܔ,(ÿ?A0fDDAT read: Rx Time:05:11:41.7839 fTRx dataTimestamp_ set to:1761541902.980908jPDAT read: Bearing 163.7, -5.4 (Local) n~Local bearing/azimuth received: Bearing 163.7, -5.4 (Local) vDAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4  DAT read: 05:11:41.7839 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501, 0.09, 1.181,-0.556, 1.286, 1.263, PHS= 0.021,-1.773,-0.021, RAW= 148.8, 19.5, CAL= 150.3, 23.6, ROT= 359.7, -23.6 Ygot valid direction response: 05:11:41.7839 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501, 0.09, 1.181,-0.556, 1.286, 1.263, PHS= 0.021,-1.773,-0.021, RAW= 148.8, 19.5, CAL= 150.3, 23.6, ROT= 359.7, -23.6 V#Rx 101: Read range and direction messages.%^direction in FSK: [0.916350,-0.004798,0.400349]%Fpublishing direction and range infoydfg?GR?8%9s^Q?Yf3Adddd d)f8If1f'@ fB>)f@IfBҾddfg3n?Q?~OT? fJ?)fpIfifBҾddEchecking for new query: numPingsReceived=101, elapsed TxPingTime=47.927147gη@8ɾ@<ٱ F AHRS rotation from veh to nav: [[0.948852,0.308301,0.068048],[-0.315622,0.931674,0.179905],[-0.007933,-0.192181,0.981327]]H\?5?`k?@&3ԿF?"?M?`aȿg?igη@I^;CYByIi%Mb@Mb@Mb@!!!! !9%w/?㥛 ?y&1|Y%?y!%`%jA%@ %A)%E A!Y%f A]AA]@AbD]VD]:ԉy [<% =ٔ(lQ->9!Y!=Fy5E=ۺE>Q 5E5t\?Q 9E5),BY6?Q E:y@Q I@uDId;E EE'E"E /;*E-:VE'4ZEBE")@ "z0>)"U@I"z0ᾩ ":h8!/?\Wޖ{?md? "XD?)"ݺI"޹i"z0ᾩ rchecking for new query: numPingsReceived=102, elapsed TxPingTime=48.436146tMO@M @M;ٱMƎE ]AHRS rotation from veh to nav: [[0.948310,0.309991,0.067931],[-0.317255,0.931207,0.179452],[-0.007629,-0.191727,0.981419]]MHX?? c?`MԿr?G? ?ȿg?iMO@IM2^;MCYByIbDVD0y :%(=ٔ$Q->9Y=Fy5EqE>)Q 5EE5-q?Q 9E5-֥)-&BYyBQ I@-uDI-FBBIBBB =BBBjq;B-EBBBBB =CNR4zIgnoring new targets. Set target to previous: 8.85 m. 9.75 m.Rh Zh = ProNav: ac range: 9.750259 m, nav range: 8.535531 m, bearing: 347.907479 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.217023 deg, new cmd heading: 340.167624 deg. Bh9E|HeadingCmd: 5.937045 target range: 9.750259 and range: 8.90 m.hEF@hA*hA"hA hAgAfIfIfIdIdQdQjdU!@Zdu@?Bɢ) i)>HiAHiK90<8=IF@I1@ @@4@checking for new query: numPingsReceived=102, elapsed TxPingTime=48.667007Y ^A l;=ԉ AI!IyO>, 0ÿ?ADDAT read: Rx Time:05:11:42.7834 TRx dataTimestamp_ set to:1761541903.988682 PDAT read: Bearing 163.5, -6.0 (Local) ~Local bearing/azimuth received: Bearing 163.5, -6.0 (Local) %DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 DAT read: 05:11:42.7834 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497,-0.12,-2.529, 2.040,-2.399,-2.438, PHS= 0.011,-1.760,-0.005, RAW= 149.6, 19.4, CAL= 151.0, 23.6, ROT= 359.0, -23.6 5Ygot valid direction response: 05:11:42.7834 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497,-0.12,-2.529, 2.040,-2.399,-2.438, PHS= 0.011,-1.760,-0.005, RAW= 149.6, 19.4, CAL= 151.0, 23.6, ROT= 359.0, -23.6 5V#Rx 103: Read range and direction messages.=^direction in FSK: [0.916223,-0.015993,0.400349]=Fpublishing direction and range infoy8Q?,er`^Q?YfA )7IX94+(@ B>)@IBҾ%B?Dut?q~a9Y=Fy5EE>Q 5E5bEŀ'4jE-4rE/E EE'E"Eg5;*E;:VE'4ZEBE})BY5 ?Q E:ys>Q I@0uDI;i;5E5y ɮ &A 9iiFÿ?AJiARiAji@b,@s@eBQP @R8Q?,er`^Q?ZibiBҾjq@t_@r @Zޡ?iͿ!'?2i:iO@"i}?*ipBi{Bi?isi{Bi@i,@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503928 s, deltaX: -0.500000 m, approachRate: -0.992205 m/s, rangeRepo size: 4  Added new target pos. range: 8.357350 m, bearing: 345.303054 deg, lat: 36.779341 deg, lon: -121.859629 deg, deltaT: 2.015696 s, deltaX: -1.392909 m, approachRate: -0.691031 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.36 m. 9.75 m.RhZh  ProNav: ac range: 9.750259 m, nav range: 8.246070 m, bearing: 347.857051 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.167627 deg, new cmd heading: 340.110992 deg. Bh |HeadingCmd: 5.936057 target range: 9.750259 and range: 8.40 m.h-@h)*h)"h1 h1gqfqfyf}ȁBdydydyjd @Zd ?BɢOo) ⿾i)NiUEiպ.<2E<=I-@Iichecking for new query: numPingsReceived=103, elapsed TxPingTime=49.170795 lXԑ @  @ @ /@ mDDAT read: Rx Time:05:11:43.2834 mTRx dataTimestamp_ set to:1761541904.493771}PDAT read: Bearing 166.3, -8.8 (Local) ~Local bearing/azimuth received: Bearing 166.3, -8.8 (Local) DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 ^AC;=A>A>DAT read: 05:11:43.2834 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 496, 0.18, 0.650,-0.986, 0.844, 0.813, PHS=-0.061,-1.754,-0.013, RAW= 151.4, 20.6, CAL= 153.7, 26.7, ROT= 356.3, -26.7 Ygot valid direction response: 05:11:43.2834 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 496, 0.18, 0.650,-0.986, 0.844, 0.813, PHS=-0.061,-1.754,-0.013, RAW= 151.4, 20.6, CAL= 153.7, 26.7, ROT= 356.3, -26.7 V#Rx 104: Read range and direction messages.^direction in FSK: [0.891509,-0.057652,0.449319]Fpublishing direction and range infoyim g>?j"z?Yiiiii i)m6Im#yim࿉mTm)@mX>m>+@ m>)m@Imiimk2?ML2?bnE? m< ?)mFIm)Aimii5checking for new query: numPingsReceived=104, elapsed TxPingTime=49.450439A .AI!I9OU"?,c%Ŀ?AE= E=E9E9"E=2;*E=d:VE9ZE9aE@aE@aM@aM@BBBIB BBBBB|q;B-Ej@;@;ٱiE -AHRS rotation from veh to nav: [[0.947498,0.312374,0.068335],[-0.319673,0.930390,0.179401],[-0.007538,-0.191827,0.981400]]HQ??b~?uԿ@?@?~ʍȿg?ij@I\^;CY=By=IbDMVDMNy]#<%=ٔn)Q->9 ?Y ?=Fy5E3E>Q 5E5A?Q 9E5)BYyAQ I@DuDI ;i;E5yfBɮAAjEiiĿ?AJiRiji7@bHXx@s}B ޿8z @R g>?j"z?Zi)Abij: @rC?@_^ @Z@$ o?Pjп9n?2i :iL@"i8?*iavBioBi ?ipiBi@i@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.505089 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.357349 m, bearing: 343.251633 deg, lat: 36.779339 deg, lon: -121.859629 deg, deltaT: 2.520785 s, deltaX: -1.392910 m, approachRate: -0.552570 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.36 m. 9.75 m.RhZh= ProNav: ac range: 9.750259 m, nav range: 7.942100 m, bearing: 347.805746 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.110991 deg, new cmd heading: 340.049983 deg. BhAM|HeadingCmd: 5.934992 target range: 9.750259 and range: 8.40 m.hMt@hI*hI"hQ hQgqfyfyfydyddjdZdg%?checking for new query: numPingsReceived=104, elapsed TxPingTime=49.674812BɢT\) ki ) AU  i a&BioF <L6=It@I) qQ @Q  @Q @] /@Y ԉ u DDAT read: Rx Time:05:11:43.7832 u TRx dataTimestamp_ set to:1761541904.996744} PDAT read: Bearing 165.0, -8.5 (Local)  ~Local bearing/azimuth received: Bearing 165.0, -8.5 (Local)  DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4  DAT read: 05:11:43.7832 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 494,-0.25,-3.130, 1.475,-2.931,-2.982, PHS=-0.046,-1.781, 0.008, RAW= 151.5, 20.0, CAL= 153.5, 25.4, ROT= 356.5, -25.4  Ygot valid direction response: 05:11:43.7832 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 494,-0.25,-3.130, 1.475,-2.931,-2.982, PHS=-0.046,-1.781, 0.008, RAW= 151.5, 20.0, CAL= 153.5, 25.4, ROT= 356.5, -25.4  V#Rx 105: Read range and direction messages. ^direction in FSK: [0.901650,-0.055147,0.428935] Fpublishing direction and range infoyq u Q?dC<hVs?Yu Aq q q q q )u 7Iu ju v+@ u >)u o@Iu ⾩q q u s_G?p~n?gp|? u ?)u Iu 5ziu ⾩q q  checking for new query: numPingsReceived=105, elapsed TxPingTime=49.942825ԙ^A}==EM EMEIEI"EM/;*EM:VEIZEIBEMʈ9"?Y"?=Fy5E0E>Q 5E5??Q 9E5) BY ?Q E:yScQ I@WuDIs:i:E5ylBɮAkEi i ?Ŀ?AJi @Ri @ji 7@b pATѴ@k֟ܿ)O @R Q?dC<hVs?Zi 5zbi j 몂Z5@+"+!B @Z 5vK5?wпzZ{4?2i :i q@"i y.?*i \Bi Bi y.?i 6Ui i N@i y@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.502973 s, deltaX: -0.400000 m, approachRate: -0.795271 m/s, rangeRepo size: 4  Added new target pos. range: 7.959381 m, bearing: 342.978852 deg, lat: 36.779339 deg, lon: -121.859630 deg, deltaT: 3.023758 s, deltaX: -1.790879 m, approachRate: -0.592269 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.96 m. 9.75 m.RhZhuchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.186752 ProNav: ac range: 9.750259 m, nav range: 7.638063 m, bearing: 347.826656 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.049984 deg, new cmd heading: 339.990987 deg. Bh|HeadingCmd: 5.933962 target range: 9.750259 and range: 8.00 m.h@h*h"h hgfffÁBdddjd @Zd?5Bɢ5Ϩ)9 =9Ҿi9)=ը\99i=>aimYͲme@ @@/@ - DDAT read: Rx Time:05:11:44.2831 - TRx dataTimestamp_ set to:1761541905.5088315 PDAT read: Bearing 167.0, -10.8 (Local) = ~Local bearing/azimuth received: Bearing 167.0, -10.8 (Local) M DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 m DAT read: 05:11:44.2831 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.10,-0.985,-2.579,-0.722,-0.776, PHS=-0.107,-1.758, 0.010, RAW= 153.4, 21.0, CAL= 155.8, 27.8, ROT= 354.2, -27.8 u Ygot valid direction response: 05:11:44.2831 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.10,-0.985,-2.579,-0.722,-0.776, PHS=-0.107,-1.758, 0.010, RAW= 153.4, 21.0, CAL= 155.8, 27.8, ROT= 354.2, -27.8  V#Rx 106: Read range and direction messages. ^direction in FSK: [0.880053,-0.089392,0.466387] Fpublishing direction and range infoy) - c)?iEk⶿]jBG?Y- @) ) ) ) ) )- 6I- "۽i- %Έ- #<- uY+@- f>- .@ - Ul>)- @I- Ul) ) - $޷O?Yebr?d/"2? - v2?)- BI- )QϽi- Ul) )  checking for new query: numPingsReceived=106, elapsed TxPingTime=50.499512^A &== EQ  EU EU &EQ "EQ *EU :VEU 4ZEQ ae @ae @ae @ae @AIAIBQBQBUIBUBBU =BQBQBUq;BU-EAIIO>2,jĿ?A2@2@2d;ٱ2UE :AHRS rotation from veh to nav: [[0.946336,0.315882,0.068307],[-0.323109,0.929269,0.179050],[-0.006917,-0.191512,0.981466]]2H`cH?i7?`|?`ҭԿ ??=U|yȿ+h?i2@I2^;0YnBynIbD~VD~rGyƻ%$=9YjAٔQ->9Y =EFyE5EMEM>QQ 5]E5UҚ?Q 9]E5U')UBYYye~dQ Ie@UiuDIUK:iU :UsE5ymrBɮu=AulEii`Ŀ?AJiU@RiU@ji2@b̒zvQ@w㣰2\wEj @Rc)?iEk⶿]jBG?Zi)QϽbiUljvC@g\"^ @Z}c*?߮+ҿIg?2i :i@"i_?*ifqBi1Bi8?iavi1Bi@i@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.512087 s, deltaX: -0.200000 m, approachRate: -0.390558 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=106, elapsed TxPingTime=50.690903 Added new target pos. range: 7.760393 m, bearing: 341.251164 deg, lat: 36.779339 deg, lon: -121.859632 deg, deltaT: 3.535845 s, deltaX: -1.989867 m, approachRate: -0.562770 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.76 m. 9.75 m.RhZh ProNav: ac range: 9.750259 m, nav range: 7.354676 m, bearing: 347.850224 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.990998 deg, new cmd heading: 339.934721 deg. Bh|HeadingCmd: 5.932980 target range: 9.750259 and range: 7.80 m.hڽ@h*h"h hg f f f dddjd@33@Zd?EBɢE-$)M MԾiI)MdcIIiM;iUNUý<]0?2=I]ڽ@IYIi)i9?@ @@/@ԑ^A.=AfAzAfA DDAT read: Rx Time:05:11:44.7829  TRx dataTimestamp_ set to:1761541906.012772 PDAT read: Bearing 170.4, -12.2 (Local) ԙ  ~Local bearing/azimuth received: Bearing 170.4, -12.2 (Local)  DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4  DAT read: 05:11:44.7829 LVL= 32752, 32753, 32658, 32755, AGC= 54, IDX= 507,-0.40, 2.516, 0.984, 2.801, 2.782, PHS=-0.164,-1.753,-0.026, RAW= 154.1, 22.5, CAL= 157.1, 31.2, ROT= 352.9, -31.2  Ygot valid direction response: 05:11:44.7829 LVL= 32752, 32753, 32658, 32755, AGC= 54, IDX= 507,-0.40, 2.516, 0.984, 2.801, 2.782, PHS=-0.164,-1.753,-0.026, RAW= 154.1, 22.5, CAL= 157.1, 31.2, ROT= 352.9, -31.2  V#Rx 107: Read range and direction messages. ^direction in FSK: [0.848805,-0.105724,0.518027] Fpublishing direction and range infoy  +i)?~4xrb?Y @  ) I 'A I I O >i Nb࿉ Լ !,@ > ~{/@ 'g ?) @I 'g W{?lV? ~q? ]v?) ȾI i 'g U checking for new query: numPingsReceived=107, elapsed TxPingTime=50.965527D!,!Ŀ?A\@-|@E;ٱeE EAHRS rotation from veh to nav: [[0.945852,0.317380,0.068076],[-0.324535,0.928800,0.178906],[-0.006447,-0.191312,0.981508]]HjD?O?jm?.Կຸ?`g? hz@|ȿh?i\@I^;CYUByUIEe EaEe+Ea"Ee4;*EaVEe [4ZEaBEe9 Y = Fy 5E-\dE5>9Q 5=E5=暊?Q 9EE5=)=BYE?Q EE:yEpQ IE@=yuDI=:i=:=:E5yɮXAiiBрĿ?AJi@Ri@jiVO@b0NU@ (>eF}@R+i)?~4xrb?Zibi'g jǙ@"㠘;@Z$&?ܯ4ʩѿ/.?2i0:i@"i?*iڒBiBi}?i\iin@i T@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503941 s, deltaX: -0.300000 m, approachRate: -0.595308 m/s, rangeRepo size: 4 = Added new target pos. range: 7.461916 m, bearing: 340.748580 deg, lat: 36.779339 deg, lon: -121.859632 deg, deltaT: 4.039786 s, deltaX: -2.288343 m, approachRate: -0.566452 m/s, posRepo size: 4 jh9bhAzIgnoring new targets. Set target to previous: 7.46 m. 9.75 m.RhZh ProNav: ac range: 9.750259 m, nav range: 7.106061 m, bearing: 347.896359 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.934717 deg, new cmd heading: 339.885931 deg. Bh|HeadingCmd: 5.932128 target range: 9.750259 and range: 7.50 m.hӽ@hԡ*h"h hgfffҁBdddjd@Zdس?]Bɢ]*)Y }پi)i顁i8i</=Iӽ@IiIchecking for new query: numPingsReceived=107, elapsed TxPingTime=51.195160@ @@@ ^A 31= DDAT read: Rx Time:05:11:45.2828  TRx dataTimestamp_ set to:1761541906.518249 PDAT read: Bearing 168.7, -13.2 (Local)  ~Local bearing/azimuth received: Bearing 168.7, -13.2 (Local)  DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4  DAT read: 05:11:45.2828 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 506, 0.05,-2.205, 2.561,-1.860,-1.931, PHS=-0.172,-1.747, 0.027, RAW= 155.9, 21.7, CAL= 158.5, 29.8, ROT= 351.5, -29.8  Ygot valid direction response: 05:11:45.2828 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 506, 0.05,-2.205, 2.561,-1.860,-1.931, PHS=-0.172,-1.747, 0.027, RAW= 155.9, 21.7, CAL= 158.5, 29.8, ROT= 351.5, -29.8  V#Rx 108: Read range and direction messages.^direction in FSK: [0.858234,-0.128264,0.496974]Fpublishing direction and range infoy 9A.AIIO>(o(,(`Ŀ?A}r)¦v?9)&jkk?Y}@yyy} y)yI} 0i}߿}/<}X$.@}>} 1@ }%?)}P@I}%yy}pUpڨ?tm?yQSl? }K ?)}I}i}%yyFchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.501377r@qm@W;ٱ/E AHRS rotation from veh to nav: [[0.945270,0.319153,0.067869],[-0.326237,0.928180,0.179031],[-0.005857,-0.191374,0.981500]]H??l?`_?`Կ?`?!w~ȿqh?ir@I+^;YByI p<4<E EE)E"E0;*E:VEFA4ZEa@a@a@a@bD VD:2ԡy %,=ٔQ->9 ?Y ?=Fy5E|zE>BBBIBBBBBBr;B .EQ 5 E5J?Q 9 E5])BY y rQ I@uDId:i:_E5ywBɮAiyi}*Ŀ?AJi}@Ri}@ji}H@b}3RF@|75|E @R}r)¦v?9)&jkk?Zi}bi}%j}#߭@}0,kĿ?A&DAT read: 05:11:45.7826 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 503, 0.45, 2.612, 1.136, 2.989, 2.942, PHS=-0.228,-1.761, 0.003, RAW= 156.9, 22.9, CAL= 159.8, 32.6, ROT= 350.2, -32.6 :Ygot valid direction response: 05:11:45.7826 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 503, 0.45, 2.612, 1.136, 2.989, 2.942, PHS=-0.228,-1.761, 0.003, RAW= 156.9, 22.9, CAL= 159.8, 32.6, ROT= 350.2, -32.6 >V#Rx 109: Read range and direction messages.B^direction in FSK: [0.830159,-0.143393,0.538771]BFpublishing direction and range infoy)-Ϣ*?,Z¿(=?Y-3@)))) ))-7I-xii-shΈ-D;-LB/@->-2@ -?)-@I-X))-r fF?ٷS? J>? -$?)-m̾I-%/i-))rchecking for new query: numPingsReceived=109, elapsed TxPingTime=51.991879zf@za@zϚ;ٱz9E AHRS rotation from veh to nav: [[0.944803,0.320622,0.067445],[-0.327598,0.927705,0.179005],[-0.005176,-0.191219,0.981534]]zH;?@? D?[Կï??S3uyȿ`h?izf@Iz^;zCYeۀBye}IE EE&E"E1;*E:VE4ZEBE[9U"?YU"?=UFyU5E]g2E]>aQ 5mE5eU?Q 9mE5eM)eBYm?Q Eu:yuqQ Iu@euDIe\:ie:eE5y}BɮXAvEi)i-TĿ?AJi- @Ri- @ji-@b-yt@?!4q-A{^r@R-Ϣ*?,Z¿(=?Zi-%/bi-j-D§f@ުo؄0@Z-k V?$(ӿEPA?2i-} :i-@"i-{✊?*i-N>Bi-Bi-_#?i-fqi)i-g@i-@M addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502562 s, deltaX: -0.300000 m, approachRate: -0.596942 m/s, rangeRepo size: 4 } Added new target pos. range: 7.063940 m, bearing: 338.283903 deg, lat: 36.779338 deg, lon: -121.859634 deg, deltaT: 5.047825 s, deltaX: -2.686319 m, approachRate: -0.532174 m/s, posRepo size: 4 jhybhzIgnoring new targets. Set target to previous: 7.06 m. 9.75 m.RhZh ProNav: ac range: 9.750259 m, nav range: 6.538619 m, bearing: 348.064984 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.835079 deg, new cmd heading: 339.777025 deg. Bh|HeadingCmd: 5.930228 target range: 9.750259 and range: 7.10 m.hmĽ@h*h"h hgfffBdddjd%`ff@Zd%@?颍ÁBɢ3 .) i)x顙i"2iᶴ<k,=ImĽ@I]checking for new query: numPingsReceived=109, elapsed TxPingTime=52.2036259 TP t>i !>q @q  @y @} 4@ i  DDAT read: Rx Time:05:11:46.2824  TRx dataTimestamp_ set to:1761541907.524657PDAT read: Bearing 172.6, -14.8 (Local) ~Local bearing/azimuth received: Bearing 172.6, -14.8 (Local) -DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 UDAT read: 05:11:46.2824 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.05, 0.730,-0.699, 1.111, 1.076, PHS=-0.243,-1.730,-0.009, RAW= 157.2, 23.4, CAL= 160.2, 33.7, ROT= 349.8, -33.7 ]Ygot valid direction response: 05:11:46.2824 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.05, 0.730,-0.699, 1.111, 1.076, PHS=-0.243,-1.730,-0.009, RAW= 157.2, 23.4, CAL= 160.2, 33.7, ROT= 349.8, -33.7 eV#Rx 110: Read range and direction messages.m^direction in FSK: [0.818806,-0.147326,0.554844]mFpublishing direction and range infoy  Ƨ3?¿TI?Y @     ) I xi pݿ t /@ > 2@ ?) |]@I    L?b?Ks?,$s? 6&?) fѾI K6i   checking for new query: numPingsReceived=110, elapsed TxPingTime=52.471287^AuS,=ԩE5 E5E5+E1"E51A;*E5:VE5 [4ZE1a=@a=@a=@a=@AIIO?9,9Ŀ?AB>B BIBBB B B Br;B.E$$x~F@~A@~l_4;ٱ~D 5AHRS rotation from veh to nav: [[0.943520,0.324718,0.065782],[-0.331303,0.926354,0.179186],[-0.002752,-0.190859,0.981614]]~HQ1?.?`װ?4տ ??fnȿ`i?i~F@I~c_;~CYEՀByEvI IIqqbD}VD} yɺ%=ٔQ->9Y=Fy5EoE >Q 5%E5.?Q 9%E5U)BY1y5rQ I5@uDIp;i;E5yQɮUAQiiĿ?AJi~@Ri~@ji,@b6(@V9޴@RƧ3?¿TI?ZiK6bij.8@k-@Z [?)ӿxA?2i:i̤@"i?*i2BiBi{✊?i2iBi@iμ@ addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503846 s, deltaX: -0.300000 m, approachRate: -0.595419 m/s, rangeRepo size: 4 E Added new target pos. range: 6.765463 m, bearing: 337.949788 deg, lat: 36.779336 deg, lon: -121.859636 deg, deltaT: 5.551671 s, deltaX: -2.984796 m, approachRate: -0.537639 m/s, posRepo size: 4 jhAbhIMzIgnoring new targets. Set target to previous: 6.77 m. 9.75 m.RhQZhQe ProNav: ac range: 9.750259 m, nav range: 6.235100 m, bearing: 348.200167 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.777022 deg, new cmd heading: 339.717807 deg. Bh|HeadingCmd: 5.929194 target range: 9.750259 and range: 6.80 m.h@h*h"h hgfffdddjd@33@Zd?checking for new query: numPingsReceived=110, elapsed TxPingTime=52.706799āBɢ`4) )i!)%Y!!i%a/i-K>-<5u!=I5@I1Q-9 @  @ @ 2@ @ =@ =y  DDAT read: Rx Time:05:11:46.7821  TRx dataTimestamp_ set to:1761541908.028663 PDAT read: Bearing 171.4, -16.8 (Local)  ~Local bearing/azimuth received: Bearing 171.4, -16.8 (Local)  DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4  DAT read: 05:11:46.7821 LVL= 32752, 32753, 30130, 32755, AGC= 55, IDX= 499, 0.27, 0.956,-0.420, 1.438, 1.338, PHS=-0.280,-1.713, 0.056, RAW= 160.3, 22.8, CAL= 162.7, 32.7, ROT= 347.3, -32.7  Ygot valid direction response: 05:11:46.7821 LVL= 32752, 32753, 30130, 32755, AGC= 55, IDX= 499, 0.27, 0.956,-0.420, 1.438, 1.338, PHS=-0.280,-1.713, 0.056, RAW= 160.3, 22.8, CAL= 162.7, 32.7, ROT= 347.3, -32.7  V#Rx 111: Read range and direction messages. ^direction in FSK: [0.820923,-0.185003,0.540240] Fpublishing direction and range infoy  o&"D?I_,/ǿd I?Y @ u ) I )\i Cۿ B`e= 3@ %> ּ5@ ?) @I  \y~?a?`]o? <4?) ˾I bi   checking for new query: numPingsReceived=111, elapsed TxPingTime=52.974373ԩ ^A E EE'E"E*;*E:VE'4ZEBE9Y=Fy5EE>Q 5E5E?Q 9E5E)ްBQ A+:YQ E:yQ I@uDIu ;i?XE5yBɮAwEi!i%ſ?AJi%@Ri%@ji%6@b%d @X;s㺼 @R%o&"D?I_,/ǿd I?Zi%bbi%j%Ȑ@خ`/? @Z% -?,%-ֿ %?2i% :i%o@"i% ќ?*i%8hBi%Bi%?i%N>i!i% @i%.s@M addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504006 s, deltaX: -0.500000 m, approachRate: -0.992052 m/s, rangeRepo size: 4 ] Added new target pos. range: 6.268003 m, bearing: 335.200607 deg, lat: 36.779336 deg, lon: -121.859636 deg, deltaT: 6.055677 s, deltaX: -3.482256 m, approachRate: -0.575040 m/s, posRepo size: 4 jhYbhYezIgnoring new targets. Set target to previous: 6.27 m. 9.75 m.RhaZhi} ProNav: ac range: 9.750259 m, nav range: 5.944956 m, bearing: 348.342316 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.717818 deg, new cmd heading: 339.663568 deg. Bhy|HeadingCmd: 5.928247 target range: 9.750259 and range: 6.30 m.h4@h*h"h hgfffdddjd@33@Zd7j?ŁBɢn8) i)iSU,ie@<&=I4@IMchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.210594 ))@1 @1@=N2@9Y  DDAT read: Rx Time:05:11:47.2821  TRx dataTimestamp_ set to:1761541908.532678 PDAT read: Bearing 170.8, -16.6 (Local)  ~Local bearing/azimuth received: Bearing 170.8, -16.6 (Local) % DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 E DAT read: 05:11:47.2821 LVL= 32752, 32753, 26370, 32755, AGC= 53, IDX= 499,-0.20,-0.114,-1.435, 0.357, 0.248, PHS=-0.260,-1.638, 0.065, RAW= 160.4, 22.5, CAL= 162.7, 32.0, ROT= 347.3, -32.0 M Ygot valid direction response: 05:11:47.2821 LVL= 32752, 32753, 26370, 32755, AGC= 53, IDX= 499,-0.20,-0.114,-1.435, 0.357, 0.248, PHS=-0.260,-1.638, 0.065, RAW= 160.4, 22.5, CAL= 162.7, 32.0, ROT= 347.3, -32.0 U V#Rx 112: Read range and direction messages.] ^direction in FSK: [0.827300,-0.186440,0.529919]] Fpublishing direction and range infoy  ?0>y?e^Gǿ?<?Y     g  ) 5I i ѿ = $+3@ >  5?) I 5   /Y?S/G%?~x?  M4?) OȾI i 5  = checking for new query: numPingsReceived=112, elapsed TxPingTime=53.503475^A =ԩ E- E-E-&E)"E-1A;*E-:VE-4ZE)a5@a5@a5@a5@IAIQO]>I,[()ſ?AB4B4B6IB6BB4B4B4B66r;B6(.EB)B)B)B)B)C-|Y4~h,@~9'@~V&ٱ~BB AHRS rotation from veh to nav: [[0.942455,0.328323,0.063106],[-0.334333,0.925492,0.178007],[0.000040,-0.188862,0.982004]]~H`(???'? eտ???,ȿl?i~h,@I~0/`;~CYEByEIbDUVDUy4=%1=ٔ1ƻQ->9Y=Fy5EE>Q 5E5Z?Q 9E5)ٰBQ A :YQ Ew:y Q I@uDI*;i6{?E5yBɮ_AxEi)i-e"ſ?AJi)Ri)ji- @b-W@S۝. @R-?0>y?e^Gǿ?<?Zi)ybi-5j-1r'@p @Z-ZH?6Bֿ5?2i-U:i-і@"i-蜊?*i-kЅBi-݇Bi-{✊?i-hi-ZBi-ơ@i-@ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504015 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.267996 m, bearing: 334.738529 deg, lat: 36.779336 deg, lon: -121.859636 deg, deltaT: 6.559692 s, deltaX: -3.482264 m, approachRate: -0.530858 m/s, posRepo size: 4 jhbh zIgnoring new targets. Set target to previous: 6.27 m. 9.75 m.RhZh% ProNav: ac range: 9.750259 m, nav range: 5.685895 m, bearing: 348.489732 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.663559 deg, new cmd heading: 339.610240 deg. Bh)U|HeadingCmd: 5.927317 target range: 9.750259 and range: 6.30 m.hU@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde YN?ƁBɢ4)  i)li DDAT read: Rx Time:05:11:47.7818  TRx dataTimestamp_ set to:1761541909.036573 PDAT read: Bearing 163.7, -20.4 (Local)  ~Local bearing/azimuth received: Bearing 163.7, -20.4 (Local) % DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 E DAT read: 05:11:47.7818 LVL= 32752, 32753, 21474, 32755, AGC= 49, I 0.12, 0.001,-1.276, 0.690, 0.381, PHS=-0.278,-1.612, 0.265, RAW= 166.3, 19.0, CAL= 167.4, 25.5, ROT= 342.6, -25.5 M !unknown deviceResponse_: 05:11:47.7818 LVL= 32752, 32753, 21474, 32755, AGC= 49, I 0.12, 0.001,-1.276, 0.690, 0.381, PHS=-0.278,-1.612, 0.265, RAW= 166.3, 19.0, CAL= 167.4, 25.5, ROT= 342.6, -25.5 M \#Rx 113: Read range message, but no direction.y Y @ P,Cſ?Achecking for new query: numPingsReceived=113, elapsed TxPingTime=53.9775706@6@6qٱ6;B >AHRS rotation from veh to nav: [[0.941867,0.330187,0.062152],[-0.335983,0.924893,0.178009],[0.001293,-0.188543,0.982064]]6H`#?!?Tү?տ@?@?@#.U?`+"ȿm?i6@I6`;4YNByNI==D<D<bEYjE]…04rE]0E EE'E"E';*E:VE'4ZEBE9Y=Fy5EqE>Q 5E5q?Q 9E5)հBQ AT:Yw?Q E:yMsQ I@uDIT:i:0E5y-Bɮ-A-yEmB*** querying acoustic contact ***ii ii} addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503895 s, deltaX: -0.300000 m, approachRate: -0.595362 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.Rh ;Zh ; ProNav: ac range: 9.750259 m, nav range: 5.415074 m, bearing: 348.594973 deg, approach rate: -0.591908 m/s, LOS rate: 0.241518 deg/s, cmd heading: 339.610229 deg, new cmd heading: 339.941737 deg. Bh%<|HeadingCmd: 5.933103 target range: 9.750259 and range: 6.00 m.h۽@h*h"h hgfffǁBdddjd@Zd9#?mǁBɢm8>)i m2iq)u슼qqiu&i} >}h<}3=I}۽@IԁU?@Y @Y@]4@Ychecking for new query: numPingsReceived=113, elapsed TxPingTime=54.223469ԩ ^A ;=I Ii O > W,u]ſ?A(R@R @R!ٱRQ@B ^AHRS rotation from veh to nav: [[0.941277,0.332008,0.061382],[-0.337626,0.924237,0.178309],[0.002469,-0.188562,0.982058]]RH`???sm? տ`Z?`?@8d?"ȿ@m?iR@IRl^`;PYfByfIbDr VDr:2yv}=%z~=ٔzYoQ-z ?9|Y|=~Fy~5E~E ?Q 5 E5?Q 9E5ҹ)ӰBYyuQ I@uDI7 ;i ;E5y!ɮ%gA!jhbhzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.Rh;Zh; ProNav: ac range: 9.750259 m, nav range: 5.236041 m, bearing: 348.673959 deg, approach rate: -0.550729 m/s, LOS rate: 0.251277 deg/s, cmd heading: 339.941739 deg, new cmd heading: 340.186796 deg. Bhs,< |HeadingCmd: 5.937380 target range: 9.750259 and range: 6.00 m.h @h *h)"h) h)g1f1f1f1d9d9d9jd9Zd=l?DDAT read: Rx Time:05:11:48.2817 TRx dataTimestamp_ set to:1761541909.544832PDAT read: Bearing 151.7, -14.7 (Local) ~Local bearing/azimuth received: Bearing 151.7, -14.7 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 DAT read: 05:11:48.2817 LVL= 32752, 32753, 19858, 32755, AGC= 50, IDX= 512,-0.45, 0.861,-0.875, 1.531, 0.960, PHS= 0.003,-1.790, 0.527, RAW= 162.5, 11.9, CAL= 162.7, 13.6, ROT= 347.3, -13.6 Ygot valid direction response: 05:11:48.2817 LVL= 32752, 32753, 19858, 32755, AGC= 50, IDX= 512,-0.45, 0.861,-0.875, 1.531, 0.960, PHS= 0.003,-1.790, 0.527, RAW= 162.5, 11.9, CAL= 162.7, 13.6, ROT= 347.3, -13.6 V#Rx 114: Read range and direction messages.^direction in FSK: [0.948181,-0.213682,0.235142]Fpublishing direction and range infoyk`W?hGY˿#?Y̼@M )2ID;i忉y?5@ȭT> s>)Isqw !T?J}!?vS ? =?)ϚUIischecking for new query: numPingsReceived=114, elapsed TxPingTime=54.508327颭ȁBɢO) ܾi)5顱i<$ic <Թ E checking for new query: numPingsReceived=114, elapsed TxPingTime=54.726692+],K>wſ?A6A@6@6S/vٱ6,B BAHRS rotation from veh to nav: [[0.940716,0.333764,0.060461],[-0.339176,0.923620,0.178568],[0.003756,-0.188489,0.982068]]6HW?e\?`? տK?P?n?e ȿ@m?i6A@I6`;6CPYRByRIbDZVDZJy1;%H=ٔ-#NQ-5>99YA=MFyM5EeEm>Q 5E5)?Q 9E5O)аBYyvQ I@vDI#A% >] checking for new query: numPingsReceived=115, elapsed TxPingTime=55.230721AY a Ii I O >?d,ſ?A6@6@6 yǻٱ6,@ >AHRS rotation from veh to nav: [[0.940114,0.335897,0.057963],[-0.340807,0.923237,0.177439],[0.006087,-0.186567,0.982423]]6Hi? V?X?տ'? O?`x?kǿ@p?i6@I6a;6CYFByJI LLi}Mb@Mb@Mb@yyyy y9}Zd;O?V-?Mbp?Y}~ ?y}h=};}A}@ } A)} AyY} AbDVDyk=%/=ٔCQ->9Y=Fy5EFxE>Q 5F5?Q 9F5)ϰBY ?Q E:yr_Q I@vDI:i<:F5yɮ!A addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503556 s, deltaX: -0.500000 m, approachRate: -0.992938 m/s, rangeRepo size: 4 jh bh  zIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.Rh1P;Zh1P;- ProNav: ac range: 9.750259 m, nav range: 4.751320 m, bearing: 348.859103 deg, approach rate: -0.635047 m/s, LOS rate: 0.182018 deg/s, cmd heading: 340.135825 deg, new cmd heading: 340.349150 deg. Bh-;5|HeadingCmd: 5.940213 target range: 9.750259 and range: 5.40 m.h5:@h1*h1"h1 h1g1f9f9f=сBdAdAdAjdE@ZdE?%ɁBɢUHB)Y e Ͼi)顉ip iZ<O U@k ,0ſ?A6ׂ94Y6mAv@v@v0ٱv(> AHRS rotation from veh to nav: [[0.940148,0.336112,0.056129],[-0.340689,0.923566,0.175948],[0.007299,-0.184540,0.982798]]vH?݂? ?տٍ?@w?}?@ǿs?iv@IvB?a;tYByIbD-VD-y500=%=F=ٔ=@Q-=>9= ?YE ?=EFyE5EEŜ9EM>IQ 5UF5M?Q 9]F5M)MΰBYYy]I_Q I]@MvDIM:iM:M4F5ymBɮmAmzE addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504338 s, deltaX: -0.100000 m, approachRate: -0.198280 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.RhC;ZhC; ProNav: ac range: 9.750259 m, nav range: 4.526766 m, bearing: 348.926215 deg, approach rate: -0.544888 m/s, LOS rate: 0.170928 deg/s, cmd heading: 340.349146 deg, new cmd heading: 340.560469 deg. Bh;|HeadingCmd: 5.943902 target range: 9.750259 and range: 5.30 m.hq4@h*h"h hgfffdddjd@33@ZdK?i I  checking for new query: numPingsReceived=116, elapsed TxPingTime=55.735077ɢ8) ƾi)i>i%%x<% DDAT read: Rx Time:05:11:49.7810  TRx dataTimestamp_ set to:1761541911.056281 DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4  \#Rx 117: Read range message, but no direction.y Y @  checking for new query: numPingsReceived=117, elapsed TxPingTime=55.990814 r,6ſ?ADB=DB<EF EFEF$ED"EF /;*EF:VEF4ZEDBEF9"?Y"?=Fy5EE>Q 5F5̛?Q 9F5 )̰BY ?Q E:y2Q I@-vDIS;i; F5yɮAB*** querying acoustic contact ***i i5 addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503555 s, deltaX: -0.500000 m, approachRate: -0.992940 m/s, rangeRepo size: 4 jh1bh1=zIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.RhE6!ZhE6!U ProNav: ac range: 9.750259 m, nav range: 4.298975 m, bearing: 348.869865 deg, approach rate: -0.541077 m/s, LOS rate: -0.140942 deg/s, cmd heading: 340.560472 deg, new cmd heading: 340.382465 deg. Bht|HeadingCmd: 5.940795 target range: 9.750259 and range: 4.80 m.h@h*h"h hgfffށBdddjd@33@Zd>?ʁBɢ1) þi)|ii%M%di}%>5checking for new query: numPingsReceived=117, elapsed TxPingTime=56.239372@@ @@0@)I ^A <A I I O >_Ix,ſ?Aɰ4<6@6@6 ٱ63; >AHRS rotation from veh to nav: [[0.940174,0.336470,0.053495],[-0.340568,0.923858,0.174644],[0.009341,-0.182414,0.983177]]6H??c?@տ >?`Z?@h!?ZYǿ`0v?FDDAT read: Rx Time:05:11:50.2809 JTRx dataTimestamp_ set to:1761541911.560780NPDAT read: Bearing 169.8, -20.3 (Local) N~Local bearing/azimuth received: Bearing 169.8, -20.3 (Local) VDAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 vDAT read: 05:11:50.2809 LVL= 32752, 32753, 17858, 32755, AGC= 46, IDX= 504, 0.40,-2.139, 2.588,-1.332,-1.596, PHS=-0.441,-2.054, 0.219, RAW= 166.4, 21.7, CAL= 167.8, 30.9, ROT= 342.2, -30.9 ~Ygot valid direction response: 05:11:50.2809 LVL= 32752, 32753, 17858, 32755, AGC= 46, IDX= 504, 0.40,-2.139, 2.588,-1.332,-1.596, PHS=-0.441,-2.054, 0.219, RAW= 166.4, 21.7, CAL= 167.8, 30.9, ROT= 342.2, -30.9 i6@I6#b;6CYByIV#Rx 118: Read range and direction messages.^direction in FSK: [0.816989,-0.262306,0.513541]Fpublishing direction and range infoyDF 7$?пt^n?bDVDYFf@DDDFE D)F.IFiFtFA`>F9@F>F5o;@ F ?)F@IF DDFUW?LBʏ?(1? FHO?)FơIFiF DDUchecking for new query: numPingsReceived=118, elapsed TxPingTime=56.549160y˼%<=ٔQ->9Y=Fy5E9E>Q 5F5?Q 9F5 )ʰBYy2Q I@Iۿ|fu?2iF:iFS@"iF[a?*iFBBiF?BiF蜊?iFkЅiF݇BiFci@iF뿷@e addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.504499 s, deltaX: -0.100000 m, approachRate: -0.198217 m/s, rangeRepo size: 4 u Added new target pos. range: 4.676128 m, bearing: 328.651162 deg, lat: 36.779337 deg, lon: -121.859639 deg, deltaT: 9.587794 s, deltaX: -5.074131 m, approachRate: -0.529228 m/s, posRepo size: 4 jhqbhq}zIgnoring new targets. Set target to previous: 4.68 m. 9.75 m.Rh}Zh}#& ProNav: ac range: 9.750259 m, nav range: 4.061694 m, bearing: 348.803877 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.382477 deg, new cmd heading: 340.330703 deg. Bh]Ǻ|HeadingCmd: 5.939891 target range: 9.750259 and range: 4.70 m.h@h!*h!"h) h)g)f)f1f1d9d9d9jde@Zdm ^?ˁBɢR~7) Lʾi)ɐii5įS<hoO,Mƿ?A2s@2D@2$%ٱ2ɫ: :AHRS rotation from veh to nav: [[0.940392,0.336045,0.052308],[-0.339942,0.924236,0.173860],[0.010079,-0.181279,0.983380]]2H?`?@-Ȫ? տ@W? A??@$4ǿw?i2s@I2b;2CYBByFI]DDAT read: Rx Time:05:11:50.7807 ]TRx dataTimestamp_ set to:1761541912.064553mPDAT read: Bearing 180.8, -18.8 (Local) m~Local bearing/azimuth received: Bearing 180.8, -18.8 (Local) }DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 DAT read: 05:11:50.7807 LVL= 26192, 31665, 19186, 32755, AGC= 44, IDX= 502, 0.11, 1.764, 0.352, 2.405, 2.427, PHS=-0.561,-2.030,-0.065, RAW= 164.0, 28.0, CAL= 166.3, 41.3, ROT= 343.7, -41.3 Ygot valid direction response: 05:11:50.7807 LVL= 26192, 31665, 19186, 32755, AGC= 44, IDX= 502, 0.11, 1.764, 0.352, 2.405, 2.427, PHS=-0.561,-2.030,-0.065, RAW= 164.0, 28.0, CAL= 166.3, 41.3, ROT= 343.7, -41.3 V#Rx 119: Read range and direction messages.^direction in FSK: [0.721067,-0.210855,0.660002]Fpublishing direction and range infoyY]6?1IʿCʻ?Y]̌@Y]Pf]{]J Y)],I]i]]]07@]5>]F9@ ]8?)]S@I]8YY]RIQ??̧̈́? ]8D?)]ܿI]zi]8YYchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.011326iMb@Mb@Mb@ 9}?5^I??y&1|YM?y=`9A@  A)Yz AbDVDy3<%=ٔȼQ->9Y=Fy5E˦:E%>)Q 55F5-?Q 95F5-<)-ŰBY5?Q E5:y5N"Q I5@-MvDI-^;i-;-:F5yEBɮE\AE|EDYzD]?AiYi]!ƿ?AJi]@Ri]@ji] @b] &@ @U#53@R]6?1IʿCʻ?Zi]zbi]8j]Hy@*h R@Z]ҀS>?@Կ[cJ9?2i]@:i]3@"i]U㜊?*i]9Bi]BiYiYi]Bi]Y@i]ζ@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503773 s, deltaX: -0.300000 m, approachRate: -0.595506 m/s, rangeRepo size: 4  Added new target pos. range: 4.377652 m, bearing: 333.123263 deg, lat: 36.779337 deg, lon: -121.859639 deg, deltaT: 10.091567 s, deltaX: -5.372607 m, approachRate: -0.532386 m/s, posRepo size: 4 jh bh  zIgnoring new targets. Set target to previous: 4.38 m. 9.75 m.RhZhE ProNav: ac range: 9.750259 m, nav range: 3.794019 m, bearing: 348.654616 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.330704 deg, new cmd heading: 340.277133 deg. BhAM|HeadingCmd: 5.938956 target range: 9.750259 and range: 4.40 m.hM @hI*hI"hI hIgQfQfqf}Bdydydyjd}@Zd(^?́Bɢ6) Ⱦi)ii5>=H<=Cc,ƿ?ADYByIbD%VD%y5r<%5X=ٔ=Q-=>99Y9=EFyE5EEEE>IQ 5UF5M?Q 9]F5M)MBYYyYQ I]@MZvDIM^;iM;MvF5yaɮmEAijhbhzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.RhʻZhʻ ProNav: ac range: 9.750259 m, nav range: 3.602250 m, bearing: 348.534032 deg, approach rate: -0.534961 m/s, LOS rate: -0.354291 deg/s, cmd heading: 340.277128 deg, new cmd heading: 339.896123 deg. Bh%s|HeadingCmd: 5.932306 target range: 9.750259 and range: 4.40 m.htս@h*h"h hgfffdddjdZdl?́BɢVI) ƾi)cȠijii <DDAT read: Rx Time:05:11:51.2806 TRx dataTimestamp_ set to:1761541912.571463PDAT read: Bearing 186.7, -19.8 (Local) ~Local bearing/azimuth received: Bearing 186.7, -19.8 (Local) DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 =DAT read: 05:11:51.2806 LVL= 21648, 32065, 22114, 32755, AGC= 44, IDX= 502,-0.20, 1.734, 0.676, 2.348, 2.544, PHS=-0.708,-1.823,-0.241, RAW= 166.7, 34.8, CAL= 168.3, 46.8, ROT= 341.7, -46.8 I tս@IIԡYgot valid direction response: 05:11:51.2806 LVL= 21648, 32065, 22114, 32755, AGC= 44, IDX= 502,-0.20, 1.734, 0.676, 2.348, 2.544, PHS=-0.708,-1.823,-0.241, RAW= 166.7, 34.8, CAL= 168.3, 46.8, ROT= 341.7, -46.8 V#Rx 120: Read range and direction messages.^direction in FSK: [0.649927,-0.214942,0.728969]Fpublishing direction and range infoys 2?2;˿S?Yf@TA}bV )I}?5iX鿉v4:@|?/;@ Q?)_׾@IQmen?f?}ZH? NP?)JIiQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.9@9 @9@=0@9E EEE"Ea;*E:VEZEB>BBIBBBBBBq;B-E^A} u< = 2Acoustic response timeoutA I I O >,]8ƿ?A2? @2@2UJ@ٱ2b9 >AHRS rotation from veh to nav: [[0.941070,0.334495,0.049999],[-0.338007,0.925040,0.173357],[0.011736,-0.180041,0.983589]]2H??[h?o? տ?@0?& ? ǿy?i2? @I2b;2CtYByI 11quAbDVD1yڎ%7=ٔoQ->9Y=Fy5EC;E>9Q 5}F5= ?Q 9F5=)=BYy( Q I@=ivDI=Cz9Y=Fy5Ea;E>Q 5F51?Q 9F5)BY ?Q E:y &Q I @{vDIu ;i ;F5yBɮA}EiqiuDƿ?AJiu@Riu@jiue@bu(t%/@EYSt& @!Rul?jyҿ 2?ZiuwbiuQ oju 36?cQ= @Zu(P?r&{ӿ&ow{B-?2iu􏪿:iu?"iu ќ?*iuBiuqBiu圊?iuiqiu!!@iu6@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503059 s, deltaX: 0.200000 m, approachRate: 0.397568 m/s, rangeRepo size: 4  Added new target pos. range: 4.377644 m, bearing: 324.791569 deg, lat: 36.779336 deg, lon: -121.859635 deg, deltaT: 11.101536 s, deltaX: -5.372616 m, approachRate: -0.483952 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.38 m. 9.75 m.RhZhMDDAT read: Rx Time:05:11:52.2806 ]TRx dataTimestamp_ set to:1761541913.578259ePDAT read: Bearing 202.0, -40.3 (Local) m~Local bearing/azimuth received: Bearing 202.0, -40.3 (Local) DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.3  ProNav: ac range: 9.750259 m, nav range: 3.087627 m, bearing: 347.991941 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.842291 deg, new cmd heading: 339.785589 deg. Bh|HeadingCmd: 5.930377 target range: 9.750259 and range: 4.40 m.hŽ@h*h"h hDAT read: 05:11:52.2806 LVL= 15600, 18289, 13170, 28883, AGC= 45, IDX= 499,-0.09,-0.847,-0.835, 0.409, 0.524, PHS=-1.270,-1.314,-0.159, RAW= 208.1, 40.6, CAL= 205.4, 50.8, ROT= 304.6, -50.8 Ygot valid direction response: 05:11:52.2806 LVL= 15600, 18289, 13170, 28883, AGC= 45, IDX= 499,-0.09,-0.847,-0.835, 0.409, 0.524, PHS=-1.270,-1.314,-0.159, RAW= 208.1, 40.6, CAL= 205.4, 50.8, ROT= 304.6, -50.8 gfffBdddjd@Zd{?R#Rx 1: Read range and direction messages.^direction in FSK: [0.358894,-0.520246,0.774944]Fpublishing direction and range infoyQU9+"?jiYۥ;dUaX?YUf@QU<UqGUr3 Up)U-IU\iU'1U"U/sh@U g5?Uoe@ Ub?)U@IUbQQIU ɚ'?#5sM?a+H? U7?)UT)5IUwiUbQQ2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. сBɢ @3)  [Ͼi)I i3i9<p=IŽ@EM EMEIEI"EM%;*EM:VEIZEIaU@aU@aU@aU@AYAYBe>BaBeIBeBBaBaBaBeq;Be-EBBBBBCȃ4I!I)] ?@Y  @Y @] /@Y ԉ i I  2Acoustic response timeoutԡ ^AA.AII!O5?Ğ,}ƿ?AE1@E,@Ef*lٱE7 AHRS rotation from veh to nav: [[0.942585,0.330787,0.045980],[-0.333656,0.926796,0.172400],[0.014414,-0.177843,0.983953]]EH)?+??ZտP?`6? ?ƿ|?iE1@IEb;ECYByI=a= m49 ?Y ?=Fy5EG;E>Q 5F5J?Q 9F5)BYy1Q I@vDI8;i/;#F5yɮAii2eƿ?AJi@Ri@ji`ѣ@b*-?k8d& X @R9+"?jiYۥ;dUaX?Ziwbibj#~?Y.}O{A @Zy?ݿ1ˆ?2i{:iW?"i͑?*iy-sBi)BiU㜊?iidBi@io=@5 addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.503737 s, deltaX: -0.200000 m, approachRate: -0.397033 m/s, rangeRepo size: 4 M Added new target pos. range: 4.178667 m, bearing: 293.314781 deg, lat: 36.779336 deg, lon: -121.859635 deg, deltaT: 11.605273 s, deltaX: -5.571592 m, approachRate: -0.480091 m/s, posRepo size: 4 jhQbhQUzIgnoring new targets. Set target to previous: 4.18 m. 9.75 m.RhaZhauDDAT read: Rx Time:05:11:52.7804 }TRx dataTimestamp_ set to:1761541914.081089DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.3 X#Rx 1: Read range message, but no direction.yyY}y@y2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.5 ProNav: ac range: 9.750259 m, nav range: 2.791796 m, bearing: 347.502054 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.785601 deg, new cmd heading: 339.728981 deg. Bh1=|HeadingCmd: 5.929389 target range: 9.750259 and range: 4.20 m.h=@h9*h9"h9 h9g9faffdddjd@33@Zd "?ҁBɢE)  پi)Rizi$i<.=I@IE} E}E}&Ey"E}m+;*E}:VE}4ZEyBE}߄, טƿ?A27@22@2!{ٱ266 >AHRS rotation from veh to nav: [[0.942806,0.330334,0.044675],[-0.332989,0.927150,0.171789],[0.015327,-0.176840,0.984120]]2Hw+?2$? ߦ?Oտ 6?/?c?ƿ}?i27@I2ub;2CYFByFIiMb@Mb@Mb@ 9#~j?v/?~jtY?yx=ļAI@ / A)/ AYz AbDVD!yյ%M=ٔ Q->9Y=Fy5E8:E>Q 5F5\?Q 9F5)BY+ ?Q E:ys Q I@vDI:i:H'F5y BɮA~E-B*** querying acoustic contact ***i) i)E addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502830 s, deltaX: -0.300000 m, approachRate: -0.596623 m/s, rangeRepo size: 4 jhAbhAMzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.RhUjZhUje ProNav: ac range: 9.750259 m, nav range: 2.579274 m, bearing: 347.114198 deg, approach rate: -0.543194 m/s, LOS rate: -1.073009 deg/s, cmd heading: 339.728992 deg, new cmd heading: 338.469764 deg. Bhe8m|HeadingCmd: 5.907412 target range: 9.750259 and range: 3.90 m.hm @hi*hi"hi higqfqfqfu݁BdydydyjdyZd}?ԩmӁBɢm~a)q uniq)uDqqiu2 i},྾y}{e=I @I@@ @@0@@ @ fA DDAT read: Rx Time:05:11:53.2804  TRx dataTimestamp_ set to:1761541914.585910%DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.3 %X#Rx 1: Read range message, but no direction.y Y  =2Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B>B bE!4jEȣ#4rEȐ'0E  E E )E "E ;*E :VE FA4ZE a% @a% @a% @a- @BIBBB =BBBdq;B-E^Ae 3=IY Ii O} >1 _,Qƿ?A2 D@2>@2熼ٱ27 :AHRS rotation from veh to nav: [[0.943288,0.329087,0.043698],[-0.331567,0.927400,0.173182],[0.016467,-0.177850,0.983920]]2Hj/??_? f8տC?*?`ܐ? ƿE|?i2 D@I2P$c;2CYBByFIbDNVDN1yV˼%V`=ٔVuLQ-Z>9XYX=ZFyZ6E^;E^>`Q 5fF5bl?Q 9fF5bn)bBYdyf Q Ij@bvDIbw;ib;bz*F5ylɮnAl  addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jh TStarting intercept timer at range: 3.90 m.bhzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.RhZh- ProNav: ac range: 9.750259 m, nav range: 2.384767 m, bearing: 346.691762 deg, approach rate: -0.533288 m/s, LOS rate: -1.252668 deg/s, cmd heading: 338.469751 deg, new cmd heading: 337.099352 deg. Bh5V5|HeadingCmd: 5.883493 target range: 9.750259 and range: 3.90 m.h=E@h9*h9"h9 h9g9f9fAfAdAdAU2Acoustic response timeoutdIjdQZd]?颅ԁBɢC)i)  i ) v԰  i XV if̾D=IE@IMx>iM>A@ @@4@^AB4=I9IIO]3>1 DDAT read: Rx Time:05:11:53.7801  TRx dataTimestamp_ set to:1761541915.089491% DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.2 - X#Rx 1: Read range message, but no direction.y Y `@ = 2Acoustic response timeout= Querying Benthos address 50 with 120 pings in terminal homing one-way mode.a E  E E (E "E +$;*E خ:VE c44ZE BE 4}9Y=Fy6EE>Q 5F5?Q 9F5})BYK ?Q E:y-Q I@vDI ;i2 ;J.F5yǔBɮAE addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503581 s, deltaX: -0.400000 m, approachRate: -0.794311 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 3.50 m.bhzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.RhېZhې ProNav: ac range: 9.750259 m, nav range: 2.146768 m, bearing: 346.293608 deg, approach rate: -0.545187 m/s, LOS rate: -1.013158 deg/s, cmd heading: 337.099342 deg, new cmd heading: 335.772706 deg. Bh-|HeadingCmd: 5.860339 target range: 9.750259 and range: 3.50 m.h懻@h*h"h hgfffɁBdddjd @Zd O?ցBɢ(b)! %Qi!)%!!i%S i-Pؾ15W=I5懻@I1ԉu2Acoustic response timeout?@ @@4@ ^A- Jc=I I O > - DDAT read: Rx Time:05:11:54.2800 5 TRx dataTimestamp_ set to:1761541915.593829= DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.2 = X#Rx 1: Read range message, but no direction.y) Y- 3S@) E 2Acoustic response timeoutM Querying Benthos address 50 with 120 pings in terminal homing one-way mode.(,jƿ?A6EK@6F@6,ٱ6}9 BAHRS rotation from veh to nav: [[0.943536,0.328609,0.041895],[-0.330720,0.927132,0.176214],[0.019063,-0.180119,0.983460]]6H`s1??Es?`*տ ?@*? F? 'ǿ x?i6EK@I6b;6CYJɀByJgIbDRVDRfXy^jU%^[=ٔbQ-b>9`Y`=bFyb 6Ef;Ef>hQ 5nF5j?Q 9nF5jd)jBYpyr-Q Ir@jvDIj@:ij:j1F5yv̔Bɮv At addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.504338 s, deltaX: -0.200000 m, approachRate: -0.396560 m/s, rangeRepo size: 4 jhbh!%zIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.Rh-jZh-j ProNav: ac range: 9.750259 m, nav range: 1.943357 m, bearing: 345.871966 deg, approach rate: -0.544959 m/s, LOS rate: -1.247854 deg/s, cmd heading: 335.772701 deg, new cmd heading: 334.375663 deg. BhV|HeadingCmd: 5.835956 target range: 9.750259 and range: 3.30 m.h'@h*h"h hgf ffdddjd`ff @Zd 6?B<A<BBBIB BBBBBq;B-EmׁBɢ,ov) i)㷼顱ii:侉=I'@IE EE,E"E ;*E:VEg4ZEBEv<2Ev<JE <:E <M}9IYMfA@ @@/@@=@ >^A}r=IIOH> u2Acoustic response timeout9 c ,3ǿ?A!MVG@M'B@M1ٱMB< AHRS rotation from veh to nav: [[0.943350,0.329192,0.041509],[-0.331163,0.926405,0.179178],[0.020530,-0.182773,0.982941]]MH/?|?@@?@1տ ?@K??eǿ @t?iMVG@IMԒb;MCYByTIDDAT read: Rx Time:05:11:54.7798 TRx dataTimestamp_ set to:1761541916.096809PDAT read: Bearing 184.0, -29.6 (Local) ~Local bearing/azimuth received: Bearing 184.0, -29.6 (Local) DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.2 %DAT read: 05:11:54.7798 LVL= 19776, 16977, 16418, 23859, AGC= 48, IDX= 508, 0.02,-1.928,-2.866,-0.631,-0.767, PHS=-1.059,-2.055, 0.092, RAW= 182.4, 29.9, CAL= 181.7, 42.5, ROT= 328.3, -42.5 -Ygot valid direction response: 05:11:54.7798 LVL= 19776, 16977, 16418, 23859, AGC= 48, IDX= 508, 0.02,-1.928,-2.866,-0.631,-0.767, PHS=-1.059,-2.055, 0.092, RAW= 182.4, 29.9, CAL= 181.7, 42.5, ROT= 328.3, -42.5 -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.627284,-0.387419,0.675590]=Fpublishing direction and range infoy}%?)wؿiOo?Y@@@MQB"@ 3])0IPij=%K@0?J@ N=?)x[@IN=4¹?O'?Z^? _?) lI iN=u2Acoustic response timeoutuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.iMb@Mb@Mb@ 9n?T㥛 ?V-YV?y=KA@  A) AY AbDVD:2yx%"=ٔr>Q->9Y=Fy6ERyE>Q 5F5¨?Q 9F5!)BYp?Q E:yqQ I@vDIb;i2:5F5Iy!ɮ% A!ii2ǿ?AJi?@Ri?@ji+@b0 2Acoustic response timeoutԡ 9,Tǿ?AE<@E]7@EdٱES?Ա AHRS rotation from veh to nav: [[0.942878,0.330589,0.041128],[-0.332393,0.925323,0.182461],[0.022263,-0.185709,0.982352]]EH,?_(??`Eտ ??@Z?̖?Rǿno?iE<@IE0fb;ECYByMII<)===bD VD:2y{%m=ٔѤQ-?9 Y = Fy 6ECzE?Q 5%F5?Q 9%F5S)BY!y%xsQ I-@vDI:i:8F5y5ҔBɮ5 A5EUB*** querying acoustic contact ***iQ iQjhYbhYhaha*ha"ha hagafafifididqdqjdqZdu ?颡ɢV) 4i)i顩ii>侉<=IIa@a @a@e/@aDDAT read: Rx Time:05:11:55.2798 TRx dataTimestamp_ set to:1761541916.600684PDAT read: Bearing 190.5, -30.8 (Local) ~Local bearing/azimuth received: Bearing 190.5, -30.8 (Local) DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.1 %DAT read: 05:11:55.2798 LVL= 32752, 19329, 23954, 30483, AGC= 48, IDX= 509, 0.02,-0.761,-1.489, 0.580, 0.684, PHS=-1.343,-2.129,-0.148, RAW= 186.8, 36.5, CAL= 185.6, 47.8, ROT= 324.4, -47.8 5Ygot valid direction response: 05:11:55.2798 LVL= 32752, 19329, 23954, 30483, AGC= 48, IDX= 509, 0.02,-0.761,-1.489, 0.580, 0.684, PHS=-1.343,-2.129,-0.148, RAW= 186.8, 36.5, CAL= 185.6, 47.8, ROT= 324.4, -47.8 5R#Rx 1: Read range and direction messages.=^direction in FSK: [0.546177,-0.391024,0.740805]=Fpublishing direction and range infoyG+Gz?ՠYٿ;ի?YK] w)Im竿iAPYP@e#?4QO@ U?)-@IU9B?:?e1= ? 0:?)7#IiU2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^A=B>BBIBBBBBBr;B.EE EE'E"E%;*E:VE'4ZEBE+1 >`,3ǿ?A2+"@2@23Ƽٱ2iD :AHRS rotation from veh to nav: [[0.941759,0.333712,0.041537],[-0.335412,0.923209,0.187572],[0.024248,-0.190579,0.981372]]2H"?`[?@OD?cwտ? X?fԘ? dȿfg?i2+"@I21Cb;2CY@yBNIbDNVDNyn;%n`=ٔrQ-r>9pYp=rFyr6Ev{Ev>xQ 5~F5zFɜ?Q 9~F5z)z~BYy$wQ I@zvDIz;iz<;z*qDDAT read: Rx Time:05:11:55.7796 TRx dataTimestamp_ set to:1761541917.104715 PDAT read: Bearing 203.7, -35.4 (Local)  ~Local bearing/azimuth received: Bearing 203.7, -35.4 (Local)  DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 e DAT read: 05:11:55.7796 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508, 0.05,-0.113,-0.220, 1.112, 1.466, PHS=-1.477,-1.640,-0.398, RAW= 203.1, 46.8, CAL= 200.6, 55.7, ROT= 309.4, -55.7 m Ygot valid direction response: 05:11:55.7796 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508, 0.05,-0.113,-0.220, 1.112, 1.466, PHS=-1.477,-1.640,-0.398, RAW= 203.1, 46.8, CAL= 200.6, 55.7, ROT= 309.4, -55.7 m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.357687,-0.435455,0.826098]} Fpublishing direction and range infoy*X?tۿRYeo?Y,@ )5IViѿ˾ib@Q?`@ x?)3ͬ@Ixfs".?G'_? 8N? x?)PI=bix 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԙ E  E E E "E ;*E k:VE ZE a @a @a @a @H,Mǿ?A2@2@2 ףp=?{Gz?/$Y?y#=9A@ \ A)/ AY99bDEVDEyM q%5=ٔQ->9Y=Fy6E]E>Q 5F5ޜ?Q 9F5){BY`?Q E:yQ I@wDI% *DAT read: user:347>  *DAT read: user:347>  BDAT read: Tx time:05:11:56.6756  $Ping request sent. 9Y=Fy6EaE>Q 5%F5`?Q 9%F56)xBY)y-Q I-@wDI:iF:CF5A9A=@ABE>BABEIBE܀BBE =BABABE]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250433) \_,ǿ?AYBy-IbDVDyl%G=ٔ%Q-->99Y9=EFyE#6EUEU>iQ 5uF5m?Q 9uF5mQ =utI)muBYqyyQ I}@mwDIm:im:m/GF5yɮn"A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514103jhbhhh*h"h hgfff!d!d)d)jd)Zd-K`?Yɢ])Y ]x ia)e$yϼaaie[yim6侉m@%Y>E EEE"E';*Ey:VEZEa@a@a@a@Q^A] V=y I I O >i߹ I߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766523@,&Uǿ?A06m@6h@6eٱ6] BAHRS rotation from veh to nav: [[0.933899,0.354544,0.046168],[-0.355984,0.910032,0.212410],[0.033294,-0.214805,0.976089]]6H?`ٰ?d?pֿ??0?@ ?~˿9qYq=uFyu'6E} E>Q 5F5?Q 9F5)wBY]?Q E:yQ I@,wDI ;i" ;sJF5yBɮ}"AEB*** querying acoustic contact ***i ijhbhhh*h"h hgffQfYdYdYdYjdYZde e?颩ɢ)  i)`^Ӽigi@侉i<mϽ=II5e>i5!>ԉ@ @@24@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018406ԹBE>BABEfIBEȀBBE =BABABE r;BE.EBBBB =B =CȰ4^AA!=E EEE"EU,;*E:VEZEBEY,+0ǿ?Aɰ;20@2+@2]ٱ2mb :AHRS rotation from veh to nav: [[0.931151,0.361581,0.047081],[-0.362870,0.906211,0.217042],[0.035813,-0.219184,0.975026]]2H?#$? ?D9׿? ? V?4̿ j3?i20@I2,b;2CYfByf4In=n=lbDvVDv\yẓ<%~R=ٔ~ԻQ-~>9Y=Fy+6E UE >Q 5F5:'?Q 9F5 )xBYyQ I%@:wDI ;i\ ;MF5y)ɮ-]"A)jhQbhQhQhQ*hQ"hQ hQgYfYfYfadadadajdaZdm4Z?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270493颥܁BɢLڑ) 2i)&׼顩iOi:侉 <s=II5?@1 @1@5/@9^A |(=IIO%M>A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522389a E  E E &E "E %;*E 8:VE 4ZE a @a @a @a @H, ǿ?A2]@2/@2)ٱ2mde :AHRS rotation from veh to nav: [[0.928412,0.368476,0.047710],[-0.369600,0.902745,0.220110],[0.038035,-0.221986,0.974308]]2H?`? wm?׿H? ,?@Qy? j̿@-?i2]@I2q#b;2CYBByF6I9imMb@Mb@Mb@iiii i9mQ?{GzYm?ym#mmb Am@ mE A)m/ AiYm AbDVDyB<%A=ٔΫQ->9Y=Fy/6EiE>Q 5F5:?Q 9F5)}BY?Q E:yʾQ I@JwDI ;i ;QF5yBɮ}"AEjhbhhh*h"h hgfffBdddjdZd@1ɢ55)9 =vi9)=!_ۼ99i=iE4侉E9@ @@/@@fA@fAichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.774896ԑ^A=c=IQIiOu> = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026407,ǿ?A2@2˷@2%ٱ2wf :AHRS rotation from veh to nav: [[0.925759,0.375114,0.047537],[-0.375946,0.899704,0.221806],[0.040434,-0.223210,0.973931]]2H@џ??V?@ؿ@_? %d?`? '̿ r*?i2@I2b;2CY^By^FIbDjVDj0yrM=%rV=ٔrλQ-r>9tYt=vFyv36Ev Ez>xQ 5~F5zK?Q 9F5z)zBYy ξQ I@zYwDIz;iz;zTF5y ɮ"Ajh1bh9h9h9*h9"h9 h9gAfAfAfAdAdIdIjdIZdM@ԹBAIɢMª)I Uiq)u5L߼yyi}i>侉<kϜ=IbE%c44jE%­54rE%5/E EE(E"EU,;*E:VEc44ZEIB>BB_IBÀBB =BBBr;B`.Ee@@i @i@m/@i^AE\=IIOA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2783749 @,ȿ?Ar@r}@r\0ٱrMg -AHRS rotation from veh to nav: [[0.922960,0.382006,0.047070],[-0.382481,0.896610,0.223158],[0.043044,-0.223969,0.973645]]rH?r??zؿ?m? ?`̿@(?ir@Ira;rCYuByuOI AbDeVDe:2y<%0=ٔQ->9Y=Fy86EzE>DDAT read: Rx Time:05:11:58.8082 TRx dataTimestamp_ set to:1761541920.140807 PDAT read: Bearing 234.0, -55.5 (Local)  ~Local bearing/azimuth received: Bearing 234.0, -55.5 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.3 EDAT read: 05:11:58.8082 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 256,-0.05,-1.966,-0.855, 0.050, 0.355, PHS=-2.220,-1.166,-0.350, RAW= 244.2, 39.1, CAL= 247.4, 47.3, ROT= 262.6, -47.3 MYgot valid direction response: 05:11:58.8082 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 256,-0.05,-1.966,-0.855, 0.050, 0.355, PHS=-2.220,-1.166,-0.350, RAW= 244.2, 39.1, CAL= 247.4, 47.3, ROT= 262.6, -47.3 MR#Rx 1: Read range and direction messages.U`direction in FSK: [-0.087344,-0.672511,0.734915]]Fpublishing direction and range infoy\H*\JD6lk?Yf&@ )6I{i}?33c@R.?,@ VS?)ܩ@IVSqQ 5}F5ua?Q 9}F5u)uBYyy}ѾQ I@ukwDIul:iud:uYF5yB\]_dۿa( ?ˌB_1? R @).IٿiVSchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.550552ɮ!Aii ȿ?AJi%@Ri%@jiD@bf̿ uߙj?R\H*\JD6lk?ZiٿbiVSj,K\-9zӤ@Z N#cӿ>R ٿNv6٘?2iI:iH"igu?*i[ lBi,Bigu?iW*iBiy?i6q@= addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 3.036092 s, deltaX: -0.100000 m, approachRate: -0.032937 m/s, rangeRepo size: 4 m Added new target pos. range: 2.586788 m, bearing: 233.243513 deg, lat: 36.779343 deg, lon: -121.859637 deg, deltaT: 3.036092 s, deltaX: -0.099512 m, approachRate: -0.032776 m/s, posRepo size: 4 jhibhihihi*hq"hq hqgqfqfyfydydydyjd@Zd@T?ɢkq) Ui)ik>i8侉,lȿ?ANL@NsG@NI:ٱN,h VAHRS rotation from veh to nav: [[0.920317,0.388386,0.046614],[-0.388522,0.893716,0.224325],[0.045465,-0.224561,0.973399]]NH9Y=Fy;6EE>Q 5F5p?Q 9F5)BY+?Q E:y:ǾQ I@wwDI:i:*\F5yBɮ!AEB*** querying acoustic contact ***i ijhbhhh*h"h hgff f ρBd d djdZd?AɢEP)A E iA)MeIIiMiUB侉UZ wi>E EE)E"Eg5;*E:VEFA4ZEa@a@a@a@+GB B B IB BB =B B B s;B .E5 91 Y5 iA  ,v6ȿ?A:@:d@:kCٱ:h BAHRS rotation from veh to nav: [[0.917826,0.394284,0.046203],[-0.394096,0.890952,0.225596],[0.047784,-0.225266,0.973125]]:H^?;?`駧? 8ٿ?P?*w?̿#?i:@I:"a;:CYJЀByJpIbDVVDV0yZ0r=%^[=ٔ^̻Q-^>9b"?Yb"?=bFyb?6EbHEf>dQ 5jF5f?Q 9nF5f)fBYlynXʾQ In@fwDIf@;if;fk_F5ytɮvY!At addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503402 s, deltaX: 0.100000 m, approachRate: 0.198649 m/s, rangeRepo size: 4 jhTStarting intercept timer at range: 2.70 m.bh!h!h!*h!"h! h!g!f!f)f)d)d)d1jd5@Zd5t?echecking for new query: numPingsReceived=2, elapsed TxPingTime=3.286518iɢm")q u iq)uqqi}#Ii<侉ɛ<hy=II@ @ @ 4@^A]H= DDAT read: Rx Time:05:11:59.8083  TRx dataTimestamp_ set to:1761541921.148957% DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.3 - X#Rx 3: Read range message, but no direction.y Y 9@ 5 checking for new query: numPingsReceived=3, elapsed TxPingTime=3.5425399 A I I O >E  E E *E "E 0;*E a:VE (N4ZE BE 9Y=FyD6ESE>Q 5F5?Q 9F5#)BY^?Q E:y Q I@wDI:i:HcF5y Bɮ  A E= addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504748 s, deltaX: 0.200000 m, approachRate: 0.396237 m/s, rangeRepo size: 4 jh=ERStopped intercept timer at range: 2.90 m.bhAhAhA*hA"hA hAgIfIfQfUBdQdQdQjd]@33@Zd]-t?ɢ 7x) \)i );i߻i6侉,<7h=IIiaIeAmchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.790808y@y @y@4@Y^APz=AII O >ԁ  DDAT read: Rx Time:05:12:00.3087 % TRx dataTimestamp_ set to:1761541921.652313- DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 - X#Rx 4: Read range message, but no direction.y Y `@ 5 checking for new query: numPingsReceived=4, elapsed TxPingTime=4.045889,0jȿ?A06@6@6iTٱ6f BAHRS rotation from veh to nav: [[0.913263,0.404977,0.044101],[-0.404060,0.886740,0.224560],[0.051835,-0.222902,0.973462]]6Hr9?%?t?ٿ-`?b?%? ̿`&?i6@I6b;4YJByJIbDRVDR:yZ=%Z`=ٔ^堻Q-^>9\Y\=bFybG6EbykEb>dQ 5jF5f򤝊?Q 9jF5f )fBYhynQ In@fwDIff;if;fzfF5ypɮr_ Ap addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503356 s, deltaX: 0.600000 m, approachRate: 1.191999 m/s, rangeRepo size: 4 jhbhhh*h"h hg!f!f!f!d)d)d)jd- @Zd5H.?M݁BɢMRD})Q ]UiY)ehaaieO޻E} E}E}&Ey"E}s!;*E}:VE}4ZEya@a@a@a@B>BBIBBB =BBB>s;B.Ei@侉<QV=IIԉ@ @@/@Թ}checking for new query: numPingsReceived=4, elapsed TxPingTime=4.294456^Aw= A9 IA IQ Oe > ,p ȿ?A\nQ@n#@n'\ٱn_d vAHRS rotation from veh to nav: [[0.911418,0.409253,0.042764],[-0.407959,0.885155,0.223763],[0.053723,-0.221388,0.973705]]nHV*?31?`#?ڿ0S? E??nV̿`(?inQ@Ina;nCYByI15AAbDU VDU:2y=%==ٔQ->9Y=]Fy]L6EeEm>Q 5F5]?Q 9F5DDAT read: Rx Time:05:12:00.8085  TRx dataTimestamp_ set to:1761541922.161307PDAT read: Bearing 293.5, -52.4 (Local) ~Local bearing/azimuth received: Bearing 293.5, -52.4 (Local) -DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.4 w)BYIyUQ IU@wDI{.nF@Θ>@ ^ >)@I^ ھ3kQJ?? 4@)ITi^ ھ hg f f fdddjd @Zd@1@?checking for new query: numPingsReceived=5, elapsed TxPingTime=4.585105ɢFg) Ծi)1iݻi:侉<I=IIE EE'E"E*;*E:VE'4ZEBEA  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.798395$',ȿ?A@y@3bٱ]b -AHRS rotation from veh to nav: [[0.909834,0.412904,0.041385],[-0.411285,0.883988,0.222281],[0.055197,-0.219260,0.974104]]H\?@m?g0?Rڿ I?`s?`B?̿+?i@I a;CYEByEI IIIMAiMb@Mb@Mb@ 9K7?9Y= Fy P6E hE >Q 5F5wʝ?Q 9F5)BY% ?Q E%:y%Q I%@wDIj:i:mF5y)ɮ5fA1MB*** querying acoustic contact ***iI iIe addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.508994 s, deltaX: -0.300000 m, approachRate: -0.589398 m/s, rangeRepo size: 4 jhabhahaha*hi"hi higififqfu*BdqdydyjdyZd?颉ɢpk) ¾i)E顑iwݻi4侉8<==IIA]@@Y @Y@]/@YDDAT read: Rx Time:05:12:01.3088 TRx dataTimestamp_ set to:1761541922.661589PDAT read: Bearing 296.3, -48.4 (Local) ~Local bearing/azimuth received: Bearing 296.3, -48.4 (Local) DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed -0.4 =DAT read: 05:12:01.3088 LVL= 32752, 23105, 22770, 32755, AGC= 45, IDX= 503,-0.46,-0.222, 2.237, 1.597, 1.812, PHS=-1.931, 0.470,-0.259, RAW= 287.2, 15.9, CAL= 285.8, 23.0, ROT= 224.2, -23.0 EYgot valid direction response: 05:12:01.3088 LVL= 32752, 23105, 22770, 32755, AGC= 45, IDX= 503,-0.46,-0.222, 2.237, 1.597, 1.812, PHS=-1.931, 0.470,-0.259, RAW= 287.2, 15.9, CAL= 285.8, 23.0, ROT= 224.2, -23.0 MR#Rx 6: Read range and direction messages.M`direction in FSK: [-0.659920,-0.641744,0.390731]UFpublishing direction and range infoy|vb*dK?Yff@AZX )I+iף>g@q>@ >)oz@I;r,|8??Í? w:@)@Ii;mchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.068864qBIBIBMIBM.BBM =BIBIBM s;BM.EE EE%E"E&;*E:VE 4ZEBE<2E<JE3<:E3<^A A zA gAԡ A I I O >OR-,߷ȿ?A2i@2c@2{eٱ2q_ :AHRS rotation from veh to nav: [[0.908677,0.415604,0.039737],[-0.413716,0.883571,0.219412],[0.056078,-0.215815,0.974823]]2H`?@?uX?Rzڿ6F??3?ϟ˿1?i2i@I2a;2CYF)ByFIbDNVDN0yV=%Vb=ٔZQ-Z>9\Y\=^Fy^T6E^ Eb>`Q 5jF5bJڝ?Q 9jF5b)bBYhyjeQ Ij@bwDIb;ibm ;bqF5yn BɮrApiiyWȿ?AJi:e@Ri:e@ji"mX@bHDgczId?R|vb*dK?Zibi;jԸ&/a QFp?Z6:Ȩʿ :jc?2i>:i C"ik}ٜ?*i3BiBiii0Bi @iJ@5checking for new query: numPingsReceived=6, elapsed TxPingTime=5.302506= addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.500282 s, deltaX: 0.400000 m, approachRate: 0.799549 m/s, rangeRepo size: 4 M Added new target pos. range: 3.581706 m, bearing: 193.754894 deg, lat: 36.779343 deg, lon: -121.859637 deg, deltaT: 2.520782 s, deltaX: 0.994918 m, approachRate: 0.394686 m/s, posRepo size: 4 jhQbhQhQhQ*hQ"hQ hQgQfYfYfYdYdadajde @Zde 7n?i颙ɢe) i) i wݻiu>侉}y<5=IIԙQ@Q @Q@U/@Y^A->=AIIDDAT read: Rx Time:05:12:01.8089 TRx dataTimestamp_ set to:1761541923.164848PDAT read: Bearing 292.9, -46.0 (Local) ~Local bearing/azimuth received: Bearing 292.9, -46.0 (Local)  DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.4 - DAT read: 05:12:01.8089 LVL= 32752, 20497, 23362, 32755, AGC= 45, IDX= 503, 0.14,-1.903, 0.439,-0.229, 0.101, PHS=-1.902, 0.383,-0.374, RAW= 289.0, 18.4, CAL= 288.1, 25.4, ROT= 221.9, -25.4 = Ygot valid direction response: 05:12:01.8089 LVL= 32752, 20497, 23362, 32755, AGC= 45, IDX= 503, 0.14,-1.903, 0.439,-0.229, 0.101, PHS=-1.902, 0.383,-0.374, RAW= 289.0, 18.4, CAL= 288.1, 25.4, ROT= 221.9, -25.4 = R#Rx 7: Read range and direction messages.E `direction in FSK: [-0.672363,-0.603277,0.428935]E Fpublishing direction and range infoypH\p[Y NhVs?Y3s@PB[ )Iti>|vh@l>@ >)[w@I⾩Oe >^DS:?m*? <@)IZBi⾩m checking for new query: numPingsReceived=7, elapsed TxPingTime=5.571942 E  E E ,E "E 4;*E :VE g4ZE a @a @a @a @/34,ȿ?AYr5ByrIieMb@Mb@Mb@aaaa a9ejt?+η?MbpYe?yev=eaa eA)e`AaYe AbD VD:2ye=%==ٔQ->9Y=FyX6EE>Q 5F5O읊?Q 9F5)BY?Q E:yBQ I@wDI ;i7 ;tF5yɮAi)i-ߌȿ?AJi-q@Ri-q@ji-MU@b-j2VZ?DU]?R-pH\p[Y NhVs?Zi-ZBbi-j-  r#k?Z-g K.~^خĿ/W?2i-:i-_L"i-6ߜ?*i-\pBi-Bi-/M?i-[ li-,Bi- )@i-T@ addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503259 s, deltaX: 0.200000 m, approachRate: 0.397410 m/s, rangeRepo size: 4  Added new target pos. range: 3.780690 m, bearing: 190.775988 deg, lat: 36.779341 deg, lon: -121.859642 deg, deltaT: 0.503259 s, deltaX: 0.198984 m, approachRate: 0.395391 m/s, posRepo size: 4 jhbhhh*h"h hgfff:Bdddjd`ff@Zdd?-ށBɢxX) ˨i)Ckiݻi8侉<Z7=IIUchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.806612 ?@ @@/@1^A K@=Y A  DDAT read: Rx Time:05:12:02.3091  TRx dataTimestamp_ set to:1761541923.669125 PDAT read: Bearing 288.6, -36.8 (Local)  ~Local bearing/azimuth received: Bearing 288.6, -36.8 (Local) - DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 M DAT read: 05:12:02.3091 LVL= 28400, 16689, 14882, 32755, AGC= 42, IDX= 506,-0.07, 2.755,-1.463,-2.309,-1.693, PHS=-1.733, 0.275,-0.660, RAW= 297.7, 23.3, CAL= 297.8, 29.5, ROT= 212.2, -29.5 U Ygot valid direction response: 05:12:02.3091 LVL= 28400, 16689, 14882, 32755, AGC= 42, IDX= 506,-0.07, 2.755,-1.463,-2.309,-1.693, PHS=-1.733, 0.275,-0.660, RAW= 297.7, 23.3, CAL= 297.8, 29.5, ROT= 212.2, -29.5 ] R#Rx 8: Read range and direction messages.e `direction in FSK: [-0.736489,-0.463792,0.492424]e Fpublishing direction and range infoy  NjiQ WbĮݿCރ?Y 3@ n 1A ": ) *I ݿi ̌> ( ^D@ 5> R@ ?) m@I Iy I O >:, ȿ?Ab_b􅥢?:њK? F@)b оI%ichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.084918BXG@B*B@B`oٱB~W RAHRS rotation from veh to nav: [[0.906844,0.419964,0.035547],[-0.417390,0.883173,0.213987],[0.058473,-0.208890,0.976189]]BH@?`?`03?ڿB?c?@,?ʿ9YYa=eFye]6EeEe>Q 5F5?Q 9F5)BYy0Q I@wDI:i:xF5yBɮAEiiȿ?AJi@Ri@jivH@b\#)rv'E@RNjiQ WbĮݿCރ?Zi%bij]2 63t?iq@Z-} `ji?b&s?2iS<:i\"i9<ܜ?*i"-BiBi6ߜ?iii[@i+P@} addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504277 s, deltaX: 0.300000 m, approachRate: 0.594911 m/s, rangeRepo size: 4  Added new target pos. range: 4.079164 m, bearing: 179.785308 deg, lat: 36.779336 deg, lon: -121.859642 deg, deltaT: 0.504277 s, deltaX: 0.298474 m, approachRate: 0.591885 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd`ff@Zd?5߁Bɢ=R)= ==i9)eaaie+޻imB侉mA,sɿ?A>A:@>5@>yrٱ>E$U JAHRS rotation from veh to nav: [[0.906134,0.421615,0.034077],[-0.418819,0.883000,0.211902],[0.059251,-0.206283,0.976697]]>H ?@?r? ڿ@A??"V?~gʿ`A?i>A:@I>7a;>CYbKBybIbDVDyMk=%UU=ٔ]Q-e>9Y=Fy a6EĀE>UDDAT read: Rx Time:05:12:02.8092 ]TRx dataTimestamp_ set to:1761541924.180981PDAT read: Bearing 288.0, -39.4 (Local) ~Local bearing/azimuth received: Bearing 288.0, -39.4 (Local) DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4 DAT read: 05:12:02.8092 LVL= 31120, 15153, 15810, 32755, AGC= 43, IDX= 506, 0.47, 2.148,-2.182,-2.889,-2.376, PHS=-1.657, 0.239,-0.556, RAW= 294.7, 22.9, CAL= 294.8, 29.4, ROT= 215.2, -29.4 Q 5F5?Q 9F5)BYyQ I@wDI:i.:s|F5yB%Ygot valid direction response: 05:12:02.8092 LVL= 31120, 15153, 15810, 32755, AGC= 43, IDX= 506, 0.47, 2.148,-2.182,-2.889,-2.376, PHS=-1.657, 0.239,-0.556, RAW= 294.7, 22.9, CAL= 294.8, 29.4, ROT= 215.2, -29.4 ɮ%kA%E-R#Rx 9: Read range and direction messages.5`direction in FSK: [-0.711908,-0.502196,0.490904]5Fpublishing direction and range infoyQU?"濇%Zxފj?YUf@QUyU1;U= Q)U+IUԿiUjt>UVUo@U>U@ UG\?)Uvap@IUG\QQUXW+J}ߵ?>v? UC@)U$̾IU?!iUG\QQuchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.608088iQiU1 ɿ?AJiU@RiU@jiU3L@bUHjm̥{n\@i@RU?"濇%Zxފj?ZiU?!biUG\jUb (r 4ƿ@ZU;ַTbN?2iU0:iU`"iU @蜊?*iU츁BiUЅBiQiQiQiUi@iUbO@ addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.511856 s, deltaX: 0.100000 m, approachRate: 0.195367 m/s, rangeRepo size: 4  Added new target pos. range: 4.178656 m, bearing: 182.811394 deg, lat: 36.779336 deg, lon: -121.859642 deg, deltaT: 0.511856 s, deltaX: 0.099492 m, approachRate: 0.194374 m/s, posRepo size: 4 jhbhhh*h"h hgff f d d djd@ZdHK?aɢeY[P)a eia)miiim߻iu<侉u- checking for new query: numPingsReceived=9, elapsed TxPingTime=6.818482q NG,2v ɿ?A22@2-@2[tٱ2(S :AHRS rotation from veh to nav: [[0.905734,0.422551,0.033120],[-0.419632,0.882993,0.210312],[0.059623,-0.204385,0.977073]]2H`? ?"?Bڿ`{A? ? ܆?J)ʿ.D?i22@I2a;2CYNVByRIiMb@Mb@Mb@ 9v?q= ףp?MbY>y=b A@ rA)AY AbDVD:y5LQ=%5==ٔ=bQ-=>9= ?YE ?=EFyEe6EEEE>IQQ 5]F5MW ?Q 9]F5M )MBY]>Q Ee:yepZQ Ie@MxDIM5;iM5;MF5ym#BɮmgAmEB*** querying acoustic contact ***i ijhbhhh*h"h hgfffQBdddjdZdw?]Bɢ]P)Y ]iY)e*aaienim6侉KV<~!=III)%@@! @!@%4@!UDDAT read: Rx Time:05:12:03.3095 ]TRx dataTimestamp_ set to:1761541924.681916ePDAT read: Bearing 286.9, -38.7 (Local) m~Local bearing/azimuth received: Bearing 286.9, -38.7 (Local) }DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4 ԁDAT read: 05:12:03.3095 LVL= 28272, 18289, 14754, 32755, AGC= 44, IDX= 509,-0.03, 3.141,-1.210,-1.922,-1.378, PHS=-1.662, 0.213,-0.588, RAW= 295.2, 23.8, CAL= 295.5, 30.2, ROT= 214.5, -30.2 Ygot valid direction response: 05:12:03.3095 LVL= 28272, 18289, 14754, 32755, AGC= 44, IDX= 509,-0.03, 3.141,-1.210,-1.922,-1.378, PHS=-1.662, 0.213,-0.588, RAW= 295.2, 23.8, CAL= 295.5, 30.2, ROT= 214.5, -30.2 T#Rx 10: Read range and direction messages.`direction in FSK: [-0.712271,-0.489531,0.503020]Fpublishing direction and range infoyY]c^NxT߿6]?Y]f@Y]pn]qG]9 Y)],I]jԿi]Z>]+]ޤ@]ȭ>] @ ]V?)]Ko@I]VYY]Ă""*'u3?RVa? ]ϱC@)]վI]j"i]VYYchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.128771BBBGIBBB =BBBr;B.EbE]ǀ'4jE]^+4rE]#e0E EE'E"E*;*E:VE'4ZEBE M,Gs:ɿ?A2+@2%@2SDvٱ2iP :AHRS rotation from veh to nav: [[0.905313,0.423545,0.031919],[-0.420474,0.883043,0.208416],[0.060088,-0.202103,0.977519]]2HR?\?W? ڿ`A?_? î?ɿG?i2+@I2/a;2CYB[ByFIJchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.322484LNAbDVVDVfy^<%bd=ٔf7Q-r>9z"?Y~"?=Fyi6E (E>)Q 5EF5-/?Q 9MF5-)-BYQy]7[Q I]@-xDI-x;i-;-F5yɮ=A ԡiyi}+ɿ?AJi}@Ri}@ji}J3K@b}6 bY{PuuBo@uE>u6@ u>)u@m@IuqquUǠ}Lܫ?eqy>/ݼA@ A)YbDVDy=%=ٔ%\Q-->91Y1=5Fy=o6EMkDEU>YQ 5uF5]$H?Q 9uF5])]BYu>Q Eu:y}=Q I}@]"xDI]ۃ;i]m;]IF5y)BɮAEii&Lɿ?AJiRijiI@bg wR@Rpu-@޿(%?Zi$bij1/6y@'s,@Z]Sw҇O{fO?2i:i"i%!?*i/WBi*Bi朊?i츁iЅBiw@i@I@ addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.507961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 4.676124 m, bearing: 180.452059 deg, lat: 36.779336 deg, lon: -121.859640 deg, deltaT: 0.507961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhbhhh*h"h hgfff`BdddjdZd?5BɢU D<)Y ]fyiY)]7YYi]yie:侉eBiBm`IBmBBm =BiBiBmr;Bm{.E>i)>cGE  E E %E "E ;*E :VE 4ZE BE p99Y9==Fy=t6EETEE>QQ 5eF5U\?Q 9eF5U)UBYiyu>Q Iu@U2xDIU};iU~;UF5y.Bɮ^AEiiimblɿ?AJim^@Rim^@jim HF@bmfQF KEG3j@Rmi5e ;=ۿzw?Zim%bimg jmR{4A?^(!@Zm)9鿈8?5?2im 2>:im"im ?*im?o'BimBim @蜊?im/Wim*BimO@imSH@ addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.498806 s, deltaX: 0.400000 m, approachRate: 0.801915 m/s, rangeRepo size: 4  Added new target pos. range: 5.074080 m, bearing: 177.511042 deg, lat: 36.779337 deg, lon: -121.859640 deg, deltaT: 0.498806 s, deltaX: 0.397956 m, approachRate: 0.797817 m/s, posRepo size: 4 jhbhhh*h"h  h gfffdddjd`ff@Zd#?BɢC)  ۀi ) ?  ii4侉<M=II  mDDAT read: Rx Time:05:12:04.8099 uTRx dataTimestamp_ set to:1761541926.197528PDAT read: Bearing 295.2, -35.1 (Local) ~Local bearing/azimuth received: Bearing 295.2, -35.1 (Local) DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 eDAT read: 05:12:04.8099 LVL= 26864, 16721, 10818, 24435, AGC= 45, IDX= 513,-0.44, 1.124,-2.861, 2.325, 2.900, PHS=-1.674, 0.567,-0.620, RAW= 301.9, 17.5, CAL= 300.3, 23.6, ROT= 209.7, -23.6 mYgot valid direction response: 05:12:04.8099 LVL= 26864, 16721, 10818, 24435, AGC= 45, IDX= 513,-0.44, 1.124,-2.861, 2.325, 2.900, PHS=-1.674, 0.567,-0.620, RAW= 301.9, 17.5, CAL= 300.3, 23.6, ROT= 209.7, -23.6 mT#Rx 13: Read range and direction messages.`direction in FSK: [-0.795982,-0.454020,0.400349]Fpublishing direction and range infoyim8xU~ݿ^Q?Ym@imhmQAmB* ms_)m-ImEֿim&?mRmޜ@ma>m@ mB>)mg,ɿ?A~@~@~ٱ~HJ =AHRS rotation from veh to nav: [[0.904039,0.426548,0.027752],[-0.422874,0.882999,0.203689],[0.062378,-0.195878,0.978642]]~H?L? k?`_ۿ A?y?`?ɿ Q?i~@I~La;~CY]cByYԑiEMb@Mb@Mb@AAAA A9E^I +?X9v?yE=EtEKAA EA)AAYEz AbD]VD]02ym:%m=ٔuQ-u>9qYq=uFy}y6E}E}>Q 5F5r?Q 9F5*)BY?Q E:yTQ I@CxDI ;i:VF5y4BɮAEi i Lɿ?AJi @Ri @ji G@b bp';%'"\~v@R 8xU~ݿ^Q?Zi 'bi BҾj  ځBPHH?;^ĞS/@Z g쿘N?Ϟ͖?2i B=:i :"i 9ᜊ?*i Bi Bi i i i @i H@ addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.508845 s, deltaX: 0.200000 m, approachRate: 0.393048 m/s, rangeRepo size: 4  Added new target pos. range: 5.273063 m, bearing: 178.904744 deg, lat: 36.779337 deg, lon: -121.859640 deg, deltaT: 0.508845 s, deltaX: 0.198984 m, approachRate: 0.391050 m/s, posRepo size: 4 jhbhhh*h"h hgfffYBdddjd@33@ZdD?-Bɢ-jC)1 5ꁾi1)5Y11i5i}>侉<=IIԹDAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 DAT read: 05:12:05.3099 LVL= 28336, 13361, 12018, 22307, AGC= 50, IDX= 2, 0.12,-0.059, 2.074, 1.052, 1.433, PHS=-1.390, 0.687,-0.425, RAW= 302.3, 12.5, CAL= 299.8, 17.6, ROT= 210.2, -17.6 Ygot valid direction response: 05:12:05.3099 LVL= 28336, 13361, 12018, 22307, AGC= 50, IDX= 2, 0.12,-0.059, 2.074, 1.052, 1.433, PHS=-1.390, 0.687,-0.425, RAW= 302.3, 12.5, CAL= 299.8, 17.6, ROT= 210.2, -17.6 T#Rx 14: Read range and direction messages.%`direction in FSK: [-0.823819,-0.479474,0.302370]%Fpublishing direction and range infoyj2\=(g޿-JZ?Yn14. #W)2I뱿i;/?پ֨@f_>p@ nF>)j@InFtA#l7ᅤ(h 4=N? rF)>_IT'inFUchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.105714@ @@0@B B B fIB BB  =B B B r;B u.EEM EMEM+EI"EM%;*EM:VEM [4ZEIBEM+m,Oɿ?A2@2@2䀽ٱ2)K :AHRS rotation from veh to nav: [[0.903393,0.427904,0.027933],[-0.424177,0.882171,0.204568],[0.062894,-0.196654,0.978454]]2H?`b?W?`%ۿ:?L/?`? +ɿ}O?i2@I2ua;2CYBZByBIbDNVDN0yVqR%Vm=ٔVĺQ-V?9XYX=ZFyZ}6E^E^?`Q 5fF5b?Q 9fF5b)bBYhynhVQ In@bNxDIbR;ib;bZF5yɮ A=DDAT read: Rx Time:05:12:05.8100 ETRx dataTimestamp_ set to:1761541926.951425]checking for new query: numPingsReceived=14, elapsed TxPingTime=9.344634iiQɿ?AJi@Ri@ji-I@bs?P`{{9?Rj2\=(g޿-JZ?ZiT'binFj(ztZv?Z^L$?sꇿ{z:?2i8|:iƞ"i{ޜ?*i`BiBi朊?iii@iG@ addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.498231 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 5.273073 m, bearing: 180.711029 deg, lat: 36.779336 deg, lon: -121.859640 deg, deltaT: 0.498231 s, deltaX: 0.000010 m, approachRate: 0.000020 m/s, posRepo size: 4 jhQbhQhQhQ*hQ"hQ hQgQfYfYfYdYdadajdaZde?BɢT) *i)!:ii8侉M-ޜ@ 5>)/sh@I5.Ϥ;4j{B^D? URD)dSI)i5 checking for new query: numPingsReceived=15, elapsed TxPingTime=9.627749^AE m(=AI zAI I I O >Ea  Ee Ee .Ea "Ea *Ee 8:VEe ـ4ZEa am @am @au @au @y kt,,ɿ?AY~UBy~IiMb@Mb@Mb@ 9?B`"۹?~jtY?y=A@ )AY AbD VD:2yi%8=ٔQ->9Y=Fy6EE>Q 5F5?Q 9F5)BY?Q E:y Q I @]xDI:i:;F5y:Bɮ$Ai i ɿ?AJi @Ri @ji OG@b $O9)u,:Ѯ?R 5:q"+ܿ ?Zi )bi 5j K|ui?mqw@?Z iw(wr ?*A?2i ;=:i "i \K䜊?*i a JBi Bi \K䜊?i Yi Bi ģ@i 'G@m addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.505415 s, deltaX: 0.100000 m, approachRate: 0.197857 m/s, rangeRepo size: 4  Added new target pos. range: 5.372565 m, bearing: 178.997937 deg, lat: 36.779336 deg, lon: -121.859640 deg, deltaT: 0.505415 s, deltaX: 0.099492 m, approachRate: 0.196852 m/s, posRepo size: 4 jhbhhh*h"h hgfff6Bdddjd@Zdy?EBɢE^Y)I MiI)m/!iiiuBiuB侉uH<}=IyIyMDDAT read: Rx Time:05:12:06.3103 ]TRx dataTimestamp_ set to:1761541927.456697PDAT read: Bearing 307.3, -33.1 (Local) ~Local bearing/azimuth received: Bearing 307.3, -33.1 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 Z#Rx 16: Read range message, but no direction.-?@) @1@54@1ԉyQYU̼@Qchecking for new query: numPingsReceived=16, elapsed TxPingTime=9.898627ԩ^Am W=A I I O > DAT read: 05:12:06.3103 LVL= 27056, 15281, 11922, 25219, AGC= 48, IDX= 501, 0.47,-0.497, 1.693, 0.564, 0.947, PHS=-1.342, 0.791,-0.427, RAW= 304.7, 10.6, CAL= 302.4, 13.5, ROT= 207.6, -13.5  Ygot valid direction response: 05:12:06.3103 LVL= 27056, 15281, 11922, 25219, AGC= 48, IDX= 501, 0.47,-0.497, 1.693, 0.564, 0.947, PHS=-1.342, 0.791,-0.427, RAW= 304.7, 10.6, CAL= 302.4, 13.5, ROT= 207.6, -13.5 % Z#Rx 17: Read direction message, but no range.- `direction in FSK: [-0.861718,-0.450495,0.233445]y  80;tܿ%E? i ; . b) 0I ƫi ~J? ھ 5-@ q=> [@ :Fq>) 5g@I :Fq EuZᅤo[|y? !C) BlBn`IBnBBn =BlBlBnr;Bnh.EeX@e*@eLpٱeK AHRS rotation from veh to nav: [[0.902206,0.430357,0.028566],[-0.426655,0.880821,0.205230],[0.063160,-0.197348,0.978297]]eH ?@?@@?@ONۿ`/?D?G+?Bɿ4N?ieX@Ieqa;aYOBy IbD VD kE EE'E"Es!;*E:VE'4ZEBEx9AYA=EFyE6EM/ٻEM>qQ 5}F5u?Q 9}F5u)uBYyy}Q I}@ujxDIug:iu:uF5yɮUAii:ɿ?AJi׻@Ri׻@jiEG@bq猰;Py'~?R80;tܿ%E?Zi;*bi:Fqj5Yck׻0?[o?Z]Wn5?JѤ?2i=:i3"i!ǜ?*i4BieBi9ᜊ?ia JiBi\@iTG@ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.255523 s, deltaX: 0.500000 m, approachRate: 1.956771 m/s, rangeRepo size: 4 - Added new target pos. range: 5.870009 m, bearing: 178.885886 deg, lat: 36.779336 deg, lon: -121.859641 deg, deltaT: 0.255523 s, deltaX: 0.497444 m, approachRate: 1.946769 m/s, posRepo size: 4 jh)bhIhIhI*hQ"hQ hQgQfQfYfYdYdYdYjde@Zde@r?iBɢf[) i)(iFi<侉[<S=II@@ @@4@ԙeDDAT read: Rx Time:05:12:06.8103 mTRx dataTimestamp_ set to:1761541927.961116PDAT read: Bearing 310.6, -34.0 (Local) ~Local bearing/azimuth received: Bearing 310.6, -34.0 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 Z#Rx 18: Read range message, but no direction.yaYaachecking for new query: numPingsReceived=18, elapsed TxPingTime=10.377301^Am ]= A I I O >y,qʿ?A2@2@2ԁٱ2DK :AHRS rotation from veh to nav: [[0.901701,0.431426,0.028397],[-0.427693,0.880419,0.204793],[0.063352,-0.196807,0.978393]]2H? {? ?Q_ۿe,? 6?7?0ɿ`N?i2@I2Ua;0LYrGByrIbDzVDzy55%5]=ٔ5Q-=>99Y9==Fy=6EELEE>IQ 5UF5M6?Q 9UF5M`)MBYQy]Q I]@MvxDIM;iM;MF5ye?BɮeAeEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504419 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjdZd Po? DAT read: 05:12:06.8103 LVL= 31216, 16881, 15346, 29747, AGC= 50, IDX= 502, 0.14,-1.588, 0.638,-0.477,-0.155, PHS=-1.331, 0.839,-0.366, RAW= 303.7, 9.2, CAL= 301.2, 10.8, ROT= 208.8, -10.8 EYgot valid direction response: 05:12:06.8103 LVL= 31216, 16881, 15346, 29747, AGC= 50, IDX= 502, 0.14,-1.588, 0.638,-0.477,-0.155, PHS=-1.331, 0.839,-0.366, RAW= 303.7, 9.2, CAL= 301.2, 10.8, ROT= 208.8, -10.8 Z#Rx 19: Read direction message, but no range.B`direction in FSK: [-0.860785,-0.473221,0.187381]ymv뿙>I޿0i?yA; 3t)2I5^iV?Zd;@l$>8@ A>)Z;i@IA oKV;Xdh[? Dɢ Dbd)  i ) Z0ii6侉j<AH=II)#I[(iAMchecking for new query: numPingsReceived=19, elapsed TxPingTime=10.654103IQ)QE5 E5E5&E1"E5;*E5:VE54ZE1aE@aE@aE@aE@?@ @@/@^A y=) A >A >m DDAT read: Rx Time:05:12:07.3106  TRx dataTimestamp_ set to:1761541928.465564 PDAT read: Bearing 313.7, -35.6 (Local)  ~Local bearing/azimuth received: Bearing 313.7, -35.6 (Local)  DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 E DAT read: 05:12:07.3106 LVL= 32368, 17185, 15858, 29875, AGC= 51, IDX= 505,-0.08,-1.488, 0.780,-0.295,-0.047, PHS=-1.339, 0.871,-0.293, RAW= 301.8, 8.0, CAL= 299.3, 8.4, ROT= 210.7, -8.4 M Ygot valid direction response: 05:12:07.3106 LVL= 32368, 17185, 15858, 29875, AGC= 51, IDX= 505,-0.08,-1.488, 0.780,-0.295,-0.047, PHS=-1.339, 0.871,-0.293, RAW= 301.8, 8.0, CAL= 299.3, 8.4, ROT= 210.7, -8.4 M T#Rx 20: Read range and direction messages.u `direction in FSK: [-0.850628,-0.505066,0.146083]} Fpublishing direction and range infoyq u wbX8)/8ٲ?Yu f@q u p~u !Cu = u t)u 3Iu Zdiu ^?u u @u 5>u )@ u Q >)u Zk@Iu Q q q u rugf>Gz? u G)u Iu &iu Q q q A I I O >F,"ʿ?A.checking for new query: numPingsReceived=20, elapsed TxPingTime=10.943646Dm@mں@mظٱm%I AHRS rotation from veh to nav: [[0.901217,0.432508,0.027301],[-0.428649,0.880358,0.203049],[0.063786,-0.194694,0.978788]]mH@?`6??@nۿ`+?`?DT?ȿ:R?im@Im^6a;iYBByII}4=)}<==i}Mb@Mb@Mb@yyyy y9}uV?l? rhY}r?y}=}C }A}@ }\ A)}3AyY} AԱbD VD:2y%"=ٔaQ->9Y=Fy6Ev E>Q 5 F5ʞ?Q 9 F5)BYM ?Q EU:yUQ IU@xDI%=?2i5 :i5"i5.)̜?*i5tBi5Bi5{ޜ?i54i5Bi5@i5^F@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504448 s, deltaX: 0.300000 m, approachRate: 0.594709 m/s, rangeRepo size: 4 5checking for new query: numPingsReceived=20, elapsed TxPingTime=11.102877E Added new target pos. range: 6.168484 m, bearing: 182.938322 deg, lat: 36.779336 deg, lon: -121.859642 deg, deltaT: 1.008867 s, deltaX: 0.298475 m, approachRate: 0.295851 m/s, posRepo size: 4 jhAbhihihi*hi"hi hqgqfqfyf}Bdyddjd@Zd`?B>BBMIBBBBBBr;B_.EBBBBBC׶4MBɢMB])I MiQ)Uϒ QQiUi]@侉]gx<]=IYI!E EE)E"E+$;*E:VEFA4ZEBE4}9Y=Fy6E9E>Q 5F5ܞ?Q 9F5)BYyQ I@xDI;i~ ;QF5yEBɮ1 AE addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504327 s, deltaX: 0.100000 m, approachRate: 0.198285 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffd d d jd @33@Zd?eBɢevn)a m׮ii)m٤ iiiuiu:侉u <}~=IyIy@  @ @ /@ ADAT read: 05:12:07.8107 LVL= 32752, 18065, 17378, 32307, AGC= 50, IDX= 506,-0.39,-2.185, 0.105,-0.971,-0.751, PHS=-1.332, 0.901,-0.263, RAW= 301.4, 7.2, CAL= 299.0, 6.9, ROT= 211.0, -6.9 Ygot valid direction response: 05:12:07.8107 LVL= 32752, 18065, 17378, 32307, AGC= 50, IDX= 506,-0.39,-2.185, 0.105,-0.971,-0.751, PHS=-1.332, 0.901,-0.263, RAW= 301.4, 7.2, CAL= 299.0, 6.9, ROT= 211.0, -6.9 Z#Rx 22: Read direction message, but no range.`direction in FSK: [-0.850959,-0.511308,0.120137]y  ';J \rjƹI?   F C 3~) 2I ~i f? 𧆾 aU@ > <@ Ϣ=) sk@I Ϣ  k oidoly?T? }G) T2I Bo&i ϢEchecking for new query: numPingsReceived=22, elapsed TxPingTime=11.647421QD<D<E EE,E"EU,;*E:VEg4ZEa@a@a@a@^Ay A I I O- >,M0]ʿ?A>DDAT read: Rx Time:05:12:08.3108 FTRx dataTimestamp_ set to:1761541929.472459VPDAT read: Bearing 316.5, -36.0 (Local) Z~Local bearing/azimuth received: Bearing 316.5, -36.0 (Local) %DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.4 =Z#Rx 23: Read range message, but no direction.y@YB@@Qchecking for new query: numPingsReceived=23, elapsed TxPingTime=11.889234ϳ@ʺ@ͅٱG UAHRS rotation from veh to nav: [[0.900271,0.434581,0.025527],[-0.430406,0.879763,0.201908],[0.065288,-0.192759,0.979072]]H?@,?@#?@Njۿ@'? ?`?Sȿ T?iϳ@I:+a;CԁY8ByIiUMb@Mb@Mb@QQQQ Q9Uv/? ףp= ?I +YUx ?yUQ8=U9UAU@ Q)QQYU AbDmVDmy}μ%}=ٔ*źQ->9Y=Fy6E'JE>Q 5F5?Q 9F5)BY ?Q E:yjQ I@xDI:i:AF5yKBɮ AEi@iB<^ʿ?AJiB@RiB@jiB L@bB+1Z\)s >p?RB';J \rjƹI?ZiBBo&biBϢjBz W^|@ؿ'?ZBhȄ^OYX?2iBeľ:iB"iB#Eۜ?*iBg BiBKBiB#Eۜ?iB`iBeBiB;@iBUE@5 addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.502568 s, deltaX: 0.200000 m, approachRate: 0.397956 m/s, rangeRepo size: 4 E Added new target pos. range: 6.466960 m, bearing: 183.445276 deg, lat: 36.779335 deg, lon: -121.859642 deg, deltaT: 1.006895 s, deltaX: 0.298476 m, approachRate: 0.296432 m/s, posRepo size: 4 jhAbhIhIhI*hI"hI hIgQfQfQfUہBdYdYdYjd]@Zde?ԩEDAT read: 05:12:08.3108 LVL= 30032, 16161, 16946, 29635, AGC= 51, IDX= 507, 0.24,-0.116, 2.221, 1.140, 1.341, PHS=-1.356, 0.925,-0.245, RAW= 300.9, 6.9, CAL= 298.4, 6.1, ROT= 211.6, -6.1 UYgot valid direction response: 05:12:08.3108 LVL= 30032, 16161, 16946, 29635, AGC= 51, IDX= 507, 0.24,-0.116, 2.221, 1.140, 1.341, PHS=-1.356, 0.925,-0.245, RAW= 300.9, 6.9, CAL= 298.4, 6.1, ROT= 211.6, -6.1 UZ#Rx 24: Read direction message, but no range.]`direction in FSK: [-0.846904,-0.521019,0.106264]y$ 0O4?Pu!?2B s)3Ihil?Hz @Ϣ=r@ ^ =)\l@I^ ڽ?LQBf[xWܾ? 3H)EI%i^ ڽAAAAB>BB:IBuBBBBDBr;BU.Echecking for new query: numPingsReceived=24, elapsed TxPingTime=12.133521Bɢ_) {i)x iZoi4侉<hi!>bE%FA4jE%C4rE% 0E  E E 'E "E [";*E :VE '4ZE BE zLF)qy } lA}}lVFҁӁӁIӁ)ӁiӁ)ԉIԍlAӍtӍ[F ԉԕCԕlAԕtiԕIFԑiՙՙ)ՙ ՙIչY9Y=1ByEIbDUVDU!yռ%0=ٔQ->9Y=Fy6EE>Q 5F5?Q 9F5)BYyᄒQ I@xDI:i :XF5yɮ AiIiM(~ʿ?AJiM @RiM @jiMM@bM`:>Aβ^ N.T?RM$ 0O4?ZiM%biM^ ڽjM\m1X~ ޿Sz.?ZMsf ￿!L.?2iMK:iMA"iMC朊?*iM*!EBiM$BiIiMtiMBiMi@iMdI@ addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504235 s, deltaX: 0.100000 m, approachRate: 0.198320 m/s, rangeRepo size: 4  Added new target pos. range: 6.566436 m, bearing: 184.144621 deg, lat: 36.779335 deg, lon: -121.859648 deg, deltaT: 0.504235 s, deltaX: 0.099476 m, approachRate: 0.197281 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd`ff@Zd>?Bɢs) Ci) iJ,i>侉d<h,ʿ?A&DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.5 JDAT read: 05:12:09.3112 LVL= 28960, 16817, 20674, 31955, AGC= 52, IDX= 511,-0.05,-2.808,-0.548,-1.649,-1.455, PHS=-1.251, 0.952,-0.237, RAW= 302.6, 5.7, CAL= 300.2, 3.8, ROT= 209.8, -3.8 | Ygot valid direction response: 05:12:09.3112 LVL= 28960, 16817, 20674, 31955, AGC= 52, IDX= 511,-0.05,-2.808,-0.548,-1.649,-1.455, PHS=-1.251, 0.952,-0.237, RAW= 302.6, 5.7, CAL= 300.2, 3.8, ROT= 209.8, -3.8 T#Rx 27: Read range and direction messages.`direction in FSK: [-0.865858,-0.495881,0.066274]Fpublishing direction and range infoyQ"1߿{S?Y3@ qAP |)4I iFs?!r@%=ó@@ٱD EAHRS rotation from veh to nav: [[0.899600,0.436055,0.024010],[-0.431682,0.879563,0.200047],[0.066114,-0.190327,0.979492]]H? T??ۿa%?#??\ȿW?ió@I]a;CY5ByIϩ@ ԇ=)NYj@Iԇh{\W-MF? F)mʽIg'iԇchecking for new query: numPingsReceived=27, elapsed TxPingTime=12.991373iMb@Mb@Mb@ 9Fx?I +?MbY ?y9<SA~@ E A)AYA@AbDVD!y-x<%5=ٔ5)Q-5>91Y9==Fy=6E=DEe>iQ 5uF5m#?Q 9uF5m)mBYu ?Q E}:y}ӾQ I}@mxDIma:imj:mӴF5yPBɮ Aiibٞʿ?AJi @Ri @jiH9L@bG/wT 2?RQ"1߿{S?Zig'biԇjY',搿ʿ?A2M³@2@2 7ٱ2tA >AHRS rotation from veh to nav: [[0.899525,0.436271,0.022862],[-0.431860,0.880087,0.197344],[0.065975,-0.187389,0.980068]]2H??@i?`ۿ)?@B??Yǿ\?i2M³@I2}a;2CYu3By}I=a= bDVD0y-a(%5C=ٔ5h9Q-=>99Y9=eFye6EmEm>qQ 5uF5u/?Q 9}F5uP )uBYyy}ӾQ I}@uxDIu:iut:uF5yɮ AB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.502239 s, deltaX: 0.100000 m, approachRate: 0.199108 m/s, rangeRepo size: 4 jhbh!h!h!*h!"h! h!g!f)f)f)d)d1d1jd5@Zd5?颥Bɢ8|) li)J顩iiB侉d<oA >ԉ A) I1 IA OU > ,Zeʿ?Aɰ63@6@6Uٱ6y1@ >AHRS rotation from veh to nav: [[0.899136,0.437101,0.022292],[-0.432633,0.879932,0.196338],[0.066204,-0.186179,0.980283]]6H? u?Ӗ?@ۿg(?!??ǿy^?i63@I6~a;6CYF5ByFIiMb@Mb@Mb@ 9i|?5?~jt?y&1Y?y<`e  A)zAY(AbD-VD-1y=k=<%=[=ٔE!Q-E>9Y=Fy6EE >Q 5]F5A?iQ 9eF5 )BY?Q E:y+׾Q I@DDAT read: Rx Time:05:12:10.3116 TRx dataTimestamp_ set to:1761541931.492880PDAT read: Bearing 319.8, -30.3 (Local) %~Local bearing/azimuth received: Bearing 319.8, -30.3 (Local) 5DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 =Z#Rx 29: Read range message, but no direction.yYf@xDI=i$=F5yMVBɮM!AMEechecking for new query: numPingsReceived=29, elapsed TxPingTime=13.893248 addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.508623 s, deltaX: 0.500000 m, approachRate: 0.983046 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffBdddjd@Zd%@H?颥Bɢ4y) wi)'i[i<侉ʂ<~Y,@ʿ?AF̴@F@FٱF M? bAHRS rotation from veh to nav: [[0.898796,0.437813,0.022037],[-0.433334,0.879758,0.195568],[0.066235,-0.185325,0.980443]]FH? ?ʐ?ۿ&?@\?? ǿ _?iF̴@IFb;FCYUGBy]I ep=%7=ٔ(Q->9 ?Y ?=Fy6EbE>Q 5F5S?Q 9F5K)BYy׾Q I@xDIN:i:F5y\Bɮ AEjh1bh1h1h9*h9"h9 h9g9f9fAfAdAdAdAjdIZdmz?颵Bɢwx) Ưi)t 项iBi6侉|<Q E,˿?A&checking for new query: numPingsReceived=31, elapsed TxPingTime=14.634527^@^@^ٱ^= ~AHRS rotation from veh to nav: [[0.898675,0.438096,0.021311],[-0.433560,0.879915,0.194361],[0.066397,-0.183907,0.980699]]^H?@ ?ҕ?qۿB(? ?`_?Dǿa?i^@I^%b;^CY5=By=I ))9E EE)E"E/;*Ea:VEFA4ZEa@a@a@a@imMb@Mb@Mb@iiii i9mCl?{Gz?{GztYm?ymף9Y=Fy6EsE>Q 5F5g?Q 9F5)BY?Q E:yվQ I@ yDIj:i:F5ygBɮV!AEiYi]7ʿ?AJi]T@Ri]T@ji]9lF@b]80Dg ^K?R]) ##dVPڿ ۷p?Zi]'-bi]+j]ykxEFbVq?w5'?Z]+*￰f?#fȬ?2i]>:i]"i]c7nۜ?*i]@L Bi]Bi]c7nۜ?iYi]$Bi]@i]UG@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.506889 s, deltaX: 0.100000 m, approachRate: 0.197283 m/s, rangeRepo size: 4 % Added new target pos. range: 7.760337 m, bearing: 177.637285 deg, lat: 36.779335 deg, lon: -121.859651 deg, deltaT: 1.517751 s, deltaX: 0.696444 m, approachRate: 0.458866 m/s, posRepo size: 4 jh)bh)h)h)*h)"h) h)g1f1f1f5Bd9d9d9jd=@33@ZdE?mBɢmOv)q uJiq)umqqi}i}@侉s<R,=)˿?A2\@2.@2ٱ2N< :AHRS rotation from veh to nav: [[0.898373,0.438754,0.020506],[-0.434136,0.879890,0.193182],[0.066716,-0.182452,0.980949]]2Hy?@?? ۿ (?0?Q?Zǿ@c?i2\@I2^Xb;2CYBHByFIbDNVDNyV=%V=ٔVQ-Z?9Z"?YZ"?=ZFy^6E^1E^?`Q 5fF5bZu?Q 9fF5b)bBYdyjbվQ Ij@byDIb ;ib ;bqF5ynmBɮn)!AnE  addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.500112 s, deltaX: 0.500000 m, approachRate: 0.999776 m/s, rangeRepo size: 4 jh bh hh*h"h hgfffdddjd @Zdc?iBɢ_h) ǰi)ciuBIBIBM:IBMuBBIBIBIBM6s;BM.EmDAT read: 05:12:11.3120 LVL= 32176, 15537, 23442, 32755, AGC= 57, IDX= 502, 0.33,-2.609,-0.441,-1.718,-1.419, PHS=-1.088, 1.024,-0.342, RAW= 309.6, 4.4, CAL= 307.3, 2.2, ROT= 202.7, -2.2 uYgot valid direction response: 05:12:11.3120 LVL= 32176, 15537, 23442, 32755, AGC= 57, IDX= 502, 0.33,-2.609,-0.441,-1.718,-1.419, PHS=-1.088, 1.024,-0.342, RAW= 309.6, 4.4, CAL= 307.3, 2.2, ROT= 202.7, -2.2 uZ#Rx 33: Read direction message, but no range.}`direction in FSK: [-0.921858,-0.385622,0.038388]y)-s+Yؿ.?)-}-<-[ ))-9I-Ci-o?--@-nF=-@ -nF=)-kb@I-nF)-k0׀t^j]YSſHο? -Q>)-&I-/i-nFchecking for new query: numPingsReceived=33, elapsed TxPingTime=15.151999i:侉j<cY,½C˿?AYNBy IbDVDk1y<%2=ٔQ->9!Y!=-Fy-6EEEM>QQ 5UF5Uy?Q 9]F5U)UBYYyYQ I]@U&yDIU;iUj;UF5yiɮm Aiyii@˿?AJiARiAji\D@bɓS7s y xI?Rs+Yؿ.?Zi/binFj#tu Js ?氱Ҽ?Zȸp}?IЧ?2io?:i"iӜ?*iáBiBiiiBigAiF@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.501515 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.257795 m, bearing: 176.078068 deg, lat: 36.779335 deg, lon: -121.859651 deg, deltaT: 1.001627 s, deltaX: 0.497458 m, approachRate: 0.496650 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjdZdvk?Bɢb:r) zi)?iUi%4侉%`<%2i9@ @@0@ԡeDAT read: 05:12:11.8120 LVL= 30416, 18881, 22114, 32755, AGC= 59, IDX= 503, 0.24, 2.689,-1.427,-2.728,-2.423, PHS=-1.069, 1.041,-0.350, RAW= 310.4, 4.1, CAL= 308.0, 1.7, ROT= 202.0, -1.7 Ygot valid direction response: 05:12:11.8120 LVL= 30416, 18881, 22114, 32755, AGC= 59, IDX= 503, 0.24, 2.689,-1.427,-2.728,-2.423, PHS=-1.069, 1.041,-0.350, RAW= 310.4, 4.1, CAL= 308.0, 1.7, ROT= 202.0, -1.7 Z#Rx 35: Read direction message, but no range.`direction in FSK: [-0.926776,-0.374442,0.029666]ymm%YQ,׿ `?vIbV );IԈi}??33-\@C=@ <)ܢa@Iғ4*dyǿ]? l=)yI|0ichecking for new query: numPingsReceived=35, elapsed TxPingTime=15.703983Eu EuEu(Eq"Eu /;*Eu:VEuc44ZEqa}@a}@a}@a}@^Ac<A% .AI) I9 OM > >,`v]˿?A]DDAT read: Rx Time:05:12:12.3122 eTRx dataTimestamp_ set to:1761541933.504878mPDAT read: Bearing 320.1, -25.4 (Local) u~Local bearing/azimuth received: Bearing 320.1, -25.4 (Local) DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.6 DAT read: 05:12:12.3122 LVL= 30224, 18481, 21042, 32755, AGC= 60, IDX= 505, 0.19, 1.905,-2.213, 2.758, 3.062, PHS=-1.055, 1.053,-0.348, RAW= 310.8, 3.8, CAL= 308.4, 1.2, ROT= 201.6, -1.2 Ygot valid direction response: 05:12:12.3122 LVL= 30224, 18481, 21042, 32755, AGC= 60, IDX= 505, 0.19, 1.905,-2.213, 2.758, 3.062, PHS=-1.055, 1.053,-0.348, RAW= 310.8, 3.8, CAL= 308.4, 1.2, ROT= 201.6, -1.2 T#Rx 36: Read range and direction messages.`direction in FSK: [-0.929573,-0.368044,0.020942]Fpublishing direction and range infoyY] 1tȩ׿_2q?Y] AY]v]1H]2R Y)]<I]= i]Ȇ?]-]^@]ԇ=]9>@ ]<)]z0a@I]YY]z^ᅤBAYǿu? ][ =)]W-I];0i]YYchecking for new query: numPingsReceived=36, elapsed TxPingTime=15.911395@Λ@㽈ٱ9 AHRS rotation from veh to nav: [[0.897716,0.440136,0.019641],[-0.435493,0.879730,0.190845],[0.066719,-0.179878,0.981424]]H?`/+??ۿ&?@m?@|?=ǿg?i@Ifa;CYaBy"II <) ===iuMb@Mb@Mb@qqqq q9uHzG?~jt?~jth?Yu= ?yu9 ?Y ?=Fy6EKE>Q 5F5?Q 9F5)BYS ?Q E:yԾQ I @6yDI:i:F5ysBɮ AEiYi]O`˿?AJi]ARi]Aji]sC@b]wHn`"R1 gw?R] 1tȩ׿_2q?Zi];0bi]j]ɐ !W衯H?gV_?Z]'1EnO)ŵ?ĊS{T?2i]E:?:i]\"i]oϜ?*i]|bBi]́Bi]Ӝ?i]@L i]Bi]Ai]D@ addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503482 s, deltaX: 0.300000 m, approachRate: 0.595851 m/s, rangeRepo size: 4  Added new target pos. range: 8.556271 m, bearing: 175.120195 deg, lat: 36.779335 deg, lon: -121.859649 deg, deltaT: 0.503482 s, deltaX: 0.298475 m, approachRate: 0.592822 m/s, posRepo size: 4 jhbhhh*h"h hg!f!f!f%Bd)d)d)jd-@33!@ZdU30?额Bɢc) Йi)顡ini>侉tM<B% CB% MIB% BB% =B! B! B% fs;B% .EBBBBA BCȞ4E}  E} E} *Ey "E} 0;*E} :VE} (N4ZEy BE} 9U"?YU"?=UFyU6E]&E]>YaQ 5F5]?Q 9F5]")]BYyԾQ I@]FyDI]%f,i˿?AJ@JӘ@JjٱJZ9 }AHRS rotation from veh to nav: [[0.897567,0.440435,0.019734],[-0.435824,0.879632,0.190538],[0.066561,-0.179622,0.981481]]JH ߸?@0?;5?ۿ %?c?# ? ƿKh?iJ@IJ՞a;JCYByFIDDAT read: Rx Time:05:12:13.3125 TRx dataTimestamp_ set to:1761541934.512814PDAT read: Bearing 322.9, -26.8 (Local) ~Local bearing/azimuth received: Bearing 322.9, -26.8 (Local) DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.7 DAT read: 05:12:13.3125 LVL= 32544, 18465, 19138, 32755, AGC= 62, IDX= 509, 0.13, 1.816,-2.284, 2.740, 2.958, PHS=-1.040, 1.087,-0.262, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 Ygot valid direction response: 05:12:13.3125 LVL= 32544, 18465, 19138, 32755, AGC= 62, IDX= 509, 0.13, 1.816,-2.284, 2.740, 2.958, PHS=-1.040, 1.087,-0.262, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 T#Rx 38: Read range and direction messages.bdirection in FSK: [-0.917615,-0.397087,-0.017452]Fpublishing direction and range infoy(q]~liٿW7) ߑY3A !HJ )>Ii"?$iw@l$=<@ 5)13c@I5<bW5 ÿaBܤ? 8?)&I.i5<checking for new query: numPingsReceived=38, elapsed TxPingTime=16.939869iuMb@Mb@Mb@qqqq q9uK7A`?{Gz?Mb`?Yu ?yu#=u;u=Auh@ q)uAqYu3A <bDVDβy=% =ٔۊ9Q->9Y=Fy6E1E>Q 5F5UƟ?Q 9F5)°BYb ?Q E:y¾Q I@XyDI;i;1F5y ɮ A iiѠ˿?AJisARisAjiF@bʸEX  YcrĿR(q]~liٿW7) ߑZi.bi5<j1 I"$ŵ?<(ZdyY 8?P G/|2i>:iH"i=dÜ?*iUsBi^BiiíBiAiSC@ addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504048 s, deltaX: 0.500000 m, approachRate: 0.991969 m/s, rangeRepo size: 4   Added new target pos. range: 9.153201 m, bearing: 177.288689 deg, lat: 36.779335 deg, lon: -121.859649 deg, deltaT: 0.504048 s, deltaX: 0.497457 m, approachRate: 0.986923 m/s, posRepo size: 4 jh bh h h*hq"hq hqgyfyfyf}ˁBdddjd`ff"@Zdb?Bɢ|X) zi)riiB侉 e'< j%?`&J??@tƿi?iUL@IU?a;UCY}By}hI bDVD:ԙyb=%>=ٔcQ->9 ?Y ?=Fy6EcE>DDAT read: Rx Time:05:12:13.8126 TRx dataTimestamp_ set to:1761541935.016802PDAT read: Bearing 325.0, -29.5 (Local) ~Local bearing/azimuth received: Bearing 325.0, -29.5 (Local) DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4  DAT read: 05:12:13.8126 LVL= 30848, 19313, 20578, 31555, AGC= 63, IDX= 510, 0.06, 1.679,-2.382, 2.728, 2.852, PHS=-1.071, 1.095,-0.168, RAW= 305.5, 1.5, CAL= 303.5, -2.1, ROT= 206.5, 2.1 Ygot valid direction response: 05:12:13.8126 LVL= 30848, 19313, 20578, 31555, AGC= 63, IDX= 510, 0.06, 1.679,-2.382, 2.728, 2.852, PHS=-1.071, 1.095,-0.168, RAW= 305.5, 1.5, CAL= 303.5, -2.1, ROT= 206.5, 2.1 T#Rx 39: Read range and direction messages.bdirection in FSK: [-0.894333,-0.445898,-0.036644]Fpublishing direction and range infoy`Zܿ(א¢YAxqKbP C{)?9Q 5MF5Ii(?1,@Pw<@ Q )f@IQ =lTc :q|sƧ? xB)EݼI v+iQ ==Sٟ?Q 9uF5=4!)=ʰBYqy}K¾Q I}@=gyDI=;i=<=F5y}BɮAchecking for new query: numPingsReceived=39, elapsed TxPingTime=17.435377iiI˿?AJi ARi AjiI@b^ʌ ŀmב տR`Zܿ(א¢Zi v+biQ =jh0"ӖvoT¿Z eW@GilV2i䨽:i"ics͜?*i_#BiNBioϜ?is{ iBiVAiC@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503988 s, deltaX: 0.100000 m, approachRate: 0.198418 m/s, rangeRepo size: 4  Added new target pos. range: 9.252682 m, bearing: 180.510733 deg, lat: 36.779334 deg, lon: -121.859650 deg, deltaT: 0.503988 s, deltaX: 0.099481 m, approachRate: 0.197387 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd"@Zd@(?颩ɢTN) (Ei)顱ii<侉<`L ,˿?AhYBymIi Mb@Mb@Mb@     9 K7?I +?MbP?Y  ?y 94= : A Q@  A) zA Y fAbD%VD%0y5<%52=ٔ=Q-=>99Y9=EFyE6EEEE>IQ 5UF5M쟊?Q 9UF5M|#)MаBY]0 ?Q E]:y]fQ I]@MwyDIM:iM/:MF5yaɮeAiB*** querying acoustic contact ***i ijhbhhh*h"h hgfffсBdddjdZd`?Bɢ*Q) =i)FGi~(i6侉<B B IB ƁBB B B B ,s;B .EIA OM >] checking for new query: numPingsReceived=40, elapsed TxPingTime=18.162437A,e˿?ARݜ@R@Rn_ٱR=5 ZAHRS rotation from veh to nav: [[0.897508,0.440633,0.017932],[-0.435950,0.880364,0.186834],[0.066539,-0.175502,0.982228]]RHb?V3?@\?ۿ`+? /?`?vƿin?iRݜ@IR`;RCYByI!%AAbD-VD-:y5q>%5]=ٔ= 9Q-=>9AYA=EFyE6EE:EM>IQ 5UF5M?Q 9UF5YMd%)MְBYaye'Q Ie@MyDIM),;iM%-;M2F5ymBɮmAAmEE EE(E"Em+;*E:VEc44ZEBE߄@ @@?0@@A@ADDAT read: Rx Time:05:12:14.8130 TRx dataTimestamp_ set to:1761541936.024733PDAT read: Bearing 328.7, -34.3 (Local) ~Local bearing/azimuth received: Bearing 328.7, -34.3 (Local) DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.0 =DAT read: 05:12:14.8130 LVL= 32752, 20961, 24674, 32755, AGC= 64, IDX= 498,-0.05, 0.995,-2.998, 2.271, 2.227, PHS=-1.130, 1.103, 0.000, RAW= 299.6, 0.3, CAL= 298.1, -3.9, ROT= 211.9, 3.9 EYgot valid direction response: 05:12:14.8130 LVL= 32752, 20961, 24674, 32755, AGC= 64, IDX= 498,-0.05, 0.995,-2.998, 2.271, 2.227, PHS=-1.130, 1.103, 0.000, RAW= 299.6, 0.3, CAL= 298.1, -3.9, ROT= 211.9, 3.9 MT#Rx 41: Read range and direction messages.]bdirection in FSK: [-0.847006,-0.527215,-0.068015]]Fpublishing direction and range infoy ԫ뿎a,::siYfAQb` )@Iףi/?T@;}@ 'g)ϱl@I'g=MRZTɗ|?7t? {H@)#Im%i'g=checking for new query: numPingsReceived=41, elapsed TxPingTime=18.441099Թ^A u<A ?A Ia Iq O >(,l@ ̿?A2@2엺@2ˇٱ2-.4 :AHRS rotation from veh to nav: [[0.897538,0.440579,0.017799],[-0.435932,0.880558,0.185961],[0.066258,-0.174666,0.982396]]2H?`q2?9?Mۿ-??F?v[ƿo?i2@I2`;0YfByfIbDnVDnyv=%vO=ٔzL;:Q-z>9xYx=~Fy~6E~8E>Q 5 F5r ?Q 9 F5l')ܰBYy"Q I@yDI:i:F5yɮ%A!ii:̿?AJiARiAjiO@b+ot ,;~_5pR ԫ뿎a,::siZim%bi'g=jmZH#ܸH8mrӿZc?Hx)f?÷2i:i"iLӜ?*iPCBi%BiiUsi^BiAi!D@m addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503662 s, deltaX: 0.099999 m, approachRate: 0.198545 m/s, rangeRepo size: 4 } Added new target pos. range: 9.849623 m, bearing: 186.183081 deg, lat: 36.779334 deg, lon: -121.859654 deg, deltaT: 1.007931 s, deltaX: 0.596941 m, approachRate: 0.592244 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd#@ZdA ?Թɢ$>) i)iKi:侉<{i I A DDAT read: Rx Time:05:12:15.3133  TRx dataTimestamp_ set to:1761541936.531592 PDAT read: Bearing 329.1, -34.7 (Local)  ~Local bearing/azimuth received: Bearing 329.1, -34.7 (Local) % DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3  DAT read: 05:12:15.3133 LVL= 32752, 20161, 21426, 32755, AGC= 62, IDX= 501,-0.10, 2.335,-1.654,-2.650,-2.711, PHS=-1.134, 1.103, 0.017, RAW= 299.0, 0.1, CAL= 297.5, -4.1, ROT= 212.5, 4.1  Ygot valid direction response: 05:12:15.3133 LVL= 32752, 20161, 21426, 32755, AGC= 62, IDX= 501,-0.10, 2.335,-1.654,-2.650,-2.711, PHS=-1.134, 1.103, 0.017, RAW= 299.0, 0.1, CAL= 297.5, -4.1, ROT= 212.5, 4.1  T#Rx 42: Read range and direction messages.9  bdirection in FSK: [-0.841233,-0.535925,-0.071497] Fpublishing direction and range infoy  ISax-K&ῡ MY f&A N S ) >I &i C< <@ : '@ C) b]m@I C= S ¦f-?%?ed? G@) 9k'I S$i C=  checking for new query: numPingsReceived=42, elapsed TxPingTime=18.987499S ,'̿?AYnՁBynIiMb@Mb@Mb@ 9 r?㥛 ?~jthY?y=D-checking for new query: numPingsReceived=42, elapsed TxPingTime=19.170507BBBIBBB =BBBr;Bl.EA vA)AYA p<p;bDVD:y=% =ٔQ->9Y=Fy6EE>Q 5F5$?Q 9F5))BY?Q E:yݠQ I@yDI:i:F5yBɮAEii"̿?AJi%ARi%AjiêP@bk3h!@U.(O}YRISax-K&ῡ MZiS$biC=j>$G?ooտZf$x@>U2i휿:iL$"ilpÜ?*i1%JBi*Bics͜?i_#iNBih"AipG@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.506859 s, deltaX: 0.500000 m, approachRate: 0.986468 m/s, rangeRepo size: 4  Added new target pos. range: 10.347066 m, bearing: 186.808446 deg, lat: 36.779334 deg, lon: -121.859660 deg, deltaT: 0.506859 s, deltaX: 0.497443 m, approachRate: 0.981423 m/s, posRepo size: 4 jhbhhh*h"h hgff!f%Bd!d!d)jd-$@Zd-@d?]Bɢ]/)a eia)empaaie_im4侉m ,^hD̿?ADAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 h DAT read: 05:12:15.8134 LVL= 32048, 20113, 25042, 32755, AGC= 64, IDX= 502,-0.18, 1.168,-2.800, 2.481, 2.436, PHS=-1.166, 1.092, 0.001, RAW= 298.9, 0.8, CAL= 297.3, -3.5, ROT= 212.7, 3.5 Ygot valid direction response: 05:12:15.8134 LVL= 32048, 20113, 25042, 32755, AGC= 64, IDX= 502,-0.18, 1.168,-2.800, 2.481, 2.436, PHS=-1.166, 1.092, 0.001, RAW= 298.9, 0.8, CAL= 297.3, -3.5, ROT= 212.7, 3.5 T#Rx 43: Read range and direction messages.%bdirection in FSK: [-0.839941,-0.539233,-0.061049]%Fpublishing direction and range infoyjˤZKdA῟.xAY(A0}-@-険@-}ٱ-2 EAHRS rotation from veh to nav: [[0.897674,0.440310,0.017573],[-0.435728,0.880971,0.184476],[0.065746,-0.173257,0.982680]]-H`? .?@?ۿ 0??԰?G-ƿr?i-@I-^;-CNa )@I}?iƋ?o:@d<, @ 5z)m@I5z=).qc?V,? G@)0XI"$i5z=checking for new query: numPingsReceived=43, elapsed TxPingTime=19.520226YByIbDMVDMy]>%]=ٔ]}:Q-] ?9aYa=Fy6EfC:E ?Q 5F5c2?Q 9F5D+)BYyQ I@yDI:il:F5yBɮAEii@B̿?AJi%'ARi%'AjiP@bKNy!<Q/lhRjˤZKdA῟.xAZi"$bi5z=jۤo$҇PLRD"ͿZII !|o;蚊=O2i䠿:i%"iȜ?*i]TLBiyBiȜ?iPCii&AiN@= addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503621 s, deltaX: 0.100000 m, approachRate: 0.198563 m/s, rangeRepo size: 4 m Added new target pos. range: 10.446557 m, bearing: 186.912439 deg, lat: 36.779333 deg, lon: -121.859674 deg, deltaT: 0.503621 s, deltaX: 0.099491 m, approachRate: 0.197552 m/s, posRepo size: 4 jhqbhqhqhq*hq"hq hqgyfyffdddjd%@Zd? ɢ Έ&)  i)Kii=>侉=<=sry 2,1^̿?AXXˡ@@ąٱV/ %AHRS rotation from veh to nav: [[0.897846,0.440002,0.016486],[-0.435446,0.881753,0.181379],[0.065271,-0.170030,0.983275]]H&?@(?@?`XۿR7?q7?@?ſv?iˡ@I)^;CY5By=IAAQDDAT read: Rx Time:05:12:16.3136 TRx dataTimestamp_ set to:1761541937.539524-PDAT read: Bearing 327.9, -34.8 (Local) -~Local bearing/azimuth received: Bearing 327.9, -34.8 (Local) DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.6 iMb@Mb@Mb@ 9RQ?RQ?~jtxY?y=ĻA@  A)hAYGAbDUVDUy]t<%e;=ٔe:Q-e>9iYi=mFym6EmH:Eu>qQ 5}F5uD?Q 9F5u,)uBY?Q E:DAT read: 05:12:16.3136 LVL= 31216, 21489, 27426, 32755, AGC= 64, IDX= 504,-0.25, 1.753,-2.229, 3.041, 3.015, PHS=-1.160, 1.084,-0.018, RAW= 299.4, 1.0, CAL= 297.7, -3.2, ROT= 212.3, 3.2 Ygot valid direction response: 05:12:16.3136 LVL= 31216, 21489, 27426, 32755, AGC= 64, IDX= 504,-0.25, 1.753,-2.229, 3.041, 3.015, PHS=-1.160, 1.084,-0.018, RAW= 299.4, 1.0, CAL= 297.7, -3.2, ROT= 212.3, 3.2 yPQ I@uyDIu;iuy;ueF5yɮAT#Rx 44: Read range and direction messages.bdirection in FSK: [-0.843944,-0.533519,-0.055822]Fpublishing direction and range infoyN>ᢔY,AyS"k )Izi?tm7@5<^D@ d)1$m@Id=iib̿?AJi+ARi+AjiPP@b8)""C5W21RN>ᢔZi$bid=ԁ g^ᅧ(Λ?;? ?gH@)I$id=checking for new query: numPingsReceived=44, elapsed TxPingTime=20.014631j~&Y%ʨ-pA|ʿZɭv47߁2i:i*"i8?*i"$LBiBii1%JiiG*AibO@ addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504311 s, deltaX: 0.300000 m, approachRate: 0.594871 m/s, rangeRepo size: 4  Added new target pos. range: 10.745030 m, bearing: 186.493243 deg, lat: 36.779333 deg, lon: -121.859677 deg, deltaT: 0.504311 s, deltaX: 0.298473 m, approachRate: 0.591844 m/s, posRepo size: 4 jhbh!h!h!*h!"h! h!g!f!f)f-Bd)d1d1jd5%@Zd53?颡ɢ!#) pżi)顩ii8侉Y<pB1 B5  IB5 BB1 B1 B1 B5 r;B5 X.E checking for new query: numPingsReceived=44, elapsed TxPingTime=20.178513 ^AU }<E  E E E "E ;;*E :VE ZE BE %,-~̿?A%]@%/@%ٱ%1 =AHRS rotation from veh to nav: [[0.897881,0.439854,0.018405],[-0.435521,0.881377,0.183019],[0.064280,-0.172345,0.982937]]%Hp?&?ؒ?ۿ=4?)m?t?dƿ8t?i%]@I%X_;%CYMByMI]@AYbDaVDaym>%u;=ٔu ;Q-u>9}"?Y}"?=}Fy}6E E>Q 5F5V?Q 9F5t.)BYyeQ I@yDI;i<;5F5yBɮ AB*** querying acoustic contact ***i ijhbh h -DDAT read: Rx Time:05:12:16.8137 5TRx dataTimestamp_ set to:1761541938.042334EPDAT read: Bearing 327.7, -33.8 (Local) E~Local bearing/azimuth received: Bearing 327.7, -33.8 (Local) eDAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.6 h *h)"h) h1g1f1f1f9d9d9d9jd9ZdEK8?UDAT read: 05:12:16.8137 LVL= 26896, 17553, 22594, 30835, AGC= 63, IDX= 505,-0.33, 0.309, 2.596, 1.555, 1.551, PHS=-1.140, 1.089,-0.040, RAW= 300.4, 1.0, CAL= 298.7, -3.1, ROT= 211.3, 3.1 ]Ygot valid direction response: 05:12:16.8137 LVL= 26896, 17553, 22594, 30835, AGC= 63, IDX= 505,-0.33, 0.309, 2.596, 1.555, 1.551, PHS=-1.140, 1.089,-0.040, RAW= 300.4, 1.0, CAL= 298.7, -3.1, ROT= 211.3, 3.1 ]T#Rx 45: Read range and direction messages.bdirection in FSK: [-0.853208,-0.518759,-0.054079]Fpublishing direction and range infoy)-j{MލOʾ7Y-0A)-i-D-BX -sx)-?I-둿i-Zd?- #-gƧ@)-XӦ@ -k])-=l@I-k]=))-ѹϤᅢx,~"h? -ʔH)-߄I-x&i-k]=))BɢE) =i)|iϭiB侉<]Ѽ%,̿?AE: E:E:)E8"E:/;*E:d:VE:FA4ZE8aR@aR@aR@aR@  @ ޛ@ قٱ /2 AHRS rotation from veh to nav: [[0.897889,0.439798,0.019327],[-0.435568,0.881171,0.183899],[0.063848,-0.173539,0.982755]] H?@%?bʓ?Wۿ2??^X?6ƿr?i  @I H_; CY-By5 IQiMMb@Mb@Mb@IIII I9M"~j?1Zd?MbYMS?yM"=MMAM;@ MvA)MAIYMpAbDVDy]W*=%m/=ٔu9q:Q-}>9Y=Fy6EE>Q 5F5zk?Q 9F50)Y7?Q E:yjQ I@yDIp;i=;fF5yBɮ!AEiYi]̿?AJi]/ARi]/Aji].O@b]׃Ϭ"U;S^XR]j{MލOʾ7Zi]x&bi]k]=j]%%ϵv˜ȿZ]qHVVnV2i]:i]G."i]՜?*i]՗KBi]BiYi]՗Ki]yBi]1Ai]hO@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.502810 s, deltaX: 0.200000 m, approachRate: 0.397764 m/s, rangeRepo size: 4 5DDAT read: Rx Time:05:12:17.3140 5TRx dataTimestamp_ set to:1761541938.545951EPDAT read: Bearing 327.4, -32.5 (Local) M~Local bearing/azimuth received: Bearing 327.4, -32.5 (Local) mDAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 yDAT read: 05:12:17.3140 LVL= 31504, 20161, 27170, 32755, AGC= 64, IDX= 508,-0.40, 1.124,-2.913, 2.306, 2.328, PHS=-1.102, 1.087,-0.066, RAW= 301.8, 0.9, CAL= 300.0, -3.1, ROT= 210.0, 3.1 Ygot valid direction response: 05:12:17.3140 LVL= 31504, 20161, 27170, 32755, AGC= 64, IDX= 508,-0.40, 1.124,-2.913, 2.306, 2.328, PHS=-1.102, 1.087,-0.066, RAW= 301.8, 0.9, CAL= 300.0, -3.1, ROT= 210.0, 3.1 T#Rx 46: Read range and direction messages.bdirection in FSK: [-0.864758,-0.499268,-0.054079]Fpublishing direction and range infoy1 Added new target pos. range: 10.944012 m, bearing: 185.476923 deg, lat: 36.779333 deg, lon: -121.859678 deg, deltaT: 0.502810 s, deltaX: 0.198981 m, approachRate: 0.395739 m/s, posRepo size: 4 jhbhhh*h"h hgfff1B5>뿑߿ʾ7Y5f6A15{5N5"j 5)5@I5Vi5"?5+5@5<56@ 1)5j@I1115fPG+iݯ7b{? 5lG)5C^wI56'i111checking for new query: numPingsReceived=46, elapsed TxPingTime=20.980684dddjd&@Zd ?BɢpB) a=i)Aii<侉R<x B9 B9 B= 4 IB= @BB9 B= BDB9 B= r;B= H.EBC+,ޱ̿?AB5CB1B5 =B5 =C556g@69@6+}ٱ65 >AHRS rotation from veh to nav: [[0.897971,0.439585,0.020332],[-0.435424,0.880887,0.185589],[0.063672,-0.175507,0.982417]]6H`-? )"?@є?@ۿ:0?b?@L? wƿo?Bchecking for new query: numPingsReceived=46, elapsed TxPingTime=21.186317i6g@I6_;6CYN,ByN IIr<)rr=r=bDzVDzk2y p=% z=ٔ :Q- ?9Y=Fy6E":E ?!Q 5-F5%x?Q 9-F5%71)%BY)y5eQ I5@%yDI%:i%|:%'F5y}Bɮ}A}Eiiim̿?AJimx5ARimx5AjimM@bmw#>_"b Rm>뿑߿ʾ7Zim6'biijmX]<&%v4ͿZmq:o<ò6J,2imT:im4"im|󿜊?*imyGBimBimlpÜ?iiimBim4AimLN@  addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503617 s, deltaX: 0.400000 m, approachRate: 0.794254 m/s, rangeRepo size: 4 = Added new target pos. range: 11.341973 m, bearing: 184.204384 deg, lat: 36.779333 deg, lon: -121.859678 deg, deltaT: 0.503617 s, deltaX: 0.397962 m, approachRate: 0.790207 m/s, posRepo size: 4 jh9bh9h9h9*hA"hA hAgAfAfIfIdIdIdIjdQZdu(?Աɢ) =i)i Eu EuEu&Eq"Eu=;*Eu:VEu4ZEqBEuEDDAT read: Rx Time:05:12:17.8141 UTRx dataTimestamp_ set to:1761541939.050552]PDAT read: Bearing 327.3, -31.5 (Local) e~Local bearing/azimuth received: Bearing 327.3, -31.5 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.5 DAT read: 05:12:17.8141 LVL= 30304, 19553, 24274, 32755, AGC= 65, IDX= 509,-0.47,-0.480, 1.770, 0.672, 0.711, PHS=-1.089, 1.103,-0.083, RAW= 302.7, 0.7, CAL= 301.0, -3.1, ROT= 209.0, 3.1 Ygot valid direction response: 05:12:17.8141 LVL= 30304, 19553, 24274, 32755, AGC= 65, IDX= 509,-0.47,-0.480, 1.770, 0.672, 0.711, PHS=-1.089, 1.103,-0.083, RAW= 302.7, 0.7, CAL= 301.0, -3.1, ROT= 209.0, 3.1 I M T#Rx 47: Read range and direction messages.U bdirection in FSK: [-0.873340,-0.484100,-0.054079]] Fpublishing direction and range infoyIMhTf'޿ʾ7YM9AIM`vMaLM^ I)MAIMZdiM/?MMA@M+HǤrI? MF)MMRIM*(iIII checking for new query: numPingsReceived=47, elapsed TxPingTime=21.487352t2,Ը̿?A2~@2P@2~ٱ2Y6 >AHRS rotation from veh to nav: [[0.898043,0.439403,0.021089],[-0.435311,0.880724,0.186627],[0.063431,-0.176779,0.982204]]2Hü?,?Q?@$ۿ.?@g?=?ƿ7n?i2~@I2}_;2CYN0ByR I V49xYx=zFyz6E~9E~>YQ 5eF5]?Q 9mF5]2)YYiym_Q Im@]yDI]:i]R:]F5yqɮ}Ayiyi}><̿?AJi}8ARi}8Aji}L@b}9Չ($AY[mR}hTf'޿ʾ7Zi}*(biyj}w 'aҝпZ}tc bBЬT|2i}D&:i}P8"i}dͿ?*i}bʺCBi}Bi}8?iyi}Bi}8Ai}SN@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504601 s, deltaX: 0.200001 m, approachRate: 0.396354 m/s, rangeRepo size: 4  Added new target pos. range: 11.540956 m, bearing: 183.226954 deg, lat: 36.779333 deg, lon: -121.859678 deg, deltaT: 0.504601 s, deltaX: 0.198983 m, approachRate: 0.394338 m/s, posRepo size: 4 jhbh-ZTarget missed at range: 11.60 m. Rolling out.2hNTransitioning guidance mode to: ROLLOUT:h@hh*h"h h2hgfffdddjd@33'@Zdv1?%B%~)- -=i))-)-i)i5@侉9=^ԩ U DDAT read: Rx Time:05:12:18.3144 ] TRx dataTimestamp_ set to:1761541939.554039e PDAT read: Bearing 326.5, -31.4 (Local) m ~Local bearing/azimuth received: Bearing 326.5, -31.4 (Local) } DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2  DAT read: 05:12:18.3144 LVL= 32752, 22513, 28002, 32755, AGC= 67, IDX= 511, 0.46, 1.038,-3.016, 2.167, 2.236, PHS=-1.096, 1.076,-0.113, RAW= 303.1, 1.4, CAL= 301.2, -2.4, ROT= 208.8, 2.4  Ygot valid direction response: 05:12:18.3144 LVL= 32752, 22513, 28002, 32755, AGC= 67, IDX= 511, 0.46, 1.038,-3.016, 2.167, 2.236, PHS=-1.096, 1.076,-0.113, RAW= 303.1, 1.4, CAL= 301.2, -2.4, ROT= 208.8, 2.4  T#Rx 48: Read range and direction messages. bdirection in FSK: [-0.875538,-0.481331,-0.041876] Fpublishing direction and range infoyQ U dxAHRS rotation from veh to nav: [[0.898458,0.438506,0.022046],[-0.434451,0.880652,0.188955],[0.063443,-0.179346,0.981738]]2H +?y?)?` ۿ M.?/?=?ƿ@fj?i2U@I2`;@2Crchecking for new query: numPingsReceived=48, elapsed TxPingTime=21.969118Yr8Byr* Ii Mb@Mb@Mb@     9 Zd;?i|?5?y&1Y >y = `e   )  Y bD]VD] ym=%m4=ٔmQ-m>9qYq=uFyu6E}S ;E}>Q 5G5?Q 9G53)BY?Q E:ycQ I@zDIc;i;G5yBɮAKAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1LEntering Midcourse tracking update period 60.000000 s sec at 11.600000 m (mode 5.000000 count ).1LqLJ Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ 5Resuming normal ranging with 1.000000 count pings 11.600000 m (mode 5.000000 count ).J51K5ii`u̿?AJi?ARi?AjiZL@bފ$[}J.߿Rdx"i]?*iR,DBiBi|󿜊?iyGiBi+A,uͿ?A2&@2@2Xjٱ2: :AHRS rotation from veh to nav: [[0.899337,0.436706,0.021929],[-0.432601,0.881343,0.189975],[0.063636,-0.180337,0.981544]]2H@^??ut?`ۿ3?Q? yJ? Lǿ h?i2&@I2_;0YFLByFC I HHbDNVDNNyVU=%Z@=ٔZ@Q-Z>9ZY^=^Fy\^ ;E^>`Q 5fG5bS?Q 9fG5b)5)bBYhyjaQ Ij@bzDIb;ib;bRG5ylɮnAlBjzN@qLzLzjz?1K~qK~ԡ addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.506983 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.94 m.hh*h"h h2hgfffddjdZd$??Z-?Z-?Z-zr>Z-@eXj)a eiej9)aeiiiim4侉qu|EU  EU EQ EQ "EU O6;*EU :VEQ ZEQ au @au @au @au @) 2G,/1Ϳ?AQ@#@ ٱyH6 %AHRS rotation from veh to nav: [[0.899441,0.436618,0.019272],[-0.432223,0.882123,0.187195],[0.064732,-0.176701,0.982134]]H7???ۿZ:?? L?!ƿm?iQ@I}_;Y=KBy=B IieMb@Mb@Mb@aaaa a9e ףp= ?i|?5?Zd;OYeQ>yaejenAe@ a)eQAaYeAAAbDVDβy%0=ٔQ->9Y=FyY:E>Q 5G5p?Q 9G56)BY>Q E:ycQ I@zDI:i:c G5DDAT read: Rx Time:05:12:19.3147 TRx dataTimestamp_ set to:1761541940.564825PDAT read: Bearing 326.8, -28.0 (Local) ~Local bearing/azimuth received: Bearing 326.8, -28.0 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 DAT read: 05:12:19.3147 LVL= 24944, 30641, 27330, 31155, AGC= 67, IDX= 3, 0.27, 0.696, 2.916, 1.712, 1.830, PHS=-1.032, 1.132,-0.162, RAW= 306.5, 0.7, CAL= 304.6, -2.9, ROT= 205.4, 2.9 -Ygot valid direction response: 05:12:19.3147 LVL= 24944, 30641, 27330, 31155, AGC= 67, IDX= 3, 0.27, 0.696, 2.916, 1.712, 1.830, PHS=-1.032, 1.132,-0.162, RAW= 306.5, 0.7, CAL= 304.6, -2.9, ROT= 205.4, 2.9 -T#Rx 50: Read range and direction messages.5bdirection in FSK: [-0.902179,-0.428386,-0.050593]5Fpublishing direction and range infoy^}v9ȫjۿ|rQ穿YHApawj y)Ii`?T%.@+H<@ 4QO)oe@I4QO=yMBɮM/AMEJjaLeLeYq￲Ƽw͇? NA)i>I,i4QO=checking for new query: numPingsReceived=50, elapsed TxPingTime=22.984159"jqKKii&$Ϳ?AJiFARiFAjiH@b|Ϫip&gEqO B]"R^}v9ȫjۿ|rQ穿Zi,bi4QO=j0P(\p?YٿZzȽ9 'e?Oҕ2i=:iF"iڎ?*i5Bi}BidͿ?iR,DiiBAi K@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503803 s, deltaX: 0.500000 m, approachRate: 0.992451 m/s, rangeRepo size: 4 M Added new target pos. range: 12.436416 m, bearing: 179.851979 deg, lat: 36.779332 deg, lon: -121.859674 deg, deltaT: 1.010786 s, deltaX: 0.497496 m, approachRate: 0.492187 m/s, posRepo size: 4 UDNOT Ignoring new targets: 12.44 m.hQhQ*hQ"hQ hQ2hQgYfYfYf]PBddjd)@Zd+?Z>Z>Zct>Z@ ) i!)!!!i!i->侉)-`B B s IB sBB B BDB B >r;B $.E checking for new query: numPingsReceived=50, elapsed TxPingTime=23.207630 !@  @ @ /@ @ p=@ =ԡ EU  EU EQ EQ "EU 1;*EU V:VEQ ZEQ BEU [Ϳ?AYUByN II=)=bDVDfy+=%)=ٔQ->9Y=Fy E>Q 5-G5rՠ?Q 9-G57)BY1y1Q I5@/zDIvA;ii;G5yMBɮMAMERjaLmmtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseKmmAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*jiKuuCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJu uAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRyDNOT Ignoring new targets: 12.44 m.hh*h"h h2hgfffddjdZd@?DDAT read: Rx Time:05:12:19.8148 TRx dataTimestamp_ set to:1761541941.068806PDAT read: Bearing 325.9, -32.6 (Local) ~Local bearing/azimuth received: Bearing 325.9, -32.6 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4  DAT read: 05:12:19.8148 LVL= 24752, 26353, 27794, 32755, AGC= 63, IDX= 500, 0.08,-0.185, 1.989, 0.941, 1.026, PHS=-1.108, 1.008,-0.128, RAW= 302.4, 2.5, CAL= 300.3, -1.3, ROT= 209.7, 1.3 Ygot valid direction response: 05:12:19.8148 LVL= 24752, 26353, 27794, 32755, AGC= 63, IDX= 500, 0.08,-0.185, 1.989, 0.941, 1.026, PHS=-1.108, 1.008,-0.128, RAW= 302.4, 2.5, CAL= 300.3, -1.3, ROT= 209.7, 1.3 T#Rx 51: Read range and direction messages.bdirection in FSK: [-0.868408,-0.495331,-0.022687]%Fpublishing direction and range infoyJaK߿NGY;Y`fl )?Iҍi%?o[@¸2=@ ޹):VEe 4ZEa a @a @a @a @^A <I IO->4V,i\Ϳ?A|nܳ@@׺@ٱK$  AHRS rotation from veh to nav: [[0.900961,0.433761,0.011004],[-0.429018,0.886742,0.172137],[0.064909,-0.159810,0.985012]]H??&?` uۿ1`?? ᝰ?tĿ6?inܳ@I^;YZByT IiMb@Mb@Mb@ 9K7A`?)\(?:vY>yG=Լ@ `A)AYA 9=bDEVDE1y]/<%]=ٔ]Q-]>9aYa=Fy;E>DDAT read: Rx Time:05:12:20.3150 TRx dataTimestamp_ set to:1761541941.572730PDAT read: Bearing 325.9, -29.1 (Local) ~Local bearing/azimuth received: Bearing 325.9, -29.1 (Local) DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 !=DAT read: 05:12:20.3150 LVL= 31888, 30193, 29938, 32755, AGC= 64, IDX= 502,-0.08,-1.276, 0.892,-0.258,-0.139, PHS=-1.036, 1.076,-0.163, RAW= 305.7, 1.4, CAL= 303.8, -2.3, ROT= 206.2, 2.3 EYgot valid direction response: 05:12:20.3150 LVL= 31888, 30193, 29938, 32755, AGC= 64, IDX= 502,-0.08,-1.276, 0.892,-0.258,-0.139, PHS=-1.036, 1.076,-0.163, RAW= 305.7, 1.4, CAL= 303.8, -2.3, ROT= 206.2, 2.3 ET#Rx 52: Read range and direction messages.Mbdirection in FSK: [-0.896536,-0.441150,-0.040132]UFpublishing direction and range infoy|Zk;;ܿ.='YLA|ut )@Ii^?y&/@+<@ l$)Sf@Il$=튕e2NzϹ7?  B)I+il$=mchecking for new query: numPingsReceived=52, elapsed TxPingTime=23.979179qQ 5}G5uꠊ?Q 9}G5ud9)uܰBY>Q E:ybQ I@u?zDIu ;iu* ;uaG5yɮAiidͿ?AJiKARiKAjiI@bj š&S`xʹZR|Zk;;ܿ.='Zi+bil$=jMZ>ZJp>Z@e)a m;im`9)im>1iiiiB侉=II11QA} @AAy B B B  IB }BB =B B B r;B .Eԙ  checking for new query: numPingsReceived=52, elapsed TxPingTime=24.214987 !(@  @ @ @ @ fA@ fAԩ Em EmEm)Ei"Em:;*EmV:VEmFA4ZEiBEm1$@>@>ٱ>BI RAHRS rotation from veh to nav: [[0.902414,0.430833,0.005698],[-0.426106,0.890394,0.160098],[0.063902,-0.146903,0.987085]]>H`? ƒ??Ww?REۿ~?~? [?¿2?i>$@I>@_;>CYbPBybH I hhbDv VDvf2yp %(=ٔ ;Q- >9Y=Fy';E%>)Q 5=G5-7?Q 9EG5-:)-ڰBYAyMX^Q IM@-MzDI-r;i-s;-\G5y]Bɮe{AeE DNOT Ignoring new targets: 12.73 m.h h *h "h  h 2h gfff%DDAT read: Rx Time:05:12:20.8151 -TRx dataTimestamp_ set to:1761541942.0768875PDAT read: Bearing 324.7, -30.8 (Local) =~Local bearing/azimuth received: Bearing 324.7, -30.8 (Local) MDAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 mDAT read: 05:12:20.8151 LVL= 24144, 27873, 31634, 32755, AGC= 64, IDX= 503,-0.45,-1.501, 0.568,-0.487,-0.363, PHS=-1.035, 0.977,-0.168, RAW= 304.5, 2.6, CAL= 302.3, -1.0, ROT= 207.7, 1.0 }Ygot valid direction response: 05:12:20.8151 LVL= 24144, 27873, 31634, 32755, AGC= 64, IDX= 503,-0.45,-1.501, 0.568,-0.487,-0.363, PHS=-1.035, 0.977,-0.168, RAW= 304.5, 2.6, CAL= 302.3, -1.0, ROT= 207.7, 1.0 }T#Rx 53: Read range and direction messages.bdirection in FSK: [-0.885259,-0.464771,-0.017452]Fpublishing direction and range infoy)-1 T`/ϾݿW7) ߑY-fNA)-P^-l-{ )))I-zi-z?-1,-@-9=-֨@ -5)-h@I-5<))-%VǓKFa? -C)-;I-*i-5<))checking for new query: numPingsReceived=53, elapsed TxPingTime=24.482851ddjd)@ZdC?ZZZZ@ ) ij9)ii<侉!% =I!I!1*@ @@/@^AV<IIOB>)  checking for new query: numPingsReceived=53, elapsed TxPingTime=24.718365;;f,"Ϳ?AE: E:E:(E8"E:8;*E::VE:c44ZE8aJ@aJ@aN@aN@`U=@U@UeٱU AHRS rotation from veh to nav: [[0.903189,0.429237,0.002238],[-0.424573,0.892585,0.151753],[0.063141,-0.138012,0.988416]]UH ?x?Ub?4,ۿ? l?)?@b@?iU=@IUJ_;UCYMByE IiMb@Mb@Mb@ 9"~j??S㥛YS>y=/ݼAA$@ A)@YAbDVDyC*%$=ٔ:Q->9Y= Fy  9b;E >Q 5%G5?Q 9-G5;)ְBY-n>Q E5:y5?jQ I5@\zDI{;ik;G5yAɮMAIiiimͿ?AJimYMARimYMAjimLK@bm4y?.&eT1-)&̿Rm1 T`/ϾݿW7) ߑZim*bim5<jm52)Zῒ𣓽ZmqzXwQ ?Uo2im:im)M"im1H֜?*im.JBimBiiiiiiimRAimMJ@EDDAT read: Rx Time:05:12:21.3153 MTRx dataTimestamp_ set to:1761541942.580800UPDAT read: Bearing 324.6, -28.3 (Local) U~Local bearing/azimuth received: Bearing 324.6, -28.3 (Local) eDAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.5 DAT read: 05:12:21.3153 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.16, 0.755, 2.922, 1.732, 1.893, PHS=-1.036, 1.074,-0.205, RAW= 307.0, 1.8, CAL= 304.9, -1.6, ROT= 205.1, 1.6 Ygot valid direction response: 05:12:21.3153 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.16, 0.755, 2.922, 1.732, 1.893, PHS=-1.036, 1.074,-0.205, RAW= 307.0, 1.8, CAL= 304.9, -1.6, ROT= 205.1, 1.6 T#Rx 54: Read range and direction messages.bdirection in FSK: [-0.905216,-0.424034,-0.027922]Fpublishing direction and range infoyAEM܆r&`#ۿ|p}YE3SAAEEE A)E?IEiEx?EQEv@E=EI@ E)ERe@IEZn>Zzb>Z@e) L=i9)l2ii6侉=II c-@ @@/@@=@9 B >B B s IB sBB =B B B q;B -E^A r=I I O >#l,Ϳ?Achecking for new query: numPingsReceived=54, elapsed TxPingTime=25.230572(YECByM8 IbD] VD]2ymv%mm=ٔmQ-u?9qYq=uFyq}E}?Q 5G5?Q 9G5<)԰BYyQ I@fzDI8;iU;G5yŕBɮAii+Ϳ?AJiRARiRAjiH@b٤'1bFb4w׿RM܆r&`#ۿ|p}Zic-bi<jLA*"{M?.bP ֿZw+&QZ?h]rܚ2iҬ<:i R"iHaɜ?*iX<BiBiio=iiTAi>I@DNOT Ignoring new targets: 12.83 m.hh*h"h h2hgfffddjdZd|{?ZZZZ1)1 5ԩDDAT read: Rx Time:05:12:21.8154 TRx dataTimestamp_ set to:1761541943.092694PDAT read: Bearing 325.2, -29.6 (Local) ~Local bearing/azimuth received: Bearing 325.2, -29.6 (Local) DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.4 DAT read: 05:12:21.8154 LVL= 27120, 29793, 25234, 32755, AGC= 63, IDX= 506,-0.15,-1.959, 0.157,-0.956,-0.841, PHS=-1.016, 1.042,-0.159, RAW= 305.5, 1.5, CAL= 303.5, -2.1, ROT= 206.5, 2.1 %Ygot valid direction response: 05:12:21.8154 LVL= 27120, 29793, 25234, 32755, AGC= 63, IDX= 506,-0.15,-1.959, 0.157,-0.956,-0.841, PHS=-1.016, 1.042,-0.159, RAW= 305.5, 1.5, CAL= 303.5, -2.1, ROT= 206.5, 2.1 %T#Rx 55: Read range and direction messages.-bdirection in FSK: [-0.894333,-0.445898,-0.036644]-Fpublishing direction and range infoy`Zܿ(א¢YfVAiatb )IJ iB`?"@Pw<@ Q )f@IQ = NnD,/^? B)v׼I v+iQ =Mchecking for new query: numPingsReceived=55, elapsed TxPingTime=25.498386 Hs,NͿ?A2@2@2;{ٱ2  :AHRS rotation from veh to nav: [[0.904205,0.427097,-0.001413],[-0.422678,0.895313,0.140560],[0.061298,-0.126498,0.990071]]2H>? U?&W@( ۿ`h? ?@rb? 1?i2@I2_;0YR9hYh=nFyln8;Er>pQ 5vG5r)?Q 9vG5r=)rҰBYxyzfQ Iz@rqzDIr6:irp:r #G5y|ɮ~GAiiͿ?AJiNUARiNUAjiJ@b4#'r4DGC߿R`Zܿ(א¢Zi v+biQ =jP"^*˨,}|ֿXPpݿZ 8↑-á2i㳾:iU"ikǜ?*i*GBiOBikǜ?iiBiUAiI@M addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.511894 s, deltaX: 0.200000 m, approachRate: 0.390706 m/s, rangeRepo size: 4 ] Added new target pos. range: 13.331737 m, bearing: 181.511073 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 1.015807 s, deltaX: 0.497432 m, approachRate: 0.489691 m/s, posRepo size: 4 eDNOT Ignoring new targets: 13.33 m.haha*ha"ha ha2higifififqdqdqjdu*@Zd ?Z1Z1Z1Z5 @M;{)I McO;*EU:VEU 4ZEQa@a@a@a@!^A]=II1O=>A  DDAT read: Rx Time:05:12:22.3156  TRx dataTimestamp_ set to:1761541943.596725 PDAT read: Bearing 326.0, -27.6 (Local)  ~Local bearing/azimuth received: Bearing 326.0, -27.6 (Local)  DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.3 5 DAT read: 05:12:22.3156 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508, 0.30, 1.246,-2.761, 2.263, 2.389, PHS=-1.042, 1.178,-0.170, RAW= 307.1, 0.4, CAL= 305.3, -3.2, ROT= 204.7, 3.2 = Ygot valid direction response: 05:12:22.3156 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508, 0.30, 1.246,-2.761, 2.263, 2.389, PHS=-1.042, 1.178,-0.170, RAW= 307.1, 0.4, CAL= 305.3, -3.2, ROT= 204.7, 3.2 = T#Rx 56: Read range and direction messages.E bdirection in FSK: [-0.907092,-0.417215,-0.055822]E Fpublishing direction and range infoy  =WPڿᢔY 3[A    ) BI B`i Ȗ? {. Z@ ; @ d) d@I d= s`By1 IiMb@Mb@Mb@ 9Cl?yt=̼A;@ A)v@Y AbDVD:y;%+=ٔ^:Q->9Y=Fy!%/:E%>)Q 5UG5- ;?Q 9UG5-y?)-аBYU>Q E]:y]`Q I]@-~zDI-;i-':-:'G5ye˕BɮefAeEii0Ϳ?AJiZARiZAjiH@bbJ(-6Rq5xXR=WPڿᢔZix-bid=jr6+x@ D?5hkZ.hOᅩV \?| ֭2i<:iY"i}?*ip>BiBiip>ii[XAiH@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504031 s, deltaX: 0.300000 m, approachRate: 0.595202 m/s, rangeRepo size: 4 % Added new target pos. range: 13.630209 m, bearing: 179.898704 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 0.504031 s, deltaX: 0.298472 m, approachRate: 0.592171 m/s, posRepo size: 4 IMDNOT Ignoring new targets: 13.63 m.hIhI*hI"hQ hQ2hQgQfQfYf]BdYdYjde`ff+@ZdeoC?BABBB` IBdBBBBBq;B-EBqBqBqBqBqCudž5Z>Z>Z'>Z @w) H=i$9)^3ii%4侉!%=I!I)Mchecking for new query: numPingsReceived=56, elapsed TxPingTime=26.2394374@ @@4@@@gAqEE  EE EE 'EA "EE L;*EE :VEE '4ZEA BEE H,R ο?A6@6@6I=uٱ6 BAHRS rotation from veh to nav: [[0.904386,0.426710,-0.002293],[-0.422500,0.896190,0.135414],[0.059837,-0.121497,0.990787]]6H?5O?|b; ۿ?;U??`t?i6@I6r$`;4qDDAT read: Rx Time:05:12:22.8157 TRx dataTimestamp_ set to:1761541944.100719PDAT read: Bearing 325.1, -27.9 (Local) ~Local bearing/azimuth received: Bearing 325.1, -27.9 (Local) DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4 DAT read: 05:12:22.8157 LVL= 29472, 27537, 32578, 32755, AGC= 63, IDX= 509,-0.12,-1.678, 0.473,-0.708,-0.572, PHS=-1.004, 1.090,-0.180, RAW= 307.0, 1.0, CAL= 305.1, -2.5, ROT= 204.9, 2.5 Ygot valid direction response: 05:12:22.8157 LVL= 29472, 27537, 32578, 32755, AGC= 63, IDX= 509,-0.12,-1.678, 0.473,-0.708,-0.572, PHS=-1.004, 1.090,-0.180, RAW= 307.0, 1.0, CAL= 305.1, -2.5, ROT= 204.9, 2.5 T#Rx 57: Read range and direction messages.bdirection in FSK: [-0.906181,-0.420635,-0.043619]Fpublishing direction and range infoyjn쿵QڿGUY\A skB )?Ii?Q8v@5<ff@ ¸2) d@I¸2=YpKic\=pn? /;A)I?-i¸2=checking for new query: numPingsReceived=57, elapsed TxPingTime=26.532572ԡY$By I !! -p<)bD5VD5Nye Խ%e*=ٔe:Q-e>9iYi=mFyiuCEu>yQ 5G5}QL?Q 9G5}A)}ΰBYyIQ I@}zDI};i};}l+G5yɮ2Aii.rο?AJi[ARi[AjiI@be( U`*Rjn쿵QڿGUZi?-bi¸2=jv3. n+>M}*tl[Zt3osZ.2iS:ip["i Ȝ?*i{ABi߀Bi Ȝ?i{AiOBip[AiI@e addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503994 s, deltaX: 0.100000 m, approachRate: 0.198416 m/s, rangeRepo size: 4 u Added new target pos. range: 13.729675 m, bearing: 180.000844 deg, lat: 36.779333 deg, lon: -121.859673 deg, deltaT: 0.503994 s, deltaX: 0.099466 m, approachRate: 0.197356 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.73 m.hh*h"h h2hgfffddjd+@Zd?ZZZZJ @I=u) w=i P9)   i i>侉x=II[7@ @@4@U checking for new query: numPingsReceived=57, elapsed TxPingTime=26.743319 D9 zD9 Ee  Ee Ee %Ea "Ee a?;*Ee :VEe 4ZEa a @a @a @a @^A Iq I O >,> ο?Ab@b}@buysٱbՎ AHRS rotation from veh to nav: [[0.904350,0.426784,-0.002582],[-0.422637,0.896372,0.133774],[0.059407,-0.119887,0.991009]]bH o?nP? 'e| ۿ?~?@j?谾W?ib@IbH`;bC )%-lA%!!)-MlAi-LI-aF1I9i=kA =OA)AA MlAMqIIQQIY)YiY)aIekAeqa aimlAmqimIFiiiu7A)q qIqYqY}By IiMb@Mb@Mb@ 9'1Z?Mb?/$Y>y@=AA@ A)3@YAbD%VD%ܲy-%5i=ٔ5:Q-5>99Y9==Fy9=(ѹEE>AQ 5UG5EX?Q 9UG5EeB)AYUW>Q EU:yUQ IU@EzDIE=;iER;E~.G5yeЕBɮeAe¦EDDAT read: Rx Time:05:12:23.3159 TRx dataTimestamp_ set to:1761541944.604789%PDAT read: Bearing 322.8, -30.3 (Local) -~Local bearing/azimuth received: Bearing 322.8, -30.3 (Local) =DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 ]DAT read: 05:12:23.3159 LVL= 28832, 24561, 29602, 32755, AGC= 59, IDX= 511, 0.19, 2.008,-2.267, 2.970, 3.128, PHS=-1.017, 0.934,-0.202, RAW= 305.4, 3.4, CAL= 303.0, -0.1, ROT= 207.0, 0.1 ieYgot valid direction response: 05:12:23.3159 LVL= 28832, 24561, 29602, 32755, AGC= 59, IDX= 511, 0.19, 2.008,-2.267, 2.970, 3.128, PHS=-1.017, 0.934,-0.202, RAW= 305.4, 3.4, CAL= 303.0, -0.1, ROT= 207.0, 0.1 mT#Rx 58: Read range and direction messages.ubdirection in FSK: [-0.891005,-0.453990,-0.001745]}Fpublishing direction and range infoy:gk+ݿn p\YaAp_s );I-io?NJ@s=%:@ )8g@I:vc*EW? )C)&rI*i:checking for new query: numPingsReceived=58, elapsed TxPingTime=27.011200DNOT Ignoring new targets: 13.73 m.hh*h"h h2hgfffׁBddjd@33,@Zd`[?Z-W>Z-W>Z-x=Z->@=uys)9 E^>ie9)ae 3aiaim8侉im(=IqIq9@ @@/@ԙB B B A IB JBB B B B q;B -E ^A r =I I! O- > checking for new query: numPingsReceived=58, elapsed TxPingTime=27.246277T׍, :ο?A2@2Y@2_qٱ2 :AHRS rotation from veh to nav: [[0.904265,0.426963,-0.002864],[-0.422885,0.896515,0.132021],[0.058936,-0.118170,0.991243]]2H?[S?vgۿ?? ?@,?`j@B?i2@I2!Rb;2CPY%By%IbEjE$4rE/Eu EuEu)Eq"EusH;*EuZ:VEuFA4ZEqBEu9)Y)=-Fy)-*E5>9Q 5=G5=g?Q 9EG5=C)9YAyE)Q IE@=zDI=:i=:=2G5yIɮUAQiIiMݴ&ο?AJiMs`ARiMs`AjiMK@bMw(9|zyq*ARM:gk+ݿn p\ZiM*biM:jM /. ,%UۿZMlz3Bi68-?uC2iMھ:iMX`"iMfpɜ?*iMm1OBiM BiIiIiIiM`AiMH@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504070 s, deltaX: 0.300000 m, approachRate: 0.595156 m/s, rangeRepo size: 4  Added new target pos. range: 14.028136 m, bearing: 181.744694 deg, lat: 36.779333 deg, lon: -121.859673 deg, deltaT: 0.504070 s, deltaX: 0.298461 m, approachRate: 0.592102 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.03 m.hh*h"h h2hgfffddjdZdn.?ZZZZE=@_q) t=iv9) v3 i iB侉?=II!9@ @@/@@=@=-DDAT read: Rx Time:05:12:23.8160 -TRx dataTimestamp_ set to:1761541945.1085215DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 =Z#Rx 59: Read range message, but no direction.y)Y-dA)Echecking for new query: numPingsReceived=59, elapsed TxPingTime=27.502092^AQIYIqO}>! (,Sο?A6v@6H@6Ooٱ6 >AHRS rotation from veh to nav: [[0.903042,0.429542,-0.002962],[-0.425551,0.895550,0.129989],[0.058488,-0.116125,0.991511]]6H?}?Ch`;<ۿW?z?@)?_@u?i6v@I6h;6C|YByII <) bDVDN2yE%MY=ٔM5:Q-M>9IYQ=UFyQUEU>aQ 5mG5eYt?Q 9mG5eoE)aYiymQ Im@ezDIe :ie:eJ5G5checking for new query: numPingsReceived=59, elapsed TxPingTime=27.750473yՕBɮAæE addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503732 s, deltaX: 0.200000 m, approachRate: 0.397036 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.03 m.hh*h"h hgfffddjd,@Zdj?ZZZZ5&@Oo) =i9)額Z3ii<侉w$ =II1E  EE%E"EC;*E:VE 4ZEa@a@a@a@9@ @@/@Q= DDAT read: Rx Time:05:12:24.3160 = TRx dataTimestamp_ set to:1761541945.613153E DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 M Z#Rx 60: Read range message, but no direction.y9 Y9 9 U checking for new query: numPingsReceived=60, elapsed TxPingTime=28.006737^Am =Iq I O >ԁ ,mο?Az+G-liAY%By-IAYuʿ9uliAYu AiMb@Mb@Mb@ 9}?5^I?:v?:vYM>y<TA A)@YAbDVDNy%#%%==ٔ%Q-->9)Y)=-Fy)5E5>9Q 5EG5=H?Q 9EG5=SG)=аBYE>Q EE:yMYžQ IM@=zDI=:i=:=9G5yQɮUAQ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504632 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.03 m.hh*h"h hB>BB( IB6BBBBB,r;B.Eg)f1f1f5Bd1d9jd9Zd=?Z}>Z}>Z}p=Z}<@) R8>i9)34ii6侉 =IIchecking for new query: numPingsReceived=60, elapsed TxPingTime=28.254560ԑ@ @@@E EE*E"EC;*Eg:VE(N4ZEBE> E DDAT read: Rx Time:05:12:24.8160 E TRx dataTimestamp_ set to:1761541946.116596U PDAT read: Bearing 348.7, -33.1 (Local) U ~Local bearing/azimuth received: Bearing 348.7, -33.1 (Local) e DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.2  DAT read: 05:12:24.8160 LVL= 32752, 25841, 28466, 32755, AGC= 68, IDX= 514,-0.33, 1.124, 2.981, 2.371, 1.768, PHS=-0.542, 1.257, 0.558, RAW= 292.7, -16.0, CAL= 293.9, -21.0, ROT= 216.1, 21.0  Ygot valid direction response: 05:12:24.8160 LVL= 32752, 25841, 28466, 32755, AGC= 68, IDX= 514,-0.33, 1.124, 2.981, 2.371, 1.768, PHS=-0.542, 1.257, 0.558, RAW= 292.7, -16.0, CAL= 293.9, -21.0, ROT= 216.1, 21.0  T#Rx 61: Read range and direction messages., ο?Abdirection in FSK: [-0.754324,-0.550062,-0.358368]Fpublishing direction and range infoy15((k#myῥ.*ֿY1155d52o 1)5DI5 i5`?5?5{y@555 %@ 5f)5bq@I5f>115n>bmi?D ѿ 5@@)5ގ>I5 i5f>11"checking for new query: numPingsReceived=61, elapsed TxPingTime=28.526148y@Ǽ@YenٱG AHRS rotation from veh to nav: [[0.899944,0.435997,-0.002616],[-0.432107,0.892683,0.128061],[0.058169,-0.114118,0.991763]]HW?@a?rmeۿܐ?Nd?\ȭ?6`?i@I\>k;CY%By%IbDEVDEky$<%==ٔA:Q->9Y=FyƉE>Q 5G5P?Q 9G5DI)ҰBYyɾQ I@zDI:ig:j5zM*8&Z5^e^:p>˿Fgտ2i5@:i5P"i5ʮ F?*i5U7Bi5pBi1i5*Gi5߀Bi5hAi5ɵH@= addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503443 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.227113 m, bearing: 192.946594 deg, lat: 36.779333 deg, lon: -121.859676 deg, deltaT: 1.511807 s, deltaX: 0.198977 m, approachRate: 0.131615 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.23 m.hh*h"h hgfffddjdԩZd@I?ZAZAZAZES@UYen)Y ]<>i]9)Y]74YiYie@侉im,ο?ANө@N@NmٱN] VAHRS rotation from veh to nav: [[0.898677,0.438604,-0.002416],[-0.434761,0.891505,0.127287],[0.057983,-0.113340,0.991863]]NH?`?Lc!ۿ4?J?`?`W?iNө@INj;NCYbBybI ddiMMb@Mb@Mb@IIII I9M rh?yMMtMAM@ MA)M@IYMAbDeVDe0yu%ub=ٔ} :Q-}>9yY=Fy"E>Q 5G5؞?Q 9G5,K)ְBY>Q E:yQ I@zDI ;i;@G5yɮADNOT Ignoring new targets: 14.23 m.hh*h"h hgfffBddjdZd?Z>Z>Z/3Z@m) L>i9)顥|e4iDDAT read: Rx Time:05:12:25.3163 TRx dataTimestamp_ set to:1761541946.620799PDAT read: Bearing 323.9, -27.4 (Local) ~Local bearing/azimuth received: Bearing 323.9, -27.4 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4 DAT read: 05:12:25.3163 LVL= 32752, 27425, 29042, 32755, AGC= 72, IDX= 4, 0.03,-0.253, 1.899, 0.701, 0.860, PHS=-1.011, 1.084,-0.203, RAW= 307.5, 1.4, CAL= 305.5, -2.0, ROT= 204.5, 2.0  Ygot valid direction response: 05:12:25.3163 LVL= 32752, 27425, 29042, 32755, AGC= 72, IDX= 4, 0.03,-0.253, 1.899, 0.701, 0.860, PHS=-1.011, 1.084,-0.203, RAW= 307.5, 1.4, CAL= 305.5, -2.0, ROT= 204.5, 2.0  T#Rx 62: Read range and direction messages.bdirection in FSK: [-0.909407,-0.414441,-0.034899]Fpublishing direction and range infoy&a&2ڿXޡY3kA!krq )HIshi?;O@+<@ 5)md@I5=i-:侉)-)BqBqBu IBu'BBqBqBqBu]r;Bu2.Ee checking for new query: numPingsReceived=62, elapsed TxPingTime=29.262367Y .E,ڻο?AfU@f'@f&mٱf-E EE(E"E3;*E-:VEc44ZEBE9Y=FyĻE>Q 5G5S?Q 9G5M)ڰBYy*Q I@zDIO;ik;CG5y9ɮ=AAii,ο?AJijARijAji[G@b s*P&>AUR&a&2ڿXޡZi-bi5=jA)N7-&8?SlZ!!?wo礿2i!>:ii"i0Iߜ?*iHDBiрBifpɜ?iHDiрBimAi;G@= addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504203 s, deltaX: 0.400000 m, approachRate: 0.793330 m/s, rangeRepo size: 4 M Added new target pos. range: 14.625062 m, bearing: 178.620410 deg, lat: 36.779333 deg, lon: -121.859674 deg, deltaT: 0.504203 s, deltaX: 0.397949 m, approachRate: 0.789264 m/s, posRepo size: 4 UDNOT Ignoring new targets: 14.63 m.hQhQ*hQ"hQ hQgYfYfYfYdadajde`ff-@ZdmdU?ZZZZ-}@&m) tO>i9);4ii4侉Թ ,,lο?A2B~@2y@2 \nٱ2n :AHRS rotation from veh to nav: [[0.896343,0.443352,-0.002811],[-0.439530,0.889411,0.125544],[0.058160,-0.111295,0.992084]]2H׮?_?g`B!ܿ@v?@?3ǭ?`}'?i2B~@I2Ll;0YB ByBIbDJVDJβyR[=%Vl=ٔVۧQ-V?9XYX=ZFyXZwEZ?\Q 5bG5^ ?Q 9bG5^ZO)^ݰBYdyfQ If@^zDI^:i^:^FG5yjBɮjAnĦE%checking for new query: numPingsReceived=63, elapsed TxPingTime=29.766369iiο?AJiRijiF@bn**nh"uAURra1ݑڿXޡZiX$.bij4Dd5-@5/|?ĢsZ9e+ g:9?b?A2i>:ii"i9z뜊?*i jBBiπBi0Iߜ?iiilAiqi9)額4iԑi>侉DT PW,`ο?AYByII)%=BBB IB,BBBBBVr;B/.EiMb@Mb@Mb@ 9%C?YZ>y A@ zA)@YAbDMVDMky]_<%]2=ٔ]Q-]>9aYa=eFyaeEm>iQ 5uG5mɡ?Q 9}G5mQ)mBY}Z>Q E}:y}lQ I}@mzDIm? ;im:mJG5yBɮAΦEi i Eο?AJi qARi qAji F@b =W+E!Ѵ f޿R ʼh?2W1ڿIzZi bi =j ';f4.69~?,Z C&7s? ޣ2i ?:i q"i М?*i Ҿ*DBi Bi i i i oAi xF@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503374 s, deltaX: 0.500000 m, approachRate: 0.993297 m/s, rangeRepo size: 4  Added new target pos. range: 15.122524 m, bearing: 178.045386 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.503374 s, deltaX: 0.497462 m, approachRate: 0.988256 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.12 m.hh*h"h hgfffBddjd`ff.@Zd q:?ZZ>ZZ>ZZy@) >i9)M4ii8侉  ԁ DDAT read: Rx Time:05:12:26.8166  TRx dataTimestamp_ set to:1761541948.132815 PDAT read: Bearing 323.3, -26.9 (Local)  ~Local bearing/azimuth received: Bearing 323.3, -26.9 (Local)  DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 - DAT read: 05:12:26.8166 LVL= 30832, 20833, 26850, 32755, AGC= 67, IDX= 503, 0.38,-1.270, 0.857,-0.343,-0.172, PHS=-0.996, 1.075,-0.214, RAW= 308.1, 1.5, CAL= 306.0, -1.9, ROT= 204.0, 1.9 5 Ygot valid direction response: 05:12:26.8166 LVL= 30832, 20833, 26850, 32755, AGC= 67, IDX= 503, 0.38,-1.270, 0.857,-0.343,-0.172, PHS=-0.996, 1.075,-0.214, RAW= 308.1, 1.5, CAL= 306.0, -1.9, ROT= 204.0, 1.9 5 T#Rx 65: Read range and direction messages.= bdirection in FSK: [-0.913043,-0.406513,-0.033155]E Fpublishing direction and range infoy  {L7}OڿB3Y px aQ h ) CI i ? T@ Pw< @ ) c@I = ]>,i Ͽ?AR}.G t|!? ^@)s׼I@.i=checking for new query: numPingsReceived=65, elapsed TxPingTime=30.542439 f;ɰf49Y=FyVE>Q 5G5}ס?Q 9G5S)BYy*Q I@zDI:ig:sNG5yBɮAii Ͽ?AJiRijiqF@br+0Xd ةvc R{L7}OڿB3Zi@.bi=j[91.'Ƹ_?`M0Z>Rݤ?@Oӥ2i"?:iq"ip^ߜ?*iQCBi׀Bip^ߜ?iҾ*DiiqAiiF@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 15.122524 m, bearing: 177.656813 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.503544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 15.12 m.hQhY*hY"hY hYgYfYfafadadjdZdS?Z Z Z Z -M@n) Ւ>i9)aeu4aiaimB侉imn,h[#Ͽ?A2<@27@2-oٱ2ٽ :AHRS rotation from veh to nav: [[0.892792,0.450446,-0.004578],[-0.446673,0.886539,0.120549],[0.058359,-0.105580,0.992697]]2H ??Wr`Kܿ^?Lܾ?G? O ,?i2<@I2zip;2CYF1ByF" IHiMb@Mb@Mb@ 9|?5^?Mb`?y&1?Y>y;`e< A$@ A)Y(AbD-VD-:y^=%X=ٔQ->9Y=Fy'E>Q 5G5㡊?Q 9G5U)BY>Q E;y0Q I@ {DI;i:;QG5yɮADNOT Ignoring new targets: 15.12 m.hh*h "h  h gfffBddjdZdD?ZE>ZE>ZED;ZE|@U-o)Q U{>iU9)Y]I 5YiYie<侉ae}x)B B B 4 IB @BB  =B B B  r;B  .EBBBB =B =C4] checking for new query: numPingsReceived=66, elapsed TxPingTime=31.282297a u,3=Ͽ?AEv EvEv'Et"Evy>;*Ev:VEv'4ZEtBEvS9Y =Fy۞E>Q 5G5?Q 9G5W)BYySQ I@{DI.;i;UG5yBɮAϦEii*)Ͽ?AJiSxARiSxAji F@b\,[E>";ɹAUR!C= ٿXޡZi].bi5=jоC .lfph V?A;Y/Z@rs¢ (?!>秿2i:?:iw"iՅל?*iIDBiȀBi0Iߜ?iiivAicE@ addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.507942 s, deltaX: 0.400001 m, approachRate: 0.787493 m/s, rangeRepo size: 4  Added new target pos. range: 15.520491 m, bearing: 177.303940 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.507942 s, deltaX: 0.397966 m, approachRate: 0.783488 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.52 m.hh*h"h9 hAgAfAfAfAdIdIjdM@33/@ZdM;2?aZ)Z)Z)Z-j@Sn) p>i9)顅 5ii6侉{^z,]VϿ?A2@2[@2nٱ2ʽ :AHRS rotation from veh to nav: [[0.890868,0.454207,-0.007040],[-0.450516,0.885402,0.114449],[0.058216,-0.098787,0.993404]]2H@??w|@@ܿ7U?`L?έ?@J?i2@I2p;0YFXByFR IbDNVDNyV!>%Vc=ٔV)Q-Z>9XYX=ZFyX^ӻE^?`Q 5fG5b?Q 9fG5bZY)bBYdyfQ Ij@b{DIb:ib:bzXG5ylɮnAli!i% IϿ?AJi!Ri!ji%wE@b%$0r,As;ɹAUR%xSٿXޡZi%.bi!j%-ϋ.ܰs?Ti]9)Y]Yiaie@侉img@DDAT read: Rx Time:05:12:28.3170 TRx dataTimestamp_ set to:1761541949.652824 PDAT read: Bearing 322.7, -25.9 (Local)  ~Local bearing/azimuth received: Bearing 322.7, -25.9 (Local)  DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4 = DAT read: 05:12:28.3170 LVL= 32752, 24993, 30834, 32755, AGC= 68, IDX= 508, 0.08,-2.175,-0.047,-1.275,-1.088, PHS=-0.985, 1.086,-0.231, RAW= 308.9, 1.4, CAL= 306.9, -1.9, ROT= 203.1, 1.9 E Ygot valid direction response: 05:12:28.3170 LVL= 32752, 24993, 30834, 32755, AGC= 68, IDX= 508, 0.08,-2.175,-0.047,-1.275,-1.088, PHS=-0.985, 1.086,-0.231, RAW= 308.9, 1.4, CAL= 306.9, -1.9, ROT= 203.1, 1.9 M T#Rx 68: Read range and direction messages.U bdirection in FSK: [-0.919316,-0.392122,-0.033155]U Fpublishing direction and range infoyFIkDŽٿB3Yf~Aarx )DI(|i ?Dl@+<g@ )ib@I=ocUᅱ/ÿro? (?))YϼILB/i=u checking for new query: numPingsReceived=68, elapsed TxPingTime=32.058331! o, pϿ?A2 @2W@2mٱ2Laƽ :AHRS rotation from veh to nav: [[0.890116,0.455673,-0.007540],[-0.452049,0.884896,0.112300],[0.057844,-0.096552,0.993646]]2H{?@)?1~`_ܿQ?@?Ý? ?i2 @I2p;2CYNoByRn IiMb@Mb@Mb@ 9V-?Mb?{Gz?Y>y=ף< A@ zA)@Y @bDAA@ABBB` IBdBB =BBBq;B-EVD0yW=%8=ٔ\:Q->9Y=Fy|E>Q 5G5?Q 9G5Z)BY >Q E ;y Q I @({DI:i]:\\G5yɮ\Ai)i-iϿ?AJi-}ARi-}Aji-D@b-l-0(PR-FIkDŽٿB3Zi-LB/bi-=j-`5Ɉ/Rޮj?s(nZ-~.u ?Aڅ2i-W?:i-F|"i-sHל?*i-O?Bi-Bi-Յל?i)i-׀Bi-|Ai-wE@e addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.502853 s, deltaX: 0.299999 m, approachRate: 0.596594 m/s, rangeRepo size: 4  Added new target pos. range: 15.818947 m, bearing: 176.276500 deg, lat: 36.779335 deg, lon: -121.859674 deg, deltaT: 0.502853 s, deltaX: 0.298456 m, approachRate: 0.593526 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.82 m.hh*h"h hgfffƁBddjd/@Zd?Z=>Z=>Z=4)=Z=@]m)a e>ie 9)aaaiaim:侉iue+y i I A DDAT read: Rx Time:05:12:28.8170  TRx dataTimestamp_ set to:1761541950.157086 PDAT read: Bearing 322.5, -26.2 (Local)  ~Local bearing/azimuth received: Bearing 322.5, -26.2 (Local) - DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4 M DAT read: 05:12:28.8170 LVL= 32752, 22385, 28498, 32755, AGC= 69, IDX= 509,-0.34, 1.815,-2.339, 2.723, 2.910, PHS=-0.993, 1.080,-0.231, RAW= 308.7, 1.6, CAL= 306.6, -1.7, ROT= 203.4, 1.7 ˌ,Ͽ?AYgot valid direction response: 05:12:28.8170 LVL= 32752, 22385, 28498, 32755, AGC= 69, IDX= 509,-0.34, 1.815,-2.339, 2.723, 2.910, PHS=-0.993, 1.080,-0.231, RAW= 308.7, 1.6, CAL= 306.6, -1.7, ROT= 203.4, 1.7 T#Rx 69: Read range and direction messages.bdirection in FSK: [-0.917351,-0.396973,-0.029666]Fpublishing direction and range infoy9=ZLhٿ `Y999=qW=Ro>E@>@>k 9)=EI=?5~i=q=?9=i@=<=<@ =)=13c@I=<99= Sqr RAHRS rotation from veh to nav: [[0.889512,0.456822,-0.009062],[-0.453280,0.884765,0.108292],[0.057488,-0.092219,0.994078]]>H`v?@E@I>sp;>CYZByZ II`)bp<bDdVDdynx=%n]=ٔro|:Q-r>9pYp=vFytvrEv>xQ 5G5z?Q 9G5zF\)zBYys¾Q I@z1{DIz =iz =z_G5yBɮ A ЦEQi9i= Ͽ?AJi9Ri9ji= E@b=0Q]-ig޿R=ZLhٿ `Zi=.bi=<j=P/ۉq?s)Z=[il?JSO[2i=x?:i=\|"i={ᜊ?*i=X.BBi=Bi=p^ߜ?i=X.Bi9i=>}Ai=/"E@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 15.818947 m, bearing: 176.477493 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.504262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 15.82 m.hIhQ*hQ"hQ hQgQfQfYfYdYdYjdaZde`[;?ZZZZ@k) >i 9)项ii4侉l]checking for new query: numPingsReceived=69, elapsed TxPingTime=32.798607ԱD zD ?AE%  E% E% 'E! "E% 9;*E% :VE% '4ZE! aM @aU @aU @aU @ p,pҤϿ?A(ɰ(F=@F@F0iٱF RAHRS rotation from veh to nav: [[0.888988,0.457830,-0.009597],[-0.454385,0.884512,0.105699],[0.056881,-0.089604,0.994352]]FH@r?@M?ݿ M?`?@?K?iF=@IFzp;DYZByZ Ii=Mb@Mb@Mb@9999 99=%C?Zd;?/$?Y=Z>y=y==<=A=;@ 9)99Y9bDUVDUye=%e@=ٔeo:Q-e>9iYi=mFyiu<Eu>Q 5G5E?Q 9G5Q])BY>Q E";yՎQ I@:{DI:i:scG5y ɮ IA]DNOT Ignoring new targets: 15.82 m.hYhY*hY"hY hYgafafafeBdidijdiZdm`V?DDAT read: Rx Time:05:12:29.3173 TRx dataTimestamp_ set to:1761541950.660731PDAT read: Bearing 322.5, -25.5 (Local) ~Local bearing/azimuth received: Bearing 322.5, -25.5 (Local) DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.4 DAT read: 05:12:29.3173 LVL= 32752, 19729, 26354, 32755, AGC= 68, IDX= 511, 0.06,-1.256, 0.868,-0.368,-0.176, PHS=-0.978, 1.089,-0.236, RAW= 309.2, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9 Ygot valid direction response: 05:12:29.3173 LVL= 32752, 19729, 26354, 32755, AGC= 68, IDX= 511, 0.06,-1.256, 0.868,-0.368,-0.176, PHS=-0.978, 1.089,-0.236, RAW= 309.2, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9 T#Rx 70: Read range and direction messages.bdirection in FSK: [-0.921356,-0.387303,-0.033155]Fpublishing direction and range infoy {B=<ؿB3Y3AMf )DI5^ziZd?q@+<@ )b@I= <= .lĿ1? >)5ǼI/i=checking for new query: numPingsReceived=70, elapsed TxPingTime=33.067211Ze>Ze>ZeL@>Ze"@0i) >i]9)顝3ii>侉_ ېCucG#9Y8A9BBB IBBBBBBq;B-E-9i  @  @ @ 4@ @ @ gAM checking for new query: numPingsReceived=70, elapsed TxPingTime=33.302444ԙ E  E E E "E 4;*E ;:VE ZE BE a 2E a JE 5',Ͽ?AYBy IbD%VD%:y5+7=%50=ٔ=Q-=>99Y9==FyAEEE>IQ 5UG5M*?Q 9UG5M_^)MBYYyYQ I]@MC{DIM ;iM-:M[gG5yaɮeAaiiikIϿ?AJiARiAjiChD@ba.GJ9G#OR {B=<ؿB3Zi/bi=jn*@0`>?tZ]U5&?]Ɩ2i?:i"i$М?*i]]:?BiBiՅל?i2wBiBiAiID@U addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503645 s, deltaX: 0.500000 m, approachRate: 0.992763 m/s, rangeRepo size: 4  Added new target pos. range: 16.316431 m, bearing: 175.832930 deg, lat: 36.779335 deg, lon: -121.859674 deg, deltaT: 0.503645 s, deltaX: 0.497484 m, approachRate: 0.987768 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.32 m.hh*h"h hgfffddjd`ff0@Zd ?ZZZDDAT read: Rx Time:05:12:29.8173 TRx dataTimestamp_ set to:1761541951.164894PDAT read: Bearing 322.6, -25.7 (Local) ~Local bearing/azimuth received: Bearing 322.6, -25.7 (Local) DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.4 DAT read: 05:12:29.8173 LVL= 32176, 18849, 25026, 32755, AGC= 67, IDX= 511, 0.36,-1.111, 1.034,-0.208,-0.023, PHS=-0.986, 1.102,-0.230, RAW= 309.0, 1.3, CAL= 307.0, -2.1, ROT= 203.0, 2.1 Ygot valid direction response: 05:12:29.8173 LVL= 32176, 18849, 25026, 32755, AGC= 67, IDX= 511, 0.36,-1.111, 1.034,-0.208,-0.023, PHS=-0.986, 1.102,-0.230, RAW= 309.0, 1.3, CAL= 307.0, -2.1, ROT= 203.0, 2.1 T#Rx 71: Read range and direction messages.bdirection in FSK: [-0.919887,-0.390469,-0.036644] Fpublishing direction and range infoy"o(Rpؿ(א¢Y}Ia )CIj|iV?k@޹<v@ Q )b@IQ =^'.}&? ĿW鈖?  >)KI^/iQ =%checking for new query: numPingsReceived=71, elapsed TxPingTime=33.570702ZI)I M>iM/9)QU94QiQi}8侉yK U checking for new query: numPingsReceived=71, elapsed TxPingTime=33.806362,Ͽ?AEn@E@@EicٱEԀ AHRS rotation from veh to nav: [[0.888290,0.459177,-0.009881],[-0.455919,0.884178,0.101824],[0.055492,-0.085944,0.994753]]EHl?(c?}<-ݿ/K??ei? l ?iEn@IE0n;ECE EEE"E/;*E:VEZEa@a@a@a@Y]Bye I  =;=<bDuVDuy=%(=ٔ9;Q->9Y=%Fy!%]E->)Q 55G5-57?Q 95G5-_)-&BY9y=ˏQ I=@-N{DI-l:i- :-kG5yeBɮeFAeѦEiiϿ?AJiRijiyD@b$.sN{0!R"o(Rpؿ(א¢Zi^/biQ =j8,@0>9b?n߷)Zp>i?Y坫2i?:i"iݜ?*iӓUABiiݜ?iӓUAiBiWAiyD@U addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 16.316431 m, bearing: 175.956070 deg, lat: 36.779336 deg, lon: -121.859673 deg, deltaT: 0.504163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 16.32 m.hihi*hi"hi higififqfqdqdqjdyZd@?ZZZZ@ic)1 5>i=19)9=9i9iEB侉AE;IAIIDDAT read: Rx Time:05:12:30.3175 TRx dataTimestamp_ set to:1761541951.668765PDAT read: Bearing 338.1, -31.6 (Local) ~Local bearing/azimuth received: Bearing 338.1, -31.6 (Local) DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.6  DAT read: 05:12:30.3175 LVL= 30176, 17057, 23890, 32755, AGC= 67, IDX= 514,-0.34,-2.279,-0.482,-1.211,-1.534, PHS=-0.643, 1.098, 0.280, RAW= 298.0, -9.8, CAL= 298.6, -14.4, ROT= 211.4, 14.4 Ygot valid direction response: 05:12:30.3175 LVL= 30176, 17057, 23890, 32755, AGC= 67, IDX= 514,-0.34,-2.279,-0.482,-1.211,-1.534, PHS=-0.643, 1.098, 0.280, RAW= 298.0, -9.8, CAL= 298.6, -14.4, ROT= 211.4, 14.4 T#Rx 72: Read range and direction messages.-bdirection in FSK: [-0.826735,-0.504641,-0.248690]-Fpublishing direction and range infoyϻt/&lϿYAuBR] )I$iD?)\>Bo@%/ Ŧ@ )"l@I>3R9￙V?NAſ F@).>I%i>echecking for new query: numPingsReceived=72, elapsed TxPingTime=34.0796399@ @@/@1Y B B B IB ĂBB B B B q;B -E^A5 <I9 IQ O] >7,!Ͽ?A2y@2L@2<`ٱ2ʩ :AHRS rotation from veh to nav: [[0.888330,0.459080,-0.010700],[-0.455933,0.884538,0.098573],[0.054718,-0.082687,0.995072]]2H3m?a?ꅿ.ݿ#N?yU^=Ut?Q 9G5_)*BY>Q E;;yQ I@S{DI^;i;nG5yɮAii Ͽ?AJiARiAjiHO@biGVx+e: \ Rϻt/&lϿZi%bi>j;iw0 6Z!W]NJ )п2iǿ:i"i%?*i6BitBiiiiAi,D@checking for new query: numPingsReceived=72, elapsed TxPingTime=34.310570% addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503871 s, deltaX: 0.300001 m, approachRate: 0.595393 m/s, rangeRepo size: 4 )= Added new target pos. range: 16.614910 m, bearing: 185.569858 deg, lat: 36.779336 deg, lon: -121.859673 deg, deltaT: 0.503871 s, deltaX: 0.298479 m, approachRate: 0.592372 m/s, posRepo size: 4 =DNOT Ignoring new targets: 16.61 m.h9h9*h9"hA hAgAfAfIfM/BdIdIjdU@30@ZdUb?Zu>Zu>Zu.>Zu@<`) >i9)顉ii<侉A;II9@ @@@YE EEE"E;;*EV:VEZEBE DDAT read: Rx Time:05:12:30.8176  TRx dataTimestamp_ set to:1761541952.172666 PDAT read: Bearing 322.3, -25.8 (Local)  ~Local bearing/azimuth received: Bearing 322.3, -25.8 (Local)  DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.5  DAT read: 05:12:30.8176 LVL= 28576, 17329, 19666, 29747, AGC= 70, IDX= 2,-0.15,-0.480, 1.660, 0.424, 0.613, PHS=-0.991, 1.092,-0.233, RAW= 308.9, 1.5, CAL= 306.8, -1.9, ROT= 203.2, 1.9  Ygot valid direction response: 05:12:30.8176 LVL= 28576, 17329, 19666, 29747, AGC= 70, IDX= 2,-0.15,-0.480, 1.660, 0.424, 0.613, PHS=-0.991, 1.092,-0.233, RAW= 308.9, 1.5, CAL= 306.8, -1.9, ROT= 203.2, 1.9  T#Rx 73: Read range and direction messages. bdirection in FSK: [-0.918630,-0.393725,-0.033155]% Fpublishing direction and range infoy  %jeV2ٿB3Y fA o C L 3t) FI -}i Ƌ? n @ Pw< uY@ ) b@I = jp ￲7ÿhq)? ?) eQѼI %/i = = checking for new query: numPingsReceived=73, elapsed TxPingTime=34.578362Ա ,Uп?A2@2w@2ů[ٱ2X :AHRS rotation from veh to nav: [[0.888505,0.458741,-0.010791],[-0.455725,0.884924,0.096044],[0.053609,-0.080417,0.995319]]2H@n?`\? *ݿ`KQ?Q?r?`;`?i2@I2n;2CYb߂Byf IbDn VDn2y =% S=ٔ ;;Q- >9Y=Fy3:E=>AQ 5MG5EG?Q 9MG5EK`)E/BYIyMQ IM@EZ{DIE :iE:EqG5yyɮ}5Ayii п?AJiARiAji4D@bjCm.RdqR%jeV2ٿB3Zi%/bi=jBLħ0c?=/5Z#Hkx)?؍+橿2in?:i>"i4h̜?*iBBi.BiiX.BiiAi~D@= addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503901 s, deltaX: 0.099998 m, approachRate: 0.198449 m/s, rangeRepo size: 4 M Added new target pos. range: 16.714399 m, bearing: 176.150964 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.503901 s, deltaX: 0.099489 m, approachRate: 0.197438 m/s, posRepo size: 4 MDNOT Ignoring new targets: 16.71 m.hQhq*hq"hq hqgqfyfyfydydjd0@Zd`?ԑZZZZ@ů[) >iy9)  D3 i i6侉3;II9@ @@0@-checking for new query: numPingsReceived=73, elapsed TxPingTime=34.814644^A@;I E-  E- E- )E) "E- 1A;I Ii O >*E- :VE- FA4ZE) a @a @a @a @Q  ,7*п?A2@2`@2QVٱ2 :AHRS rotation from veh to nav: [[0.888784,0.458204,-0.010597],[-0.455333,0.885381,0.093665],[0.052300,-0.078423,0.995547]]2Hp?7S?볅,$ݿ U?q? Ǫ? ?i2@I2l;2CFDDAT read: Rx Time:05:12:31.3178 FTRx dataTimestamp_ set to:1761541952.676803JPDAT read: Bearing 322.1, -26.1 (Local) N~Local bearing/azimuth received: Bearing 322.1, -26.1 (Local) VDAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.3 fDAT read: 05:12:31.3178 LVL= 29408, 19601, 24050, 32755, AGC= 67, IDX= 500,-0.06, 2.008,-2.150, 2.918, 3.103, PHS=-0.993, 1.075,-0.229, RAW= 308.6, 1.6, CAL= 306.5, -1.7, ROT= 203.5, 1.7 jYgot valid direction response: 05:12:31.3178 LVL= 29408, 19601, 24050, 32755, AGC= 67, IDX= 500,-0.06, 2.008,-2.150, 2.918, 3.103, PHS=-0.993, 1.075,-0.229, RAW= 308.6, 1.6, CAL= 306.5, -1.7, ROT= 203.5, 1.7 nT#Rx 74: Read range and direction messages.rbdirection in FSK: [-0.916656,-0.398573,-0.029666]rFpublishing direction and range infoyDF@?UeX:ٿ `YF̈ADFrFLF] F)FCIF?5~iF?F~jFZ@Fy=#<Ah@ hA)@Yf@bD=VD=Nymz<%m=ٔm&;Q-m>9qYq=uFyq}r:E}>yQ 5G5}#S?Q 9G5}A`)}3BY>Q EK;yd5ZU>ZU >ZUc5<QV) 4>i9)額@4ii@侉v5W,_~Fп?Aɰ;2@2`@2|Pٱ2y >AHRS rotation from veh to nav: [[0.889127,0.457548,-0.010169],[-0.454824,0.885868,0.091508],[0.050878,-0.076738,0.995752]]2H`s?uH?bӄݿ Y?m?@ ? 4?i2@I2`i;2CYFByF!IbDRVDRkyZ<%Z=ٔZ;Q-Z ?9\Y\=^Fy\b:Eb ?`Q 5nG5b*Z?Q 9nG5b:`)b5BYpyr ?i[9)4ii:侉j ? mk>)m.ImLB/imPw<checking for new query: numPingsReceived=75, elapsed TxPingTime=35.588715@ @@T4@ ^A;IIO>9  checking for new query: numPingsReceived=75, elapsed TxPingTime=35.822575˱,E`п?A@@Jٱ$ AHRS rotation from veh to nav: [[0.889535,0.456775,-0.009126],[-0.454174,0.886281,0.090728],[0.049531,-0.076561,0.995834]]Hw?`;?ɰ .ݿj\?9?`\? ?i@I)|g;CY%By% !IE5 E5E5)E1"E5I@;*E5:VE5FA4ZE1a=@a=@a=@a=@bDeVDe0y@u<%==ٔK;Q->9Y=Fy0:E>Q 5G5c?Q 9 G51`)7BYy7Ki9)|4i!iE4侉AE>,o zп?A2@2~@2Eٱ2 :AHRS rotation from veh to nav: [[0.889972,0.455931,-0.008796],[-0.453460,0.886859,0.088636],[0.048212,-0.074895,0.996025]]2H@z?@-?t`{ݿ@%a?@Ұ?C?L,`p?i2@I2ߠe;2CYBByF !I DDPrchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.326416iMb@Mb@Mb@ 9n?K7?MbpYV>yI >@ zA)@YAbDVDܲy]W<%]2=ٔeo<;Q-e>9iYi=mFy.:E>Q 5G5m?E EEE"ECJ;*E:VEZEBEQ E T;y =Q I@w{DI;i;G5yɮAii#kп?AJiARiAjiD@b*dڟ/,R^טLR;Ece5(3ٿIzZi%/bi=j>qV(1ʁw?spBZ`bZd)￙ZKˉ?֘2iS?:iB"iGǜ?*iOBBiZBi4h̜?ii.BiAiHD@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 1.008508 s, deltaX: 0.199999 m, approachRate: 0.198312 m/s, rangeRepo size: 4  Added new target pos. range: 17.211851 m, bearing: 176.292018 deg, lat: 36.779334 deg, lon: -121.859674 deg, deltaT: 1.008508 s, deltaX: 0.198978 m, approachRate: 0.197300 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.21 m.hh*h"h hgff f WBd d jdL1@Zd ?ZU>ZU>ZU3?ZU=E) >i9)額H4ii>侉ciA9@ @@1@DDAT read: Rx Time:05:12:32.8179 TRx dataTimestamp_ set to:1761541954.189141PDAT read: Bearing 321.8, -25.0 (Local) ~Local bearing/azimuth received: Bearing 321.8, -25.0 (Local) DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2 DAT read: 05:12:32.8179 LVL= 32752, 20545, 28130, 32755, AGC= 66, IDX= 501,-0.01,-0.612, 1.512, 0.264, 0.475, PHS=-0.985, 1.082,-0.254, RAW= 309.6, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5 Ygot valid direction response: 05:12:32.8179 LVL= 32752, 20545, 28130, 32755, AGC= 66, IDX= 501,-0.01,-0.612, 1.512, 0.264, 0.475, PHS=-0.985, 1.082,-0.254, RAW= 309.6, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5 T#Rx 77: Read range and direction messages.bdirection in FSK: [-0.922894,-0.384164,-0.026177]Fpublishing direction and range infoyؔX+#ؿP!ΚYAPm )BI(|i~?J @=>@ Pwּ)oNb@IPw<Aç{jQſwZ]K? Y>)dIF/iPw< checking for new query: numPingsReceived=77, elapsed TxPingTime=36.595303! ^AU X<Ia Iq O >$,Fп?A >@>@>@ٱ>X FAHRS rotation from veh to nav: [[0.890246,0.455412,-0.007812],[-0.453045,0.887129,0.088049],[0.047029,-0.074846,0.996085]]>H |?x%?ܿ`\c?g?:? )?i>@I>d;>CYRByR!IbDbVDb1hynG%ny=ٔnFm;Q-n?9pYp=rFypv?:Ev ?xQ 5G5z0t?Q 9G5z_)z6BY!y%=Q I%@z|{DIz;izw;zكG5y5Bɮ5>A5ҦEiiп?AJiRiji@D@bW/FlrM~ܿRؔX+#ؿP!ΚZiF/biPw<jS((&1ܛWʧ?xݬnZiV|3?٤2i>?:i1"i*Ϝ?*i=BiBiiiTBiAiD@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.211851 m, bearing: 175.694947 deg, lat: 36.779334 deg, lon: -121.859674 deg, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.21 m.hh*h"h hgfffdd)jd)Zd-`,a?ZiZiZiZm=}@) j>il9)顥5ii8侉l%Q } DDAT read: Rx Time:05:12:33.3181 } TRx dataTimestamp_ set to:1761541954.692706 PDAT read: Bearing 322.0, -25.3 (Local)  ~Local bearing/azimuth received: Bearing 322.0, -25.3 (Local)  DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2  DAT read: 05:12:33.3181 LVL= 32752, 22961, 27010, 32755, AGC= 70, IDX= 503, 0.02,-0.457, 1.665, 0.432, 0.628, PHS=-0.983, 1.083,-0.240, RAW= 309.2, 1.6, CAL= 307.1, -1.7, ROT= 202.9, 1.7 % Ygot valid direction response: 05:12:33.3181 LVL= 32752, 22961, 27010, 32755, AGC= 70, IDX= 503, 0.02,-0.457, 1.665, 0.432, 0.628, PHS=-0.983, 1.083,-0.240, RAW= 309.2, 1.6, CAL= 307.1, -1.7, ROT= 202.9, 1.7 % T#Rx 78: Read range and direction messages.5 bdirection in FSK: [-0.920780,-0.388953,-0.029666]5 Fpublishing direction and range infoyy } towDLؿ `Y} ̌Ay y } Y} i y )} FI} {i} ?} u} @} <} Z@5*,п?A )7b@I<t> xĿ,? />)߼I~{/i<-checking for new query: numPingsReceived=78, elapsed TxPingTime=37.1477819YUByU !IB>BB.!IB BBBBBr;B .EiMb@Mb@Mb@ 9:v?n?QYT>yV>uIA QA)Y@bD-VD-ܲy=C<%==ٔEQ-E>i9iYi=mFyiuEu>yQ 5G5}?Q 9G5}E_)}2BYQ>Q ES;y=Q I@}{DI};i}y;}_G5yɮAiiLUп?AJiARiAjiLD@b( 0P )#>=¥uRtowDLؿ `Zi~{/bi<js1!nx?SZ¶Y V1.ʱ?tJ^e2i?:i"iEt?*iD?BifBiGǜ?iOBiZBi0Ai E@e addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503565 s, deltaX: 0.300001 m, approachRate: 0.595755 m/s, rangeRepo size: 4 u Added new target pos. range: 17.510315 m, bearing: 176.011408 deg, lat: 36.779333 deg, lon: -121.859674 deg, deltaT: 0.503565 s, deltaX: 0.298464 m, approachRate: 0.592702 m/s, posRepo size: 4 uDNOT Ignoring new targets: 17.51 m.hqhq*hy"hy hygyfyff@Bddjd1@Zd@?ZQ>ZQ>Z?Z=checking for new query: numPingsReceived=78, elapsed TxPingTime=37.336452A)I M>iM9)顅5iԩiUB侉Y]Q#)cIinF< checking for new query: numPingsReceived=79, elapsed TxPingTime=37.602055^A%h%<IiIyO?3,Lп?A @q@3ٱR㖽 %AHRS rotation from veh to nav: [[0.890756,0.454447,-0.005674],[-0.452360,0.887733,0.085439],[0.043864,-0.073538,0.996327]]H`??w=wyܿOh?@Mߵ?`\u?gӲ?i @I$c;CY=ނBy= IbDQVDQy]%eC=ٔe;Q-e>9aYi=mFyiqu;Eu>yQ 5G5}?Q 9G5}^)}.BYy=Q I@}{DI}):i}:}G5yɮAiqiuȕп?AJiqRiqjiuʙD@bu 0r'?$OտRu+xKV:ؿ]~ZiqbiunF<jukku1f3 ?&&RZus2₩5`ұ?`2iu?:iu"iuhuȜ?*iud>BiuɁBiqiuD?iufBiuAiu=D@e addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.510315 m, bearing: 176.006135 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.51 m.hh*h"h hgfffdd jd Zd 7M?ZIZIZIZM=]3) '>i9)顅Y/5ii<侉0r:,п?Aɰ4<(BDDAT read: Rx Time:05:12:34.3183 FTRx dataTimestamp_ set to:1761541955.701710NPDAT read: Bearing 321.1, -25.2 (Local) N~Local bearing/azimuth received: Bearing 321.1, -25.2 (Local) ^DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 6@6@60ٱ6 uAHRS rotation from veh to nav: [[0.890589,0.454789,-0.004347],[-0.452776,0.887468,0.085986],[0.042963,-0.074610,0.996287]]6H?C?qHܿ $f?,?@:??i6@I6sc;6CDAT read: 05:12:34.3183 LVL= 32752, 24705, 32594, 32755, AGC= 70, IDX= 505,-0.10,-2.341,-0.221,-1.462,-1.239, PHS=-1.000, 1.063,-0.267, RAW= 309.5, 2.3, CAL= 307.2, -1.0, ROT= 202.8, 1.0 %rG9QH9Yk6A Ygot valid direction response: 05:12:34.3183 LVL= 32752, 24705, 32594, 32755, AGC= 70, IDX= 505,-0.10,-2.341,-0.221,-1.462,-1.239, PHS=-1.000, 1.063,-0.267, RAW= 309.5, 2.3, CAL= 307.2, -1.0, ROT= 202.8, 1.0  T#Rx 80: Read range and direction messages.bdirection in FSK: [-0.921723,-0.387457,-0.017452]Fpublishing direction and range infoyDF]~(HؿW7) ߑYF3ADDF`FR D)FFIDY-ׂBy- IiFb?F9F۬@Fl$=F@ F5)Fb@IF5)F#IF/iF5y]x=]Լ]A]h@ ]A)]@YY]@ u49Y=FyB<Ap<BBCB!IBBB =BBB]r;B0.EQE>Q 5G58?Q 9 G5_)'BY d>Q E J;y Q I @{DI:i:G5y=Bɮ=A=ӦEiDiFп?AJiFxARiFxAjiFsD@bF.j0/Nl;s@ӿRF]~(HؿW7) ߑZiF/biF5<jFLl1Tvg?>zZF"2k[^i6"m?x2iF?:iF "iFbA?*iFl\=BiFׁBiDiFd>iFBiFDAiFD@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.505068 s, deltaX: 0.299999 m, approachRate: 0.593978 m/s, rangeRepo size: 4 % Added new target pos. range: 17.808798 m, bearing: 175.870778 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 0.505068 s, deltaX: 0.298483 m, approachRate: 0.590976 m/s, posRepo size: 4 -DNOT Ignoring new targets: 17.81 m.h)h)*hi"hi higqfqfqfuBdydyjd}`f1@Zd}?ԩZd>Zd>Z=@>Z%@0) q>ia9)K5ii6侉)-8y(A,Yѿ?AR@R@Rk-ٱR5_ jAHRS rotation from veh to nav: [[0.890377,0.455208,-0.003894],[-0.453253,0.887283,0.085391],[0.042326,-0.074265,0.996340]]RH@}? "?zoݿd?.ܵ?? @?iR@IRvc;PYvȂByv IbD~VD~k1yM!%Mw=ٔU:Q-U?9QYY=]FyY]κE]?aQ 5G5eO?Q 9G5e$_)e#BYyQ I@e{DIe;ieO;eœG5yɮiA addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.262217 s, deltaX: -0.199999 m, approachRate: -0.762723 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 17.81 m.hh*h"h hgff!f!dAdIjdM@31@ZdM)?DAT read: 05:12:34.8182 LVL= 32752, 22449, 30034, 32755, AGC= 69, IDX= 505,-0.20, 2.808,-1.350,-2.586,-2.378, PHS=-0.995, 1.073,-0.251, RAW= 309.2, 1.9, CAL= 307.0, -1.4, ROT= 203.0, 1.4 Ygot valid direction response: 05:12:34.8182 LVL= 32752, 22449, 30034, 32755, AGC= 69, IDX= 505,-0.20, 2.808,-1.350,-2.586,-2.378, PHS=-0.995, 1.073,-0.251, RAW= 309.2, 1.9, CAL= 307.0, -1.4, ROT= 203.0, 1.4 Z#Rx 82: Read direction message, but no range.bdirection in FSK: [-0.920230,-0.390614,-0.024432]yimL8_rRؿ{JiimWmRu i)mEImR~imX?mm@m=mv@ m+ȼ)mb@Im+)mr Im^/im+<checking for new query: numPingsReceived=82, elapsed TxPingTime=38.604187ZZZZ"@k-) >i9)  _5 i i@侉}c!5 DDAT read: Rx Time:05:12:35.3183 E TRx dataTimestamp_ set to:1761541956.459446U PDAT read: Bearing 321.7, -25.3 (Local) ] ~Local bearing/azimuth received: Bearing 321.7, -25.3 (Local) m checking for new query: numPingsReceived=82, elapsed TxPingTime=38.855785 H,!ѿ?A:@:^@:+ٱ:eߕEB\ EBEB)E@"EB;*EB#:VEBFA4ZE@aF@aF@aF@aF@ vAHRS rotation from veh to nav: [[0.890107,0.455733,-0.004032],[-0.453819,0.887114,0.084125],[0.041916,-0.073050,0.996447]]:H@{?*?$p` ݿ`9iYi=mFyimG˺Eu>Q 5G5Q?Q 9G59_)BYyQ I@{DIK:i:YG5yɮA%DNOT Ignoring new targets: 17.81 m.h!h!*h!"h! h)g)f)f)fQdQdQjdQZd] z?qZZZZW@u+)q u>i}B9)y}t5yiyi:侉Fؿ|p}Y3AS2u )I/}i5^?x< )I<g%]Ŀ<? >)@Ii<checking for new query: numPingsReceived=83, elapsed TxPingTime=39.117165ԙ9@ @@/@B B CB IB BB =B B B r;B W.E ^A I) I9 OE >4N,;ѿ?APZ@Z@Z)ٱZaDDAT read: Rx Time:05:12:35.8183  TRx dataTimestamp_ set to:1761541956.963939%PDAT read: Bearing 321.8, -25.2 (Local) -~Local bearing/azimuth received: Bearing 321.8, -25.2 (Local) =checking for new query: numPingsReceived=83, elapsed TxPingTime=39.360664 uAHRS rotation from veh to nav: [[0.889521,0.456879,-0.003807],[-0.455008,0.886572,0.083410],[0.041483,-0.072463,0.996508]]ZH v?=?/o@ݿ@^?XZ?P=?猲d?iZ@IZ> c;ZCYBy IE EE*E"Eg5;*E:VE(N4ZEBE}yu=uuAuQ@ uQA)u@qYuz@@AbDVD0yh% =ٔ^:Q->9Y=Fy~*E>Q 5G5⯢?Q 9G5_)BY>Q E?;y8Q I@{DI;i;ÛG5yɮCAii'K-ѿ?AJiRijiD@bab0#QV ߿R1@q`w>ؿ|p}Zi^/bi<jj1'Ã?zZ?Ŗ?DqL2i?:i"iל?*ix?BiUBihuȜ?iii֏Ai]D@% addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.743785 s, deltaX: 0.199999 m, approachRate: 0.268893 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.808771 m, bearing: 175.979238 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 1.006002 s, deltaX: -0.000027 m, approachRate: -0.000027 m/s, posRepo size: 4 5DNOT Ignoring new targets: 17.81 m.h1h1*h9"h9 h9g9f9ffہBddjd`f1@Zd ?Z>Z>Z>ZK@))9 =>i=9)AE5AiAiM4侉IM)QؼI~{/i= checking for new query: numPingsReceived=84, elapsed TxPingTime=39.616371! ^A I I O% >U,\rUѿ?A2=@2@2;(ٱ2% :AHRS rotation from veh to nav: [[0.888729,0.458420,-0.003492],[-0.456581,0.885797,0.083048],[0.041164,-0.072213,0.996539]]2Hwp?`V?l8ݿ`sX?`B??|?i2=@I2ib;2CYFByF IbDNVDN!yVM%V=ٔV@:Q-Z"?9XYX=ZFyX^dһE^"?`Q 5fG5b+?Q 9fG5b>`)bBYdyfN:Q Ij@b{DIb:ib:b*G5ynBɮnAnԦE|iiȘMѿ?AJiRijic]D@bxue0)8IRv= BؿIzZi~{/bi=j@_1K?F nZ>& w~?^-[ 2i?:i"iqhޜ?*i4=Bi%BiiifBipAiD@5 addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504738 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 17.808771 m, bearing: 175.794897 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 0.504738 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 17.81 m.hAhI*hI"hI hIgIfIfQfQdQdQjdYZd] S?ZZZZc=@ ;()  s>i9)59i9i=>侉AEYd;IAIA9@ @@N0@ DDAT read: Rx Time:05:12:36.3185 TRx dataTimestamp_ set to:1761541957.4680485PDAT read: Bearing 321.6, -25.1 (Local) =~Local bearing/azimuth received: Bearing 321.6, -25.1 (Local) IuDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.3 Z#Rx 85: Read range message, but no direction.yYAchecking for new query: numPingsReceived=85, elapsed TxPingTime=39.875935@@E EE)E"E;;*E:VEFA4ZEa@a@a@a@q^A 8<I1 IY O} >ԡ  DAT read: 05:12:36.3185 LVL= 32752, 23201, 32754, 32755, AGC= 70, IDX= 507, 0.41,-2.065, 0.059,-1.177,-0.978, PHS=-0.985, 1.082,-0.242, RAW= 309.2, 1.6, CAL= 307.1, -1.7, ROT= 202.9, 1.7  Ygot valid direction response: 05:12:36.3185 LVL= 32752, 23201, 32754, 32755, AGC= 70, IDX= 507, 0.41,-2.065, 0.059,-1.177,-0.978, PHS=-0.985, 1.082,-0.242, RAW= 309.2, 1.6, CAL= 307.1, -1.7, ROT= 202.9, 1.7  Z#Rx 86: Read direction message, but no range. bdirection in FSK: [-0.920780,-0.388953,-0.029666]y  towDLؿ ` Z  ) I (|i ~? w < ) I < L7Nݐ~Ŀra? >) 'I i < checking for new query: numPingsReceived=86, elapsed TxPingTime=40.120518f[,Roѿ?A2Ӳ@2kι@2I'ٱ2nk :AHRS rotation from veh to nav: [[0.887750,0.460316,-0.003103],[-0.458497,0.884802,0.083096],[0.040996,-0.072346,0.996537]]2H rh?u?jiXݿLP?E?g?H?i2Ӳ@I2a;0Y~By~ II=);9iMb@Mb@Mb@ 9/$?Zd;? rhY1>yy=C3A hA)Yp@bD5VD50yE᡽%E0=ٔMf9Q-M>9IYI=UFyQUΗEU>YQ 5eG5]?Q 9eG5]a)]BYm>Q EmB;ym|Q Im@]{DI]H:i]<:]9G5yqɮ}Ayii]ѿ?AJiېARiېAji7D@b};0w +e0RtowDLؿ `Zibi<j\8 2)y`?}+ ZE$})X?vg2i#?:iU"i1М?*i=BiBi1М?i4=iUBiAiSD@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.255598 s, deltaX: 0.300001 m, approachRate: 1.173723 m/s, rangeRepo size: 4  Added new target pos. range: 18.107244 m, bearing: 175.663035 deg, lat: 36.779334 deg, lon: -121.859672 deg, deltaT: 0.255598 s, deltaX: 0.298473 m, approachRate: 1.167745 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.11 m.hh*h"h hgfffƁBdA1A5AAB1B1B5 IB5BB5 =B1B1B5s;B5.EdIjdM@332@ZdU`?Z>Z>Zf>Z@I') >i9)3ii8侉;II I)y@ @@/0@DDAT read: Rx Time:05:12:36.8185 TRx dataTimestamp_ set to:1761541957.971952ԙPDAT read: Bearing 321.2, -24.8 (Local) ~Local bearing/azimuth received: Bearing 321.2, -24.8 (Local) mDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.2  DAT read: 05:12:36.8185 LVL= 32752, 24001, 31954, 32755, AGC= 71, IDX= 507, 0.30,-2.720,-0.604,-1.846,-1.634, PHS=-0.984, 1.074,-0.256, RAW= 309.6, 1.9, CAL= 307.4, -1.4, ROT= 202.6, 1.4  Ygot valid direction response: 05:12:36.8185 LVL= 32752, 24001, 31954, 32755, AGC= 71, IDX= 507, 0.30,-2.720,-0.604,-1.846,-1.634, PHS=-0.984, 1.074,-0.256, RAW= 309.6, 1.9, CAL= 307.4, -1.4, ROT= 202.6, 1.4  T#Rx 87: Read range and direction messages.% bdirection in FSK: [-0.922935,-0.384181,-0.024432]% Fpublishing direction and range infoyNjؿ{JY]| )GIm{ix?o@=>@ +ȼ)oNb@I+<?+\Mſ౸? Z>Eu  Eu Eu +Eq "Eu g5;*Eu d:VEu [4ZEq BEq a 2Eq a JEu ))&IF/i+< checking for new query: numPingsReceived=87, elapsed TxPingTime=40.462471 Nb,ѿ?A2 ò@2ݽ@2H'ٱ2y :AHRS rotation from veh to nav: [[0.886827,0.462093,-0.002775],[-0.460294,0.883874,0.083049],[0.040829,-0.072373,0.996542]]2H`??\f@suݿH?@B??@?i2 ò@I2+Ua;2CYN~ByR I Vp9hYh=jFyhnmEn>Q 5G5Ȣ?Q 9 G5a)BY y Q I @{DI:il:]G5yɮ=A9i i v4~ѿ?AJi Ri ji C@b aE7e60±eAPܿR Njؿ{JZi F/bi +<j @PZs23J?Z ߐzG]4N?6 2i ?:i E"i B؜?*i c:Bi ABi ל?i l\=i ABi ǐAi *D@ԙ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.107206 m, bearing: 175.223257 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.503904 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.11 m.hh*h"h hgff f d d jdchecking for new query: numPingsReceived=87, elapsed TxPingTime=40.610512Zdѐ?ZqZqZqZu@H') *>iF9)額VB4iiB侉n7Y;IIi@i @i@m4@i^A;IIO> DDAT read: Rx Time:05:12:37.3187  TRx dataTimestamp_ set to:1761541958.476086 PDAT read: Bearing 321.9, -24.3 (Local)  ~Local bearing/azimuth received: Bearing 321.9, -24.3 (Local) 5 DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.3 M Z#Rx 88: Read range message, but no direction.y Y A e checking for new query: numPingsReceived=88, elapsed TxPingTime=40.880955 xh,'ѿ?AE  EE&E"ED;*E:VE4ZEa@a@a@a@YyByz I bD%VD%02yU]%]=ٔmQ-u>9yY=FyE>Q 5G5HԢ?Q 9G5b) BYyQ I@{DIO;iO;G5y Bɮ8A]DAT read: 05:12:37.3187 LVL= 32752, 21809, 27714, 32755, AGC= 69, IDX= 509, 0.20,-1.520, 0.595,-0.652,-0.456, PHS=-0.962, 1.096,-0.239, RAW= 309.8, 1.2, CAL= 307.7, -2.1, ROT= 202.3, 2.1 mYgot valid direction response: 05:12:37.3187 LVL= 32752, 21809, 27714, 32755, AGC= 69, IDX= 509, 0.20,-1.520, 0.595,-0.652,-0.456, PHS=-0.962, 1.096,-0.239, RAW= 309.8, 1.2, CAL= 307.7, -2.1, ROT= 202.3, 2.1 mZ#Rx 89: Read direction message, but no range.ubdirection in FSK: [-0.924588,-0.379201,-0.036644]y)-~Q)N:/Dؿ(א¢))-1U-Bl ))-EI-Evi-I?-jt-c@-<-$ګ@ -Q )-a@I-Q =)-2/*j`2ſ"nR? - .>)-%I-'0i-Q =checking for new query: numPingsReceived=89, elapsed TxPingTime=41.128036ԙ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504134 s, deltaX: 0.299999 m, approachRate: 0.595078 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.11 m.hh*h"h hgfffddjd2@Zd@s+?ZZZZ) ۲>i9)[4i i<侉Oj;II!)ԩ9@ @@0@@@=B5 >B1 B5 IB5 BB5 =B1 B1 B5 Ps;B5 .EBCBCBBBC4  DDAT read: Rx Time:05:12:37.8187  TRx dataTimestamp_ set to:1761541958.980538- PDAT read: Bearing 321.9, -24.2 (Local) 5 ~Local bearing/azimuth received: Bearing 321.9, -24.2 (Local) U DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 e Z#Rx 90: Read range message, but no direction.y Y  checking for new query: numPingsReceived=90, elapsed TxPingTime=41.387112^A yb];I I O >3p,Uѿ?A E EE'E"EB;*EV:VE'4ZEBEvyj<#A A)@Yz@bDVDP)y%5=ٔ9Q->9!Y!=%Fy!-!E->)9Q 5]G5-ޢ?Q 9eG5- d))Yu>Q E}7;y}ϾQ I}@-{DI-?%ARi>Aji-C@b1}B<R~Q)N:/Dؿ(א¢Zi'0biQ =jN2=?yZ[s뢊ᅦ<x?`l⧿2i?:iv"iBLל?*iu7BiBii=i%BiAihC@- addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504452 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.405655 m, bearing: 174.733848 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 1.008586 s, deltaX: 0.298449 m, approachRate: 0.295908 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.41 m.hh*h"h hgfffBddjdZd?Z}>Z}>Z}5=Z}|@DAT read: 05:12:37.8187 LVL= 31600, 21425, 25010, 32755, AGC= 68, IDX= 509, 0.11,-1.945, 0.158,-1.084,-0.889, PHS=-0.955, 1.092,-0.240, RAW= 309.9, 1.2, CAL= 307.8, -2.1, ROT= 202.2, 2.1 Ygot valid direction response: 05:12:37.8187 LVL= 31600, 21425, 25010, 32755, AGC= 68, IDX= 509, 0.11,-1.945, 0.158,-1.084,-0.889, PHS=-0.955, 1.092,-0.240, RAW= 309.9, 1.2, CAL= 307.8, -2.1, ROT= 202.2, 2.1 Z#Rx 91: Read direction message, but no range.bdirection in FSK: [-0.925249,-0.377587,-0.036644]yOj/b*ؿ(א¢p{Sa )DIztiƋ?u@o@ ) a@IsLt vnſn'? >)%ĥIC0ichecking for new query: numPingsReceived=91, elapsed TxPingTime=41.628174-q&)) 5>i5c9)1541i1i=6侉9=ɹI9aI 9@!  @! @% 0@! ԑ ^AA Iy I O0:w,@Pѿ?A*DDAT read: Rx Time:05:12:38.3189 .TRx dataTimestamp_ set to:1761541959.483989:PDAT read: Bearing 321.5, -24.3 (Local) >~Local bearing/azimuth received: Bearing 321.5, -24.3 (Local) fDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 rZ#Rx 92: Read range message, but no direction.y(Y*fA(checking for new query: numPingsReceived=92, elapsed TxPingTime=41.898350E EE%E"E9;*E:VE 4ZEa@a@a@a@YjByh IbD-VD-1y]%e;=ٔeQ-e>9iYi=mFyimEu>qQ 5G5u碊?Q 9G5uYe)qYyQ I@u{DIuXbi9))551i1im@侉qux8IqIDAT read: 05:12:38.3189 LVL= 32752, 21969, 29730, 32755, AGC= 69, IDX= 511, 0.02,-0.428, 1.716, 0.450, 0.658, PHS=-0.984, 1.104,-0.252, RAW= 309.8, 1.5, CAL= 307.7, -1.8, ROT= 202.3, 1.8 Ygot valid direction response: 05:12:38.3189 LVL= 32752, 21969, 29730, 32755, AGC= 69, IDX= 511, 0.02,-0.428, 1.716, 0.450, 0.658, PHS=-0.984, 1.104,-0.252, RAW= 309.8, 1.5, CAL= 307.7, -1.8, ROT= 202.3, 1.8 %Z#Rx 93: Read direction message, but no range.-bdirection in FSK: [-0.924753,-0.379269,-0.031411]y5EؿIzU"t )EIm{iO?%c@Pw<$ګ@ )a@I=lkg!Rſ ?  >)_MмI'0i=Uchecking for new query: numPingsReceived=93, elapsed TxPingTime=42.136299Y@Y @Y@e1@a9 B <A <B B B IB BB B B B hs;B .Ea ^A "I I O >},cѿ?A2@2{@2r&ٱ2i :AHRS rotation from veh to nav: [[0.883080,0.469219,-0.001937],[-0.467461,0.880114,0.082948],[0.040626,-0.072344,0.996552]]2H0B?`?`_ݿ@)?yT<D;;@ @)Y@DDAT read: Rx Time:05:12:38.8189 TRx dataTimestamp_ set to:1761541959.989723PDAT read: Bearing 321.9, -24.4 (Local) =~Local bearing/azimuth received: Bearing 321.9, -24.4 (Local) YuDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.3 bDVD:2DAT read: 05:12:38.8189 LVL= 30192, 19361, 24882, 32755, AGC= 67, IDX= 511,-0.00,-1.745, 0.379,-0.868,-0.677, PHS=-0.966, 1.100,-0.235, RAW= 309.6, 1.1, CAL= 307.6, -2.2, ROT= 202.4, 2.2 y[;%:=ٔ%?9Q-%>9!Y!=%Fy!- E->1=Ygot valid direction response: 05:12:38.8189 LVL= 30192, 19361, 24882, 32755, AGC= 67, IDX= 511,-0.00,-1.745, 0.379,-0.868,-0.677, PHS=-0.966, 1.100,-0.235, RAW= 309.6, 1.1, CAL= 307.6, -2.2, ROT= 202.4, 2.2 =T#Rx 94: Read range and direction messages.Ebdirection in FSK: [-0.923865,-0.380789,-0.038388]MFpublishing direction and range infoyM,mLoXl^ؿ.YuK2a )CIKwǐ?ףp@nF<˫@ nF)=b@Q 5G55e?Q 9G55f)5BY>Q E=;y'Q I@5{DI5Whh<5G5y%BɮAզEInF=S-,LſM%? :\>)1Ix 0inF=checking for new query: numPingsReceived=94, elapsed TxPingTime=42.442898iiWѿ?AJiRijiC@b췲G1OC}}:RM,mLoXl^ؿ.Zix 0binF=j}}2?ZZ)?? 벨2i?:i͔"i/ќ?*i8BiBi/ќ?i8iBiuAiC@bEc44jEc44rEļ 0E] E]E]'EY"E][I;*E]:VE]'4ZEYBE]Z>Z>=Zg@r&) )>i9)_5ii:侉˹YIIIQIY)]gA 9@  @ @ 5@ @ @ hAԙ e checking for new query: numPingsReceived=94, elapsed TxPingTime=42.626633 ^A! I1 IA OM >,#Lҿ?A2cw@26r@2%ٱ2Ғ :AHRS rotation from veh to nav: [[0.882551,0.470212,-0.002088],[-0.468470,0.879647,0.082203],[0.040490,-0.071570,0.996613]]2H=??ajݿ&?E ?@ ?pRA?i2cw@I2&a;2CYBgByBd IbDNVDN1yV%Zv=ٔb99Q-f ?9!Y!=%Fy)-B]E-?1Q 5=G55?Q 9=G55g)5BYAyEQ IE@5{DI5:i5:5{G5yIɮMAI}DNOT Ignoring new targets: 18.70 m.hyhy*hy"hy hygyfffddjdZd-?ZZZZ@%) J>i9)n55ii4侉}IIԡ9@ @@/@^A}Β{IIO>DDAT read: Rx Time:05:12:39.3190 TRx dataTimestamp_ set to:1761541960.488290DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.3 Z#Rx 95: Read range message, but no direction.yYchecking for new query: numPingsReceived=95, elapsed TxPingTime=42.881893DizDmAAEu EuEu(Eq"Euy>;*Eu:VEuc44ZEqa}@a}@a}@a}@1 7,$ /ҿ?A4<ɰ $$:checking for new query: numPingsReceived=95, elapsed TxPingTime=43.137203Z+GdpV9Y0CAYUiByUf IiMb@Mb@Mb@ 9?y&1|?I +?Y̌>y`;94<Ah@ QA)@Yz@ 4<;bDVD1y\<%*=ٔQ->9Y=%Fy!%E%>)Q 55G5-I?Q 95G5-Oi)-BY=>Q E=@;y=[Q I=@-{DI- ;i-:-G5yAɮEAAu addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.498567 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 18.70 m.hyhy*hy"hy hygfffBddjdZdF=?Z>Z>ZQz<Z(Z@) >i9)R5ii>侉mGzIIBBBy IBxBBBBB&s;B.E@ @@/@ADDAT read: Rx Time:05:12:39.8190  TRx dataTimestamp_ set to:1761541960.998037%DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 %Z#Rx 96: Read range message, but no direction.y Y  5checking for new query: numPingsReceived=96, elapsed TxPingTime=43.393894i ^A _I I OE >E  E E E "E 77;*E :VE ZE BE i%9))-l5Uchecking for new query: numPingsReceived=96, elapsed TxPingTime=43.638462)iQi]8侉YaIaIaie>i%>%9@! @!@%/@!@-=@-=ԙ^A vтI I) O5 > % DDAT read: Rx Time:05:12:40.3192 5 TRx dataTimestamp_ set to:1761541961.504943E PDAT read: Bearing 321.9, -23.6 (Local) E ~Local bearing/azimuth received: Bearing 321.9, -23.6 (Local) ] DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.3 m Z#Rx 97: Read range message, but no direction.y) Y- ̘A) u checking for new query: numPingsReceived=97, elapsed TxPingTime=43.904881I,bҿ?AJ`@Ja[@PJ ٱJ+ fAHRS rotation from veh to nav: [[0.881292,0.472563,-0.003073],[-0.470955,0.878793,0.076974],[0.039075,-0.066390,0.997028]]JH3?`x>?&,i$޿ ?@???iJ`@IJsa;JCEE EE EE$EA"EE;;*EE:VEE4ZEAaM@aM@aM@aM@Y}uBy}u IbDVD0y<%A=ٔZ;Q->9Y=FyG׻E>Q 5G5?Q 9G5k) BYyQ I@{DI:i&:i}>9)顭C5iiB侉8ѻIIDAT read: 05:12:40.3192 LVL= 32752, 25953, 32562, 30371, AGC= 72, IDX= 2, 0.19,-2.758,-0.647,-1.908,-1.708, PHS=-0.948, 1.106,-0.244, RAW= 310.3, 1.0, CAL= 308.3, -2.3, ROT= 201.7, 2.3 Ygot valid direction response: 05:12:40.3192 LVL= 32752, 25953, 32562, 30371, AGC= 72, IDX= 2, 0.19,-2.758,-0.647,-1.908,-1.708, PHS=-0.948, 1.106,-0.244, RAW= 310.3, 1.0, CAL= 308.3, -2.3, ROT= 201.7, 2.3 Z#Rx 98: Read direction message, but no range.bdirection in FSK: [-0.928384,-0.369449,-0.040132]yY]a'RY ׿.='Y]]ae]2 ]v)]HI]!ri]h?]#y]M@]5<]/@ ]l$)]Ma@I]l$=Y]_V{fƿ۔+'8? ]=)]‰I]0i]l$=checking for new query: numPingsReceived=98, elapsed TxPingTime=44.1552969@ @@@B B B  IB }BB B B B r;B l.E! ^A I! I1 OE >m,|ҿ?All DDAT read: Rx Time:05:12:40.8192 TRx dataTimestamp_ set to:1761541962.009927 PDAT read: Bearing 320.9, -24.3 (Local) ~Local bearing/azimuth received: Bearing 320.9, -24.3 (Local) 5DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.3 =Z#Rx 99: Read range message, but no direction.yYMchecking for new query: numPingsReceived=99, elapsed TxPingTime=44.410587u]@HX@Sٱ& mAHRS rotation from veh to nav: [[0.881128,0.472867,-0.003131],[-0.471296,0.878703,0.075906],[0.038645,-0.065408,0.997110]]H32? tC?̥i)޿`U?n?;ɣ?`S?iu]@I"Fa;Y}|By}~ IiMb@Mb@Mb@ 9Zd;?yt<C<zA~@ v@)Y@bDVD1y-=%-6=ٔ5{:Q-5>91Y1=5Fy9=s\E=>AQ 5MG5E?Q 9MG5El)E&BYU#{>Q EUX;yUfӾQ IU@E|DIEU:iE:E*G51E] E]E]&EY"E]/;*E]:VE]4ZEYBE]ʈ9 Y = FyX:E>Q 5%G5A?Q 9%G5q) ׿.ZiU|0biUnF=jUO~^x3si;[@ZUv&T+t?2i9)[4ii>侉Y辻II}checking for new query: numPingsReceived=104, elapsed TxPingTime=46.666283ԁ9@ @@4@ԡ^Ayb]I)IIO>5 DDAT read: Rx Time:05:12:43.3197 5 TRx dataTimestamp_ set to:1761541964.528697= PDAT read: Bearing 322.0, -23.7 (Local) E ~Local bearing/azimuth received: Bearing 322.0, -23.7 (Local) U DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 u DAT read: 05:12:43.3197 LVL= 29552, 18193, 26098, 32755, AGC= 67, IDX= 503,-0.17,-2.757,-0.653,-1.900,-1.699, PHS=-0.956, 1.091,-0.244, RAW= 310.0, 1.2, CAL= 307.9, -2.0, ROT= 202.1, 2.0 } Ygot valid direction response: 05:12:43.3197 LVL= 29552, 18193, 26098, 32755, AGC= 67, IDX= 503,-0.17,-2.757,-0.653,-1.900,-1.699, PHS=-0.956, 1.091,-0.244, RAW= 310.0, 1.2, CAL= 307.9, -2.0, ROT= 202.1, 2.0  V#Rx 105: Read range and direction messages. bdirection in FSK: [-0.925964,-0.375995,-0.034899] Fpublishing direction and range infoy1 5 0%hg@>;b@> ٱ>G FAHRS rotation from veh to nav: [[0.881821,0.471583,-0.001106],[-0.470290,0.879572,0.071979],[0.034917,-0.062953,0.997405]]>H7?@j.? R@:޿s%?hg@I>];9dYd=fFydj#:Ej>hQ 5~G5jG?Q 9G5jq)j?BYy{Q I@j%|DIj;ij;jG5y ɮAiaie,!ӿ?AJieARieAjie'B@beB=2xk偠Re0%i9)顅4ii8侉ȏIIU9@Q @Q@U/@Ychecking for new query: numPingsReceived=105, elapsed TxPingTime=47.172585BBB IBBBBBBr;BK.E^A#2IIO>) , =@ӿ?AnManaging dock network, ignoring radio surface power offVVm@V)h@V ٱV,Ҁ ^AHRS rotation from veh to nav: [[0.882184,0.470905,-0.000570],[-0.469663,0.879944,0.071516],[0.034179,-0.062823,0.997439]]VH:?N#?B޿(?@N??%?iVVm@IV:];VCYfȂByf IrDDAT read: Rx Time:05:12:43.8196 vTRx dataTimestamp_ set to:1761541965.032779zPDAT read: Bearing 322.2, -23.5 (Local) z~Local bearing/azimuth received: Bearing 322.2, -23.5 (Local) DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.3 -DAT read: 05:12:43.8196 LVL= 27632, 18417, 23586, 32755, AGC= 66, IDX= 502, 0.48,-1.477, 0.647,-0.615,-0.415, PHS=-0.960, 1.108,-0.243, RAW= 310.0, 1.1, CAL= 308.0, -2.2, ROT= 202.0, 2.2 5Ygot valid direction response: 05:12:43.8196 LVL= 27632, 18417, 23586, 32755, AGC= 66, IDX= 502, 0.48,-1.477, 0.647,-0.615,-0.415, PHS=-0.960, 1.108,-0.243, RAW= 310.0, 1.1, CAL= 308.0, -2.2, ROT= 202.0, 2.2 5V#Rx 106: Read range and direction messages.=bdirection in FSK: [-0.926500,-0.374331,-0.038388]EFpublishing direction and range infoypr5> ׿.YrAprkrGr"\ p)rBIruirҍ?rxprnFyu}=u#9aYa=mFyimx:Em>qQ 5}G5uO?Q 9}G5uq)uBBYv<>Q E;yXQ I@u,|DIu;iu;u9G5yɮAipir Bӿ?AJir˜ARir˜AjirWsB@brp Q(2HÐXק'Rr5> ׿.Zir|0birnF=jrZy3{ ĺ&@JS Zr۠<.^?{Ƨ2ir5@:irʛ"ir朊?*irۜ<BirBirtY؜?irN9L;irՀBir AirQB@m addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504082 s, deltaX: -0.099998 m, approachRate: -0.198377 m/s, rangeRepo size: 4  Added new target pos. range: 19.599562 m, bearing: 174.081183 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.504082 s, deltaX: -0.099478 m, approachRate: -0.197344 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.60 m.hh*h"h hgfffBddjd@33@Zd@"?Zv<>Zv<>Z0>Z@E )I M>iM9)IM`4IiIiUB侉Y]qIYIY aaIa)aԑI@I @I@U4@Qchecking for new query: numPingsReceived=106, elapsed TxPingTime=47.674541 ^Au SIy I O >;\,KZӿ?A(YڂBy I E;AbD]VD]y=%m=ٔQ-?9Y=FyEM ?Q 5G5.U?Q 9G53r)DBYyQ I@0|DIByKSdN$ƿ? j=)AI@`0i=Echecking for new query: numPingsReceived=107, elapsed TxPingTime=47.946655ZiZiZiZi) >i9)顝ii<侉ƜIID=D4=E EE*E"E<;*E:VE(N4ZEa-@a-@a-@a-@1@1 @1@5/@1Ա ^A u cG  u checking for new query: numPingsReceived=107, elapsed TxPingTime=48.180744M u9 Y "`AI I O >f,@ktӿ?Aɰ4<2@2|@2rٱ2z :AHRS rotation from veh to nav: [[0.883413,0.468595,-0.000140],[-0.467460,0.881294,0.069305],[0.032600,-0.061159,0.997596]]2HD?u?0i"ݿ3? ?`찠? IPM?i2@I2];2CYFނByF I|-only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, a-@a- a-@a- a-@a- a-@a- bD5 VD52yE³<%MO=ٔM;Q-M>9IYQ=UFyQU;EU>YQ 5eG5]Z?Q 9eG5]qr)]FBQ Am+:YiQ Emi;ymQ Im@]4|DI]:i]#>]G5yqɮ}>Ayii\bӿ?AJi/ARi/AjiB@b m2d-rRVؿB3Zi@`0bi=jQ軞3(Ŕ? Zα0|hd?Fϝ2i?:iD"i:3ל?*it>BiDBi:3ל?ih<iBiAi\wB@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504090 s, deltaX: 0.299999 m, approachRate: 0.595130 m/s, rangeRepo size: 4  Added new target pos. range: 19.898031 m, bearing: 174.302444 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.504090 s, deltaX: 0.298470 m, approachRate: 0.592096 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.90 m.hh*h"h hgfffddjdZd?AA?ABBB IB؂BBBBBr;BB.E=r)A E?>iE,9)AE3AiAiM6侉IMiZIQI1@ @@@DDAT read: Rx Time:05:12:44.8198 TRx dataTimestamp_ set to:1761541966.040813PDAT read: Bearing 322.3, -23.3 (Local) ~Local bearing/azimuth received: Bearing 322.3, -23.3 (Local) DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2  DAT read: 05:12:44.8198 LVL= 29968, 17121, 22098, 32755, AGC= 65, IDX= 504,-0.07,-2.182,-0.070,-1.328,-1.128, PHS=-0.952, 1.103,-0.244, RAW= 310.2, 1.0, CAL= 308.1, -2.2, ROT= 201.9, 2.2 Ygot valid direction response: 05:12:44.8198 LVL= 29968, 17121, 22098, 32755, AGC= 65, IDX= 504,-0.07,-2.182,-0.070,-1.328,-1.128, PHS=-0.952, 1.103,-0.244, RAW= 310.2, 1.0, CAL= 308.1, -2.2, ROT= 201.9, 2.2 V#Rx 108: Read range and direction messages.%bdirection in FSK: [-0.927152,-0.372713,-0.038388]%Fpublishing direction and range infoy|;׿.YuBRV )IFsi/?#y?@5<T@ nF)Ca@InF=Q) }z,]2ƿ6~ E5  E5 E1 E1 "E5 =-;*E5 :VE1 ZE1 BE5 p9xYx=~Fy|~x+;E~>Q 5 G5`?Q 9 G5r)IBQ A :YQ E=;y Q I@9|DI:iB?G5yɮ%A!iiӿ?AJiRijiB@b8r2o?OeqR|;׿.Zir0binF=jjq3iM"@T3oZ̋_i @??Ga;62i@:i3"i!_ޜ?*if=BiBitY؜?iۜ<Yi BiAi{B@u addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503944 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.898045 m, bearing: 174.181322 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.503944 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.90 m.hh*h"h hgfffddjdZdL?Ж) >i9) V4ii@侉bjIII)checking for new query: numPingsReceived=108, elapsed TxPingTime=48.695316@ @@0@ԉԹ^A II9Om>5 DDAT read: Rx Time:05:12:45.3199 5 TRx dataTimestamp_ set to:1761541966.557029E PDAT read: Bearing 322.4, -23.3 (Local) E ~Local bearing/azimuth received: Bearing 322.4, -23.3 (Local) U DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 } DAT read: 05:12:45.3199 LVL= 29024, 17473, 22002, 32755, AGC= 66, IDX= 506,-0.36,-1.982, 0.140,-1.124,-0.925, PHS=-0.955, 1.110,-0.243, RAW= 310.2, 1.0, CAL= 308.1, -2.3, ROT= 201.9, 2.3  Ygot valid direction response: 05:12:45.3199 LVL= 29024, 17473, 22002, 32755, AGC= 66, IDX= 506,-0.36,-1.982, 0.140,-1.124,-0.925, PHS=-0.955, 1.110,-0.243, RAW= 310.2, 1.0, CAL= 308.1, -2.3, ROT= 201.9, 2.3  V#Rx 109: Read range and direction messages. bdirection in FSK: [-0.927089,-0.372687,-0.040132] Fpublishing direction and range infoy1 5 r.(n׿.='Y5 ̠A1 5 `q5 AD5 U 1 )5 BI5 zti5 {?5 x1 1 1 5 l$)1 I5 l$=1 1 5 J?X~￳2ƿ(x? 5 k=)5 EI1 i5 l$=1 1  checking for new query: numPingsReceived=109, elapsed TxPingTime=48.962708 E=  E= E= (E9 "E= 1;*E= :VE= c44ZE9 aE @aM @aM @aM @9,$ӿ?A2@2t@21Rٱ2jv :AHRS rotation from veh to nav: [[0.884286,0.466945,0.000506],[-0.465904,0.882242,0.067691],[0.031162,-0.060094,0.997706]]2HL?`m?@?``ݿS;?:T??Į5?i2@I2@v];0Y%By-!I5@A5AAbD]VD] ym =%mB=ٔu:Q-u>9Y=Fy3:E>Q 5G5Lg?Q 9G5r)KBQ A9YQ E;Թy Q I@>|DI;i?G5yɮAiaie]ӿ?AJieARieAjie B@be}c!21KbRer.(n׿.='Ziabiel$=je)3Ub@>6ZeA ?OX9ӧ2ie@:ie"ieNiܜ?*ien+>BieBieNiܜ?ief=ieBieҟAieB@ addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.516216 s, deltaX: 0.100000 m, approachRate: 0.193718 m/s, rangeRepo size: 4  Added new target pos. range: 19.997536 m, bearing: 174.230501 deg, lat: 36.779335 deg, lon: -121.859672 deg, deltaT: 0.516216 s, deltaX: 0.099491 m, approachRate: 0.192732 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.00 m.hh*h"h hgff f d1d1jd54@Zd=@l?1R) L>iA9)4ii:侉1=,I9IIchecking for new query: numPingsReceived=109, elapsed TxPingTime=49.200592@ @@%/@!BBB !IBBBBBBjr;B6.E^AE eIq I O >A x,ӿ?A2畲@2@2ٱ2[v :AHRS rotation from veh to nav: [[0.884603,0.466343,0.001020],[-0.465344,0.882561,0.067383],[0.030524,-0.060082,0.997727]]2HN??$P?2ݿ=?@@?A? î`?i2畲@I2];2CYBByB!IvDDAT read: Rx Time:05:12:45.8199 vTRx dataTimestamp_ set to:1761541967.060859~PDAT read: Bearing 322.3, -22.8 (Local) ~~Local bearing/azimuth received: Bearing 322.3, -22.8 (Local)  DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.0 5DAT read: 05:12:45.8199 LVL= 30848, 19297, 26354, 32755, AGC= 68, IDX= 505, 0.27,-2.310,-0.216,-1.477,-1.271, PHS=-0.937, 1.100,-0.250, RAW= 310.6, 1.0, CAL= 308.6, -2.2, ROT= 201.4, 2.2 =Ygot valid direction response: 05:12:45.8199 LVL= 30848, 19297, 26354, 32755, AGC= 68, IDX= 505, 0.27,-2.310,-0.216,-1.477,-1.271, PHS=-0.937, 1.100,-0.250, RAW= 310.6, 1.0, CAL= 308.6, -2.2, ROT= 201.4, 2.2 =V#Rx 110: Read range and direction messages.Ebdirection in FSK: [-0.930370,-0.364608,-0.038388]EFpublishing direction and range infoytvUaWlU׿.YttvxvaKvf t)vDIv;oiv̌?vvx@tvZ@ vnF)vI`@IvnF=ttv|aq+m;cˢǿ? v,=)v]Ivl(1ivnF=ttchecking for new query: numPingsReceived=110, elapsed TxPingTime=49.470764E EEE"E9;*E:VEZEBEyEt=E;AA E@)E@AYEz@bD}VD}y#=%-=ٔY:Q->9Y=Fyd:E>Q 5G58m?Q 9G5r)LBQ AT:Y/>Q E;yAZ=/>Z={?Z=ьiu9)y}4yiyi4侉GIIqchecking for new query: numPingsReceived=110, elapsed TxPingTime=49.702461 9 {>i > 9@  @ @ /@ ԡ ^AΒ{IIO?vo,paӿ?A>DDAT read: Rx Time:05:12:46.3201 >TRx dataTimestamp_ set to:1761541967.567919BPDAT read: Bearing 322.8, -22.9 (Local) F~Local bearing/azimuth received: Bearing 322.8, -22.9 (Local) NDAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 ^DAT read: 05:12:46.3201 LVL= 32416, 21601, 26914, 32755, AGC= 69, IDX= 507, 0.07, 3.072,-1.104,-2.367,-2.173, PHS=-0.937, 1.114,-0.238, RAW= 310.4, 0.7, CAL= 308.5, -2.6, ROT= 201.5, 2.6 bYgot valid direction response: 05:12:46.3201 LVL= 32416, 21601, 26914, 32755, AGC= 69, IDX= 507, 0.07, 3.072,-1.104,-2.367,-2.173, PHS=-0.937, 1.114,-0.238, RAW= 310.4, 0.7, CAL= 308.5, -2.6, ROT= 201.5, 2.6 bV#Rx 111: Read range and direction messages.jbdirection in FSK: [-0.929460,-0.366124,-0.045363]jFpublishing direction and range infoy<>0T"n׿99Y>3A<>~>aT>"i <)>EI?>Fs>-\@>+H<>L@ >9)>a@I>9=<<>NU px│M#ǿ&mt? >pm=)>|CI> 1i>9=<<vchecking for new query: numPingsReceived=111, elapsed TxPingTime=49.973457@@ٱƨv AHRS rotation from veh to nav: [[0.885383,0.464859,0.001946],[-0.463933,0.883339,0.066925],[0.029392,-0.060157,0.997756]]H U?@?F_?ݿ`OD? "??`̮@?i@IX];C Y%By%!IEm EmEm)Ei"EmP;*Emd:VEmFA4ZEia}@a}@a}@a}@bD1VD1y;%'=ٔ;Q->9Y=FyY;E>Q 5G5Zs?Q 9G5r)YyXӿ?AJi>^ARi>^Aji>VB@b>wٱE2u4;GvR>0T"n׿99Zi> 1bi>9=j>;ө(44%y@FrļjZ>"df?Ѻ?BL⩿2i>@:i>D"i>>М?*i> :Bi>Bi>Niܜ?i<i<i>Ai>B@  addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.507060 s, deltaX: 0.299999 m, approachRate: 0.591644 m/s, rangeRepo size: 4 E Added new target pos. range: 20.296032 m, bearing: 173.978947 deg, lat: 36.779335 deg, lon: -121.859672 deg, deltaT: 0.507060 s, deltaX: 0.298470 m, approachRate: 0.588628 m/s, posRepo size: 4 EDNOT Ignoring new targets: 20.30 m.hAhA*hA"hI hIgIfIfQfQdQdQjdU`ff4@Zd}@?ZZZZѲ<) ?>iR9)5ii>侉!%e":I!I)99@ @@/@-checking for new query: numPingsReceived=111, elapsed TxPingTime=50.209988aBe >Ba Be "!IBe BBa Ba Ba Be r;Be B.E^AI IY Ii O} >ԉ ?,.ӿ?Am@m駹@m8ٱm)t AHRS rotation from veh to nav: [[0.885960,0.463758,0.002070],[-0.462861,0.883951,0.066261],[0.028899,-0.059663,0.997800]]mHY?5?g`?ݿ@SI?x???im@Im'Q];mCYBy!Ii]Mb@Mb@Mb@YYYY Y9]i|?5?(\µ?MbP?Y]=y]=]:Y]@ Y)]3@YY]@i u49Y=FyF;E>Q 5G5-x?Q 9G5r)Y>Q E;ym>Q I@J|DI ;i7 ;G5yɮAuDDAT read: Rx Time:05:12:46.8201 uTRx dataTimestamp_ set to:1761541968.068745PDAT read: Bearing 322.6, -22.9 (Local) ~Local bearing/azimuth received: Bearing 322.6, -22.9 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.2 DAT read: 05:12:46.8201 LVL= 32752, 19697, 30194, 32755, AGC= 69, IDX= 507,-0.17,-0.237, 1.894, 0.614, 0.818, PHS=-0.953, 1.121,-0.248, RAW= 310.5, 0.9, CAL= 308.5, -2.3, ROT= 201.5, 2.3 Ygot valid direction response: 05:12:46.8201 LVL= 32752, 19697, 30194, 32755, AGC= 69, IDX= 507,-0.17,-0.237, 1.894, 0.614, 0.818, PHS=-0.953, 1.121,-0.248, RAW= 310.5, 0.9, CAL= 308.5, -2.3, ROT= 201.5, 2.3 V#Rx 112: Read range and direction messages.bdirection in FSK: [-0.929668,-0.366206,-0.040132]Fpublishing direction and range infoyqu׿qo׿.='YqquuLuu q)qIusiu|?u}uyj@uZ5>Z5?Z5m>E8)I Mq>iMH9)IM'5IiIiU8侉QUG<:E E E*E"E1;*E:VE(N4ZEBE[ z,Կ?A$ɰ&;YBy!IbDVD1yE%Mb=ٔMQ-M>9QYQ=UFyQUEU>YQ 5eG5]|?Q 9eG5]~r)YYiyiQ Im@]N|DI]:i]:]!G5yqɮuAyDNOT Ignoring new targets: 20.30 m.hh*h"h hgfffddjdZd%?ZZZZ) >i9)5<5iiB侉J:II9@ @@74@@ gA@ gADDAT read: Rx Time:05:12:47.3201 TRx dataTimestamp_ set to:1761541968.572712PDAT read: Bearing 322.3, -23.0 (Local) ~Local bearing/azimuth received: Bearing 322.3, -23.0 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.1 DAT read: 05:12:47.3201 LVL= 32752, 20849, 27826, 32755, AGC= 70, IDX= 507, 0.36, 1.669,-2.503, 2.513, 2.722, PHS=-0.951, 1.103,-0.253, RAW= 310.5, 1.1, CAL= 308.4, -2.1, ROT= 201.6, 2.1 Ygot valid direction response: 05:12:47.3201 LVL= 32752, 20849, 27826, 32755, AGC= 70, IDX= 507, 0.36, 1.669,-2.503, 2.513, 2.722, PHS=-0.951, 1.103,-0.253, RAW= 310.5, 1.1, CAL= 308.4, -2.1, ROT= 201.6, 2.1 V#Rx 113: Read range and direction messages.bdirection in FSK: [-0.929152,-0.367877,-0.036644]Fpublishing direction and range infoyzPM׿(א¢YqQl )FItsi/?7nF<9>@ Q )z0a@IQ =MMun7ZFǿ1Tg65? l[=)گI;0iQ =checking for new query: numPingsReceived=113, elapsed TxPingTime=50.978355^A] ;IIO>E EE)E"E9;*E:VEFA4ZEa@a@a@a@1 a , ,?1Կ?AB6²@B @BٱB9w ^AHRS rotation from veh to nav: [[0.887171,0.461432,0.002912],[-0.460586,0.885124,0.066454],[0.028086,-0.060298,0.997785]]BHc?@?g?@9aYa=mFyiuŽ;E}>Q 5G5?Q 9G5?r)Yy >Q I@R|DI&;i: G5yɮtAiiP$Կ?AJiRijiB@bq2~`RzPM׿(א¢Zi;0biQ =jLAj -44ę8@65iI Zg&'Ȅ/+?U`2i@:il"i8ݜ?*i_<BiXBiii$BieAisB@e addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.296049 m, bearing: 174.261760 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.30 m.hh*h"h hgfffddjdZd`?BBB(!IBBBBBBr;Bb.EBBBBBCػ3Z9Z9Z9Z= >u)q u>iu9)qu4W5qiyi}<侉yx;IIA9@ @@4@u DDAT read: Rx Time:05:12:47.8201 u TRx dataTimestamp_ set to:1761541969.076650} PDAT read: Bearing 322.4, -22.8 (Local)  ~Local bearing/azimuth received: Bearing 322.4, -22.8 (Local)  DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.1  DAT read: 05:12:47.8201 LVL= 32752, 21889, 30498, 32755, AGC= 70, IDX= 507,-0.01,-0.477, 1.652, 0.369, 0.584, PHS=-0.959, 1.114,-0.259, RAW= 310.6, 1.2, CAL= 308.5, -2.1, ROT= 201.5, 2.1  Ygot valid direction response: 05:12:47.8201 LVL= 32752, 21889, 30498, 32755, AGC= 70, IDX= 507,-0.01,-0.477, 1.652, 0.369, 0.584, PHS=-0.959, 1.114,-0.259, RAW= 310.6, 1.2, CAL= 308.5, -2.1, ROT= 201.5, 2.1  V#Rx 114: Read range and direction messages. bdirection in FSK: [-0.929793,-0.366255,-0.036644] Fpublishing direction and range infoyq u wJ_p׿(א¢Yq q q u Uu "w q )q Iu uiu ?u u x@u E  E E (E "E =-;*E :VE c44ZE BE p9Y=FyO;E%>AQ 5MH5Er?Q 9UH5Eq)EKBYU >Q EU;yUj>Q IU@EU|DIE:iE:EwH5yYɮeAaiiDԿ?AJiRijiqB@bop2k]WRwJ_p׿(א¢Zi 1bijfnW.-4]Z@m|Zj"h>ɹ?f3%}2i@:ii"i[7✊?*i>&<Bi[Bi8ݜ?ii)BiAiB@ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 20.296053 m, bearing: 174.214425 deg, lat: 36.779336 deg, lon: -121.859671 deg, deltaT: 0.503938 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 EDNOT Ignoring new targets: 20.30 m.hIhI*hI"hI hIgIfIfQfUHBdQdQjdYZd] B?Z >Z >Zh5?Z*j>u) 4>iW9)4m5ii6侉9;II   I)checking for new query: numPingsReceived=114, elapsed TxPingTime=51.7185259@ @@/@)^A= r;Y Ia Iy O >,ōdԿ?A@&DDAT read: Rx Time:05:12:48.3202 *TRx dataTimestamp_ set to:1761541969.580781.PDAT read: Bearing 321.8, -23.8 (Local) .~Local bearing/azimuth received: Bearing 321.8, -23.8 (Local) 6DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 JDAT read: 05:12:48.3202 LVL= 32752, 26321, 31074, 32755, AGC= 72, IDX= 509,-0.42, 0.291, 2.427, 1.165, 1.385, PHS=-0.992, 1.087,-0.264, RAW= 309.8, 1.9, CAL= 307.6, -1.4, ROT= 202.4, 1.4 NYgot valid direction response: 05:12:48.3202 LVL= 32752, 26321, 31074, 32755, AGC= 72, IDX= 509,-0.42, 0.291, 2.427, 1.165, 1.385, PHS=-0.992, 1.087,-0.264, RAW= 309.8, 1.9, CAL= 307.6, -1.4, ROT= 202.4, 1.4 NV#Rx 115: Read range and direction messages.Rbdirection in FSK: [-0.924270,-0.380957,-0.024432]VFpublishing direction and range infoy$&gaؿ{JY&̤A$$&f&by $)&HI&}i&"?&+&c@&=&˫@ &+ȼ)&=b@I&+<$$&}!ăz=ſ+\%λ? &>)&I&x 0i&+<$$vchecking for new query: numPingsReceived=115, elapsed TxPingTime=51.9914029YBy!IE] E]EYEY"E]C;*E]:VEYZEYae@ae@ae@am@bD%VD%y7%@=ٔQ->9Y=FyE>Q 5H5D?Q 9H5q)YyQ I@Y|DI:i:-H5yiɮmAqi$i&+eԿ?AJi&ARi&Aji&ьC@b&ied2 ;R \ R&gaؿ{JZi&x 0bi&+<j&jhi40rsJ2? Z&E1E'?nMkl2i&?:i&K"i&5Ӝ?*i&48CBi&߁Bi&lԜ?i&>&<i&XBi&Ai&jB@E addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504131 s, deltaX: 0.200001 m, approachRate: 0.396724 m/s, rangeRepo size: 4 i Added new target pos. range: 20.495033 m, bearing: 175.065522 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.504131 s, deltaX: 0.198980 m, approachRate: 0.394700 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.50 m.hh*h"h hgfffddjd 4@Zd ?ZIZIZIZIY)Y İ>i9)顅p5ii@侉;IIA@A @A@I@I@e=@e=ԙchecking for new query: numPingsReceived=115, elapsed TxPingTime=52.225159A AAA @AB B CB B B =B B B s;B .E ^A ;I I O >d,Sv~Կ?A5~ٲ@5QԹ@5ܼٱ55y MAHRS rotation from veh to nav: [[0.888505,0.458850,0.003986],[-0.458077,0.886432,0.066354],[0.026913,-0.060782,0.997788]]5Hn? ]?Sp?#Qݿ@]??@%?`?i5~ٲ@I5zV];1Y]By]!IIe%=)e=ԑiMb@Mb@Mb@ 9)\(?RQ?~jthYG=y=DA@ )3@Y@bDVDky%U=ٔ0;Q->9!Y!=%Fy!%Ԥ;E%>)Q 55H5-ȏ?Q 9=H5-Q E=;y=2o>Q I=@-]|DI-Q:i-8:-} H5yAɮMAIDNOT Ignoring new targets: 20.50 m.hh*h"h hgfff9Bdd!jd!Zd%?UDDAT read: Rx Time:05:12:48.8202 ]TRx dataTimestamp_ set to:1761541970.084890ePDAT read: Bearing 322.3, -23.3 (Local) m~Local bearing/azimuth received: Bearing 322.3, -23.3 (Local) }DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.0 DAT read: 05:12:48.8202 LVL= 32752, 23105, 32754, 32755, AGC= 71, IDX= 508, 0.11, 0.652, 2.769, 1.508, 1.721, PHS=-0.967, 1.094,-0.256, RAW= 310.2, 1.4, CAL= 308.0, -1.8, ROT= 202.0, 1.8 Ygot valid direction response: 05:12:48.8202 LVL= 32752, 23105, 32754, 32755, AGC= 71, IDX= 508, 0.11, 0.652, 2.769, 1.508, 1.721, PHS=-0.967, 1.094,-0.256, RAW= 310.2, 1.4, CAL= 308.0, -1.8, ROT= 202.0, 1.8 V#Rx 116: Read range and direction messages.bdirection in FSK: [-0.926726,-0.374422,-0.031411]Fpublishing direction and range infoyQU[=zWzg܆׿IzYQQQUAZU Q)UGIUPwiU1?UoU?@U+Z>Z]6?Zj2o>Uܼ)Q UR>iU9)Y]5YiYi:侉r';IIbEjEh=4rEĮ1/Em EmEm'Ei"EmL;*EmL:VEm'4ZEiBEm checking for new query: numPingsReceived=116, elapsed TxPingTime=52.726360 %,(DԿ?A2@2߹@2ټٱ2Dv :AHRS rotation from veh to nav: [[0.889156,0.457588,0.003878],[-0.456833,0.887133,0.065562],[0.026561,-0.060067,0.997841]]2H`s?I?o?<ݿec?`Ȱ?2?@ P?i2@I2U4];2CYFByF !I LN<bDRVDRyZ;%Ze=ٔZv:Q-Z>9\Y\=^Fy\bǀ;Eb>dQ 5jH5f ?Q 9jH5fp)fHBYhyjp>Q Ij@f`|DIf:if:f H5yrQBɮrApiinԿ?AJiRijiXC@b"4I2+&.IR[=zWzg܆׿IzZi|0bi=jj/f4r~:?*QZu:rᅦ'Ѷ?,L"2i?:i7"i/ܜ?*i@BiBi/ܜ?i_<i[BiAi B@5 addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 20.495052 m, bearing: 174.883143 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.504109 s, deltaX: 0.000019 m, approachRate: 0.000038 m/s, posRepo size: 4 MDNOT Ignoring new targets: 20.50 m.hIhI*hI"hI hIgIfQfQfQdQdjdZd ?Z)Z)Z)Z-p>ټ) >i9)@5ii-4侉9EfB;IAIQ!9@ @@/@mDDAT read: Rx Time:05:12:49.3203 mTRx dataTimestamp_ set to:1761541970.588992uPDAT read: Bearing 321.9, -23.4 (Local) }~Local bearing/azimuth received: Bearing 321.9, -23.4 (Local) DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.0 DAT read: 05:12:49.3203 LVL= 32752, 22001, 32754, 32755, AGC= 71, IDX= 510,-0.25, 0.393, 2.507, 1.248, 1.470, PHS=-0.975, 1.082,-0.266, RAW= 310.1, 1.8, CAL= 308.0, -1.4, ROT= 202.0, 1.4 Ygot valid direction response: 05:12:49.3203 LVL= 32752, 22001, 32754, 32755, AGC= 71, IDX= 510,-0.25, 0.393, 2.507, 1.248, 1.470, PHS=-0.975, 1.082,-0.266, RAW= 310.1, 1.8, CAL= 308.0, -1.4, ROT= 202.0, 1.4 V#Rx 117: Read range and direction messages.bdirection in FSK: [-0.926907,-0.374495,-0.024432]Fpublishing direction and range infoyimA8F"׿{JYmAiimUi i)iImyim~?m'1mI1@m=i m+ȼ)iIm+ i i ԁ rG  M wN9I YM BY9aYa=mFyi}E}>Q 5H5?Q 9 H5p)GBYyQ I@d|DIJiF9)%5)i)i>侉K;IIԱ 9@  @ @ /@ @ @ u DDAT read: Rx Time:05:12:49.8203 } TRx dataTimestamp_ set to:1761541971.092696 PDAT read: Bearing 322.2, -23.1 (Local)  ~Local bearing/azimuth received: Bearing 322.2, -23.1 (Local)  DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2  DAT read: 05:12:49.8203 LVL= 32752, 23025, 29778, 32755, AGC= 71, IDX= 509, 0.19, 0.451, 2.564, 1.298, 1.514, PHS=-0.961, 1.095,-0.261, RAW= 310.4, 1.4, CAL= 308.3, -1.8, ROT= 201.7, 1.8  Ygot valid direction response: 05:12:49.8203 LVL= 32752, 23025, 29778, 32755, AGC= 71, IDX= 509, 0.19, 0.451, 2.564, 1.298, 1.514, PHS=-0.961, 1.095,-0.261, RAW= 310.4, 1.4, CAL= 308.3, -1.8, ROT= 201.7, 1.8  V#Rx 118: Read range and direction messages.E bdirection in FSK: [-0.928674,-0.369564,-0.031411]M Fpublishing direction and range infoyq u fӲ9t׿IzYq q q u Yu Rt q )q Iu viu (?u ˡu -\@u +.ǿ+aVFc? u ,g=)u ˼Iu 0iu =q q  checking for new query: numPingsReceived=118, elapsed TxPingTime=53.517944E  E E *E "E 0;*E :VE (N4ZE BE .3,XԿ?AB@B@BԼٱBxq RAHRS rotation from veh to nav: [[0.890223,0.455510,0.003711],[-0.454784,0.888280,0.064266],[0.025977,-0.058899,0.997926]]BH`|?'?fn?/ݿl?`s?י?(@?iB@IB)];BCYZւByZ I \\iMb@Mb@Mb@ 9S㥻?J +?MbY/=y=~@ `@)Y@bDVDyf%C= ٔ-:Q-->91Y1=5Fy15;E5>9Q 5EH5=u?Q 9EH5=p)=EBYm>Q Em;ym >Q Im@=h|DI=;i=\;=FH5yqɮuAyiiԿ?AJiRiji(C@b9@& 3tq/QRfӲ9t׿IzZi0bi=jf~4[T?46ZmA?.9GA2i?:i"il\ߜ?*if<>BisBiiiiۤAi^C@- addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503704 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 20.594513 m, bearing: 174.715369 deg, lat: 36.779335 deg, lon: -121.859673 deg, deltaT: 0.503704 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 =DNOT Ignoring new targets: 20.59 m.h9h9*hA"ha hagafafifmBdidijdqZdu 8?Z>Z>ZԼ) >i69)5ii8侉7Pԑ  DDAT read: Rx Time:05:12:50.3204  TRx dataTimestamp_ set to:1761541971.600745 PDAT read: Bearing 322.5, -22.3 (Local)  ~Local bearing/azimuth received: Bearing 322.5, -22.3 (Local)  DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.1 E DAT read: 05:12:50.3204 LVL= 31408, 18913, 25394, 32755, AGC= 69, IDX= 511,-0.21, 0.734, 2.846, 1.559, 1.779, PHS=-0.943, 1.113,-0.263, RAW= 311.1, 1.0, CAL= 309.0, -2.1, ROT= 201.0, 2.1 M Ygot valid direction response: 05:12:50.3204 LVL= 31408, 18913, 25394, 32755, AGC= 69, IDX= 511,-0.21, 0.734, 2.846, 1.559, 1.779, PHS=-0.943, 1.113,-0.263, RAW= 311.1, 1.0, CAL= 309.0, -2.1, ROT= 201.0, 2.1 $S9,eԿ?AV#Rx 119: Read range and direction messages.bdirection in FSK: [-0.932953,-0.358127,-0.036644]Fpublishing direction and range infoy15rj5 Pֿ(א¢Y53A15z5I52c 1)5EI5shq>5@>@i5v?5𧆾5C@55<5@ 5Q )5`@I5Q =115"0Əfxfȿ{4? 5<)5sI5Κ1i5Q =11 checking for new query: numPingsReceived=119, elapsed TxPingTime=54.035370>-Ҽٱ>0q ]AHRS rotation from veh to nav: [[0.890853,0.454275,0.003790],[-0.453561,0.888919,0.064073],[0.025738,-0.058799,0.997938]]>H ߁? ?B o?%ݿ@r?`g?[?`?i>5@I>];9)Y)=-Fy)5y`;E5>qyQ 5H5}T?Q 9H5}o)}BBYy>Q I@}l|DI}l:i}:}H5y]@Bɮ]=A]٦Ei1i5rԿ?AJi5YARi5YAji5|B@b5,-Ҽ) ;>i9)@5iiB侉 $B B !IB BB B B B Ks;B .E^A h%<I IA O > :@,տ?A@2\ @2/@2мٱ2dv :AHRS rotation from veh to nav: [[0.891365,0.453262,0.004594],[-0.452568,0.889340,0.065235],[0.025483,-0.060227,0.997859]]2H?>?r?ܿyu? ;?@E? ֮v?i2\ @I2/9];2CYR͂ByR Ii-Mb@Mb@Mb@)))) )9-EԸ?ˡE?MbpY-=y-=--A-@ -QA)))Y-@bDE VDE2yUfj%UY=ٔU0:Q->9Y=Fy:;E>Q 5H5Q?Q 9H5go)ABY >Q E;y!j>Q I@o|DI;i:6H5yɮADNOT Ignoring new targets: 20.79 m.h!h!*h!"h! h!g!f!f)f)d)d1jd1Zd5 ?ZU >ZU >ZUϨ3?ZU*!j>mм)i mq>im9)im5qiqi}<侉y}2m 2Acoustic response timeoutY hF,տ?A6@6@6jϼٱ6y BAHRS rotation from veh to nav: [[0.891849,0.452306,0.004948],[-0.451623,0.889782,0.065762],[0.025342,-0.060884,0.997823]]6H??oDt?cܿ@y?հ? 7? ?,*?i6@I6'%];4YJĂByJ IbDRVDRyZ<%^T=ٔ^9Q-^>9`Y`=bFy`b;;Ef>dQ 5jH5f-?Q 9nH5fo)f@BYpyv-k>Q Iv@fr|DIf|;if;frH5yɮA!iiտ?AJiXARiXAjiA5C@b4_T3^t HiR =lK6}o׿ ۷pZi 1bi+=jCL4/F.\?U!#ZpՈ1@i+\?"vW 2i?:i"iT ۜ?*iA6=BiBiT ۜ?if<>isBi*AiSC@ addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.793411 m, bearing: 174.759310 deg, lat: 36.779335 deg, lon: -121.859672 deg, deltaT: 0.504025 s, deltaX: -0.000082 m, approachRate: -0.000163 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.79 m.hh*h"h hg)fffddjdZd@!?ZZZZ-k>Ejϼ)A E_>iM$9)IM5IiIiU6侉QU!@TM,a:տ?ABBB IB؂BB =BBBs;B.Ev@v@vͼٱv x| AHRS rotation from veh to nav: [[0.892241,0.451531,0.005001],[-0.450859,0.890188,0.065511],[0.025128,-0.060706,0.997839]]vH>?`?{t?ܿk|?LŰ?`C?@L?iv@Ivr+];vCYBy Ii-Mb@Mb@Mb@)))) )9-X9v? rh?MbY-=y-C=--A-@ -@)))Y) =p;=p;bDEVDEk1yUp%U=ٔ]39Q-]>9YYY=]FyYef:Ee>iQ 5uH5m˱?Q 9uH5mo)m=BYu >Q E};y}!>=Q I}@mw|DImZ:im:mu#H5yEBɮAڦEiiim&տ?AJiiRiijimaC@bm}D3i}wl#y4 8Rmܦx׿XޡZim|0bim5=jm Ѽ4WZ?PЀZm￱E k ?j2im?:im"im&?*imBBim:Biiiiim:BimɦAim5\C@!5 addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504047 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 20.793381 m, bearing: 175.280810 deg, lat: 36.779335 deg, lon: -121.859672 deg, deltaT: 0.504047 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 mDNOT Ignoring new targets: 20.79 m.hihi*hi"hq hqgqfqfyf}BdydyjdZd ?Z >Z >Z?Zi!>=ͼ) q>i)9)5ii%@侉!%>J~T,%Sտ?AY2Acoustic response timeoutYBy IbDVDyY%Q=ٔQ->9Y=FyE>Q 5 H5J?Q 9 H5n);BYyQ I@{|DIj;iw;&H5yɮA!iiLGտ?AJiRiji !C@bDX3XH)ZS%*aR ;i: V׿(א¢Zil(1biQ =ju4HP? \q(Zi|zf+?>}`[2i2?:i"iL朊?*i^<BiBil\ߜ?iA6=i3BiAi@C@m addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.505243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 20.793381 m, bearing: 174.688664 deg, lat: 36.779336 deg, lon: -121.859671 deg, deltaT: 0.505243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.79 m.hh*h"h hgfffddjdZd?ZZZZ) Ҳ>i9)`5ii:侉I EE  EE EE *EA "EE 77;*EE :VEE (N4ZEA aM @aU @aU @aU @Z, mտ?Abw*@bJ%@b8̼ٱb5:u jAHRS rotation from veh to nav: [[0.893033,0.449967,0.004591],[-0.449295,0.891040,0.064670],[0.025009,-0.059815,0.997896]]bH?B?r?@ܿe?>??"?ibw*@Ib%];bC p)r-lArtpptvQlAiv+IttItix zx)xx zlAz||||I|)|i)Ij[F    ļi  i9A) IYY%By% IbD5VD5N2yE%Ej=ٔEG9Q-M>9IYI=MFyIU;EU>ԹQ 5H5?Q 9H5n):BYyE=Q I@~|DI;i;*H5y ɮ A ] addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502942 s, deltaX: 0.300001 m, approachRate: 0.596493 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 20.79 m.hYha*ha"ha hagafafifididijdu@335@Zd"L?ZZZZiE=8̼) >i9)5iiiu4侉qud9 e DDAT read: Rx Time:05:12:52.8205 e TRx dataTimestamp_ set to:1761541974.120610m PDAT read: Bearing 322.8, -23.2 (Local) u ~Local bearing/azimuth received: Bearing 322.8, -23.2 (Local)  DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.2  DAT read: 05:12:52.8205 LVL= 32752, 24897, 29138, 32755, AGC= 70, IDX= 511, 0.27, 0.274, 2.386, 1.124, 1.333, PHS=-0.957, 1.098,-0.254, RAW= 310.3, 1.3, CAL= 308.2, -2.0, ROT= 201.8, 2.0  Ygot valid direction response: 05:12:52.8205 LVL= 32752, 24897, 29138, 32755, AGC= 70, IDX= 511, 0.27, 0.274, 2.386, 1.124, 1.333, PHS=-0.957, 1.098,-0.254, RAW= 310.3, 1.3, CAL= 308.2, -2.0, ROT= 201.8, 2.0  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.927920,-0.371142,-0.034899] Fpublishing direction and range infoya e 5ڷ׿XޡYe Aa a e Aae q a )e FIe tie D?e J e M@e ޹yT=94~@ )@Y@@AbDVD:y$%=ٔQ->9!Y!=%Fy!%8:E->)Q 55H5-M?Q 9=H5- o)-7BY] >Q E];y]xQ I]@-|DI-J;i-;-|.H5yiɮmrAiyiiտ?AJi$ARi$Aji߳C@bAk c3f:N 51UR5ڷ׿XޡZi 0bi5=ja4%%?g Zj䧋?e?Hi2i?:is"ij眊?*iABiBi&?iiBiAi~EC@ addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503608 s, deltaX: -0.200001 m, approachRate: -0.397136 m/s, rangeRepo size: 4 - Added new target pos. range: 20.892845 m, bearing: 175.202102 deg, lat: 36.779336 deg, lon: -121.859671 deg, deltaT: 1.006550 s, deltaX: 0.099464 m, approachRate: 0.098817 m/s, posRepo size: 4 -DNOT Ignoring new targets: 20.89 m.h)h1*h1"h9 h9g9f9fAfEʁBdAdAjdE5@ZdMs*?Zm >Zm >Zm=f>Zm}@'ͼ) >i9)顥6ii>侉e39h,}տ?A:0@:d+@:̼ٱ:fs BAHRS rotation from veh to nav: [[0.893368,0.449305,0.004354],[-0.448630,0.891401,0.064313],[0.025015,-0.059408,0.997920]]:Hw?k?xq?@YܿZ?v? ?@j?i:0@I:N%];8YJByJ IbDVVDVfyZyi%^=ٔ^8Q-^?9`Y`=bFy`f:Ef?hQ 5jH5jã?Q 9nH5jo)j5BYlynQ In@j|DIj;ij;j0H5ytɮvAtDNOT Ignoring new targets: 20.89 m.hh*h"h hgfffddjdZd3i?ZZZZ2@̼) e>i9)6ii%8侉!%k] 2Acoustic response timeoutԁ B >B B IB BB =B B B Ms;B .E*n,ստ?AN0@N+@NͼٱNs ^AHRS rotation from veh to nav: [[0.893385,0.449271,0.004317],[-0.448591,0.891414,0.064402],[0.025086,-0.059472,0.997915]]NH??q?ܿv?|??*s?iN0@INt];NCY=By= IIE<)Ep;ԡiMb@Mb@Mb@ 9/$?y&1?y`<tA I@)@Y@bDVD0y%/=ٔQ->9Y=Fy8E> Q 5 H5 ȣ?Q 9H5 o) 4BY{ >Q E;yYQ I@ |DI :i o:  5H5y!ɮ%A!U addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503740 s, deltaX: 0.200001 m, approachRate: 0.397032 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 20.89 m.hQhY*hY"hY hYgYfafafeBdadijdm@335@Zdm@F?Z { >Z { >Z yT>Z G@=ͼ)9 EH>iE9)AE6AiAiMB侉IM k! mu,V(տ?A2-@2(@2;tϼٱ2lt :AHRS rotation from veh to nav: [[0.893220,0.449600,0.004196],[-0.448906,0.891238,0.064638],[0.025321,-0.059619,0.997900]]2HB?A?0q?@ܿ@???m?i2-@I2*];2CYBBJ2Acoustic response timeoutyB I Rp9\Y\=bFy`bEb>dQ 5jH5f̣?Q 9jH5fo)f2BYlynQ In@f|DIf:if):f&8H5ypɮvAx% addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504018 s, deltaX: -0.200001 m, approachRate: -0.396813 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 20.89 m.h!h!*h)"h) h)g)f)f1f1d1d1jd55@Zd= py?ZYZYZYZ]>@m;tϼ)q u>iu9)qu6qiqi}<侉y}˟eiEDDAT read: Rx Time:05:12:54.3207 MTRx dataTimestamp_ set to:1761541975.632629UPDAT read: Bearing 322.8, -23.2 (Local) U~Local bearing/azimuth received: Bearing 322.8, -23.2 (Local) eDAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.3 DAT read: 05:12:54.3207 LVL= 32752, 26769, 29170, 32755, AGC= 73, IDX= 2,-0.00,-0.159, 1.975, 0.701, 0.916, PHS=-0.973, 1.104,-0.260, RAW= 310.2, 1.4, CAL= 308.1, -1.8, ROT= 201.9, 1.8 Ygot valid direction response: 05:12:54.3207 LVL= 32752, 26769, 29170, 32755, AGC= 73, IDX= 2,-0.00,-0.159, 1.975, 0.701, 0.916, PHS=-0.973, 1.104,-0.260, RAW= 310.2, 1.4, CAL= 308.1, -1.8, ROT= 201.9, 1.8 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.927378,-0.372804,-0.031411]Fpublishing direction and range infoyAEa{׿IzYEfAAAEhEq A)EIIEyiEO?EE?@E+;*E= :VE= 4ZE9 aE @aE @aE @aE @ Ƥ{,Eտ?A8DPfd59hYje%A5T-@5'(@5Ѽٱ5)s EAHRS rotation from veh to nav: [[0.893176,0.449690,0.003852],[-0.448976,0.891204,0.064622],[0.025627,-0.059448,0.997902]]5H??o? ܿ`??=?o?i5T-@I5?];1YBy IbDVDy!"%;=ٔ7Q->9Y=FyBE>Q 5H5ѣ?Q 9 H5Kp)1BY y Q I @|DIl:i:;H5yU[BɮUA]Eii|տ?AJiARiAjiC@b W3Cd.әkKLRa{׿IzZir0bi=jmU5g@]?D2 WZQԚG^G? 14ޠ2i?:iݨ"idޜ?*icwBBiBiiAiiMAi;C@u addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504261 s, deltaX: 0.299999 m, approachRate: 0.594929 m/s, rangeRepo size: 4 2Acoustic response timeoutU Added new target pos. range: 21.191376 m, bearing: 175.288350 deg, lat: 36.779336 deg, lon: -121.859673 deg, deltaT: 1.512019 s, deltaX: 0.298531 m, approachRate: 0.197438 m/s, posRepo size: 4 eDNOT Ignoring new targets: 21.19 m.hah*h"h hgBA<B >B B  IB BB B B B +s;B .Effifqdqdyjd}L5@Zd}b?ZZZZ@Ѽ) >i9)顥6ii6侉dm DDAT read: Rx Time:05:12:54.8206 m TRx dataTimestamp_ set to:1761541976.136738u PDAT read: Bearing 323.3, -23.2 (Local) } ~Local bearing/azimuth received: Bearing 323.3, -23.2 (Local)  DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.1  DAT read: 05:12:54.8206 LVL= 32752, 21233, 28434, 32755, AGC= 70, IDX= 498,-0.45,-1.433, 0.699,-0.570,-0.369, PHS=-0.961, 1.113,-0.245, RAW= 310.1, 1.0, CAL= 308.1, -2.2, ROT= 201.9, 2.2  Ygot valid direction response: 05:12:54.8206 LVL= 32752, 21233, 28434, 32755, AGC= 70, IDX= 498,-0.45,-1.433, 0.699,-0.570,-0.369, PHS=-0.961, 1.113,-0.245, RAW= 310.1, 1.0, CAL= 308.1, -2.2, ROT= 201.9, 2.2  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.927152,-0.372713,-0.038388] Fpublishing direction and range infoyi m |;׿.Ym Ai i m Rm o i )m FIm vim v?m Hzm I1@m 5AHRS rotation from veh to nav: [[0.893182,0.449682,0.003516],[-0.448952,0.891228,0.064453],[0.025850,-0.059147,0.997915]]2H@??l?ܿ@??Xx?H?i2-@I2_];0YFByF I HH\^AE~ E~E|E|"E~,K;*E~r:VE|ZE|BE~L9 Y = Fy  b8E>Q 5H5գ?Q 9H5p)Y%P=Q E%;y%-̾Q I%@|D)I;i;?H5yIɮUAQiiQֿ?AJiARiAjiVC@bZ/3q=˒R|;׿.ZibinF=j m"5U$?'ZOӋ?B2iM?:i "i뜊?*icCBìBiL朊?iBiiAiC@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504109 s, deltaX: -0.099998 m, approachRate: -0.198367 m/s, rangeRepo size: 4  Added new target pos. range: 21.091909 m, bearing: 175.315632 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504109 s, deltaX: -0.099466 m, approachRate: -0.197311 m/s, posRepo size: 4 EDNOT Ignoring new targets: 21.09 m.hAhA*hI"hI hIgIfIfQfUBdQdQjdU@335@Zd]@+?ZP=ZP=ZT=ZL@Ӽ) >i9)%$6!i!i-@侉)-@eԉ ^,׊$ֿ?A02*@2%@2ּٱ2;q :AHRS rotation from veh to nav: [[0.893021,0.450005,0.003103],[-0.449250,0.891078,0.064455],[0.026240,-0.058953,0.997916]]2H?`?ki?ܿ??ޚ? !/ ?i2*@I2yb];0Yv}Byv I~@A|bDVDky$%n=ٔQ-?9Y=Fy!%E%?)Q 55H5-أ?Q 95H5-Aq)-2BY1y5Z̾Q I5@-|DI-:i-;-BH5yAɮEAAuDNOT Ignoring new targets: 21.09 m.hqhq*hq"hq hqgyfyfyfyddjdZd`?ZZZZ6J@ּ) &>iH9))6ii:侉y`,yu@ֿ?AZ&@Zm!@ZlڼٱZ{q bAHRS rotation from veh to nav: [[0.892783,0.450478,0.002688],[-0.449697,0.890850,0.064496],[0.026660,-0.058790,0.997914]]ZH ??'f?ܿց?`ׂ? L??iZ&@IZj];XYhyj Ii]Mb@Mb@Mb@YYYY Y9]V-?~jth?{Gzt?Y]h>y]D;]ף;]A]@ ]3@)YYYYbDuVDuNyM:%5=ٔsQ->9Y=Fy咺E>Q 5H5ݣ?Q 9H5q)4BY>Q E;yQ I@|DI:i8:FH5yYɮ]AYiYi]?)ֿ?AJi]ARi]Aji]QB@b]E A3ٱ1YLR]P;4ֿIzZi]1bi]=j]`?O5i=I@nuZ]RK%2]LP?9s2i]I @:i]"i](^?*i]$9Bi]Bi]j眊?i]Ai]Bi]Ai]tC@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503963 s, deltaX: 0.099998 m, approachRate: 0.198424 m/s, rangeRepo size: 4  Added new target pos. range: 21.191406 m, bearing: 174.144041 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.503963 s, deltaX: 0.099497 m, approachRate: 0.197429 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.19 m.hh*h"h hgfffBddjdL5@Zd b?Z>Z>ZQ <Z^ߺ@lڼ) >i9)06ii%4侉!%5}Yi I A 2Acoustic response timeout06, Zֿ?A 2c$@26@2ܼٱ2o >AHRS rotation from veh to nav: [[0.892655,0.450734,0.002350],[-0.449935,0.890738,0.064377],[0.026924,-0.058523,0.997923]]2Hࡐ???c?ܿ?@z?呛??i2c$@I2];2CYFByF IIJ=)HbDRVDRyV9=%Z\=ٔZ*:Q-Z>9\Y\=^Fy\bR>Eb>dQ 5jH5fᣊ?Q 9jH5fr)f6BYhyj,Q Ij@f|DIf:if:fJH5ypɮrApiiDIֿ?AJiARiAji C@bT3|~pRc*Cpس`0=׿|p}ZiE1bi<jhW4Me?6腊7cZ("-?V`j92i??:i"iV?*i>Bi.Bi뜊?iiBi٩AibC@- addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504118 s, deltaX: -0.099998 m, approachRate: -0.198363 m/s, rangeRepo size: 4  Added new target pos. range: 21.091919 m, bearing: 174.614797 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504118 s, deltaX: -0.099487 m, approachRate: -0.197349 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.09 m.hh*h"h hgff!f!d!d)jd-@335@ZdM Ui?iZZZZݺ@ܼ) >iV9)顥76ii>侉KWVԙeDDAT read: Rx Time:05:12:56.3208 eTRx dataTimestamp_ set to:1761541977.648711mPDAT read: Bearing 322.8, -22.5 (Local) u~Local bearing/azimuth received: Bearing 322.8, -22.5 (Local) DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.2 DAT read: 05:12:56.3208 LVL= 30192, 24897, 30386, 28787, AGC= 72, IDX= 3, 0.21,-0.624, 1.488, 0.206, 0.431, PHS=-0.953, 1.102,-0.269, RAW= 310.9, 1.3, CAL= 308.8, -1.8, ROT= 201.2, 1.8 Ygot valid direction response: 05:12:56.3208 LVL= 30192, 24897, 30386, 28787, AGC= 72, IDX= 3, 0.21,-0.624, 1.488, 0.206, 0.431, PHS=-0.953, 1.102,-0.269, RAW= 310.9, 1.3, CAL= 308.8, -1.8, ROT= 201.2, 1.8 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.931864,-0.361446,-0.031411]Fpublishing direction and range infoyaeѽ!׿IzYeAaeueAaev esp)eHIesieV?e^e@e޹99Y9==Fy9EĹEE>IQ 5UH5M@棊?Q 9UH5M?s)M8BYQyUBQ IU@M|DIM;iM ;MMH5yaɮe_Aaii{iֿ?AJiARiAjiB@bd[33%݈Rѽ!׿IzZia1bi=j+sG5iU@j|d6YZWb~qo?6(rp62i@:i;"iҟ圊?*i=Bi Bii>i Bi^AiC@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503892 s, deltaX: 0.299999 m, approachRate: 0.595364 m/s, rangeRepo size: 4  Added new target pos. range: 21.390388 m, bearing: 174.518867 deg, lat: 36.779337 deg, lon: -121.859672 deg, deltaT: 0.503892 s, deltaX: 0.298470 m, approachRate: 0.592328 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.39 m.hh*h"h hgfffddjd5@Zd?ZZZZۺ@ :޼) >iz9)>6ii8侉!%T!  DDAT read: Rx Time:05:12:56.8208  TRx dataTimestamp_ set to:1761541978.160673 PDAT read: Bearing 323.4, -22.7 (Local)  ~Local bearing/azimuth received: Bearing 323.4, -22.7 (Local)  DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.0  DAT read: 05:12:56.8208 LVL= 32752, 22305, 28898, 32755, AGC= 69, IDX= 499,-0.11, 2.580,-1.598,-2.867,-2.661, PHS=-0.940, 1.109,-0.249, RAW= 310.6, 0.9, CAL= 308.6, -2.3, ROT= 201.4, 2.3  Ygot valid direction response: 05:12:56.8208 LVL= 32752, 22305, 28898, 32755, AGC= 69, IDX= 499,-0.11, 2.580,-1.598,-2.867,-2.661, PHS=-0.940, 1.109,-0.249, RAW= 310.6, 0.9, CAL= 308.6, -2.3, ROT= 201.4, 2.3  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.930306,-0.364583,-0.040132] Fpublishing direction and range infoy  ޖ'SU׿.='Y  !W p ) EI ףpi ? ~ x@ < Z@ l$) I`@I l$= mrce7ģǿ]Jʴ ? ,=) QI l(1i l$= % 2Acoustic response timeout% Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E]  E] EY EY "E] O6;*E] :VEY ZEY BE] F9Y=Fy)E>Q 5H5꣊?Q 9H5s);BYd=Q E;yQ I@|DIf:i:QH5yɮAiiwHֿ?AJiRiji-C@b;%K3X(Ⱥ1KxRޖ'SU׿.='Zil(1bil$=jEUf~G5xa?@Z sLYy?J"s 2i?:i"iu霊?*is@BiBiiiBi˪AiiB@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.511962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.390377 m, bearing: 174.733692 deg, lat: 36.779337 deg, lon: -121.859672 deg, deltaT: 0.511962 s, deltaX: -0.000011 m, approachRate: -0.000022 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.39 m.hh*h"h hgfffˁBddjdZd>? ZMd=ZMd=ZMj>ZM@e^߼)a e>ie9)額E6iiB侉YPi>a 9@  @ @ /@ I I O >Br,鞧ֿ?A6@6@6rٱ6n >AHRS rotation from veh to nav: [[0.892386,0.451269,0.001831],[-0.450440,0.890487,0.064320],[0.027395,-0.058223,0.997928]]6Hm??^?`ܿ@~?Bw?j ?bϭ?i6@I6];6CYFByJ I LLbDRVDR:yZH%Zu=ٔZιQ-^?9\Y\=bFy`b=Eb?dQ 5jH5f?Q 9jH5ft)f=BYhyjQ In@f|DIf:ifd:fTH5ypɮr ApDNOT Ignoring new targets: 21.39 m.hh*h"h hgff!f!d!d!jd!Zd-j?ZIZIZIZM߾@eDDAT read: Rx Time:05:12:57.3208 mTRx dataTimestamp_ set to:1761541978.664775uPDAT read: Bearing 323.0, -22.9 (Local) }~Local bearing/azimuth received: Bearing 323.0, -22.9 (Local) DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.2 DAT read: 05:12:57.3208 LVL= 32752, 21297, 29506, 32755, AGC= 70, IDX= 500, 0.40,-0.929, 1.182,-0.085, 0.130, PHS=-0.957, 1.097,-0.259, RAW= 310.5, 1.3, CAL= 308.4, -1.9, ROT= 201.6, 1.9 Ygot valid direction response: 05:12:57.3208 LVL= 32752, 21297, 29506, 32755, AGC= 70, IDX= 500, 0.40,-0.929, 1.182,-0.085, 0.130, PHS=-0.957, 1.097,-0.259, RAW= 310.5, 1.3, CAL= 308.4, -1.9, ROT= 201.6, 1.9 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.929265,-0.367922,-0.033155]Fpublishing direction and range infoyimOu(i ׿B3Ym̬Aiim1SmBs i)mFImtimj?mmyj@m޹@ m)mz0a@Im=iim8Xbr3u2SEǿOj8ϗ? ml[=)m(~Im;0im=ii%2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Ur)Y ]>i]k9)Y]K6Yiaie<侉im@O)~?E EEE"E9;*E:VEZEa-@a-@a-@a-@U9@ @@4@Ayi I A 2Acoustic response timeout^A- hW<IQ Ia Ou >B B B IB BB B B B r;B u.EBBBBBCɋu4ԡ Z,{ֿ?A2g"@2:@2ylٱ2WDn :AHRS rotation from veh to nav: [[0.892535,0.450975,0.001764],[-0.450146,0.890643,0.064224],[0.027392,-0.058116,0.997934]]2H`?@?b\?/ܿ$?p? ?@b@?i2g"@I2l];0YNByR IieMb@Mb@Mb@aaaa a9e:v?Q?Mb?Ye=ye\=e9Y=FyEH:E>Q 5H5?Q 9H50t)ABY=Q E;yQ I@|DI:i:aXH5yaBɮAEii󬋪ֿ?AJiARiAji)cC@bZE3M0]0ROu(i ׿B3Zi;0bi=jAJ~d5^2l?RQZa1/￉؏)?e-2ig?:i "i$2眊?*i ,BBi Biu霊?ii BiAi+B@  addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504102 s, deltaX: 0.100000 m, approachRate: 0.198373 m/s, rangeRepo size: 4 % Added new target pos. range: 21.489895 m, bearing: 174.919842 deg, lat: 36.779337 deg, lon: -121.859672 deg, deltaT: 0.504102 s, deltaX: 0.099518 m, approachRate: 0.197416 m/s, posRepo size: 4 %DNOT Ignoring new targets: 21.49 m.h!h!*h!"h! h)g)f)f)f5ӁBd1d1jd55@Zd=Ց?Z]=Z]=Z]56>Z]W@myl)i m>qiu9)y}R6yiyi6侉dT9Y=Fy :E5>IQ 5H5M?Q 9H5MZt)MEBYyaQ I@M|DIMMip9)顭Y6ii@侉s>\,1ֿ?A:,@:c'@:l޼ٱ:l BAHRS rotation from veh to nav: [[0.893098,0.449859,0.001699],[-0.449041,0.891233,0.063766],[0.027172,-0.057712,0.997963]]:HB?}?l[?@ܿ?`R?қ?@{P?i:,@I:+Q];:CYRÂByR IbDZVDZ1yb=%bX=ٔfI9Q-f>9dYd=jFyhjN:Ej>lQ 5rH5n?Q 9rH5n}t)nHBYtyvQ Iv@n|DIn6:inB:n7_H5yxɮzAxiiֿ?AJiARiAji7C@bFz&/4~!dIs*R<} /X׿P!ΚZil(1biPw<jF51?b˴ZYHJKX?~{h2i)?:i"iݜ?*i_w@BirBi$2眊?is@iiAi$C@E addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503116 s, deltaX: 0.199999 m, approachRate: 0.397520 m/s, rangeRepo size: 4 U Added new target pos. range: 21.688873 m, bearing: 174.765452 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.503116 s, deltaX: 0.198978 m, approachRate: 0.395492 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 21.69 m.hYhY*hY"hY hYgafafafadidijdm5@Zdm .?ZZZZ@l޼) >i9)顭`6ii:侉eByB} IB}BByByByByBy99@ @@/@@a=@=  *DAT read: user:348>  DAT read: 50  :unknown deviceResponse_: 50  DAT read: Ok  :unknown deviceResponse_: Ok  *DAT read: user:349>  BDAT read: Tx time:05:12:59.2753  $Ping request sent. bEFA4jEA84rE˔/E=  E= E= &E9 "E= 77;*E= :VE= 4ZE9 BE= 9Y=FyE>!Q 5-H5%?Q 9-H5%5t)%KBY5E=Q E5Q I=@%|DI%F;i%D;%ecH5yQɮUAQDNOT Ignoring new targets: 21.69 m.hh*h"h hgfffBddjdZd? ZE=ZE=Z-?ZZd>) q>iB9)顕[g6ii4侉cѐC ^AHRS rotation from veh to nav: [[0.894283,0.447500,0.001431],[-0.446704,0.892491,0.062579],[0.026727,-0.056603,0.998039]] )-gAA5l9gAYUA2H?أ?>rW?˖ܿH?2?@V^?@ ?i2 B@I2`\];2CYBy IAbDVDfy ռ% *=ٔr:Q->9Y=Fy;E>AQ 5MH5E?Q 9MH5Es)EOBYIyMf>Q IU@E|DIE:iEp:EgH5yYɮ]AYDNOT Ignoring new targets: 21.69 m.hh*h"h hgfffddjdZdY?ZZZZJf> _ڼ) >i-9)m6ii>侉!%wԱ >,gI׿?A6K@6E@6>ؼٱ6 i >AHRS rotation from veh to nav: [[0.894781,0.446502,0.001734],[-0.445721,0.892974,0.062689],[0.026442,-0.056866,0.998032]]6H ? |?4h\?`ܿ >?` ?? }?i6K@I6\];6CYFڂByF I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005222iEMb@Mb@Mb@AAAA A9Ep= ף?bX9ȶ?%mV=ٔuC:Q-u>9qYq=uFԹy3;E>Q 5%H5?Q 9-H5ds)PBY-u=Q E-;y-">Q I-@|DI:io:kH5y9ɮ=1A9eDNOT Ignoring new targets: 21.69 m.haha*ha"ha higifififu'BdqdqjdyZd}@7?Zu=Zu=Zãp?Z">>ؼ) 4>i9)页ii8侉checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2571989 h,Dc׿?A:\T@:/O@:Tؼٱ:xlm FAHRS rotation from veh to nav: [[0.895285,0.445488,0.002097],[-0.444705,0.893413,0.063644],[0.026479,-0.057912,0.997971]]:H-?߂?.a?@ v֖ܿ?@J?:?_?i:\T@I:];:CYN˂ByN IbDV VDVf2y^}%bV=ٔjrƸQ-n>9tYt=vFytzK;Ez>|Q 5H5~"?Q 9H5~r)~RBYy>Q I@~|DI~3;i~@;~FnH5yɮA=DNOT Ignoring new targets: 21.69 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU?ZqZqZqZu%>Tؼ) a>i}9)額U3iiB侉80@Q5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509528AE EE&E"E';*E:VE4ZEa@a@a@a@^Au<IIO>qԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761120A @AA ?AB% >B! B% IB% ؂BB! B! B! B% r;B% .EB,"}׿?AqYՂBy II,>)>i%Mb@Mb@Mb@!!!! !9%l?v/?~jtx?Y%=y%x=%;!! %QA)!!Y%@bD=VD=kyM=%U'=ٔUQ-U>9YYY=]FyY]E]>aQ 5mH5e ?Q 9mH5eq)aYu=Q Eu;yuK?Q Iu@e|DIea;iej;erH5yyɮ}_ADNOT Ignoring new targets: 21.69 m.hh*h"h hgfff&BddjdZd`U=@Z=Z=Z?ZsK?q)q u>i}9)y}*14yiyi<侉? ={,׿?AYnۂByn IbDz VDzf2y ==% x=ٔQ-?9Y=FyIEM?QQ 5]H5U ?Q 9]H5U q)QYYyYQ I]@U|DIU:iU;UouH5yiɮm.AiDNOT Ignoring new targets: 21.69 m.hh*h"h hgfffddjdZd@@ZZZZ) G>i9)4ii6侉II I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265166 9@ @@4@^AMe<IYIiO}>) M DDAT read: Rx Time:05:13:01.4336 U TRx dataTimestamp_ set to:1761541982.696961e PDAT read: Bearing 323.4, -23.1 (Local) e ~Local bearing/azimuth received: Bearing 323.4, -23.1 (Local) } DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.1  DAT read: 05:13:01.4336 LVL= 27360, 18017, 25186, 32755, AGC= 68, IDX= 343, 0.15, 2.023,-2.162, 2.863, 3.070, PHS=-0.945, 1.096,-0.251, RAW= 310.5, 1.1, CAL= 308.4, -2.1, ROT= 201.6, 2.1  Ygot valid direction response: 05:13:01.4336 LVL= 27360, 18017, 25186, 32755, AGC= 68, IDX= 343, 0.15, 2.023,-2.162, 2.863, 3.070, PHS=-0.945, 1.096,-0.251, RAW= 310.5, 1.1, CAL= 308.4, -2.1, ROT= 201.6, 2.1 % R#Rx 1: Read range and direction messages.- bdirection in FSK: [-0.929152,-0.367877,-0.036644]- Fpublishing direction and range infoyQ U zPM׿(א¢YU 3AQ U jU aFU bb Q )U DIU qiU I?U U yj@U nF@ U Q )U z0a@IU Q =Q Q U =)v1B>ǿEE#? U *_=)U IU ;0iU Q =Q Q  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.559181E  E E (E "E B;*E :VE c44ZE a @a @a @a @},Eٰ׿?Aɰb@bz@bUؼٱbsj nAHRS rotation from veh to nav: [[0.897629,0.440748,0.001537],[-0.439961,0.895807,0.062957],[0.026371,-0.057188,0.998015]]bHa?75?0Y?@S(ܿs?`??G@?ib@IbN];bCYقBy IbDVDk1yk%<=ٔ9Q->9Y=Fy VJ<E >Q 5=H5?Q 9=H5p)Y9y=7M?Q I=@|DI;i :-yH5yIɮM>AIii׿?AJiNARiNAji!D@bDjŤ>4oHW RzPM׿(א¢Zi;0biQ =jύʹ5J;?QrZ (y!O)!?*R2i?:i"il꜊?*iBCBiBiu霊?i_w@i BiaAiC@ addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 3.023941 s, deltaX: 0.100000 m, approachRate: 0.033070 m/s, rangeRepo size: 4   Added new target pos. range: 21.788363 m, bearing: 175.583939 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 3.023941 s, deltaX: 0.099489 m, approachRate: 0.032901 m/s, posRepo size: 4 -DNOT Ignoring new targets: 21.79 m.h1h1*h1"h1 h1g1f1f9f9d9d9jdE`f5@ZdEL?IZZZZ7M?Uؼ) J>ie9)顽t4ii@侉㼹BB!IBBBBBB%s;B.Eԁ^A I I OE >,׿?AP%DDAT read: Rx Time:05:13:01.9335 -TRx dataTimestamp_ set to:1761541983.2045865PDAT read: Bearing 323.4, -22.9 (Local) 5~Local bearing/azimuth received: Bearing 323.4, -22.9 (Local) MDAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 mDAT read: 05:13:01.9335 LVL= 32752, 18977, 26210, 32755, AGC= 69, IDX= 503,-0.24,-2.087, 0.008,-1.254,-1.045, PHS=-0.941, 1.098,-0.253, RAW= 310.6, 1.1, CAL= 308.6, -2.1, ROT= 201.4, 2.1 uYgot valid direction response: 05:13:01.9335 LVL= 32752, 18977, 26210, 32755, AGC= 69, IDX= 503,-0.24,-2.087, 0.008,-1.254,-1.045, PHS=-0.941, 1.098,-0.253, RAW= 310.6, 1.1, CAL= 308.6, -2.1, ROT= 201.4, 2.1 uR#Rx 2: Read range and direction messages.}bdirection in FSK: [-0.930431,-0.364632,-0.036644]Fpublishing direction and range infoy)- ;i: V׿(א¢Y-fA)--!J-bf ))-EI-`pi-D?-7-x@)-Z@ ))-I`@I)))-{qq￘ޜǿQa"NW? -v/=)-̼I-l(1i)))checking for new query: numPingsReceived=2, elapsed TxPingTime=3.049511YUڂByU I YYE EE'E"E3;*E:VE'4ZEBE9Y=FyE>Q 5H5?Q 9H5 o)OBY>Q E ;y 3?Q I @|DI6fZ-U!eב!ڈ?F_A2i-9?:i-ά"i-?*i-F,ABi-Bi-l꜊?i-F,Ai-Bi-Ai-%C@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.507625 s, deltaX: -0.100000 m, approachRate: -0.196997 m/s, rangeRepo size: 4  Added new target pos. range: 21.688843 m, bearing: 175.384307 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.507625 s, deltaX: -0.099520 m, approachRate: -0.196050 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.69 m.hh*h"h hgfff1Bddjd5@Zde?Z->Z->Z-͐?Z-lj3?Y)a e>ie9)ae]4aiiim:侉iu﫴? ,׿?A, @ l@ dڼٱ Qj AHRS rotation from veh to nav: [[0.898420,0.439136,0.001153],[-0.438327,0.896601,0.063055],[0.026656,-0.057155,0.998009]] Hۿ??nR? ܿ?d$?K?zC`?i @I ]; CY1y1bDE VDE2ٔUiQ-U ?9YYY=]FyY]׹;Ee ?aQ 5mH5eq?Q 9uH5e\n)eNBYqyu3?Q Iu@e|DIeI;ie3;e;H5yyɮDNOT Ignoring new targets: 21.69 m.hh*h"h hgfffddjdZds?ZZZZ3?dڼ) i9)5ii4侉{E%  E%E%)E!"E%C;*E%:VE%FA4ZE!a-@a-@a-@a-@)Y B B B B B B E checking for new query: numPingsReceived=3, elapsed TxPingTime=3.782335B B Bs;B .EBBBBBC3,ؿ?A44Y=ՂBy= IiMb@Mb@Mb@ 9T㥛 ?)\(?~jtY=yG=DA@ QA)v@Y\@bDVDkyN%<ٔQ->9Y!=%Fy!%E%>)Q 55H5-?Q 95H5-pm)-IBY=b>Q E=;y=?Q I=@-|DI-j:Ai-8:-H5yIɮMAIiil׿?AJiRiji C@bBB14V}bUVRc;׿.ZiE1binF=js5$7sT?갥5jZ8ķш?92i?:iˬ"iU?*ib?BiBiO윊?i_w@iiAirD@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.505164 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.688856 m, bearing: 175.395062 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.505164 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.69 m.hh*h"h hgfffddjdZd?Zb>Zb>Zi|?Z?y)y }ף>i}9)y}R5ii>侉,;ؿ?A2s@2F@2iٱ2۶l :AHRS rotation from veh to nav: [[0.898712,0.438540,0.000578],[-0.437675,0.896855,0.063963],[0.027532,-0.057738,0.997952]]2H>? ?xB?@ܿ ?_?C1?`ŏ@9?i2s@I27^;2CYN҂ByN IbDZVDZβyݍ% =ٔ ?Q- ?9Y=Fy;E?9Q 5EH5=?Q 9MH5=l)=GBYIyM9?Q IM@=|DI=:i=:=3Z\*o?`a-2i*?:i"iR??*iY<BiBi?iii?AinD@e addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504288 s, deltaX: 0.100000 m, approachRate: 0.198300 m/s, rangeRepo size: 4  Added new target pos. range: 21.788347 m, bearing: 175.137738 deg, lat: 36.779338 deg, lon: -121.859673 deg, deltaT: 0.504288 s, deltaX: 0.099491 m, approachRate: 0.197290 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.79 m.hh*h"h hgfffddjd`f5@Zd`?ZAZAZAZE[9?Ui)Y ]0>i]9)Y],,5Yiaie8侉amMEA  EE EE 'EA "EA *EE :VEE '4ZEA aM @aM @aM @aM @Y A ,{h3ؿ?AB)@B@BbٱB2n JAHRS rotation from veh to nav: [[0.898681,0.438604,0.000174],[-0.437699,0.896802,0.064541],[0.028152,-0.058078,0.997915]]BH??&?Cܿ ?@?Ӝ? W?iB)@IB)^;BCYb˂Byf IbD~VD~Ny % J=ٔ  ɺQ->9Y=Fy=E]>YQ 5eH5]"!?Q 9mH5] l)]CBYiym0?Q Im@]|DI]:i]9:]͊H5yyɮ}HAyii-ؿ?AJiRiji]D@bƂ<4˜j& nůwR[|A׿|p}Zi0bi<jܮݷ5*?; ٰZ-עK+%?d.2iP?:i"i?*i$BBi`BiR??iF,AiiYAi CD@ addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503178 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 1= Added new target pos. range: 21.788347 m, bearing: 175.796534 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.503178 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 21.79 m.hAhA*hA"hA hAgIfIfIfIdQdqjdqZduG?ZZZZS0?b) T>iL9)>?5iiB侉 Թ I(,2>Mؿ?Aɰp;6DDAT read: Rx Time:05:13:03.9337 :TRx dataTimestamp_ set to:1761541985.220661>PDAT read: Bearing 323.1, -23.9 (Local) >~Local bearing/azimuth received: Bearing 323.1, -23.9 (Local) FDAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.0 ZDAT read: 05:13:03.9337 LVL= 32752, 23281, 31970, 32755, AGC= 72, IDX= 505,-0.26, 2.700,-1.466,-2.720,-2.509, PHS=-0.972, 1.088,-0.255, RAW= 310.0, 1.5, CAL= 307.8, -1.7, ROT= 202.2, 1.7 ^Ygot valid direction response: 05:13:03.9337 LVL= 32752, 23281, 31970, 32755, AGC= 72, IDX= 505,-0.26, 2.700,-1.466,-2.720,-2.509, PHS=-0.972, 1.088,-0.255, RAW= 310.0, 1.5, CAL= 307.8, -1.7, ROT= 202.2, 1.7 ^R#Rx 6: Read range and direction messages.bbdirection in FSK: [-0.925463,-0.377674,-0.029666]bFpublishing direction and range infoy46tdH)+ؿ `Y6̰A446Z6| 4)6HI6xi6C?6\6"@6Pw<6o@ 6)6 a@I6<446֪ɁjzƿlRś? 6J=)66޼I6C0i6<44rchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.056775E떳@E@EٱE;m UAHRS rotation from veh to nav: [[0.898811,0.438335,-0.000450],[-0.437389,0.896937,0.064774],[0.028796,-0.058022,0.997900]]EH ? ?h=,ۿള??|?@?iE떳@IE^;ECbEc44jErEW\0E EE+E"E:;*E-:VE [4ZEBE19Y=Fy-0:E->1Q 5=H55P%?Q 9=H55Nk)5@BY==Q E=;yE?Q IE@5|DI5:i5:5#H5yiɮmWAii4i6ONؿ?AJi6ARi6Aji6 D@b6+6Y4g}M ar~R6tdH)+ؿ `Zi6C0bi6<j6q5>?36l)Z6KPM￶hi?pT2i6q?:i6n"i6e휊?*i6i9FBi6GBi4i4i6Bi6Ai6(]D@5 addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503445 s, deltaX: 0.200001 m, approachRate: 0.397264 m/s, rangeRepo size: 4 E Added new target pos. range: 21.987350 m, bearing: 176.321764 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.503445 s, deltaX: 0.199003 m, approachRate: 0.395283 m/s, posRepo size: 4 eDNOT Ignoring new targets: 21.99 m.hahi*hi"hi higififqfu+Bdqdqjd}6@Zd}`%?Z=Z=Zs?Zk?) >i9)U5ii<侉z,gؿ?A>旳@>@>ٱ>fn JAHRS rotation from veh to nav: [[0.898849,0.438257,-0.000908],[-0.437274,0.896967,0.065131],[0.029359,-0.058146,0.997876]]>H _?h ?@MKۿ?@k?<?`Eŭ@?i>旳@I>^;>CYRByR IbDZVDZ0ybiu_9)qu1e5qiqi}6侉y}BB B B IB ӂBB =B B B s;B .E checking for new query: numPingsReceived=7, elapsed TxPingTime=5.797638) Z ,yؿ?A@@Wٱ^p AHRS rotation from veh to nav: [[0.898606,0.438754,-0.001345],[-0.437721,0.896693,0.065893],[0.030116,-0.058623,0.997826]]H@b??V@ܿ?@Zް?@֞? `0?i@I#^;YBy IiuMb@Mb@Mb@qqqq q9up= ף?#~j?MbpYu=yu=uqu@ u@)uI@qYuf@bDVDkyd%%=ٔȺQ->9Y=FyE>!Q 5-H5%+?Q 95H5%6j)%Q I5@%|DI%;i%:%AH5y9ɮ=AAiqiu~qnؿ?AJiuARiuAjiuD@bu@g]4Ǹҕ ,jRu!` ]ؿP!ΚZiu@`0biuPw<jugJqj5B`?^}Zu4←ʼ-?j&]2iu?:iuk"iuG_$?*iuCBiuVBiqiu$BiuGBiuNAiuۛD@ addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.505016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.987272 m, bearing: 176.187664 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 0.505016 s, deltaX: -0.000078 m, approachRate: -0.000155 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.99 m.hh*h"h hgfff BddjdZd?Z=Z=ZWe?Z>W) 4>iq9)~5ii@侉iKA&,*Uؿ?A2@2@2ٱ2Йr :AHRS rotation from veh to nav: [[0.898395,0.439185,-0.001658],[-0.438109,0.896446,0.066666],[0.030765,-0.059166,0.997774]]2H??L+[ ܿ??@?K?i2@I2 ^;2CY^Byb If@Af@ApbDjVDjfy~ S%=ٔ 9Q-  ?9Y=Fy%E% ?)Q 5=H5-X.?Q 9=H5-i)-;BYAyE>Q IE@-|DI-m;i-Hv;-H5checking for new query: numPingsReceived=8, elapsed TxPingTime=6.301932yɮAiiؿ?AJiARiAji\.D@b>#Ň4'E)I M̪>iM_9)15w51i9i:侉Gdr׿ `YY Y ] ] [] t Y )] FI] ui] Ƌ?] L7] @] Pw,,"3ؿ?Ab@b׋@b>ٱbq nAHRS rotation from veh to nav: [[0.898425,0.439120,-0.002317],[-0.438002,0.896489,0.066797],[0.031409,-0.058998,0.997764]]bH`??b7ܿ ??`?4`?ib@Ib];`Y By  II<)a=9E=Ep=bDMVDMy%A=ٔhǺQ->9Y=Fyu9E>Q 5H51?Q 9H5_i)9BYy>Q I@|DIX;i;H5yYBɮ-AݦEiiؿ?AJiRiji!D@b4s1v4ʛD. řsRh*>dr׿ `Zibi<jN (6$0?I74MJZ]"T咲? o t 2i?:i "i4I?*i _<BiBi4I?iiisAi D@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.086761 m, bearing: 175.584034 deg, lat: 36.779338 deg, lon: -121.859674 deg, deltaT: 0.503601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.09 m.hh*h"h hgfffddjdZd ?Z!Z!Z!Z%>=>)A E>iE9)AE$5AiAiM4侉QU e DDAT read: Rx Time:05:13:05.9339 e TRx dataTimestamp_ set to:1761541987.236657m PDAT read: Bearing 323.9, -23.5 (Local) u ~Local bearing/azimuth received: Bearing 323.9, -23.5 (Local)  DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.0  DAT read: 05:13:05.9339 LVL= 32752, 22257, 28306, 32755, AGC= 70, IDX= 506, 0.40,-0.633, 1.479, 0.215, 0.416, PHS=-0.946, 1.108,-0.245, RAW= 310.4, 0.9, CAL= 308.4, -2.3, ROT= 201.6, 2.3  Ygot valid direction response: 05:13:05.9339 LVL= 32752, 22257, 28306, 32755, AGC= 70, IDX= 506, 0.40,-0.633, 1.479, 0.215, 0.416, PHS=-0.946, 1.108,-0.245, RAW= 310.4, 0.9, CAL= 308.4, -2.3, ROT= 201.6, 2.3  T#Rx 10: Read range and direction messages. bdirection in FSK: [-0.929027,-0.367828,-0.040132] Fpublishing direction and range infoya e  \Ǘɞ(k~׿.='Ye 3Aa a e Ve n a )a Ie -rie ҍ?e Hze -\@e @ e l$)e z0a@Ie l$=a a e ۼxs*ǿq'? e &v=)e ꄼIe ;0ie l$=a a  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.0728453,^ؿ?A2琳@2@2¬ٱ2p ZAHRS rotation from veh to nav: [[0.898398,0.439171,-0.003094],[-0.438004,0.896483,0.066870],[0.032142,-0.058721,0.997757]]2H?@_?Yi@Aܿ@?k?t?`?i2琳@I2^;2CEv EvEv*Et"Ev0;*Ev:VEv(N4ZEtBEv9!Y!=-Fy)-E->1Q 5]H55@6?Q 9]H55#i)58BYe=Q Ee;yef%>Q Ie@5|DI5;i5;5ƠH5yiɮm/Aqiic%ؿ?AJiIARiIAjiHD@b&@4NO e JR \Ǘɞ(k~׿.='Zi;0bil$=j (+26?υ:9Z="y*J?fji-2iw?:i"i眊?*i{=BiBi?iw=iBi3AiGD@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.502983 s, deltaX: 0.199999 m, approachRate: 0.397625 m/s, rangeRepo size: 4   Added new target pos. range: 22.285795 m, bearing: 175.723507 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.502983 s, deltaX: 0.199034 m, approachRate: 0.395707 m/s, posRepo size: 4 5DNOT Ignoring new targets: 22.29 m.h1h1*h1"h1 h9g9f9f9fEBdAdAjdE`ff6@ZdEf?Z=Z=Z?Zf%>¬) q>i&9)"5ii>侉p:, /ؿ?A2r@2E@2Fٱ25bo :AHRS rotation from veh to nav: [[0.898464,0.439031,-0.003773],[-0.437826,0.896573,0.066815],[0.032717,-0.058379,0.997758]]2H7??En Yܿ?`?D?@㭿?i2r@I2<^;2CYFByF I J;Jp;bDNVDNfyVQƼ%V=ٔZQ-Z ?9XYX=ZFy\^:E^ ?`Q 5fH5bV9?Q 9fH5bh)b7BYhyj%>Q Ij@b|DIb:ib:bH5ylɮnOAl DNOT Ignoring new targets: 22.29 m.h h *h "h  h g fffddjdZdY?ZIZIZIZMJ%>ԙF)  v>i 9)  5ii8侉%B <A <B B B IB BB B B B s;B .E- checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813577 @,qٿ?A@b@gJٱAl AHRS rotation from veh to nav: [[0.898721,0.438497,-0.004644],[-0.437258,0.896884,0.066369],[0.033268,-0.057616,0.997784]]H R?T?s ۿ@F?`?~?``?i@I^;CYBy Ii}Mb@Mb@Mb@yyyy y9}Zd;?Q?{Gz?Y}y=y}u=}#<}A}@ }A)}3@yY}f@bDVDyZ{<%=ٔ Q->9Y=Fy:E>Q 5H5Q I@|DIs:io:AH5yɮ-ADDAT read: Rx Time:05:13:06.9340 TRx dataTimestamp_ set to:1761541988.244735PDAT read: Bearing 323.6, -23.9 (Local) ~Local bearing/azimuth received: Bearing 323.6, -23.9 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 DAT read: 05:13:06.9340 LVL= 30928, 20945, 25554, 32755, AGC= 70, IDX= 507, 0.22, 0.376, 2.502, 1.238, 1.441, PHS=-0.962, 1.107,-0.247, RAW= 310.1, 1.1, CAL= 308.0, -2.1, ROT= 202.0, 2.1 Ygot valid direction response: 05:13:06.9340 LVL= 30928, 20945, 25554, 32755, AGC= 70, IDX= 507, 0.22, 0.376, 2.502, 1.238, 1.441, PHS=-0.962, 1.107,-0.247, RAW= 310.1, 1.1, CAL= 308.0, -2.1, ROT= 202.0, 2.1 T#Rx 12: Read range and direction messages.bdirection in FSK: [-0.926561,-0.374355,-0.036644]Fpublishing direction and range infoyV c]]Mn׿(א¢YAxQc )FIEvi-?|I1@nF< )Ik95*wƿ|I:V I? =)KIichecking for new query: numPingsReceived=12, elapsed TxPingTime=8.081037iiuؿ?AJiRijiD@b.4v%q /!RV c]]Mn׿(א¢Zi|0biQ =j-Z66fSZ?OlVZk ?W$?@Wu2i?:i"iҲ4휊?*imWABiBiiiBiӱAi[D@] addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 1.008078 s, deltaX: 0.100000 m, approachRate: 0.099199 m/s, rangeRepo size: 4 m Added new target pos. range: 22.285793 m, bearing: 176.156515 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.504896 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.29 m.hh*h"h hgfffBddjd6@Zd@?Zl=Zl=Z?F?E EE'E"E);*E:VE'4ZEBEMgJ) 4>i99)顝5iiB侉k?iI 9@  @ @ /@ @ =@ =q 5 checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317531^AM 8<IQ Ii Om >G,I ٿ?ARʘ@R@R- ٱRwk ZAHRS rotation from veh to nav: [[0.898773,0.438385,-0.005146],[-0.437116,0.896950,0.066410],[0.033729,-0.057438,0.997779]]RH??uۿг?`:?D?~h?iRʘ@IRZ^;RC `)`b``dfZlAif`IddIhih jԼh)hl nlAnļllppIp)pip)tIvlAv9t ttxzjixxix|)| |I|Y|YBy IbDVDy-͏%-{=1ٔ-AQ-5?99Y9==Fy9=9E=?AQ 5MH5E9??Q 9UH5EZh)E;BYQyU8>Q IU@E|DIE;iE;EH5yYɮ]Aaiiٿ?AJiARiAji[D@bȽ4fi0 "t?RV c]]Mn׿(א¢Zibij6O6nmn1?WZMێ→?rL12ii?:i}"i$~眊?*i ABiBiҲ4휊?iiBibAieD@DNOT Ignoring new targets: 22.29 m.hh*h"h hgfffddjdZdЕ?ZZZZ8>- ) z>i9)顝*5ii<侉vſ+? u60>)uZIu'0iunF=qqchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.585623E  E E +E "E C;*E V:VE [4ZE a% @a% @a% @a% @^A m<I I O > M,:ٿ?A2'@2@24 ٱ2k :AHRS rotation from veh to nav: [[0.898723,0.438481,-0.005561],[-0.437178,0.896900,0.066675],[0.034223,-0.057492,0.997759]]2HW??vۿg???o?i2'@I2$^;2CY-By- I5AA5AAbD=VD=ܲyMa=%MI=ٔUSQ-U>9YYa=eFyamGEm>yQ 5H5}B?Q 9H5} h)}Q I@}|DI}+;i}t;}H5yɮ/AԹii/ٿ?AJiIARiIAjiE@b"o:4 *{G`RLOB .NmDؿ.Zi'0binF=jZ76u?іE*Zߖ҉B@?dc.2i?:i"i?*i CBiBiB)B)B)B)B)B)B)B-s;B-.EBBBBBCk4i AiiAiD@checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821286 addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503911 s, deltaX: -0.100000 m, approachRate: -0.198448 m/s, rangeRepo size: 4  Added new target pos. range: 22.285793 m, bearing: 176.467652 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 1.007093 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.29 m.hh *h "h  h g fffddjd%`ff6@Zd%?ZZZZU3>4 ) >iq9)顽5ii6侉29 E DAT read: 05:13:07.9341 LVL= 32736, 21105, 25842, 32755, AGC= 70, IDX= 508, 0.10, 0.009, 2.131, 0.880, 1.072, PHS=-0.961, 1.104,-0.236, RAW= 309.8, 1.0, CAL= 307.7, -2.3, ROT= 202.3, 2.3 M Ygot valid direction response: 05:13:07.9341 LVL= 32736, 21105, 25842, 32755, AGC= 70, IDX= 508, 0.10, 0.009, 2.131, 0.880, 1.072, PHS=-0.961, 1.104,-0.236, RAW= 309.8, 1.0, CAL= 307.7, -2.3, ROT= 202.3, 2.3 U T#Rx 14: Read range and direction messages.] bdirection in FSK: [-0.924464,-0.379150,-0.040132] Fpublishing direction and range infoy  qN6@Dؿ.='Y A  qR d ) FI vi O? q c@ 5< l$) I l$= Z1@ſ3LJ? )>) jlI i l$=  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.111804E%  E% E% )E! "E% y>;*E% :VE% FA4ZE! BE% S9Y=FyE>Q 5H5E?Q 9H5g)>BY+=Q EQ I@|DIZ;ic;H5yɮ-MA)ii7Pٿ?AJiARiAjiE@bz4u) !uRqN6@Dؿ.='Zibil$=jo6P1?T\j[Z?fP8 or?+2i?:i"i:.ܜ?*i$WCBioBi眊?imWAiBioAiUD@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504770 s, deltaX: 0.300001 m, approachRate: 0.594332 m/s, rangeRepo size: 4  Added new target pos. range: 22.584219 m, bearing: 176.474286 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504770 s, deltaX: 0.298426 m, approachRate: 0.591211 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.58 m.hh*h"h hgfffBddjd@36@Zd?Z%+=Z%+=Z%$?Z%j+F>) >i(9)顕5ii@侉IIAchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.3259269@ @@0@@hA@q^A 8<I I O >ԙ Z,mٿ?AJ@Jv@J=OٱJk VAHRS rotation from veh to nav: [[0.898947,0.438016,-0.006038],[-0.436679,0.897124,0.066938],[0.034737,-0.057537,0.997739]]JH,?u?xۿ =?@"? ȡ?u z?iJ@IJ-];JCYbByb IbDjVDjyrͻ%rm=ٔv:źQ-v?9tYt=vFytzR:Ez?|Q 5H5~H?Q 9H5~g)~?BYy F>Q I @~|DI~:i~:~H5yɮVAMDDAT read: Rx Time:05:13:08.4340 MTRx dataTimestamp_ set to:1761541989.756847UPDAT read: Bearing 323.6, -24.2 (Local) ]~Local bearing/azimuth received: Bearing 323.6, -24.2 (Local) mDAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 DAT read: 05:13:08.4340 LVL= 32752, 21361, 26050, 32755, AGC= 70, IDX= 508,-0.38,-2.828,-0.706,-1.964,-1.760, PHS=-0.965, 1.100,-0.248, RAW= 310.0, 1.3, CAL= 307.9, -2.0, ROT= 202.1, 2.0 Ygot valid direction response: 05:13:08.4340 LVL= 32752, 21361, 26050, 32755, AGC= 70, IDX= 508,-0.38,-2.828,-0.706,-1.964,-1.760, PHS=-0.965, 1.100,-0.248, RAW= 310.0, 1.3, CAL= 307.9, -2.0, ROT= 202.1, 2.0 T#Rx 15: Read range and direction messages.bdirection in FSK: [-0.925964,-0.375995,-0.034899]Fpublishing direction and range infoyIM0%E EEE"EB;*E;:VEZEa@a@a@a@=O) >i9)05ii%:侉!% Ia,ٿ?A/@@|ٱTk -AHRS rotation from veh to nav: [[0.899240,0.437411,-0.006203],[-0.436069,0.897429,0.066826],[0.034797,-0.057388,0.997745]]H??hy`ۿ`?~?С?a?i/@I^;CY=By= IiMb@Mb@Mb@ 9{Gz?Dl?Mbp?YyO=;A@ A)3@Yf@ p<bDVD1yŀ%:=ٔQ->9Y=Fy%:E>Q 5 H5YL?Q 9 H5Vg)Y =Q E;y̅>Q I@|DIq ;i ;pH5yɮ]Aiqiu.ppٿ?AJiuARiuAjiuD@bu3-Z4__ EQRu0%|) 4>it9)顕5ii4侉J)MIMC0iIII%checking for new query: numPingsReceived=16, elapsed TxPingTime=10.108941y@y @y@}/@ybEeFA4jEeŷG4rEe20E EE(E"E4;*Ea:VEc44ZEBE checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333179g,xٿ?AJ\@J/@JٱJYrj RAHRS rotation from veh to nav: [[0.899514,0.436846,-0.006397],[-0.435500,0.897718,0.066656],[0.034861,-0.057172,0.997756]]JH?H?3z9ۿ?\?`U١?E?iJ\@IJ7];JCY^By^ IbDfVDf1ynu<%r^=ٔr7Q-r>9pYt=vFytv:Ev>xQ 5~H5zO?Q 9~H5zg)z@BYy>Q I@z|DIz;iz;zH5y ɮ 0A iiRٿ?AJiARiAjiE@b-4[!x8Re笤{ *ؿXޡZiC0bijˋc6EƐG?1]xpZ"b{?ToJ2irBBii$~眊?ih>rBiiaAiaE@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504281 s, deltaX: 0.200001 m, approachRate: 0.396606 m/s, rangeRepo size: 4  Added new target pos. range: 22.584230 m, bearing: 176.461414 deg, lat: 36.779337 deg, lon: -121.859674 deg, deltaT: 1.007712 s, deltaX: 0.000011 m, approachRate: 0.000011 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.58 m.hh*h"h hg f f f1d1d1jd5@36@Zd=`x?QZyZyZyZ}>) >i9)5ii>侉, Ygot valid direction response: 05:13:09.4340 LVL= 32752, 25521, 28514, 32755, AGC= 70, IDX= 507, 0.38, 2.374,-1.799,-3.050,-2.845, PHS=-0.962, 1.091,-0.249, RAW= 310.0, 1.3, CAL= 307.9, -1.9, ROT= 202.1, 1.9  T#Rx 17: Read range and direction messages. bdirection in FSK: [-0.926019,-0.376018,-0.033155] Fpublishing direction and range infoyaeVؿB3YeAaaecebo a)aIeEvie㥋?e~e"@ae@ e)eua@Ie=aaeLmQυ8ƿn? eP=)e zIe@`0ie=aa] checking for new query: numPingsReceived=17, elapsed TxPingTime=10.683351P&n,Yٿ?A2ث@2@2Cٱ2]j :AHRS rotation from veh to nav: [[0.899749,0.436360,-0.006540],[-0.435006,0.897955,0.066682],[0.034970,-0.057152,0.997753]]2H`?Q?sz`!ۿ ??? C?i2ث@I2];2C9YYa=eFyam:Em>Q 5H5%S?Q 9H5f)YB>BBBB =BBB|s;B.Eyg>Q I@|DI^rmCԩ) ڷ>i9)页6ii8侉 m DDAT read: Rx Time:05:13:09.9342 u TRx dataTimestamp_ set to:1761541991.268750} PDAT read: Bearing 323.5, -24.1 (Local) } ~Local bearing/azimuth received: Bearing 323.5, -24.1 (Local)  DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0  DAT read: 05:13:09.9342 LVL= 32752, 22257, 26738, 32755, AGC= 70, IDX= 509,-0.16, 2.035,-2.128, 2.890, 3.103, PHS=-0.966, 1.097,-0.256, RAW= 310.2, 1.4, CAL= 308.1, -1.8, ROT= 201.9, 1.8  Ygot valid direction response: 05:13:09.9342 LVL= 32752, 22257, 26738, 32755, AGC= 70, IDX= 509,-0.16, 2.035,-2.128, 2.890, 3.103, PHS=-0.966, 1.097,-0.256, RAW= 310.2, 1.4, CAL= 308.1, -1.8, ROT= 201.9, 1.8  T#Rx 18: Read range and direction messages. bdirection in FSK: [-0.927378,-0.372804,-0.031411] Fpublishing direction and range infoyi m a{׿IzYm fAi i m Vm rh i )i Im Kwim j?m om ?@m +T;*E :VE [4ZE BE "9Y=Fy:E>!Q 5-H5%YV?Q 9MH5%Lf)%ABYU(=Q EUQ IU@%}DI%[;i%;%WH5yYɮ]YAYii33ٿ?AJixARixAjiD@b#T 5ug 8 Ra{׿IzZir0bi=j&6䑺?Z"d Rf?8>*2i}?:i"i䜊?*is>BiȀBi圊?iJAii"Ai+ E@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504000 s, deltaX: 0.299999 m, approachRate: 0.595237 m/s, rangeRepo size: 4  Added new target pos. range: 22.683781 m, bearing: 176.195365 deg, lat: 36.779336 deg, lon: -121.859673 deg, deltaT: 0.504000 s, deltaX: 0.298471 m, approachRate: 0.592205 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.68 m.hh*h"h hgfff Bddjd6@Zd@/?Z(=Z(=Z b?ZY>M!,)I M>iM9)IM6QiQiUB侉Y]a @9{,Iٿ?A2@2Ů@2 ٱ2l :AHRS rotation from veh to nav: [[0.900181,0.435471,-0.006274],[-0.434117,0.898348,0.067179],[0.034891,-0.057750,0.997721]]2HG?@?y`ۿD?2?3ݡ?hU?i2@I2];2CY^By^ IbDf VDf2yr*%rr=ٔrq19Q-r?9tYt=vFytv;Ez?xQ 5~H5zX?Q 9H5ze)zBBYy>Q I@z}DIz:iz:z@H5y ɮfA%DDAT read: Rx Time:05:13:10.4341 -TRx dataTimestamp_ set to:1761541991.7728525PDAT read: Bearing 323.4, -24.4 (Local) 5~Local bearing/azimuth received: Bearing 323.4, -24.4 (Local) EDAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 QDAT read: 05:13:10.4341 LVL= 32752, 24625, 30866, 32755, AGC= 71, IDX= 508, 0.06,-2.861,-0.735,-1.995,-1.782, PHS=-0.978, 1.092,-0.257, RAW= 310.0, 1.6, CAL= 307.8, -1.7, ROT= 202.2, 1.7 Ygot valid direction response: 05:13:10.4341 LVL= 32752, 24625, 30866, 32755, AGC= 71, IDX= 508, 0.06,-2.861,-0.735,-1.995,-1.782, PHS=-0.978, 1.092,-0.257, RAW= 310.0, 1.6, CAL= 307.8, -1.7, ROT= 202.2, 1.7 T#Rx 19: Read range and direction messages.bdirection in FSK: [-0.925463,-0.377674,-0.029666]Fpublishing direction and range infoy!%tdH)+ؿ `Y%A!!%1`%x !)%GI%5^zi%Ƌ?%%"@%<%o@ %)% a@I%U )Q Ui>iU9)Y] 6YiYie<侉aeztiԁ!@! @!@%0@!IAIQO]3>BA<BBBBB =BBBVs;B.Echecking for new query: numPingsReceived=19, elapsed TxPingTime=11.845334 }#,Uڿ?AM3@M@MEٱM<2m eAHRS rotation from veh to nav: [[0.900406,0.435005,-0.006265],[-0.433649,0.898568,0.067257],[0.034886,-0.057842,0.997716]]MH ??yۿ ?`7?ܡ?k@J?iM3@IM];MCYuByu IԱiMb@Mb@Mb@ 9V-?㥛 ?Mbp?Yy=;A@ A)@YQAbDVD:2y%%%7=ٔ-'+7Q-->91Y1=5Fy15n:E5>9Q 5EH5=[?Q 9EH5=ze)9YM=Q EQ I@=}DI=E) ]>is9)页26ii6侉pE EE'E"E:;*E:VE'4ZEBE1AHRS rotation from veh to nav: [[0.900806,0.434173,-0.006430],[-0.432820,0.898990,0.066963],[0.034854,-0.057537,0.997735]]2H h?}?Vz Qۿ?v$?Tء?uq?i2@I2q];2CYRByR I n49Y = Fy ]<;Ee>iQ 5H5m^?Q 9H5m e)mCBYy>Q I@m}DIm?;im;mH5yɮ\Aiaieڿ?AJiexARiexAjie0EE@beiu{4P"!{DRenƝæ ,ؿ|p}Ziabie<je&JQ6hFSy?7Zeș[sK?ąN2ieʫ?:ie"ie̼뜊?*ie)ABieBie̼뜊?ie)AieȀBieVAie/EE@U addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503878 s, deltaX: 0.099998 m, approachRate: 0.198458 m/s, rangeRepo size: 4 e Added new target pos. range: 22.683794 m, bearing: 176.605523 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.503878 s, deltaX: 0.099503 m, approachRate: 0.197474 m/s, posRepo size: 4 eDNOT Ignoring new targets: 22.68 m.hahi*hi"hi hgfffddjd6@Zd9?Z9Z9Z9Z=>U)Q U>iU9)Q]6YiYi]@侉ae)E'μIE/iE=AAchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.622278iE EE)E"Eg5;*E:VEFA4ZEa@a@a@a@^Ae S-<Iq I O >ԙ u,<ڿ?ARų@R@RٱRj zAHRS rotation from veh to nav: [[0.901131,0.433497,-0.006620],[-0.432143,0.899335,0.066702],[0.034869,-0.057246,0.997751]]RH`?h?{ :ۿ Z?`?Nڡ?eO?iRų@IRI];RCYBy IbDVDk2y-S%-K=ٔ-,Q-5>91Y1==Fy9=;E=>AQ 5MH5ESa?Q 9MH5Ed)AYIyM >Q IU@E }DIEh:iE:EH5yYɮ]qAYB}>ByByByB} =ByByB}Cs;B}.EiqiuQ1ڿ?AJiuARiuAjiuE@buz9y45^k!yx Ru9FMwՃ5ؿB3Ziu/biu=ju[!6&'2?Jb/Zul^�oF?o2iu?:iuI"iu ~J?*iu:QGBiuBiue$?iqiqiuTAiuOE@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504051 s, deltaX: -0.099998 m, approachRate: -0.198390 m/s, rangeRepo size: 4  Added new target pos. range: 22.584261 m, bearing: 177.167549 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504051 s, deltaX: -0.099533 m, approachRate: -0.197466 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.58 m.hh*h"h hgfffddjd@36@Zd?ZZZZ >-)) ->i-(9)1561i1i=:侉9=M DDAT read: Rx Time:05:13:11.9343 M TRx dataTimestamp_ set to:1761541993.284718] PDAT read: Bearing 323.8, -24.9 (Local) ] ~Local bearing/azimuth received: Bearing 323.8, -24.9 (Local) m DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0  DAT read: 05:13:11.9343 LVL= 29328, 18625, 23074, 32755, AGC= 66, IDX= 510,-0.08,-0.338, 1.794, 0.553, 0.747, PHS=-0.983, 1.092,-0.238, RAW= 309.3, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9  Ygot valid direction response: 05:13:11.9343 LVL= 29328, 18625, 23074, 32755, AGC= 66, IDX= 510,-0.08,-0.338, 1.794, 0.553, 0.747, PHS=-0.983, 1.092,-0.238, RAW= 309.3, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9  T#Rx 22: Read range and direction messages. bdirection in FSK: [-0.921356,-0.387303,-0.033155] Fpublishing direction and range infoyI M  {B=<ؿB3YM AI M rM HM "Z I )M BIM {iM Ƌ?M FsM 澬@I M @ I )M b@II I I M  }elĿc]̤? M 3>)M +ͼIM /iI I I  checking for new query: numPingsReceived=22, elapsed TxPingTime=13.121075E  E E E "E B;*E :VE ZE BE v9yYy=}Fyy;E>Q 5H5d?Q 9H5;d)Y!=Q EQ I@ }DI;i;H5yɮAii8Rڿ?AJiARiAjizF@bT-I5SM!DGR {B=<ؿB3Zi/bij\rzw'6"1?MZ/$v?b`2i?:i"i}?*iy&HBiBi̼뜊?iNBiiAi\fE@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503937 s, deltaX: 0.299999 m, approachRate: 0.595311 m/s, rangeRepo size: 4  Added new target pos. range: 22.882732 m, bearing: 177.323434 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.503937 s, deltaX: 0.298471 m, approachRate: 0.592279 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.88 m.hh*h"h hgf!f)f-Bd)d1jd57@Zd5`?Zu!=Zu!=ZunN?ZuU>a) >>i9)顭6ii4侉N,Ppڿ?A>ѳ@>̺@>Rٱ>ȿh FAHRS rotation from veh to nav: [[0.901767,0.432169,-0.006812],[-0.430824,0.900005,0.066196],[0.034739,-0.056759,0.997783]]>H`F??f{ۿ?=?Wɡ?x@?i>ѳ@I>:7];Q Iv@n}DIn):in:nH5yxɮzAx DDAT read: Rx Time:05:13:12.4341  TRx dataTimestamp_ set to:1761541993.788754PDAT read: Bearing 323.7, -24.9 (Local) ~Local bearing/azimuth received: Bearing 323.7, -24.9 (Local) -DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 MDAT read: 05:13:12.4341 LVL= 28816, 17393, 25138, 32755, AGC= 65, IDX= 509, 0.18, 0.332, 2.456, 1.220, 1.417, PHS=-0.983, 1.085,-0.240, RAW= 309.2, 1.5, CAL= 307.1, -1.8, ROT= 202.9, 1.8 ]Ygot valid direction response: 05:13:12.4341 LVL= 28816, 17393, 25138, 32755, AGC= 65, IDX= 509, 0.18, 0.332, 2.456, 1.220, 1.417, PHS=-0.983, 1.085,-0.240, RAW= 309.2, 1.5, CAL= 307.1, -1.8, ROT= 202.9, 1.8 ]T#Rx 23: Read range and direction messages.ebdirection in FSK: [-0.920731,-0.388932,-0.031411]eFpublishing direction and range infoy  v= BؿIzY A  p C 2b ) AI i H? u @ Pw< Z@ ) 7b@I =   yr7xĿa? >) K;ܼI ~{/i =  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.625245i i zrڿ?AJi ARi Aji 5F@b .oE4EdE!¾ PR v= BؿIzZi ~{/bi =j U6"ful?@Z IFsϦ?{2i ˀ?:i W"i f$ ?*i 5pIBi ŀBi e$?i :QGi ŀBi ԵAi 'F@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504036 s, deltaX: -0.299999 m, approachRate: -0.595194 m/s, rangeRepo size: 4 E EEE"E,K;*E:VEZEa@a@a@a@ Added new target pos. range: 22.584261 m, bearing: 177.444253 deg, lat: 36.779337 deg, lon: -121.859676 deg, deltaT: 0.504036 s, deltaX: -0.298471 m, approachRate: -0.592163 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.58 m.hh*h"h hgfffddjd@36@Zd?QZqZqZqZu>R) (>i9)額#6ii>侉>#u,Qڿ?A8=ӳ@=ͺ@= ٱ=di }AHRS rotation from veh to nav: [[0.901831,0.432039,-0.006611],[-0.430698,0.900049,0.066419],[0.034646,-0.057052,0.997770]]=H??{ۿ2?? ?5 ?i=ӳ@I=wh];9YBy IiEMb@Mb@Mb@AAAA A9E9qYq=}Fyy}9E}>Q 5H5@k?Q 9H5c)YJ=Q E Q I@}DI:i:H5yɮADNOT Ignoring new targets: 22.58 m.hh*h"h hgfffBddjdZd`?ZJ=ZJ=Z;:?Zm5> ) ף>i9)(6iԙi8侉) 9ѼI /i   checking for new query: numPingsReceived=24, elapsed TxPingTime=14.13323859@1 @1@5/@1E EE*E"E*EO:VE(N4ZEBEL  checking for new query: numPingsReceived=24, elapsed TxPingTime=14.365104효,ڿ?Atճ@к@v ٱj AHRS rotation from veh to nav: [[0.901985,0.431719,-0.006436],[-0.430384,0.900188,0.066563],[0.034530,-0.057269,0.997761]]H?`J?\zkۿ@W?H ?@?@^R`?iճ@Ig];YBy IbD-VD-:y==%=N=ٔE9Q-E>9AYA=MFyIMXg:EM>QQ 5]H5UXn?Q 9]H5UMc)QYayeb>Q Ie@U}DIU8:iU:U[H5yiɮmAqiAiE]ڿ?AJiARiAjiE F@bEI,4k~!*cLRE -|n{ؿIzZiE/biAjEɰ砊6,|?u+ΜZE,ʃt:͞s?R2iEh?:iEU"iE ?*iEHBiÈBiE ~J?iEHiAiEAiEl%F@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504176 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.584208 m, bearing: 177.372498 deg, lat: 36.779338 deg, lon: -121.859676 deg, deltaT: 0.504176 s, deltaX: -0.000053 m, approachRate: -0.000106 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.58 m.hh*h"h hgfffddjdZdl?Z Z Z Z -b>v ) %z>i%9)!%b.6!i!i-B侉)-()QI^/i5=checking for new query: numPingsReceived=25, elapsed TxPingTime=14.633601E  EEE"EE;*E:VEZEa@a@a@a@^A]<IIO>Y î,gڿ?A>ճ@>к@>? ٱ> l FAHRS rotation from veh to nav: [[0.901977,0.431738,-0.006329],[-0.430400,0.900160,0.066841],[0.034555,-0.057565,0.997744]]>H ?`?y@ۿ`?~?!?0y?i>ճ@I> V];>CYnByn I rB!B% IB%BB!B!B!B% s;B%.E9y}r<%}X=ٔQ->9Y=Fy4CE>Q 5H5Mq?Q 9H5 c)Yy^>Q I@}DI:il:H5ydBɮAަEiQiUڿ?AJiQRiQjiU!]F@bU˲dz4!ѶPO!P־8RU͵.pؿXޡZiU^/biU5=jUȊ6Qgm?1c~ZU70_9v ǎ?D`j92iUns?:iUV"iU?*iUJBiUBiUf$ ?iUy&HiUBiUpAiU-F@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503737 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 22.584177 m, bearing: 177.584496 deg, lat: 36.779339 deg, lon: -121.859676 deg, deltaT: 0.503737 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.58 m.hh*h"h hgfffd!d!jd!Zd%?ZAZAZAZE%^>]? )Y ]Z>i]9)ae36aiaim<侉i}checking for new query: numPingsReceived=25, elapsed TxPingTime=14.869280m9- DDAT read: Rx Time:05:13:13.9342 - TRx dataTimestamp_ set to:1761541995.300706= PDAT read: Bearing 323.9, -25.0 (Local) = ~Local bearing/azimuth received: Bearing 323.9, -25.0 (Local) M DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 u DAT read: 05:13:13.9342 LVL= 32752, 19393, 28786, 32755, AGC= 68, IDX= 510, 0.32,-0.328, 1.811, 0.569, 0.761, PHS=-0.987, 1.096,-0.236, RAW= 309.1, 1.4, CAL= 307.1, -1.9, ROT= 202.9, 1.9 } Ygot valid direction response: 05:13:13.9342 LVL= 32752, 19393, 28786, 32755, AGC= 68, IDX= 510, 0.32,-0.328, 1.811, 0.569, 0.761, PHS=-0.987, 1.096,-0.236, RAW= 309.1, 1.4, CAL= 307.1, -1.9, ROT= 202.9, 1.9 } T#Rx 26: Read range and direction messages. bdirection in FSK: [-0.920679,-0.388910,-0.033155] Fpublishing direction and range infoy) - X$3vaE*ؿB3Y- fA) - - K- rp ) )- DI- |i- I?- q) - +<- Z@ - )- 7b@I- =) ) - x|\06,XĿƤ (? - >)- uEɼI- ~{/i- =) )  checking for new query: numPingsReceived=26, elapsed TxPingTime=15.137094! bEAjEEC4rEE(/E  E E )E "E N;*E :VE FA4ZE BE n9Y=Fy XC:E>Q 5-H5t?Q 9MH5bQ =MtI)YUV=Q EUQ IU@}DI;i;H5yYɮ]Aaiaie>ڿ?AJiexARiexAjie(DF@beU^f4r]2Ф!I ReX$3vaE*ؿB3Zie~{/bie=je:!868^be?h.fZe AJV?1O̥2ie[}?:ie!"ie&?*ieHBieBie&?ieHieBieNAie'DF@  addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504039 s, deltaX: 0.099998 m, approachRate: 0.198394 m/s, rangeRepo size: 4  Added new target pos. range: 22.683664 m, bearing: 177.497161 deg, lat: 36.779339 deg, lon: -121.859676 deg, deltaT: 0.504039 s, deltaX: 0.099487 m, approachRate: 0.197380 m/s, posRepo size: 4 %DNOT Ignoring new targets: 22.68 m.h!h!*h!"h! hAgIfIfIfMBdQdQjdU6@ZdU@(?ZV=ZV=Z0?Z:{> ) \>in9)86ii6侉n/i>)checking for new query: numPingsReceived=26, elapsed TxPingTime=15.3743589@ @@o0@I^A <I) IA OU >y ջ,ڿ?A2 GHTj9hYjAvDDAT read: Rx Time:05:13:14.4342 vTRx dataTimestamp_ set to:1761541995.804832zPDAT read: Bearing 322.9, -25.1 (Local) ~~Local bearing/azimuth received: Bearing 322.9, -25.1 (Local)  DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 -DAT read: 05:13:14.4342 LVL= 32752, 24017, 27634, 32755, AGC= 66, IDX= 510,-0.17,-3.113,-0.988,-2.227,-2.006, PHS=-1.004, 1.064,-0.265, RAW= 309.3, 2.3, CAL= 307.1, -1.0, ROT= 202.9, 1.0 5Ygot valid direction response: 05:13:14.4342 LVL= 32752, 24017, 27634, 32755, AGC= 66, IDX= 510,-0.17,-3.113,-0.988,-2.227,-2.006, PHS=-1.004, 1.064,-0.265, RAW= 309.3, 2.3, CAL= 307.1, -1.0, ROT= 202.9, 1.0 =T#Rx 27: Read range and direction messages.Ebdirection in FSK: [-0.921045,-0.389065,-0.017452]EFpublishing direction and range infoytv3yrnؿW7) ߑYtttv]vk t)vBIviv'1?vv澬@vl$=t v5)tIv5)vx#Itiv59Y=Fy`:E>Q 5H5Ow?Q 9H5b)Yy {>Q I @}DIS:i:H5YE} E}E}*Ey"E}B;*E}:VE}(N4ZEya@a@a@a@yɮAitiv^ڿ?AJitRitjivL8F@bvla4u!,VٿRv3yrnؿW7) ߑZitbiv5<jvM06_?' 7Zvf→Yl?IT 2iv؀?:iv9"iv_a?*ivHBivlBiv_a?itivŀBiveAivMJF@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.683664 m, bearing: 177.455696 deg, lat: 36.779340 deg, lon: -121.859676 deg, deltaT: 0.504126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.68 m.hh*h"h hgfffddjdZdL?Z1Z1Z1Z5{>E^ ) C>i9)額<6ii@侉qR nManaging dock network, ignoring radio surface power off ,A ۿ?AHHM۳@Mֺ@M4 ٱMk AHRS rotation from veh to nav: [[0.902303,0.431055,-0.006409],[-0.429722,0.900504,0.066572],[0.034467,-0.057314,0.997761]]MH? g?@zۿ ? ? ?=X?iM۳@IMoK];MCYy IiMb@Mb@Mb@ 9ˡE?A`"?MbP?Y=yY=: A)YzAbDVD0ԩy*;%==ٔX8Q->9Y=Fy!q9E>Q 5H5z?Q 9H5mb)Y=Q EQ I@}DIQ:i:H5yɮADNOT Ignoring new targets: 22.68 m.hh*h"h hgfffBddjdZdV?DDAT read: Rx Time:05:13:14.9343 TRx dataTimestamp_ set to:1761541996.308842PDAT read: Bearing 324.2, -24.4 (Local) ~Local bearing/azimuth received: Bearing 324.2, -24.4 (Local) DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 =DAT read: 05:13:14.9343 LVL= 32176, 18609, 25394, 32755, AGC= 67, IDX= 511, 0.22,-0.527, 1.610, 0.351, 0.548, PHS=-0.974, 1.107,-0.241, RAW= 309.7, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 EYgot valid direction response: 05:13:14.9343 LVL= 32176, 18609, 25394, 32755, AGC= 67, IDX= 511, 0.22,-0.527, 1.610, 0.351, 0.548, PHS=-0.974, 1.107,-0.241, RAW= 309.7, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 ET#Rx 28: Read range and direction messages.Mbdirection in FSK: [-0.923925,-0.380814,-0.036644]MFpublishing direction and range infoyyːd`C_ؿ(א¢YA}H2c )CIXyi-?v@<˫@ Q )=b@IQ =Z=Z=Z?Zj >4 ) >>i9)顝jA6i%)Ix 0iQ =checking for new query: numPingsReceived=28, elapsed TxPingTime=16.153337i:侉T;*E:VEg4ZEBE" checking for new query: numPingsReceived=28, elapsed TxPingTime=16.3811899 (,_%ۿ?AYBy II;)p;=bD VD y<%U=ٔQ-%>9!Y!=%Fy!-E->iQ 5uH5m~?Q 9uH5mLb)iYqyqQ Iu@m }DImb;imo;mH5yɮAi!i%ۿ?AJi%ARi%Aji% E@b%C\O$5R5m!R%yːd`C_ؿ(א¢Zi%x 0bi%Q =j%^36N?V Z%H'5%t?+tp٧2i%U?:i%"i%k?*i%g#3CBi%Bi!i%Hi%Bi% Ai%^BF@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504010 s, deltaX: 0.200001 m, approachRate: 0.396819 m/s, rangeRepo size: 4  Added new target pos. range: 22.882629 m, bearing: 177.035147 deg, lat: 36.779340 deg, lon: -121.859676 deg, deltaT: 0.504010 s, deltaX: 0.198965 m, approachRate: 0.394764 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.88 m.hh*h"h hgfffddjd7@Zd? Z!Z!Z!Z!1)1 5W>i=/9)9=E69i9iE4侉AAIIIIQ9@ @@/@1DDAT read: Rx Time:05:13:15.4343 TRx dataTimestamp_ set to:1761541996.812804 PDAT read: Bearing 323.8, -24.6 (Local)  ~Local bearing/azimuth received: Bearing 323.8, -24.6 (Local) DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 EDAT read: 05:13:15.4343 LVL= 32752, 20657, 27250, 32755, AGC= 67, IDX= 511,-0.20, 2.744,-1.415,-2.662,-2.457, PHS=-0.979, 1.088,-0.249, RAW= 309.6, 1.6, CAL= 307.5, -1.7, ROT= 202.5, 1.7 MYgot valid direction response: 05:13:15.4343 LVL= 32752, 20657, 27250, 32755, AGC= 67, IDX= 511,-0.20, 2.744,-1.415,-2.662,-2.457, PHS=-0.979, 1.088,-0.249, RAW= 309.6, 1.6, CAL= 307.5, -1.7, ROT= 202.5, 1.7 UT#Rx 29: Read range and direction messages.]bdirection in FSK: [-0.923473,-0.382515,-0.029666]]Fpublishing direction and range infoy70V8 {ؿ `YPrj )IziC?~@<@ )1b@I<D)u-zcſ8Z? .P>)lF߼I/i<}checking for new query: numPingsReceived=29, elapsed TxPingTime=16.649483DzD?AE EE+E"ECJ;*E:VE [4ZEa@a@a@a@^A m<I I! O- >a 0,.?ۿ?A 2ڳ@2yպ@24 ٱ2o{k >AHRS rotation from veh to nav: [[0.902233,0.431202,-0.006414],[-0.429864,0.900426,0.066704],[0.034538,-0.057425,0.997752]]2H?Ϙ?Ez@ۿJ?@{??f ?i2ڳ@I2.];2CB`B`B`B`B`B`B`Bbr;Bbn.EYnByn IbDv VDv2y~%_=ٔMKQ->9Y = Fy  0E >Q 5H5?Q 9H5-b)CBY!y%>Q I%@"}DID;i;+H5y)ɮ-A1i1i54ۿ?AJi1Ri1ji5oE@b5)!5Y!=0R570V8 {ؿ `Zi5/bi5<j5n.76-!W?pOfZ5Uz0COV?Y =2i5?:i5"i5ߨ?*i5CBi5ՀBi5&?i5Hi1i5yAi5>GF@} addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.882645 m, bearing: 177.099473 deg, lat: 36.779339 deg, lon: -121.859676 deg, deltaT: 0.503962 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.88 m.hh*h"h hgfffddjdZd`1?ZZZZ*>4 ) >i 9)I6ii>侉Dg  DDAT read: Rx Time:05:13:15.9344  TRx dataTimestamp_ set to:1761541997.316283 DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1  Z#Rx 30: Read range message, but no direction.y Y ̸A % checking for new query: numPingsReceived=30, elapsed TxPingTime=17.140627E  E E &E "E E;*E :VE 4ZE BE 9Y=Fy :E>Q 5-H5򃤊?Q 9-H5a)DBY5]=Q E5Q I5@%}DIFk;ikn;H5yAɮM AI addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503479 s, deltaX: 0.100000 m, approachRate: 0.198619 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 22.88 m.hh*h"h hgfff Bd djd7@Zd@?Z]=Z]=Z%?ZZ(V>% )) -{>i-9))-N6)i)i58侉15o!,rۿ?A2@2ۺ@2` ٱ2Zh :AHRS rotation from veh to nav: [[0.902562,0.430512,-0.006495],[-0.429195,0.900797,0.066002],[0.034265,-0.056783,0.997798]]2H ? ?͚zwۿT?~?>??i2@I2$];2CYBByF I DDbDNVDN:yV<%Vb=ٔZ9Q-Z>9XYX=ZFyX^:fPDAT read: Bearing 299.5, -34.1 (Local) f~Local bearing/azimuth received: Bearing 299.5, -34.1 (Local) rDAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 | DAT read: 05:13:16.4344 LVL= 32752, 22881, 30418, 32755, AGC= 70, IDX= 512,-0.26, 0.710, 3.142, 2.047, 2.453, PHS=-1.641, 0.734,-0.450, RAW= 299.9, 13.1, CAL= 297.2, 19.2, ROT= 212.8, -19.2 Ygot valid direction response: 05:13:16.4344 LVL= 32752, 22881, 30418, 32755, AGC= 70, IDX= 512,-0.26, 0.710, 3.142, 2.047, 2.453, PHS=-1.641, 0.734,-0.450, RAW= 299.9, 13.1, CAL= 297.2, 19.2, ROT= 212.8, -19.2 T#Rx 31: Read range and direction messages.`direction in FSK: [-0.793811,-0.511577,0.328867]Fpublishing direction and range infoy`bf{)S^f& ?Y```baYbv `)bFIbJ ҿibm;?bff澩b~@b j>b@ b>)b,m@Ib``bNJ)￵]"&[?0͢? bH@)bjIbl$ib``E>Q 5H5?Q 9H5a)FBYyV>Q I@'}DI`:i:bH5checking for new query: numPingsReceived=31, elapsed TxPingTime=17.672981yɮAE] E]E](EY"E]sH;*E]L:VE]c44ZEYae@ae@ae@ae@i`ibrtۿ?AJib۷ARib۷Ajib/O@bb׼kT>2e'~Ϫs;@Rbf{)S^f& ?Zibl$bibjb聗5nm:;U@Zbp f!"2^A4?2ib:ib"ibIbl?*ibLBibґBi`i`ibՀBibAibSF@  addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 22.982136 m, bearing: 185.984622 deg, lat: 36.779339 deg, lon: -121.859676 deg, deltaT: 1.006691 s, deltaX: 0.099491 m, approachRate: 0.098830 m/s, posRepo size: 4 EDNOT Ignoring new targets: 22.98 m.hAhA*hA"hA hAgIfIffddjdZd@?ZZZZJV>)M` )Q U>iUk9)QUS6QiQi]B侉Ye݆=IaII)1@1 @1@5/@1BBBBBBBBr;Bs.EYDDAT read: Rx Time:05:13:16.9344 TRx dataTimestamp_ set to:1761541998.075749checking for new query: numPingsReceived=31, elapsed TxPingTime=17.899263^A% G<I1 IA OM >ԁ ,ཌۿ?A~@~_޺@~͜ ٱ~jg 5AHRS rotation from veh to nav: [[0.902713,0.430194,-0.006444],[-0.428891,0.900963,0.065721],[0.034078,-0.056564,0.997817]]~H ?@M?dzrۿ`?Ӱ? r?`?i~@I~I];~CaYBy IbDVD2yM<%7=ٔ 9Q->9qYq=}Fyy}A:E}>Q 5I5?Q 9I5a)GBYyV>Q I@)}DI;i/;+I5yɮAB*** querying acoustic contact ***i iDNOT Ignoring new targets: 22.98 m.hh*h"h hgfffddjdZd`J?ZZZZV>͜ ) q>i9)hX6!i!i%<侉)-=I)I)DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 Z#Rx 32: Read range message, but no direction.yYchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.148661ԉ@ @@ 0@ Em  Em EiEi"EmG;*Em:VEiZEiBEm)  DDAT read: Rx Time:05:13:17.4343  TRx dataTimestamp_ set to:1761541998.578461 checking for new query: numPingsReceived=32, elapsed TxPingTime=18.4006613,Nۿ?A2@2W@2 ٱ2]Hg :AHRS rotation from veh to nav: [[0.902822,0.429968,-0.006368],[-0.428676,0.901081,0.065498],[0.033900,-0.056403,0.997832]]2H??[zooۿ?`wİ?X[?ି >?i2@I2N)];2CY^Byb Ii}Mb@Mb@Mb@yyyy y9}v/?Mb?I +?Y}xi=y}@=}949Y=Fy&:E>ԹQ 5I5׋?Q 9I5ka)IBY=Q E1Q I@+}DI:i:{I5yɮA  addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503955 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 22.98 m.hh*h"h hgfff$Bd!d!jd!Zd%]?ZE=ZE=ZE0?ZEe`>] )Y ]\>i]J9)ae\6aiaim6侉im:F=IiIi-9@) @)@-4@)DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 Z#Rx 33: Read range message, but no direction.yYAchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.651331^A2g=I!I1OE>Eu EuEu*Eq"Eu1A;*Eu:VEu(N4ZEqa@a@a@a@9 ,tۿ?AB4B4B6 IB6BB4B4B4B6s;B6.EB)B)B)B- =B- =C-*3B@B@B ٱBg NAHRS rotation from veh to nav: [[0.902963,0.429673,-0.006228],[-0.428395,0.901224,0.065371],[0.033701,-0.056360,0.997842]]BH`?@?8y@jۿ@?`*?;A?1۬Q?iB@IB];@YnByn IIr=)r<bDzVDz0y;%U=ٔU:Q- >9 Y = Fy 9W:E>Q 5%I5&?Q 9%I5;a)KBY!y%>Q I-@,}DI:i:I5y1ɮ5|A1e addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503871 s, deltaX: -0.100000 m, approachRate: -0.198464 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 22.98 m.hihi*hi"hi higififqfqdqd)UDDAT read: Rx Time:05:13:17.9345 eTRx dataTimestamp_ set to:1761541999.083932}PDAT read: Bearing 326.1, -51.0 (Local) ~Local bearing/azimuth received: Bearing 326.1, -51.0 (Local) DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 jd-7@Zdl?Z#Rx 34: Read range message, but no direction.yYY]fAYEchecking for new query: numPingsReceived=34, elapsed TxPingTime=18.934780ZZZZ冂> ) w>i9)a6ii@侉GZ=II5e>i5!>A@ @@4@y DAT read: 05:13:17.9345 LVL= 32752, 23409, 26482, 32755, AGC= 70, IDX= 513, 0.14, 0.453, 2.737, 2.315, 2.020, PHS=-1.465, 0.762, 0.252, RAW= 282.6, 4.5, CAL= 281.0, -0.9, ROT= 229.0, 0.9  Ygot valid direction response: 05:13:17.9345 LVL= 32752, 23409, 26482, 32755, AGC= 70, IDX= 513, 0.14, 0.453, 2.737, 2.315, 2.020, PHS=-1.465, 0.762, 0.252, RAW= 282.6, 4.5, CAL= 281.0, -0.9, ROT= 229.0, 0.9  Z#Rx 35: Read direction message, but no range. bdirection in FSK: [-0.655978,-0.754616,-0.015707]y  <tv%还y& q[ rg ) I i oC? %> h՝@ |٠= @ ) @I < a,qbTr ?ڈs)"? 25@) BI Ti <5 checking for new query: numPingsReceived=35, elapsed TxPingTime=19.162590^A9 I I O >E  E E E "E B;*E :VE ZE BE v9Y=Fy%E%>)Q 55I5-g?Q 95I5-`)-NBY5=Q E=85!̼"):/?Z)e'֭Sf?Qٿ*\ts?2id:i"iI)?*iTBiBi_a?iilBi·Ai(qF@ addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.256611 s, deltaX: 0.299999 m, approachRate: 1.169082 m/s, rangeRepo size: 4  Added new target pos. range: 23.181084 m, bearing: 203.583920 deg, lat: 36.779340 deg, lon: -121.859676 deg, deltaT: 1.264437 s, deltaX: 0.198948 m, approachRate: 0.157341 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.18 m.hh)*hI"hI hQgQfQfQf]5BdYdYjd]L7@Zd]P?Z=Z=Zcw?Zo?) >i9)顝e6ii:侉 .=IIMDDAT read: Rx Time:05:13:18.4345 UTRx dataTimestamp_ set to:1761541999.584611]DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 eZ#Rx 36: Read range message, but no direction.yIYIImchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.408979@ @@/@ԩ^A I I O > o,*ۿ?Aɰ;2@2@2ٱ2wf :AHRS rotation from veh to nav: [[0.903327,0.428912,-0.005842],[-0.427670,0.901596,0.064987],[0.033140,-0.056206,0.997869]]2H@?@Ms?Ow^ۿ`??? Ǭ?i2@I2];2CYFByF I HJ<Rchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.657272bD VD y%\=ٔ:Q->9!Y!=%Fy!-;E->1Q 55I55P?Q 9=I55v`)5PBY9y=?Q I=@50}DI5;i5;5 I5yIɮMAI} addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.500679 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 23.18 m.hh*h"h hgfffddjdZd@?ZZZZ?) fq>i9)+i6ii4侉 I=IIE  E EE"EG;*E:VEZEa@a@a@a@9@ @@@B]<A]<BaBaBe IBeBBaBaBaBer;Ben.E^AII O5>uDDAT read: Rx Time:05:13:18.9346 }TRx dataTimestamp_ set to:1761542000.092050PDAT read: Bearing 324.2, -24.1 (Local) ~Local bearing/azimuth received: Bearing 324.2, -24.1 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0  Z#Rx 37: Read range message, but no direction.yqYu3Aq1 E checking for new query: numPingsReceived=37, elapsed TxPingTime=19.938492Y d,`;ܿ?AF @F@F:ٱFf fAHRS rotation from veh to nav: [[0.903403,0.428754,-0.005713],[-0.427520,0.901668,0.064973],[0.033009,-0.056255,0.997871]]FH? p?fwz\ۿ`w??? fͬ`?iF @IF*E];FCYBy  I !!bDVDk1yOY=%=:=ٔM9Q-U>9yYy=}Fyy'9E>Q 5I5?Q 9I5 `)SBYy?Q I@2}DI;i;I5yɮvA addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.507439 s, deltaX: 0.100000 m, approachRate: 0.197069 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 23.18 m.hQhY*hY"hY hYgYfYfafadadajdm`ff7@Zdm`(?DAT read: 05:13:18.9346 LVL= 32752, 32209, 32754, 28147, AGC= 72, IDX= 2,-0.02, 1.612,-2.552, 2.473, 2.679, PHS=-0.964, 1.097,-0.250, RAW= 310.0, 1.3, CAL= 308.0, -2.0, ROT= 202.0, 2.0 Ygot valid direction response: 05:13:18.9346 LVL= 32752, 32209, 32754, 28147, AGC= 72, IDX= 2,-0.02, 1.612,-2.552, 2.473, 2.679, PHS=-0.964, 1.097,-0.250, RAW= 310.0, 1.3, CAL= 308.0, -2.0, ROT= 202.0, 2.0 Z#Rx 38: Read direction message, but no range.bdirection in FSK: [-0.926619,-0.374378,-0.034899]yܦx׿Xޡ} m)HIvij?"@޹<@ 5)ܢa@I5= 4Pm(|Wƿ.+|\? |=)躼I|0i5=checking for new query: numPingsReceived=38, elapsed TxPingTime=20.171183ZAZAZAZE?:) >ih9)顥m6ii>侉|=IIbE(N4jEmF4rE7/Eu% Eu Eu)Eq"EuO];*Eu:VEuFA4ZEqBEum DDAT read: Rx Time:05:13:19.4345 u TRx dataTimestamp_ set to:1761542000.596320 PDAT read: Bearing 324.3, -24.3 (Local)  ~Local bearing/azimuth received: Bearing 324.3, -24.3 (Local)  DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0  Z#Rx 39: Read range message, but no direction.yi Ym fAi - checking for new query: numPingsReceived=39, elapsed TxPingTime=20.441151Ȃ ,6'ܿ?A,B@B@BJٱBg JAHRS rotation from veh to nav: [[0.903609,0.428325,-0.005421],[-0.427110,0.901867,0.064912],[0.032692,-0.056340,0.997876]]BH\?i?3v Uۿ???ج ?iB@IB2];@YTyTiMb@Mb@Mb@ 9y&1?x&?:v?Y`9Y=Fy:E>Q 5 I5?Q 9 I5_)UBY=Q E3>iF9)r6ii8侉 =III -cGAi,9YA9@ @@/@@gA@y5e?5/QADAT read: 05:13:19.4345 LVL= 32752, 22177, 30098, 32755, AGC= 71, IDX= 497, 0.21, 2.170,-1.987, 3.039,-3.042, PHS=-0.970, 1.100,-0.247, RAW= 309.9, 1.3, CAL= 307.8, -2.0, ROT= 202.2, 2.0 Ygot valid direction response: 05:13:19.4345 LVL= 32752, 22177, 30098, 32755, AGC= 71, IDX= 497, 0.21, 2.170,-1.987, 3.039,-3.042, PHS=-0.970, 1.100,-0.247, RAW= 309.9, 1.3, CAL= 307.8, -2.0, ROT= 202.2, 2.0 Z#Rx 40: Read direction message, but no range.bdirection in FSK: [-0.925307,-0.377610,-0.034899]ye笤{ *ؿXޡVu )GIQxǐ?|@o@ ) a@I84ᅱEnſsDE? >)2IC0i checking for new query: numPingsReceived=40, elapsed TxPingTime=20.674809 E EE*E"E,K;*Ej:VE(N4ZEa@a@a@a@^A r=I I O >! i,úAܿ?AB4B4B6 IB6ĂBB4B4B4B6r;B6M.E|YEByM Iy}@AbDVD:2y*%`=ٔQ->9Y=FyE>Q 5I5+?Q 9I5_)WBYyQ I@6}DI:i:I5yɮADNOT Ignoring new targets: 23.18 m.hh*h"h hgf f f d djd%DDAT read: Rx Time:05:13:19.9345 %TRx dataTimestamp_ set to:1761542001.096445-DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 5Z#Rx 41: Read range message, but no direction.y!Y!!=checking for new query: numPingsReceived=41, elapsed TxPingTime=20.920776Zd=`?ZaZaZaZa) >i.9)u6iiB侉=II19@ @@<0@a^A;=IIO > checking for new query: numPingsReceived=41, elapsed TxPingTime=21.169136ԁ E  E E &E "E I@;*E :VE 4ZE BE t`Fۿ?`S?`H?;`?i^5@I^,g];^CY~By II 4=) =YiMb@Mb@Mb@ 9{Gz?333333?9Y=Fy  e ;E >Q 5I5뙤?Q 9I5_^)XBY%=Q E%)i99)页y6ii<侉5 =III)gA]9@Y @Y@e5@aԙ5DDAT read: Rx Time:05:13:20.4345 =TRx dataTimestamp_ set to:1761542001.601625EDAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 MZ#Rx 42: Read range message, but no direction.y9Y99Uchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.425968Ա^AG=IIO> ,ruܿ?A2)@2@2:ٱ2g :AHRS rotation from veh to nav: [[0.904371,0.426719,-0.004850],[-0.425543,0.902615,0.064809],[0.032033,-0.056547,0.997886]]2H?@_O?s <ۿ7?J?f? ?i2)@I2F];2CFchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.673273YJByJ IbDVVDVN2yZ<%^b=ٔ^A:Q->9Y=%Fy!%L:E%>)Q 55I5-?Q 95I5-])-YBY1y=_?Q I=@-:}DI-a;i-L;-I5yAɮEAAu addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505180 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 23.18 m.hyhy*hy"hy hgfffddjdZd-?ZZZԹZ_?:) k>i9)}6ii6侉B=IIE EE(E"EQ;*Eg:VEc44ZEa@a@a@a@U9@Q @Y@]+4@YBe>BaBaBaBaBaBaBer;BeD.E^A@o=]DDAT read: Rx Time:05:13:20.9346 eTRx dataTimestamp_ set to:1761542002.108560PDAT read: Bearing 324.7, -24.1 (Local) ~Local bearing/azimuth received: Bearing 324.7, -24.1 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1 Z#Rx 43: Read range message, but no direction.IIO >yYY]3AY checking for new query: numPingsReceived=43, elapsed TxPingTime=21.9809579 #,Lܿ?AɰDAT read: 05:13:20.9346 LVL= 28848, 25377, 31218, 27619, AGC= 72, IDX= 2, 0.05, 2.620,-1.548,-2.799,-2.608, PHS=-0.954, 1.105,-0.235, RAW= 309.9, 0.9, CAL= 307.9, -2.3, ROT= 202.1, 2.3 Ygot valid direction response: 05:13:20.9346 LVL= 28848, 25377, 31218, 27619, AGC= 72, IDX= 2, 0.05, 2.620,-1.548,-2.799,-2.608, PHS=-0.954, 1.105,-0.235, RAW= 309.9, 0.9, CAL= 307.9, -2.3, ROT= 202.1, 2.3 Z#Rx 44: Read direction message, but no range.bdirection in FSK: [-0.925782,-0.375921,-0.040132]y|Xnؿ.='p!cy k)HIX9tip?ףp<@ l$)ua@Il$=Xa#x Rſ̐? 9>)ggI@`0il$=checking for new query: numPingsReceived=44, elapsed TxPingTime=22.186821AE E E+E"Ey>;*E:VE [4ZEBES9Y=FyE>Q 5I5[?Q 9I5\)Y=Q EARi>AjiE@b\p惍5kd݀!#R|Xnؿ.='Zi@`0bil$=jY<87@c?. ZX$C1 索?ͨ2i?:iƹ"i[?*iRD<BirBiiiiAqiqF@ addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.506935 s, deltaX: 0.100000 m, approachRate: 0.197265 m/s, rangeRepo size: 4  Added new target pos. range: 23.280632 m, bearing: 177.013054 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 1.512240 s, deltaX: 0.099516 m, approachRate: 0.065807 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.28 m.hh*h"h hgfff9Bddjd`ff7@Zd?Z =Z =Z W?Z b? )  u>i 9)  6 i i% @侉! % T=I1 II U a>iQ @  @ @ 0@ u DDAT read: Rx Time:05:13:21.4345  TRx dataTimestamp_ set to:1761542002.614855ԙ  PDAT read: Bearing 324.9, -24.3 (Local)  ~Local bearing/azimuth received: Bearing 324.9, -24.3 (Local)  DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0  DAT read: 05:13:21.4345 LVL= 28384, 17697, 23026, 32755, AGC= 68, IDX= 497, 0.23, 1.951,-2.219, 2.821, 3.007, PHS=-0.954, 1.103,-0.230, RAW= 309.7, 0.9, CAL= 307.7, -2.4, ROT= 202.3, 2.4  Ygot valid direction response: 05:13:21.4345 LVL= 28384, 17697, 23026, 32755, AGC= 68, IDX= 497, 0.23, 1.951,-2.219, 2.821, 3.007, PHS=-0.954, 1.103,-0.230, RAW= 309.7, 0.9, CAL= 307.7, -2.4, ROT= 202.3, 2.4  T#Rx 45: Read range and direction messages. bdirection in FSK: [-0.924398,-0.379123,-0.041876] Fpublishing direction and range infoyy } r_YCؿ ۷pY} fAy } n} !E} Y } )} DIy i} /?} k} @y } $ګ@ } +)} a@I} +=y y } r ߉AґQſFn9? } :>)} ́I} '0i} +=y y  checking for new query: numPingsReceived=45, elapsed TxPingTime=22.489424^AeNw =IqIO?'l+,ܿ?AR@Rs @RٱRB\f jAHRS rotation from veh to nav: [[0.905188,0.424985,-0.004636],[-0.423842,0.903455,0.064238],[0.031489,-0.056183,0.997924]]RHM? 2?7r; ۿ?q?@K?@ì?iR@IRK];RC p)pr`弩rMFptvVlAitIttIikA /ݼ) ̼^VFI!)!i!)!I!%ļ) ))m lAmļiqqiՁթ)ձ ձIձYYBy IbDVD:yFW%y=ٔ:Q-?9)Y)=-Fy)5H;E5 ?9Q 5EI5=ן?Q 9EI5=!\)9YAyEb?Q Ie@=?}DI=q;i=;='I5yqɮuAqԉiqiuYܿ?AJiurARiurAjiuUF@bu}m5|,!U?/Rur_YCؿ ۷pZiu'0biu+=ju. 7luG?/$3eZuE۞jڧ? Ebd2iui9)6ii:侉=IIE EE'E"E1A;*E>:VE'4ZEa@a@a@a@9@ @@4@B9 B9 B= IB= BB9 B9 B9 B= r;B= Q.E^A I IY O >] DDAT read: Rx Time:05:13:21.9346 e TRx dataTimestamp_ set to:1761542003.120554} PDAT read: Bearing 324.5, -24.5 (Local) } ~Local bearing/azimuth received: Bearing 324.5, -24.5 (Local)  DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0  Z#Rx 46: Read range message, but no direction.yY Y] 3AY  checking for new query: numPingsReceived=46, elapsed TxPingTime=22.949413 N2,ܿ?ARS@R&@RX/ٱRe ZAHRS rotation from veh to nav: [[0.905644,0.424015,-0.004596],[-0.422884,0.903921,0.063997],[0.031290,-0.056015,0.997940]]RH`?#?*r`ۿ?b????iRS@IRP];RCYBy IbDVDNyL%O=ٔ:Q->9Y=FyR2;E>Q 5I5?Q 9I5s[)Yyb?Q I@A}DI:i:?+I5yɮA- addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.505699 s, deltaX: 0.100000 m, approachRate: 0.197747 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 23.18 m.h)h)*h)"h) h1g1f1f9f9d9d9jd=`ff7@ZdE`?ZaZaZaZeob?uX/)q }8[>i}9)y}G6yiyi4侉k=II9@ @ @ /@ @@gA!DAT read: 05:13:21.9346 LVL= 32752, 27217, 32754, 32755, AGC= 73, IDX= 2, 0.47, 2.906,-1.275,-2.508,-2.312, PHS=-0.963, 1.082,-0.240, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 Ygot valid direction response: 05:13:21.9346 LVL= 32752, 27217, 32754, 32755, AGC= 73, IDX= 2, 0.47, 2.906,-1.275,-2.508,-2.312, PHS=-0.963, 1.082,-0.240, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 Z#Rx 47: Read direction message, but no range.bdirection in FSK: [-0.923372,-0.382473,-0.033155]yj_;B;pzؿB3Qj )II+vi~?u@+<@ )1b@I=)h"b|PVſԠ4a? W>)*üI/i=checking for new query: numPingsReceived=47, elapsed TxPingTime=23.199068^A]=IIO>E  EE)E"EG;*E:VEFA4ZEBE)cծؿXޡYfAwOd )EI#yi(?Fs3ͬ@޹<@ 5)kb@I5=i￧uĿݰ? >)=I/i5= checking for new query: numPingsReceived=48, elapsed TxPingTime=23.475584QiMb@Mb@Mb@ 9~jt?ʡE?MbP?Y9Y=Fya:E>Q 5I5 ?Q 9I5wZ)XBYc=Q EcծؿXޡZi/bi5=j:$7aҀ?E Z3Qº=~b?7|2id?:i&"i?*iW CBiBiiiBiAiAF@ addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503542 s, deltaX: -0.100000 m, approachRate: -0.198594 m/s, rangeRepo size: 4  Added new target pos. range: 23.181139 m, bearing: 177.795950 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 1.009241 s, deltaX: -0.000004 m, approachRate: -0.000004 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.18 m.hh*h"h hgfff0BddjdL7@Zd @?Z-c=Z-c=Z-??Z- k?e,)a e W>ie9)aeJ6iiiim>侉qu=IqI- 9@)  @) @- 4@)  checking for new query: numPingsReceived=48, elapsed TxPingTime=23.693743Թ D =D 4= E  E E (E "E ;;*E :VE c44ZE a @a @a @a @^Am #=Iy I O >@,Iݿ?A6+@6R&@6"ٱ6f >AHRS rotation from veh to nav: [[0.906536,0.422105,-0.004369],[-0.420988,0.904800,0.064080],[0.031001,-0.056252,0.997935]]6H@X?@?qwڿ?@g?־?ͬ?i6+@I6];4YJByJ IbDRVDRP)yZꜼ%Z=ٔ^/:Q-^?9\Y\=bFy`b;Eb?dQ 55I5fY?Q 95I5fY)dY1y=kk?Q I=@fF}DIfgByB} IB}BByByByB}r;B}O.EB9B9B9B9B9C= 4DNOT Ignoring new targets: 23.18 m.hh*h"h hgfffddjdZd"?Z!Z!Z!Z% kk?Q") LQ>i%9))-61i1im8侉quS: =IqIDDAT read: Rx Time:05:13:22.9347 TRx dataTimestamp_ set to:1761542004.125493PDAT read: Bearing 324.8, -24.3 (Local) ~Local bearing/azimuth received: Bearing 324.8, -24.3 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.0 DAT read: 05:13:22.9347 LVL= 25424, 19489, 23490, 27523, AGC= 72, IDX= 3, 0.01, 1.912,-2.252, 2.783, 2.978, PHS=-0.964, 1.098,-0.239, RAW= 309.7, 1.2, CAL= 307.7, -2.1, ROT= 202.3, 2.1 Ygot valid direction response: 05:13:22.9347 LVL= 25424, 19489, 23490, 27523, AGC= 72, IDX= 3, 0.01, 1.912,-2.252, 2.783, 2.978, PHS=-0.964, 1.098,-0.239, RAW= 309.7, 1.2, CAL= 307.7, -2.1, ROT= 202.3, 2.1 T#Rx 49: Read range and direction messages. bdirection in FSK: [-0.924588,-0.379201,-0.036644]Fpublishing direction and range infoy~Q)N:/Dؿ(א¢Y̼APc!L[ k)HIviD?jt@<$ګ@ Q )a@IQ =|s3ſu80? X3>)ԧI'0iQ =-checking for new query: numPingsReceived=49, elapsed TxPingTime=23.962164y9@ @@/@ԡ^A= =Ii I O >] checking for new query: numPingsReceived=49, elapsed TxPingTime=24.197119 r6F,ݿ?AF64@F /@FaٱF'f RAHRS rotation from veh to nav: [[0.906986,0.421138,-0.004418],[-0.420024,0.905258,0.063936],[0.030926,-0.056134,0.997944]]FH??rڿ?#^??(?iF64@IFզ];FCYZByZ IE  EE'E"EG;*E:VE'4ZEBEa2E)9Y=FyM;E>ԱQ 5I5O?Q 9I5Y)VBY=Q E BiBi/ ?iW >iBiAimOF@} addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.501397 s, deltaX: 0.300001 m, approachRate: 0.598331 m/s, rangeRepo size: 4  Added new target pos. range: 23.479576 m, bearing: 177.548535 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.501397 s, deltaX: 0.298437 m, approachRate: 0.595211 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.48 m.hh*h"h hgfffBddjd7@Zd?Z=Z=Z?Zcem?a) k>i_9)!%6!i!i-B侉)-+#=I)I19@ @ @ @@u >@u!>DDAT read: Rx Time:05:13:23.4346 TRx dataTimestamp_ set to:1761542004.629659PDAT read: Bearing 324.6, -24.5 (Local) ~Local bearing/azimuth received: Bearing 324.6, -24.5 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.2 DAT read: 05:13:23.4346 LVL= 31664, 20369, 27810, 32755, AGC= 69, IDX= 498, 0.22, 1.482,-2.698, 2.353, 2.550, PHS=-0.966, 1.080,-0.241, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 -Ygot valid direction response: 05:13:23.4346 LVL= 31664, 20369, 27810, 32755, AGC= 69, IDX= 498, 0.22, 1.482,-2.698, 2.353, 2.550, PHS=-0.966, 1.080,-0.241, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 -T#Rx 50: Read range and direction messages.=bdirection in FSK: [-0.923372,-0.382473,-0.033155]EFpublishing direction and range infoyj_;B;pzؿB3Y3A{Ol )EIKwiq=?v@+<@ )1b@I= C)8ſ!씙? e>)ڬ̼I/i=checking for new query: numPingsReceived=50, elapsed TxPingTime=24.478580 ^A r =I I O >9 `L,3ݿ?A29@24@2^ٱ2e :AHRS rotation from veh to nav: [[0.907271,0.420521,-0.004608],[-0.419398,0.905550,0.063905],[0.031046,-0.056046,0.997945]]2H]??rkڿD?`\?@ʟ?@+?i29@I2g];2CYNByR I TTTTbDZVDZy%T,%%c=ٔ%ﯹQ-%>9)Y)=-Fy)-:E5>1Q 5]I55ƨ?Q 9eI55X)5UBYayem?Q Ie@5J}DI5;i5_:59I5yiɮuAqiiUL(ݿ?AJi>ARi>AjiF@bs#5.c!%YU-Rj_;B;pzؿB3Zi/bi=j$k5>7f?8 Z *←ǿ}ܣ?A2i3g?:i"i; ?*i1^@BiBi; ?i?iiAiFxF@checking for new query: numPingsReceived=50, elapsed TxPingTime=24.701321% addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504166 s, deltaX: -0.200001 m, approachRate: -0.396696 m/s, rangeRepo size: 4 5 Added new target pos. range: 23.280596 m, bearing: 177.774954 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504166 s, deltaX: -0.198980 m, approachRate: -0.394672 m/s, posRepo size: 4 =DNOT Ignoring new targets: 23.28 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdM`ff7@ZdM;l?ZZZZ7m?^) \>i9)P6ii<侉U%=III!)%fA9@ @@/@E  EE&E"EE;*Er:VE4ZEa@a@a@a@9ByByB} IB}BByByByB}r;B}V.E^AI q Ia O > DDAT read: Rx Time:05:13:23.9346  TRx dataTimestamp_ set to:1761542005.132680 PDAT read: Bearing 324.9, -24.3 (Local)  ~Local bearing/azimuth received: Bearing 324.9, -24.3 (Local)  DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0  DAT read: 05:13:23.9346 LVL= 31152, 20017, 25266, 32755, AGC= 69, IDX= 499,-0.36,-1.063, 1.064,-0.187, 0.007, PHS=-0.968, 1.102,-0.238, RAW= 309.7, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1  Ygot valid direction response: 05:13:23.9346 LVL= 31152, 20017, 25266, 32755, AGC= 69, IDX= 499,-0.36,-1.063, 1.064,-0.187, 0.007, PHS=-0.968, 1.102,-0.238, RAW= 309.7, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 % T#Rx 51: Read range and direction messages.- bdirection in FSK: [-0.923925,-0.380814,-0.036644]- Fpublishing direction and range infoy  yːd`C_ؿ(א¢Y y 1N b ) I wi V? Fs @ < ˫@ Q ) =b@I Q = v4L vſF1܃? F>) I x 0i Q = M checking for new query: numPingsReceived=51, elapsed TxPingTime=24.969126"IS,Mݿ?A6u>@6H9@6ٱ6xf rAHRS rotation from veh to nav: [[0.907509,0.420009,-0.004523],[-0.418889,0.905777,0.064027],[0.030989,-0.056211,0.997938]]6H`O ?@n?r ڿ ?d??Ǭ`?i6u>@I6+];6CYz~Byz IbD-VD-y]E%]G=ٔ]J9Q-]>9aYa=eFyam:Em>iQ 55I5m}?Q 95I5mW)mTBY9y=m?Q I=@mL}DIm{i9)6ii6侉$'=IԙIbEc44jE64rE/E EE*E"EN;*E:VE(N4ZEBEn) <=I '0i 5= ] checking for new query: numPingsReceived=52, elapsed TxPingTime=25.473551^AY Ii Iy O >Z,/jݿ?A~B@~g=@~ٱ~95g AHRS rotation from veh to nav: [[0.907717,0.419558,-0.004553],[-0.418431,0.905975,0.064222],[0.031069,-0.056390,0.997925]]~H` ? ?ޥrڿ?p?@П?'߬?i~B@I~];~CYetByet IiMb@Mb@Mb@ 9~jt?9Y)=-Fy15-:E5>9Q 5EI5=?Q 9EI5=W)=RBYE=Q EM.i9)页Ž6ii@侉8(=IIchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.709826@ @@/@1 Em  Em Em %Ei "Em L;*Em :VEm 4ZEi au @au @au @au @^A 3=I I O >A9 A9 BA BA BE IBE BBE =BA BE DBE r;BE d.Ea ma,@ݿ?A%G@%A@% ٱ%Ňg 5AHRS rotation from veh to nav: [[0.907945,0.419064,-0.004685],[-0.417926,0.906199,0.064350],[0.031212,-0.056468,0.997916]]%H@ ?@?Q0s@Lڿ?`=y?@ ? k鬿`?i%G@I%];%CEDDAT read: Rx Time:05:13:24.9347 MTRx dataTimestamp_ set to:1761542006.140815UPDAT read: Bearing 325.1, -24.4 (Local) ]~Local bearing/azimuth received: Bearing 325.1, -24.4 (Local) mDAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 DAT read: 05:13:24.9347 LVL= 32752, 20977, 25058, 32755, AGC= 70, IDX= 499, 0.18, 0.638, 2.784, 1.525, 1.716, PHS=-0.976, 1.114,-0.235, RAW= 309.5, 1.1, CAL= 307.5, -2.2, ROT= 202.5, 2.2 Ygot valid direction response: 05:13:24.9347 LVL= 32752, 20977, 25058, 32755, AGC= 70, IDX= 499, 0.18, 0.638, 2.784, 1.525, 1.716, PHS=-0.976, 1.114,-0.235, RAW= 309.5, 1.1, CAL= 307.5, -2.2, ROT= 202.5, 2.2 T#Rx 53: Read range and direction messages.bdirection in FSK: [-0.923199,-0.382401,-0.038388]Fpublishing direction and range infoyIMX׊!DCyؿ.YM̼AIIMQMa I)MFIM#yiM?MףpM۬@MnF)M*IM/iMnF=IIchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.981436bDVDky=%G=ٔQ->9Y=Fy:E > Q 5I5 s?Q 9I5 zV) QBY!y%XP?Q I%@ Q}DI d*;i O+; EI5y)ɮ-A)iIiMݿ?AJiMֻARiMֻAjiMF@bM0ȴ5?z ! RMX׊!DCyؿ.ZiM/biMnF=jMTqp7 ^?.H`ZMNE^nfڢ?7sO2iMZ]?:iM"iMliF?*iMi9)%26!i!im:侉im*=IiIq}x>i}>A@ @@)0@y  checking for new query: numPingsReceived=53, elapsed TxPingTime=26.214132^A r =I I O >E=  E= E= )E9 "E= 77;*E= :VE= FA4ZE9 BE= L@>vG@>Jlٱ>g JAHRS rotation from veh to nav: [[0.908222,0.418460,-0.004854],[-0.417313,0.906478,0.064397],[0.031348,-0.056461,0.997912]]>H'? ?(s`@ڿ?Y|? ?謿 ?i>L@I>];>CYf]ByfX IiMb@Mb@Mb@ 9I +?i|?5?Y99Y=Fyl:E>Q 5I5կ?Q 9I5 V)Y=Q ERi9)顅Ƒ6ii4侉z,=IIyU9@Y @Y@e4@a@0>@J>]DDAT read: Rx Time:05:13:25.4346 ]TRx dataTimestamp_ set to:1761542006.644875ePDAT read: Bearing 325.0, -24.3 (Local) m~Local bearing/azimuth received: Bearing 325.0, -24.3 (Local) }DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 DAT read: 05:13:25.4346 LVL= 31568, 19025, 23794, 32755, AGC= 69, IDX= 499,-0.42,-2.629,-0.512,-1.758,-1.564, PHS=-0.963, 1.097,-0.237, RAW= 309.7, 1.1, CAL= 307.7, -2.1, ROT= 202.3, 2.1 Ygot valid direction response: 05:13:25.4346 LVL= 31568, 19025, 23794, 32755, AGC= 69, IDX= 499,-0.42,-2.629,-0.512,-1.758,-1.564, PHS=-0.963, 1.097,-0.237, RAW= 309.7, 1.1, CAL= 307.7, -2.1, ROT= 202.3, 2.1 T#Rx 54: Read range and direction messages.bdirection in FSK: [-0.924588,-0.379201,-0.036644]Fpublishing direction and range infoyY]~Q)N:/Dؿ(א¢Y]3AY]P{]QJ]\ Y)]EI]+vi]j?]!r]@Y]$ګ@ ]Q )]a@I]Q =YY] Iſ& T㙔? ]B>)]ѤI]'0i]Q =YYchecking for new query: numPingsReceived=54, elapsed TxPingTime=26.486017ԡ^AX%=IIO> Jm,ݿ?Abchecking for new query: numPingsReceived=54, elapsed TxPingTime=26.717033rQ@rL@r-wٱr+f ~AHRS rotation from veh to nav: [[0.908482,0.417891,-0.005210],[-0.416727,0.906753,0.064318],[0.031603,-0.056261,0.997916]]9rH`I?`?Wuফڿ?@'w?5.?@/ά ?irQ@IrZ];pYMWByUQ IbDeVDe1yu7%uS=ٔu ,Q-u>9yYy=}Fyy:E>Q 5I5J?Q 9I5U)PBYy*H?Q I@T}DI;i;KI5ynBɮ AEiiEݿ?AJi>ARi>AjijF@bTPa5e!YnzLR~Q)N:/Dؿ(א¢Zi'0biQ =j:"]=7u޶D!?:ގZ+@x[he&??TC^}¦2i i?:i"i ?*i|=BiFBi6?iitBiAiF@% addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504060 s, deltaX: -0.200001 m, approachRate: -0.396780 m/s, rangeRepo size: 4 E Added new target pos. range: 23.280546 m, bearing: 177.756843 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504060 s, deltaX: -0.198980 m, approachRate: -0.394755 m/s, posRepo size: 4 MDNOT Ignoring new targets: 23.28 m.hIhI*hI"hI hIgQfYfYfadadajde`ff7@Zdm?E EE(E"E:;*E:VEc44ZEa@a@a@a@Z9Z9Z9Z=C*H?m-w)q uU>iuM9)qu6qiyi}>侉y~.=II)E9@A @A@EY0@IBBB IB}BBBBDB!s;B.EY}DDAT read: Rx Time:05:13:25.9348 }TRx dataTimestamp_ set to:1761542007.148735PDAT read: Bearing 324.1, -24.5 (Local) ~Local bearing/azimuth received: Bearing 324.1, -24.5 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 DAT read: 05:13:25.9348 LVL= 32752, 22657, 28914, 32755, AGC= 71, IDX= 500,-0.11,-1.487, 0.657,-0.605,-0.385, PHS=-1.000, 1.088,-0.264, RAW= 309.7, 1.9, CAL= 307.5, -1.3, ROT= 202.5, 1.3 Ygot valid direction response: 05:13:25.9348 LVL= 32752, 22657, 28914, 32755, AGC= 71, IDX= 500,-0.11,-1.487, 0.657,-0.605,-0.385, PHS=-1.000, 1.088,-0.264, RAW= 309.7, 1.9, CAL= 307.5, -1.3, ROT= 202.5, 1.3 T#Rx 55: Read range and direction messages.bdirection in FSK: [-0.923642,-0.382585,-0.022687] Fpublishing direction and range infoyy}V%yfE|ؿNGY;Y}Ay}}X}p y)}GI}i}C?}+y}=}@ }޹)}1b@I}޹szſ;y[? }C>)}` I}/i}޹ԁ 3t,Zݿ?Aɰ49Y=Fyk:E>Q 5I5ײ?Q 9I5U)YyBH?Q I@U}DIZ6BiBii>iiֺAiF@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503860 s, deltaX: 0.300001 m, approachRate: 0.595406 m/s, rangeRepo size: 4 - Added new target pos. range: 23.579033 m, bearing: 177.926606 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.503860 s, deltaX: 0.298487 m, approachRate: 0.592400 m/s, posRepo size: 4 5DNOT Ignoring new targets: 23.58 m.h1h1*h1"h1 h1g9f9fIfIdQdQjd]@37@Zd]K?E EE)E"E[I;*E#:VEFA4ZEBEi%19)!%o6!i!i-8侉)-0=I)I1Ա9@ @@`4@  DDAT read: Rx Time:05:13:26.4347  TRx dataTimestamp_ set to:1761542007.652798 PDAT read: Bearing 324.7, -24.6 (Local)  ~Local bearing/azimuth received: Bearing 324.7, -24.6 (Local)  DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1  DAT read: 05:13:26.4347 LVL= 32144, 21329, 26482, 32755, AGC= 70, IDX= 499, 0.14,-1.380, 0.745,-0.498,-0.303, PHS=-0.975, 1.093,-0.239, RAW= 309.4, 1.3, CAL= 307.4, -2.0, ROT= 202.6, 2.0  Ygot valid direction response: 05:13:26.4347 LVL= 32144, 21329, 26482, 32755, AGC= 70, IDX= 499, 0.14,-1.380, 0.745,-0.498,-0.303, PHS=-0.975, 1.093,-0.239, RAW= 309.4, 1.3, CAL= 307.4, -2.0, ROT= 202.6, 2.0  T#Rx 56: Read range and direction messages. bdirection in FSK: [-0.922648,-0.384061,-0.034899] Fpublishing direction and range infoy ^A I I O% > Tz vؿXޡY ̼A } QS rg ) FI yi m? jt 3ͬ@ ޹< >@ 5) oNb@I 5= ҫ￿78Wſx)? l>) I F/i 5= E checking for new query: numPingsReceived=56, elapsed TxPingTime=27.497637\z,vݿ?AEV@EP@EٱEe eAHRS rotation from veh to nav: [[0.908678,0.417456,-0.005831],[-0.416256,0.906966,0.064366],[0.032158,-0.056061,0.997909]]EH??wڿ ?Kz?w??iEV@IEvh];ECԹYOByF Ii Mb@Mb@Mb@     9 /$?kt?~jth?Y 9Y=Fy9E>Q 5I5O?Q 9I5T)YeD=Q EI?:i"i?*i@@BiJBi?iiJBiAi=F@} addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504063 s, deltaX: -0.100000 m, approachRate: -0.198389 m/s, rangeRepo size: 4  Added new target pos. range: 23.479542 m, bearing: 178.079552 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504063 s, deltaX: -0.099491 m, approachRate: -0.197378 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.48 m.hh*h"h hgfffBddjd7@Zd h?ZMeD=ZMeD=ZMI?ZM;0?])Y ]L>ig9)顅6iiB侉A,E޿?AOT@"O@tٱӅf AHRS rotation from veh to nav: [[0.908577,0.417673,-0.006129],[-0.416446,0.906856,0.064687],[0.032576,-0.056220,0.997887]]H?'?-y ڿ?Q?ܭ?Ȭ@?iOT@I$X];CYGBy= IbD VD y%+%%i=ٔ%TQ-->9)Y)=-Fy)5j E5>EDDAT read: Rx Time:05:13:26.9348 MTRx dataTimestamp_ set to:1761542008.156783UPDAT read: Bearing 325.1, -24.5 (Local) ]~Local bearing/azimuth received: Bearing 325.1, -24.5 (Local) mDAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 DAT read: 05:13:26.9348 LVL= 32064, 22657, 28066, 32755, AGC= 70, IDX= 500, 0.43, 0.184, 2.324, 1.073, 1.260, PHS=-0.974, 1.109,-0.231, RAW= 309.4, 1.1, CAL= 307.4, -2.2, ROT= 202.6, 2.2 Ygot valid direction response: 05:13:26.9348 LVL= 32064, 22657, 28066, 32755, AGC= 70, IDX= 500, 0.43, 0.184, 2.324, 1.073, 1.260, PHS=-0.974, 1.109,-0.231, RAW= 309.4, 1.1, CAL= 307.4, -2.2, ROT= 202.6, 2.2 T#Rx 57: Read range and direction messages.bdirection in FSK: [-0.922530,-0.384012,-0.038388]Fpublishing direction and range infoyIMcQ\㧓ؿ.YMAIM@}MXMm I)IIMXyiM?MDlIMnF)MH IIiMnF=IIchecking for new query: numPingsReceived=57, elapsed TxPingTime=27.993204Q 5I5u?Q 9I5rT)Yy-0?Q I@X}DI:i:VI5yɮ5!AiIiM ޿?AJiMARiMAjiMF@bMoΚ5х"R.RMcQ\㧓ؿ.ZiIbiMnF=jMϣݿ>7 f>?J ZM1qg/A/!?jn@2iMI?:iMQ"iM?*iM7?BiMBiMliF?iM7?iMGBiMHAiMF@- addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503985 s, deltaX: 0.100000 m, approachRate: 0.198419 m/s, rangeRepo size: 4  Added new target pos. range: 23.579039 m, bearing: 178.080636 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.503985 s, deltaX: 0.099497 m, approachRate: 0.197420 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.58 m.hh*h"h hgfffddjd@37@Zd,?ZQZQZQZU-0?mt) =>i39)页t6ii<侉k/=IIIe9@a @a@e/@ay checking for new query: numPingsReceived=57, elapsed TxPingTime=28.231882^A I I O >ԡ E  E E (E "E E;*E :VE c44ZE BE 9Y=FyE>Q 5I5涤?Q 9I5NT)QBYE=Q EQ I@Y}DI:i<:YI5yɮZ!A%DNOT Ignoring new targets: 23.58 m.h!h!*h!"h) h)g)f)f1f5ҁBd1d1jd9Zd=a?Z]E=Z]E=Z];:?Z]U>mw)i uHa>iu9)y}6yiԙi6侉IIIi)i9@ @@0@ mDDAT read: Rx Time:05:13:27.4348 uTRx dataTimestamp_ set to:1761542008.660791PDAT read: Bearing 324.9, -24.4 (Local) ~Local bearing/azimuth received: Bearing 324.9, -24.4 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 DAT read: 05:13:27.4348 LVL= 31600, 21777, 26098, 32755, AGC= 70, IDX= 500,-0.21,-2.771,-0.643,-1.894,-1.699, PHS=-0.970, 1.101,-0.238, RAW= 309.6, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 Ygot valid direction response: 05:13:27.4348 LVL= 31600, 21777, 26098, 32755, AGC= 70, IDX= 500,-0.21,-2.771,-0.643,-1.894,-1.699, PHS=-0.970, 1.101,-0.238, RAW= 309.6, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 T#Rx 58: Read range and direction messages.bdirection in FSK: [-0.923925,-0.380814,-0.036644]Fpublishing direction and range infoyimyːd`C_ؿ(א¢Yiimp{mUme i)iImQxim?mFsm@m)mWImx 0imQ =ii]checking for new query: numPingsReceived=58, elapsed TxPingTime=28.512547^AM #'=IQ Ii Ou > <,8޿?A2S@2N@2oٱ2g :AHRS rotation from veh to nav: [[0.908523,0.417782,-0.006646],[-0.416506,0.906786,0.065289],[0.033304,-0.056548,0.997844]]2H??69{ڿ`c?@˶? ( ?W?i2S@I2cj];2CYVCByV8 Ibchecking for new query: numPingsReceived=58, elapsed TxPingTime=28.733242bDjVDjynʻ;%rZ=ٔrgQ-r>9tYt=vFytvbEz>|Q 5~I5~[?Q 9I5~*T)|Yy>Q I@~Z}DI~d:i~:~]I5y ɮQ!AiifJ*޿?AJiRiji F@bL15|1\^!pz_SRyːd`C_ؿ(א¢Zix 0biQ =j-+7vE8xL?Ȋ~^GZla'£iFBijAiF@U addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 23.579039 m, bearing: 177.870985 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 23.58 m.hahi*hi"hi higfffddjdZdH?DzD@AE E E)E"E;;*E:VEFA4ZEa@a@a@a@ZZZZ> o) |c>i9)6ii@侉H/=I!I!9@ @@0@@4>@,>BBBS IBYBBBBBs;B.EByByByByByC}4uDDAT read: Rx Time:05:13:27.9348 }TRx dataTimestamp_ set to:1761542009.164632PDAT read: Bearing 324.2, -24.4 (Local) ~Local bearing/azimuth received: Bearing 324.2, -24.4 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 DAT read: 05:13:27.9348 LVL= 32752, 22321, 28306, 32755, AGC= 70, IDX= 500, 0.01,-1.871, 0.246,-1.002,-0.788, PHS=-0.980, 1.080,-0.258, RAW= 309.8, 1.8, CAL= 307.6, -1.5, ROT= 202.4, 1.5 Ygot valid direction response: 05:13:27.9348 LVL= 32752, 22321, 28306, 32755, AGC= 70, IDX= 500, 0.01,-1.871, 0.246,-1.002,-0.788, PHS=-0.980, 1.080,-0.258, RAW= 309.8, 1.8, CAL= 307.6, -1.5, ROT= 202.4, 1.5 T#Rx 59: Read range and direction messages.bdirection in FSK: [-0.924229,-0.380940,-0.026177]Fpublishing direction and range infoyqu>IPaؿP!ΚYqquu1Wun q)qIuHziuq=?uuc@u=q uPwּ)qIuPw)uIqiuPw\q,nR޿?A2#R@2L@2 ٱ2dh :AHRS rotation from veh to nav: [[0.908435,0.417970,-0.006869],[-0.416672,0.906691,0.065537],[0.033620,-0.056674,0.997826]]2H ?`?G"|@ڿ? ǰ?6? j1?i2#R@I2~];2CY^EByb; IbDjVDj0yr <%rK=ٔrNQ-r>9tYt=vFytv2Ez>xQ 5~I5z빤?Q 9I5zT)zRBYy>Q I@z[}DIzw;iz;z`I5y ɮC!AiiUJ޿?AJiRijiF@bj'5.iS!X[ TR>IPaؿP!ΚZibiPw<j%7i 7 ,?16$ZwG<8ts?:2iQe?:i`"i?*i|s<BiBiiiJBiAi7F@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503841 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 23.579050 m, bearing: 177.821415 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.503841 s, deltaX: 0.000011 m, approachRate: 0.000023 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.58 m.hh*h1"h1 h1g9f9f9f9dAdAjdAZdE?ZZZZ> )1 =g>i=9)AM6Qii:依checking for new query: numPingsReceived=59, elapsed TxPingTime=29.23932615.=I9IE EE,E"E&U;*EZ:VEg4ZEBE DDAT read: Rx Time:05:13:28.4347  TRx dataTimestamp_ set to:1761542009.668685 PDAT read: Bearing 324.4, -24.3 (Local)  ~Local bearing/azimuth received: Bearing 324.4, -24.3 (Local)  DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.1  DAT read: 05:13:28.4347 LVL= 32752, 22097, 28466, 32755, AGC= 70, IDX= 499, 0.22,-2.312,-0.199,-1.446,-1.236, PHS=-0.974, 1.082,-0.254, RAW= 309.8, 1.6, CAL= 307.7, -1.6, ROT= 202.3, 1.6  Ygot valid direction response: 05:13:28.4347 LVL= 32752, 22097, 28466, 32755, AGC= 70, IDX= 499, 0.22,-2.312,-0.199,-1.446,-1.236, PHS=-0.974, 1.082,-0.254, RAW= 309.8, 1.6, CAL= 307.7, -1.6, ROT= 202.3, 1.6  T#Rx 60: Read range and direction messages. bdirection in FSK: [-0.924849,-0.379308,-0.027922] Fpublishing direction and range infoy  7\# Fؿ|p}Y ̼A QV 2o ) I Xyi ~? J < $ګ@ ) a@I < Ԅh)ſe=? >) LI '0i <  checking for new query: numPingsReceived=60, elapsed TxPingTime=29.505146/,N|l޿?AP% R@%L@%b ٱ%g ]AHRS rotation from veh to nav: [[0.908423,0.417991,-0.007174],[-0.416679,0.906693,0.065471],[0.033871,-0.056486,0.997829]]%H?^?b}`ܪڿ?°?W?묿@6?i% R@I%}];!YmABym6 IAiMb@Mb@Mb@ 9S㥛??{Gz?Y/9IYI=MFyIuJEu>yQ 5}I5}Y?Q 9I5}S)}UBY/=Q EQ I@}]}DI}/:i}:}dI5yɮc!Aiij޿?AJiֻARiֻAjiF@bIQ 55;}!2R7\# Fؿ|p}Zi'0bi<jhq7 (l?\'_Z}z"I?YnU2i&n?:i"iH?*ic;Bi{Bi?i-&=iiAi˷F@e addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504053 s, deltaX: -0.100000 m, approachRate: -0.198393 m/s, rangeRepo size: 4 u Added new target pos. range: 23.479559 m, bearing: 177.727698 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.504053 s, deltaX: -0.099491 m, approachRate: -0.197382 m/s, posRepo size: 4 uDNOT Ignoring new targets: 23.48 m.hqhy*hy"hy hygyfyffہBddjd7@Zd?Z/=Z/=Z{8??ZUz>b ) L>i9)6ii4侉IIchecking for new query: numPingsReceived=60, elapsed TxPingTime=29.741840@ @@4@D=DE  EE*E"ED;*E:VE(N4ZEa@a@a@a@! A A B B B G IB OBB B B DB s;^A #'=I) IQ B .EO >,Ɔ޿?Ad%S@%N@% ٱ% f 5AHRS rotation from veh to nav: [[0.908509,0.417795,-0.007590],[-0.416468,0.906808,0.065219],[0.034131,-0.056091,0.997842]]%H@?@)? jڿ ?1?y?`R?i%S@I%];%CYE9qYq=uFyq} ,:E}?Q 5I5^?Q 9I5S)VBYy>Q I@I:i:gI5yɮ!ADNOT Ignoring new targets: 23.48 m.hh*h"h hgfffddjdZd@? DDAT read: Rx Time:05:13:28.9348 TRx dataTimestamp_ set to:1761542010.172860PDAT read: Bearing 324.8, -24.4 (Local) %~Local bearing/azimuth received: Bearing 324.8, -24.4 (Local) 5DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 UDAT read: 05:13:28.9348 LVL= 32752, 23121, 27506, 32755, AGC= 71, IDX= 501,-0.44,-2.459,-0.322,-1.577,-1.380, PHS=-0.977, 1.102,-0.241, RAW= 309.6, 1.3, CAL= 307.5, -2.0, ROT= 202.5, 2.0 eYgot valid direction response: 05:13:28.9348 LVL= 32752, 23121, 27506, 32755, AGC= 71, IDX= 501,-0.44,-2.459,-0.322,-1.577,-1.380, PHS=-0.977, 1.102,-0.241, RAW= 309.6, 1.3, CAL= 307.5, -2.0, ROT= 202.5, 2.0 eT#Rx 61: Read range and direction messages.mbdirection in FSK: [-0.923317,-0.382450,-0.034899]mFpublishing direction and range infoy  ϋNkzؿXޡY A   QZ rk ) GI zi V? v @ ޹< @ 5) 1b@I 5=   refEſI? _>) I /i 5=  checking for new query: numPingsReceived=61, elapsed TxPingTime=30.009827ZZZZU>  )  B>i 9) 6ii=>侉9=/=I9IA@ @@/@@@fA!^AK'=I1 IY O > checking for new query: numPingsReceived=61, elapsed TxPingTime=30.248438Y bE-FA4jE-h=4rE-- 0E  E E E "E E;*E >:VE ZE BE 9Y=Fyڣ9E>Q 5%I5뽤?Q 9%I5S)YBY5u<=Q E5Q I=@_}DI=;i1;kI5yiɮmu!AiQiU#޿?AJiUARiUAjiUF@bUܹX5ˠ "4t(URUϋNkzؿXޡZiU/biU5=jU*|@7ѧD?Do@~ZUOw2?oԺ42iU*U?:iUR"iU??*iU =BiUBiQiQiUBiUAiU(F@  addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504175 s, deltaX: 0.100000 m, approachRate: 0.198345 m/s, rangeRepo size: 4  Added new target pos. range: 23.579000 m, bearing: 177.974140 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.504175 s, deltaX: 0.099442 m, approachRate: 0.197236 m/s, posRepo size: 4 %DNOT Ignoring new targets: 23.58 m.h!h!*h!"h! h!gIfIfIfMށBdQdQjdU@37@ZdUs?iZu<=Zu<=ZU ?Zz}> ) B>i9)6ii8侉n/=I5DDAT read: Rx Time:05:13:29.4348 5TRx dataTimestamp_ set to:1761542010.676935=PDAT read: Bearing 324.5, -24.3 (Local) E~Local bearing/azimuth received: Bearing 324.5, -24.3 (Local) UDAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 }DAT read: 05:13:29.4348 LVL= 32752, 24129, 28882, 32755, AGC= 70, IDX= 500,-0.13, 1.913,-2.230, 2.790, 3.001, PHS=-0.986, 1.097,-0.255, RAW= 309.8, 1.6, CAL= 307.6, -1.7, ROT= 202.4, 1.7 Ygot valid direction response: 05:13:29.4348 LVL= 32752, 24129, 28882, 32755, AGC= 70, IDX= 500,-0.13, 1.913,-2.230, 2.790, 3.001, PHS=-0.986, 1.097,-0.255, RAW= 309.8, 1.6, CAL= 307.6, -1.7, ROT= 202.4, 1.7 T#Rx 62: Read range and direction messages.bdirection in FSK: [-0.924139,-0.380903,-0.029666]Fpublishing direction and range infoy15D9# `ؿ `Y1115A^5p 1)5FI5j|i5j?5\5c@5<5˫@ 5)5=b@I5<115(↑bFſ[x? 5#'>)5aI5x 0i5<11checking for new query: numPingsReceived=62, elapsed TxPingTime=30.513645Iԑ9@ @@/@ yG liA e 29e liAYe Z"A ^A #'=I I O >, O޿?AJchecking for new query: numPingsReceived=62, elapsed TxPingTime=30.750513YOBy%G II-=)-<11bDEVDEkye˦=%eP=ٔmQ-m>9qYq=uFyquE}>Q 5I5[?Q 9I5S)[BYyQ I@`}DI:i:nI5ԙyɮ AiaieR޿?AJiaRiajierF@be5O5cX!m!TcNbReD9# `ؿ `Ziex 0bie<je!XB37;8?L^mXZeKڢ15%&?tJsl2iea?:ieX"ieng?*ie9n<BiejBie??ie|s<iejBieAie`F@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E} E}E})Ey"E},K;*E}:VE}FA4ZEya@a@a@a@ Added new target pos. range: 23.579000 m, bearing: 177.854878 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.504075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.58 m.hh*h"h hgfffddjdZd` ?ZZZZ!)) -Nc>i-79)額76iiB侉/=IIBABABABABABABABEHs;BE.E9@ @@@EDDAT read: Rx Time:05:13:29.9349 ETRx dataTimestamp_ set to:1761542011.181300UPDAT read: Bearing 325.0, -25.0 (Local) U~Local bearing/azimuth received: Bearing 325.0, -25.0 (Local) eDAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 DAT read: 05:13:29.9349 LVL= 32752, 22801, 31282, 32755, AGC= 71, IDX= 501, 0.07,-2.523,-0.391,-1.626,-1.440, PHS=-0.981, 1.094,-0.230, RAW= 309.1, 1.3, CAL= 307.0, -2.0, ROT= 203.0, 2.0 Ygot valid direction response: 05:13:29.9349 LVL= 32752, 22801, 31282, 32755, AGC= 71, IDX= 501, 0.07,-2.523,-0.391,-1.626,-1.440, PHS=-0.981, 1.094,-0.230, RAW= 309.1, 1.3, CAL= 307.0, -2.0, ROT= 203.0, 2.0 T#Rx 63: Read range and direction messages.bdirection in FSK: [-0.919944,-0.390493,-0.034899]Fpublishing direction and range infoyAE͵.pؿXޡYE3AAAEYE2z A)EGIE"{iE1?EkEO@E޹)E0IE^/iE5=AAchecking for new query: numPingsReceived=63, elapsed TxPingTime=31.017984^A K'=I! I1 O >! δ,*޿?A2NT@2!O@2 Fٱ2@c :AHRS rotation from veh to nav: [[0.908503,0.417790,-0.008589],[-0.416412,0.906845,0.065063],[0.034972,-0.055533,0.997844]]2Ht?@?@Jڿ???nW?i2NT@I2,];2CYBAByF5 IbDN VDN:2y^%^V=ٔ~Q->9Y=Fy D[E > Q 5I5 ?Q 9I5 S) ^BYys>Q I@ a}DI  ;i  ; XrI5y)ɮ-g!A)iqiuk޿?AJiu9ARiu9AjiuZG@bum?N*5"嫬f Ru͵.pؿXޡZiu^/biu5=ju07}N?L=ZuJ,9fELT?32iuu"?:iu"iuQ?*iuBBiuBiqiqiqiuAiueF@} addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504365 s, deltaX: 0.199999 m, approachRate: 0.396536 m/s, rangeRepo size: 4  Added new target pos. range: 23.777990 m, bearing: 178.469093 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.504365 s, deltaX: 0.198990 m, approachRate: 0.394535 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.78 m.hh*h"h hgfffddjd`f7@Zd?ZZZZs> F) F>i9)6ii<侉s~/=II}9@y @@ 0checking for new query: numPingsReceived=63, elapsed TxPingTime=31.256571@@!>@>!E E E*E"E*E:VE(N4ZEBELM DDAT read: Rx Time:05:13:30.4348 M TRx dataTimestamp_ set to:1761542011.684739U PDAT read: Bearing 324.4, -24.6 (Local) ] ~Local bearing/azimuth received: Bearing 324.4, -24.6 (Local) m DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.2 y  DAT read: 05:13:30.4348 LVL= 32752, 25697, 30434, 32755, AGC= 72, IDX= 500, 0.27,-3.022,-0.913,-2.150,-1.941, PHS=-0.979, 1.073,-0.253, RAW= 309.6, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5  Ygot valid direction response: 05:13:30.4348 LVL= 32752, 25697, 30434, 32755, AGC= 72, IDX= 500, 0.27,-3.022,-0.913,-2.150,-1.941, PHS=-0.979, 1.073,-0.253, RAW= 309.6, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5  T#Rx 64: Read range and direction messages. bdirection in FSK: [-0.922894,-0.384164,-0.026177] Fpublishing direction and range infoyI M ؔX+#ؿP!ΚYM AI I M adM v I )M HIM ziM X?M 7M @M =M >@ M Pwּ)M oNb@IM Pw)M qIM F/iM Pw9Y=Fyq9E>)Q 55I5-¤?Q 95I5-NS)-bBY=qV=Q E=}Q I=@-b}DI-:i-:-vI5yaɮe!Aiiyi}޿?AJi}ARi}Aji}F@b}@5e"כZRR}ؔX+#ؿP!ΚZi}F/bi}Pw<j}7?.r Z}/.Lߗq|?dq 2i}'N?:i}d"i}U?*i}>Bi}Bi}ng?i} =iyi}ȼAi}F@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503439 s, deltaX: -0.199999 m, approachRate: -0.397265 m/s, rangeRepo size: 4 % Added new target pos. range: 23.579012 m, bearing: 178.041467 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503439 s, deltaX: -0.198978 m, approachRate: -0.395238 m/s, posRepo size: 4 -DNOT Ignoring new targets: 23.58 m.h)h)*h)"h) h)g1f1f1f5Bd9d9jd=@37@Zd=W?ԁZqV=ZqV=Z_P?Z>M) #>iu9)页.6ii6侉/=IIchecking for new query: numPingsReceived=64, elapsed TxPingTime=31.758423q@q @q@}/@yE. EEE"Eye;*Eu:VEZEa@a@a@a@ԩB9 B9 B= M IB= TBB9 B9 B9 B= r;B= i.E^A Ii Iy O >,V߿?AFW@FQ@FPٱFc NAHRS rotation from veh to nav: [[0.908636,0.417496,-0.008841],[-0.416101,0.906980,0.065166],[0.035225,-0.055533,0.997835]]FH?A?Whڿ@?? ?`n@D?iFW@IFb];FCYVIByZ@ I\^AbDbVDb2yj"%j=ٔniQ-n?9lYl=nFyp%0^:E% ?)Q 55I5-ä?Q 95I5-$S)-dBY1y=@>Q I=@-c}DI-:i-:-yI5yAɮE#!AADNOT Ignoring new targets: 23.58 m.hh*h"h hgfffDDAT read: Rx Time:05:13:30.9349 TRx dataTimestamp_ set to:1761542012.188791PDAT read: Bearing 324.9, -24.6 (Local) ~Local bearing/azimuth received: Bearing 324.9, -24.6 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 DAT read: 05:13:30.9349 LVL= 31536, 21809, 26098, 32755, AGC= 70, IDX= 502,-0.47,-2.554,-0.437,-1.676,-1.480, PHS=-0.972, 1.088,-0.240, RAW= 309.5, 1.4, CAL= 307.4, -1.9, ROT= 202.6, 1.9 Ygot valid direction response: 05:13:30.9349 LVL= 31536, 21809, 26098, 32755, AGC= 70, IDX= 502,-0.47,-2.554,-0.437,-1.676,-1.480, PHS=-0.972, 1.088,-0.240, RAW= 309.5, 1.4, CAL= 307.4, -1.9, ROT= 202.6, 1.9 T#Rx 65: Read range and direction messages.%bdirection in FSK: [-0.922703,-0.384084,-0.033155]%Fpublishing direction and range infoy+Zdž,ՔؿB3Y3A0{1Ue )FIxiC?u۬@+< )I=d9d9jd=`f7@ZdE Q?88J`'ſB2И? x>)ƼIi=echecking for new query: numPingsReceived=65, elapsed TxPingTime=32.029312ZZZZ@>P)ԙ ">i99)M6ii@侉t0=IIu9@q @q@u 2@q^AIIO> checking for new query: numPingsReceived=65, elapsed TxPingTime=32.263954Em  Em Em (Ei "Em C;*Em O:VEm c44ZEi BEm 9Y=Fy0-:E> Q 5I5yŤ?Q 9I5R)hBY/r=Q E`iz9)6ii:侉1=I9IAMY>iM!>9@ @@?0@@hA@gAi ^A I I) OE ><,;߿?A2checking for new query: numPingsReceived=66, elapsed TxPingTime=32.7661094n]@nVX@nٱnc zAHRS rotation from veh to nav: [[0.908957,0.416791,-0.009047],[-0.415385,0.907307,0.065189],[0.035379,-0.055496,0.997832]]nH-? ?[ ڿ`?@6? (?i@=?in]@In_];lYWByQ IbDVDk2y%=%%o=ٔ-Q--?9)Y1=5Fy15ͷ:E5?9Q 5EI5=Ƥ?Q 9EI5=>R)=jBYIyM#U?Q IM@=f}DI=5;i=c;=I5yQɮ] AYi1i5Y,߿?AJi1Ri1ji5mF@b5Kٗ%6PŌ5!΁m;R5-=.ؿ(א¢Zi5@`0bi5Q =j5]-y޺7bGE? 5ooZ5lrğ ?N^TϨ2i5*z?:i5ֽ"i5^?*i5KD8Bi5 Bi5^?i1i1i5Ai5sF@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.778002 m, bearing: 177.641874 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.504143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.78 m.hh*h"h hgfEM EMEM)EI"EML;*EM>:VEMFA4ZEIaU@aU@aU@aU@fafddjdZdګ?ZZZZ#U?) (0>ih9)6ii4侉J3=IIԁ9@ @@/@BBBS IBYBBBBBr;B\.Eԩ DDAT read: Rx Time:05:13:31.9349 TRx dataTimestamp_ set to:1761542013.196675PDAT read: Bearing 325.5, -25.0 (Local) ~Local bearing/azimuth received: Bearing 325.5, -25.0 (Local) -DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 UDAT read: 05:13:31.9349 LVL= 31008, 20593, 25938, 32755, AGC= 69, IDX= 501,-0.09,-2.221,-0.094,-1.325,-1.147, PHS=-0.971, 1.098,-0.222, RAW= 309.0, 1.1, CAL= 307.0, -2.3, ROT= 203.0, 2.3 }Ygot valid direction response: 05:13:31.9349 LVL= 31008, 20593, 25938, 32755, AGC= 69, IDX= 501,-0.09,-2.221,-0.094,-1.325,-1.147, PHS=-0.971, 1.098,-0.222, RAW= 309.0, 1.1, CAL= 307.0, -2.3, ROT= 203.0, 2.3 T#Rx 67: Read range and direction messages.bdirection in FSK: [-0.919763,-0.390416,-0.040132]Fpublishing direction and range infoy  ptn>ؿ.='Y    y qP Re ) I uxi D? Sc @ nF< v@ l$) b@I l$=   ϺO˾5#ĿQ?  >) 'I ^/i l$=  ^A ,=I I O >  checking for new query: numPingsReceived=67, elapsed TxPingTime=33.083118,qU߿?A2b@2\@2ٱ2gc :AHRS rotation from veh to nav: [[0.909187,0.416288,-0.009118],[-0.414881,0.907540,0.065156],[0.035399,-0.055456,0.997833]]2H`? w?`gڿ` ? ??d`@?i2b@I2];2CYVRByVJ IZ=Z=\bDfVDfN2yjؼ%jP=ٔnPUQ-n>9pYp=rFyprs:Ev>tQ 5zI5vǤ?Q 9zI5vQ)vmBY|y~HU?Q I~@vh}DIv;iv;vI5yɮ  A iIiMSL߿?AJiIRiIjiMG{G@bMRMptn>ؿ.='ZiM^/biMl$=jM4h7 A?`}bZM|Vyvv "@? an2iM?:iM"iMiMBiMAiM G@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503741 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.777996 m, bearing: 178.585179 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.503741 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.78 m.hh*h"h hgfffdd!jd!Zd%`?ZaZaZaZeHU? )achecking for new query: numPingsReceived=67, elapsed TxPingTime=33.272472 m%>i9),6ii5>侉9=]5=IAIQEu/ EuEu%Eq"Euaf;*Eu1:VEu 4ZEqBEuηA 5 DDAT read: Rx Time:05:13:32.4348 5 TRx dataTimestamp_ set to:1761542013.701451E PDAT read: Bearing 325.1, -24.9 (Local) M ~Local bearing/azimuth received: Bearing 325.1, -24.9 (Local) ] DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0  DAT read: 05:13:32.4348 LVL= 29904, 16721, 22226, 32755, AGC= 67, IDX= 500, 0.06,-1.196, 0.947,-0.299,-0.108, PHS=-0.986, 1.099,-0.236, RAW= 309.2, 1.4, CAL= 307.1, -2.0, ROT= 202.9, 2.0  Ygot valid direction response: 05:13:32.4348 LVL= 29904, 16721, 22226, 32755, AGC= 67, IDX= 500, 0.06,-1.196, 0.947,-0.299,-0.108, PHS=-0.986, 1.099,-0.236, RAW= 309.2, 1.4, CAL= 307.1, -2.0, ROT= 202.9, 2.0  T#Rx 68: Read range and direction messages. bdirection in FSK: [-0.920624,-0.388887,-0.034899] Fpublishing direction and range infoy1 5 \uA<ؿXޡY5 A1 5 t5 QA5 V 1 )5 CI5 j|i5 ?5 q5 @5 +<5 Z@ 5 5)5 7b@I5 5=1 1 5 gVML4QvĿ֦fV? 5 >)5 ¼I5 ~{/i5 5=1 1  checking for new query: numPingsReceived=68, elapsed TxPingTime=33.543491G,HPo߿?Ah@vc@°ٱc AHRS rotation from veh to nav: [[0.909523,0.415555,-0.009079],[-0.414151,0.907873,0.065153],[0.035317,-0.055498,0.997834]]H@?t?@ sڿ@L ?䭰?!? Ij`A?ih@I1];CYQByI IiMb@Mb@Mb@ 9~jt? rh?y&1?Y9Y=Fy:E>Q 5I5ɤ?Q 9I5Q)oBYi=Q E8ieN9)amn6iiii8侉 8=IIchecking for new query: numPingsReceived=68, elapsed TxPingTime=33.774258U9@Y @Y@Y@Y@e)>@e0>ԁEu EuEu*Eq"Eua?;*Eu :VEu(N4ZEqa}@a}@a@a@ԡ A A B B B ` IB dBB B B DB r;B i.EBBBBBCY<4^A I I) O= >]",߿?A2p@2j@2ٱ2ec :AHRS rotation from veh to nav: [[0.909898,0.414732,-0.009178],[-0.413323,0.908249,0.065173],[0.035365,-0.055508,0.997832]]2H??˂sڿ`?2? b? k)켼I/ichecking for new query: numPingsReceived=69, elapsed TxPingTime=34.043888ZW)a?) >i!9)6iiB侉D;=II9@ @@/@^AG5=I I! O5 > checking for new query: numPingsReceived=69, elapsed TxPingTime=34.279564 E  E E )E "E F;*E #:VE FA4ZE BE a9Y=Fy:E>Q 55I5̤?Q 95I5O)rBY==Q E=i@9)顝6ii<侉(>=IIDDAT read: Rx Time:05:13:33.4348 TRx dataTimestamp_ set to:1761542014.709739!5PDAT read: Bearing 325.1, -25.3 (Local) =~Local bearing/azimuth received: Bearing 325.1, -25.3 (Local) UDAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 DAT read: 05:13:33.4348 LVL= 32752, 23185, 28754, 32755, AGC= 68, IDX= 501,-0.46,-1.807, 0.356,-0.892,-0.701, PHS=-1.004, 1.102,-0.235, RAW= 308.8, 1.5, CAL= 306.7, -1.8, ROT= 203.3, 1.8 Ygot valid direction response: 05:13:33.4348 LVL= 32752, 23185, 28754, 32755, AGC= 68, IDX= 501,-0.46,-1.807, 0.356,-0.892,-0.701, PHS=-1.004, 1.102,-0.235, RAW= 308.8, 1.5, CAL= 306.7, -1.8, ROT= 203.3, 1.8 T#Rx 70: Read range and direction messages.bdirection in FSK: [-0.917993,-0.395350,-0.031411]Fpublishing direction and range infoy$3`3kMٿIzYAZRp )DIiV?ףpiw@Pw<)K@ )c@I=#4C￉=ÿ>ܚ? ,?):ּI /i=checking for new query: numPingsReceived=70, elapsed TxPingTime=34.554184u9@q @y@}/@yQy ^A ;6=I I O >s,A߿?A2checking for new query: numPingsReceived=70, elapsed TxPingTime=34.781052ZQ@Z${@ZٱZ>c nAHRS rotation from veh to nav: [[0.910722,0.412919,-0.009128],[-0.411523,0.909080,0.064974],[0.035127,-0.055417,0.997845]]ZH$?Bm? eVڿ/?@"?'?_ Y?iZQ@IZ];ZCY~[By~U IbD-VD-yM%>=%Mg=ٔU/9Q-U>9QYQ=]FyY]J;E]>aQ 5mI5e0Τ?Q 9mI5eO)esBYqyum?Q Iu@ep}DIe:ie:e,I5yyɮ} AiIiM]l߿?AJiMARiMAjiMH@bML ?85R:ڤ"mbHRM$3`3kMٿIzZiM /biM=jM ޫf.7I?krZMˎ+書?rW2iM">:iMq"iM.: ?*iM!kDBiMdBiM?iM@iIiM$AiMG@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504923 s, deltaX: -0.199999 m, approachRate: -0.396098 m/s, rangeRepo size: 4  Added new target pos. range: 23.579033 m, bearing: 179.063549 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.504923 s, deltaX: -0.198977 m, approachRate: -0.394073 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.58 m.hh*h"h hgfffdQEe EeEe+Ea"EesH;*Ee:VEe [4ZEaam@am@am@am@djd@37@Zdී?ZZZZm?) >i9)6ii6侉A=II!I))-gABBBBB =BBDBs;B.E @  @@F0@@UgA@Qԁi!I!5DDAT read: Rx Time:05:13:33.9350 5TRx dataTimestamp_ set to:1761542015.215356=PDAT read: Bearing 324.9, -25.7 (Local) E~Local bearing/azimuth received: Bearing 324.9, -25.7 (Local) ԩ5 DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 ] DAT read: 05:13:33.9350 LVL= 32752, 20753, 28322, 32755, AGC= 67, IDX= 502,-0.17,-1.274, 0.885,-0.352,-0.162, PHS=-1.009, 1.092,-0.234, RAW= 308.6, 1.7, CAL= 306.5, -1.7, ROT= 203.5, 1.7 ^A C;=I I O > Ygot valid direction response: 05:13:33.9350 LVL= 32752, 20753, 28322, 32755, AGC= 67, IDX= 502,-0.17,-1.274, 0.885,-0.352,-0.162, PHS=-1.009, 1.092,-0.234, RAW= 308.6, 1.7, CAL= 306.5, -1.7, ROT= 203.5, 1.7  T#Rx 71: Read range and direction messages. bdirection in FSK: [-0.916656,-0.398573,-0.029666] Fpublishing direction and range infoy15@?UeX:ٿ `Y5A115Q5n 1)5CI5&i5Ƌ?5o5Z@5<5.@ 5)5Oc@I5<115ztE {2'ÿNDz? 5q?)5I5.i5<11u checking for new query: numPingsReceived=71, elapsed TxPingTime=35.110188 [,y߿?A2@2@2(oٱ2kb :AHRS rotation from veh to nav: [[0.911197,0.411869,-0.009179],[-0.410481,0.909569,0.064733],[0.035011,-0.055217,0.997860]]2H(?@\?̂ PEڿ/? [?? ]Ex?i2@I2Z];0YNKByRB IbDZVDZkyj@%jR=ٔt9Q->9Y!=%Fy!%Z=;E%>)Q 55I5-Ϥ?Q 95I5-?N))Y9y=?Q I=@-r}DI-/#;i-$;-I5yIɮM} AIiaiee߿?AJieARieAjie NH@bexQ/5ܪ7#$%ݚتRe@?UeX:ٿ `Zie.bie<jejkd7=?(SZe/ <4?g@Q2ie~>:ie۾"ie]p_?*ieFBiefBiaieLaBie)BieFAieG@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.505617 s, deltaX: 0.299999 m, approachRate: 0.593333 m/s, rangeRepo size: 4  Added new target pos. range: 23.877483 m, bearing: 179.322256 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 0.505617 s, deltaX: 0.298450 m, approachRate: 0.590270 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjd8@Zd`?ZZZZ?(o) =iG9)6ii@侉  E=I I Աchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.2867059@ @@4@bEjEFA4rE/E EE)E"EQ;*E>:VEFA4ZEBEȥ - DDAT read: Rx Time:05:13:34.4349 5 TRx dataTimestamp_ set to:1761542015.717329E PDAT read: Bearing 325.0, -25.5 (Local) E ~Local bearing/azimuth received: Bearing 325.0, -25.5 (Local) ] DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1  DAT read: 05:13:34.4349 LVL= 32752, 20049, 30658, 32755, AGC= 68, IDX= 501, 0.02,-0.955, 1.200,-0.039, 0.152, PHS=-1.005, 1.093,-0.235, RAW= 308.7, 1.6, CAL= 306.6, -1.7, ROT= 203.4, 1.7  Ygot valid direction response: 05:13:34.4349 LVL= 32752, 20049, 30658, 32755, AGC= 68, IDX= 501, 0.02,-0.955, 1.200,-0.039, 0.152, PHS=-1.005, 1.093,-0.235, RAW= 308.7, 1.6, CAL= 306.6, -1.7, ROT= 203.4, 1.7  T#Rx 72: Read range and direction messages. bdirection in FSK: [-0.917351,-0.396973,-0.029666] Fpublishing direction and range infoy1 5 ZLhٿ `Y5 3A1 1 5 QN5 w 1 )5 DI5 ףi5 m?5 ףp5 i@5 <5 <@ 1 )5 13c@I1 1 1 5 H۝%5ukÿHg? 5 |O?)5 xI5 .i1 1 1  checking for new query: numPingsReceived=72, elapsed TxPingTime=35.558941,S߿?A((0F@F@FٱF*amcG,9Y}A AHRS rotation from veh to nav: [[0.911752,0.410635,-0.009309],[-0.409253,0.910145,0.064404],[0.034919,-0.054911,0.997880]]FH`-?G?@41ڿ@?|?@?M?iF@IF];DYQyQe=e=ԉiMb@Mb@Mb@ 9~jth?Mb?Mbp?YD;y=;`Av@ A)hAYAbD=VD=0yM\%M=ٔM99Q-M>9QYQ=UFyQ]-;E]>YQ 5I5]Ѥ?Q 9I5]M)YY=Q E :ie"ie?*ieyEBiaie?ie!kDiedBieAiet8H@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.501973 s, deltaX: -0.100000 m, approachRate: -0.199215 m/s, rangeRepo size: 4  Added new target pos. range: 23.777992 m, bearing: 179.299546 deg, lat: 36.779339 deg, lon: -121.859675 deg, deltaT: 0.501973 s, deltaX: -0.099491 m, approachRate: -0.198200 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.78 m.hh*h"h hgfffBddjd`f7@Zd`[?ZM=ZM=ZMl?ZM?checking for new query: numPingsReceived=72, elapsed TxPingTime=35.789371) =i9)顕Ų6iԹi:侉I=IIE} E}E}&Ey"E}B;*E}:VE}4ZEya@a@a@a@9@ @@k0@@>@> B A B B B B B =B B B 4t,J ?A2 @2ݕ@2Dٱ2ۼa :AHRS rotation from veh to nav: [[0.912070,0.409932,-0.009199],[-0.408555,0.910454,0.064478],[0.034807,-0.055050,0.997877]]2H@/?Q9Y=FyW ;E>Q 5%I5Ҥ?Q 9%I5RL)Y!y%?Q I-@x}DI$:iվ"i?*iBzCBiBBi?iiiAiMH@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503460 s, deltaX: 0.100000 m, approachRate: 0.198626 m/s, rangeRepo size: 4  Added new target pos. range: 23.877499 m, bearing: 179.150244 deg, lat: 36.779339 deg, lon: -121.859675 deg, deltaT: 0.503460 s, deltaX: 0.099506 m, approachRate: 0.197645 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjd8@Zd ವ?ZIZIZIZM?D) =i9)顥6ii4侉TL=IIm9@i @i@m4@i checking for new query: numPingsReceived=73, elapsed TxPingTime=36.293240A ^AE SE=E  E E )E "E &U;*E :VE FA4ZE BE ę,$?AYE[@E.@Eܿ ٱEb uAHRS rotation from veh to nav: [[0.912441,0.409110,-0.008975],[-0.407743,0.910809,0.064592],[0.034600,-0.055277,0.997871]]EH2?.?auڿY%???4M?iE[@IE];ECԁDDAT read: Rx Time:05:13:35.4349 TRx dataTimestamp_ set to:1761542016.725571PDAT read: Bearing 325.3, -25.3 (Local)  ~Local bearing/azimuth received: Bearing 325.3, -25.3 (Local) %DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 -DAT read: 05:13:35.4349 LVL= 31984, 18705, 23842, 32755, AGC= 67, IDX= 502,-0.33,-2.734,-0.602,-1.832,-1.647, PHS=-0.985, 1.089,-0.230, RAW= 308.9, 1.4, CAL= 306.9, -1.9, ROT= 203.1, 1.9 5Ygot valid direction response: 05:13:35.4349 LVL= 31984, 18705, 23842, 32755, AGC= 67, IDX= 502,-0.33,-2.734,-0.602,-1.832,-1.647, PHS=-0.985, 1.089,-0.230, RAW= 308.9, 1.4, CAL= 306.9, -1.9, ROT= 203.1, 1.9 uT#Rx 74: Read range and direction messages.}bdirection in FSK: [-0.919316,-0.392122,-0.033155]Fpublishing direction and range infoyFIkDŽٿB3Y3A|I"] )I(|iZd?k+<g@ )ib@I=[+om7ÿ ? V?)ĭȼILB/i=checking for new query: numPingsReceived=74, elapsed TxPingTime=36.613281ԱY=By0 I i Mb@Mb@Mb@     9 Mbp?Zd;O?MbPY ;y j=   I@  A)  Y AbD% VD% 1y5 %5 =ٔ= 9Q-= >99 Y9 =E FyA E :EM >I Q 5U I5M Ԥ?Q 9U I5M J)M qBY] =Q E] :i"i I?*i~DABi.Bi?iiicAiDpH@  addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504782 s, deltaX: -0.100000 m, approachRate: -0.198106 m/s, rangeRepo size: 4   Added new target pos. range: 23.778008 m, bearing: 179.107894 deg, lat: 36.779339 deg, lon: -121.859675 deg, deltaT: 0.504782 s, deltaX: -0.099491 m, approachRate: -0.197097 m/s, posRepo size: 4  DNOT Ignoring new targets: 23.78 m.h h *h "h  h g f f f Bd d jd `f7@Zd ?Z =Z =Z ?Z 'h? ܿ )  >i #9)Y ] 6a ia ie >侉i m 3O=Ii Ii y  9@  @ @ ^0@  checking for new query: numPingsReceived=74, elapsed TxPingTime=36.798180 DzDAAE( EE*E"E`;*Eu:VE(N4ZEa@a@a@a@BBBS IBYBBBBB2s;B.E^AG=I IO%?%,H?Aɰ4ǽ%-=ٔ-ܚ9Q--?91Y1=5Fy15g;E5?9Q 5EI5=դ?Q 9MI5=ZJ)=pBYIyM?Q IM@=}}DI=w;i=;=)I5yQɮU!AYDNOT Ignoring new targets: 23.78 m.hh*h"h hgfffddjdZd`q?ZZZZۊ?Mc )I M=iMC9)IMv6IiQiU8侉Y]R=IYIY-DDAT read: Rx Time:05:13:35.9350 5TRx dataTimestamp_ set to:1761542017.2297009MPDAT read: Bearing 325.6, -24.9 (Local) U~Local bearing/azimuth received: Bearing 325.6, -24.9 (Local) uDAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 DAT read: 05:13:35.9350 LVL= 29904, 18769, 23026, 32755, AGC= 68, IDX= 502,-0.02,-3.001,-0.865,-2.108,-1.921, PHS=-0.977, 1.101,-0.231, RAW= 309.2, 1.2, CAL= 307.2, -2.1, ROT= 202.8, 2.1 Ygot valid direction response: 05:13:35.9350 LVL= 29904, 18769, 23026, 32755, AGC= 68, IDX= 502,-0.02,-3.001,-0.865,-2.108,-1.921, PHS=-0.977, 1.101,-0.231, RAW= 309.2, 1.2, CAL= 307.2, -2.1, ROT= 202.8, 2.1 T#Rx 75: Read range and direction messages.@ @@/@%bdirection in FSK: [-0.921244,-0.387255,-0.036644]%Fpublishing direction and range infoy152y=zm|;ؿ(א¢Y5A15t5QI5Y 1)5DI5zi5?5Dl5@5<5@ 5Q )5b@I5Q =115DAD˓Ŀ3ه=? 5>)5I5/i5Q =11Mchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.086468i^A%G=I)IaOm>ԙ  checking for new query: numPingsReceived=75, elapsed TxPingTime=37.301151 ,ea?A@ER EPER'EP"ER,K;*EPVER'4ZEPBERL9AYA=MFyIM:EM>QQ 5]I5U]פ?Q 9]I5UZI)UoBY=Q EW?<Zm!O)xY?D2im>:imǾ"im?*imH=BimBim?imBzCimBBimɾAimejH@5 addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504129 s, deltaX: 0.100000 m, approachRate: 0.198363 m/s, rangeRepo size: 4 U Added new target pos. range: 23.877468 m, bearing: 178.936136 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 0.504129 s, deltaX: 0.099461 m, approachRate: 0.197292 m/s, posRepo size: 4 UDNOT Ignoring new targets: 23.88 m.hQhY*hY"hY hYgafafifmBdidqjdu8@Zdu z?Z=Z=Z?ZH? ) H=i9)x6iiB侉U=IIEDDAT read: Rx Time:05:13:36.4349 MTRx dataTimestamp_ set to:1761542017.733526]PDAT read: Bearing 325.3, -25.2 (Local) ]~Local bearing/azimuth received: Bearing 325.3, -25.2 (Local) mDAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 DAT read: 05:13:36.4349 LVL= 32320, 20049, 26482, 32755, AGC= 69, IDX= 501, 0.24,-3.030,-0.906,-2.134,-1.944, PHS=-0.984, 1.082,-0.234, RAW= 309.0, 1.5, CAL= 306.9, -1.8, ROT= 203.1, 1.8 Ygot valid direction response: 05:13:36.4349 LVL= 32320, 20049, 26482, 32755, AGC= 69, IDX= 501, 0.24,-3.030,-0.906,-2.134,-1.944, PHS=-0.984, 1.082,-0.234, RAW= 309.0, 1.5, CAL= 306.9, -1.8, ROT= 203.1, 1.8 T#Rx 76: Read range and direction messages.bdirection in FSK: [-0.919368,-0.392144,-0.031411]Fpublishing direction and range infoyIM uk "ٿIzYM3AIM@~MQNMrg I)MEIMm{iM~?MoM@MPw+, *}?A 2H@2@2g ٱ2?b :AHRS rotation from veh to nav: [[0.913692,0.406312,-0.008784],[-0.404971,0.912067,0.064281],[0.034130,-0.055176,0.997893]]2H`:i "i]}?*iA@Bi#Bi?i~DAi.BiAiNH@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503826 s, deltaX: -0.100000 m, approachRate: -0.198482 m/s, rangeRepo size: 4  Added new target pos. range: 23.777979 m, bearing: 179.275314 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.503826 s, deltaX: -0.099489 m, approachRate: -0.197467 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.78 m.hh*h"h hgfffddjd`f7@Zd ?D=DR=E EE*E"E=;*E#:VE(N4ZEa@a@a@a@QZZZZk?-g )1 58=i=9BBB: IBEBBBBB;s;B.E)A-)i)i5<侉15xY=I1I9y9@ @@/@DDAT read: Rx Time:05:13:36.9350 TRx dataTimestamp_ set to:1761542018.236635PDAT read: Bearing 325.4, -24.7 (Local) ~Local bearing/azimuth received: Bearing 325.4, -24.7 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 DAT read: 05:13:36.9350 LVL= 32528, 20049, 26098, 32755, AGC= 69, IDX= 503,-0.33, 2.112,-2.039, 2.997,-3.089, PHS=-0.980, 1.095,-0.241, RAW= 309.4, 1.4, CAL= 307.3, -1.9, ROT= 202.7, 1.9 Ygot valid direction response: 05:13:36.9350 LVL= 32528, 20049, 26098, 32755, AGC= 69, IDX= 503,-0.33, 2.112,-2.039, 2.997,-3.089, PHS=-0.980, 1.095,-0.241, RAW= 309.4, 1.4, CAL= 307.3, -1.9, ROT= 202.7, 1.9 T#Rx 77: Read range and direction messages.bdirection in FSK: [-0.922031,-0.385694,-0.033155]Fpublishing direction and range infoy9FMwՃ5ؿB3YAe )IHzi(?v3ͬ@+<@ )kb@I=ڎgĿ1 ? >)zKȼI/i=M checking for new query: numPingsReceived=77, elapsed TxPingTime=38.081287ԡ ^A CT=I I O% >yz%,f?A2:@2 @2E ٱ2;b >AHRS rotation from veh to nav: [[0.913888,0.405873,-0.008720],[-0.404532,0.912252,0.064418],[0.034100,-0.055343,0.997885]]2H >? ?ہٿ,1?}?u?U`?i2:@I2Ɋ];2C@YJByJ IbDRVDR:3yZ<%ZT=ٔZ8Q-^>9\Y\=bFy`bӣ:Eb>dQ 5jI5fe٤?Q 9jI5fG)fmBYhyjz?Q In@f}DIf:if :fϯI5ypɮr:"Apii%?AJiARiAji,G@b6cs<4k"YIUR9FMwՃ5ؿB3Zi/bi=j07`n ?+&Zŭ￧LKu?Pz2iV>:iξ"i(Ո?*i;Bi Bi(Ո?iA@i#BiѾAioTH@= addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503109 s, deltaX: 0.100000 m, approachRate: 0.198765 m/s, rangeRepo size: 4 M Added new target pos. range: 23.877447 m, bearing: 178.910032 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.503109 s, deltaX: 0.099468 m, approachRate: 0.197707 m/s, posRepo size: 4 MDNOT Ignoring new targets: 23.88 m.hQhQ*hQ"hQ hQgQfQfYfYdYdajde8@Zde`r?Z)Z)Z)Z-z?ME )I Ml=iM9)q}2yiyi6侉 Z=IIԱchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.309860i@i @i@i@iE  EE(E"EG;*EL:VEc44ZEBE)  DDAT read: Rx Time:05:13:37.4350  TRx dataTimestamp_ set to:1761542018.740693 PDAT read: Bearing 325.2, -24.9 (Local)  ~Local bearing/azimuth received: Bearing 325.2, -24.9 (Local)  DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0  DAT read: 05:13:37.4350 LVL= 32752, 19409, 27986, 32755, AGC= 69, IDX= 502,-0.05, 0.528, 2.678, 1.423, 1.624, PHS=-0.994, 1.099,-0.245, RAW= 309.3, 1.6, CAL= 307.2, -1.7, ROT= 202.8, 1.7  Ygot valid direction response: 05:13:37.4350 LVL= 32752, 19409, 27986, 32755, AGC= 69, IDX= 502,-0.05, 0.528, 2.678, 1.423, 1.624, PHS=-0.994, 1.099,-0.245, RAW= 309.3, 1.6, CAL= 307.2, -1.7, ROT= 202.8, 1.7  T#Rx 78: Read range and direction messages.% bdirection in FSK: [-0.921457,-0.387345,-0.029666]% Fpublishing direction and range infoy  \|3JrCؿ `Y  K Rm ) I v~i ? Hz 澬@ < @ ) b@I < T70DĿFX p? >) ZܼI /i < E checking for new query: numPingsReceived=78, elapsed TxPingTime=38.581726+,ٰ?A2Ŵ@2q@2! ٱ2&c :AHRS rotation from veh to nav: [[0.914208,0.405154,-0.008622],[-0.403820,0.912568,0.064403],[0.033961,-0.055396,0.997887]]2H`0A?@ ?I1ٿ3?|?@^c?`\ ?i2Ŵ@I2z];2ClY=By=IiMb@Mb@Mb@ 9:v? rh?MbpYT9!Y!=%Fy!%:E->QQ 5uI5Uۤ?Q 9uI5U4G)UkBYu=Q Eu?:iؾ"iF?*i<Bi.BiF?iH=iiݾAiH@  addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 23.877447 m, bearing: 179.041584 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 23.88 m.hIhI*hI"hQ hQgQfQfYf]ҁBdYdYjdYZde/.?Z=Z=Z?Zv? ! ) =iO9)N3iiE@侉IM/X]=IIIIeG>ie>checking for new query: numPingsReceived=78, elapsed TxPingTime=38.813248@ @@@@ @ 1E EE'E"E[I;*Er:VE'4ZEa@a@a @a @y B B B ! IB 1BB =B B B Ts;B .EBBBBBC!%4^A= &V=II Iy O >2,B?A2˴@2gƻ@2C ٱ2b :AHRS rotation from veh to nav: [[0.914505,0.404484,-0.008607],[-0.403157,0.912871,0.064272],[0.033854,-0.055307,0.997895]]2H C??`Qٿ=6?t?@OU?3Q ?i2˴@I2e];0YBByBI DDbDNVDN0yr%vv=ٔv}9Q-v?9xYx=zFyxz;E~?Q 5I5ܤ?Q 9 I5F)jBY y Pv?Q I @}DId:ip:I5yɮ#A9MDNOT Ignoring new targets: 23.88 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]?ZZZZCPv?C )  =i69)顽3ii:侉ҿ_=IImDDAT read: Rx Time:05:13:37.9351 mTRx dataTimestamp_ set to:1761542019.245675}PDAT read: Bearing 324.8, -25.2 (Local) ~Local bearing/azimuth received: Bearing 324.8, -25.2 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 DAT read: 05:13:37.9351 LVL= 32752, 22369, 27618, 32755, AGC= 70, IDX= 503, 0.14,-3.077,-0.954,-2.184,-1.979, PHS=-0.996, 1.070,-0.250, RAW= 309.1, 2.0, CAL= 306.9, -1.3, ROT= 203.1, 1.3 Ygot valid direction response: 05:13:37.9351 LVL= 32752, 22369, 27618, 32755, AGC= 70, IDX= 503, 0.14,-3.077,-0.954,-2.184,-1.979, PHS=-0.996, 1.070,-0.250, RAW= 309.1, 2.0, CAL= 306.9, -1.3, ROT= 203.1, 1.3 T#Rx 79: Read range and direction messages.bdirection in FSK: [-0.919585,-0.392236,-0.022687]Fpublishing direction and range infoyim)m ImLB/U9@Q @Q@Uv0@Qim޹ checking for new query: numPingsReceived=79, elapsed TxPingTime=39.317276 E  E E *E "E ,K;*E :VE (N4ZE BE L9Y=Fy k:E >Q 5I5aݤ?Q 9I5/F)iBYZ=Q Ex:i"i?*iA?BilBi(Ո?iii3Ai2H@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504982 s, deltaX: 0.200001 m, approachRate: 0.396055 m/s, rangeRepo size: 4  Added new target pos. range: 24.076412 m, bearing: 179.406188 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504982 s, deltaX: 0.198965 m, approachRate: 0.394004 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgf!f)f-ÁBd)d1jd5@338@Zd5@?ZZ=ZZ=Z?Z'Cm?P ) =i9)3ieDDAT read: Rx Time:05:13:38.4350 mTRx dataTimestamp_ set to:1761542019.748839uPDAT read: Bearing 325.4, -25.0 (Local) }~Local bearing/azimuth received: Bearing 325.4, -25.0 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 DAT read: 05:13:38.4350 LVL= 32752, 21553, 27554, 32755, AGC= 70, IDX= 502, 0.40, 1.976,-2.157, 2.878, 3.073, PHS=-0.995, 1.098,-0.239, RAW= 309.1, 1.5, CAL= 307.0, -1.8, ROT= 203.0, 1.8 Ygot valid direction response: 05:13:38.4350 LVL= 32752, 21553, 27554, 32755, AGC= 70, IDX= 502, 0.40, 1.976,-2.157, 2.878, 3.073, PHS=-0.995, 1.098,-0.239, RAW= 309.1, 1.5, CAL= 307.0, -1.8, ROT= 203.0, 1.8 T#Rx 80: Read range and direction messages.bdirection in FSK: [-0.920051,-0.390538,-0.031411]Fpublishing direction and range infoyimqNؿIzYmAiim1Tmk i)iImR~imD?mjtimPw)m[ּIm^/im=iichecking for new query: numPingsReceived=80, elapsed TxPingTime=39.585529i4侉Qb=II@ @@/@Iԁ ^A mY=I I O >>,Ag?Abchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.821144YrByrIvAAvAAbDzVDzy % h=ٔQ->9Y=FyE?!Q 55I5%Kޤ?Q 9EI5%E)!YQyQQ IU@%}DI%;i%\;%I5yaɮe|#Aaii?AJiARiAjiRH@bv"<5HS9m"/TRqNؿIzZi^/bi=ju^7J?x3ZXĜ?|:5P褿2i >:iؾ"i?*i9>BiBiF?i9>ii+AiRH@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503164 s, deltaX: -0.200001 m, approachRate: -0.397486 m/s, rangeRepo size: 4  Added new target pos. range: 23.877434 m, bearing: 179.338423 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503164 s, deltaX: -0.198978 m, approachRate: -0.395454 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjd8@Zd`BZ?ZZZZ ) ̵=Qi09)顝;3iE EEE"EQ;*E>:VEZEa@a@a@a@i>侉%^$b=I!I1BiBiBm IBmBBm =BiBiBms;Bm.E9@ @@5@ԁ}DDAT read: Rx Time:05:13:38.9350 }TRx dataTimestamp_ set to:1761542020.252707PDAT read: Bearing 324.9, -25.1 (Local) ~Local bearing/azimuth received: Bearing 324.9, -25.1 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 ԩDAT read: 05:13:38.9350 LVL= 32752, 25073, 28242, 32755, AGC= 70, IDX= 503,-0.27, 0.375, 2.512, 1.269, 1.478, PHS=-1.001, 1.079,-0.253, RAW= 309.2, 1.9, CAL= 307.0, -1.4, ROT= 203.0, 1.4 Ygot valid direction response: 05:13:38.9350 LVL= 32752, 25073, 28242, 32755, AGC= 70, IDX= 503,-0.27, 0.375, 2.512, 1.269, 1.478, PHS=-1.001, 1.079,-0.253, RAW= 309.2, 1.9, CAL= 307.0, -1.4, ROT= 203.0, 1.4 T#Rx 81: Read range and direction messages.bdirection in FSK: [-0.920230,-0.390614,-0.024432]Fpublishing direction and range infoyy}L8_rRؿ{JYyyy}a}Rn y)yI} i}?}7}@}=y }+ȼ)yI}+ }>)} Iyi}+99Y9=EFyAM 9EM>yQ 5I5}jߤ?Q 9I5}VE)}hBYyMm?Q I@}}DI}C;i}D;}I5yɮ#AiiZ,?AJiARiAjiMH@b6!5XhK\"lRL8_rRؿ{JZibi+<jfy;ϱ7\5?Z",X ;?5gU2i>:i"i*?*i(=BiFBii(=i.BiFAiCNH@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503868 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Ա Added new target pos. range: 23.877447 m, bearing: 179.321707 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503868 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjdZd?ZqZqZqZuMm?d' checking for new query: numPingsReceived=81, elapsed TxPingTime=40.325409) D=iz9)P 4ii8侉b=IIbEajEe<4rEep/E  E E)E"EF;*E:VEFA4ZEBEa) M쾼I x 0i =  checking for new query: numPingsReceived=82, elapsed TxPingTime=40.592930^A 5[=I I! O5 >)K, 2?A ((VrG\h5 &91Y5hA5ϴ@5ʻ@5 ٱ5!c AHRS rotation from veh to nav: [[0.914710,0.404019,-0.008681],[-0.402684,0.913072,0.064378],[0.033936,-0.055391,0.997888]]5HLE? q?aǁٿ 7? {?`?7\?i5ϴ@I5,];5CYMByMI iMb@Mb@Mb@ 9L7A`?l?MbPY+=y= A`@ )AYA bDVDky/<%=ٔ oѹQ- >9 Y = FyxE>Q 5%I5gᤊ?Q 9%I5E)gBY-K=Q E-Q I-@}DI(;i_;9I5y1ɮ5#A9iiLn0?AJiRijiG@b͔>L6v|0"YIURU˭q`ؿB3Zix 0bi=j4_7g5x?vqZtM Gۦ?Vp12i?:iʾ"i?*i7BiBi?iii'AivUH@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.877447 m, bearing: 178.726282 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hgfffBddjdZd*?ZK=ZK=ZW?Z5> ) \=i9)4iiB侉`=IIchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.82953699@ @@4@Dq zDu @AE  E E E "E 4;*E :VE ZE a @a @a @a @BQ BQ BU IBU BBQ BQ BQ BU r;BU h.Ea ^A= u \=II IY Oe >R,zL?AYzށByzIbDVDkyk%=ٔQ-!?9Y=Fy!%E%!?)1Q 55I55u⤊?Q 9=I55D)1Y9y9Q I=@5}DI5h:i5:5I5yEZBɮM#AIDNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjdZd?ZZZZ5DDAT read: Rx Time:05:13:39.9351 5TRx dataTimestamp_ set to:1761542021.260929EPDAT read: Bearing 325.5, -25.2 (Local) E~Local bearing/azimuth received: Bearing 325.5, -25.2 (Local) UDAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 }DAT read: 05:13:39.9351 LVL= 32752, 22161, 26850, 32755, AGC= 69, IDX= 503, 0.10, 1.871,-2.278, 2.773, 2.961, PHS=-0.988, 1.089,-0.232, RAW= 308.9, 1.5, CAL= 306.9, -1.9, ROT= 203.1, 1.9 Ygot valid direction response: 05:13:39.9351 LVL= 32752, 22161, 26850, 32755, AGC= 69, IDX= 503, 0.10, 1.871,-2.278, 2.773, 2.961, PHS=-0.988, 1.089,-0.232, RAW= 308.9, 1.5, CAL= 306.9, -1.9, ROT= 203.1, 1.9 T#Rx 83: Read range and direction messages.bdirection in FSK: [-0.919316,-0.392122,-0.033155]Fpublishing direction and range infoy15FIkDŽٿB3Y5A115V5h 1)1I5|i5Zd?5hm5@) @]=i9)顭)4ii<侉X`=I5Pw<5g@ 1)5ib@I1115^.￶zhÿԨQ ? 5?)5VмI5LB/i1I11checking for new query: numPingsReceived=83, elapsed TxPingTime=41.102348Yy@y @y@}/@y!^A= 5[=IA IY Oe > checking for new query: numPingsReceived=83, elapsed TxPingTime=41.333195Q x Y,de?AE E E%E"EV;*E:VE 4ZEBE{JEkC9Y=FyE>Q 5I54䤊?Q 9I5D)Q A+:YQ EXI5yɮ#AiiimP?AJimARimAjimvkH@bmRC"6;"@URmFIkDŽٿB3ZimLB/biijm) 8,N?bueZm )ᅫs:imm"im#F?*imP>BimBiiimP>imBimkAimjH@] addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504197 s, deltaX: 0.200001 m, approachRate: 0.396672 m/s, rangeRepo size: 4 u Added new target pos. range: 24.076439 m, bearing: 179.425109 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504197 s, deltaX: 0.198992 m, approachRate: 0.394671 m/s, posRepo size: 4 }DNOT Ignoring new targets: 24.08 m.hyhy*hy"hy hgfffddjd@338@Zd?i)q uH=iu49)qu74qiqi6侉a=IIMDDAT read: Rx Time:05:13:40.4350 UTRx dataTimestamp_ set to:1761542021.765867YmPDAT read: Bearing 325.2, -25.4 (Local) m~Local bearing/azimuth received: Bearing 325.2, -25.4 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 DAT read: 05:13:40.4350 LVL= 32752, 21121, 27170, 32755, AGC= 70, IDX= 502, 0.27, 1.041,-3.091, 1.954, 2.149, PHS=-1.006, 1.088,-0.239, RAW= 308.8, 1.7, CAL= 306.6, -1.6, ROT= 203.4, 1.6 Ygot valid direction response: 05:13:40.4350 LVL= 32752, 21121, 27170, 32755, AGC= 70, IDX= 502, 0.27, 1.041,-3.091, 1.954, 2.149, PHS=-1.006, 1.088,-0.239, RAW= 308.8, 1.7, CAL= 306.6, -1.6, ROT= 203.4, 1.6 T#Rx 84: Read range and direction messages.5bdirection in FSK: [-0.917397,-0.396993,-0.027922]=Fpublishing direction and range infoyQUWP[umThٿ|p}YUAQQURU"j Q)UFIUĀiUC?UjtUiw@UԱ 0_,Ե?Abchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.841202YnՁBynIttbDzVDz1y=%=h=ٔAQ-E>9AYA=MFyIIEM>QQ 5]I5U夊?Q 9]I5UyD)UfBQ A] :YaQ Ee/ABiBi*?iii|AioH@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504938 s, deltaX: -0.200001 m, approachRate: -0.396090 m/s, rangeRepo size: 4  Added new target pos. range: 23.877459 m, bearing: 179.705250 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504938 s, deltaX: -0.198980 m, approachRate: -0.394069 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjd8@Zd?)  =i9)*@4!i!D5%=D54=EM EMEM(EI"EM<;*EM:VEMc44ZEIam@am@am@au@i@侉IBBBIBBBBBBr;Bj.EI!9@ @@/@]DDAT read: Rx Time:05:13:40.9351 ]TRx dataTimestamp_ set to:1761542022.268719ePDAT read: Bearing 325.4, -25.2 (Local) m~Local bearing/azimuth received: Bearing 325.4, -25.2 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 DAT read: 05:13:40.9351 LVL= 32752, 25201, 29170, 32755, AGC= 70, IDX= 504,-0.50, 1.050,-3.093, 1.957, 2.146, PHS=-0.994, 1.089,-0.232, RAW= 308.8, 1.5, CAL= 306.7, -1.8, ROT= 203.3, 1.8 Ygot valid direction response: 05:13:40.9351 LVL= 32752, 25201, 29170, 32755, AGC= 70, IDX= 504,-0.50, 1.050,-3.093, 1.957, 2.146, PHS=-0.994, 1.089,-0.232, RAW= 308.8, 1.5, CAL= 306.7, -1.8, ROT= 203.3, 1.8 T#Rx 85: Read range and direction messages.bdirection in FSK: [-0.917993,-0.395350,-0.031411]Fpublishing direction and range infoyY]$3`3kMٿIzY]AYY]qb]q Y)YI]v~i]Zd?]hmY]Pw<])K@ ])]c@I]=YY]wҎ9lÿmN)? ]Z9?)]PټI] /i]=YYchecking for new query: numPingsReceived=85, elapsed TxPingTime=42.1067059 ^A 5[=I I O >Q *f,1?AVĴ@VR@V'tٱV*c fAHRS rotation from veh to nav: [[0.914127,0.405320,-0.009352],[-0.403934,0.912495,0.064735],[0.034772,-0.055399,0.997859]]VH@??&@ٿ'3?@|?͡?:]@u?iVĴ@IVJ>];VCYrԁByvIbDVDyR%%L=ٔ-Q-->91Y1=5Fy1=`EE>IQ 5]I5M礊?Q 9]I5MAD)IQ Ae9YaQ EeQ Im@M}DIMl;iM?MI5yqɮu*$Aqii2?AJiARiAjiUH@b!|V16 8 #΀E3R$3`3kMٿIzZi /bi=jW-t8ٔ?VZcĹJdTl?M_-2iE>:ip"i.?*i-?BiBiiiBiAiPuH@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502852 s, deltaX: 0.200001 m, approachRate: 0.397733 m/s, rangeRepo size: 4  Added new target pos. range: 24.076426 m, bearing: 179.540067 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.502852 s, deltaX: 0.198967 m, approachRate: 0.395677 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgfffddjd@338@Zdf?'t) h=i9)dI4ii:侉 [=I I1checking for new query: numPingsReceived=85, elapsed TxPingTime=42.3417219@ @@.0@YEm  EmEm.Ei"EmD;*EmL:VEmـ4ZEiBEmϚԁ iY IY e DDAT read: Rx Time:05:13:41.4351 m TRx dataTimestamp_ set to:1761542022.772944u PDAT read: Bearing 325.5, -24.8 (Local) u ~Local bearing/azimuth received: Bearing 325.5, -24.8 (Local)  DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0  DAT read: 05:13:41.4351 LVL= 32752, 19697, 29522, 32755, AGC= 69, IDX= 503,-0.21,-0.499, 1.672, 0.406, 0.603, PHS=-1.000, 1.113,-0.241, RAW= 309.2, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9  Ygot valid direction response: 05:13:41.4351 LVL= 32752, 19697, 29522, 32755, AGC= 69, IDX= 503,-0.21,-0.499, 1.672, 0.406, 0.603, PHS=-1.000, 1.113,-0.241, RAW= 309.2, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9  T#Rx 86: Read range and direction messages. bdirection in FSK: [-0.921356,-0.387303,-0.033155] Fpublishing direction and range infoya e  {B=<ؿB3Ya a a e Le Rs a )e EIe ie v?e ve @e +)e ǼIe /ie =a a % checking for new query: numPingsReceived=86, elapsed TxPingTime=42.618916Al,Eh?A4Y=ہBy=IIEa=)E=aeae aeae aeam amam imMb@Mb@Mb@iiii i9m ףp= ?y&1?9Y=FyE%>!Q 5UI5% 養?Q 9UI5%)D)%hBQ A]T:Y]2\=Q E]vQ Ie@%}DI%;i%;%I5ԑyɮ#Aiiw?AJiRijitG@bF,.6NeT"WTR {B=<ؿB3Zi/bi=j 8qs? M#Z1I&?jJ[2i>:if"iAy?*i8`9BiBiAy?iiBihAisxH@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.076426 m, bearing: 179.047395 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgfffBddjdZd?Z52\=Z52\=Z5K}?Z5H>I)Q UT=iU9)QUb4QiQi]4侉!\=IIchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.845917=9@9 @9@=0@9Ee  Ee Ee *Ea "Ee Q;*Ee >:VEe (N4ZEa a @a @a @a @ B >B B IB BB B B B r;B |.E^AY Ii Iy O >(s,@?AJ@J~@J8NٱJ]c RAHRS rotation from veh to nav: [[0.913726,0.406216,-0.009669],[-0.404801,0.912091,0.065002],[0.035224,-0.055480,0.997838]]JH`>=?p?#̓Cٿ@/? ??gJ?iJ@IJI];JCYZBy^I` fQ I @~}DI~* ;i~:~I5yɮ#ADNOT Ignoring new targets: 24.08 m.hh*h"h hgfffddjdZdơ?ZZZZ[> 8N)  =i9)%DDAT read: Rx Time:05:13:41.9352 %TRx dataTimestamp_ set to:1761542023.2767945PDAT read: Bearing 325.2, -25.2 (Local) 5~Local bearing/azimuth received: Bearing 325.2, -25.2 (Local) EDAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 mDAT read: 05:13:41.9352 LVL= 31536, 20465, 25170, 32755, AGC= 69, IDX= 504,-0.04, 1.109,-3.023, 2.020, 2.216, PHS=-1.006, 1.089,-0.240, RAW= 308.8, 1.7, CAL= 306.7, -1.6, ROT= 203.3, 1.6 uYgot valid direction response: 05:13:41.9352 LVL= 31536, 20465, 25170, 32755, AGC= 69, IDX= 504,-0.04, 1.109,-3.023, 2.020, 2.216, PHS=-1.006, 1.089,-0.240, RAW= 308.8, 1.7, CAL= 306.7, -1.6, ROT= 203.3, 1.6 uT#Rx 87: Read range and direction messages.}bdirection in FSK: [-0.918088,-0.395391,-0.027922]}Fpublishing direction and range infoy!%g<`aƶNٿ|p}Y%fA!%0{%O%Rb !)!I%Āi%Zd?%u%iw@%<%)K@ %)%c@I%侉 X=II9@ @@4@^AIIO> checking for new query: numPingsReceived=87, elapsed TxPingTime=43.349125A E}  E} E} %Ey "E} L;*E} O:VE} 4ZEy BE} ݡ9Y=FyE>Q 5I5W?Q 9 I5C)lBY =Q E ?Q I@}DI%H;iF;I5yɮ%#A!ii?AJihARihAjiyH@b}@26FY'0#WܙRg<`aƶNٿ|p}Zi /bi<j`?(8[nt?3pZ.ڇ.<Ԃ?B|n;2ic>:iA"i?*i>Bi Bi.?iiBi Ai<H@  addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503850 s, deltaX: 0.099998 m, approachRate: 0.198469 m/s, rangeRepo size: 4 % Added new target pos. range: 24.175947 m, bearing: 179.472759 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503850 s, deltaX: 0.099522 m, approachRate: 0.197522 m/s, posRepo size: 4 %DNOT Ignoring new targets: 24.18 m.h!h!*h!"h! h)g)f)f)f5Bd1d1jd5L8@Zd5P?Z]=Z]=Z]/?Z]zM>i)i mT=iu9)qui4qiqi}8侉y}{kY=IyIDDAT read: Rx Time:05:13:42.4351 TRx dataTimestamp_ set to:1761542023.791280 PDAT read: Bearing 325.7, -25.3 (Local) ~Local bearing/azimuth received: Bearing 325.7, -25.3 (Local) -DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 ]DAT read: 05:13:42.4351 LVL= 31952, 20305, 22466, 32755, AGC= 68, IDX= 503, 0.14, 1.245,-2.895, 2.158, 2.339, PHS=-0.992, 1.094,-0.225, RAW= 308.7, 1.4, CAL= 306.6, -2.0, ROT= 203.4, 2.0 mYgot valid direction response: 05:13:42.4351 LVL= 31952, 20305, 22466, 32755, AGC= 68, IDX= 503, 0.14, 1.245,-2.895, 2.158, 2.339, PHS=-0.992, 1.094,-0.225, RAW= 308.7, 1.4, CAL= 306.6, -2.0, ROT= 203.4, 2.0 mT#Rx 88: Read range and direction messages.bdirection in FSK: [-0.917196,-0.396906,-0.034899]Fpublishing direction and range infoyJY/`dfٿXޡYA|QOW )DI}i1?fffi@+<<@ 5)13c@I5=ǬJᅳδqSÿ:\? [?)¼I.i5=checking for new query: numPingsReceived=88, elapsed TxPingTime=43.64342159@1 @1@54@9^A &V=I) I9 OE >I U checking for new query: numPingsReceived=88, elapsed TxPingTime=43.853054,/?A2@2m@2ٱ2-d :AHRS rotation from veh to nav: [[0.913314,0.407137,-0.009864],[-0.405695,0.911665,0.065411],[0.035624,-0.055739,0.997810]]2H`9??3 ٿ[,?`˾?[=? ։?i2@I2 ];2CYJByJI LLbDVVDV:y =%a=ٔCQ->9Y=Fy/E> Q 5%I5 s金?Q 9]I5 C) nBE E E)E"EM;*E:VEFA4ZEa@a@a@a@YayL>Q I@ }DI JB B IB BB  =B B DB s;B .EBBBBBCn4i)i-U?AJi-ARi-Aji-H@b-$76m#Uj]eR-JY/`dfٿXޡZi-.bi-5=j- 8Lүڒ?zZ-r[MӒT?HdP;2i-D>:i-h"i-F?*i-ݻ>Bi-zBi-Ay?i-ݻ>i)i-Ai-zH@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.514486 s, deltaX: -0.099998 m, approachRate: -0.194366 m/s, rangeRepo size: 4  Added new target pos. range: 24.076521 m, bearing: 179.542658 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.514486 s, deltaX: -0.099426 m, approachRate: -0.193254 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgfffddjd@338@Zd?9ZIZIZIZMZL>) =iW9)額Ֆ4iiB侉U=IIU9@Q @Q@UT3@QiDDAT read: Rx Time:05:13:42.9352 TRx dataTimestamp_ set to:1761542024.284662PDAT read: Bearing 325.5, -25.6 (Local) ~Local bearing/azimuth received: Bearing 325.5, -25.6 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 DAT read: 05:13:42.9352 LVL= 32752, 21825, 27698, 32755, AGC= 69, IDX= 504, 0.33,-2.988,-0.860,-2.072,-1.890, PHS=-0.996, 1.075,-0.226, RAW= 308.4, 1.6, CAL= 306.3, -1.7, ROT= 203.7, 1.7 Ygot valid direction response: 05:13:42.9352 LVL= 32752, 21825, 27698, 32755, AGC= 69, IDX= 504, 0.33,-2.988,-0.860,-2.072,-1.890, PHS=-0.996, 1.075,-0.226, RAW= 308.4, 1.6, CAL= 306.3, -1.7, ROT= 203.7, 1.7  T#Rx 89: Read range and direction messages.bdirection in FSK: [-0.915260,-0.401771,-0.029666]Fpublishing direction and range infoykI朶ٿ `YfAAU2l )EI~i?lg9>@<@ )c@I<9S]n¿nQW? ?)I.i<Uchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.126228^Au H\=I I O >ԡ ,?AYByI!%@AbD- VD-2y=<%=Q=ٔEQ-E>9AYA=EFyAMEM>QQ 5]I5U?Q 9]I5UC)UqBYYyYQ Ie@U}DIU:iU:UI5ym]Bɮmm#AmئEqii7?AJihARihAjiH@b$[ 6*m#21[eRkI朶ٿ `Zi.bi<j >(8x2R(?/Zl}PwϠ}[i?X@Lb2iB=:i@"iM?*iABiBiM?iiiBAi"H@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.493382 s, deltaX: 0.099998 m, approachRate: 0.202680 m/s, rangeRepo size: 4  Added new target pos. range: 24.176010 m, bearing: 179.822507 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.493382 s, deltaX: 0.099489 m, approachRate: 0.201647 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.18 m.hh*h"h hgfffddjdL8@ZdN?Z Z Z Z ) %=i%9)!%ԣ4!i!i-<侉)5uV=I1I1checking for new query: numPingsReceived=89, elapsed TxPingTime=44.3579489@ @@/@@=@=ԩE EE&E"E;;*E:VE4ZEBE DDAT read: Rx Time:05:13:43.4351  TRx dataTimestamp_ set to:1761542024.788644 PDAT read: Bearing 325.7, -25.2 (Local)  ~Local bearing/azimuth received: Bearing 325.7, -25.2 (Local)  DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 E DAT read: 05:13:43.4351 LVL= 32336, 17729, 22850, 32755, AGC= 67, IDX= 504,-0.29, 0.436, 2.601, 1.355, 1.541, PHS=-1.003, 1.105,-0.230, RAW= 308.8, 1.4, CAL= 306.7, -2.0, ROT= 203.3, 2.0 Ό,Z5?AB@BW@BoٱBb JAHRS rotation from veh to nav: [[0.913256,0.407259,-0.010145],[-0.405814,0.911637,0.065056],[0.035744,-0.055296,0.997830]]BH`e9?@?DŽٿ!,?? L?O 9?iB@IB70];BCY^By^InYgot valid direction response: 05:13:43.4351 LVL= 32336, 17729, 22850, 32755, AGC= 67, IDX= 504,-0.29, 0.436, 2.601, 1.355, 1.541, PHS=-1.003, 1.105,-0.230, RAW= 308.8, 1.4, CAL= 306.7, -2.0, ROT= 203.3, 2.0 nT#Rx 90: Read range and direction messages.rbdirection in FSK: [-0.917887,-0.395305,-0.034899]vFpublishing direction and range infoyPk9T_[LٿXޡYAP~AEBY )CINbip?kiw@+<)K@ 5)c@I5=#7￑ wÿX? I?)yȼI /i5=%checking for new query: numPingsReceived=90, elapsed TxPingTime=44.697674iuMb@Mb@Mb@qqqq q9u~jt?Mb?{Gz?Yu9Y=FyE>Q 5I5C?Q 9I5C)tBYڑ=Q E:Z||eҦ*?o2ir>:if"i,P?*iv<BiBiAy?i>iBi^Ai)H@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503982 s, deltaX: -0.099998 m, approachRate: -0.198417 m/s, rangeRepo size: 4  Added new target pos. range: 24.076521 m, bearing: 179.435220 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503982 s, deltaX: -0.099489 m, approachRate: -0.197406 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgfffBddjd@338@ZdM?Z5ڑ=Z5ڑ=Z5#?Z5KN?mo)i mY ,O?A2@2`@2K(ٱ2Za :AHRS rotation from veh to nav: [[0.913409,0.406914,-0.010246],[-0.405477,0.911812,0.064714],[0.035675,-0.054955,0.997851]]2H@:? ?`Uٿ-??@ D? #e?i2@I2N];2CYBByFIIF<)Fa=J=J=bDNVDN:yVƪ<%V[=ٔZ?9Q-Z>9XYX=ZFy\^8:E^>`Q 5fI5b?Q 9fI5bB)bxBYhyjN?Q Ij@b}DIb:ib):bzI5ylɮn#AlDDAT read: Rx Time:05:13:43.9352 TRx dataTimestamp_ set to:1761542025.292653PDAT read: Bearing 325.3, -25.6 (Local) ~Local bearing/azimuth received: Bearing 325.3, -25.6 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 DAT read: 05:13:43.9352 LVL= 32192, 19105, 26946, 32755, AGC= 67, IDX= 504,-0.06, 0.978, 3.140, 1.906, 2.099, PHS=-1.019, 1.086,-0.237, RAW= 308.4, 1.9, CAL= 306.3, -1.5, ROT= 203.7, 1.5 Ygot valid direction response: 05:13:43.9352 LVL= 32192, 19105, 26946, 32755, AGC= 67, IDX= 504,-0.06, 0.978, 3.140, 1.906, 2.099, PHS=-1.019, 1.086,-0.237, RAW= 308.4, 1.9, CAL= 306.3, -1.5, ROT= 203.7, 1.5 T#Rx 91: Read range and direction messages.bdirection in FSK: [-0.915349,-0.401810,-0.026177]Fpublishing direction and range infoylJxp7AٿP!ΚYfA}JBi )Ini ?!r9>@=@ Pwּ)c@IPw<W¿rbd? [?)1I.iPw<checking for new query: numPingsReceived=91, elapsed TxPingTime=45.1295131] addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504009 s, deltaX: 0.099998 m, approachRate: 0.198406 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 24.08 m.hYhY*ha"ha hagafafifididijdmL8@Zdu?ZZZZkN?K() =i 19)  4 i iU@侉QUW=IQIY9@ @@/@aԉ^A `T=I 5 checking for new query: numPingsReceived=91, elapsed TxPingTime=45.365211I1 OE >bEe:4jEec44rEe˷0E  E E *E "E CJ;*E 4:VE (N4ZE BE 9Y=Fy':E > Q 5I5 ?Q 9I5 A) |BY=Q EiBiGAiH@DNOT Ignoring new targets: 24.08 m.hh*h"h hgfffBd!d!jd!Zd%;j?Zm=Zm=Zm?Zmы?})y };DDAT read: Rx Time:05:13:44.4351 TRx dataTimestamp_ set to:1761542025.796719PDAT read: Bearing 325.3, -25.7 (Local) ~Local bearing/azimuth received: Bearing 325.3, -25.7 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 DAT read: 05:13:44.4351 LVL= 32752, 23025, 29330, 32755, AGC= 67, IDX= 503, 0.17, 1.802,-2.323, 2.732, 2.923, PHS=-1.020, 1.082,-0.235, RAW= 308.3, 1.9, CAL= 306.2, -1.5, ROT= 203.8, 1.5 Ygot valid direction response: 05:13:44.4351 LVL= 32752, 23025, 29330, 32755, AGC= 67, IDX= 503, 0.17, 1.802,-2.323, 2.732, 2.923, PHS=-1.020, 1.082,-0.235, RAW= 308.3, 1.9, CAL= 306.2, -1.5, ROT= 203.8, 1.5 T#Rx 92: Read range and direction messages.bdirection in FSK: [-0.914646,-0.403407,-0.026177]Fpublishing direction and range infoy+:Dl.kٿP!ΚYAYr )I\i~?ףp/@@ )c@I=9Dq9¿]WQ? ?) I!z.ichecking for new query: numPingsReceived=92, elapsed TxPingTime=45.632996i}9)IUZ4qib%9YAi:侉NX=II!9@ @@/@A ^A &V=I I O >= checking for new query: numPingsReceived=92, elapsed TxPingTime=45.869305Ǡ,$F?A^@^~@^Hpٱ^:a AHRS rotation from veh to nav: [[0.913774,0.406101,-0.009932],[-0.404689,0.912176,0.064507],[0.035256,-0.054926,0.997868]]^H=??"Wmٿ 0?? ?;?i^@I^k;];^CYBy IbD5VD50ye=%eU=ٔeD:Q-e>9iYi=mFyimĿ:Eu>E} E}EyEy"E}[I;*E}:VEyZEya@a@a@a@Q 5I5?Q 9I5@)BYy?Q I@}DI:i:I5AA@ABBCBIB BBBBBr;BY.Eyɮ7"Aiirr?AJiARiAjiI@bQ6e l#0݄+R+:Dl.kٿP!ΚZi!z.bij* h8؊2?:Z/a }??Ƞ-2i=<:i|"iǕ ?*iD@BiXBiF?i?ii9Ai[H@Ie addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504066 s, deltaX: -0.099998 m, approachRate: -0.198384 m/s, rangeRepo size: 4  Added new target pos. range: 24.076590 m, bearing: 179.972451 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 1.008075 s, deltaX: 0.000069 m, approachRate: 0.000068 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgfffddjd@338@Zd 9?Z Z Z Z o?Hp)! %+=i%?9)!E4IiIiM4侉QU3Z=IQIQ9@ @@n0@yDDAT read: Rx Time:05:13:44.9352 TRx dataTimestamp_ set to:1761542026.300748PDAT read: Bearing 324.4, -25.8 (Local) PExceeded connect timeout, disconnecting.~Local bearing/azimuth received: Bearing 324.4, -25.8 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 DAT read: 05:13:44.9352 LVL= 32752, 23713, 32754, 32755, AGC= 68, IDX= 505,-0.47, 1.403,-2.717, 2.332, 2.551, PHS=-1.046, 1.060,-0.264, RAW= 308.4, 2.7, CAL= 306.1, -0.6, ROT= 203.9, 0.6  Ygot valid direction response: 05:13:44.9352 LVL= 32752, 23713, 32754, 32755, AGC= 68, IDX= 505,-0.47, 1.403,-2.717, 2.332, 2.551, PHS=-1.046, 1.060,-0.264, RAW= 308.4, 2.7, CAL= 306.1, -0.6, ROT= 203.9, 0.6 T#Rx 93: Read range and direction messages.bdirection in FSK: [-0.914204,-0.405119,-0.010472]Fpublishing direction and range infoy(kIi(ALyٿ/;rYfA\ )DITㅿi?+9>@A=`@ +),c@I+<VO!~¿K\J䃨? ?)X2DI].i+< checking for new query: numPingsReceived=93, elapsed TxPingTime=46.185486ԩ ^A gW=I I O >,!?A2 Ĵ@2ྻ@2ٱ2!b :AHRS rotation from veh to nav: [[0.914102,0.405372,-0.009538],[-0.403983,0.912487,0.064544],[0.034868,-0.055146,0.997869]]2HR@??وٿ3??5ڡ?$<?i2 Ĵ@I2];2C@Y^Byb I ddddbDjVDjy aĻ% c=ٔ H:Q->9Y=Fy ;E>!Q 5-I5%l?Q 9-I5%(@)%BY)y-?Q I-@%}DI%K:i%:%+I5y9ɮ=@"A9iiu??AJihARihAji I@bPh6k#l3пR(kIi(ALyٿ/;rZi].bi+<jA+8f<`^H޿Zg\￿*rP"v2iɼ:i^"iǐ?*i#@BiBiǐ?iD@iABi^AioI@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504029 s, deltaX: 0.099998 m, approachRate: 0.198398 m/s, rangeRepo size: 4  Added new target pos. range: 24.176079 m, bearing: 180.058422 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.504029 s, deltaX: 0.099489 m, approachRate: 0.197388 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.18 m.hh*h"h hgfffddjdL8@Zd?ZZZZ?) #=iF9)`4ii>侉̾\=IIchecking for new query: numPingsReceived=93, elapsed TxPingTime=46.374077}9@ @@V4@ԱE  EE'E"EC;*E]:VE'4ZEBE  DDAT read: Rx Time:05:13:45.4352  TRx dataTimestamp_ set to:1761542026.804736 PDAT read: Bearing 324.1, -25.8 (Local)  ~Local bearing/azimuth received: Bearing 324.1, -25.8 (Local)  DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0  DAT read: 05:13:45.4352 LVL= 32752, 23361, 32754, 32755, AGC= 67, IDX= 504,-0.12,-0.730, 1.436, 0.197, 0.429, PHS=-1.058, 1.051,-0.276, RAW= 308.5, 3.1, CAL= 306.1, -0.2, ROT= 203.9, 0.2  Ygot valid direction response: 05:13:45.4352 LVL= 32752, 23361, 32754, 32755, AGC= 67, IDX= 504,-0.12,-0.730, 1.436, 0.197, 0.429, PHS=-1.058, 1.051,-0.276, RAW= 308.5, 3.1, CAL= 306.1, -0.2, ROT= 203.9, 0.2  T#Rx 94: Read range and direction messages. bdirection in FSK: [-0.914248,-0.405139,-0.003491] Fpublishing direction and range infoy  9ۅAg~ٿQC1mlY A[ ) CI li +? O L@ k]= d) I d; (;sVF¿aIQ? P?) C]I i d; = checking for new query: numPingsReceived=94, elapsed TxPingTime=46.643311,?A2̴@2hǻ@2} ٱ2Pb >AHRS rotation from veh to nav: [[0.914537,0.404400,-0.009109],[-0.403037,0.912908,0.064502],[0.034400,-0.055318,0.997876]]2HC??ǧ[ٿ`6?3?뜡? R?i2̴@I2z];2CpY}By} Ii5Mb@Mb@Mb@1111 195:vv/?/$?Y5Լy5x=115QA 5A)5A1Y5AAEAAbDMVDMky}l<%})=ٔp}:Q->9Y=Fy ;E>Q 5I5V?Q 9I5>)BYL=Q E;y?Q I@}DI%;i;qI5yɮ "A iiˀ?AJiRiji"*I@b@\Z6ơߖ#kɪR9ۅAg~ٿQC1mlZibid;j.,8$ 1?ڣ*g`ӿZ'X₩FZdC62i:id"iUk;?*i䣯?BiBiUk;?i?iXBidAi6/I@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503988 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.176079 m, bearing: 180.091900 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.503988 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.18 m.hh*h"h hgfff&BddjdZd`W?Z5L=Z5L=Z5?Z5(?e} )a eƣie%9)imu4iiiiu8侉quB`=IqIy checking for new query: numPingsReceived=94, elapsed TxPingTime=46.8782699e9@a @a@m4@iDzDE EE(E"E1A;*E1:VEc44ZEa@a@a@a@B>BCB IBBBBBBr;BF.Ea ^A mY=I I O >,(?A>ִ@>^ѻ@>Q ٱ>W,c FAHRS rotation from veh to nav: [[0.915043,0.403264,-0.008674],[-0.401932,0.913405,0.064356],[0.033875,-0.055402,0.997889]]>HH?@?Á@ٿ:?y?X?`]?i>ִ@I>^;i;9)4iiB侉|d=IIi9@ @@/@ԑ^Au \=IIO>% checking for new query: numPingsReceived=95, elapsed TxPingTime=47.382721 E  E E *E "E F;*E >:VE (N4ZE BE a}u<} A}A }A)yyY}GAbDVD02yqt;%1=ٔ=:Q->9Y=FyUk;E>Q 5I5D?Q 9I5;)BY>Q E;y?Q I@}DI/;i;9I5yɮ!Aii?AJiARiAjiI@b ?69d#J㧱ݿRw;4o ڿ]~ZiX$.binF<j'h.|]8BX˿Z8ZpԲ: [D.2i_:i"iM?*iEABiπBiǐ?iD@iπBiAiI@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504077 s, deltaX: 0.200001 m, approachRate: 0.396766 m/s, rangeRepo size: 4  Added new target pos. range: 24.375010 m, bearing: 180.513720 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.504077 s, deltaX: 0.198931 m, approachRate: 0.394644 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.38 m.hh*h"h hgfff.Bd d jd 8@Zd @qr?ZM>ZM>ZMb?ZM?mDDAT read: Rx Time:05:13:46.4352 uTRx dataTimestamp_ set to:1761542027.812798}PDAT read: Bearing 325.5, -26.1 (Local) }~Local bearing/azimuth received: Bearing 325.5, -26.1 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 DAT read: 05:13:46.4352 LVL= 32752, 20945, 30706, 32755, AGC= 66, IDX= 504, 0.27, 1.758,-2.342, 2.710, 2.900, PHS=-1.040, 1.086,-0.233, RAW= 307.9, 2.0, CAL= 305.8, -1.4, ROT= 204.2, 1.4 Ygot valid direction response: 05:13:46.4352 LVL= 32752, 20945, 30706, 32755, AGC= 66, IDX= 504, 0.27, 1.758,-2.342, 2.710, 2.900, PHS=-1.040, 1.086,-0.233, RAW= 307.9, 2.0, CAL= 305.8, -1.4, ROT= 204.2, 1.4 T#Rx 96: Read range and direction messages.bdirection in FSK: [-0.911848,-0.409801,-0.024432]Fpublishing direction and range infoyimBq-S=',:ڿ{JYmfAiimQmw i)iImim ?mnm@m5=m{ʪ@ m+ȼ)md@Im+- checking for new query: numPingsReceived=96, elapsed TxPingTime=47.887245V,?A@@ٱua AHRS rotation from veh to nav: [[0.916627,0.399669,-0.007733],[-0.398429,0.915009,0.063350],[0.032395,-0.054987,0.997961]]H@U?+?ٿG?`7??P'L?i@I ^;CYy I <4<bDVDky%W=ٔ;Q->9Y=Fy~;E>Q 5J5?Q 9J5:)BY y 7?Q I @}DID;i;J5yɮ!Aii?AJihARihAjiqI@b5| 6uJ>#3Y$+RBq-S=',:ڿ{JZi.bi+<jj 2y)8M4qԿw`;YHZ3?￐g9%BQBQBU IBU,BBQBQBQBUr;BUk.ED=DR=E EE)E"ECJ;*E:VEFA4ZEBE<2E<JE}.<:E}.<2i:iK"ixFv?*iFBBiBiUk;?i#@iiAiI@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503985 s, deltaX: -0.200001 m, approachRate: -0.396839 m/s, rangeRepo size: 4 5 Added new target pos. range: 24.176029 m, bearing: 180.757423 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.503985 s, deltaX: -0.198980 m, approachRate: -0.394814 m/s, posRepo size: 4 5DNOT Ignoring new targets: 24.18 m.h1h9*h9"h9 h9g9f9fAfAdadijdmL8@Zdm?ZZZZ7?) i9)4ii6侉kq=II!9@ @@/@}DDAT read: Rx Time:05:13:46.9352 }TRx dataTimestamp_ set to:1761542028.316680PDAT read: Bearing 325.7, -25.8 (Local) ~Local bearing/azimuth received: Bearing 325.7, -25.8 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 DAT read: 05:13:46.9352 LVL= 32752, 20033, 28706, 32755, AGC= 66, IDX= 505,-0.38, 0.322, 2.499, 1.265, 1.452, PHS=-1.028, 1.091,-0.231, RAW= 308.2, 1.8, CAL= 306.0, -1.6, ROT= 204.0, 1.6 Ygot valid direction response: 05:13:46.9352 LVL= 32752, 20033, 28706, 32755, AGC= 66, IDX= 505,-0.38, 0.322, 2.499, 1.265, 1.452, PHS=-1.028, 1.091,-0.231, RAW= 308.2, 1.8, CAL= 306.0, -1.6, ROT= 204.0, 1.6 T#Rx 97: Read range and direction messages.bdirection in FSK: [-0.913189,-0.406578,-0.027922]Fpublishing direction and range infoyy}~8[_`ڿ|p}Yyyy}AN}"p y)yI}i}㥋?}Dl}!@}=}@ })}c@I}q @,h?A2@2o@2ٱ2B` :AHRS rotation from veh to nav: [[0.917353,0.398008,-0.007305],[-0.396808,0.915742,0.062932],[0.031736,-0.054832,0.997991]]2HZ?@x?}LeٿM? H???` ?i2@I2H0^;0YNByR IbDZVDZk1yT %%X=ٔ%8:Q-%>9)Y)=-Fy)-3;E5>1Q 5=J55?Q 9EJ5509)5BYAyEq?Q IE@5}DI5;i5Y;5J5yIɮU+"AQii|D?AJiRijiI@bs6Zo#? zR~8[_`ڿ|p}Zi@.bi<j½* (8J$!ҿRQZfĬ #W못2i :iG"i[?*i$@BilBiiiiAiI@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.176010 m, bearing: 180.671757 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.503882 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.18 m.hh*h"h hgfffddjdZd=?ZZZZyq?) 3i9)ե4ii @侉 A$w=IIQDDAT read: Rx Time:05:13:47.4352 TRx dataTimestamp_ set to:1761542028.571723 checking for new query: numPingsReceived=97, elapsed TxPingTime=48.395309@ @@0@Em  EmEm,Ei"EmE;*Em:VEmg4ZEiau@au@au@au@ԑ^Am=IIO>ԩi߁ I߁  PDAT read: Bearing 325.7, -25.6 (Local)  ~Local bearing/azimuth received: Bearing 325.7, -25.6 (Local)  DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0  DAT read: 05:13:47.4352 LVL= 32752, 20209, 26706, 32755, AGC= 68, IDX= 504,-0.13,-0.876, 1.284, 0.055, 0.244, PHS=-1.018, 1.085,-0.233, RAW= 308.3, 1.8, CAL= 306.2, -1.5, ROT= 203.8, 1.5  Ygot valid direction response: 05:13:47.4352 LVL= 32752, 20209, 26706, 32755, AGC= 68, IDX= 504,-0.13,-0.876, 1.284, 0.055, 0.244, PHS=-1.018, 1.085,-0.233, RAW= 308.3, 1.8, CAL= 306.2, -1.5, ROT= 203.8, 1.5  T#Rx 98: Read range and direction messages. bdirection in FSK: [-0.914646,-0.403407,-0.026177] Fpublishing direction and range infoy  +:Dl.kٿP!ΚY N Rh ) DI Mi H? n /@ @ Pwּ) c@I Pw< ^,;T¿uݕ++Q? P?) I !z.i Pw< % checking for new query: numPingsReceived=98, elapsed TxPingTime=48.660419 j,F8?A2l@2?@2ٱ2"` :AHRS rotation from veh to nav: [[0.918088,0.396317,-0.006881],[-0.395157,0.916485,0.062506],[0.031079,-0.054667,0.998021]]2H`?B]?/| ?JٿS?j?`%ӟ?T?i2l@I2(^;2CYNByRI TTTVAi Mb@Mb@Mb@     9 p= ףQ?y&1|?Y y \> `;  A A ) A Y AbDMVDM1y}䥼%}6=ٔ}W:Q-}>9Y=Fy&;E>Q 5J5?Q 9J5^7)Y8>Q E;y?Q I@}DI:i':J5yɮP"AԱiit4?AJiRijiI@b~V6- Dk#7bW@R+:Dl.kٿP!ΚZi!z.biPw<jȑ|)8 LοժAE$ZKT@ESPC`2iu:iK"i?*iIϭ=BiBixFv?i$@iBiSAiI@] addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.502956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.176010 m, bearing: 180.568922 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.502956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.18 m.hh*h"h hgfff2BddjdZd`?Z8>Z8>ZY@Z/?) uio9)l4i!iM:侉IM}=IIIQDDAT read: Rx Time:05:13:47.9353  TRx dataTimestamp_ set to:1761542029.076340%PDAT read: Bearing 325.4, -25.7 (Local) -~Local bearing/azimuth received: Bearing 325.4, -25.7 (Local) 5checking for new query: numPingsReceived=98, elapsed TxPingTime=48.903336I]9@a @a@e0@iBQBQBQBQBU =BQBQBUr;BU].EBEu& EuEu*Eq"Eu8^;*Eu:VEu(N4ZEqBEuQ,R?A :<"@:@:s7ٱ:?2` FAHRS rotation from veh to nav: [[0.918823,0.394620,-0.006269],[-0.393505,0.917216,0.062199],[0.030295,-0.054683,0.998044]]:Hf?tA?­y@1/ٿY?@د?@?`h ?i:<"@I: ^;:CY^ BybIdfBAbDjVDjk2yr"D%rh=ٔv;Q-v>9tYt=vFytz`;Ez>|Q 5J5~?Q 9J5~5)~BYy ?Q I @~}DI~9:i~|:~ J5yɮ"AMDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 uDAT read: 05:13:47.9353 LVL= 32752, 21281, 27250, 32755, AGC= 69, IDX= 505, 0.13, 0.193, 2.349, 1.123, 1.323, PHS=-1.028, 1.072,-0.244, RAW= 308.3, 2.2, CAL= 306.1, -1.2, ROT= 203.9, 1.2 Ygot valid direction response: 05:13:47.9353 LVL= 32752, 21281, 27250, 32755, AGC= 69, IDX= 505, 0.13, 0.193, 2.349, 1.123, 1.323, PHS=-1.028, 1.072,-0.244, RAW= 308.3, 2.2, CAL= 306.1, -1.2, ROT= 203.9, 1.2 T#Rx 99: Read range and direction messages.bdirection in FSK: [-0.914053,-0.405053,-0.020942]Fpublishing direction and range infoy9=9 ?`*bٿ_2qY=A99=!S=rj 9)=EI=i=L7?=#y9=nF==`@ =)=,c@I=<99=ãPm¿7ͮ? =^?)=_I=].i=<99checking for new query: numPingsReceived=99, elapsed TxPingTime=49.158680 addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503806 s, deltaX: 0.200001 m, approachRate: 0.396980 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.18 m.hh*h"h hgfffddjd8@Zd@?ZqZqZqZu?s7) di9) 4ii4侉(=IIq9@ @@4@ԙ^A|= DDAT read: Rx Time:05:13:48.4352  TRx dataTimestamp_ set to:1761542029.580055- PDAT read: Bearing 325.6, -24.9 (Local) 5 ~Local bearing/azimuth received: Bearing 325.6, -24.9 (Local) E checking for new query: numPingsReceived=99, elapsed TxPingTime=49.406605IY I O > E  E E E "E O;*E &:VE ZE a @a @a @a @~,l?APT/@'*@;Lٱ^~` AHRS rotation from veh to nav: [[0.919467,0.393124,-0.005789],[-0.392043,0.917854,0.062021],[0.029695,-0.054756,0.998058]]HFl?(? w=ٿ_?@)?`bh? ?iT/@I^;YByIiMb@Mb@Mb@ 9V-Mb?~jthYmy>DA )AYAbDVDyZ|%.=ٔ:Q->9Y=Fy^;E>Q 5J5e?Q 9J554)BY>Q E;y?Q I@}DI:i ;J5yɮ #AiiimFT?AJimARimAjimEJ@bmFG6{, #URm9 ?`*bٿ_2qZim].bim󧒫<jm?6:]8RqVֿ}],Zm6^↓Iv*Z>Z?Z?;L) Li9)顭R4ii>侉_=II]DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 DAT read: 05:13:48.4352 LVL= 32752, 20961, 28322, 32755, AGC= 69, IDX= 505,-0.46, 2.997,-1.146,-2.385,-2.180, PHS=-1.004, 1.079,-0.248, RAW= 309.0, 1.9, CAL= 306.8, -1.4, ROT= 203.2, 1.4 Ygot valid direction response: 05:13:48.4352 LVL= 32752, 20961, 28322, 32755, AGC= 69, IDX= 505,-0.46, 2.997,-1.146,-2.385,-2.180, PHS=-1.004, 1.079,-0.248, RAW= 309.0, 1.9, CAL= 306.8, -1.4, ROT= 203.2, 1.4 V#Rx 100: Read range and direction messages.bdirection in FSK: [-0.918861,-0.393824,-0.024432]Fpublishing direction and range infoyIM F OgV!  DDAT read: Rx Time:05:13:48.9354  TRx dataTimestamp_ set to:1761542030.0836875 PDAT read: Bearing 325.4, -25.4 (Local) = ~Local bearing/azimuth received: Bearing 325.4, -25.4 (Local) M checking for new query: numPingsReceived=100, elapsed TxPingTime=49.910858e,ۅ?A|q<@D7@ٱCa AHRS rotation from veh to nav: [[0.920112,0.391621,-0.005203],[-0.390579,0.918484,0.061925],[0.029030,-0.054945,0.998067]]H q?`S?YOu=ؿ9d? ?`깝?!*?iq<@I^;CBBB IBBB =BBBr;BL.EYByII!)%%=E=+ E= E='E9"E=b;*E=:VE='4ZE9BE=9Y=Fy$;E>Q 5J5J?Q 9J52)BYy?Q I@}DIl:i:eJ5yɮ#Aiyi} ,ɯ?A2EH@2C@2ٱ2a :AHRS rotation from veh to nav: [[0.920692,0.390263,-0.004632],[-0.389257,0.919053,0.061816],[0.028381,-0.055110,0.998077]]2HNv??r@ؿ h?Q??l7>?i2EH@I2ձ^;2CY^ځBybI fp9tYt=vFytzɆ;Ez>|Q 5J5~0?Q 9J5~y1)~BY y 2?Q I @~}DI~]:i~:~lJ5yɮ$Aii;?AJiARiAjiI@bcl6"Nԗ#ڤg޿R5uQVlBٿ]~ZiR.binF<jwQw8>vӿBp8Z6?.rXe2i:i"i|휊?*iMy9BiBip?i=iiYAiIJ@e addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504132 s, deltaX: 0.300001 m, approachRate: 0.595084 m/s, rangeRepo size: 4 u Added new target pos. range: 24.474510 m, bearing: 180.712160 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504132 s, deltaX: 0.298471 m, approachRate: 0.592050 m/s, posRepo size: 4 ԹDNOT Ignoring new targets: 24.47 m.hh*h"h hgfff1dYdajdm8@Zdm?DDAT read: Rx Time:05:13:49.4352 TRx dataTimestamp_ set to:1761542030.588378PDAT read: Bearing 324.8, -25.6 (Local) ~Local bearing/azimuth received: Bearing 324.8, -25.6 (Local) %DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 ]\#Rx 102: Read range message, but no direction.yYfAchecking for new query: numPingsReceived=102, elapsed TxPingTime=50.436684ZZZZ2?) iE9)Jg4ii%B侉!=IIbE(N4jEmF4rEğ/EM EMEM+EI"EM[I;*EM]:VEM [4ZEIa}@a}@a}@a}@9@ @@/@@hA@hA ːCQ  DAT read: 05:13:49.4352 LVL= 32752, 22769, 29778, 32755, AGC= 70, IDX= 505,-0.03, 2.070,-2.081, 2.983,-3.083, PHS=-1.028, 1.047,-0.261, RAW= 308.6, 2.7, CAL= 306.2, -0.6, ROT= 203.8, 0.6  Ygot valid direction response: 05:13:49.4352 LVL= 32752, 22769, 29778, 32755, AGC= 70, IDX= 505,-0.03, 2.070,-2.081, 2.983,-3.083, PHS=-1.028, 1.047,-0.261, RAW= 308.6, 2.7, CAL= 306.2, -0.6, ROT= 203.8, 0.6  \#Rx 103: Read direction message, but no range. bdirection in FSK: [-0.914909,-0.403523,-0.010472]yi m pA:F9=-Sٿ/;ri i m Xm Rt i )m FIm im ?m ˡi m A=m @ m +)m c@Im +,P?AYEԁByEI IIiMb@Mb@Mb@ 9~jt:v?~jtYDy=D AQA )AYpAbDVDyD%=ٔ-Q-->99IY9=UFyQeEm>Q 5J5?Q 9J5/)~BY=Q E;y?Q I@DDAT read: Rx Time:05:13:49.9353 TRx dataTimestamp_ set to:1761542031.092212 PDAT read: Bearing 325.7, -25.8 (Local) ~Local bearing/azimuth received: Bearing 325.7, -25.8 (Local) 5DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 \#Rx 104: Read range message, but no direction.yYAchecking for new query: numPingsReceived=104, elapsed TxPingTime=50.936378}DIA=i@=@J5yFBɮ#AΦEii?AJiARiAji J@bݫ* M62Z#PVпRpA:F9=-Sٿ/;rZi!z.bi+<j^8 ׿$`ֿZ4[5J0{Jz7. BBBIBBBBBBr;BC.E2iֿ:i"iBq?*iX,9Bi#BiG?iX,9iBiAi J@- addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.760429 s, deltaX: -0.100000 m, approachRate: -0.131505 m/s, rangeRepo size: 4 EU EUEU'EQ"EUy>;*EU:VEU'4ZEQBEUS9Y=FyE>Q 5J5?Q 9J5.)zBYyQ I@}DI>:i:J5yɮ)$ADNOT Ignoring new targets: 24.38 m.hh*h"h hgf!f!f!d!d)jd)Zd-Z|?ZIZIZIZIa)a e̟ie9)aeI4aiiim6侉qu=IqIqE9@A @A@M/@I]DDAT read: Rx Time:05:13:50.4352 mTRx dataTimestamp_ set to:1761542031.595938PDAT read: Bearing 325.6, -26.0 (Local) ~Local bearing/azimuth received: Bearing 325.6, -26.0 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 \#Rx 106: Read range message, but no direction.yaYefAachecking for new query: numPingsReceived=106, elapsed TxPingTime=51.430473 E EEE"E[I;*E:VEZEa@a@a@a@^A z=) IY I O >,?A6XX@6+S@6Xٱ6Zb >AHRS rotation from veh to nav: [[0.921473,0.388421,-0.003978],[-0.387458,0.919820,0.061705],[0.027627,-0.055318,0.998087]]6H|??@Kp ؿ*o?`ӗ?@*J?`R S?i6XX@I6];6CbDAT read: 05:13:50.4352 LVL= 32752, 21089, 29042, 32755, AGC= 69, IDX= 505, 0.17,-2.924,-0.779,-1.986,-1.799, PHS=-1.023, 1.065,-0.230, RAW= 307.9, 2.1, CAL= 305.7, -1.3, ROT= 204.3, 1.3 fYgot valid direction response: 05:13:50.4352 LVL= 32752, 21089, 29042, 32755, AGC= 69, IDX= 505, 0.17,-2.924,-0.779,-1.986,-1.799, PHS=-1.023, 1.065,-0.230, RAW= 307.9, 2.1, CAL= 305.7, -1.3, ROT= 204.3, 1.3 j\#Rx 107: Read direction message, but no range.jbdirection in FSK: [-0.911169,-0.411408,-0.022687]yPR88K($TڿNGY;PPPRrq P)REIRiRQ?RkR@RQ =R/@ R޹)R4d@IR޹9Y=Fyb;E>Q 5 J5w?Q 9 J5-)vBY=Q ET8R88K($TڿNGY;Zi'-bi޹<jabs(80*5ojQbZ}￐l6"Ϩ2i%:iG"i"?*i>BirBiiiiAi@==}DDAT read: Rx Time:05:13:50.9352 TRx dataTimestamp_ set to:1761542032.101007PDAT read: Bearing 324.1, -26.4 (Local) ~Local bearing/azimuth received: Bearing 324.1, -26.4 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 % \#Rx 108: Read range message, but no direction.yY- checking for new query: numPingsReceived=108, elapsed TxPingTime=51.943703ԩ Bi Ai Bm >Bi Bm IBm ځBBm =Bi Bi Bm dr;Bm 5.EE  E E )E "E X;*E :VE FA4ZE BE ",?A$2V@2Q@25ٱ2byc >AHRS rotation from veh to nav: [[0.921405,0.388583,-0.003924],[-0.387618,0.919742,0.061870],[0.027651,-0.055486,0.998076]]2H'|??pؿn?``? zP?`h >?i2V@I2QV];2CY-By-jII5=)5=bD=VD=:yM%Uy=ٔU̙Q-U?9YYY=]FyY] E]?aQ 5J5e?Q 9J5eh-)esBYy?Q I@e}DIe:ieg:e%J5yɮV%A addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.505069 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.18 m.hh*h"h! h!g!f!f)f)d)d)jd1Zd5?ZQZQZQZU܄?e5)i mPimx9)imGiiiiu:侉qu=IyIyDAT read: 05:13:50.9352 LVL= 32752, 27457, 32754, 32755, AGC= 69, IDX= 505, 0.19,-1.923, 0.246,-0.974,-0.749, PHS=-1.072, 1.040,-0.270, RAW= 307.9, 3.3, CAL= 305.5, -0.0, ROT= 204.5, 0.0 Ygot valid direction response: 05:13:50.9352 LVL= 32752, 27457, 32754, 32755, AGC= 69, IDX= 505, 0.19,-1.923, 0.246,-0.974,-0.749, PHS=-1.072, 1.040,-0.270, RAW= 307.9, 3.3, CAL= 305.5, -0.0, ROT= 204.5, 0.0  \#Rx 109: Read direction message, but no range.bdirection in FSK: [-0.909961,-0.414693,-0.000000]y+pSgfHUڿAk )IL7i?q=k=@ )md@I!f$g 2l|%? ;@)֒lI-i=checking for new query: numPingsReceived=109, elapsed TxPingTime=52.192760A9@ @@/@a^A= =II IY Oe >ԑ u DDAT read: Rx Time:05:13:51.4351 } TRx dataTimestamp_ set to:1761542032.608437 PDAT read: Bearing 326.0, -26.4 (Local)  ~Local bearing/azimuth received: Bearing 326.0, -26.4 (Local)  DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0  \#Rx 110: Read range message, but no direction.yq Yu Aq  checking for new query: numPingsReceived=110, elapsed TxPingTime=52.445400 ,(?AN0R@NM@NzٱNc VAHRS rotation from veh to nav: [[0.921174,0.389129,-0.004124],[-0.388147,0.919506,0.062047],[0.027937,-0.055556,0.998065]]NHAz?}?p@fؿl?į?@{?q`%?iN0R@INMS];NCYjByjIIE EEE"E8;*E:VEZEa@a@a@a@ԑbDVDy%D=ٔ3Q->9Y=FyE>9Q 5EJ5=_?Q 9EJ5=,)=oBYIyMo?Q IM@=}DI=;i=@;=z)J5yɮ*&Aii&?AJiARiAjiJ@b]5`2f#R+pSgfHUڿZi-bij7I!8X2&0HW_ZV ʜ( ec2iI-:i"iʷM?*iP>BicBip?iiiwAi\J@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.507430 s, deltaX: -0.099998 m, approachRate: -0.197069 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 24.076500 m, bearing: 181.611057 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 1.012499 s, deltaX: -0.099503 m, approachRate: -0.098274 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgfffddjd@338@Zd1?ZAZAZAZECo?Uz)Q U iU 9)Y]YiYi4侉͌=IIDAT read: 05:13:51.4351 LVL= 32752, 21089, 25378, 32755, AGC= 69, IDX= 504, 0.23,-2.890,-0.714,-1.921,-1.756, PHS=-1.032, 1.086,-0.209, RAW= 307.3, 1.7, CAL= 305.2, -1.8, ROT= 204.8, 1.8 Ygot valid direction response: 05:13:51.4351 LVL= 32752, 21089, 25378, 32755, AGC= 69, IDX= 504, 0.23,-2.890,-0.714,-1.921,-1.756, PHS=-1.032, 1.086,-0.209, RAW= 307.3, 1.7, CAL= 305.2, -1.8, ROT= 204.8, 1.8 \#Rx 111: Read direction message, but no range.bdirection in FSK: [-0.907330,-0.419245,-0.031411]y=Ȧ 2TڿIzaR"c )Ii ?V@<t@ )d@I=㜌uS) \ T? Y@).I-\-i=%checking for new query: numPingsReceived=111, elapsed TxPingTime=52.689262!@) @)@)@) ^A9 II Ii Ou >,B?A2/J@2E@2Kٱ2md :AHRS rotation from veh to nav: [[0.920787,0.390044,-0.004230],[-0.389044,0.919103,0.062411],[0.028231,-0.055822,0.998042]]2Hw? y?Sqؿ@Ji?_?`w?`?i2/J@I2,2];2CYF~ByFFIUDDAT read: Rx Time:05:13:51.9352 ]TRx dataTimestamp_ set to:1761542033.115134PDAT read: Bearing 325.2, -27.1 (Local) ~Local bearing/azimuth received: Bearing 325.2, -27.1 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 iMb@Mb@Mb@ 9{Gz?~jt?I +Yף5Ygot valid direction response: 05:13:51.9352 LVL= 32752, 22865, 27490, 32755, AGC= 70, IDX= 505, 0.35,-2.014, 0.165,-1.028,-0.852, PHS=-1.060, 1.061,-0.220, RAW= 306.9, 2.4, CAL= 304.6, -1.1, ROT= 205.4, 1.1 5V#Rx 112: Read range and direction messages.=bdirection in FSK: [-0.903169,-0.428856,-0.019197]EFpublishing direction and range infoyQU{~u쿫`rۿ]~YUfAQQUQYUbk Q)UFIUiU·?UGa9QYQ=UFyQU9 E]>YQ 5eJ5]U?Q 9eJ5],)]lBYmJQ I@YI]0;i]ܘ;]U-J5yɮ>&AiQiU[^G?AJiUhARiUhAjiUK@bUh5+l$lݿRU{~u쿫`rۿ]~ZiU,biUnF<jU gu%886ZUlO￲تR}62iU:iU-"iU# | ?*iUHBiU~BiU"?iUP>iQiUAiU J@BBBIBBB =BBBr;BT.EE EE+E"EC;*Eg:VE [4ZEBE>UK)Q U#iU9)QU?,QiYie>侉ae׈=IaIi1 checking for new query: numPingsReceived=112, elapsed TxPingTime=53.181984 @  @ @ /@ @ @ a ^AIIQIiO}>b,`?A2@>@29@20ٱ29f >AHRS rotation from veh to nav: [[0.920207,0.391408,-0.004445],[-0.390379,0.918502,0.062910],[0.028706,-0.056155,0.998009]]2HUr? ?4rؿ_d??@e?@N@?i2@>@I24];2CYFpByF4I hhhjAbDrVDrfyz`%zK=ٔz!Q-z>9|Y|=~Fy|:pE>Q 5J53?Q 9J5,)jBYyr>Q I@}DI;i;0J5y!ɮ%&A!MDNOT Ignoring new targets: 24.18 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdYZd]qQ?ZZZZEr>0) Ti9)ղ i i8依-DDAT read: Rx Time:05:13:52.4351 5TRx dataTimestamp_ set to:1761542033.616802A]PDAT read: Bearing 325.2, -26.5 (Local) ]~Local bearing/azimuth received: Bearing 325.2, -26.5 (Local) mDAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 DAT read: 05:13:52.4351 LVL= 32752, 25409, 28450, 32755, AGC= 68, IDX= 504, 0.49, 2.917,-1.197,-2.400,-2.218, PHS=-1.047, 1.065,-0.226, RAW= 307.3, 2.3, CAL= 305.1, -1.2, ROT= 204.9, 1.2 Ygot valid direction response: 05:13:52.4351 LVL= 32752, 25409, 28450, 32755, AGC= 68, IDX= 504, 0.49, 2.917,-1.197,-2.400,-2.218, PHS=-1.047, 1.065,-0.226, RAW= 307.3, 2.3, CAL= 305.1, -1.2, ROT= 204.9, 1.2 V#Rx 113: Read range and direction messages.bdirection in FSK: [-0.906845,-0.420943,-0.020942]Fpublishing direction and range infoy)-Ocڿ_2qY-A))-Ac-"o ))-DI-A=IIi-Q?-lg-@-l$=-ff@ -)- d@I-<))-]kᅥFqnwLҚf? -E@)-uA#I-?-i-<))}checking for new query: numPingsReceived=113, elapsed TxPingTime=53.481091Ey E} E})Ey"Ey*E}:VE}FA4ZEya@a@a@a@9@ @@/0@qԙ ^A ff=I I O > checking for new query: numPingsReceived=113, elapsed TxPingTime=53.685150N,Nz?A9Y=Fy7E>Q 5J5%?Q 9J5,)Yk=Q EKBim# | ?im>im~BimAimJ@- addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.501668 s, deltaX: -0.099998 m, approachRate: -0.199332 m/s, rangeRepo size: 4 = Added new target pos. range: 24.076504 m, bearing: 181.848034 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.501668 s, deltaX: -0.099483 m, approachRate: -0.198305 m/s, posRepo size: 4 EDNOT Ignoring new targets: 24.08 m.hAhA*hA"hA hAgAfIfIfMsBdQdQjdU@338@ZdUy?Zuk=Zuk=Zu|!@Zuc1@y[)i uiu9)yԩ顅 iiB侉Gw=II9=DDAT read: Rx Time:05:13:52.9353 MTRx dataTimestamp_ set to:1761542034.120631]PDAT read: Bearing 324.4, -26.7 (Local) ]~Local bearing/azimuth received: Bearing 324.4, -26.7 (Local) mDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 u\#Rx 114: Read range message, but no direction.yAYEAA}checking for new query: numPingsReceived=114, elapsed TxPingTime=53.948868@ @y@1@AAB>BBSIBBBBBDBPs;B.EBBBBBCǮ4E E E'E"E,K;*E:VE'4ZEBEL`$,k?A2"@2@2ٱ2 g >AHRS rotation from veh to nav: [[0.918826,0.394629,-0.005271],[-0.393523,0.917102,0.063749],[0.029992,-0.056500,0.997952]]2Hg?A?du`y/ٿ X?Q?$? 9?i2"@I2/];2CYFYByFIbDNVDN0yVd%V\=ٔZQ-Z>9XYX=ZFyX^E^>`Q 5fJ5b?Q 9fJ5bP-)`YdyjeQ Ij@b}DIbW:ib :b7J5lylɮrm'Ap addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503829 s, deltaX: 0.299999 m, approachRate: 0.595439 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgf!f!f!d!d)jd-8@Zd- }>?DAT read: 05:13:52.9353 LVL= 32752, 22289, 28722, 32755, AGC= 70, IDX= 506,-0.36, 2.749,-1.349,-2.562,-2.357, PHS=-1.075, 1.053,-0.249, RAW= 307.4, 3.0, CAL= 305.0, -0.4, ROT= 205.0, 0.4 Ygot valid direction response: 05:13:52.9353 LVL= 32752, 22289, 28722, 32755, AGC= 70, IDX= 506,-0.36, 2.749,-1.349,-2.562,-2.357, PHS=-1.075, 1.053,-0.249, RAW= 307.4, 3.0, CAL= 305.0, -0.4, ROT= 205.0, 0.4 \#Rx 115: Read direction message, but no range.bdirection in FSK: [-0.906286,-0.422608,-0.006981]yy}JE ۿa|yy}W}2p y)}FI}i}Ȇ?}~}>@}PwV=}X@ })}d@I};y}uᅵ'__q f`]? }@)}SI}"-i};checking for new query: numPingsReceived=115, elapsed TxPingTime=54.198624Z Z Z Z 7#@E)A EOiES9)AEc>AiIiM<侉QU=IQIye9@a @a@e4@i@m=@m=9M DDAT read: Rx Time:05:13:53.4352 M TRx dataTimestamp_ set to:1761542034.623422] PDAT read: Bearing 325.1, -27.3 (Local) ] ~Local bearing/azimuth received: Bearing 325.1, -27.3 (Local) m DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0  DAT read: 05:13:53.4352 LVL= 32752, 22337, 27778, 32755, AGC= 69, IDX= 505,-0.21, 1.723,-2.384, 2.717, 2.889, PHS=-1.064, 1.056,-0.216, RAW= 306.6, 2.5, CAL= 304.4, -1.0, ROT= 205.6, 1.0  Ygot valid direction response: 05:13:53.4352 LVL= 32752, 22337, 27778, 32755, AGC= 69, IDX= 505,-0.21, 1.723,-2.384, 2.717, 2.889, PHS=-1.064, 1.056,-0.216, RAW= 306.6, 2.5, CAL= 304.4, -1.0, ROT= 205.6, 1.0  V#Rx 116: Read range and direction messages. bdirection in FSK: [-0.901695,-0.432020,-0.017452]^A I I O > Fpublishing direction and range infoyI M _¯×G7ۿW7) ߑYM fAI I M AWM l I )M EIM '1iM +?M /]M <@M ¸2=M P@ M 5)M Le@IM 59Y=Fy[E>Q 5J5?Q 9J5-)oBY=Q E E2,?AD4zD6AAE: E:E:%E8"E:CJ;*E:d:VE: 4ZE8BE:9iYq=uFyquaEu>yQ 5J5}t?Q 9J5}j.)}sBYySFQ I@}}DI}O;i};}?J5yɮ'Aii?AJiARiAjiyJ@bBF.^$6L{LP^$G؀ؿR=6Ք k|ڿy&Zix-bi<jՊ]8^!c6KcXyZ O\Ҙ32i :i"ih?*iT<BiYBiiicBi{AiCJ@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.501377 s, deltaX: 0.200001 m, approachRate: 0.398903 m/s, rangeRepo size: 4  Added new target pos. range: 24.374897 m, bearing: 181.264759 deg, lat: 36.779341 deg, lon: -121.859673 deg, deltaT: 0.501377 s, deltaX: 0.198938 m, approachRate: 0.396784 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.37 m.hh*h"h hgfffdd jd 8@Zd `*?ZIZIZIZMsE@~) i9)顥ii@侉2q=IIchecking for new query: numPingsReceived=117, elapsed TxPingTime=55.197800M9@I @I@M4@Q9 ^Am Β{=I I O >9,?A-DDAT read: Rx Time:05:13:54.4352 ETRx dataTimestamp_ set to:1761542035.631352UPDAT read: Bearing 325.8, -26.9 (Local) U~Local bearing/azimuth received: Bearing 325.8, -26.9 (Local) eDAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 m\#Rx 118: Read range message, but no direction.y1Y5fA1uchecking for new query: numPingsReceived=118, elapsed TxPingTime=55.459927{@N@}ٱd AHRS rotation from veh to nav: [[0.916248,0.400536,-0.007728],[-0.399272,0.914591,0.064070],[0.032730,-0.055619,0.997915]]HQ?`c?NٿTD?f?  ?z`?i{@I^;CY`By !IIbEFA4jE<4rEî10E EE*E"E:;*E:VE(N4ZEa@a@a@a@bDeVDeN2yՅ%6=ٔպQ->9Y= Fy  kE>Q 5EJ5:?Q 9MJ5.)wBYIyMFQ IU@}DIi;i6;CJ5yyɮ/'A addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.506553 s, deltaX: -0.200001 m, approachRate: -0.394827 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.37 m.hh*h"h hgfffdd jd L8@Zd H?ZQZQZQZU7@}) :is9)顥ii:侉[l=IIyM)9IYMADAT read: 05:13:54.4352 LVL= 32752, 21345, 26946, 32755, AGC= 69, IDX= 505, 0.24, 2.600,-1.510,-2.697,-2.541, PHS=-1.040, 1.077,-0.200, RAW= 306.8, 1.8, CAL= 304.7, -1.7, ROT= 205.3, 1.7 Ygot valid direction response: 05:13:54.4352 LVL= 32752, 21345, 26946, 32755, AGC= 69, IDX= 505, 0.24, 2.600,-1.510,-2.697,-2.541, PHS=-1.040, 1.077,-0.200, RAW= 306.8, 1.8, CAL= 304.7, -1.7, ROT= 205.3, 1.7 \#Rx 119: Read direction message, but no range.bdirection in FSK: [-0.903685,-0.427170,-0.029666]y^xVۿ `aSBi )EIi#ۉ?LuY@=5-@ )Re@I<ϒyHgG/? dxA)I2,i< checking for new query: numPingsReceived=119, elapsed TxPingTime=55.710835ԡ 5 09IA )E fA 9@  @ @ I0@ @ gA@ gADDAT read: Rx Time:05:13:54.9353 TRx dataTimestamp_ set to:1761542036.135836PDAT read: Bearing 325.1, -26.1 (Local) ~Local bearing/azimuth received: Bearing 325.1, -26.1 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 DAT read: 05:13:54.9353 LVL= 32752, 22257, 29250, 32755, AGC= 69, IDX= 506,-0.25,-0.764, 1.396, 0.186, 0.376, PHS=-1.038, 1.066,-0.233, RAW= 307.7, 2.3, CAL= 305.5, -1.1, ROT= 204.5, 1.1 Ygot valid direction response: 05:13:54.9353 LVL= 32752, 22257, 29250, 32755, AGC= 69, IDX= 506,-0.25,-0.764, 1.396, 0.186, 0.376, PHS=-1.038, 1.066,-0.233, RAW= 307.7, 2.3, CAL= 305.5, -1.1, ROT= 204.5, 1.1 V#Rx 120: Read range and direction messages. bdirection in FSK: [-0.909794,-0.414617,-0.019197] Fpublishing direction and range infoyY_I2,ڿ]~YA^Alwo=I!I1O=?dB, ?AVBr )I/݄ir?n$ګ@l$=@ nF)md@InF<etĪ>.lge*? Zp@)]!I-inF<>T****** received valid address query ******BR****** received valid ping request ******BQuerying Benthos address 50 with one ping in standard two-way mode.BXAXB\B\B^.IB^kBB\B\B\B^Us;B^.E5@5߻@5ٱ5Jfc MAHRS rotation from veh to nav: [[0.915755,0.401654,-0.008166],[-0.400361,0.914111,0.064130],[0.033223,-0.055458,0.997908]]5HM?`?@2ٿ e@?j??e?i5@I5^;1E EE(E"EUS;*E:VEc44ZEBEY9Y=Fy=\ E=>AQ 5MJ5E ?Q 9MJ5E/)EBYUJ=Q EU768I,q&?Af;ܴ@f׻@fs ٱfb rAHRS rotation from veh to nav: [[0.915330,0.402616,-0.008510],[-0.401300,0.913695,0.064181],[0.033616,-0.055332,0.997902]]fH@aJ?@t?m@ٿ@nF=@ ޹)d@I޹< ._@q&qC9N? *@)Ix-i޹<u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.ԑYByIIbDVDNyW=%K=ٔ=Q->9Y=Fy)E>Q 5 J5 ?Q 9J5/)BYyQ I@}DIV5O)Ǟ2i:iI"i?*i;Bi Bi~_?iT<i>BiAiSJ@= addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.500794 s, deltaX: -0.200001 m, approachRate: -0.399367 m/s, rangeRepo size: 4 ] Added new target pos. range: 24.175928 m, bearing: 181.070276 deg, lat: 36.779341 deg, lon: -121.859671 deg, deltaT: 0.500794 s, deltaX: -0.198980 m, approachRate: -0.397330 m/s, posRepo size: 4 ԙDNOT Ignoring new targets: 24.18 m.hh*h"h hgff f d d jdL8@Zdr?ZIZIZIZMM@s )i i9)額J޳ii>侉e=II2Acoustic response timeout  9M 9@Q  @Q @U /@Q @] =@] =1eDDAT read: Rx Time:05:13:55.9353 eTRx dataTimestamp_ set to:1761542037.140682mPDAT read: Bearing 325.6, -26.4 (Local) u~Local bearing/azimuth received: Bearing 325.6, -26.4 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 DAT read: 05:13:55.9353 LVL= 32752, 22065, 27202, 32755, AGC= 70, IDX= 507,-0.39,-1.111, 1.072,-0.140, 0.034, PHS=-1.043, 1.083,-0.218, RAW= 307.4, 1.9, CAL= 305.2, -1.5, ROT= 204.8, 1.5 Ygot valid direction response: 05:13:55.9353 LVL= 32752, 22065, 27202, 32755, AGC= 70, IDX= 507,-0.39,-1.111, 1.072,-0.140, 0.034, PHS=-1.043, 1.083,-0.218, RAW= 307.4, 1.9, CAL= 305.2, -1.5, ROT= 204.8, 1.5 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.907466,-0.419308,-0.026177]Fpublishing direction and range infoyae'& LڿP!ΚYeAaae1VeBj a)aIeie?ed;_ae=et@ ePwּ)ed@IePw9Y=FyaE> Q 5J5  ?Q 9J5 /) BY`R=Q E=; QJ5yAɮE%AAi i I?AJi ARi Aji eYJ@b 5$6Jp$]jR '& LڿP!ΚZi -\-bi Pw<j V*w[8;t\[߿isZ 85￞yD'L/]2i :i "i a\ ?*i N|<Bi Bi a\ ?i i -Bi Ai 0TJ@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504052 s, deltaX: 0.200001 m, approachRate: 0.396786 m/s, rangeRepo size: 4  Added new target pos. range: 24.374882 m, bearing: 181.152424 deg, lat: 36.779340 deg, lon: -121.859671 deg, deltaT: 0.504052 s, deltaX: 0.198954 m, approachRate: 0.394709 m/s, posRepo size: 4  DNOT Ignoring new targets: 24.37 m.h h *h "h hgfffBdd!jd%8@Zd%[?ZM`R=ZM`R=ZM4>ZMT=P ) ԣi9)顥fii8侉 &d=II52Acoustic response timeoutU j9 @  @ @ /@ 1  DDAT read: Rx Time:05:13:56.4353  TRx dataTimestamp_ set to:1761542037.644752 PDAT read: Bearing 325.3, -26.0 (Local)  ~Local bearing/azimuth received: Bearing 325.3, -26.0 (Local)  DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 -DAT read: 05:13:56.4353 LVL= 32752, 23073, 28050, 32755, AGC= 71, IDX= 506,-0.01,-1.801, 0.370,-0.848,-0.660, PHS=-1.039, 1.075,-0.232, RAW= 307.8, 2.1, CAL= 305.6, -1.3, ROT= 204.4, 1.3 5Ygot valid direction response: 05:13:56.4353 LVL= 32752, 23073, 28050, 32755, AGC= 71, IDX= 506,-0.01,-1.801, 0.370,-0.848,-0.660, PHS=-1.039, 1.075,-0.232, RAW= 307.8, 2.1, CAL= 305.6, -1.3, ROT= 204.4, 1.3 ]R#Rx 1: Read range and direction messages.ebdirection in FSK: [-0.910449,-0.412998,-0.022687]eFpublishing direction and range infoy  +#f"5DnڿNGY;Y !Z m ) GI i ? hm o@ Q = 㭪@ ޹) &Qd@I ޹< r>￲>>WNh60? N`@) I -i ޹< 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Q^A5c=IAE]9 E]EYEY"E]so;*E]V:VEYZEYam@am@am@am@IO ?W/[,n?AZմ@Zл@Zo ٱZ'` bAHRS rotation from veh to nav: [[0.915009,0.403331,-0.009032],[-0.401994,0.913408,0.063931],[0.034035,-0.054867,0.997913]]ZHG?.?1`Fٿ:?]? m? {@?iZմ@IZ<];ZCYByIbD-VD-:y=>%=2=ٔ=\Q-E>9AYA=EFyAmEm>qQ 5}J5uK?Q 9}J5u/)uBYyy}_=Q I@u}DIu:iu:uUJ5yɮ$AiiCi?AJiRijiI@b-16e0"$ovD/R+#f"5DnڿNGY;Zi-bi޹<jhy\8$o ӿ0'Z!=2iͲyIIൟ2i`:i"ifql ?*il7Bi*Bii;i*BiAiBJ@5 addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.374882 m, bearing: 180.727480 deg, lat: 36.779340 deg, lon: -121.859671 deg, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.37 m.hh*h"h hgff)f)d1dYjdYZd]??ZZZZ4_=o ) Hi9)顽iiB侉{c=IIi I A%2Acoustic response timeout9@ @@/@A^A I9 Ia q O >1b,3?A6DDAT read: Rx Time:05:13:56.9354 :TRx dataTimestamp_ set to:1761542038.148818>PDAT read: Bearing 325.5, -25.8 (Local) >~Local bearing/azimuth received: Bearing 325.5, -25.8 (Local) FDAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 ZDAT read: 05:13:56.9354 LVL= 32752, 23249, 27730, 32755, AGC= 69, IDX= 507, 0.28, 0.991, 3.129, 1.927, 2.111, PHS=-1.018, 1.063,-0.228, RAW= 307.9, 2.0, CAL= 305.7, -1.4, ROT= 204.3, 1.4 ^Ygot valid direction response: 05:13:56.9354 LVL= 32752, 23249, 27730, 32755, AGC= 69, IDX= 507, 0.28, 0.991, 3.129, 1.927, 2.111, PHS=-1.018, 1.063,-0.228, RAW= 307.9, 2.0, CAL= 305.7, -1.4, ROT= 204.3, 1.4 ^R#Rx 1: Read range and direction messages.bbdirection in FSK: [-0.911131,-0.411392,-0.024432]fFpublishing direction and range infoy8:ض'0+=Tڿ{JY:A88:Z:Rl 8):EI:Mi:b?:xi:@:5=:/@ :+ȼ):4d@I:+<88:쌧JެM&mmm1?rܴ@r]׻@r՘ ٱr_ zAHRS rotation from veh to nav: [[0.915338,0.402585,-0.009012],[-0.401263,0.913754,0.063579],[0.033831,-0.054580,0.997936]]rHsJ??@tIٿx=? F?BR??irܴ@Irb];p :9@):|I:'-i:+<882Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Y%By%IAABBBfIBBBBBBr;Bb.EQE/ EE+E"Eaf;*E:VE [4ZEBEη9Y=Fy:E>Q 5J5?Q 9J5/)BY-=Q E-:לJĠ2i::i:"i:|?*i:6Bi:#Bi8i:,9i:#Bi:%Ai:{ J@  addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504066 s, deltaX: 0.100000 m, approachRate: 0.198387 m/s, rangeRepo size: 4  Added new target pos. range: 24.474358 m, bearing: 180.679969 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.504066 s, deltaX: 0.099476 m, approachRate: 0.197347 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.47 m.hh*h"h h!gAfAfIfMBdIdIjdM8@ZdUys?ԁZ=Z=Z4?ZG?՘ ) i9)顽 ii<侉f=II]9@Y @Y@] 0@Y@ehA@ehA%2Acoustic response timeoutԱ^A I I O > 9h,?A2@2޻@2ٱ21_ :AHRS rotation from veh to nav: [[0.915702,0.401763,-0.008769],[-0.400465,0.914124,0.063279],[0.033439,-0.054433,0.997957]]2HmM?|?@j`8ٿ@?3??ޫ D?i2@I2c];0YbɁBybI pp ;bDVDy<=%%j=ٔ-X:Q-5>9aYa=eFyi}!;E}>ԱQ 5J5?Q 9J5.)BYy^?Q I@}DIN:i:3]J5yɮ$A5DNOT Ignoring new targets: 24.47 m.h9h9*h9"h9 h9g9f9fAfAdAdAjdIZdM?}DDAT read: Rx Time:05:13:57.4353 }TRx dataTimestamp_ set to:1761542038.652818PDAT read: Bearing 325.4, -25.6 (Local) ~Local bearing/azimuth received: Bearing 325.4, -25.6 (Local) DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 DAT read: 05:13:57.4353 LVL= 32752, 21281, 26610, 32755, AGC= 69, IDX= 507,-0.40,-0.598, 1.550, 0.337, 0.527, PHS=-1.023, 1.068,-0.234, RAW= 308.1, 2.1, CAL= 305.9, -1.3, ROT= 204.1, 1.3 Ygot valid direction response: 05:13:57.4353 LVL= 32752, 21281, 26610, 32755, AGC= 69, IDX= 507,-0.40,-0.598, 1.550, 0.337, 0.527, PHS=-1.023, 1.068,-0.234, RAW= 308.1, 2.1, CAL= 305.9, -1.3, ROT= 204.1, 1.3 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.912599,-0.408225,-0.022687]Fpublishing direction and range infoyy}J4Fv<] ڿNGY;Y}Ayy}!S}g y)yI}i}9?}o}T@}Q =}ت@ }޹)}]c@I}޹- 2Acoustic response timeout9 =on,?A2w@2J@2ٱ2~^ :AHRS rotation from veh to nav: [[0.916292,0.400422,-0.008439],[-0.399160,0.914728,0.062798],[0.032865,-0.054173,0.997991]]2HDR??@GH`Ջٿ@tE??Ӡ??i2w@I2uV];0YVցByVIi5Mb@Mb@Mb@1111 195MbzG?L7A`?Y5@y5 =5+=5 A5A 5 A)53A1Y53AbDQVDQy]c=%]U=ٔeY:Q-e>9iYi=mFyim{;Eu>qQ 5}J5u?Q 9}J5ux-)uBY=Q E;y|?Q I@u}DIu@6:6@#Bw.RJ4Fv<] ڿNGY;ZiX$.bi޹<j24BiYBifql ?il7ii"AiJ@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504000 s, deltaX: -0.100000 m, approachRate: -0.198413 m/s, rangeRepo size: 4  Added new target pos. range: 24.374868 m, bearing: 180.605745 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.504000 s, deltaX: -0.099489 m, approachRate: -0.197399 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.37 m.hh*h"h hgf f f #Bd djd8@Zd@/?Z=Z=Z?ZJ|?})y }i}9)顅 ˳ii@侉ˌn=II)uDDAT read: Rx Time:05:13:57.9355 }TRx dataTimestamp_ set to:1761542039.157828PDAT read: Bearing 325.2, -25.3 (Local) ~Local bearing/azimuth received: Bearing 325.2, -25.3 (Local) DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 DAT read: 05:13:57.9355 LVL= 32752, 20353, 27298, 32755, AGC= 68, IDX= 508,-0.27, 2.336,-1.792,-3.021,-2.816, PHS=-1.030, 1.069,-0.249, RAW= 308.4, 2.3, CAL= 306.2, -1.0, ROT= 203.8, 1.0 Ygot valid direction response: 05:13:57.9355 LVL= 32752, 20353, 27298, 32755, AGC= 68, IDX= 508,-0.27, 2.336,-1.792,-3.021,-2.816, PHS=-1.030, 1.069,-0.249, RAW= 308.4, 2.3, CAL= 306.2, -1.0, ROT= 203.8, 1.0 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.914820,-0.403484,-0.017452]Fpublishing direction and range infoyy}@r15Fb0C"ٿW7) ߑY}fAyy}O}j y)}DI} ׃i}Ԉ?}~}9>@}l$=}@ }5)}c@I}5Më? }2?)}i%I}!z.i}5Ku,e6?A 2=@2@2Hٱ2=] :AHRS rotation from veh to nav: [[0.916986,0.398841,-0.007880],[-0.397629,0.915431,0.062262],[0.032046,-0.053960,0.998029]]2HW??#rٿ6K?`?eh??i2=@I2~];2CYn܁ByrIbDxVDxy3<%R=ٔ  ;Q- >9 Y =Fyv;E>Q 5%J5?Q 9%J5E,)BY)y-?Q I-@}DI):i:cJ5y1ɮ5o#A1ii?AJicARicAji|}I@b~e[6R#/ۿR@r15Fb0C"ٿW7) ߑZi!z.bi5<j eG8+X+ ſqZE  E E (E "E ,K;*E :VE c44ZE a @a @a @a @v{,+?A2 @2@2ٱ2] :AHRS rotation from veh to nav: [[0.917671,0.397281,-0.006953],[-0.396134,0.916104,0.061890],[0.030957,-0.054040,0.998059]]2H]? m?z| CZٿ@P??`F?`%?i2 @I2^;2CYVByVI\bD^VD^1yvr=%vL=ٔz"2;Q-z>9xYx=zFyx&;E> Q 5 J5 ?Q 9J5  +) BYy?Q I@ }DI :i : OgJ5yAɮE #AAiiGV?AJiARiAjiJ@b|i##R6]$OstؿRz7*/ʏHY;ڿy&Zi.bi<jK:>w8i ], ?A&DDAT read: Rx Time:05:13:58.9354 *TRx dataTimestamp_ set to:1761542040.164611.PDAT read: Bearing 325.6, -26.1 (Local) .~Local bearing/azimuth received: Bearing 325.6, -26.1 (Local) 6DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 JDAT read: 05:13:58.9354 LVL= 32752, 19953, 26162, 32755, AGC= 67, IDX= 507,-0.09, 3.095,-1.011,-2.224,-2.041, PHS=-1.046, 1.075,-0.227, RAW= 307.5, 2.2, CAL= 305.3, -1.3, ROT= 204.7, 1.3 NYgot valid direction response: 05:13:58.9354 LVL= 32752, 19953, 26162, 32755, AGC= 67, IDX= 507,-0.09, 3.095,-1.011,-2.224,-2.041, PHS=-1.046, 1.075,-0.227, RAW= 307.5, 2.2, CAL= 305.3, -1.3, ROT= 204.7, 1.3 NR#Rx 1: Read range and direction messages.Rbdirection in FSK: [-0.908274,-0.417759,-0.022687]RFpublishing direction and range infoy$&2{:ΑڿNGY;Y$$$&M&2f $)$I&Tㅿi&?&rh&@&nF=&@ &޹)&d@I&޹<$$&m^UO̺d;OU? & @)&TI&x-i&޹<$$b2Acoustic response timeoutbQuerying Benthos address 50 with one ping in standard two-way mode.9BAAABIBIBMIBM߁BBIBIBIBMs;BM.E}@}y@}:ٱ}] AHRS rotation from veh to nav: [[0.918475,0.395435,-0.005871],[-0.394363,0.916897,0.061461],[0.029687,-0.054135,0.998092]]}H%d?N? x?=ٿ`8W?@w?`-f? _?i}@I}^;}CYByIDD<E E EE"Ea?;*E:VEZEBEe9Y=FyE;E>Q 5J5?Q 9MJ5()BYM#>Q EM;yM?Q IM@}DIhZ#>Z?ZW?:)  Wi9)_ii>侉F=II}9@y @y@/@ԙ2Acoustic response timeout ^A I I O >ʇ,z#?A]k,@]>'@],`ٱ]^ԡ AHRS rotation from veh to nav: [[0.919367,0.393374,-0.004616],[-0.392387,0.917774,0.061021],[0.028240,-0.054290,0.998126]]]Htk? -?r`ٿg^?3>? ?˫?i]k,@I]_;]CYByIbD5VD5JyEIO=%Ed=ٔMʅ;Q-M>9IYI=UFyQU;E]>YQ 5eJ5]?Q 9eJ5]t')]BYiym?Q Im@]}DI]6:i]:]nJ5yqɮu"AyDNOT Ignoring new targets: 24.47 m.hh*h"h hgfffddjdZdG?ZZZZ|?,`) tDi29)ii8侉孃=IIR>i!>]DDAT read: Rx Time:05:13:59.4353 ]TRx dataTimestamp_ set to:1761542040.668734mPDAT read: Bearing 326.2, -26.0 (Local) m~Local bearing/azimuth received: Bearing 326.2, -26.0 (Local) }DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 DAT read: 05:13:59.4353 LVL= 32752, 19489, 24898, 32755, AGC= 67, IDX= 506,-0.01, 2.303,-1.794,-3.006,-2.838, PHS=-1.040, 1.089,-0.212, RAW= 307.3, 1.8, CAL= 305.2, -1.7, ROT= 204.8, 1.7 Ygot valid direction response: 05:13:59.4353 LVL= 32752, 19489, 24898, 32755, AGC= 67, IDX= 506,-0.01, 2.303,-1.794,-3.006,-2.838, PHS=-1.040, 1.089,-0.212, RAW= 307.3, 1.8, CAL= 305.2, -1.7, ROT= 204.8, 1.7 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.907378,-0.419267,-0.029666]9@ @@/@Fpublishing direction and range infoyY]Žv= yGڿ `Y]AYY]!L]Ba Y)YI]i]Zd?]Y]@]=]t@ ])]d@I];*EI:VE(N4ZEa@a@a@a@ !%C ^AM |=Iy I O > :9 Y B*A 2Acoustic response timeout! E,=?AY By I-only read 0 of 1 data item for BIT error. Device response is::TS90219471.0,1493.1, 0 a5@a5 a5@a5 a5@a5 a5@a5 bD9VD9yM_Q%M\=ٔMQ-U>9QYQ=UFyQ]E]>aQ 5mJ5e?Q 9mJ5e%)eBQ Am+:YiQ Em;yiQ Iu@e}DIe:ieY>eaqJ5yyɮ}"Ayii*?AJiARiAjiK@bOf6J:op$4º#RŽv= yGڿ `Zi-\-bi<jylY8rC:;翹N:i"io ?*i|9BiZBiI?iiiAiJ@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504123 s, deltaX: -0.100000 m, approachRate: -0.198365 m/s, rangeRepo size: 4  Added new target pos. range: 24.374891 m, bearing: 181.752167 deg, lat: 36.779340 deg, lon: -121.859668 deg, deltaT: 0.504123 s, deltaX: -0.099491 m, approachRate: -0.197355 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.37 m.hh*h"h hgfffddjd8@Zd?!)) -RIi-n9))-\)i)i5B侉1==I9I99@ @@61@!mDDAT read: Rx Time:05:13:59.9354 mTRx dataTimestamp_ set to:1761542041.172832uPDAT read: Bearing 326.1, -25.9 (Local) }~Local bearing/azimuth received: Bearing 326.1, -25.9 (Local) DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 DAT read: 05:13:59.9354 LVL= 32752, 22481, 27074, 32755, AGC= 67, IDX= 507, 0.04,-2.350,-0.187,-1.387,-1.216, PHS=-1.032, 1.074,-0.215, RAW= 307.4, 1.9, CAL= 305.2, -1.5, ROT= 204.8, 1.5 Ygot valid direction response: 05:13:59.9354 LVL= 32752, 22481, 27074, 32755, AGC= 67, IDX= 507, 0.04,-2.350,-0.187,-1.387,-1.216, PHS=-1.032, 1.074,-0.215, RAW= 307.4, 1.9, CAL= 305.2, -1.5, ROT= 204.8, 1.5 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.907466,-0.419308,-0.026177]Fpublishing direction and range infoyim'& LڿP!ΚYmAiimWmi i)iImimx?m(\m>@m=i mPwּ)iImPwaDzDE EE)E"EL;*E:VEFA4ZEBE9tYt=vFyt~q+<E> Q 5J5 ?Q 9J5 <$) BQ A :YQ E%Y;y%s?Q I%@ ~DI ];i D? sJ5y9ɮ="AAiiK?AJiARiAji,DK@bw:56 LKO$"TR'& LڿP!Κ2Acoustic response timeoutZibiPw<jf)s8m yZ ;WKrgq0Ś2iW:i"iƊ?*ie:BiBii|9iBiAi,K@Im addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504098 s, deltaX: 0.100000 m, approachRate: 0.198375 m/s, rangeRepo size: 4 } Added new target pos. range: 24.474409 m, bearing: 181.973449 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.504098 s, deltaX: 0.099518 m, approachRate: 0.197418 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.47 m.hh*h"h hgfffddjd8@Zd[%?{μ) Siv9))-)i)i5<侉15=I1I9=9@9 @9@=*2@Ayԩm DDAT read: Rx Time:05:14:00.4353 u TRx dataTimestamp_ set to:1761542041.676766} PDAT read: Bearing 325.9, -26.2 (Local) } ~Local bearing/azimuth received: Bearing 325.9, -26.2 (Local)  DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0  DAT read: 05:14:00.4353 LVL= 32752, 21345, 28450, 32755, AGC= 69, IDX= 506, 0.16, 1.614,-2.503, 2.587, 2.757, PHS=-1.041, 1.068,-0.214, RAW= 307.1, 2.1, CAL= 304.9, -1.4, ROT= 205.1, 1.4  Ygot valid direction response: 05:14:00.4353 LVL= 32752, 21345, 28450, 32755, AGC= 69, IDX= 506, 0.16, 1.614,-2.503, 2.587, 2.757, PHS=-1.041, 1.068,-0.214, RAW= 307.1, 2.1, CAL= 304.9, -1.4, ROT= 205.1, 1.4  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.905298,-0.424073,-0.024432] Fpublishing direction and range infoyi m 'yd4IR$ۿ{JYm Ai i m aSm "o i )m EIm }?im 9?m "[m Z@m Q =m I@ m +ȼ)m Re@Im +m dž z[C-a? m !A)m Im c-im +9aYa=mFyimڦ;Em>qQ 5}J5u?Q 9J5u{")uBQ A9YQ E0;y?Q I@u~DIu;iu?uuJ5yɮ"Aii"Pk?AJiARiAjiK@b>0) 6Si$8R'yd4IR$ۿ{JZic-bi+<jQ?X8+8,>𿰾&}EZOm߭EzSvG?@2i:i"ii?*iU/=BiӀBiƊ?i9iBiAibK@M addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503934 s, deltaX: -0.100000 m, approachRate: -0.198439 m/s, rangeRepo size: 4 Ա Added new target pos. range: 24.374920 m, bearing: 182.387820 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.503934 s, deltaX: -0.099489 m, approachRate: -0.197425 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.37 m.hh*h"h hgfffddjd8@Zd:?ug)y }Ki92Acoustic response timeout)Դii6侉ލ=II!9@ @@4@@=@> ^A z=I I O5 >1 ,4?ADDAT read: Rx Time:05:14:00.9354 TRx dataTimestamp_ set to:1761542042.180721PDAT read: Bearing 325.7, -26.0 (Local) ~Local bearing/azimuth received: Bearing 325.7, -26.0 (Local) &DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 JDAT read: 05:14:00.9354 LVL= 32752, 21537, 28834, 32755, AGC= 69, IDX= 507, 0.29, 1.845,-2.263, 2.817, 2.997, PHS=-1.050, 1.068,-0.224, RAW= 307.2, 2.3, CAL= 305.0, -1.2, ROT= 205.0, 1.2 RYgot valid direction response: 05:14:00.9354 LVL= 32752, 21537, 28834, 32755, AGC= 69, IDX= 507, 0.29, 1.845,-2.263, 2.817, 2.997, PHS=-1.050, 1.068,-0.224, RAW= 307.2, 2.3, CAL= 305.0, -1.2, ROT= 205.0, 1.2 RR#Rx 1: Read range and direction messages.Vbdirection in FSK: [-0.906109,-0.422526,-0.020942]ZFpublishing direction and range infoy\4W쿂FT ۿ_2qYA!Tp )IffiB`eBpBpBrIBrBBpBpBrDBrxs;Br.E@l$=X@ )d@I<e2ec11&? @)kB!I"-i< 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.o@i@bٱ)2^ AHRS rotation from veh to nav: [[0.922675,0.385579,0.000587],[-0.384951,0.921081,0.058505],[0.022018,-0.054207,0.998287]]H?T?:C?ؿ~y? j?ދ??io@I; a;CY܁ByII=)p<E EEE"E<;*E:VEZEBE“D AA )AYAbD5VD5fyE%E/=ٔE_;Q-E>9IYI=MFyI;E>Q 5J5?Q 9J5! )BQ AT:YA>Q E;y?Q I@ ~DI:i:yJ5yɮo#Aii?AJiARiAjiK@bTw0-6y`$fR\4W쿂FT ۿ_2qZi"-bi<js89l Jʷt ܿZMr ShaLySb2iQ:i"ia?*i.:BiBia?ie:iiAiK@e addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503955 s, deltaX: 0.100000 m, approachRate: 0.198431 m/s, rangeRepo size: 4  Added new target pos. range: 24.474461 m, bearing: 182.384483 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.503955 s, deltaX: 0.099541 m, approachRate: 0.197519 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.47 m.hh*h"h hgfff\Bddjd8@Zd@[\?Z A>Z A>Z E@Z ?Eb)A EiE9)AMIiIiU@侉QUݐ=IQIQ99@ @@4@2Acoustic response timeouti ^A= p,=II IY Oe >v֨,s?A Bx@Bbs@BQtٱB8^ JAHRS rotation from veh to nav: [[0.923147,0.384442,0.001935],[-0.383897,0.921545,0.058123],[0.020562,-0.054399,0.998308]]BHk??_? ÑؿL}?@­?(?ګ"?iBx@IBnba;BCYbȁBybIbDjVDj0y%#%%t=ٔ-~;Q--?9)Y)=-Fy)5g;E5?9Q 5EJ5=?Q 9EJ5=)=BYAyM?Q IM@=~DI=:i=:=|J5yQɮU $AQDNOT Ignoring new targets: 24.47 m.hh*h"h hgfffddjdZd@?ZZZZ;?Qt) i 9)ii:侉]=II=*DAT read: user:350> EDAT read: 50 E:unknown deviceResponse_: 50 MDAT read: Ok M:unknown deviceResponse_: Ok M*DAT read: user:351> UBDAT read: Tx time:05:14:01.8251 U$Ping request sent.]  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247517],?A2F@2{@2Lٱ2Q` :AHRS rotation from veh to nav: [[0.923535,0.383498,0.003374],[-0.383038,0.921919,0.057860],[0.019078,-0.054728,0.998319]]2H ?ף  A)`AYbD5VD502y% %C=ٔg;Q->9Y=Fy;E>Q 5J5H?Q 9J5)BY"3>Q E;y?Q I@~DI:i:EJ5yɮO$ADNOT Ignoring new targets: 24.47 m.hh*h!"h! h!g!f!f)f-@Bd)d)jd)Zd5?ZU"3>ZU"3>ZU@ZU??eL)a mim9)imiiiiu4侉qu!=IyIyIgA)-9@) @)@-/@)@1@1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499530B>BBIBBBBBBs;B.E^AmBN=IyIO>E EEE"E<;*E;:VEZEBEa2EaJE5'99YA=EFyAEB:EE>IQ 5UJ5M?Q 9UJ5M)MBYYy]/?Q I]@M~DIM;iM;MJ5yaɮe$AaDNOT Ignoring new targets: 24.47 m.hhchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.763652*h"h1 h1g1f1f9f9d9d9jdAZdE{?ZZZZn/?D) i9)H ii>侉%=II )@ @@/@Q^A=IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016310ԁ E  E E E "E M;*E :VE ZE a @a @a @a @3,9pYp=rFypv :Ev>tQ 5zJ5v?Q 9~J5v)vBYy9?Q I@v~DIvy);ivd*;vJ5y ɮ u%A=DNOT Ignoring new targets: 24.47 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM@p?YZqZqZqZu9?mc) i 9)額[ii8侉hX=II59@9 @9@E0@Aԉ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270092^Av=ԱIIO> ,N| ?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519681:@:ӆ@:Czٱ:+dB@AB<BF>BDBFIBFˁBBDBDBDBFs;BF/EBIBIBIBIBICM\4 VAHRS rotation from veh to nav: [[0.924143,0.381979,0.007161],[-0.381741,0.922493,0.057282],[0.015274,-0.055670,0.998332]]:H?Yr? U}?`qnؿ`? T? 'H?`ӀV?i:@I:Fa;8Y]By]dIԹiMb@Mb@Mb@ 9S㥛Q?~jtY/ݼy=DA )YG AbDVDNy % 8=ٔ9;Q->9Y=Fy:E>!Q 5-J5%U?Q 9-J5%)%BY5=Q E5;y5&?Q I5@%!~DI% ;i% ;%J5y9ɮ=%AAE} E}4E}*Ey"E}3;*E} ;VE}(N4ZEyBE}i>e9@a @a@e`0@a@m>@m>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771484^A- =I1 II OU >9 ($,TW&?A2@2@28hٱ2Wd :AHRS rotation from veh to nav: [[0.924239,0.381726,0.008181],[-0.381551,0.922595,0.056903],[0.014173,-0.055713,0.998346]]2H`^?2n? o?Rkؿ?W"?`?@ss?i2@I2}a;2CYFzByFAIIJ>)J>bDNVDNyV: %Vd=ٔZI;Q-Z>9XYX=^Fy\^l:E^>`Q 5fJ5b?Q 9fJ5bx)bBYdyj3?Q Ij@b#~DIb`:ib:bJ5ylɮny&Al DNOT Ignoring new targets: 24.47 m.h h *h "h  h g fffddjdZd@ZZZZ 3? 8h)  i 9)  ii<侉o=I!I!}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023971AE  EE'E"EE;*E:VE'4ZEa@a@a@a@\9q9@ @@0@% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275746ԙ ^A5 =I9 IQ O] >,bB?A2H@2@2Yٱ2md JAHRS rotation from veh to nav: [[0.924182,0.381846,0.008973],[-0.381720,0.922549,0.056508],[0.013299,-0.055649,0.998362]]2H?*p? `?`nؿ? ?~9aYa=eFyaimʹEm>qQ 5}J5u?Q 9}J5u)uBY̥=Q E# ,*\?Archecking for new query: numPingsReceived=0, elapsed TxPingTime=2.779584Y]ByIbDVDyl%3=ٔQ->9Y=Fy-E->1Q 5=J559?Q 9EJ55)5BYAyAQ IE@5(~DI5:i5;5J5yQɮUa'AQ}DNOT Ignoring new targets: 24.47 m.hyh*h"h hgfffddjdZd @ZZZZ) ڜi9) ii@侉II 9@ @@]4@1BDAT read: Rx Time:05:14:04.2622 TRx dataTimestamp_ set to:1761542045.720956checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033459^A =I I! O5 >bE)jE-ʲ>4rE-.E  E E (E "E sH;*E >:VE c44ZE a @a @a @a @Y ,u?Aɰp;+G*hAJ~@Jy@J_dGٱJVdLnCI9nhAYn7A  AHRS rotation from veh to nav: [[0.923574,0.383286,0.010131],[-0.383227,0.921948,0.056120],[0.012170,-0.055713,0.998373]]JH`?`‡??Ɇؿ??c?@p@?iJ~@IJ`;JC )9lA!!!i!I!!I)i) -Լ)))1 1111yyIӁ)ӁiӁ)ԉIԉӍӉ ԑԹԽlAԽtiԹԹi) IYYCBy I ))9bDYVDYyf%J=ٔ6;Q->9!Y!=-FyI]āE]>Q 5J5?Q 9J5)BYyQ?Q I@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286177*~DIAy A} ?AB >B B 4IB pBB B B B t;B /E DAT read: 05:14:04.2622 LVL= 32752, 26833, 32754, 32755, AGC= 65, IDX= 493, 0.13,-2.489,-0.295,-1.397,-1.330, PHS=-1.057, 1.081,-0.111, RAW= 303.8, 0.9, CAL= 302.0, -2.8, ROT= 208.0, 2.8  Ygot valid direction response: 05:14:04.2622 LVL= 32752, 26833, 32754, 32755, AGC= 65, IDX= 493, 0.13,-2.489,-0.295,-1.397,-1.330, PHS=-1.057, 1.081,-0.111, RAW= 303.8, 0.9, CAL= 302.0, -2.8, ROT= 208.0, 2.8  PDAT read: Bearing 327.4, -28.5 (Local)  ~Local bearing/azimuth received: Bearing 327.4, -28.5 (Local)  DAT read: Range 11 to 50 : 24.6 m (Round-trip 32.9 ms) speed 0.0 m/s  *DAT read: user:352>  BDAT read: Tx time:05:14:05.3751  $Ping request sent. 9Y=FyE>Q 5J5~?Q 9J5)BYi=Q EiQ I@,~DIq;iH;OJ5y ɮ ;(Aii8M?AJiRijiIO@b+p5cTa&:& !R*x8Be޿s!DZi)bi+H=jY'mRX8zN^جm$Zjܽڸl}2i:i"ik?*iaRBi@Bio ?i.:iiAiL@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 4.042742 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 24.474329 m, bearing: 185.574609 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 4.042742 s, deltaX: -0.000132 m, approachRate: -0.000033 m/s, posRepo size: 4 MDNOT Ignoring new targets: 24.47 m.hIhQ*hQ"hQ hQgQfQfYf]BdYdjdZd.?Zi=Zi=ZI?Z%> )  i 9)  ii4侉=IIY9@ @@/@I ^A IҔ=I) I9 OM >,Փ?AY/ByIbDVDk2yٽ%j=ٔQ->9Y = Fy E>Q 5%J5 ?Q 9-J5)BY)y)Q I5@-~DI>;i?;aJ5y9ɮE(AADNOT Ignoring new targets: 24.47 m.hh*h"h hgfffddjdZdh?ZZZZ) i@9)ii>侉Q=IIYIfA)gAE} E}E},Ey"E}V;*E}:VE}g4ZEya@a@a@a@-9@1 @1@5/@1ԁ^A=I I O >,D?A6d@6_@667ٱ6+mc >AHRS rotation from veh to nav: [[0.922353,0.386189,0.011096],[-0.386185,0.920749,0.055518],[0.011224,-0.055492,0.998396]]6H ?R? ?@Cؿ`v?@l? g?ri@?i6d@I65_;6CYJ+ByJIIN=)NC=\i%Mb@Mb@Mb@!!!! !9%A`"?Mb?Mbp?Y%Y=y%<%;% A%A %A)% A!Y!bD=VD=k1yM槼%MW=ٔM#;Q-M>9QYQ=UFyQ] E]>aQ 5mJ5e?Q 9mJ5e)aYm(\=Q EmvZK@67) i9)顕Rxii8侉=II I)@ @@0@BM>BIBMIBMGBBIBIBIBMs;BM.EDzDAAE  EE)E"EE;*E :VEFA4ZEBEI ,` ?A2t\@2GW@23ٱ2pgb :AHRS rotation from veh to nav: [[0.921964,0.387109,0.011326],[-0.387120,0.920378,0.055163],[0.010930,-0.055243,0.998413]]2H?@d?1?ؿs?\>?b?H ?i2t\@I2m_;0YFByFIbDR VDR:2yVؼ%ZU=ٔZH:Q-Z>9XY\=^Fy\'E>!Q 5-J5%m?Q 9-J5%)%BY)y-yQ I-@%0~DI%:i%Z:%#J5y9ɮ=)A9eDNOT Ignoring new targets: 24.47 m.haha*hi"hi higififqfqdqdqjdqZd}x?ZZZZC@3) $i9)页7iiB侉Vp=IIm9@q @q@u4@qI^AMp,=IYIiOu>yE  E E (E "E [I;*E I:VE c44ZE a @a @a @a @Ա ",?A2HQ@2L@2Ė1ٱ2>a :AHRS rotation from veh to nav: [[0.921437,0.388361,0.011417],[-0.388378,0.919860,0.054951],[0.010839,-0.055068,0.998424]]2Hh|?`?a?-ؿ@o? "?2?1`?i2HQ@I2_;0YjByjIbD~VD~y0<%D=ٔOe9Q-%>9)Y)=-Fy)5 [E5>AQ 5MJ5E7?Q 9MJ5E)EBYQyU{Q IU@E1~DIEP];iER;EJ5yaɮm[)AiyDNOT Ignoring new targets: 24.47 m.hh*h"h hgfffddjdZd $?ZZZZ7@Ė1)  i=9)Oii%<侉!%"=I!I!p>i!>m9@q @q@u4@y@gA@fAԡ^Ax=IIO> BA AE <BE >BA BE IBE #BBE =BE ADBA BE s;BE .E,?A2D@2]?@2{/ٱ2kb :AHRS rotation from veh to nav: [[0.920833,0.389784,0.011654],[-0.389811,0.919253,0.054971],[0.010714,-0.055162,0.998420]]2Huw?@8?` އ?`ؿj?1%?3?7>@?i2D@I27p_;2CYFByFI HHiMMb@Mb@Mb@IIII I9M333333?y&19Y=FysE>Q 5J5t!?Q 9J5)BYV=Q E,Y s- , *?A2:@25@2Ϣ,ٱ2mfa :AHRS rotation from veh to nav: [[0.920379,0.390848,0.011817],[-0.390885,0.918811,0.054738],[0.010537,-0.054999,0.998431]]2H@s?? s3?@Bٿ`f? ???(@%?i2:@I2{_;0YFByFIbDNVDNyV<%VZ=ٔZ9Q-Z>9XYX=^Fy\^KE^>`Q 5fJ5bw#?Q 9fJ5b)bBYhyjjQ Ij@b5~DIb:ib):bJ5ylɮnv)ApDNOT Ignoring new targets: 24.47 m.hh*h"h! h!g!f!f)f)d)d1jd1Zd5`@ZZZZ@Ϣ,)! %xi%9)!%!i!i-@侉)-=I11I19@ @@@Eu Eu Eu0Eq"EuL;*Eu:VEu4ZEqa@a@a@a@i^A8=IIO>ԑԹ ,D?A>/@>*@>*ٱ>a RAHRS rotation from veh to nav: [[0.919840,0.392111,0.011977],[-0.392156,0.918276,0.054611],[0.010416,-0.054930,0.998436]]>H To?X? Z?ٿ b?@?T?@/?i>/@I>T_;>CY^%BybIiEMb@Mb@Mb@AAAA A9EQ?/$Q?YE\=yEEu9qYq=}Fyy}RE}>Q 5J5%?Q 9J5x)BYʘ=Q E15mBDAT read: Rx Time:05:14:07.8125 mTRx dataTimestamp_ set to:1761542049.248375E} E}E},Ey"E}y>;*E}:VE}g4ZEyBE}S ?,g^?A2&@2!@2%ٱ2!` :AHRS rotation from veh to nav: [[0.919423,0.393079,0.012265],[-0.393139,0.917868,0.054395],[0.010124,-0.054834,0.998444]]2Hk?2(?S?2)ٿ-_?٫?ٻ?`* A?i2&@I2[_;2CYb+BybIIf=)f<bDVDk1y-<%-O=ٔ-KA:Q-5>91Y1=5Fy1=51E=>AQ 5MJ5Ea'?Q 9MJ5E)EBYIyMW/Q IM@E9~DIE:iEK:EҸJ5yYɮ](AYDNOT Ignoring new targets: 24.47 m.hh*h"h hgfffddjdZd@m @ZZZZ$@%) iG9)봉ii4侉=II@ @@/@!^AW^=IIO>DAT read: 05:14:07.8125 LVL= 32752, 24049, 29458, 32755, AGC= 67, IDX= 447, 0.35,-2.005, 0.195,-0.921,-0.792, PHS=-1.111, 1.032,-0.174, RAW= 304.1, 2.8, CAL= 301.9, -0.9, ROT= 208.1, 0.9 Ygot valid direction response: 05:14:07.8125 LVL= 32752, 24049, 29458, 32755, AGC= 67, IDX= 447, 0.35,-2.005, 0.195,-0.921,-0.792, PHS=-1.111, 1.032,-0.174, RAW= 304.1, 2.8, CAL= 301.9, -0.9, ROT= 208.1, 0.9 PDAT read: Bearing 324.7, -28.4 (Local) ~Local bearing/azimuth received: Bearing 324.7, -28.4 (Local) DAT read: Range 11 to 50 : 24.9 m (Round-trip 33.2 ms) speed -0.1 m/s R#Rx 2: Read range and direction messages.bdirection in FSK: [-0.882018,-0.470954,-0.015707]Fpublishing direction and range infoyquMl}9H5$޿y&Yu3Aqqu]us q)uCIu?5iu?u-2ukש@u+H=uޜ@ u)u/sh@Iu9iYi=uFyquEu>Q 5J5\)?Q 9J5t)BYyQ I@;~DI<;iI;yJ5yɮ(Aiip?AJi.ARi.AjiN@bǢ5t˧rU'EؿRMl}9H5$޿y&Zi)bi<jE,"(8)+\~?ZIaymĥS?2i:iq"i ?*ivNBiFBi ?iU/=iӀBiAi@L@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 3.527856 s, deltaX: 0.299999 m, approachRate: 0.085037 m/s, rangeRepo size: 4 - Added new target pos. range: 24.772896 m, bearing: 184.954928 deg, lat: 36.779340 deg, lon: -121.859671 deg, deltaT: 3.527856 s, deltaX: 0.298567 m, approachRate: 0.084631 m/s, posRepo size: 4 -DNOT Ignoring new targets: 24.77 m.h)h)*h)"h1 h1g1f1f9f9d9d9jdE`f8@ZdE`*?ZaZaZaZaq)q }pi}9)y}yiyi>侉D=IIqI@Q @Q@U0@Yԙ^Ap=IIO> A A @AB B B IB BB =B B B s;B .EQ$,?APY~>ByIEE EELEE*EA"EEg5;*EE;VEE(N4ZEABEE}9Y=FyE>Q 5J5*?Q 9J5)BYB=Q E{*,H?A6 @6@6pmٱ69_ FAHRS rotation from veh to nav: [[0.918236,0.395819,0.013037],[-0.395924,0.916712,0.053698],[0.009303,-0.054469,0.998472]]6H0b? U?@A?VٿU?L~? ?@a㫿{?i6 @I6J^;4Y-MBy- I 99AEAbDMVDMβye=%mQ=ٔmQ ;Q-m>9qYq=}Fyy}E}>Q 5J5+?Q 9J5)BYyQ I@=~DI):i:|J5yɮ'ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd?ZZZZ~S@ pm)  dvi X9)a&iiB侉skx=II!9@ @@5@)bEjE(N4rEV0EU  EUEU(EQ"EUE;*EUr:VEUc44ZEQae@ae@ae@ae@ yyG liAM9MliAYMԃAQ^APڀ=IIO>ԉ c1,0?AYn]ByrIYi}Mb@Mb@Mb@yyyy y9}Q?Zd;O?X9v?Y}u9Y=FyE>Q 5J5,?Q 9J5)BY)=Q E:VE]t4ZEYBEYam2EYamJE]8 &7,?A2n@2A@2ٱ28^ :AHRS rotation from veh to nav: [[0.917921,0.396518,0.013968],[-0.396678,0.916424,0.053037],[0.008230,-0.054225,0.998495]]2H`_?@`??-cٿXS? '?@ڀ? [ë?i2n@I2D^;0YFkByF.IbDNVDN:2yV=%V[=ٔV<;Q-Z>9XYX=bFy`bEb>dQ 5jJ5f@-?Q 9jJ5f)fBYlyn?Q In@f>~DIfU;ifQ;fXJ5ypɮr&Ap DNOT Ignoring new targets: 24.77 m.hh*h"h hgfffdd!jd!Zd%#?ZAZAZAZE#?])Y ]4i]9)YehHaiaie6侉im v=IiIi}J>i}%>Ա 9@  @ @ /@ ^A-w=IAIYOew> Ee  Ee Ee +Ea "Ee E;*Ee ;:VEe [4ZEa am @am @am @am @9 P=,?AR@Rz@RQwٱR-)] ZAHRS rotation from veh to nav: [[0.917936,0.396467,0.014401],[-0.396655,0.916461,0.052568],[0.007644,-0.053967,0.998514]]RH_? _?@S~?bٿS? 9? N??iR@IR"^;PYfByfLIIj=)j=bDrVDr0yv'=%vF=ٔz:Q-z>9xY|=~Fy|~8E>Q 5 J5.?Q 9 J5X)ñBYyq?Q I@?~DI:i>:J5yɮ%4&A!MDNOT Ignoring new targets: 24.77 m.hIhI*hI"hI hIgQfQfQfYdYdYjdYZd]`F@ZZZZq?Qw) Qi9)顝ii@侉ktw=II9@ @@!@!A^A5w=IAIQO]v>iB <A <B B CB IB QBB B B B jr;B :.Eԡ ߟD,e?A2@2@2ٱ2\ :AHRS rotation from veh to nav: [[0.917991,0.396316,0.015055],[-0.396541,0.916530,0.052227],[0.006900,-0.053914,0.998522]]2H.`?@<]?bՎ?`ٿ6T?w?B|?@?i2@I2];2CYFByFUID=DE% E%E%*E!"E%sH;*E%>:VE%(N4ZE!BE%9Y=Fy9E>Q 5J5.?Q 9J5)ʱBYa=Q E1 |J,F-?AFw@FJ @FɻٱF>T[ VAHRS rotation from veh to nav: [[0.918323,0.395527,0.015538],[-0.395784,0.916894,0.051584],[0.006156,-0.053521,0.998548]]FH b?NP?@ҏ?`Tٿ1W?6i? 6y?@ g`?iFw@IFt];FCYbBybhIbDnVDn1yv=%vU=ٔvH:Q-z>9xYx=zFyx~u ;E~>Q 5 J5-?Q 9 J5)бBY y ?Q I@B~DI2:i:J5yɮz%ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd U@ZZZZ?ɻ)  "i 9)  _ i i4侉-{=II)@ @@/@E- E-E)E)"E-1A;*E-:VE)ZE)aM@aM@aM@aU@^A C|w=II1OM>9 Q,$G?A2%@2@2ٱ2#[ >AHRS rotation from veh to nav: [[0.918650,0.394733,0.016351],[-0.395037,0.917239,0.051179],[0.005204,-0.053475,0.998556]]2He? MC?O?@IHٿZ?4?Pu?a+?i2%@I2l];2CYFByFI HHLNAiMb@Mb@Mb@ 9&1A`"?V-?YPy=<AA )/ AY AbD5VD5J2yE_=%EE=ٔE0;Q-M>9IYI=MFyIU;EU>YQ 5eJ5]-?Q 9eJ5])]ձBYe=Q Ee;ye?Q Im@]F~DI]':i]:]J5yqɮu$AqDNOT Ignoring new targets: 24.77 m.hh*h"h h!g!f!f!f-uBd)d)jd)ZdU | @Z=Z=Z*;@Z?) Ǿi79)顭nii>侉}=II)BIBIBM@IBMzBBIBIBMDBMr;BMN.E9@ @@0@YD1zD5AAE=  E= E=(E9"E=F;*E=:VE=c44ZE9BE=aԑ W,`?A4:@:@:ٱ:~[ FAHRS rotation from veh to nav: [[0.919021,0.393832,0.017203],[-0.394185,0.917620,0.050903],[0.004261,-0.053562,0.998555]]:H`h?4??S:ٿ%]??otq? ql*?i:@I:];:CYLyLbD^VD^ܲٔfo;Q-f>9dYd=jFyhj(;Ej>lQ 5rJ5n-?Q 9rJ5ne)nٱBYtyv ?Q Iv@nI~DIn:in:nJ5yxɮxx%DNOT Ignoring new targets: 24.77 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5k@ZQZQZQZUb ?m)i iim9)imQqiqiu8侉y}`=IyI59@1 @1@54@1ԡ^AU|=IaIqO}{> EM  EM EM &EI "EM ;;*EM 1:VEM 4ZEI aU @aU @aU @aU @Y^,fz?A2*@2%@2&Zٱ2Z :AHRS rotation from veh to nav: [[0.919657,0.392315,0.017899],[-0.392709,0.918280,0.050406],[0.003339,-0.053385,0.998568]]2Hm? ?`T? &"ٿ@b?Ω?`aZk? TUE?i2*@I2];2CYFByFIbDNVDN0yV<%V<ٔV;Q-Z>9XYX=ZF\yX~;E~>Q 5 J5|-?Q 9 J5)ޱBY y :?Q I@L~DIW:ip:J5yɮ$AeDNOT Ignoring new targets: 24.77 m.hahi*hi"hi higififqfqddjdZd @ZZZZ;:? &Z)  5)i5d9)151崉1i1i=B侉9=\2=I9IA9@ @@4@!@9@9^A-=I9IIOU>A! A! B) B) B- lIB- BB) B- BDB) B- r;B) BBCBB =B =Cɍ4A !d,?A2_7@222@2`ٱ2 Z :AHRS rotation from veh to nav: [[0.920255,0.390874,0.018664],[-0.391312,0.918897,0.050034],[0.002407,-0.053348,0.998573]]2Hr? ??A ٿg??Jc?lPO?i2_7@I2];2CY^BybIIf<)f4<E EE(E"E%.;*E:VEc44ZEBE8<`A vA) AY\ AbD-VD-NyEª<%E3=ٔM;Q-M>9YYY=]FyYe];Ee>iQ 5}J5mc-?Q 9J5m)mBY.>Q E;y?Q I@mQ~DImc;imKb;mJ5y2Bɮ#AƦEMDNOT Ignoring new targets: 24.77 m.hIhQ*hQ"hQ hQgQfQfYf]BdYdYjdaZden@Z.>Z.>Z֫?Z?`) Ѿi9)顝ii<侉=IIԉ9@ @@4@iIԱ^A t0=I I O > k,?A:H@:TC@:Ԅٱ:ϕY FAHRS rotation from veh to nav: [[0.921073,0.388909,0.019352],[-0.389387,0.919745,0.049465],[0.001438,-0.053096,0.998588]]:H@ny??ѓ?ؿ n?@yS?W?q/o?i:H@I:NS^;:CYNByNIbDZVDZyb+Ѽ%bf=ٔb2;Q-b>9dYd=fFydj ;Ej>hQ 5rJ5jM-?Q 9rJ5j )jBYpyr>?Q Ir@jT~DIj(:ij:jJ5yxɮz#AxDNOT Ignoring new targets: 24.77 m.hh*h"h! h!g!f!f!f)d)d)jd)Zd-@ZQZQZQZU>?eԄ)a e־im9)imX'iiiiu6ԱqJ=IIE  E E )E "E 8;*E :VE FA4ZE a@a@a@a@9@ @@4@A ^A} {=I I O >q,cc?A>X@>S@>uٱ>)Y JAHRS rotation from veh to nav: [[0.921847,0.387036,0.020028],[-0.387553,0.920541,0.049066],[0.000554,-0.052993,0.998595]]>H`?2?D?ؿ`u?-?#B?`!|?i>X@I>^;-D<-+A) - A)-E A)Y- AbDEVDE1yU%UB=ٔUS ;Q-]>9YYY=eFyae];Ee>iQ 5uJ5m;,?Q 9uJ5m7 )iYumV>Q E}};y}}?Q I}@mZ~DIm ;imu ;mHJ5yɮ#ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffBddjdZdಿ@ZemV>ZemV>Ze{F@Ze/}?u) Gi29)顝Eii@侉z=IIBBCBIBBBBADBBr;BG.E9@ @@/@@hA@QE  EE'E"EF;*Er:VE'4ZEBEaԙ -*x,>?A2Ih@2c@2}9ٱ2}Y :AHRS rotation from veh to nav: [[0.922578,0.385255,0.020714],[-0.385811,0.921283,0.048865],[-0.000258,-0.053074,0.998591]]2H??5?!ؿ&{??O0v, t?i2Ih@I2S^;0YFByFxI HHLNAbDvVDv:y~턽%~P=ٔA;Q->9Y= Fy  ;E >Q 5J5:+?Q 9J5 )BY!y%?Q I%@_~DI3;i;J5y)ɮ-Y$A)UDNOT Ignoring new targets: 24.77 m.hQhY*hY"hY hYgYfafafadadijdiZdmQ@ZZZZκ?}9) Ti 9)顥bii:侉-=IIq59@1 @1@5/@1ԡ^AUm=IaIqO{> cG 9 Y AbE:4jE?4rE30EE  EE EA EA "EE a?;*EE :VEA ZEA aU @aU @aU @aU @ XT~,&?A2v@2|q@2E:ٱ2\ :AHRS rotation from veh to nav: [[0.923253,0.383595,0.021409],[-0.384192,0.921926,0.049486],[-0.000755,-0.053913,0.998545]]2HI?ӌ? )?ؿ@k?@DV?@cH@?i2v@I2f_;2CYRByRgIbDZVDZN2ybM%fN=ٔf:Q-f>9hYh=jFyhjʐ;Ej>lQ 5rJ5n2*?Q 9vJ5n)lYtyv?Q Iv@ne~DIn[:in:n0J5yxɮ~$A|DNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd @Z!Z!Z!Z%?5E:)9 =Ei=9)9=c=~i9iE4侉AMl=IIII9@ @@0@^A-Ď=I9IIO]>) B A 4=B >B B B B B B B ir;B 9.E<,?A2c@26@2:ٱ2] >AHRS rotation from veh to nav: [[0.924035,0.381672,0.022055],[-0.382305,0.922711,0.049467],[-0.001470,-0.054141,0.998532]]2H?Nm?? wؿ@ن?S?XV?i2c@I2#_;2CYJByJXIEr ErEr+Ep"Er9;*ErV:VEr [4ZEpBErTAIA  A)Y3 AbD=VD=yMR%M4=ٔM:Q-u>9qYq=uFyy} ;E}>Q 5J5)?Q 9J5)߱BY^@>Q E;y\?Q I@j~DIy-;i,;0J5yɮ(%ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffZBd d )jd1Zd5#@Z^@>Z^@>Z"@Z\?:) ̾i9)顽ii>侉˕=II9@ @@@@=@>Yԉ ^A v=I I O >Mf,>/?A0:y@:L@: ;ٱ:v] FAHRS rotation from veh to nav: [[0.924829,0.379717,0.022501],[-0.380377,0.923523,0.049180],[-0.002105,-0.054042,0.998536]]:H`3?@GM?@` ?Xؿ ?.?@?a\?i:y@I:\}_;:CY^BybHIIf4=)f=f=f=bDjVDjyv%vd=ٔv:Q-v>9xYx=zFyxz;E~>|Q 5J5~t)?Q 9 J5~)~۱BY y ?Q I @~n~DI~:i~:~HJ5yɮ%AEDNOT Ignoring new targets: 24.77 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU '@ZqZqZqZuw? ;) پi9)額ii8侉hO=II I)ԑM9@I @I@M42@QEE EEEE*EA"EE/;*EE:VEE(N4ZEAaM@aM@aM@aM@Թ^AU=IYIqO}> -N,`I?A2K@2@2;ٱ2z] :AHRS rotation from veh to nav: [[0.925376,0.378367,0.022739],[-0.379042,0.924073,0.049163],[-0.002411,-0.054113,0.998532]]2H?)7? H?8Bؿ?+? }c ?i2K@I2 G_;2CYFgByF)I`iUMb@Mb@Mb@QQQQ Q9U)\(On?S㥛YUGayU>U/ݼUAU`A U A)U AQYU AbDmVDm:2y}%}A=ٔC=:Q->9Y=Fy_;E>Q 5J5)?Q 9J5/)ӱBY$>Q E;y?Q I@s~DIG;i ;J5yɮ\&ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffHBddjdZdl@Z $>Z $>Z S?Z ?%;)! %Gi%s9))-- ټi)i5B侉w=IIB}>ByB}`IB}BB} =ByByB}r;B}b.Em9@i @i@m4@iDzDE5 E5E5+E1"E59;*E5:VE5 [4ZE1BE1a=2E1a=JE5+ PExceeded connect timeout, disconnecting.A Mx,c?A2ǭ@2@2 <);ٱ2HS^ :AHRS rotation from veh to nav: [[0.925814,0.377285,0.022893],[-0.377970,0.924507,0.049253],[-0.002582,-0.054252,0.998524]]2H E?o%? >q?@0ؿ@?7?'eƫ?i2ǭ@I2^;2CY^MByb IbDjVDj1yrT%rU=ٔrZ9Q-r>9tYt=vFytvE;Ez>xQ 5eJ5z)?Q 9eJ5z)zͱBYayeA?Q Im@zv~DIzoԡ E  E E %E "E /;*E :VE 4ZE a% @a- @a- @a- @, b}?Aɰ;Y~:By~I bDVDβy%%%F=ٔ%Q-%>9)Y)=-Fy)5E5>1Q 5EK55)?Q 9EK55)5űBYAyIQ IM@5{~DI5;i5 ;5K5yQɮU'AQyDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd @Z!Z!Z!Z!9)9 =i=9)AE EüiAiM6侉IM=IIIQ 9@ @@@ԩ^A=IIO>Ai Ai Bq Bq Bu .IBu kBBu =Bq Bq Bu s;Bu .E S,9YYY=]FyYey;Ee>iQ 5uK5mX*?Q 9uK5m)mBYu=Q Eu;y}?Q I}@m}~DImC ;im ;mK5yɮ(AB*** querying acoustic contact ***i iDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffBddjdZdi!@Z =Z =Z ?Z 0?%r\;)! %Ѿi%9)!%%i)i-@侉15y=I1I1unManaging dock network, ignoring radio surface power off9@ @@@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.1^A) I1 IY Oe >Y ,?A2޴@2@2;ٱ2_ :AHRS rotation from veh to nav: [[0.926142,0.376506,0.022437],[-0.377169,0.924801,0.049858],[-0.001978,-0.054638,0.998504]]2H?`?@? #ؿ ? ?4` }@?i2޴@I2];0Y^ By^IbDfVDffyn%nf=ٔr(Q-r>9pYp=rFypvEv>xQ 5~K5z*?Q 9~K5z)zBY|y?Q I@z~DIz;iz;z K5y ɮ B)A 5DNOT Ignoring new targets: 24.77 m.h1h9*h9"h9 h9g9f9fAfAdAdIjdIZdM"@ZiZiZiZmX?;) @iS9)顉豼ii:侉[=IIR>i>*DAT read: user:353> BDAT read: Tx time:05:14:17.8766 $Ping request sent.ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250897 ,?A2(@2@2:ٱ2l` :AHRS rotation from veh to nav: [[0.925788,0.377406,0.021951],[-0.378041,0.924424,0.050258],[-0.001324,-0.054826,0.998495]]2H ?j'?`?z?1ؿ?`b? U1?i2(@I2Wd];0YFByFIIJ=)HiMMb@Mb@Mb@IIII I9M:v?{Gz?X9vYMT9Y=FyGE>Q 5K5+?Q 9K5|)BYV=Q E} Ƹ,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547726@6]@6P:ٱ6` BAHRS rotation from veh to nav: [[0.925344,0.378527,0.021342],[-0.379128,0.923962,0.050559],[-0.000581,-0.054875,0.998493]]6H k?9?ڕ? Cؿ? ? C`?i6@I6W];4YByIbDVD0y>%4=ֺٔQ->9Y= Fy  )E >Q 5K5,?Q 9K5)BY!y%Z?Q I%@~DI:i2:K5y)ɮ-T*A1]DNOT Ignoring new targets: 24.77 m.hYhY*hY"hY hYgYfafafadadijdiZdm #@ZZZZoZ?P:) Jƾi9)顥AԳrii>侉t=II-9@) @)@-0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006901^Au ȝ=y I I O >Ee  Ee Ee )Ea "Ee :;*Ee :VEe FA4ZEa am @am @am @am @8,?A >r@>E@>?߹ٱ>Jq` RAHRS rotation from veh to nav: [[0.924783,0.379944,0.020446],[-0.380494,0.923387,0.050810],[0.000426,-0.054768,0.998499]]>H@ӗ?Q?? Zؿb? ?;? ?i>r@I>];>C T)Z1lAZXXXZVlAi^C I^aF\I\ibkA b`)`` blAfddddId)dih)hIhj9h hln lAnļinIFlipp)p pIpYpYzӀByzsIbDVDyI%p=ٔAQ-?9Y=Fy%E%?)Q 55K5-d-?Q 95K5-)-BY1y5:Z?Q I5@-~DI-:i-;-K5yAɮE*AAmDNOT Ignoring new targets: 24.77 m.hihi*hq"hq hqgqfqfyfydydjdZd`$@ZZZZC:Z?]?߹)a mھim9)immiqi}8侉y}=IyIy}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259727ԁ9@ @@5@@gA@cAԡ^A=IIO>B A B B B IB BB B B DB r;B }.E % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860,?AER ERER-EP"ERտ;*ER:VERt4ZEPBER=aV2ER=aVJER+9Y=FyRE>!Q 5EK5%.?Q 9MK5%<)%BYMCW=Q EM|,_2?A2r@2m@2$ٱ2ba :AHRS rotation from veh to nav: [[0.923073,0.384163,0.018835],[-0.384616,0.921626,0.051734],[0.002516,-0.054998,0.998483]]2HЉ?` ?ZI?@ؿ@}?|?ݛd?(@?i2r@I2^;2C|Y=ƀBy=cIbDUVDUye%eg=ٔebFQ-e>9iYi=mFyimEu?qQ 5}K5u0?Q 9K5u)uBYy>-Q I@u~DIu:iuy:uK5y6Bɮ+AǦE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015005GAYz9Y dAyee=?e,ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfbE(N4jEmF4rEuf0E ESE*E"Ey>;*E;VE(N4ZEa@a@a@a@ffddjdZd;T&@)Z1Z1Z1Z5h@m$)i m}ľim79)quIuiqi}<侉y}}=IyI]9@Y @Y@]4@YY checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266846^AE ̓=IQ ԉ I O >U,FL?AY€By^IQiMb@Mb@Mb@ 9ʡE?I +Y=y94A ) AY AbDVDky%B=ٔQ->9Y=FyE>Q 5%K52?Q 9%K5O)BY%=Q E% ,-#f?A"BDAT read: Rx Time:05:14:20.3141 "TRx dataTimestamp_ set to:1761542061.604287&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772114:K@:E@:Iٱ:y` FAHRS rotation from veh to nav: [[0.921185,0.388757,0.016919],[-0.389095,0.919708,0.052372],[0.004800,-0.054828,0.998484]]:H`Yz? c?@S?`ؿ?n? Ъ?+s?_`?i:K@I:C_;:CYNByPIV;>)Vp9dYd=jFyhj-[Ej>lQ 5rK5n3?Q 9rK5n)lYtyvkQ Iv@n~DIn:in :n"K5yxɮ~+A|%DNOT Ignoring new targets: 24.77 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd=@'@ZYZYZYZ]ɭ@mI)i mXȾim9)qu#Ĵu׼iqi}@侉y}Շ=IyIԱ9@  @ @ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023448^A-=I9IQOm>E  E E -E "E 9;*E :VE t4ZE a @a @a @a @1 >,?A25@20@2Cٱ2` :AHRS rotation from veh to nav: [[0.920164,0.391203,0.016088],[-0.391490,0.918667,0.052778],[0.005867,-0.054863,0.998477]]2Hq? z ?ky?,ٿ`e??px?@?i25@I2`;0YZ΀ByZnIbDfVDfyn=%nJ=ٔnX,Q-r>9pYp=rFypv/һEv>xQ 5~K5z5?Q 9~K5z)zBY|y~kQ I@z~DIz;iz";z'&K5y ɮ 8+A 5DNOT Ignoring new targets: 24.77 m.h1h1*h9"h9 h9g9f9fAfAdAdAjdIZdM@;(@ZiZiZiZmR@}C) Kic9)顅󴉢ii:侉L=IIQ9@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274990^A8=I!IIOu>ԉԩAABBBYIBBBBBB{s;B.E5 DAT read: 05:14:20.3141 LVL= 32752, 25681, 28834, 32755, AGC= 64, IDX= 434, 0.04, 1.778,-2.352, 2.817, 2.982, PHS=-1.102, 0.995,-0.209, RAW= 304.9, 3.5, CAL= 302.5, -0.1, ROT= 207.5, 0.1 E Ygot valid direction response: 05:14:20.3141 LVL= 32752, 25681, 28834, 32755, AGC= 64, IDX= 434, 0.04, 1.778,-2.352, 2.817, 2.982, PHS=-1.102, 0.995,-0.209, RAW= 304.9, 3.5, CAL= 302.5, -0.1, ROT= 207.5, 0.1 U PDAT read: Bearing 323.2, -27.6 (Local) ] ~Local bearing/azimuth received: Bearing 323.2, -27.6 (Local) m DAT read: Range 11 to 50 : 24.9 m (Round-trip 33.3 ms) speed 0.0 m/s u R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.887009,-0.461748,-0.001745] Fpublishing direction and range infoy  E·abGݿn p\Y    Qd p  ) @I Vi R~? V  I@ 5z= @  ) g@I :  ',pЙ?A2r"@2E@2ٱ2S` :AHRS rotation from veh to nav: [[0.919233,0.393422,0.015166],[-0.393653,0.917727,0.053054],[0.006954,-0.054739,0.998477]]2H[j? -?t?1ٿ^?)?`{|??i2r"@I2`;2CEF  EFEF*ED"EFD;*EF:VEF(N4ZEDBEFϚ9Y=FyE>Q 5K5h7?Q 9K5)BY =Q E i>}9@y @y@y@y@@gA ^A b$=I I O >1 P,ʧ?AY~By~I   AbDVDy%N=%%j=ٔ-Q-->9)Y)=-Fy15E5?9Q 5EK5=8?Q 9EK5=3)=BYAyAQ IE@=~DI=:i= :=K-K5yQɮUT*AQDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd ?ZZZZ) Liz9)顭ii>侉=IIE E E&E"E9;*E:VE4ZEa@a@a@a@9@ @@k0@^AePڀ=IiIO9>9ԩ <,є?A@fc@f6@f ٱf_ ~AHRS rotation from veh to nav: [[0.917722,0.396981,0.013839],[-0.397130,0.916203,0.053479],[0.008551,-0.054575,0.998473]]fH`]?#h?W?@jٿQ?a?` ?L}?ifc@IfK `;fCY By IiMb@Mb@Mb@ 9=ٔsQ->9Y=FyE>Q 5K59?Q 9K5n)BY\=Q Ev b,-]?A6@6@6&ٱ6Qq_ >AHRS rotation from veh to nav: [[0.917212,0.398172,0.013457],[-0.398297,0.915689,0.053600],[0.009020,-0.054522,0.998472]]6HY?`{? L?}ٿSM?kq?`x?T꫿@{?i6@I6y_;4YJByJIbDPVDPyZ=%Z`=ٔZQ-^>9\Y\=bFy`beEb>dQ 5jK5f:?Q 9jK5f)fBYhyjQ In@dIf:ifS:pf:4K5ytɮv2)AtDNOT Ignoring new targets: 24.77 m.hh*h"h hgff!f!d!d!jd!Zd-?ZZZZ޵@&) i)ii B侉  p=I I 9@ @@3@@=@= ^Anp=IIO>1E  E E 'E "E g5;*E >:VE '4ZE a @a @a @a @a K,>>?A2@2@27ٱ2^ :AHRS rotation from veh to nav: [[0.917002,0.398666,0.013120],[-0.398773,0.915487,0.053512],[0.009322,-0.054302,0.998481]]2HX??@ފ?ٿK?e?t? ͫ?i2@I2^;2CYFByFIIJ=)J9\Y\=^Fy\bڨEb>dQ 5jK5f;?Q 9jK5f)fBYhyjQ Ij@f~DIf:if8;f7K5ypɮr(Ap DNOT Ignoring new targets: 24.77 m.h h *h"h hgfffdd!jd)AZd5-?ZiZiZiZmk׵@7) ݥiB9)額ii<侉Vo=IIq 9@  @ @ /@ aԙ^A-t=I9BQBQBUIBUBBQBQBUDBUs;BQB!B!B!B!B!C%ȿ5IqO}> Eu,Q?AD2=D2<E6 E6E6(E4"E63;*E6:VE6c44ZE4BE6:E6+b@b@bٱb4] jAHRS rotation from veh to nav: [[0.917005,0.398667,0.012885],[-0.398764,0.915506,0.053259],[0.009436,-0.053977,0.998498]]bH`X?ƒ?c?Wٿ K?D? S?Ң@?ib@IbaR^;`Y%+By%IԙiMb@Mb@Mb@ 9~jtx ףp= ?kt?YĻyQ8= 0=AA / A)E AY AbDVDN2yW=%8=ٔuQ->9Y=Fy7E>Q 5K5P ˞ ,4?A2\@2/@2tٱ2~\ :AHRS rotation from veh to nav: [[0.917229,0.398152,0.012859],[-0.398251,0.915747,0.052946],[0.009305,-0.053685,0.998515]]2HY?Q{?@U?`|ٿ`M?`?o?@|?i2\@I2]];0Y^BBybIbDjVDjy]=%eS=ٔeQ9Q-m>9qYq=uFyq}:E}>Q 5K5iI IM Aԁ ,N?Ab@5 @ ٱSZ -AHRS rotation from veh to nav: [[0.918303,0.395656,0.013268],[-0.395786,0.916852,0.052297],[0.008527,-0.053276,0.998543]]H@b?kR?-,? TٿV?ƪ?v?F`?ib@Ir{];CYeYByeI iiqqBBBIBBBBBBs;B.EiMb@Mb@Mb@ 9I +zG?9AYA=EFyAEb;EM>IQQ 5]K5U m,h?AY \ByIbD%VD%0y5w<%5\=ٔ5Q-=>99Y9==Fy9EEE>IQ 5UK5MbE:4jE?4rEI"0E  E E (E "E g5;*E ;:VE c44ZE a @a @a @a @) Ș ,Ѐ?A2@2@2|ٱ2] :AHRS rotation from veh to nav: [[0.919060,0.393871,0.013910],[-0.394036,0.917582,0.052720],[0.008001,-0.053934,0.998512]]2H@h?/5?@|?7ٿ\??b?:`?i2@I2];2CYvfByz(IbDVDܲyC=%M=ٔ&:Q->9Y=Fy%;E%>)Q 55K5-侉=IIU9@Q @Q@U5@Q@]=@]=A^A}Pz=IIO>BBBIBBBBBBBB.Eq \&,]?AE& E&E&,E$"E&0;*E&:VE&g4ZE$BE&<AAvA \ A) AYG AbDVDN2yY=%>=ٔ;Q->9Y=FyD<E>Q 5K5;?Q 9 K57)BY 4>Q E ;y `?Q I @~DI:i:HMK5yɮ &AEDNOT Ignoring new targets: 24.77 m.hAhA*hA"hA hAgAfIfIfMBdIdQjdQZdU@ZE4>ZE4>ZE=n@ZEs`?U:ɻ)Q ]i]9)Y]YiYie8侉aeY%=IaiIi@ @@@i!I!ԙ^A- S=I9 Ia Om > ,,a5?APY~mBy1IbD!VD!ymK%mS=ٔmQ-m>9qYq=uFyquE>Q 5K5(;?Q 9K5n)BYyQ I@~DI9:i;PK5yɮA&ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd1@ZZZZ)  i9)ii%B侉!%7=I!I)E]- E]E]*EY"E]d;*E]:VE](N4ZEYae@ae@ae@am@9@ @@/@^Aff=IIO!>! 3,3?AxE]v@E0q@E_ٱE)^ UAHRS rotation from veh to nav: [[0.923231,0.383872,0.016933],[-0.384222,0.921794,0.051673],[0.004227,-0.054212,0.998520]]EH ?Z? V?ؿU?t?Pq?@@?iE]v@IEz];ECYerBye6IBBCB!IB`BB =BBBs;B.Ei=Mb@Mb@Mb@9999 99=A`"S?Y=ٽy=/>==A9 =rA)=\ A9Y=p AbDUVDU:yeL<%m:=ٔm;Q-m>9iYq=uFyquL<Eu>yQ 5K5}9?Q 9K5}&)}BYN>Q E;y?Q I@}~DI} ;i} ;}TK5yɮ &ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffBddjdZd@@ZN>ZN>Z @Z? _)  = i9)C%ii<侉p3=II9@ @@2@@hA@hAE} E}EyEy"E}B;*E}6;VEyZEyBE}vq 9,?A ɰ N@N@NQٱN\\ VAHRS rotation from veh to nav: [[0.924233,0.381421,0.017635],[-0.381815,0.922827,0.051062],[0.003202,-0.053927,0.998540]]NHQ? 4i?`?oؿ̇?@$?:j?T ?iN@INj^;NCYb^BybI ddddbDjVDjyvܽ%vh=ٔvS>;Q-v>9xYx=zFyxz;E~>|Q 5K5~8?Q 9 K5~N)~BY y ?Q I @~~DI~:i~|:~WK5yɮ&AEDNOT Ignoring new targets: 24.77 m.hAhA*hA"hA hIgIfIfIfQdQYdQjdaZdeB]@ZZZZ'?Q) i9)顽ii6侉p=II9@ @@/@^Ae=IqԉIO>ԱE  E E +E "E /;*E :VE [4ZE a @a @a @a @ @,;?AF@F@F.ٱFp$] NAHRS rotation from veh to nav: [[0.924980,0.379568,0.018427],[-0.380009,0.923589,0.050770],[0.002252,-0.053963,0.998540]]FH p?J?lޒ?@Rؿ ??rb?` ?iF@IFH^;FCYXyXbDbVDbyj%jL=ٔj';Q-n>9Y=Fy%c;E%>)Q 55K5-7?Q 95K5-,)-BY1y5D?Q I=@-~DI-;i-a;-)[K5yAɮE&AAmDNOT Ignoring new targets: 24.77 m.hihq*hq"hq hqgqfqfyfydydjdZd@ZZZZ}D?Թ.) i9)ii@侉(=IIU9@Q @Q@U/@Q^A@=B<A<BBCB.IBkBBBBBs;B.EII!!O5>9 G,?AE EE)E"ECJ;*E:VEFA4ZEBEtAA \ A)rAY AbDVD y?%<=ٔ;Q->9Y=Fy;E>Q 5K5P6?Q 9K5)۱BYO>Q E;yz?Q I@~DI]:i:^K5yBɮ&AE %DNOT Ignoring new targets: 24.77 m.h!h!*h!"h! h!g)f)f1f5gBd1d1jd1Zd=`m@Z]O>Z]O>Z] @Z]gz?mj)q u iue9)quXqiqi}:侉y}{=IIIgA)fA=9@A @A@E0@A@M=@M=9^Aeqj=iIqIO>ԑ BM,7?AR@Ry@R2ٱR+] ^AHRS rotation from veh to nav: [[0.926272,0.376337,0.019767],[-0.376855,0.924900,0.050394],[0.000683,-0.054128,0.998534]]RH??`=?eؿ`Ș?Dͩ?v]F? ?iR@IRd^;PYf?ByfIIj=)jp;bDnVDnyv䜽%zX=ٔz:Q-z>9|Y|=~Fy|~O;E>Q 5 K54?Q 9K5)ձBYy?Q I@~DI;i;2bK5yɮ&A!MDNOT Ignoring new targets: 24.77 m.hQhQ*hQ"hQ hQgQfYfYfYdYdajdaZde`7@ZZZZ ?am2)i m6im9)quLߴqiqi}4侉y}o=IyIyEM EMEM(EI"EMC;*EM:VEMc44ZEIaU@aU@aU@a]@@ @@?0@ԑ^AE9g=IIIaOm>Թ +&T,gQ?ABqBqBuIBu[BBu =BqBqBufs;Bu.EB1B1B1B5 =B1C55@x@2Fٱ!U^ AHRS rotation from veh to nav: [[0.926639,0.375407,0.020221],[-0.375951,0.925271,0.050345],[0.000189,-0.054254,0.998527]]H???`ؿћ?Ʃ?@(?%ǫ@?i@If^;Y*ByIiMb@Mb@Mb@ 9MbX9Pn?L7A`堿Yʡy>+`A A) AYbDVDk1y 곽%-=ٔЈ:Q->9Y=Fy%#;E->1Q 5EK553?Q 9EK55,)5̱BYM>Q EM;yM?Q IM@5~DI5hc;i5m;5VfK5yYɮe'Aa-DNOT Ignoring new targets: 24.77 m.h)h1*h1"h1 h1g1f1f9f=CBd9d9jdAZdE5@Zm>Zm>ZmIJ@Zm%?2F)  i9)顅!ii>侉֠=IIDQzDU@AE] E]EYEY"E]/;*E]:VEYZEYBE]ʈi1 9@  @ @ /@ Q ^Aܝ=IIO >j[,p?A2µ@2x@2þ8ٱ2B>_8 >AHRS rotation from veh to nav: [[0.926777,0.375049,0.020546],[-0.375612,0.925403,0.050453],[-0.000091,-0.054476,0.998515]]2H(?`? ? ؿ@?ԩ?`y?䫿?i2µ@I2/^;2CYFByFIbDNVDN:yV%VE=ٔZ(1:Q-Z>9XY\=^Fy\^g:E^>`Q 5fK5b 3?Q 9fK5b)bñBYhyj?Q Ij@b~DIb ;ib7 ;biK5ylɮnv(Ap DNOT Ignoring new targets: 24.77 m.h h *h "h  h gfffddjdZd @ZZZZB?þ8) iD9)bii8侉H=II9@ @@1@ԱE EEE"E=;*E:VEZEa@a@a@a@^AII!O-> b,?Aɰ6µ@6@6v9ٱ6)l_ BAHRS rotation from veh to nav: [[0.926785,0.375013,0.020832],[-0.375591,0.925415,0.050384],[-0.000384,-0.054519,0.998513]]6H:?6?@T? ؿ?˩?.#9髿?i6µ@I6?];6CYJByJIbDRVDR yZ߽%ZJ=ٔ^#>:Q-^>9\Y`=bFy`bh8Eb>dQ 5jK5f*2?Q 9jK5f)fBlYlyn?Q Ir@f~DIf-;if.;fzmK5ytɮv*)AtDNOT Ignoring new targets: 24.77 m.hh*h"h hgff!f!d!d!jd)Zd-@b@ZIZIZIZM_?]v9)a e>%ieU9)aaeiaimB侉iu:=IqIq59@1 @9@=4@9AAAABBBIB3BBBBB"s;B.E^A19IAIQOew>E  E E E "E =-;*E d:VE ZE BE p9Y=FyE>Q 5K51?Q 9K5 )BY)=Q E@>ԑ = +G^AI e hAy u:9 hAY )AI I O > 9aYa=eFyaiEm>qQ 5}K5um1?Q 9}K5u1)uBYyyyQ I@u~DIu;iu;utK5yɮ*AԙDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd~Y!@ZZZZ)  i!9)   i i6侉II9@ @@/@^A II)O=>B B B IB BB B B B Ts;B .E! u,C?AB@B@BD-ٱB` JAHRS rotation from veh to nav: [[0.925547,0.378069,0.020645],[-0.378632,0.924152,0.050806],[0.000129,-0.054840,0.998495]]BH`?G2? #?;ؿ঒?@3? ? ?iB@IBR];@YVByVXIZ=Z=i5Mb@Mb@Mb@1111 195Mb`?S㥛?:vY5;y5/<5Լ11 5 A)5 A1Y1bDMVDM1y]3%]J=ٔe`Q-e>9aYa=eFyim;Em>qQ 5}K5u1?Q 9}K5u)uBY}=Q Ey {,?A2 @2ݒ@2)ٱ2ť` :AHRS rotation from veh to nav: [[0.924811,0.379887,0.020257],[-0.380427,0.923407,0.050942],[0.000647,-0.054818,0.998496]]2H ?P? ?Xؿ??6E? ?i2 @I2Tt^;2CYfByf:IbDr VDr2yz1%zQ=ٔz%Q-z>9|Y|=~Fy|΢E> Q 5 K5 32?Q 9K5 ) BYy?Q I@ ~DI y:i N: {K5y!ɮ%+A!MDNOT Ignoring new targets: 24.77 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdaZde"@ZZZZ?)) i+9)顝ii:侉=IIYU9@Q @Q@U0@Q^A)I1IIOU>ԁE EE*E"E2;*EL:VE(N4ZEa@a@a@a@Թ ۂ,3 ?A6F@6@6ٱ6_ >AHRS rotation from veh to nav: [[0.924123,0.381583,0.019770],[-0.382093,0.922724,0.050846],[0.001160,-0.054542,0.998511]]6Hk?k?>?@5tؿ?{?S?쫿?i6F@I6X^;6CYFByF6IbDRVDRNyV%ZN=ٔZQ-Z>9XY\=^Fy\^9Eb>`Q 5fK5b2?Q 9jK5bz)bBYhyj?Q Ij@b~DIb:ib:bK5ylɮr+ApmDNOT Ignoring new targets: 24.77 m.hihi*hi"hi higifqfqfqddjdZd #@ZZZZ? ) 5i59)15 5i9i=4侉9E<=IAIAԱ9@ @@/@BU<AU<BiBiBmfIBmȀBBiBiBmDBm`s;Bm.E^AD=IIO> E  E E 'E "E 77;*E V:VE '4ZE BE 9Y=FyYE>Q 5K53?Q 9K5)BY#9=Q E侉=II 9@ @@/0@9^A5̓=IAIiO>i /,??A E6 E6E6)E4"E6 /;*E6:VE6FA4ZE4a:@a:@a:@a:@F9f@F a@FZٱF] NAHRS rotation from veh to nav: [[0.922478,0.385599,0.018646],[-0.386042,0.921078,0.050863],[0.002438,-0.054118,0.998532]]FH@??@?ؿ xy?` ?jc?`^?iF9f@IF_;FCYVByZIbDbVDb:yj%j]=ٔjjкQ-j>9lYl=nFylrEr>tQ 5zK5v(5?Q 9zK5v)vBYxyz'Q Iz@v~DIv:iv:v7K5yɮ,A-DNOT Ignoring new targets: 24.77 m.h)h1*h1"h1 h1g1f1f9f9d9dAjdAZdEgZ%@ZaZaZaZe*@uZ)y } i} 9)y顅zii8侉d=IIV>i>9@ @@5@i^AU@=IaIqO}{> Ba Ba Be :IBe BBa Ba Ba Be Hs;Be .E,Y?A2RT@2%O@2Lٱ2q\ :AHRS rotation from veh to nav: [[0.921630,0.387650,0.018024],[-0.388057,0.920232,0.050842],[0.003123,-0.053852,0.998544]]2H}?C?`t?ؿr?? i?z?i2RT@I2U`;2CLYnByn&IieMb@Mb@Mb@aaaa a9e~jt?Mb~jtx?YeD=yee;eAAeA a)aaYeQ AbDVDy =%?=ٔ-ѺQ->9Y=Fy E>Q 5K56?Q 9K5QQ =tI)BYP=Q E) A,es?A24B@2=@2nlٱ2s\ :AHRS rotation from veh to nav: [[0.920768,0.389709,0.017688],[-0.390093,0.919363,0.050970],[0.003602,-0.053832,0.998544]]2H v???Iؿmk??im? ُ?i24B@I2| `;2CYFByF(IIJ%=)J<bDNVDNyV<%VZ=ٔZ짺Q-Z>9XYX=ZFy\^E^>`Q 5fK5b7?Q 9fK5b)bBYdyjT7Q Ij@b~DIb:ib:bԡ ),A?A24@2h/@2ٱ2A$\ :AHRS rotation from veh to nav: [[0.920117,0.391257,0.017394],[-0.391623,0.918712,0.050980],[0.003966,-0.053719,0.998548]]2Hq? Z ?ϑ?Zٿ`f? ? ]>p?`?i24@I2zd_;0yYBy+IbD VD2y<%.=ٔJQ->9Y=FygE>Q 5K5=9?Q 9K5)BYy7Q I @~DIL R,?A `)b-lAb`弩``ddifIddIhih jtj!LF)hn@C ln+n^VFlprlAIr)rQRFip)rfCIvkAvvYF ttvlAtixxizCz A)x xI|Y|Y=By=?IiMb@Mb@Mb@ 9~jt?Mbp/$?Y=y<A  A)\ AY( AbDVDym=%X=ٔQ->9qYq=uFyq}E}>Q 5K5]:?Q 9K5<)BY2=Q EY :,?AɰE& E&E&+E$"E&2;*E&-:VE& [4ZE$a*@a*@a*@a*@>!@>{@>ܮٱ>[ FAHRS rotation from veh to nav: [[0.919209,0.393397,0.017155],[-0.393747,0.917806,0.050936],[0.004293,-0.053575,0.998555]]>H`(j?`j-?`? (3ٿ^?;?ؕq?`0n(?i>!@I>Iu^;>CY=By=KI M9Y=Fy%ʻE>Q 5K5m;?Q 9K5h)BYyQ I@~DI:i:K5yɮ]+ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd`.p)@ZZZZ@-ܮ)) -i-9))-st)i11i=:侉9=F=I9IA@ @@/@a^A{=II1O=>ԉB B B !IB BB =B B B &s;B .E e,B?A21@2@2Kٱ2Z :AHRS rotation from veh to nav: [[0.918994,0.393898,0.017162],[-0.394248,0.917601,0.050771],[0.004251,-0.053424,0.998563]]2H@fh?`5?͒?];ٿ\??`miq?@\Z :?i21@I2];0YEÀByE`IiMb@Mb@Mb@ 9I +?Q?V-?Y949Y = Fy  EE >Q 5K58 H,ޭ?A2@2@2?ٱ2Y :AHRS rotation from veh to nav: [[0.918977,0.393940,0.017091],[-0.394288,0.917597,0.050519],[0.004219,-0.053164,0.998577]]2H Ch?O6???@<ٿ \?ݩ?Gq?`\8W?i2@I27];0YBрByBpIbDJVDJkyRޕ=%Vc=ٔVi8Q-V>9XYX=ZFy\bEf>hQ 5-K5j侉  =I Ii@ @@ 0@ bEFA4jEC4rE8/Ee EeEe(Ea"Ee&;*Eed:VEec44ZEaau@au@au@au@^AY=II O >I (w,?A>M@> @>6-ٱ>&VY FAHRS rotation from veh to nav: [[0.919048,0.393768,0.017229],[-0.394124,0.917679,0.050318],[0.004003,-0.053035,0.998585]]>H@h?`~3? s?@U9ٿ]?Té?ep? s'g?i>M@I>a];9dYd=fFydjl9Ej>lQ 5rK5n=?Q 9rK5n)nBYpyr0U?Q Iv@n~DIn;in:noK5yxɮz)AxDNOT Ignoring new targets: 24.77 m.hh!*h!"h! h!g!f!f)f)d)d)jd)Zd5+@ZQZQZQZU0U?e6-)a mѾimI9)imiiiiu8侉quH=IyIy9@ @@4@IBA4=BBB@IBBBBBBls;B.Eԁ^AN9=IIOn>Eu  Eu Eu +Eq "Eu 1;*Eu |:VEu [4ZEq BEu [9Y=Fy:E>Q 5K5=?Q 9K5)BY y=Q E i!>9@ @@5@@@^A X=I I O > #,1?B?AE EEE"EI@;*E:VEZEa@a@a@a@>1-@>(@>1=ٱ>xY FAHRS rotation from veh to nav: [[0.919767,0.392045,0.018168],[-0.392455,0.918414,0.049945],[0.002895,-0.053068,0.998587]]>Hn?B?`?ٿc?@_?dg?+ l?i>1-@I>U];>CYRByRIlbDZVDZNyvw=%v\=ٔzz:Q-z>9xYx=~Fy|~|?;E~>Q 5 K5=?Q 9 K5)BYyd?Q I@~DI:il:K5yɮ(A!DNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd` y-@ZZZZd?51=)1 udiu9)q}.yiyi}<侉a=II -9@) @)@-/@)A^AS=II1O=>B B B lIB ̀BB =B B B s;B .Ei ں,*:\?A2}7@2P2@28wٱ2Y :AHRS rotation from veh to nav: [[0.920261,0.390861,0.018649],[-0.391299,0.918916,0.049795],[0.002326,-0.053122,0.998585]]2Hr? ?? ٿg?~?c?2@i?i2}7@I2}];2CYJ ByJINALiMb@Mb@Mb@ 9Q!rh?I +?Yuyl=9<AA \ A)AY A1 =4<=4<bD=VD=βyMwS=%UC=ٔU:Q-U>9QYY=]FyY]E;E]>aQ 5mK5ev=?Q 9mK5ex)eBYu>Q Eu;yu?Q Iu@e~DIe ;ie? ;e2K5yyɮ}(AEDNOT Ignoring new targets: 24.77 m.hAhI*hI"hI hIgIfIfQfU%BdQdQjdYZd]Q.@Z>Z>ZB@ZM?8w)  iS9)\ɴii6侉=II E= E=E='E9"E=C;*E=d:VE='4ZE9BE=>Ա t,"u?AZHD@Z?@ZƺٱZqZ jAHRS rotation from veh to nav: [[0.920872,0.389382,0.019392],[-0.389862,0.919532,0.049676],[0.001511,-0.053305,0.998577]]ZHw??wۓ?~ؿ`l?o?@=X?JX?iZHD@IZh];ZCYzBy~IbD VD y<%%N=ٔ%;Q-%>9)Y)=-Fy)- ;E->1Q 5=K55=?Q 9EK55!)5ñBYAyE?Q IE@5~DI5W:i5:5K5yIɮMa(AQ}DNOT Ignoring new targets: 24.77 m.hyhy*hy"hy hygfffddjdZd`/@ԑZZZZ6?ƺ)  i9)ii@侉&B=IIm9@i @i@m/@i@u=@u=E= E=E=)E9"E=:;*E=:VE=FA4ZE9aM@aM@aM@aM@^A=IIO> 2,SЏ?A2Q@2K@2Wٱ2}K[ :AHRS rotation from veh to nav: [[0.921477,0.387916,0.020029],[-0.388432,0.920140,0.049631],[0.000823,-0.053513,0.998567]]2H`|??``?ؿ`q?@.i?`J?f`B?i2Q@I2EF^;2CYB"ByFIbDNVDN:yRڡ=%VS=ٔVO:Q-V>9XYX=ZFyXZ;E^>\Q 5bK5^?`˸?9?`ؿ`Zw?KX?`?.z1?i22_@I2m^;2CYBByBIIFR=)F=J=J=iMb@Mb@Mb@ 9kt7A`?Mb?Y y><A A  A)AY A!%@AbD-VD-y=%%=A=ٔ=:Q-E>9AYA=EFyAM;;EM>QQ 5K5U;?Q 9K5U)QY.>Q E;y?Q I@U~DIUܙZ.>Zh@Z?%`)! %\i%/9)!%L!i)iM4侉QUa=IQIQ9@ @@/@ԁԩ^Am=II O > ,^?AE EE+E"E<;*E:VE [4ZEa@a@a@a@Rn@Ri@RyHJ:ٱRh5\ ZAHRS rotation from veh to nav: [[0.922890,0.384468,0.021403],[-0.385062,0.921573,0.049296],[-0.000772,-0.053736,0.998555]]RH Q??? ܤؿ}?I=?IIG`)?iRn@IR^;PYfByfIbDnVDnkyv׻%vP=ٔv4;Q-z>9xYx=zFyx~;E~>Q 5 K50;?Q 9 K50)Yy#?Q I@~DIQ;i<;0K5yɮ (A!MDNOT Ignoring new targets: 24.77 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]`0@ZyZyZyZ}#?yHJ:) i9)顕nii>侉=III)ԱU9@Q @Q@U4@Q@]gA@]fA^Au_=IIO> B9 B9 B= IB= BB= =B9 B9 B= s;B= .EBBBB =B =Cɹ949 1,q?AR<@Rz@R:ٱR$[ ZAHRS rotation from veh to nav: [[0.923654,0.382599,0.021943],[-0.383225,0.922356,0.048977],[-0.001501,-0.053647,0.998559]]RH?|? 7x? ؿ? ?`ߕXw1?iR<@IR0^;RCYbBybIiUMb@Mb@Mb@QQQQ Q9U(\µ{Gz?y&1|YUyU#>U`QU A U A)QQYU=AbDmVDmk2y}%}A=ٔw:Q->9Y=Fyޙ;E>Q 5K5:?Q 9K5/)ñBY9>Q E;yq?Q I@~DIE:io:K5yɮ(ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffJBddjdZd)1@Z 9>Z 9>Z @Z q?%:)! % i%;9)!- -vi)i8侉-=II D)zD-?AE5  E5E1E1"E5E;*E5:VE1ZE1BE5a +,>?A By@BL@B ;ٱB\[ JAHRS rotation from veh to nav: [[0.924364,0.380854,0.022389],[-0.381506,0.923084,0.048668],[-0.002131,-0.053529,0.998564]]BHd?@_??@jؿ@??ua`!h9hYh=jFyhn=;En>pQ 5vK5r9?Q 9vK5rb)rBYtyv?Q Iz@rDIr:ir:r7K5y|ɮ~(A|DNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZdN1@ZZZZ ?- ;)) -i-\9)15UiQi]B侉Y]{;=IYIai@ @@4@EE EEEE-EA"EE%;*EE:VEEt4ZEAaM@aM@aM@aM@ԙ^A BN=II)O=> D,?A2E@2@2BW4;ٱ2R[ :AHRS rotation from veh to nav: [[0.924911,0.379492,0.022915],[-0.380173,0.923642,0.048522],[-0.002752,-0.053590,0.998559]]2H ߘ?I?w?Tؿx?ר?`f%p`2?i2E@I2]^;2CYBByBIPbDNVDNN2yV<%VL=ٔZ<:Q-Z>9XY\=^Fy\^k;Eb>`Q 5fK5bc9?Q 9fK5b~)bBYhyj?Q Ij@bDIb :ib9:bK5ylɮrf(Ap DNOT Ignoring new targets: 24.77 m.h h *h "h  h gfffddjdZd1@ZAZAZAZE?UBW4;)Q U iU9)Q],] ټiYie<侉aeFt=IaIiqiqB<A<BBBIBBBBBBs;B.Eu9@q @q@u/@q@}=@}=i9I=A^Au<=IIO>DM =DM R=EU  EU EU 'EQ "EU );*EU I:VEU '4ZEQ BEU MAHRS rotation from veh to nav: [[0.925263,0.378600,0.023467],[-0.379313,0.923990,0.048631],[-0.003271,-0.053898,0.998541]]6H?`:?@?FؿR?5?j ` ?i6㡵@I6u^;4YFByJIi=Mb@Mb@Mb@9999 99=Mb333333?y&1Y=y=>=`e=A= A 9)=A9Y=fAbD]VD]:yulV%u>=ٔ}^:Q-}>9Y=Fy ;E>Q 5K5H8?Q 9K5)BY5>Q E;yV?Q I@ DI/;il0;yK5yɮ(AmDNOT Ignoring new targets: 24.77 m.hihi*hq"hq hgfff9BddjdZd`f2@Z5>Z5>Z[@ZV?X^V;)! %i%H9)!%Ƶ%ɼi!iM6侉QU@=IQIQ)9@ @@@ i>EGaq9YAQ^A~=IIO>ԁ bE˙T4jE(N4rE˼ 0E]  E] E] *EY "E] a?;*E] :VE] (N4ZEY am @am @am @am @12,CE?AY%By%II-C=)-%=bD5VD5AyM/i%MK=ٔMQ-U>9QYQ=UFyQ]E]>aQ 5mK5e@7?Q 9mK5e)eBYiyiQ Iu@eDIe6:ie:eK5yyɮ} )AyDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZdd2@ZZZZ) vi9)7ڵ3ii@侉F=II9@ @@/@qԙ^A=IIO>BBCBIB BBBBBs;B.E P,!^?Ajۭ@j@j's;ٱj:^ rAHRS rotation from veh to nav: [[0.925815,0.377220,0.023934],[-0.377960,0.924535,0.048802],[-0.003718,-0.054228,0.998522]]jHE?]$? ?~0ؿ@ʕ??@ vnë?ijۭ@Ij,^;jCYzByIԱiMb@Mb@Mb@ 9 rhrh|?/$YCy=XAvA \ A)YAbDVDkyƊ%B=ٔX:Q->9Y=Fy^c;E>Q 5K56?Q 9K5*)BY >Q E ;y ?Q I @DI:i#:K5yɮ)AEDNOT Ignoring new targets: 24.77 m.hAhA*hA"hA hIgIfIfQfUBdQdQjdQZd] O23@Z}>Z}>Z}C@Z}?'s;) zi9)顕e'ii:侉c=IID zD @AE EE'E"E=-;*E:VE'4ZEBEpL,f{?A8Y ԀBy uIbDVDNy-ӽ%-<=ٔ5Q-5>91Y9==Fy9=E=>AQ 5MK5E6?Q 9MK5E)EBYQyQQ IU@EDIE;iEY;EqK5yYɮ]M*AYDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd @Ҥ3@Z)Z)Z)Z)9)9 =i=r9)9EE iAiM4侉IM =IIIQԙ=9@A @I@M/@QE EE)E"E /;*E:VEFA4ZEa@a@a@a@^AD=IIO> .%,?AZ<@Z@Zj;ٱZ] jAHRS rotation from veh to nav: [[0.925971,0.376848,0.023741],[-0.377578,0.924693,0.048760],[-0.003578,-0.054115,0.998528]]ZH?F?O?=*ؿ?? MPm@򴫿?iZ<@ApAr?ABtBvCBvIBvBBv =BtBtBvs;Bv.EIZ0|];ZCYĀByaI %A%AbD-VD-y=2%=J=ٔ=õQ-E>9AYA=EFyAMƅ:EM>QQ 5]K5Up5?Q 9]K5U)UBYYy]?Q I]@UDIU;iU;UK5ymBɮm*AmEDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd`4@ZZZZH?]j;)a eG(ieA9)ae*e5iaim>侉+ϝ=II59@9I @9@U00@YQE EE+E"E9;*E:VE [4ZEBEhy V+,?AYrByrNIYiuMb@Mb@Mb@qqqq q9u/$ʡE?:vYuyu-=uԼuAu A uE A)urAqYu AbDVD02y%E=ٔQ->9Y=FyE>Q 5K55?Q 9K5))BY޾=Q EE  E E *E "E 0;*E n:VE (N4ZE a @a @a @a @ >2,i?AYBy@IbDVDy%Ic%-R=ٔ)Q-->91Y1=5Fy11E5>9Q 5EK5=M6?Q 9EK5=E)=BYIyIQ IM@=DI=>:i=W:=K5yQɮU*AYDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd4@ԹZZZZ) si9)鴉`iiB侉IIm9@q @q@u4@qBBBlIB̀BB =BBBs;B.E^AIIO>A iߩ I߭ Ah8,E?A2@2ҝ@2/;ٱ2Z#] :AHRS rotation from veh to nav: [[0.925316,0.378503,0.022942],[-0.379188,0.924026,0.048916],[-0.002684,-0.053962,0.998539]]2H/? d9?(~?Dؿ? ?`Ae?i2@I2r8];2CYBByF?IIJp<)J4iMb@Mb@Mb@ 9Mb`? rhYyL=CXAvA )Y AbD5VD51yEл%EI=ٔEQ-E>9IYI=MFyIMڋEU>E EE+E"E;;*EV:VE [4ZEBEԙ Z>,l"?A6H@6@6ea ;ٱ6] BAHRS rotation from veh to nav: [[0.924820,0.379734,0.022572],[-0.380399,0.923510,0.049254],[-0.002142,-0.054137,0.998531]]6H ?M?@?sXؿ@e?7?+a`ݷ?i6H@I63];6CYJByJ&IbDZVDZyyɽ%-L=ٔ5Q-5>99Y9==Fy9ETEE>IQ 5UK5Mq7?Q 9UK5MJ)MBYQyUq?Q I]@M DIM;iM;MK5yaɮe+AaDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd@%5@ZAZAZAZEq?qea ;) i9)页g?7ii6侉\=II9@ @@/@E EE)E"E4;*E:VEFA4ZEa@a@a@a@@@ԡ^AX=II O > {E,`?A:g@::@:[:ٱ:h]^B@AB<B@B@BB@IBBBB@B@B@BBs;BB.EBQBQBQBQBQCU4 AHRS rotation from veh to nav: [[0.924362,0.380873,0.022169],[-0.381514,0.923034,0.049552],[-0.001590,-0.054262,0.998526]]:H _?`7`?`l?@jؿ~?^?`_ Z ,ȫ?i:g@I:#W];:CYByIbD%VD%y5E%5I=ٔ=಺Q-=>99YA=EFyAEgCEE>IQ 5UK5M8?Q 9UK5M)MBYYy]B?Q I]@M!DIM3;iM;MK5yaɮe+AaDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd@ 6@ZZZZB?[:) die9)nf*ii@侉g=II@ @@@E EE+E"EO6;*E:VE [4ZEBEF) YK,|0?A6)@6@6\H:ٱ6^ >AHRS rotation from veh to nav: [[0.923931,0.381944,0.021667],[-0.382557,0.922596,0.049676],[-0.001017,-0.054186,0.998530]]6Hؐ?`q? /?`{ؿ@? o?@ PD?i6)@I6h];6CYFByJ!I HHLNAieMb@Mb@Mb@aaaa a9ey&1|?:v?y&1|Ye`;ye9Y=Fy2E>Q 5K58?Q 9K5)BYԩ E  E E -E "E 2;*E :VE t4ZE a @a @a @a @یR,FJ?A2y@2Vt@29ٱ2?^ >AHRS rotation from veh to nav: [[0.923387,0.383284,0.021219],[-0.383870,0.922037,0.049911],[-0.000435,-0.054233,0.998528]]2Hb?@? y?TؿT?@?`|<`eī`?i2y@I2D];2C@YFByJIbDRVDRyZ%ZY=ٔZʺQ-^>9\Y\=^Fy`b wEb>dQ 5jK5f9?Q 9jK5f])fBYhyjh?Q Ij@f#DIf:if6:fK5ypɮr+Ap DNOT Ignoring new targets: 24.77 m.h h*h"h hgfffdd!jd!Zd%36@ZAZAZAZE3h?U9)  i]9)ii4侉$=II9@ @@0@@>@=ԱBBBIBBBBBBs;B.E^A=IIO> ׶X,Ҍd?A:n@:_i@:!zٱ:w] BAHRS rotation from veh to nav: [[0.922872,0.384545,0.020784],[-0.385106,0.921516,0.050021],[0.000083,-0.054166,0.998532]]:H+?a?KH?`ؿ}?J? D?഻@?i:n@I:&];:CYNByNIli%Mb@Mb@Mb@!!!! !9%9QYQ=]FyY]NEe>aQ 5mK5e9?Q 9mK5eK)aYuQ Iu@aIeZ:ieA:DyzD}?AE EE)E"E3;*E:VEFA4ZEBE!z) i~9)&ii>侉%=I!I! E9@A @A@E0@A1^A5 H=U GIi Iy y O > B9 Y o1Aa ^,g~?A22e@2`@2!ٱ2\ :AHRS rotation from veh to nav: [[0.922432,0.385625,0.020316],[-0.386159,0.921079,0.049941],[0.000546,-0.053912,0.998546]]2H?? ͔?Զؿ@{y?ۑ?`2A?b?i22e@I2B^;2CYZByZIbDfVDf1yj;%nR=ٔn/Q-n>9pYp=rFypva@Ev>tQ 5zK5v:?Q 9~K5v<)tY|y~>Q I~@v$DIvf;ivQ;vK5y ɮ ,A 5DNOT Ignoring new targets: 24.77 m.h1h1*h1"h19 h9gAfAfAfAdIdIjdIZdM`l7@ZiZiZiZmu>!) ib9)額H#ii8侉_$=IIU9@Q @Q@U4@QibEķG4jEĔK4rE/E EE(E"E=;*E:VEc44ZEa@a@a@a@^A5{=IAIQOew>ԑ e,BC?AAAAAAABBBIBBBBBBs;B.EBt\@BGW@BDٱB\ NAHRS rotation from veh to nav: [[0.922019,0.386634,0.019871],[-0.387143,0.920669,0.049884],[0.000992,-0.053687,0.998557]]BH@.? ?Y?@ؿ@v?f?`BP?|.?iBt\@IBil^;@YVByV!IbDbVDb:yj/q=%jK=ٔjQ-n>99Y9=EFyAE5(EE>IQ 5UK5Ma;?Q 9UK5M+)IYQy]>Q I]@IIM;iM ;MBK5yaɮe+AaDNOT Ignoring new targets: 24.77 m.hh*h"h hԙgfffddjdZd8@ZZZZŃ>D) ir9)ȵ ,iiB侉it=IIIfA)9@ @@)4@@hA@hAiQIUAD=D<E  EE*E"ED;*Er:VE(N4ZEBEϚ k,?A2S@2jN@2L겺ٱ2[ :AHRS rotation from veh to nav: [[0.921599,0.387649,0.019564],[-0.388140,0.920245,0.049965],[0.001365,-0.053641,0.998559]]2H}?@???Jؿ@r??I]V?v2?i2S@I2!^;2CYRByV$Ii5Mb@Mb@Mb@1111 1959Y=Fy&E>Q 5 K5;?Q 9K5)BY 8iiU<侉QU=IQIQ9@ @@1@ )Y^A5 m=I9 IQ O] >E  E E E "E :;*E g:VE ZE a @a @a @a @y r,[?A4<ɰ2dL@27G@2x̺ٱ2d\ :AHRS rotation from veh to nav: [[0.921258,0.388465,0.019482],[-0.388950,0.919893,0.050152],[0.001560,-0.053780,0.998552]]2H@z??`4?ؿo?z?`ΐY? "?i2dL@I21];2CYFByF4IbDNVDNܲyVE=%V^=ٔZq Q-Z>9XY\=^Fy\^YE^>`Q 5fL5bԩ y,]?A6*H@6B@6׺ٱ6Z\ BAHRS rotation from veh to nav: [[0.921057,0.388941,0.019480],[-0.389425,0.919684,0.050297],[0.001647,-0.053912,0.998544]]6HKy?i?`?Wؿ n?@w?Z?@[@?i6*H@I6];6CYJByJ=Ii%Mb@Mb@Mb@!!!! !9%{Gzt+?~jt?Y%ףy%=%<%A% A %E A)%A!Y% AbD=VD=yM =%MA=ٔMUQ-M>9QDQzDU@AE] E]E])EY"E]L;*E]:VE]FA4ZEYBE]yQ 5L5}1 /,?A2QF@2$A@2*ٱ2\ :AHRS rotation from veh to nav: [[0.920969,0.389156,0.019358],[-0.389633,0.919597,0.050283],[0.001767,-0.053851,0.998547]]2H x?`? ғ?ؿUm?௾?@\?j?i2QF@I2X];0YBByF<IbDNVDNβyV%VV=ٔVQ-V>9XYX=ZFyXZ*E^>`Q 5bL5bC=?Q 9fL5b)bBYdyfۥ?Q If@b(DIb:ib:b9 L5yhɮn+AlDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd 9@ZZZZJۥ? *)  i9)55`i1i=:侉9=M5=IAIA9@ @@/@Eu EuEu*Eq"Eua?;*Eu:VEu(N4ZEqa@a@a@a@9^A5%>=I9IIO]>i B! A% <B) B- CB- IB- BB) B) B) B- s;B- .E$,?A 2zF@2MA@2ٱ22j\ >AHRS rotation from veh to nav: [[0.920976,0.389142,0.019269],[-0.389615,0.919606,0.050250],[0.001835,-0.053786,0.998551]]2Hx?`?!?rؿim?W?^?ۉ ?i2zF@I2wH];2CYByPII4=)=bD VD2yF=%+=ٔ Q- >9Y=Fy$*8E>Q 5%L5=?Q 9-L5~)BY)y-ܥ?Q I-@)DI;i;n L5y1ɮ=*A9eDNOT Ignoring new targets: 24.77 m.haha*ha"ha hagiififqfqdydyjdyZd}`T':@ZZZZܥ?) i9)顽qii4侉T=II9@ @@0@ PExceeded connect timeout, disconnecting.@@@%@%ԡE} E}E}(Ey"E}g5;*E}:VE}c44ZEyBE}}A,e3?A2I@2D@2ٱ2[ :AHRS rotation from veh to nav: [[0.921140,0.388751,0.019304],[-0.389227,0.919779,0.050085],[0.001715,-0.053649,0.998558]]2Hy?M?Rē?ؿ@n?`?<\?w0?i2I@I2;(];2C D)FlAFFfFDHJ1lAiJIJDNFHIN CiL NԼNylF)LPRYC RlARԼV4@FTTV lAIVļ)TiX)ZsCIZlAZj\ \99AiAAiM CI)I IIQYQYeŀByebIiMb@Mb@Mb@ 9Mbx&?9Y=Fy:E>Q 5L5>?Q 9L5)BYϑ=Q E:侉qu1=IqIy=9@9 @A@E@0@AIQIiOu6>! E  E E *E "E M;*E I:VE (N4ZE a @a @a @a @>),5BM?A2N@2I@2 ˺ٱ29[ :AHRS rotation from veh to nav: [[0.921372,0.388200,0.019367],[-0.388679,0.920021,0.049891],[0.001550,-0.053496,0.998567]]2H{?C?ԓ?ؿp?`_?dY?cB?i2N@I2;];2C|YπBynIbDVDy]]=%]d=ٔe9Q-e>9aYa=mFyim:Em>qQ 5}L5uq>?Q 9}L5u!)uBYy?Q I@u,DIu;iu;uL5yɮ)ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd:@ZZZZϣ? ˺) i 9)  " i i8侉~ =II9@ @@4@I)I9OU>BBB:IBBBBBBt;B/EBBCBBBCń]4Qԁ  nManaging dock network, ignoring radio surface power offg,pg?A ɰ"4<>U@>P@>ٱ>HuZ FAHRS rotation from veh to nav: [[0.921708,0.387392,0.019523],[-0.387882,0.920372,0.049622],[0.001255,-0.053309,0.998577]]>H@~? ?`?ؿs?h?6T?@WK`X?i>U@I>"];>CE  EE+E"ED;*E:VE [4ZEBEϚ9Y=Fy :E>Q 5L5>?Q 9L5)BY=Q E;y?Q I@0DIJ;iH;L5yɮ)ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfff Bd d jd Zd  c;@ZU=ZU=ZU?ZU>?a) ziJ9)額F-͋iiB侉O=IIU9@Q @Q@U4@QIIO`>ԉԹ :,?A6[@6V@6^qٱ6&Z BAHRS rotation from veh to nav: [[0.921988,0.386710,0.019814],[-0.387217,0.920656,0.049553],[0.000921,-0.053360,0.998575]]6H?@ݿ?`J?@(ؿ v?`_? 0N?@QS?i6[@I6&];6CY^؀BybzIbDjVDjkyr=<%rr=ٔr:Q-r?9tYt=vFytz ;Ez?xQ 5L5z>?Q 9L5z)zBYy?Q I@z2DIzD;iz@;zL5yɮs)A=DNOT Ignoring new targets: 24.77 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdU`Ų;@ZqZqZqZu$?^q)  i9)額L5ii<侉lŒ=II9@ @@/@EU EUEU)EQ"EUC;*EU:VEUFA4ZEQa]@a]@a]@a]@^A5=IAIYOew>9 A @AA @AB B CB YIB BB B B B !t;B /Ee,xҚ?A2`c@23^@2 ٱ2eZ :AHRS rotation from veh to nav: [[0.922346,0.385842,0.020094],[-0.386364,0.921019,0.049459],[0.000576,-0.053382,0.998574]]2H܃?@?`?0ؿx?R?0B?TQ?i2`c@I2W];2CYBـBy@bDJVDJfyR|;%VN=ٔV#d:Q-V>9XYX=ZFyXZ;EZ>Q 5%L5>?Q 9%L5)BY)y-?Q I-@5DI:id:L5y1ɮ5o)A1DNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd@h<@Z!Z!Z!Z%?5 )Q UiU9)Y]>]1iYie6侉aeFY=IaIiI@I @I@I@IIEe EeEaEa"Ee9;*Ee1:VEaZEaBEehԙ ,2?AZ8m@Z h@Z@nhٱZCNZ jAHRS rotation from veh to nav: [[0.922810,0.384719,0.020319],[-0.385256,0.921495,0.049245],[0.000222,-0.053272,0.998580]]ZH?@>?Δ?ؿ |?6? -?yF ^?iZ8m@IZb];ZCYzۀByz}II=)p; = a= Mi>MCG !Us9YY]zAqiMb@Mb@Mb@ 9)\(Zd;?Mbp?YGay=;A A \ A)rAYAbDVDk1y$<%,=ٔC:Q->9Y=Fy%;E>Q 5-L5>?Q 95L5)BY5 >Q E5;y5?Q I5@9DI2'Z >ZBF?Z?@nh) G!i9)I@ii%@侉!%.[=IAIIԡ9bEjE#E4rET/Em  Em Em 'Ei "Em =-;*Em :VEm '4ZEi a} @a} @a} @a} @ 9@  @ @ 4@ @ =@ = ^AĎ=IIO>sմ,=F?Anb@n5z@n:ٱn~Y ~AHRS rotation from veh to nav: [[0.923662,0.382644,0.020792],[-0.383208,0.922370,0.048834],[-0.000492,-0.053074,0.998590]]nH ?`>}?J?|ؿ@??@,t?inb@InD];nCYByIbDEVDEyUS=%U8=ٔUd:Q-U>9YYY=]FyY]u;Ee>aQ 5uL5e>?Q 9uL5e)aYqyu?Q Iu@e<DIe ;ie ;en&L5yɮ )ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd`=@ZZZZ?:) i9)Sii:侉y;=II BBBlIB̀BB =BBBs;B/EA9@ @@/@i^A H=II Ii O >ԡ D zD AAE  E E %E "E %;*E I:VE 4ZE BE ~mmnAm A mE A)mAiYm=AbDVDyъ%G=ٔ-:Q->9Y=FyN6;E>Q 5L54>?Q 9L5)BY>Q E;y?Q I@@DI ;i ;*L5yɮ")ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffBddjdZd l=@Z%>Z%>Z%g@Z%?5Ln:)9 = i=9)9=]=Ji9iE4侉AE[=IIIIԩ9@ @@/@^A =II)O=> A,U?A2@2@2t:ٱ2CY >AHRS rotation from veh to nav: [[0.924378,0.380880,0.021356],[-0.381476,0.923094,0.048723],[-0.001156,-0.053185,0.998584]]2H ?`U`?`>ޕ?@jؿ?A?R;`f?i2@I2];2CYFByFIbDNVDNN2yVD*<%VZ=ٔZ,:Q-Z>9XYX=ZFyX^!;E^>`Q 5fL5b=?Q 9fL5b)bBYdyj?Q Ij@bDDIbW:ib:bJ-L5ylɮn)App DNOT Ignoring new targets: 24.77 m.h h *h"h hgfffddjd!Zd%`=@ZAZAZAZE?Ut:)Q U i]b9)Y]f]ۇiYie>侉ae =IiIiE5 EE+E"Ek;*E|:VE [4ZEa@a@a@a@9@ @@ 0@@gA@gA9^A<=IIO>BA<BBBxIB׀BBBBBs;B.Ea ,!?A:@:@::ٱ:@oZ BAHRS rotation from veh to nav: [[0.924655,0.380193,0.021584],[-0.380802,0.923370,0.048758],[-0.001393,-0.053303,0.998577]]:HƖ?`U??`_ؿ@???`V@JX?i:@I:];:CYJހByNIbDVVDVβy^"%^I=ٔb:Q-b>9`Y`=bFydf:Ef>hQ 5nL5jz=?Q 9nL5j)jBYpyr?Q Ir@jGDIjm ;ij;j0L5ytɮvI)AtDNOT Ignoring new targets: 24.77 m.hh*h"h hgf!f!f!d!d)jd)Zd-4>@9ZQZQZQZU?e:)i myim9)imkpmiiiu8侉qu+=IyIyiIII9@ @!@%4@!yDD<E EE)E"E2;*E:VEFA4ZEBE#ԑ 5,Ȗ;?A2@2ȓ@2:ٱ2[ :AHRS rotation from veh to nav: [[0.924852,0.379688,0.022038],[-0.380322,0.923558,0.048951],[-0.001767,-0.053654,0.998558]]2Hc?L?/? 4Wؿȍ??\`x0?i2@I2];2CYF׀ByFxIiEMb@Mb@Mb@AAAA A9ES㥫x&?~jtYE/]yE7 >EDEAE A E A)EAAYE AbD]VD]:ym%m@=ٔuwf:Q-u>9qYq=uFyy}_:E}>Q 5L5=?Q 9L5f)BYr>Q E;yv?Q I@KDI:iZ:4L5ԙyɮ)ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffBddjdZd>@Zr>Zr>Z?Zv?:) #i9){ti!i%B侉!-=I)I) 11I1)1@ @@5@E EE*E"E4;*E:VE(N4ZEa@a@a@a@^AP=II O > ,pzU?A Y%΀By-mIbD9VD9y$%%I=ٔQ->9Y=FyE>Q 5L5=?Q 9L5ܹ)BYyQ I@ODIl:i: 8L5y Bɮ)ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZdW ?@ZZZZ))) - (i5P9)15݂5ei1i=<侉9=֘=I9IABYBYBYBYBYBYBYB]s;B].EII)MfA9@  @ @ A4@ @=@=!^AQYIaIqO>D zD ?AE  E E (E "E :;*E :VE c44ZE BE 19Y=FyE>Q 5L5=?Q 9L5z)BY>Q E;y?Q I@SDI;i;;L5y ɮ !*A 5DNOT Ignoring new targets: 24.77 m.h1h9*h9"h9 h9g9f9fAfEBdAdAjdIZdM =t?@QZm>Zm>ZmF?Zm ?) i9)顽􇶉Vii6侉II9@ @@q3@ԉԩ^A I I O >ia Ie A .,(?A:棵@:@:h;ٱ:0[ FAHRS rotation from veh to nav: [[0.925358,0.378422,0.022561],[-0.379086,0.924077,0.048745],[-0.002402,-0.053659,0.998556]]:H? 8?@?Bؿ ?#?c?y,?i:棵@I:"X];:CYLyLbDVVDVNy^|%^_=ٔb :Q-b>9dYd=fFydfm;Ef>hQ 5nL5j=?Q 9rL5jA)jBYpyr?Q Ir@jUDIj;ij ;j>L5ytɮv#*AxDNOT Ignoring new targets: 24.77 m.hh*h"h hg!f!f!f!d)d)jd)Zd- d?@ZIZIZIZM9?eh;)a eie09)immDiiiu@侉qu]=IqIyE EE'E"E /;*E:VE'4ZEa@a@a@a@ 9@  @ @ /@ ^AI!I1OEs>AUAAAUAABYB]CB]lIB]̀BB] =BYBYB]s;B].EBBCBB =BC;j4) nX,?A6 @6@6&;ٱ6Z >AHRS rotation from veh to nav: [[0.925553,0.377945,0.022553],[-0.378609,0.924289,0.048427],[-0.002543,-0.053361,0.998572]]6H"?@@0? =?` ;ؿƓ? z˨?`d $R`M?i6 @I6,];6CYFByFGIHJA LNbDrVDrk1yz+%zG=ٔz;9Q-~>9|Y|=~Fy:E> Q 5L5 =?Q 9L5 ) BYy?Q I@ YDI :i  ; BL5y!ɮ%*A!MDNOT Ignoring new targets: 24.77 m.hQhQ*hQ"hQ hQgQfQfYfYdYdajdaZde`@@ZZZZ<?&;) *i;9)顥/ii:侉q=IIQ@ @@/@D%=DR=E EEE"E4;*E:VEZEBEԩ ,ܼ?A2ާ@2@2t-;ٱ2n\Z :AHRS rotation from veh to nav: [[0.925541,0.377971,0.022622],[-0.378638,0.924283,0.048317],[-0.002647,-0.053285,0.998576]]2H`?0? E*?;ؿ?`?e@8H@U?i2ާ@I2 C];2C@YfByfCIiMb@Mb@Mb@ 9 ףp= &1?:vYQ8y=TXA A )AYfAbDVD:yOu%==ٔ{9Q->9Y=FyE>Q 5L5=?Q 9L5)BY=Q E;y?Q I@\DI ;i ;TFL5yɮ*A-DNOT Ignoring new targets: 24.77 m.h)h1*h1"h1 h1g1f1f9f=߁Bd9dAjdAZdE&U@@Ze=Ze=Ze>?Ze??}t-;)y }i}9)y} }ii4侉ԛ=IIԱ!@! @!@-/@)E EE,E"E9;*E;:VEg4ZEa@a@a@a@^Ai Iq I O > k,?A2)@2@21;ٱ2Z :AHRS rotation from veh to nav: [[0.925416,0.378271,0.022728],[-0.378944,0.924156,0.048352],[-0.002714,-0.053358,0.998572]]2H?5?E?@ؿ ??{;f QL?i2)@I29(];2CYFByF>IbDRVDR0yZ%Z_=ٔZ?9Q-Z>9\Y\=^Fy\bkEb>dQ 5fL5f=?Q 9jL5f)f|BYhyj?Q Ij@f^DIf$:if:fIL5lypɮr+AtDNOT Ignoring new targets: 24.77 m.hh*h"h hgff!f!d)d)jd)Zd-R@@ZIZIZIZM?1;)BBBSIBBBBBB\s;B.E i9)ii%>侉!%f/=I!I! g919@ @@/@i E  E E (E "E 1;*E L:VE c44ZE BE [),x{?AdY By .IIR=)9YYY=]FyYeEe>iQ 5uL5mS=?Q 9uL5mc)myBYu=Q E} ,4 ?A6Ꟶ@6@63;ٱ6)[ >AHRS rotation from veh to nav: [[0.925173,0.378857,0.022866],[-0.379536,0.923903,0.048530],[-0.002740,-0.053577,0.998560]]6H ?/??`2j?QJؿ?`ب?!rf n4?i6Ꟶ@I6z+];6CYJByJ-IbDRVDR\yZ%Zj=ٔZœ8Q-^?9\Y\=bFy`bEb?dQ 5jL5f0=?Q 9jL5f)fwBYhyjY?Q In@fcDIf:ifN:fPL5ypɮr+ApDNOT Ignoring new targets: 24.77 m.hh*h"h hgbE:4jE>4rE?0E% E%E%+E!"E%4;*E%S:VE% [4ZE!a5@a5@a5@a5@f19f9fAdAdAjdAZdE@@ZiZiZiZm|Y?}3;)y }i9)顅JiiB侉=II59@1 @1@54@1@=@=@=@=iIIOj>BA<B>BCB:IBBBBBBr;B.EԱ ,%?A2@2v@2`Q.;ٱ2 [ :AHRS rotation from veh to nav: [[0.925068,0.379116,0.022823],[-0.379793,0.923794,0.048597],[-0.002660,-0.053623,0.998558]]2H@'? qC?^?Nؿ? ?`*e{t`/?i2@I2];2CYfByf$IbDnVDnyvu%vG=ٔv@LQ-z>9xYx=zFyx~Y1E~>Q 5 L5=?Q 9 L5)tBY y P?Q I@fDI:i:KTL5yɮ%+A!MDNOT Ignoring new targets: 24.77 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd]!A@ZZZZ"P?`Q.;) Yԡi9)顭?}ii<侉{=III)U9@Y @Y@]/@aIEM EMEM*EI"EMg5;*EM:VEM(N4ZEIBEM} 2,>?A6K@6@6x&;ٱ6[ BAHRS rotation from veh to nav: [[0.924913,0.379498,0.022752],[-0.380171,0.923635,0.048674],[-0.002543,-0.053669,0.998556]]6H?`I?iL?Tؿ@j? ?dwz*?i6K@I65];6CYJByJI LLiMb@Mb@Mb@ 9X9vQ?~jtxYy\=ĻAA A  A)AY AbD1VD1yE%EE=ٔMQ-M>9IYI=UFyQUEU>YQ 5eL5]!E= E=E=)E9"E=9;*E=:VE=FA4ZE9aE@aE@aM@aM@Qy ,X?A6k@6>@6C ;ٱ6[ BAHRS rotation from veh to nav: [[0.924733,0.379939,0.022693],[-0.380609,0.923453,0.048705],[-0.002451,-0.053676,0.998555]]6Hi?@P?9xYx=zFyx~E~>Q 5 L5ԁԩDI zDM AAEe  Ee Ee 'Ea "Ee F;*Ee :VEe '4ZEa BEe a9Y=FyE>Q 5L5i=>9@ @@/@^A~=II  O% >9 "",|?A20@2@2a ;ٱ2,A[ :AHRS rotation from veh to nav: [[0.924583,0.380308,0.022643],[-0.380973,0.923311,0.048537],[-0.002447,-0.053503,0.998565]]2H.?V?/?aؿË?٨?! dd=?i20@I20];2CYFByFIbDNVDNkyV%V`=ٔVYeQ-V>9XYX=ZFyX^gE^>`Q 5bL5b:ib:bWbL5yhɮnw+AlE EE*E"E /;*E:VE(N4ZEa @a @a @a @DNOT Ignoring new targets: 24.77 m.hh*h"h hg!f!f!f!d)d)jd)Zd-`A@ZIZIZIZM׌?a ;)  i9):ii4侉A=II9@ @@0@9AE@AAABIBIBMIBMBBIBIBIBMr;BMg.E^AM=IYIiO}>i /$),qW?A :m@:@@:^7;ٱ:#[ BAHRS rotation from veh to nav: [[0.924408,0.380730,0.022686],[-0.381398,0.923131,0.048625],[-0.002429,-0.053602,0.998559]]:H?]?@;?hؿJ?l?cq2?i:m@I:];:CYJByNIbDVVDV:y^?<%^I=ٔb.7Q-b>9`Y`=bFydfEf>hQ 5nL5j侉quΖ=IIU9@Y @Y@e0@aqD=D<E= E9E=(E9"E==-;*E9VE=c44ZE9BE=p  0,2?A2@2i@2ƞ;ٱ2[ :AHRS rotation from veh to nav: [[0.924276,0.381051,0.022689],[-0.381718,0.922998,0.048646],[-0.002405,-0.053623,0.998558]]2H?@#c?;? nؿ2??׳c@xt0?i2@I2?];2CTYZByZIi=Mb@Mb@Mb@9999 99=+p= ף?Mb`?Y=y===;=XA= A 9)=A9Y=AbDUVDUye<%e@=ٔe"pQ-m>9iYi=mFyiuUEu>yQ 5L5}<) 66,?A2@2i@2;ٱ2~[ :AHRS rotation from veh to nav: [[0.924229,0.381165,0.022670],[-0.381831,0.922954,0.048587],[-0.002404,-0.053562,0.998562]]2HH?e?@6?`oؿ@׈?s? c}l7?i2@I2];0Y\y^IdfA df<bDjVDjBpBrCBrIBrwBBr =BpBpBrr;Brw.EBCBCBB =BCs`49ye;%eJ=ٔey`Q-e>9iYi=mFyiukEu>Q 5L5;?Q 9L5)kBYy?Q I@sDI;i;2mL5yɮ2+ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffd d jd Zd  B@Z)Z)Z)Z-?E;)A E iE9)AMN絉M&;iIiMB侉QU=IQIY9@ @@4@iԡ^A <=II)O=>D) zD- ?AEE  EE EE 'EA "EE %;*EE :VEE '4ZEA BEE +9Y=Fy"E>Q 5L5O;?Q 9L5>)lBYƢ=Q E& HC, ?A6艵@6@6ַ;ٱ6[ BAHRS rotation from veh to nav: [[0.924151,0.381355,0.022669],[-0.382021,0.922876,0.048588],[-0.002391,-0.053563,0.998562]]6H?@h?6?@sؿ2? ?c@l7?i6艵@I6!];6CYHyJ IbDRVDRkyZ›:%Z_=ٔ^'9Q-^>9\Y`=bFy`bݹEb>dQ 5jL5f:?Q 9jL5f~)dYlyn?Q In@Er ErEr(Ep"Er4;*Er:VErc44ZEpav@az@az@az@fwDIf;if0;ftL5y|ɮ~%+A|-DNOT Ignoring new targets: 24.77 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd=@B@ZYZYZYZ]4?uַ;)q uiu]9)qu};iyi6侉•=III)gA1@1 @1@5/@1@EhA@EhA!BA<BBBBB =BBB@s;B.E^Au=IIO>Yy LrI,'?A2銵@2@2N$;ٱ2[ :AHRS rotation from veh to nav: [[0.924197,0.381238,0.022735],[-0.381907,0.922929,0.048463],[-0.002507,-0.053472,0.998566]]2H ?4f?G?*qؿ? Ш?Չd` A?i2銵@I2-];2CYFByF#IIJ=)J=J=J=bDrVDryz _<%zF=ٔze9Q-~>9|Y|=~Fy9E> Q 5L5 M:?Q 9L5 ) Yy?Q I@ yDI ;i ; wL5yAɮE+AADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd@(C@ZZZZ.?5N$;)9 =_i=#9)9=%=* C5cGMliAqԩ^A̓=.9liAYoAIIO> ZP,yA?A2@2s@25;ٱ2Z :AHRS rotation from veh to nav: [[0.924277,0.381032,0.022961],[-0.381713,0.923016,0.048337],[-0.002776,-0.053441,0.998567]]2H`?b?? mؿX??f@\C?i2@I23];0YBByF)IiEMb@Mb@Mb@AAAA A9EMb333333?Mbp?YE@yE=E;EXAE A A)EAAYEAbD]VD]k2ym<%mC=ٔu':Q-u>9qYq=}Fyy}:E>Q 5L59?Q 9L5)Yt=Q E 9 V,.V[?A2@2a@2)7;ٱ2>Z :AHRS rotation from veh to nav: [[0.924366,0.380818,0.022897],[-0.381496,0.923115,0.048164],[-0.002795,-0.053256,0.998577]]2Hh?@S_?Sr?ljؿ(?@?@3fmDW?i2@I2'];2CBDBDBFIBF|BBDBDBDBFhs;BF.EYRByR,IbDZVDZ:yb8<%fV=ٔfQ8Q-f>9dYh=jFyhj!:Ej>lQ 5rL5nM9?Q 9rL5nͦ)lYtyv?Q Iv@n~DIn6:in:n~L5yxɮz*A|%DNOT Ignoring new targets: 24.77 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5 C@ZQZQZQZUc?)7;) i9)#8i)9@ @@0@9^Am(=IIIO]>q E  E 1E )E "E 3;*E f;VE FA4ZE BE 9qYq=uFyqu:E}>yQ 5L5}8?Q 9L5})yY=Q E @Z5?E;) G!i9)-eS侉=II!q9@ @@$0@ԙ^A=II O > Bc,t ?A2@2T@2H];ٱ2@Z :AHRS rotation from veh to nav: [[0.924827,0.379669,0.023361],[-0.380372,0.923590,0.047935],[-0.003377,-0.053217,0.998577]]2H/?`L? ?Xؿ ??`kQ?@X?i2@I2=4];2CYFByF4IPEb EbEb*E`"Eb[I;*EbL:VEb(N4ZE`af@aj@aj@aj@bDNVDN1y <% P=ٔq:Q->9Y=Fym:E%>!Q 5-L5%7?Q 9-L5%)!Y1y5?Q I5@%DI%B:i%:%L5yYɮe*AaDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZdC@ZIZIZIZMW?H];) -i5u9)1575o1 \i,}?A2익@2@2<"t;ٱ2Z :AHRS rotation from veh to nav: [[0.925078,0.379038,0.023696],[-0.379760,0.923843,0.047928],[-0.003725,-0.053336,0.998570]]2H`9Y=Fy :E>1Q 5mL556?Q 9uL55Q)5kBYyy?Q I@5DI5p,1%?A2R@2%@2υ;ٱ2Z :AHRS rotation from veh to nav: [[0.925419,0.378186,0.023980],[-0.378924,0.924192,0.047804],[-0.004084,-0.053326,0.998569]]2H?34? K?@I@ؿ?y?pMF?i2R@I2i];2C @)B$lABļ@@DF5lAiFļIDDIHiH J̼H)HL LN̼LLPRlAIRj)PiP)TITTT Tx lAiiA) IYYByBIiMb@Mb@Mb@ 9sh|?+η?Mb?Yyv=<A  A)AYAbD5VD5yEX=%EZ=ٔކ:Q-?9Y=Fy+;E?Q 5L55?Q 9L5B)lBY=Q E;y_?Q I@DI7 ;i ;kL5yɮH*ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffBddjdZdfD@Z=Z=Z)@Z$_?-υ;)) -i-9)15K5q B B B !IB BB =B B B ^s;B .E w,?A2@2w@2;ٱ2eZ :AHRS rotation from veh to nav: [[0.925756,0.377340,0.024315],[-0.378096,0.924540,0.047637],[-0.004505,-0.053294,0.998569]]2Hʟ?W&?@?@2ؿԕ?c?\srOI`F?i2@I2D];2CYYeBye:IbDuVDu2y\%X=ٔ_:Q->9Y=Fy;E>Q 5L5A4?Q 9L5)mBYy|?Q I@DIN:i|:L5yɮv*ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd D@Z1Z1Z1Z5)|?M;)I M!iM9)IMUUNEm  Em Em *Ei "Em 4;*Em :VEm (N4ZEi BEm 9Y=Fy;E>Q 5L5H2?Q 9 L5)Y 7>Q E ;y ?Q I @DI:i:IL5y9ɮ=A*A9eDNOT Ignoring new targets: 24.77 m.haha*hi"hi higififqfu BdqdyjdyZd}D@Z7>Z7>Z@Z?;) 0i#9)页 a<9 E]  E] E] +EY "E] /;*E] :VE] [4ZEY ae @ae @ae @ae @=,?A.;ɰ.p;J[@J.@J|;ٱJ X RAHRS rotation from veh to nav: [[0.926613,0.375200,0.024752],[-0.375979,0.925435,0.047006],[-0.005270,-0.052863,0.998588]]JHѦ?F?X?ؿ`*? +?un?iJ[@IJO];JCYZByZBIbDfVDf:2yvO%vZ=ٔz:Q-z>9|Y=Fy_\;E>Q 5-L5|0?Q 9-L5Z)nBY1y5?Q I5@DI9O;ixP;L5yAɮME*AIDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd`D@1ZyZyZyZ}g?|;) 0i9)页Vl%ԡ \,Sv+?A2ǵ@2¼@2,;ٱ2W :AHRS rotation from veh to nav: [[0.927004,0.374224,0.024896],[-0.375010,0.925840,0.046780],[-0.005544,-0.052701,0.998595]]2H?I?@R~?*ؿ`z??ݴv`@}?i2ǵ@I2=];2CYJByJEIbDzVDzy .<% I=ٔ 1:Q->9Y=%Fy!%E);E->1Q 5=L55.?Q 9EL55)5oBYAyE?Q IM@5DI5H;i5I;5L5yUBɮU*AYDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd0E@ZZZZ?,;) /ib9)w D,3QE?A2ϵ@2ʼ@2;ٱ2*/X :AHRS rotation from veh to nav: [[0.927363,0.373310,0.025242],[-0.374115,0.926206,0.046703],[-0.005945,-0.052754,0.998590]]2H`?P?@"ٙ?׿y?j?@Yxr?i2ϵ@I2s];2CYBByDiUMb@Mb@Mb@QQQQ Q9Ush|?:v?Mb`YUyU=UUAU A U A)U+AQYU\AbDiVDiy}1;%}D=ٔ}{:Q->9Y=Fy;E>Q 5L58-?Q 9L5)mBYD>Q E;ya?Q I@DI ;i ;L5yɮ*ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffBddjdZd`dE@Z D>Z D>Z @Z 6a?-;)) -(i5S9)15뀶5侉9=_=IAIAU9]p>i]>9@ @@0@@@E% E%E%+E!"E%=;*E% :VE% [4ZE!a-@a-@a-@a-@1^A=IIO >I B B B 4IB BB B B B ys;B .En,,_?A6_ֵ@62Ѽ@6^;ٱ6WX >AHRS rotation from veh to nav: [[0.927661,0.372558,0.025387],[-0.373372,0.926506,0.046691],[-0.006126,-0.052793,0.998587]]6H g???S׿??y@l?i6_ֵ@I6t];4YFByF<IbDRVDRyZ_%ZX=ٔZ9Q-Z>9\Y\=^Fy\b ;Eb>dQ 5jL5f,?Q 9jL5fJ)flBYhyj{?Q Ij@fDIf:if:fL5ypɮrS*Ap DNOT Ignoring new targets: 24.77 m.h h *h "h hgfffddjd!Zd%E@ZAZAZAZE{?U^;)Q U,i]y9)Y]2YiYie8侉aef]=IaIiQM9@I @I@M5@Iԁ^AuL=IyIO>E5  E5 E5 *E1 "E5 2;*E5 :VE5 (N4ZE1 BE5 #9Y=Fy:E>Q 5L5B*?Q 9L5И)jBY >Q E;yF?Q I@DI:i:ݥL5yɮ*A DNOT Ignoring new targets: 24.77 m.h h *h "h  h g fffBddjdZdE@Z >Z >Z@ZF?-*;)1 5.i5{9)151i1i=B侉9EO)=IAIAԱ%9@! @!@%4@!^AA IQ Ia Ou > bE(N4jE#E4rEͰ/E=  E= E9 E9 "E= /;*E= :VE9 ZE9 aM @aM @aM @aM @,?AJ@Jڼ@J@;ٱJPZ ZAHRS rotation from veh to nav: [[0.928102,0.371441,0.025649],[-0.372272,0.926927,0.047112],[-0.006275,-0.053273,0.998560]]JH??@C?N׿ c??yF4?iJ@IJG];JCYfByf.IptvAbDuVDuyw%L=ٔ9Q->9Y=Fy:E>Q 5L5(?Q 9L5v)iBYy\?Q I@DI:iN:[L5yɮ*ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZdE@ZZZZ\?-@;)) -/i-9))5l1i1i=<侉9=_==I9IA9@ @@/@ B)B)B--IB-BB)B)B)B-s;B-.E9^AIIO>a /,ì?Aɰ49Y=Fy;E>!Q 5-L5%'?Q 9-L5%%)%gBY)y5{?Q I5@%DI%:i%:%L59yAɮE*AADNOT Ignoring new targets: 24.77 m.hh*h"h hgf)f1f1d1d9jd9Zd=@4F@ZaZaZaZex{?}* ;)y }-0i}9)y}yii6侉}=IIDDE% E%E%+E!"E%U,;*E%:VE% [4ZE!BE%Թ ,И?A:2@:@:5;ٱ:Z BAHRS rotation from veh to nav: [[0.928606,0.370174,0.025737],[-0.371012,0.927437,0.047028],[-0.006461,-0.053219,0.998562]]:H@#?`?`Z?׿`? ?vz? 8?i:2@I:];8YJByJIiMb@Mb@Mb@ 9A`"K?y&1YYy^=`eA \ A)AYAbD5VD5 yEq%EG=ٔE~9Q-E>9IYI=MFyIUӄ:EU>QQ 5eL5U&?Q 9eL5U)UdBYe=Q Ee;ye?Q Im@UDIUv:iU:UVL5yqɮu+AqԙDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffЁBddjdZdWfF@Z=Z=ZH@Zw?5;) G!i9)?ii@侉n=II! !!I!)!a@a @a@a@aEu EuEu)Eq"EuB;*Eu:VEuFA4ZEqa}@a}@a}@a}@^Am @=Iq I O >B) B) B- 'IB- BB) B) B) B- ur;B- A.EA ,s?AY~By~I  =  bDVDy%m%%L=ٔ-Q-->9)Y)=-Fy)5E5>9Q 5EL5=&?Q 9EL5=)=`BYAyAQ IM@=DI=:i=:=ճL5yQɮU'+AQ}DNOT Ignoring new targets: 24.77 m.hyh*h"h hgfffddjdZdjF@ZZZZ)  "i9)!ii:侉K=IIU9@Q @Q@U0@QA^Auܪ=IIO>qEE  EE EE *EA "EE &;*EE :VEE (N4ZEA BEE 9Y=FyE>Q 5L5:%?Q 9L5)]BYH=Q E ,3?AJN@J!@J K;EN ENEN+EL"EN=;*EN:VEN [4ZELaR@aR@aR@aR@ٱJX ZAHRS rotation from veh to nav: [[0.928837,0.369601,0.025645],[-0.370432,0.927682,0.046755],[-0.006509,-0.052928,0.998577]]JH?@?B?*׿?Q?TzUX?iJN@IJ4];JCYfByfIbDn VDn2yv a%vX=ٔv9Q-v>9xYx=zFyx~O:E~>Q 5 L5$?Q 9 L5#)ZBY y =?Q I @DI:i:պL5yɮ;+AEDNOT Ignoring new targets: 24.77 m.hAhI*hI"hI hIgIfIfQfQddjdZd G@ZZZZ=?- K;)) -i.i\9)页6ii>侉i}=IIe9@a @a@e0@aBBBIBBBBBB"r;B.E^AiIyIO>! 7,.?ANK@N@Nq;ٱNu@Z ZAHRS rotation from veh to nav: [[0.928610,0.370161,0.025786],[-0.371001,0.927440,0.047050],[-0.006499,-0.053258,0.998560]]NH,?൰?g?y׿`??࡞zD3?iNK@INv*];NCYb}Byb I ddbDjVDj1yvq~%vK=ٔv6ԷQ-v>9xYx=zFyxzƺE~>Q 5L5#?Q 9 L5;)WBY y *?Q I @DI:i[:\L5yɮ+AEDNOT Ignoring new targets: 24.77 m.hAhA*hA"hI hIgIfIfIfQdQdQjdQZd]3G@ZyZyZyZ}*?q;) 4iF9)顕ȱii8侉)=IIe>i>Qm9@q @q@u4@qE EE*E"E1A;*E:VE(N4ZEBEԡ ,DG?Aɰ2J@2@2JT;ٱ2{Z :AHRS rotation from veh to nav: [[0.928518,0.370379,0.025947],[-0.371228,0.927345,0.047141],[-0.006602,-0.053403,0.998551]]2H@l? H?ؑ?@1׿`ά?"?`| {`W!?i2J@I2(];2C@YF{ByFIiMMb@Mb@Mb@IIII I9MZd;OA`"?:vYMjyMY=MTMnAI MrA)IIYM\AbDm VDm2yuN%}B=ٔ}Y9Q-}>9Y=FyE>Q 5L5#?Q 9L5)SBYr=Q E`!i!i-B侉)-==I1I1ԩ@ @@3@E EE.E"E9;*E:VEـ4ZEa@a@a@a@^AII1OE> B B B IB wBB B B B -r;B .EBBBBBC 4 ,{a?A2 @2߼@2r;ٱ2^[ :AHRS rotation from veh to nav: [[0.928326,0.370855,0.026022],[-0.371708,0.927147,0.047244],[-0.006605,-0.053530,0.998544]]2Hش??{?׿/?[0?M{Th`?i2 @I2 J];0YBByBIbDJVDJk1yRN=%VY=ٔV!7Q-V>9XYX=ZFyXZEZ>\Q 5bL5^#?Q 9fL5^)^PBYdyf?Q If@^DI^):i^:^XL5yhɮj+AllDNOT Ignoring new targets: 24.77 m.h h *h "h  h g f ffddjdZd G@ZZZZh?r;) %in9)rii<侉=II!  99Q@Q @Q@]4@YE  E E *E "E C;*E #:VE (N4ZE BE 3K,{?A2@2ܼ@2;ٱ2-[ :AHRS rotation from veh to nav: [[0.928184,0.371205,0.026095],[-0.372061,0.927009,0.047162],[-0.006683,-0.053484,0.998546]]2H`? ??׿?%?@_{ 9Q-E>9AYA=EFyAMfhE>Q 5L5Y#?Q 9L5)OBY<=Q E@Zv?;)! %G!i%59))-)i)i56侉15d=I1I19%9@) @)@5/@1i^A ܪ=I) II O] >ԑ EM  EM EM (EI "EM 3;*EM :VEM c44ZEI aU @aU @aU @aU @n3,lЕ?A((FO޵@F!ټ@F;ٱFZ NAHRS rotation from veh to nav: [[0.928018,0.371604,0.026341],[-0.372471,0.926854,0.046985],[-0.006955,-0.053414,0.998548]]FHR?[?(?@׿Ȩ?@c?`p||@Y?iFO޵@IF];FCYZzByZIbDbVDbNy~<%~N=ٔ~3:Q->9Y=Fy E >Q 5L5#?Q 9L5)NBYyi?Q I%@DIW:i :L5y)ɮ-*A)UDNOT Ignoring new targets: 24.77 m.hQhY*hY"hY hYgYfYfafadadajdiiZdu|H@ZZZZi?;) giZ9)页ƶii@侉[=II9@ @@/@AEAAAE@ABIBIBMIBMmBBIBIBIBMLr;BM,.Eԡ^AIIO> Y,?A2Qڵ@2#ռ@2;ٱ2jZ >AHRS rotation from veh to nav: [[0.927834,0.372047,0.026547],[-0.372923,0.926683,0.046772],[-0.007199,-0.053297,0.998553]]2HѰ? ?@+/?@׿`b??|}I$?i2Qڵ@I2Ѩ];2CYFrByFIbDfVDfβyn|%nM=ٔr :Q-r>9pYt=vFytvEv>xQ 5~L5z"?Q 9~L5z)zLBYyY?Q I@zDIzN:iz[:z L5y ɮ <+A =DNOT Ignoring new targets: 24.77 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZdM6H@ZiZiZiZmY?;) b"ir9)額˶ii:侉Υ=III)fAE   E E E "E G;*E :VE ZE BE )@ > 11EG liA1mB9uliAYu1A^A7=IIiIAO>)Q >,i?AY~yBy~I   Aa}@a a@a a@a a@a bDVD1y=%?=ٔQ->9Y=FyE>Q 5L5"?Q 9L5)KBQ A+:YQ EiL5yɮ+ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjd Zd MmH@19)9 =i=9)AEжAiAiM4侉IM#=IIIQ 9@  @ @ 00@ abEjErO4rEŝ/E EE*E"E=;*E:VE(N4ZEa@a@a@a@^A=IIO>ԉBI BI BM IBM gBBI BI BI BM [r;BM 4.EԹ k,R?A4<ɰ;2Lӵ@2μ@2[<ٱ2Y >AHRS rotation from veh to nav: [[0.927509,0.372807,0.027224],[-0.373716,0.926384,0.046350],[-0.007940,-0.053164,0.998554]]2H'???׿?9\Y\=^Fy\bEb>`Q 5fL5bK"?Q 9jL5b)bIBQ Aj :YhQ Ej=侉YeG=IaIa iiIi)iԑu9@q @y@}4@y@@@@ԹII)O=r>E  EE+E"ED;*E:VE [4ZEBEϚ9QYQ=UFyQUeE]>aQ 5eL5e!?Q 9mL5e)eJBQ AmT:Ym_M=Q Emi>M9@I @I@M4@IIYIiO}>Q E  E E )E "E US;*E u:VE FA4ZE a @a @a @a @z,j?A2ε@2aɼ@2<ٱ2FZ >AHRS rotation from veh to nav: [[0.927284,0.373285,0.028335],[-0.374249,0.926187,0.046003],[-0.009072,-0.053262,0.998539]]2HO???@׿@R??`$(E?i2ε@I2=];0YFByFIIJC=)J4<bDRVDR1yZշ<%ZT=ٔZ:Q-^>9\Y)=-Fy159E5>9Q 5EL5=!?Q 9EL5=)=KBYIyM?Q IM@=DI=y:i=N:=dL5yQɮU]*AQDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd I@ZZZZ?<) &i9)0ඉiiB侉 =IIQe9@a @a@e/@aIyIO=BBBIBmBBBBB+r;B.EiߩIߩyԩ n ,0?A6bϵ@64ʼ@6><ٱ6LY@ BAHRS rotation from veh to nav: [[0.927317,0.373167,0.028812],[-0.374153,0.926244,0.045632],[-0.009658,-0.053095,0.998543]]6H??ր?@ ׿ɣ?@]?ǃ P/?i6bϵ@I6];4YJByJ'IbDVVDVy^=%^J=ٔb:Q-b>9`Y`=fFydf9Ef>hQ 5rL5j:!?Q 9rL5j)jLBYtyv?Q Iv@jDIji;ij|;jL5yɮ'*A DNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd;I@Z)Z)Z)Z-?]><)a eQ#ieT9)aey嶉aiaim<侉imǣ=DD<E EEE"EU,;*E>:VEZEBE ,J?A2ϵ@2ɼ@2?')<ٱ2Y :AHRS rotation from veh to nav: [[0.927298,0.373162,0.029454],[-0.374180,0.926242,0.045442],[-0.010324,-0.053159,0.998533]]2Hm??)? ׿@ƣ?!D?@$7?i2ϵ@I2];2CYFByF/IliMb@Mb@Mb@ 9~jt)\(?~jt?YDyGa=D<nA A )AYAbD5VD5:yE<%EB=ٔE>:Q-E>9IYI=MFyIU!EU>YQ 5eL5]c ?Q 9eL5]P)]NBYe=Q Ee3B B B IB wBB =B B B 1r;B .Ea ö,~d?A6ѵ@6̼@6|5<ٱ6Y >AHRS rotation from veh to nav: [[0.927412,0.372826,0.030132],[-0.373877,0.926381,0.045098],[-0.011100,-0.053090,0.998528]]6H\? `?`ڞ?׿??@.?i6ѵ@I6];6CYJByJ<I LL PPbDVVDV:yZ\=%^T=ٔ^;Q-^>9`Y`=bFy`f\:Ef>hQ 5jL5j?Q 9nL5j)jPBYlyn?Q In@jDIj;ij;jL5ytɮv)AtDNOT Ignoring new targets: 24.77 m.hh*h"h hgf!f!f!d!d)jd)Zd-I@9ZQZQZQZU?e|5<)i m6&im 9)imﶉiiiiu@侉q}I=IyIy@ @@/@i^A5͢=IQIaO}z>ԙDzDE EE*E"EB;*EV:VE(N4ZEBEvyյ@>Kм@>YC<ٱ>Y FAHRS rotation from veh to nav: [[0.927572,0.372367,0.030881],[-0.373455,0.926567,0.044785],[-0.011937,-0.053074,0.998519]]>H? ?e?׿`o?? r@~,?i>yյ@I>];>CYRByRFIieMb@Mb@Mb@aaaa a9eX9v㥛 ?~jt?Ye}ye=aeAe/ A eA)e+AaYeQAbDVDԑy=%<=ٔ:Q->9Y=FyX:E>Q 5L5?Q 9L5)RBY=Q E  E % E E E "E O];*E #:VE ZE a @a @a @a @%,B?A2(ܵ@2ּ@2 Q<ٱ2X >AHRS rotation from veh to nav: [[0.927867,0.371575,0.031552],[-0.372694,0.926894,0.044355],[-0.012764,-0.052915,0.998517]]2H@?@?@'?@7׿? ?#?i2(ܵ@I26];2CYFByFQIbDRVDRkyV==%Z[=ٔZA;Q-Z>9XY\=^Fy\^J;Eb>`Q 5fL5b?Q 9jL5b)bTBYhyj?Q Ij@bDIbd:ib:bL5ylɮr)Ap DNOT Ignoring new targets: 24.77 m.h h *h "h  h gfffddjdZd: J@ZZZZY? Q<) 3iZ9)ii%4侉!% =I!I!A@AABBBIBBBBBBr;BM.EBYBYBYBYB] =C]i59@ @@0@@p=@=!^Ax,=IIO>Qy +,?AJ=@J޼@J_<ٱJaX ZAHRS rotation from veh to nav: [[0.928177,0.370733,0.032310],[-0.371887,0.927238,0.043938],[-0.013670,-0.052798,0.998512]]JH???׿??@W?iJ=@IJ];JCYfByfLIIr%=)rbDzVDzβy g%D=ٔv;Q->9!Y!=%Fy!-;E->1Q 5EL55?Q 9EL55)5VBYAyE?Q IE@5DI5:i5:5L5yQɮU4)AQDNOT Ignoring new targets: 24.77 m.hh*h"h hgff f d d jd Zd>J@QE} EyE}'Ey"E}B;*EyVE}'4ZEyBEya2EyaJE}6侉y=II@ @@3@ԉ^Ah=ԱIIO> 2,?A@:q@:C@: n<ٱ:@X FAHRS rotation from veh to nav: [[0.928537,0.369763,0.033070],[-0.370953,0.927630,0.043551],[-0.014573,-0.052706,0.998504]]:H?2??׿%? `L? \؍X?i:q@I:];:CYNÀByR`Ii%Mb@Mb@Mb@!!!! !9%Q뱿~jt?~jtx?Y%\y%=%;%A% A %\ A)%A!Y%AbD=VD=0yM̜=%MF=ٔU;Q-U>9QYQ=]FyY];E]>aQ 5mL5e?Q 9mL5el)aYu=Q Eu;yu?Q Iu@eDIe<:ie:e%L5yɮ(ADNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd CqJ@Z=Z=Zg @Z?u n<)q u.i}\9)y}kyiyi8侉x=IIԹ)@) @)@-4@)E EE)E"E9;*EL:VEFA4ZEa@a@a@a@^A=IIO> B B B -IB BB B B B r;B .E9 9,V?A2 @2@2{<ٱ2/W :AHRS rotation from veh to nav: [[0.928871,0.368865,0.033738],[-0.370086,0.927991,0.043238],[-0.015360,-0.052649,0.998495]]2HO?`z? F? |׿? P#?t?i2 @I2<^;2CYDyDbDNVDN:2ٔV;Q-V>9XYX=ZFyXZ;E^> Q 5L5 ?Q 9L5 ;) WBYy ?Q I@ DI +;i ; L5y!ɮ))UDNOT Ignoring new targets: 24.77 m.hQhQ*hQ"hQ hYgYfYfYfadadajdaZdeJ@ZZZZ+ ?{<) i9)顥!iiB侉3 =IIV>i59@1 @1@5/@1@=hA@=gAA^AU=IaIqO}{>E E E,E"EsH;*E:VEg4ZEBE9Y=Fy};E>Q 5L5?Q 9L5)VBY! >Q E;yQ?Q I@DIP ;i ;\L5yɮ(A-DNOT Ignoring new targets: 24.77 m.h1h1*h1"h1 h1g1f1f9f=&Bd9d9jdAZdEJ@Ze! >Ze! >Ze@ZeQ?}U<)y }33i}9)y} yii<侉4ͬ=IIiE9@A @A@A@Aԑ^A)I1IIOU> bEFA4jEC4rE/E  E E )E "E N;*E u:VE FA4ZE a @a @a @a @&F,)?Aɰ4<@BP@B"@B4<ٱBmW JAHRS rotation from veh to nav: [[0.929624,0.366831,0.035132],[-0.368118,0.928801,0.042630],[-0.016992,-0.052563,0.998473]]BHz?*z??>׿?ӥ?\f骿}?iBP@IB^;@YTyTbDbVDbk1ٔj?;Q-j>9hYh=jFylnm@;En>pQ 5vL5r?Q 9vL5r{)rUBYxyzv?Q Iz@rDIr6:ir :rL5y|ɮ||-DNOT Ignoring new targets: 24.77 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd= K@ZYZYZYZ].v?u4<)q qiu9)q ii6侉=IIB<Ap<B!B!B%:IB%BB!B!B!B%Bs;B%.E9@ @@/@Ա^Ad=I!IO > tAL,og3?AN.@N @N%<ٱNhV ZAHRS rotation from veh to nav: [[0.930056,0.365685,0.035649],[-0.366994,0.929261,0.042314],[-0.017654,-0.052437,0.998468]]NH?`g?@? |׿?*? ٪s?iN.@IN}^;L|E] E]E]'EY"E]B;*E]:VE]'4ZEYBE]v9Y=Fy{';E >Q 5M55?Q 9M5߀)TBYy?Q I@DI:i-:M5y!ɮ-(A))DNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd@LK@ZZZZ?U%<)Y 2i9)顭ii@侉=IIQy 9@  @ @ /@ @ =@ >ԁ ^A \=I I O >}S,@N?A:W@:)@:~<ٱ:[W FAHRS rotation from veh to nav: [[0.930365,0.364837,0.036253],[-0.366176,0.929588,0.042208],[-0.018301,-0.052544,0.998451]]:H? |Y?`?@oo׿.?@X? k窿@O?i:W@I:^;8 H)J(lANjLLLLiN̼IPPIRCiP RļP)TT VlATTXX\^ lAI\)\i\)`IblA`` ``blAdiddidj A)h hIhYhYnBynYIIr<)r:Q->9Y=Fy;E>Q 5M5h?Q 9M5)QBY>Q E;y?Q I@DI:i:M5yɮ(Ai)I-A5DNOT Ignoring new targets: 24.77 m.h1h9*h9"h9 h9g9f9ffBddjdZd@~K@Z>Z>Z1@Z ?~<) 0iU9)ii :侉  =IIE  E E+E"ED;*E:VE [4ZEa@a@a@a@9@ @@/@ BBB@IBBBBBB9s;B.E^A 6=I! I9 9 OM >"Y,ch?A@2@2@2<ٱ2KW :AHRS rotation from veh to nav: [[0.930688,0.363972,0.036665],[-0.365332,0.929924,0.042117],[-0.018767,-0.052592,0.998440]]2H2?@QK?Ţ?@a׿?N?`7c7?i2@I23^;0Y%By%QIbD5VD51yEK%EP=ٔM:Q-M>9IYI=UFyQU;EU>YQ 5eM5]?Q 9eM5]D~)]NBYiym?Q Im@]DI]:i]:]} M5yqɮu)AqDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd۩K@ZZZZd?<) 3i9)Oii4侉p=II9@ @@0@Qq^A"=IE EEE"E,K;*E:VEZEBELԩ 5`,L?A>#@>@><ٱ>0W FAHRS rotation from veh to nav: [[0.931000,0.363140,0.036994],[-0.364516,0.930250,0.041996],[-0.019163,-0.052583,0.998433]]>H?=??`9T׿@??`3쪿)?i>#@I>^;9Y=Fy;E> Q 5M5 ?Q 9M5  }) JBY=Q E;yc?Q I@ DI :i : 9M5y!ɮ-F)A)}DNOT Ignoring new targets: 24.77 m.hyhy*hy"hy hygyfffBddjdZd@K@Z=Z=Z)@Zc?<) 5ij9)`ii>侉=IIIgA)ԡ}9@y @y@}0@y@@hA^A =I I O >E  E E )E "E 2;*E VE FA4ZE a @a @a @a @ f,/?A6)@6#@6͟<ٱ6|&X BAHRS rotation from veh to nav: [[0.931223,0.362531,0.037342],[-0.363927,0.930478,0.042038],[-0.019506,-0.052737,0.998418]]6H? 3?{?@J׿z??PI ?i6)@I6 ^;4YJByJLI LLbDVVDVkyZC<%^b=ٔ^x:Q-^>9`Y`=bFy`f:Ef>hQ 5jM5jM?Q 9nM5j|)jFBYlynz?Q In@jDIj;ij ;jcM5ytɮv4)At B*** querying acoustic contact ***i  i DNOT Ignoring new targets: 24.77 m.hh*h"h hgf!f!f!d!d)jd)Zd- L@ZIZIZIZMez?e͟<)a e4ie89)aeiiiim8侉quص=IqIqBYBYBYBYBYBYBYB] s;B].Eu9@y @y@}W4@y2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^AIIO>9m *DAT read: user:354> u BDAT read: Tx time:05:15:17.8750 u $Ping request sent.} 9yYy=}FyyE>Q 5M5?Q 9M5z)BBYyD4=D%=E  EE*E"EG;*Eg:VE(N4ZEBE) s,?A2+@2&@2F<ٱ2ŃY :AHRS rotation from veh to nav: [[0.931346,0.362188,0.037616],[-0.363604,0.930593,0.042296],[-0.019686,-0.053069,0.998397]]2H`? .?WB?`IE׿j?ç?( +?i2+@I2֌];2CYBByF*IimMb@Mb@Mb@iiii i9mv/ʡE?y&1Yiym-=m`emAm A m A)mAiYmAbDVD0y(Ƚ%G=ٔH9Q->9Y=Fyd[:E>Q 5M5?Q 9M5y)>BY=Q E;y?Q I@DI;^;i.;M5-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502971y)ɮ-*A1ԱDNOT Ignoring new targets: 24.77 m.hh*h "h  h g f ffBddjdZd~L@ZM=ZM=ZM @ZM?]F<)Y e.ie$9)aeaiaim<侉iu`=IqIqE EE(E"EO;*E:VEc44ZEa@a@a@a@%9@! @!@%/@!@->@->B9B9B=4IB=BB9B9B9B=r;B=q.EBBBB =BC+4 ^Am =Iq I O  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7535299 ry,?A2|+@2N&@2<ٱ2Y :AHRS rotation from veh to nav: [[0.931331,0.362244,0.037449],[-0.363652,0.930570,0.042387],[-0.019494,-0.053095,0.998399]]2Hv?`.?v,?F׿:?@?`D6/?i2|+@I2w];2CYBByF$IIJ<)HbDNVDN1yV%V\=ٔZlQ-Z>9XYX=ZFyX^ E^>`Q 5fM5b'?Q 9fM5bx)b;BYdyj?Q Ij@bDIbd:ib:bM5ylɮn:*AlDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZd@ìL@=PExceeded connect timeout, disconnecting.ZIZIZIZM?<) 0i%9)页"ii6侉d,=II-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.00563199DzDAAE EE'E"EN;*Eu:VE'4ZEBEnj,?Af_,@f1'@f<ٱfY nAHRS rotation from veh to nav: [[0.931375,0.362160,0.037160],[-0.363553,0.930610,0.042357],[-0.019241,-0.052960,0.998411]]fH?-??`sD׿?߯?䳓@ ?if_,@IfD];dYzByz%Ii}Mb@Mb@Mb@yyyy y9}MbV-? rhY}y}h=}C}Ay y)}AAyYybDVD0y;%-=ٔB Q->9Y=Fyo9E>Q 5M5?Q 9M5w)6BY@=Q E&T;*E :VE c44ZE a @a @a @a @^A =I I O > ,?ABb<Ab<BdBdBf!IBfBBdBdBdBfr;Bfa.EYByIbD-VD-:y=U%=R=ٔEQ-E>9AYI=MFyIMEM>QQ 5]M5U?Q 9]M5Uv)U2BYayaQ Ie@UDIU;iU ;U#M5yiɮm*AiDNOT Ignoring new targets: 24.77 m.hh*h"h hgfffddjdZdRM@ZZZZ) F3iI9)((ii:侉W=II}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761489Ա9@ @@0@@gA@fA-nManaging dock network, ignoring radio surface power off^A=II)O=> - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013457  I ,9?AcGE6 E6E6*E4"E6B;*E6:VE6(N4ZE4BE6v9Y=Fy1ҺE>Q 5 M5?Q 9M5v).BYy?Q I@DIv&;i';<'M5y!ɮ%*A!UDNOT Ignoring new targets: 24.77 m.hQhQ*hQ"hQ hQgQfYfYfYdYdajdaZde@)OM@ZZZZ? U<) 3i9)%#+!i!im4侉im=IiIq9@! @!@-0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2673999a ^A I I O >š,zmS?A&;ɰ$R#@R@Rkʔ<ٱRWY ZAHRS rotation from veh to nav: [[0.930980,0.363268,0.036243],[-0.364619,0.930172,0.042807],[-0.018162,-0.053067,0.998426]]RH???r?U׿?@?` +?iR#@IRQ)];RCYfByf Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517632iMb@Mb@Mb@ 99Y=FyvE>Q 5M5$?Q 9M5qu)+BY=Q EK侉g=II}9@y @y@}0@ԑBBBIBBB =BBBr;BV.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771115^A I I O >˚,Hm?ALbA"@b@b;<ٱb\X rAHRS rotation from veh to nav: [[0.930951,0.363386,0.035785],[-0.364713,0.930135,0.042812],[-0.017728,-0.052907,0.998442]]bH Z?A?kR?uW׿?d?`>'9Y=%Fy!%E%>)Q 55M5-?Q 95M5-t)-(BY9y=?Q I=@-DI-;i-;- .M5yEוBɮE*AEEmDNOT Ignoring new targets: 24.77 m.hihq*hq"hq hqgqfyfyfydydjdZdڲM@ZZZZ?;<) 1#i9)顽20ii8侉I=II I)IUfA)QBDAT read: Rx Time:05:15:20.3125 TRx dataTimestamp_ set to:1761542121.836858checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0236339@ @@4@@)>@%>E}& E} E},Ey"E}8^;*E}:VE}g4ZEyBE})  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275546,T?AF@F@F9A<ٱF?X AHRS rotation from veh to nav: [[0.930807,0.363797,0.035360],[-0.365104,0.929973,0.042995],[-0.017242,-0.052930,0.998449]]FH+?qH??]׿W? m? L?iF@IFn];DYzByII,>)C=iMb@Mb@Mb@ 9{Gzkt?MbY#y 0=A \ A)AY\AbDVDβyV@%$=ٔ1Q->9Y=Fy[E>iQ 5mM5?Q 9mM5t)&BYur=Q Eu_@ nF>)i@InF5*]Ūdͦ!? E)I8(inFE  E E (E "E E;*E :VE c44ZE a @a @a @a @ ^A I I O% >,,F?AB">B B"IB"rBB" =B B B"}r;B"C.ER5@R@R<ٱRKX jAHRS rotation from veh to nav: [[0.930785,0.363893,0.034946],[-0.365178,0.929945,0.042988],[-0.016854,-0.052774,0.998464]]RH? J?b?`_׿??FB/@k?iR5@IREp];PYpytbD~VD~y :% =ٔ Q-?9Y=FyE ?!Q 5-M5%.?Q 9-M5%s)%$BY)y-?Q I5@%DI%:i%;%#5M5y9ɮ=*A9i i ?AJi ARi Aji Q@b .Y?i5;w!(kp@R W뿁tI ߿8C ?Zi 8(bi nFj o08nZE 4P0@Z 0-*￾a¯?Ա2i 0O:i "i N ?*i zBi Bi k?i .:i FBi Ai u\@ addTargetRange:: Added new target pos. range: 25.000000 m, deltaT: 59.980344 s, deltaX: 0.100000 m, approachRate: 0.001667 m/s, rangeRepo size: 4  Added new target pos. range: 24.872143 m, bearing: 187.622738 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 59.980344 s, deltaX: 0.099331 m, approachRate: 0.001656 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.87 m.hh*h"h hgfIfQfQdQdQjd]9@Zd]`o?ZZZZ0?<) (i9)5ii<侉mu=II9@ @@/@^AII O >9 ,?AE EE*E"ECJ;*E:VE(N4ZEBE9Y=Fy /UE >Q 5M5q ?Q 9M5s)"BYy%?Q I%@DI;i;8M5y)ɮ-*A)UDNOT Ignoring new targets: 24.87 m.hQhQ*hY"hY hYgYfYfafadadajdiZdmv#?ZZZZ?<) #iN9)顭8ii6侉\=IIi%>1U9@Q @Q@U/@Q@Y@]hAi^Au=IIO>ԉ ,?AiPIRAYftByfI hhiUMb@Mb@Mb@QQQQ Q9U&1kt?Mb`YUPyQUUAQ Q)U+AQYU3AbDmVDmy}%}C=ٔ}Q-}>9Y=FyE>Q 5M5P ?Q 9M5sr)Y=Q EF ),?Aɰ;:@:@:~<ٱ:,W BAHRS rotation from veh to nav: [[0.930650,0.364359,0.033646],[-0.365579,0.929777,0.043198],[-0.015544,-0.052502,0.998500]]:H@?Q? :?@e׿ ?`?Տᪿ?i:@I:];:CYJByNIbDVVDVNy^'=%^W=ٔbZ Q-b>9`Y`=fFydfjEf>hQ 5nM5jK ?Q 9nM5jq)j!BYpyrn@Q Ir@jDIj;ijj;j?M5ytɮv*AtDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd5KG?ZiZiZiZmn@~<) i9)S=ii:侉꾲=II9@ @@0@EE EE EE*EA"EEUS;*EE:VEE(N4ZEABEEYA ,n?A2(@2@2v<ٱ2W >AHRS rotation from veh to nav: [[0.930631,0.364451,0.033197],[-0.365649,0.929743,0.043344],[-0.015068,-0.052475,0.998509]]2H@?(S?`3?`f׿`t?`!1?܎ ު ?i2(@I2];0YFByFIiMb@Mb@Mb@ 9I +?Mb`YLy94=/ A  A)YbD-VD-J2y= ;%=C=ٔ=Q-E>9AYA=EFyAM3EM>QQ 5UM5U6 ?Q 9M5U6q)U BYw=Q EG@ =Ա BA BA BA BA BE =BA BA BE r;BE |.EBBBBBC̝5 ^A =I I O >,h%?AN@N@N)q<ٱN0W ZAHRS rotation from veh to nav: [[0.930618,0.364512,0.032883],[-0.365696,0.929717,0.043499],[-0.014716,-0.052506,0.998512]]NH ?@*T?֠?@g׿@>?E?]#⪿?iN@IN];NCYbBybIIf=)f=bDnVDnyv%v8=ٔvaPQ-z>9xYx=zFyx~E~>Q 5M5 ?Q 9 M5p)BY y @Q I@DI;i;,GM5yɮ*AEDNOT Ignoring new targets: 24.87 m.hAhA*hA"hI hIgIfIfQfQdQdQjdYZd]W@ZyZyZyZ}@)q<) &it9)顝Bii>侉=II)@ @@0@Q^AIIO>ԁD =D <E  E E (E "E L;*E :VE c44ZE BE 9Y=Fy  :E >Q 5M5?Q 9M5o)Yy%@Q I%@I{;iw;JM5y-Bɮ-*A-EUDNOT Ignoring new targets: 24.87 m.hQhQ*hY"hY hYgYfYfafadadajdiZdm@ZZZZ@9 n<) c(i 9)顭PEii8侉N=IIԑU9@Y @Y@e4@a^AIIO> ,fLY?A2 @2_@2wj<ٱ2>V :AHRS rotation from veh to nav: [[0.930926,0.363764,0.032444],[-0.364926,0.930017,0.043545],[-0.014333,-0.052377,0.998524]]2H`%?`G?s?Z׿?@K?Z`.Ѫ?i2 @I2 ];0YNByNIiUMb@Mb@Mb@QQQQ Q9UT㥛 A`"?YUyUY=UUXAU A Q)UAQYUAbDmVDmNy}R=%B=ٔ+Q->9Y=Fy7':E>E  E E)E"ED;*E:VEFA4ZEa@a@a@a@Q 5M5?Q 9M5o)BY=Q E!I 3,-s?AJ@J@J4e<ٱJ)]W VAHRS rotation from veh to nav: [[0.930894,0.363868,0.032191],[-0.365021,0.929967,0.043828],[-0.013989,-0.052550,0.998520]]JH? I?^{? \׿`J?p?@\窿?iJ@IJ9];JCY^By^I ```bAbDj VDj:2yr%<%rU=ٔr~jQ-r>9tYt=vFytzEz>|Q 5M5~[?Q 9M5~]n)|Yyq@Q I@~DI~:i~N:~QM5y ɮ)A=DNOT Ignoring new targets: 24.87 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM @ZZZZq@-4e<)I UiU9)QU_JQiQi]<侉Y]Wҳ=IaIaM+Giq"O9Y\ H,C?Aɰ:"@:@:Xc`<ٱ:emW JAHRS rotation from veh to nav: [[0.930999,0.363624,0.031911],[-0.364764,0.930062,0.043958],[-0.013695,-0.052565,0.998524]]:H?E? V?KX׿? ?1 骿?i:"@I:];:CYVByVI\i5Mb@Mb@Mb@1111 195Qp= ף?~jthY5uy5=5D5A5 A 5E A)11Y5AbDMVDM:2y]<%]C=ٔe7Q-e>9aYa=mFyim{-:Em>qQ 5}M5u6?Q 9}M5uum)uBYD=Q EA Aa Aa Bi Bi Bm IBm mBBm =Bi Bi Bm r;Bm o.EC,ۦ?AY~By~IbD VD y%2%%N=ٔ-Q-->9)Y)=-Fy)5E5>9Q 5EM5="?Q 9EM5=l)=BYAyAQ IM@= DI=:i=:=XM5yQɮU)AQ}DNOT Ignoring new targets: 24.87 m.hyh*h"h hgfffddjdZdE@ZZZZ))) -b"i-9)15|O1ii@侉J=IIIm9@i @i@m/@i@u=@u=q^AIIO>ԡ E  E E (E "E W;*E ]:VE c44ZE BE D9dYd=jFyhj;Ej>lQ 5rM5n?Q 9rM5nk)nBYtyv ?Q Iv@n DIn6:in:nK\M5yxɮzE)Ax%DNOT Ignoring new targets: 24.87 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5`G@ZQZQZQZU ?m~Z<)i mim/9)imQqiqyiu:侉y-=II9@ @@ 0@ԩ^Au=IIO> V,?A2+@2&@2vW<ٱ2^X >AHRS rotation from veh to nav: [[0.931442,0.362531,0.031435],[-0.363653,0.930475,0.044408],[-0.013150,-0.052795,0.998519]]2H^?`3?C?F׿@t?@??i2+@I2Q];2CYNByN1IiUMb@Mb@Mb@QQQQ Q9UˡEʡE?~jth?YU什yU=UD;QQ U A)UAQYQbDmVDmE; EE)E"EDq;*E:VEFA4ZEa@a@a@a@y<%>=ٔQ->9Y=Fy(:E>Q 5M5N?Q 9M5j)Ys=Q E;y@Q I@ DI ;i;`M5yɮ)ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBd d jd Zd Ñ@Z-s=Z-s=Z-@Z-@vW<) G!i9)Tii4侉[=IIBBBIBwBB =BBBr;B{.E9@ @@0@9^A=IIO >a ,k?A20@2+@2RV<ٱ2܄X :AHRS rotation from veh to nav: [[0.931663,0.361969,0.031342],[-0.363089,0.930692,0.044492],[-0.013065,-0.052832,0.998518]]2H/?*? ?<׿:?Ǧ?`@ ?i20@I2ɚ];2CYJByJ"IbDVVDVk1y^Ѓ%^Y=ٔ^>nQ-b>9`Y`=bFy`f:Ef>hQ 5jM5j?Q 9nM5ji)hYlyn@Q Ir@j DIjf;ijQ;jXcM5ytɮvx)AtDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd O"@ZZZZ@RV<) y'i+9)Wii>侉h=II19@ @@5@@gA@E E E,E"E*E:VEg4ZEBE5ԉԹ h,I?A24@2/@2 R<ٱ2X :AHRS rotation from veh to nav: [[0.931847,0.361514,0.031113],[-0.362624,0.930865,0.044653],[-0.012819,-0.052892,0.998518]]2H? #?@ܟ?;5׿?`ܦ?`A?i24@I2];2CY^By^.I ``dfAiMMb@Mb@Mb@IIII I9M rhI +?MbpYMCyM9=MMnAM A M A)MAIYM3A p;bDVDy%,=%%6=ٔ-Q-->91YQ=UFyQ]:Ee>ԑiQ 5M5m?Q 9M5mQh)mBY=Q E;y?Q I@mDImX;im:mUgM5yɮ+)ADNOT Ignoring new targets: 24.87 m.hh!*h!"h! h!g!f!f)f-BdidijdiZdu@Z=Z=ZƢ@Z? R<) f&ic9)顭Yii8侉;=IIa@a @a@a@aԹE E;E*E"EP;*E ;VE(N4ZEa@a@a@a@^A õ=I I O >B B B IB BB B B B s;B .E ,"(?A4<ɰ49 Y = Fy :E>Q 5%M5?Q 9%M5Og)BY!y%.?Q I%@DI;i;{jM5y)ɮ5)A1]DNOT Ignoring new targets: 24.87 m.hYhY*hY"hY hagafafafididijdiZdm`U@ZZZZ.?/P<) $i9)顭Q\iiB侉H=IIm9@i @q@u/@q^AIIO>I E  E E E "E E;*E :VE ZE BE AHRS rotation from veh to nav: [[0.932415,0.360067,0.030870],[-0.361164,0.931437,0.044566],[-0.012707,-0.052703,0.998529]]2HY?V ?@}?Q׿ T?QѦ?6?i2A@I2$t];2CYNByN5IbDVVDVy^1E<%^O=ٔ~AQ-~>9Y=Fy ;E > Q 5M5 ?Q 9M5 /f) BYyL?Q I@ DI ;i ; nM5y)ɮ-(A)UDNOT Ignoring new targets: 24.87 m.hQhQ*hQ"hQ hYgYfYfafadadajdaZdm @ZZZZL?&3P<) #i9)顭^ii<侉=III)gAQ}9@y @y@}/@y@>@>y^AIIO>ԩ ,[?A2F@2ZA@2M<ٱ2_X :AHRS rotation from veh to nav: [[0.932630,0.359525,0.030705],[-0.360615,0.931645,0.044648],[-0.012554,-0.052713,0.998531]]2H`?t?@"q?Q׿ ?ܦ? ,?i2F@I2];2CDYNByN7IIR4=)R<Ee EeEe-Ea"EeV;*Ee>:VEet4ZEaam@am@am@am@iuMb@Mb@Mb@qqqq q9uMb?9Y=Fy:E>Q 5M5?Q 9M5d)BY=Q E;y9?Q I@DI:i:qM5yɮ(ADNOT Ignoring new targets: 24.87 m.hh*h"h hgff f Bd d jd Zdz@Z5=Z5=Z5@Z5I9?EM<)I Mf&iM9)IMaIiIiU6侉Y]ƻ=IYIYԱBBBIBBBBBB.s;B.EByByByB} =B} =C}049@ @@@^A=I!I1OM> ,u?A2L@2fG@23HN<ٱ2X :AHRS rotation from veh to nav: [[0.932896,0.358835,0.030704],[-0.359926,0.931911,0.044654],[-0.012590,-0.052709,0.998531]]2H H?(?p? ׿8?ܦ?ȉ@?i2L@I2p];2CYJByN4IbDVVDVN2y^<%^Z=ٔb8Q-b>9`Y`=fFydf;Ef>hQ 5nM5lj?Q 9rM5jc)jBYpyrQ?Q Ir@jDIjS.;ij /;jtM5yxɮz(AxDNOT Ignoring new targets: 24.87 m.hh!*h!"h! h!g!f!f)f)d)d)jd)Zd5`&@ZQZQZQZUQ?e3HN<)i m'im9)im'diiiiu@侉qZ=II9@ @@/@ DizDm@AEu EuEu+Eq"EumR;*Eu4:VEu [4ZEqBEui #,Ŏ?A6P@6wK@6`K<ٱ6X FAHRS rotation from veh to nav: [[0.933076,0.358381,0.030523],[-0.359464,0.932085,0.044750],[-0.012413,-0.052727,0.998532]]6H??~A?u׿?n?@k`?i6P@I6%];6CYNByR8I9i]Mb@Mb@Mb@YYYY Y9]X9v:v?I +Y]}y]=]94]XA] A ]E A)]AYY]AbDVD:2yC<%<=ٔ ֹQ->9Y=FyU:E>Q 5]M5?Q 9]M5ab) BY]=Q Ee;yea?Q Ie@DIn:i:xM5yiɮm(AiDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjdZd@O@Z =Z =Z @Z ja?`K<)! %i%z9)!%f!i)i-:侉15]ͽ=I1I1i9@ @@@@hA@hAE} E}E}(Ey"E}W;*E}]:VE}c44ZEya@a@a@a@ԑ^A-  =I1 II OU >B B B B B =B BDB B Ns;B .E ),i?A6V@6Q@68K<ٱ6 X >AHRS rotation from veh to nav: [[0.933355,0.357659,0.030477],[-0.358741,0.932363,0.044769],[-0.012403,-0.052718,0.998532]]6H ??@C5?`ֿ??f ?i6V@I62];6CYBy4I !!bD5VD51yE2k%EQ=ٔE̷Q-M>9IYI=MFyIU;EU>YQ 5eM5]n?Q 9eM5]+a)] BYayez?Q Ie@]DI]:i]:]4|M5yqɮu)AqԡDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZdۻ @ZZZZz?%8K<)! %( i-9))-Ai)i)i=4侉9==IAIAM9@I @Q@UO0@Q iI5G^A9MliAaIIO>.9liAYoAD D <E L E #E &E "E W;*E ;VE 4ZE BE `?i2$[@I2h];2CYBy6IbDVD02y ;%%=ٔ#Q-%>91Y1==Fy9Ev:E>Q 5M5)?Q 95M5_)BYAyM?Q IM@DI侉=II9@ @@/@@% >@%>Yԁ ^AU =Ia Iq O >7,5}?A~`@~a[@~QK<ٱ~wXbEG4jEI4rE(0E ERE)E"EUS;*E;VEFA4ZEa%@a%@a%@a%@ -AHRS rotation from veh to nav: [[0.933773,0.356564,0.030503],[-0.357651,0.932771,0.044992],[-0.012409,-0.052922,0.998522]]~Hw?? 9Y=FB)B)B-!IB-BB- =B-ADB)B-Hs;B-.Ey9E:EE>IQ 5UM5M?Q 9UM5Ms^)MBYU=Q EU;yU?Q I]@MDIMs:iM:MރM5yaɮe(AaDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjdZd@z"@Z=Z=Z @Z7?QK<) f&i9)nii8侉)=IIY9@ @@5@ԁ^A I I O >ԩ b+=, MD,?AjCg@jb@jF<ٱjPX zAHRS rotation from veh to nav: [[0.934069,0.355818,0.030146],[-0.356888,0.933059,0.045085],[-0.012086,-0.052871,0.998528]]jH??ޞ?@Aֿ?\??ijCg@Ijo];jCYyy}2IiMb@Mb@Mb@ 9K?QYLy^=unA E A)Y AbDmVDmky}g%}:=ٔQ->9Y=Fy":E>Q 5M5g?Q 9M58\)BY=Q E;yv?Q I@DIH:i:M5yɮ)ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjdZd $@Z=Z=Z@Zv?%F<)! -#i-:9))-s)i)i5<侉1=^Y=I9I99@ @@/@E= E=(E9E9"E=V;*E=;VE9ZE9aM@aM@aM@aM@^A I B- <A) B5 >B1 B1 B1 B5 =B1 B1 B5 +s;B5 .EI IQ O] >QAJ,`+?A Nh@Nb@NKC<ٱN;!Y VAHRS rotation from veh to nav: [[0.934105,0.355731,0.030046],[-0.356798,0.933085,0.045242],[-0.011941,-0.052982,0.998524]]NH0?K? iĞ?ֿ?*?@tg ?iNh@INA];LYbByb0IbDVDy-%Mb=ٔUιQ-U>9YYY=]Fyae܊9Ee>iQ 5M5m?Q 9M5m<[)mBYyy?Q I@mDImQ;imr;mM5yɮ)ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd@$@ZZZZLy?-KC<)) 5$i5_9)156v1i1i=6侉99I9IAI9@ @@@q^AD=II O>ԡ EE  EE EE +EA "EE mR;*EE :VEE [4ZEA BEE 9dYd=fFydfw:Ej>hQ 5nM5jw?Q 9rM5j4Z)jBYpyr?Q Ir@j DIj;ij;jEM5ytɮz)AxDNOT Ignoring new targets: 24.87 m.hh*h"h! h!g!f!f!f)d)d)jd)Zd-%@ZZZZ?D<) $i9)xii@侉P=II9@ @@/@Ա^A=IIO> PW,%^?A;ɰ;lE2 EE)E"Ei;*EVEFA4ZEa @a @a @a @YBy/IiMb@Mb@Mb@ 9sh|??y&1Yy=`eXA )AYfAbDVD:2y2%8=ٔQ->9 Y = Fy  E >Q 5M5?Q 9%M5Y)BY%=Q E%i>M 9@I  @I @M /@Q a ^A C=ԑ I I O >.^,{{?A6p@6k@6E<ٱ6|W BAHRS rotation from veh to nav: [[0.934483,0.354744,0.029974],[-0.355804,0.933484,0.044855],[-0.012068,-0.052581,0.998544]]6H`H?!?y?`}ֿ?5?.`몿?i6p@I6 ];4YfByf3IbDnVDnk2yv<%zE=ٔz9Q-z>9|Y|=~Fy|~q:E~>Q 5 M5/?Q 9M5X)BYy?Q I@#DIL;i;ɘM5yɮ)A!MDNOT Ignoring new targets: 24.87 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd]D'@ZyZyZyZ}1?E<) i9)顝}ii4侉:=IIE  EE*E"EX;*EO:VE(N4ZEBE )Y ^ e,0?A 6p@6k@6H<ٱ6yW >AHRS rotation from veh to nav: [[0.934479,0.354741,0.030134],[-0.355809,0.933481,0.044873],[-0.012211,-0.052655,0.998538]]6H`@? ?۞?@ֿ@??V@?i6p@I63\;6CYFByF?IIJ<)J=N=Li]Mb@Mb@Mb@YYYY Y9]:v9Y=FyUwE>Q 5M5[?Q 9M5W)BY =Q E侉9=T=I9IAq9@ @@2@E# EE,E"E[;*Ex:VEg4ZEa@a@a@a@ԙB}>ByB}!IB}BB} =B}BDByB}ur;B}>.EBABABABE =BE =CEǔ5^A+W=IIO> 7k, ?ALYBy%=IbDVDyu%E=ٔQ->9Y= Fy  E>Q 5%M5?Q 9%M5-V)BY)y)Q I-@%DI :i:$M5y1ɮ5(A1eDNOT Ignoring new targets: 24.87 m.haha*ha"ha hagafififididqjdqZduu(@ZZZZ) {i9)顭Kii8侉IIM9@I @I@M4@I^AiIyIO>Ep EE-E"E;*E&:VEt4ZEBE9`Y`=bFy`b*:Ef>dQ 5jM5f?Q 9jM5f]U)fBYlynU?Q In@f&DIf;if;fKM5ypɮv(At|DNOT Ignoring new targets: 24.87 m.hh*h"h hg!f!f!f!d!d)jd)Zd-)@ZIZIZIZMkU?e<N<)a e ie9)imjiiiiuB侉qu=IqIy9@ @@/@1^AU C=YIaIyO{>iI II ԁ E , E E )E "E c;*E ]:VE FA4ZE a @a @a @a @zIx,?A2u@2o@2*Q<ٱ2SV :AHRS rotation from veh to nav: [[0.934661,0.354221,0.030602],[-0.355309,0.933689,0.044492],[-0.012813,-0.052458,0.998541]]2H`??&V?bֿ?Ǧ?@=`۪ ?i2u@I2n"];2CYjByjEI llprAB!B!B!B!B!B!B!B%r;B%Q.EYiMb@Mb@Mb@ 9QV-?~jtxYuyh=ĻXA  A)AYfAbDVDܲy <%<=ٔ:Q->9Y=Fy9E>Q 5M5金?Q 9M5]T)BYž=Q E I hA - 89- hAY- 'ANw~,ɬ?A2w@2r@27W<ٱ2V >AHRS rotation from veh to nav: [[0.934783,0.353875,0.030881],[-0.354976,0.933826,0.044280],[-0.013168,-0.052354,0.998542]]2H??W?@ֿ?ի?`&Ϊ ?i2w@I2 ];2CYDyDbDNVDNٔVyz:Q-Z>9XYX=^Fy\^y:E^>`Q 5fM5b?Q 9fM5bS)bBYdyf?Q Ij@b(DIb`:ib6:bYM5ylɮllDNOT Ignoring new targets: 24.87 m.h h *h "h  h g f ffddjdZd`R+@ԱZZZZ~?7W<) !i%9)!%ᄷ!i!i-6侉)5ӛ=I1I1DzDE  EE*E"EX;*Ex:VE(N4ZEBE 1 [,y?A2y@2t@2\<ٱ2zV :AHRS rotation from veh to nav: [[0.934865,0.353633,0.031157],[-0.354747,0.933919,0.044157],[-0.013482,-0.052334,0.998539]]2H@j? ? ?,ֿ ?`ț?ࣜ˪@?i2y@I2u];2CYfByfBIiUMb@Mb@Mb@QQQQ Q9UL7A`尿V-?Mb`YU+yQUQU A U/ A)QQYU=AbDmVDm0y$%<ٔ9:Q->9Y=Fy:E>Q 5M5U?Q 9M5wR)߰BY=Q EBB'IBBB =BBBr;Br.E^AIIO>qԙ |, S0?AF}@Fx@Fd(e<ٱFKV VAHRS rotation from veh to nav: [[0.935030,0.353159,0.031590],[-0.354293,0.934101,0.043953],[-0.013986,-0.052290,0.998534]]FH?)?,?ཬֿ'??@Ϥ`Ū?iF}@IF6];FCYfByfQIIn=)n=bDzVDz1y Ft=%Y=ٔ :Q->9)Y)=-Fy)5:E5>AQ 5MM5E'줊?Q 9UM5EQ)EްBYQy]?Q I]@E+DIE%g;iEh;EM5yiɮm4(AiDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd c,@ZZZZ?d(e<) Ii.9)5ii:侉=IqIm9@i @i@m/@iԡiYIY^AID=DE EE(E"EM;*E4:VEc44ZEBE _m,8.J?A27@2 |@2?k<ٱ20V >AHRS rotation from veh to nav: [[0.935166,0.352766,0.031937],[-0.353916,0.934251,0.043799],[-0.014386,-0.052263,0.998530]]2H ?`?@Z?ֿ@b?l?@ev-ª?i27@I2V];0Y^BybRIbDjVDjy_;%I=ٔ%B:Q-%>9!Y!=%Fy!-[:E->1Q 5=M55ꤊ?Q 9=M55P)5ݰBY9yE?Q IE@5,DI5;i5;5M5yIɮM+(AIuDNOT Ignoring new targets: 24.87 m.hqhy*hy"hy hygyfyffddjdZd-@ZZZZ9??k<) ie9)Xii4侉7{=II9@ @@0@^A C=IIO>) E  E E )E "E &U;*E :VE FA4ZE a @a @a @a @[, d?A6@6}@6Rr<ٱ6\V >AHRS rotation from veh to nav: [[0.935238,0.352541,0.032329],[-0.353711,0.934330,0.043775],[-0.014774,-0.052375,0.998518]]6Hx?@?w?@5ֿ`?i? AЪ?i6@I6B5];6CYFByFYIB`B`Bb-IBbBB`B`B`Bbr;Bbl.Ei5Mb@Mb@Mb@1111 195sh|?ʡE?Mb`?Y5y5=5;5\A5 A 5 A)5/A1Y5fAbDMVDMyP<%?=ٔm:Q->9Y=Fy:E>Q 5M5養?Q 9M5{O)Y=Q E;y@Q I@.DI ;i ;˸M5yBɮD'AE5DNOT Ignoring new targets: 24.87 m.h1h1*h1"h1 h1g9f9f9f=BdAdAjdAZdEO.@Zm=Zm=Zm2@Zm@}Rr<)y }i}9)顅ii>侉=II) 9@  @ @ 5@ a^A- =I9IIO]>ԁ ,}?A0>X@>*@>HWw<ٱ>V FAHRS rotation from veh to nav: [[0.935378,0.352141,0.032628],[-0.353327,0.934478,0.043717],[-0.015096,-0.052420,0.998511]]>H?`z??ֿ>?b?ꎿ֪`?i>X@I>1"];>CYRByRWI TTbDZVDZyb%b]=ٔfd:Q-f>9dYd=jFyhjR:Ej>lQ 5rM5n礊?Q 9rM5nN)lYtyv@Q Iv@n/DIn:in:nM5yxɮzR'Ax%DNOT Ignoring new targets: 24.87 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5`U/@ZQZQZQZU@mHWw<)i m{im9)imÊqiqiu8侉y}=IyIyE EE*E"E>T;*E:VE(N4ZEBE" ,?A2ϊ@2@2L<ٱ26W >AHRS rotation from veh to nav: [[0.935564,0.351605,0.033090],[-0.352815,0.934675,0.043649],[-0.015582,-0.052511,0.998499]]2H"?`?:?ֿ?)Y? =鏿⪿?i2ϊ@I2i-];2CYZ€By^^I`iEMb@Mb@Mb@AAAA A9Ei|?5/$?~jtxYEqyE=EĻAE A A)EAAYAbD]VD]Jym2<%m@=ٔm:Q-u>9qYq=uFyq}:E}>Q 5M5椊?Q 9M5cM)۰BY=Q EA ӫ,?AR@R@R$<ٱRV bAHRS rotation from veh to nav: [[0.935812,0.350917,0.033372],[-0.352139,0.934939,0.043444],[-0.015956,-0.052407,0.998498]]RH@+?mu?`*?rֿ?F>?Vժ?iR@IRU];RCYnŀBynbIbD%VD%y5y<%5N=ٔ5dw:Q-5>99Y9==Fy9E:EE>IQ 5UM5M夊?Q 9UM5M[L)MٰBYQyU?Q IU@M2DIMj;iMQ;M3M5yaɮe 'AaDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd}0@ZZZZ?$<)  i9)3ii<侉=II9@ @@@Iq^A =IIO>E E E(E"EmR;*E:VEc44ZEBE9\Y\=^Fy\b ;Eb>`Q 5fM5b䤊?Q 9jM5bXK)bװBYhyj?Q Ij@b3DIb:ib:bM5ylɮr*'Ap DNOT Ignoring new targets: 24.87 m.h h *h "h  h gfffddjdZd%@10@yZZZZ?T<) ih9)jii6侉=II @ @@/@Ա^AIIO> E ( E E E "E `;*E ]:VE ZE a @a @a @a @ ,?AB B B"FIB"BB B B B"As;B".EB B B B =B =C T4b@b@b<ٱbOV jAHRS rotation from veh to nav: [[0.936358,0.349391,0.034054],[-0.350644,0.935517,0.043093],[-0.016802,-0.052291,0.998491]]bH@?`j\?o?@pֿ?A?4Ū`?ib@Ibq];bCY ŀBy bIiMb@Mb@Mb@ 9Zd;O?:vYLyj=TAA A E A)AY AԱbDVDky~<%8=ٔn:Q->9Y=Fy :E>Q 5M5P䤊?Q 9M5$J)ӰBY=Q E;y?Q I@5DI;i ;yM5yɮ 'A-DNOT Ignoring new targets: 24.87 m.h)h)*h)"h) h)g1f1f1f=Bd9d9jd9Zd=*R1@Ze=Ze=Ze@d@Ze?u<)q ui}89)y}yiyi@侉J=II-9@) @)@-/@)@9@9 ^AM7=IYIiOu>I ,9`Y`=bFy`bc:Ef>dQ 5jM5f㤊?Q 9nM5f&I)fаBYlyn?Q In@f6DIfI;ifU;fM5ypɮv&AtDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffd!d!jd!Zd%1@ZAZAZAZE?]f<)Y ] i]9)aeaiaim:侉im=IiIq)EU EUEU'EQ"EUUS;*EU:VEU'4ZEQBEUY,?A2q@2C@2@<ٱ2W :AHRS rotation from veh to nav: [[0.936719,0.348358,0.034709],[-0.349646,0.935892,0.043053],[-0.017486,-0.052464,0.998470]]2H?K?@Yš?`ֿ`? ?瑿ܪv?i2q@I2c];2CYFŀByFaI HHHHi]Mb@Mb@Mb@YYYY Y9]T㥛 ʡE?y&1Y]y]-=]`e]XAY ] A)]+AYY]fAbDuVDu0yD%>=ٔ5J:Q->9Y=Fy:E>Q 5M5⤊?Q 9M5G)̰BY=Q E;yv?Q I@7DI*:i:kM5yɮ'ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjdZd`2@Z=Z=Z| @ZPv?-@<)) 5i59)15쑷1i1i=4侉9==IAIAԑ9@ @ @ 0@ Em- Em Em*Ei"Emd;*Em:VEm(N4ZEiau@au@au@au@Be>BaBaBaBaBaBaBefs;Be.E^A)I9IIOU> 9 L$,$2?A4<ɰ4<:l@:>@:c<ٱ:*W BAHRS rotation from veh to nav: [[0.936885,0.347892,0.034898],[-0.349189,0.936064,0.043028],[-0.017697,-0.052499,0.998464]]:H`?C?ޡ?Yֿ9`Y`=bFy`f:Ef>dQ 5nM5fᤊ?Q 9nM5fF)fɰBYlyn?Q In@f9DIf;if;fM5ytɮvX'AtDNOT Ignoring new targets: 24.87 m.hh*h"h hgff!f!d!d!jd!Zd-O~2@ZIZIZIZMF?c<) "im9)!ii>侉=II  Y]CcG 9@  @ @4@@>@>MB=9QYU,A9^A-(S=I9IIOQEu* Eu*Eu+Eq"Eua;*Eu;VEu [4ZEqBEu9AYI=MFyIMEM>QQ 5]M5Uऊ?Q 9]M5UE)UŰBYayaQ Ie@U:DIU ;iUz;UdM5yiɮmp'AiDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd32@ZZZZ) iD9)%w!i!i-8侉)-=I)I1i9@ @@4@ԙi1 I1 ^AI IQ Ii Ou > bEFA4jE?4rEb/E , E E )E "E c;*E :VE FA4ZE a @a @a @a @BY BY BY BY BY BY BY B] \s;B] .ED,nf?ALR@R~@R ْ<ٱRQW ZAHRS rotation from veh to nav: [[0.937190,0.347050,0.035085],[-0.348359,0.936374,0.043015],[-0.017925,-0.052535,0.998458]]RHu?6?@?Kֿ@? ? Z媿^?iR@IRȃ];RCYv€Byv^IIz<)za=||iMb@Mb@Mb@ 9Mb/$? rhY@y=CAA A / A)Y AbDVDy}H)=%6=ٔ:Q->9Y=Fy:E>Q 5M5.ऊ?Q 9M5D)BY.=Q E,u?A6ձ@6@6y<ٱ6%X >AHRS rotation from veh to nav: [[0.937194,0.347018,0.035284],[-0.348339,0.936374,0.043156],[-0.018063,-0.052737,0.998445]]6H ?5?`?@1Kֿ??@ @L C?i6ձ@I6T];6CYFŀByFaIbDRVDRyZy<%Zp=ٔZ9Q-Z?9\Y\=^Fy\b8Eb?dQ 5jM5fߤ?Q 9jM5fC)fBYhyj?Q In@fԩ E,3O?A2@2ҭ@25 <ٱ2<(X >AHRS rotation from veh to nav: [[0.937244,0.346884,0.035286],[-0.348206,0.936424,0.043161],[-0.018071,-0.052740,0.998445]]2H?Y3??Iֿ@/?A?$`B?i2@I25];2CYFByFYIiMb@Mb@Mb@ 9Zd;O㥛 ? rhYj9Y=Fy֫9E>Q 5M5ߤ?Q 9M5B)BY=Q EDI:iZ:M5yɮF'ADNOT Ignoring new targets: 24.87 m.hh*h"h hg f f f ҁBddjdZd#4@Z==Z==Z=g@Z=?M5 <)I M= iM9)QUїQiQi]6侉Y]Og=IYIa 9@  @ @ /@ ԡEM# EM&EM)EI"EM[;*EM;VEMFA4ZEIaU@aU@aU@aU@B!B!B!B!B% =B!B!B%s;B%.E^A1I9IQO]> u,B?A2@2^@2͚<ٱ2X(X >AHRS rotation from veh to nav: [[0.937268,0.346824,0.035233],[-0.348143,0.936446,0.043183],[-0.018017,-0.052740,0.998446]]2H?^2? ?Gֿ]?`?@sD?i2@I2:];2CYFByFOI HHLNA PRbDRVDR1yZ#%^R=ٔ^Q-^>9\Y`=bFy`b:9Eb>dQ 5jM5fޤ?Q 9jM5fB)fBYlyn?Q In@f?DIf;ifa;f^M5ypɮr'ApDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffdd!jd!Zd%4@ZAZAZAZE?]͚<)Y ]9i]49)ae昷aiaim@侉im(w=IiIq!@! @!@% 0@!^AIIYIiOuy>)DE=DE=EM) EM"EM*EI"EM`;*EM;VEM(N4ZEIBEMAHRS rotation from veh to nav: [[0.937307,0.346723,0.035194],[-0.348041,0.936484,0.043200],[-0.017980,-0.052740,0.998446]]6H k?0??`MFֿ@?@G?TiE?i6r@I6[ ];4Y^By^VIbDfVDf:2yn<%rH=ٔrQ-r>9tYt=vFytv 9Ez>xQ 5~M5zݤ?Q 9M5z1A)zBYy?Q I@z@DIz;iz;zM5y ɮ Y'A=DNOT Ignoring new targets: 24.87 m.h9h9*hA"hA hAgAfAfIfIdQdQjdiZdu4@ZZZZ?L<) u i9)ii:侉=IIQ9@ @@O0@ԉ^AIIO>ԩEe & Ee +Ee +Ea "Ee 8^;*Ee =;VEe [4ZEa am @am @am @am @ B B B @IB BB B B B r;B [.E,3?A6г@6@6<ٱ6mX >AHRS rotation from veh to nav: [[0.937281,0.346796,0.035180],[-0.348114,0.936453,0.043273],[-0.017938,-0.052806,0.998444]]6H@4? 1?&?@~Gֿl?@'?`?^ f @@?i6г@I6I1];6CY^BybZIiMb@Mb@Mb@ 9 ףp= T㥛 ?QYQ8y=uA A  A)YbDVD2yMe<%==ٔ&͸Q->9Y=Fy_;E>Q 5M5$ݤ?Q 9M5Y@)BY=Q E( 9 i,?A6@6⭽@6}<ٱ6X >AHRS rotation from veh to nav: [[0.937250,0.346883,0.035147],[-0.348200,0.936418,0.043331],[-0.017881,-0.052850,0.998442]]6H`?S3??Hֿ#?`y/?`sO'=?i6@I6)];6CYJByJ\IINC=)N%=N=N=bDVVDVܲyZ7?<%^]=ٔ^Q-^>9`Y`=bFy`faEf>dQ 5jM5f}ܤ?Q 9nM5f?)fBYlyn5?Q Ir@fBDIfh;if;fM5ytɮv/'AtDNOT Ignoring new targets: 24.87 m.hh*h"h hgff!f!d!d!jd)Zd-`5@ZIZIZIZM5?}<) ! iN9)-ii>侉U=I I E EE(E"EQ;*E:VEc44ZEBEȥi P,?A 88:%F<ٱ:$X FAHRS rotation from veh to nav: [[0.937250,0.346888,0.035083],[-0.348200,0.936423,0.043234],[-0.017855,-0.052737,0.998449]]:H@? i3?U?`Hֿ,?"?HMK?i8I:5];:CY]By]QIiMb@Mb@Mb@ 9 rhy&1?:vYC y`e=TAAvA  A)AY AbDVD1y%*=ٔ[fQ->9Y=Fy%E%>)Q 5EM5-ۤ?iQ 9M5->)-BYɈ=Q EF ,ӥ9?A6@6㬽@6<ٱ64W JAHRS rotation from veh to nav: [[0.937211,0.347013,0.034897],[-0.348315,0.936382,0.043192],[-0.017689,-0.052635,0.998457]]6H ?x5?@ޡ?Jֿ@?E? @`\?i6@I6];6CPRs@iPIPPVC V?kATTTZsCXIZ)XiX)\I^jjA^l^ZF \b&C``i``ib Cd)d dId d)j|{AhjhFhYhYnByr^IbDzVDzβyCF=%K=ٔعQ->9 Y = Fy gE%>AQ 5EM5Eۤ?Q 9MM5E#>)EBYIyM?Q IU@EDDIE] ;iEX ;EM5yYɮ]('AYDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd6@ZZZZx? M<)Q U*iUD9)QULQiYi]B侉Yeq$=IaI9@ @@3@9E5( E5#E5+E1"E5`;*E5;VE5 [4ZE1BE5Qԙ A,gS?A2׮@2@2TU<ٱ2FX :AHRS rotation from veh to nav: [[0.937075,0.347381,0.034894],[-0.348684,0.936238,0.043328],[-0.017618,-0.052769,0.998451]]2H?~;?ݡ?Pֿ? /?`m @P?i2׮@I2 ];2CqYĀByaI AAbDMVDMk1y}<%}=ٔeQ->9Y=Fy FE>Q 5M5ڤ?Q 9M5E=)BYy?Q I@EDIB:i:>M5yɮ'ADNOT Ignoring new targets: 24.87 m.hh*h"h hgff!f!d!d)jd)Zd-!7@ZIZIZIZM?eTU<)a eie9)aeiiiiim<侉qu=IqIqԡ9@ @@4@EU ! EU EU -EQ "EU Y;*EU :VEU t4ZEQ a] @a] @a] @a] @B B B @IB BB B B B *r;B .E^A} (S=I I O > ,Dm?Aɰp;FI@F@FJ<ٱF X RAHRS rotation from veh to nav: [[0.937011,0.347569,0.034725],[-0.348863,0.936171,0.043329],[-0.017449,-0.052714,0.998457]]FH?@>?xǡ?Sֿ?`=/? ޑ Z\?iFI@IFw2];D I)M lAMQQQQiUC I]6NFYI] Ci]IlA ]Y)aa aeC aaiiIm`)mCRFii)qIqu/ݼq qyyyiyyiځڅ"A)ځ ځIځYYɀBygIiMb@Mb@Mb@ 9Zd;O?y&1|Yj9YYY=eFyae Ee>Q 5N5+ڤ?Q 9N5<)BY=Q EBQ Ee > Ee -Ee )Ea "Ee s;*Ee K;VEe FA4ZEa BEe 9Y=Fyv 9E>Q 5N5e٤?Q 9N5<)BYyQ I@FDI;i;N5yɮ&ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd\7@Z)Z)Z)Z-m?=l<)9 =@iE29)AE[AiAiM@侉IM@=IIIQ @  @ @/@^AI!I1OM>q 6',y?A0VϪ@V@V(!<ٱV'W ^AHRS rotation from veh to nav: [[0.936909,0.347870,0.034455],[-0.349148,0.936072,0.043192],[-0.017227,-0.052496,0.998472]]VH )?C??`pXֿL?2?룑િ|?iVϪ@IV8];VCY]݀By]IiMb@Mb@Mb@ 9+)\(?{GztYyGa=ףvA  A)YbDUVDU0ye>=%e@=ٔe¹Q-m>9iYi=mFyiuEWEu>yQ 5N5}ؤ?Q 9N5}\;)}BYv=Q EDI _%.,"U?ABe@B7@B<ٱBmV NAHRS rotation from veh to nav: [[0.936935,0.347809,0.034383],[-0.349081,0.936101,0.043095],[-0.017197,-0.052380,0.998479]]BH^?B??@XWֿ@??`!Ѫ?iBe@IBd$];BCYVӀByVsIbDzVDzNyb%d=ٔQ->9 Y = Fy Q9E>Q 5%N5;ؤ?Q 9-N5:)BY)y-?Q I-@HDI2;iv:^ N5y1ɮ5&A9eDNOT Ignoring new targets: 24.87 m.haha*ha"ha hagifififidqdqjdqZdu{8@ZZZZW?<) 5 i9)页wii4侉=IIm9@q @q@u0@qIDD4=E) E;E'E"E`;*E ;VE'4ZEBEԡ B 5,Q0?AB @Bާ@Bx<ٱBGU NAHRS rotation from veh to nav: [[0.937008,0.347634,0.034169],[-0.348893,0.936176,0.042993],[-0.017042,-0.052206,0.998491]]BH`???~?`CTֿ'?<?ws`ͺ ?iB @IByC];BCYVByVIbD^ VD^2yf=%fN=ٔj̹Q-j>9hYh=nFyln :En>pQ 5vN5rפ?Q 9vN5r:)rBYxyz?Q Iz@rIDIrH:ir:r N5y|ɮ&AyDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd 9@ZZZZ?x<) "i9)  i i >侉:=II@ @@5@ԩ^A(S=IIO>Et E*E+E"E{;*E;VE [4ZEa@a@a@a@BA BA BE SIBE BBA BA BA BE r;BE s.E 7;, ?AYBy%I-A)iMb@Mb@Mb@ 9I +X9v?MbpY94y}=A / A)AY <<bD%VD%y-&5=%56=ٔ5Q-5>99Y9==Fy9EEE>AQ 5MN5E֤?Q 9UN5E49)EBYU=Q EU.Y D zD E L E E *E "E W;*E :VE (N4ZE BE 9 Y =FyK):E>Q 5%N5G֤?Q 9%N58)BY!y-?Q I-@KDI:i:N5y1ɮ5%A1]DNOT Ignoring new targets: 24.87 m.haha*ha"ha hagafafifididqjdqZdu9@ZZZZ?2<) Zi 9)页iiB侉=II)9@ @@/@ Y^A-?=IQIaOu>ԁԱ tNH,"?A2+@2@2y<ٱ27V >AHRS rotation from veh to nav: [[0.937187,0.347174,0.033924],[-0.348423,0.936343,0.043159],[-0.016781,-0.052268,0.998492]]2Ho?@8?^?Lֿ ??`/`ª?i2+@I26];2CYbBybIiMMb@Mb@Mb@IIII I9MJ +ˡE?MbpYMHyM=IMAI M A)MAIYM AbDeVDeyu-<%uC=ٔue\Q-u>9yYy=}Fyy&:E>Q 5N5դ?Q 9N5x7)BY=Q E sN,<?A.ճ@.@.s<ٱ.;U :AHRS rotation from veh to nav: [[0.937302,0.346878,0.033761],[-0.348119,0.936458,0.043127],[-0.016656,-0.052176,0.998499]].Ha?@3?$I?@Gֿ@v?`?@Cض ?i.ճ@I. ];.CYRByRIIV<)V<bDZVDZyb<%bW=ٔf$Q-f>9dYd=jFyhj_:Ej>lQ 5rN5nդ?Q 9vN5n6)nBYtyv?Q Iv@nMDIn:in:nN5yxɮz_%A|DNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd@':@ZZZZ?s<)  i9)ii6侉 =I I 9@ @@/@@hA@Em E#EE"EO;*E;VEZEBEci j[U,!xV?A 6@6h@6<ٱ6U >AHRS rotation from veh to nav: [[0.937461,0.346447,0.033782],[-0.347689,0.936617,0.043146],[-0.016693,-0.052193,0.998497]]6H?.,?K?@ֿ`?:?@@?i6@I6I];6CYFByFIbDRVDR1yZi=%ZL=ٔZ8Q-Z>9\Y\=^Fy\b~:Eb>dQ 5jN5fԤ?Q 9jN5f5)fBYhyj?Q Ij@fNDIfW:if-:fuN5ypɮr%Ap DNOT Ignoring new targets: 24.87 m.h h*h"h hgfffdd!jd!Zd%R ;@ZAZAZAZE?<) fi*9)rii@侉yd=IIy9@ @@/@ԡ^A(S=II1O=>E5 E<E(E"Ek;*E1;VEc44ZEa@a@a@a@BBBxIB׀BBBBBs;B.EBBBBB =CO4 [,%]p?AL^b@^4@^#<ٱ^PU rAHRS rotation from veh to nav: [[0.937706,0.345784,0.033772],[-0.347026,0.936865,0.043090],[-0.016740,-0.052126,0.998500]]^H?@R!?J?5ֿ??@=$;?i^b@I^9];^CYyiMb@Mb@Mb@ 9Zd;~jt?MbpYyy=+A A / A)AYG AbD VD:2yx%;=ٔ8Q->9Y=FyN:E>Q 5N5Ӥ?Q 9N5D4)BY=Q E;y|?Q I@PDI ;i ;F#N5yɮ%ADNOT Ignoring new targets: 24.87 m.hh*h"h hgff!f%Bd!d!jd!Zd-t|;@Z=Z=Z,@Z|?#<) i9)ii :侉IU=IQIQ9@ @@@^A% S-=I I O >) E , E E *E "E c;*E =;VE (N4ZE BE t9tYx=zFyxz:Ez>|Q 5N5Ҥ?Q 9N53)BYy?Q I@QDI;i;&N5yɮ$ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd ;@ZZZZ?<) yi9)%!i!i%4侉)-#=I)I)9@ @@0@9a^A2=II1O=>ԑ h, ?Aɰ;6bƶ@64@6y<ٱ6V BAHRS rotation from veh to nav: [[0.938090,0.344756,0.033632],[-0.345996,0.937232,0.043395],[-0.016561,-0.052345,0.998492]]6H? z?@8?@$ֿ?7?`<ͪ?i6bƶ@I6h];6CYHyJIiMb@Mb@Mb@ 99IYI=MFyIU:EU>ԙQ 5N5Ѥ?Q 9N51)BYZ=Q E;y]?Q I@SDI:i:Y*N5yɮ$A=DNOT Ignoring new targets: 24.87 m.h9h9*h9"hA hAgAfAfIfM BdIdIjdIZdUrL<@AqAqByByB}IB}BByByByB}r;B}b.EET EDEE"E;*Eh;VEZEBE<2E<JEwu<:Exu<ZZ=ZZ=Z_ @Z]?y<)! %= i-9)151i1i=>侉9=a=I9IAԉ9@ @@^3@Ա^AII O >M PExceeded connect timeout, disconnecting. i>  ԀG= liAI } =9} liAY} --An,?A>vͶ@>HȽ@>a<ٱ>V JAHRS rotation from veh to nav: [[0.938389,0.343947,0.033568],[-0.345186,0.937528,0.043453],[-0.016525,-0.052363,0.998491]]>H H?9?`/?ֿ:?`??쐿]Ϫ ?i>vͶ@I>%];9dYh=jFyhj;Ej>lQ 5rN5nФ?Q 9rN5n0Q =vtI)nBYtyvz?Q Iv@nTDIn:in:n-N5yxɮz$A|%DNOT Ignoring new targets: 24.87 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5`<@ZQZQZQZU z?ma<)i m im9)quqiqi}8侉y}=IyIԹ59@1 @1@5/@1E@ EE,E"Eu;*E:VEg4ZEa@a@a@a@^AUrA=IaIqO}{>9 u,˿?A26Ҷ@2ͽ@2Ɇ<ٱ2$5W :AHRS rotation from veh to nav: [[0.938590,0.343402,0.033525],[-0.344642,0.937720,0.043635],[-0.016453,-0.052510,0.998485]]2H?K?6*? ֿ`?@VW?ِ⪿?i26Ҷ@I2(];2CYVByVIIZ4=)Z<bD~VD~ܲy % F=ٔ 38Q- >9Y=Fy=:E>!Q 5-N5%\Ϥ?Q 9-N5%p/)%BY)y-?Q I-@%VDI%6:i%d:%41N5y=Bɮ=+$A=EeDNOT Ignoring new targets: 24.87 m.haha*hi"hi higififqfqdqdqjdqZd}H=@ZZZZ5?Ɇ<)  i{9)页ݮiiB侉=IIp>i%>q@y @y@y@I^A6[=IIO>iByByB}IB}BByByByB}.r;B}.EbE1jE5KJ4rE1E5 E-E+E"Ek;*EK;VE [4ZEBE\?ː`ᪿ@?iBض@IB'];@Y]By]IqnManaging dock network, ignoring radio surface power offiMb@Mb@Mb@ 9V-EԸ? rhYmy=CEAA I A)AYbDVDyZ<%=ٔѸQ->9Y=Fy:E>Q 5N5cΤ?Q 9N5-)BY =Q E ;y  ?Q I @XDI ;i ;5N5yɮ#AEDNOT Ignoring new targets: 24.87 m.hAhA*hA"hA hAgAfIfIfM#BdIdQjdQZdU!=@Zu=Zu=ZuL@Zu9 ?bZ<) = i9)顕ii<侉ԙ;%=II59@9 @9@=3@9^A] :=Iq I O >D zD E ; E HE ,E "E Dq;*E ;VE g4ZE a @a @a @a @ ,`x ?A> ݶ@>׽@>S <ٱ>YW ZAHRS rotation from veh to nav: [[0.939048,0.342171,0.033280],[-0.343402,0.938167,0.043785],[-0.016241,-0.052545,0.998486]]>H ?!? ?Kտw?`k?Z`(窿?i> ݶ@I>z];) 6,QO%?A6@6}۽@6{<ٱ6W NAHRS rotation from veh to nav: [[0.939203,0.341764,0.033096],[-0.342987,0.938313,0.043904],[-0.016049,-0.052586,0.998487]]6H@ ?u?`?տ?@z?Bo 쪿?i6@I6];4YVByVI XXi5Mb@Mb@Mb@1111 195S㥫bX9ȶ?Zd;OY5/]y5E=5j5/A1 5 A)11Y5 AbDUVDUye$%eC=ٔegQ-e>9iYi=mFyim:Eu>qQ 5}N5u$ͤ?Q 9N5u+)uwBYW=Q E;y^?Q I@uZDIue ;iu ;u;N5yɮE$ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjdZd`TM>@ZW=ZW=Z#o@Z^?{<) i a9)   i i@E EgE(E"E*E$;VEc44ZEB<A4<BBBIBBB =BBBr;B.E=IIQԁu9y @  @ @ /@ @ %>@ 8>ԩ ^A= A!=IA IY Oe >T,bA?A2S@2%߽@2s<ٱ2gW >AHRS rotation from veh to nav: [[0.939358,0.341352,0.032949],[-0.342569,0.938465,0.043935],[-0.015924,-0.052558,0.998491]]2H 8??ޠ?տ?@~?@JN調@?i2S@I2[];2CYFByFIbDNVDNyV\̼%ZD=ٔZQ-Z>9XY\=^Fy\^:E^>`Q 5fN5bf̤?Q 9fN5b*)bqBYhyjl?Q Ij@b\DIb;ib;b?N5ylɮnp$Ap DNOT Ignoring new targets: 24.87 m.h h *h "h  h gfffddjdZdķ>@Z9Z9Z9Z=l?Us<)Q UiU9)QUYiYi]:侉ae]=IaI ԡ59@1 @1@5/@1DD<E# E E*E"E[;*E:VE(N4ZEBEf! t,[?A:^@:0߽@:JU<ٱ:~X BAHRS rotation from veh to nav: [[0.939363,0.341355,0.032762],[-0.342565,0.938455,0.044179],[-0.015665,-0.052723,0.998486]]:HC? ?-Ơ?տ@??@~ ?i:^@I:v];:CYJByJIbDVVDV0y^K%^K=ٔ^K(Q-^>9`Y`=bFy`f]Z7Ef>hQ 5jN5jˤ?Q 9nN5j))jlBYlynk?Q In@j]DIj;ij;j CN5ytɮv$AtDNOT Ignoring new targets: 24.87 m.hh*h"h hgff!f!d!d!jd!Zd-@?@ZIZIZIZMk?]JU<)Y eie9)aeaiaim4侉im@=IiIq9@ @@%1@!QY^AqIBBBBB =BBB6r;B.EE7 EBEE"Em;*EZ;VEZEBE<2E<JEs<:Es<IO>ԉ ,t?A06@6@6~S}<ٱ6`;X >AHRS rotation from veh to nav: [[0.939428,0.341194,0.032575],[-0.342397,0.938511,0.044289],[-0.015461,-0.052760,0.998488]]6H? ?? տH?? a ?i6@I6D];6CYFByFIIJC=)J4=N=N=ieMb@Mb@Mb@aaaa a9eS㥫L7A`?~jtYaye+=eļeAezA a)evAaYe AbDuVDukylE%>=ٔ\Q->9Y=Fy9E>Q 5N5ʤ?Q 9N5()fBYn=Q E侉z=III)ԑ@ @@J3@Թ^AA!=IIO> D zD ?AE 6 E &E -E "E l;*E ;VE t4ZE a @a @a @a @,Ɏ?A2@2_߽@2YGy<ٱ2X :AHRS rotation from veh to nav: [[0.939378,0.341349,0.032407],[-0.342547,0.938445,0.044524],[-0.015214,-0.052926,0.998483]]2Ha???`Hտ@?`˦?`( '?i2@I2*];2CYFByFIbDVVDV1`yn9%nV=ٔrW)Q-r>9tYt=vFytzعEz>AQ 5UN5Eɤ?Q 9UN5E()E`BYQy}?Q I}@E_DIE;iEA;E=III@I @I@M4@I^Ama5=IyIO>I ߰,?A2@2ݽ@2w<ٱ26Y :AHRS rotation from veh to nav: [[0.939319,0.341516,0.032341],[-0.342711,0.938380,0.044623],[-0.015109,-0.052999,0.998480]]2H?f? ?`տ6? ئ?O@"?i2@I2A];0YFByFIiMb@Mb@Mb@ 9y&1~jt?V-Y`yD=/AdA  A) AY AbD-VD-0A=AAA=AABE>BABEIBEBBE =BABABEr;BEX.EBBBBB =Cc4E' E6E)E"E _;*E ;VEFA4ZEBE9Y=FyѹE>Q 5=N5Gɤ?Q 9=N5')ZBYE_=Q EESԡ ,E?A6Yݶ@6+ؽ@6 q<ٱ6nY >AHRS rotation from veh to nav: [[0.939083,0.342195,0.032027],[-0.343375,0.938129,0.044808],[-0.014712,-0.053076,0.998482]]6H ??e? տ&?? p!,?i6Yݶ@I6?];6CYJByH LLbDPVDPyZ%h;%Z_=ٔ^Q-^>9`Y`=bFy`fEf>dQ 5jN5fȤ?Q 9nN5f&)fTBYlyn?Q In@faDIf;if;f)QN5ytɮv$AtDNOT Ignoring new targets: 24.87 m.hh*h"h hgff!f!d!d!jd!Zd- Q^@@ZIZIZIZM?] q<)a eie9)ae뷷aiaim<侉im=IqIqy]>i>59@1 @1@5/@1@=8>@=N>E* E%E*E"Ea;*E;VE(N4ZEa@a@a@a@ԡ^AQIiIO|> ¶,S[?A2X׶@2*ҽ@2K]k<ٱ2ވY :AHRS rotation from veh to nav: [[0.938836,0.342899,0.031735],[-0.344065,0.937871,0.044906],[-0.014365,-0.053079,0.998487]]2H ????(ֿ ??gk`-?i2X׶@I2ց];0YZByZIbDfVDfyjq>%jH=ٔn^Q-r>9pYp=rFypv@Ev>xQ 5~N5zȤ?Q 9~N5zk&)zMBY|y?Q I@xIzn;iz;zTN5y ɮ %A 5DNOT Ignoring new targets: 24.87 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM@@ZiZiZiZm?K]k<)  i9)額Ҹii6侉Hv=II59@9 @9@E/@A BABABEIBEBBABABABEr;BEa.E^AuA!=IE= E&EE"Es;*E;VEZEBE1Y ,6?A2:ж@2 ˽@2^d<ٱ22Y :AHRS rotation from veh to nav: [[0.938542,0.343736,0.031372],[-0.344882,0.937570,0.044939],[-0.013966,-0.052997,0.998497]]2H@?? ?ֿ? E?n@n"?i2:ж@I2];2CYRByVIimMb@Mb@Mb@iiii i9mV-Mb?{GzYmym=mףmAmA m A)m\ AiYm AbDVDy =%?=ٔsQ->9Y=FyE>Q 5N5Ǥ?Q 9N5%)IBYB=Q EAZuB=ZuB=ZuŦ@Zud ?^d<)  ׾i9)額ii@侉B=IIE9@A @A@E/@Aiԉ^Ai Iq I O >E 1 E E 'E "E 2h;*E x:VE '4ZE a @a @a @a @Թ ,?ARʶ@RĽ@R]<ٱR_)X bAHRS rotation from veh to nav: [[0.938288,0.344470,0.030926],[-0.345590,0.937315,0.044823],[-0.013547,-0.052744,0.998516]]RH t? ??%ֿ{??`S ?iRʶ@IRH];RCYrByrIz=x~@A|bDVDy %S=ٔ֍Q->9Y!=%Fy!%E%>)Q 55N5-lǤ?Q 9N5-%)-DBYy?Q I@)I-k ,<)?A:@:Q@:yW<ٱ:ZW BAHRS rotation from veh to nav: [[0.937930,0.345471,0.030607],[-0.346573,0.936950,0.044851],[-0.013183,-0.052674,0.998525]]:H`?0?{W? A.ֿ~?@?  ?i:@I:{];:CYNByNIBn<An<BpBpBrxIBr׀BBpBpBpBrVr;Br-.EiEMb@Mb@Mb@AAAA A9ES㥛S㥛?:vbEjErO4rE0Ee/ Ee%Ee,Ea"Eeaf;*Ee;VEeg4ZEaBEeη99Y9=EFyAEdEM>qQ 5}N5uƤ?Q 9}N5u.%)uABY}7%=Q E},C?A:@:ֲ@:KR<ٱ:( X FAHRS rotation from veh to nav: [[0.937533,0.346570,0.030364],[-0.347660,0.936542,0.044970],[-0.012852,-0.052717,0.998527]]:H`D?2.?? @ֿ@&? N?R``?i:@I:];8YNByNIbDVVDVJy^<=%^f=ٔbsQ-b>9`Yd=fFydfUEf>hQ 5nN5jSƤ?Q 9rN5j$)j?BYpyr'@Q Ir@hIjC ;ij` ;jbN5ytɮv^$AxDNOT Ignoring new targets: 24.87 m.hh*h"h hg!f!f!f!d)d)jd)Zd-@`A@ZIZIZIZMq'@eKR<)i mim9)imiiiiu>侉q}=IyIy9@ @@4@IEm0 Em!Em)Ei"EmJg;*Em:VEmFA4ZEia}@a}@a}@a}@ԁ^AI!I1OEs>ԩ ,/]?A2[@2-@2M<ٱ2xX :AHRS rotation from veh to nav: [[0.937126,0.347685,0.030178],[-0.348767,0.936121,0.045151],[-0.012552,-0.052837,0.998524]]2H?y@??0Rֿ?? ƴ i ?i2[@I2];2C@YFByFI HHLL r9Y=Fy;E > Q 5N5 Ť?Q 9N5 $)  ;,5~w?Aɰ4<2w@2I@2'J<ٱ2YY :AHRS rotation from veh to nav: [[0.936706,0.348822,0.030079],[-0.349899,0.935691,0.045314],[-0.012338,-0.052970,0.998520]]2H?S?͞? dֿ@.?U3?@D?i2w@I2];2CpY] By]IiMb@Mb@Mb@ 9~jtQ?{GztYļy\=ף`A vA)YbD VD y}=%,=ٔ0Q-%>9!Y!=%Fy!-&E->1Q 5=N55XŤ?Q 9=N55#)5:BY=/=Q E=a D zD AAE 1 E 4E *E "E 2h;*E ;VE (N4ZE a @a @a @a @",Y?AB@B^@B}/F<ٱBX JAHRS rotation from veh to nav: [[0.936456,0.349512,0.029853],[-0.350576,0.935438,0.045291],[-0.012096,-0.052878,0.998528]]BHr?h^?ȑ?oֿ?V0?ň `?iB@IBA];@PRs@iPIPPT V;kATTTTXIX)XiX)XIXZS^ZF \\\`i``ibC`)` dId d)ddddYhYnBynIbDvVDv:2y~M=%t=ٔ=Q-?9 Y = Fy  M E ?Q 5N5 Ť?Q 9%N5#)9BY!y%?Q I%@I ;iu ;zmN5y)ɮ5#A19DNOT Ignoring new targets: 24.87 m.hh*h"h hgff f d d jd Zd@A@ZQZQZQZUH?}}/F<) i49)顅mii<侉=IIm9@i @i@m/@iqԑ^AIIO> M,4?A6@6ؓ@6LfC<ٱ6KuXAB@AAB@ABDBDBFIBFBBF =BDBDBFNr;BF).E RAHRS rotation from veh to nav: [[0.936221,0.350153,0.029703],[-0.351208,0.935202,0.045273],[-0.011926,-0.052818,0.998533]]6H?h?@j?`2zֿ-?.?l `?i6@I6];6CEE$ EE;EE,EA"EEg\;*EE ;VEEg4ZEABEE/91Y1=5Fy1=E=>AQ 5MN5E_Ĥ?Q 9MN5E")AYM=Q EUKi]9@Y @Y@Y@a^AE (S=IQ Ia Om > 4,?A2@2̏@2C<ٱ2XwX :AHRS rotation from veh to nav: [[0.936048,0.350614,0.029749],[-0.351671,0.935029,0.045252],[-0.011950,-0.052820,0.998533]]2H?tp?@v?Łֿ?C+?@Vy3 ?i2@I2U];2CYv#ByvIbD~VD~βy &=% s=ٔc8Q-?9Y=FyE?!Q 5-N5%ä?Q 9-N5%H")!Y)y5?Q I5@%gDI%y:i%N:%tN5y9ɮ=O#A9eDNOT Ignoring new targets: 24.87 m.hihi*hi"hi higififqfqdqdyjdyZd}@dB@ZZZZ?C<) Li9)顽뿷ii@侉=IIU9@Q @Q@U0@QDM%=DM4=EU? EU5EU)EQ"EUt;*EU ;VEUFA4ZEQa]@a]@a]@a]@)^AqIIO> $_,>?A2@2}@2]E<ٱ2X :AHRS rotation from veh to nav: [[0.935990,0.350761,0.029815],[-0.351820,0.934979,0.045131],[-0.012046,-0.052731,0.998536]]2H?r?? 7ֿY?e?{ ?i2@I2/];2CY^/BybIbDjVDj:yr^=%rM=ٔr{9Q-r>9tYt=vFytvHҹEz>xQ 5~N5zSä?Q 9N5z!)xYy?Q I@zhDIzr;izL;zxN5y ɮ"A=DNOT Ignoring new targets: 24.87 m.h9h9*h9"h9 hAgAfAfAfIdIdIjdIZdM@ƗB@ZZZZ?]E<) =i9)  i i :侉 =I1I99@ @@?0@!BBBIBBBBBBhr;B6.EBIBIBIBM =BICM4Ea EeGEaEa"Ea*Ee;VEaZEaBEeWI <,??A$>ᔶ@>@>H<ٱ>AW JAHRS rotation from veh to nav: [[0.936040,0.350617,0.029946],[-0.351681,0.935040,0.044948],[-0.012241,-0.052604,0.998540]]>H ?`p?6?@ֿ?b?  ?i>ᔶ@I>X.];>CY6ByI Ai5Mb@Mb@Mb@1111 195ktsh|??Y5 0y5=515A 1)11Y5 A E49aYa=eFyam9Em>ԩQ 5N5¤?Q 9N5g )8BYq=Q E Da zDe @AEm + Em Ei Ei "Em b;*Em |;;VEi ZEi au @au @au @au @q,ۤ?A2@2Ғ@2L<ٱ2CW :AHRS rotation from veh to nav: [[0.936171,0.350251,0.030141],[-0.351323,0.935182,0.044797],[-0.012498,-0.052527,0.998541]]2H? j?_ݞ?|ֿ??R䪿 ?i2@I2f];0 @)@B`弩@@DDiFԼIDDIJCiJQlA J/ݼH)HH LN/ݼLllpr lAIr̼)pip)tItvļvYF txxxixxi|~ A)| |I|Y|Y]>By]IbDmVDm:2y}9=%}n=ٔC:Q-?9Y=Fy:E?Q 5N5¤?Q 9N5)7BYym?Q I@jDI;io:DN5yɮ"A5DNOT Ignoring new targets: 24.87 m.h1h9*h9"h9 h9g9f9fAfAdAdAjdIZdMTC@ZZZZDm?L<) i9)$·ii>侉=II 9@ @@4@IIO>1a H ,|,?ABA4=J<@J@J%O<ٱJPW ZAHRS rotation from veh to nav: [[0.936265,0.349988,0.030269],[-0.351067,0.935280,0.044765],[-0.012643,-0.052539,0.998539]]JH ?3f??wֿ?y? 䉿 Z檿?iJ<@IJ@];JCE-E E-JE-&E)"E-Vz;*E-;VE-4ZE)YYBByIBBBIB#BBBBBq;B-EiMb@Mb@Mb@ 9p= ף?~jthYy=DA  A) AY\ AbDVD1yލ<%6=ٔé9Q->9Y=FyI:E>Q 5N5?Q 9N5:)6BYV=Q E;y.?Q I@lDIa:i:1N5yɮ_"A=DNOT Ignoring new targets: 24.87 m.h9hA*hA"hA hAgAfAfIfMBdIdQjdQZdUa;C@ZuV=ZuV=ZuBk @Zu.?%O<) Ѿi9)額·ii8侉9z=IIԉA@A @A@E4@AIIO=> EԀGay/"9YAԱ ,WF?A2ӟ@2@2(U<ٱ2^qW :AHRS rotation from veh to nav: [[0.936500,0.349331,0.030593],[-0.350426,0.935524,0.044687],[-0.013010,-0.052570,0.998533]]2H?n[?S? bmֿ`?-?뤊h꪿?i2ӟ@I2gF];2CYBJByFIIJ4=)Ja=bDNVDNyV=E=%Vv=ٔZِ:Q-Z?9XYX=ZFyX^;E^?`Q 5fN5b?Q 9fN5b7)b4BYdyjE?Q Ij@bmDIb(:ibA:bN5ylɮn"Al DNOT Ignoring new targets: 24.87 m.h h *h "h  h g fffddjdZdeC@Z9Z9Z9Z=E?M(U<)Q UɾiU9)QU÷QԹiiB侉V=III ) gA9@ @@/@IIO>E5. E50E5*E1"E5ye;*E5;VE5(N4ZE1BE59IYI=MFyIMD:EU>QQ 5]N5U迤?Q 9eN5U)U3BYaye`?Q Ie@UoDIUH;iUT;UɉN5yiɮu!AqDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd`C@ZZZZ,`?'\<) Oži"9)ķii<侉!=IqIq 9@ @@@AB1B1B5IB58BB1B1B1B5q;B5-EbEFA4jEmF4rE/EU' EU,EU+EQ"EU _;*EU;VEU [4ZEQBEU<2EU<JEU_<:EU_ԙ P, z?AYVByIiMb@Mb@Mb@ 9l񲿸Q?I +Yy=94rA`A vA)\ AY AbD VD:2y=%B=ٔQ->9Y=FyE>Q 5N5꾤?Q 9N5e)/BY>Q E;y?Q I@qDI:i/:yN5yɮ!A%DNOT Ignoring new targets: 24.87 m.h!h)*h)"h) h)g)f)f1f5Bd1d9jd9Zd=`C@qZ>Z>Zx@Z?))) U¾iU[9)Y]SŷYiYie6侉ae?=IaIi%9@! @!@%/@!ԡ^A =I I O >E} @ E} FE} *Ey "E} u;*E} v;VE} (N4ZEy a @a @a @a @ +$,?A2@2V@2yj<ٱ2W :AHRS rotation from veh to nav: [[0.937323,0.347013,0.031746],[-0.348168,0.936381,0.044373],[-0.014328,-0.052644,0.998511]]2H@?x5?`@?aHֿ@??` X4`?i2@I2];2CY^NByb IdfA j9tYt=zFyxzQ;Ez>|Q 5N5~?Q 9N5~ )~,BY y ?Q I @~rDI~:i~_:~N5yɮ!ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZdD@ZZZZ?yj<) ʾi9)Ʒii@侉@=IIm9@i @i@m/@i^AO=II O >) A A Y *,V֭?AɰRƻ@R@R"As<ٱRSW ^AHRS rotation from veh to nav: [[0.937666,0.346045,0.032170],[-0.347220,0.936742,0.044181],[-0.014847,-0.052597,0.998505]]RH`\?@%?x?8ֿ? ڞ?g?iRƻ@IR];RCBlBlBnIBn=BBn =BlBlBnq;Bn-EY KByIiMb@Mb@Mb@ 9#~jX9v?~jtY㥽y=AIA A) AY AbDeVDeܲyu*%u3=ٔu*:Q-u>9yYy=}Fyy};E>Q 5N5?Q 9N5`)&BY>Q E;y?Q I@tDI;i;N5yɮ"ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfff BddjdZd`:Z>Z @Z=?"As<) pi49)Ʒi!)i-:侉)-KZ=I)I19@ @@ 0@@hA@hAY^A2=IIO>ԁ 41,4?A06^ö@60@6cz<ٱ6,RW >AHRS rotation from veh to nav: [[0.937981,0.345157,0.032517],[-0.346349,0.937073,0.044005],[-0.015282,-0.052538,0.998502]]6H?@? ? *ֿ?@ڇ?)L`K檿?i6^ö@I68];6CYFGByFIbDNVDNyV̼%Vm=ٔZb:Q-Z?9XYX=^Fy\ 0;E ?Q 5N5?Q 9%N5)"BY!y%%?Q I%@vDI ;i ;՗N5y)ɮ51"A1]DNOT Ignoring new targets: 24.87 m.hYhY*hY"hY hagafafafadidijdiZdm@iD@ZZZZ_%?cz<) ir9)顭Ƿii4侉a=IIm9@i @q@u4@qԑEEH EE:EE+EA"EE};*EE$ ;VEE [4ZEAԹ^A6[=IIO> @7,z?A2ȶ@2iý@2 <ٱ26W :AHRS rotation from veh to nav: [[0.938197,0.344540,0.032848],[-0.345749,0.937297,0.043966],[-0.015640,-0.052606,0.998493]]2H`? ?eѠ? ֿ`U??`謹`?i2ȶ@I29];0\Yb9BybIIf<)f9xYx=zFyx~:E~>Q 5 N5g?Q 9 N5)BY y 侉IM3=IIIQy @  @ @ 4@ BBBIB8BB =BBBq;B-E9E5/ E1E5-E1"E5af;*E1VE5t4ZE1BE5ηA &>,p[?AY6ByIiMb@Mb@Mb@ 9Zd;OA`"?Yjy=̼AA )YbDVDβy%;=ٔQ->9Y=FyE>Q 5N5?Q 9 N5)BY >Q E ;y ?Q I @zDI:i:(N5yɮ"AEDNOT Ignoring new targets: 24.87 m.hAhA*hA"hA hIgIfIfQfUBdQdQjdYZd]D@Z}>Z}>Z}ZG@Z}?) pi9)顕0ɷii8侉=IIE9@I @I@M/@Iaq^AiII O >ԡ E 7 E .E )E "E m;*E ;VE FA4ZE a @a @a @a @N E,0?A6ζ@6`ɽ@6<ٱ6 Y >AHRS rotation from veh to nav: [[0.938438,0.343810,0.033602],[-0.345061,0.937545,0.044077],[-0.016349,-0.052958,0.998463]]6H?`?@<4?|ֿ]?:?`ʽ Mh?i6ζ@I6D];4Y^1BybIbDjVDjyr<%r]=ٔr>:Q-r>9tYt=vFytv;Ez>xQ 5~N5z?Q 9N5z)zBYy?Q I@z{DIz;iz;zcN5y ɮ"A=DNOT Ignoring new targets: 24.87 m.h9h9*h9"h9 hAgAfAfAfIdIdIjdIZdM QE@ZqZqZqZu?y<) is9)額ɷiiB侉=II1@9 @9@=/@9ԡ^AQIaIqO}{> B A <7K,J /?AB B B"IB"#BB B B B"q;B"-EBABABABABACEռ4E= E=CE9E9"E=a;*E=;VE9ZE9BE=9Y=FyE>Q 5N5L?Q 9N5) BY =Q E;y*?Q I@}DIK ;i ;xN5yɮ#A-DNOT Ignoring new targets: 24.87 m.h)h)*h)"h) h)g1f1f1f5Bd9d9jd9Zd=(@E@Z] =Z] =Z]L@Z]L*?q)q uRiu9)y}ʷyiyi<侉5=IIIgA)fA 9@  @ @ @ 1^A Z=I I O >Y <R,}H?A2cж@25˽@2<ٱ2$Y :AHRS rotation from veh to nav: [[0.938507,0.343572,0.034098],[-0.344849,0.937625,0.044030],[-0.016843,-0.053081,0.998448]]2H @?@?=u?`ֿ@? ?e?b-I?i2cж@I2B];2CYBByFIbDNVDNyV%Vu=ٔV.:Q-Z?9XYX=ZFyX^/:E^?`Q 5fN5b?Q 9fN5b)bBYdyf6?Q If@b~DIbW:ibp:bcN5ynvBɮn"AnxEDNOT Ignoring new targets: 24.87 m.hh*h "h  h g f ffddjdZd@jE@ZZZZ`6?<) ľi#9)!%q˷!i!i-6侉)-HH=I)I11@ @@/@D=D%=Ee@ Ee*Ee,Ea"Eeu;*Ee;VEeg4ZEaau@au@au@au@a^A5:=I9IQO]>Թ {IX,"b?A2Ͷ@2Ƚ@2<ٱ2.Y :AHRS rotation from veh to nav: [[0.938400,0.343848,0.034260],[-0.345130,0.937529,0.043869],[-0.017036,-0.052991,0.998450]]2H`?@??ֿ=?u?q!L?i2Ͷ@I2J];2CYBByFIbDNVDN:yVΒ%VJ=ٔV9Q-V>9XYX=ZFyXZSCE^>`Q 5fN5b?Q 9fN5b)bBYdyf-?Q If@bDIb:ibd:bN5yhɮn<#AlDNOT Ignoring new targets: 24.87 m.hh*h"h  h g f f fddjdZdE@Z9Z9Z9Z=E-?M<)I MӾiU9)QU@̷QiQi]@侉Y]y=IYIaԹ9@ @@X0@BE>BABEIBEBBABABABEq;BE-E^AqIIO>E> E@E)E"Es;*EM;VEFA4ZEBE9yY=FyܬE>Q 5N5X?Q 9N5)BY=Q E9@ @@l0@1^AZ=IIO >i D zD E 7 E E +E "E m;*E :VE [4ZE a% @a% @a% @a% @`[e,w?A 6@6»@6<ٱ6xX >AHRS rotation from veh to nav: [[0.937851,0.345333,0.034352],[-0.346617,0.936986,0.043749],[-0.017080,-0.052937,0.998452]]6H???.ֿ ?9\Y\=^Fy\bN0Eb>`Q 5fN5b.?Q 9jN5be )bBYhyj@Q Ij@bDIb`:ib:bN5yAɮE#AADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZdF@ZZZZ#@5<)1 56i59)9=ͷ9i9iE4侉AE=IAIIq9@ @@4@ԙ^A:=IIO> Ay Ay B- >B- Cӊk,ni?ABUIBUBBU =BQBUDBU!q;BU-EHV@Vv@VΊ<ٱVjdYE^M E^ E^(E\"E^ˀ;*E^:VE^c44ZE\BE^P9Y=Fy6E%>!Q 55N5%=?Q 95N5% )%BY5K=Q E5侉AE4=IAII@ @@4@^AIIO> nr,e4?A2*@2@2<ٱ2~Y :AHRS rotation from veh to nav: [[0.936890,0.347948,0.034180],[-0.349225,0.936005,0.044005],[-0.016681,-0.053165,0.998446]]2H?D??@Yֿ?@㇦?m8E?i2*@I2];2CYBByBI DDbDNVDNk1yV4м%Ve=ٔVn@Q-Z>9XYX=ZFyX^E^>`Q 5fN5b}?Q 9fN5b )bBYdyf@Q Ij@`Ib:ib :b N5ylɮn$Al| DNOT Ignoring new targets: 24.87 m.h h *h "h  h gfffddjdZd%mF@ZAZAZAZE@U<)Q ]^i],9)Y]ηYiYie8侉ae6=IaIiiyIyy59@1 @1@5/@9bE÷G4jErO4rEn/Et EIE)E"E{;*E ;VEFA4ZEa@a@a@a@!^A5Z=IAQIYOew>ԁ x,= ?Aɰ:@:՗@:ު<ٱ:*Z FAHRS rotation from veh to nav: [[0.936332,0.349460,0.034047],[-0.350730,0.935438,0.044098],[-0.016438,-0.053231,0.998447]]:H@o? ]?n?@\rֿ@? ? *Ր`AF?i:@I:^;:CYNByNIbDVVDV:y^!=%bI=ٔbQ-b>9dYd=fFydfyEf>hQ 5nN5j?Q 9nN5j^ )jܯBYpyrw@Q Ir@jDIj;ij;jN5ytɮv#AxDNOT Ignoring new targets: 24.87 m.hh*h"h hg!f!f!f!d)d)jd)Zd-yF@ZIZIZIZMw@Ymު<)i m؛im9)imϷiiqiuB侉y}Ռ=IyIy59@1 @1@1@1ԙB>BBIBBBBBBHq;B-EE? E7E*E"Et;*E ;VE(N4ZEBEWԱ ~,?AԹYByIiMb@Mb@Mb@ A9Zd;OMbp?~jtYjy;rA3A )/ AYp AbD-VD-ky=9%==ٔ=Q-=>9AYI=MFyIMEM>QQ 5]N5U?Q 9]N5U5 )UׯBYe@Z)@) {i9)3зii<侉N=IIIfA)gA9@ @@/@E T E PE )E "E ;*E ;VE FA4ZE a @a @a @a @9 ^A ?=I I O% >,k?A>@>\|@><ٱ>Y FAHRS rotation from veh to nav: [[0.935160,0.352630,0.033577],[-0.353872,0.934253,0.044109],[-0.015815,-0.053131,0.998462]]>H@?}?`1?`եֿ g? q?`13@g?i>@I>^;>CYNByNIIR=)PV=V=bDZVDZβyb:=%b=ٔfQ-f?9hYh=jFyhjAEj?lQ 5rN5n.?Q 9rN5n )nԯBYtyv)@Q Iv@nDIn;in/;nN5yxɮ~#A|%DNOT Ignoring new targets: 24.87 m.h!h!*h!"h! h!g)f)f1f1d1d1jd1Zd= h G@IZYZYZYZ]})@u<)q u؍iu9)q}зyiyi6侉`!=II9@ @@/@^A(S=IIO>qԱB >B B IB ܀BB B B B q;B -EE- A E- \E- .E) "E- v;*E- ;VE- ـ4ZE) BE- 9Y=FyE>Q 5N5V?Q 9N5 )ӯBYY I,GL?A2vb@2H]@2w<ٱ25Y :AHRS rotation from veh to nav: [[0.933822,0.356212,0.033013],[-0.357421,0.932901,0.044119],[-0.015082,-0.052999,0.998481]]2H?@/?`?ֿR?@ʖ?h㎿"?i2vb@I2Kj_;2CYBByFIbDNVDN yZk=%Z^=ٔZdQ-Z>9\Y\=^Fy\bEb>dQ 5jN5f?Q 9jN5f )fүBYhyjL5@Q Ij@dIf:if :fN5ypɮre#ApDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZdNvG@Z)Z)Z)Z-L5@1]w<)Y ]tie9)aeѷaiaim:侉im=IiIq}i>i}>EK EE)E"E;*EVEFA4ZEa @a @a @a @-9@) @)@-0@)^A=II!O5->aԉԹ C,f?A2S@2XN@2r<ٱ2*Y :AHRS rotation from veh to nav: [[0.933173,0.357928,0.032806],[-0.359125,0.932244,0.044158],[-0.014777,-0.052989,0.998486]]2H?@L?ˠ? ֿ ?훦?@CV!?i2S@I2=_;2CYF ByFI HHJAHbDRVDRyV <%ZJ=ٔZEQ-Z>9XY\=^Fy\b퓻Eb>dQ 5fN5fש?Q 9jN5f )fЯBYhyj.5@Q Ij@dIfb:if:fnN5ypɮr@#Ap DNOT Ignoring new targets: 24.87 m.h h *h "h hgfffddjd!Zd%`G@ZAZAZAZE.5@Ur<)Q ]Fki]9)Y]ҷYiYie4侉am=IiIiԑu9@q @q@u4@qB>BCBIBBB =BBBq;B-EB-CB-CB)B- =B- =C-İ5E@ ENE*E"Eu;*E;VE(N4ZEBE  N+,?Aɰ;YByIiMb@Mb@Mb@ 9 rhy&1?Mb`YCy`e< A7A MA)3 AYbDVDy4=%:=ٔQ->9Y=%Fy!%E%>)Q 55N5-m?Q 9=N5- ))Y='侉wA=II9@ @@4@@@^A_=IIO>E G E /E )E "E &|;*E Y;VE FA4ZE a @a @a @a @I V,:?AYfByfIbDnVDnN2yv0 =%vZ=ٔtQ-z>9xYx=zFyx|E~>Q 5 N5?Q 9 N5| )ϯBY y Q I @I:il:N5yɮ"AEDNOT Ignoring new targets: 24.87 m.hAhI*hI"hI hIgIfIfQfQdQdQjdYZd] KH@ZyZyZyZy) 2{ic9)顕%ӷii8侉d3=II59@1 @1@5/@1Qy^AU}=IaIqO}{>ԩ B >B B IB BB B B B q;B -EE- D E- zE- *E) "E- ny;*E- .;VE- (N4ZE) BE- B=ٔ Q->9Y=Fy4E>Q 5N5?Q 9N5 )Y*=Q E Ug,F?ARJ%@R @RT(`<ٱRY bAHRS rotation from veh to nav: [[0.931145,0.363239,0.032021],[-0.364391,0.930190,0.044336],[-0.013681,-0.052951,0.998503]]RH?`P?? e?/R׿?-?@k`?iRJ%@IR^;RClYGByIE> E+EE"Es;*E=;VEZEa@a@a@a@bDVD y=%7=ٔ Q- >9Y=Fy0E>Q 5%N5񨤊?Q 9-N5 )Y)y-L?Q I-@I+;i7;8N5y9ɮ=m!A9DNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZdH@ ZZZZL?-T(`<)) 5gi5,9)153Է1i1iE<侉IUfɴ=IYIi9@ @@/@@ =@ =1^AE l=IQ Ia i Ou >l,!?A2& @2@2]<ٱ2W :AHRS rotation from veh to nav: [[0.930918,0.363839,0.031818],[-0.364976,0.929972,0.044105],[-0.013543,-0.052671,0.998520]]2H ?"I?`tJ?@[׿S?`㔦? _`?i2& @I2*];2CTVds@iTIXXZC Z?kAXXX^C\I\)\i`)`IbzjAbE` `dddiddihjjA)h hIh l)llllYlYvKByvIbD VD2y <%q=ٔhչQ-?9Y=FyUE%?!Q 5-N5%⨤?Q 95N5%( )%ίBY1y57?Q I5@%DI%:i%:%/N59yAɮEM!AAmDNOT Ignoring new targets: 24.87 m.hqhq*hq"hq hqgqfyfyfyddjdZdH@ZZZZ7?]<) _i9)Էii6侉=III)iߑIߕA9@ @@/@B>BBIB#BBBBBq;B-EqE7 EdE+E"Em;*EB#;VE [4ZEBE ]y, ?A28@2 @2OZ<ٱ28W :AHRS rotation from veh to nav: [[0.930657,0.364529,0.031576],[-0.365651,0.929712,0.043982],[-0.013324,-0.052478,0.998533]]2H?pT?*?f׿3?Ȅ?I`aު?i28@I2];2CYcBy%I !!-A-AԙiMb@Mb@Mb@ 9v/V-?9Y!=%Fy!%غE%>)Q 55N5-䧤?Q 95N5-' )-ЯBY=`=Q E=! ,?A4<ɰ4<2@2^@24Z<ٱ2V :AHRS rotation from veh to nav: [[0.930537,0.364834,0.031573],[-0.365954,0.929599,0.043852],[-0.013351,-0.052361,0.998539]]2H?qY?U*? k׿F?s?@WϪ ?i2@I2|];2CYFdByF&IbDRVDRβyV\;%Vd=ٔZ"8Q-Z>9\Y\=^Fy\bnEb>`Q 5fN5b?Q 9jN5bT)bѯBYhyjF?Q Ij@bDIb;ib;b%N5ypɮr Ap DNOT Ignoring new targets: 24.87 m.h h *h "h  hgfffddjdZd%I@ZAZAZAZEF?U4Z<)Q ]<~i]u9)Y]rYiYie:侉ae+=IaIi)@) @)@-5@)^AM*=IYIiO}z>IB >B B IB BBB =B B B q;B -Eԁ E 2 E E )E "E i;*E VE FA4ZE BE '9IYIԉ=MFyLE>Q 5N5?Q 9N5)ϯBY=Q E;y?Q I@DIC:i:8N5yɮ ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjdZd`LI@Z-=Z-=Z-s.@Z-?=LZ<)9 =i=9)AEAiAiM4侉IM-=IIIQ]a>i]>9@ @@4@Թ^AE =IQ Ia Om > 9,O?AV@Vh @V [<ٱVW bAHRS rotation from veh to nav: [[0.930314,0.365385,0.031768],[-0.366518,0.929367,0.044077],[-0.013419,-0.052649,0.998523]]VH"?vb?C?u׿^?I?K{@?iV@IV9];TYjByjLIIn<)lbDvVDvfy~K=%~b=ٔ9Q->9Y=Fy Z6E >Q 5uN5侉  /=I IE=F E=+E9E9"E=>{;*E==;VE9ZE9aM@aM@aM@aM@9@ @@/@^A=I)I9OE>I ,ii?A6@6 @6qf`<ٱ6 Y BAHRS rotation from veh to nav: [[0.930318,0.365343,0.032140],[-0.366498,0.929365,0.044271],[-0.013696,-0.052965,0.998502]]6H*?a? t?t׿`[?? :`?i6@I60];6CY^BybZIbDjVDjyr j=%rL=ٔrd5:Q-r>9tYt=vFytzG8Ez>|Q 5N5~ҥ?Q 9N5~)~ͯBYy?Q I@~DI~a;i~<;~N5yɮ*A=DNOT Ignoring new targets: 24.87 m.h9h9*h9"hA hAgAfAfIfIdIdIjdIZdUȬI@ZqZqZqZuI?%qf`<)) -i-9))51i1i]8侉aeA=IaIiB]>BYB]'IB]fBB] =BYBYB]Or;B] .EԙM9@I @Q@U/@QE} E}OE}+Ey"E};*E}3;VE} [4ZEyBE} ,D?A6@6@6>)c<ٱ6Y BAHRS rotation from veh to nav: [[0.930376,0.365174,0.032368],[-0.366343,0.929419,0.044414],[-0.013864,-0.053180,0.998489]]6H?_? ?*r׿`ͽ?x? da:?i6@I6HS];4YHyL\i%Mb@Mb@Mb@!!!! !9% ףp= p= ף?Mb`Y%Qy%>%%rA! %IA)!!Y%G A 54<5bD=VD=yMj%MD=ٔUr9Q-U>9QYQ=]FyY]9Ee>aQ 5mN5e?Q 9mN5e)e˯BYu!>Q Eu;yu?Q Iu@eDIe:ie#:eoN5yyɮ.ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjdZd`XI@Z]!>Z]!>Z],I @Z]?>)c<) \i9)顝iiB侉͏=II9@ @@/@^A9=IIO>Eu q Eu \Eu *Eq "Eu ;*Eu ;VEu (N4ZEq a} @a} @a} @a} @A ,?AYBy`I bDVD:y<%5=ٔQ->9Y=FyE>Q 5N5(?Q 9N5)ʯBYyQ I@DIW:ij;cN5yɮA%DNOT Ignoring new targets: 24.87 m.h!h!*h!"h! h!g)f)f)f1d1d1jd1Zd= 3J@ZYZYZYZY)  i^9)顝#ִii<侉IIQy9@ @@/@B] |>BY B] @IB] zBB] =BY B] DB] >r;B] .EB%CB%CB!B% =B% =C%$5ԡ ^A= =Ia E @ E LE )E "E u;*E ;VE FA4ZE BE $s,i?AR@R@R j<ٱRiY ^AHRS rotation from veh to nav: [[0.930760,0.364166,0.032689],[-0.365351,0.929818,0.044238],[-0.014285,-0.053118,0.998486]]RH ?N??@a׿`?e?]AO2?iR@IRh];RC `)b(lAbļbtfFddhj5lAijļIhhIn Cil n̼l)lp pr̼pppvlAIvj)tit)xIxzjx xx||i||i|~"A)| IYY By dIiMb@Mb@Mb@ 9|?5^㥛 ?~jtYҽy>D AA ) AYAbDVD y~X<%P=ٔ:Q->9Y=Fy1;E>Q 5N5?Q 9N5L)ƯBY`7>Q E;yU?Q I@DIZE`7>ZE( @ZEU?U j<)y }i}9)y}"yii6侉=II59@1 @1@5/@1!^AQ Ia Iy O >Q Q,&?A2 @2b@2m<ٱ2aY >AHRS rotation from veh to nav: [[0.930924,0.363730,0.032874],[-0.364924,0.929991,0.044133],[-0.014520,-0.053081,0.998485]]2H !?[G?Ԡ?Z׿{??j-?i2 @I2F];2CYycIbD-VD-09yE \%ET=ٔE:Q-M>9IYI=MFyIUl:EU>YQ 5eO5]T?Q 9eO5])]¯BYayee?Q Im@]DI]:i]:]/O5yqɮuAqDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd J@ZZZZ>e?m<) i 9) ii@侉$=III)EX EXE+E"EɅ;*E;VE [4ZEa@a@a@a@9@ @@P0@iԑ^A=IIO> {,#?A:#@:@:r<ٱ:MY FAHRS rotation from veh to nav: [[0.931059,0.363366,0.033073],[-0.364569,0.930137,0.043998],[-0.014775,-0.053022,0.998484]]:H=?bA?@?`U׿?ކ?zB %?i:#@I:*];:CYeBye\IIq)u;==ԙbDVDyaؼ%@=ٔ?:Q->9Y=Fy~i:E >Q 5%O5Ş?Q 9%O5)BY)y-r?Q I-@DIC;ih;O5y9ɮE!AAB]y>B]CB]MIB]BB] =BYBYB]q;B]-EEDNOT Ignoring new targets: 24.87 m.hAhA*hA"hA hAgIfIfQfQdQdQjdQZd]@mJ@ZyZyZyZ}Dr?r<) ki|9)顕ii:侉´=IIe9@i @i@mo0@qER E@E.E"E;*EM;VEـ4ZEBE; c,_?A:'@:|"@:gv<ٱ: Y BAHRS rotation from veh to nav: [[0.931233,0.362902,0.033275],[-0.364114,0.930321,0.043861],[-0.015039,-0.052961,0.998483]]:H?9?d ?M׿`0?@u?̎@`?i:'@I:B];8YNByN_Ii%Mb@Mb@Mb@!!!! !9%bX9ȶ rh?y&1Y%Ey%C >%`%\ A! %A)%/ A!Y%AbD=VD=NyEyp<%MU=ٔMd4:Q-M>9QYQ=UFyQU+:EU>YQ 5eO5]?Q 9mO5])]BYm(>Q Em;ym?Q Im@]DI]H:i]s:]@ O5yqɮ} AyDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjd1Zd]@J@Z(>Z(>Z @Z?gv<) uio9)+ii4侉=II)9@ @@5@QET EE(E"E;*EVEc44ZEa@a@a@a@^A I I O y ,?A2Z(@2,#@2x<ٱ2H*Y :AHRS rotation from veh to nav: [[0.931261,0.362816,0.033423],[-0.364035,0.930353,0.043834],[-0.015191,-0.052988,0.998480]]2H?`8? ?`ZL׿s?`dq?`:!?i2Z(@I2U%];2CYnBynSIbDzVDzkyI%O=ٔ9Q->9 Y = Fy  ^9E>Q 5O5?Q 9%O5b)BY!y%?Q I%@DI;i; O5y)ɮ5ZA1]DNOT Ignoring new targets: 24.87 m.hYhY*hY"hY hagafafafadidijdiZdm K@ZZZZd?x<) քi9)页;ii>侉IIi>Y59@1 @1@5/@1ԁ^A}õ=IIO>B]r>B]CB]GIB]BB] =BYB]DB]q;B]-Eԩ E H E FE *E "E };*E v;VE (N4ZE BE e9Y=Fy8E>Q 5O5?Q 9O5)BY'>Q E;y?Q I @DI:iJ0;~O5yAɮEzAAԩDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffBddjdZdLTK@Ze'>Ze'>Ze@ZeB?u|<)y }ki}9)y}Kyii8侉=III=)=e9 9@  @ @ B1@ @ gA@ gA) ^AAIqIO>,<-X?AbEUG4jEU(N4rEU/Eo EBE)E"E7;*EZ;VEFA4ZEa"@a"@a"@a"@";ɰ dj#@j@jdK<ٱjŁZ rAHRS rotation from veh to nav: [[0.931058,0.363284,0.034002],[-0.364536,0.930152,0.043950],[-0.015660,-0.053315,0.998455]]jH9?@ @?h?`T׿??A ` LW?ij#@Ij[#];jCYz}ByzEIbD VD y&%5=ٔG:Q->9!Y!=-Fy)E̤EM>IQ 5UO5M?Q 9]O5M)MBYYy]?Q I]@MDIMK:iM:MyO5yɮADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd@K@ZZZZ?EdK<)I MziM9)IM\\IiIiUB侉QU=IYIY}99@ @@/@!^A 箵=I I O >Q B k>B CB 4IB pBB =B B DB q;B -E,q?A2@2@21B<ٱ2[ :AHRS rotation from veh to nav: [[0.930780,0.363989,0.034080],[-0.365245,0.929868,0.044051],[-0.015656,-0.053449,0.998448]]2H@? K?`r?.`׿`{?`΍?@]H?i2@I2SL];2CYBnByF2IHJAAbDNVDNyVG%VS=ٔV>Q-Z>9XYX=ZFyX^fE^>`Q 5fO5b?Q 9fO5bQ)bBYdyf?Q If@bDIbg:ib:bO5ylipIrAɮn4 Ap9DNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZdK@ZZZZL?51B<)9 =i=9)9=n9i9iE<侉AE:=IAIIEuC EulEu(Eq"Eux;*Euy';VEuc44ZEqBEuys",?A2@2k@2<ٱ2Z :AHRS rotation from veh to nav: [[0.930553,0.364572,0.034022],[-0.365823,0.929647,0.043928],[-0.015614,-0.053323,0.998455]]2H? &U?dk?@i׿@? }?? 4M`X?i2@I2RY];0YBfByB)IJ=J=iMb@Mb@Mb@ 9sh|?? rhYy=C rA IA) AYAbD-VD-ky5 %=B=ٔ=иQ-=>9AYA=EFyAM@EM>IQ 5UO5M?Q 9]O5M)MBY] >Q E];y]~?Q I]@MDIM:iM:MO5ԡyɮn AUDNOT Ignoring new targets: 24.87 m.hQhY*hY"hy hgfffBddjdZdqK@Z >Z >Z<@Zi~?<) ui 9)  ~ i i6侉G=II %gA%fAEu= EuEu+Eq"Eus;*Euga;VEu [4ZEqa}@a}@a}@a}@95 9@1  @9 @= /@9 @E =@E =) ^A 箵=I I O- >Y),28?A2@2n @2<ٱ2YZ :AHRS rotation from veh to nav: [[0.930196,0.365481,0.034033],[-0.366730,0.929293,0.043856],[-0.015598,-0.053276,0.998458]]2H`+? d?`l?x׿ļ?Xt?F@^?i2@I2+];2CYBWByFIbDNVDNJ2yV䕽%VF=ٔV&Q-Z>9XYX=ZFyX^E^>`Q 5fO5b?Q 9fO5b)bBYdyj^?Q Ij@bDIb;ib&;bO5ylɮn Al)uB*** querying acoustic contact ***iq iqDNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd`)L@ZZZZ^?<) \i9)IMƇIiIiU@侉QUb=IQIYYAABi>BBIBVBB =BBBq;B-EM2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.9ԉ9@ @@/@ET EPE*E"E;*E;VE(N4ZEBE-0,q?A:*DAT read: user:355> :BDAT read: Tx time:05:16:18.1263 >$Ping request sent.>:publishing transmit ping time<Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758@M@M@M~<ٱM[ ]AHRS rotation from veh to nav: [[0.929709,0.366712,0.034098],[-0.367966,0.928798,0.043996],[-0.015536,-0.053450,0.998450]]MH-?@6x?Gu?Œ׿ ?`?я@]L?iM@IM];MCYmMBym IiMb@Mb@Mb@ 9Q뱿x&?L7A`堿Y\y7=+E A ) AYA 4<ԑbDVDky%=ٔQ->9Y=Fy!E>Q 5O59?Q 9O5k)BY=Q E)u?%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2508885 9I9 )= fA E U E eE )E "E l;*E #;VE FA4ZE a @a @a @a @ @  @ @ @  ^Ay =IIO>_8,d?A^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502927^@^p@^lz<ٱ^B[ jAHRS rotation from veh to nav: [[0.929213,0.367981,0.033957],[-0.369228,0.928293,0.044081],[-0.015300,-0.053499,0.998451]]^H??b?`n׿@?ؑ?`U1dN?i^@I^];^CYr=ByrI ttbD~VD~1y ᝽% H=1ٔm!Q-m>9Y=FyCQE>Q 5O5?Q 9O5s)yBYy$@Q I@DI*;i;'O5yɮ!ADNOT Ignoring new targets: 24.87 m.hh!*h!"h! h!g!f)f)f1d1d1jd1Zd5 L@ZZZZ@$@lz<) bi9)页:ii4侉3=IIY9@ @@/@@@Bh>BBIBBBB =BBBq;Bw-EBCBCBƔCB =B =C6ԁmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875^A "=I I O% >Ա E d E QE E "E :;*E A;VE ZE BE U,?A\ɰ\%@%@%Su<ٱ%it[ EAHRS rotation from veh to nav: [[0.928596,0.369553,0.033779],[-0.370790,0.927666,0.044176],[-0.015010,-0.053546,0.998453]]%H ??qK?`׿o?@2?fjR?i%@I%`P^;%CYU?ByUIԑiMb@Mb@Mb@ 9V-I +?/$Yhy94= AzA )Y\AbD-VD-ܲy=/<%=9=ٔ=>,Q-E>9AYA=EFyAM+EM>QQ 5]O5U펤?Q 9]O5U)UtBY]c=Q E]侉?=IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007163\99@ @@/@^A ʞ=I I! O- >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258935kE, ?ARߵ@Rڼ@Rsu<ٱRi[ ^AHRS rotation from veh to nav: [[0.928009,0.371017,0.033846],[-0.372257,0.927077,0.044196],[-0.014981,-0.053614,0.998449]]RH??࿾?NT? ׿@?ڠ?0Ds L?iRߵ@IRl^;RCYf;ByfInAAnBAbDrVDryvf%zb=ٔzQ-z>9xY|=~Fy|NE>Q 5 O5e?Q 9O5)pBYy@Q I@DIl:iB:h.O5y!ɮ%!A!UDNOT Ignoring new targets: 24.87 m.hQhQ*hQ"hQ hYgYfYfafadadajdaZdmM@ZZZZh@EE EJE*E"EVz;*E;VE(N4ZEa@a@a@a@su<) +io9)顽ii8侉=II fAbAqԡ9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511657u9@q @q@y@y^A ا=I I O > ZK,0 ?A>ѵ@>̼@>np<ٱ>[ FAHRS rotation from veh to nav: [[0.927377,0.372618,0.033578],[-0.373840,0.926444,0.044103],[-0.014674,-0.053452,0.998463]]>H?? 1?׿m??` ^g?i>ѵ@I>^;>CYR7ByRIbDZVDZk1Bb<Ab4=BdBdBfIBf.BBdBdBdBfp;BfO-EyUک%UD=ٔU@Q-U>9YYY=]FyYe#Ee>iQ 5mO5m?Q 9uO5mZ)mkBYqyu @Q Iu@mDIm;im;m 2O5yɮ(!ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfffddjdZd =M@ZZZZ! @np<) 4iw9)`iiB侉  ף=I I =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763183EI E<E+E"E};*E1;VE [4ZEBE-PR,0KK ?A2ŵ@2@2$_m<ٱ2)^Z :AHRS rotation from veh to nav: [[0.926819,0.374018,0.033407],[-0.375228,0.925889,0.043964],[-0.014488,-0.053282,0.998474]]2H@??`?ؿ?m?@G?i2ŵ@I2-_;0Y@yBI=only read 2 of 4 data items for bottom velocity. Device response is::BS, 44, -17,A a=@a= a=@a= a=@a= a=@a= bDAVDAy];%]C=ٔ]Q-e>9aYa=eFyamAjEm>qQ 5}O5u߉?Q 9O5u)ugBQ A+:YQ E;y @Q I@uDIu};iu>u5O5yɮ$!ADNOT Ignoring new targets: 24.87 m.hh*h"h hgfff ddjdZd`sM@e$_m<)i m3im9)qu=qiyi<侉s=II9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267272u9@y @y@}4@y^AU=IYIqO}Y>DYD]<EeN EehEe(Ea"Ee@;*Ee^%;VEec44ZEaam@au@au@au@! X,xe ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518983:@:ٲ@:Vpi<ٱ:.Y FAHRS rotation from veh to nav: [[0.926195,0.375579,0.033208],[-0.376775,0.925265,0.043876],[-0.014247,-0.053149,0.998485]]:H`d?{ ?`? ؿś?v?-g6?i:@I:F_;:CYN@ByNI TVbDXVDXyb8=%bU=ٔb^$Q-b>9dYd=fFydfώEj>hQ 5rO5jC?Q 9rO5j)jbBQ Ar :YtQ Ev;yv @Q Iv@jDIj0;ijM?j37O5yxɮz Ax%DNOT Ignoring new targets: 24.87 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5 M@Vpi<) "i9)%ii6侉Ԛ=III??)s?9Qm9@i @q@u/@qBaBaBeIBe#BBaBaBaBep;BeT-Eԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771860^AIIO>ԩ E} C E} bE} )Ey "E} x;*E} 5";VE} FA4ZEy BE} y9Y=FyE>Q 5O5*?Q 9O5a)`BQ AT:Yo=Q Ec checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274849ue,JԘ ?A|DzD@AbEFA4jEB4rEַ/E5? E5LE5&E1"E5t;*E5;VE54ZE1ae@ae@ae@ae@ڗ@@_<ٱ?[ AHRS rotation from veh to nav: [[0.924716,0.379230,0.032942],[-0.380413,0.923758,0.044243],[-0.013652,-0.053444,0.998477]]HF?`LE?ݠ? Xؿl? ? ]?iڗ@I&^;YKByIbDVDyT=%I=ٔցQ->9Y=FyJE>Q 5O5&?Q 9O5)^BY y @Q I @DI9:i];>O5yɮ AEDNOT Ignoring new targets: 24.87 m.hAhA*hA"hA hAgAfIfIfIdQdQjdQZdUN@ZZZZ@%_<)) -dʽi-9))-|)i1i5:侉9==I9I9  959@1 @9@9@9DAT read: 05:16:20.5641 LVL= 27696, 17617, 20530, 32451, AGC= 53, IDX= 437, 0.17,-0.542, 1.497, 0.839, 0.943, PHS=-1.383, 0.600,-0.148, RAW= 291.9, 10.7, CAL= 289.3, 14.7, ROT= 220.7, -14.7 Ygot valid direction response: 05:16:20.5641 LVL= 27696, 17617, 20530, 32451, AGC= 53, IDX= 437, 0.17,-0.542, 1.497, 0.839, 0.943, PHS=-1.383, 0.600,-0.148, RAW= 291.9, 10.7, CAL= 289.3, 14.7, ROT= 220.7, -14.7 PDAT read: Bearing 306.2, -39.2 (Local) ~Local bearing/azimuth received: Bearing 306.2, -39.2 (Local) DAT read: Range 11 to 50 : 25.2 m (Round-trip 33.6 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.733319,-0.630754,0.253758]Fpublishing direction and range infoyaeIYw[Ud"/N=?YeAae0leDe2P e~)e5Ie%ie?ePe@et;?>eZ@ eG\>)e6v@IeG\aaeͧ ᅨ4 ?ď^? e& @@)e @IeieG\aa^A =I I O > l,A ?AAAAABBBIB.BB =BBBp;Bj-EB/@B@BZ<ٱBoZ JAHRS rotation from veh to nav: [[0.924224,0.380451,0.032678],[-0.381618,0.923263,0.044202],[-0.013353,-0.053323,0.998488]]BH@=?`OY?? olؿ]?`?` Y M ?iB/@IB^;@YVSByVIbD^VD^Nyf(=%f_=ٔfUQ-j>9hYh=jFyhnhEn>pQ 5vO5r=?Q 9vO5r_)r]BYtyv@Q Iv@pIrk:ir:rAO5y|ɮ~G Aii+ ?AJiARiAjin\@b14b2/YI&r@RIYw[Ud"/N=?ZibiG\jgIm6֏ӊ5hP@Z>W d[qҿC?2i:ic"isJ?*i*qBi5Bii+}=/iBi*Air(i@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 60.256728 s, deltaX: 0.200001 m, approachRate: 0.003319 m/s, rangeRepo size: 4   Added new target pos. range: 25.069065 m, bearing: 197.760067 deg, lat: 36.779341 deg, lon: -121.859665 deg, deltaT: 60.256728 s, deltaX: 0.196922 m, approachRate: 0.003268 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.07 m.hh*h"h h1g9f9f9f9dAdAjdE@339@ZdEY-?ZZZZl@5Z<)9 =pi=9)9=%9i9iE4侉AE =IIII fAE5d E5tE5+E1"E5:;*E5+;VE5 [4ZE1BE5Uy Ar, } ?A2@2z@2IWV<ٱ2JZ :AHRS rotation from veh to nav: [[0.923604,0.381966,0.032517],[-0.383125,0.922634,0.044296],[-0.013082,-0.053370,0.998489]]2H*?"r??ؿ7??ʊ\S`?i2@I2^;2CYFVByFIiMb@Mb@Mb@ 9l~jt?MbpYyD=/ AA 3A)AY AbDVDyq<%:=ٔ"Q->9Y=FysE>Q 5O5?Q 9O5)[BYx=Q EZ侉!%k=I!I!ԉD==D=<EE: EEdEE,EA"EE\p;*EEB#;VEEg4ZEAaU@aU@aU@aU@9- 9@)  @) @- /@) @5 =@5 = ^AU <=Ii Iy O >y,A ?A2u@2o@2R<ٱ2ZZ :AHRS rotation from veh to nav: [[0.923104,0.383189,0.032320],[-0.384336,0.922129,0.044327],[-0.012818,-0.053340,0.998494]]2H@?*?`C?`ؿ?@?`.@@fO?i2u@I2H^;0YFkByF.IbDNVDNܲyV=%VJ=ٔZ\+Q-Z>9XY\=^Fy\^mTE^>`Q 5fO5b?Q 9fO5b)bZBYhyj?Q Ij@bDIb:ib:b,IO5ylɮnAl DNOT Ignoring new targets: 25.07 m.h h *h"h hgfffddjdZd%??ZAZAZAZE?UR<)Q ]˽i]p9)Y]YiYԡi8侉Q=IIBg>BBIBBBB =BBBq;Bl-Ee&99@ @@/@E B E fE 'E "E w;*E P$;VE '4ZE BE ;ƀ,p? ?A2i@2d@2PK<ٱ2Z :AHRS rotation from veh to nav: [[0.922576,0.384481,0.032051],[-0.385614,0.921587,0.044485],[-0.012434,-0.053400,0.998496]]2H ?T?h?ؿ}?Ʀ?w`7W?i2i@I24^;2CYFqByF6IiMb@Mb@Mb@ 9L7A`堿 rh?{GztY+yC=ף AA )YbD-VD-N2y=<%=>=ٔEciQ-E>9AYA=EFyAM_REM>QQ 5]O5U򃤊?Q 9]O5U:)UXBY]"=Q Ee/iE!>9@ @@@A E v E AE +E "E c;*E ;VE [4ZE a @a @a @a @^A H=I I O% >BV, ?A2`@2[@2fFD<ٱ2rZ >AHRS rotation from veh to nav: [[0.922168,0.385494,0.031642],[-0.386605,0.921170,0.044536],[-0.011979,-0.053303,0.998507]]2He? ?f3?!ؿ8z?@qͦ?@J?i2`@I2];0YF}ByFDIbDRVDRP)3yZ^=%ZF=ٔZQ-Z>9\Y\=^Fy\bX*Eb>`Q 5jO5b˃?Q 9jO5bi)bVBYhyj?Q In@bDIb ;ib ;bPO5ypɮrAp DNOT Ignoring new targets: 25.07 m.h h*h"h hgfffddjd!Zd%W?IZZZZB B IB [BB B B B Rq;B -EBBCBɓCBBCi5 ^A Ď=I I) O5 >y,48 ?A ɰ";>Z@>U@>><ٱ>Y JAHRS rotation from veh to nav: [[0.921884,0.386199,0.031319],[-0.387292,0.920881,0.044533],[-0.011642,-0.053184,0.998517]]>H?|? ?dؿ@w? ͦ?`ׇ`:?i>Z@I>Ɨ];>CE` EME&E"Ei;*E%;VE4ZEBE39YYY=eFyaeۯEm>iQ 5uO5m ?Q 9uO5m)mUBY}=Q E};y}Z?Q I}@mDIm\:ime:maUO5yɮ~ADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffρBddjdZd@Z=Z=ZL@Z+Z?><) i/9)׳ii 6侉  CQ=I I |9q9@ @@x0@ԙ ^A tn=I I O% >ɔ,fT ?AdfCs@idIhhh j;kAhhllndkAIl)lil)pIrVjAr7 rZF ptttittixx)x xIx |)||||Y|Y%By-gIbD=VD=:yM=%M=ٔMQ-M?9QYQ=UFyQ]E]?YԩQ 5O5]?Q 9O5])]TBY!y!Q I%@]DI]1,~8q ?A8VmJ@V?E@V(<ٱVZZ bAHRS rotation from veh to nav: [[0.921116,0.388113,0.030222],[-0.389151,0.920070,0.045076],[-0.010312,-0.053281,0.998526]]VHy?@??`ؿ7q?2? G`?iVmJ@IVM];VCB=`>B=CB=@IB=zBB= =B9B=DB=q;B=-EYmBymqIIu=)u=bDVD0ye=%.=ٔ9Q->9Y=FyE>9Q 5=O5=?Q 9EO5=})=RBYAyE?Q IE@=DI=<;i=;=4\O5yQɮUAQ}DNOT Ignoring new targets: 25.07 m.hyhy*hy"h hgfffddjdZd @ZZZZ:?(<) (i9)vii:侉}=IIԙEV EXE'E"E;*E;VE'4ZEBE]",, ?A6E@6?@6L <ٱ6h{[ >AHRS rotation from veh to nav: [[0.920868,0.388728,0.029873],[-0.389752,0.919794,0.045515],[-0.009784,-0.053556,0.998517]]6H w??@?ؿn?@M? k?i6E@I61];6CY-By5wIi5Mb@Mb@Mb@1111 195T㥛 ʡE?y&1|Y5y5=5`5 A5A 53A)5A1Y5fA IM<bDMVDMy]<%]6=ٔeQ-e>9aYi=mFyimaEm>qQ 5}O5u?Q 9}O5u)uOBY}B>Q E;yd?Q I@uDIu` ;iu ;u`O5yɮADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffفBddjdZd @ZB>ZB>Z$@Zd?9L <) ̽ir9)]7ii4侉=IIi9@ @@3@E[ EuE+E"E%;*E6,;VE [4ZEa@a@a@a@ԙ ^A ER=I I O >&$,KW ?A:C@:a>@:yD<ٱ:^[@ FAHRS rotation from veh to nav: [[0.920799,0.388930,0.029364],[-0.389927,0.919711,0.045699],[-0.009233,-0.053529,0.998524]]:H@0w?`9??ؿEn?e?}肿/h?i:C@I:5];:CYPyPbDZ VDZ2yb!;%bj=ٔbκQ-f>9dYd=fFydjb Ej>lQ 5vO5n'?Q 9vO5n)nMBYtyv]?Q Iz@nDInH;inuI;ncO5y|ɮ~A|%DNOT Ignoring new targets: 25.07 m.h!h)*h)"h) h)g)f)f1f1d1d1jd9Zd= +@ZYZYZYZ]]?myD<)q u˽iu?9)quEOqiqi}>侉=IIԩAyA}@ABS>BCB`IBBB =BBDBq;B-E9I)9@ @@3@ E \ E NE (E "E ;*E ;VE c44ZE BE z,W{ ?AjZA@j,<@j<ٱj=[ rAHRS rotation from veh to nav: [[0.920699,0.389201,0.028922],[-0.390177,0.919591,0.045974],[-0.008704,-0.053613,0.998524]]jH]v??@ԝ?ؿJm?߉?BӁ$s`?ijZA@IjY];jCYzBy~I AiMb@Mb@Mb@ 9sh|?S㥛?:vYy$>T AzA A) AYAbDVD0ya=%+=ٔ琺Q->9Y=FyE> Q 5 O5 ?Q 9O5 ) HBY\>Q E;y?Q I@ DI ;i |; >gO5y!ɮ%@A!MDNOT Ignoring new targets: 25.07 m.hIhQ*hQ"hQ hQgQfYfYf]BdYdajdaZde`@Z\>Z\>ZϬ@Z?<) i9)顝sii8侉@@=II!9- 9@)  @1 @5 2@1 Q y bE̷G4jEC4rE).0E ^ E DE )E "E ;*E h;VE FA4ZE a @a @a @a @^Au b$=Iy I O >e,1 ?A2@@2;@2dG<ٱ2\ :AHRS rotation from veh to nav: [[0.920680,0.389277,0.028493],[-0.390232,0.919554,0.046253],[-0.008196,-0.053703,0.998523]]2H 6v??A-?ؿl?u? Ȁ ~@?i2@@I22i];2CYFByFINAANAAbDNVDNyV =%ZJ=ٔZgQ-Z>9\Y\=^Fy\^oEb>`Q 5fO5b;?Q 9MO5b:)bDBYQyU?Q IU@b€DIbSB% L>B! B% yIB% BB%  =B% CDB! B% 1q;B% n-Eԉ ., ?AYzByzIbDVDyA<%D=ٔQ->9!Y!=%Fy!%E->)Q 55O5-S~?Q 9=O5-)-@BY9y9Q I=@-ĀDI- ;i- ;-knO5yAɮMAIDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdi@Z Z Z Z ) $սi%:9)!%Ė!i!i-<侉))I1I1]?>i]>EY EdE,E"E=;*EB#;VEg4ZEBE q,Q ?A6 C@6=@6&;ٱ6m\ BAHRS rotation from veh to nav: [[0.920795,0.389082,0.027408],[-0.389983,0.919632,0.046807],[-0.006993,-0.053788,0.998528]]6H(w???{ؿ m?@ ?`Ȥ|)?i6 C@I6k];4YJByJIIN4=)N%t!%A %A)%`A!Y%fAbD=VD=N2yED%MH=ٔM@Q-M>9QYQ=UFyQU/:E]>YQ 5eO5] }?Q 9mO5])];BYm8+>Q Em;ym*?Q Im@]ƀDI];i];]qO5yyɮ}AyDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddQjdQZdUV@Z8+>Z8+>Zg @Z*?&;) ̽iX9)ii6侉I=IIiI9@ @@/0@ED EE-E"Eny;*E;J;VEt4ZEa@a@a@a@^AI I O >I ,|, ?ANB@Nu=@N;ٱN2] bAHRS rotation from veh to nav: [[0.920776,0.389163,0.026893],[-0.390040,0.919586,0.047228],[-0.006351,-0.053976,0.998522]]NHv? ?ĉ?iؿ?m?N.?'z?iNB@IN];NCY-By5I =p<=p;bDEVDEIy]*<%]-=ٔ]Q-]>9aYa=eFyaeEm>qQ 5}O5u{?Q 9}O5u)u5BYyy}&?Q I}@uȀDIu9:iu:uvO5yɮABK>BBIBBB =BBDBBp;BR-EUDNOT Ignoring new targets: 25.07 m.hQhQ*hQ"hQ hQgQfYfYfYdYdajdaZde @ZZZZ&?;) Ľi}9)顝^ii@侉8=II}9@y @y@@ԑEK EEE)E"E;*E;VEFA4ZEBE,WF ?A2oD@2A?@2 7;ٱ2] :AHRS rotation from veh to nav: [[0.920865,0.388990,0.026355],[-0.389839,0.919655,0.047544],[-0.005744,-0.054056,0.998521]]2Hw?4?`?ؿ m?@W?؆w, ?i2oD@I23Y^;2C@ @)FlAFQ8DDDF(lAiJQ8IHHIHiJ=lA JjzA )YAbDVD:y%fd%%a=ٔ%xںQ-%>9)Y)=-Fy)-:E5>9Q 5EO5=y?Q 9EO5=5)=0BYE8>Q EE;yEj?Q IE@=ʀDI=:i=H:=LyO5yQɮU7AYDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZdKe@Z58>Z58>Z5@Z5vj?E 7;)I MDiM9)額Ծii:侉V=IIԱ@ @@4@^A ff=I I O > E  E PE E "E ;*E ;VE ZE a @a @a @a @&,n2` ?AlYMByMI QQbDeVDey%S=ٔQ->9Y=FyE>Q 5O5w?Q 9O5})+BYyQ I@̀DI:i:|O5yɮCADNOT Ignoring new targets: 25.07 m.hh*h"h hgff f d d jdZd`@Z1Z1Z1Z1A)I MxiM9)IM̴IiIiU4侉Q]=IYIY eeIe)e 9@ @@1@@gA@9^AIIO>B J>B B IB BB  =B B B p;B K-EBCBCBɔCB =B =Cn6a i9 I9 ,#z ?A2%F@2@@2;ٱ2e ^ :AHRS rotation from veh to nav: [[0.920953,0.388868,0.025029],[-0.389650,0.919699,0.048243],[-0.004259,-0.054182,0.998522]]2H sx?8?@?`ؿ ,n?K?rq``?i2%F@I2^;2CYByI!!bD%VD%1y=v%=P=ٔE;xQ-E>9AYA=EFyAM :EM>QQ 5]O5Uu?Q 9]O5U)U&BYYyel?Q Ie@UπDIU-:iU:UO5yiɮm`AiEUd EUZEU+EQ"EU:;*EU;VEU [4ZEQBEUU侉AEN=IIai@q @@/@ԑ^A `=I I) OE >Ա G,> ?A2E@2@@2YZ;ٱ2(^ :AHRS rotation from veh to nav: [[0.920941,0.388950,0.024189],[-0.389688,0.919662,0.048629],[-0.003332,-0.054211,0.998524]]2HYx??@Ř?ؿm?`?`3Kk?i2E@I2_;2CYBByB~Ii Mb@Mb@Mb@     9 )\(y&1?y&1Y Gy `= ` / A A A)  Y bD% VD%2y5%5K=ٔ5WQ-=>99Y9=EFyAEθEE>IQ 5UO5Ms?Q 9UO5M9)MBYUI#>Q E];y]ZeI#>ZeJ8@Ze9 ,Gɭ ?A^@E@^@@^S ;ٱ^Z^ nAHRS rotation from veh to nav: [[0.920916,0.389057,0.023400],[-0.389753,0.919614,0.049015],[-0.002449,-0.054259,0.998524]]^H%x?`P?@$?ؿzm? ?)dǫ`?i^@E@I^o_;^CYzBy~yII %=) p;bDVDy%%%K=ٔ-Q-->9)Y)=-Fy155E5>9Q 5EO5=r?Q 9EO5=)=BYIyM6?Q IM@=ӀDI=:i=:=#O5yUFBɮUAUdEDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdW @ZZZZ 6?S ;) i9)iiUB侉Q][ =IYIYByByB}yIB}BByByByB}p;B}-E9@  @ @ /@ @=@=A e+G}liA9liAYăAi^Auz=E}A E}xE}-Ey"E}v;*E}-;VE}t4ZEyBE}ԙ , ?A2C@2n>@2J:ٱ2^ :AHRS rotation from veh to nav: [[0.920840,0.389293,0.022461],[-0.389938,0.919519,0.049324],[-0.001452,-0.054177,0.998530]]2Hw?-? ?ؿl?@? RW '?i2C@I2_;0YBByFvIiEMb@Mb@Mb@AAAA A9Eq= ףp/$?YEyE=E̼E AEQA EA)EIAAYEGA ]<]4<bDeVDe:2yu;%uE=ٔ}Q-}>9yYy=}Fy$E>Q 5O5po?Q 9O5`)BY>Q E;y@Q I@ՀDI] ;i;ŠO5yDBɮAcEDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZd+!@Z>Z>Zү @Z@J:) i9)!i!i%<侉)-|=I)iIE9@A @A@E0@Aԙ^A 8=I1IAOU>E} V E} bE} )Ey "E} ;*E} 5";VE} FA4ZEy a @a @a @a @ ,w ?A2w=@2I8@2^9ٱ2$s^ :AHRS rotation from veh to nav: [[0.920548,0.390034,0.021556],[-0.390629,0.919199,0.049820],[-0.000383,-0.054282,0.998526]]2H!u?P?@?ٿ@j??K9ʫ?i2w=@I2_;2CYBByFdIbDNVDN0yV%VY=ٔV9Q-V>9XYX=ZFyX^eE^>`Q 5fO5bm?Q 9fO5b-)b BYdyf@Q If@bրDIbd:ib:bO5ylɮnjAleDNOT Ignoring new targets: 25.07 m.haha*ha"ha hagifififidqdqjdqZdu !@ZZZZ@^9) mi9)ii6侉fK=II!->i->9@ @@1@^Aff=II)O=>) Bu I>Bq Bu fIBu BBq Bq Bq Bu Bp;Bu ,E$,XS ?A27@2\2@2Qٱ2-&^ >AHRS rotation from veh to nav: [[0.920265,0.390759,0.020479],[-0.391294,0.918895,0.050198],[0.000798,-0.054209,0.998529]]2Hr?2?a? ٿ`g??"J? I?i27@I2AP`;2CYFByF`I HHbDRVDRyV%ZJ=ٔZ/?Q-Z>9\Y\=^Fy\^Eb>`Q 5fO5bj?Q 9jO5b)bBYhyj}@Q Ij@b؀DIbp:ibF:bO5ylɮrAp DNOT Ignoring new targets: 25.07 m.h h *h "h  hgfffddjdZd%`ۻ"@ZAZAZAZEw}@UQ)Q Uԩ Q ,0 ?A6-@6z(@6=ٱ6^@ BAHRS rotation from veh to nav: [[0.919791,0.391923,0.019517],[-0.392404,0.918389,0.050805],[0.001987,-0.054388,0.998518]]6Hn?D?F?$ٿ qc?? G`? ث?i6-@I6`;4YJByJZIiMb@Mb@Mb@ 9+T㥛 ?y&1Yy=` AA 3A)AYpA15BAbD5VD5yE%EA=ٔM8Q-M>9IYQ=UFyQU:EU>YQ 5eO5]h?Q 9eO5])]BYm2=Q Em;ym@Q Im@]ڀDI]:i]:]JO5yqɮuAyDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZd#@Z2=Z2=ZW@Z@=) #iU9)顭b  9 ,/ ?AlY5By=MIbDM VDM2y]eY%]I=ٔ]Q-]>9aYa=eFyamEm>iQ 5}O5mBg?Q 9}O5m)mBYyyyQ I}@mۀDIm;im;mؘO5yɮADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdd$@ZZZZ) X|i9)D BBYIBBB =BBBo;B,E5999E]L E]E]+EY"E]W;*E]S8;VE] [4ZEYBE],iJ ?A6@6[@62|<ٱ6)_ RAHRS rotation from veh to nav: [[0.918816,0.394308,0.017250],[-0.394658,0.917363,0.051858],[0.004623,-0.054456,0.998505]]6Hf?X=ٔeȻQ-m>9iYi=uFyquɺE}>Q 5O5 f?Q 9O5B)BY\=Q E-侉qu{}=IqIyԡ9@ @@/@^A [= I I O% >E U E E *E "E l;*E P;VE (N4ZE a @a @a @a @,Hd ?A2@2x @2[ٱ2 ^ :AHRS rotation from veh to nav: [[0.918333,0.395481,0.016095],[-0.395764,0.916864,0.052269],[0.005915,-0.054370,0.998503]]2H@b?O?{?`3Tٿ V?@ª? :x?@]֫@?i2@I2a;2CYBByFYI Jp9xYx=zFyxzLE~>Q 5O5d?Q 9 O5)BY y @Q I @݀DId:i:O5yɮAEDNOT Ignoring new targets: 25.07 m.hAhA*hA"hI hIgIfIfIfQdQdQjdQZdU &&@ZyZyZyZ}@[) hki9)顕f9BYBYB]MIB]BB] =BYBYB]o;B],Ea @, &~ ?A2@2@2&fٱ2_ :AHRS rotation from veh to nav: [[0.917766,0.396838,0.015027],[-0.397058,0.916274,0.052799],[0.007184,-0.054424,0.998492]]2HV^?e?@}Ǝ?diٿ@R?u? l}? iݫ?i2@I2a;2CY^BybQIbDjVDj0yr%rK=ٔrGNQ-r>9tYt=vFytzeEz>x9EeS Ee\EaEa"Ee;*Ee ;VEaZEaBEe %,. ?A2z@2L@2q ٱ2 _ :AHRS rotation from veh to nav: [[0.917095,0.398429,0.013829],[-0.398576,0.915582,0.053357],[0.008597,-0.054446,0.998480]]2H@X??R?FٿrL?@Q?_? H૿?i2z@I2Ba;2CYFByFYI HHiMb@Mb@Mb@ 9+/$?:vYy,=T A A)3AYAbD-VD-y=^<%=D=ٔE^Q-E>9AYA=MFyIMՂEM>QԙQ 5O5U,c?Q 9O5UY)UBYp=Q Ea! N+,ܱ ?A6]@6/@6 ٱ6^ BAHRS rotation from veh to nav: [[0.916543,0.399730,0.012818],[-0.399816,0.915017,0.053773],[0.009766,-0.054410,0.998471]]6HST?+?@? ٿ@G?!?b?۫@y?i6]@I6.a;6CYJByJXIPRAAbDVVDVfy^\%^S=ٔbEQ-b>9`Y`=bFydfueEf>hQ 5nO5jb?Q 9nO5j)jBYlyr"?Q Ir@j߀DIj;ij;jO5ytɮvAtDNOT Ignoring new targets: 25.07 m.hh*h"h hg!f!f!f!d)d)jd)Zd-@p(@ZIZIZIZM"?e )a eie9)ammBBBB =BBBo;B,EBBBCB =BC:P59@ @@1@AEV EDE'E"E;*Eh;VE'4ZEBE]qԡ 2, ?A6@6ۻ@64ٱ6[^ JAHRS rotation from veh to nav: [[0.916024,0.400954,0.011656],[-0.400971,0.914490,0.054128],[0.011043,-0.054257,0.998466]]6HP?`9?9߇?@ٿC?`?`?ǫn?i6@I6^ a;6CYrByr^IiMb@Mb@Mb@ 9y&1 ףp= ?~jtxY`yQ8=ĻA A)YAbDVDyR<%8=ٔg9Y=Fy:E> qQ 5O5 Cb?Q 9O5 2) BYyZ=Q ExE l E SE *E "E ڎ;*E N;VE (N4ZE a @a @a @a @ M8,͒ ?A2$״@2ѻ@2vEٱ2N#^ :AHRS rotation from veh to nav: [[0.915531,0.402103,0.010778],[-0.402067,0.913989,0.054470],[0.012052,-0.054202,0.998457]]2HL???wٿd?? ??i\?i2$״@I2tE`;2CYBByBgIIF=)F=bDLVDLyV=%Vb=ٔV6Q-Z>9XYX=ZFyX^YE^>`Q 5fO5bb?Q 9fO5b)b߮BYdyf?Q Ij@`Ib:ib:bO5ylɮ=XA9DNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZd*@ZZZZ?vE) i)i i :侉 ]Jc=II9@ @@W1@^A0f=BJ>BCBYIBBB =BCDBDB!p;B,EII1O=>) i! I% Au ԀG 029 Y y"A?,k ?ABDд@B˻@B VٱBV] JAHRS rotation from veh to nav: [[0.915181,0.402924,0.009791],[-0.402830,0.913639,0.054703],[0.013095,-0.054007,0.998455]]BH)I?`?] ?ٿ9hYl=nFylrvEr>tQ 5zO5va?Q 9zO5v$)vݮBYxyz?Q Iz@vDIvK:iv:v#O5yɮA-DNOT Ignoring new targets: 25.07 m.h)h)*h)"h1 h1g1f1f1f9Eu EE(E"E;*Ez1;VEc44ZEBEԩ F,LS ?A2ɴ@2Ļ@29fbٱ2Ռ] :AHRS rotation from veh to nav: [[0.914852,0.403685,0.009195],[-0.403553,0.913300,0.055033],[0.013818,-0.054058,0.998442]]2HwF??`Ղ?ٿ9?H-? L?x=?i2ɴ@9AYA=MFyIM EM>QQ 5]O5Ua?Q 9]O5Ud)UܮBYeS=Q EeC侉>^=IIԩ9@ @@@Eq E~EE"E;*E0;VEZEa@a@a@a@@gA@^ABa=IIO> i1L,%$3 ?A6Dƴ@6@6lٱ6a] >AHRS rotation from veh to nav: [[0.914672,0.404106,0.008619],[-0.403939,0.913116,0.055248],[0.014456,-0.054016,0.998435]]6H@D?? Ȧ?$ٿ>8?@I?5?򧫿/?i6Dƴ@I6l^;6CYJByJI LLbDVVDVβyZi=%^T=ٔ^غQ-^>9`Y`=bFy`f_Ef>dQ 5jO5fa?Q 9nO5f)dlYlyr?Q Ir@fDIf`+;if+;f+O5ytɮvAtDNOT Ignoring new targets: 25.07 m.hh*h"h hg!f!f!f!d)d)jd)Zd-@H{,@ZIZIZIZM/?el)a eBBlIBBBBBB0p;B,E9@ @@/@ ^A55[=9IIIYOew>E EfE*E"E*EP$;VE(N4ZEBE9Y=FyE>Q 5O5a?Q 9O5)ۮBY=Q EbE(N4jEɷG4rE"/E T E eE +E "E ;*E #;VE [4ZE a @a @a @a @Թ yCY,f ?A2$Ĵ@2@2%Syٱ2s] :AHRS rotation from veh to nav: [[0.914556,0.404380,0.007946],[-0.404172,0.912993,0.055570],[0.015217,-0.054033,0.998423]]2H D? ^?@E?`ٿ=7?s?*?7 ?i2$Ĵ@I2H];2CYFByFIbDNVDNN2yV<%V`=ٔV1Q-Z>9XYX=ZFyX^/E^>`Q 5fO5b"b?Q 9fO5b)bڮBYdydQ Ij@bDIb6:ib:b7O5ylɮn4AlDNOT Ignoring new targets: 25.07 m.h h *h "h  h g f ffddjdԙZd@I .@ZZZZ ?%Sy) i9)USii=<侉99I9IA9@ @@G0@@=@=BBBIBBB =BBBo;B,E^A55[=I9IIO]> `+`, ?A2Oƴ@2!@23zٱ2] :AHRS rotation from veh to nav: [[0.914663,0.404141,0.007905],[-0.403930,0.913096,0.055645],[0.015271,-0.054090,0.998419]]2HD?q?0?ٿ@8?}? $F? ?i2Oƴ@I2Ț];2CEed Ee^Ee*Ea"Ee:;*Ee ;VEe(N4ZEaBEeU9Y=Fyq:E>Q 5O5^b?Q 9O5)Yy?Q I@DI;io;RO5yɮA DNOT Ignoring new targets: 25.07 m.h h*h"h hgfffddjdZdB/@ZZZZ?3z) i9)ii6侉b]=II)9@ @@V0@Q^A I I O >y Vf,: ?A6˴@6Sƻ@6Pxٱ6y] BAHRS rotation from veh to nav: [[0.914920,0.403556,0.007954],[-0.403350,0.913358,0.055557],[0.015155,-0.054038,0.998424]]6HG?`?RJ?`}ٿ9:?`q? ?쪫?i6˴@I6`];6CDF"s@iJD;IHHH J?kAHLLLNhkAIP)PiP)PIRnjARvT TTTTiTTiXZjA)X XIX \)\\\\Y\YfԁByfIiUMb@Mb@Mb@QQQQ Q9Uv/)\(?YUxiyUG=UU AQ UA)QQYQ e;e<bDmVDm0y}!=%}`=ٔ9Q->9Y=Fy%:E>Q 5O5!b?Q 9O5j)خBY=Q E;y?Q I@DI ;i ;O5yɮ~AQeDNOT Ignoring new targets: 25.07 m.haha*ha"ha hagifififmBddjdZdn/@Z=Z=Z @Z?Px) #i9)Jii@侉Y_=IIDe?AzDe?AEuP EuOEqEq"Eu(;*Eu3;VEqZEqa@a@a@a@9@ @@4@ԁԱ^A I) IA OU > *l,vn ?A2aմ@23л@2*sٱ2UP\ :AHRS rotation from veh to nav: [[0.915410,0.402441,0.008069],[-0.402249,0.913866,0.055178],[0.014832,-0.053756,0.998444]]2H@ K??V?rٿd>?:@?@<`? ޅ@?i2aմ@I2!X];2CYrҁByrIbD~VD~02yuZ% R=ٔ Y:Q- >9Y=Fy K;E>Q 5%O5a?Q 9-O5&)׮BY)y-@?Q I-@DI:i:O5y1A9A9BEJ>BECBEIBEˁBBE =BEBDBEDBEo;BE,Eɮ5AYDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdDF0@ZZZZy@?*s) 9ik9)娲ii:侉c=IIԱm9@i @q@u/@q@y@}hAE}G E}E})Ey"E}&|;*E}3;VE}FA4ZEyBE} A ks,eV ?Abڴ@bջ@bGnٱb0\ jAHRS rotation from veh to nav: [[0.915681,0.401819,0.008329],[-0.401642,0.914135,0.055141],[0.014543,-0.053837,0.998444]]bHBM? g??@ٿ`@? l;?`ȍ?}@?ibڴ@Ib.];bCY9y=I AAiMb@Mb@Mb@ 9~jt`"?MbpYy= AQA A)AYAbDVDyG:%<=ٔ.:Q->9Y=Fy|:E>Q 5 O5a?Q 9O5)ԮBY_>Q E;y?Q I@DI ;i& ;O5yɮ%A!MDNOT Ignoring new targets: 25.07 m.hIhI*hQ"hQ hQgQfQfYf]ׁBdYdYjdYZdev0@Z_>Z_>Z{l@Z? 5Gn)1 5i59)1=9i9iE4侉AEe=IAI=9@9 @9@=/@A9a ^A Jc=I I O >E F E (E *E "E >{;*E ;VE (N4ZE a @a @a @a @y," ?A 2K@2ܻ@29eٱ2)] >AHRS rotation from veh to nav: [[0.916005,0.401071,0.008808],[-0.400922,0.914456,0.055057],[0.014027,-0.053964,0.998444]]2H`O?#? ?@ٿ9C?h0?`i? A?i2K@I2];0YFځByFINAAN@AbDRVDR02yZR>=%Za=ٔZk:Q-Z>9\Y\=^Fy\b;Eb>dQ 5jO5fu`?Q 9jO5f2)fҮBYhyj?Q Ij@fDIf:ifF:fO5ypɮrLAp DNOT Ignoring new targets: 25.07 m.h h*h"h hgfffdd!jd!Zd%F1@ZAZAZAZE?U9e) i)ii>侉{h=IIq 9@  @ @ /@ ԙB9B=CB=IB=ՁBB9B9B9B=>o;B=u,EBCBCBB =B =C5^AMQf=IYIiO}> qy,]?A6@6T@6U"Yٱ6q>] >AHRS rotation from veh to nav: [[0.916465,0.400003,0.009463],[-0.399896,0.914923,0.054775],[0.013252,-0.053984,0.998454]]6H@S??@Da?`ٿ G?{ ?$?ལU?i6@I6^;4YJفByJIPbDVVDVNy^3 %^J=ٔ^:Q-^>9`Y`=bFy`f6;Ef>hQ 5jO5j_?Q 9nO5j)jЮBYlynB?Q Ir@jDIj;ij;jhO5ytɮvZAtDNOT Ignoring new targets: 25.07 m.hh*h"h hgff!f!d!d!jd)Zd-x1@EEe EEEE)EA"EE;*EE:VEEFA4ZEABEE! ,?A2@2@2Iٱ2] :AHRS rotation from veh to nav: [[0.916926,0.398926,0.010281],[-0.398868,0.915389,0.054472],[0.012320,-0.054048,0.998462]]2HtW?? ? ٿ@J??`;?$`g?i2@I2^;2CYBہByBIIF%=)Fp<|iMMb@Mb@Mb@IIII I9M rh`"?MbYMCyIMIMA MIA)M3AIYMGAbDeVDeJ2yu<%u?=ٔ};Q-}>9yYy=Fyu,;E>Q 5O57_?Q 9O5')ˮBY>Q E;yR?Q I@DIX ;i ;%O5yɮJAi߹I߽ADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZd`1@Z>Z>Z|L@ZR?%I)! -i-9))- )i)iB侉p=II)M9@I @I@M0@IE]: E]-E]*EY"E]\p;*E]K;VE](N4ZEYae@ae@ae@ae@Q^A5@p=IIIaO}>ԁ ͌,5?A2`@22@2S*;ٱ2^ :AHRS rotation from veh to nav: [[0.917259,0.398137,0.011113],[-0.398129,0.915724,0.054252],[0.011423,-0.054187,0.998465]]2H.Z?`{?T†?zٿ@M?ƫ?)e?rm?i2`@I2)U^;0YBفByFI Jp9XYX=^Fy\^q ;E^>`Q 5fO5b^?Q 9fO5bʵ)bƮBYhyjq?Q Ij@bDIb:ib-:btO5BrF>BpBrIBrځBBr =BrCDBrDBr o;BrZ,EYy|ɮXADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdM2@ZZZZq? S*;)   i9)̄ii<侉ߌr=I!I! yyŀG9@ @@0@iyԉ 9YlAEm_ Em3Em(Ei"Em;*Emt ;VEmc44ZEiBEmj E,MO?AYԁByIԱiMb@Mb@Mb@ 9Mb)\(?I +YyG=9 AQA A)YbD5VD5kyE#%E3=ٔMQ-M>9IYQ=UFyQUEU>YQ 5eO5]-^?Q 9eO5]I)]BYm@>Q Em;ym?Q Im@]DI]g;i];]rO5yqɮ}AyDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZdq2@Z@>Z@>Z^A@Z?) i9)額,Ųii6侉 /r=III)fA@ @@0@@hA@ Ee = Ee <Ea Ea "Ee s;*Ee 1;VEa ZEa am @am @am @am @1 ^A 8s=I I O >ߙ,ii?A2#@2@2Cٱ2 ^ :AHRS rotation from veh to nav: [[0.917897,0.396610,0.012875],[-0.396708,0.916387,0.053464],[0.009406,-0.054182,0.998487]]2H@i_?`b?0^?cٿ` S?_?uC?ǽ?i2#@I2^;2CY^сBybI dfAbDjVDj0yr%rd=ٔrɸ;Q-v>9tYt=vFytzɎ;Ez>|Q 5O5~]?Q 9O5~)~BYy?Q I @~DI~;i~$:~O5yɮADNOT Ignoring new targets: 25.07 m.hh*h"h hgf f f dd!jd!Zd% 3@ZaZaZaZe?C) i9)顝Fii@侉x=II9@ @@4@ABD>BBIBՁBB =BBB+o;Bh,Eq^A@p=IIO>i I ԙ Ǡ,E?A20 @2@2Ǜٱ2] :AHRS rotation from veh to nav: [[0.918150,0.395990,0.013846],[-0.396145,0.916660,0.052953],[0.008277,-0.054104,0.998501]]2H}a?@W?H[?rZٿFU??@l?~`?i20 @I2W^;2CYBˁByFIHJBAbDNVDNyV޼%VN=ٔZ^:;Q-Z>9XYX=ZFy\^:E^>`Q 5fO5b1]?Q 9fO5bα)bBYhyj?Q Ij@bDIb:ib-:b O5ylɮnAl DNOT Ignoring new targets: 25.07 m.h h*h"h hgfE%5 E%E%)E!"E%k;*E%:VE%FA4ZE!BE% ,?A6i@6; @6Jٱ6R] BAHRS rotation from veh to nav: [[0.918363,0.395458,0.014910],[-0.395676,0.916895,0.052383],[0.007044,-0.054006,0.998516]]6H@;c?-O?'? Rٿ@4W?Ѫ?|?@`?i6i@I6Jr_;4YJɁByJIiMb@Mb@Mb@ 9V-Zd;O?~jtYhyj=@ IA)AYAbD5VD5fyE%EA=ٔM>;Q-M>9IYI=UFyQU:EU>YQ 5eO5]'\?Q 9eO5])]BYm)=Q Em;ym?Q Im@]DI]:i]:]O5yqɮuAyDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffԁBddjdZd3@Z})=Z})=Z}@Z}?J) ƣi9)顝JKii4侉C5{=IIbEFA4jEC4rE.E5A E5ME1E1"E5v;*E5%;VE1ZE1ae@ae@ae@ae@i@i @i@i@i@u=@u=^A|=IIO>) i,?A2@2 @2ûٱ2] :AHRS rotation from veh to nav: [[0.918343,0.395465,0.015926],[-0.395741,0.916888,0.052020],[0.005969,-0.054075,0.998519]]2H`c?MO?O?`Sٿ$W?T?@3sx? ?i2@I2^_;2CB@B@BBIBBˁBBB =BBBDB@BBn;BBS,EYvÁByvIIz<)z;bDVDy]%N=ٔC1;Q->9Y=Fy%x2E%>)Q 55O5--[?Q 95O5-e)-BY1y5?Q I5@-DI-/;i-L;-7O5yE.BɮEWAEZEmDNOT Ignoring new targets: 25.07 m.hihq*hq"hq hqgqfqfyfydydjdZd@O4@ZZ(=ZZ?û) xi9)顽bkii>侉z=II1m9@i @i@u/@qYE=3 E=PE9E9"E=j;*E=;VE9ZE9BE=ԁ ;,K?A05H@5 @5;Cٱ53] MAHRS rotation from veh to nav: [[0.918321,0.395476,0.016908],[-0.395808,0.916889,0.051491],[0.004860,-0.053977,0.998530]]5Hb?@{O?gP?`Tٿ@'W? \?@bs? ꢫ?i5H@I5/`;5CYMByMIԁiMb@Mb@Mb@ 9L7A`尿Dl?QY+yO=uvAv@ A)YA ]4<]<bDeVDe:yu֤%u=ٔu ;Q-u>9yYy=}FyyE>Q 5O5Y?Q 9O52)BY=Q E -,?A2 @2@2.~ٱ2{] :AHRS rotation from veh to nav: [[0.918123,0.395892,0.017862],[-0.396276,0.916705,0.051156],[0.003879,-0.054046,0.998531]]2HCa?LV?@LJ?@\ٿU?1?o?@߫ ?i2 @I2[`;0 @)BlAB̼@@DF5lAiFԼIDDIHiJMlA JԼJklF)HH JlANԼLLLR lAIR̼)PiP)RsCIRlAVjT TVCTTiTXiXZ"A)X XIXY\\YbByfIbDnVDnyv^;%v=ٔz_;Q-z?9xY|=~Fy|E? Q 5O5 X?Q 9%O5 ) BY!y-_?Q I-@ DI ~;i  ; >O5yAɮEzAI-DNOT Ignoring new targets: 25.07 m.h)h)*h)"h) h)g1fQfQfYdYdYjdYZd]@%5@ZZZZ_?.~) S=iU9)iiB侉ix=II9@ @@ 0@BC>BBIBBB =BBBn;B',E1^APz=II O >a 8,!?AE5 E1E%E"Ek;*Ef;VE 4ZEBE9Y=FyE>Q 5O5W?Q 9O5)BYyQ I@DIW:i:O5yɮA1mDNOT Ignoring new targets: 25.07 m.hihi*hq"hq hqgqfqfyfydydyjdZd`~5@ZZZZ)  ;=i9)顽ii<侉Hx=IIa9@ @@0@ԙ^A| u=IIO>Թ ?,g?Aɰ6g@69@6fٱ6- ^ >AHRS rotation from veh to nav: [[0.917512,0.397217,0.019749],[-0.397703,0.916124,0.050494],[0.001964,-0.054183,0.998529]]6HB\?l?+9?sٿP?`Yک? L`?`罫@?i6g@I6=`;4Y]By]IԡiMb@Mb@Mb@ 9 ףp= :v?:vYQ8yT=TA A)3AYA@AbD VD N2ye%m==ٔm;Q-m>9qYq=uFyq}jE}>yQ 5O5}V?Q 9O5}̫)}BYT=Q E= i,B8?AB<A=BBBIBBBBBBn;B*,EBqBqBqBu =Bu =Cu5F@F@F_ٱFw] RAHRS rotation from veh to nav: [[0.917244,0.397792,0.020592],[-0.398324,0.915882,0.049989],[0.001025,-0.054054,0.998537]]FHZ? nu?@?"~ٿ`N?@?P??iF@IF`;FCYZByZIbDbVDb1yj6I%jh=ٔj.;Q-n>9QYQ=UFyQ]cE]>aQ 5mP5eMV?Q 9mP5e,)eBYiym?Q Im@eDIe:ied:eP5yyɮ}AyDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdV6@ZZZZ?_) d=i]9)&2ii@侉q=II 9@ @@T1@!EU EXEE"El;*E;VEZEBEQy @`,ZR?A-@-@-ٱ-\ mAHRS rotation from veh to nav: [[0.916962,0.398398,0.021422],[-0.398974,0.915628,0.049447],[0.000085,-0.053888,0.998547]]-HW? [??Ɉٿ`L?`"Q?>?@7?i-@I-2a;-CY}ByII4=)8>==i Mb@Mb@Mb@     9  ףp= ˡE?~jtxY y '= Ļ  @ A)  Y AbD%VD%:2y- %55=ٔ5:;9Q-=>99YA=EFyAEԺEE>IQ 5UP5M`U?Q 9UP5M)MBY]z=Q E]XE B E =E )E "E w;*E ;VE FA4ZE a @a @a @a @Թ {,k?AF:@F @F*:ٱFW\ ZAHRS rotation from veh to nav: [[0.916531,0.399351,0.022101],[-0.399962,0.915220,0.049021],[-0.000651,-0.053768,0.998553]]FH9T??@?@ٿ@{I?=?PE%?iF:@IF8a;FCYjByjI xzbD~VD~0y<%`=ٔ%;Q-%>9)Y)=-Fy)5iAE=>IQ 5UP5MT?Q 9]P5M)MBYayez?Q Ie@MDIMs;iM-i;M P5yqɮuAyDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZd h%7@ZqZqZqZuz?*:) =i9)額~@3)Աii4侉k=IIB9B9B=IB=BB9B9B9B=n;B=',E@ @@4@ - ?9) Y- A9 ^A m=I E= < E= <E= -E9 "E= ,r;*E= 1;VE= t4ZE9 BE= i,'?A2@2ܻ@2̿:ٱ2Ro\ :AHRS rotation from veh to nav: [[0.916116,0.400259,0.022904],[-0.400911,0.914822,0.048693],[-0.001463,-0.053791,0.998551]]2HP? ֝?+t?`ٿ 9F? O?W!?i2@I2v`;2CYBByFIbDNVDN1yV;%VA=ٔV0:Q-V>9XYX=ZFyX^ E^>`Q 5fP5bS?Q 9fP5bd)bBYdyfZ?Q If@`IbM;ib;b P5ylɮnAlDNOT Ignoring new targets: 25.07 m.hh*h "h  h g f ffddjdZdf7@ZZZZZ? ̿:) d=i)3ii>侉!%Ⱦg=I!I!9U99@ @@/@iԑ ^A h=I I O > ,?A2ٴ@2ӻ@2;ٱ2Q\ :AHRS rotation from veh to nav: [[0.915691,0.401194,0.023505],[-0.401877,0.914414,0.048397],[-0.002076,-0.053763,0.998552]]2H XM?@*? ?@YٿB?Ǩ?a҆`"?i2ٴ@I2k`;2Ci@I@YFByJI LLLNAiMb@Mb@Mb@ 9ˡE)\(?Mb`Y'yGa=vA zA)YAbD5VD5yE;%EA=ٔEI:Q-M>9IYI=MFyIU#EU>YQ 5eP5]+S?Q 9eP5])]BYe=Q EeAj,3?A2д@2˻@23;ٱ2\ :AHRS rotation from veh to nav: [[0.915281,0.402090,0.024190],[-0.402808,0.914017,0.048159],[-0.002746,-0.053823,0.998547]]2H`I?׻?AŘ?ٿ ?? O?;~f@?i2д@I2h^`;2CYBByBIxzAAbD~VD~0y <%9=ٔ-:Q-->91Y1=5Fy15pE5>9Q 5EP5=R?Q 9EP5=ާ)=BYIyM8?Q IM@=DI=U;i=a;=7P5yQɮU_AYiDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdq8@ZZZZ>8?%3;)i m=ims9)qu 3u׼iqi}B侉y}(`=IyIԙEf EVE*E"E";*E;VE(N4ZEBE,?AJŴ@J@J;ٱJ>\ RAHRS rotation from veh to nav: [[0.914734,0.403260,0.025353],[-0.404036,0.913506,0.047556],[-0.003983,-0.053744,0.998547]]JHE?`?@?ٿp;?6Y?`?Pp@_`?iJŴ@IJ||_;JCY^ƁBy^IԩiMb@Mb@Mb@ 9Q?Mb`?YLy\=;`AQA )YAbDVDNy<%:=ٔ 9;Q- >9 Y=FyIE>Q 5%P5Q?Q 9%P5)Y-9=Q E-$,ѓ?A2pô@2B@2ƕ;ٱ2=[ >AHRS rotation from veh to nav: [[0.914618,0.403490,0.025872],[-0.404293,0.913409,0.047240],[-0.004571,-0.053667,0.998548]]2H D?@?6~?@ٿ:?/?`׸r`3z?i2pô@I2^;2CYFȁByFIIJ=)J=N=N=bDRVDR02yZ;%Z@=ٔ^g:Q-^>9\Y\=^Fy`b-Eb>dQ 5nP5fRQ?Q 9nP5f)dYlyn.?Q In@fDIf/;if}0;fP5ytɮv1AtBQBQBUIBUBBU =BQBQBUhn;BU ,EDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZd\P9@Z!Z!Z!Z%.?=ƕ;)9 =8=i=w9)9E4EGiAim6侉im+[=IiIqA8959@1 @9@=/@9qE- S E- GE) E) "E- ;*E- ;VE) ZE) BE- ԙ t,mS?A2*@2@2r;ٱ2[ :AHRS rotation from veh to nav: [[0.914504,0.403723,0.026282],[-0.404546,0.913312,0.046949],[-0.005049,-0.053567,0.998551]]2H@C???ٿ9? ? Lt"m@"?i2*@I2^;2C@Y^ӁBybI fp9xYx=zFyxz1E~>Q 5 P5P?Q 9 P5)BY y %?Q I @DI:id:P P5yɮAEDNOT Ignoring new targets: 25.07 m.hAhA*hA"hI hIgIfIfQfQdQdQjdQZd]9@ZZZZ%?r;) T=i9)顽4kii@侉 [=II1ԱM99@ @@%0@!@%@%@-@-I I O > E= ^ E= AE= ,E9 "E= ;*E= ;VE= g4ZE9 aM @aM @aM @aM @ ,/*?AF￴@F@FA;ٱFb[ NAHRS rotation from veh to nav: [[0.914441,0.403839,0.026688],[-0.404682,0.913262,0.046733],[-0.005501,-0.053535,0.998551]]FH@C? ?@4T?Qٿ r9?]? 1vh ?iF￴@IF)^;FCYZҁByZIpiUMb@Mb@Mb@QQQQ Q9UX9v ףp= ?Mbp?YU}yUQ=U;U AU@ UhA)UIAQYUQAbDVDy%?=ٔl:Q->9Y=FyE>Q 5P5O?Q 9UP5ף)Y]=Q E];y]?Q I]@ DI1B]A>BYB]IB]BBYBYBYB]yn;B],Ei x, D?A6@6@6};ٱ6~Z >AHRS rotation from veh to nav: [[0.914536,0.403604,0.026978],[-0.404462,0.913372,0.046493],[-0.005876,-0.053431,0.998554]]6HC???ٿX:?ͧ?xZ['?i6@I6];4YJ܁ByJI LLhhbDrVDr0yzK=%zV=ٔz:Q-~>9|Y|=~Fy%:E> Q 5P5 VO?Q 9P5 Ģ) Yy?Q I@  DI D;i <; b'P5y!ɮ%A!9UDNOT Ignoring new targets: 25.07 m.hQhQ*hQ"hY hYgYfYfafadadajdiZdm/:@ZZZZh?};) H=iV9)顭{.4d]ii4侉v[=IIEI E6E)E"E};*E ;VEFA4ZEBE-ԙ ,]?A2Ŵ@2俻@2;ٱ2ݾZ :AHRS rotation from veh to nav: [[0.914690,0.403233,0.027288],[-0.404107,0.913539,0.046301],[-0.006259,-0.053378,0.998555]]2H`$E? ?e? ٿ@;??ydT)?i2Ŵ@I2ݷ];2CYBByFIiMMb@Mb@Mb@IIII I9M rh!rh?Mb`YMCyMl=MM AMA MzA)IIYMAaabDeVDe:yu<%uB=ٔ}Hn:Q-}>9yY=Fyq:E>Q 5P5N?Q 9P5ԙR)BY>Q E;yS?Q I@ DIs:;i9;+P5yɮQADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZd:@Z >Z >Z w3@Z S?%;)! %i%9)!%%'i)i->侉15\=I1I9D=DR=E S E IE *E "E ;*E  ;VE (N4ZE a@a@a@a@]9@ @@4@II)1O=>Y J,ӿw?A2ȴ@2û@2=;ٱ2Z :AHRS rotation from veh to nav: [[0.914873,0.402806,0.027468],[-0.403690,0.913725,0.046275],[-0.006459,-0.053424,0.998551]]2HF?? ?ٿ;=?@K?[tzaZ@!?i2ȴ@I2];2CYBByFIbDNVDN1yVU<%VX=ٔV :Q-Z>9XYX=ZFyX^:E^>`Q 5fP5b6N?Q 9fP5b)bBYdyfc?Q If@bDIb:ib:b].P5ylɮn7ApB@>BBIBЁBBBBBJn;B+EBBBB =B =C155DNOT Ignoring new targets: 25.07 m.h1h1*h1"h1 h1g1f9f9f9dAdAjdAZdEP;@ZZZZ-c?%=;)) )i-9)))- i)9i=8侉9=:}^=IAIAM9@I @I@M/@Ia^AmJc=IyIԑO>E I E .E )E "E };*E ;VE FA4ZE BE a 2E a JE ra9`Y`=bFy`f`:Ef>hQ 5nP5jM?Q 9nP5j)jBYpyry?Q Ir@jDIj*;ijO+;j1P5ytɮz_AxDNOT Ignoring new targets: 25.07 m.hh*h"h! h!g!f!f!f)d)d)jd)Zd-@;@ZQZQZQZUXy?eE;)a e im!9)im7 mriiiuB侉quF`=IqIyԙ9@ @@%/@!^Au8:]=IIO>D @AzD E% Q E% <E% +E! "E% ;*E% 1;VE% [4ZE! a- @a- @a- @a- @1 \*,)v?A2ִ@2ѻ@2Z;ٱ2[ :AHRS rotation from veh to nav: [[0.915558,0.401220,0.027870],[-0.402127,0.914420,0.046149],[-0.006969,-0.053460,0.998546]]2H@?L??@?rٿ B?`砧?I|_ ?i2ִ@I2V];0YJByJIiMb@Mb@Mb@ 9Zd;OS㥛?Mb`Yjy$> AhA )AYA  <bDVD1y%~<%%5=ٔ-e9Q-->9)Y)=5Fy1u/;Eu>yQ 5P5}iL?Q 9P5})}BY#>Q E;y?Q I@}DI}:i}<:}5P5yɮ@ADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBdd1jd1Zd5@/<@Z}#>Z}#>Z}7 @Z};?Z;) ƣi9)页4%9ii<侉=\d=II@ @@@AABBBIBՁBB =BBB,n;B+E C Q ] hAq x\9 hAY }HA^A (a=I I O >D1,3Q?A2 ޴@2ػ@2i:;ٱ2Z >AHRS rotation from veh to nav: [[0.915918,0.400405,0.027751],[-0.401306,0.914780,0.046160],[-0.006904,-0.053415,0.998549]]2H`3O?;?j?ٿE? @?`>G| BY?i2 ޴@I2];2CYJ߁ByJIbDRVDRyZ%Ze=ٔ^>Q-^>9`Y`=bFy`bY(;Eb?dQ 5jP5fyK?Q 9jP5fM)fBYlyn?Q Ir@fDIf;(;if);f8P5ytɮvjAtDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZd Ɗ<@ZZZZv?i:;) i9)^qb;ii6侉iHg=IIEv EBE*E"Ec;*EZ;VE(N4ZEBEpԱ n7,0,?A2v@2H޻@2;ٱ2[%[ :AHRS rotation from veh to nav: [[0.916181,0.399818,0.027536],[-0.400710,0.915033,0.046325],[-0.006675,-0.053476,0.998547]]2HZQ?@?@[2?`;ٿG?෧?`V{+a?i2v@I2];2C@YE݁ByMIiMb@Mb@Mb@ 9S㥻n?y&1|Y/ݽyV>`A A)AYAbDVD0y5 %5(=ٔ=]Q-=>99Y9==Fy9E:EE>IQ 5UP5MI?Q 9UP5M )MBYUd4>Q E];y]%?Q I]@MDIM ;iM ;M4=P5yaɮe}AaDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddԩjdZd@=@Zd4>Zd4>ZK@Z%?;) i9)s;ii@侉=i=II I)E E6E)E"E;*E ;VEFA4ZEa@a@a@a@9@ @!@%H0@! ^AM Xh=IY Ii O} >%=,?A2 @2@2;ٱ2l[ :AHRS rotation from veh to nav: [[0.916407,0.399319,0.027257],[-0.400198,0.915245,0.046571],[-0.006350,-0.053586,0.998543]]2H3S?`s???`ٜٿI?.ا?rzo?i2 @I2];2CEH ECE'E"E};*E;VE'4ZEBEd9QYQ=UFyQ]:E]>aQ 5mP5eF?Q 9mP5eʕ)e~BYiyuO?Q Iu@eDIe:ie:eCP5yɮA-DNOT Ignoring new targets: 25.07 m.h)h)*h)"h) h)g)f9fAfIdQdYjdYZd]=@ZZZZO?;;) ۼi9)顝O#Y bEjE#E4rEd/E < E 4E E "E ,r;*E ;VE ZE a @a @a @a @J,,?A8@ @O;ٱa\ AHRS rotation from veh to nav: [[0.916957,0.398115,0.026354],[-0.398950,0.915758,0.047181],[-0.005350,-0.053777,0.998539]]H@W?z?@l?fٿM?(?u`@?i8@Is^;CԑYʁByIiUMb@Mb@Mb@QQQQ Q9U)\(K7?y&1YUGyUI >U`eQUQA UA)QQYUAbDmVDmy};%}8=ٔ}ἺQ-}>9Y=Fy`:E>Q 5P53E?Q 9P5ӓ)zBY{4>Q E;y?Q I@DIv:i:GP5yɮADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffāBddjdZd 2>@Z {4>Z {4>Z @Z ?O;) %;i%`9)!%:%侉)-o=I1I19@ @@@B<A<B?>BBIBˁBB =BBBn;B+E^Afm=IIO> Q,F?AfPExceeded connect timeout, disconnecting.YpyrI z491Y1=5Fy15E5>AQ 5EP5EC?Q 9MP5E:)EvBYIyIQ IM@EDIE:iE9:EJP5yQɮ]AYDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZd>@ZZZZ) f;ij9) pi!>E5 EE,E"Ek;*EVEg4ZEBEQy W,it`?A2@2@2 |;ٱ2U] :AHRS rotation from veh to nav: [[0.917298,0.397412,0.025073],[-0.398183,0.916045,0.048089],[-0.003856,-0.054095,0.998528]]2HZ?`1o?@?{ٿ9Y=Fy;E>Q 5P5A?Q 9P5)rBY">Q E;y+?Q I@!DI ;i ;\NP5yɮkADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZd`>@Z ">Z ">Z l@Z +?% |;)! %;i%a9)!- -ԧԩ ],Oz?AB&@>B$B&IB&BB& =B$B$B&m;B&+E>@>@>36;ٱ>Ϡ] JAHRS rotation from veh to nav: [[0.917434,0.397159,0.024063],[-0.397877,0.916155,0.048513],[-0.002778,-0.054082,0.998533]]>H@[? k??vٿ@$Q?֨?f ?i>@I>Y_;>CYRByRITVAbD^VD^2yf%fV=ٔfk9Q-f>9hYh=jFyhj7f:En>pQ 5vP5r??Q 9vP5r*)rnBYxyz3?Q Iz@r#DIr:irt:rQP5y~Bɮ4AOE-DNOT Ignoring new targets: 25.07 m.h)h)*h)"h) h)g1f1f1f1d9d9jd9Zd=Z?@ZaZaZaZe~3?u36;)q uiu9)R E  E 4E 'E "E .;*E ;VE '4ZE BE =a 2E =a JE a :E a 9 d,*?A6(@6@6 :ٱ6M] BAHRS rotation from veh to nav: [[0.917501,0.397074,0.022891],[-0.397731,0.916196,0.048935],[-0.001541,-0.054003,0.998540]]6H*\?i? p?`ktٿzQ??PAY@=@ ?i6(@I6_;6CYHyHPR@AbDVVDVy^ %^K=ٔ^IQ-^>9`Y`=bFy`f9Ef>hQ 5jP5j=?Q 9nP5j)jjBYpyr4?Q Ir@j%DIj2;ij_3;j4UP5ytɮv7AxDNOT Ignoring new targets: 25.07 m.hh*h"h hg!f!f!f!d)d)jd)Zd-?@ZIZIZIZM4?e :)a e)ie9)imБmi j,E?A J@J[@Jh9ٱJ ]EV  EVkEV*ET"EVX;*EV&;VEV(N4ZETa^@a^@a^@a^@ fAHRS rotation from veh to nav: [[0.917520,0.397095,0.021726],[-0.397689,0.916191,0.049375],[-0.000298,-0.053942,0.998544]]JHS\?j?7??@sٿoQ?`G?3P?iJ@IJ5b`;JCYrByrqIimMb@Mb@Mb@iiii i9mMbbX9ȶ?9Y=FyO8E>Q 5P5Q E;y?Q I@'DIz ;i ;XP5yɮADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZd`)@@Z%>Z%>Z%n@Z%?h9) BABEyIBEBBABABABEm;BE+EBBBBB =C|4ԑ^A| u=IIO> q,?A6P@6"@6܌ٱ6`\ >AHRS rotation from veh to nav: [[0.917509,0.397187,0.020478],[-0.397713,0.916152,0.049895],[0.001057,-0.053924,0.998545]]6H <\?@k??#tٿ Q?ۋ?@QQ?ݛ?i6P@I6)a;6CYFByFdIIJ4=)Jp;N=TN=bDZVDZyb\%bY=ٔfkQ-f>9dYd=fFyhjCEj>lQ 5rP5nw:?Q 9vP5n)n`BYtyv?Q Iv@n)DIn:in:nF\P5yxɮ~A|DNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZd`J@@ZZZZ.?܌) i9)) x,=?Ab@b@bLٱbc\ jAHRS rotation from veh to nav: [[0.917526,0.397210,0.019250],[-0.397669,0.916143,0.050417],[0.002390,-0.053914,0.998543]]bH`_\?k?Щ?@(c??ib@IbǬa;bC|Y By YIiMb@Mb@Mb@ 9bX9ȶL7A`?:vYEy+=T A A)AYA  bDVDy%%%%6=ٔ%BQ-%>9)Y)=-Fy)-8E5>9Q 5=P5=[8?Q 9EP5=)=]BYEz=Q EE;yEh@Q IE@=*DI=:i=/:=2`P5yQɮUHAQ}DNOT Ignoring new targets: 25.07 m.hyhy*hy"h hgffftBddjdZd́@@Zz=Zz=Zt9 @ZZh@L) L=i/9)U2ԁ BE >>BA BE `IBE BBE =BA BA BE en;BE ,E5~,?A^@^@^_{ٱ^N2] nAHRS rotation from veh to nav: [[0.917434,0.397483,0.017958],[-0.397870,0.916021,0.051046],[0.003840,-0.053976,0.998535]]^H[?\p?c?vٿ` P?"?fuo?ˢ@?i^@I^#b;^CYzByzWIbDVDy6%]=ٔQ->9!Y)=5FyAUaEe>OGliAQ 5P56?G9liAY6AQ 9P5)YBYyb@Q Im@,DIn=i&9)2t侉s=IIԉ9@ @@/@@=@=Ա^A r=E { E `E *E "E ;*E '!;VE (N4ZE BE [ ,q?A2@2@2宻ٱ2] :AHRS rotation from veh to nav: [[0.917292,0.397868,0.016646],[-0.398180,0.915847,0.051732],[0.005337,-0.054081,0.998522]]2H`tZ? v? ?{ٿ@N?`|?u?`?i2@I2fb;2CYFByFKI HHHHbDRVDR0yVB%ZQ=ٔZzQ-Z>9XY\=^Fy\`E>!Q 5-P5%4?Q 9-P5% )%VBY)y-[@Q I-@%-DI%:i%:%fP5y9ɮ=A9eDNOT Ignoring new targets: 25.07 m.hahi*hi"hi higififqfqdqdqjdyZd}@@@ZZZZ[@宻)  A D zD @AE% H E% /E% (E! "E% };*E% Y;VE% c44ZE! a5 @a5 @a5 @a5 @>G,M/?A2@2@29߻ٱ2] :AHRS rotation from veh to nav: [[0.917224,0.398078,0.015297],[-0.398313,0.915757,0.052303],[0.006812,-0.054067,0.998514]]2H`Y? z?T? }ٿM?uǪ?@1{??i2@I2}rc;2CY^By^GIiMb@Mb@Mb@ 9Mb ףp= ?I +YyQ8=94`Av@ zA)3AYAbDVDy`%9=ٔ`[Q->9Y=FyNE>Q 5P5B3?Q 9P5N)SBYΡ=Q E'BBGIBBB =BBBUn;B+E^Amur=qIIO>ԙ .,&I?A:@:@:Bٱ:y] JAHRS rotation from veh to nav: [[0.917113,0.398384,0.013924],[-0.398540,0.915625,0.052877],[0.008316,-0.054043,0.998504]]:HX? ?@?ٿL??3? ?i:@I:Rd;:CYR{ByRBIbD^VD^kyb"%f]=ٔf Q-f>9hYh=jFyhj2En>pQ 5vP5r1?Q 9vP5r)rPBYtyz@Q Iz@r/DIr:ir:rmP5y|ɮ~A|%DNOT Ignoring new targets: 25.07 m.h)h)*h)"h) h)g)f)f1f1d1d1jd9Zd=KA@ZYZYZYZ]@}B)y $=i9)額Վ35 Y,c?A2@2@2,_ ٱ2\] :AHRS rotation from veh to nav: [[0.917099,0.398463,0.012533],[-0.398540,0.915597,0.053363],[0.009788,-0.053934,0.998496]]2HX?j?@ު?`ٿL?nR? ? F?i2@I2bd;0YqBy6II<)<i%Mb@Mb@Mb@!!!! !9%y&1 rh?{GztY%`ey%C =%ף%vA! %A)%A!Y!bD=VD=yM%M(=ٔUFQ-U>9QYQ=]FyY]4E]>aQ 5mP5em0?Q 9mP5e)eNBYu=Q EuIB B CB :IB uBB B B B n;B +EQ y,6|?A2@2@2V8ٱ2- ] :AHRS rotation from veh to nav: [[0.916983,0.398768,0.011208],[-0.398767,0.915465,0.053943],[0.011251,-0.053934,0.998481]]2HW?`i? ?@dٿ`|K?@r? ?@D?i2@I2d;0 @)@BԼ@@DF1lAiDIDDIHiJIlA HH)HH LN/ݼLLPRlAIP)PiP)PIPVļT TV CVlATiXXiXZA)X XI\Y\YbrByb7I jpE@ EbE'E"Eu;*E5";VE'4ZEBE AHRS rotation from veh to nav: [[0.916923,0.398944,0.009762],[-0.398858,0.915393,0.054481],[0.012799,-0.053849,0.998467]]6HoW?K??ٿJ?@?`p6?@q?i6@I6d;6CY~xBy>IbDVDk1y-<%-G=ٔ5vQ-5>91Y1==Fy9=㎹E=>AQ 5MP5E.?Q 9MP5E)EKBYQyU @Q IU@E2DIE`:iE:ExP5yɮA DNOT Ignoring new targets: 25.07 m.h h *h "h  h gfffddjdZd%`A@ZAZAZAZE @UQ)Q U=i]9)Y] 4]iYie:侉aeBjo=IaIiԉԹ9I)@ @@0@@=@= E  E ?E (E "E *E ;VE c44ZE a @a @a @a @^A @p=I  I O% >,xC?A2@2@27iٱ2\ >AHRS rotation from veh to nav: [[0.916857,0.399127,0.008474],[-0.398963,0.915310,0.055095],[0.014234,-0.053894,0.998445]]2HV?K?Z? ٿ9J?\5?&?@C?i2@I2nhd;2CYMvByM<I QQiMb@Mb@Mb@ 9I + rh?~jthY94yDIA@ A)zAY3AbDVD0yuٻ%3=ٔNQ->9Y=Fy NE >Q 5P5 -?Q 9P5^)JBYd=Q EnBB4IBpBBBBDBm;B+EU9@Q @Q@U 3@QI^Aq y I I O >۲,r?A0j@j@jJ~ٱj6\  AHRS rotation from veh to nav: [[0.916937,0.398966,0.007264],[-0.398730,0.915383,0.055567],[0.015520,-0.053847,0.998429]]jH W?ਈ?}?˄ٿJ?9Y=Fy$:E>Q 5P5(,?Q 9P5ރ)IBYy@Q I@3DI8;i; P5yɮAE4 EE*E"Ej;*E:VE(N4ZEBE侉 o=IIԉ-9@) @)@-/@)Թ^Am=II O> ,?A6@6@6Qٱ6] BAHRS rotation from veh to nav: [[0.916873,0.399131,0.006239],[-0.398828,0.915296,0.056303],[0.016761,-0.054111,0.998394]]6HW?@\?;y?@dٿJ? Ӭ?`)?g`?i6@I6`c;4YJ}ByJEI\i%Mb@Mb@Mb@!!!! !9%:vkt?Mbp?Y%Ty% 0=%;%A! %A)%A!Y%AbD=VD=:yMF<%MP=ٔMOQ-M>9QYQ=UFyQ]E]>aQ 5mP5e&+?Q 9mP5e?)aYmn=Q EmDA B ;>B B :IB uBB =B B B =n;B +EBCBBB =B =C>;5.,?A6@6@6Pٱ6] >AHRS rotation from veh to nav: [[0.917055,0.398729,0.005108],[-0.398358,0.915475,0.056711],[0.017936,-0.054042,0.998378]]6HX?Ƅ?4t?@~ٿK?/ ?]?@Y?i6@I6c;4YF~ByFFIIJ<)HbDRVDRyZ;%ZU=ٔZ=HQ-Z>9\Y\= Fy  ':E>Q 5%P5#*?Q 9%P5)Y)y-@Q I-@5DI*;i*;P5y1ɮ5A1eDNOT Ignoring new targets: 25.07 m.haha*ha"ha hagafififididqjdqZduB@ZZZZ@P) =i9)顭d4iiB侉dq=IIm9@q @q@u/@qIiIAy^Ao=IIO>E. ETE(E"Eye;*E;VEc44ZEBEAHRS rotation from veh to nav: [[0.917214,0.398375,0.004053],[-0.397941,0.915634,0.057065],[0.019022,-0.053954,0.998362]]6H`Y? ~?:p?wٿL?7?@~z?`ٟ@?i6@I6Gb;6CY^By^II df<bDjVDjβyrO<%rG=ٔr]-Q-v>9tYt=vFytzޑ:Ez>|Q 5P5~)?Q 9P5~)~JBYy @Q I @~6DI~:i~d:~iP5yɮAyDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdB@Z Z Z Z ~@Z֛)! %=i%9)!%.y4!i!i-<侉)5Br=I1I1 99I9)9)@1 @1@50@9Ա^Aur=IIO> D zD E% 3 E% 9E% 'E! "E% j;*E% ;VE% '4ZE! a- @a- @a5 @a5 @aA,g3?A>@>@>Eٱ>.] VAHRS rotation from veh to nav: [[0.917360,0.398046,0.003161],[-0.397557,0.915777,0.057454],[0.019975,-0.053963,0.998343]]>H@[? y?ei?@qٿ@ N?j?Ot?`m?i>@I>b;>CYbBybSIiMMb@Mb@Mb@IIII I9M&1)\(?Mbp?YMPyMGa=IMvAI M3A)IIYMQAbDeVDeNymW=%uB=ٔuQ-u>9Y=Fyv:E>Q 5P50(?Q 9P5,)Yԙ=Q E0BqBuGIBuBBqBqBqBun;Bu/,E 11 G%9YA^A11IAIQO]>q A+,JM?AJ@J@J|ٱJF_\ VAHRS rotation from veh to nav: [[0.917619,0.397455,0.002225],[-0.396914,0.916045,0.057628],[0.020866,-0.053764,0.998336]]JH"]?o?;b?gٿ=P? u?]?]?iJ@IJXa;JCY^Byb[I ``bDjVDjk1yr'<%rS=ٔvQ-v>9tYt=vFytzR:Ez>|Q 5P5~h'?Q 9P5~z)|Yy ]?Q I @~8DI~ :i~:~yP5yɮ/A=DNOT Ignoring new targets: 25.07 m.hAhA*hA"hA hAgAfAfIfIdIdIjdQZdUSC@ZqZqZqZu]?|) *=i79)額4ii@侉Bv=II1E}* E}*EyEy"E}a;*E};VEyZEyBE}ԑԱ S,g?A2 @2r@2įٱ2N\ >AHRS rotation from veh to nav: [[0.917895,0.396820,0.001638],[-0.396243,0.916322,0.057848],[0.021455,-0.053748,0.998324]]2H@e_?e?Z? \ٿR?I?@-?`΄@E?i2 @I2x`;2CYFByFjIiMMb@Mb@Mb@IIII I9M/$~jt?Mb`?YM,yM=M;M AMv@ MA)MAIYM(AaabDmVDmkyu,s=%B=ٔ͵Q->9Y=Fy:E>Q 5P5'?Q 95P5~)IBY==Q E=Bq Bu YIBu BBu  =Bu CDBq Bq Bu ,,E^A} Tw=I I O > :,b?A2@2 @2ٱ2 d\ >AHRS rotation from veh to nav: [[0.918187,0.396146,0.001125],[-0.395538,0.916612,0.058073],[0.021974,-0.053767,0.998312]]2Ha?tZ?oR? }PٿT?λ?a?f`+?i2@I2_;0YFByFbIbDRVDRܲyVP %VX=ٔZQ-Z>9XY\=^Fy\^r;Eb>`Q 5fP5b&?Q 9fP5b~)bHBYhyj?Q Ij@b:DIbK:ib:bxP5ypɮrAp DNOT Ignoring new targets: 25.07 m.h h *h"h hgfffdd!jd!Zd%KC@ZZZZs?) E? E&E,E"Et;*E;VEg4ZEBEWAHRS rotation from veh to nav: [[0.918481,0.395465,0.000766],[-0.394834,0.916903,0.058263],[0.022339,-0.053816,0.998301]]6H1d?@LO?I?Dٿ EW?@ԭ? ?@?i6!@I6oE_;4YJByJuIIN4=)N<bDRVDRyZ.=%ZJ=ٔ^kQ-^>9`Y`=bFy`b[:Ef>dQ 5jP5f&?Q 9nP5f})dYlyn?Q In@f;DIf;if;fP5ypɮvAtDNOT Ignoring new targets: 25.07 m.h!h!*h!"h! h!g!f!f)f)d)d)jd1Zd5SC@ZQZQZQZU?e)i mPe=im{9)im4iiiiu>侉y}y~=IyIy-9@) @)@1@1Qy^A5|=IAIQO]v>ԡ bE:4jEh=4rE/E & E E *E "E 8^;*E x:VE (N4ZE a @a @a @a @6,?AHv-@v@vfٱv\ AHRS rotation from veh to nav: [[0.918865,0.394572,0.000554],[-0.393930,0.917287,0.058332],[0.022508,-0.053817,0.998297]]vHVg?@?(B?'6ٿ kZ?ݭ?`C ?@썫 ?iv-@Iv^;vCYByIiUMb@Mb@Mb@QQQQ Q9Uy&1&1?~jtx?YU`eyU=U;U AQ UA)UAQYUQA m9Y=Fyn ;E>Q 5P5&?Q 9P5T|)GBY=Q E;yd?Q I@=DI:i: P5yɮ2ADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZdK)D@Z=Z=Z,@Z{d?%f)! % w,ƈ?A2;'@2 "@2ٱ2j\ >AHRS rotation from veh to nav: [[0.919251,0.393671,0.000489],[-0.393027,0.917673,0.058365],[0.022528,-0.053844,0.998295]]2H`j?`1?@?X'ٿ]?`??w?i2;'@I2v^;0 BC)FlAF`弩FMFDFCF lAiJ`IJRFHIJCiJffA HL)NPJNsC LRR9FPPRkAIR)RbFiT)VYCIVkAV/ݼVJF TXXXiXXYX|YqyuIbDVDFy%Z=ٔcQ->9Y=Fy ,;E>Q 5P5%?Q 9P50{)Yy?Q I@>DIr;i* ;QP5yɮ4ADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZd @.YD@Z)Z)Z)Z-?=)9 =PT;*E:VE [4ZEBE!ԉ :,c?A2j2@2;-@2唷ٱ2[ :AHRS rotation from veh to nav: [[0.919789,0.392412,0.000451],[-0.391772,0.918222,0.058159],[0.022408,-0.053671,0.998307]]2Hn?H?Б=?ٿb?ǭ??`z"?i2j2@I2"^;2CYEByMI QQYi Mb@Mb@Mb@     9 Mbrh|?Mbp?Y y = ; A QA ) A Y bD5VD50yUJ=%U?=ٔ]39Q-]>9aYa=eFyimP;Em>Q 5P5^%?Q 9P5y)FBY >Q E;y?Q I@@DI"`;i>e;P5y1ɮ5A1}DNOT Ignoring new targets: 25.07 m.hyhy*hy"h hgfffBddjdZdܓD@Z >Z >Z<@Z?%唷)! M !,)??A2>@28@2&ٱ2 \ >AHRS rotation from veh to nav: [[0.920356,0.391081,0.000810],[-0.390466,0.918789,0.057984],[0.021932,-0.053682,0.998317]]2H@s?x?J?fؿf? ?Nu? <|7?i2>@I2];2CYByI))bD5VD5yEF=%E]=ٔE:Q-M>9IYI=MFyIU};EU>YQ 5eP5] %?Q 9eP5]Ix)YYaye ?Q Im@]BDI]:i]p:]HP5yqɮuAqԹ-DNOT Ignoring new targets: 25.07 m.h1h1*h1"h1 h1g1f9f9f9d9dAjdAZdED@ZaZaZaZe ?}&)y }*=i}F9)y顅4ii6侉B=II-9@) @)@-5@)^A58=I9IIO]>E EEE"EL;*Ex:VEZEBE9`Y`=bFydfR;Ef>hQ 5nP5j$?Q 9rP5jv)jEBYpyvI?Q Iv@jCDIjLC;ijD;jP5yxɮzAx%DNOT Ignoring new targets: 25.07 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5`D@ZQZQZQZUZI?ma)i m7=imQ9)imJ4iiqiu@侉y}JC=IyIy9@ @@3@I^AI!I9OEs>qԙ E ) E E *E "E `;*E O:VE (N4ZE a @a @a @a @M ,5?A2\@2V@2"ٱ2V6[ >AHRS rotation from veh to nav: [[0.921809,0.387639,0.001816],[-0.387100,0.920258,0.057256],[0.020523,-0.053482,0.998358]]2H v??]?@?ؿr?P??a@?i2\@I23e^;0YmBymIqI}=)}=}=}=iMb@Mb@Mb@ 9 ףp= 7A`?{Gzt?YQy>ף; A 3A)AYAbDVDfy%;%%)=ٔ%:Q-->9)Y)=5Fy15m;E5>9Q 5EP5=#?Q 9EP5=t)=DBYE0>Q EM;yMk?Q IM@=FDI=*:i=;=P5yQɮUAYDNOT Ignoring new targets: 25.07 m.hh*h"h hgfff́BddjdZd .E@B7>BBIBBB =BBB.n;B+EBBCBB =B =C5Z0>Z0>Z@Zk?") ƣi #9)  \4 i i:侉e=IIԡ@ @@4@^A% m=II Ia Ou > %,O?A`bs@ibD;I``d f;kAdddhhIh)hih)lInrjAnQnZF lpr~jApippitt)t tIt x)xxxxYxYByI p<bDVDβy/%a=ٔQ->9Y=FyE>Q 5P5"?Q 9P5s)CBYyQ I @HDI:i: P5yɮA=DNOT Ignoring new targets: 25.07 m.h9hA*hA"hA hAgAfAfIfIdIdIjdQZdU@\E@E} E}E})Ey"E}L;*E}4:VE}FA4ZEyBEya2EyaJE}HQ ,i?A2_y@20t@2ٱ2[ :AHRS rotation from veh to nav: [[0.923220,0.384257,0.003397],[-0.383821,0.921672,0.056597],[0.018617,-0.053556,0.998391]]2H??k?ؿ`U~?@Q?7?k@?i2_y@I2'_;2CYByIiEMb@Mb@Mb@AAAA A9EʡE'1Z?Mb`YE-yE">EE AEhA A)EAAYAbD}VD} yƻ%?=ٔ9;Q->9Y=Fy<E>Q 5P5""?Q 9P5q)@BY9>Q E;y?Q I@JDI; ;i<:ȸP5yɮADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffɁBddjdZd`E@IZ9>Z9>Zޒ@Z?) ƣi9)٣4ii>侉  j^=I I E E.E(E"E>T;*E;VEc44ZEa@a@a@a@9@ @@@qB 6>B B B B B B B Ln;B +E^A m= I I) U cGi O} > t*9 Y lA ,@?A:@:@:Rٱ:[ BAHRS rotation from veh to nav: [[0.923957,0.382470,0.004467],[-0.382101,0.922410,0.056195],[0.017373,-0.053629,0.998410]]:H?az?Lr?Wtؿb?Ŭ?@ ʑ?Du ?i:@I:j_;:CPYrBytxzAbD~ VD~2y eo% h=ٔ g;Q->9Y=Fy;E>!Q 5-P5%!?Q 9-P5%fo)%>BY)y-?Q I5@%LDI%:i%F:%޻P5y=Bɮ= A=EEeDNOT Ignoring new targets: 25.07 m.hihi*hi"hi higififqfqdqdqjdyZd}`E@ZZZZw?R) `i9)页Y4ii8侉=IIm9@q @q@u/@q^Abb=IIO >E E%E*E"E,K;*E;VE(N4ZEBEK9Y=FyQ;E%>!Q 5-P5% ?Q 9-P5%}m)%ԁ E  E 'E +E "E G;*E ";VE [4ZE a @a @a @a @h+-,<?A2@2ॼ@2oٱ2[ >AHRS rotation from veh to nav: [[0.925592,0.378462,0.006753],[-0.378239,0.924063,0.055171],[0.014640,-0.053620,0.998454]]2Hs?8?{?5ؿ?`]?? |?tV?i2@I2O`;0YDyFIiMb@Mb@Mb@ Y9`"{Gz?Yy#> Av@ )3AYAbDmVDm02y}I%C=ٔ}U;Q->9Y=Fyɢ;E>Q 5P5?Q 9P5[k)9BYjM>Q E;yM?Q I@QDI;i:P5yɮ8ADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZd1*F@ZjM>ZjM>Zd @ZM?%o)! %i-9))-)i)i5<侉15=I9I9AQAU@AB]5>BYBYBYBYBYBYB]n;B],E9@ @@'1@ԉԱ^A=II1O=> d4,L?A2@2@2jXٱ2fh[ :AHRS rotation from veh to nav: [[0.926423,0.376400,0.007950],[-0.376253,0.924909,0.054559],[0.013183,-0.053536,0.998479]]2HA?@?@G?ؿژ?1??@i?i2@I2 `;0YFByFIIJ<)Jp;N=Np=bDRVDR1yZ(%ZX=ٔZ|;Q-Z>9\Y\=^Fy\b;Eb>dQ 5jP5fg?Q 9jP5foi)f7BYhyj?Q Ij@fTDIf :if:f[P5ypɮrwAp DNOT Ignoring new targets: 25.07 m.h h *h "h hgfffddjd!Zd% ZF@ZAZAZAZE?UjX)Q UPѼi]9)Y]̱YiYie6侉ae=IiIiqԹE] E]1EYEY"E]L;*E]f;VEYZEYBE]ܡI o=:,?AR͵@Rȼ@R>ٱRW[ bAHRS rotation from veh to nav: [[0.927221,0.374401,0.009263],[-0.374335,0.925721,0.053982],[0.011636,-0.053521,0.998499]]RHʫ?.?\?׿??ԇ? g ?iR͵@IRsa;RCYnByrsIiMb@Mb@Mb@ 9&1jt?tQA A)AYGA 4<bDVD02y]kk%]2=ٔe];Q-e>9aYa=eFyim;Em>qQ 5}P5u?Q 9}P5u:g)u3BY?>Q E;y?Q I@uWDIuv:iu:u]P5yɮADNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBddjdZd`7F@Z?>Z?>Zg @Z?>) i9)j i i@侉=II9@ @@4@ADe<DabE(N4jEL4rE?/Eu  Eu0EqEq"EuC;*Eu;VEqZEqa}@a}@a}@a@q^A`=IIO>BQ BQ BU IBU BBQ BQ BQ BU n;BU (,Eԙ R%A,F?AYnByr`IbDzVDz:y%b=ٔQ->9!Y!=%Fy!%E->)Q 55P5-?Q 95P5-{e)-0BY9y9Q I=@-YDI-;i-;-P5yAɮE_AIuDNOT Ignoring new targets: 25.07 m.hqhq*hq"hq hqgyfyfyfyddjdZdF@ZZZZ) vi9)벉ii:侉1c=IIq]9@Y @a@e/@aԡ^A=IIO>Eu$ EuEqEq"Eug\;*Eu:VEqZEqBEu/AHRS rotation from veh to nav: [[0.928648,0.370767,0.012043],[-0.370866,0.927177,0.052923],[0.008456,-0.053613,0.998526]]2H{???F׿@o?@?uQ?.s?i2p@I2Pa;2CYFByF_IHJAbDRVDRJyZސ%ZQ=ٔ^9`Y`=bFy`b<Ef>dQ 5jP5f?Q 9nP5fcQ =ntI)f,BYlynZ?Q In@f[DIf ;if ;fP5ytɮvfAtUDNOT Ignoring new targets: 25.07 m.hQhQ*hQ"hQ hQgafafafadidijdiZdm`F@ZZZZYZ? ) }i%9)_6ii4侉Z=II9IA)EgA9@ @@@@hA@^AТ=II1O=>) E - E E )E "E d;*E j:VE FA4ZE a @a @a @a @zM,78?A6e@66@6.ٱ6[ >AHRS rotation from veh to nav: [[0.929335,0.368994,0.013422],[-0.369175,0.927886,0.052329],[0.006855,-0.053586,0.998540]]6H ??@|?@׿ =?ʪ?`|?o ?i6e@I6ĝa;6CYFByFTIiMb@Mb@Mb@ 9 ףp= HzG?:vYQy= >T 3A)AYA-AA)bD-VD-2y=y4%EB=ٔEx;Q-E>9AYI=MFyIM;EM>QQ 5P5U?Q 9P5Ua)U'BY&>Q E;y9?Q I@U]DIU:iU:UP5yɮADNOT Ignoring new targets: 25.07 m.h!h!*h!"h! h!g!f!f)f-Bd)d)jd1Zd5-G@ZU&>ZU&>ZU) @ZUw9?m.)i mƣim9)iuKqiqi}>侉y}o=IyIy)BABABEfIBEBBABABABEn;BE,E 9@  @ @ /@ Y^A-ʞ=I9IIOU>ԑ aT,_R?A0:7 @:@:˯ٱ:~[ FAHRS rotation from veh to nav: [[0.929965,0.367355,0.014708],[-0.367610,0.928537,0.051780],[0.005365,-0.053561,0.998550]]:H`E?༂? /?@׿@??tu?Il?i:7 @I:pa;:CYN~ByNEIbDVVDVܲy^dr%^S=ٔbR|;Q-b>9`Y`=bFydf֎;Ef>hQ 5nP5jc?Q 9nP5j>`)j#BYpyru?Q Ir@j_DIj;ij;jP5ytɮvAtDNOT Ignoring new targets: 25.07 m.hh*h"h hgf!f!f!d!d)jd)Zd- >]G@ZIZIZIZMu?e˯)a e/ier9)aevaiiim8侉quy¯=IqIqEE$ EEEAEA"EEg\;*EE4:VEAZEABEAaU2EAaUJEEH ČZ,?l?A\fU@f&@foٱf˭[ -AHRS rotation from veh to nav: [[0.930469,0.366021,0.016012],[-0.366350,0.929061,0.051308],[0.003904,-0.053606,0.998554]]fHf?l?@ne?Fr׿ ߺ? E?o?Mr(?ifU@Ifa;fCY]sBye8IIm%=)m49Y=FyW=;E>Q 5P50?Q 9P5^)BYL >Q E;yF?Q I@aDI~:i: P5yɮcADNOT Ignoring new targets: 25.07 m.hh*h"h hg!f!f!f%Bd)d)jd)Zd- rG@ZUL >ZUL >ZUq @ZUF?eo)a eie9)imNjiiiiuB侉quv=IqIyY>i>%9@! @!@%0@!EUB EU EQEQ"EUw;*EU:VEQZEQa]@a]@a]@a]@B1 B1 B5 @IB5 zBB5 =B1 B1 B5 n;B5 ),EBBBB =B =C4^AU d=Ia Iq O >A `sa,?A2@2@2=",ٱ2[ >AHRS rotation from veh to nav: [[0.930861,0.364970,0.017154],[-0.365364,0.929473,0.050883],[0.002627,-0.053632,0.998557]]2H`?[?ː?b׿>?J ?Fe?u`.?i2@I2`;0YFdByF%I Npԡ 'g,?A2%@2 @2[ٱ24[ :AHRS rotation from veh to nav: [[0.931251,0.363917,0.018333],[-0.364376,0.929886,0.050422],[0.001302,-0.053636,0.998560]]2H?kJ?Œ?Q׿?Щ?VU?%v3?i2%@I2`;2CYJXByJIbDRVDRfyZ]c%ZJ=ٔZSV;Q-^>9\Y\=bFy`b+;Eb>dQ 5jP5fH?Q 9jP5f\)fBYhyj?Q In@fdDIf@;if];fP5ypɮr=Ap DNOT Ignoring new targets: 25.07 m.hh*h"h hgfffdd!jd!Zd%PG@ZAZAZAZE?][)Y ]Di]9)Y][ӳaiaie6侉imFM=IiIiy)@) @)@-4@)ԡ^A*=IIO> Ee . Ee Ee )Ea "Ee ye;*Ee :VEe FA4ZEa am @am @am @am @m,`̹?A2@-@2(@2E6ٱ2[u[ :AHRS rotation from veh to nav: [[0.931586,0.363008,0.019306],[-0.363521,0.930246,0.049952],[0.000174,-0.053553,0.998565]]2H?;?ē?`C׿ ?\?@&?`Ok>?i2@-@I2 `;2CYfJByfI hhimMb@Mb@Mb@iiii i9mX9v#~j?MbYm}ym=mii mA)mIAiYibDVDy%==ٔ$+;Q->9Y=FyW ;E>Q 5P5>?Q 9P5Z)BY=Q EBBIB[BB =BBBn;BN,E591Y5o AZM=ZM=ZMW@ZMrz?}E6)y i9)顅0䳉ii@侉ж=II@ @@4@@@gA1^A 箵=I I O >Y t,7?A2l0@2=+@2Ĕ<:ٱ2С[ :AHRS rotation from veh to nav: [[0.931727,0.362602,0.020133],[-0.363160,0.930402,0.049675],[-0.000719,-0.053595,0.998563]]2H@?4??>׿?`o?`Gp`9?i2l0@I2._;2CYF;ByFIN@ALbDRVDRyV;%ZZ=ٔZ*;Q-Z>9XY\=^Fy\^i:Eb>`Q 5fP5bW?Q 9jP5bZ)bBYhyj?Q Ij@bgDIbZ:ib:bP5ylɮr(ApDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdbH@ZZZZ ? Ĕ<:) vi9E, EE'E"Ec;*E:VE'4ZEBEsԑ Iz,?AV0@V+@V,:ٱV2[ bAHRS rotation from veh to nav: [[0.931747,0.362513,0.020778],[-0.363105,0.930432,0.049506],[-0.001386,-0.053672,0.998558]]VH?@h3?F?=׿?X?ŶVz@/?iV0@IV5_;VCYj5ByjIiMb@Mb@Mb@ 9 rhv/?y&1|YC yxi=` A A)`AYAbDVDyɼ%:=ٔR:Q->9Y=FyJ 9E>Q 5P5?Q 9P5EY)BY=Q EFBBBIB=BBBBBBo;Bq,E ,]?A:"2@:,@:b;ٱ:39\ BAHRS rotation from veh to nav: [[0.931801,0.362339,0.021399],[-0.362965,0.930496,0.049337],[-0.002035,-0.053739,0.998553]]:HO?0?@?:׿@?@B?]`@%?i:"2@I:^;:CYJ,ByJIbDVVDV0yZ?%^]=ٔ^:Q-^>9`Y`=bFy`f^9Ef>dQ 5jP5f?Q 9nP5fX)fBYlyn?Q In@fiDIfQ;if];fP5ytɮvAtDNOT Ignoring new targets: 25.07 m.hh*h"h hgff!f!d!d!jd!Zd-@-H@ZIZIZIZM_?]b;)Y eie9)ae?eiaim>侉im=IiIq9@ @@/@^AI!I1OEs>E=( E=E=)E9"E=`;*E=:VE=FA4ZE9BE=Q9Y=Fy.9E> Q 5P5 1?Q 9P5 W)  BYy?Q I@ jDI ;i ; RP5y!ɮ%A)UDNOT Ignoring new targets: 25.07 m.hQhQ*hQ"hQ hQgQfYfYfYdadajdaZdeH@ZZZZ?ZF$;) LiQ9)顥Fڼii8侉ժ=IIU9@Q @Q@]0@Yqԁ^A =IIO>ԩ bEFA4jEFA4rE//EE ) EE EA EA "EE `;*EE Z:VEA ZEA aU @aU @aU @aU @,;?A23@2a.@2br7;ٱ2[ >AHRS rotation from veh to nav: [[0.931862,0.362140,0.022069],[-0.362801,0.930578,0.048980],[-0.002799,-0.053649,0.998556]]2H?N-?>?#8׿@L??@Jf`w+?i23@I22];2C@YF'ByJIiMMb@Mb@Mb@IIII I9MMbˡE?MbPYMyM'=MM AI I)MAIYMAbDeVDeyuY;%uC=ٔu6:Q-}>9yYy=Fy9E>Q 5P5t?Q 9P5zW) BY&+=Q EByB}IB}#BByByByB}o;B},Eԩ@ @@0@^AII O> ,T?A2<4@2 /@2BA;ٱ2v[ :AHRS rotation from veh to nav: [[0.931892,0.362059,0.022170],[-0.362725,0.930616,0.048839],[-0.002949,-0.053554,0.998561]]2H?+?`?6׿? o?@(h`uk`5?i2<4@I2];2CYF"ByFI HHbDRVDRfyVּ%ZX=ٔZ 9Q-Z>9\Y\=^Fly\r/`9Er>tQ 5zP5v?Q 9zP5vW)v BYxy~O?Q I~@vkDIv;iv&;vWP5y!ɮ%A!UDNOT Ignoring new targets: 25.07 m.hQhQ*h"h hgfffddjdZdreI@E! E E*E"EY;*E:VE(N4ZEBEլi> M9@I @I@Mh4@I@UgA@UhA1^AqIyIO>i +,n?Af0@f+@fTa?;ٱf)[ nAHRS rotation from veh to nav: [[0.931747,0.362428,0.022192],[-0.363095,0.930467,0.048915],[-0.002920,-0.053635,0.998556]]fH?2?g?@<׿b?s ?@(g`u`,?if0@If݂];fCYz$ByzI1iMb@Mb@Mb@ 9{Gz?Q?Mbp?Y#9Y=Fy$qE>Q 5P5?Q 9P5V) BiIAY=Q EMBiBmIBmBBiBiBiBmo;Bm,E^Ae 2=Ii I O >Թ ,?A2]1@2.,@2F:7;ٱ2xp[ >AHRS rotation from veh to nav: [[0.931765,0.362393,0.022042],[-0.363051,0.930486,0.048881],[-0.002796,-0.053548,0.998561]]2H?`p1?=?@<<׿??Ff j6?i2]1@I2?];2CYv+ByvIbD~VD~y  =% U=ٔWQ->9Y=FyJ9E>!Q 5-Q5%5?Q 9-Q5%pV)!Y1y5 l?Q I=@%lDI%`;i%n;%wQ5yQɮUAQԙDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZdnI@Z Z Z Z G l?-F:7;)) 5di59)9=7=i9iE@侉AE<]=IAIAI@I @I@M/@IE- EE+E"Ed;*E:VE [4ZEBE<! 9,?A60@6+@6@N*;ٱ6A[ BAHRS rotation from veh to nav: [[0.931746,0.362453,0.021845],[-0.363101,0.930465,0.048910],[-0.002599,-0.053504,0.998564]]6H@?`l2?@^? =׿^? ?`Ied=?i60@I6I];6CYJ.ByJIIR<)RR=bDVVDVy^j<%^P=ٔb;Q-b>9`Y`=fFydf Ef>hQ 5nQ5j?Q 9nQ5j#V)j BYpyrl?Q Ir@hIj;ij;jQ5ytɮvAtDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffddjdZd@I@ZZZZwl?@N*;) %ͻi%,9)!%XQ%ti!i-:侉)-F=I)IQY9@ @@@!^A =IIO>QE > E E (E "E s;*E :VE c44ZE a @a @a @a @Ա c,}[?AN1@N,@N+;ٱN[ VAHRS rotation from veh to nav: [[0.931783,0.362376,0.021539],[-0.363008,0.930497,0.048988],[-0.002290,-0.053465,0.998567]]NH+?)1?F?;׿??@b_C?iN1@IN/];LY*ByIB<>BBBB =BBBo;B,EBBBBBCL5imMb@Mb@Mb@iiiqi i9my&1?{Gz?9Y=Fy$_9E>Q 5Q5 ?Q 9Q5U)BYt1=Q E K,6?A:23@:.@:mu:ٱ:n=[ BAHRS rotation from veh to nav: [[0.931848,0.362232,0.021155],[-0.362844,0.930552,0.049175],[-0.001873,-0.053500,0.998566]]:H ? .??8׿?`-?^ QdA?i:23@I:>];:CYN4ByNIbDVVDV0y^&q=%^r=ٔbѡQ-b?9`Yd=fFydf :Ef?hQ 5nQ5j?Q 9nQ5jrU)jBYpyr]?Q Ir@hIjw;ij;j Q5ytɮvZAtDNOT Ignoring new targets: 25.07 m.hh*h"h hg!f!f!f!d)d)jd)Zd-`dJ@ZIZIZIZMϤ]?emu:)a mAim-9)imm8iiiu>侉qu=IyIyEeU EeEe'Ea"Eel;*Ee:VEe'4ZEaBEe) y,"?A, *3@ -@ :ٱ [ AHRS rotation from veh to nav: [[0.931848,0.362262,0.020651],[-0.362848,0.930533,0.049491],[-0.001287,-0.053611,0.998561]] H?L/?p%?8׿?V?PUr@6?i *3@I vv]; CYFBy%I ))ԁiMb@Mb@Mb@ 999Y9==Fy9EEE>AQ 5MQ5E?Q 9UQ5ET)EBYUe=Q EUlBCBIB#BB =BBDBfo;B,E ^A I I O >], ?A25@20@28:ٱ2[ >AHRS rotation from veh to nav: [[0.931973,0.361970,0.020108],[-0.362527,0.930644,0.049760],[-0.000702,-0.053665,0.998559]]2H? *?I? 3׿?"z?@Gy1?i25@I2];2C D)DJ/ݼJMFHNCNlAiR/ݼIPPIVCiVs@ TX)ZJ\` ^lAfԼddhjlAIjļ)hih)pIrlArjp ptv vAtittYxYQByIbDVDܲy&=%o=ٔߺQ- ?9 Y = Fy ":E?Q 55Q5?Q 9]Q5aT)BYYy]?Q I]@oDI/A ,C#?AYZByIbD VD2yq4=%P=ٔQ->9Y=FyE>Q 5Q5?Q 9Q5S)BYyQ I@IW:iN:Q5yɮ/ADNOT Ignoring new targets: 25.07 m.hh*h"h h g ff)f)d9d9jd9Zd=K@ZaZaZaZaq)q qiq)yy}&iyi<侉iI=II-9@) @)@54@1Yy^Am=IyIO>ԡ E ) E +E *E "E `;*E =;VE (N4ZE a @a @a @a @#,=?AJA@J<@JaOٱJI[ RAHRS rotation from veh to nav: [[0.932494,0.360689,0.018897],[-0.361184,0.931152,0.050018],[0.000445,-0.053467,0.998569]]JH? ?Y?׿??)=?`H?iJA@IJ,^;JCY]gBy])IIep<)eyBBBIB=BB =BBBo;B],Ei}Mb@Mb@Mb@yyyy y9}{Gzt333333?y&1?Y}ףy}=}`e<} A}A }A)}3AyY}pAbDVDy|o=%;=ٔn,Q->9Y=FyX;E>Q 5Q5?Q 9Q5S)BY=Q E-i>ԩ9@ @@4@^AM =IQ Ii Ou > ],{W?A6>J@6E@6rٱ6,Z >AHRS rotation from veh to nav: [[0.932866,0.359754,0.018373],[-0.360221,0.931518,0.050148],[0.000926,-0.053400,0.998573]]6H ? 4? В? ׿??J@I6n^;6CYJ|ByJCIbDrVDrfyvG=%zk=ٔz״Q-z?9|Y|=~Fy| B;E? Q 5Q5 F?Q 9Q5 fR) BYy[?Q I@ I l:i d: Q5y!ɮ%A!MDNOT Ignoring new targets: 25.07 m.hIhI*hQ"hQ hQgQfQfYfYdYdYjdaZde\hK@ZZZZ[?r) i9)顝hii@侉=IIE4 EE)E"Ej;*E4:VEFA4ZEBE1Y 3,fq?A=O@=J@=ٱ=y[ MAHRS rotation from veh to nav: [[0.933114,0.359147,0.017659],[-0.359577,0.931743,0.050591],[0.001716,-0.053557,0.998563]]=H?C?@?@N׿??\?k;?i=O@I=MI_;=CYeByeOIiMb@Mb@Mb@ 9+zG?Q?Yy =u< AA )IAYA1bD5VD5k1yE)=%E6=ٔEEQ-E>9IYI=MFyIU:EU>YQ 5eQ5]U?Q 9eQ5]Q)]BYeq=Q Ee;yeC?Q Ie@]sDI]#:i]:]"Q5yqɮuAqDNOT Ignoring new targets: 25.07 m.hh*h"h hg!f!fIfMBdIdIjdIZdU`JK@Zq=Zq=ZT?ZC?) ԣi9)ǐii:侉=IIYbE(N4jEKJ4rEͰ/E- EE+E"Ed;*EA:VE [4ZEa@a@a@a@9@ @@@B;>BBIB[BB =BBBn;BM,Eԉ^A I) I9 OM >Ա ,=?AR}Z@RNU@RHٱRrL[ fAHRS rotation from veh to nav: [[0.933577,0.357976,0.016965],[-0.358370,0.932196,0.050809],[0.002374,-0.053514,0.998564]]RH@??)_?ֿ?@?sc? /f =?iR}Z@IR_;PԉYBybIbDVD:yؔ=%?=ٔfɺQ->9 Y = Fy E;E>Q 5Q5c?Q 9%Q5O)BY!y%o?Q I%@uDI:id:S&Q5y5Bɮ5A5 ,m ?Aɰ>i@>c@>c<ٱ>rZ JAHRS rotation from veh to nav: [[0.934209,0.356352,0.016328],[-0.356714,0.932830,0.050826],[0.002881,-0.053307,0.998574]]>H` ?y? N?hֿ??@Jg?KQ?i>i@I>~r`;>CLNr@iPIPPP R?kAPTTTTIT)TiX)XIXZ-\ \^3C\\i\\i``)` `I` d)ddddYdYnBynsIbDvVDv1y~U=%~q=ٔĺQ-?9Y = Fy  ;E ?Q 5Q5l?Q 9Q5N)BY!y%?Q I%@vDI:i:I)Q5y)ɮ-=A)]DNOT Ignoring new targets: 25.07 m.hYhY*hY"hY hYgYfafafadadijdiZdm`L@ZZZZ?c<) i9)!ii>侉k=II9@ @@/@^A=IIO>A E + E +E )E "E b;*E =;VE FA4ZE a @a @a @a @7,?A6u@6kp@6dٱ6RZ >AHRS rotation from veh to nav: [[0.934755,0.354948,0.015669],[-0.355277,0.933367,0.051039],[0.003492,-0.053276,0.998574]]6H?x?q ?ڼֿ#?!?l?FP?i6u@I6`;6CYBy}IAAB7>BCBMIBBBBBDBn;B(,Ei=Mb@Mb@Mb@9999 99==`e<9=A =IA)=A9Y9bDUVDU:ye =%e6=ٔeuQ-m>9iYi=mFyiu`;Eu>yQ 5Q5}?Q 9Q5}L)}!BY:>Q E;y?Q I@}xDI}:i}:}4-Q5yɮAB*** querying acoustic contact ***i iDNOT Ignoring new targets: 25.07 m.hh*h"h hgf2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IffUԁBdQdQjdYZd] ?L@Z}:>Z}:>Z}I@Z}C?d) ԣi9)顽sz#ii8侉cr=II9@ @@@ԁԩ ^A C=I I O > *DAT read: user:356>  BDAT read: Tx time:05:17:18.3747  $Ping request sent. 9Y=FyE>Q 5Q5?Q 9Q5qK)"BYyQ I@zDI:i:0Q5yɮADNOT Ignoring new targets: 25.07 m.Resuming propulsion at range: 25.20 m and bearing: 220.793062 deg. Not drifting fast enough.rhӠv@hC6?h*h"h h L?g f ffddjdZdnL@Z9Z9Z9Z9EU5 EU&EQEQ"EUk;*EU;VEQZEQBEU #,?AXXdiyIychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504903Y5By5IiMb@Mb@Mb@ 9~jtS㥛?~jt?YĽy$>D</ AzA A)`AYAbDVD0y~<%8=ٔQ->9Y=FyE>Q 5Q5?Q 9Q5HI)#BYW@>Q E;yA?Q I@}DI:i:q4Q5yɮA=DNOT Ignoring new targets: 25.07 m.h9hA*hA"hA hAgAfAfIfMB1:M tMAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq:UtUZW@>Z1@ZA?MBɢMc)U. UviUK9)U%hUQiU: i]4Ye4.=IIEm3 Em EiEi"Emj;*Em:VEiZEiau@au@au@au@=9@9 @9@=1@9^A5\=I9B]6>BYB]rIB]BB] =BYBYB]kn;B],EBCBBBBC5IyO{>- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756531A  , ?AYnBynIbD VD y%=%-k=ٔ)Q--?9)Y1=5Fy99E=?AQ 5MQ5E?Q 9MQ5EG)AYIyQQ IU@EDIEQ;iE;E}7Q5yYɮ]VAYDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffdddjdZdL@ZZZZBɢYc:) @aEm/ EmEm*Ei"Emaf;*Em:VEm(N4ZEiBEmͷAHRS rotation from veh to nav: [[0.937680,0.347231,0.013674],[-0.347462,0.936266,0.051722],[0.005158,-0.053250,0.998568]]2H y? 9?? <ֿ?U{?` u?`CD?i2@I2Oc;2CYFByFI HHbDR VDR:2yV%ZS=ٔZQ-Z>9XY\=^Fy\^<Eb>`Q 5fQ5b?Q 9jQ5bE)b$BYtyvS?Q Iz@bDIbi=>ԡ9@ @@@^AM֊=IIaJIOF>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516102 E - E E -E "E d;*E :VE t4ZE a @a @a @a @ % G= hA,t@?A4<ɰneI9rhAYr%7ABBBIBBB =BBB\n;B+EyMT?MBAYByIiMb@Mb@Mb@ 9(\¿ r?~jt?YzyC> AA )Y AbDVDy%-=ٔQ->9Y=FyE>Q 5Q5?Q 9Q5B)Yu>Q E];y?Q I@Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764590Iu:i5k;>Q5yɮtA-DNOT Ignoring new targets: 25.07 m.h1h1*h1"h1 h1g1f1f9f=Bd9d9dAjdAZdE1BM@Zeu>Zeu>Ze@Ze?}ÁBɢ}_)y }Piy)}顁i7 i]EIIII 1mΒ{ @  @ @ 4@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017268^A ;I I O >Y E,OZ?AY~By~IbD VD yt%%i=ٔ!Q-%>9!Y)=-Fy))E->1Q 5=Q55?Q 9=Q55@)1YAyAQ IE@5DI5/;i5;5 BQ5yIɮMAQ}DNOT Ignoring new targets: 25.07 m.hyhy*h"h hgfffdddjdZd nM@ZZZZƁBɢ) i)Di; iPIIE=. E=E=1E9"E=ye;*E=:VE=-4ZE9BE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268507 A s,\:t?Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523067YMByM|IiMb@Mb@Mb@  9ʡEFx?MbYyK> AzA IA)Y3A <4<bD% VD%2y5B%5-=ٔ1Q-5>99Y9==Fy99EE>IQ 5MQ5Md?Q 9UQ5M=)MBYUl>Q EUe;yU?Q IU@MDIM:iM:M/FQ5yeBɮeAe;EDNOT Ignoring new targets: 25.07 m.hh*h"h hgfffBdddjdZd@DM@Zl>Zl>Z@Z?́Bɢe) ăi)}-i i^< IID9D=<EED EEEE+EA"EEny;*EEx:VEE [4ZEAaM@aM@aM@aM@1BBBIBBBBBBZn;B  BDAT read: Rx Time:05:17:20.8151  TRx dataTimestamp_ set to:1761542242.112811 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774613a 9@  @ @ /@ ԉ ^A #2IIIYOm>xe$,p?A2-@2(@27ѻٱ2kZ >AHRS rotation from veh to nav: [[0.942500,0.333997,0.011801],[-0.334145,0.941066,0.052367],[0.006385,-0.053299,0.998558]]2H@(?5`?@4+?bտ`6?Ϫ?&z? J@0?i2-@I2f;2CYFByFvIbDNVDNyV Ѽ%VR=ٔZwNQ-Z>9XYX=^Fy\^=E^>`Q 5fQ5b ?Q 9fQ5b;)bBYhyj?Q Ij@bDIbI;ibr;bIQ5ylɮnAlDNOT Ignoring new targets: 25.07 m.h h *h "h  h g f QffdddjdZd`5M@ZZZZJ? ЁBɢ) i)62#i i=!!I!I!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024608YYYYԁE=; E=%E9E9"E=Dq;*E=;VE9ZE9BE=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276465 ҍ*,AD?AJF@JoA@JZۻٱJ$oZ VAHRS rotation from veh to nav: [[0.943499,0.331182,0.011339],[-0.331308,0.942060,0.052513],[0.006710,-0.053302,0.998556]]JH$1? 2?8?(4տ [%??{{?@lJ+?iJF@IJ>f;JCY~By~_IbD VD:2y-8%-C=ٔ5JQ-5>99Y9==FyAE;EE>QQ 5]Q5U^ ?Q 9]Q5U9)UBYaye?Q Ie@UDIU|:iU:UEMQ5yiɮmAiԱDNOT Ignoring new targets: 25.07 m.hh!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5cN@ZQZQZQZU ?mԁBɢm1)i miq)uqqiu i}YH>yyIyI%9@! @!@-P0@)^A%t'iiIiII OeU>DAT read: 05:17:20.8151 LVL= 32352, 17345, 23154, 32755, AGC= 52, IDX= 465,-0.31, 1.662,-2.744,-2.865,-3.014, PHS=-1.506, 0.315, 0.105, RAW= 276.0, 12.5, CAL= 275.2, 18.2, ROT= 234.8, -18.2 Ygot valid direction response: 05:17:20.8151 LVL= 32352, 17345, 23154, 32755, AGC= 52, IDX= 465,-0.31, 1.662,-2.744,-2.865,-3.014, PHS=-1.506, 0.315, 0.105, RAW= 276.0, 12.5, CAL= 275.2, 18.2, ROT= 234.8, -18.2 PDAT read: Bearing 300.0, -52.9 (Local) ~Local bearing/azimuth received: Bearing 300.0, -52.9 (Local) DAT read: Range 11 to 50 : 27.3 m (Round-trip 36.4 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.547595,-0.776265,0.312335]Fpublishing direction and range infoyqu5fM')IK?YufAqu`~uCurZ u)u4IuiuG>u= =u%@uf_>u`@ u>)u#@Iuqqu՘|g4\?fS? u*O.@)u1`Iu iuqq bEjEwX4rES}0EM B EM 'EM )EI "EM w;*EM ";VEM FA4ZEI a] @a] @a] @a] @B 7>B B yIB BB =B B B rn;B ,E9 s1,?A2'`@2Z@2pGٱ2uZ :AHRS rotation from veh to nav: [[0.944525,0.328255,0.010969],[-0.328365,0.943083,0.052644],[0.006936,-0.053325,0.998553]]2H 9?"?@v?տ-? !? h|?`rM%?i2'`@I2Hf;0YbByfII hhhjAiUMb@Mb@Mb@QQQQ Q9U1ZdMbX?~jtYU"۽yUJ>UUE AQ UA)UAQYU\Aae@AbDmVDmNy}訽%}E=ٔgQ->9Y=Fy;E>Q 5Q5 ?Q 9Q56)BYHg>Q Ek;y?Q I@DI ;iT ;PQ5yɮBAiia?AJi>ARi>Ajip@blj-&k5b5 @R5fM')IK?Zi bijm S*4k-&"@Z g ߮7%῎N]?2ih:i"iЖJ,?*iClBi|Biu ?iziBiAi#q@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 60.273279 s, deltaX: 2.099998 m, approachRate: 0.034841 m/s, rangeRepo size: 4   Added new target pos. range: 27.155386 m, bearing: 214.882075 deg, lat: 36.779342 deg, lon: -121.859622 deg, deltaT: 60.273279 s, deltaX: 2.086321 m, approachRate: 0.034614 m/s, posRepo size: 4 YDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffӁBdddjdL;@Zd'?Z5Hg>Z5Hg>Z5Q=@Z5?MفBɢM"C)i mF/ii)u׹qqiupn i}>yyIyIA@A @A@E0@Iԁ^A#2IIO]>ԩ E] H E] $E] +EY "E] };*E] ;VE] [4ZEY BE] d91Y1==Fy9=;E=>AQ 5MQ5E ?Q 9MQ5E^4)E BYQyUI?Q IU@EDIE:iEd:EbTQ5yYɮ]AaDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZdW?Z9Z9Z9Z=eI?M܁BqɢuqGw)y }4Oiy)}I(yyi}3 i)Ȼ>III@I @I@M4@I^A% ԡIIOF>I=,?A06Ў@6@6*ٱ6',[ >AHRS rotation from veh to nav: [[0.946375,0.322912,0.010061],[-0.322978,0.944917,0.053079],[0.007633,-0.053482,0.998540]]6H@H?? ?୫Կe9e Aa eIA)eIAaYeAbDyVDyy!%H=ٔ~Q->9Y=FyA;E>Q 5Q5?Q 9Q5:2)BYU>Q E~;y ?Q I@DI:iQ:WQ5yɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZd`?ZU>ZU>Zd @Z ?Bɢ9) i)Ni[c i>IID<D%=E%K E%)E%)E!"E%;*E%0;VE%FA4ZE!a5@a5@a5@a5@ԑ9@ @@/@BBBSIBBBBBBn;B,E^Ae@>IIOE>Թ  PExceeded connect timeout, disconnecting.D,~?A2@2|@2ٱ2Y[ >AHRS rotation from veh to nav: [[0.947270,0.320293,0.009587],[-0.320336,0.945799,0.053372],[0.008027,-0.053628,0.998529]]2H@ P??@? bԿC?S? Kp?1u?i2@I2f;2CYF8ByFIbDNVDN:yV!%VZ=ٔZQ-Z>9XYX=ZFyX^;`Eb>dQ 5jQ5fy?Q 9jQ5f@0)fBYhyje?Q Ij@fDIf:if9:f<[Q5yYɮ]AYDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd`1?ZZZZe?Bɢϼ) i)dizi?IIQ@Q @Q@U/@Q@]>@]>^A-iA-fAzA-hAE%; E%E%(E!"E%Dq;*E%4:VE%c44ZE!BE%5A J,I-?AJ|Ƿ@JM¾@JΆ޻ٱJ u ZAHRS rotation from veh to nav: [[0.948593,0.316249,0.012561],[-0.316426,0.946776,0.059078],[0.006791,-0.060015,0.998174]]JHZ?m=?`?Q@ԿK?s??{?X` ?iJ|Ƿ@IJ1f;JCYfByfIbDvVDvβy~%~E=ٔfC;Q->99>Y9>= Fy 7E *#<E >Q 5%Q5?Q 9%Q5.)BY!y%?Q I%@DI*;i*;^Q5y5ԔBɮ5A52EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd`B~?%Bɢ-;)) - ɾi))-.,)1i5]i=?99I9I9@ @@/@I^AxA52AI9IQO]v>qE5 9 E5 E5 )E1 "E5 so;*E5 :VE5 FA4ZE1 a= @a= @a= @a= @B A <B 6>B B IB QBB B B B Zn;B +EBMCBIBIBM =BM =CMS 5ԩ Q,bG?A2m޷@2>پ@2ٱ2: :AHRS rotation from veh to nav: [[0.949481,0.313301,0.018128],[-0.313770,0.946640,0.073629],[0.005908,-0.075597,0.997121]]2H`%b?@! ?@ ?ԿJ?Xٲ?2x?UZ j?i2m޷@I2f;2CYRByRIi-Mb@Mb@Mb@)))) )9--)) -`A)-A)Y- AIbDMVDMy]k%eD=ٔe ;Q-e>9m?Ym?=mFym7Em,;Em>yQ 5Q5?Q 9Q5~,)BYS>Q E%;y%}?Q I%@DI(E=  E= %E= (E9 "E= L;*E= ;VE= c44ZE9 BE= 9~?Y?=Fy7Eb;E> Q 5Q5 ?Q 9Q5 +) BYy?Q I@ DI ;i ; eQ5y!ɮ%<A)UDNOT Ignoring new targets: 27.16 m.hQhQ*hQ"hQ hQgYfYfYfYdadadajdaZdm@颕Bɢ")9 #i) 顙iNi(8?IIm9@i @i@m=0@q^A11Aa Iq I O >a ^,[({?A ɰ >?@>@>λٱ>ʽ JAHRS rotation from veh to nav: [[0.950083,0.311014,0.024764],[-0.311935,0.945284,0.095576],[0.006316,-0.098530,0.995114]]>Hg??`[?@ӿ??w?`Ny??9?i>?@I>ye;>CYRπByRoIieMb@Mb@Mb@aaaa a9eI +?ʡE?MbYe949Y=Fy 7E:E>Q 5Q5?Q 9Q5I*)ݭBY@=Q EB)B-IB-BB)B)B)B-n;B-+EY9@ @@0@ԁ^A9 AA zAE gAԱ A AI I O >V1e,Ǖ?A2@2@2ٱ2p½ :AHRS rotation from veh to nav: [[0.950372,0.310288,0.022702],[-0.311035,0.945905,0.092316],[0.007171,-0.094795,0.995471]]2Hqi?`?`??@ӿD??f_}?@D?i2@I2*e;0YBǀByBdIbDNVDNyV7%VS=ٔVQ-Z>9??Y??=Fy7E;;E > Q 5Q5 ?Q 9Q5 )) խBYy?Q I@ DI :i W: mQ5y)ɮ-o A)UDNOT Ignoring new targets: 27.16 m.hQhQ*hQ"hQ hYgYfYfYfadadadajdaZdm3! @额BɢD) i)I顡iji=?II)e9@a @a@m4@iYE E E*E"EUS;*E:VE(N4ZEBEYVk,?A2@2|@2ٱ2 :AHRS rotation from veh to nav: [[0.950806,0.309224,0.018651],[-0.309677,0.947152,0.083683],[0.008212,-0.085342,0.996318]]2H`m?S?3?ӿO?Dl?Oр?ص?i2@I2e;2CYBByFOIbDNVDN1yVo%VK=ٔV`)Q-Z>9XYX=ZFyZ7E^m;E^>`Q 5fQ5b-?Q 9fQ5b()bͭBYhyjU?Q Ij@bDIb:ib:bpQ5ylɮn Ap DNOT Ignoring new targets: 27.16 m.h h *h "h  h gfffdddjdZd%,G@Bɢ B) ("i)"kii7?II!%1IA)A@ @@0@@=@=E5 EE)E"Ek;*E:VEFA4ZEa@a@a@a@a B :>B CB IB BB B B B m;B +E^A #q A-0AI1IAOU>S=s,p?A2@2 @2ڀٱ2 >AHRS rotation from veh to nav: [[0.951327,0.307808,0.015223],[-0.308043,0.948240,0.077135],[0.009308,-0.078070,0.996904]]2HDq??-?ӿW??@ ?d ?i2@I2jd;2CYFByF3IiMb@Mb@Mb@ 9bX9ȶ?Q?/$YE=yu<A`@ )YAqbD-VD-y%"=ٔQ->9?Y?=Fy7E!_;E>Q 5Q5 ?Q 9Q5))ȭBYǽ=Q Eεz,?A^!@^@^|)ٱ^# nAHRS rotation from veh to nav: [[0.952002,0.305785,0.013714],[-0.305917,0.948988,0.076389],[0.010344,-0.076918,0.996984]]^Hv???&ӿ ^?9)Y)=-Fy-7E5N;E5>9Q 5EQ5=z ?Q 9EQ5=G))=íBYAyMg&Q IM@=DI=r;i=;=yQ5yQɮU!AQ}DNOT Ignoring new targets: 27.16 m.hyhy*h"h hgfffdddjdZd@BɢM) 3i)i iC6?IIYԉ 9@  @@0@ԹD- =D) bEFA4jE<4rE١/E= % E= &E= &E9 "E= O];*E= ;VE= 4ZE9 aE @aE @aE @aE @B5 A>B5 CB5 LIB5 BB5 =B1 B5 DB5 m;B5 +E^AM  A] ڗAIa Iq O >3,< ?A2B2@2-@2s8ٱ2̥ BAHRS rotation from veh to nav: [[0.952598,0.303915,0.013885],[-0.304023,0.949261,0.080456],[0.011272,-0.080863,0.996661]]2H{?Ws?o?@uӿX`??`? t?i2B2@I2Id;0YVByZ,IԑiMb@Mb@Mb@ 9333333?I +Y>y9 A@ )AY=A@A@AbDVDFy%-=ٔQ- >9 ?Y ?= Fy!7E;E>Q 5%Q5?Q 9%Q5*)Y%>>Q E-;y-Q I-@DI ;i ;#}Q5y5֔Bɮ5!A9]DNOT Ignoring new targets: 27.16 m.haha*ha"ha hagafififmǀBdqdqdqjdqZd}k@颥BɢBR) 5i)綻顩iiII@ @@4@^A= ?΅ A AI I O >E R E ;E (E "E ;*E ;VE c44ZE BE ;E@>@@>Iٱ>g| bAHRS rotation from veh to nav: [[0.953311,0.301666,0.014019],[-0.301742,0.949609,0.084819],[0.012274,-0.085089,0.996298]]>H?}N??Oӿ3c??H#?`ȵ?i>E@I>-d;>CYjByj9IbDvVDv02y~\=%~^=ٔ~2Q->9c?Yc?=Fy%7E o;E >Q 5Q5 ?Q 9Q5*)ĭBYyBQ I%@DI;i;\Q5y)ɮ-!A)UDNOT Ignoring new targets: 27.16 m.hQhQ*hQ"hY hYgYfYfafadadadijdiZdm@@额Bɢh) 1i)ǻ顡iiII9@ @@/@!^AQA I I! O- >ԁ ,<?A=]@=X@=y9Yٱ=h MAHRS rotation from veh to nav: [[0.954184,0.298928,0.013261],[-0.298928,0.950346,0.086510],[0.013258,-0.086510,0.996163]]=H? !?@\(?!ӿBCB:IBBB =BBDB)n;B+EYByBII4=)yee9Y=Fy*7EҪ;E>Q 5Q5?Q 9Q5%,)̭BYcU>Q E ~;y Q I @DI:i:LQ5yɮT!A=DNOT Ignoring new targets: 27.16 m.hAhA*hA"hA hAgAfAfIfMـBdIdQdQjdQZdU'@ Bɢ?A) C0i)i{iII9@ @@4@ ^A AIIO? ,]?A6@6՟@6w?uٱ6ѥ BAHRS rotation from veh to nav: [[0.956717,0.290874,0.009234],[-0.290635,0.953338,0.081722],[0.014968,-0.080869,0.996612]]6Hl???Ùҿཁ??ࣧ?`γ??i6@I6_d;6C D)J lAJ#HHJCJlAiN 0ILLILiNds@ LP)PP RkAV#TTTVkAIV)XiX)XIZkAZ#ZJF X\^vA\i\\Y\YfByfOIbDnVDnyvq=%zd=ٔz0Q-z>9xY|=~Fy~.7E~<E~? Q 5Q5 P%?Q 9Q5 ,) ѭBYyQ I@ DI :i : YQ5y!ɮ% A!MDNOT Ignoring new targets: 27.16 m.hIhQ*hQ"hQ hQgQfQfYfYdYdadajdaZde $@-Bɢ-5i)1 5,i1)5gw11i=iYaaIaIaԙE%< E%CE%,E!"E%,r;*E%;VE%g4ZE!BE%1 +,K=w?A6Ӹ@6ο@6zٱ6. BAHRS rotation from veh to nav: [[0.958357,0.285474,0.007452],[-0.285161,0.955254,0.078567],[0.015310,-0.077421,0.996881]]6H ݪ?`6E?~?@ҿ q?@?[?ѳs?i6Ӹ@I6d;6CY%̀By%kIbD5VD51y}|=%}C=ٔ VQ->9Y=Fy27Ep_<E>Q 5Q5+?Q 9Q5.)׭BYyQ I@DIn;i;Q5yɮG ADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffd d1d9jdAZdMg@Bɢ-I)) ->"i))-O)1i5{iܻi199I9I99E9@A @A@A@AEMI EM1EM(EI"EM};*EMf;VEMc44ZEIa]@a]@a]@a]@BBBFIBBB =BBB}n;B,EBMCBMCBIBIBM =CM05i ^A ԑ A .AI I O >ZY,=?A> @>@>[}ٱ>ј FAHRS rotation from veh to nav: [[0.960290,0.278939,0.005961],[-0.278574,0.957411,0.075894],[0.015463,-0.074540,0.997098]]>H?#?jx?(ѿ`?m?`?`:?i> @I>+:d;>CY-By-IiMb@Mb@Mb@ 9v/?~jt rh?Yxi>yDC =A A)YAbDVD:y=%<=ٔtQ->9 ?YU ?=UFyU67EU<{<EU>YQ 5eQ5]3?Q 9mQ5].)]߭BYm_l>Q Eme;ymǥQ Im@]DI] ;i]T ;]Q5yuהBɮ}A}3EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfff)BdddjdZd@BɢON) i) iػiII}9@y @y@}/@y ^AE E3E)E"E*Et ;VEFA4ZEBE-M~,*?AɰFM@FH@FOwٱFM VAHRS rotation from veh to nav: [[0.962495,0.271253,0.004980],[-0.270876,0.959810,0.073421],[0.015136,-0.072016,0.997289]]FH? 5\?et?Vѿö?`˲?@?o?iFM@IF:d;DYByIbD=VD=kyM@=%UT=ٔ]^:Q-]>9YYa=eFye:7Em><Em>qQ 5}Q5u:?Q 9Q5u/)uBYyࡾQ I@uDIud:iu9:u-Q5yɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd`ׁ@Bɢ H) V i)ziջi III9@ @@/@q^AFӅ y Թ % rG9 A] AIi Iy y `9 Y rAO A A B 8>B CB IB ܀BB B B B n;B ,EE . E *E %E "E ye;*E ;VE 4ZE BE <2E <JE ]<:E ]<c,?A2@2ؔ@2nٱ2V9 :AHRS rotation from veh to nav: [[0.964986,0.262272,0.004009],[-0.261897,0.962532,0.070307],[0.014581,-0.068895,0.997517]]2H)?@?kp?п??r܍?@?i2@I22Wd;0@YRByRIonly read 2 of 4 data items for bottom velocity. Device response is::BS, 236, +41,A a@a a@a a@a a@a bDVDk1y>%D=ٔJ:Q->9c?Yc?=Fy>7E9<E>Q 5Q5nB?Q 9Q5P0)BQ A+:YQ E:;yYQ I%@DI;i>"Q5yUBɮUA]=EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffd!d!d!jd!Zd% @ԩ颵Bɢ\,) i)piWһiII9@ @@@^A  A .AI I O > ,?A2@2@2Raٱ2 :AHRS rotation from veh to nav: [[0.967786,0.251753,0.003110],[-0.251396,0.965593,0.066555],[0.013752,-0.065193,0.997778]]2H`? ?zi? п#? ?*??i2@I2d;0YF4ByFIIJ<)J%Z\=ٔZ';Q-^>9^ ?Y^ ?=^FybB7EbY<Eb>dQ 5jQ5f,I?Q 9jQ5f0)fBQ Aj :YhQ En;ynQ In@fDpIf:;ifI?f=Q5ytɮvAtDNOT Ignoring new targets: 27.16 m.hh*h"h hgff!f!d!d!d)jd)Zd-S!@UBɢ]$4)Y ]4iY)eaaieϻiiiiIiIqx>i>E9 E/E(E"Eso;*EY;VEc44ZEBE<2E<JE[b<:E[b<9@ @@Y4@ 9^AUA I I O >a ,~?A:mT@:>O@:Nٱ:{ BAHRS rotation from veh to nav: [[0.970721,0.240198,0.002516],[-0.239880,0.968778,0.062658],[0.012613,-0.061427,0.998032]]:H$?Ҿ?›d?eο`;?T ?ԉ? Ls?i:mT@I:sd;:CiIIIQYFByIiaa aa aa aa iMb@Mb@Mb@ 9 +?S㥻?y/=t=zA A)AYAbDVDy=%=ٔ ;Q->9Y=FyG7E<E>Q 5Q5T?Q 9Q5D0)BQ AT:Yw>Q EG;y ?>Q I@ŁDIY;i;Q5yBɮ;ADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBEA EE*E"Ev;*EVE(N4ZEa@a@a@a@B7>BBIBBBBBBFn;B+EdddjdZdq"@5Bɢ5w8)5 5;ؾi1)=$9Yi]`̻iaaaIaIiԑA@A @A@E0@A ^Au  AIIO>W,?A2(@2@2y4ٱ2Gg >AHRS rotation from veh to nav: [[0.973809,0.227356,0.002127],[-0.227099,0.972170,0.057542],[0.011015,-0.056518,0.998341]]2Hr)??ka?Ϳ? v?@?﬿h?i2(@I2ۦd;0@DiDIDDD DDHHHHIL)LiL)LINbjANxP PR&CPPiPTiTVjA)T TIT X)XXXXY\YbbByb#IbDjVDjkyr>%rc=ٔv=;Q-v>9tYt=vFyvK7EzL=Ez>|Q 5Q5~\?Q 9Q5~/)~BYy K>Q I @~ȁDI~S:i~):~Q5yؔBɮA4EEDNOT Ignoring new targets: 27.16 m.hAhA*hA"hA hAgAfIfIfIdddjdZd`m&#@% BIɢMħ)Q UHiQ)U#(QQiUaɻiYYaIaIa!@! @!@%4@!yE=: E=;E=+E9"E=\p;*E= ;VE= [4ZE9BE=l w,=_2?A6w6@6H1@6*ٱ6O BAHRS rotation from veh to nav: [[0.977003,0.213218,0.001596],[-0.213015,0.975688,0.051550],[0.009434,-0.050705,0.998669]]6HC?`J?'Z?D˿8?@d?R?@?i6w6@I64d;6CYzByAI !!bD5VD5yE=%EE=ٔEy;Q-M>9IYI=MFyMO7EU=EU>YQ 5eQ5]e?Q 9eQ5])/)] BYaymZ>Q Im@]́DI]:i][:]Q5yqɮuAqDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd#@额"Bɢ:) i)]-顡iDLǻiԱIIm9@i @i@m4@i@q@ugA^A B- <A- <B5 9>B1 B5 IB5 QBB1 B1 B1 B5 m;B5 +EbE :4jE rE ɮ10EU & EU EU )EQ "EU 8^;*EU x:VEU FA4ZEQ BEU <2EU <JEU mM<:EU mM<A I I O% >9 ,>AHRS rotation from veh to nav: [[0.980180,0.198103,0.001372],[-0.197953,0.979119,0.046275],[0.007824,-0.045629,0.998928]]6H ]?n[?{V?VɿT? Z?@?\7?i6@I6d;4Y]By]TIiMb@Mb@Mb@ 9-?I +?X9v?Y5^>y94>< A3A )AYzAbDVDfy =% >=ٔ u;Q- >9Yi=mFymS7Em$=Em>qQ 5}Q5uo?Q 9Q5u-)uBY>Q E<;y>Q I@uЁDIu:iu:uQ5yɮtADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZd $@$BɢH) i)~1 i ĻiII!@ @@/@9^A FӅi A= ؟AIA IQ Oe >E] T E] >E] *EY "E] ;*E] ?;VE] (N4ZEY ae @ae @ae @ae @T,Cf?A29@23@2»ٱ2C( >AHRS rotation from veh to nav: [[0.983267,0.182165,0.001653],[-0.182075,0.982407,0.041539],[0.005943,-0.041145,0.999136]]2Hv?@.Q?[??Nǿ@o?D? Wx?  ?i29@I2kd;2CYFByFdIbDNVDN:2yV,=%Vb=ٔZ";Q-Z>9Z"?YZ"?=^Fy^W7E^<=E^>`Q 5EQ5bBv?Q 9EQ5bg,)bBYIyMu?Q IM@bӁDIb?A,?APuQ@u"@u!헻ٱuW AHRS rotation from veh to nav: [[0.986044,0.166479,0.001636],[-0.166423,0.985340,0.037534],[0.004636,-0.037283,0.999294]]uH?/O?Z?`UMſ?7?r?`7?iuQ@Iu Bd;uCYBysIi-Mb@Mb@Mb@)))) )9-Q?m?Mb?Y-u>y-n>-<-E A) - A)))Y-A Ep9e ?Ye ?=eFye\7Ee=Em>qQ 5}Q5u܀?Q 9}Q5u*)uBY}u>Q E};y}?Q I}@u؁DIu:iu3:uQ5yɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdD D <E3 EGE(E"Ej;*E;VEc44ZEB58>B1B5MIB5BB1B1B1B5m;B5+EZdq&@(Bɢ) i)P8i\i)))I)I)9@ @@@^A ) A1 I9 II Oe >0,?A.=G@.B@.hٱ.8 :AHRS rotation from veh to nav: [[0.988747,0.149593,0.001400],[-0.149558,0.988205,0.032923],[0.003542,-0.032762,0.999457]].HУ?%?V?$ÿ`_?W۠?m?@8Ơ?i.=G@I.#ad;.CYDyDbDNVDNkyV9:%Zh=ٔZK;Q-Z>9\Y\=^Fy^_7E^F=Eb>dQ 5fQ5f툤?Q 9jQ5fP()fBYhyj?Q Ij@fہDIf:if:fQ5ylɮrAptDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdd!d!jd!Zd%%'@U*BɢU|)Q ]5iY)];YYi]iaaaIiIi9@ @@0@ED E0E+E"Eny;*E;VE [4ZEBEBi P, ?A2Խ@2l@2~??ٱ2H :AHRS rotation from veh to nav: [[0.991182,0.132502,0.001005],[-0.132474,0.990746,0.029537],[0.002918,-0.029410,0.999563]]2H÷? ?@vP?`1?`??g?l?i2Խ@I2;d;2CYXyXbDbVDb:ٔj:Q-j>9lYl=nFync7Er/.=Er>tQ 5zQ5v?Q 9zQ5v0&)vBYxyzz#?Q Iz@vDIvB:iv|:v6Q5yڔBɮA-DNOT Ignoring new targets: 27.16 m.h)h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdE`'@Yu+Bɢu)y }ꇾiy)})?yyiiII59@1 @1@50@1ԉiIA^A}ԹA9 A9 BE ;>BE CBE lIBE BBE =BA BE DBE m;BE +EBCBCBBB =CKt4Em = Em 8Em (Ei "Em s;*Em  ;VEm c44ZEi BEm <2Em <JEm j<:Em j<A I I OM > 8,0?AYvByvfI xx~A~AiuMb@Mb@Mb@qqqq q9u&1?p= ף?{GztYu>yu>uףu/ AuIA uvA)u AqYuAAAAAbDVD1yӼ%<ٔQ->9Y=Fyg7EE>ԹQ 5Q5?Q 9Q5#)BY>Q E ;y?Q I@DIC:iv:Q5yɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgf f f Bd ddjdZd(@E-BɢE\)I MiI)MBCIIiMk׶iQQYIYIY 9@  @ @ 4@ ^A5Ae ؟AIq I O >9 E] 2 E] 0E] &EY "E] i;*E] ;VE] 4ZEY ae @am @am @am @ym,׊?A;ɰp;2}@2N@2Jٱ2_ :AHRS rotation from veh to nav: [[0.995321,0.096623,-0.000012],[-0.096596,0.995044,0.023615],[0.002293,-0.023504,0.999721]]2H?F??~e?.?Zb?V ?i2}@I2ޛd;2CYFByFdIbDNVDN:yV%VZ=ٔZ:Q-Z>9Z"?YZ"?=^Fy^k7E^=E^>`Q 5fQ5b??Q 9fQ5bi!)bBYhyjZ%?Q Ij@bDIba;ib:b@Q5ylɮnAl DNOT Ignoring new targets: 27.16 m.h h *h "h  h g fffdd!d)jd)Zd5)@E.BɢE)I MiI)M,GIIiMiQQQIYIy@ @@4@)^A=FӅaAi Iy I O ԁ - GtM,D?AH`N9!Y%\iAĐ@@& ٱM AHRS rotation from veh to nav: [[0.996907,0.078592,-0.000399],[-0.078565,0.996676,0.021574],[0.002093,-0.021476,0.999767]]H? ?: ?@?$a??iĐ@IĿd;CY%By%WIiiMb@Mb@Mb@ 9!rh? +?{GzYl>yv>ף3A A) AYzAB:>BBBB =BBB3m;Bl+EbDVD1y'%+=ٔ9Q->9Y=Fyp7E=E>E; EdE'E"EDq;*EB#;VE'4ZEBE5Q E5;y51?Q I=@-DI-:i-s:-sQ5yE۔BɮEvAE6EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZdƏ*@0BɢR() i)ELiSi!!I!I!ԙ9@ @@4@^A  A I I! O5 >,?A2$@2@2ٱ2⟼ :AHRS rotation from veh to nav: [[0.998164,0.060566,-0.000753],[-0.060540,0.997973,0.019598],[0.001939,-0.019516,0.999808]]2H`?? H`f?a?_?l?i2$@I2cd;2CYBhByB+IJ=H HJp<bDNVDNyVI%Ve=ٔZ9Q-Z>9XYX=^Fy^t7E^N=E^>`Q 5fQ5bc?Q 9fQ5b)b BYdyj?Q In@bDIbF;ib6H;bQ5ypɮrAp DNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdd!d!jd!Zd%H=+@1Bɢ1) Ⱦi)IfPi7iII9@ @@/@EE9 EEEE(EA"EEso;*EE:VEEc44ZEAaM@aM@aM@aM@^AaA .AI I O >q # ,6?A2@2g@2vٱ2 :AHRS rotation from veh to nav: [[0.999115,0.042059,-0.001036],[-0.042035,0.998971,0.017032],[0.001751,-0.016973,0.999854]]2H ??P@?p?-\?za?i2@I2kJd;2CY^TBybIbDjVDjܲy%%D=ٔ%9Q-%>9- ?Y- ?=-Fy-x7E-5=E->1Q 5=Q55;ˤ?Q 9EQ55+)5BYAyE?Q IE@5DI5;i5L;50Q5yIɮM7AQ}DNOT Ignoring new targets: 27.16 m.hyhy*hy"hy hygfffdddjdZde,@颽3Bɢ/) ?޾i)QViiIIY@ @@/@ԁ^AB<A4=B 9>B CB MIB BB B B DB l;B  +EEm2 Em'Em'Ei"Emi;*Em";VEm'4ZEiBEm' ,P?A2U@2TP@2&κٱ2bLi :AHRS rotation from veh to nav: [[0.999725,0.023398,-0.001238],[-0.023377,0.999625,0.014272],[0.001572,-0.014239,0.999897]]2H@??"JT`C ?:?Y?@I)(?i2U@I2Id;2CYBDByBIi Mb@Mb@Mb@     9 |?5^?? rhY >y L> C  A vA) vA Y bD%VD%y5j%5I=ٔ59Q-=>9"?Y"?=Fy|7E5=E>Q 5Q5ڤ?Q 9Q5)BY!>Q E:y>Q I@DI:i8:Q5yܔBɮA7EDNOT Ignoring new targets: 27.16 m.hh*h"h hg f f f BdddjdZdg,@E4BɢM;:)I MMiI)M \IQiU6ࢻiYYYIYIYԱ@ @@/@^A A! I1 IA OI Ee = Ee (Ee (Ea "Ee s;*Ee ;VEe c44ZEa am @am @am @am @9 .,1j?AZ @Z@Z|ٱZ: bAHRS rotation from veh to nav: [[0.999985,0.005384,-0.001163],[-0.005371,0.999921,0.011359],[0.001224,-0.011353,0.999935]]ZH ?v?WS uZ?`C?T?A@@w?iZ @IZ^d;ZCYn'BynI ppprAtv@AbDzVDzky q % K=ٔa:Q->9Y=%Fy%7E%==E->1Q 5EQ55礊?Q 9EQ55 )5BYAyM7>Q IM@5DI5J;i5H;5HQ5yYɮ]AYDNOT Ignoring new targets: 27.16 m.hh*h"h hg!f!f!f!d)d)d)jd)Zd-¼-@}5Bɢ}JJM)y i)ac顁iQiIIA@I @I@M0@I^Ao셾I A I I O > !,F[?ATɰV;Mr@MXy> A3A `A)YAbD%VD%1y=ڽ%E-=ٔE}9Q-E>9QYQ=UFyU7E]!=E]>iqQ 5Q5u?Q 9Q5u^)uBY>Q E:y>Q I@u DIui4',K:?A2@2=2ٱ2ָ :AHRS rotation from veh to nav: [[0.999505,-0.031450,-0.000673],[0.031453,0.999491,0.005405],[0.000503,-0.005424,0.999985]]2H ?6F?? #v?|@?7v?i2@I2)d;0YBByBIHbDNVDNyV6%V=ٔZ_:Q-Z ?9\Y\=bFyb7Ebi=Eb ?dQ 5jQ5f?Q 9jQ5f/)fBYlyn~>Q In@fDIfw;ifr;f3Q5ypɮrjAt DNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdd!d!jd!Zd% G/@ 7BɢK)D< X#i)sii!!I!I!@ @@5@E%' E%E%'E!"E% _;*E%:VE%'4ZE!a-@a-@a-@a-@^AA  I) I9 OE >CZ-,;?A|YByIbDVDy%%%C=ٔ-Q-->9)Y)=5Fy57E5E5>9Q 5EQ5=>?Q 9EQ5=)=BYIyIQ IM@=DI=:i=:=Q5yUߔBɮUAU9EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd0@e8Bɢe~w)a e,ia)mr|iiim@iIIl>i>)@ @@4@@=@=YAAAAB7>BBIBBBBBBel;B+EEE EEEE)EA"EEL;*EE:VEEFA4ZEABEEܡ%B4,f?A2A@2<=29ٱ2&9 :AHRS rotation from veh to nav: [[0.997690,-0.067934,0.000146],[0.067934,0.997690,-0.000149],[-0.000136,0.000158,1.000000]]2H ? !d0#?!d? ?M#t!@v$??i2A@I2d;2CYZҀByZqIiEMb@Mb@Mb@AAAA A9EV-? rh?YE|>yEC=E̼EAEA A)E`AAYE\AYbD]VD]kymᆽ%mF=ٔu:Q-u>9u ?Y} ?=}Fy}7E}ڴ=E>Q 5Q5l&?Q 9Q5)ޭBY?Q E:yPP>Q I@DI:i~ ;uQ5yɮg ADNOT Ignoring new targets: 27.16 m.hh*h"h hgfff$BdddjdZdx0@ ɢ ) s3i)I悼顑iv|iIIԁ@ @@73@iIAԱ^Ao셾 A ؟AI) I9 EE * EE EA EA "EE a;*EE :VEA ZEA aU @aU @aU @a] @Ou >l:,Ը?A2@20=2:ٱ2k; :AHRS rotation from veh to nav: [[0.996260,-0.086407,0.000884],[0.086409,0.996253,-0.003533],[-0.000575,0.003596,0.999993]]2H[?@L??N? lBum? ?i2@I2\c;0YRByRQIbD^VD^k2ye%eK=ٔe:Q-m>9m"?Yu"?=uFyu7E}$<=E}>Q 5Q5(7?Q 9Q5W)٭BYywc>Q I@%DI"A;iPB;Q5yʔBɮ A0EԹDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd`I0@9BɢmP) %@i!)%燼!!i%Y/zi)))I)I9]rg9@ @@4@9 ^A5 B 6>B B IB ܀BB =B B B l;B *EBYBYBYBYBYC]4AIDyDyiIaIO>ߎB, ?AEn1 EnEn'El"En2h;*En:VEn'4ZElBEn_9Y=Fy7EE>Q 5Q5M?Q 9Q5)խBY?Q E:y=Q I@.DI7 ;i/:Q5yɮ A-DNOT Ignoring new targets: 27.16 m.h)h)*h1"h1 h1g1f1f9f=Bd9d9d9jdAZdEzg1@u:BɢuJP)q uSDiq)}yyi}nEhiII<<9@ @@#4@! ^A= Q Aq Iy I O >H,B$%?Aɰ4<2 @25=2z:ٱ2x< >AHRS rotation from veh to nav: [[0.992305,-0.123789,0.002461],[0.123807,0.992262,-0.009344],[-0.001286,0.009577,0.999953]]2H`?`)d?α??"nU@ڜ? ?i2 @I2٥c;0YFByF0IbDRVDRyV%Zm=ٔ:;Q->9 Y = Fy 7E !=E>Q 5Q5\?Q 9%Q5 )ӭBY!y%s>Q I%@4DI:i:Q5y1ɮ5m!A51E]DNOT Ignoring new targets: 27.16 m.hYhY*hY"ha hagafafafidididijdqZdu`1@颙ɢ ) Ni) 8顡iYiIIE% E%E%%E!"E%&U;*E%A:VE% 4ZE!a5@a5@a5@a5@9@ @@/@A ^A FӅi AQ e ŀGq I I 9 Y mAO >P,%B?A^G@^Q&>^Z:ٱ^< jAHRS rotation from veh to nav: [[0.986838,-0.161661,0.004139],[0.161707,0.986705,-0.016232],[-0.001460,0.016688,0.999860]]^H,?KĿ!p?в? ?`7QW@??i^G@I^[c;\YrByv/IbD~VD~y &s% 0=ٔ 9Q- >9Y=Fy7E=E>Q 5uQ5o?Q 9}Q5 )ЭBYyy}F>Q I}@;DI EBB@IBBB =BBB/l;B*E9@ @@/@@@=E EE(E"EP;*E:VEc44ZEBErV,[?AYBy-II <)  = =iMb@Mb@Mb@ 9v/?9Y=Fy7EE>Q 5Q5?Q 9Q5 )Y ?Q E:y>Q I@BDI ;iX ;_Q5y˔Bɮ!A1DNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZd 2@ɢ) Pi)%=!!i%}6i)))IIIQ@ @@/@ aE# EEE"E[;*E:VEZEa@a@a@a@ԙ^Am A I I Թ O >\,>u?AJ@J O>Jd5:ٱJW< VAHRS rotation from veh to nav: [[0.979623,-0.200766,0.005570],[0.200842,0.979315,-0.024600],[-0.000516,0.025218,0.999682]]JH`Y?௲ɿ`}v?`2?V?0@@ҙ?d?iJ@IJfc;HY^By!IbD VD2y-N%-T=ٔ-C Q-->91Y1=5Fy57E="=E=>AQ 5MQ5E3?Q 9MQ5E )AYIyM,>Q IM@EIDIEB:iE9:EQ5y]̔Bɮ]!A]2EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd@3@ɢ) Ui).-i&iIIԑm9@q @q@u0@q^AFӅB- 0>B) B- !IB- BB- =B) B- DB- Sl;B- *EA I I1 O >E " E E 'E "E Z;*E &:VE '4ZE BE F ٱF< NAHRS rotation from veh to nav: [[0.975271,-0.220921,0.006317],[0.221011,0.974855,-0.028486],[0.000134,0.029177,0.999574]]FH l5?!G̿]y? J?2?P+ 2!?`? ?iF\;IF c;FCYBy7Ii%Mb@Mb@Mb@!!!! !9%/$? rh~jt?Y%1?y%C%D9QYQ=]Fy]7E];2=E]>aQ 5mQ5e?Q 9mQ5e )eӭBYuK?Q Eu:yuB>Q Iu@eQDIee ;ie ;eQ5yyɮ}N!ADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZd~3@i9@ @@ 0@@@i߱I߱I ^A A I I O >i,9{?A ff)ٱf5= AHRS rotation from veh to nav: [[0.970450,-0.241208,0.006820],[0.241302,0.969937,-0.031559],[0.000997,0.032272,0.999479]]fH ?`ο`{?? ?(UP???if9AYA=EFyE7EMf=EM>qQ 5Q5u}?Q 9Q5u)uխBYyX>Q I@uWDIuz;iu;u(Q5y͔BɮW!A3EDNOT Ignoring new targets: 27.16 m.hh*h"h hgf!f)f)d)d)d1jd1Zd53@a颡ɢş) Li)顩i];iII9@ @@0@ԑ ^A A) I9 II O} >p,W?A2W;=2 >42ٱ2ں= NAHRS rotation from veh to nav: [[0.965390,-0.260708,0.007324],[0.260804,0.964780,-0.034362],[0.001893,0.035083,0.999383]]2Hy?`pп`q}??`z? _?g?@?i2W;=I2Qb;2CYMByMHIbDeVDeyu=%uT=ٔuQ-u>9yYy=}Fy}7E} W=E>Q 5Q5ʥ?Q 9Q5V)׭BYyl>Q I@^DI:i:yQ5yɮ A]DNOT Ignoring new targets: 27.16 m.haha*hi"hi higqfyB)>BCBBB =BBBbl;B*Eff ddydjdԡDzDZd M4@bE-4jEĨ,4rES}/E5 E5E5(E1"E5mR;*E54:VE5c44ZE1BE51vw,K?A2=23>2:;ٱ2ow= :AHRS rotation from veh to nav: [[0.959503,-0.281590,0.007881],[0.281686,0.958794,-0.036980],[0.002857,0.037702,0.999285]]2H>?`ҿ#? #?`p?` `Agg?M?`$?i2=I2b;2CY-By-UIiMb@Mb@Mb@ 9p= ף?~jt?~jt?Y?y<<A A A) AY(AbDVDNy%>=%%4=ٔ- Q-->9)Y1=5Fy57E5C=E5>9Q 5ER5=ܥ?Q 9ER5=`)=ܭBYML?Q EM:yM/>Q IM@=eDI=;i=/;=qR5yUΔBɮU A]4EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfff&BdddjdZd@%4@ɢ~) y@i)hi̺iII91@1 @9@=4@9@I@M=E  EE'E"ED;*E:VE'4ZEa@a @a @a @i^A} A} ?A} >ԡ A I I O >},?A:!=:>:ٱ:#=@ FAHRS rotation from veh to nav: [[0.953405,-0.301583,0.008146],[0.301665,0.952600,-0.039385],[0.004118,0.040008,0.999191]]:H`K?#Mӿ@?@{N?@{?U* qp?@{?@_?i:!=I:)9hYh=jFyj7Endo=En>pQ 5vR5r륊?Q 9vR5r)rBYtyv֮>Q Iv@rkDIr:ir:rR5y|ɮ~ A|%DNOT Ignoring new targets: 27.16 m.h!h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=@5@m;Bɢm)i mS7ii)u]qqiu5iyyyIyI59@1 @1@5/@1ԩ^A}B$>BCB4IBBBBBDBJl;B*EE% ( E% PE% (E! "E% `;*E% ;VE% c44ZE! BE% Qـ,e?A2=2|*>2԰ٱ2*= :AHRS rotation from veh to nav: [[0.946530,-0.322509,0.008323],[0.322571,0.945651,-0.041138],[0.005396,0.041623,0.999119]]2H@I?Կ ??B?`yv?@O??i2=I2'a;2CYFـByF{IpiMMb@Mb@Mb@IIII I9Mn?p= ף?~jt?YMV?yM=IM3AI MvA)MvAIYMAbDmVDm0y}l=%}@=ٔ}VDQ-}>9Y=Fy7EQS=E>Q 5R5?Q 9R5 )BYc?Q E:y>Q I@sDI* ;ir;KR5yϔBɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgfff@BdddjdZd|5@ɢ) 0i)%q¼!!i%]铺i)))I)I1m9@i @i@i@i1^A#a A I I) O= >E  E )E E "E E;*E 0;VE ZE a- @a- @a- @a- @g,,?AFm>FP>FڻٱFJ+= VAHRS rotation from veh to nav: [[0.939126,-0.343477,0.008093],[0.343507,0.938230,-0.041556],[0.006680,0.041806,0.999103]]FHR ?`տ@'??`?F@\{?`g??iFm>IFQa;FCYbBybIbDrVDryz=9%mS=ٔm$QQ-m>9qYq=uFyu7E}a=E}>Q 5R5?Q 9R5b)BYy]>Q I@zDIy:i: R5yɮ/ADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd`5@ ɢ )  (i )ǼiZri<II!9@ @@/@aԑ^A ?΅AzAA9 II IY Oe > ,ИF?A2>2>2ٱ2,= :AHRS rotation from veh to nav: [[0.931146,-0.364566,0.007701],[0.364555,0.930224,-0.042226],[0.008231,0.042126,0.999078]]2H? U׿܊?T? e? Nۀ?@?`s?i2>I2a;2CYFByFI HHbDNVDNk2yVj=%VO=ٔZQ-Z>9XYX=ZFyZ7E^:s=E^>`Q 5fR5b?Q 9fR5b)bBYhyj>Q Ij@bDIb:ib:b R5ynДBɮnAr5E DNOT Ignoring new targets: 27.16 m.h h *h "h  h g fffdddjd!Zd%E6@ԡB#>BBYIBBB =BCDBB1l;B*EBECBECBECBE =BE =CEQ5e:Bɢm+)y  i)R˼顡i@i<E  EE&E"EF;*E:VE4ZEBE`,~s`?A26>2->2S~"ٱ2e1= :AHRS rotation from veh to nav: [[0.922246,-0.386528,0.007621],[0.386476,0.921258,-0.043822],[0.009918,0.043360,0.999010]]2H` ?ؿ6??z?@oO?<3??i26>I2a;2CY]By]IiMb@Mb@Mb@ 9i|?5?Cl?Zd;O?Y?y;=j< A A) AYAbD VD Ny-j=%)=ٔdQ-%>9!Y!=%Fy%7E-[H=E->IQ 5UR5Mz2?Q 9]R5M)MBY]m?Q E]:y]?Q I]@MDIM:iM:MaR5yaɮmMAm6EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZd6@ɢ`쁽) i)Bϼi(M is<cII)@ @@0@E EE(E"EO6;*Er:VEc44ZEa@a@a@a@^A}Wg~QAIIO>y ,Oz?A2HN>2>>2=ٱ2Qh7= :AHRS rotation from veh to nav: [[0.913003,-0.407880,0.007698],[0.407789,0.911938,-0.045586],[0.011573,0.044759,0.998931]]2HQ7?ڿb?6?.? W??=?i2HN>I2:a;2C@Br@iBI@@D DDDDHHIH)HiH)HIHNNZF LN3CPPiPPiPRjA)T TIT T)TTXXYXY^By^IbDfVDfβyn=%rw=ٔrQ-r?9pYt=vFyv7Ev֏=Ev?xQ 5~R5z??Q 9R5z)zBYy?Q I@zDIz';izD;z=R5y ɮ A=DNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd7@9Bɢ5) gi)%Ҽ!!i%u¹i)-!<-%PI)I)QeN>ie>TG@ @@5@_9YLkAԁB">BBIBBB =BBBl;B*E^AU?:vԱE  E E )E "E 2;*E :VE FA4ZE BE # Ϥ,+?A60lg>62c>6~`ٱ6 >= BAHRS rotation from veh to nav: [[0.902906,-0.429772,0.007563],[0.429620,0.901746,-0.047765],[0.013709,0.046376,0.998830]]6H?@aۿ~?@~? ?t 6?`?`j?i60lg>I6a;6CY~!By~II%=)p;iMb@Mb@Mb@ 9ʡE?S㥛?y&1?Y-?y$>`< A  A)vAYAbDVD1y E=%>=ٔ?Q->9Y=Fy7Eed=E>Q 5R5O?Q 9R5k)BY ?Q E:y7?Q I@DI ;i ;R5yɮ{ADNOT Ignoring new targets: 27.16 m.hh*hԱ"h hgfffBdddjdZd7@M8BɢU)Q U iQ)UּYYi]8OiYex< E  E E 'E "E :;*E :VE '4ZE a @a @a @a @9 T,_ ?AF(>FA>FRٱFU9= NAHRS rotation from veh to nav: [[0.892676,-0.450655,0.006245],[0.450418,0.891545,-0.047654],[0.015908,0.045352,0.998844]]FH͐?ܿ@y???f-J?_8??iF(>IFa;FCY ByIbD-VD-ky=]Z%=R=ٔEKQ-E>9AYA=EFyM7EM$t=EM>QQ 5]R5U$^?Q 9]R5UU)UBYayeu=?Q Ie@UDIU ;iU ;UgR5ymBɮmAm-EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZdv7@ɢވ)  i)1ڼiSi_<"*II9@ @@/@^A8R9AIIOi>a ,a?A0Yn+ByrIAAAE?ABM>BMCBMIBM BBM =BIBM}DBM8l;BM*EbDVDyU=%E=ٔQ->9Y=Fy7EE>Q 5R5m?Q 9R5)BYyQ I@DIC&;iP';!R5yɮsADNOT Ignoring new targets: 27.16 m.hh*h"h! h!g!f)f9f9dAdIdQjdYZde`T8@Eu EuEu*Eqԑ"EuI@;*Eu:VEu(N4ZEqBEu0,Y?A8Y~4By~I iMb@Mb@Mb@ 9`"?Mb?X9v?Y?y@><A\ A  A)YG AbDVDy=%A=ٔQ->9Y=Fy7EE>Q 5R5>}?Q 9R5+)$BYs?Q E:yE?Q I@DI:i:$R5yBɮ7A.E-DNOT Ignoring new targets: 27.16 m.h)h1*h1"h1 h1g1f1f9f=ÁBd9d9dAjdAZdE8@u6BɢuĄ)q u(iq)}p>yyi}9i<.IIԡ=9@9 @9@A@A^AQIE%  E%E!E!"E%F;*E%:VE!ZE!a-@a-@a-@a5@IIOi> ?T,?A4<ɰ>>>I?>ٱ>W< FAHRS rotation from veh to nav: [[0.861377,-0.507942,-0.004835],[0.507436,0.860875,-0.037461],[0.023190,0.029815,0.999286]]>H`g?As >I>ha;>CY^9BybIbDjVDj:lyr<%v\=ٔvTQ-v>9xYx=zFyz7Ez3>Ez>|Q 5R5~C?Q 9 R5~)~.BY y V?Q I @~DI~:i~:~'R5yɮAEDNOT Ignoring new targets: 27.16 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZdU9@颅5Bɢ8O) Ki)b?顉iT9i{<9II1@1 @1@5/@1^A)1IIO-N>B >B CB IB #BB  =B B {DB il;B *E1bE-c44jE-c44rE-ȼ/EE  EE EE 'EA "EE ,K;*EE I:VEE '4ZEA BEE K6~ ?6Ҽٱ6< >AHRS rotation from veh to nav: [[0.850799,-0.525403,-0.009667],[0.524862,0.850536,-0.033291],[0.025714,0.023250,0.999399]]6H`9?`r̃?@7?@ @T?Η??i6U>I6oa;4Y^5BybI9ieMb@Mb@Mb@aaaa a9e}?5^I?5^I ?Mb?YeM"?yeX>e9Y=Fy7ERD=E>Q 5R5?Q 9R5)6BY+?Q E:y_?Q I@DI:i;+R5yɮ2A/EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffɁBdddjdZd`Չ9@-4Bɢ-cB~)) 5i1)ַ顱iD:i,-<SͽIIi9@ @@0@@=@=ԑ^A.A?A>I! I1 OU > E=  E= E= (E9 "E= 1A;*E= V:VE= c44ZE9 aE @aM @aM @aM @f,/?A2O~>2?2ٱ2>< :AHRS rotation from veh to nav: [[0.840155,-0.542157,-0.014340],[0.541596,0.840090,-0.030380],[0.028517,0.017757,0.999436]]2H?@YY2^T?? 3? /?@`?i2O~>I2a;2CYB4ByFIIJ=)J4<bDNVDNyV%VZ=ٔZQ-Z>9XYX=ZFyZ7E^X=E^>`Q 5fR5bզ?Q 9fR5b)b=BYhyjd?Q Ij@bȂDIb:ib:b.R5ylɮn<ApDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffddԙdjdZd9@%3Bɢ%(߁)) - i))-`))i5!:i1=kh<=I9I9@ @@0@^A`=(I)I9OE0> !P,I?A BV >BVCBVIBV3BBV =BTBV|DBVLl;BV*Eb[>bn?bٱb]< jAHRS rotation from veh to nav: [[0.829493,-0.558211,-0.018497],[0.557634,0.829589,-0.028744],[0.031390,0.013528,0.999416]]bH4?@$??oV??6?ib[>Ibz`;bCYv/ByvIbD~VD~y % D=ٔQ->9Y=Fy7EJ==E>!Q 5-R5%'?Q 9-R5%)%FBY1y5i?Q I5@%тDI%:i%1:%2R5y=Bɮ=A=&EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd%Y:@D!zD!E= E=E=+E9"E=9;*E=L:VE= [4ZE9BE=hIy [x,c?A22>2&E?2S ٱ2׌"< :AHRS rotation from veh to nav: [[0.818933,-0.573467,-0.022013],[0.572892,0.819169,-0.027507],[0.033807,0.009915,0.999379]]2H`4?Y@@"U?6?* 2O?N??i22>I2ԟ`;2CYB-ByBIiEMb@Mb@Mb@AAAA A9E/$?:v?MbPYE1(?yET>EE`AE A A)AAYEG AbD]VD]fym';%mD=ٔuzQ-u>9qYy=}Fy}7E}6=E>Q 5R5æ?Q 9R5)KBYk0?Q E:yj?Q I@ڂDI3:iC ;=6R5yɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZd:@ 0Bɢ ։) i)iW:i%*q<%`aI!I!Y9@ @@3@@@^AmrAнAqzAugAII O*>ԁE% E%E%'E!"E%g5;*E%:VE%'4ZE!a-@a-@a-@a-@ԩ p,a}?A29>2 ?2]ٱ2Uz; :AHRS rotation from veh to nav: [[0.808662,-0.587649,-0.027096],[0.587154,0.809107,-0.024406],[0.036265,0.003826,0.999335]]2H? `?4?`?]Xo? ?i29>I2٥`;2CYB$ByBI DDbDNVDN0yV,%VX=ٔVԻQ-V>9XYX=ZFyZ7E^A>=E^>`Q 5fR5bЦ?Q 9fR5b)bOBYdyfOo?Q If@bDIb:ib:b9R5ynBɮnAn'EDNOT Ignoring new targets: 27.16 m.hh*h "h  h g f ffdddjdZd ;@/BɢO) $i) i:p:iM[<o'IIԱ9@ @@/@iIAB>BCBIB8BB =BB}DBl;B*EBuCBuCBqBu =Bu =CuHs6^A D] =DY E}  Ey E} +Ey "E} 9;*Ey VE} [4ZEy BE} 9 ,K?A2|>2Ҕ$?2ٱ2e :AHRS rotation from veh to nav: [[0.799761,-0.599366,-0.033801],[0.599065,0.800462,-0.019561],[0.038781,-0.004605,0.999237]]2H@? .`aN+?a?ۣ?r ?i2|>I2R`;2CY^#By^IiEMb@Mb@Mb@AAAA A9EJ +?Cl?~jtxYE(?yEd;>EĻAE A A)E3AAYEQAbD]VD]kymsŻ%m>=ٔm+Q-m>9qYq=uFyu8E} =E}>Q 5R5ঊ?Q 9R5c)SBY/?Q E:yi?Q I@DIa EU  EU EU &EQ "EU M;*EU :VEU 4ZEQ ae @ae @ae @ae @,F?AJ>J(?Jx)ٱJ T VAHRS rotation from veh to nav: [[0.791381,-0.609961,-0.040778],[0.609914,0.792325,-0.015030],[0.041477,-0.012976,0.999055]]JH@R?̈́िj?@Z?@.ȎIJ`;JCY^By^IbDfVDfNyn%nS=ٔnQ-r>9pYp=vFyv8Ev=Ev>xQ 5~R5zi?Q 9~R5zζ)zWBY|ylm?Q I@zDIz:iz;z@R5y ɮ A 5DNOT Ignoring new targets: 27.16 m.h9h9*h9"h9 h9g9f9fAfAdIdIdIjdIZdM@J;@},Bɢ}K_)y } i)顁iˏ:i<%II@ @!@%/@!Y^A cA>A>A!I)IAOMS>ԁ imCG%j9!Y%DhAԱ ,I?AB$B&CB&IB&3BB& =B$B&~DB&l;B&*EBy>BJ:+?B4ٱBv JAHRS rotation from veh to nav: [[0.783768,-0.619205,-0.047884],[0.619489,0.784936,-0.010451],[0.044057,-0.021472,0.998798]]BH?@0?`2?\g`? '?iBy>IBd`;@PYV ByVIIX)Z=bD VD fy%%G=ٔ%UλQ-%>9)Y)=-Fy- 8E-<E5>1Q 5=R55W?Q 9ER55۰)5[BYAyEp?Q IE@5DI5;i5;5DDR5yIɮUAU(E}DNOT Ignoring new targets: 27.16 m.hyhy*hy"hy hgfffdddjdZd(Z<@颽*BɢX) i)iܚ:ih<TeIIE5% E5E5$E1"E5O];*E5A:VE54ZE1BE5[,?A2>2-?2n??ٱ2 :AHRS rotation from veh to nav: [[0.777328,-0.626699,-0.054860],[0.627361,0.778703,-0.006310],[0.046674,-0.029512,0.998474]]2H`?` @X?!?y?f8?i2>I2_;2CYBByFIi`IbA|i%Mb@Mb@Mb@!!!! !9%B`"?M?{GzY%.?y%n>%#%vA%A % A)%A!Y%AbD=VD=0y)ɼ%B=ٔ˻Q->9Y=Fy8E<E>Q 5R5 ?Q 9R5ܪ)_BY2?Q E:yb?Q I@DI;i^;GR5yBɮ4AEEDNOT Ignoring new targets: 27.16 m.hAhA*hA"hI hIgIfYfYf]hBdadadijdiZdm<@u(Bɢu5)q }iy)}yyi}cX:iT<IպII)A@A @A@A@A^A@E-" E-$E-&E)"E-Z;*E-;VE-4ZE)a5@a5@a5@a5@aA)I9IIOU>ԁ ,}?A2 >2a/?2Iٱ2|! :AHRS rotation from veh to nav: [[0.772253,-0.632175,-0.063084],[0.633407,0.773818,-0.000604],[0.049197,-0.039491,0.998008]]2H@L?:D& D??Ci0? /8?i2 >I2_;2CYBByFIbDNVDN02yV6s%V\=ٔV޻Q-V>9XYX=ZFyZ8E^<E^>`Q 5fR5b?Q 9fR5b)bbBYdyfd?Q Ij@bDIbo:ib:b3KR5ynBɮnhAnEDNOT Ignoring new targets: 27.16 m.hh*h "h  h g f ffdddjdZdJ%=@M&BɢM@)I MniI)UQQiU :YiYe,ZBECBEIBE#BBE =BABEDBEk;BE*EAIIOf>ԱEE  EE #EE )EA "EE >T;*EE ;VEE FA4ZEA BEE !2]1?2Tٱ27S :AHRS rotation from veh to nav: [[0.768397,-0.635813,-0.072856],[0.637860,0.770125,0.006510],[0.051970,-0.051474,0.997321]]2H?X`Yi?ܤ?z?`Û?Z ?i2>I2F}_;2CYfByfI hhiUMb@Mb@Mb@QQQQ Q9UGz?q= ףp?MbYU0?yU=UU AUA U/ A)U3AQYQbDmVDmy}%}>=ٔ'ӻQ->9Y=Fy8EE`<E>Q 5R5`)?Q 9R5)eBY3?Q E:yG[?Q I@DIB;i;NR5yɮAԹDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffTBdddjdZd༓=@%$Bɢ%H)! -|i))-))i-:i<EA E9  E= E= 'E9 "E9 *E= :VE= '4ZE9 aM @aM @aM @aM @ ,`2 ?Aɰ2/ >2#]2?2^`ٱ2X :AHRS rotation from veh to nav: [[0.765786,-0.637645,-0.083546],[0.640749,0.767614,0.014489],[0.054892,-0.064628,0.996399]]2HQ?gBc?`K??? n@?i2/ >I2_;0YFByFIbDNVDNk1yVn%VY=ٔZQ-Z>9XYX=^Fy^8E^(<E^>`Q 5fR5b7?Q 9fR5bN)bhBYhyj*\?Q Ij@b!DIb :ib[:bCRR5ynBɮrAr EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd=@%"Bɢ%0Z)! %Ai!)-))i-:i15gyԙ B9 A= <BE ">BE CBE IBE BBE =BA BA BE k;BE *E,62V3?2"mٱ2 :AHRS rotation from veh to nav: [[0.764040,-0.638178,-0.094719],[0.642569,0.765882,0.023005],[0.057862,-0.078440,0.995238]]2H@s? k`????? ?i2W>I2j_;2CYFByFIbDNVDNyV3%VK=ٔVQ-V>9Z ?YZ ?=ZFyZ8E^;E^>`Q 5fR5bbG?Q 9fR5b)bkBYdyf\?Q Ij@b*DIb:ib:bUR5ylɮn!AlDNOT Ignoring new targets: 27.16 m.hh *h "h  h g f ffdddjdZd [>@M BɢMxR)I MiI)U QQiUy :i@<]@E=ԡ^Au8<A}>A}>A ؟AI I O > ,f ?A21>2N3?2Vxٱ2 :AHRS rotation from veh to nav: [[0.763163,-0.637380,-0.106439],[0.643349,0.764883,0.032498],[0.060700,-0.093279,0.993788]]2Hk?`ke?Q? y?`?? ᷿?i21>I2Z^_;2CYF܀ByF~IIH)Ja=iMb@Mb@Mb@ 9K7?ӻQ->9"?Y"?=Fy"8Ek,;E>Q 5R5X?Q 9R5)rBY E-?Q E :y dN?Q I@4DI ;i3;YR5y%qBɮ%A-EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBBdddjd1Zd5@p>@Bɢ)  i) i:iډ<ih?, ?A2>2T3?2Eٱ2#-߽ >AHRS rotation from veh to nav: [[0.762972,-0.635505,-0.118357],[0.643307,0.764430,0.042463],[0.063490,-0.108538,0.992063]]2H`Cj? VL? 6v??@?"ɻ?i2>I2di_;2CYFByFIbDRVDRyV=%Z^=ٔZQ-Z>9\Y\=^Fy^&8Eb9Eb>dQ 5fR5fJg?Q 9jR5fI)fxBYhyj[N?Q Ij@fBCBIB BB =BBBk;BP*EY^AhW<E ! E E 'E "E Y;*E j:VE '4ZE BE լ"'&,Ι ?A6(>6!M3?61ٱ6)@ BAHRS rotation from veh to nav: [[0.762897,-0.633464,-0.129272],[0.643096,0.764084,0.051025],[0.066452,-0.122061,0.990296]]6H`i?@VE@=?``s? ?`?d?@?i6(>I6V_;6CYJByNIi%Mb@Mb@Mb@!!!! !9%&1?p= ף?Y%0?y%=%%A%@ %/ A)%A!Y%3AbD5VD5yE<%MA=ٔMQ-M>9IYQ=UFyU*8EUጹEU>YQ 5eR5]x?Q 9mR5]Ʉ)]BYm1?Q Em:ym*K?Q Im@]EDI]:i]:]`R5yyɮ}LA}EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfff4Bdd1d1jd1Zd=?@颅Bɢ0) i)H顉iu:i?<fP,,z ?AE EEE"EV;*E]:VEZEa@a@a@a@lYByI !!)-AbD5VD5:yEa%EK=ٔEQ-M>9IYI=MFyM/8EUEU>YQ 5eR5]'?Q 9eR5])]BYiyiQ Im@]NDI]F:i]=:]dR5yqɮuXAqDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd!?@Bɢ%) si)lio:i<II9@ @@0@ 9^AjZX<IQIiOu>i B >B B B B  =B B ~DB j;B *EBCBCB˓CB =B =Cz583,w ?A2O>2a2?2Mٱ2 :AHRS rotation from veh to nav: [[0.763382,-0.629559,-0.144580],[0.641937,0.764297,0.061373],[0.071864,-0.139662,0.987588]]2Hm?@X%¿`?u?Gl?e?@r R?i2O>I2V_;2C9YmBymIbDVDyM>%7=ٔ DQ->9Y=Fy38E-E>Q 5R5?Q 9R5y)BYyJ?Q I@XDI:D1zD1EM EM!EM(EI"EMW;*EM:VEMc44ZEIBEMDA >I! I1 OU >Sa9,W ?A h)jlAj'hhnCnkAin#IlpItiv"s@ tt)tx zkAxxx  kAI)i)!I!%! !))1i11Y1YMByMIԹimMb@Mb@Mb@iiii i9m@5^I ?y&1?Ymb0?ym`e=imAm@ mE A)mzAiYmAbDVDβy=%J=ٔQ->9Y=Fy78EE>Q 5R5G?Q 9R5t)BY0?Q E:yG?Q I@aDIZ;iY;kR5yɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffZBdddjdZdo@@5Bɢ=>Ο)9 =x i9)=AAiE:iAmA W:@,!?AJGTh׀9YTjAEA>E2?EoٱEG UAHRS rotation from veh to nav: [[0.763352,-0.627529,-0.153300],[0.641401,0.764500,0.064381],[0.076797,-0.147472,0.986080]]EH bm?Xÿ`[?`v? D{?@?_¿?iEA>IEm_;ECYByII%p<)%4=1bD5VD5ܲyE>=%MR=ٔMDPQ-M>9QYQ=UFyU;8E]@E]>aQ 5eR5eP?Q 9mR5eo)eBYiymxG?Q Im@ejDIe:ie:enR5y}YBɮ}A}EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd@@Bɢz) i)1zi :i<OBBIBBB =BBDBTj;B)Eԑ^A- jZX<Du =Dq E ) E E E "E `;*E ]:VE ZE BE E nManaging dock network, ignoring radio surface power offԹ ,eF,!?A2&=>22?2ٱ2 :AHRS rotation from veh to nav: [[0.763042,-0.627010,-0.156926],[0.641467,0.764405,0.064854],[0.079291,-0.150149,0.985479]]2H@j?v$Ŀ?v?=?iL?`8ÿ ?i2&=>I2H_;2CY~ By~IiMb@Mb@Mb@ 9&1?V-?y&1|?Y0?yh=`;@ / A)hAY AbDVD1y0=%Q=ٔѻQ->9Y=Fy?8EX(:E>Q 5R5.̧?Q 9R5~j)BY1?Q E:yTM?Q I@rDI:i:VrR5yɮuA=DNOT Ignoring new targets: 27.16 m.h9h9*hA"hA hAgAfAfIfMRBdIdIdIjdQZdU @@颅 Bɢ֑) i)v顉i :ԑi2j<TnM,r:!?AnN3>n32?n3Vٱn  vAHRS rotation from veh to nav: [[0.762947,-0.626339,-0.160037],[0.641289,0.764538,0.065041],[0.081616,-0.152253,0.984966]]nHj? |Ŀ p?`w???}ÿ@ׄ?inN3>Ine_;nCYByIbDVDJy%a=%%.=ٔ%Q-->9)Y1=5Fy5D8E5c'E5>9Q 5ER5=Dߧ?Q 9ER5=Vd)=BYIyMOM?Q IM@=}DI=;i=;=qvR5yUXBɮ]A]EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd3 A@ Bɢ) Li)if:i6<BCBIB.BB =BBBLj;B)E^A ON<Ա A I I) O5 >T,)T!?AED EF!EF'ED"ED*EF:VEF'4ZEDBEFQ`(3?諽ٱ AHRS rotation from veh to nav: [[0.762255,-0.626502,-0.162671],[0.641824,0.764128,0.064580],[0.083841,-0.153633,0.984565]]H@ed?N cĿщ?s?W?@v?;ÿ?i>IB_;CYE ByEI IIiMb@Mb@Mb@ 9v?I +?{Gz?Y8?y9=#<A@  A)QAYAAbDVDy/=%%=ٔQ->9Y= Fy I8E :E >Q 5R5?Q 9R5k])ȮBY%7:?Q E%:y%yR?Q I%@DI:iE:zR5y1ɮ5A5E]DNOT Ignoring new targets: 27.16 m.hYhY*hY"hY hagafaffgBdddjdZd MA@Bɢ8)! %YiA)EAAiM:iIMpAm>E- E,E%E"Ed;*E;VE 4ZEa@a@a@a@ԁAIIO?5], ]y!?Aɰ6<>6*3?6Jٱ6 BAHRS rotation from veh to nav: [[0.760865,-0.627139,-0.166680],[0.643013,0.763205,0.063659],[0.087288,-0.155613,0.983954]]6HY?@Uſ@?,l?@K?@X? ÿ |?i6<>I6O_;4YJ:ByNIbDZVDZky^=%b,=ٔbQ-b>9dYd=fFyfN8Ef-z;Ej>lQ 5nR5n?Q 9rR5nV)n׮BYpyrR?Q Ir@nDIn:in:n~R5ytɮzA1}DNOT Ignoring new targets: 27.16 m.hyhy*hy"hy hygfffdddjdZd@nA@Bɢp#) ^Ǿi) #P))i- :i15ؽ<5zwB B IB QBB B B DB ;j;B )Ey ^A- gW<bE-!4jE-4rE-/E 0 E E 'E "E Jg;*E &:VE '4ZE BE t<A@  A)@YAbD5VD5βyL=%=ٔQ->9Y=FyT8EE>Q 5R5?Q 9R5M)BY\8?Q E:y`?Q I@DIn:i':3R5y?BɮA E DNOT Ignoring new targets: 27.16 m.h h *h "h hgfffBddqdqjdqZduA@颥BɢVp) i)N顩i4:i¥<sPl,T!?A2>2{T4?2u¶ٱ2> >AHRS rotation from veh to nav: [[0.758959,-0.629001,-0.168343],[0.645011,0.761641,0.062158],[0.089120,-0.155759,0.983767]]2HdI? Eſ`?]_?-ӯ?`ж?`ÿ@{?i2>I2_;0EF+ EFEF&ED"EFb;*EF:VEF4ZEDaN@aN@aN@aN@Y%[By%IbD5VD5yE =%Mn=ٔMϯQ-M?9M ?YU ?=UFyUW8EU@<EU?YQ 5eR5]$,?Q 9mR5]H)]BYiymka?Q Im@]DI];i]:]1R5yqɮuAy=DNOT Ignoring new targets: 27.16 m.h9hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU B@Bɢ~) Ri) i:i  {< Rԡ A A @AB B B :IB uBB B B B Mj;B )E ws,!?ANo>ND4?NUٱN ZAHRS rotation from veh to nav: [[0.757843,-0.630091,-0.169294],[0.646171,0.760732,0.061232],[0.090206,-0.155797,0.983662]]NH?@?)oſo?W?`Y?? (ÿ'z?iNo>IN`;NCY]rBy]6IbDmVDm0y}=%}H=ٔL/Q->9Y=Fy[8E;E>Q 5R5;?Q 9R5 C)BYya?Q I@DI ;i ;R5yɮkA EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd5B@ԑ颽Bɢ2l) i)!i ,:iz<# y,m!?AV0>V55?VjٱVN jAHRS rotation from veh to nav: [[0.756583,-0.631425,-0.169954],[0.647481,0.759735,0.059765],[0.091383,-0.155259,0.983638]]VH5? 4@ſ *?O?z?d? ÿ`y?iV0>IVC`;VCYxyz7I15AiMb@Mb@Mb@ 9Q?/$?~jth?Y5?y1>D;A \ A)v@Y=AbD VD2y[;%D=ٔ9Q->9Y=Fy`8E;E>Q 5R5K?Q 9R5<)BY8?Q E :y Ld?Q I @DI ;i ;gR5yɮdA]DNOT Ignoring new targets: 27.16 m.haha*ha"ha hagififqfuBdydydyjdyZdkB@mBɢuh)q ueiq)uE"yyi}z:iyl</,>"?A2>25?2ٱ2v >AHRS rotation from veh to nav: [[0.755410,-0.632527,-0.171074],[0.648675,0.758791,0.058803],[0.092615,-0.155392,0.983502]]2HP,?=ſ`?H?@q??ÿx?i2>I2)`;0YFByFMIbDRVDRfyV=%V`=ٔZ^Q-Z>9XYX=^Fy^c8Eb;Eb>dQ 5jR5fY?Q 9jR5f7)fBYhyjd?Q In@făDIf:if:fR5ypɮrAr E DNOT Ignoring new targets: 27.16 m.h h*h"h hgfffdd!d!jd!Zd%B@UBɢUd)Q UWiQ)]1#YYi]dv:iae@eBBlIBBBBBDBBj;B)EBMCBMCBIBM =BM =CMŗ5y^A=D-<AM>AM>IIO>ԩ EU ) EU .EU &EQ "EU `;*EU ;VEU 4ZEQ BEU :5?:ukٱ:pG!@ FAHRS rotation from veh to nav: [[0.754626,-0.633063,-0.172541],[0.649413,0.758186,0.058448],[0.093817,-0.156157,0.983267]]:H %? Bƿ ?C??`?`ÿv?i:&>I:a;8YRByRWIi-Mb@Mb@Mb@)))) )9-On?7A`?{GztY-8?y->-ף-A-~@ - A)-3@)Y-GAbDEVDE:yU=%U@=ٔU :Q-]>9YYY=]Fyeh8Ee%;Ee>iQ 5uR5mi?Q 9uR5m1)mBY}` B݌,5"?A2>2g?6?2býٱ2z! :AHRS rotation from veh to nav: [[0.753687,-0.633833,-0.173816],[0.650316,0.757472,0.057672],[0.095106,-0.156502,0.983088]]2H 4?\H?ƿc?4=?/?X?`?Ŀ uu?i2>I2tb;0YFByFaIIJ4=)HbDNVDNk2yV*=%VU=ٔZ]Q-Z>9XY\=^Fy^k8EE# E E)E"E[;*E:VEFA4ZEa @a @a @a @=0V;E=>AQ 5MR5Ex?Q 9MR5E*)EBYIyUh?Q IU@E؃DIE[:iE:EɘR5y}%Bɮ}A}EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd_C@eBɢeR)a ep(ii)mi$iiim+:iqu_ԁ B $>B B IB BB =B B B j;B )E$œ,O"?A2e>26?2Žٱ2^+" :AHRS rotation from veh to nav: [[0.752697,-0.634610,-0.175261],[0.651254,0.756723,0.056905],[0.096511,-0.156971,0.982876]]2H?Nnƿ`? 7?"??Ŀs?i2e>I2c;2CYFByFjIbDNVDN1yV=%VJ=ٔZ0eQ-Z>9XYX=ZFyZo8E^yf;E^>`Q 5fR5b?Q 9fR5b%)b'BYhyj;i?Q Ij@bDIb$:ib:b,R5ylɮnOAp DNOT Ignoring new targets: 27.16 m.h h *h "h  h g fffddYdjdZd7C@ Bɢ /AN)  di ) '$i:i6d<xQ ,9i"?A$$J_>J;6?JȽٱJ" RAHRS rotation from veh to nav: [[0.751870,-0.635152,-0.176846],[0.651994,0.756131,0.056299],[0.097960,-0.157632,0.982627]]JHQ?)Sƿ "?@:2?DӬ? ? I-Ŀq?iJ_>IJQd;JCYZBy^tIi=Mb@Mb@Mb@9999 99=9v?@5^I ?MbpY=4?y=b>==nA=h@ =/ A)=@9Y9bD]VD]0yu_=Ա%>=ٔUQ->9"?Y"?=Fyt8E !;E >1Q 5ER55?Q 9ER55G)51BYM8?Q EM:ym}h?Q Im@5DI5;i5;5R5yyɮ} AEDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZdpC@uBɢueE)q uTiy)}P%yyi}D9iKm<,2 7?2ܙ˽ٱ2# :AHRS rotation from veh to nav: [[0.751339,-0.635333,-0.178445],[0.652411,0.755790,0.056059],[0.099251,-0.158538,0.982352]]2H@ ?T`Hƿ@?m/??h?`JĿlo?i2l>I2Af;2CYFByFI HHHJALLbDRVDRβy^9`Y`=bFyby8Ef:Ef>hQ 5nR5ju?Q 9nR5j)jBCBIBځBBBBB j;B)Eԡ݁BɢZ<) i)%i׾9i!%y<%#|ը,Z "?AF0>F"7?FNνٱF-% NAHRS rotation from veh to nav: [[0.751022,-0.635192,-0.180270],[0.652573,0.755644,0.056131],[0.100566,-0.159795,0.982014]]FH_?@}S ǿ?;.?$??@&tĿ`l?iF0>IFag;FCYVByVIi5Mb@Mb@Mb@1111 195l?x&?y&1Y57?y57 >5`e5A5;@ 5 A)11Y5AbDMVDMP)y]0=%]B=ٔeJMQ-e>9e ?Ye ?=mFym}8Em!N:Eu>Q 5R5?Q 9R5)DBY:?Q E:ye?Q I@DI;i;R5yYɮe/AeEDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZd`PC@MفBɢmy3)q uOiq)u%qqi}riy`<@ >E  E E $E "E L;*E :VE 4ZE a @a @a @a @ԙ ^AQ AU >AU >A؟AIIO?h,y"?AB*>Bk7?BӽٱB' JAHRS rotation from veh to nav: [[0.750094,-0.635248,-0.183900],[0.653240,0.755060,0.056231],[0.103135,-0.162309,0.981335]]BH?S ǿV?`t)?Eʬ?`g? Ŀ g?iB*>IBhg;BCYVȁByVIIZ=)Zp=bD^VD^1yf=%f%=ٔj۪Q-j>9n"?Yn"?=nFyn8En;Er>pQ 5vR5rͨ?Q 9zR5rc )rNBYxyzQe?Q Iz@r DIrD;ir;rUR5y BɮA EeDNOT Ignoring new targets: 27.16 m.hihi*hi"hi higqfqfyfydddjdZd"D@ՁBɢ4,)I 0ϼi)%顉i֭i<;BQBUIBUBBQBQBU~DBU;j;BU)Ey^AMT<ԩbEȞ4jEw4rET0EM  EM EM 'EI "EM F;*EM :VEM '4ZEI BEM ` ,"?A:>:b7?:4ӽٱ:/) BAHRS rotation from veh to nav: [[0.750178,-0.634728,-0.185349],[0.653113,0.755059,0.057697],[0.103327,-0.164337,0.980978]]:H`t?OǿM?`q)?@n?s?ſ+d?i:>I:}g;:CY5ԁBy5IiMb@Mb@Mb@ 9ףp= ?K7A?:vY>?y >T@  A)@Y A 4<<bDVDk1yNQ=%:=ٔcQ->9Y=Fy8EE>Q 5 R5|ߨ?Q 9 R5)WBYA?Q E:yUa?Q I@DI;ih;-R5y BɮA%EMDNOT Ignoring new targets: 27.16 m.hIhIԩ*hI"h hgfffBdddjdZd@\D@mҁBɢme$)i m;ii)u%qqiu, iy}<}h!1 ,{"?AE EE#E"EL;*E:VE3ZEa@a@a@a@rCrjAipIprIvCit tt)tzYC zt@xxx||I|)|i|)sCI LC jA i  i  iA)k 3FIYYҁByIbDVDkyS%K=ٔQ->9Y=Fy8EE> Q 5R5 見?Q 9R5 z) `BYyQ I@  DI <;i ; R5y!ɮ%A!MDNOT Ignoring new targets: 27.16 m.hIhI*hI"hQ hQgQfYfafadddjdZdD@ρBɢ@#) ;i)%i'Ci˷<Ti>9@ @@/@@@9i ^A <A zA gABU >BU CBU IBU BBU  =BQ BQ BU ?j;BU )EA .AI I O% >,e#?A 2_>2S7?2,ҽٱ2, >AHRS rotation from veh to nav: [[0.751136,-0.633224,-0.186608],[0.652103,0.755717,0.060446],[0.102747,-0.167090,0.980573]]2H@N ?^Cǿ?.?@?M?7cſ `?i2_>I2f;2CY܁ByI !!bD5VD51yEF=%EV=ٔE:Q-E>9M ?YM ?=MFyM8EM`pEU>QQ 5eR5UQ?Q 9eR5U)UiBYaye`?Q Ie@U)DIUQ;iU:U R5yiɮuxAuE-DNOT Ignoring new targets: 27.16 m.h)h)*h)"h) h1g1f1f9f9d9d9d9jdAZdED@ḿBɢm|)q u`,>-#?APZ>ZU6?ZѽٱZ\A/ jAHRS rotation from veh to nav: [[0.751515,-0.632456,-0.187681],[0.651749,0.755841,0.062674],[0.102219,-0.169421,0.980228]]ZHi ?=@ȿ ?/?c ?+?@ſ^?iZ>IZlf;ZCY}By}Ii=Mb@Mb@Mb@9999 99=?zG?y&1|Y=@?y= ==`=A=@ = A)=@9Y=AIMBAbDUVDUN2ye=%e9=ٔeӝ:Q-e>9m"?Ym"?=mFym8Eu9Eu>yQ 5R5}?Q 9R5})}uBYA?Q E:yY?Q I@}4DI}<:i}:}R5yɮ1ADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZdD@ɁBɢ) X]=i) %  i MNigɽ<Y, G#?A6>66?6Hнٱ6~0 JAHRS rotation from veh to nav: [[0.751835,-0.631968,-0.188044],[0.651458,0.755981,0.063995],[0.101715,-0.170616,0.980074]]6H?9ȿ ?`0?`a? ?ſ \?i6>I6f;6CYzByzI|bD%VD%y=p=%E_=ٔM:Q-M>9IYQ=UFyU8E]>Ee>iQ 5uR5ma!?Q 9uR5m)m~BYqy}Y?Q I}@m=DImc;im;mR5yBɮAEDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZd H&E@ƁBɢp) @=i)Q%iᱺiϽ<*B<A4=B>BCB IB'BB =BB}DBj;B)EBCBCBÔCB =B =Cn5)Q^Am<A>A>EU  EU EU (EQ "EU L;*EU :VEU c44ZEQ BEU ԑ ?,a#?AVЊ>V6?VϽٱV_1 ^AHRS rotation from veh to nav: [[0.752314,-0.631423,-0.187958],[0.650987,0.756311,0.064883],[0.101186,-0.171171,0.980032]]VH?4ȿ@?@3? *?T?ſ@k\?iVЊ>IVUf;VCYfByfIInp<)n9Y=Fy8EҺE>Q 5R52?Q 9R5)BY3,5z#?AE{ EEE"E;*E:VEZEa@a@a@a@>g>>m6?>jνٱ>` / FAHRS rotation from veh to nav: [[0.752532,-0.631663,-0.186273],[0.650824,0.756543,0.063807],[0.100619,-0.169247,0.980424]]>H?6ǿ`?`5?`U?*¹?ſ _?i>g>I>f;>CYRByRI Z;ZbDZVDZ0ybd=%f\=ٔf:Q-f>9dYh=jFyj8Ej<Ej>lQ 5rR5nA?Q 9vR5n1)nBYtyvtW?Q Iv@nPDIn:in\:nR5yxɮ~fA|%DNOT Ignoring new targets: 27.16 m.h!h!*h!"h! h)g)f)f)f)d1d1d1jd1Zd=ZE@ԹBɢ^r) >i ) $  i i5׽<=uB B . IB ;BB  =B B B i;B )EI) I9 OM >9 ,#?A6fE>6?y6?6̽ٱ6U/ BAHRS rotation from veh to nav: [[0.752762,-0.631512,-0.185854],[0.650678,0.756603,0.064573],[0.099839,-0.169539,0.980453]]6H@?Y5 ǿ`Z?@6?ۇ?@?sſ_?i6fE>I6e;6CYJByJIbDRVDRyZR=%ZK=ٔ^:Q-^>9`Y`=bFyb8Eb*Eb>dQ 5jR5fkR?Q 9nR5fk)fBYlynbW?Q In@fYDIf;if;fR5yvBɮvAvEDNOT Ignoring new targets: 27.16 m.hh*h"h hgff!f!d!d!d!jd)Zd- ۾E@UBɢ]^)Y ]^*>iY)eI$aaieiimڽ,#?A2>2Y6?2i˽ٱ2# . :AHRS rotation from veh to nav: [[0.753133,-0.631463,-0.184517],[0.650353,0.756919,0.064144],[0.099160,-0.168310,0.980734]]2H`?4>ǿ?8?k?b?`-ſ@,b?i2>I2Ke;2CYB!ByF I HHQiUMb@Mb@Mb@QQQQ Q9UCl?I +?MbPYU;??yU9=UUrAU@ U`A)QQYUQAbDuVDuk1y=%/=ٔT:Q->9Y=Fy8EE>Q 5R5ff?Q 9R5)BY@?Q E:yS?Q I@dDI:i;R5yɮ}ADNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBd9dAdAjdAZdEE@uBɢuzۼ)q }P>iy)}%4#yyi}i۽< ̌,#?A2>236?2Oɽٱ2- :AHRS rotation from veh to nav: [[0.753573,-0.631160,-0.183752],[0.649980,0.757187,0.064766],[0.098257,-0.168241,0.980837]]2HD?v2@3ǿ@?:??a'?@ſc?i2>I2M^e;2CYF,ByF IHJAAbDNVDN yVk=%VZ=ٔZF;Q-Z>9XYX=^Fy^8E^ǺE^>`Q 5fR5bvv?Q 9fR5b,)bBYhyjS?Q Ij@bmDIb:ib:bR5yn֓BɮnS ArE DNOT Ignoring new targets: 27.16 m.h h *h "h  h g fffdddjdZd% *F@MBɢMS)Q Ul>iQ)UH"QQiU8`%iY]۽I,w#?A>.A>> 5?>2Oƽٱ>- FAHRS rotation from veh to nav: [[0.754289,-0.630684,-0.182446],[0.649385,0.757601,0.065868],[0.096679,-0.168162,0.981007]]>H "#?`.fZǿ? E>?@ܰ??Rſhd?i>.A>I>G,e;>CYN;ByR. Ii%Mb@Mb@Mb@!!!! !9%(\?J +?{Gzt?Y%z4?y%=%ף;%A%Z@ %A)%@!Y%@bD=VD=yMX=%M@=ٔUs;Q-U>9YYY=]Fy]8E] E]>aQ 5mR5eH?Q 9uR5e6)eȯBYu86?Q Eu:yu;Y?Q Iu@ewDIe ;ie ;eR5yɮ ADNOT Ignoring new targets: 27.16 m.hh*h"h hgfff}BdddjdZd`dF@Bɢ޳) >i)!iVb7i!%ֽ<%zFA >I1 IA OM > ,$?A2>2Y5?2½ٱ2F- :AHRS rotation from veh to nav: [[0.754838,-0.630509,-0.180772],[0.649001,0.757861,0.066672],[0.094962,-0.167648,0.981263]]2H'?!-#ǿ@?@e@?k?uO?yuſf?i2>I2TMe;2CYBGByF= IIJ%=)J=bDNVDN0yVij=%VE=ٔV4;Q-Z>9XYX=^Fy^8E^ κE^>`Q 5fR5b?Q 9fR5bf)bӯBYdyjY?Q Ij@bDIb ;ibD";b>R5ypɮrv ArE DNOT Ignoring new targets: 27.16 m.h h *h "h  h gfffdddjdZd%eF@q颭Bɢ) >i)a iGGiyн<7iQIUABu>BqBul IBunBBu =BqBu|DBu3i;BuM)E I ,l_$?A2 >25?2ٱ2I. :AHRS rotation from veh to nav: [[0.755285,-0.630230,-0.179873],[0.648769,0.757871,0.068782],[0.092972,-0.168646,0.981282]]2HK+?`*@ǿ@?z@?@?ͷ?4ſf?i2 >I2Re;0bE}c44jE},4rE}10E~ E~E~*E|"E~V;*E~x:VE~(N4ZE|BE~9QYY=eFye8EurjEu>Q 5R5?Q 9R5)BYyX?Q I@DI:i:R5yɮ A-DNOT Ignoring new targets: 27.16 m.h)h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdErF@uBɢuN)q u>iq)}yyi}[igƽ<`D! ,+7$?A2>2 U5?2ٱ2i/ :AHRS rotation from veh to nav: [[0.756323,-0.629307,-0.178743],[0.647886,0.758389,0.071342],[0.090661,-0.169762,0.981306]]2H`3?@H# ƿ`|?D?sC?@5?ƺſf?i2>I26e;0 @)@B@@FCDiFIFRFDIDiFs@ HhH)xx ~kA~'|||~kAI')i)IkA'    vA iYYgBye IiMb@Mb@Mb@ 9-?&1?Y?5?y= AC@ 3A)@Yz@bDVD:y=%]=ٔ;Q->9Y=Fy8EssE>Q 5R5񺩊?Q 9R5)BY7?Q E:yY?Q I@DI;i;R5yՓBɮq A%DNOT Ignoring new targets: 27.16 m.h!h!E EE%E"E[I;*E:VE 4ZEa@a@a@a@*h"h hgfffBdddjdZd@ G@=Bɢ=d"?)9 =ž>iA)顡iki<RB >B CB IB BB B B B !i;B A)E ,P$?A2BV>25?2nشٱ2. :AHRS rotation from veh to nav: [[0.757315,-0.628791,-0.176342],[0.647068,0.758968,0.072599],[0.088189,-0.169085,0.981648]]2H;?` `ƿǴ?wI?Е? ?`ſ@i?i2BV>I2~=e;2C9YUoByUn I aaaeAbDmVDmfy=%M=ٔ;Q->9Y=Fy8EQE>Q 5R5ʩ?Q 9R5R)BYy,Y?Q I@DI:i:|R5yBɮd AEDNOT Ignoring new targets: 27.16 m.hh*h"h hgff f d d djdZd ;G@EBɢE::)A E>iA)MIIiMziQU« R- ,j$?A6>6a4?62ïٱ6v. BAHRS rotation from veh to nav: [[0.757896,-0.628654,-0.174317],[0.646719,0.759116,0.074144],[0.085716,-0.168928,0.981894]]6H @? Pƿ`?J??`?`nſ@k?i6>I6Ne;6CYBy% Iԙi-Mb@Mb@Mb@)))) )9- ףp= ?"~j?y&1|Y-Q8?y-S=-`- A--@ -A)-@)Y-=@AE@AbDEVDEk2yU=%U@=ٔ];Q-]>9YYa=eFye8Ee9ƺEe>iQ 5uR5m۩?Q 9}R5m()mBY}:?Q E}:y} [?Q I}@mDIm;im;m6R5yBɮ AEDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZdqG@Bɢ8=) >i)D4  i &iȗ<AQ ! II IY Om >! ,z$?A2Z`>24?2Vٱ2ݸ/ :AHRS rotation from veh to nav: [[0.758862,-0.627848,-0.173018],[0.645931,0.759505,0.076977],[0.083078,-0.170172,0.981906]]2H@H?Tp%ƿv?M? ƴ?`D?4ſ k?i2Z`>I2 e;2CY^By^ IbDjVDjyn+<%rf=ٔr;Q-r>9tYt=vFyv8EvbEv>xQ 5~R5zAꩊ?Q 9R5z)zBYyZ?Q I@zDIz~ ;iz ;zRR5y ɮ A=DNOT Ignoring new targets: 27.16 m.h9h9*h9"h9 hAgAfAfAfAdIdIdIjdIZdU7G@颍BɢPs) ->i)X顡iފiK<BB IBBB =BBBi;B?)EBCBCBœCB =B =Cm5^Auuy E  E -E &E "E P;*E K;VE 4ZE BE 2LD4?2ٱ2). :AHRS rotation from veh to nav: [[0.759680,-0.627599,-0.170310],[0.645301,0.759934,0.078026],[0.080455,-0.169176,0.982297]]2H MO?`J`ſM? `Q??@?ſ n?i2>I2e;2CYFByF IIJ<)J4<bDNVDNyV=%VN=ٔZ;Q-Z>9XYX=^Fy^8E^ 'E^>`Q 5fR5bM?Q 9jR5bG)b BYhyjwZ?Q Ij@bDIbQ:ibj:bR5y!ɮ%A%EuDNOT Ignoring new targets: 27.16 m.hqhq*h"h hgfffdddjd!Zd%fG@Y颕Bɢ0l) U>i)顙iMȖid<0 i- ,B$?A2I>2\3?2ٱ2- :AHRS rotation from veh to nav: [[0.760555,-0.627217,-0.167795],[0.644588,0.760409,0.079281],[0.077866,-0.168456,0.982629]]2H wV?)@Lzſ v?DU?K? ?ſq?i2I>I2{e;2CYFByF IiMb@Mb@Mb@ 95^I ?L7A`?:vY8?y+>T A@ hA)Y@ !%4<bD-VD-02y==%=A=ٔEw;Q-E>9AYA=MFyM8EM,EM>QQ 5R5U ?Q 9R5U)U BY+;?Q E:ya?Q I@UÄDIU>C% G9Q}>9Y'tA^A <AzAfAII O >A A ?AB >B B IB ɂBB B B {DB i;B 8)E9 Q4 ,$?A>Q>>43?>2Gٱ>w. VAHRS rotation from veh to nav: [[0.761281,-0.626682,-0.166497],[0.643983,0.760714,0.081237],[0.075747,-0.169066,0.982690]]>H@i\? Oſ`?W?˴?#d? ſ1r?i>Q>I>e;9tYt=vFyv8EvEv>xQ 5~R5zN?Q 9R5z;)zBYy`?Q I@z̄DIz;iz ;zR5y Bɮ A=DNOT Ignoring new targets: 27.16 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMU:H@}Bɢ} ;) ?i)顁i i}*</?wԉ {: ,U$?A0:T>:3?:Ͷٱ:- FAHRS rotation from veh to nav: [[0.762010,-0.626372,-0.164317],[0.643378,0.761114,0.082282],[0.073524,-0.168418,0.982970]]:Hab?< @Tſ ? [? r?Ҳ?@ſ }t?i:T>I:`e;:CYzByz I  iMb@Mb@Mb@ 9zG?Q? rhY 7?y\>CvA@ A)@Y@bDVDβy<%<=ٔ;Q->9Y=Fy8E E>Q 5R5++?Q 9R5Ë)BY:?Q E:y@c?Q I@քDI ;iP ;R5yBɮ AݥE-DNOT Ignoring new targets: 27.16 m.h)h)*h1"h1 h1gfffBdddjdZd`=tH@UBɢU&)Q U ?iQ)]jYYi]鮻iaecA ,%?A2>2N3?2ٱ2Z. :AHRS rotation from veh to nav: [[0.762617,-0.625875,-0.163389],[0.642888,0.761284,0.084512],[0.071491,-0.169491,0.982935]]2H@[g?@+@Ŀ?o\?@?BM?@ſ4t?i2>I2nhe;0YBByB IHJAAbDNVDN02yV=%V_=ٔZE;Q-Z>9XYX=ZFyZ8E^ E^>`dQ 5vR5fo9?Q 9zR5fL)fBYxyz c?Q I~@f߄DIfAU>A A I I O >D =D =E  E E )E "E V;*E :VE FA4ZE BE {2w3?2wٱ28c/ :AHRS rotation from veh to nav: [[0.763333,-0.625327,-0.162140],[0.642255,0.761615,0.086323],[0.069508,-0.170029,0.982985]]2H9m?`ĿZ?%_?E?G˱?~ſt?i2s>I2qe;2CYBBy@bDNVDNyV %VJ=ٔVh;Q-V>9XYX=ZFyZ8EZE^>`Q 5fR5bI?Q 9fR5bS)bBYdyfb?Q If@bDIbN:ibg:bqR5ylɮnAlDNOT Ignoring new targets: 27.16 m.h h *h "h  h g f ffdd!d)jd)Zd-H@mBɢ;) #?i)顩i+i<SM ,9%?A:u>:D2?: 7ٱ:. FAHRS rotation from veh to nav: [[0.764129,-0.624856,-0.160193],[0.641528,0.762098,0.087453],[0.067437,-0.169594,0.983204]]:H@s?`0Ŀf?c?Zc?C?@@ſ`hv?i:u>I:DLe;:CYN̂ByN Ii%Mb@Mb@Mb@!!!! !9%&1?n?MbY%0?y%V>%%`A%@ %v@)!!Y%@bD=VD=P)yMPm=%M@=ٔU;Q-U>9U ?YU ?=]Fy]8E] %Ee>aQ 5mS5eX?Q 9mS5e3z)eBYu|4?Q Eu:yuc?Q Iu@eDIe:yie:e(S5yBɮ*AߥEDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZd% I@E}( E} E}&Ey"E}`;*E}:VE}4ZEya@a@a@a@颕Bɢ<) y?i) 顙iƻid<w E Bu <Au <B} >By B} !IB} BBy By B} |DB} h;B} )ET ,eS%?A2>22?2_Wٱ2C- :AHRS rotation from veh to nav: [[0.764668,-0.624722,-0.158131],[0.641082,0.762404,0.088056],[0.065549,-0.168709,0.983484]]2H(x?@=Ŀ ?e?؊?ǰ?@ſ@x?i2>I2re;2CYBӂByF IbDNVDN:2y~k =%~P=ٔt;Q->9"?Y"?=Fy 8E E >Q 5S5g?Q 9S5t)BY!y%c?Q I%@DIU;i;S5y)ɮ-A)]DNOT Ignoring new targets: 27.16 m.hYhY*hY"hY hagafafafidididijdiZduq=I@额Bɢ0?<) !?i) 顡ikVλiV<xH<Y VZ ,Bm%?AF:^>F2?FcxٱF@. VAHRS rotation from veh to nav: [[0.764991,-0.624650,-0.156850],[0.640887,0.762397,0.089521],[0.063663,-0.169006,0.983557]]FHz?!Ŀ%?e??9L?ſ Ly?iF:^>IFMe;DYbՂByb IiMb@Mb@Mb@ 9n?/$?tIA@ I@)Y@bDVDyiF<%?=ٔʐ;Q->9Y=Fy8E)[E>Q 5S5ex?Q 9S5In)BY;9?Q E:y`?Q I@DI ;iC ;T S5yyBɮA֥EDNOT Ignoring new targets: 27.16 m.hh*h"h hgffftBd!d!d!jd!Zd%@'tI@1]Bɢ]$<)Y ]4$?iY)eaaie@ֻiimO"Թ a ,e%?ARQ>RL2?R[6|ٱR. bAHRS rotation from veh to nav: [[0.765650,-0.624190,-0.155459],[0.640308,0.762666,0.091362],[0.061536,-0.169493,0.983608]]RH3?]`ÿf}?g?wc??ſy?iRQ>IR^e;RCYvقByv I ||bD VD  y-E<%-T=ٔ-;Q-->91Y1=5Fy58E=E=>AQ 5MS5E?Q 9MS5Eh)AYIyM_?Q IM@EDIE:iEg:E S5yYɮ]AYDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffd!d!d!jd!Zd- I@UBɢU9P<)Y ]]'?iY)]YYiecw޻iaeE ) E 'E (E "E `;*E ";VE c44ZE BE N1?NetٱN/ VAHRS rotation from veh to nav: [[0.766516,-0.623381,-0.154433],[0.639446,0.763152,0.093317],[0.059684,-0.170281,0.983586]]NH`L?xÿWv?`k??厮?ſ@y?iNL>IN4e;NCY`y`bDjVDjyrC%rO=ٔv;Q-v>9tYt=vFyz8Ez+JEz>Q 5 S5?Q 9 S5b)BYy_?Q I@DI:i:*S5yɮA%ץEMDNOT Ignoring new targets: 27.16 m.hIhI*hI"hI hIgIfQfQfQdQdYdYjdYZdePI@颍Bɢ|t<) 4(?i)~顩iiH<Hn ,Һ%?A2g>21?2slٱ2һ/ >AHRS rotation from veh to nav: [[0.767217,-0.622867,-0.153018],[0.638780,0.763525,0.094815],[0.057776,-0.170488,0.983664]]2H ?ÿp?n?E?@֔? ſ-z?i2g>I2 e;2CYFByF IiMMb@Mb@Mb@IIII I9M-??Zd;OYM?5?yM=MjMAMx@ M@)M@IYMG@bDe VDe2yu>I=%uB=ٔu_;Q-u>9} ?Y} ?=}Fy}8EUE>Q 5S56?Q 9S5 ])Y$7?Q E:yS?Q I@ DI2 ;i ;S5yɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgfff_BdddjdZd`:J@Bɢ\~q<) .?i)3ii!%nz<%2v A A AAB >B B .!IB BB B B B h;B )EBCBCBB =B =C4t ,K%?A22D>2x1?21dٱ2o]/ :AHRS rotation from veh to nav: [[0.767974,-0.622367,-0.151245],[0.638040,0.764007,0.095905],[0.055864,-0.170153,0.983833]]2H >?n[ÿ j?`r?@;?5?ſ {?i22D>I2d;2C@YDyDIJC=)J;bDRVDRyZ::%ZW=ٔZh;Q-Z>9^"?Y^"?=^Fy^8Eb#6Eb>dQ 5jS5f?Q 9jS5fW)dYhyjmS?Q Ij@f)DIf:if:f(S5ypɮrAp DNOT Ignoring new targets: 27.16 m.h h *h "h  hgfffddd!jd!Zd%>J@MBɢUC<)Q U/?iQ)i?{ ,%?A>>>1?>g[ٱ>. JAHRS rotation from veh to nav: [[0.768956,-0.621661,-0.149142],[0.637053,0.764657,0.097277],[0.053569,-0.169813,0.984019]]>H`J?@ÿb?x?? pm?lſ}?i>>I>d;=%]@=ٔe;Q-e>9aYa=mFym9EmUEm>qQ 5}S5uȪ?Q 9S5u#R)uBYh1?Q E:yfP?Q I@u2DIuU;iu;uS5yɮRA=DNOT Ignoring new targets: 27.16 m.h9h9*h9"h9 h9g9fAfAfEPBdAdIdIjdIZdM cwJ@Bɢ Մ<) !6?i)ii< ;II @ @@0@@@9Eu- Eu%Eu'Eq"Eud;*Eu;VEu'4ZEqa}@a}@a}@a}@^AP; G 1 a } u9y Y} i_AA I I O% > ,/l&?AN>N0?NGSٱN`k. ZAHRS rotation from veh to nav: [[0.769631,-0.621294,-0.147179],[0.636404,0.765073,0.098253],[0.051559,-0.169284,0.984218]]NH`Ѡ?¿@k]?z{?@'?e?ſ`~?iN>INd;NCYbByb!IbDjVDjyr<%vR=ٔv;Q-v>9tYx=zFyz9EzE~>|Q 5S5~mت?Q 9 S5~L)|Y y *P?Q I @~;DI~:i~:~HS5y`BɮpAϥE9MDNOT Ignoring new targets: 27.16 m.hIhI*hI"hI hIgIfQfQfQdYdYdYjdYZde`8J@颍Bɢ]<) 09?i)顑iOi<!;III@I @I@M4@IaB>BB;!IBBB =BBBh;B(E^A5&t;ԑII IY Om >Թ E} ' E} (E} (Ey "E} _;*E} ;VE} c44ZEy BE}  FT ,<&?A6<>6t0?6jCٱ6FL+ BAHRS rotation from veh to nav: [[0.770825,-0.620970,-0.142211],[0.635256,0.765987,0.098562],[0.047728,-0.166314,0.984917]]6H ? `3¿`T?@?U;?o?`Iſp?i6<>I6d;6CE=. E=4E=&E9"E=ye;*E= ;VE=4ZE9aE@aE@aE@aE@Y]Bye$!IiMb@Mb@Mb@ 9(\?333333?y&1Yz4?y=`eA @)Y@@AbDVDNy.=%0=ٔpw;Q->9Y=%Fy%9E%#E%>)Q 55S5-?Q 95S5-ZA)- BY=5?Q E=:y=[J?Q I=@-ODI-. ;i-':-%S5yAɮEAMХEuDNOT Ignoring new targets: 27.16 m.hqhq*hq"hq hqgqfyfyf}KBdyddjdZdK@uzBɢuD<)q uaD?iq)6r顡iw i<@ʒ;IIAY@Y @Y@]4@aq^A ԅ;A >A >B <A <B B B G!IB BB  =B B B h;B (EI I O >ԡ %< ,U&?A2>2[P0?2F<ٱ2) :AHRS rotation from veh to nav: [[0.771237,-0.620970,-0.139963],[0.634880,0.766301,0.098543],[0.046062,-0.164860,0.985241]]2H?O P??@:?e?ſ?i2>I2rd;2CBCBjAi@I@BIF&CiD DD)DH Jds@HHHHLIL)LiL)PIPPP PTVjATiTTiTViA)Z(\ Z3FIXYXY~By~(!IbDVD0y=…<%En=ٔE;Q-E?9IYI=MFyM9EMҺEU?QQ 5S5U ?Q 9S5U<)U!BYy:J?Q I@UWDIU;iUt:U(S5yɮADNOT Ignoring new targets: 27.16 m.hh*h"h hgff f d d d jdZd 3EK@q额xBɢy<)M F?i)顡iD i"ƹ< ;IIq@y @y@/@EM1 EIEM(EI"EM2h;*EIVEMc44ZEIBEM^ Ff , o&?A2z=>2E/?2<64ٱ2( :AHRS rotation from veh to nav: [[0.772191,-0.620301,-0.137650],[0.633867,0.767041,0.099307],[0.043983,-0.163936,0.985490]]2Hɵ?@H??@-l?@넦?Ŀ`"?i2z=>I2ed;2CY ByG!II%4=)%4=-=-=iMb@Mb@Mb@ 9M?V-?MbYn2?yh=A@ h@)@Y(@bDVD1y =% >=ٔ;Q->9Y=Fy9ESE>!Q 5-S5%?Q 9-S5%/7)%#BY5]3?Q E5:y5I?Q I5@%`DI%u ;i% ;%,S5y9ɮEAAuDNOT Ignoring new targets: 27.16 m.hqhq*hq"hq hqgyfyfyf}IBdddjdZd`zK@颵uBɢ<) AU?i)t项iiq<J5;IIa@ @@/@yE]+ E]"EYEY"E]b;*E];VEYZEYae@ae@ae@ae@ԩ ^A r;I) I9 OM >O ,&?A2>2/?2o*,ٱ2:(( :AHRS rotation from veh to nav: [[0.772858,-0.619906,-0.135671],[0.633186,0.767488,0.100186],[0.042020,-0.163334,0.985675]]2H@A? E`]@C?C?ƥ??%Ŀ@?i2>I2d;<2CY$ByL!I -4<-p<bD-VD-ky=.<%EX=ٔE;;Q-E>9IYI=MFyM9EM$EM>QQ 5]S5U,?Q 9eS5UC2)U%BYayeH?Q Ie@UiDIUy:iU:U0S5yiɮmAqDNOT Ignoring new targets: 27.16 m.hh*h"h hgff!f!d!d!d)jd)Zd-K@颵rBɢ'\=) X?i)ۼ项ii?<;IIԩBU>BQBUZ!IBU/BBQBQBQBUUh;BU(Ei@i @i@m/@i^A ;AzA A I I O5 >bE-4jE(4rE?/Ee # Ee Ee 'Ea "Ee [;*Ee :VEe '4ZEa BEe f91Y1=5Fy59E=E=>AQ 5MS5E=?Q 9MS5E -)E'BYIyIQ IU@ErDIE:iEB:E3S5y]HBɮ]A]ȥEDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZdkK@pBɢ=) `?i)]qּYYi]iimǸ# ,%&?AY9u ?Yu ?=uFy}%9EyE}>Q 5S5S?Q 9S5%)+BY5?Q E:yO?Q I@~DI$o;ii_;78S5yɮaAɥEmB*** querying acoustic contact ***ii ii}DNOT Ignoring new targets: 27.16 m.hyh*h"h hgfff[BdddjdZdZ&L@=lBɢ=S<)A Eg?iA)EiμAAiEiIMO\ ,&?A> >>e.?> ٱ># JAHRS rotation from veh to nav: [[0.775186,-0.618831,-0.127027],[0.630783,0.769234,0.101937],[0.034631,-0.159147,0.986647]]>H@R?uiB`/???3?^Ŀ`?i> >I>Xcd;9hYh=jFyj)9En En>pQ 5rS5trc?Q 9zS5r )r,BYxyzCN?Q Iz@rDIr,;ir-;r;S5y|ɮ~@E5& E5/E5%E1"E58^;*E5Y;VE5 4ZE1BE5 BDAT read: Tx time:05:18:18.6245 $Ping request sent.AU >I! I9 OE >) ,g&?A,>;>>&.?>ٱ># FAHRS rotation from veh to nav: [[0.775654,-0.618585,-0.125355],[0.630314,0.769454,0.103173],[0.032634,-0.159040,0.986733]]>H@(?r +?]?@i?_?h[ĿP?i>;>I>Vd;>CYN^ByR!Ii5Mb@Mb@Mb@1111 195n?S㥻?9aYa=eFym-9EmEm>qQ 5}S5uKv?Q 9S5uC)qY8?Q E:yET?Q I@uDIu';iuo;u?S5yIBɮ@DNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddQjdQZdU+L@额gBɢ~#=) \{?i)i-,'i<FIIEM4 EM'EM'EI"EMj;*EM";VEM'4ZEIaU@aU@a]@a]@ԉ9@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503363Ա^AjZغI) I9 OE > Be >Ba Be !IBe \BBe  =Ba Ba Be h;Be (EB!B!B!B!B% =C%˅4P ,0'?Ai0I06checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754903tY nBy !II)=bD%VD%yea=%mJ=ٔmQ-m>9qYq=uFyu19EuE}>yQ 5S5}ֆ?Q 9S5})}+BYyQ I@}DI}:i}:}CS5yɮ@DNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdddjdZdL@ eBɢ bL=)  *?i )̄i8S+ij%<`II!9@ @@4@ Ee& Ee/Ee*Ea"Ee8^;*EeY;VEe(N4ZEaBEaam2EaamJEaau:EaauQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006790^AΒ{IIO>i l; ,e/'?A6,v>6.?6Sٱ6  BAHRS rotation from veh to nav: [[0.776068,-0.619218,-0.119526],[0.630031,0.769642,0.103502],[0.027902,-0.155630,0.987421]]6H`? F`7)?@??`W?ÿ?i6,v>I6d;6CYZwBy^!I1iMb@Mb@Mb@ 9Zd;O??Mb`YjQA $@)@Y@bDVDkyn1=%C=ٔ/99Y=Fy59EE>Q 5S5C?Q 9S5v)Y??Q E:yX?Q I@DI ;i ;FS5y1Bɮ@E-DNOT Ignoring new targets: 27.16 m.h1h1*h1"h1 h1g1f1f9f=Bd9d9dAjdAZdEWL@ucBɢuI=)q u?iy)} eyyi}E/i<g1IIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259233A@A @A@E3@Aiԉ^AeNJκAizAmhAIIO> I Q Em * Em Em 'Ei "Em a;*Em :VEm '4ZEi a} @a} @a} @a} @ oG gA % 9% gAY% BtAy} ? olAԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510704b ,OH'?A:u>:x.?:c[ϼٱ:Ο BAHRS rotation from veh to nav: [[0.776123,-0.619467,-0.117868],[0.630073,0.769332,0.105527],[0.025309,-0.156167,0.987406]]:H?`,)?^?@??Hÿ@՘?i:u>I:Ad;:CY^By^!IbDfVDfk1yn!=%n\=ٔr~;Q-r>9pYt=vFyv99EvѶEv>xԙQ 5S5z?Q 9S5z)z*BYyX?Q I@zDIzBB!IB{BBBB{DBh;B(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762740^A% ] I I O > aI ,b'?AE E#EE"EW;*E;VEZEBECm>>.?>2ٱ>S5! JAHRS rotation from veh to nav: [[0.776056,-0.619873,-0.116168],[0.630259,0.768889,0.107627],[0.022605,-0.156740,0.987381]]>Hr?+ +??s?%?Ŀ@?i>m>I>ac;>Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014656Y5By5!I 99bDMVDMy]1%]=ٔm;Q-m>9yYy=Fy>9E9E>Q 5S5~?Q 9S5L))BYy Y?Q I@DI6:i;NS5yɮ@DNOT Ignoring new targets: 27.16 m.hh*h)"h h9gAfIfYfYdididqjdyZd%oM@^Bɢ8=) j?i)%!!i%r8i)-ʵ<-W޺I)I1Q 9@  @ @ 4@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267342y ^A eA A >ԩA!I)I9OM?A ,|҂'?AE"% E"E E "E"O];*E":VE ZE a&@a&@a&@a&@>{>>E.?>-ٱ> FAHRS rotation from veh to nav: [[0.775446,-0.621089,-0.113714],[0.631091,0.768129,0.108172],[0.020162,-0.155646,0.987607]]>Hu?`V1??@1?V?2ÿz?i>{>I>~d;>C L)LLLPRCRlAiPIPPITiVr@ TT)TX XZXX\^kAI^ 0)\i\)`IbkAb` `dddiddYdYjByn!IiMb@Mb@Mb@ 9^I +?S?~jtxYX9?y>Ļv@@ @)p@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520077Y@bD=VD=yu=%}:=ٔ};Q->ԉ9Y=FyC9Em;E>Q 5S5Ϋ?Q 9S5)&BYV=?Q E:yb?Q I@ąDI<;i;rRS5y!ɮ-8@)uDNOT Ignoring new targets: 27.16 m.hqhq*hq"hq hqgyfyfyf}BdddjdZdM@\Bɢ|3u=) }?i)t&ifBB!IBBBBB|DBh;B)E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770818^A NJκ AU ؟AIY Iy O > ,[ '?AY}By}!IbDVDyL<%V=ٔQ->9"?Y"?=FyG9EE>Q 5S5ݫ?Q 9S5)#BYyQ I@ͅDI/;i;US5y2Bɮ@¥EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffdd d jd Zd PM@=ZBɢ=YX=)9 =?iA)E`AAiE@iIM ,V'?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274883YBy!II]>)=iMb@Mb@Mb@ 9Zd;?ףp= ?QY9?y>uQA@ @)C@Y@bD-VD-Qym6;%2=ٔQ->9 ?Y ?=FyK9EE>Q 5-S5?Q 9-S5)BY->?Q E-:y5Ac?Q I5@؅DI.;iS;YS5y=Bɮ=@=EDNOT Ignoring new targets: 27.16 m.hh*h"h hgfffBdddjdZdN@XBɢ%c=) r?i)zkiEiԞ<` IIaEM% EIEM,EI"EMO];*EIVEMg4ZEIaU@a]@a]@a]@ԁ@ @@/@EDAT read: 05:18:21.1083 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 380, 0.45,-2.177,-0.347,-1.847,-1.514, PHS=-0.561, 1.212,-0.377, RAW= 324.6, -3.3, CAL= 323.7, -6.4, ROT= 186.3, 6.4 uYgot valid direction response: 05:18:21.1083 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 380, 0.45,-2.177,-0.347,-1.847,-1.514, PHS=-0.561, 1.212,-0.377, RAW= 324.6, -3.3, CAL= 323.7, -6.4, ROT= 186.3, 6.4 PDAT read: Bearing 23.4, -6.6 (Local) ~Local bearing/azimuth received: Bearing 23.4, -6.6 (Local) DAT read: Range 11 to 50 : 59.7 m (Round-trip 79.7 ms) speed -0.5 m/s R#Rx 1: Read range and direction messages.5 bdirection in FSK: [-0.987766,-0.109051,-0.111469]5 Fpublishing direction and range infoyG՛{ț껿 -V:YnB )IIi"?%uJ@kɴ@ )_P@I=! Lll9ڿoS -)aj=IVBi=ԩ ^A Β{ A5 ؟AIA IQ O] >y ,'?A2J>2{/?2`@Qٱ2M :AHRS rotation from veh to nav: [[0.774050,-0.624080,-0.106635],[0.632996,0.766234,0.110460],[0.012771,-0.153002,0.988143]]2H?vqLA? ?`"G?`'?ÿߞ?i2J>I2c;2CYFByF!IAHAHBN>BLBN!IBNBBN =BLBLBNh;BN(EbD^VD^Nyfp<%fh=ٔj') U ,|'?AFų>Fj/?Fؾ&ٱF ZAHRS rotation from veh to nav: [[0.773565,-0.625174,-0.103705],[0.633635,0.765666,0.110731],[0.010177,-0.151369,0.988425]]FH` ?md`F?V?X?`ׄ? `ÿ-?iFų>IFc;FCYnByr!IbD~VD~:y}<%<=ٔ;Q->9Y=FyS9E-j:E->aQ 5S5e}?Q 9S5e)eBYy$d?Q I@eDIes ,zU(?A$$4jO>j/?jٱj5 zAHRS rotation from veh to nav: [[0.773250,-0.625787,-0.102353],[0.634053,0.765051,0.112581],[0.007853,-0.151950,0.988357]]jH@v?q3)J?@K{?@Ҽ?e? sÿ?ijO>Ij_`c;jCYyiMb@Mb@Mb@ 9Gz?/$?~jtYp=?y>ļMA @)@Y@bDVD:y % F=ٔ ;Q->9Y=FyW9Eh:E>!Q 5-S5%p?Q 9-S5%)% BY-A?Q E5:y51b?Q I5@%DI%:i%i ;%8dS5y=Bɮ=@AmDNOT Ignoring new targets: 59.38 m.hihi*hi"hi higqfqfyf}BdydydyjdZd<?颭SBɢ~ߒ=) ?i)%j项iQi<:IIԑ-9@1 @1@52@1BBB!IBBBBBBdh;B(EԹ^AU?B:IIO> * ,2 (?A6R6>6/?6kٱ6 BAHRS rotation from veh to nav: [[0.772961,-0.626548,-0.099844],[0.634428,0.764703,0.112829],[0.005659,-0.150556,0.988585]]6H?@ d@I6 Kc;4`YbByb!IbDjVDj02yrZ%v_=ٔv;Q-v>9xYx=zFyz[9Ez4:Ez>|Q 5S5~:.?Q 9 S5~$)~BY y Wb?Q I @~DI~:i~:~lgS5yɮq@EDNOT Ignoring new targets: 59.38 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZdU@?颅RBɢo=) ?i)t9\顉iA B , :(?A2>2!0?2Ҧuٱ2cH :AHRS rotation from veh to nav: [[0.772502,-0.627281,-0.098788],[0.635001,0.764002,0.114344],[0.003748,-0.151062,0.988517]]2HV?  -JQ?@r?`E?մn?Uÿ?i2>I2Fc;2CYvByv!IiuMb@Mb@Mb@qqqq q9ubX9?rh|?{GzYuE6?yu=uףu@u@ u@)qqYu@bDVDy{%?=ٔ;Q->9Y=Fy`9E/:E>Q 5S5O??Q 9S5 )BY 9?Q E:y^Z?Q I@DIq ;i ;'kS5yBɮ@EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdd d jd Zd ;?=PBɢ=x=)A E?iA)E LAAiM YiIMԡ  ,S(?AB"<A"<B&>B$B$B$B$B$B$B&3h;B&(EB B B B  =B C MA5F/>F0?FMкٱF+ NAHRS rotation from veh to nav: [[0.772562,-0.627492,-0.096969],[0.634938,0.763880,0.115507],[0.001593,-0.150805,0.988562]]FH Ӹ?@i Ҹ@iQ?q?ܑ?Z?Mÿ M?iF/>IFnc;DYVByZ!IbDbVDb:yjh<%jX=ٔj;Q-j>9lYl=nFync9EroEr>tQ 5zS5vrN?Q 9zS5v)vBYxyzZZ?Q Iz@vDIv:iv :vunS5yBɮ@EyDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZds@uOBɢ}?=)y }ה?iy)}i!>-9@) @)@)@)ԩE=( E=E=)E9"E=`;*E=:VE=FA4ZE9BE=Q Y ,m(?AYUByU!IbDmVDmy:%7=ٔ%Q-%>91Y9==Fy=h9EMEU>iQ 5S5m`?Q 9S5mQ =tI)mBYyQ I@mDImF2" ,Y6(?A22$>2/?20,;ٱ2k :AHRS rotation from veh to nav: [[0.773059,-0.627325,-0.094039],[0.634329,0.763896,0.118699],[-0.002627,-0.151413,0.988467]]2H@?  lL?q?c?eaÿ?i22$>I2c;0YBByB!Ii Mb@Mb@Mb@     9 K?)\(?I +Y ^:?y G= 9 MA  @)  Y bD!VD!y5f%5M=ٔ=-99Y9==Fy=l9EEEE>IqQ 5S5Mp?Q 9S5M)MBYBB!IBBB =BBB h;B(E^A<; PExceeded connect timeout, disconnecting. A .AI! I1 O= >Y( ,S(?A00N{>NR/?NǠ;ٱNG VAHRS rotation from veh to nav: [[0.773867,-0.626506,-0.092840],[0.633329,0.764349,0.121098],[-0.004907,-0.152512,0.988289]]NH`?W ]ķ:D?u?J?tÿ?iN{>INc;LYbByb!IdfAbDjVDjkyr8%rP=ٔv;Q-v>9v ?Yv ?=zFyzp9Ez~VEz>|Q 5S5~i?Q 9S5~)~دBY y aT?Q I @~-DI~:i~:~GyS5yɮ@EE- EE&EE%EA"EEd;*EE;VEE 4ZEABEE<Y *. ,޼(?A2G>2K/?2;ٱ2֌ :AHRS rotation from veh to nav: [[0.774559,-0.625932,-0.090923],[0.632462,0.764865,0.122363],[-0.007047,-0.152282,0.988312]]2H0?@F!=?y?(S? T| }ÿ@@?i2G>I2`c;2CYFByF!IiMb@Mb@Mb@ 9n?? rhY6?y=Cn@@ @)YbDVDy%9=ٔu;Q->9"?Y"?=Fyt9E% $E%>)Q 55S5-?ԑQ 95S5-ղ)-ЯBY7?Q E:yQ?Q I@-7DI-nAy Ay B >B B !IB BB B B B g;B (E k5 ,(?A2:>2$/?25<ٱ2W :AHRS rotation from veh to nav: [[0.775064,-0.625340,-0.090700],[0.631820,0.764935,0.125209],[-0.008918,-0.154351,0.987976]]2HR? %87?Yz? ?Cÿ`?i2:>I2c;0YBByF!IbDNVDN1yV;%Vd=ٔVp;Q-V>9XYX=ZFyZx9EZE^>`Q 5fS5bs?Q 9fS5b)bɯBYdyfQ?Q If@b?DIbj:ib:bES5ynBɮn@nEeDNOT Ignoring new targets: 59.38 m.haha*ha"ha higifififqdqdqdqjdZd*@ɢR=) ??i)߻ini=<fJxII@ @@4@nManaging dock network, ignoring radio surface power offE}= E}4E}%Ey"E}s;*E} ;VE} 4ZEyBE}@; ,)(?A2>2.?2T)2<ٱ29 >AHRS rotation from veh to nav: [[0.775979,-0.624321,-0.089888],[0.630665,0.765488,0.127630],[-0.010874,-0.155727,0.987740]]2H`?pi.?~?,V? Eÿ`?i2>I20b;2CYNByN!IZ=Z=bD`VD`yjwϼ%jH=ٔj;Q-j>9lYl=nFyn|9ErkEr>tQ 5zS5v^?Q 9zS5vG)vBYxyz!Q?Q Iz@vIDIv[:iv1:v؃S5y Bɮ @EEDNOT Ignoring new targets: 59.38 m.hAhI*hI"hI hqgyfyffdddjdZd@QuIBɢu0I=)q u%?iy)}s:yyi} 2ri<H%IIA@A @A@A@Ay^Am qԩ Em ; Em >Em (Ei "Em Dq;*Em ?;VEm c44ZEi au @au @au @au @A I I O >>}B ,p )?A>>>P.?@>QS<ٱ>\" JAHRS rotation from veh to nav: [[0.776927,-0.623200,-0.089479],[0.629458,0.765961,0.130717],[-0.012925,-0.157881,0.987374]]>H@?`@趿$? ?U?xp5Ŀ?i>>I>kb;>CYRByR!Ii-Mb@Mb@Mb@)))) )9-㥛 ?sh|??MbY-5?y-=--`@-@ -@)-@)Y-@bDEVDE:2yU4=%UB=ٔ];Q-]>9YYa=eFye9Ee oEe>iQ 5uS5mŬ?Q 9uS5m)mBY}6?Q E}:y}J?Q I}@mRDImq ;im ;mS5yɮ`@DNOT Ignoring new targets: 59.38 m.hh*h"h hgfff}BdddjdZdjk@HBɢ\=) ?i)(inui<fIIԱ@ @@O3@B->B-CB-!IB-BB- =B)B-}DB-g;B-(E^A A .AI! I9 OE >-H ,K$)?A2e^>2.?2^t<ٱ2# :AHRS rotation from veh to nav: [[0.777628,-0.622430,-0.088744],[0.628548,0.766278,0.133215],[-0.014915,-0.159372,0.987106]]2HS? ?X?1 ?IfĿ`_?i2e^>I2nb;2CYBByF!IbDNVDNβlyrѽ%rR=ٔr;Q-v>9v ?Yv ?=vFyv9Ez`AEz>|Q 5S5~լ?Q 9S5~w)~BYyJ?Q I @~[DI~;i~$:~S5yBɮ5@1DNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd%@GBɢ^=) Ž?i)N!i%2~xi!-&<-I)I)bE-4jE(4rE}0Eu@ Eu2Eu*Eq"Euu;*Eu;VEu(N4ZEqBEu:N ,%>)?A2>2-?2<ٱ2T% :AHRS rotation from veh to nav: [[0.778130,-0.621914,-0.087962],[0.627876,0.766412,0.135587],[-0.016908,-0.160733,0.986853]]2Hp?੄?r?Z?gP ĿL?i2>I2wb;2CYFByF!IHJA9iUMb@Mb@Mb@QQQQ Q9UI +?kt?MbYU94?yU =UU@U@ Q)U@QYU@imAAbDmVDmy}ʞ<%}A=ٔ#;Q->9Y=Fy9EE>Q 5S5<笊?Q 9S5ї)BY5?Q E:yL?Q I@eDI ;i ;S5yɮx@DNOT Ignoring new targets: 59.38 m.hh*h"h hgfff|BdddjdZd@@ɢ~q=)! %?i!)%N!!i%ɕ{i)-G<5%I1I1@ @@/@iEEF EE@EE&EA"EE>{;*EEM;VEE4ZEAaM@aM@aM@aM@ԑ^A3I I O > B% <A% <B- >B) B- !IB- BB-  =B) B- ~DB- g;B- (EGU ,X)?A2>2G-?2vs<ٱ2% :AHRS rotation from veh to nav: [[0.778326,-0.621855,-0.086629],[0.627574,0.766360,0.137272],[-0.018975,-0.161209,0.986738]]2H ? = M- ?`?$?`"n |Ŀ`[?i2>I2b;2CYFByF!IbDRVDR0yV:μ%ZX=ٔZ[;Q-Z>9\Y\=^Fy^9EbyEb>dQ 5fS5f?Q 9jS5fȒ)fBYhyjK?Q Ij@fnDIf):if:fS5yrBɮr@rE DNOT Ignoring new targets: 59.38 m.h h *h "h  h gfffdddjd!Zd%.@MFBɢM=)Q U؎?iQ)UkQԙQi܂~iٮ<ߘII9@ @@/@^ASI9IIEUI EUEEU'EQ"EU};*EU;VEU'4ZEQBEU- L[ ,q)?A6}>6E-?6vt<ٱ6$ BAHRS rotation from veh to nav: [[0.778483,-0.621983,-0.084267],[0.627308,0.766468,0.137882],[-0.021172,-0.160200,0.986857]]6HU?H???$qĿV?i6}>I6$eb;4YJByJ!IbDRVDR:2yZc%ZJ=ٔ^;Q-^>9\Y`=bFyb9EbEEb>dQ 5jS5f?Q 9rS5fd)fBYtyvK?Q Iz@fwDIfڨ;if;fvS5yBɮ @ E5DNOT Ignoring new targets: 59.38 m.h1h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdM@o@颁ɢ=) ;?i)ii #]<-|9I1IA9@ @@@ )Y^A- *I I O >E E E NE (E "E Vz;*E ;VE c44ZE a @a @a @a @ԙ 2b ,)?A4<ɰ;2>2-?24<ٱ2" :AHRS rotation from veh to nav: [[0.778350,-0.622526,-0.081436],[0.627392,0.766389,0.137942],[-0.023460,-0.158459,0.987087]]2H>?`ٴ`?@A??@fHĿ6?i2>I2MSb;2CYEByE!IM=M=aiMb@Mb@Mb@ 9Cl?sh|??Y/?y=dA@ h@)@YG@ ;<bDVDy /N=% *=ٔ;Q->9Y=Fy9ER9E>!Q 5-S5%u?Q 9-S5%#)%BY5&1?Q E5:y5L?Q I5@%DI%i ;i% ;%S5y=Bɮ=@AeDNOT Ignoring new targets: 59.38 m.hihi*hi"hq hqgqfqfyf}BdydydyjdZdٹ@ɢ=) i?i)cigAiBB!IBBBBBBg;B(EBCBCBĔCB =B =C5ԁ@ @@0@ԩ^A &tI) I9 O] > Lh ,ɒ)?A2>2-?2I<ٱ2" JAHRS rotation from veh to nav: [[0.778199,-0.622921,-0.079849],[0.627504,0.766114,0.138953],[-0.025383,-0.158239,0.987075]]2H@?q??`3? )AĿ`?i2>I2b;2CTVjAiV`eIXXIXiZtUA X\)\` bs@`ddddId)dih)lInxkApp ptttittixx)~V |D%=D%=I Y ED ECE)E"Eny;*E;VEFA4ZEBEB99Y9=EFyE9EE9EE>IQ 5uS5M*?Q 9uS5M=)MBYyy}$L?Q I}@MDIM;iM2;MS5yɮ@ԱDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdzG@颵EBɢ—=) x?i)s:项i۩ir<.II9@ @@L1@ ^A% 9 AU ؟AIa Iq O} >4o ,Xȿ)?A2 >2J-?2Х<ٱ2" :AHRS rotation from veh to nav: [[0.777815,-0.623565,-0.078560],[0.627906,0.765588,0.140033],[-0.027175,-0.158248,0.987025]]2H?=@???ӛ@{AĿ ?i2 >I2 b;2CY{By!I CG)UXr9QY]a\AiMb@Mb@Mb@ 9(\?{Gz?:vYz4?yף=TA@ )@Y=@bDVDy8b%>=ٔ;Q->9"?Y"?=Fy9E|:E>Q 5S5[v ,ū)?AYmBym!I qqy}AbDVDfy*=%U=ٔQ->9Y=Fy9EE>Q 5S5L?Q 9S5w){BYyQ I@DI :ig:S5yɮw@DNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd@ @1ɢ5=)1 5?i9)=;99i=giAE>s| ,o)?A 6b>6.?6i_<ٱ6* >AHRS rotation from veh to nav: [[0.777331,-0.624671,-0.074453],[0.628349,0.765208,0.140122],[-0.030558,-0.155703,0.987331]]6H?M@R p?|??J ÿ7?i6b>I6Ba;6CYTyZ!IbDbVDbk1yj`%jX=ٔj9lYl=rFyr9Er :Er>tQ 5zS5v\?Q 9zS5vr)vrBY|yI?Q I@vDIv`a;iv};vSS5y%Bɮ-@-EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdd d)jd1Zd5`f!@i颁ɢ=) W?i) Z;顱i'LJi"<ݗII9@ @@/@ԙ^Am SE G E JE (E "E &|;*E ;VE c44ZE a @a @a @a @ I I O >jg ,F*?A6>6V.?6?=ٱ6r BAHRS rotation from veh to nav: [[0.776538,-0.625947,-0.071967],[0.629243,0.764591,0.139480],[-0.032282,-0.153596,0.987606]]6H`f?fl"?w?`w?=ÿx?i6>I6@a;6CYJByJ!IPiMb@Mb@Mb@ 9|?5^? ףp= ?MbY2?yQ= ;@)3@YbD5VD5yE/%EC=ٔM;Q-M>9IYQ=UFyU9EU;;EU>YQ 5eS5]m?Q 9mS5]l)]gBYmw4?Q Em:ymM?Q Im@]DI]:i]:]S5yu֒Bɮ}r@}EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdzS"@ɢ6=) R?i);i iyȫ<9pIIBBB!IBvBBBBBg;B(Em9@i @i@m/@i^AM3IIO>!  ,x((*?A;ɰE"U E"\E"'E "E"l;*E" ;VE"'4ZE BE"Fd.?F} =ٱF@ RAHRS rotation from veh to nav: [[0.776354,-0.626365,-0.070293],[0.629384,0.764392,0.139929],[-0.033915,-0.152876,0.987663]]FH?`/ `#?u?1?`U] oÿ?iF>IFEa;FCYZByZ!I|bD VD 02yT<%M=ٔ%>;Q-%>9!Y!=%Fy%9E-:E->1Q 5]S55K~?Q 9]S55g)5\BYYyeM?Q Ie@5DI5;i5G;5vS5ymؒBɮmi@iDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd %#@FBɢ-ޤ=) ?i);i"ZiX<II%p>i%>)9@ @@/@@@Y^A_I) IA OM >ԁ ty ,iA*?A2k>2:d.?20"=ٱ2Z< :AHRS rotation from veh to nav: [[0.776313,-0.626634,-0.068323],[0.629338,0.764369,0.140263],[-0.035670,-0.151886,0.987754]]2H?c @}#? u?!?HC qÿ?i2k>I2sQa;2CYF{ByF!IiMb@Mb@Mb@ 9|?5^?kt?~jtYy =DA5@ @)`@Y@bD-VD-:2y5L%=I=ٔ=-;Q-=>9AYA=EFyE9EM̷EM>QQ 5US5YU?Q 9]S5UFb)URBYeQ4?Q Ee:yeL?Q Ie@UDIU$1;iU90;US5yiɮm@qDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd$@AɢM=)IEUL EUAEU$EQ"EUW;*EU;VEU4ZEQae@ae@ae@ae@ M2?ii)u;qqiuiy}<}=uIyIԉ9@ @@@Ա^Am uB A <B >B B !IB qBB  =B B B h;B (E A I I O >( ,[*?AYBy!IbD- VD-f2y=<%=J=ٔEQ-E>9AYA=MFyM9EMEM>QQ 5]S5U˟?Q 9]S5U\)UGBYayaQ Ie@UɆDIU;iU;US5ymڒBɮm@mEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd@$@Թɢ=) c?i);if݌iI<PxIqIq @  @ @ f1@ DYzD]?AbE]c44jE]ƨ,4rE]p/EeT EeaEe(Ea"Ee;*Ee!;VEec44ZEaBEe9 ͜ ,iju*?A2>2Y.?2=ٱ2Y :AHRS rotation from veh to nav: [[0.776329,-0.626848,-0.066149],[0.629148,0.764175,0.142161],[-0.038564,-0.151981,0.987631]]2H?#ﰿ`!?@t?T2? tÿ?i2>I2a;2CYFyByF!IHHN@ALbDRVDRJyZ%ZT=ٔZ;Q-Z>9\Y\=%Fy%9E-ιE5>qQ 5S5u?Q 9S5uW)u ,*?AY~By~!IiMb@Mb@Mb@ 9On? ףp= ?MbY8?yQ=dAK@ h@)I@Y@bDVDyO<%:=ٔQ->9 ?Y ?=Fy9EE>Q 5 S5­?Q 9 S5Q)0BY :?Q E:yL?Q I@܆DI;iK ;мS5y!ɮ%@!MDNOT Ignoring new targets: 59.38 m.hIhI*hI"hI hIgQfQfQf]BdYdYdYjdYZdeh&@q频ɢl˹=) ۍ?i)b <顙iRiѸ<$IIByByB}!IB}lBB} =ByByB}h;B}(Ei@i @i@m!4@iԡ^AU3A I I O > ߩ , j*?ADDR=E[ EHE(E"E%;*E;VEc44ZEBEH^=.?^*=ٱ^$ jAHRS rotation from veh to nav: [[0.776502,-0.626901,-0.063569],[0.628735,0.764175,0.143972],[-0.041679,-0.151762,0.987538]]^H? F?t?m?Vlÿ?i^c>I^Db;^CYzBy!IbD5VD5y=L%E5=ٔE;Q-E>9IYI=MFyM9EU{EU>YQ 5]S5]խ?Q 9eS5]K)]"BYayeL?Q Ie@]DI]:i] :]S5yʒBɮ@EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdR'@5HBɢ5=)1 =v?i9)=<99i=iAE@Q ɰ ,M*?Aɰ2>2&.?2f2=ٱ2+< :AHRS rotation from veh to nav: [[0.776662,-0.626900,-0.061586],[0.628416,0.764352,0.144428],[-0.043469,-0.150874,0.987597]]2Hi?``A ?u?|?AOÿd?i2>I2r`b;2C @)@@@@DFkAiFIDDIHiJr@ HH)HH LLLLPPIR)RbFiP)PIVkAVtT TTTTiXXYXY^xBy^!Ii}Mb@Mb@Mb@yyyy y9} ףp= ?Zd;O?MbY}Q8?y}j=}}A}x@ }@)}`@yY}p@bDVDy1#%Q=ٔG;Q->9"?Y"?=Fy9EjE>Q 5S5歊?Q 9S5@F)BY9?Q E:yM?Q I@DI:i/:"S5yɮ@E5S E5DE1E1"E5;*E5h;VE1ZE1a=@a=@a=@a=@AMDNOT Ignoring new targets: 59.38 m.hIhI*hI"hI hIgQfQfQfUBdYdYdYjdYZd]@T(@颍IBɢQ=) ̋?i)‹+<顑i륑iڨ<ޜII-9@) @)@-/@)YAi Am AAԉ Bq Bq Bu !IBu gBBq Bq Bq Bu h;Bu (EB9B=CB=ɓCB= =B= =C=O5^A _A zA fAA I I O > , *?A02x>2.?2<8=ٱ2 >AHRS rotation from veh to nav: [[0.776796,-0.626902,-0.059848],[0.628133,0.764483,0.144963],[-0.045125,-0.150199,0.987625]]2H`? b`?v? )? `9ÿ?i2x>i@I@I2b;0Y=tBy=!IbDIVDIy%^=ٔL;Q->9Y=Fy9EVXE>Q 5S5?Q 9S5/A)BYyM?Q I@DIl:i:\S5y͒Bɮ@E%DNOT Ignoring new targets: 59.38 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5w(@aɢe(=)a e?ii)m8 ,7*?A6c>6y.?6>=ٱ6 >AHRS rotation from veh to nav: [[0.776844,-0.626936,-0.058861],[0.627968,0.764411,0.146052],[-0.046571,-0.150422,0.987524]]6H ? #@Q?v?`ұ? %ا Aÿ̙?i6c>I6'b;6C\YsBy!IbDUVDUymػ%uQ=ٔp;Q->9Y=Fy9EѹE>Q 5MS5?Q 9MS5;)BYyy}M?Q I@DI"Y ,p?+?A2y>2i.?2D=ٱ2d8 >AHRS rotation from veh to nav: [[0.776686,-0.627288,-0.057170],[0.628055,0.764311,0.146205],[-0.048017,-0.149461,0.987601]]2H?VE?;u?ֶ?!ÿm?i2y>I2b;0YFuByJ!Ii=Mb@Mb@Mb@9999 99=K?A`"?~jtY=^:?y===D99 9)=@9Y=@bDUVDUܲye<%e@=ٔeZ`;Q-e>9Y=Fy9EV9E>Q 5S5?Q 9S55)BY[A> A I I O >D =D <E ] E iE )E "E ;*E %;VE FA4ZE BE .?qP=ٱ AHRS rotation from veh to nav: [[0.776621,-0.627634,-0.054183],[0.627907,0.764259,0.147108],[-0.050920,-0.148269,0.987635]]H`?@佫?t?n?*z¿`?ip>Idb;CYnBy!IbDVDy6%E=ٔ;Q->9Y=Fy9Eb?E>!Q 5-S5%*?Q 9-S5%/)%BY1y1Q I5@%DI%W:i%;%3S5y=Bɮ=@EEeDNOT Ignoring new targets: 59.38 m.hihi*hi"hi higififqfqdqdydyjdyZd}M+@颭LBɢ=) e?i)Dd<顱iߕi*<2,II -9@1 @1@5#1@19^Aϩa A .AI I O >c ,E+?Ajy>jB$.?jT=ٱj zAHRS rotation from veh to nav: [[0.776371,-0.627987,-0.053675],[0.628130,0.763895,0.148042],[-0.051967,-0.148650,0.987523]]jH?w={?q? ?`gÿʙ?ijy>Ijb;hYlBy!I9iMb@Mb@Mb@ 9'1Z?T㥛 ? rhYB?y>CA )@Y\@bDVD:ym/%J=ٔ*;Q->9 ?Y ?=Fy9Ej[:E>Q 5S5,;?Q 9S5))خBYE?Q E:yW?Q I@DI] ;i ;S5yBɮ/@-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h) h)g)f1f1f5ȁBd9d9d9jd9Zd=`,@E}r E}oE}*Ey"E};*E} );VE}(N4ZEya@a@a@a@ MBɢ 9=)  ?i))5r<11i5זi9=̺<=􎣻I9IAq9@ @@4@ԑBqAu<BBB!IBWBB =BB}DBh;B(E^A A I I O% > ,ͯ_+?AB>B}N.?B'X=ٱBW% NAHRS rotation from veh to nav: [[0.775926,-0.628583,-0.053116],[0.628598,0.763377,0.148728],[-0.052941,-0.148791,0.987451]]BH@c? [2 z? m? ? ÿ2?iB>IBpb;BCYVaByV!IIZ<)Zp9lYl=rFyr9Er:Er>tQ 5zS5v;K?Q 9zS5vH$)vɮBY|y~-W?Q I~@v(DIv ;iv ;vS5yɮ@ ԙDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd,@=OBɢ=_=)9 E?iA)Eb ,Hy+?AF 6>Fq.?Fێ\=ٱF NAHRS rotation from veh to nav: [[0.775553,-0.629155,-0.051781],[0.628984,0.763132,0.148353],[-0.053821,-0.147625,0.987578]]FH`T?@ "@@ ?k?@:?`r`¿=?iF 6>IF b;FCYVYByV!IbDbVDbyj4"%jJ=ٔr;Q-r>9z"?Yz"?=~Fy~9E :E> Q 5S5 \?Q 9S5 $) BYyTW?Q I@ 2DI 6:i "; yS5y%’Bɮ%@%EUDNOT Ignoring new targets: 59.38 m.hQhY*hY"ha hagififf ddd!jd)Zd--@mPBɢѽ=) 7?i)$<顑ii<(II!9@ @@/@QEV ENE&E"E;*E;VE4ZEa@a@a@a@^A 3ԁ A I! I1 O= > ,;8+?ABJ>B.?B$_=ٱB  ^AHRS rotation from veh to nav: [[0.774770,-0.630165,-0.051221],[0.629881,0.762340,0.148620],[-0.054607,-0.147409,0.987567]]BH ?P*9'?@e?`?t M¿ &?iBJ>IBQa;BCYfXByf!IiUMb@Mb@Mb@QQQQ Q9U'1Z?333333?MbYQyU>UUAU@ U@)U@QYU@bDmVDm:y}Ȼ%}A=ٔ}F:Q->9Y=Fy9E:;E>Q 5S5Rn?Q 9S5)BYF?Q E:yx_?Q I@BuCBu!IBuRBBu =BqBu~DBug;Bu(Ei  < MI I 9@ @@@ԙ^AA A I I bE9jE=A84rE=0E ^ E ZE %E "E ;*E ;VE 4ZE BE ,q+?A((VwH>V.?Vb=ٱV5 bAHRS rotation from veh to nav: [[0.774169,-0.630965,-0.050449],[0.630552,0.761776,0.148667],[-0.055372,-0.146904,0.987600]]VH?@0`~ԩ@|-? w`??Y¿j?iVwH>IVga;VCYrMByr!I ttbDVDNy  Q%R=ٔ ;Q->9qYq=uFyu9E}I;E}>Q 5S5?Q 9S5c)BYy_?Q I@FDI:i:S5yƒBɮ@EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdK/@ SBɢ Ʝ=)  [}?i )<i[i/<f=#II!I)))9@ @@/@@=@=^Ayb]) I I O >Y ,?+?AJ>JH/?Jw*e=ٱJr? RAHRS rotation from veh to nav: [[0.773396,-0.631880,-0.050847],[0.631452,0.760824,0.149720],[-0.055920,-0.147901,0.987420]]JH?]84?X?*?{g¿?iJ>IJϓa;HY^ABy^q!IiEMb@Mb@Mb@AAAA A9EV-?l?YE|??yE>E̼EAE@ A)E@AYE=@bDVDy`]%==ٔT:Q->9Y=Fy9E#9;E>Q 5S5F?Q 9S5 )BYNC?Q E:y_?Q I@PDI:i;OS5yBɮS@E%DNOT Ignoring new targets: 59.38 m.h!h)*h)"h) h)g)f)f1f5́Bd1d9d9jd9Zd=l0@E]P E]=E])EY"E](;*E];VE]FA4ZEYae@ae@ae@ae@颅TBɢά=) v?i)C<顉i%iϤ< F̺II 9@  @ @ 0@ 9^AMeAiAm@AB}&>B}CB}m!IB}>BB} =ByB}DB}g;Byq II IY Oe > ,a+?A,Y)ByS!IbD%VD%fy5%=V=ٔ=Q-=>9AYA=EFyE9EEEE>IQ 5]S5M韮?Q 9]S5M!)MsBYayaQ Ie@MZDIM1;iM,3;MS5yiɮm@iDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd9s0@VBɢY=) i?i)<iSߛiQx< 6IIԁ9@ @@0@E> EBE'E"Es;*EZ;VE'4ZEBE ,+?Aɰp;2v>2@%0?2i=ٱ2. :AHRS rotation from veh to nav: [[0.771215,-0.634722,-0.048531],[0.634011,0.759040,0.147948],[-0.057069,-0.144869,0.987804]]2H`˭?@O٨I? J?`?`#8 ¿?i2v>I2`;2CYF'ByFP!IbDNVDN:yV%VT=ٔZC;Q-Z>9XYX=ZFy^9E\^)<Eb>dQ 5jS5f?Q 9jS5f5)fbBYhyj`?Q Ij@fcDIf:ifI:fS5ypɮr@pDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd0@颽XBɢ`=) g?i))-G:<))i-Bi15j<5W/:I9I9iim>9@ @@n0@@@E6 EEE%E"El;*E;VE 4ZEa@a@a@a@^A ?BɺA IQ Ia Om >x ,l,?A2]>20?2k=ٱ2q :AHRS rotation from veh to nav: [[0.770265,-0.635996,-0.046920],[0.635128,0.758418,0.146336],[-0.057484,-0.142518,0.988122]]2H ? ZR?D?&?n >¿ ?i2]>I2`;2CYFByF4!Ii Mb@Mb@Mb@     9  r?ףp= ? rhY C?y > C A @ )  Y @bD-VD-02y=׽%=A=ٔE:Q-E>9AYA=MFyM9EMc;EM>QQ 5]S5U"?Q 9]S5U)ULBYeG?Q Ee:yea?Q Ie@UnDIU ;iU ;US5ymBɮm@mEB7>BCBM!IB%BB =BBDBg;B(EBCBCBCBBC5EDNOT Ignoring new targets: 59.38 m.hAhA*hA"hA hAgAfIfIfMBdIdQdqjdqZduH1@YBɢ=) r[?i)=<iy+iԣ<e;III@ @@4@q^ANJ:I I O5 >ԡ D =D <E 8 E 5E (E "E n;*E ;VE c44ZE BE ۾Zr0?Zzn=ٱZ nAHRS rotation from veh to nav: [[0.769322,-0.637325,-0.044272],[0.636206,0.757971,0.143955],[-0.058189,-0.138914,0.988593]]ZH`I?dت[?KA?m?`ʭ?iZ>IZ$`;ZCYvByv!IbDVDky % M=ٔQ:Q->9Y=Fy:Ek;E%>!Q 5-S5%Ѯ?Q 95S5%M)%8BY1y5gb?Q I5@%wDI%:i%;%/S5yEBɮEM@EEuDNOT Ignoring new targets: 59.38 m.hqhqy*hy"hy hygyfffdddjdZd a1@颽[BɢN֤=) NO?i)<i쵝i<?[;IIq 9@  @ @ /@ ԩ9^AE;II) Ou > 1 1 G u9 Y J_AY  ,6#H,?A2>2E1?2p=ٱ2 :AHRS rotation from veh to nav: [[0.768340,-0.638618,-0.042660],[0.637339,0.757276,0.142592],[-0.058756,-0.136748,0.988862]]2H>?oץe?;?@r@?S?i2>I2`;2CYFByF!IiMMb@Mb@Mb@IIII I9M9v?p= ף?~jtYM4?yM>MļM3AM@ M@)MA@IYMz@bDaVDayuY%uD=ٔ}:Q-}>9Y=Fy:E l;E>Q 5S5ᮊ?Q 9S5R)&BY 8?Q E:yx^?Q I@DI ;i2 ;S5yBɮK@EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd2@]BɢT=) E?i)+2<i%P)i!%O<-h;I)I)E]3 E]/E]+EY"E]j;*E]Y;VE] [4ZEYae@ae@ae@ae@ԑm9@q @u@u/@q@}=@}=BA<B\>BCB"!IBBB =BBDBDBg;B(E^Ayb];AA>A I I O >i I !  ,ia,?A2>2ݝ1?27q=ٱ2x :AHRS rotation from veh to nav: [[0.767471,-0.639746,-0.041390],[0.638360,0.756672,0.141226],[-0.059030,-0.134809,0.989112]]2H ?x1qm?6?@?&9gAͦ?i2>I2Z`;0YFۂByF IbDNVDNNyV%VX=ٔV=:Q-Z>9XYX=ZFyZ:E^h;E^>`Q 5fS5b{?Q 9fS5b)bBYdyj^?Q Ij@bDIb:ib9:b!S5ynBɮng@nEMDNOT Ignoring new targets: 59.38 m.hIhI*hI"hI hIgQfQfQfQdYdYdajdaZdeu2@颭_Bɢw=) *>?i)<iiT<t;II@ @@/@DazDe@AEm* Em4Em(Ei"Ema;*Em ;VEmc44ZEiBEmD ,b{,?A2>21?2.p=ٱ2g >AHRS rotation from veh to nav: [[0.767006,-0.640293,-0.041545],[0.638947,0.756260,0.140773],[-0.058717,-0.134519,0.989170]]2H@P?H}XEBr?G3??7`7G?i2>I2A`;0YF̂ByF IbDNVDNyV%VJ=ٔZJQ-Z>9XYX=^Fy^ :E^A:Eb>`Q 5fS5b'?Q 9fS5b)bBYhyj _?Q Ij@bDIb:ib:bS5ylɮr[@p DNOT Ignoring new targets: 59.38 m.h h *h "h  h g fffdddjdZd%2@MaBɢM=)Q U5?iQ)U,% ,,?Aɰ;@Y~By~ IiMb@Mb@Mb@ 9Cl?/$?:vYd;?y1>ԼEA @)X@Y@bDVD0y%;=ٔBi>BCB IB؂BB =BBDBg;B(EQ->9Y=Fy:EE>Q 5T5?Q 9T5)BY>?Q E:ys^?Q I@DIJ;i;T5yBɮ@E-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h) h1g1fff}BdddjdZd`P3@ dBɢMch=)Q U-+?iQ)U3X+ ,,?A2>>2$1?2>I21z_;2CY^By^ IbDfVDfklyrȪ%rX=ٔv 9Q-v>9v ?Yv ?=vFyv:EzoEz>YQ 5eT5]p!?Q 9eT5])]BYayei^?Q Im@]DI]:i]:]T5yqɮucAqDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd༮3@fBɢ=) ""?i)kZ<iƃib<N;II@ @@3@9^A፨;a A ؟AI I O >>2 ,j,?A2b>261?2,r=ٱ2? :AHRS rotation from veh to nav: [[0.767134,-0.640001,-0.043631],[0.638760,0.755838,0.143856],[-0.059090,-0.138227,0.988636]]2H`\?`zVp?/?i?Ak`?i2b>I2X`;2C9E=$ E=E='E9"E=g\;*E=:VE='4ZE9aE@aE@aE@aE@Y]By] IiMb@Mb@Mb@ 9l?q= ףp?Y7?y=̼A$@ @)MAY @bDAVDAyU%U)=ٔU/:Q-]>9]"?Y]"?=]Fy]:EeֹEe>iQ 5uT5md4?Q 9uT5m)m̭BYu:?Q E}:y}Y?Q I}@mDIm;im;m T5yBɮAyEDNOT Ignoring new targets: 59.38 m.hh*h"h hgffflBdddjdZd@]'4@hBɢTۀ=) o?i)R<ii^<ہ;II i@ @@2@ԑAAAABn>BCB IBBB =BBDBg;B(E^A A I I O% >h8 ,D,?A>>>1?> eu=ٱ>Lo FAHRS rotation from veh to nav: [[0.767091,-0.640169,-0.041901],[0.638738,0.756016,0.143014],[-0.059875,-0.136469,0.988833]]>H?@C|tp?H1?GN? w?i>>I>`;>CLNjAiLILLIRCiP PP)PT Vr@TTTTTIX)XiX)XIXX\ \^YC\\i``i`biA)bS b3FIdYdYjByj IppbDzVDzy~%y=ٔ;Q-?9 Y = Fy :E 8E?Q 5%T5A?Q 9-T5i)BY)y5Y?Q I5@DI;i; T5yIɮM'AQԙDNOT Ignoring new targets: 59.38 m.hh*h"h hgff9f9d9d9d9jdAZdE-4@颍jBɢM=) |?i)(<顱iɟi<II@ @@G4@DAzDAbEjEc44rEĈ0EU+ EU1EU(EQ"EUb;*EUf;VEUc44ZEQBEUA- >! AY Ia Iy O > > ,,?A21>21?2Kx=ٱ2· :AHRS rotation from veh to nav: [[0.766946,-0.640415,-0.040769],[0.638839,0.755965,0.142832],[-0.060652,-0.135589,0.988907]]2H@Ҋ?`H~ ߤ^q?0?@PH? Z@ ?i21>I2_;0YvoByvo IbD~VD~y A% J=ٔ :Q->9Y=Fy :EP9E>!Q 5-T5%Q?Q 9-T5%)%BY)y5(Y?Q I5@%‡DI%:i%t:%iT5y=Bɮ=A=zEeDNOT Ignoring new targets: 59.38 m.hahi*hi"hi higififqfqdqdqdyjdyZd}4@颭kBɢ =) ?i)F<顱i<՟i<;IIY@a @a@e/@i!^A;E] E])E])EY"E]mR;*E]0;VE]FA4ZEYae@ae@ae@ae@aA I I O >y zE ,7-?A2>21?2Gz=ٱ2 :AHRS rotation from veh to nav: [[0.766866,-0.640565,-0.039905],[0.638890,0.755983,0.142509],[-0.061119,-0.134780,0.988989]]2H*?anq?`1?=? K{@˥?i2>I2:_;0YiByf IBes>BeCBe IBe}BBe =BaBaBeg;Be(EiMb@Mb@Mb@ 9gfffff?K?Zd;OY33?y^=j\AQ@ @)n@Y@bDVDy%;=ٔ :Q- >9 Y = Fy %:EZ9E>Q 5%T5c?Q 9%T5½)BY-4?Q E-:y-Q?Q I-@̇DI:i:9T5y1ɮ5=A9QeDNOT Ignoring new targets: 59.38 m.hahi*hi"hi higififqfuJBdqdydyjdyZd}R5@颭mBɢr=) i>i)5<11i5,Ɵi9=n<=;I9I9@ @@@@@@@ԁԱA I I O >Em , Em Em *Ei "Em c;*Em :VEm (N4ZEi BEm tF 1?Fu|=ٱF RAHRS rotation from veh to nav: [[0.766838,-0.640610,-0.039723],[0.638888,0.755919,0.142860],[-0.061490,-0.134929,0.988946]]FH@?Vq?`|0?`8I?@{ XE q?iF7>IFU_;FCYZZByZT II^=)^bDfVDf0yn"%n_=ٔr:Q-r>9tYt=vFyv(:Ev:8Ez>xQ 5~T5zNr?Q 9T5zѸ)zBYyQ I@zԇDIzr;iz;zlT5y BɮA{EEDNOT Ignoring new targets: 59.38 m.hAhA*hA"hA hIgIfIfIfIdQdQdQjdQZd]ð5@oBɢ9bs=) >i ) <  i iU59 9 uR ,J-?A6>61?6~=ٱ6! BAHRS rotation from veh to nav: [[0.767067,-0.640334,-0.039761],[0.638551,0.755991,0.143979],[-0.062136,-0.135830,0.988782]]6HЋ?@}[o?1?m?`>Я@b?i6>I6_;6CYJNByJE Ii%Mb@Mb@Mb@!!!! !9%Fx?sh|??:vY%+?y%=%T%EA! %3@)%A!Y%Q@bD=VD=yMh%MC=ٔM#:Q-M>9QYQ=UFyU-:EU$E]>aQ 5mT5e?Q 9mT5eq)eBYm-?Q Em:ymeP?Q Im@e݇DIeQ:ie{:eT5yyɮ}<AyDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff9BdddjdZdt6@E E E)E"EO;*E:VEFA4ZEa%@a%@a%@a-@eqBɢeOg=)mi m>ii)mBYAYBeu>BaBeG IBeOBBaBaBaBeg;Be(EB%CB%CB%ǔCB% =B% =C%6i ɶX ,d-?A 6](>6j1?6=ٱ6 JAHRS rotation from veh to nav: [[0.767792,-0.639427,-0.040371],[0.637613,0.756396,0.145995],[-0.062816,-0.137834,0.988461]]6H?.v`~Sg? f4??@y?i6](>I6W^;4Yz?By~4 IbDVD2y5(%=K=ٔE:Q-E>9M ?YM ?=MFyU1:EU@E]>aQ 5uT5eU?Q 9}T5e>)eqBYyy}P?Q I}@eDIeQ;ieQ;eT5yBɮlArEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd U6@rBɢd=) <>i),<iNbi B< ;I I q9@ @@0@E- E-E-(E)"E-1A;*E-u:VE-c44ZE)BE-ԙ ^ ,21?2}k=ٱ2 :AHRS rotation from veh to nav: [[0.768626,-0.638325,-0.041899],[0.636525,0.756655,0.149363],[-0.063639,-0.141474,0.987894]]2H ?(m sj^?6?Q?J@¿Ԝ?i2t>I2^;2CYF9^"?Y^"?=bFyb5:EbFiEb>dQ 5jT5fZ?Q 9jT5fN)fdBYlynO?Q In@fDIf;if;f"T5ypɮrApDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd 6@tBɢ>`=) ;>i)<im&i!%w<%1O;I!I!IY)]eA]ŀGqEs9AYMy]A@ @@5@A>A>AIIO%n>E=  E=E='E9"E=D;*E=#:VE='4ZE9aE@aE@aE@aE@! /e ,H-?A2B>2&0?2;=ٱ2j >AHRS rotation from veh to nav: [[0.769274,-0.637446,-0.043363],[0.635685,0.756795,0.152204],[-0.064205,-0.144652,0.987397]]2H?e@3W? 7?o{?o¿`˜?i2B>I2 ^;2CYF9ByF, IZonly read 0 of 1 data item for BIT error. Device response is::TS,00050309070, +10.8, 0.0,149 aZ@a^ a^@a^ a^@a^ a^@a^ bDbVDb1yjAa%jH=ٔj@:Q-n>9lYp=rFyr9:Erw*Er>tQ 5zT5vQ?Q 9zT5v)vVBBw>BB! IB1BBBBDB#h;B)EQ A+:YQ E~:yeO?Q I@vDIvf;iv~>v%T5y-Bɮ-A-sEUDNOT Ignoring new targets: 59.38 m.hQhQ*hY"hY hYgYfafafadadidijdiZdm AO7@%uBɢ%D`=)) ->i))-9<))i-螼i+<D;II)F˼Q@ @@0@ԁ DE =DE <EM  EM EM (EI "EM y>;*EM :VEM c44ZEI BEM SnOm ,ӷ-?A2>2R0?2=ٱ2q :AHRS rotation from veh to nav: [[0.769529,-0.637176,-0.042799],[0.635327,0.757060,0.152380],[-0.064691,-0.144452,0.987395]]2H ?@c 饿 T?@9?,?`e}¿ ?i2>I2^;2CYB/ByF IbDNVDN0yVX#%V(=ٔV:Q-V>9XYX=ZFyZ>:E^lE^>`Q 5fT5b`į?Q 9fT5bӝ)bEBQ Af :YdQ EfN:yfIO?Q Ij@bDIb:ibe?b(T5ylɮnAlDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd7@wBɢ `O=)  q>i)G7<ipi^՟<?;II!5(9@ @@0@)Y E  E E E "E V;*E :VE ZE a @a @a @a @^A ] ;A!I)I9OM>j1u ,-?A;ɰ;Y 1By" Iaa aa aa aa iMb@Mb@Mb@ 9kt?K?MbpY 0?y^= A@ `@)AY@bDVDy;%"=ٔQ->9Y=FyC:EE>Q 5T5pد?Q 9T5)5BQ AT:Y1?Q E:yQ?Q I@ DI;i;-T5yBɮ8AtE%DNOT Ignoring new targets: 59.38 m.h!h!*h!"h) h)g)f)f1f5iBd1d1d9jd9Zd=L8@AMAAAIBU{>BUCBU IBUBBU =BQBQBUh;BUL)E5xBɢ5S=)9 =ʸ>i9)=N<99iE+iAMx9@ @@0@Թ ^A D zD E  E E 'E "E a?;*E L:VE '4ZE BE ²| ,B-?ABb>B·0?BL=ٱBb NAHRS rotation from veh to nav: [[0.769860,-0.636757,-0.043087],[0.634840,0.757112,0.154141],[-0.065529,-0.146020,0.987109]]BH?O`wP?C:??{ư Ȱ¿e?iBb>IBG^;BCYe(Bym IbD}VD}:y %=ٔ}:Q->9Y=FyH:EE>Q 5T5/?Q 9T5/)$BYyQ?Q I@DI9:iR:1T5yɮA DNOT Ignoring new targets: 59.38 m.h h *h "h hgfffdddjd!Zd% w8@MyBɢUXL=)Q UY>iQ)U$ , .?A2w>2u0?2=ٱ2F :AHRS rotation from veh to nav: [[0.769761,-0.636847,-0.043519],[0.634969,0.756934,0.154484],[-0.065441,-0.146549,0.987036]]2H`?@ a0HQ?8?@ ?¿`͕?i2w>I2q];0 D)HJJLFHHJlAiNILLEb EbEb)E`"Eb1A;*Eb:VEbFA4ZE`af@aj@aj@aj@I|i~r@ ||) t  I t) i )IkA  vAiYY-By- Iyi-Mb@Mb@Mb@)))) )9-@5^I ?ʡE?y&1|Y-b0?y-=-`- A-@ -@)-A)Y-p@bD]VD]ymL%mN=ٔmhQ-m>9qYq=uFyuL:E9E>Q 5T5~?Q 9T5)BY2?Q E:yZ?Q I@!DI ;i* ;5T5yBɮAkEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff[BdddjdZd  79@5zBɢ=:R=)9 =0>i9)=,<99iEPiAE&ўBBIBBB =BBB'i;B)E^Aه:IQ Ia Ou > _ ,(.?A2i>2c0?2=ٱ2 :AHRS rotation from veh to nav: [[0.769867,-0.636604,-0.045169],[0.634916,0.756805,0.155332],[-0.064701,-0.148263,0.986829]]2H ?`_Y ;Q?7? ?:G¿?i2i>I2v];2CY%%By- I 1115AbD=VD=yM{(=%M^=ٔU1Q-U>9QYQ=]Fy]P:Ee陹Ee>iQ 5mT5mv ?Q 9uT5m)m BYqyuZ?Q Iu@m)DImu:im;mE8T5yɮcADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd`}9@ {Bɢ 7\=)  >i) <iܜi!%k<%+:I)I)A@ @@/@bEYjE]64rE](/E  EE'E"EG;*E1:VE'4ZEBE)Y ? ,B.?A2>2e0?2dӃ=ٱ2T :AHRS rotation from veh to nav: [[0.770249,-0.636078,-0.046068],[0.634492,0.757033,0.155954],[-0.064324,-0.149353,0.986689]]2H`?ZI`M?9?M?wÿ?i2>I2M];2CYBy IbDUVDUk19yh8%5=ٔZQ->9Y=FyU:E=[E=>QQ 5T5Un?Q 9T5U9)UBYyZ?Q I@U4DIU*;iUf;UZi)p~<顑ici+/<˅o:IIa]9@Y @Y@Y@a@mgA@mfAE EEE"EB;*EL:VEZEa@a@a@a@ԉ^Ae ?B:I I O >B A B B B IB BB B B B i;B )EԹ bҖ ,ܜ\.?AYM'ByM IieMb@Mb@Mb@aaaa a9ee94e Aԑa e@)eAaYeQAbDVDym=%K=ٔQ->9Y=FyY:EE>Q 5T5^+?Q 9T5y)BY6?Q E:y^?Q I@i)<i$i)5<5v:I1IA9@ @@@E  E E )E "E C;*E :VE FA4ZE BE >.0 ,Pw.?A>30?M=ٱ -AHRS rotation from veh to nav: [[0.770834,-0.635068,-0.050039],[0.633970,0.757056,0.157952],[-0.062428,-0.153478,0.986178]]H?zR`{I?9?7?`*ÿ@Ŏ?i>IW];CYEByE IIM%=)M=bDUVDUyek%eZ=ٔmQ-m>9u ?Yu ?=uFyu\:Eu3E}>yQ 5T5}9?Q 9T5}_t)}ܬBYy^?Q I@}EDI}f;i} ;}CT5yBɮAmEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdP:@ԉ~BɢX=) >i)k<i㛼i<;9III)fA9@ @@/@Ա^AAfAzAA I I O > > ,.?AE&# E&E&(E$"E&[;*E&:VE&c44ZE$a*@a*@a*@a*@N˜>N$0?NS~=ٱNm VAHRS rotation from veh to nav: [[0.770983,-0.634837,-0.050675],[0.633813,0.757097,0.158383],[-0.062182,-0.154228,0.986077]]NH?P@ 3H?":? E?G֯½ÿ?iN˜>IN#*^;LYbByb IiMb@Mb@Mb@ 9㥛 ?7A`? rhY5?y>C A@ )AYAbDVDy%B=ٔQ->9Y=Fya:EGE> Q 5T5 I?Q 9T5 1n) ʬBYj9?Q E:y9c?Q I@ NDI  ;i G ; FT5y%Bɮ-A-dEUDNOT Ignoring new targets: 59.38 m.hQhY*hY"hY hYgafafafeBdididijdiZdm@:;@额BɢP=) C>i)w<顡ii7J<-HD8I)I19@ @@@@=@=BBBIBBBBBBj;B*EBCBCBēCB =B =C)N5^Aq9I A ؟AI I O ~= ,V.?AB>B(0?B}=ٱB_` JAHRS rotation from veh to nav: [[0.770965,-0.634806,-0.051322],[0.633876,0.757023,0.158484],[-0.061755,-0.154718,0.986027]]BH?`TPF`H?9?@4I?I ÿ?iB>IB^;BCYRByVIbD^VD^:yfi%f_=ٔfQ-f>9j"?Yj"?=jFynd:Er2*9Er>tQ 5zT5vW?Q 9~T5vh)vBYy;c?Q I@vWDIvhL;ivkO;vIT5yBɮ>AUDNOT Ignoring new targets: 59.38 m.hYhY*hY"ha hagafafifididdjdZd ;@MBɢMP=)I M>iQ)uM  Wi> CJ' ,.?AtA @)EAY=A AA @AbDVDy%?%%=ٔ-Q-->9)Y)=5Fy5j:E5E5>9Q 5ET5=k?Q 9ET5=5a)=BYM;?Q EM:yM%b?Q IM@=cDI=" ;i=m ;=^NT5yQɮUIAQ}DNOT Ignoring new targets: 59.38 m.hyh*h"h hgfffBdddjdZd<@BɢIG=) $>i)<i ⚼ia<8IIEe EeEe%Ea"Ee[I;*Ee#:VEe 4ZEaam@am@am@am@y@y @y@}`0@y ^A 9A @AA B B B IB BB =B B B Ej;B #*EA .AI I O > ,{I.?AYByIbD%VD%ܲy=^%=u=ٔ9Q-=?9E ?YE ?=EFyEm:EIEM?QQ 5]T5Ux?Q 9]T5UC\)UBYYyYQ I]@UkDIU :iU:UHQT5ymBɮmAmeEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd5q<@eBɢerO=) >i)v<顑iiS<`6IIa@ @@4@@@ԙE  EE)E"EG;*EZ:VEFA4ZEBE)c׽ , .?AJ>J,0?JSrq=ٱJh$P bAHRS rotation from veh to nav: [[0.771059,-0.634241,-0.056618],[0.634032,0.756485,0.160417],[-0.058913,-0.159589,0.985424]]JH?@KI? 5?? )`imĿ ?iJ>IJt_;JCYjByjIbDvVDvyzġ%~O=ٔ~Q-~>9"?Y"?=Fyq:E""9E > Q 5T5 J?Q 9T5 lV) BYyb?Q I@ tDI ;i ; TT5y)ɮ-A)UDNOT Ignoring new targets: 59.38 m.hQhY*hY"hY hYgYfafafadadadijdiZdmT<@额BɢI=) ~>i)F=顡iUbi<J7IIm9@i @q@u/@q^A59A .AI I O >1 E  E E 'E "E D;*E :VE '4ZE a @a @a @a @< ,/?AF>FU0?F&n=ٱF"% NAHRS rotation from veh to nav: [[0.770699,-0.634576,-0.057760],[0.634544,0.756061,0.160390],[-0.058109,-0.160264,0.985362]]FH?rN/N?1?`?@Ŀ?iF>IF`;FCYVByVIIZ<)Z\^=|iMb@Mb@Mb@ 91Zd?S?S㥛Y";?y>/ݼA3@ A@)rAYAbDVDk1yE%>=ٔQ->9 ?Y ?=Fyu:E:E>Q 5T5E?Q 9T5O)pBY6??Q E:yb?Q I@~DI:i:zXT5yBɮ.A\EDNOT Ignoring new targets: 59.38 m.hh*h"h hg!f!f!f%ЁBd)d)d)jd)Zd-D=@]Bɢ]Yc?=)a ezf>ia)eE=aaie.iimBBIBBB =BBBj;BH*E)Y^A5A ؟Aԁ I I O > ,:-/?ARY>Rh0?RHk=ٱRqi% ^AHRS rotation from veh to nav: [[0.770288,-0.634998,-0.058596],[0.635106,0.755643,0.160139],[-0.057410,-0.160568,0.985354]]RH3?Q@S@R?@9.?p?dĿ?iRY>IR]_;RCYfByfIbDrVDr1yv`-%zX=ٔzQ-z>9~"?Y~"?=Fyy:E :E> Q 5T5 7?Q 9T5 ;J) ^BYyb?Q I@ DI ;i ; [T5y!ɮ%oA!UDNOT Ignoring new targets: 59.38 m.hQYhQ*hY"hY hYgafafafadididijdiZdm`S=@Bɢ/e>=) ,S>i!)%~=!!i%^ʙi)-j<- Ȏ:I)I1Du%=Dua=E} E}E},Ey"E}sH;*E}:VE}g4ZEyBE} ' ,G/?AH>0?0h=ٱ{# AHRS rotation from veh to nav: [[0.769161,-0.636371,-0.058508],[0.636538,0.754798,0.158426],[-0.056657,-0.159098,0.985636]]H@?@&]@`^?`N'?`QG?Q]ĿT?iH>IƬ_;CY By Ii-Mb@Mb@Mb@)))) )9-bX9?㥛 ?L7A`堿Y-E6?y->-+-&A-@ ))-\A)Y-\AbDEVDE:yU9%U=ٔ]5Q-]>9YYY=]Fy]~:Eeh;Ee>iQ 5uT5m?Q 9uT5mB)mEBY}A:?Q E}:y}b?Q I}@mDImQ;im:mG`T5yŒBɮA]EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd(>@Bɢ/=) 7>i)"v=ipSi  < R);I IE EE)E"E1A;*E:VEFA4ZEa@a@a@a@y@y @@/@B A <B }>B B IB BB =B B B j;B m*E^A ?B:9 A I I O% >Md ,2c/?A2 >2]1?2Ye=ٱ2b:" >AHRS rotation from veh to nav: [[0.768236,-0.637516,-0.058200],[0.637711,0.754163,0.156725],[-0.056022,-0.157516,0.985926]]2Hc?f_̭ h?"??򮬿})Ŀ?i2 >I2^_;2CYJ܁ByJI LLbDVVDV02yZ,h%^=ٔ^9Q-^?9\Y`=bFyb:Eb;Ef?hQ 5rT5j Ȱ?Q 9vT5j>)j5BYtyzb?Q Iz@jDIjj;ij;jcT5y ɮ MAI]DNOT Ignoring new targets: 59.38 m.hYha*ha"hi higififqfqdydyi!I%Adjd)Zd5K>@}Bɢ}̴3=) !>i)=顁i iܚ<3z;III)Q@Q @Q@U/@QyԙbEM-4jEM14rEM).0E  EE%E"ED;*E:VE 4ZEBEϚ2 ,|/?A2>2x1?2c=ٱ2y :AHRS rotation from veh to nav: [[0.767147,-0.638914,-0.057218],[0.639073,0.753527,0.154214],[-0.055414,-0.154871,0.986379]]2H x? qKIs?? G?=_ ÿ`k?i2>I2>_;2CYRԁByRIbDZ VDZ2y %F=ٔQ-%>9- ?Y- ?=-Fy-:E5;E5>9Q 5ET5=װ?Q 9ET5=7)=!BYIyM}c?Q IM@=DI=:i=:=fT5yU̒BɮUAU^E}DNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd>@ԹBɢ_,=) |>i)X=ii<Q;IIQ@Q @Q@U0@Q^Aur;A I I O >E  E E 'E "E E;*E Z:VE '4ZE a @a @a @a @i k ,/?AY~By~IiMb@Mb@Mb@ 9A`"?Q?L7A`堿Y9?y=I@ @)Y(A <<bDVDk1yϧ%?=ٔQ->9Y=Fy:EE>Q 5T5鰊?Q 9T51) BY;?Q E:yY?Q I@DI:i:WjT5yɮQA%DNOT Ignoring new targets: 59.38 m.h!h!*h!"h! h!g!f)f)f-Bd)d11d9jd9Zd= O?@mBɢm=)i mD=ii)u=qqiuZBiy}rg<}s;IyIB]~>BYB]IB]ЁBB] =BYBYB]k;B]*E@ @@4@a^Aϩ;ԉAE ؟AII IY Om >Թ d ,/?A2->2Om2?2q[=ٱ2 :AHRS rotation from veh to nav: [[0.765679,-0.640715,-0.056748],[0.640980,0.752673,0.150425],[-0.053666,-0.151551,0.986991]]2H q?@??@A?,zfÿ o?i2->I2_;2CYFByFIIJ=)J<bDRVDR0yZ%Z]=ٔ^MQ-^>9^"?Yb"?=bFyb:Eb;Eb>dQ 5jT5f?Q 9jT5f,)fBYlynZ?Q I~@fDIf;if;fmT5y͒BɮA UEEDNOT Ignoring new targets: 59.38 m.hAhA*hA"hI hIgIfIfIfQdQdQdQjdYZd]߯?@E EE)E"EB;*E:VEFA4ZEBEvi>ԙ)@) @)@-4@)^AiA .AI I O > } ,p/?ANK>N)2?NUEY=ٱNp. rAHRS rotation from veh to nav: [[0.765267,-0.641311,-0.055566],[0.641526,0.752710,0.147892],[-0.053020,-0.148824,0.987441]]NH`}? ,s b?2?`#?h% ÿ`?iNK>INq_;LY5By5IbD}VD}:y<%<=ٔ+ºQ->9 ?Y ?=uFy}:E:E>Q 5T5 ?Q 9T5%)BYyZ?Q I@DI;iq;qT5yɮA-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h) hIgQfQfQfQdYdYdYjdYZd]@@Bɢ=) L=i)+=iUit<R;IIE E E(E"EC;*E:VEc44ZEa@a@a@a@@ @@4@@@=!AI AM @ABQ BQ BU IBU BBU =BQ BQ BU |l;BU =+EByByByB} =B} =C}4q ^A ;A ؟AI I O > ,J/?A b>b2?bV=ٱbu vAHRS rotation from veh to nav: [[0.764960,-0.641667,-0.055669],[0.641944,0.752542,0.146931],[-0.052388,-0.148133,0.987579]]bHz?`͊?@??Ҫ`¿@??ib>Ibq_;bCY By vIiMb@Mb@Mb@ 9 ףp= ?EԸ?MbYQ8?y=A`@ )rAYAbDVDNyu%H=ٔ˺Q->9"?Y"?=Fy:Eq:E>Q 5T5o?Q 9T5 )׫BY*:?Q E:y"S?Q I@ʈDI ;i:tT5y ԒBɮ y A VEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd7F@@-Bɢ-I =)1 5(=i1)5E=11i5㖼i9=eҙ<=3;IAIAq!@! @!@%/@!ԙE EE+E"Ea?;*E:VE [4ZEBE2e2?2= T=ٱ2 :AHRS rotation from veh to nav: [[0.765159,-0.641388,-0.056155],[0.641759,0.752767,0.146586],[-0.051747,-0.148199,0.987603]]2H`.|?@@LI??`V?~3¿q?i2§>I2&_;2CYFByFhI HHPbDVVDV02yZp%^^=ٔ^GQ-^>9`Y`=bFyb:Ef@Ef>dQ 5jT5f)?Q 9nT5fb)fǫBYlynS?Q Ir@f҈DIf ;if ;f)xT5ytɮv AtDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdOt@@BɢE=) ;i)K=ivoi!%<%u;I)I)G@ @@/@Ur9QY]\A^AUΒ;! A I I E  E E (E "E O;*E :VE c44ZE a @a @a @a @O >I ,0?A2]>2x2?2xQ=ٱ2x :AHRS rotation from veh to nav: [[0.765541,-0.640908,-0.056432],[0.641345,0.753185,0.146251],[-0.051230,-0.148154,0.987637]]2H O?@Q䬿 ?@?^? :¿?i2]>I21_;0|Y]By]OIiMb@Mb@Mb@ 9> ףp=?sh|??I +Y1?y=9BBB`IBBBBBBl;Bs+Ev@ )AYbD=VD=kyME%M'=ٔUΊQ-U>9QYQ=]Fy]:E],E]>aQ 5mT5e\=?Q 9mT5e)eBYuE3?Q Eu:yuO?Q Iu@e݈DIe;ieP;em|T5y}ܒBɮ} A}WEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdư@@Bɢ<) i)&=iRǕin<w;II1@ @@/@@@Q^A P;ԁ A I I O > ,10?Az>zZ2?zO=ٱzPnYE  EEE"EE;*E1:VEZEBEIz&_;xǩǭjAiǩIǩǩIȱiȵxUA ȱDZ)ȱ r@I)i)CI iiiA) X ~3FI Y YByKIbD- VD-2y=d%=K=ٔEQ-E>9AYI=MFyM:EM+ԺE>Q 5T50N?Q 9T5`)BYy\O?Q I@DID;ia;T5yגBɮ ANEDNOT Ignoring new targets: 59.38 m.hh*h"h hg f f fdddjdZd@@@MBɢU <)Q U=iQ)Us=QYi]m/iYe8 ,K0?AB*q>B2?BIB^;BCYuByuJIԱ==bDVDy%%^=ٔ޺Q->9Y=Fy:EI@E>Q 5T5]?Q 9T5V )BYyO?Q I@DI@:i7:aT5yߒBɮ A]DNOT Ignoring new targets: 59.38 m.hYhY*hY"hY hYgfffdddjdZdA@ Bɢ <)  Ui )=ii<-2;I)I9E EE)E"E1A;*E:VEFA4ZEa@a@a@a@@ @@0@B A 4=B5 >B1 B5 GIB5 BB1 B1 B1 B5 l;B5 d+E^A T;A zA hA9 A I! I9 OU >> ,e0?ANB>N1?NK=ٱNB VAHRS rotation from veh to nav: [[0.767345,-0.638619,-0.057866],[0.639301,0.754904,0.146338],[-0.049771,-0.149286,0.987541]]NH@?o@&u?`,(?3?{ÿ ?iNB>IN.^;NCYUxByU>IuPExceeded connect timeout, disconnecting.iMb@Mb@Mb@ 9M?333333?QYn2?y=uA MA)rAYAbDVD:2 y<%K=ٔ[Q->9Y!=%Fy%:E% E%>)Q 55T5-#m?Q 9=T5-])-BY=3?Q E=:y=9L?Q I=@-DI-.:i-:-T5yAɮM8 AIuDNOT Ignoring new targets: 59.38 m.hqhq*hq"hq hygyfyfyfBdddjdZd/GA@]Bɢ<) Ȗi)"=顑i iɘ<.A;II9@ @@1@@=@=E  EE'E"EE;*E:VE'4ZEBEa2EaJEO0 ,^0?A2Xw>201?2 {I=ٱ2 :AHRS rotation from veh to nav: [[0.767996,-0.637736,-0.058952],[0.638565,0.755412,0.146930],[-0.049170,-0.150487,0.987389]]2Hl?Uh.o?U,??,%Cÿ௘?i2Xw>I2^;0YFpByF4IbDNVDNkyV8%Vf=ٔZݺQ-Z>9XY\=^Fy^:E^45E^>`Q 5fT5b{?Q 9jT5b)bBYhyjK?Q Ij@bDIb:ib:bʉT5ynBɮn ArOE DNOT Ignoring new targets: 59.38 m.h h *h "h  h g fffdddjdZdtA@MBɢM <)I UiQ)UW=QQiUNiY] <]Nz;IaIaԁ@ @@/@iߩI߭AԱ^AEr;A I I O >E  E E &E "E O;*E L:VE 4ZE a @a @a @a @ B% ,0?A2>2E1?2\H=ٱ2C" >AHRS rotation from veh to nav: [[0.768749,-0.636751,-0.059771],[0.637679,0.755999,0.147757],[-0.048897,-0.151703,0.987216]]2H?@D` Wg?@$1??@ jÿE?i2>I2N^;2CY^nBy^2I ``dfAiUMb@Mb@Mb@QQQQ Q9Ugfffff?#~j?:vYU33?yU=UTUAU@ UdA)U AQYUAbDmVDmy}%}?=ٔs'Q->9Y=Fy:E2E>Q 5T5N?Q 9T5)vBYm4?Q E:yM?Q I@ DI ;i ;T5yɮ ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd`1A@颽Bɢ<) ƽi)=iܒiM<;;IBBB'IBfBBBBBl;BU+EI9@ @@@!nManaging dock network, ignoring radio surface power off^AoM;AA>I A .AI I O% >!, ,0?A2=\>21?2G=ٱ24 >AHRS rotation from veh to nav: [[0.769396,-0.635839,-0.061151],[0.636923,0.756363,0.149145],[-0.048580,-0.153700,0.986923]]2H`?X%Oa? 4?.?`{ߨnÿޔ?i2=\>I2 _;2CYF`ByF!IbDRVDRk1yZ%ZX=ٔZ\Q-^>9^ ?Y^ ?=bFyb:EbP,Eb>dQ 5jT5fߜ?Q 9jT5f)fkBYhynM?Q In@fDIf:if9 3 ,0?A21H>20?2qD=ٱ2 :AHRS rotation from veh to nav: [[0.769515,-0.635729,-0.060794],[0.636823,0.756700,0.147859],[-0.047996,-0.152494,0.987138]]2H@ݟ?`W U `?6? ? 㒨`ÿ?i21H>I2"_;2C@YFgByF)IbDRVDRfyZG =%ZJ=ٔZݽQ-^>9^"?Y^"?=^Fyb:EbƹEb>dQ 5jT5f{?Q 9nT5f)f^BYpyv~M?Q Iv@fDIf;if;f[T5yɮ: A-DNOT Ignoring new targets: 59.38 m.h)h1*h1"h1 h1g1f1ffdddjdZdB@uBɢur2<)y }iy)}'=yyi}|i,<;IIԱE EE%E"E:;*E#:VE 4ZEa@a@a@a@%9@! @!@!@)BBBIB[BB =BBBml;B7+E^A ] ; A9 IA Iy O >39 ,0?A:=>:0?:|B=ٱ: FAHRS rotation from veh to nav: [[0.769587,-0.635609,-0.061136],[0.636772,0.756804,0.147546],[-0.047514,-0.152479,0.987164]]:Ht?`V7Mo`?7??S`pÿؖ?i:=>I:^;8YN`ByR!IV=Va=li5Mb@Mb@Mb@1111 195|?5^?zG?~jtxY52?y5 =5Ļ5A5@ 5A)11Y5=AbDUVDUye%e@=ٔeUQ-e>9iYi=mFym:EmREu>yQ 5T5}i?Q 9T5})}RBY4?Q E:ytV?Q I@}$DI}:i}#:}T5yBɮ AGEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdEB@}Bɢ} <)y i)5=顁iᐼip}<Z:II M9@I @I@M0@I9E EE*E"E8;*E:VE(N4ZEBE׏@ ,s1?A2l>2 1?2S^@=ٱ2! :AHRS rotation from veh to nav: [[0.769376,-0.635836,-0.061430],[0.637069,0.756672,0.146940],[-0.046948,-0.152187,0.987236]]2H?Xs`b?@6?? zÿ p?i2l>I2^;0YFaByF"IbDNVDNfyV^;%ZV=ٔZºQ-Z>9\Y\=^Fy^:E s:E >Q 5T5ͱ?Q 9T5Z)GBY!y%V?Q I%@-DI;i;T5y)ɮ- A19]DNOT Ignoring new targets: 59.38 m.hYha*ha"ha hagafafifidididqjdqZduxB@颥BɢX<) i)RW=顩i ?i4=<;IIm9@q @q@u0@q@}=@}=iԑ^A] ;A I) I9 OU >E  E E E "E ,K;*E :VE ZE a @a @a @a @ EF ,O1?A2O>2,1?2[==ٱ2 :AHRS rotation from veh to nav: [[0.769263,-0.635887,-0.062304],[0.637259,0.756539,0.146801],[-0.046213,-0.152632,0.987202]]2H@͝?0YO毿ld?`5?@_?J`tÿ(?i2O>I2^;2CYFTByFIiUMb@Mb@Mb@QQQQ Q9U(\?X9v?MbYUz4?yU=UUSAQ UzA)U AQYUAbDmVDm:2y}n%}>=ٔ} Q->9Y=Fy:Ec:E>ԙQ 5T5dޱ?Q 9T5b)9BYK7?Q E:yq\?Q I@7DI3;i3;+T5yBɮ; AHEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdѭB@BɢI<)! %d#i!)%=!!i%%i)-6<5S;I1I1B}>ByB}IB}QBB} =ByByB}8l;B}+EB9B9B9B9B9C=§@4@ @@5@^AAA II IY Om > oL ,*41?A2>2gE1?2Y9=ٱ2e. :AHRS rotation from veh to nav: [[0.768884,-0.636262,-0.063148],[0.637781,0.756202,0.146269],[-0.045313,-0.152738,0.987227]]2H`? C\@s*@h?2? ?`B3ÿ]?i2>I2^;2CYFSByFIbDRVDRNyZ%ZX=ٔZ3Q-Z>9\Y\=^Fy^:Eb :Eb>dQ 5jT5f4?Q 9jT5f)f,BYhyn\?Q In@f?DIf:if;fzT5ypɮrJ Ap DNOT Ignoring new targets: 59.38 m.h h*h"h hgfffddd!jd!Zd%5B@UBɢUd<)Q U(iQEe EeEe&Ea"EeO6;*Eer:VEe4ZEaBEeF^AEqZ;Au>Au> Gԡp9Y [AA I I O >y i߹ I߽ AWS ,BN1?A:R>:1?:86=ٱ: BAHRS rotation from veh to nav: [[0.768341,-0.636859,-0.063743],[0.638487,0.755727,0.145642],[-0.044581,-0.152602,0.987282]]:H`??&atQ@{n?.?e?WӦrÿЗ?i:R>I:^;:CYYRByIEm EmEm)Ei"Ema?;*Emd:VEmFA4ZEia}@a}@a}@a}@iMb@Mb@Mb@ 9n?/ݼA@ A)+ AYA p<4<bDVD1yR%=ٔQ->9Y=Fy:E?:E>Q 5T5?Q 9T5)BY9?Q E:yb?Q I@LDIi ;i ;,T5yBɮ AIEԁDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd`%C@EBɢE <)I MV-iI)MNBuCBuIBuGBBu =BuADBuDBul;Bu +EԱ ^A5 _;AIIO>Z , l1?A$N9>N1?N3=ٱN* ^AHRS rotation from veh to nav: [[0.768037,-0.637087,-0.065109],[0.638905,0.755313,0.145956],[-0.043809,-0.153698,0.987146]]NH“?cq?+?@?*n^ÿ?iN9>IN^;L d)hjhhlnkAinIllIpip tt)tx zkAxxx||I~)|i|)I kA t JF   vAiYYFByIbD5VD5:2yE%E^=ٔM Q-M>9IYI=UFyU:EU:EU>YQ 5T5]?Q 9T5])]BYyb?Q I@]TDI]Da ,t1?A6>6d1?6d&1=ٱ6W{ BAHRS rotation from veh to nav: [[0.767786,-0.637254,-0.066425],[0.639246,0.754911,0.146536],[-0.043236,-0.154970,0.986973]]6H ?cd4t?<(?? #ÿG?i6>I6^;4\Y~@By~IbDVDNy-/%-M=ٔ- Q-->91Y1=5Fy5:E=:E=>AQ 5MT5EK?Q 9MT5E)EBYIyMc?Q IM@E]DIE:iE:EݭT5yYɮ]\AaDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdC@Bɢ<) Ti)c<ii#<S;IIV>i%>@ @@/@)^Avт;E= E=E=&E9"E==;*E=Z:VE=4ZE9aM@aM@aM@aM@A I I! O- >A B% >B! B% IB% =BB% =B! B! B% $l;B% +Eg ,t1?A2>21?2B/=ٱ2 :AHRS rotation from veh to nav: [[0.767444,-0.637545,-0.067574],[0.639688,0.754436,0.147057],[-0.042775,-0.156084,0.986817]]2H@?fL@Rx?@W$??楿ÿ`?i2>I2}^;2CY-/By-IiMb@Mb@Mb@ 9(\?On?+Yz4?y> A)A AYA@AbDVDy % ==ٔQ->9Y=Fy%:E%e:E->1Q 5ET55/?Q 9MT55t)5BYM8?Q EM:yMd?Q IM@5gDI5jr;i5WL;5T5yɮA%DNOT Ignoring new targets: 59.38 m.h!h!*h!"h! h!g!f)fIfMBdQdQdQjdQZdU`C@Bɢ!s<) yi)9<iًi>< ;III@ @@/@q^Am ;ԡ EE  EE EE )EA "EE ,K;*EE 1:VEE FA4ZEA BEE Lm ,O1?A2>2?2?2+=ٱ2! :AHRS rotation from veh to nav: [[0.766553,-0.638500,-0.068658],[0.640810,0.753554,0.146694],[-0.041927,-0.156445,0.986796]]2H?@n@?@??@ewfĿ֓?i2>I2٬^;0YB&ByBIbDNVDNJyV3E%Vd=ٔVcQ-V>9XYX=ZFyZ:EZ;E^>`Q 5fT5b3=?Q 9fT5b6)bѪBYdyfe?Q If@boDIb :ib:bǴT5ynBɮnpAnAEDNOT Ignoring new targets: 59.38 m.hh*h"h  h g f ffdddjdyZdOC@%Bɢ%[0<)! %i!)-.<))i-"i15<5lh;I9IQ9@ @@/@ԡ^AA! I) I9 OM > t ,51?A88=>=R2?=Q)=ٱ= " AHRS rotation from veh to nav: [[0.766386,-0.638576,-0.069804],[0.641049,0.753280,0.147058],[-0.041326,-0.157451,0.986662]]=HI=^;=CYByI E EEE"E3;*E:VEZEa@a@a@a@i}Mb@Mb@Mb@yyyy y9}(\?Pn?MbYyy}>}@} Ay }A)} AyY}zAbD VD:2y%%.=ٔէQ->9Y=Fy:E":E>Q 5T5qO?Q 9T5)BY7?Q E:y]?Q I@zDI ;i7 ;T5yɮADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdv(D@kJTimed out from 2025-10-27T05:09:03.3Z5jfCompleted lineCaptureHoming:MicromodemComms:CheckInq5jAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInjVCompleted lineCaptureHoming:MicromodemCommsBɢ k?<)  Vi )<iVBBIB.BB =BBDBBl;BI+E9@ @@/@)^A= [R;a Am .AI I O >#4{ ,1?A6>6e2?6v(=ٱ6" >AHRS rotation from veh to nav: [[0.766209,-0.638734,-0.070306],[0.641275,0.753047,0.147261],[-0.041117,-0.157918,0.986596]]6HDŽ?p `S??o?@> 6Ŀ`1?i6>I6l^;6CYF ByFI LN<bDRVDRkyZp%Zf=ٔZQ-^>9^ ?Y^ ?=^Fy^:EbT:Eb>dQ 5jT5f=]?Q 9jT5ft)fBYhyn]?Q In@fDIf:if:fT5yrBɮrAr9E DNOT Ignoring new targets: 59.38 m.h h *h"h hgfffdddjd!Zd% SD@15- j-nAggregate::initialize lineCaptureHoming:MicromodemCommsq5-j-~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn55QɢUo;)]_ ]iY)]RK:s2?:Ed&=ٱ:# BAHRS rotation from veh to nav: [[0.766089,-0.638756,-0.071400],[0.641450,0.752807,0.147728],[-0.040612,-0.158973,0.986447]]:H̓?`pEG? ??ˤ 6YĿ ?i:A:>I:s_;:CYJByNIbDVVDV1y^#%^=ٔbÀQ-b>9`Y`=bFyf:Ef9Ef>hQ 5nT5j6q?Q 9nT5j)jBYpyr]?Q Ir@jDIj;ij;jyT5yv&Bɮv`AtDNOT Ignoring new targets: 59.38 m.hh*h"h hgff!f!d!d!d)jd)Zd- D@]Bɢ]+;)Y ]iY)eQBBIBBB =BADBBwm;B+EԩI1 IA OM > S ,z)2?AY~By~IiMb@Mb@Mb@ 9V-?)\(?ktYh1?yG= 0A@ A)A AYAbDVDy,%:=ٔQ->9Y=Fy:EE>Q 5T5s?Q 9 T5)|BY 3?Q E :yW?Q I@DID;i!.;TT5y!ɮ%A!ԱDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffrBd d d jdZd^D@UBɢU;)Q UiQ)]qC9 Dא ,C2?AN@>Nv2?N."=ٱN# ^AHRS rotation from veh to nav: [[0.766093,-0.638638,-0.072412],[0.641510,0.752831,0.147342],[-0.039584,-0.159331,0.986431]]NHՃ?o??2??fDdĿ`ؐ?iN@>INߔ_;NCYnByrIzAAzAAbDVD0y%^%%V=ٔ%b0Q-->91Y1=Fy:E8E>Q 5T5?Q 9T5)jBYyQ I@DI;i;T5y/BɮBA:EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd 2E@Bɢ谺) ɾi)% ;I)I192㗼59@1 @1@1@1q E  E E E "E 9;*E I:VE ZE a @a @a @a @^AY ԑ I I O >D ,y^2?A@6I>6b2?6O =ٱ6o$ BAHRS rotation from veh to nav: [[0.766301,-0.638300,-0.073187],[0.641289,0.752962,0.147635],[-0.039129,-0.160067,0.986330]]6H?l\p?@D??}Ŀ?i6I>I6v_;4YJ؀ByJyIBQAU<B]>B]CB]IB]BB] =BYB]DB] n;B],EBCBCBB =B =CW5iMb@Mb@Mb@ 9kt?9Y=Fy:E5E>!Q 5%T5%?Q 9-T5% )%[BY-D1?Q E-:y-J?Q I5@%DI% ;i%e ;%T5y9ɮ=A9eDNOT Ignoring new targets: 59.38 m.haha*ha"ha higififqfu]BdqdqdqjdyZd}`m8E@ɢ%@$:)I MپiI)U1i>U9@Q @Q@Uc2@QiIAA ^A} #2;I I O > j ,lCx2?A6K>6)e2?6L>=ٱ6$ >AHRS rotation from veh to nav: [[0.766292,-0.638250,-0.073717],[0.641331,0.752957,0.147481],[-0.038624,-0.160291,0.986314]]6Hu?@l ߲ȅ?8?`?ƣ gĿ ?i6K>I6_;6CYFҀByFrIER ERER&EP"ER1A;*ER-:VER4ZEPBER9hYh=jFyj:En78En>pQ 5vT5rg?Q 9vT5r])rNBYtyzJ?Q Iz@rDIr:ir:rT5y~9Bɮ~2A~;E%DNOT Ignoring new targets: 59.38 m.h!h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd= fE@mBɢm 5)i mQ߾ii)u/{5p ,Wϖ2?A0>1?E EEE"E<;*E :VEZEa@a@a@a@Թs.=ٱ#& =AHRS rotation from veh to nav: [[0.767592,-0.636540,-0.074958],[0.639804,0.754019,0.148681],[-0.038121,-0.162085,0.986040]]H`?^z0Fy? ??`@1Ŀ ?i0>I)_;YÙByUlIieMb@Mb@Mb@aaaa a9e(\?y&1?~jtYe.?ye`e=eļae@ eA)e AaYe A y}4<bD}VD}Ny5%=ٔjhQ->9"?Y"?=Fy;EgE>Q 5T5ɲ?Q 9T5J)=BY.?Q E:y;E?Q I@DI:i:T5y;BɮmA2EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffWBdddjdZd@~E@9ɢ=p:)9 =iA)EOB!B%xIB%׀BB% =B!B!B%Vn;B%5,E} 9@  @ @ /0@ 1 ^A [R;aAIIO?S ,2?A4<ɰ4<:}z>:Ó1?:=ٱ:7' FAHRS rotation from veh to nav: [[0.768361,-0.635575,-0.075268],[0.638900,0.754753,0.148848],[-0.037795,-0.162458,0.985991]]:H j?VDq?&?t ? YlĿ=?i:}z>I:_;:CYNByNVIbDZVDZyb%b@=ٔfHQ-f>9dYd=jFyj;Ej6Ej>lQ 5rT5nG۲?Q 9rT5n)n0BYpyvD?Q Iv@nȉDIn;in;nmT5yzDBɮzHAxE EE+E"E9;*E:VE [4ZEBEhI 2 ,2?A:x>:AO1?:=ٱ:VG' RAHRS rotation from veh to nav: [[0.769041,-0.634727,-0.075479],[0.638106,0.755453,0.148698],[-0.037362,-0.162519,0.985998]]:H ?`O@R ^k?`,??!kĿ@K?i:x>I:^;:CYZǀByZdIbDv VDv2y~Da=%H=ٔQ->9!Y!=%Fy% ;E-&E->1Q 5=T55I첊?Q 9]T55݀)5$BYYy]D?Q I]@5щDI5`;i5;5T5yiɮmAiDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffddd9jdZdu`F@ ɢU)Y ]ia)mԹ \ ,%w2?A2*>21?2=ٱ2[& :AHRS rotation from veh to nav: [[0.769610,-0.634066,-0.075240],[0.637456,0.756197,0.147705],[-0.036759,-0.161637,0.986165]]2H`? EJ@B` f?2??ҢĿ?i2*>I2^;2CYBByF]I HJAiMb@Mb@Mb@ 9V-?Mb?y&1Y-?y=`e"A@ A)A AYp AbDVDyü%<=ٔQ->9Y=Fy;EE>Q 5T5}?Q 9T5{)BY-?Q E:y + F ,\Z3?A:(>:0?:)=ٱ:& FAHRS rotation from veh to nav: [[0.770050,-0.633473,-0.075733],[0.636953,0.756622,0.147698],[-0.036261,-0.161973,0.986129]]:H ?? iE @c`a??6??`ڐĿ]?i:(>I:lT^;:CYNƀByNcIbDZ VDZ2yb<%b^=ٔbqQ-b>9dYd=fFyf;Ej^Ej>lQ 5rT5n?Q 9rT5nWw)nBYpyr;?Q Ir@nDIn:in1:nT5yz;BɮzAx%DNOT Ignoring new targets: 59.38 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jd1ZdkF@ɢT9) @i)[<iZp|i15a<5V1:I1I99@ @@/@^A0::IQIaOu>A E]  E] E] (EY "E] a?;*E] :VE] c44ZEY a} @a @a @a @n ,,3?A:u>:?0?:N=ٱ:"`' FAHRS rotation from veh to nav: [[0.770495,-0.632821,-0.076653],[0.636459,0.757028,0.147745],[-0.035468,-0.162623,0.986051]]:H?@ ]?9?S?`( Ŀํ?i:u>I:!L^;:CYNByNZIi5Mb@Mb@Mb@1111 195X9v?X9v?~jtY53?y5}=5D59A5+@ 5A)5+ A1Y5 AbDMVDMBe>BaBeLIBeBBe =BaBaBem;Be+EyUc%}A=ٔ}Q-}>9Y=Fy;E̺E>Q 5T5" ?Q 9T5q)BYp4?Q E:yTF?Q I@DI ;i ;T5yCBɮ$A4EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffbBdddjdZdnF@Iqɢu|෻)q uiy)} A1 I I Թ O > ,93?A@R(>R0?Rl=ٱR% ZAHRS rotation from veh to nav: [[0.770883,-0.632415,-0.076099],[0.636025,0.757687,0.146231],[-0.034820,-0.161128,0.986319]]RH@?<9{PZ?>??@ӡןĿ ?iR(>IR^;RCYrÀByr_IbDzVDzܲbE-4jE34rEI"0E EE%E"EB;*EI:VE 4ZEBEv91Y1=5Fy5;E=E=>AQ 5MT5E0?Q 9MT5El)EBYIyM1F?Q IU@EDIE:iE*:E+T5y]NBɮ][A]+EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdF@ɢ) i>m9@q @q@u0@qԩ^AII)O5> ,R3?AlYrˀByrjIbDzVDzyE)=%EI=ٔEQ-E>9IYI=MFyM!;EMEU>QQ 5eT5UB?Q 9eT5Uvg)UBYayaQ Ie@UDIU;iU:UT5yiɮuAqDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdG@ɢɻ) Qi)f<iuiˑ<z8IIy@y @@}1@E- E-E-(E)"E-<;*E-:VE-c44ZE)aU@aU@aU@aU@aBYAYԁBe>BaBeFIBeBBaBaBaBem;Be+E^A"I)IAO]>ԡ Q ,*l3?AF#>Fh0?F=ٱFS% RAHRS rotation from veh to nav: [[0.771398,-0.631699,-0.076827],[0.635480,0.758382,0.144986],[-0.033323,-0.160663,0.986447]]FH J?`6窳U?`D?@? Ŀ`?iF#>IF)U^;FCqY€By^Ii5Mb@Mb@Mb@1111 195Q?kt?9aYa=eFye&;Em ϺEm>qQ 5}T5uU?Q 9}T5u a)uBY}7?Q E:yfN?Q I@uDIu:iuE:uT5yWBɮA,EDNOT Ignoring new targets: 59.38 m.hh*h"h hgffffBdddjdZdZG@}Bɢ}삡)y }"iy) <ԡ顁iRsil<T&II}9@y @y@}_0@y@@=E= E9E9E9"E=sH;*E9VE9ZE9BE=r ,~3?A><>>t0?>#O=ٱ>+Z& FAHRS rotation from veh to nav: [[0.771294,-0.631672,-0.078083],[0.635647,0.758194,0.145238],[-0.032540,-0.161654,0.986311]]>Hp?6>8W?!C?%?#Ŀۏ?i><>I>nQ^;>CLLiLILLIPiRtUA PP)PT Vr@TTTXXIX)XiX)\I^tkA\\ \```i``i`fiA)fP fp3FIdYdYjByn]IbDvxVDv0y~ƻ%f=ٔCQ->9 ?Y  ?= Fy *;E :E>Q 5T5d?Q 9%T59\)BY!y%pN?Q I%@DIK:i:T5y1ɮ5A1]DNOT Ignoring new targets: 59.38 m.hYhY*hY"hY hYgafafafadididijdiZdu G@颙ɢ9) i) <顡ip_qi-<sӹIIe9@a @a@e4@ai߹I߹I^AvEU  EU EQ EQ "EU <;*EU :VEQ ZEQ au @au @au @au @A ؟AI II Ou >y * ,>3?AB>BCBBB =BBDB n;B,EBuCBuCBqBu =Bu =Cuh502@r:>rs0?ri=ٱr*' %AHRS rotation from veh to nav: [[0.771326,-0.631494,-0.079195],[0.635648,0.758174,0.145339],[-0.031737,-0.162443,0.986207]]rH?25@F;W?B?@t?@?@Ŀ?ir:>IrSr^;rCaỲBykIiMMb@Mb@Mb@IIII I9MGz?X9v?QYM0?yM=MuII M\A)M AIYM= AbDmVDm1y}JD=%}5=ٔ}Q-}>9"?Y"?=Fy.;E4E>Q 5T5u?Q 9T5U)ԩBY3?Q E:y\?Q I@DIP ;i@:T5y`BɮA-EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffzBdddjdZdG@Bɢ) *i)<!i%h,oi!-+א<-:HI)I)ԉ9@ @@3@Ա^A ?Bɹ A9 IA IY Oe >DQ DU %=Ee  Ee Ee )Ea "Ee y>;*Ee :VEe FA4ZEa BEe S6*0?6k<ٱ6( >AHRS rotation from veh to nav: [[0.771216,-0.631409,-0.080919],[0.635827,0.757912,0.145924],[-0.030808,-0.163990,0.985981]]6H έ?4`X?@?@?7Ŀ'?i6LU>I6^;6CY]ʀBy]hIԙbDmVDm2ys9%V=ٔQ->9Y=Fy2;E:E>Q 5T5?Q 9T5P)ɩBYy\?Q I@#DIW:ip:=T5yɮADNOT Ignoring new targets: 59.38 m.hh *h "h  h g f ffdddjdZdG@IɢM )I MiI)U;IGy9YKcA^A"A>A>AA II Ia Om >! ; ,A3?A6>6ݗ0?6 <ٱ6v) >AHRS rotation from veh to nav: [[0.771016,-0.631498,-0.082124],[0.636110,0.757662,0.145987],[-0.029969,-0.164798,0.985872]]6H`)? <5 [?>?? ſ@C?i6>I6_;4YJ΀ByJmIbDR VDR2yZc<%Z^=ٔZxQ-^>9\Y\=bFyb6;Ebvv:Eb>dQ 5jT5f?Q 9jT5fxK)fBYhyn\?Q In@f+DIf:if:fuT5yrlBɮrAr$E DNOT Ignoring new targets: 59.38 m.h h*h"h hgfffdd!d!jd!Zd%!H@UBɢU)Q U]iQ)]eKB)B-SIB-BB- =B)B)B-!n;B-!,EqI I! O5 >ԡ Lf ,93?A6 ">60?6[<ٱ6a) >AHRS rotation from veh to nav: [[0.770264,-0.632316,-0.082892],[0.637065,0.757025,0.145122],[-0.029012,-0.164590,0.985935]]6H?;b8b? 9?_? ZHſ@Ȍ?i6 ">I6\'_;6CYDyDiMMb@Mb@Mb@IIII I9M-?MjMAI MrA)M AIYM\ AbDeVDe0yuE;%u?=ٔ}Q-}>9Y=Fy:;E9;E>Q 5U5 ?Q 9U50E)BY 9?Q E:ybb?Q I@5DI ;i ;5U5yɮAi߹I߹DNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdXH@%Bɢ%Bٻ)! %߾i))-5<))i-Oii15<5ʉ}:I9I9q9@ @@/@ԡIIOI>DzDE% E%E%&E!"E%:;*E%:VE%4ZE!BE%19AYA=EFyE>;EMEM>IQ 5UU5MZ?Q 9]U5Mc?)MBYYyYQ I]@M>DIM/;iM;MU5ymuBɮm$Am%EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd`aH@Bɢnh) 7ݾi)j<ifgi<O:II9@ @@0@AfAzAfAI1IAO]>EE  EE EE )EA "EE 8;*EE :VEE FA4ZEA a] @ae @ae @ae @y B% >B% CB% _IB% ÀBB% =B! B! B% Sn;B% <,Ey ,#4?A z@Y>z%1?z<ٱz֤&  AHRS rotation from veh to nav: [[0.768789,-0.634101,-0.082941],[0.638925,0.756098,0.141739],[-0.027165,-0.161961,0.986423]]zH?J@;r?`1?$? @ћ`#Ŀ@ǐ?iz@Y>Iz _;zCYǀByeI !%AiMb@Mb@Mb@ 9-?K7A`?QYy+>OA \A)AY AbDVD:y %>=ٔیQ->9 Y = Fy C;E  ;E >Q 5U5T³?Q 9%U58)BY%a:?Q E%:y%j?Q I%@HDIL:i:l U5y)ɮ5iA1]DNOT Ignoring new targets: 59.38 m.hYhY*hY"hY hYgafafafeBdididijdqZdurH@额Bɢ") i)wD<顡ijeiv<m@;IIi)@) @)@-o0@)IIO">ԑ D5 <D5 <E=  E= E= #E9 "E= B;*E= Z:VE= 3ZE9 BE= vV1?V-<ٱV& ^AHRS rotation from veh to nav: [[0.767742,-0.635288,-0.083560],[0.640226,0.755231,0.140486],[-0.026142,-0.161355,0.986550]]VHW?FT@6d |?*?u?Ě@FĿё?iV!4>IV,_;VCY~€By~^IbDVDy%%%Z=ٔ%2Q-%>9)Y)=-Fy-F;E5;E5>9Q 5EU5=@г?Q 9EU5=63)=BYAyEj?Q IM@=QDI=d:i=:= U5yU}BɮUAU&E}DNOT Ignoring new targets: 59.38 m.hyhy*h"h hgfffdddjdZd@uH@颽Bɢ~6) ]i)w<iciA<d;IIQ9@ @@4@^A "9IqIO>! q ,`=W4?A2>2a2?2$<ٱ25% >AHRS rotation from veh to nav: [[0.766655,-0.636494,-0.084350],[0.641571,0.754313,0.139279],[-0.025024,-0.160895,0.986654]]2Hp?(^?U#??@՟ 6Ŀ?i2>I2Z_;2CYFÀByF_IbDjVDj:yv;%vN=ٔv8Q-z>9xYx=zFyzJ;E|~֎;E> Q 5U5 ޳?Q 9U5 0-) tBYygk?Q I@ ZDI /:i : -U5y%Bɮ%A-EMDNOT Ignoring new targets: 59.38 m.hQhQ*hQ"hQ hQgQfQfYfYdYdadajdaZdem%I@颕Bɢ() ]i)Ȅ<顙iai<5˵;IIE EE*E"E9;*E:VE(N4ZEa5@a5@a5@a5@@ @@$1@1BA4=B>BCBBB =BBDB^n;B>,EQ^Ay;A I I! O- >ԁ { ,&q4?A:4>:2?:<ٱ:q6% BAHRS rotation from veh to nav: [[0.765767,-0.637483,-0.084950],[0.642662,0.753542,0.138424],[-0.024229,-0.160594,0.986723]]:H)?Bf@G?`?`ݷ?Ϙ`ZĿ@I:%_;:CYJByJXIIR=)R=i%Mb@Mb@Mb@!!!! !9%gfffff?S㥛?+Y%33?y%$>%%9A%X@ %rA)% A!Y%\ AbD=VD=yM%MD=ٔM1Q-U>9QYQ=UFyUO;EYe];Ee>iQ 5uU5mE?Q 9uU5m&)mcBYu&8?Q Eu:yui?Q Iu@mdDIm ;imP ;mU5yɮ)ADNOT Ignoring new targets: 59.38 m.hh*h1"h1 h1g9f9f9f=BdAdAdAjdAZdM\I@颵Bɢf!) i)8<项i_i܎<B;II9@ @@/@ԑ@R=@=bEc44jEŨ,4rE 0E EE&E"E8;*E#:VE4ZEBE׏J" ,4?A2y>2i3?2n<ٱ2$z$ >AHRS rotation from veh to nav: [[0.764941,-0.638451,-0.085124],[0.643667,0.752872,0.137391],[-0.023630,-0.159888,0.986852]]2Hez?0n@ʵ@??@? Z23wĿ`K?i2y>I2t^;2CYZByZCIbDbVDbyj%jR=ٔnAʺQ-n>9lYp=rFyrS;Er[;Er>tQ 5zU5v?Q 9zU5v6!)vSBY|y~/j?Q I~@vmDIv;iv;v4U5yBɮ A 5DNOT Ignoring new targets: 59.38 m.h1h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdMZI@uBɢ}.z)y }iy)@<顁i]i<;II59@1 @1@1@1^AUX;E%  E% E% *E! "E% 1A;*E% :VE% (N4ZE! a5 @a5 @a5 @a5 @A I I Ou >A B >B B YIB BB B B DB ln;B F,E( ,g4?A:= >:!]3?:^<ٱ:ee$ BAHRS rotation from veh to nav: [[0.764232,-0.639196,-0.085893],[0.644540,0.752255,0.136675],[-0.022748,-0.159813,0.986885]]:Ht?Kt`?y?@~?@UKtĿ ?i:= >I:P\^;:CYuByu8IiMb@Mb@Mb@ 9gfffff?~jt?tAn@ A)X AY AbDVD0y% %%*=ٔ-Q-->9)Y)=5Fy5X;E5;E5>9Q 5EU5=l?Q 9EU5=)=@BYM7?Q EM:yMg?Q IM@=xDI= ;i=:=iU5yQɮU=AQDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffzBdddjdZdI@BɢܤE) ji)B<i[i<m 0 ,F4?A2>2z3?2ɼ<ٱ24$ :AHRS rotation from veh to nav: [[0.763534,-0.639943,-0.086535],[0.645395,0.751658,0.135924],[-0.021939,-0.159632,0.986933]]2Hn?jz/'`?` ?`e?#wnĿ?i2>I2@^;0 l)nlAllpprkAirIppItivr@ tt)t 9FُCIt)i)!I%kA!! !!))i))Y)ԱYBy0I bDVDy- %]O=ٔ].Q-e>9aYa=eFye\;Em4;Em>qQ 5}U5uU?Q 9}U5u.)u1BYyg?Q I@uDIu:iu[:uU5yBɮAEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdbI@Bɢх) i)ߡ<i)Yi  e< ;,66 , 4?A21>23?24Ұ<ٱ2M+$ :AHRS rotation from veh to nav: [[0.763179,-0.640323,-0.086857],[0.645827,0.751342,0.135622],[-0.021583,-0.159598,0.986946]]2H@k? }=<? ?\?mĿ?i21>I2^;0Y-By-IbDEVDEβyv%V=ٔxQ->9Y=Fy_;EZ:E>Q 5U5A+?Q 9U5)"BYyg?Q I@DIN:i:4"U5yBɮoAEDNOT Ignoring new targets: 59.38 m.hh*h"h h g f f f dE% E%E!E!"E%9;*E%:VE!ZE!a-@a-@a-@a-@dd1jd1Zd5w.J@颕Bɢ V)  i))<iʼnWiqB<sBBFIBBBBBBn;Bu,EBCBCBB =B =C 5A9@ @@/@i^A% $<A) A- >ԡ AQ Ia Iq O} >t< ,>4?AYeBym"IiMb@Mb@Mb@ 9Q?x&?{GzY5?y7 >#A@  A) AYbDVD0y;<%?=ٔQ->9Y=%Fy%d;E%E%>)Q 55U5-;?Q 95U5-h)-BY=@9?Q E=:y=`?Q I=@-DI-:i-:-%U5yEBɮEAIMEuDNOT Ignoring new targets: 59.38 m.hqhq*hy"hy hygyfyffhBdddjdZd`CdJ@颽Bɢ͐) 'i)Ś<izUi$<4;*E:VEZEBES WC ,-5?A>Y>>0 4?>H;<ٱ> $ FAHRS rotation from veh to nav: [[0.762343,-0.641223,-0.087556],[0.646840,0.750601,0.134896],[-0.020779,-0.159472,0.986984]]>H e?`j??GD?G iĿ^?i>Y>I>];>CYN~ByN IIR<)R4<bDZVDZybؽ%bc=ٔfQ-f>9dYd=fFyfg;Ejpo;Ej>lQ 5rU5nI?Q 9rU5n+)nBYpyv$a?Q Iv@nDIn;in1:n)U5yxɮz$Ax%DNOT Ignoring new targets: 59.38 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd52J@eBɢen)i mii)moB >B CB 'IB BB B B B ]o;B ,E9 I ,'5?A;ɰ;2>2\<4?2Q<ٱ2C=$ :AHRS rotation from veh to nav: [[0.762076,-0.641440,-0.088285],[0.647177,0.750373,0.134547],[-0.020057,-0.159671,0.986966]]2H`b? @ٙ? ?8? ܉pĿ:?i2>I2jc];2CYFnByFIiMMb@Mb@Mb@IIII I9MQ?)\(?MbYIyMG=MMAMX@ I)IIYMQ AbDmVDm:yu2%}?=ٔ}pݺQ-}>9 ?Y ?=Fyl;E:E>Q 5U5Z?Q 9U5 )BY8?Q E:yWY?Q I@DIG ;iL ;,U5yBɮADNOT Ignoring new targets: 59.38 m.hh*h"h hgfff^BdddjdZd`J@BɢH) !i)HE%  E% E% +E! "E% C;*E% :VE% [4ZE! BE% >2E4?2<ٱ2r$ >AHRS rotation from veh to nav: [[0.761992,-0.641452,-0.088925],[0.647296,0.750320,0.134268],[-0.019404,-0.159872,0.986947]]2H I2\r];2CYFlByFIbDZVDZyj%jV=ٔnpߺQ-n>9r"?Yr"?=vFyvp;Ez9Ez>yQ 5U5}j?Q 9U5})}BYy`Y?Q I@}DI}];i}m^;},0U5yɮA DNOT Ignoring new targets: 59.38 m.hh*h"h hgfff!d!d!d!jd!Zd-J@]Bɢ]$ҿ)a e ia)eBV ,[5?A2 >2f4?2ٚ<ٱ2o@$ :AHRS rotation from veh to nav: [[0.761672,-0.641786,-0.089250],[0.647686,0.750074,0.133759],[-0.018901,-0.159687,0.986987]]2H_?@`ٶٹ??@?ZpĿ@e?i2 >I2g];2CYB_ByBI DDPbDNVDNyV%ZM=ٔZ6Q-Z>9XY\=^Fy^t;E^:Eb>`Q 5fU5by?Q 9jU5b)bݨBYhyjY?Q Ij@bDIb:ib:b3U5yrBɮrArE DNOT Ignoring new targets: 59.38 m.h h *h "h  h gfffdddjd!Zd%`-K@MBɢM#)Q UiQ)UN\ ,qu5?A|YYByIiMb@Mb@Mb@ 9-?kt?:vY?5?y =ԼOAA@ )A AY\ AbDVD0yTҼ%;=ٔQ->9Y=Fyx;EE>Q 5U5ދ?Q 95U5)ѨBY=6?Q E=:y=Q?Q I=@DIiإc ,L5?A2V>2A4?2<ٱ2& :AHRS rotation from veh to nav: [[0.762062,-0.641014,-0.091449],[0.647272,0.750370,0.134107],[-0.017343,-0.161390,0.986738]]2H@b?.7ir?? i*?~‘oĿ \?i2V>I2/];2CYBRByFIbDNVDNyn %nY=ٔrQ-r>9pYp=vFyv|;EvƺEv>xQ 5~U5zM?Q 9~U5z)zǨBYyUQ?Q I@zʊDIz ;iz ;z:U5y ÓBɮ AE5DNOT Ignoring new targets: 59.38 m.h9h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM%K@Y颅BɢaM) !i),<顉iGi<p3i ,f/5?A2S>2>4?2<ٱ2^& :AHRS rotation from veh to nav: [[0.762105,-0.640826,-0.092404],[0.647247,0.750456,0.133741],[-0.016360,-0.161733,0.986699]]2H)c?ɧ @??k? `Ŀ ?i2S>I2];2CYBBByFIIF%=)F=i Mb@Mb@Mb@     9 㥛 ?333333?~jtY 5?y =  A @ A)  A Y ( AbD-VD-y=K%=D=ٔ=Q-=>9AYA=EFyE;EEEM>IQ 5]U5M?Q 9]U5MT)MBY]6?Q E]:y]M?Q Ie@MӊDIM;iMB;Md>U5yiɮm AiԹ5DNOT Ignoring new targets: 59.38 m.h1h1*h1"h9 h9g9f9fAfE.BdIdIdIjdqZdu K@BɢK) (i)~|<itDi)l<P3Ϲp ,V 5?Af>f-4?fBB~<ٱf& vAHRS rotation from veh to nav: [[0.762289,-0.640488,-0.093218],[0.647050,0.750672,0.133483],[-0.015518,-0.162070,0.986657]]fHd?~&ݷ ???ǏĿ`?if>Ifo8^;fCY~MBy~IbDVD:2y%S=%%L=ٔ% Q-%>9)Y)=-Fy-;E-O0E5>9Q 5EU5=W?Q 9EU5=)=BYAyEM?Q IM@=܊DI=y:i=-:=AU5yU̓BɮUAQ}DNOT Ignoring new targets: 59.38 m.hyhy*h"h hgfffdddjdZdK@颽Bɢ) V"i)]u<i4Bi4S</ v ,5?A2sP>23?2CGq<ٱ2E' :AHRS rotation from veh to nav: [[0.762755,-0.639809,-0.094068],[0.646520,0.751134,0.133452],[-0.014726,-0.162608,0.986581]]2H }h?QyJ?J ??(@VĿ?i2sP>I2Q^;2CYBCByFIbDNVDNܲyVo?%VS=ٔVQ-V>9XYX=ZFyZ;E^`E^>`Q 5fU5bʹ?Q 9fU5b)bBYdyfM?Q If@bDIb:ibN:bIEU5ylɮnGAlzB*** querying acoustic contact ***ix ixeDNOT Ignoring new targets: 59.38 m.haha*hi"hi higififqfqdqdqdqjdZd@1L@E EE'E"E*Eu:VE'4ZEa@a@a@a@Bɢ) %i) Fl<  i L@i4<T$B1B5IB5NBB1B1B1B5o;B5,E-2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.^Ah%<A I I O > $ } ,5?AB*DAT read: user:358> FBDAT read: Tx time:05:19:18.9245 F$Ping request sent.J9Y=Fy;EE>Q 5%U5ᴊ?Q 9%U5])BY-A5?Q E-:y-H?Q I-@DI3:id;~IU5yUՓBɮUA]EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff BdddjdZd nL@%Bɢ%')! %*)iI)M$bEf ,s6?A2>2e3?2V<ٱ26) :AHRS rotation from veh to nav: [[0.764278,-0.637672,-0.096197],[0.644754,0.752543,0.134061],[-0.013095,-0.164483,0.986293]]2Ht?@g`Wҡ? ?(?ъ@ ſ@?i2>I2^;2CYFDByFIbDNVDNܲyVZ=%V\=ٔZQ-Z>9XY\=^Fy^;E^lֻE^>`Q 5fU5b?Q 9fU5b)bBYhyjQH?Q Ij@bDIb;ib ;bLU5ynBɮn ArEDNOT Ignoring new targets: 59.38 m.h h *h "h  h g f ffdddjdZdL@BɢN ) "i)Z<ih;i a<  ;*E:VEZEa@a@a@a@^A-x/<BE >BA BE IBE ?BBE =BA BA BE o;BE ,EBCBCBBBCLo4 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758618A .AI I O% > ,:,6?AY%>By-IiMb@Mb@Mb@ 9Q?:v?y&1Y\/?yT=`eA  A)A AYQ AbDVDy ͼ% 6=ٔ Q->9 ?Y ?=Fy;EE>!Q 5-U5%f?Q 9-U5%)%BY-/?Q E5:y5E?Q I5@%DI%\ ! ! ?v ,!F6?A"EG,2gA}2?}D<ٱ}l+ AHRS rotation from veh to nav: [[0.765894,-0.635411,-0.098281],[0.642855,0.753910,0.135486],[-0.011994,-0.166948,0.985893]]}H3?`JU(@E? ?W?y^ſo?i}>I}^;}CYCByII>)J?bDVD:yn<%L=ٔF4Q->9Y=Fy;E̻E>Q 5U5?Q 9 U5)BY y E?Q I@ DIL ;iz ;TU5yBɮVAEDNOT Ignoring new targets: 59.38 m.hAhA*hA"hA hIgIfIfQfQdQdQdQjdYZd]5M@颅Bɢ) e ii)mGI ,_6?Aɰ\Ef  EfEf&Ed"EfD;*Efu:VEf4ZEdaj@aj@aj@aj@YIByIbD5VD5ܲyE<%MV=ٔUQ-U>9Y=Fy;E-E->9Q 5uU5=%?Q 9}U5=ݻ)=BYyQ I@=DI=xBBBBBBDBLo;B,Eyɮ(AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765698}DNOT Ignoring new targets: 59.38 m.hyhy*hy"hy hygyfffdddjdZd`DM@BɢETݼ)A EiA)M?61?61(<ٱ6/E> E>E>)E<"E>sH;*E>:VE>FA4ZE<BE>55I6J_;6CYUOByUIiMb@Mb@Mb@ 9ʡE?333333?{GzY/?y=#|AX@  A)YbD} VD}2y<%=ٔIQ->9Y=Fy;EME>Q 5U5n:?Q 9U5)BY0?Q E:yL?Q I@ DI<:i:5\U5yBɮDA EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff?BdddjdZd ?M@-}Bɢ-s)1 5Ki1)56<11i5=1i9= q iߑ Iߕ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519590U ,6?A2;>2rt1?2.#$<ٱ2U0 :AHRS rotation from veh to nav: [[0.769177,-0.630859,-0.101899],[0.638957,0.756743,0.138112],[-0.010018,-0.171341,0.985161]]2H?/ Ur?@<7??@O`ſo?i2;>I2f^;2CY^WBy^IbDjVDj0yr2=%rk=ٔrLQ-r?9tYt=vFyv;EzހEz?|Q 5UU5~H?Q 9UU5~)~zBYYYy]ML?Q Ie@~'DI~[_U5yiɮmAiDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd5M@{BɢV) i)0<i`/i<f:IIE EEE"Ea?;*E:VEZEa@a@a@a@ԉBBBBBBBBo;B,Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773445-9@) @1@1@9Թ ^A ;I I O >h ,6?A2M>241?2-<ٱ260 >AHRS rotation from veh to nav: [[0.769801,-0.630094,-0.101921],[0.638210,0.757405,0.137933],[-0.009715,-0.171229,0.985183]]2H5?) 7l?I2_;2CԩMBDAT read: Rx Time:05:19:21.4659 MTRx dataTimestamp_ set to:1761542362.896119Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023894YecByeIiMb@Mb@Mb@ 9Fx?{Gz?I +Y+?yף=94A + A) AYbDVD:y H=%+=ٔ+&Q->9Y=Fy;E E>Q 5U5'\?Q 9U5)sBY-?Q E:yqN?Q I@2DIH:i ;cU5yBɮ'AE-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h) h)g1f1fQfUSBdYdYdYjdYZdeM@颭wBɢ) S i)J'<项i-i<:IIE  EE*E"EG;*EZ:VE(N4ZEBE)A% >) AY Ii Iy O >{ ,6?A2-c>21?2%<ٱ20 :AHRS rotation from veh to nav: [[0.770238,-0.629460,-0.102538],[0.637689,0.757789,0.138234],[-0.009311,-0.171861,0.985077]]2Hʥ?$? g? ???ſ?i2-c>I2Ѳ^;2C@@i@I@@IF&CiD DD)DD Fr@HHHHLIL)LiL)TlIT )QQiYYii˕/iA)˕"[ ˝a3FI˙YYUrByUII=)=bDVD02y\=%<=ٔsQ->9Y=Fy;EֺE>Q 5U5l?Q 9U5̤)lBYyBN?Q I@;DI:i:9gU5yɮA mDNOT Ignoring new targets: 59.38 m.hihi*hi"hi higqfqfqfqdydydyjdyZd}!N@tBɢ ̼) #i)Mq <i+iM<:II mDAT read: 05:19:21.4659 LVL= 32752, 30657, 32754, 32755, AGC= 70, IDX= 505, 0.44,-1.719, 0.274,-1.261,-0.973, PHS=-0.644, 1.292,-0.332, RAW= 321.3, -3.6, CAL= 320.4, -6.7, ROT= 189.6, 6.7 uYgot valid direction response: 05:19:21.4659 LVL= 32752, 30657, 32754, 32755, AGC= 70, IDX= 505, 0.44,-1.719, 0.274,-1.261,-0.973, PHS=-0.644, 1.292,-0.332, RAW= 321.3, -3.6, CAL= 320.4, -6.7, ROT= 189.6, 6.7 }8DAT read: $Error in header }*Received a bad headerX#Rx 1: Read direction message, but no range. bdirection in FSK: [-0.979262,-0.165630,-0.116671]y15VI[3ſmu"޽115w1 1)5FI5/$i5B`?55r@55@ 5|)5S@I5|=15+)4È۹LF׿0X 5l11)5}=I5V>i5|=9@ @@0@1E  E E )E "E CJ;*E :VE FA4ZE a @a @a @a @^A q:a BM >BI BM IBM SBBM =BI BI BM o;BM ,EAM ؟AIa Iq O >KI ,$6?A2>20?2x <ٱ2c1 :AHRS rotation from veh to nav: [[0.770711,-0.628748,-0.103349],[0.637128,0.758267,0.138202],[-0.008528,-0.172360,0.984997]]2H@?`` uYc?C?? awƿ?i2>I2 ^_;0Y qBy Ii%Mb@Mb@Mb@!!!! !9%V-?|?5^?9U"?YU"?=UFyU;EUkEU>aQ 5eU5e{?Q 9mU5e)eeBYm/?Q Em:ymOV?Q Im@eDDIeH:ie:ejU5yuBɮ}AyDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff{BdddjdZdRN@erBɢeӼ)a m=ii)mO% ,:7?AbEjE<4rEJ0E"  E" E"%E "E"D;*E":VE" 4ZE BE"ϚJ0?J;ٱJiT1 RAHRS rotation from veh to nav: [[0.770495,-0.628878,-0.104164],[0.637403,0.758171,0.137457],[-0.007469,-0.172304,0.985015]]JH?`@e?B?`0?~ƿ??iJ0>IJv_;JCY]By] IbDmVDmyy=%Z=ٔ8Q->9Y=Fy;E t:E>Q 5U5+?Q 9U5)_BYyfV?Q I@LDI:i-:mU5yɮADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdN@oBɢ/Ƽ) i ) o<  i (i15Š<5b9I9I9AE9@A @A@E4@A@I@I^Am "Am fAzAi ! A I I O pO ,a7?A2D>20?2;ٱ21 :AHRS rotation from veh to nav: [[0.770404,-0.628835,-0.105091],[0.637523,0.758165,0.136927],[-0.006428,-0.172487,0.984991]]2H&?@jE线f?@B?@҆?Szƿ@ ?i2D>I2>`;2CYFByD HHbDN VDN2yvT%zT=ٔz%1Q-z>9|Y|=~Fy~;E9E> Q 5U5 ?Q 9U5 \) YBYyoV?Q I@ TDI :i p: LqU5y%Bɮ%A%EMDNOT Ignoring new targets: 59.38 m.hIhI*hI"hQ hQgQfQfQfYdYdYdYjdaZde7N@颍mBɢ Ҽ) }i)<顙i'i<;9IIE EE&E"EL;*EL:VE4ZEa @a @a @a @m9@q @q@u/@qB>BCBIBbBB =BBB+o;B,E)^A9YA I I O >y y ,87?A2O>21?2!Z;ٱ24F1 :AHRS rotation from veh to nav: [[0.770080,-0.629084,-0.105968],[0.637926,0.758012,0.135900],[-0.005168,-0.172254,0.985039]]2H?u! i?A?.e?>+u h ƿp?i2O>I2`;2CYBByFIiUMb@Mb@Mb@QQQQ Q9UDl?L7A`?I +YUO-?yU+>U94UAU@ U A)QQYUG AbDmVDmy}^=%}B=ٔ}CQ-}>9Y=Fy;E:E>Q 5U5?Q 9U5{)QBY0?Q E:ya?Q I@]DI ;i7 ;tU5y!BɮAEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd@)N@jBɢP7) *߾i)%<-S:I)I1Y9@ @@@ԉE  EE'E"EG;*E:VE'4ZEBE) ` ,]R7?A6>6W1?6AHRS rotation from veh to nav: [[0.769498,-0.629635,-0.106928],[0.638639,0.757666,0.134468],[-0.003650,-0.171761,0.985132]]6H?%_o?`>?B6?~mEſ@3?i6>I6xa;4YFByFIbDRVDR1yV`%ZX=ٔZQ-Z>9Z ?Y^ ?=^Fy^;Eb;Eb>dQ 5jU5f?Q 9jU5f3)fJBYhyj=a?Q Ij@ffDIfd:if:fHxU5yr*BɮrArE DNOT Ignoring new targets: 59.38 m.h h *h "h  hgfffdddjd!Zd% O@MhBɢU)Q U߾iQ)U A>E  E E E "E M;*E :VE ZE a @a @a @a @! B >B B IB |BB =B B B $o;B ,EBBCBB =BC3A ؟AI I O5 >9 ,Ll7?Ab>b1?bv:ٱb&. nAHRS rotation from veh to nav: [[0.768473,-0.630826,-0.107274],[0.639880,0.757135,0.131528],[-0.001751,-0.169718,0.985491]]bHS?/Nvy?@s:??ޮ\Uſ`$?ib>Iba;`Y~By~II =) p;iMb@Mb@Mb@ 9l?/$?Zd;OY7?y>jX@ A A)YbDVDyg<%9=ٔ=ψQ-=>9="?Y="?=EFyE;EEg;EE>IQ 5UU5M-ȵ?Q 9UU5M\)M?BY];?Q E]:y]{e?Q I]@MpDIM:iM:MB|U5yaɮeAaDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdTO@eBɢ) ؾi)j;i"i׽<;=;IIa@a @a@e/@a1^A] ;a A I I O >D9 zD9 E  E E E "E sH;*E VE ZE BE =.2?=a8ٱ=+ UAHRS rotation from veh to nav: [[0.767395,-0.632172,-0.107066],[0.641175,0.756591,0.128313],[-0.000111,-0.167115,0.985937]]=H?:h?`5?l? dſ̌?i=ð>I=ua;=CYeBye IbD}VD}:yi<%O=ٔQ->9Y=Fy;E;E>Q 5U5ֵ?Q 9U5})5BYye?Q I@yDI-:i:U5y4BɮADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd`O@%cBɢ%綼)) -Ӿi))-DT;))i-!i<\;IIi@ @@0@ԙ^A2; A I I O% >{ ,7?Aɰ2H>22?2fٱ2Ƚ) >AHRS rotation from veh to nav: [[0.765995,-0.633814,-0.107381],[0.642844,0.755680,0.125295],[0.001731,-0.165005,0.986291]]2H?4H`M}@-?.? ?k^\?ſ?i2H>I2SVa;2CYFByF/IPbDRVDRyZ}=%ZY=ٔ^VQ-^>9\Y`=bFyb;Eb;Eb>dQ 5jU5f@嵊?Q 9jU5fw)f,BYlynf?Q In@fDIf;if;fU5ypɮrAtDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffddd!jd!Zd%O@MaBɢU|hEU EUEU)EQ"EUCJ;*EU:VEUFA4ZEQa]@a]@a]@ae@)q ugžiq)};yyi} iZ<H;IIB}>ByB}IB}BB} =ByByB}Do;B},Ei@i @i@m1@i@q@q^A}U;AzAgA! A .AI I O! ,̹7?A2>2sO3?2jٱ2' :AHRS rotation from veh to nav: [[0.764560,-0.635459,-0.107889],[0.644543,0.754691,0.122496],[0.003581,-0.163195,0.986587]]2HEw?U ? n&?[?Vm?@Ŀ?i2>I2g a;2CYFByFI HJA|i%Mb@Mb@Mb@!!!! !9%S?S㥛?~jtY%:?y%$>%%A%n@ % A)% A!Y% AbD=VD=kyMnr%MA=ٔU Q-U>9U ?YU ?=UFyU;E]';E]>aQ 5mU5e?Q 9mU5e`q)e#BYu.??Q Eu:yu.i?Q Iu@eDIe;:ie:eU5y=BɮpAEEDNOT Ignoring new targets: 59.38 m.hAhI*hI"hI hIgIfIfQfuBdqdydyjdyZd}O@_Bɢ) оi);ii2<{;II1@ @@4@Ee  EeEaEa"EeE;*Eeu:VEaZEaBEed ,7?A6i'>683?6L^ٱ6͞% BAHRS rotation from veh to nav: [[0.763029,-0.637262,-0.108092],[0.646342,0.753635,0.119481],[0.005321,-0.161032,0.986935]]6H`j?`rd 쫻@ծ??Q?u?ಜĿ@?i6i'>I6`;6CYJByJIbDVVDVP)yZ%^T=ٔbQ-b>9b"?Yb"?=fFyf;Ef;Ef>hQ 5nU5j]?Q 9nU5jek)jBYpyri?Q Ir@jDIjr;ij;jU5yvDBɮvAvEDNOT Ignoring new targets: 59.38 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-@P@Y]]BɢeSk¼)a eϾia)ewS;iiimiiuBq Bu -IBu BBq Bq Bq Bu o;Bu ,EO > ,7?A<b(u4?bٱb# zAHRS rotation from veh to nav: [[0.761649,-0.638821,-0.108623],[0.647951,0.752656,0.116909],[0.007072,-0.159426,0.987185]]bHm_?7q`λ???s|? hĿ ?ibI=>Ib$`;bCYBy IiMb@Mb@Mb@ 9Q?On?V-Y(A@ A A) AY AԩbDVD:y<;%:=ٔQ->9Y=Fy;E5;E>Q 5U5?Q 9U5d)BY!@?Q E:yse?Q I@DI ;i ;ȍU5yMBɮAEDNOT Ignoring new targets: 59.38 m.hh*h"h! h!g!f!f)f-Bd)d)d1jd1Zd5*P@e[Bɢe)a >̾i)4;i:i<a9A>I I O >E  E E (E "E F;*E :VE c44ZE BE a24?21 ٱ2# :AHRS rotation from veh to nav: [[0.760715,-0.639740,-0.109747],[0.649028,0.751940,0.115537],[0.008609,-0.159120,0.987222]]2HW?x^ ?? ؓ?෡? ^ĿR?i2$>I2`;0Y@yF IbDNVDNyV#i;%V_=ٔV\Q-V>9XYX=ZFyZ;E^~;E^>`Q 5fU5b$?Q 9fU5b^)bBYdyfe?Q Ij@bDIb9:ib:bU5ylɮnAl DNOT Ignoring new targets: 59.38 m.h h *h "h  h g fffdddjdZdBBP@YBɢM) ɾi)S;ii<(Kqi I Aԙ ,,ZG!8?A2>2G5?2')ٱ2" JAHRS rotation from veh to nav: [[0.759541,-0.640964,-0.110738],[0.650377,0.751061,0.113652],[0.010324,-0.158345,0.987330]]2H)N?@ƂXY`??P? $?@DĿ4?i2>I2`;2CYZByZIbDnVDnk1y~.%~E=ٔ~VQ->9Y= Fy ;E͌;E>)Q 55U5-4?Q 9=U5-X)-BYAyEHf?Q IE@-DI-;i-;-U5y]VBɮ]AYDNOT Ignoring new targets: 59.38 m.hhE E E#E"EL;*E:VE3ZEa@a@a@a@*h"h  h gfffdddjdZd%E^P@i颍WBɢq) Ѿi)茯;顑iQi܈</b ,;8?Aɰ:>:5?:Hٱ:! FAHRS rotation from veh to nav: [[0.758201,-0.642377,-0.111723],[0.651906,0.750072,0.111402],[0.012238,-0.157298,0.987475]]:H/C?[♼@i??ۄ?M?Y"Ŀe?i:>I:`;:CYNzByNIi-Mb@Mb@Mb@)))) )9-zG?V-?y&1Y- 7?y-h>-`)) - A)- A)Y-p AbDEVDE1yUn%UE=ٔ]/Q-]>9aYa=eFye;Ee;Ee>iQ 5uU5mGD?Q 9uU5m^R)mBY}:?Q E}:y}e?Q I}@mDImC ;im ;mQ ,@T8?A2/>266?2eٱ2U! :AHRS rotation from veh to nav: [[0.757137,-0.643444,-0.112798],[0.653105,0.749299,0.109561],[0.014023,-0.156622,0.987559]]2Hw:?Y༿=?B?2 ?8? 0 Ŀ`?i2/>I2`;2CYFpByFIbDNVDNkyVT%VV=ٔVQ-V>9XYX=ZFyZ;E م;E >Q 5U5FS?Q 9U5zL)BYy%=f?Q I%@ƋDI";i ;U5y-gBɮ-A-E]DNOT Ignoring new targets: 59.38 m.hYhY*hY"hY hYgYfafafadadidijdiZdm`P@额TBɢܼ) i)1$;顡iiՈ<!B >B B -IB BB B B DB n;B ,Eԁ +,+n8?A0~nManaging dock network, ignoring radio surface power offz>z؝6?z쁼ٱz  AHRS rotation from veh to nav: [[0.756081,-0.644423,-0.114278],[0.654285,0.748479,0.108120],[0.015859,-0.156518,0.987548]]zH1?LA?@?࿭?o=?@Ŀ?iz>Iz1a;zCYUjByUIiMb@Mb@Mb@ 9-?Cl?V-Y?5?y;=A X A)+ AYz AbDVD:y ̼% 6=ٔ ᅻQ->9Y=Fy;E%l;E>!Q 5-U5%d?Q 9-U5%8F)%BY-7?Q E5:y5[?Q I5@%ЋDI% ;i%` ;%U5y9ɮ=A9eDNOT Ignoring new targets: 59.38 m.haha*ha"hi higififqfu`BdqdydyjdyZd}P@%SBɢ-ռ)) -i))-;11i5i1=6ۈ<=%T4",@8?A$&@Bu>B=6?BٱBI! NAHRS rotation from veh to nav: [[0.755598,-0.644731,-0.115730],[0.654803,0.748148,0.107269],[0.017423,-0.156833,0.987472]]BH-?@v &??@v?bב?@Ŀ]?iBu>IB a;BCYVgByVI`bD^VD^yj*%ja=ٔj=Q-j>9n ?Yn ?=nFyn;Er:Er>tQ 5zU5vr?Q 9zU5v A)vBYxyz[?Q Iz@v؋DIv|:iv:vU5ypBɮK AE-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdEP@mQBɢuu)q uiq)u+;qyi%Yi!%<-PA5>A Aa Ii Iy O >;(,v8?AZE>ZB6?Z5ٱZG! fAHRS rotation from veh to nav: [[0.755126,-0.645021,-0.117189],[0.655303,0.747848,0.106310],[0.019067,-0.157072,0.987403]]ZH)?@ =?_?%7?f?@Ŀ`Θ?iZE>IZb;ZCYnTBynIIr<)r<bDxVDxy%G=ٔ1Q->9 Y = Fy ;E \:E>Q 5%U5#?Q 9%U5,;)٧BY)y-[?Q I-@DI :i:EU5y1ɮ5 A9eDNOT Ignoring new targets: 59.38 m.haha*ha"ha hagafififidididqjdqZdu`%P@颥PBɢM) i)Dg;顩iE E E'E"EM;*E:VE'4ZEa@a@a@a@i<xBBIBBBBBDBn;B,EB}CByByByB} =C}¬4!@! @!@-/@)Iy^Au<ԙ A ؟AI I O >c.,h[8?A2>27?2ٱ2# :AHRS rotation from veh to nav: [[0.754814,-0.644920,-0.119722],[0.655614,0.747509,0.106775],[0.020632,-0.159087,0.987049]]2H@p'?/`@??U?t ?\Ŀ?i2>I2db;2CYFKByJIiMMb@Mb@Mb@IIII I9M㥛 ?#~j?:vYM5?yM=MԼMAMX@ M A)MA AIYM AbDeVDe:yu1%uC=yٔuFuQ-}>9"?Y"?=Fy;E:E>Q 5U5C?Q 9U5m5)ԧBY6?Q E:yVR?Q I@DI ;i ;U5yyBɮt!ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffFBdddjdZdP@OBɢ")! %i!)%yK;!!i%"i)-<-htCE EE(E"EL;*E:VEc44ZEBEK5,58?Aɰ2q>27?2Uٱ2E$ :AHRS rotation from veh to nav: [[0.754725,-0.644777,-0.121052],[0.655671,0.747547,0.106154],[0.022047,-0.159487,0.986954]]2H&? IA?@?,?r?jĿ ?i2q>I2J\b;2CYFHByFIbDNVDN!yV%VX=ٔV>uQ-V>9Z ?YZ ?=ZFyZ`Q 5fU5b?Q 9fU5b<0)bϧBYdyf[R?Q If@bDIb:ibd:b8U5ylɮn!AlDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd8Q@NBɢ) i)zv1;ii<{̞BBIBwBB =BBBn;B,EA ؟AI I O >a w;,"8?A156>6?^Ŀٱc% uAHRS rotation from veh to nav: [[0.755133,-0.643924,-0.123029],[0.655154,0.747944,0.106552],[0.023407,-0.161064,0.986666]]H *?@~?'?G?@?`Ŀ@Œ?i56>Ib;CYFByI AiMb@Mb@Mb@ 9oʡ?:v?9E"?YE"?=MFyMQQ 5]U5Uɸ?Q 9]U5U))U̧BYe-?Q Ee:yeYdC,:9?A2Wp>26?2ɼٱ2( >AHRS rotation from veh to nav: [[0.756098,-0.642261,-0.125760],[0.653994,0.748717,0.108235],[0.024644,-0.164083,0.986139]]2H@1?g?`}?J?+I2b;0@YJ@ByJIbDRVDRN2yZ%Zf=ٔZOdQ-^>9^ ?Y^ ?=^Fy^ dQ 5jU5f%Ƕ?Q 9jU5f.%)f˧BYhynH?Q In@fDIf:if[:fU5ypɮrJ"Ap DNOT Ignoring new targets: 59.38 m.h h*h"h hgfffddd!jd!Zd%@*IQ@颭KBɢk) 5i)!:顱ii<|̎ E  E E (E "E L;*E j:VE c44ZE a @a @a @a @I,'9?A@B6>B4B6IB6bBB4B4B4B6n;B6,E|Y]9"?Y"?=FyQ 5U5dض?Q 9U5)ɧBYyQ I@DI;i;U5yBɮ"AE5DNOT Ignoring new targets: 59.38 m.h1h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdM:eQ@颕IBɢ:I ) i)::顡i i<ЎA) ԁ AY Ia Iy O >jP,vA9?AY=@By=IIE<)Ep;YiMb@Mb@Mb@ 9kt?V-?9Y=FyQ 5 U5%궊?Q 9U5)YL0?Q E:y@?Q I@DI ;i ;DU5y!ɮ%"A!MDNOT Ignoring new targets: 59.38 m.hIhI*hI"hI hIE  EE)E"EC;*Eu:VEFA4ZEBEÓV,5[9?A2>25?2dٱ2+ :AHRS rotation from veh to nav: [[0.757908,-0.639328,-0.129750],[0.651753,0.750660,0.108289],[0.028166,-0.166639,0.985616]]2H@?`u)?h?ٸ?ל?iTſ)?i2>I2 c;2CY@yFIbDNVDNܲyV%Vb=ٔV\Q-Z>9XYX=ZFyZ`Q 5fU5b?Q 9fU5b&)bʧBYdyj??Q Ij@b!DIb-:ib:bnU5ynBɮr"Ap DNOT Ignoring new targets: 59.38 m.h h *h "h  h g fffddԹdjdZd1Q@FBɢ%/V)! %^i!)%Ĭ:!)i-i)5'<5tI ;\,ru9?Aɰ2L&>2i5?2aٱ2h, :AHRS rotation from veh to nav: [[0.758921,-0.637864,-0.131026],[0.650527,0.751679,0.108601],[0.029217,-0.167655,0.985413]]2H@I? biw@? ?@>ͻ? ?`uſ ?i2L&>I2Ic;2CYFBByFIiMb@Mb@Mb@ 9 rh?Zd;O?Mbp?Y,?yj<;OA+@ A A)rAY AbD-VD-ky='<%=A=ٔE"Q-E>9AYI=MFyMQQ 5]U5U5 ?Q 9]U5U)UϧBYe,?Q Ee:yeG>?Q Ie@U*DIU ;iU ;UU5yiɮm"Aq5DNOT Ignoring new targets: 59.38 m.h1h1*h9"h9 h9g9f9fAfEBdAdAdAjdIZdM@˲Q@颽EBɢ ) di)8iiQ<Tcԙ -c,8N9?A:>:5?:ٱ:`n, FAHRS rotation from veh to nav: [[0.759643,-0.636887,-0.131593],[0.649636,0.752537,0.107986],[0.030254,-0.167518,0.985405]]:HN?aa ?@?@?@?@>qſ@o?i:>I:c;:CYNIByNI PPbDZVDZfyb=%bS=ٔb./Q-b>9f ?Yf ?=fFyfhQ 5rU5jt?Q 9rU5jm )jӧBYpyr=?Q Ir@j3DIj;ij;jU5yzBɮz#AzݤEDNOT Ignoring new targets: 59.38 m.h!h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5`^Q@eCBɢeC)a eia)m"MwiiimiquE  E E )E "E [I;*E :VE FA4ZE i, &9?AB>BCBIBSBB =BBBjn;BM,EB}>B4?BٱB- JAHRS rotation from veh to nav: [[0.760894,-0.635192,-0.132557],[0.648122,0.753827,0.108085],[0.031271,-0.168155,0.985265]]BH ?Y?@}S j?Z?u??ſI?iB}>IB c;BCYPByIbDVD:y- =%-D=ٔ-Q-->91Y1=5Fy5"AQ 5MU5E,?Q 9MU5En)EקBYQyU{=?Q IU@EY p,#9?A B5>B34?BIBfc;BCYVWByVIiuMb@Mb@Mb@qqqq q9u rh?+?:v?YuC+?yu=uT9"?Y"?=Fy&Q 5U5>?Q 9U5O)ݧBY+?Q E:yC?Q I@EDI:iZ:U5yBɮ"AޤEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff.Bd d d jd Zd Q@=?Bɢ=)9 =iA)E8ZAAiExiIMƈv,9?A06$M>63?6S ٱ6. >AHRS rotation from veh to nav: [[0.762425,-0.632830,-0.135034],[0.646207,0.755449,0.108229],[0.033521,-0.169776,0.984912]]6He?#@@Hອ?,?@޴?)?`:ſf?i6$M>I6=c;4YFcByJIIN<)N49`Y`=bFyb*hQ 5jU5jJM?Q 9nU5j)jBYlynC?Q In@jMDIjw;ijQ;jU5ytɮv"AtDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff!d!d!d!jd!Zd- R@U>BɢU8) ھi) ii<#BABEIBE]BBE =BABABEn;BEa,EԹ^AX< A! IY I O >D },9?A6ƙ>6f3?6ȕ ٱ6ȯ/ >AHRS rotation from veh to nav: [[0.763288,-0.631574,-0.136033],[0.645146,0.756307,0.108565],[0.034316,-0.170628,0.984738]]6Hl?5`i@ ?3?ʻ?֑? #ſ?i6ƙ>I6(c;4\YMkByMIiMb@Mb@Mb@ 9Gz?Zd;?{Gz?Y0?yy=#<A X A)AY AbDVDy=%+=ٔٺQ->9Y=Fy /Q 5U5`?Q 9U5)BY%X1?Q E%:y%J?Q I%@WDI:i:FU5y-Bɮ-"A-ߤEeDNOT Ignoring new targets: 59.38 m.haha*ha"ha hagqfqfqfu3BdydydyjdyZd}8R@颵F53?FIٱF*- ^AHRS rotation from veh to nav: [[0.764306,-0.630355,-0.135975],[0.643818,0.757868,0.105519],[0.036536,-0.168192,0.985077]]FH 1u?+`g(?t@?@S?@ش?@Qſ?iF>IF6b;DddifuIddIhijpUA hh)h| ~~r@||||I)i)I     i i15iA)5Y 1I1Y1YE}ByE I IIIMAbD]VD] yeJ=%m=ٔm卻Q-m>9qYq=uFyu4Q 5U5v?Q 9U5)BYyJ?Q I@cDI;i;U5yȔBɮV"ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdPWR@颅:BɢFϼ)ԑ i)V 顩i i3M<;IIԹB=>B9B=IB=rBB= =B9B=DB=n;B=,EBCBCE]  E] E]&EY"E]G;*E]:VE]4ZEYBE])<2E]*<JE]?<:E]?<BB =B =Cƌ49@ @@@! ^A <9AYIaIyO?K+,m;:?A2>2s3?2}ٱ2J+ >AHRS rotation from veh to nav: [[0.764518,-0.630199,-0.135505],[0.643511,0.758397,0.103571],[0.037496,-0.166381,0.985348]]2H`v? *7X`?D?`?2?Kſ?i2>I2b;0YMByU!IiMb@Mb@Mb@ 9@5^I ?Mb?Mbp?Yb0?y=;OA  A)AY AbDVDfy=%=ٔ]Q->9 Y = Fy 9Q 5%U5Ɗ?Q 9%U5)BY%2?Q E%:y%U?Q I-@nDIX ;i ;_U5y5ΔBɮ5!A5֤E]DNOT Ignoring new targets: 59.38 m.hYhY*hY"ha hagafaf)f-MBd1d1d1jd9Zd=@zR@ 8Bɢ )  ,i)mc"ii9=<=;IAIAIIIIE] E]EYEY"E][I;*E]:VEYZEYae@a@a@a@ e>i >A @  @ @ o4@ i ^A X;ԙAII O?k,4]:?A2*u>23?2oٱ2* :AHRS rotation from veh to nav: [[0.764612,-0.630029,-0.135762],[0.643344,0.758686,0.102493],[0.038427,-0.165709,0.985426]]2H w?2)@`F?&G?I2lb;0YnByn5IIr=)r<bDzVDzkyӇ=%%=ٔQ->9 Y = Fy ?Q 5%U5C?Q 9%U5)BY!y%U?Q I-@yDI:iy:U5y5הBɮ5!A5פE]DNOT Ignoring new targets: 59.38 m.hYhY*ha"ha hagafafifidididqjdqZduʘR@颥7Bɢ) i)'3顩ii<wo;IIԩm9@q @y@}/@yB=>B9B=!IB=BB9B9B9B=o;B=,EE} E}E}'Ey"E}y>;*E}1:VE}'4ZEyBE}S1 `, w:?Ab>b#3?b"!ٱbW* jAHRS rotation from veh to nav: [[0.764405,-0.630162,-0.136314],[0.643536,0.758630,0.101692],[0.039330,-0.165457,0.985433]]bHv?I*r ٗ? F?z?#?-ſ?ib>Ib̧a;bCYvByvEIiMb@Mb@Mb@ 9Q?V-?~jthY5?yh>DA  A)\AY\ AbDVDNyf=%>=ٔ Q->9Y=FyCQ 5U5?Q 9U5)BY\9?Q E:yd?Q I@DI ;iC ;rU5yɮQ!A-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h) h)g1f1f1f5Bd9d9d9jd9ZdEHR@m5BɢmZ)q uTiq)u-Bqqi}iy}<@;II E9@A @A@E/@I9^A[R;i D zD @AE  E E $E "E 77;*E :VE 4ZE a @a @a @a @A .AI I O5 >,Ր:?A$:%>:/3?:6i#ٱ:c) FAHRS rotation from veh to nav: [[0.764269,-0.630358,-0.136164],[0.643663,0.758668,0.100607],[0.039885,-0.164535,0.985564]]:Ht?+m? G?i?k?@|ſ?i:%>I:`;:CYRByRTIbDZVDZJyb=%b]=ٔfFźQ-f>9f ?Yf ?=fFyfGlQ 5rU5nɼ?Q 9rU5n8)lYpyvd?Q Iv@nDIn;in=:nU5yzBɮz3!AzؤEDNOT Ignoring new targets: 59.38 m.hh!*h!"h! h!g!f!f)f)d)d)d)jd1Zd5@R@e4BɢeV)a etia)m(Niiimiqu BE >BE CBE LIBE BBE =BA BA BE n;BE ,E".,겪:?A4<ɰ4<E& E&E&&E$"E&<;*E&:VE&4ZE$BE&“Bm3?B4&ٱB( JAHRS rotation from veh to nav: [[0.763633,-0.631048,-0.136539],[0.644367,0.758207,0.099567],[0.040693,-0.164014,0.985618]]BHo? 1z?:C?=}?`դ?gĿ/?iB.>IBZ_;BClY]ƀByedI iibDVD:yf=%>=ٔQ->9"?Y"?=FyKQ 5U5Rͷ?Q 9U5)BYye?Q I@DIK;iN;uU5yɮ A%DNOT Ignoring new targets: 59.38 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jdZdR@M3BɢUmq)Q UYiQ)U3ZYYi];iaeCh,:?A2>2Z3?2چ(ٱ2s' :AHRS rotation from veh to nav: [[0.762689,-0.632219,-0.136403],[0.645457,0.757437,0.098359],[0.041133,-0.163059,0.985758]]2Hg?`";@u?`I2>_;0YF̀ByFkI|iMb@Mb@Mb@ 9 ףp= ?ˡE?~jtYQ8?y'>DA+@  A)AY= A-@A-@AbD-VD-JyE<%EP=ٔEQ-E>9IYI=MFyMOQQ 5U5U ܷ?Q 9U5U)UBY=?Q E:yk?Q I@UDIU:iU:UU5yBɮ!AϤEUDNOT Ignoring new targets: 59.38 m.hQhY*hY"hY hYgYfYfafezBdadadijdiZdm*S@额2Bɢo) ?,Eg:?A6f[>634?6Z()ٱ6+' BAHRS rotation from veh to nav: [[0.762133,-0.632937,-0.136172],[0.646102,0.756981,0.097629],[0.041287,-0.162387,0.985863]]6Hec?Anެ?09?7?`#?Ŀ0?i6f[>I6[p^;6CYJԀByJuIbDRVDRyZ$=%ZT=ٔ^6ѹQ-^>9^ ?Yb ?=bFybSdQ 5jU5f귊?Q 9jU5f)fBYlynk?Q In@fDIf;if ;f?U5ypɮr At DNOT Ignoring new targets: 59.38 m.hh*h"h hgfffd!d!d!jd!Zd%]S@QɢU~)QY U:iY)emaaieiq}.<}M BBxIB׀BB =BBBn;B_,EEa EeEe*Ea"Ea*Ee:VEe(N4ZEaBEeA}?ԱA ؟AI I O > n, T:?ALL =W> 4? E)ٱ $ AHRS rotation from veh to nav: [[0.760890,-0.634727,-0.134790],[0.647565,0.756008,0.095454],[0.041315,-0.159915,0.986266]] H`5Y?@O @`ٸ?`81?o?0'?@xĿ@}?i =W>I -^; CY-ۀBy-}IԱiMb@Mb@Mb@ 9rh|?x&1?/$Y;?yA>A@  A)EAY AbDVD0yH<%8=ٔQ->9"?Y"?=FyWQ 5U5?Q 9U5)BYB?Q E:ys?Q I @DI:i:U5yBɮ AФEDNOT Ignoring new targets: 59.38 m.h h *h "h  h g f ffBdddjdZdd7S@颍1Bɢm) *i)'x顑iJ@ iK<B7;*Em :VEm c44ZEi a} @a} @a} @a} @^A X<1 A I I O >Q,e;?A6\ >6.4?62,ٱ6$ >AHRS rotation from veh to nav: [[0.759974,-0.635745,-0.135160],[0.648588,0.755273,0.094322],[0.042118,-0.159345,0.986324]]6H Q?XL ;? 2+?`z%? ?neĿ`?i6\ >I6];6CYF܀ByJ~I PRbDRVDR:2yZ ;%Z`=ٔ^Q-^>9\Y`=bFyb[dQ 5jU5f?Q 9jU5f)fBYlyn]s?Q In@fDIf';if;fNU5ypɮr AtDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdNS@ 0Bɢ c؃) (i1)5 99i=|y!iAEԙ B >B CB IB BB =B B DB n;B |,+;?AE E-E)E"E:;*EK;VEFA4ZEBE1J/5?Jq.ٱJ# VAHRS rotation from veh to nav: [[0.759131,-0.636668,-0.135555],[0.649540,0.754534,0.093682],[0.042637,-0.159165,0.986331]]JH J?_Y ?#%??@|ԥ?_Ŀ?iJ9>IJ];JCYfրByfwIbDvVDv0y޼%E=ٔ .Q- >9Y=Fy_)Q 55U5-?Q 95U5-)-BY9y=s?Q IE@-ƌDI-FL;i-tM;-U5yMBɮU[!AUѤEDNOT Ignoring new targets: 59.38 m.hh*h"h  h g f ffdd1d1jd9Zd=0iS@yɢȁ) 3i)儻i"i<)Yi%>@ @@@@@gAԩ^A NJN<AY Ia Iq O > c,E;?A 48f Gp|-w9)Y-yaA5>5^5?5=1ٱ5f*$ EAHRS rotation from veh to nav: [[0.758641,-0.637092,-0.136296],[0.650071,0.754108,0.093431],[0.043258,-0.159483,0.986252]]5H F?@c )r a?!??%?iĿ`a?i5>I5?];5CYU׀By]xIaeAi-Mb@Mb@Mb@)))) )9-Zd;?Mb?S㥛Y-9?y-@>-/ݼ)) -nA)-A)Y- AbDEVDE1yU|;%U7=ٔUQ-]>9iYq=}Fy}dQ 5V5(?Q 9V5)BY@?Q E:ys?Q I@ьDIX:iU:V5yBɮ!AǤEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdS@/Bɢʻ)! %H0i!)%!!i%t$E5  E5E5+E1"E5E;*E51:VE5 [4ZE1aE@aE@aE@aE@i)EQ ,5_;?AY~ҀBy~sIAAAAbD%VD%ky=濼%=^=ٔEQ-M>9IYI=UFyUhiQ 5}V5m5?Q 9}V5mǣ)mݧBYyQ I@mڌDImX;imo;mV5yBɮ!AȤEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd`WS@ɢ㊎)! %\8i!)%썻!!i-%i)܆<_BBIBBB =BBBn;Bx,EBMCBMCBIBM =BM =CM a5EE EEEE'EA"EE8;*EE:VEE'4ZEAYBEE׏D,y;?A0E1G>E5?E5ٱEl<$ ]AHRS rotation from veh to nav: [[0.757061,-0.638727,-0.137424],[0.651832,0.752711,0.092417],[0.044411,-0.159542,0.986192]]EH9? tp`? 5???kĿ?iE1G>IE.];ECYmˀBymiIiMb@Mb@Mb@ 97A`?S㥛?V-Y6?y$> A A)AY AbD VD y(%%==ٔ56.Q-=>9AYI=MFyMlQQ 5]V5UF?Q 9eV5U)UاBYeE;?Q Ee:yeil?Q Ie@UDIU:iU:U V5yqɮu+"Aq5DNOT Ignoring new targets: 59.38 m.h1h9*h9"h9 h9g9f9fAfEoBԉdAddjdZd@S@M.BɢM)I UGiQ)U쓻QQiU)h'iam6؆I9 II OU >Z,Ox;?A6>6(6?6]8ٱ6#$ BAHRS rotation from veh to nav: [[0.756574,-0.639144,-0.138169],[0.652353,0.752296,0.092124],[0.045063,-0.159834,0.986115]]6H5? s@?@?t?`?ouĿ@?i6>I6];6CXY^ĀBy^aIIb4=)b4<bDfVDfܲyn %r`=ٔrXQ-r>9tYt=vFyvpxQ 5~V5zmS?Q 9V5z)zԧBYyl?Q I@zDIz:iz9:z V5y Bɮ"AɤE=DNOT Ignoring new targets: 59.38 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMS@qɢu)q u~Siq)uPyyi}g(iy׆<9 B} >By By By B} =By By B} n;B} ,E,!?;?AE2 E2E2)E0"E2I@;*E2L:VE2FA4ZE0BE2:E2i9r.>rD6?r:ٱr& ~AHRS rotation from veh to nav: [[0.756280,-0.639190,-0.139558],[0.652658,0.751942,0.092853],[0.045589,-0.161306,0.985851]]rHq3?@?t??@0ŷ?`hW?Ŀ@?ir.>Ir];rCY ǀBy dI %p<%<bD-VD-y5[M<%=E=ٔ=tQ-=>9AYA=EFyEtIQ 5UV5Mb?Q 9]V5M=)MϧBYYy]l?Q I]@MDIM;iM;MV5yaɮm"AiDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdBS@Qɢu8{)q uMiy)};㝻yyi} )i׆<Tԡ ,;?A2A>2]w6?2=ٱ2Ǯ' >AHRS rotation from veh to nav: [[0.755751,-0.639469,-0.141138],[0.653223,0.751372,0.093487],[0.046265,-0.162847,0.985566]]2H/?v@¿4?< ???-Ŀ?i2A>I2bV^;2CYZĀByZaIi=Mb@Mb@Mb@9999 99="~?ףp= ?V-Y=3?y=>9=9A=@ = A)=3A9Y=p AbDUVDUJyeq%eG=ٔmغQ-m>9iYi=mFymxyQ 5V5q?Q 9V5 Q =tI)˧BYp8?Q E:yk?Q I@DI;i#;7V5y'Bɮ#AEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffXBdddjdZdT@颩ɢ@) Si)`ij+iن<%&ƌ j,;?A*;ɰ(V˒>V6?VE@ٱV( jAHRS rotation from veh to nav: [[0.755323,-0.639677,-0.142481],[0.653670,0.750930,0.093906],[0.046924,-0.164065,0.985333]]VH`+?:x@<¿@?`?2 ?@t?ſ؇?iV˒>IVL^;VCY-By-OI 99bDEVDENyUF%UK=ٔ]ֺQ-]>9YYY=]Fy]|iQ 5uV5m?Q 9uV5m)mǧBYyy}k?Q I}@m DIm ;im7;mV5yɮ#ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdT@!ɢ%)! %qi))-l}))i-],i15Bކ<5+;*EM:VEMFA4ZEIBEMSi ,;?A%>%6?%xCٱ% ( AHRS rotation from veh to nav: [[0.754901,-0.640068,-0.142956],[0.654109,0.750625,0.093294],[0.047592,-0.163936,0.985322]]%H '(?p{^L¿`v?`? ?]? Ŀ‡?i%>I%@5^;%CYByTI)imMb@Mb@Mb@iiii i9mʡE?Q?~jtYm-2?ym=mļm"Am@ i)iiYmAbDVDy<%*=ٔQ->9Y=FyQ 5V54?Q 9V5~)ħBY4?Q E:yl`?Q I@DI5;i;V5y 0Bɮ #AE=DNOT Ignoring new targets: 59.38 m.h9h9*h9"h9 h9g9fAfAfE:BdIdIdIjdIZdM`ui>-9@1 @1@1@1@==@=>ԁbE:4jEA84rEd/EM  EM EM 'EI "EM G;*EM :VEM '4ZEI aU @a] @a] @a] @^AU e<Թ A I I O >,yR6?RvFٱRL( ^AHRS rotation from veh to nav: [[0.754562,-0.640391,-0.143299],[0.654438,0.750461,0.092297],[0.048434,-0.163425,0.985366]]RH `%?~W¿(?? ʠ?b̨?Ŀ?iRU >IR!^;RCYfByfDIbDrVDr0yv%zd=ٔzXQ-z>9|Y|=~Fy~Q 5 V5?Q 9V5x)§BYy`?Q I@DI;i";V5y!ɮ%$A!1UDNOT Ignoring new targets: 59.38 m.hQhQ*hQ"hQ hQgQfYfYfYdYdadajdaZde` ST@频ɢeQͼ) 3i)o顙im/i<B CB IB BB B B DB n;B o,EO >Թ E  E E (E "E sH;*E :VE c44ZE BE B6?B%HٱB& JAHRS rotation from veh to nav: [[0.754488,-0.640633,-0.142609],[0.654494,0.750590,0.090841],[0.048845,-0.161875,0.985602]]BH$? A¿@??aA?,?@TĿ` ?iB@,>IB^;@YRByR:IIT)V=Z=Z=bD~VD~N2y  % I=ٔ oQ- >9Y=Fy!Q 5-V5%?Q 9-V5%.s)%BY)y-`?Q I-@%%DI%:i%:%"V5y=8Bɮ=$A=¤EeDNOT Ignoring new targets: 59.38 m.haha*hi"hi higififqfqdqdqdyjdyZd} mT@ԑ颩ɢAȼ) i)M项i0in< ,HK66?6cHٱ67% >AHRS rotation from veh to nav: [[0.754715,-0.640567,-0.141698],[0.654227,0.750951,0.089772],[0.048904,-0.160455,0.985831]]6H&?@@)#¿ n??D? ?`ljĿ?i6A>I6];6CYFByFHIiMMb@Mb@Mb@IIII I9MM?Mb? rhYMn2?yM=MCM AM@ I)MAIYMQA ]4<]4<bDeVDeNyuW=%uC=ٔ}Q-}>9yYy=}Fy}Q 5V5?Q 9V5im)BY4?Q E:yW?Q I@.DI ;i? ;E&V5y=Bɮj$AEE EE&E"EN;*E#:VE4ZEa@a@a@a@DNOT Ignoring new targets: 59.38 m.hh*h"h hgfff!BdddjdZdT@)ɢ-JA)1 5}i1)5MkĻ11i=K2i9=E, j6p6?6Hٱ6$P$ BAHRS rotation from veh to nav: [[0.755231,-0.640079,-0.141151],[0.653622,0.751553,0.089142],[0.049025,-0.159582,0.985967]]6H@*?{@=¿ y? ?@Ѷ?`?0mĿ ?i6ݕ>I6i];4YJByJ9IbDVVDV0yZVQ%^3=ٔ^JQ-^>9`Y`=bFybBAB>BCBIB܀BB =BBDBBn;B,EQQ 5]V5UGӸ?Q 9]V5Uf)QYayeW?Q Ie@U9DIU$5;iUU=;Ug*V5yFBɮ%AE%DNOT Ignoring new targets: 59.38 m.h!hA*hI"hI hIgIfQfQfQdYdYdYEm EmOEm'Ei"EmO;*Em3;VEm'4ZEiBEm73iF<o ,ȃI  AԀG9ex9aYebAi]Mb@Mb@Mb@YYYY Y9]Gz? rh?MbY]0?y]C=]]A]@ ] A)]AYY](AbDVD:y<%0=ٔQ->9Y=FyQ 5V5J帊?Q 9V5`)ŧBY1?Q E:yN?Q I@CDIu ;i ;N.V5yɮ$ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdT@ԉɢߕƼ) Æi)UԻie5i} <dAu >A.AIIO?d(,>>=6?>eJٱ>"& FAHRS rotation from veh to nav: [[0.756209,-0.638641,-0.142428],[0.652463,0.752402,0.090458],[0.049393,-0.161334,0.985663]]>H@2?o;¿??;(?@J?Ŀ@?i>>I>i];>CYVByV<I^@A^@AbDbVDbkyf %j2=ٔjRQ-j>9n ?Yn ?=nFynpQ 5vV5r?Q 9zV5rZ)rȧBYxyzN?Q Iz@rMDIr;irL;rR2V5yNBɮ>%AE-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h) h)g1f1f9f9d9d9d9jdAZdET@m.Bɢu4Ǽ)q uiq)uguܻyyi}6iy( <ZBBrIBҀBB =BBDBn;B{,EBmCBmCBmÔCBm =Bm =Cm`5DzDE% E% E!E!"E%,K;*E%:VE!ZE!BE%L .,麾}5?}|^Iٱ}i^& AHRS rotation from veh to nav: [[0.756924,-0.637824,-0.142288],[0.651652,0.753046,0.090945],[0.049143,-0.161560,0.985638]]}H`8?`i{6¿U?@?$H? 7)?ĿY?i}A>I}B];}CYByHIieMb@Mb@Mb@aaaa a9eʡE?i|?5?MbPYe-2?yeq=eeAe@ a)eAaYeAbD}VD}y(=%1=ٔ:Q->9Y=FyQ 5%V5 ?Q 9%V5T)ΧBY-2?Q E-:y-HK?Q I-@WDI<W5,Bޤ5?BGٱB8' JAHRS rotation from veh to nav: [[0.757755,-0.636823,-0.142356],[0.650715,0.753739,0.091913],[0.048767,-0.162281,0.985539]]BH`??`8¿ ??`?`?Ŀ?iB>IBJ\;@YVByVTIbD^VD^yf:R=%fm=ٔf܎:Q-j?9j"?Yj"?=jFyjA A @AB z>B CB lIB ̀BB =B B DB n;B w,E EE  EE EE (EA "EE G;*EE :VEE c44ZEA BEE )2F5?2Eٱ2' :AHRS rotation from veh to nav: [[0.758711,-0.635711,-0.142229],[0.649642,0.754533,0.092983],[0.048207,-0.162945,0.985457]]2H[G?@W4¿@?`"%?`ͷ??aĿ܈?i2>I2H\;2CYfByfYI ln<bDrVDr1yv<%zH=ٔz:Q-z>9|Y|=~Fy~ Q 5V5 *?Q 9V5  K) קBYyJ?Q I@ hDI `:i :  WB,`: =?A2>2f4?2*Cٱ2}* :AHRS rotation from veh to nav: [[0.759862,-0.634150,-0.143049],[0.648337,0.755368,0.095285],[0.047629,-0.165147,0.985118]]2HP? JlO¿-?+?@d?b?#ſ?i2>I2d\;0YFÀByF`IiEMb@Mb@Mb@AAAA A9EQ??~jth?YE\/?yEL=ED;EAA A)EdAAYEAbD]VD]ym^<%mC=ٔmv:Q-u>9qYq=uFyuQ 5V5L;?Q 9V5E)ݧBY/?Q E:ylG?Q I@qDI':i:@V5ycBɮ$ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZdHU@E EE'E"E[I;*EL:VE'4ZEa @a @a @a @%-Bɢ%*)) -HSi))-O))i-_2o4?2Aٱ2* :AHRS rotation from veh to nav: [[0.760869,-0.632916,-0.143163],[0.647180,0.756225,0.096342],[0.047287,-0.165956,0.984999]]2H Y?`@@.S¿?2?᩸?6?>ſ?i22>I2Ԧ\;0YJրByJwIPPbDVVDVNyZK=%^V=ٔ^k:Q-^>9`Y`=bFybhQ 5jV5jK?Q 9nV5j@)jBYlynG?Q Ir@jzDIj;ij;jCV5ytɮvh$AtDNOT Ignoring new targets: 59.38 m.hh*h"h hgff!f!d!d!d!jd)Zd-aU@QɢUd) ,i)i%=i ņ<,BBIBBBBBBn;BY,EE  E E E "E L;*E :VE ZE BE ݡA}>ԱA I I O > P,@=?AY-؀By-zIԩiMb@Mb@Mb@ 9Zd;O?l?Mb?Y~*?y=<A@ A)AYAAABAbD VD2y<%,=ٔQ->9Y=FyQ 5V5k]?Q 9V5:)BY +?Q E :y P?Q I @DI ;i ;HV5ylBɮ$AEEDNOT Ignoring new targets: 59.38 m.hAhA*hA"hA hAgIfIfIfMBdQdQdQjdQZdUU@E,BɢE)A E"'iA)MIIiM#?iQU:V,W!Z=?A2>23?2<ٱ2a* NAHRS rotation from veh to nav: [[0.762923,-0.630720,-0.141918],[0.644849,0.758052,0.097607],[0.046018,-0.165982,0.985054]]2Hi?@.\*¿?A???>ſ?i2>I2&\;2CYMByMIbDeVDek1yu>%uP=ٔuS;Q-u>9yYy=}Fy}Q 5V5l?Q 9V55)BYyP?Q I@DI:i:KV5yɮ#ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdU@+Bɢj) <۽i)%k_!!i-"Ai15!<=r4B9 B= IB= BB9 B9 B9 B= gn;B= /,EE  E E &E "E &U;*E :VE 4ZE BE 3`\,ds=?A6V>6Y3?6p;ٱ66:+ >AHRS rotation from veh to nav: [[0.763664,-0.629854,-0.141779],[0.643992,0.758710,0.098155],[0.045746,-0.166262,0.985020]]6Ho?'%¿`?YG? ?@l?HſH?i6V>I6&\;4DFjAiDIDDIJCiH HH)HH Nnr@LLLLPIP)PiP)PIPTT TTVjATiXXiXZiA)ZM ZS3FIXY\YbBybIbDj VDj:2yW=%Y=ٔs=:Q->9Y=FyQ 5V5S{?Q 9V50)BYyO?Q I@DIW:i:NV5ytBɮ#AE DNOT Ignoring new targets: 59.38 m.h h *h "h  hgfffdddjd!Zd%U@M*BɢMo)Q UiQ)UYYi]BiYe.dԩ Hc,ƍ=?A9Y=Fy!Q 5-V5%|?Q 9-V5%V+)%BY50?Q E5:y5xV?Q I5@%DI% ;i%u ;%wRV5y=wBɮ=h#AEEmDNOT Ignoring new targets: 59.38 m.hihi*hi"hi higifqfqfuMBdydydyjdyZd}U@颩ɢxjG) {i) ^顱i,Din<<v;IIԩ@ @@4@^A Ii Iy O >9ti,&=?A:W>:2?:7ٱ:&* BAHRS rotation from veh to nav: [[0.764972,-0.628614,-0.140225],[0.642503,0.759962,0.098225],[0.044820,-0.165234,0.985235]]:Hz?a?Q? M%??`g&ſ@ ?i:W>I:\;:ClY=By=IbDMVDMNy]=%]V=ٔ]9;Q-e>9aYa=eFyeqQ 5}V5uK?Q 9}V5u8&)uBYyy}U?Q I@uDIu;iu;uUV5yBɮm#A-DNOT Ignoring new targets: 59.38 m.h1h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE@U@})Bɢ}T7) x:i)顉iCFi<<;IIBy>BBIB#BBBBBn;B+E!9@ @@4@DzD?AE E EE"EM;*E:VEZEBEy 4^p,=?AZ;ɰZ;Y}P6>}q2?}3ٱ}m) AHRS rotation from veh to nav: [[0.766003,-0.627612,-0.139079],[0.641338,0.760884,0.098698],[0.043879,-0.164800,0.985351]]}H@?eV ׅ?@)Y?FD?Jw?'ſ?i}P6>I}T\;}CY!ByIiMb@Mb@Mb@ 9V-?Pn?~jthYh1?y>DA  A)zAYfA ~CbD=TGVDIat9Y]Ay{=%+=ٔ;Q->9Y=FyQ 5V5r?Q 9V5e)BYu4?Q E:y`?Q I@DIA > I I1 OE >Vv,U=?A2O>2R2?21ٱ2) >AHRS rotation from veh to nav: [[0.766328,-0.627330,-0.138558],[0.640994,0.761106,0.099217],[0.043215,-0.164848,0.985372]]2HÅ?A?`Z?Lf?L ?ſ*?i2O>I2\;2CYF.ByFILNAAbDRVDRk2yZ4=%Z=ٔZx ;Q-Z?9\Y\=^Fy^B x>B B IB BBB B B B m;B +EBCBCBɓCB =B =Cw4D %=D E  E E +E "E G;*E :VE [4ZE BE )2"2?2)A.ٱ2ʙ) :AHRS rotation from veh to nav: [[0.766821,-0.626876,-0.137882],[0.640450,0.761507,0.099650],[0.042530,-0.164720,0.985423]]2H̉?^@`~?D^?ૂ?vƥ?`ſ?i2>I2\;2CYF9XYX=ZFyZdQ 5jV5f|ǹ?Q 9jV5f@)fBYhyjj`?Q Ij@fDIfN:ifF:f2`V5ypɮr"Ap DNOT Ignoring new targets: 59.38 m.h h *h "h hgfffddd!jd!Zd%0V@IɢUW)Q U =iQ)UQiKiu<0W;II@ @@/@A^AAzAdAI9IIOU>iԙ V, >?A@2L>21?2&*ٱ2( :AHRS rotation from veh to nav: [[0.767215,-0.626675,-0.136598],[0.640033,0.761872,0.099543],[0.041688,-0.163798,0.985613]]2H ? |@'{?@a?{?@/X?WĿ`#?i2L>I2]G];2CY^BBy^IiEMb@Mb@Mb@AAAA A9ECl?M?{GztYE/?yEn>EףEAEI@ ErA)EAAYEAbD]VD]ym<%m?=ٔm;Q-u>9qYq=uFyuQ 5V5H׹?Q 9V5)Y3?Q E:ye?Q I@ʍDIv:iH:cV5E( E7E'E"E`;*E ;VE'4ZEa@a@a@a@yBɮ"AEDNOT Ignoring new targets: 59.38 m.hh*h"h hgffffBdddjdZdKV@q颽'Bɢ⃒) hV=i)iNi8<}9;II9@ @@@@@fAԡ^A"5;A .AI I O > \,}(>?AiIYvLByzI p<bDVDNyE>=%MM=ٔMQ-M>9M ?YU ?=UFyUYQ 5eV5]湊?Q 9mV5]T )YYiyiQ Im@]ӍDI]:i]:]lgV5yqɮuX"AyDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdeV@ɢ:3) =i)iiOi  <5<;IIB%w>B%CB%IB%[BB!B!B!B% m;B%+E9@ @@?0@E E E)E"EV;*E:VEFA4ZEBEQ ,B>?Af;>fK1?f%ٱf,' AHRS rotation from veh to nav: [[0.767340,-0.626816,-0.135246],[0.639964,0.761886,0.099875],[0.040439,-0.163191,0.985765]]fH@ ?`Oz?@_a?k?a?oĿd?if;>If^];fCYXByIiMb@Mb@Mb@ 9(\?/$?MbYz4?y,>SA`@  A)AYAbDVD1yZ=%1=ٔ1;Q->9"?Y"?=Fy Q 5V5?Q 9V5T)BY%9?Q E%:y%l?Q I%@ލDI@:i:skV51y=Bɮ=3"A9eDNOT Ignoring new targets: 59.38 m.haha*hi"hi higififqfuBdqdqdqjdyZd} V@颩ɢlź) =i)顱iJRi„<E2;II}9@y @y@}T0@YE EE(E"EL;*Ex:VEc44ZEa@a@a@a@ԁ ^A A I I) O= >ǖ,Po\>?Aɰp;:Cg>8:! 2?:#ٱ:]<' FAHRS rotation from veh to nav: [[0.767141,-0.627230,-0.134447],[0.640232,0.761701,0.099569],[0.039956,-0.162461,0.985906]]:H l?@E@5|?_?^}?u?`Ŀ?i:Cg>I:m];:CY^\By^IbDfVDfy~O<%~t=ٔ~Z:Q-~?9Y=FyB) B- :IB- uBB- =B) B) B- l;B- W+EA I I O > E  E E $E "E &U;*E :VE 4ZE BE ?A2U>2B2?2|F!ٱ2& :AHRS rotation from veh to nav: [[0.767246,-0.627239,-0.133810],[0.640144,0.761752,0.099749],[0.039364,-0.162189,0.985974]]2HG?V` |?E`?!? z'?Ŀ?i2U>I2];2CYfYByfIn@AllbDrVDr:yz냼%zK=ٔ~%:Q-~>9|Y|=Fy Q 5V5 1?Q 9V5 ") BYy#l?Q I@ DI ;i "; qV5y%Bɮ%r"A-EUDNOT Ignoring new targets: 59.38 m.hQhQ*hQ"hQ hQgYfYfafadadadajdiZdm`V@频ɢxi) =i)$顡iVig\<I9;II1@1 @1@5/@1 A^A}*:;A I I O a ԣ,>?A2~>22?2zٱ2% :AHRS rotation from veh to nav: [[0.767076,-0.627729,-0.132482],[0.640404,0.761566,0.099497],[0.038437,-0.161164,0.986179]]2H`?Z-0~?^?x??Ŀǎ?i2~>I2 s^;2CYBZByBI9iEMb@Mb@Mb@AAAA A9EʡE?A`"?I +YE-2?yEY>E94AE@ E\A)AAYEAbDeVDeyu<%uC=ٔu;Q-u>9yYy=}Fy}Q 5V5m ?Q 9V5p)BYG:?Q E:bE!jE%^+4rE%- 0E EE(E"E*E4:VEc44ZEa@a@a@a@y|?Q I@DI;ig;uV5yɮd"ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffeBdddjdZd@V@)ɢ-&F)1 5x=i1)5_19i=*Xi9Eh" ,>?A6>662?6ٱ6}$ >AHRS rotation from veh to nav: [[0.766775,-0.628403,-0.131022],[0.640816,0.761291,0.098948],[0.037567,-0.159832,0.986429]]6Hj?@X?~\?T? ;? duĿӐ?i6>I6޺^;4YF`ByF!IbDRVDRܲyZ=%ZW=ٔZx;Q-Z>9\Y\=^Fy^dQ 5jV5fF-?Q 9jV5fc)fBYhyjE|?Q Ij@fDIf:if:fxV5yrBɮr>"ArE DNOT Ignoring new targets: 59.38 m.h h *h "h  h gfffdddjd!Zd%V@QɢUp;:)Q U=ԙi)ޠi ZiK<Kf;II%N>i!BBB@IBzBB =BBBel;B++E9@ @@/@E  EE%E"EX;*Eu:VE 4ZEBE ! ,G>?AF)>F>k2?FwٱFE# ^AHRS rotation from veh to nav: [[0.766287,-0.629268,-0.129717],[0.641448,0.760821,0.098471],[0.036726,-0.158664,0.986649]]FH l?@"@?`X?h5?͢?OĿ?iF)>IFH^;DYz]By~I -;-p;bDMVDMN2yu%g%}?=ٔ:Q->9Y=FyqQ 5V5uyԙ ,>?A2C>2x2?2kٱ2G# :AHRS rotation from veh to nav: [[0.766189,-0.629498,-0.129178],[0.641620,0.760568,0.099299],[0.035740,-0.158965,0.986637]]2H?$``'?V?@k?@tL?`XĿ?i2C>I2^;2CYBbByF#IiMMb@Mb@Mb@IIII I9MX9v?sh|??YM3?yM)>M̼MAMv@ MA)MzAIYMAbDVDy<%G=ٔW;Q->9 ?Y ?=FyQ 5V5J?Q 9V5P)BY8?Q E:yk?Q I@DI;i;7V5yɮr"A MDNOT Ignoring new targets: 59.38 m.hQqhQ*h"h hgf f f {BdddjdZd W@AɢE=W:)I M=iI)MvpIIiU0^iQU#<]D;IYIY@ @@0@A>A>ԡA5؟AIAIYOmx>AABBBBB =BBB6l;B+EE  E E (E "E I@;*E :VE c44ZE BE ?A2U>2@2?2oٱ2)$ >AHRS rotation from veh to nav: [[0.766124,-0.629601,-0.129058],[0.641750,0.760290,0.100581],[0.034796,-0.159881,0.986523]]2H@?%6?KT?? С?`vĿ`?i2U>I2r^;2CY^OBy^ IdfAbDjVDjN2yrý%rW=ٔr.#;Q-v>9v"?Yv"?=vFyv|Q 5V5~X?Q 9V5~)~ާBYy k?Q I @~DI~:i~:~V5yBɮF#ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd@4W@)Bɢ,=ܺ) =i)&i%b_i!%&V<-;I)I)9@ @@0@u+G^Amvт;%w9Y`A) A .AI I O >p",iW??AY|y|  @AbDVDJy%݇%%F=ٔ-Q-->9- ?Y- ?=-Fy-9Q 5EV5=g?Q 9EV5=c)=٧BYAyIQ IM@='DI=:i=g:=V5yQɮUG#AQE EE'E"E,K;*E:VE'4ZEa@a@a@a@DNOT Ignoring new targets: 59.38 m.hh!*h!"h! h!g!f!f)f)d)d)d)jd1Zd5`}NW@Yɢe)a e̗=ia)eiiimaiiu9#,Q,E+??A6 >62?6qٱ6Q*&< BAHRS rotation from veh to nav: [[0.765194,-0.630745,-0.128994],[0.642945,0.759005,0.102633],[0.033172,-0.161471,0.986320]]6Hw|?/ `?@I?/F?? Ŀ?i6 >I6^;6CYJHByNIbDVVDVkyb%fP=ٔf^;Q-f>9j"?Yn"?=nFyn=Er{;Er>tQ 5~V5vvv?Q 9~V5vj)vӧBY|yl?Q I@v0DIvG;ivH;vV5yBɮ#AEUDNOT Ignoring new targets: 59.38 m.hQhQ*hQ"hY hYgYfYfafadididijdqZdu@fW@颽*Bɢ8) u=i)WicBux>BuCBu:IBuuBBu =BqBqBuZl;Bu(+EB=CB=CB9B9B9C=¬-5i$<ȸ;IIԩa@a @a@e4@aE) EE(E"E`;*EA:VEc44ZEBE4,|E??A2&6>22?2|ٱ273& :AHRS rotation from veh to nav: [[0.765085,-0.630988,-0.128449],[0.643114,0.758795,0.103127],[0.032395,-0.161508,0.986340]]2H{? 1q@c? H?f?@?MĿ?i2&6>I2Bf^;2CYjGByjIlbDvVDvy%G=ٔ:Q->9!Y)=-Fy-=E=9EE>QQ 5uV5U?Q 9V5U)UͧBYy!l?Q I@U:DIU;iU;U4V5yɮ#ADNOT Ignoring new targets: 59.38 m.hh*h"h hgff!f!d!d!d)jd)Zd-`?W@颡ɢ/^) h=i)aiZdił<];II I)))@ @@p4@@ =@ =9E E E+E"E>T;*E:VE [4ZEa@a@a@a@^A% #2;i I! I1 O= >S,(^??A2">22?2ٱ2Q& :AHRS rotation from veh to nav: [[0.765206,-0.630908,-0.128122],[0.643015,0.758735,0.104175],[0.031486,-0.162100,0.986272]]2H |?`e0Pf?G?=??೿Ŀ?i2">I2$a^;2CY@yDQa%@a% a%@a% a%@a% a%@a- -p<-bD5VD50yE%E9=ٔE1;Q-E>9IYI=MFyM =EUEU>YQ 5eV5]?Q 9eV5])]ƧBQ Ae+:YaQ Een:yel?Q Im@]DDI] ;i]>]GV5yuȕBɮu$AuEDNOT Ignoring new targets: 59.38 m.hh*h"h hgf f f d ddjdZd༝W@颵+Bɢ S)  ^=i)W项iWfi<C;IIԁ}9@y @y@}/@yԩBBB'IBfBB =BBBl;BK+E^A ; D =D E%  E% E% *E! "E% C;*E% :VE% (N4ZE! BE% y,{x??AF>Fz2?FٱF3' NAHRS rotation from veh to nav: [[0.765548,-0.630568,-0.127753],[0.642644,0.758936,0.105000],[0.030746,-0.162482,0.986232]]FH ^?-4Z?4I?M?@{?8Ŀ 7?iF>IFcC^;DYfAByfIbDzVDzy %b=ٔ ;Q- >9 Y = Fy =EE>Q 5%V5?Q 9%V5)BQ A% :Y!Q E-A:y-k?Q I-@LDI:iL?ZV5y1ɮ59$A1eDNOT Ignoring new targets: 59.38 m.haha*ha"ha hagafififididqdqjdqZduW@ԹU,BɢU+)Q U$=iY)]YYi]giaepAM>II O >9 aa,g_??Aɰ;:>:2?:ٱ:o' FAHRS rotation from veh to nav: [[0.765969,-0.630149,-0.127296],[0.642182,0.759200,0.105916],[0.029900,-0.162876,0.986193]]:H@т?-*@@K@?]K?U?4? Ŀ`?i:>I:o^;:CYN;ByNIa%a% a%a% a%a% a-a- i-Mb@Mb@Mb@)))) )9-n?B`"۹?:vY-V.?y-=-Լ-A-I@ -A)-MA)Y-\AbDEVDEyUF޼%UE=ٔU;Q-U>9YYY=]Fy]=EeźEe>iQ 5uV5m?Q 9uV5m)mBQ AuT:Yu^0?Q Eu:yu3V?Q I}@mVDIm>;im;mV5yϕBɮ$AEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff BdddjdZd`W@E] E]EYEY"E]P;*E] :VEYZEYae@ae@ae@ae@颭-Bɢ/঻) 0ԙ iY IY g,O??A>>>M2?>Bٱ>e' fAHRS rotation from veh to nav: [[0.765999,-0.630263,-0.126545],[0.642183,0.759147,0.106283],[0.029080,-0.162678,0.986251]]>H ?+`2Ì?J?W5?Cǝ?`Ŀ]?i>>I>L^;>CYr9ByrIbDVDy1%%M=ٔ%;Q-->9)Y)=5Fy5=E=CE=>AQ 5UV5Eº?Q 9UV5E )EBYQyQQ I]@E^DIE4;iER;EyV5yaɮe$AeEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdEW@.BɢX)  BBIBVBBBBBl;BG+Ee9@i @i@mO0@iEe# EeEe(Ea"Ee[;*Ee:VEec44ZEaBEef rs,??A2=$>2h2?2ٱ2B' :AHRS rotation from veh to nav: [[0.766518,-0.629663,-0.126392],[0.641589,0.759527,0.107155],[0.028527,-0.163228,0.986176]]2HP?2&@-? N?n? 6?Ŀ?i2=$>I2O*^;2CYF7ByFIbDLVDLyVڻ%VS=ٔVv:Q-Z>9XYX=ZFyZ=E^E^>`Q 5fV5bѺ?Q 9fV5b)bBYdyfU?Q Ij@bgDIb:ib:b؝V5yn֕Bɮn$AnE DNOT Ignoring new targets: 59.38 m.hh!*h!"h) h)g)fqffdddjdZdX@ɢ) Y ,??A$&@Y-BBy5IiMb@Mb@Mb@ 9Fx?333333?~jtY+?y=A@ /A)vAYAbDVDkybE=%6=ٔQ->9Y=Fy=EE > Q 5V5 k㺊?Q 9V5 7) BY,?Q E:yTM?Q I@ qDI j;i ; áV5y)ɮ-$A)UDNOT Ignoring new targets: 59.38 m.hQhQ*hQ"hQ hQgYfYfYf]BdadadajdiZdmX@颕/Bɢ,1) X=i)Bi5li֧<mw;IIԡY@Y @Y@]4@a@e=@a^Ajb;AAB|>BBIBLBB =BBDBl;B>+E I I O >Eu  Eq Eu (Eq "Eu D;*Eq VEu c44ZEq BEu ϚZM1?Zz޼ٱZy' fAHRS rotation from veh to nav: [[0.767616,-0.628583,-0.125096],[0.640334,0.760447,0.108132],[0.027159,-0.163107,0.986234]]ZHO?Y%}?U?? ϛ?Ŀ;?iZI>IZG];ZClYr9ByrIbD~VD~y !C% \=ٔ q;Q- >9Y=Fy"=EE>!Q 5-V5%'?Q 9-V5%y)%BY)y-L?Q I-@%yDI%g:i%(:%V5y=ޕBɮ=#%A=EeDNOT Ignoring new targets: 59.38 m.haha*ha"hi higififqfqdqdqdqjdyZd}s5X@颩ɢ) a ,@?AY~@By~I9iMb@Mb@Mb@ 9HzG?y&1?I +Y=*?y`e=94A@ A)|@Y3AbDVDk2y$=%@=ٔQ->9Y=Fy'=EE>Q 5V5??Q 9V5?)BY*?Q E:yF?Q I@DI ;i ;V5yɮ$A DNOT Ignoring new targets: 59.38 m.h h *h"h hgfff Bddd!jd!Zd% PX@E= E=E=+E9"E=L;*E=1:VE= [4ZE9aE@aE@aE@aM@0Bɢk&) =i)it oin5< ,$-@?AF6>F1?F{ռٱF:( RAHRS rotation from veh to nav: [[0.768436,-0.627720,-0.124393],[0.639395,0.761076,0.109258],[0.026089,-0.163494,0.986199]]FH?I`8ؿ u?Z?O?(?\Ŀ?iF6>IFg];FCY^IBy^I ``bDjVDjJyrI1=%rX=ٔr8;Q-v>9tYt=vFyv+=Ez~WEz>|Q 5V5~?Q 9V5~)|Yy/F?Q I @~DI~:i~:~ V5ԉyBɮ$AEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd@iX@ɢX) G=i ) ߻  i H-piD<:III!B5}>B1B5IB5VBB1B1B1B5l;B5C+E)!@ @@/@!@)@-fAԹE= E=E='E9"E=N;*E=:VE='4ZE9BE=n ,$^G@?A &Wj>$ZcG`l Gu9 Y  _AYRByIAAbDVDyUg=%]6=ٔmQ-m>9yY=Fy/=EE>Q 5V5$?Q 9V5)BYyQ I@DIa;i; V5yBɮ $AEDNOT Ignoring new targets: 59.38 m.hh*h"h hgff!f!d!dIdIjdIZdM@X@颙ɢ6S*) d=i)ݻ顡iqi(<:II!}9@y @y@}/@yIE] E] EYEY"E]>T;*E]:VEYZEYae@ae@ae@ae@^A q:I I O5 >y ?,xCa@?ANs>N1?Nd;ȼٱNY( VAHRS rotation from veh to nav: [[0.769889,-0.626218,-0.122970],[0.637709,0.762286,0.110662],[0.024440,-0.163617,0.986221]]NH? `z@h?d?_T? ?iĿ?iNs>IN-];NCYb]BybIiEMb@Mb@Mb@AAAA A9EDl?L7A`?~jth?YEO-?yE+=ED;EAE@ EA)EAAYE\AbDeVDekymg=%uZ=ٔuА;Q-u>9yYy=}Fy}3=E}ŻE>Q 5V53?Q 9V5P)BY".?Q E:yI?Q I@DI ;i ;@V5yBɮo$AEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff.BdddjdZdX@Qɢ) T=i)ۻiriGy<0MII9@ @@0@yB9A=4=Be|>BaBe!IBe`BBe =BaBaBe^l;Be,+EBCBCBB =B =CW5ԩ^A#2:AzAfAA1 IA IQ E]  E] EY EY "E] F;*E] :VEY ZEY BE] a ,{@?A2C>2g0?2 ٱ2' :AHRS rotation from veh to nav: [[0.770209,-0.626037,-0.121885],[0.637354,0.762575,0.110724],[0.023629,-0.162964,0.986349]]2H ?~33e?@g?`cX?.2?Ŀ+?i2C>I2];0Y^dByb&IbDjVDj yS"=%P=ٔ%l;Q-%>9!Y!=%Fy-7=E-E->1Q 5=V55C?Q 9=V55V)5BYAyEI?Q IE@5DI5;i5;5V5yIɮM0$AIuDNOT Ignoring new targets: 59.38 m.hqh*h"h hgfffdddjdZdX@ɢI:) =i)rٻisi69< SzIIp>iԱ@ @@&1@@=@=^Aq A! I) I9 OM >9 $,g@?A2 >20?2<ٱ2& :AHRS rotation from veh to nav: [[0.770500,-0.625911,-0.120685],[0.637030,0.762866,0.110578],[0.022854,-0.162081,0.986513]]2H? w5徿@b?fi? N?g?`Ŀ`?i2 >I2];2CE EE*E"Ea?;*E:VE(N4ZEa-@a-@a-@a-@Y}kBy/Ii=Mb@Mb@Mb@9999 99=S?kt?Y=/?y= ==99 =A)=zA9Y=3A M49iYq=uFyu<=EunEu>yQ 5V5}V?Q 9V5})yY{0?Q E:ysP?Q I@}DI} ;i} ;}ݺV5yBɮ2$AEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff8BdddjdZdX@ɢ`:)  =i ) :zջ  i rui< II@ @@0@Aq ^A A1 IA IY Om >3+,@?AFi>F20?FɴٱF:& NAHRS rotation from veh to nav: [[0.770559,-0.626016,-0.119761],[0.636986,0.762886,0.110695],[0.022067,-0.161583,0.986612]]FHk?@R0b? i?zV?Ø?༮Ŀ`T?iFi>IFO ^;FCTTiV`eITTIZ&CiX XX)XX ^^r@\\\\\I`)`i`)`Iddd ddfjAdihhihjiA)jV jD3FIlYlYrwByr=IbDzVDzfy=% x=ٔ n;Q- ?9Y=Fy?=ErdE?Q 5%V5c?Q 9-V5z)Y)y-oP?Q I-@DI;i;V5y1ɮ=#A9eDNOT Ignoring new targets: 59.38 m.haha*ha"ha hagifififidqdqdqjdqZduX@颥1Bɢh͊;) r >i)һ顱B}>BB@IBzBBBBBl;B +Ei~viae0LA-> A I I O >2,Ƥ@?A2l>240?2uٱ2>% :AHRS rotation from veh to nav: [[0.770666,-0.626167,-0.118277],[0.636896,0.762962,0.110694],[0.020928,-0.160638,0.986791]]2HJ?` @nGsa?`.j?nV? :n?`̏Ŀ˓?i2l>I2Ua^;0dYrByvLI xxbD~VD~N2y i=% L=ٔ9;Q->9Y=FyC=E E>!Q 5-V5%s?Q 9-V5%au)!Y1y5hP?Q I5@%DI%-:i%:%@V5y=Bɮ=#A=EeDNOT Ignoring new targets: 59.38 m.hahi*hi"hi higififqfqdqdqdyjdyZd}NY@ɢ;) J$>i).1λi)wi~<CxȺII9@ @@/@@@^A?BɺEE EE EE(EA"EEV;*EE:VEEc44ZEAaU@aU@aU@aU@A Aa Iq I O >f:8,@?A2>2̭0?2ٱ2% :AHRS rotation from veh to nav: [[0.771000,-0.625897,-0.117521],[0.636531,0.763092,0.111886],[0.019651,-0.161070,0.986747]]2H?`Y w^??k??F?Ŀ o?i2>I2^;0Y%By%cIiMb@Mb@Mb@ 9V-??Mbp?Yh1?y=;A@ A)AYfAAAbDVDk1y-=%-9=ٔ-=;Q-->91Y1=5Fy5H=E=E=>AQ 5MV5E`?Q 9MV5E`o)EBYM?3?Q EM:yUU?Q IU@EɎDIE ;iE ;EV5y]Bɮ]"A]EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffIBdddjdZd Y@ɢ;) MI>ii)Ȼ顉izyi,~<TIIIa@a @a@m/@i@u@u@u@uqAABBBYIBBB =BBB l;B+Eԡ A I) EE  EE EE +EA "EE M;*EE :VEE [4ZEA BEE s>,؝@?ABN>B}0?B<ٱB$ NAHRS rotation from veh to nav: [[0.771484,-0.625589,-0.115977],[0.635981,0.763528,0.112041],[0.018461,-0.160197,0.986912]]BH?రY? n??U?UĿ`ɔ?iBN>IB3^;BCYVByV`IbD^VD^yf/%fa=ٔjV;Q-j>9hYh=nFynL=En6Er>pQ 5vV5rГ?Q 9vV5rnj)pYxyzT?Q Iz@rюDIr:irB:rGV5y~BɮE#AE-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=7Y@a2Bɢ;)! %6D>i!)->û))i5"zi9=}<=0.IAIA@ @@/@AzAgAԉA9IIIYOeV>Ա [E,yA?A6A>6w0?6 ٱ6Xm$ >AHRS rotation from veh to nav: [[0.771563,-0.625674,-0.114988],[0.635913,0.763529,0.112418],[0.017460,-0.159860,0.986985]]6H? oeY?`n?gǼ??IvĿ b?i6A>I6+_;6CY^By^dIIb<)b=iuMb@Mb@Mb@qqqq q9u&1?/$?~jthYu0?yu1>uDuAu@ uA)uAqYu3AbDVDNyU<%>=ٔO;Q->9Y=FyP=EDzE>ԹQ 5V5$?Q 9V5Pd)BY%4?Q E:yV`?Q I@ێDI=3;i: V5yɮ.#AbEajEe64rEe0E EE(E"EO;*E:VEc44ZEa@a@a@a@DNOT Ignoring new targets: 59.38 m.hh*h"h hgfffcBdddjdZd ZUY@1ɢ5~;)9 =H>i9)=99i=:|iAE|A K,U0A?AiI6~>60?6,ٱ6# >AHRS rotation from veh to nav: [[0.771246,-0.626214,-0.114174],[0.636317,0.763193,0.112411],[0.016744,-0.159347,0.987081]]6H ?` :\?l?@Ƽ?@O%?@~eĿ*?i6~>I6_;6CYJByJjI R9 Y = FyT=EE:E>1Q 5MV55ڲ?Q 9MV55^)5BYIyMy`?Q IU@5DI5M;i5^;5mV5y]Bɮ];#A]EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdB>BByIBBB =BBBhl;B2+EddjdZdlY@3BɢHz<) Q>i)Diw}ic|<BIIi@q @q@u00@qDzD@AE EE'E"EN;*EA:VE'4ZEBEniԙ xmR,.JA?A2>20?2ٱ2# :AHRS rotation from veh to nav: [[0.771032,-0.626607,-0.113457],[0.636596,0.762921,0.112682],[0.015951,-0.159108,0.987132]]2HL?* @ ^?i? ؼ?U?`]Ŀ?i2>I2^;2CYBByFvIbDNVDNk1yVA=%VK=ٔV/;Q-V>9XYX=ZFyZX=E^j:E^>`Q 5fV5b?Q 9fV5bAY)bBYdyf`?Q If@bDIb:ib:bV5ynBɮn"AlDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd@Y@y4Bɢ <) c>i)m.i~i%{<-IQIYE9@A @A@A@AԡE EE)E"EP;*E:VEFA4ZEa@a@a@a@^A 9A >A >A .AI I O > 6X,-dA?Aɰ4<2_>20?22{ٱ2G5$ >AHRS rotation from veh to nav: [[0.771021,-0.626643,-0.113334],[0.636625,0.762777,0.113490],[0.015331,-0.159654,0.987054]]2H@4?`v z;_? h?@ ?f?oĿ?i2_>I2ד^;2CYFByF}Ii5Mb@Mb@Mb@1111 195"~?MbX9?y&1Y53?y5!>5`e5A53@ 1)5zA1Y5\AbDMVDMy]*<%]>=ٔeR:Q-e>9m ?Ym ?=mFym\=Em8Eu>qQ 5}V5uѻ?Q 9}V5uR)uBY~8?Q E:yg?Q I@uDIui) i 'i .{<iII9@ @@5@BA<B~>BBIBBB =BBBl;Bm+E^A eԹ E  E E &E "E US;*E ]:VE 4ZE BE Y^,u}A?A2R9>2(0?2Qvٱ2~& :AHRS rotation from veh to nav: [[0.770388,-0.627187,-0.114622],[0.637398,0.761865,0.115266],[0.015033,-0.161859,0.986699]]2H?We?1a? ?Ɏ?ͷĿ ?i2R9>I2sI^;0PYfByfyI@AbDVD1y-4%5O=ٔ5'E:Q-=>99Y9=EFyE`=EM$;EM>YQ 5mV5]໊?Q 9mV5]L)]BYqyug?Q Iu@]DI]I;i]J;]V5yBɮ"AxEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd@Y@颽5BɢF,<) Nd>i)wiuҀiz<|II9@ @@4@@a=@=m+Gq9Y+[A^A ) I I O >e,A?A2>2P41?2pٱ2n' :AHRS rotation from veh to nav: [[0.769758,-0.627850,-0.115226],[0.638167,0.761069,0.116260],[0.014701,-0.163025,0.986512]]2Hڡ?Yqk? Z?9ý??Ŀ@?i2>I2`^;0YBByFvI|imMb@Mb@Mb@iiii i9m"~?ʡE?~jtYiym-2>mļmAm@ mA)mAiYibDVDyu:%D=ٔP:Q->9Y=Fyd=E;E>E EE'E"EmR;*EVE'4ZEa@a@a@a@Q 5V5ﻊ?Q 9V5F)BY9?Q E:ym?Q I@ DIΥ;i;V5yBɮ"A DNOT Ignoring new targets: 59.38 m.h h *h "h  h g fffwBdddjdZd%`Y@M6BɢM*<)Q U]>iQ)UNiQQi]viYe|$z0k,A?ABM{>BIBMIYBMBBM =BIBIBM5m;BM+EBBBBBCv4>1?leٱ' -AHRS rotation from veh to nav: [[0.768053,-0.629997,-0.114881],[0.640233,0.759335,0.116240],[0.014003,-0.162829,0.986555]]H?( h`|?yL?`?X?`Ŀۑ?i>I49^;CYEByE{IIM=)M%=U=U=bD]VD]ym<%m==ٔut:Q-u>9qYq=}Fy}i=E};E}>Q 5V5?Q 9V5 @)BYym?Q I@DI ;i ;rV5yBɮ"AyEDNOT Ignoring new targets: 59.38 m.hh*h"h hgffQfidqdqdqjdqZd} iY@颥7Bɢ~#<) c>i)!㚻i*iy<:IIԉE' EEE"E _;*EVEZEBE r,A?AYzBy~cI p<bD  VD f2y#׽%b=ٔ%Q-%>9!Y!=%Fy-l=E-E->1Q 5=V55 ?Q 9=V55:)5BYAyAQ IE@5DI5p:i5:5V5yIɮM4#AIuDNOT Ignoring new targets: 59.38 m.hqhy*hy"hy hygyfyffdddjdZdHZ@M8BɢmP<)q u:>iq)uԓqqiuiY;y<:II9@ @@/@E EE(E"EmR;*Ex:VEc44ZEa@a@a@a@Q^A }U;Ii Iy O >q x,"QA?AJɨ>J2?J0pWٱJB% bAHRS rotation from veh to nav: [[0.766114,-0.632656,-0.113204],[0.642570,0.757582,0.114774],[0.013149,-0.160671,0.986920]]JH@?>?`>?a? ?@ߐĿ ڔ?iJɨ>IJN^;JCYjByj`Ii]Mb@Mb@Mb@YYYY Y9]5^I ?'1Z?QY]8?y]">]]=A]@ ]A)YYY]AbDuVDuk1yK%D=ٔa;Q->9Y=Fyp=E ;E>Q 5V5?Q 9V5/4)yBYi))-))i-@Qi1x<zJ;IIm9@i @i@m/@iԁA9A9BEx>BABEIBEBBE =BABEDBEm;BE+E^A] ;ԱA>A>I I! OM >E % E E *E "E O];*E O:VE (N4ZE BE Zy3?ZXIZ^;ZCYzBy~XI IIIMAbD]VD]ܲym#%mL=ٔm:Q-m>9qYq=uFyut=E}n;E}>Q 5V5+?Q 9V5.)pBYy|h?Q I@.DI:i:V5yBɮ[#AqEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd;Z@ ;Bɢ ;) #>i)Ѝi^Ãi%{x<%;I!I!I1)1Ա9@ @@o0@^A; A I) IQ Ou >9 ,B?ABuh>B3?BHٱB NAHRS rotation from veh to nav: [[0.763924,-0.636247,-0.107750],[0.645190,0.756235,0.108807],[0.012256,-0.152639,0.988206]]BHr?"\`e?`3?@ڻ?? ÿ@b?iBuh>IB:d^;BCYVByZOIi=Mb@Mb@Mb@9999 99=9v?S?QY=4?y=>9=A=@ =A)99Y=3AIIE E E'E"E>T;*E:VE'4ZEa@a@a@a@bDUVDU0y%C=ٔ(:Q->9Y=Fyy=E;E>Q 5V5;?Q 9V5')fBY%;9?Q E%:y%)g?Q I%@8DI:ia:sV5y-BɮU#AQDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffSBdddjdZd~WZ@]ia)eaaiEi:x<59;II9@A @A@E0@AI^Am X;q A I I O >6,:3B?A>I>>x3?>Iٱ>  FAHRS rotation from veh to nav: [[0.762812,-0.638085,-0.104712],[0.646503,0.755694,0.104692],[0.012328,-0.147557,0.988977]]>Hh?@2koκ&?.? ͺ?X??*¿`?i>I>I>,F^;>CYRtByR9IB\B^CB^lIB^BB\B\B\B^m;B^+EbDjVDjkyrv%rY=ٔvFQ-v>9tYt=zFyz|=Ezz;Ez>|Q 5V5~I?Q 9V5~.")~^BY y g?Q I @~ADI~:i~:~V5yɮN$AEDNOT Ignoring new targets: 59.38 m.hAhA*hA"hA hAgAfIfIfIdQdQdQjdQZdU@nZ@颅>Bɢ|u;) =i)3顉iyilx<F,GMB?A2>2PE4?2!Hٱ2\ :AHRS rotation from veh to nav: [[0.762084,-0.639166,-0.103417],[0.647363,0.755180,0.103078],[0.012215,-0.145502,0.989282]]2H@b? ty 2?n*? Oc?? ӟ¿3?i2>I2^^;0@YbhByb*If=f=bDnVDnk1yr(m%vK=ٔv 9Q-v>9z"?Yz"?=zFyz=EzV7;E~>Q 5V5Y?Q 9 V5')UBY y h?Q I @JDI:i|::V5yBɮ$ArEEDNOT Ignoring new targets: 59.38 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZdUZZ@颅?Bɢ_:) Т=i)O顉iiw<z uC,fB?A2o>2d4?2Fٱ2 :AHRS rotation from veh to nav: [[0.761775,-0.639688,-0.102460],[0.647728,0.755018,0.101959],[0.012137,-0.144036,0.989498]]2H@u`?Sx:0?)?`?Jۈ?o¿?i2o>I2q^;2CYBcByF$IpiMb@Mb@Mb@ 9d;O?Mb?Y4?y>̼nA A)YfAbDeVDeJ2yucɼ%uB=ٔ}mA9Q-}>9} ?Y} ?=Fy=E:E>Q 5V5Ti?Q 9V5 )NBY7?Q E:y`?Q I@TDI ;i: ;V5yɮ%ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd`bZ@ABɢ0/:) x=i)Ei[i!%w<-D D %=E  E E E "E a?;*E :VE ZE BE ZQs4?Z}?ٱZ bAHRS rotation from veh to nav: [[0.761634,-0.639914,-0.102092],[0.647902,0.754842,0.102164],[0.011687,-0.143958,0.989515]]ZHN_?-z"@?'?o'? ?4m¿?iZ9>IZ(^;XYjZBynIbDvVDvNy~L:%R=ٔ[:Q->9"?Y "?= Fy =E @:E >Q 5V5[x?Q 9V5d)GBY!y%`?Q I%@]DI^;iF:PV5y- Bɮ-z%A5sE9eDNOT Ignoring new targets: 59.38 m.haha*hi"hi higififqfqdqddjdZd@(Z@%BBɢ%NP)) -H;=i))- ))i-饅iqumw<}@Au>A .A I I O >U,`B?Aɰ:F>: U4?:܁@ٱ:5 BAHRS rotation from veh to nav: [[0.761932,-0.639368,-0.103286],[0.647550,0.754950,0.103581],[0.011749,-0.145805,0.989244]]:Ha?up`? (?H?@?¿@?i:F>I:];8YNMByN Ii%Mb@Mb@Mb@!!!! !9%x?!rh?:vY%K7?y%l=%Լ% A%@ %A)%A!Y%AbD=VD=kyMo%MF=ٔMQ-U>9U ?YU ?=UFyU=EEe EeEaEa"EeCJ;*Ee:VEaZEaam@am@am@am@uEu>yQ 5W5}?Q 9W5}g )}?BY9?Q E:yZ?Q I@}fDI};i}<;}W5yBɮ%AԙjEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddYjdYZd]Z@DBɢ/) i I A,lB?AB6}>B6CB6'IB6fBB6 =B4B6DB6m;B6+EBd>B>4?BuFٱBq JAHRS rotation from veh to nav: [[0.762151,-0.638871,-0.104739],[0.647286,0.755005,0.104819],[0.012113,-0.147684,0.988960]]BHc?q+к ? )? iպ?Έ? N¿`?iBd>IB|];BCYRIByRIbD^VD^y%C%%M=ٔ-nQ-->9-"?Y-"?=-Fy-=E5bE5>9Q 5EW5=?Q 9MW5=)=9BYIyMZ?Q IM@=pDI=B:i=:=jW5yUBɮU%AYDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdJZ@EBɢ^) ;i)Wiiw<(y fg,FB?A2s>24?25Lٱ2O :AHRS rotation from veh to nav: [[0.762482,-0.637966,-0.107795],[0.646888,0.754905,0.107952],[0.012505,-0.152043,0.988295]]2H@Af?`8jwO?/(?¢?Z?&vÿ@?i2s>I2];0YBCByBIbDNVDN:yVڼ%VR=ٔVQ-V>9XYX=ZFyZ=EZE^>`Q 5fW5b?Q 9fW5b%)b2BYdyfQZ?Q If@byDIb:ib:bW5ylɮn%AlDNOT Ignoring new targets: 59.38 m.hh*h"h h g f f fdddjdZd  [@FBɢڸ) i)exioTiv<\{ ,"B?A2!>2L3?2aRٱ2* :AHRS rotation from veh to nav: [[0.763006,-0.636856,-0.110618],[0.646264,0.755001,0.110977],[0.012840,-0.156164,0.987648]]2Hj?aoQ`1?(?h?K? 0ÿ@Ϛ?i2!>I2X];2CYF;ByFIiMb@Mb@Mb@ 9"~?bX9ȶ?:vY3?yE=TA@ dA)dAYfAԱbDVDkyE %M,=ٔU3Q-U>9QYQ=UFy]=E]ٺE]>aQ 5mW5eo?Q 9mW5ep)e-BYuo5?Q Eu:yuS?Q Iu@eDIe;ie`;e W5y}Bɮ}h&AkEDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd([@GBɢ9) i)1i!iqv<|;II@ @@ 1@AaAeAABiBiBmIBmVBBm =BiBiBm8m;Bm+EB!B!B!B% =B% =C%v5 ^A 8<E  E !E $E "E E;*E :VE 4ZE BE a 2E a JE U9 y,C?AY6ByI -4<-bD1VD1yMۼ%Mg=ٔMQ-M?9U ?YU ?=UFyU=EUE]?aQ 5mW5e&ʼ?Q 9mW5e)e*BYiyiQ Im@eDIe:ie :e W5yyɮ}&AyDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd.>[@颕HBɢGֻ)  i)顙i7iMv<%;IIa@i @i@m4@i@q@q9^Ar;q A I I O >},,C?A 2K'>2$j3?2Sٱ2s' >AHRS rotation from veh to nav: [[0.764238,-0.634653,-0.114698],[0.644805,0.755458,0.116232],[0.012882,-0.162787,0.986577]]2H t?@O\`>?,?c? a? 1Ŀ` ?i2K'>I2`];2CYF9ByFIEE EEEE-EA"EEmR;*EE:VEEt4ZEAaM@aM@aM@aM@ieMb@Mb@Mb@aaaa a9e/$?(\µ?I +Ye&1?ye=e94eAa eA)aaYeAbD}VD}y<<%F=ٔոQ->9Y=Fy=EE>Q 5W5ڼ?Q 9W5E)'BY2?Q E:yQ?Q I@DIE;i;W5yBɮ>&AcE5DNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd4Z[@5IBɢ=Iʻ)9 =i9)=9AiE䆼iAMbuB] z>BY B] IB] GBB] =BY B] DB] m;B] }+E,5C?A2͸>223?2aUٱ2* :AHRS rotation from veh to nav: [[0.764780,-0.633647,-0.116631],[0.644159,0.755653,0.118523],[0.013030,-0.165773,0.986078]]2Hy?F۽?N.? W?? 8ſ`?i2͸>I27];2C@YF:ByJI HHbDR VDR:2yZg;%ZW=ٔZr̹Q-^>9^"?Y^"?=bFyb=Eb=Eb>dQ 5jW5f鼊?Q 9jW5f3)f$BYlynaQ?Q In@fDIf:if:fW5yaɮe3&AaDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdr[@-JBɢ5&̻)1 5pi1)=99i=iAE(u,~OC?A2!>2 3?2 Oٱ242+ :AHRS rotation from veh to nav: [[0.765018,-0.633349,-0.116688],[0.643884,0.755766,0.119290],[0.012637,-0.166393,0.985979]]2H{?dD@G߽@?=/?`ȉ?c?[Lſ#?i2!>I2l>];2CYF9ByFILNAAbDRVDRNyVT%ZM=ٔZ:Q-Z>9XY\=^Fy^=E^nEb>`Q 5fW5b?Q 9jW5b)b!BYhyjHQ?Q Ij@bDIb:ib:bvW5ynBɮrc&ArdE| DNOT Ignoring new targets: 59.38 m.h h*h"h hgfffdd!d!jd!Zd%[@QɢULӻ)Q UiQ)mi86ibu<{;II9@ @@/@1YE}  EyEyEy"E}D;*EyVEyZEya@a@a@a@^A;Aa Iq ԁ I O >,iiC?A6b>63?6Jٱ6.a+ >AHRS rotation from veh to nav: [[0.765210,-0.633138,-0.116576],[0.643662,0.755904,0.119620],[0.012385,-0.166570,0.985952]]6H@|?B׽?@]0?@e?`)]?)Rſ?i6b>I6 ];6CYJ3ByJIiMb@Mb@Mb@ 9n?ʡE?~jthYV.?y=D&A@ )AYfAbD5VD5kyE%EA=ٔEc:Q-E>9IYI=MFyM=EU 6EU>YQQ 5eW5U ?Q 9eW5UX)UBYmr/?Q Em:ymCO?Q Im@UDIU:iU:U'W5yqɮu&AyDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffBdddjdZd¥[@KBɢ5) B B B B  =B B B l;B b+EԱ^A C;A zA Aa Iq I O >E  E E *E "E F;*E L:VE (N4ZE BE `22?2$Iٱ2+ :AHRS rotation from veh to nav: [[0.765842,-0.632442,-0.116205],[0.642912,0.756545,0.119596],[0.012277,-0.166302,0.985999]]2H Ɓ?`<?`5? ߝ?t$?^IſL?i2)>I2\;0YF;ByFIIJ<)Jp;bDn VDn:2yE=%EJ=ٔEN9Q-M>9IYI=MFyM=EUEU>YQ 5eW5]?Q 9eW5])]BYaymO?Q Im@]DI]:i]-:] W5yu Bɮu|&AqDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd_[@Թɢăѻ) pi)uiit<2{;II 9@ @@J0@^A;A .AI Iy O >9 ,C?AYDByIi Mb@Mb@Mb@     9 Q?sh|??{GztY \/?y = ף A @ A) zA Y A %p9] ?Y] ?=]Fy]=E]Ee>aQ 5mW5en,?Q 9mW5eG)eBYu0?Q Eu:yuP?Q Iu@eDIe ;ie ;e$W5yɮ9&AeDNOT Ignoring new targets: 59.38 m.haha*hi"hi higififqfuBdqdqdyjdyZd}`[@颭LBɢ) i) 顱i็iiGt<;IIAe9@a @a@eO0@a@i@iq^A vт;ԡ A ؟AB >B CB IB LBB =B B DB l;B ]+EIA IQ Oe >!,<C?A2Ǝ>2ߝ2?2"Eٱ201+ :AHRS rotation from veh to nav: [[0.766253,-0.631982,-0.116001],[0.642427,0.756911,0.119893],[0.012032,-0.166390,0.985987]]2H`$?19@6Ž?8?`M?1?ELſ3?i2Ǝ>I2k\;2CYFTByFIbDNVDNNyVߴ=%Vh=ٔZ5:Q-Z>9Z"?Y^"?=^Fy^=E^E^>`Q 5fW5bx:?Q 9fW5b)bBYhyjP?Q Ij@bɏDIb;ibr;b'W5ynBɮno%Ar\EDNOT Ignoring new targets: 59.38 m.h h *h "h  h gfffdddjdZd@[@IɢE) n ,^C?Aɰ;:`>:2?:Dٱ:* FAHRS rotation from veh to nav: [[0.766478,-0.631843,-0.115263],[0.642158,0.757259,0.119127],[0.012015,-0.165325,0.986166]]:H?`8@聽`?x;? ?[?`)ſ૎?i:`>I:b\;:CYMRByMIYYbDeVDe1yu%u1=ٔu8Q-}>9yYy=}Fy}=EGE>Q 5W5L?Q 9W5)BYyP?Q I@ԏDIiD;idE;+W5yɮ}%ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd \@MBɢ b)! -+Q /,C?A2!>2f2?2nAٱ2 }( :AHRS rotation from veh to nav: [[0.766792,-0.631676,-0.114083],[0.641786,0.757733,0.118116],[0.011833,-0.163787,0.986425]]2H?@6`4?X??I2\;0@BjAiBuI@@IFCiFtUA DD)DH J=r@HHHLLIL)LiL)PIRpkAPP PTVjATiTTiTViA)X Z63FIXYXYEbByE$IiEMb@Mb@Mb@AAAA A9EZd;O?B`"۹?YE~*?yE=EE=AA EzA)EAAYE\Au@AqbDuVDu:2y=%I=ٔ9Q->9Y=Fy=EE>Q 5W5(\?Q 9W5&)BYr,?Q E:yiX?Q I@܏DI ;im ;+/W5yBɮ!%A]EDNOT Ignoring new targets: 59.38 m.hh*h"h hgfff4BdddjdZd })\@!ɢ%H)!) -.=i))5PG11i5vi9=!s<=y}1;I9IA9@ @@/@@ =@ =AA?AB>BCBIB[BB =BBDBl;Bh+EY^A- #2?;ԁ I I O >Da De 4=E  E E ,E "E M;*E :VE g4ZE BE 2[]2?2%Aٱ2!( >AHRS rotation from veh to nav: [[0.766886,-0.631547,-0.114162],[0.641674,0.757808,0.118243],[0.011837,-0.163934,0.986400]]2HU?59 ?`??-E?=?@Ŀ?i2 >I2;\;2CY`By!IbDVDNy}?%}]=ٔoQ->9Y=Fy=EйE>Q 5W5j?Q 9W5@)BYy_X?Q I@DI>;i;e2W5yɮ3%ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZd A\@eŀGyXt9Y3^AiɢuZൺ)q up=iq)u1Mqyi}iyr<a*;IIԉE9@A @A@A@AԹ^Am 2;Aq zAq I! IY O >?,gD?AR>R?^2?R5$FٱR)` jAHRS rotation from veh to nav: [[0.766875,-0.631479,-0.114616],[0.641682,0.757778,0.118390],[0.012093,-0.164338,0.986330]]RH@>?5Wਈ?`??N?_Ĉ?  ſ?iR>IR\;RCY}fBy}(IE  EE+E"EF;*E:VE [4ZEa@a@a@a@ieMb@Mb@Mb@aaaa a9ei|?5?X9v?{GztYe1?ye=eףeAe@ eA)edAaYe AbD}VD}ky<%:=ٔnQ->9Y=Fy=E8E>Q 5W5z?Q 9W5 )BY{4?Q E:y^?Q I@DI ;i" ;:6W5y Bɮ+%ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfff.BdddjdZd3]\@!ɢ-T#)) -J=i))5,11i5f i9=Rr<9I9IA@ @@/@^A ] ;I I O >I B >B B .IB kBB =B B B l;B c+EBmCBmCi߹ I߽ ABm˔CBm =Bm =Cm˄5i ,C8D?A2S>2H2?2ӝGٱ2Jd( :AHRS rotation from veh to nav: [[0.767086,-0.631292,-0.114233],[0.641429,0.758073,0.117875],[0.012183,-0.163693,0.986436]]2H?3`> ?"B?-??Ŀ?i2S>I2\;2CYFpByF5IbDNVDNy_=%f=ٔQ->9Y!=%Fy%=E%\rE%>)Q 55W5-?Q 95W5-)- BY9y=^?Q I=@-DI-;i-;-X9W5yAɮM$AIuDNOT Ignoring new targets: 59.38 m.hqhq*hq"hq hqgqfyfyfydddjdZd`t\@颱ɢ(:) l=i)[W项i[iq<l;IIq@q @y@}0@y@@fAIE EE&E"EQ;*Eg:VE4ZEBEȥԡ Q,RD?AYyBy @IbDVDky-(2=%-I=ٔ-Q-->91Y1=5Fy5=E5E=>AQ 5MW5E?Q 9MW5E;)E BYIyIQ IM@EDIE:iE9:E {,@kD?Aɰ6>6AW2?6Oٱ6(w& FAHRS rotation from veh to nav: [[0.766938,-0.631614,-0.113444],[0.641596,0.758204,0.116112],[0.012676,-0.161836,0.986736]]6H@Š?@.6 ?4C??? ĿX?i6>I6c];4YV}ByVDIiMb@Mb@Mb@ 9i|?5?On?y&1Yy>`eA3@ A)AYAbDVDy<%@=ٔ뗺Q->9Y=Fy=E+ :E>Q 5W5৽?Q 9W5)BY5?Q E:yf?Q I@ DIq ;i ;@W5yɮ$A-DNOT Ignoring new targets: 59.38 m.h)h1*h1"h1 h1g1f9f9f=YBd9dAdAjdAZdEH\@qɢu,F);)y }d=iy)}\zyyi})i8q<|";II)@) @)@-4@) BE<AE<BM>BMCBMGIBMBBM =BIBMDBMl;BMq+E1^AIEM  EM EM 'EI "EM [I;*EM :VEM '4ZEI BEM Y c!,ԅD?A:P>:$A2?:ЀOٱ:& BAHRS rotation from veh to nav: [[0.767155,-0.631408,-0.113124],[0.641337,0.758466,0.115830],[0.012665,-0.161410,0.986806]]:H@? 4Յ? ZE???`Ŀ?i:P>I:P];8YJByJHIbDVVDVy^+<%^^=ٔ^8Q-b>9b ?Yb ?=bFyb=EfvpEf>hQ 5nW5j?Q 9nW5j)jBYpyrf?Q Iv@jDIj`F;ijG;jCW5yzBɮz*$AzVEDNOT Ignoring new targets: 59.38 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5\@Yɢe l;)a e=ia)e)uiiimTiiuYp ',FD?An>n/2?n=Pٱn& zAHRS rotation from veh to nav: [[0.767332,-0.631092,-0.113688],[0.641124,0.758542,0.116509],[0.012710,-0.162289,0.986661]]nH@?1@?E?ӽ??@Ŀຒ?in>Ings];nCE  E E+E"EF;*E:VE [4ZEa @a @a @a @Y%By%KIiMb@Mb@Mb@ 9gfffff?S㥛?y&1Y33?y$>A@ A)zAY\AbDVD1y;%8=ٔԸQ->9"?Y"?=Fy=EI#E>Q 5 W5Ž?Q 9 W5)BY7?Q E:y}j?Q I@DIq ;i ;GW5y!ɮ%$A!ԑDNOT Ignoring new targets: 59.38 m.hh*h"h hg f ffTBdddjdZd\@颉ɢG;) =i)zo顱i i$=p< :II@ @@4@^A ;BM >BI BM YIBM BBI BM ADBI BM #m;BM +EA I I  O% >-,UD?A2֫>2h,2?2t(Rٱ2s( :AHRS rotation from veh to nav: [[0.767356,-0.630878,-0.114707],[0.641093,0.758406,0.117563],[0.012827,-0.163750,0.986418]]2H.?&0@m] Ճ?D??@D?@Ŀ?i2֫>I2{,];2CYFByFQIIJ%=)J=bDNVDNyV<%Va=ٔZ4Q-Z>9XYX=ZFy^=E^E^>`Q 5fW5b8ӽ?Q 9fW5b)bBYhyjuj?Q Ij@b$DIb:ib:bJW5yn Bɮn$ArWE DNOT Ignoring new targets: 59.38 m.h h *h "h  h g f ffdddjdZd`s\@ɢn;) \=i):jisilo<]:III ) @ @@/@E EE(E"E,K;*E:VEc44ZEBEL4,0hD?A 2Z>22?2Wٱ2w+ >AHRS rotation from veh to nav: [[0.767516,-0.630289,-0.116849],[0.640894,0.758243,0.119678],[0.013168,-0.166742,0.985913]]2H~?T+齿3?C?6??Wſ`?i2Z>I2,];2CYFByFeI LN<bDRVDR1yZ6=%ZJ=ٔZ\Q-Z>9^ ?Y^ ?=^Fy^=EbU%Eb>dQ 5jW5f$⽊?Q 9jW5fz)fBYhyjYj?Q Ij@f-DIf :if[:fiNW5yrBɮr#ArME DNOT Ignoring new targets: 59.38 m.h h *h "h hgfffddd!jd!Zd% U]@IɢU;)Q U >iQ)URbYYi]iaevwoN!2?N+]ٱN8* bAHRS rotation from veh to nav: [[0.767547,-0.630356,-0.116287],[0.640849,0.758470,0.118468],[0.013523,-0.165452,0.986125]]NH?+ Ľց?cE?S??-ſ`V?iNI>IN \;NCYnBynQIieMb@Mb@Mb@aaaa a9e|?5^?(\?I +Ye2?ye.>e9e&Aa ezA)eAaYe3AbD}VD}02y%==ٔWQ->9"?Y"?=Fy=EE>Q 5W5?Q 9W5)BY?8?Q E:y m?Q I@7DIj:i]:.RW5yBɮ#ANEB*** querying acoustic contact ***i iDNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdF+]@ NBɢ ܀;)  =i))5 \11i5|i9=}n<=݋:I9IA@ @@@AA@AB>BCBfIBBB =BBDBGm;B+Ee2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.^Am ?B:Au >Au >! E5  E5 E5 *E1 "E5 M;*E5 :VE5 (N4ZE1 BE5 ϱA,E?A2>2+2?2+hٱ2 & :AHRS rotation from veh to nav: [[0.767349,-0.630910,-0.114582],[0.641074,0.758763,0.115343],[0.014170,-0.161964,0.986695]]2H?`i0EU?G??` ?;Ŀ@?i2>I2\;2CYFByFVI HHbDNVDNkyVp<%VZ=ٔZQ-Z>9XYX=ZFyZ=E^FQ:bDAT read: fBDAT read: Tx time:05:20:19.1744 f$Ping request sent.fAQ 5MW5E?Q 9MW5E )E٦BYIyM.m?Q IU@E@DIE[:iE:EUW5yɮ#ADNOT Ignoring new targets: 59.38 m.hh*h"h hgfffdddjdZdD]@IɢM[;)I M=iQ)UC+Viikn<L:IIe>ie>)i@i @i@m0@i@u@u@u@uQ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251196A .Aԑ I I O >OG,< E?A2>2F2?2oٱ2% :AHRS rotation from veh to nav: [[0.767082,-0.631252,-0.114485],[0.641383,0.758640,0.114424],[0.014623,-0.161201,0.986813]]2H?`73N5? F?J? ?`=Ŀ@?i2>I2S];2CYFByFRIEr Er Er(Ep"ErL;*Er:VErc44ZEpav@av@av@av@i-Mb@Mb@Mb@)))) )9-I +?ʡE?S㥛Y-94?y--2>-/ݼ)) -A)))Y-Ay@AbDVD1y4n%7=ٔOQ->9 ?Y ?=Fy=EJp:E> Q 5W5 ?Q 9W5 ||) ϦBY9?Q E:ym?Q I@ JDI ~ ;i  ; [YW5y!ɮ%#A!MDNOT Ignoring new targets: 59.38 m.hIhI*hI"hQ hQgQfQfYf]_BdYdYdajdaZde`^]@颕OBɢ;) L=i)P顙i}i'n< ;IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503595M9@I @I@M1@IԡAIIOc>B B CB lIB BB =B B B ^m;B +E  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919N,:E?AFC>FP2?FyٱFG' RAHRS rotation from veh to nav: [[0.766976,-0.631125,-0.115885],[0.641495,0.758444,0.115094],[0.015253,-0.162614,0.986572]]FH?`-2@ ?,E?v?0=? Ŀ?iFC>IFR];FCYZByZMIbDbVDb0yj涼%j^=ٔjQ-n>9lYl=rFyr=ErI9Er>tQ 5zW5v3?Q 9zW5vv)vǦBYxy~m?Q I~@vSDIv;iv;v\W5yBɮ#AOE-DNOT Ignoring new targets: 59.38 m.h)h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE@ v]@qɢul;)q u8=iy)}*Kyyi}im<~;II@ @@4@A1zA1E EE'E"E*E:VE'4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007802- GE(hAYz9(hAYbAy}?fAiy T,TE?A2>2?2?2ٱ2* :AHRS rotation from veh to nav: [[0.767135,-0.630556,-0.117913],[0.641293,0.758347,0.116845],[0.015742,-0.165252,0.986126]]2H]?@-@/ y?aD? ??&ſW?i2>I2];0YBByFLIIJ=)Jp;bDNVDNyrG %rI=ٔvQ-v>9tYt=zFyz=Ez%Ez>|Q 5W5~ ,?Q 9W5~p)~BY y m?Q I @~\DI~:i~:~`W5yɮ#AEDNOT Ignoring new targets: 59.38 m.hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZdU]@颅PBɢܔ;) =i)$E顉i|i]m<:IIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259580YM9@I @Q@U/@QԉA؟AIIOK>E  E E *E "E [I;*E :VE (N4ZE a@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932 [,†nE?AR>RM2?RٱR* ^AHRS rotation from veh to nav: [[0.766990,-0.630555,-0.118854],[0.641451,0.758182,0.117047],[0.016308,-0.166013,0.985989]]RH`/?-3mņ?@C?`?&?`?ſ`8?iR>IR];PYfByfHIiMb@Mb@Mb@ 9K?333333?S㥛Y^:?y>A A)Y3A bDVDy%>=ٔQ->9"?Y"?=Fy=E`:E>Q 5W5?Q E:yd?Q I@fDI ;i ;cW5yBɮ#AFE DNOT Ignoring new targets: 59.38 m.h h*h"h hgfffLBdd!d!jd!Zd%@]@UQBɢUTU;)Y ]=iY)]@YYi]= iaelBBfIBBB =BBB6m;B+EB]CB]CBYB] =B] =C]ē6Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762869^A5] ;A=>A=> E  E E )E "E CJ;*E 1:VE FA4ZE BE 9 (b,$dE?A2a>232?2ٱ2q=- :AHRS rotation from veh to nav: [[0.767246,-0.629963,-0.120337],[0.641145,0.758159,0.118864],[0.016355,-0.168351,0.985591]]2HF?(iξ@B? B?@m?L?ſ?i2a>I2v];2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014838YVvByV;IbD^VD^ yfYT%fZ=ٔjQ-j>9hYh=nFyn>EnsEn>pQ 5vW5rK?Q 9vW5rrd)rBYxyzc?Q Iz@roDIr:ir:r&gW5y|ɮ#A-DNOT Ignoring new targets: 59.38 m.h)h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=`]@ɢ 2d ;)  =i ) < iiQ]l<]:IYIY @  @ @ /@ @@@@9]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267073y A .AI I O- >0h,WZE?A>>>,2?>4(ٱ>, FAHRS rotation from veh to nav: [[0.767309,-0.629922,-0.120148],[0.641065,0.758292,0.118442],[0.016498,-0.167905,0.985665]]>Hˍ?@Q(¾ ?C? =R?@? }ſ?i>>I>p];>CYRsByR8I TTE^ E^E^'E\"E^O;*E^g:VE^'4ZE\ab@ab@ab@ab@iEMb@Mb@Mb@AAAA A9EI +?E`EAA EA)AAYEAbD]VD]1ye i%m@=ٔmcQ-m>9u ?Yu ?=uFyu>E}<{E}>Q 5W5[?Q 9W56^)BY8?Q E:yjc?Q I@yDI ;i ;jW5yBɮ:$AGEDNOT Ignoring new targets: 59.38 m.hh*h"h hAgIfIfIfMOBdQdQdQjdQZdU]@RBɢM:) =i)^9imil<:IIIeA)gAachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519303y@y @y@}/@yA؟AԑIIOa>Թ B} >By B} YIB} BB} =By B} DB} l;B} +EU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770856XTn,&E?A2;>2d1?2nٱ2+ :AHRS rotation from veh to nav: [[0.767868,-0.629436,-0.119118],[0.640407,0.758897,0.118130],[0.016043,-0.166992,0.985828]]2H@`?`V$~6~?H?=?m?_ſ?i2;>I22];2CYFpByF5IJAAHhbDnVDnkyv6%vT=ٔvu:Q-v>9z"?Yz"?=zFyz >EzE~>Q 5 W5j?Q 9 W5X)BY y 6c?Q I @DI:ig:=nW5yɮL$AmDNOT Ignoring new targets: 59.38 m.hihq*hq"hq hqgqfyffdddjdZd@]@ɢ:) s=i)~p6i[ti k< Q:I IDzDAAE EEE"EL;*Eu:VEZEBEݡBDAT read: Rx Time:05:20:21.7730 TRx dataTimestamp_ set to:1761542423.160176checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024026A 521?2Flٱ2$c* :AHRS rotation from veh to nav: [[0.767989,-0.629688,-0.116985],[0.640300,0.758991,0.118106],[0.014421,-0.165610,0.986086]]2H^? g&`V}?I?@3I2fH];2CY\yb4IbDjVDj:yrr%rK=ٔr;Q-r>9tYt=vFyv>EvϹEz>xQ 5]W5zz?Q 9]W5zR)zBYYy]3c?Q Ie@zDIzi\E EE)E"E&U;*E:VEFA4ZEa@a@a@a@q DAT read: 05:20:21.7730 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500,-0.14,-0.538, 1.479, 0.018, 0.246, PHS=-0.681, 1.278,-0.271, RAW= 318.6, -3.7, CAL= 317.5, -6.9, ROT= 192.5, 6.9  Ygot valid direction response: 05:20:21.7730 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500,-0.14,-0.538, 1.479, 0.018, 0.246, PHS=-0.681, 1.278,-0.271, RAW= 318.6, -3.7, CAL= 317.5, -6.9, ROT= 192.5, 6.9  PDAT read: Bearing 14.5, -11.6 (Local)  ~Local bearing/azimuth received: Bearing 14.5, -11.6 (Local)  DAT read: Range 11 to 50 : 145.8 m (Round-trip 194.5 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages.% bdirection in FSK: [-0.969225,-0.214872,-0.120137]% Fpublishing direction and range infoy  Z0w˿rjƹIY C  ) EI V.i ? @ A QS@ Ϣ) JW@I Ϣ= Fӄ^SԿ :'$t U4) _=I k;i Ϣ= ԡ f{,E?A2V)>2&1?2Gٱ2( :AHRS rotation from veh to nav: [[0.768000,-0.630152,-0.114387],[0.640333,0.758918,0.118390],[0.012207,-0.164169,0.986357]]2Hu?4*@vH}?I?N?`?`ſ;?i2V)>I24];2CYV]ByVIIb=)b=yiMb@Mb@Mb@ 9n?q= ףp?S㥛Y6?y=/ݼ&A@ zA)dAYAbDVDky=%E6=ٔE;Q-E>9AYI=MFyM>EM-8EM>QQ 5]W5U ?Q 9eW5UIL)UBYe8?Q Ee:yeX?Q Ie@UDIU:iU:UuW5ymBɮun$Au>EiitE?AJiCRiCjiI@b7?a~[X+?g>m1RZ0w˿rjƹIZik;biϢ=jFZ(Uπ\0 +Z8| 㿡ĤWkgU2i:i"i>a?*i0BiKBiЖJ,?iiiCi0{@ addTargetRange:: Added new target pos. range: 145.800003 m, deltaT: 120.547328 s, deltaX: 86.100006 m, approachRate: 0.714242 m/s, rangeRepo size: 4  Added new target pos. range: 145.065857 m, bearing: 233.278349 deg, lat: 36.779344 deg, lon: -121.859622 deg, deltaT: 120.547328 s, deltaX: 85.688431 m, approachRate: 0.710828 m/s, posRepo size: 4 FNOT Ignoring new targets: 145.07 m.Completed rollout at range: 145.80 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE:h?hӠv@h*h"h hgfff Bdddjd9b@Zd ?颵SBɢ{ᳺ) i%>A)A)B5>B1B5GIB5BB5 =B1B1B5m;B5+Eԡ9@ @@_0@^A "5;E  E E +E "E mR;*E &:VE [4ZE BE b, F?AB|>B2?B$<#ٱB& JAHRS rotation from veh to nav: [[0.767611,-0.631160,-0.111403],[0.640839,0.758537,0.118101],[0.009963,-0.162047,0.986733]]BHD?@v2넼 ?E?;?`ng? ĿP?iB|>IB.$];BCYRWByRI Z49hYh=jFyn>En:En>pQ 5vW5r?Q 9vW5r(G)rBYtyv Y?Q Iz@rDIr;irU;rxW5y~Bɮ~$A~?E1M Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqM%Entering Terminal tracking update period 2.000000 s sec at 145.800003 m (mode 1.000000 count ).qM%M%h1h1*h1"h9 h9g9f9f9fAdAdAdAjdAZdM?qɢ}γ )y } 9 ʋ,A#F?AbEFA4jE>4rEg/EB EBEB*E@"EBM;*EB:VEB(N4ZE@aF@aF@aF@aF@n >nP\2?neٱn`' vAHRS rotation from veh to nav: [[0.766928,-0.632146,-0.110506],[0.641688,0.757453,0.120420],[0.007580,-0.163264,0.986553]]nH`?@:#J ?=?Ӿ? ?Ŀ ؑ?in >InB];nCY~XByIiMb@Mb@Mb@ 9|?5^?J +?MbY-?y= A)YAbDVDk2y$;%==ٔS;Q->9Y=Fy>E$;E>Q 5W5m?Q 9W5_A)BY/?Q E:yU?Q I@DI;i ;|W5yɮ$Ajj@MMB*** querying acoustic contact ***i ih h *h "h hgfffBddd!jd!Zd%P?ɢV) `B B 4IB pBB =B B B _m;B +E *DAT read: user:360> % BDAT read: Tx time:05:20:23.9744 % $Ping request sent.% ԑ ,=F?AYSByI bD VD βy%D=ٔ%Q-%>9% ?Y% ?=%Fy% >E-E->1Q 5=W55?Q 9=W55;)5yBY9y9Q IE@5DI5:i5:5DW5yMBɮM%AM@ErjaMe1Neqhyhy*hy"hy hygyfffdddjdZd ?9ɢ=0)9 =9i9)E91AAiEǪiM>ImbD>IiIqyE  EE'E"EC;*E:VE'4ZEBE c,|WF?A2p>2:3?2Gٱ2!3$ >AHRS rotation from veh to nav: [[0.764760,-0.635465,-0.106428],[0.644298,0.755442,0.119112],[0.004708,-0.159663,0.987160]]2Hx? U>? ,?!~?Hs?@oĿ і?i2p>I2[];2CYF?ByFILLbDRVDRܲyZٽ%Ze=ٔZ9\Y\=^Fy^$>Eb[<Eb>dQ 5jW5fsɾ?Q 9jW5f7)ftBYlynV?Q In@fDIfl:if;fdW5ypɮr%Atzj|1N~~rCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1M Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalhh*h"h hgfffd!d!d!jd!Zd%Y?QɢUŧ)Q UiYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503121)2iѥi|>T܂>II @ @@/@^AH= E E E(E"ECJ;*E:VEc44ZEa@a@a@a@IIO%o>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754837Y eƛ,IcqF?A:p>:3?:e-ٱ:Vd BAHRS rotation from veh to nav: [[0.763932,-0.637163,-0.102137],[0.645282,0.755371,0.114133],[0.004430,-0.153097,0.988201]]:H!r?c % &?`+?7?%r?`ÿ X?i:p>I:=];:CYJGByJIiMb@Mb@Mb@ 9uV?K?y&1Yr(?y^=`eA3@ )AY AbD5VD5kyE=%EA=ٔM+:Q-M>9IYI=MFyM(>EU@G;EU>YQ 5eW5][پ?Q 9eW5]1)]nBYm*?Q Em:ymU?Q Im@]DI]:i]/:]W5yuBɮu%A}AEhh*h"h hgfffBdddjdZd`>N@额RBɢ) Pi)74顡iNiFY> >II)BA<B>BCBIB[BB =BBDBm;B+Ee9@a @a@a@a@m=@m> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011082^A}=A>A>YIIO>ԁ E  E E E "E Q;*E :VE ZE BE ȥ:z3?:ⓦٱ:> jAHRS rotation from veh to nav: [[0.764128,-0.637780,-0.096670],[0.645045,0.756656,0.106718],[0.005084,-0.143903,0.989579]]:Hs?he5?@6? Q?`vt?`jk¿?i:H>I:+];:CYrKByrIIv=)vH?bD~VD~ܲy <% N=ٔ 6غQ- >9Y=Fy,>EhKE>!Q 5-W5%=辊?Q 9-W5%h,)%jBY)y-U?Q I-@%ʐDI%:i%:%W5y=Bɮ=$A=8Ehaha*ha"ha hagafififididqdqjdqZdux@颡ɢy) mi)A4顩i9i4{>III)aAM9@Q @Q@U/0@Qԉ^Au=IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912O> ب,*F?AE: E:DE:.E8"E:mR;*E:h;VE:ـ4ZE8aJ@aJ@aJ@aJ@\ HC>  x2? ^ϻٱ ' %AHRS rotation from veh to nav: [[0.766663,-0.634529,-0.097988],[0.642019,0.759149,0.107260],[0.006328,-0.145143,0.989391]] H ?N@k?J?au? y?@¿`?i HC>I \]; Y5DBy5IiMb@Mb@Mb@ 9w/?kt?I +Y&?y =94A@ dA)YA p<<bDVD0y%==ٔo9Y=Fy0>EJE>Q 5W5?Q 9 W5&)eBY a(?Q E :y S?Q I @ӐDI;iL ;TW5yBɮ%A5B*** querying acoustic contact ***i1 i1hAhA*hA"hA hAgIfIfIfUBdQdQdQjdQZd] L@ɢ,뒻) Ҽi))-p6))i-%i5Ξ>11I1I9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7628609@ @@O0@^A>II1O=Q>B >B CB IB QBB =B BDB DB m;B +EBmCBiBmɕCBm =Bm =Cm@S69  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014926,tF?ARQ>R$0?R89ٱR/ fAHRS rotation from veh to nav: [[0.771197,-0.627756,-0.105721],[0.636543,0.762577,0.115279],[0.008253,-0.156198,0.987691]]RH@?^?g?傽?`?@Mÿ*?iRQ>IRi];RCYnABynIbDvVDv:2y~+%~[=̨ٔQ->9Y = Fy 4>E E >Q 5%W5?Q 9%W54")bBY!y%$Q?Q I-@ېDI},;i-;W5y1ɮ54%A1hh*h"h hgfffdddjdZd @QBɢ4w)! %i!)%7!!i-ёi-l=)1I1I1DqzDu@AE EE'E"E*E:VE'4ZEBEI IO-,>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841qԡ Y,qF?A4<ɰ4<6>6z&.?6)|/ٱ6!2 >AHRS rotation from veh to nav: [[0.777355,-0.617982,-0.117547],[0.628970,0.766734,0.128510],[0.010711,-0.173831,0.984717]]6H?` ?@?s?i?@ƿ͂?i6>I6];6CYF?ByFIbDPVDPyV3%ZO=ٔZU̻Q-Z>9XY\=^Fy^8>E^ʼEb>`Q 5fW5b?Q 9jW5bG)b^BYhyjwN?Q Ij@bDIbK:ib:b W5yrBɮrh%Ar9Eh h *h "h  h g fffdddjdZd%4@IɢMԮ)I U8iQ)U9QQi]i]eֻaaIaIaԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519002@ @@/@^AaZ>IIIYOm>ԡE EE%E"EQ;*E:VE 4ZEa@a@a@a@m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770904 ,F?A2">2*?2aٱ2I :AHRS rotation from veh to nav: [[0.785237,-0.605038,-0.131654],[0.619044,0.771809,0.145244],[0.013734,-0.195550,0.980598]]2H ?@x\4? ?V?} ?@ɿ@a?i2">I2];2CYvIByvIiuMb@Mb@Mb@qqqq q9uy&1?MbX?9Y=Fy=>E(E>Q 5W57&?Q 9W5)ZBYR'?Q E:ydP?Q I@DI;i ;՘W5yɮ%Ahh*h"h hgff f Bd d d jdZd@@=PBɢEw)A EdiA)E(~:IIiM;iMǽQIIAQAQB]y>B]CB]IB]LBB] =BYB]DB]In;B],E@ @@@BDAT read: Rx Time:05:20:26.6105 TRx dataTimestamp_ set to:1761542427.949066checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024883^A+>A؟AII O>1D =D <E + E E E "E b;*E x:VE ZE BE 6,&?6]׌ٱ6/b BAHRS rotation from veh to nav: [[0.795312,-0.588234,-0.146490],[0.605956,0.778284,0.164593],[0.017192,-0.219669,0.975423]]6H2s?.¿@c?`?a??`̿@6?i6`>I6t];6CYJCByJIbDRVDRNyZ%Z[=ٔ^Q-^>9^"?Y^"?=bFyb@>Eb4Eb>dQ 5jW5f4?Q 9jW5fB)fVBYlynK?Q In@fDIf:iff;fW5yrBɮrh%Ar:Eh h *h "h  h gfffddidijdiZdmO@OBɢ") i)װ;iʎi 8  I I9@ @@@a^A9>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531548AA>ԙA I I O > 1,&G?AE# EE&E"E[;*EVE4ZEa.@a.@a.@a.@\\YIByII=)p;i5Mb@Mb@Mb@1111 195"~j?1Zd?QY5S#?y5"=5u5"A5@ 5A)5A1Y5AbDMVDM0y]<%]1=ٔeQ-e>9aYa=mFymE>EmEm>yqQ 5W5uE?Q 9W5u )uOBY%?Q E:yN?Q I@uDIu3;iu1;u"W5yڕBɮ$A1EB*** querying acoustic contact ***i ihh*h"h hgfffTBdddjdZd@ ɢ  pi]DAT read: 05:20:26.6105 LVL= 32752, 30305, 32754, 32755, AGC= 68, IDX= 292,-0.01,-1.023, 1.004,-0.466,-0.180, PHS=-0.741, 1.229,-0.330, RAW= 318.6, -1.8, CAL= 317.3, -4.9, ROT= 192.7, 4.9 mYgot valid direction response: 05:20:26.6105 LVL= 32752, 30305, 32754, 32755, AGC= 68, IDX= 292,-0.01,-1.023, 1.004,-0.466,-0.180, PHS=-0.741, 1.229,-0.330, RAW= 318.6, -1.8, CAL= 317.3, -4.9, ROT= 192.7, 4.9 uPDAT read: Bearing 11.2, -12.1 (Local) u~Local bearing/azimuth received: Bearing 11.2, -12.1 (Local) DAT read: Range 11 to 50 : 174.0 m (Round-trip 232.0 ms) speed -0.8 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.971969,-0.219043,-0.085417]Fpublishing direction and range infoyqW_Xu@ ̿b$ݵY.Cav )DI-=iO?6@ %)z?W@I%=XIP `1 fԿ'Nß qJ4)$B9 B= IB= VBB9 B9 B9 B= n;B= B,E^Am 1>i I A *DAT read: user:361>  BDAT read: Tx time:05:20:28.0259  $Ping request sent. eo,9AG?AY5HBy5IbDEVDEkyUy%UP=ٔYQ-]>9] ?Y] ?=]Fy]I>EaEe>iQ 5uW5mT?Q 9uW5m)mJBYqyyQ I}@mDIm;im@;mW5yޕBɮ$A2Eii -G?AJi-CRi-Cji@b 0euw[Bz, a-RqW_Xu@ ̿b$ݵZi;:bi%=jU[)0yc`5e!Z9q6t16T&c2i:i"iRGV?*iH\Bi^BiiwNinBiCi}@ addTargetRange:: Added new target pos. range: 174.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhZh Added new target pos. range: 173.102676 m, bearing: 230.764385 deg, lat: 36.779344 deg, lon: -121.859679 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhFNOT Ignoring new targets: 173.10 m.RhZh  ProNav pure pursuit: ac range: 173.102676 m, nav range: 151.025146 m, bearing: 226.599179 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 220.793062 deg, new cmd heading: 226.599179 deg. HeadingCmd: 3.954902 target range: 173.102676 and range: 174.00 m.h}@)E3 E7E(E"Ej;*E ;VEc44ZEBEԱ A I I O >˓,W[G?Archecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500372YDByIbD5VD5Jyu%}I=ٔQ->9Y=FyM>EE>Q 5W5+d?Q 9W5)DBYyQ I@DI׆;i?;#W5yɮ$Ajh%FNOT Ignoring new targets: 173.10 m.Rh-Zh5E ProNav pure pursuit: ac range: 173.102676 m, nav range: 151.289932 m, bearing: 226.598656 deg, approach rate: 0.640397 m/s, LOS rate: -0.001261 deg/s, cmd heading: 226.599176 deg, new cmd heading: 226.598656 deg. MHeadingCmd: 3.954893 target range: 173.102676 and range: 174.00 m.hM}@hI*hI"hQ hQgQfQfYfYdYdYdajdaZde?ԑqɢud)q u@iq)}>yyi}i澉I}@I9bE=-4jE=c44rE= 0E@ E0E,E"Eu;*E;VEg4ZEa%@a%@a%@a%@@) @1@1@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753095^A! A- gAzA- gA AU ؟AIa Iq O} >,uG?A;ɰ;2>2K&?2ٱ2z >AHRS rotation from veh to nav: [[0.845210,-0.502996,-0.180598],[0.533543,0.813676,0.230790],[0.030862,-0.291422,0.956096]]2H ? ǿ? ?`?J?`ҿW?i2>I2g];0YFZByFIi]Mb@Mb@Mb@YYYY Y9]+?Pn?{GzY]?y]>]ף]A]@ ]A)]AYY]AbDuVDuk2yd=%G=ٔQ->9"?Y"?=FyQ>E5\E>Q 5W55t?Q 9W5)BB.IBkBBBBBn;BF,Ed)d)jd)Zd- R?]MBɢ]X)]S ߼ e@E. E;E(E"Eye;*E ;VEc44ZEBE} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256517,G?A2פ>2IB ?2ٱ2k >AHRS rotation from veh to nav: [[0.857155,-0.481345,-0.183282],[0.513890,0.823185,0.241418],[0.034669,-0.301119,0.952956]]2Hm?@[޿uǿq?W??+?Eӿ~?i2פ>I2g];2CYF`ByF!IbDrVDrk1yzs=%zT=ٔ~6"Q->9% ?Y% ?=%Fy%U>E%frE%>)Q 55W5-у?Q 95W5-)-5BY9y]9?Q I]@-DI-;i-i;-W5yaɮe$AijhFNOT Ignoring new targets: 173.10 m.RhZh ProNav pure pursuit: ac range: 173.102676 m, nav range: 151.795761 m, bearing: 226.584099 deg, approach rate: 0.621262 m/s, LOS rate: -0.020717 deg/s, cmd heading: 226.592332 deg, new cmd heading: 226.584099 deg. HeadingCmd: 3.954638 target range: 173.102676 and range: 174.00 m.h}@h*h"h hgfffdddjdZd?颱ɢ k) =i):i1ViRBI}@IQ@ @@4@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508622^A 1>ԩ A9 Ia I E ? E 8E *E "E t;*E  ;VE (N4ZE a @a @a @a @O >,rG?AnV?nSٱnW vAHRS rotation from veh to nav: [[0.868687,-0.459896,-0.184062],[0.493867,0.832901,0.249742],[0.038450,-0.307849,0.950658]]nH`H?nݿSǿ ?@ ? ?@?@γӿk?in>Ini];nCYoBy3IiMb@Mb@Mb@ 9y&1?V-?MbY`%?yh>-$A~@ A)AYG AbDVD:y=%===checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761374ٔuQ-u>9yYy=}Fy}Z>ERE>Q 5W5ߖ?Q 9W5)*BY)?Q E:y/5?Q I@(DI{;ib; W5yBɮ#A3EB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 173.10 m.RhMZhM] ProNav pure pursuit: ac range: 173.102676 m, nav range: 152.091675 m, bearing: 226.572320 deg, approach rate: 0.653999 m/s, LOS rate: -0.025984 deg/s, cmd heading: 226.584094 deg, new cmd heading: 226.572320 deg. eHeadingCmd: 3.954433 target range: 173.102676 and range: 174.00 m.hen}@ha*ha"ha hagafffBdddjdZd|@ԩɢ%:)) -=i))-6))i-li5v511I=n}@I9@ @@4@@t>@x>Bt>BBMIBBB =BBBn;B\,E^A 9> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014389 } PExceeded connect timeout, disconnecting.A ؟AI I O >,DG?A2]N>2T>2,ٱ2*Z :AHRS rotation from veh to nav: [[0.879612,-0.439040,-0.183102],[0.473823,0.842730,0.255536],[0.042115,-0.311530,0.949302]]2H%?@9ܿoǿ@S?? Z?` ?ӿ`?i2]N>I2zp];2CYBtByB9IIF=)F>bDNVDNk1yVt<%V_=ٔV-Q-Z?9Z"?YZ"?=ZFyZ]>E^E^?`Q 5fW5b?Q 9fW5b)b"BYdyj5/?Q Ij@b/DIbj:ib@:b W5lylɮr#Apjh  FNOT Ignoring new targets: 173.10 m.RhbZhb} ProNav pure pursuit: ac range: 173.102676 m, nav range: 152.316910 m, bearing: 226.561380 deg, approach rate: 0.673225 m/s, LOS rate: -0.032651 deg/s, cmd heading: 226.572319 deg, new cmd heading: 226.561380 deg. HeadingCmd: 3.954242 target range: 173.102676 and range: 174.00 m.hM}@h*h"h hgfffdddjdZd@T:@E]% E]!E](EY"E]O];*E]:VE]c44ZEYBE]oCa}hAʸ9hAY A Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264463A+w{>i>i @i  @i @m 1@i i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520351^A ԙ AIIO?,#fG?A2]>2T>2Ճ:ٱ2 :AHRS rotation from veh to nav: [[0.889670,-0.419224,-0.180935],[0.454329,0.852275,0.259256],[0.045520,-0.312857,0.948709]]2H@.x?`ڿ(ǿ?@E??jN?Կ[?i2]>I2i];2CYBwByF=I LNbDNVDNyVl?<%V=ٔZ׻Q-Z>9XY\=^Fy^b>E^-E^>`Q 5fW5bo?Q 9fW5b\)bBYhyj)?Q Ij@b:DIb;ib<;bW5ynӕBɮn"Ar+Exjh  FNOT Ignoring new targets: 173.10 m.Rh)Zh)= ProNav pure pursuit: ac range: 173.102676 m, nav range: 152.655182 m, bearing: 226.542141 deg, approach rate: 0.653258 m/s, LOS rate: -0.037070 deg/s, cmd heading: 226.561377 deg, new cmd heading: 226.542141 deg. MHeadingCmd: 3.953906 target range: 173.102676 and range: 174.00 m.hM }@hI*hI"hI hQgQfQfQfQdYdYdYjdYZdeF@DzDE  E E 'E "E V;*E :VE '4ZE a%@a-@a-@a-@9ɢe[;)i m=iq)}]f-顡i BiPeI }@I!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768758 qڼ@ @@4@Iq A A B B B rIB BB =B B B n;B `,EBeCBeCBeʓCBe =Be =Ced5^A 1> BDAT read: Rx Time:05:20:30.6323  TRx dataTimestamp_ set to:1761542431.982342 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024896A! I9 II O] >",8eH?A$JwW>Jh>JSٱJPVnManaging dock network, ignoring radio surface power off ZAHRS rotation from veh to nav: [[0.908363,-0.381090,-0.172182],[0.414983,0.872287,0.258657],[0.051620,-0.306407,0.950500]]JH@P?cؿ ƿ`?@?׍?m?`-ӿ~j?iJwW>IJ];JCY-By-[Ii Mb@Mb@Mb@     9 '1Z?n?/$Y "?y V> , C%A   A) A Y  AbD-VD-k1y5t=%='=ٔ=MQ-=>9AYA=EFyEg>EM EM>IQ 5UW5MOҿ?Q 9]W5M)M BY'?Q E:y?Q I@MDDIM% @qyɢ}J;) >i)%顁i6i%}I}@E E E*E"E*E:VE(N4ZEBE{RDX>RR_ٱRs jAHRS rotation from veh to nav: [[0.916978,-0.362396,-0.166794],[0.395198,0.882290,0.255702],[0.054495,-0.300389,0.952259]]RHW?@~1׿Yſ@J?;?j]??9ӿx?iRVA>IRC];RCYrByroI xxbD~VD~k2y Pz=%  =ٔnQ->9Y=Fym>E-E>!Q 5MW5%t鿊?Q 9MW5%)%BYQyU?Q IU@%ODI%;i%e;%FW5yYɮ]!AYE  EE)E"EX;*EO:VEFA4ZEa@a@a@a@jhFNOT Ignoring new targets: 173.10 m.RhWZhW= ProNav pure pursuit: ac range: 173.102676 m, nav range: 153.289429 m, bearing: 226.491667 deg, approach rate: 0.565965 m/s, LOS rate: -0.047114 deg/s, cmd heading: 226.518620 deg, new cmd heading: 226.491667 deg. EHeadingCmd: 3.953025 target range: 173.102676 and range: 174.00 m.hE^|@hA*hA"hI hIgIfIfIfQdQdQdQjdYZd]m@ɢZ;) %>i)]!iZi Ս11I5^|@I9DAT read: 05:20:30.6323 LVL= 32752, 29809, 32754, 32755, AGC= 69, IDX= 115,-0.28,-1.028, 1.163,-0.014, 0.098, PHS=-1.024, 1.110,-0.156, RAW= 306.1, 0.8, CAL= 304.3, -2.8, ROT= 205.7, 2.8 Ygot valid direction response: 05:20:30.6323 LVL= 32752, 29809, 32754, 32755, AGC= 69, IDX= 115,-0.28,-1.028, 1.163,-0.014, 0.098, PHS=-1.024, 1.110,-0.156, RAW= 306.1, 0.8, CAL= 304.3, -2.8, ROT= 205.7, 2.8 PDAT read: Bearing 2.9, -26.2 (Local) ~Local bearing/azimuth received: Bearing 2.9, -26.2 (Local) DAT read: Range 11 to 50 : 151.6 m (Round-trip 202.2 ms) speed -0.6 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.900001,-0.433141,-0.048850]Fpublishing direction and range info yXܽu쿂-7pۿs!DYCqt )EIoi{?w`@d<@ +H)e@I+H=aO2￷_g~jVD? m2B)!ZIZ,i+H=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@0@9 ^A BA BA BE IBE BBE =BA BA BE n;BE t,Ea AA U *DAT read: user:362> ] BDAT read: Tx time:05:20:32.0744 e $Ping request sent.e },@H?AYByiUMb@Mb@Mb@QQQQ Q9UZd;O?{Gz? ףp= YUj?yU#>UQ8Up'AUh@ Q)UAQYU= AbDuVDuy}&f%%=ٔQ->9Y=Fyr>EE>Q 5W5?Q 9W5ݿ)BY"?Q E:y!?Q I@YDI ;i* ;W5yܕBɮ!A,Eiiim/H?AJimCRimCjimi@bmT,`[ TP-5xRmXܽu쿂-7pۿs!DZimZ,bim+H=jm{8+X{w`J\4h@Zm(s{ (ڪ远5?2imS:im "im"8?*im0Z~Bim Bim?im0Z~iiimCimp~@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 151.600006 m, deltaT: 4.031962 s, deltaX: -22.399994 m, approachRate: -5.555606 m/s, rangeRepo size: 1jhFNOT Ignoring new targets: 173.10 m.Rh z`Zh z` ProNav pure pursuit: ac range: 173.102676 m, nav range: 153.596725 m, bearing: 226.470553 deg, approach rate: 0.715504 m/s, LOS rate: -0.049064 deg/s, cmd heading: 226.491668 deg, new cmd heading: 226.470553 deg. %HeadingCmd: 3.952657 target range: 173.102676 and range: 174.00 m.h%T|@h!*h!"h! h!g)f)f)f-MBd1d1d1jd5@3b@Zd5`?ɢ<) $>i)[iJi㙙IT|@IE] E]"E]'EY"E]>T;*E];VE]'4ZEYBE]!+,YH?A20>2>2Exmٱ2# :AHRS rotation from veh to nav: [[0.932805,-0.326661,-0.152210],[0.355693,0.902429,0.243112],[0.057944,-0.280916,0.957982]]2H?Կ{ÿ??K?Ǫ?ѿɧ?i20>I2n];0YBByBIbDLVDLyRS=%Vn=ٔV+%Q-V?9XYX=ZFyZu>E^E^?`Q 5bW5b ?Q 9fW5bڿ)bBYdyf?Q If@b`DIb:ib :bW5ylɮnE!AlB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 173.10 m.RhcZhc ProNav pure pursuit: ac range: 173.102676 m, nav range: 153.807800 m, bearing: 226.452838 deg, approach rate: 0.591984 m/s, LOS rate: -0.049616 deg/s, cmd heading: 226.470549 deg, new cmd heading: 226.452838 deg. HeadingCmd: 3.952348 target range: 173.102676 and range: 174.00 m.hC|@h*h"h hgfffdddjdZd7?NBɢfaU<) >K>i )(ii%y͢!)I5C|@I1IIUeA)UfAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502372@ @@/@@l>@i>yE$ EE)E"Eg\;*Ej:VEFA4ZEa@a@a@a@^A-9>Աe checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752821A .AI I O > P,ۧsH?A2=2ni>2qٱ2V :AHRS rotation from veh to nav: [[0.940241,-0.308063,-0.145066],[0.335352,0.911629,0.237638],[0.059039,-0.272085,0.960460]]2H`t?Lӿ`¿iv?,?j?`S:?@iѿ@?i2=I2g];2CY^By^IIb%=)bE@E#AA A)EAAYEAbD]VD]:2ymg%m?=ٔu'Q-u>9u ?Y ?=Fyy>EHE>Q 5W5["?Q 9W5ֿ)٥BY %?Q E :y ?Q I @iDI:i<:yW5yBɮ!A-Ejh9EFNOT Ignoring new targets: 173.10 m.RhEǎZhEǎU ProNav pure pursuit: ac range: 173.102676 m, nav range: 154.085037 m, bearing: 226.426242 deg, approach rate: 0.651761 m/s, LOS rate: -0.062413 deg/s, cmd heading: 226.452832 deg, new cmd heading: 226.426242 deg. ]HeadingCmd: 3.951883 target range: 173.102676 and range: 174.00 m.h]|@hY*hY"hY hagafafafm5BdididijdiZdu@i?颙ɢX5<) D>i)'顡iiԱI|@IBs>BBIBځBBBBBn;Bk,E)@) @1@50@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005552^AQ E % E E (E "E O];*E A:VE c44ZE BE 9 8#,H?A2=2k>2Evٱ2S :AHRS rotation from veh to nav: [[0.947159,-0.289505,-0.138115],[0.315073,0.920436,0.231356],[0.060147,-0.262647,0.963015]]2H`!O?@ҿ)*? 7t?`?ˮ?5п?i2=I2γ];0YvByvIbDVDky <%Q=ٔ9Q->9Y%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256812=%Fy%}>E-:hE->1Q 5=W55 4?Q 9=W55iӿ)5ХBYAyE ?Q IE@5qDI5;i5;5W5yMBɮM!AM.EjhquFNOT Ignoring new targets: 173.10 m.Rh}fZh}f ProNav pure pursuit: ac range: 173.102676 m, nav range: 154.320465 m, bearing: 226.401845 deg, approach rate: 0.622741 m/s, LOS rate: -0.064434 deg/s, cmd heading: 226.426235 deg, new cmd heading: 226.401845 deg. HeadingCmd: 3.951458 target range: 173.102676 and range: 174.00 m.h|@h*h"h hgfffdddjdZdv?OBɢ:N<) K>i)ili;I|@I@ @@4@9^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512824i A ؟AI I O >b),p]H?A 6=6r.>6vyٱ6Ä >AHRS rotation from veh to nav: [[0.953801,-0.270015,-0.131740],[0.294191,0.928347,0.227210],[0.060950,-0.255469,0.964894]]6H ? Gѿ`?? 4?`4?@Yп`i?i6=I6<];6CYFByFIbDV VDV2yfy7=%fO=ٔj@Q-j>9j"?Yj"?=jFyn>EnbdEn>pQ 5vW5rF?Q 9vW5rп)rƥBYxyza?Q Iz@ryDIr:ir:r8W5y|ɮ~7!AbE:4jEh=4rE/EU5 EUEU+EQ"EUk;*EU:VEU [4ZEQa@a@a@a@jh!5FNOT Ignoring new targets: 173.10 m.Rhe摺Zhe摺 ProNav pure pursuit: ac range: 173.102676 m, nav range: 154.564301 m, bearing: 226.374603 deg, approach rate: 0.571749 m/s, LOS rate: -0.063778 deg/s, cmd heading: 226.401851 deg, new cmd heading: 226.374603 deg. %HeadingCmd: 3.950982 target range: 173.102676 and range: 174.00 m.h%|@h!*h)"h) h)g)fQfQfQdYdYdYjdaZde?qɢ{SJ<) \>i)b˺i ᯦iĿI|@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777ԙMF˼UG>iQB B B IB BB B B B zn;B 1,E @  @ @ 0@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012648 ^A-1>A5eAzA5dA!AYIaIyO ?i2,CH?AE 9 EE 'E"E so;*EVE '4ZEBE B&9{ٱBĎ JAHRS rotation from veh to nav: [[0.960212,-0.249275,-0.125916],[0.272462,0.935134,0.226470],[0.061295,-0.251767,0.965845]]BH? ;Ͽ@ p?@??b? п3?iBYo=IBԾ];BCYVȁByVIXZAi5Mb@Mb@Mb@1111 195\(\?jt?J +Y5?y15H5GA1 5rA)5A1Y5 AbDMVDMy] =%]=ٔ]!Q-e>9aYa=eFym>Em%Em>qQ 5}W5u`?Q 9}W5u˿)uBY ?Q E:y n?Q I @uDIub AE%EjhFNOT Ignoring new targets: 173.10 m.RhTZhTԹ ProNav pure pursuit: ac range: 173.102676 m, nav range: 154.898621 m, bearing: 226.335311 deg, approach rate: 0.601353 m/s, LOS rate: -0.070523 deg/s, cmd heading: 226.374599 deg, new cmd heading: 226.335311 deg. HeadingCmd: 3.950296 target range: 173.102676 and range: 174.00 m.h|@h*h"h hgfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264828ffBddd jd Zd w,@}PBɢT<) o>i)2顁iI?iӿI|@I4e9@a @i@m0@i ^A 9> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517829A A I I O >8,#H?A>a8=>>> |ٱ> JAHRS rotation from veh to nav: [[0.966252,-0.227615,-0.120618],[0.250151,0.940876,0.228423],[0.061494,-0.250887,0.966061]]>H ?`{"Ϳ྿z?`? a8=I>];>CYŔByRIbD^VD^0ybo<%fK=ٔfUQ-f>9dYh=jFyj>En5kEn>lQ 5rW5nws?Q 9vW5nȿ)nBYtyv>Q Iv@nDIn):inB:nW5y~ԕBɮ~= A~&EB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 173.10 m.Rh-Zh-= ProNav pure pursuit: ac range: 173.102676 m, nav range: 155.137085 m, bearing: 226.305142 deg, approach rate: 0.633363 m/s, LOS rate: -0.080004 deg/s, cmd heading: 226.335312 deg, new cmd heading: 226.305142 deg. EHeadingCmd: 3.949770 target range: 173.102676 and range: 174.00 m.hM|@hQ*hY"hY hagifqfqfqdqdydyjdyZd}@$@颭QBɢՆ<) pv>i)y 顱imi[ܿI|@IIIE4 E#E)E"Ej;*E;VEFA4ZEa@a@a@a@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7687619@ @@,0@ B r>B B IB BB B B B m;B +E^A 1>1 = BDAT read: Rx Time:05:20:34.6842 E TRx dataTimestamp_ set to:1761542436.013344E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023321I I O >ߜ@,I?An@n]R>nFyٱnI zAHRS rotation from veh to nav: [[0.977160,-0.182009,-0.109688],[0.203617,0.949647,0.238142],[0.060821,-0.255037,0.965017]]nH`D?Lǿ?@c?o{?#? Rп`j?in@In];lYցByIQiMb@Mb@Mb@ 9Zd;?Dl?I +Y?yO >94AQ@ \A)AYAbDVDky%=%&=ٔ:Q->9Y=Fy>EǽE>IQ 5UW5M?Q 9]W5M_ſ)MBY]B?Q E]:y]E>Q I]@MDIM:iM:MW5yaɮmAijhFNOT Ignoring new targets: 173.10 m.Rh˺Zh˺ ProNav pure pursuit: ac range: 173.102676 m, nav range: 155.424728 m, bearing: 226.259899 deg, approach rate: 0.567650 m/s, LOS rate: -0.089120 deg/s, cmd heading: 226.305136 deg, new cmd heading: 226.259899 deg. HeadingCmd: 3.948980 target range: 173.102676 and range: 174.00 m.h|@h*h"h hgfffBdddjdZd( @RBɢ5z<) B>i)Zdiim>꿉I|@I E* E E(E"Ea;*E:VEc44ZEBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272680ԩ^A 9>A A > I I O >F,y[I?A2@209>2Pruٱ2= :AHRS rotation from veh to nav: [[0.981926,-0.158674,-0.103171],[0.179542,0.953398,0.242482],[0.059888,-0.256623,0.964654]]2Hk?pOĿoi;?;? ??lпr?i2@I2];2CYB܁ByBIbDNVDN y<%%U=ٔ-;Q-->9)Y)=5Fy5>E=EE>AQ 5UW5E?Q 9]W5E&ÿ)EBYaye>Q Ie@EDIEj;iEbY;ELW5yuؕBɮuA}'EԹjhFNOT Ignoring new targets: 173.10 m.RhҺZhҺ- ProNav pure pursuit: ac range: 173.102676 m, nav range: 155.631943 m, bearing: 226.225165 deg, approach rate: 0.549947 m/s, LOS rate: -0.092061 deg/s, cmd heading: 226.259893 deg, new cmd heading: 226.225165 deg. i߁I߅Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.536059HeadingCmd: 3.948374 target range: 173.102676 and range: 174.00 m.h)|@h*h"h hgf f9f9dIdqdyjdZd@SBɢ:+<) |>i))'iկi))I-)|@I)@ @@4@E5 E5E&E"Ek;*E ;VE4ZEa @a @a @a @^A 1>U DAT read: 05:20:34.6842 LVL= 32752, 24977, 30642, 32755, AGC= 64, IDX= 455,-0.17,-1.246, 0.920,-0.051, 0.031, PHS=-1.175, 0.934,-0.126, RAW= 300.2, 4.1, CAL= 297.9, 0.1, ROT= 212.1, -0.1 e Ygot valid direction response: 05:20:34.6842 LVL= 32752, 24977, 30642, 32755, AGC= 64, IDX= 455,-0.17,-1.246, 0.920,-0.051, 0.031, PHS=-1.175, 0.934,-0.126, RAW= 300.2, 4.1, CAL= 297.9, 0.1, ROT= 212.1, -0.1 m PDAT read: Bearing 347.1, -34.5 (Local) m ~Local bearing/azimuth received: Bearing 347.1, -34.5 (Local) u DAT read: Range 11 to 50 : 154.2 m (Round-trip 205.7 ms) speed -0.5 m/s } R#Rx 1: Read range and direction messages.I I  `direction in FSK: [-0.847121,-0.531398,0.001745] Fpublishing direction and range infoy) - D>,6Έn p\?Y- 3C) ) - a- w ) )- @I- ffi- o?- %- ϩ@- C=- `@ - :)- l@I- 亩) ) - lwj^A =Ehլ$? - H)- ?I- 4%i- 亩) )  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A O >L,\96I?Ab@b >bfpٱbZ jAHRS rotation from veh to nav: [[0.986157,-0.135137,-0.096084],[0.155092,0.956733,0.246186],[0.058658,-0.257680,0.964448]]bH`?`,L@ ?`?`?i? }п@?ib@Ib];bCYBy I9BBBIBBBBBBym;B+EBBBBB =C3iMb@Mb@Mb@ 9~jt?V-?ktY?y= 0 )@YAbDVD1y%=%%.=ٔ-+;Q-->9)Y1=5Fy5>E5XE5>9Q 5EW5=?Q 9EW5=)=BYM?Q EM:yM>Q Im@=DI=:;i=;=dW5yuݕBɮuA}(EiYi]ʣ1I?AJi]gCRi]gCji]u@b]8o>`6}*aT :s"?R]D>,6Έn p\?Zi]4%bi]j]Q:_[J]xW+X&;IH+@Z]up迮;~u/ӏö?2i](:i]R"i]-#?*i]Bi]-BiYiYiYi]:Ci]w~@ addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 8.071774 s, deltaX: -19.800003 m, approachRate: -2.452993 m/s, rangeRepo size: 2  Added new target pos. range: 153.403366 m, bearing: 219.933700 deg, lat: 36.779383 deg, lon: -121.859699 deg, deltaT: 8.071774 s, deltaX: -19.699310 m, approachRate: -2.440518 m/s, posRepo size: 2 jhFNOT Ignoring new targets: 153.40 m.RhZh  ProNav: ac range: 153.403366 m, nav range: 154.229370 m, bearing: 227.809022 deg, approach rate: 0.000000 m/s, LOS rate: -0.092061 deg/s, cmd heading: 226.225168 deg, new cmd heading: 226.088345 deg. Bh |HeadingCmd: 3.945986 target range: 153.403366 and range: 154.20 m.h |@h*h"h hgfffBAdAdIdIjdM`fFc@ZdMV?*DAT read: user:363> BDAT read: Tx time:05:20:36.1244 $Ping request sent.i)3Ĺi*i]4jYaIe |@Ia@ @@@qE * E E *E "E a;*E :VE (N4ZE BE a 2E a JE (P(S,PI?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811YBy IbDVD0yEy%Ei=ٔEQ-E>9IYI=MFyM>EMEU>YQ 5]W5]?Q 9eW5])]BYayaQ Ie@]DI]:i]:]uW5yiɮuAqjhFNOT Ignoring new targets: 153.40 m.RhZh ProNav: ac range: 153.403366 m, nav range: 154.418594 m, bearing: 227.769323 deg, approach rate: 0.598961 m/s, LOS rate: -0.125506 deg/s, cmd heading: 226.088346 deg, new cmd heading: 225.969396 deg. BhDHeadingCmd: 3.943910 target range: 153.403366 and range: 154.20 m.hi|@h*h"h hgfffdddjdZdb?UBɢgĶ<) >i)ZeiXi   Ii|@II)19@ @@/@@@Y^AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503203IYIqO}>ԁԱ Y!Z,J}jI?A2@~@2M=2eٱ2v :AHRS rotation from veh to nav: [[0.992771,-0.088157,-0.081455],[0.106224,0.961280,0.254279],[0.055885,-0.261093,0.963695]]2H?zAڴ1??`F?윬? п?i2@~@EB7 E@EB(E@"EBm;*E@VEBc44ZE@aF@aF@aF@aF@I27^;2CYN؁ByNI PPTVAVAAV@AbDZVDZN2yb?%bS=ٔf;Q-f>9dYd=fFyj>EjaEj>lQ 5rW5n?Q 9rW5nD)nBYtyv6>Q Iv@nDIn:in:nW5yBɮJ A )EEB*** querying acoustic contact ***iA iAjhQ]FNOT Ignoring new targets: 153.40 m.Rhez Zhez  ProNav: ac range: 153.403366 m, nav range: 154.621719 m, bearing: 227.721746 deg, approach rate: 0.513835 m/s, LOS rate: -0.120193 deg/s, cmd heading: 225.969391 deg, new cmd heading: 225.826850 deg. Bh]HeadingCmd: 3.941422 target range: 153.403366 and range: 154.20 m.h]B@|@hY*ha"ha haԑgfffdddjdZd`?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754899WBɢ/<) >i)7i䵼iM IB@|@I}9@y @y@/@ԹBm<Am<Buq>BuCBu IBuBBu =BqBuDBu%m;Bu+E^A 9>e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007511 A1 I9 II OU > a,_I?A2*@2ǧ=2q^ٱ2( ZAHRS rotation from veh to nav: [[0.995175,-0.065015,-0.073487],[0.081711,0.963778,0.253880],[0.054319,-0.258660,0.964440]]2Hx?Ѥв@?E???ϫ?п ?i2*@I2^;2CYbByfIiUMb@Mb@Mb@QQQQ Q9UzG?B`"۹?{GzYU ?yU=U#UAU$@ UEA)UAQYUAbDmVDmy}=%}?=ٔ}lp;Q-}>9Y=Fy>E[lE>Q 5W5?Q 9W5)~BY?Q E:ywi>Q I@DI;i;W5yɮAjhFNOT Ignoring new targets: 153.40 m.RhkZhk ProNav: ac range: 153.403366 m, nav range: 154.832428 m, bearing: 227.667857 deg, approach rate: 0.501200 m/s, LOS rate: -0.128009 deg/s, cmd heading: 225.826845 deg, new cmd heading: 225.665398 deg. BhHeadingCmd: 3.938604 target range: 153.403366 and range: 154.20 m.h|@h*h"h hgfffBdddjdZd ?XBɢ8)<) >i)v9iiMI|@I)E E E&E"EW;*E:VE4ZEBEDi Ag,;pI?ARA@Rl=RUWٱRK ZAHRS rotation from veh to nav: [[0.996960,-0.042082,-0.065576],[0.057531,0.965152,0.255286],[0.052548,-0.258283,0.964639]]RH@?@ɰ`t? ?@V??пS?iRA@IRg^;RCYfByfIbDnVDn0yv;%vR=ٔvn;Q-v>9xYx=zFyz>E~E~>Q 5 W5?Q 9 W5)wBY y P>Q I @őDI>:iW:W5yBɮAjhAEFNOT Ignoring new targets: 153.40 m.RhMZhM] ProNav: ac range: 153.403366 m, nav range: 155.020981 m, bearing: 227.617258 deg, approach rate: 0.484868 m/s, LOS rate: -0.129959 deg/s, cmd heading: 225.665393 deg, new cmd heading: 225.513780 deg. Bh]aeHeadingCmd: 3.935958 target range: 153.403366 and range: 154.20 m.he{@ha*ha"hi higifififqdqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510781ddjdZd@-??颕YBɢe<) ]>i)1}9顙iqiJI{@I)5{>i19@ @@0@@i>@R>YE}+ E}%E}+Ey"E}b;*E};VE} [4ZEya@a@a@a@^Aԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762854A I) I9 OM >$Zm,I?A@YByII%>)%>-=-=iMb@Mb@Mb@ 9gfffff?I +? rhY3?y9=C  )@YAbDVDy5<%?=ٔQ->9Y=Fy>EE>Q 5W5?Q 9W5F)qBY+?Q E:BBB IB!BBBBBl;B^+EyxA>Q I@͑DIiq)}ܟB:yyi}ٻi*Is{@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014989]9@Y @Y@].0@aE 6 E ,E 'E "E l;*E ;VE '4ZE BE Jt,kI?A4N_@N$9xYx=zFyz>E~3E~>Q 5 W5)?Q 9 W5n)lBY y >Q I @ԑDI;i;)W5yɮaAjhAEFNOT Ignoring new targets: 153.40 m.RhM,ZhM,] ProNav: ac range: 153.403366 m, nav range: 155.397552 m, bearing: 227.508395 deg, approach rate: 0.497765 m/s, LOS rate: -0.151127 deg/s, cmd heading: 225.348418 deg, new cmd heading: 225.187588 deg. Bh]oϻeHeadingCmd: 3.930265 target range: 153.403366 and range: 154.20 m.hev{@ha*ha"hi higifififqdqdqdqjdqZd}@颥\Bɢp<) >i)!z:顩iPui+OIv{@I@ @@4@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519401^A1> A .AI9 II O] >bEc44jE˭54rE/E- - E- $E- )E) "E- d;*E- ;VE- FA4ZE) a= @a= @a= @a= @uz,I?AF0@F@F>ٱFE VAHRS rotation from veh to nav: [[0.998815,0.026063,-0.041106],[-0.014737,0.966845,0.254938],[0.046388,-0.254030,0.966083]]FH`J?B?@ M.e?P?`,?Bп`'?iF0@IF^;FCYfByjIpbD VD 1yÏ=%;=ٔ y;Q-5>9= ?Y] ?=]Fy]>Em YEu>Q 5X5??Q 9X5)eBUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773375Yym=Q Im@ݑDIgi)H:项iԺiI-S{@Iy@y @y@}4@y@@1AABBB! IB1BBBBBl;BT+E^Aa a  BDAT read: Rx Time:05:20:38.7373  TRx dataTimestamp_ set to:1761542440.052830 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024927Aq Iy I O >3,T6J?A4<ɰ4<2@2@2/55ٱ2e1 >AHRS rotation from veh to nav: [[0.998291,0.048125,-0.033154],[-0.038200,0.966711,0.253004],[0.044226,-0.251306,0.966897]]2H?գ?@K?@91??cп?i2@I2_^;2CYFByF IHHxiMb@Mb@Mb@ 9i|?5?kt?V-Y?y =A@ A)MAY(AbD5VD502yE^:=%ER=ٔE;Q-E>9IYI=MFyM>EUEU>YQ 5eX5]Q?Q 9eX5])]aBYe?Q Ee:ye=Q Im@]DI]s:i]L<]bX5yBɮA,Ejh9=FNOT Ignoring new targets: 153.40 m.RhE'ZhE'u ProNav: ac range: 153.403366 m, nav range: 155.756897 m, bearing: 227.391979 deg, approach rate: 0.440679 m/s, LOS rate: -0.146029 deg/s, cmd heading: 224.997756 deg, new cmd heading: 224.838755 deg. BhuoȻ}HeadingCmd: 3.924176 target range: 153.403366 and range: 154.20 m.h}%{@hy*hy"hy hygyfE. EEE"Eye;*E&:VEZEBEi):顡ioiI%{@I!9@9 @9@=/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275388I^AY y A ؟AI I O >ۇ, J?A>@>@>ݥ*ٱ>) FAHRS rotation from veh to nav: [[0.997203,0.070542,-0.024681],[-0.062054,0.965580,0.252596],[0.041650,-0.250358,0.967257]]>H ?@?E{ů?*?@'S?п ?i>@I><|^;>CYN"ByR IbDZVDZ:yb{n=%bT=ٔb;Q-f>9f"?Yf"?=fFyf>Ej}Ej>lQ 5rX5n`d?Q 9rX5n)n[BYpyr=Q Iv@nDIn;in ;nX5yxɮzAxjh%FNOT Ignoring new targets: 153.40 m.Rh5*/]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529310iZh5*/ ProNav: ac range: 153.403366 m, nav range: 155.918381 m, bearing: 227.335952 deg, approach rate: 0.441846 m/s, LOS rate: -0.153142 deg/s, cmd heading: 224.838749 deg, new cmd heading: 224.670841 deg. Bh3һ]HeadingCmd: 3.921246 target range: 153.403366 and range: 154.20 m.h]z@ha*ha"hi higfffdddjdZda@]bBɢe<)a eT>ia)e`R:aiimNüiu*qqIuz@Iqԉ)@) @)@)@)DDC=E- EE'E"Ed;*EO:VE'4ZEa@a@a@a@Թ% DAT read: 05:20:38.7373 LVL= 32240, 24353, 26290, 32755, AGC= 62, IDX= 454,-0.34,-2.356,-0.412,-1.033,-1.055, PHS=-1.199, 0.688,-0.022, RAW= 291.9, 6.5, CAL= 289.7, 4.3, ROT= 220.3, -4.3 5 Ygot valid direction response: 05:20:38.7373 LVL= 32240, 24353, 26290, 32755, AGC= 62, IDX= 454,-0.34,-2.356,-0.412,-1.033,-1.055, PHS=-1.199, 0.688,-0.022, RAW= 291.9, 6.5, CAL= 289.7, 4.3, ROT= 220.3, -4.3 = PDAT read: Bearing 331.4, -42.6 (Local) = ~Local bearing/azimuth received: Bearing 331.4, -42.6 (Local) M DAT read: Range 11 to 50 : 156.5 m (Round-trip 208.7 ms) speed -0.4 m/s U R#Rx 1: Read range and direction messages.e `direction in FSK: [-0.760521,-0.644969,0.074979]e Fpublishing direction and range infoys6F1V迶\俈]1?YC^Am 9>}!_f )>Ixi 0?X9@V=̡@ `=)v@I`5NymK ?{,? ?@)I i` T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. A I I O >,:J?ABQ@BL@B>ٱB[ JAHRS rotation from veh to nav: [[0.995518,0.093199,-0.016048],[-0.086138,0.963642,0.252931],[0.039038,-0.250415,0.967351]]BHH?۷?n`! (?0??п?iBQ@IBK^;BCYb-Byf IBBB4 IB@BBBBBl;BS+EiMb@Mb@Mb@ 9K7A`?(\µ?V-Y ?y=OA A)@Y\AbDVDky7=%*=ٔ%;Q-%>9!Y!=%Fy%>E-ME->1Q 5=X55z?Q 9=X55T)5UBY= ?Q EE:yECO=Q IE@5DI5:i5,:5 X5yMBɮMYAU-Ei!i%3J?AJi%CRi%Cji%N:n@b%W ]YWm]X'@R%s6F1V迶\俈]1?Zi% bi%`j%®S_YI?T})?@Z%C0Z'vy/ῡ$3(?2i%9:i%"i%?*i%MBi%Bi%RGV?i!i% Bi%#Ci%z@ addTargetRange:: Added new target pos. range: 156.500000 m, deltaT: 4.032546 s, deltaX: 2.300003 m, approachRate: 0.570360 m/s, rangeRepo size: 3  Added new target pos. range: 155.691162 m, bearing: 213.272577 deg, lat: 36.779294 deg, lon: -121.859699 deg, deltaT: 4.032546 s, deltaX: 2.287796 m, approachRate: 0.567333 m/s, posRepo size: 3 jhFNOT Ignoring new targets: 155.69 m.RhZh ProNav: ac range: 155.691162 m, nav range: 163.013657 m, bearing: 224.701776 deg, approach rate: 0.000000 m/s, LOS rate: -0.153142 deg/s, cmd heading: 224.670836 deg, new cmd heading: 224.447731 deg. BhHeadingCmd: 3.917352 target range: 155.691162 and range: 156.50 m.hz@h*h"h hgfffBdddjdc@Zd ?dBɢ1<) X>i)0;iJ5żi%i!)I-z@I1*DAT read: user:364> BDAT read: Tx time:05:20:40.1244 $Ping request sent.@t>  !MTĿ9QYUAE+ E E%E"Eb;*E:VE 4ZEBEA >9 A .AI! I1 O= >$,TJ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2504376@6Y@6rٱ6$5 BAHRS rotation from veh to nav: [[0.993236,0.115884,-0.007338],[-0.110237,0.960918,0.253938],[0.036478,-0.251412,0.967193]]6H@??~`8ֿ? @?E?!п=?i6@I6a7^;6CYJ4ByJ% IbDRVDRP)yZ$=%^}=ٔ^EbEb ?dQ 5jX5f?Q 9nX5f4)fPBYlyn}i)";顡iƼiTIaz@I@ @@0@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502294ԁ^A1>A I I O >Ա D zD ?AE , E E 'E "E c;*E :VE '4ZE a @a @a @a @ ,@MnJ?A>@>޹@>pu ٱ>߂ JAHRS rotation from veh to nav: [[0.990268,0.139160,0.001755],[-0.135005,0.957486,0.254940],[0.033797,-0.252696,0.966955]]>H`G? ?X\?`G?P?M?*,п`L?i>@I>L^;9AYA=MFyM>EMHsEM>QQ 5]X5U ?Q 9]X5U2)UIBYayex:Q Ie@UDIU{;iU=:UrX5yuBɮ}PA}.Ejh FNOT Ignoring new targets: 155.69 m.Rh%JZh-JԑMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756840 ProNav: ac range: 155.691162 m, nav range: 163.307449 m, bearing: 224.602297 deg, approach rate: 0.377949 m/s, LOS rate: -0.130519 deg/s, cmd heading: 224.320037 deg, new cmd heading: 224.149578 deg. Bh%HeadingCmd: 3.912148 target range: 155.691162 and range: 156.50 m.h`z@h*h"h hgfffdddjdZd@?}hBɢ}/<)y }'>iy)2:;顁i ȼi   I `z@I9@ @@/@B<A<B)B)B-M IB-TBB- =B)B-DB-l;B-6+EBCBCBB =B =CR4^A 9> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007525 A I I O >R,]J?A>@>@>&ٱ>䁾 FAHRS rotation from veh to nav: [[0.986638,0.162605,0.010262],[-0.159897,0.954268,0.252598],[0.031281,-0.250863,0.967517]]>H?@I>?7^;>CYNOByNG Ii%Mb@Mb@Mb@!!!! !9%x&?~jt?V-Y%7 ?y%=!%A! %A)%n@!Y% AbD=VD=βyMz>%M>=ٔU;Q-U>9QYQ=UFy]>E]KoE]>aQ 5mX5eʰ?Q 9mX5e6)eABYu ?Q Eu:yu+Q Iu@eDIeL ;ie;e6X5y}Bɮ}AyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 155.69 m.RhZh ProNav: ac range: 155.691162 m, nav range: 163.474014 m, bearing: 224.544450 deg, approach rate: 0.400067 m/s, LOS rate: -0.138800 deg/s, cmd heading: 224.149583 deg, new cmd heading: 223.976218 deg. BhHeadingCmd: 3.909122 target range: 155.691162 and range: 156.50 m.h/z@h*hE+ E&E)E"Eb;*E;VEFA4ZEBEa2EaJE+Zi)P;iXʼi  I /z@I 9@ @@D1@@@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258785ԉ^AAzAbAA ؟AI I O >Ա Sx,J?A2&@2W!@20ٱ2 :AHRS rotation from veh to nav: [[0.982471,0.185460,0.018867],[-0.184231,0.950515,0.250161],[0.028462,-0.249251,0.968020]]2Hfp? #?Q?ǿ@j? ?%?`xϿ ?i2&@I2o^;2CYBVByFP I DDrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510407bDNVDN:yz=%zQ=ٔ~;Q-~>9~"?Y"?=Fy>EE> Q 5X5 ?Q 9X5 ]) :BYy*޼Q I@ DI ;i  ; X5y!ɮ%^A)jhIUFNOT Ignoring new targets: 155.69 m.RhUZhUe ProNav: ac range: 155.691162 m, nav range: 163.621918 m, bearing: 224.490661 deg, approach rate: 0.377946 m/s, LOS rate: -0.137324 deg/s, cmd heading: 223.976219 deg, new cmd heading: 223.815001 deg. Bhm}mHeadingCmd: 3.906309 target range: 155.691162 and range: 156.50 m.hmz@hq*hq"hq hqgqfqfyfydyddjdZd@S?颵lBɢ=) C>i) f;项i˼iIz@Iԙ1@1 @1@54@1E0 EE%E"EJg;*E:VE 4ZEa@a@a@a%@^A1>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764704A .AI I O > Bm p>Bi Bm l IBm nBBm =Bi Bm DBm El;Bm +Eî,J?AR\@RW@RѼٱR췀 bAHRS rotation from veh to nav: [[0.977713,0.208118,0.027629],[-0.208380,0.945962,0.248462],[0.025573,-0.248682,0.968248]]RHmI??J?5ʿ@RE??/?`Ͽ@?iR\@IR-B^;RCYjbByj^ IiMb@Mb@Mb@ 9Mb?B`"۹?X9vY?y=A A)AY\AbDVD{UyL=%9=ٔ;Q->9 ?Y ?=Fy>EdE>Q 5X5?Q 9X5)0BY?Q E:y5Q I@DI;iT;|X5yBɮ-A/EԩjhimFNOT Ignoring new targets: 155.69 m.RhuZhu ProNav: ac range: 155.691162 m, nav range: 163.779907 m, bearing: 224.432320 deg, approach rate: 0.342450 m/s, LOS rate: -0.126336 deg/s, cmd heading: 223.814999 deg, new cmd heading: 223.640144 deg. Bhhchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014271HeadingCmd: 3.903257 target range: 155.691162 and range: 156.50 m.hy@h*h"h hgfff4BdddjdZd I@ oBɢ '0 =)  >i) ;iBͼiP9I=y@IA@ @@4@@@e>E& EE(E"E8^;*E:VEc44ZEBEe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2667489 A5 ؟AI9 II O] >., J?A2@2l@2'ٱ2pˁ :AHRS rotation from veh to nav: [[0.972371,0.230485,0.037030],[-0.232346,0.940217,0.249011],[0.022577,-0.250735,0.967793]]2H ?`??ͿC?? d? п (?i2@I2E^;0YBjByFh IbDNVDNNyV6(=%VM=ٔV;Q-Z>9Z"?YZ"?=ZFyZ>E^{E^>`Q 5fX5b?Q 9fX5b붿)b'BYdyfyQ Ij@bDIbo;ib{;b X5ylɮnAljhFNOT Ignoring new targets: 155.69 m.Rh "Zh "U ProNav: ac range: 155.691162 m, nav range: 163.919495 m, bearing: 224.378305 deg, approach rate: 0.368349 m/s, LOS rate: -0.142416 deg/s, cmd heading: 223.640146 deg, new cmd heading: 223.478240 deg. Bh]zûHeadingCmd: 3.900431 target range: 155.691162 and range: 156.50 m.hy@h*h"h hgfffdddjdZd@-rBɢ-V=)) ->i))5";11i5rϼi= 9QIUy@Ia9@ @@1@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518935a^A1>E ; E E )E "E Dq;*E :VE FA4ZE a @a @a @a @A I I) O= >ԉ T,5J?A5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7727895ι@@ٱt %AHRS rotation from veh to nav: [[0.966546,0.252396,0.045659],[-0.255723,0.934473,0.247722],[0.019857,-0.251111,0.967755]]H`?@@'?@`?`]п3?]? YU?4п`?i5ι@Id^;CY5wBy=x IE=AiiMb@Mb@Mb@ 9Mb?V-?S㥛Y?y=/ݼA@ A)YfA 4<bDVDyV=%+=ٔ;Q->9Y=Fy>ENE> Q 5X5 F?Q 9X5 @) BY?Q E:yTQ I@ $DI :i ,: '%X5y% Bɮ%A-0EjhIUFNOT Ignoring new targets: 155.69 m.RhUZhU ProNav: ac range: 155.691162 m, nav range: 164.086044 m, bearing: 224.315206 deg, approach rate: 0.348308 m/s, LOS rate: -0.131825 deg/s, cmd heading: 223.478244 deg, new cmd heading: 223.289140 deg. BhHeadingCmd: 3.897131 target range: 155.691162 and range: 156.50 m.hjy@h*h"h hgfff*BdddjdZd% @mtBɢm==)q uV?iq)uY;qqiu$ѼBBB IBBBBBBl;B*EiIjy@I!ԙ9@ @@/@BDAT read: Rx Time:05:20:42.7392 TRx dataTimestamp_ set to:1761542444.096073checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023337^A1 E = E *E ,E "E s;*E ;VE g4ZE BE ,,aK?A>V@>% @>ٱ>^ JAHRS rotation from veh to nav: [[0.960438,0.273407,0.052985],[-0.277950,0.929168,0.243702],[0.017398,-0.248788,0.968402]]>H?`? ?`ѿ?1?Б?IϿ%?i>V@I>E$^;>CYR}ByR IbD^VD^Jyb<%fY=ٔf;Q-f>9dYh=jFyj>EjzEn>lQ 5rX5n Š?Q 9vX5n)nBYtyv嘽Q Iv@n+DIn:in:nq(X5y9ɮ=|A9mB*** querying acoustic contact ***ii iiqjhFNOT Ignoring new targets: 155.69 m.RhZh ProNav: ac range: 155.691162 m, nav range: 164.214081 m, bearing: 224.264570 deg, approach rate: 0.326535 m/s, LOS rate: -0.129038 deg/s, cmd heading: 223.289143 deg, new cmd heading: 223.137354 deg. BhHeadingCmd: 3.894481 target range: 155.691162 and range: 156.50 m.h/?y@h*h"h hgfffdddjdZd @]wBɢ],=)Y ]?iY)eY;aaietҼimiqIu/?y@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2745849@ @@/@@@Թ^AAfAzAgA DAT read: 05:20:42.7392 LVL= 32752, 26865, 32290, 32755, AGC= 62, IDX= 442,-0.01,-0.219, 1.451, 1.568, 1.065, PHS=-1.182, 0.432, 0.459, RAW= 269.2, 3.6, CAL= 266.6, -1.6, ROT= 243.4, 1.6  Ygot valid direction response: 05:20:42.7392 LVL= 32752, 26865, 32290, 32755, AGC= 62, IDX= 442,-0.01,-0.219, 1.451, 1.568, 1.065, PHS=-1.182, 0.432, 0.459, RAW= 269.2, 3.6, CAL= 266.6, -1.6, ROT= 243.4, 1.6  X#Rx 1: Read direction message, but no range.  bdirection in FSK: [-0.447585,-0.893806,-0.027922]y  O9ܿ^H 쿛|p}  h "~ ) I Ki /> > Y@ = @ ) @I < l/yq"]?&>&? ֡&@) GI S>i <E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseA I I O > ,0*K?ANX@NS@NssٱN{ VAHRS rotation from veh to nav: [[0.953976,0.293687,0.060651],[-0.299516,0.923093,0.241227],[0.014858,-0.248291,0.968572]]NH?? ?`C+ӿ?? n? Ͽ?iNX@IN?%^;NCYnByn IbDzVDz02y%=%%E=ٔ%;Q-%>9)Y)=-Fy->E5H^E5>aQ 5mX5eŠ?Q 9mX5e.)e BYqyuƽQ I@e2DIeMBy B} IB} BBy By By B} k;B} *E^A a AQ IY Iq O >,|DK?ABm@B<@B )NٱBt JAHRS rotation from veh to nav: [[0.946902,0.314291,0.067802],[-0.321275,0.916646,0.237785],[0.012583,-0.246943,0.968948]]BH`M?V?[?ÏԿ+U?o?ĉ?ЛϿ ?iBm@IBs];BCYRByV I TTXZA *DAT read: user:365> BDAT read: Tx time:05:20:44.1744 $Ping request sent.yU>QUAU@ UMA)UAQYU\AaeAAbDmVDmky}Y=%}A=ٔ};Q->9Y=Fy>E]E>Q 5X5Q E:yQ I@8DIq ;i ;/X5yɮA addTargetRange:: Added new target pos. range: 158.000000 m, deltaT: 4.044832 s, deltaX: 1.500000 m, approachRate: 0.370844 m/s, rangeRepo size: 4 jhFNOT Ignoring new targets: 155.69 m.Rh% Zh% 5 ProNav: ac range: 155.691162 m, nav range: 164.483505 m, bearing: 224.155243 deg, approach rate: 0.304448 m/s, LOS rate: -0.121209 deg/s, cmd heading: 222.965091 deg, new cmd heading: 222.809635 deg. Bh5^]HeadingCmd: 3.888762 target range: 155.691162 and range: 158.00 m.h]yx@hY*hY"hq hqgyfyfyf}iBdddjdc@ZdZB?}Bɢ2=)  ?i)$;iռi=>Iyx@IE=0 E=(E=$E9"E=Jg;*E=;VE=4ZE9BE=ԡ I I) O= ><,Z^K?AYAyAbDUVDUk1ye:%eK=ٔmQ-m>9iYi=uFyu>EuEu>yQ 5X5}6?Š?Q 9X5})}BYyQ I@}>DI}Q;i};}C3X5yBɮA2EjhFNOT Ignoring new targets: 155.69 m.RhZh ProNav: ac range: 155.691162 m, nav range: 164.608856 m, bearing: 224.105425 deg, approach rate: 0.336065 m/s, LOS rate: -0.133462 deg/s, cmd heading: 222.809636 deg, new cmd heading: 222.660295 deg. Bh/HeadingCmd: 3.886155 target range: 155.691162 and range: 158.00 m.hŶx@h*h"h hgfffdddjdZd ?Bɢ%$A=)! % ?i!)%BD;))i-,׼i-h11I5Ŷx@I1y9@ @@O0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503004ԩ^A1>A>A>EM4 EM$EM(EI"EMj;*EM;VEMc44ZEIaU@aU@aU@a]@I I! O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756880! ],xK?A='@=k"@= ٱ=W}| MAHRS rotation from veh to nav: [[0.931302,0.355065,0.081272],[-0.364150,0.902418,0.230298],[0.008429,-0.244072,0.969720]]=H@:?b??δ?;N׿?hz?`qC?=Ͽ ?i='@I=P ^;=CYyiMb@Mb@Mb@ 9}?5^I?T㥛 ?X9vYM>y9A@ A)AYbDVD:ٔ5U91Y1==Fy=>E=ڽE=>AQ 5MX5EOŠ?Q 9MX5E)EBYU>Q EU:yUCQ IU@EDDIE;iE`;E6X5yYɮYajhFNOT Ignoring new targets: 155.69 m.Rh} Zh}  ProNav: ac range: 155.691162 m, nav range: 164.731964 m, bearing: 224.052694 deg, approach rate: 0.284930 m/s, LOS rate: -0.121952 deg/s, cmd heading: 222.660301 deg, new cmd heading: 222.502228 deg. BhcBen>BaBe IBeBBaBaBaBek;Be*EHeadingCmd: 3.883396 target range: 155.691162 and range: 158.00 m.hx@h*h"h hgfffdddjdZdP?%Bɢ-W,=)) -H ?i))-;)1i5ؼi5%99I=x@I99@ @@B0@!=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916A U ԀGu (hA 9 (hAY ~A^A] 9>I I O >E] . E] +E] 'EY "E] ye;*E] =;VE] '4ZEY BE] 9aYi=mFym>EmqEm>qQ 5}X5u]Š?Q 9}X5uB)uܤBYyQ I@uJDIu@;iu;uI:X5yBɮ A3EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 155.69 m.RhZh ProNav: ac range: 155.691162 m, nav range: 164.837585 m, bearing: 224.005438 deg, approach rate: 0.283571 m/s, LOS rate: -0.126792 deg/s, cmd heading: 222.502223 deg, new cmd heading: 222.360545 deg. BhHeadingCmd: 3.880924 target range: 155.691162 and range: 158.00 m.hax@h*h"h hgfffdddjdZdw?Bɢ"G=)! % ?i!)%;!!i%ټi-))I-ax@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258966IQM9@I @I@M4@Iy^AmA>IIO>ԩ M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875k,K?Ap}D@}@}bVٱ}t AHRS rotation from veh to nav: [[0.914116,0.393681,0.096989],[-0.405430,0.885001,0.228910],[0.004283,-0.248573,0.968604]]}H`p@?2?>Ը? ٿ`Q?L?Ȋq?;Ͽ@?i}D@I}56^;yYBy IDD<E8 E<E)E"En;*E1;VEFA4ZEa-@a-@a-@a-@bDVDN2y};%m7=ٔu ;Q-u>9yYy=}Fy}>E}CE>Q 5X5oŠ?Q 9X50)ͤBYyg(Q I@QDI;ib6;i>X5yɮAjh!5FNOT Ignoring new targets: 155.69 m.Rh=XZh=XM ProNav: ac range: 155.691162 m, nav range: 164.966171 m, bearing: 223.945279 deg, approach rate: 0.266212 m/s, LOS rate: -0.124449 deg/s, cmd heading: 222.360551 deg, new cmd heading: 222.180217 deg. BhMѪUHeadingCmd: 3.877776 target range: 155.691162 and range: 158.00 m.hU}-x@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdm?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765153Bɢ(=) s ?i) m< i wۼi-711I=}-x@Ii959@1 @1@53@1B] m>BY B] IB] BB] =BY BY B] k;B] *EBBBBBC5a ^A] 9>Aa zAe fAI I O >,5K?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014747LYBy IiMb@Mb@Mb@ 9'1Z?T㥛 ?+Y>yOA n@)zAYAbDVDy%K=ٔQ->9Y= Fy ?E E>Q 5X5.~Š?Q 9X5)BY%>Q E%:y%K-Q I%@VDI:i{:AX5y-"Bɮ5A1jhQ]FNOT Ignoring new targets: 155.69 m.Rh]Zh]u ProNav: ac range: 155.691162 m, nav range: 165.068619 m, bearing: 223.897003 deg, approach rate: 0.279780 m/s, LOS rate: -0.131759 deg/s, cmd heading: 222.180221 deg, new cmd heading: 222.035481 deg. BhuٴuHeadingCmd: 3.875250 target range: 155.691162 and range: 158.00 m.h}x@hy*hy"hy hygyfyffQBdddjdZd@颽Bɢ?=) &?i)<inܼiIx@Ie9@a @a@e/@aE. E!EE"Eye;*E:VEZEBEa2EaJEU,cK?A2W>@2'9@2ٱ2&낾 :AHRS rotation from veh to nav: [[0.894399,0.432965,0.112210],[-0.447268,0.865200,0.226672],[0.001057,-0.252923,0.967486]]2H? ?ȹ? ܿ@??AQQ?@/п?i2W>@I2^;2CYRByR I TTXXbD^VD^kyf'%fa=ٔf_9hYh=jFyj?En]En>AQ 5MX5ETŠ?Q 9MX5E켿)EBYQyU7]Q IU@E\DIE:iE$:EDX5y]ƖBɮ]!AajhFNOT Ignoring new targets: 155.69 m.RhZh ProNav: ac range: 155.691162 m, nav range: 165.164124 m, bearing: 223.847406 deg, approach rate: 0.253909 m/s, LOS rate: -0.131781 deg/s, cmd heading: 222.035475 deg, new cmd heading: 221.886772 deg. BhᴻHeadingCmd: 3.872655 target range: 155.691162 and range: 158.00 m.hw@h*h"h hgfffdddjdZde@Bɢw 6=) >i)<iݼi!FIw@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519000@ @@/@IyDzDAAE% EGE*E"EO];*E;VE(N4ZEa@a@a@a@^AIA ԡ I I O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773204,K?A ~@ x@ h9ٱ 肾 MAHRS rotation from veh to nav: [[0.883654,0.452872,0.118585],[-0.468140,0.854954,0.223382],[-0.000222,-0.252907,0.967491]] H@F? ?[?ݿ[?ė?0-`/п?i ~@ԩI T?^; CYBy IAQAQBYBYB] IB]BBYBYBYB]k;B]*EiMb@Mb@Mb@ 9333333??+Y>y=fA@ @)AYAbD VDf2yq<%.=ٔK2;Q->9Y=Fy ?ELE>Q 5X5^Š?Q 9X5d)BYn>Q E:y/Q I@bDI7 ;i ;HX5y˖Bɮ!A4EjhFNOT Ignoring new targets: 155.69 m.Rh Zh E ProNav: ac range: 155.691162 m, nav range: 165.262772 m, bearing: 223.787726 deg, approach rate: 0.203505 m/s, LOS rate: -0.123042 deg/s, cmd heading: 221.886768 deg, new cmd heading: 221.707836 deg. BhE⨻MHeadingCmd: 3.869532 target range: 155.691162 and range: 158.00 m.hMhw@hI*hI"hI hIgQfQfQfUgBdYdYdYjdYZde @颍Bɢ;f%=) >i)<顑i߼iNyyyI}hw@IBDAT read: Rx Time:05:20:46.7911 TRx dataTimestamp_ set to:1761542448.129008checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0251269@ @@/@@p>@p>E 5 E &E +E "E k;*E ;VE [4ZE BE A% >A% >Ai Iq I O >k,$L?A2Ʊ@2T@2:ٱ2< :AHRS rotation from veh to nav: [[0.872946,0.471768,0.124100],[-0.487815,0.845053,0.218912],[-0.001595,-0.251636,0.967821]]2H+?@s1?`ſ?\8߿ ?M?S#Zп c?i2Ʊ@I2/^;2CYBByB INchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274943XbD VD 0y%R=ٔg;Q-%>9!Y!=%Fy% ?E-kE->1Q 5=X55Š?Q 9=X55)5BY9yEQ IE@5gDI5:i5_:5eLX5yIɮMQ"AImB*** querying acoustic contact ***ii iijhq}FNOT Ignoring new targets: 155.69 m.Rh}""Zh"" ProNav: ac range: 155.691162 m, nav range: 165.343704 m, bearing: 223.736293 deg, approach rate: 0.223157 m/s, LOS rate: -0.141749 deg/s, cmd heading: 221.707831 deg, new cmd heading: 221.553607 deg. Bh»HeadingCmd: 3.866840 target range: 155.691162 and range: 158.00 m.hNzw@h*h"h hgfffdddjdZd~ @Bɢ82=) >i)h<i߼igINzw@Im9@i @q@u/@q^A9>echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529475A I I O >9 ,0L?AE7 E3E(E"Em;*Et ;VEc44ZEa@a@a@a@Rq @RA@R-?;ٱR.* ZAHRS rotation from veh to nav: [[0.861700,0.490720,0.129097],[-0.507409,0.834800,0.213649],[-0.002929,-0.249606,0.968343]]RH ?g?C?<?@X?`gϿ@?iRq @IR)^;RCYbwBybx IIf!>)f4<bDnVDn:yzH%zM=ٔ~f[;Q-~>9Y=Fy?EJhE > Q 5X5 Š?Q 9X5 5) BY!y%慨Q I%@ mDI ,;i -; OX5y-ЖBɮ-"A-5EjhQUFNOT Ignoring new targets: 155.69 m.Rh]rZh]rm ProNav: ac range: 155.691162 m, nav range: 165.423126 m, bearing: 223.683181 deg, approach rate: 0.199398 m/s, LOS rate: -0.133279 deg/s, cmd heading: 221.553606 deg, new cmd heading: 221.394348 deg. BhmﶻuHeadingCmd: 3.864060 target range: 155.691162 and range: 158.00 m.huLw@hq*hy"hy hygyfyffdddjdZdu@颽Bɢ=$=) ^>i) !<iiILw@I59@1 @9@=0@9IDAT read: 05:20:46.7911 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 444, 0.48,-0.547, 0.798, 1.633, 0.445, PHS=-0.891, 0.397, 1.143, RAW= 248.7, -7.3, CAL= 246.9, -11.8, ROT= 263.1, 11.8 EYgot valid direction response: 05:20:46.7911 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 444, 0.48,-0.547, 0.798, 1.633, 0.445, PHS=-0.891, 0.397, 1.143, RAW= 248.7, -7.3, CAL= 246.9, -11.8, ROT= 263.1, 11.8 MPDAT read: Bearing 11.5, -62.7 (Local) U~Local bearing/azimuth received: Bearing 11.5, -62.7 (Local) DAT read: Range 11 to 50 : 159.3 m (Round-trip 212.5 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.117598,-0.971778,-0.204496]Fpublishing direction and range infoy)ͥrG,ʿYLCb| )?IdiC>M?y@w@ BR)Y@IBR>ݩ*/?^0AX @)>IzؿiBR>%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%BB!B!B!B%4l;B% +Eq^A1>ԡ A I I O >e *DAT read: user:366> m BDAT read: Tx time:05:20:48.2744 m $Ping request sent.m y-=)-A-@ -MA)))Y-QAbDEVDE0yUu%]4=ٔ]);Q-]>9YYa=eFye?Ee QEe>iQ 5uX5mKŠ?Q 9}X5mMÿ)m}BY}(>Q E}:y}оQ I}@msDImX:im:mSX5yɮ7#Aii_8L?AJiyCRiyCjiA@bjB,u2@c+-4@R)ͥrG,ʿZizؿbiBR>jˡ3XJ&|^McC@Z l_NP述']?2i:ii"i꫅I?*iMP{BiABiiiABi%Ciy@ addTargetRange:: Added new target pos. range: 159.300003 m, deltaT: 4.033070 s, deltaX: 1.300003 m, approachRate: 0.322336 m/s, rangeRepo size: 4  Added new target pos. range: 158.475647 m, bearing: 231.431971 deg, lat: 36.779294 deg, lon: -121.859699 deg, deltaT: 8.077902 s, deltaX: 2.784485 m, approachRate: 0.344704 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 158.48 m.RhZhEA E,EE"Ev;*E;VEZEBEi ) W'<  i|iMIgw@Iԁ@ @@0@@@fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251623ԩ^A A zA gA Am .AIy I O >,feL?A2ِ@2@25;ٱ2y~ :AHRS rotation from veh to nav: [[0.837199,0.529086,0.138440],[-0.546877,0.812132,0.203389],[-0.004821,-0.245987,0.969261]]2HU?E?h???s@|Ͽ0?i2ِ@I2$,^;0YRbByR_ IbD^VD^yb%fb=ٔf;Q-f>9f ?Yj ?=jFyj?EnEn>lQ 5rX5nŠ?Q 9vX5nſ)nrBYtyv۾Q Iv@nxDIny:in-:nVX5y~ՖBɮ~#A~6Ejh%FNOT Ignoring new targets: 158.48 m.Rh%/%Zh-/%= ProNav: ac range: 158.475647 m, nav range: 165.561584 m, bearing: 223.567507 deg, approach rate: 0.167005 m/s, LOS rate: -0.144414 deg/s, cmd heading: 221.211235 deg, new cmd heading: 221.056738 deg. Bh=8ƻEHeadingCmd: 3.858168 target range: 158.475647 and range: 159.30 m.hE9v@hA*hA"hA hAgAfIfIfIdQdQdQjdQZd]׼?q颍Bɢ "=) >ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504654)q+<ini|3I9v@Ia@a @i@m4@iԙbEyjE}:4rE}S)0E1 E E+E"E2h;*E:VE [4ZEa@a@a@a@^A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758551A ؟AI I O- > Q,^*L?AB6l>B4B6 IB6BB4B4B4B6l;B6=+EYRByK I !!iMb@Mb@Mb@ 9/$?~jt?lY>yD=fA@ n@)Y\AbDVD:2y- %-6=ٔ5Q-5>9="?Y="?==Fy=?E=E=>AQ 5MX5EŠ?Q 9MX5Eǿ)EgBYU>Q EU:yUQ IU@EDIE ;iE ;EZX5yYɮe$AajhFNOT Ignoring new targets: 158.48 m.Rh-Zh- ProNav: ac range: 158.475647 m, nav range: 165.625488 m, bearing: 223.499279 deg, approach rate: 0.142489 m/s, LOS rate: -0.152073 deg/s, cmd heading: 221.056737 deg, new cmd heading: 220.852132 deg. BhлHeadingCmd: 3.854597 target range: 158.475647 and range: 159.30 m.hv@h*h"h hgfff$BdddjdZda ?Bɢ.=) ?>i)j0<iwimIv@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007683 E9@A @A@M4@I1E< EE)E"E,r;*E:VEFA4ZEBE%,L?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2590236 @6@6;ٱ6 bAHRS rotation from veh to nav: [[0.810422,0.566186,0.150501],[-0.585801,0.786384,0.196055],[-0.007348,-0.247050,0.968975]]6H ?2?`C?*?`P?`~@WϿ?i6 @I6O5^;6CYjKBynA IbDvVDv0y~$%~`=ٔ|;Q->9Y=Fy!?E uE >Q 5X5Š?Q 9X5ɿ)]BY!y% Q I%@DI;i ;^X5y)ɮ-P$A)MB*** querying acoustic contact ***iI iIjhQeFNOT Ignoring new targets: 158.48 m.Rh}0Zh}0 ProNav: ac range: 158.475647 m, nav range: 165.670059 m, bearing: 223.442959 deg, approach rate: 0.121845 m/s, LOS rate: -0.153922 deg/s, cmd heading: 220.852131 deg, new cmd heading: 220.683218 deg. BhEӻHeadingCmd: 3.851649 target range: 158.475647 and range: 159.30 m.hjv@h*h"h hgfffdddjdZd`?Bɢb =) *>i) C4<  9i t0iJIjv@I9@ @@/@@i>@e>achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510854ԉ^A9>A>A>I I O >Ա E ' E &E E "E _;*E ;VE ZE a @a @a @a @!,,L?A:E@:@@:! <ٱ:& VAHRS rotation from veh to nav: [[0.795870,0.584904,0.156457],[-0.605409,0.772363,0.192187],[-0.008431,-0.247677,0.968806]]:H`w???_ 2?@?(D@ݳϿu?i:E@I:}4^;:CY^OBy^F IbDfVDf:yn<%rL=ٔr1;Q-r>9tYt=vFyv%?Ev-zEv>xQ 5~X5z4Š?Q 9X5z̿)zRBYyQ I@zDIz3;izr;zaX5y ږBɮ [$A7Ejh1=FNOT Ignoring new targets: 158.48 m.Rh=1ZhE1u ProNav: ac range: 158.475647 m, nav range: 165.714630 m, bearing: 223.380963 deg, approach rate: 0.111659 m/s, LOS rate: -0.155270 deg/s, cmd heading: 220.683221 deg, new cmd heading: 220.497283 deg. Bh}ջ}HeadingCmd: 3.848404 target range: 158.475647 and range: 159.30 m.h?Lv@h*h"h hgfffdddjdZdQ]?=BɢE#=)A Eܡ>iA)ET8I1 IA OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919 ŀG hA ! M 09M hAYM A 3,jL?AB|@Bw@Bz<ٱB)7 JAHRS rotation from veh to nav: [[0.780789,0.603465,0.161861],[-0.624726,0.757908,0.187864],[-0.009306,-0.247801,0.968766]]BH8?O?`ݷ?@? ?`DϿ "?iB|@IB F^;BCYV?ByV2 IIZ?>)Z>Z=Za=i]Mb@Mb@Mb@YYYY Y9]Cl?Mb?S㥛Y]d>y]=]/ݼ]A]@ ]@)YYY]A mp9Y=Fy*?E#lE>Q 5X5{ Ê?Q 9X5Ͽ)JBYM>Q E:y Q I@DIa:iU:QeX5yɮ$AjhFNOT Ignoring new targets: 158.48 m.Rh>Zh> ProNav: ac range: 158.475647 m, nav range: 165.753891 m, bearing: 223.310004 deg, approach rate: 0.092263 m/s, LOS rate: -0.166713 deg/s, cmd heading: 220.497289 deg, new cmd heading: 220.284466 deg. BhHeadingCmd: 3.844689 target range: 158.475647 and range: 159.30 m.hcv@h*h"h hgfffBdddE$ E'E'E"Eg\;*E";VE'4ZEBE/i!)%{<Q IY Ii O} >39,ȘL?A:@:ת@:DA$<ٱ:w# BAHRS rotation from veh to nav: [[0.764913,0.621795,0.168163],[-0.644056,0.742359,0.184647],[-0.010025,-0.249545,0.968311]]:H@*z?? a? h??@Ͽg?i:@I:B^;8YJ=ByN1 IbDVVDV0y^%^X=ٔb:Q-b>9`Y`=fFyf.?EfREf>hQ 5nX5jÊ?Q 9nX5jҿ)jBBYpyr&Q Ir@jDIj;ij;jhX5yvBɮv2&AvAEjh9EFNOT Ignoring new targets: 158.48 m.RhE<ZhE<U ProNav: ac range: 158.475647 m, nav range: 165.784409 m, bearing: 223.246638 deg, approach rate: 0.079576 m/s, LOS rate: -0.165200 deg/s, cmd heading: 220.284461 deg, new cmd heading: 220.094397 deg. BhU]HeadingCmd: 3.841372 target range: 158.475647 and range: 159.30 m.he u@ha*ha"ha hagafafifidididqjdqZdu @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518946颭Bɢ=) l>i)7?<顱1i5Si=F99I= u@IAQ9@ @@0@E+ E E*E"Eb;*E:VE(N4ZEa@a@a@a@y^A1>AeAzAdAIqIO>e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772908ԩ BY BY B] M IB] TBB] =BY BY B] [m;B] +EB!B!B!B% =B% =C%̯G4*.@,M?A,2@2ޱ@2p1<ٱ2E倾 :AHRS rotation from veh to nav: [[0.748614,0.640039,0.172994],[-0.662917,0.726848,0.179536],[-0.010830,-0.249084,0.968421]]2H ?2{?@$? 6 VB? ? -@ϿN?i2@I2Z[^;2CYn9Y=Fy2?EeE>Q 5X5}%Ê?Q 9X5ֿ)i)~C<顱i|iIu@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0233499@ @@/@ԱE E!E)E"E*E:VEFA4ZEBEjF,uM?AP5O@5J@5B<ٱ5~ MAHRS rotation from veh to nav: [[0.715008,0.675454,0.180349],[-0.699015,0.695089,0.168015],[-0.011872,-0.246199,0.969147]]5HX? Q??U^*>??`|P sϿ??i5O@I5/A^;5CYCBy8 I A@AbDVDN2y =%E=ٔ$;Q->9  ?Y  ?= Fy 6?EuE>Q 5%X5{2Ê?Q 9%X5ڿ)7BY!y%/CQ I5@DIU;iIW;!pX5yM BɮM0&AUBEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 158.48 m.RhLZhL ProNav: ac range: 158.475647 m, nav range: 165.819824 m, bearing: 223.094629 deg, approach rate: 0.028832 m/s, LOS rate: -0.179093 deg/s, cmd heading: 219.859077 deg, new cmd heading: 219.638427 deg. BhHeadingCmd: 3.833414 target range: 158.475647 and range: 159.30 m.hVu@h*h"h hgfff d d d jdZd@U @}Bɢ]<) >i)gF<顩iiIVu@I9@ @@0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526902I ^AU 9>D D R=E 0 E 2E 'E "E Jg;*E ;VE '4ZE a @a @a @a @A ؟AI I O >L,6M?A(6@6z@62E<ٱ6~ >AHRS rotation from veh to nav: [[0.697044,0.692849,0.184637],[-0.716927,0.677777,0.163200],[-0.012070,-0.246129,0.969162]]6H.N?+?0?Y??&Ͽ`?i6@I6z^;6CYF>ByJ2 IbDRVDRyZ<%ZV=ٔ^:Q-^>9^"?Y^"?=^Fy^:?Eb!Eb>dQ 5jX5f#>Ê?Q 9jX5f7޿)f1BYhynIQ In@fDIfB:if:fvsX5ypɮrS&Apjh  FNOT Ignoring new targets: 158.48 m.Rh2OZh2O% ProNav: ac range: 158.475647 m, nav range: 165.825989 m, bearing: 223.026914 deg, approach rate: 0.016492 m/s, LOS rate: -0.181146 deg/s, cmd heading: 219.638420 deg, new cmd heading: 219.435286 deg. Bh%HeadingCmd: 3.829868 target range: 158.475647 and range: 159.30 m.hu@h*h"h hgfffdddjdZd $@}DAT read: 05:20:50.8922 LVL= 31360, 28017, 25010, 30435, AGC= 62, IDX= 457,-0.31, 1.647, 2.755,-2.604, 2.669, PHS=-0.920, 0.131, 0.967, RAW= 243.8, -2.2, CAL= 240.3, -3.6, ROT= 269.7, 3.6 Ygot valid direction response: 05:20:50.8922 LVL= 31360, 28017, 25010, 30435, AGC= 62, IDX= 457,-0.31, 1.647, 2.755,-2.604, 2.669, PHS=-0.920, 0.131, 0.967, RAW= 243.8, -2.2, CAL= 240.3, -3.6, ROT= 269.7, 3.6 PDAT read: Bearing 9.1, -72.3 (Local) ~Local bearing/azimuth received: Bearing 9.1, -72.3 (Local) DAT read: Range 11 to 50 : 160.2 m (Round-trip 213.7 ms) speed -0.3 m/s UR#Rx 1: Read range and direction messages.ԁbdirection in FSK: [-0.005225,-0.998013,-0.062791]Fpublishing direction and range infoy)-!gub.֏ Y-3 C)-z-qm-a -v)->I-ki-$>-Pw?-)@-nF-w5@ -)-@I-=))-"y}6\K?i -> @)-Q=I-kɿi-=))mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.颕Bɢy<) w>i)zJ<顙itsi$Iu@IBk>BBA IBJBBBBBm;B+Em9@i @i@m_0@qԩ *DAT read: user:367>  BDAT read: Tx time:05:20:52.2744  $Ping request sent. A >A >A .AI I O >*(T,moQM?A E~2 E~XE|E|"E~i;*E~;VE|ZE|BE~'9 ?Y ?=Fy??EE>Q 5X5]LÊ?Q 9X5).BY?Q E:ykHQ I @DI;i* ;wX5yɮ)&Aii:M?AJi^CRi^Cji;z@bYˡ?Ƥc]x M$R!gub.֏ Zikɿbi=j-| 5(\5[Owu=@ZcuY9<ْ- ?2i:iA"ij9?*i\kBi/Bij9?i\ki-BiCi;z@e addTargetRange:: Added new target pos. range: 160.199997 m, deltaT: 4.029503 s, deltaX: 0.899994 m, approachRate: 0.223351 m/s, rangeRepo size: 4  Added new target pos. range: 159.370331 m, bearing: 224.019781 deg, lat: 36.779373 deg, lon: -121.859653 deg, deltaT: 4.029503 s, deltaX: 0.894684 m, approachRate: 0.222033 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 159.37 m.RhZh- ProNav: ac range: 159.370331 m, nav range: 156.624405 m, bearing: 224.020337 deg, approach rate: 0.000000 m/s, LOS rate: -0.181146 deg/s, cmd heading: 219.435291 deg, new cmd heading: 219.179788 deg. Bh)5HeadingCmd: 3.825409 target range: 159.370331 and range: 160.20 m.h5t@h1*h1"h1 h9g9f9f9fE BAdadadajdm`fd@Zdm ?颽ǁBɢ<) y>i)M<i?i5LIt@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2512439@ @@4@qԡ ^A9 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503334A I I O >Z, lM?A f@f@fO<ٱfr| vAHRS rotation from veh to nav: [[0.661582,0.725105,0.191133],[-0.749765,0.643953,0.152238],[-0.012692,-0.244023,0.969687]]fH@+?4? w?C?|?o"<Ͽ?if@If^^;fCYFBy < II=)p<==bD-VD-yED<%EN=ٔM:Q-M>9QYQ=]Fy]C?E]Ee>iQ 5uX5mWÊ?Q 9uX5m)m+BYyy}TQ I}@mDIm;im;m{X5yBɮB&ACEjhFNOT Ignoring new targets: 159.37 m.RhWZhW ProNav: ac range: 159.370331 m, nav range: 156.618698 m, bearing: 223.946094 deg, approach rate: -0.014497 m/s, LOS rate: -0.188611 deg/s, cmd heading: 219.179787 deg, new cmd heading: 218.957050 deg. BhqHeadingCmd: 3.821522 target range: 159.370331 and range: 160.20 m.hϓt@h*h"h hgfffdddjdZdo?颕ˁBɢ~<) w>i)/P<顙iZiIϓt@IAE3 E*E%E"Ej;*E;VE 4ZEa@a@a@a@y@ @@2@q5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754931^Aiԩ B A <B B B B B =B B B Um;B +EI I O >ca,ԅM?A2-@2(@2 V<ٱ2{ :AHRS rotation from veh to nav: [[0.643263,0.740661,0.193996],[-0.765534,0.626505,0.146458],[-0.013064,-0.242721,0.970008]]2H?@~?? A@S ? ?@P Ͽ`N ?i2-@I25^;2C@YFZByFU IiMb@Mb@Mb@ 9x&1?{Gzt?~jth?YA?yף;D;|A@ n@)3AYAbD5VD5N2yE=%EK=ٔE,r:Q-M>9IYI=MFyMG?EUvEU>Q 5X5`cÊ?Q 9X5)*BYC?Q E:y_\Q I@DI7:i:~X5yɮ%AjhFNOT Ignoring new targets: 159.37 m.Rh%iQZh%iQ5 ProNav: ac range: 159.370331 m, nav range: 156.606934 m, bearing: 223.869743 deg, approach rate: -0.028208 m/s, LOS rate: -0.183080 deg/s, cmd heading: 218.957054 deg, new cmd heading: 218.727986 deg. Bh=J=HeadingCmd: 3.817523 target range: 159.370331 and range: 160.20 m.h=NRt@hA*hA"hA hAgAfAfIfMABdIdIdQjdQZdU?颅ρBɢwQ=) ̋>i)gT<顉i~輝checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007131igINRt@IԱM9@I @I@M/@IE+ E$E+E"Eb;*E;VE [4ZEBEAfAzA I) I9 M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259050OU >g,M?A6g@6b@64Ca<ٱ6['z >AHRS rotation from veh to nav: [[0.624563,0.755664,0.197214],[-0.780853,0.608673,0.140658],[-0.013748,-0.241845,0.970217]]6H`k?f.?O>?``@z? ?`,(ο` ?i6g@I6*#^;6CYFgByJd IbDRVDRyZ=%ZT=ٔZ:Q-Z>9\Y\=^Fy^K?EbeEb>dQ 5jX5f>mÊ?Q 9jX5f)f)BYhyjbQ Ij@fƒDIf:ifR:fX5lypɮr:%AtB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 159.37 m.RhPZhP- ProNav: ac range: 159.370331 m, nav range: 156.592285 m, bearing: 223.802300 deg, approach rate: -0.039600 m/s, LOS rate: -0.182338 deg/s, cmd heading: 218.727984 deg, new cmd heading: 218.525638 deg. Bh-F5HeadingCmd: 3.813992 target range: 159.370331 and range: 160.20 m.h5qt@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdM?uӁBɢu2 =)y }>iy)}=W1IIIaOmx>bEuc44jEuɭ54rEu5/E D E 8E 'E "E ny;*E  ;VE '4ZE a @a @a @a @a m,M?A2q@2A@2h<ٱ2v :AHRS rotation from veh to nav: [[0.605472,0.770804,0.198155],[-0.795740,0.590755,0.133438],[-0.014206,-0.238473,0.971045]]2H`?@m?"]? vw??9Eο?i2q@I2.4^;2CY^uBybu I ``ddbDj VDj2yr=%rG=ٔv:Q-v>9tYt=zFyzO?EzqEz>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763192 Q 5X5 wÊ?Q 9X59 ) (BYyhQ I@ ͒DI BBZ IB^BBBBBm;By+EjhFNOT Ignoring new targets: 159.37 m.Rh,Zh,- ProNav: ac range: 159.370331 m, nav range: 156.571182 m, bearing: 223.727111 deg, approach rate: -0.042352 m/s, LOS rate: -0.150920 deg/s, cmd heading: 218.525632 deg, new cmd heading: 218.300034 deg. Bh-&ϻ5HeadingCmd: 3.810054 target range: 159.370331 and range: 160.20 m.h5s@h1*h1"h1 h1g9f9f9f9dAdAdAijdAZdm K@؁BɢQ=) >i)@ ]<iEiMGIIIMs@IQ@ @@/@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014936 ^A9 AA AE >I I O >t,eM?A2ۣ@2֪@2r<ٱ24v :AHRS rotation from veh to nav: [[0.586103,0.784814,0.201370],[-0.810101,0.572167,0.127913],[-0.014829,-0.238100,0.971127]]2H@[?2? {?`X1O?r_?^@zοy?i2ۣ@I2'%^;2CEF8 EF(EF&ED"EFn;*EF;VEF4ZEDBEF۾y-j<-94<-fA-@ -@ԙ)-A)Y-(AbDVDܲy/=%<=ٔa:Q->9Y=FyS?EbE>Q 5X5Ê?Q 9X5)Yd>Q E:ycQ I@ӒDI:i:EX5y ɮ %Ajh9=FNOT Ignoring new targets: 159.37 m.RhEHpZhEHpU ProNav: ac range: 159.370331 m, nav range: 156.554749 m, bearing: 223.654033 deg, approach rate: -0.047236 m/s, LOS rate: -0.210073 deg/s, cmd heading: 218.300031 deg, new cmd heading: 218.080775 deg. Bh]+]HeadingCmd: 3.806227 target range: 159.370331 and range: 160.20 m.h];s@ha*ha"ha hagafafifmpBdididqjdqZdu@颥܁Bɢ =) >i)`<顩i}izI;s@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2680379@ @@ 0@^A9>IQ Ii Ou >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519050z, DM?Ab@b`@b<ٱbpw rAHRS rotation from veh to nav: [[0.566414,0.797923,0.206139],[-0.823973,0.553047,0.123319],[-0.015606,-0.239703,0.970721]]bH ?@?b?`]?`֑?`ο@%?ib@IbF^;`YzByz IbDVDN2y <%X=ٔ^;Q->9!Y!=%Fy%W?E%<E%>)Q 55X5-Ê?Q 95X5-)-'BY9y=jQ I=@-ْDI-;i-&;-X5yAɮEl%AIjhiuFNOT Ignoring new targets: 159.37 m.Rhu@Zh}@ ProNav: ac range: 159.370331 m, nav range: 156.536407 m, bearing: 223.590372 deg, approach rate: -0.048533 m/s, LOS rate: -0.168474 deg/s, cmd heading: 218.080768 deg, new cmd heading: 217.889764 deg. Bh>HeadingCmd: 3.802894 target range: 159.370331 and range: 160.20 m.hbs@h*h"h hgfffdddjdZd`@Bɢq=) t>i)d<i( iIbs@IE7 E7E*E"Em;*E ;VE(N4ZEa@a@a@a@9@ @@1@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770932^AQII O= >A A B i>B CB  IB }BB B B B l;B D+Ey ᱁,N?AY~By~ IiMb@Mb@Mb@ 9~jt? rh?Mb?Y>yC<<|A;@ A)\AYGAbDVDyz=%@=ٔQ->9Y=Fy[?EE>Q 5X5۔Ê?Q 9X5])(BY>Q E:ykQ I@ߒDI;i ;KX5y>Bɮ%ANEachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024529OGU9QYUoAjhaeFNOT Ignoring new targets: 159.37 m.Rhmt"Zht" ProNav: ac range: 159.370331 m, nav range: 156.516266 m, bearing: 223.523949 deg, approach rate: -0.043062 m/s, LOS rate: -0.142027 deg/s, cmd heading: 217.889769 deg, new cmd heading: 217.690475 deg. Bh»HeadingCmd: 3.799416 target range: 159.370331 and range: 160.20 m.h)s@h*h"h hgfffBdddjdZd` @MBɢM=)I M>iI)Ufjiԁ9@ @!@%0@!E= EAE(E"Es;*E;VEc44ZEBEAi zAm fA A ؟AI I O >/,S"N?A:@:…@:թ<ٱ: FAHRS rotation from veh to nav: [[0.525964,0.821555,0.220021],[-0.850334,0.513178,0.116535],[-0.017170,-0.248384,0.968509]]:H?.J?`)?@5 k?@:ս? Ͽ?i:@I:#^;:CYNByN IbDZVDZ:yb8=%bP=ٔbu;Q-b>9f"?Yf"?=fFyf_?EfEj>lQ 5rX5nÊ?Q 9rX5n)n)BYpyr!xQ Ir@nDInN:ing:nX5ytɮz$Ax B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 159.37 m.Rh%'GZh%'G5 ProNav: ac range: 159.370331 m, nav range: 156.489746 m, bearing: 223.462869 deg, approach rate: -0.075584 m/s, LOS rate: -0.174113 deg/s, cmd heading: 217.690478 deg, new cmd heading: 217.507208 deg. Bh5=HeadingCmd: 3.796217 target range: 159.370331 and range: 160.20 m.h=8r@h9*hA"hA hAgAfAfIfIdIdIdQjdQZdUaO @}BɢW .=) >i) xn<顉iHi}*I8r@I  9@  @ @ 3@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527002I^A)iD %=D a=E & E )E &E "E 8^;*E 0;VE 4ZE a @a @a @a @AY I I O >ԑ GT,BB IBBB =BBBl;BR+EByByByByByC}’5y$& k?Qg_2qY& C$&`l&p&F &cj)&;I&ai&F&ҍ?&@&&@ &)&@I&<$$&}H 8FPؿO{?乊E &S?)&/yu<A )AYAbDVD0y-<%-=ٔ-Q-->91Y1=5Fy5e?E=E=>AQ 5mX5EÊ?Q 9mX5E)E*BYm>Q Em ;ymvQ Im@EDIE:iEL:EX5yyɮ}$Ayԡi$i&B@wc R& k?Qg_2qZi&|bi&<j& DCJ\c0EZIHA@Z&߼Xjb忉w/?2i&:i&V"i&Hf?*i&*Bi&Bi$i&*i&/Bi&Ci&7y@m addTargetRange:: Added new target pos. range: 160.100006 m, deltaT: 4.032868 s, deltaX: -0.099991 m, approachRate: -0.024794 m/s, rangeRepo size: 4  Added new target pos. range: 159.269592 m, bearing: 223.244509 deg, lat: 36.779373 deg, lon: -121.859641 deg, deltaT: 4.032868 s, deltaX: -0.100739 m, approachRate: -0.024979 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 159.27 m.RhZh ProNav: ac range: 159.269592 m, nav range: 155.748718 m, bearing: 223.110866 deg, approach rate: 0.000000 m/s, LOS rate: -0.174113 deg/s, cmd heading: 217.507210 deg, new cmd heading: 217.206560 deg. BhHeadingCmd: 3.790970 target range: 159.269592 and range: 160.10 m.h?r@h*h"h hgfff΂Bdddjd@3d@Zd@B?颥Bɢo]=) V>i)u<顩i*DAT read: user:368> BDAT read: Tx time:05:20:56.3744 $Ping request sent.@ p> E% 3 E% (E% (E! "E% j;*E% ;VE% c44ZE! BE% A>1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252096AYIqIO ?[,@^N?A;ɰ;2]@2- @2<ٱ2k :AHRS rotation from veh to nav: [[0.486101,0.842857,0.230864],[-0.873692,0.474515,0.107226],[-0.019172,-0.253827,0.967060]]2HH?`?? It^?@+s?硓 >п'?i2]@I28^;2CYFByF IbDNVDNN2yVβ<%VN=ٔZ;Q-Z>9XYX=ZFy^i?E^E^>`Q 5fX5bÊ?Q 9fX5b )b+BYhyj9Q Ij@bDIb:ib:bX5ylɮnv$AljhFNOT Ignoring new targets: 159.27 m.Rh!Zh! ProNav: ac range: 159.269592 m, nav range: 155.720306 m, bearing: 223.056706 deg, approach rate: -0.074196 m/s, LOS rate: -0.141460 deg/s, cmd heading: 217.206559 deg, new cmd heading: 217.044051 deg. Bh*»HeadingCmd: 3.788133 target range: 159.269592 and range: 160.10 m.hpr@h*h"h hgfffdddjdZd?Bɢֹ,=)  x>i ) )y<  i iIpr@I59@1 @1@=4@9iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503818^AQA I I O >E > E +E %E "E s;*E =;VE 4ZE a @a @a @a @A yy,#xN?AF*W@FQ@F<ٱF RAHRS rotation from veh to nav: [[0.466219,0.852969,0.234701],[-0.884442,0.455419,0.101767],[-0.020083,-0.255025,0.966726]]FH`?K? ?`XM%?@n ? URпj?iF*W@IFY[^;FCYZByZ IbDfVDfyj2%nI=ٔn;Q-n>9pYp=rFyrm?EvcEv>tQ 5zX5vAÊ?Q 9~X5vQ )tY|y~Q I~@vDIv;iv;vX5y DBɮ $A jh)5FNOT Ignoring new targets: 159.27 m.Rh=5"Zh=5"M ProNav: ac range: 159.269592 m, nav range: 155.687851 m, bearing: 223.001310 deg, approach rate: -0.083067 m/s, LOS rate: -0.141812 deg/s, cmd heading: 217.044055 deg, new cmd heading: 216.877832 deg. BhM»UHeadingCmd: 3.785232 target range: 159.269592 and range: 160.10 m.hU?Ar@hQ*hQ"hQ hYgYfYfafadadadajdiZdm`?颕Bɢh!=) >i):~<顡i ivI?Ar@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756156I59@1 @1@5/@1Bg>BB IBBBBBDBl;Bk+Ei^AQԑA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006805Թ Xa,B_N?AY~By~ IiMb@Mb@Mb@ 9rh|?{Gz?~jth?Y>y#<D;t!A dA)Y A <bD VD:2yIU=%==ٔQ->E& E8E)E"E8^;*E ;VEFA4ZEBEQ 5X5޺Ê?Q 9X5)*BY>Q E;ySQ I@DI:i:RX5ygBɮ%AXEԑjhFNOT Ignoring new targets: 159.27 m.RhZh ProNav: ac range: 159.269592 m, nav range: 155.650421 m, bearing: 222.944149 deg, approach rate: -0.082214 m/s, LOS rate: -0.125583 deg/s, cmd heading: 216.877836 deg, new cmd heading: 216.706313 deg. Bh_HeadingCmd: 3.782239 target range: 159.269592 and range: 160.10 m.h3r@h*h"h hgf f f BdQdQdQjdQZdU`Y)?uBɢu_W=)q u>iy)} ,)!N?A^%@^@^"j<ٱ^ jAHRS rotation from veh to nav: [[0.426891,0.872375,0.238172],[-0.904026,0.418213,0.088516],[-0.022388,-0.253100,0.967181]]^H .R?@?`i|???얿@2п%?i^%@I^7^;^CYrByr IIvG>)v_?bD~VD~kyᑽ% F=ٔ !;Q- >9Y=Fyv?E*ܽE>!Q 5%X5%Ê?Q 9-X5%)%(BY)y-Q I5@%DI%+;i%;%X5y9ɮ=$&A9UB*** querying acoustic contact ***iY iYjhaeFNOT Ignoring new targets: 159.27 m.Rhm!Zhm!} ProNav: ac range: 159.269592 m, nav range: 155.609039 m, bearing: 222.891050 deg, approach rate: -0.106349 m/s, LOS rate: -0.136498 deg/s, cmd heading: 216.706316 deg, new cmd heading: 216.546976 deg. Bh}ZHeadingCmd: 3.779458 target range: 159.269592 and range: 160.10 m.hq@h*h"h hgfffdddjdZdP1?BɢP!=) >i)<ipi= Iq@I)e9@a @a@a@aE" E2E(E"EZ;*E;VEc44ZEa @a @a @a@Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762883^A9>ԁB B B IB BB B B B m;B w+EA9 IY Iy O >ԩ ,N?A:7<@:7@:<ٱ:k FAHRS rotation from veh to nav: [[0.407033,0.881930,0.237749],[-0.913107,0.399612,0.080905],[-0.023655,-0.250021,0.967951]]:H ?@8?n?`,8>? .?`8 Xп u?i:7<@I:#_^;:CYNByN Ii%Mb@Mb@Mb@!!!! !9% ףp= ?MbPMbpY%Q>y%%% A! !)%rA!Y!bD= VD=2yM`%MG=ٔMGJ;Q-M>9QYQ=UFyUz?E]YE]>aQ 5mX5eÊ?Q 9mX5e)e&BYmU>Q Em;ymQ Iu@eDIe:ie:e{X5yyɮ};&AyjhFNOT Ignoring new targets: 159.27 m.RhQZhQ= ProNav: ac range: 159.269592 m, nav range: 155.560547 m, bearing: 222.839643 deg, approach rate: -0.118155 m/s, LOS rate: -0.125297 deg/s, cmd heading: 216.546981 deg, new cmd heading: 216.392712 deg. Bh=EHeadingCmd: 3.776765 target range: 159.269592 and range: 160.10 m.hEq@hA*hA"hA hIgIfIfIfUBdqdqdqjdyZd}@ @ԑ Bɢ:=) *>i)̅ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268426I I O > ,ԻN?A2@2֍@21<ٱ2 :AHRS rotation from veh to nav: [[0.388073,0.890544,0.237340],[-0.921281,0.381910,0.073386],[-0.025289,-0.247136,0.968651]]2H1?@V?)a?@#{@5q?hɲ?n噿(Ͽ/?i2@I2a^;2CYZByZ I`bAAbDfVDfNyjoL%nR=ٔnx;Q-n>9pYp=rFyr~?Ev YEv>xQ 5zX5zÊ?Q 9~X5zv)z#BY|y~Q I@zDIz;iz;zX5y ɮ &A jh15FNOT Ignoring new targets: 159.27 m.Rh=LZh=LM ProNav: ac range: 159.269592 m, nav range: 155.511963 m, bearing: 222.791217 deg, approach rate: -0.124776 m/s, LOS rate: -0.124408 deg/s, cmd heading: 216.392715 deg, new cmd heading: 216.247393 deg. BhMªUHeadingCmd: 3.774229 target range: 159.269592 and range: 160.10 m.hUq@hQ*hQ"hQ hQgYfYfYfadadadajdaZdm@颕Bɢ/=) x>i)`<顙ii Iq@I%9@! @)@-0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519077!^A1A=>A=?I1 I IA OU >bEjE14rEɖ/E > E 3E E "E s;*E t ;VE ZE a @a @a @a @c6,N?AB$@B@B<ٱB<} RAHRS rotation from veh to nav: [[0.368873,0.898594,0.237617],[-0.929097,0.363810,0.066499],[-0.026692,-0.245299,0.969080]]BH? H? 9Y=Fy?E%9NE%>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7717551Q 5]X55Ê?Q 9]X55)5 BYayeaQ Ie@5 DI5P;i5;5}X5yiɮm'Aijh5FNOT Ignoring new targets: 159.27 m.Rh= Zh= M ProNav: ac range: 159.269592 m, nav range: 155.457733 m, bearing: 222.740286 deg, approach rate: -0.130089 m/s, LOS rate: -0.122220 deg/s, cmd heading: 216.247395 deg, new cmd heading: 216.094548 deg. BhMUHeadingCmd: 3.771561 target range: 159.269592 and range: 160.10 m.hUCaq@hQ*hQ"hQ hYgYfYfYfYdadadajdaZdm}@Bɢ=)  0d>BYBYB] IB]BBYBYBYB]l;B]g+EԹiI)U,qO?AEf6 Ef/Ef&Ed"Efl;*EfY;VEf4ZEdBEfJytT1A A)AYfAbDVD0y %;=ٔQ->9Y=Fy?E%E%>!Q 5-X5%Ê?Q 95X5%t#Q =5tI)%BY5>Q E5;y5tQ I=@%DI%;i%W;%KX5yEmBɮE'AEYEjhimFNOT Ignoring new targets: 159.27 m.RhuZhu ProNav: ac range: 159.269592 m, nav range: 155.389648 m, bearing: 222.680405 deg, approach rate: -0.157934 m/s, LOS rate: -0.138965 deg/s, cmd heading: 216.094549 deg, new cmd heading: 215.914829 deg. BhHeadingCmd: 3.768425 target range: 159.269592 and range: 160.10 m.h-q@h*h"h hgfffBdddjdZdA @Bɢ;<) *;>i)5<项ipi I-q@I]BDAT read: Rx Time:05:20:58.9917 ]TRx dataTimestamp_ set to:1761542460.477277echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2770589@ @@_0@9^A I1 IA OU >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527230G,wM/O?A2@2v@2v<ٱ2p{ :AHRS rotation from veh to nav: [[0.328434,0.913773,0.239062],[-0.944097,0.325231,0.053903],[-0.028495,-0.243402,0.969507]]2H? =?@? 6@?8?-'Ͽ`3?i2@I2-^;2CYB`ByB\ I J49XYX=ZFyZ?E^E^>`Q 5fX5blÊ?Q 9fX5b')bBYhyjQ Ij@bDIb:ib:bmX5ylɮnh(Al~B*** querying acoustic contact ***9i| i|jhamFNOT Ignoring new targets: 159.27 m.RhmxZhux ProNav: ac range: 159.269592 m, nav range: 155.327957 m, bearing: 222.631968 deg, approach rate: -0.166372 m/s, LOS rate: -0.130678 deg/s, cmd heading: 215.914834 deg, new cmd heading: 215.769466 deg. Bh]HeadingCmd: 3.765887 target range: 159.269592 and range: 160.10 m.hMq@h*h"h hgfffdddjdZd@@Bɢm<)%{ %>i)E: E7E)E"E\p;*E ;VEFA4ZEa@a@a@a@)  < iig!IMq@I)i@ @@4@DAT read: 05:20:58.9917 LVL= 27984, 32753, 18658, 31459, AGC= 61, IDX= 436,-0.04, 0.952, 1.250, 3.040, 1.601, PHS=-0.547,-0.306, 1.395, RAW= 216.5, -6.0, CAL= 215.3, -8.8, ROT= 294.7, 8.8 Ygot valid direction response: 05:20:58.9917 LVL= 27984, 32753, 18658, 31459, AGC= 61, IDX= 436,-0.04, 0.952, 1.250, 3.040, 1.601, PHS=-0.547,-0.306, 1.395, RAW= 216.5, -6.0, CAL= 215.3, -8.8, ROT= 294.7, 8.8 ԑPDAT read: Bearing 30.5, -57.1 (Local) %~Local bearing/azimuth received: Bearing 30.5, -57.1 (Local) -DAT read: Range 11 to 50 : 159.9 m (Round-trip 213.2 ms) speed 0.2 m/s 5R#Rx 1: Read range and direction messages.=`direction in FSK: [0.412948,-0.897813,-0.152986]=Fpublishing direction and range infoyY]Ǿm?wJN8C ÿY]CY]Pm]]H ]z)]=I]1 i]]\?]4q@]Pwֽ]~p@ ]nF)]o@I]nF>YY][xn KJ?@ ]1?)]G=I]ᑿi]nF>YY]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.Bi Bi Bm IBm BBi Bi Bi Bm l;Bm O+E^A IY I OE >1,e4IO?AbQʙ@b!Š@b<ٱby jAHRS rotation from veh to nav: [[0.306525,0.921523,0.238408],[-0.951424,0.304225,0.047334],[-0.028910,-0.241336,0.970011]]bH? }? (?r@kx?, BDAT read: Tx time:05:21:00.3244 $Ping request sent.y`e^ A dA)AYAbDVDky$%"=ٔzW:Q->9Y=Fy?E9E>Q 5X5nÊ?Q 9X5,)BY-#>Q E5:y5Q I5@DI;i;X5yIɮM(AIiiɰ>O?AJiCRiCji"mx@b>lP@TZazU8RǾm?wJN8C ÿZiᑿbinF>jK Q]NH2ZȄn!@Z4Δ<Hgeج?2i1:i"iPA?*i -BiBBii\kiiCix@ addTargetRange:: Added new target pos. range: 159.899994 m, deltaT: 4.031099 s, deltaX: -0.200012 m, approachRate: -0.049617 m/s, rangeRepo size: 4  Added new target pos. range: 159.070312 m, bearing: 222.402791 deg, lat: 36.779373 deg, lon: -121.859653 deg, deltaT: 4.031099 s, deltaX: -0.199280 m, approachRate: -0.049436 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 159.07 m.Rh=ZhAM ProNav: ac range: 159.070312 m, nav range: 155.928543 m, bearing: 222.839050 deg, approach rate: 0.000000 m/s, LOS rate: -0.130678 deg/s, cmd heading: 215.769460 deg, new cmd heading: 215.566398 deg. BhQUHeadingCmd: 3.762343 target range: 159.070312 and range: 159.90 m.hUw,FgO?A2 @2@2V<ٱ2u :AHRS rotation from veh to nav: [[0.284192,0.929311,0.235830],[-0.958322,0.282827,0.040339],[-0.029212,-0.237465,0.970957]]2H 30??`/????靿>eο ?i2 @I2&.^;2CYF>ByF2 IbDNVDNfyV%VY=ٔVR:Q-Z>9Z ?YZ ?=ZFy^?E^؀E^>`Q 5fX5bÊ?Q 9fX5b0)b BYhynQ Ir@b#DIbܚ;ib};bX5yBɮ*AbEjh-FNOT Ignoring new targets: 159.07 m.Rh5IZh5IE ProNav: ac range: 159.070312 m, nav range: 155.850189 m, bearing: 222.786493 deg, approach rate: -0.206204 m/s, LOS rate: -0.138384 deg/s, cmd heading: 215.566398 deg, new cmd heading: 215.408648 deg. BhEEHeadingCmd: 3.759590 target range: 159.070312 and range: 159.90 m.hM p@h*h"h hgfffdddjdZd#?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503090*Bɢ<) #=i)<iQi!I p@I@ @@4@E= E$E&E"Es;*E;VE4ZEa@a@a@a@A ^A 9>= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754826i A I I O >!,"TO?AB6<A6<B@B@BBZ IBB^BB@B@B@BBl;BBP+EB-CB-CB)B- =B- =C-4zfy@z6t@zl<ٱz } AHRS rotation from veh to nav: [[0.236923,0.940334,0.244213],[-0.971107,0.236619,0.031024],[-0.028612,-0.244507,0.969225]]zH`zS?6?``B?@O`I?ğ? LLϿ?izfy@IzH?^;zCY]'Bye I@AbDVDܲy%+=ٔ룺Q->9Y=Fy?E :̽E >Q 5EX5VÊ?Q 9EX56)BYIyM䯿Q IM@*DI;i;nX5yQɮUD+AYePExceeded connect timeout, disconnecting.jhFNOT Ignoring new targets: 159.07 m.Rh$Zh$ ProNav: ac range: 159.070312 m, nav range: 155.737198 m, bearing: 222.718648 deg, approach rate: -0.239443 m/s, LOS rate: -0.143877 deg/s, cmd heading: 215.408648 deg, new cmd heading: 215.204966 deg. Bh{ŻHeadingCmd: 3.756035 target range: 159.070312 and range: 159.90 m.hbp@h*h"h hgff f d d djdZd ?颅/Bɢֆ<) |i)<顉iliҼ!Ibp@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006897KA Ee + Ee 7Ea Ea "Ee b;*Ee ;VEa ZEa BEe A>A>ԙA؟AIIO? ,yļt1Ah@ A)YAbD-VD-:y=\%==ٔ=_Q-E>9E"?YE"?=EFyE?EMFJEM>QQ 5]X5UÊ?Q 9]X5U<)UBY]>Q E]:yeʴQ Ie@U2DIU:iU:UX5yɮ+AjhIMFNOT Ignoring new targets: 159.07 m.RhU'ZhU' ProNav: ac range: 159.070312 m, nav range: 155.601212 m, bearing: 222.643328 deg, approach rate: -0.264884 m/s, LOS rate: -0.146841 deg/s, cmd heading: 215.204972 deg, new cmd heading: 214.978817 deg. BhɻHeadingCmd: 3.752088 target range: 159.070312 and range: 159.90 m.h6"p@h*h"h hgfffVBdddjdZdS2?5BɢeY_<) `i)Z<i{iE!IIIM6"p@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510948!E1 E'E)E"E2h;*E";VEFA4ZEa@a@a@a@9 @9  @9 @= 0@9 I M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762762^Ay B f>B B ( IB 6BB B B B l;B I+EyAII1Oe ?,*rO?AB@Bޜ@B<ٱB~ JAHRS rotation from veh to nav: [[0.188609,0.949517,0.250688],[-0.981678,0.189335,0.021449],[-0.027098,-0.250141,0.967830]]BHY$?pb?`F ?i!9Y=Fy?EP7E>Q 5X5Ê?Q 9X5D)BY?Q E:y縿Q I@;DI ;iG ;X5yɮ0,AB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 159.07 m.Rh{>Zh{>% ProNav: ac range: 159.070312 m, nav range: 155.431000 m, bearing: 222.554978 deg, approach rate: -0.320482 m/s, LOS rate: -0.166533 deg/s, cmd heading: 214.978811 deg, new cmd heading: 214.713470 deg. Bh-5HeadingCmd: 3.747457 target range: 159.070312 and range: 159.90 m.h5Vo@h1*h1"h1 h1g1f9f9f=GBd9dAdAjdAZdEp@u;Bɢu=5<)q uĽiy)} E+EE"Es;*E=;VEZEBE,O?A>@>@>e<ٱ>Bԁ FAHRS rotation from veh to nav: [[0.164684,0.953703,0.251656],[-0.985991,0.166020,0.016065],[-0.026458,-0.250776,0.967684]]>H`[?`? ?>%@?vs?` пC?i>@I> ^;>CYNByNIbDXVDXyf%j1=ٔrQ-v>9tYt=zFyz?EzUEz>|Q 5X5~Ê?Q 9X5~K)~BY y Q I @~CDI~ :i~:~X5yɮ,Ajh9EFNOT Ignoring new targets: 159.07 m.RhE3ZhE3] ProNav: ac range: 159.070312 m, nav range: 155.283127 m, bearing: 222.481761 deg, approach rate: -0.317458 m/s, LOS rate: -0.157334 deg/s, cmd heading: 214.713472 deg, new cmd heading: 214.493613 deg. Bh]׻eHeadingCmd: 3.743620 target range: 159.070312 and range: 159.90 m.hewo@ha*ha"ha hagafififidqdqdqjdqZdu`@)额ABɢl<)  i)<顡iVi="Iwo@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5198789@ @@0@YE-2 E-3E-'E)"E-i;*E-t ;VE-'4ZE)a5@a5@a5@a5@ԁ^AA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865Ա |,FP?A6?O@6J@6<ٱ6W倾 BAHRS rotation from veh to nav: [[0.139895,0.958061,0.250097],[-0.989839,0.141807,0.010451],[-0.025453,-0.249018,0.968164]]6H?@o?@? ì&?pg? F@Ͽ3?i6?O@I6PG^;6CBbe>B`BbIBbBB`B`B`Bbl;BbG+EYjByjIIn=)np9Y=Fy?E zE >Q 5X5@Ê?Q 9X5P)BYy%:Q I%@JDI;i;GX5y-Bɮ--A-kEjhQUFNOT Ignoring new targets: 159.07 m.Rh]0Zh]0m ProNav: ac range: 159.070312 m, nav range: 155.149002 m, bearing: 222.418498 deg, approach rate: -0.327166 m/s, LOS rate: -0.154447 deg/s, cmd heading: 214.493608 deg, new cmd heading: 214.303658 deg. Bhmӻ]HeadingCmd: 3.740304 target range: 159.070312 and range: 159.90 m.h]&ao@ha*ha"hiq higfffddIdQjdYZde,L @]FBɢ]Z;) B$i);b<顁i]i"I&ao@Iԙ9@A @A@E0@ABDAT read: Rx Time:05:21:02.9408 TRx dataTimestamp_ set to:1761542464.256816checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024903^A] 9>E  E 2E *E "E *E ;VE (N4ZE BE ' ,P?AFn@F>@F<ٱFy NAHRS rotation from veh to nav: [[0.090834,0.965824,0.242762],[-0.995580,0.093914,-0.001120],[-0.023881,-0.241587,0.970085]]FH@@?`?? ?J[R@:t Vο ?iFn@IF^;FCYXyZIechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274892iMb@Mb@Mb@ 9S?y&1Y?y`弙^ AQ@ )Y3AAAbDVD:y:%4=ٔbQ->9Y=Fy?E޽E>Q 5X5)Ê?Q 9X5nW)BYH?Q E:yÿQ I@RDI ;i" ;AX5yɮ-Ajh FNOT Ignoring new targets: 159.07 m.Rh35Zh35- ProNav: ac range: 159.070312 m, nav range: 154.985550 m, bearing: 222.346402 deg, approach rate: -0.358774 m/s, LOS rate: -0.158418 deg/s, cmd heading: 214.303660 deg, new cmd heading: 214.087143 deg. Bh-qٻ5HeadingCmd: 3.736526 target range: 159.070312 and range: 159.90 m.h5<#o@h1*h1"h1 h9g9f9f9fEABdAdAdAjdAZdMv @uJBɢ};)y }l+iy)}/_QA]?A]?- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529487A I I O >y s+ ,<7P?A2@2v@2;<ٱ2z :AHRS rotation from veh to nav: [[0.066165,0.967686,0.243321],[-0.997539,0.069825,-0.006438],[-0.023220,-0.242297,0.969924]]2H7?`I?(%??^z`ƗϿ ?i2@I2>/^;0YBByFIbDNVDNyV<%V_=ٔVQ-V>9XYX=ZFyZ?E^E^>bE'4jECg]Y3Cs|G )8I!i%AK?]@]@ s)'@Is={a?K\?pbX+ 2?)#\B B IB BB B B B l;B J+E! ^A 9>A I I O > = *DAT read: user:370> E BDAT read: Tx time:05:21:04.3244 E $Ping request sent.E 9Y=Fy?EXVE>Q 5X5Ê?Q 9X5tc)BYc ?Q E:y̿Q I@aDI;i] ;X5yɮ-Aii@P?AJi_CRi_Cjilqz@bq-#Z@y][u"RW?&F>Cg]Zi%Ybis=jt5\L=r-p[7V1@Zb}PȰ-R?2i:i"i2> ɞ?*iwTBiBiHf?i -iBiCisx@5 addTargetRange:: Added new target pos. range: 159.199997 m, deltaT: 4.032332 s, deltaX: -0.699997 m, approachRate: -0.173596 m/s, rangeRepo size: 4 E Added new target pos. range: 158.373123 m, bearing: 224.208275 deg, lat: 36.779377 deg, lon: -121.859665 deg, deltaT: 4.032332 s, deltaX: -0.697189 m, approachRate: -0.172900 m/s, posRepo size: 4 jhAEFNOT Ignoring new targets: 158.37 m.RhMZhQe ProNav: ac range: 158.373123 m, nav range: 155.009003 m, bearing: 222.648685 deg, approach rate: 0.000000 m/s, LOS rate: -0.154345 deg/s, cmd heading: 213.904682 deg, new cmd heading: 213.698239 deg. BhaeHeadingCmd: 3.729738 target range: 158.373123 and range: 159.20 m.hmn@hiE0 E<EE"EJg;*E1;VEZEBEy Au .AI I O >",8mP?AJY@JT@J<ٱJcz VAHRS rotation from veh to nav: [[0.016678,0.970029,0.242418],[-0.999615,0.021549,-0.017456],[-0.022156,-0.242033,0.970015]]JH@?y ??``?ߑ )@ο\ ?iJY@IJC^;HY^By^I f49v ?Yv ?=vFyv?Ev邽Ez>|Q 5X5~Ê?Q 9X5~h)~BYyϿQ I@~gDI~y:i~:~X5y ɮ4.A-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 158.37 m.RhE ZhE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502803 ProNav: ac range: 158.373123 m, nav range: 154.859009 m, bearing: 222.594426 deg, approach rate: -0.388245 m/s, LOS rate: -0.140582 deg/s, cmd heading: 213.698232 deg, new cmd heading: 213.535296 deg. BhHeadingCmd: 3.726894 target range: 158.373123 and range: 159.20 m.hnn@h*h"h hgfffdddjdZd`?颅WBɢpu:) pWi)<顩i:iH#Inn@Ie9@a @a@e/@a@i@mgAE) E*E*E"E`;*E;VE(N4ZEa@a@a@a@A^AAzAfAE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754833B <A <B e>B B IB BB B B B l;B A+EA I I O >q !,P?Af@f`@f2<ٱfnz  AHRS rotation from veh to nav: [[-0.007629,0.970223,0.242091],[-0.999730,-0.002093,-0.023119],[-0.021924,-0.242203,0.969978]]fH @ ??$a `Ps`~Ͽ  ?if@If^%^;fCYeBymIYbDVDG(hA Tʿ9(hAY}Ay=%,=ٔQ->9!Y!=%Fy%?E%IQ 5UX5MVÊ?Q 9]X5Mo)MBYYy]ҿQ I]@MpDIM:iM:M)X5yaɮ-AjhFNOT Ignoring new targets: 158.37 m.RhZh  ProNav: ac range: 158.373123 m, nav range: 154.670746 m, bearing: 222.529352 deg, approach rate: -0.386081 m/s, LOS rate: -0.133612 deg/s, cmd heading: 213.535291 deg, new cmd heading: 213.339834 deg. Bh dHeadingCmd: 3.723483 target range: 158.373123 and range: 159.20 m.hMn@h*h"h hgfffdd!dAjdAZdE?颕\Bɢ;) 9i)/<顙i$)꼝checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007034i+#IMn@Iԁ]9@Y @Y@Y@YԩE= E<E&E"Es;*E1;VE4ZEBE ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259549A ؟AI I O >](,UP?A2 ˎ@2ŕ@2j<ٱ2Z{ :AHRS rotation from veh to nav: [[-0.031973,0.969586,0.242654],[-0.999247,-0.025674,-0.029079],[-0.021965,-0.243401,0.969677]]2H^ ? F? 7J@Ɲ}`'Ͽ@?i2 ˎ@I2&^;2CYvByvIIz=)zH?|~a=iuMb@Mb@Mb@qqqq q9uw/?&1:v?Yu?yuPu9"?Y"?=Fy?EE>Q 5X5oÊ?Q 9X5t)BY?Q E:y׿Q I@vDI:is:tX5yӗBɮb.AuEjhFNOT Ignoring new targets: 158.37 m.RhLZh L ProNav: ac range: 158.373123 m, nav range: 154.520203 m, bearing: 222.480869 deg, approach rate: -0.407613 m/s, LOS rate: -0.131400 deg/s, cmd heading: 213.339839 deg, new cmd heading: 213.194249 deg. Bh[HeadingCmd: 3.720942 target range: 158.373123 and range: 159.20 m.h#n@h*h"h hgfff}BdddjdZd?%`Bɢ%,Y;)A E1iI)MD =D <E 7 E )E *E "E m;*E 0;VE (N4ZE a- @a- @a- @a- @q A I IQ Om >.,['P?AV@V@V2t<ٱVe9 bAHRS rotation from veh to nav: [[-0.056264,0.967868,0.245084],[-0.998176,-0.049144,-0.035076],[-0.021904,-0.246611,0.968867]]VH@ά?^?`Y)nnϿ?iV@IV85^;VCYj ByjIr@Ar@AbDvVDvy~ <%~T=ٔ~$Q->9Y=Fy?E )E >Q 5X5Ê?Q 9X5@z)BYyڿQ I%@}DIf;i;X5y)ɮ-:.A)jhFNOT Ignoring new targets: 158.37 m.RhN ZhN  ProNav: ac range: 158.373123 m, nav range: 154.363037 m, bearing: 222.432531 deg, approach rate: -0.395587 m/s, LOS rate: -0.121791 deg/s, cmd heading: 213.194246 deg, new cmd heading: 213.049085 deg. Bh+HeadingCmd: 3.718408 target range: 158.373123 and range: 159.20 m.hfm@h*h"h hgfffddd jd Zd @=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7630039McBɢM [;)I M.iQ)U A?ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014913AY Ii Iy O >Թ }5, P?A2=@28@2mt<ٱ2g[ :AHRS rotation from veh to nav: [[-0.080376,0.966041,0.245571],[-0.996524,-0.072466,-0.041095],[-0.021904,-0.248020,0.968507]]2H`?`n? "v nϿ?i2=@I2: ^;2CYBByB IiMb@Mb@Mb@ 9\(\?x&L7A`?Y>y7+="A~@ A) AYAbD- VD-2y=_=%=F=ٔ=4Q-=>9AYA=EFyE?EM pEM>QQ 5]X5UÊ?Q 9]X5U)UBY]>Q E]:yeQ Ie@UDIU ;iU:UmX5yiɮm-AiE8 E!E'E"En;*E:VE'4ZEBE۾ ;,,P?A2w@2xr@2B^<ٱ22 :AHRS rotation from veh to nav: [[-0.104450,0.964078,0.244221],[-0.994292,-0.095852,-0.046864],[-0.021772,-0.247722,0.968586]]2H<?@B?=TK[Ͽ?i2w@I2C^;2CYBByF I DDHJARchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519029bD~VD~0yEP@<%MJ=ٔMQ-M>9U ?YU ?=UFyU?EUtEU>aQ 5eX5eÊ?Q 9mX5e)e BYiym/Q Im@eDIeF:ie:eX5yqɮ}-AyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 158.37 m.RhcZhc ProNav: ac range: 158.373123 m, nav range: 154.034973 m, bearing: 222.344864 deg, approach rate: -0.404234 m/s, LOS rate: -0.105519 deg/s, cmd heading: 212.914195 deg, new cmd heading: 212.785813 deg. BhՐHeadingCmd: 3.713813 target range: 158.373123 and range: 159.20 m.hm@h*h"h hgfffdddjdZd W@ kBɢ `g;) !i){<iRip$!I%m@I!9@ @@4@E9 EGE(E"Eso;*E;VEc44ZEa@a@a@a@!^Au9>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770862I Ae ؟AIq I O >B B B IB BB B B B l;B 8+EۏB,۾ Q?A0M۵@M@MgB<ٱMA AHRS rotation from veh to nav: [[-0.127940,0.961718,0.242342],[-0.991538,-0.118610,-0.052767],[-0.022003,-0.247042,0.968755]]MHT``e? ?@<]>Շ@Ͽ` ?iM۵@IME-^;MCY By IiMb@Mb@Mb@ 9gfffff?sh|?l?Y3>y=$A )Yp A bD VD2yM<%5=ٔ:Q->9"?Y"?=Fy?EVE>Q 5X5 Ê?Q 9X5()BY>Q E:yQ I@DI:i<:X5yɮ-AaԉBDAT read: Rx Time:05:21:06.9388 TRx dataTimestamp_ set to:1761542468.288231checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024048jhFNOT Ignoring new targets: 158.37 m.Rh.κZh.κ ProNav: ac range: 158.373123 m, nav range: 153.850143 m, bearing: 222.302195 deg, approach rate: -0.389937 m/s, LOS rate: -0.090129 deg/s, cmd heading: 212.785815 deg, new cmd heading: 212.657652 deg. BhkwHeadingCmd: 3.711576 target range: 158.373123 and range: 159.20 m.h%wm@h!*h!"h! h!g)f)f)f-Bd1d1d1jd1Zd5gY @oBɢ$;) i)y<ii>$Iwm@Iu9@q @y@}4@yԱEO ECEE"E;*E;VEZEBEA dAzA dA] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274973A I I! O- >~'I,Re&Q?A Y +By  IbD%VD%y-]^=%5V=ٔ=Q-=>99Y9==FyE?EEEE>IQ 5UX5MÊ?Q 9UX5MЎ)M!BYYyYQ I]@MDIMw;iM;MAX5yaɮeB-AajhFNOT Ignoring new targets: 158.37 m.RhzZhz ProNav: ac range: 158.373123 m, nav range: 153.693756 m, bearing: 222.265996 deg, approach rate: -0.434819 m/s, LOS rate: -0.100750 deg/s, cmd heading: 212.657653 deg, new cmd heading: 212.548946 deg. BhIHeadingCmd: 3.709679 target range: 158.373123 and range: 159.20 m.hakm@h*h"h hgfffdddjdZdV) @rBɢT;) i)w<ifiS$Iakm@II9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529520y^Aԡ E B E 2E )E "E w;*E ;VE FA4ZE a @a @a @a @A9 IY Iq O > P,0@Q?A@uDAT read: 05:21:06.9388 LVL= 32752, 32753, 27682, 32755, AGC= 62, IDX= 422, 0.04, 1.366, 0.354, 2.597, 1.617, PHS=-0.149,-1.218, 0.936, RAW= 180.2, 4.7, CAL= 179.9, 2.9, ROT= 330.1, -2.9 }Ygot valid direction response: 05:21:06.9388 LVL= 32752, 32753, 27682, 32755, AGC= 62, IDX= 422, 0.04, 1.366, 0.354, 2.597, 1.617, PHS=-0.149,-1.218, 0.936, RAW= 180.2, 4.7, CAL= 179.9, 2.9, ROT= 330.1, -2.9 PDAT read: Bearing 42.2, -31.4 (Local) ~Local bearing/azimuth received: Bearing 42.2, -31.4 (Local) DAT read: Range 11 to 50 : 157.7 m (Round-trip 210.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.865787,-0.497849,0.050593]Fpublishing direction and range infoy9=­4?}߿|rQ?Y=C9==="l 9)=>I=ui=m盿=o?= II@===BH@ =4QO=)=\@I=4QO99=?ß^?L״? =?)=즽I=-i=4QO99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1@,@T<ٱ*BYBYB] IB]!BBYBYBYB]hl;B] +E }AHRS rotation from veh to nav: [[-0.174735,0.954888,0.240119],[-0.984361,-0.163873,-0.064643],[-0.022377,-0.247659,0.968589]]H ]ƿp?9?Ŀm@ꖿ MϿ?i1@I~U^;ԩY,By II=)==bDVD:y+;%%=ٔ-D:Q-->91Y1=5Fy5?E5½E=>9Q 5EY5=XÊ?Q 9mY5=Д)=,BYyy}Q I}@=DI=Q  BDAT read: Tx time:05:21:08.3744  $Ping request sent.  E <E E "E s;*E 1;VE ZE 9 BE ymƽmt=m#Am@ i)m AiYi}AAybDVD:y;=%-=ٔa:Q->9Y=Fy?EFE>Q 5Y5Ê?Q 9Y5)8BY>Q E:ylQ I@DI:i/:Y5yBɮ-A}EjhFNOT Ignoring new targets: 156.88 m.Rh;ĺZh;ĺ  ProNav: ac range: 156.880875 m, nav range: 153.291885 m, bearing: 222.187753 deg, approach rate: -0.476581 m/s, LOS rate: -0.085779 deg/s, cmd heading: 212.378448 deg, new cmd heading: 212.274898 deg. Bh zk HeadingCmd: 3.704896 target range: 156.880875 and range: 157.70 m.hm@h*h"h hgfff˂BdddjdZd`?Թ{Bɢ};) i)Us<!i%aVi]%YYI]m@Ia9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502018^A- 9>A A .AI I O >^,$}Q?AbEu:4jEu:4rEu/ENK EN)EN+EL"EN;*EN0;VEN [4ZELaV@aV@aV@aV@^@^@^><ٱ^۞ fAHRS rotation from veh to nav: [[-0.219257,0.945353,0.241318],[-0.975394,-0.206534,-0.077133],[-0.023077,-0.252293,0.967376]]^H`̿T@?? n6oʿ@%п ?i^@I^X^;^CYr4Byr% IbDzVDzy]%U=ٔ M:Q- >9  ?Y  ?= Fy ?EtE>Q 5%Y5Ê?Q 9%Y58)BBY)y-JQ I-@DI:i: Y5y1ɮ5-A1UB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 156.88 m.RhmZhm} ProNav: ac range: 156.880875 m, nav range: 153.132767 m, bearing: 222.160698 deg, approach rate: -0.414800 m/s, LOS rate: -0.070601 deg/s, cmd heading: 212.274903 deg, new cmd heading: 212.193654 deg. Bh}AHeadingCmd: 3.703478 target range: 156.880875 and range: 157.70 m.hm@h*h"h hgfffdddjdZd1?E~BɢEJ;)A MiI)Mqze,jQ?Aɰ;2;@2 @2(<ٱ2惾 :AHRS rotation from veh to nav: [[-0.241519,0.939797,0.241766],[-0.970114,-0.227829,-0.083505],[-0.023396,-0.254709,0.966735]]2H`ο@?0?`, ~)Ϳ`5%Mп}?i2;@I2d^;0@Yn-Byn IttimMb@Mb@Mb@iiii i9muV?)\(l?Ymr>ymGὙm=m#Ai mA)m AiYibDVDky%B=ٔ'F:Q->9"?Y"?=Fy?E^E>Q 5Y5Ê?Q 9Y5ݢ)MBY>Q E:yQ I@DI` ;i? ; Y5yɮ-AjhFNOT Ignoring new targets: 156.88 m.RhZh ProNav: ac range: 156.880875 m, nav range: 152.950424 m, bearing: 222.133318 deg, approach rate: -0.432531 m/s, LOS rate: -0.065026 deg/s, cmd heading: 212.193651 deg, new cmd heading: 212.111412 deg. Bh2 HeadingCmd: 3.702043 target range: 156.880875 and range: 157.70 m.h Dl@h *h"h hgfffBdddjdZd?颅Bɢ1k;E9 EFE#E"Eso;*Ev;VE3ZEBEk,mQ?A2F@2A@2m<ٱ2 :AHRS rotation from veh to nav: [[-0.263656,0.934780,0.238060],[-0.964325,-0.249352,-0.088890],[-0.023732,-0.253003,0.967174]]2Hп?x?Ͽ`|"M`41п?i2F@I2@^;0YB'ByF I Jp9XY\=^Fy^?E^.|E^>`Q 5fY5b͵Ê?Q 9fY5b)bWBYhyj Q Ij@bDIb;ib;bY5ylɮn,.Apxjh  FNOT Ignoring new targets: 156.88 m.Rh Zh % ProNav: ac range: 156.880875 m, nav range: 152.788345 m, bearing: 222.110538 deg, approach rate: -0.435361 m/s, LOS rate: -0.061254 deg/s, cmd heading: 212.111415 deg, new cmd heading: 212.043003 deg. Bh%'(-HeadingCmd: 3.700849 target range: 156.880875 and range: 157.70 m.h-l@h)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509407*h"h hgfffdddjdZd`a?-Bɢ-@P:)1 5;i1)5l<11i5wi=E%9AIEl@IA@ @@0@!E? E)E*E"Et;*E0;VE(N4ZEa@a@a@a@Q^A%1>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761528B d>B B ( IB 6BB B B B sl;B %+EAq I I O >ԡ }r,CpQ?A:@:b@:*<ٱ:} JAHRS rotation from veh to nav: [[-0.286083,0.929620,0.232301],[-0.957901,-0.271349,-0.093788],[-0.024152,-0.249352,0.968112]]:H`-Oҿr? ?@]ѿ|gϿ@?i:@I:9 Y = Fy ?E5EE5>9Q 5=Y5=Ê?Q 9EY5=)=dBYAyEQ IE@=DI=:i==:=3Y5yUBɮU-AU|EjhFNOT Ignoring new targets: 156.88 m.RhՂZhՂ ProNav: ac range: 156.880875 m, nav range: 152.575912 m, bearing: 222.082753 deg, approach rate: -0.436661 m/s, LOS rate: -0.057192 deg/s, cmd heading: 212.043004 deg, new cmd heading: 211.959533 deg. BhHeadingCmd: 3.699392 target range: 156.880875 and range: 157.70 m.hl@h*h"h hgfffdd d jd Zd l@]Bɢ];)Y ]>ia)e2j E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265897A I I O > y,\Q?A2~ͅ@2OȌ@2|<ٱ2t  :AHRS rotation from veh to nav: [[-0.307760,0.923958,0.227125],[-0.951140,-0.292529,-0.098790],[-0.024837,-0.246431,0.968842]]2HUӿ ?n?o̸ҿ@QJ`nϿ?i2~ͅ@I29^;2CYF&ByF IVonly read 0 of 1 data item for BIT error. Device response is::TS,000503090.,492.9, 0 aV@aV aV@aV aV@aV aZ@aZ bD^VD^yby%fb=ٔf:Q-f>9hYq=uFyu?EuyEu>yQ 5Y5}cÊ?Q 9Y5} )}nBQ A+:YQ E:y Q I@}ÓDI} ;i}>}Y5yBɮ.AEjhFNOT Ignoring new targets: 156.88 m.Rh,yZh,y ProNav: ac range: 156.880875 m, nav range: 152.410797 m, bearing: 222.062696 deg, approach rate: -0.447840 m/s, LOS rate: -0.054461 deg/s, cmd heading: 211.959539 deg, new cmd heading: 211.899301 deg. BhHeadingCmd: 3.698340 target range: 156.880875 and range: 157.70 m.hl@h*h"h hgfffdddjdZd@^@MBɢU )Q ULiQ)Ug@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517352i^A1>A>A>ԙ A I I O >E @ E 0E )E "E u;*E ;VE FA4ZE a @a @a @a @/,KQ?A2 @2Q@2b<ٱ2~ :AHRS rotation from veh to nav: [[-0.329962,0.917081,0.223802],[-0.943660,-0.314137,-0.104035],[-0.025104,-0.245521,0.969066]]2H@տ@X?`?w2Կ @۴9mϿ@?i2 @I28(^;0YBByF IbDNVDNJyV%VM=ٔV@/:Q-Z>9XYX=ZFyZ?E^}E^>`Q 5fY5bÊ?Q 9fY5b)bxBQ Af :YdQ Ef:yjQ Ij@bɓDIb:ib@?bY5ylɮn_/Al~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 156.88 m.Rh dZhd% ProNav: ac range: 156.880875 m, nav range: 152.241714 m, bearing: 222.043753 deg, approach rate: -0.445907 m/s, LOS rate: -0.050011 deg/s, cmd heading: 211.899297 deg, new cmd heading: 211.842406 deg. Bh%I -HeadingCmd: 3.697347 target range: 156.880875 and range: 157.70 m.h-Wl@h)*h)"h) h)g)f1f1f1d1d9ydjdZdR@Bɢ) ki)d<!i%i%]~%))I-Wl@I)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769470AABBB! IB1BB =BBBl;BG+EBBBBBC]4@ @@5@ԩ^A9> BDAT read: Rx Time:05:21:10.9865  TRx dataTimestamp_ set to:1761542472.320530 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022866AA II IY Om > $,R?A2N@2I@2h<ٱ2 :AHRS rotation from veh to nav: [[-0.351845,0.909327,0.222102],[-0.935716,-0.335255,-0.109726],[-0.025316,-0.246431,0.968830]]2Hֿ 5?m?@btտ@`왿 Ͽ@?i2N@I2:^;0Y^By^ Ia a aa aa aES E5E(E"E;*E ;VEc44ZEBEy- -<--$A-@ -A)- A)Y- AbDEVDEkyUg<%U2=ٔ]#9Q-]>9YYY=eFye@EeOEe>iQ 5uY5mÊ?Q 9uY5mҸ)mBQ A}T:Y}>Q E}:y} Q I}@mГDImR;im;mY5yɮD/AjhFNOT Ignoring new targets: 156.88 m.RhBZhB ProNav: ac range: 156.880875 m, nav range: 152.026154 m, bearing: 222.024285 deg, approach rate: -0.470456 m/s, LOS rate: -0.042548 deg/s, cmd heading: 211.842402 deg, new cmd heading: 211.783916 deg. BhHeadingCmd: 3.696327 target range: 156.880875 and range: 157.70 m.hl@h*h"h hgfffԂBdddjdZd{ @颕Bɢ-Һ) dli)la<顙ii%Il@I Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2733989@ @@@1^A Y A1 II Iq O >~,i4R?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528478XɰXNЂ@ˉ@`<ٱ|Թ AHRS rotation from veh to nav: [[-0.395120,0.893401,0.213813],[-0.918260,-0.377515,-0.119500],[-0.026044,-0.243553,0.969538]]HIٿ? 9^?cb4)ؿ`P,Ͽ@t?iNЂ@II^;YByI bDVD 8y(%H=ٔ:Q->9Y= Fy @E  E >Q 5Y5Ê?Q 9Y5)BY!y%Q I%@֓DI;i: Y5y-Bɮ-Q/A-EjhQ]FNOT Ignoring new targets: 156.88 m.Rh]Zh]m ProNav: ac range: 156.880875 m, nav range: 151.832138 m, bearing: 222.010318 deg, approach rate: -0.475279 m/s, LOS rate: -0.034260 deg/s, cmd heading: 211.783921 deg, new cmd heading: 211.741965 deg. BhmuHeadingCmd: 3.695595 target range: 156.880875 and range: 157.70 m.h}l@hy*hy"hy hygyfyffdddjdZd?@颽Bɢv) 3i)Y^<i0i%Il@IqI)E< E9E'E"E,r;*E ;VE'4ZEa@a@a@a@-9@) @)@-4@)@1@5fADAT read: 05:21:10.9865 LVL= 32752, 32753, 27714, 32755, AGC= 65, IDX= 415,-0.16, 2.420, 1.262,-2.915, 2.543, PHS=-0.021,-1.235, 0.782, RAW= 173.3, 5.4, CAL= 172.7, 4.3, ROT= 337.3, -4.3  Ygot valid direction response: 05:21:10.9865 LVL= 32752, 32753, 27714, 32755, AGC= 65, IDX= 415,-0.16, 2.420, 1.262,-2.915, 2.543, PHS=-0.021,-1.235, 0.782, RAW= 173.3, 5.4, CAL= 172.7, 4.3, ROT= 337.3, -4.3 PDAT read: Bearing 31.5, -24.6 (Local) ~Local bearing/azimuth received: Bearing 31.5, -24.6 (Local) %DAT read: Range 11 to 50 : 156.0 m (Round-trip 208.0 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.919941,-0.384820,0.074979]5Fpublishing direction and range infoyew(p?й2ؿ]1?YCBl )AI1i{'1H?A@=b@@ `=)Db@I`yI ?Z?wCH? gn?)½Ijʾi`UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.B}c>B}CB} IB}!BByByByB}l;B}I+E^A 1>A A I I O > Z,NR?A-@1-@-<ٱ-Yx EAHRS rotation from veh to nav: [[-0.417474,0.884532,0.208131],[-0.908328,-0.399756,-0.123028],[-0.025620,-0.240412,0.970333]]-H`ڿ`N? ?`ٿ~<<`ο` ?i-@I-R6^;)YUByUIiMb@Mb@Mb@ 9x&1?v/~jt?YA?yx齙<#A 3A) AY AbDEVDEk2U*DAT read: user:372> UBDAT read: Tx time:05:21:12.3744 ]$Ping request sent.]9yYy=}Fy} @E}_E}>Q 5Y5v}Ê?Q 9Y5)BY?Q E:yn Q I@ޓDI7:i:$Y5yɮ/Ai!i%DR?AJi%0CRi%0Cji%z@b%qva@uS_ M[=E'@R%ew(p?й2ؿ]1?Zi%jʾbi%`j%)9}+[' Z̈́5@Z%xNdZب쇢<=#?2i%x:i%"i%@G?*i%XjBi%Bi%2> ɞ?i%wTi%Bi%Ci%y@ addTargetRange:: Added new target pos. range: 156.000000 m, deltaT: 4.031923 s, deltaX: -1.699997 m, approachRate: -0.421634 m/s, rangeRepo size: 4  Added new target pos. range: 155.188736 m, bearing: 224.270126 deg, lat: 36.779388 deg, lon: -121.859718 deg, deltaT: 4.031923 s, deltaX: -1.692139 m, approachRate: -0.419685 m/s, posRepo size: 4 jh  FNOT Ignoring new targets: 155.19 m.RhZh% ProNav: ac range: 155.188736 m, nav range: 153.972275 m, bearing: 223.598209 deg, approach rate: 0.000000 m/s, LOS rate: -0.034260 deg/s, cmd heading: 211.741970 deg, new cmd heading: 211.695407 deg. Bh!-HeadingCmd: 3.694782 target range: 155.188736 and range: 156.00 m.h-Nwl@h)*h)"h) h)g1f1f1f5Bd9d9d9jd=c@ZdE ?mBɢm"ྻ)u; u[iq)uèY A .AI I O >Q,HkR?A:>@:9@:G<ٱ:x FAHRS rotation from veh to nav: [[-0.439644,0.874394,0.205298],[-0.897812,-0.421364,-0.128006],[-0.025422,-0.240596,0.970292]]:H!#ܿ ?3G?@ڿ|bE`ο ?i:>@I:,^;8YNByNIbD^VD^0yf7%f]=ٔj8 Q-n>9n ?Yn ?=rFyr @ErREv>x|Q 5 Y5~sÊ?Q 9 Y5~)~BY yQ I@~DI~P;i~c;~'Y5y!ɮ%20A!jhYeFNOT Ignoring new targets: 155.19 m.RhmZhm ProNav: ac range: 155.188736 m, nav range: 153.782745 m, bearing: 223.587805 deg, approach rate: -0.508108 m/s, LOS rate: -0.027926 deg/s, cmd heading: 211.695402 deg, new cmd heading: 211.664152 deg. BhRHeadingCmd: 3.694236 target range: 155.188736 and range: 156.00 m.h^nl@h*h"h hgfffdddjdZd ?%Bɢ%()) -椾i))-]U<))i-_߼i5W%19I=^nl@I9!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5036769@ @@/@IE / E &E ,E "E af;*E ;VE g4ZE a @a @a @a @^A} 1>y I I O >4,VR?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548576ar@62m@6<ٱ6E| BAHRS rotation from veh to nav: [[-0.461908,0.862807,0.205439],[-0.886572,-0.442606,-0.134498],[-0.025118,-0.244263,0.969384]]6Hݿ?K?^@Sܿ>7oCϿ 1?i6ar@I6C^;6CYJByJIINR=BPAR<BTBVCBVIBVBBTBTBTBVl;BV,+E)N=YbDEVDEyu%uA=ٔ}W9yY=Fy@ElqE>Q 5Y5gÊ?Q 9Y5-)BYyQ I@DI+;ij;q+Y5yBɮ>0AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 155.19 m.RhB׹ZhB׹ ProNav: ac range: 155.188736 m, nav range: 153.568146 m, bearing: 223.578002 deg, approach rate: -0.514243 m/s, LOS rate: -0.023524 deg/s, cmd heading: 211.664147 deg, new cmd heading: 211.634696 deg. Bh(HeadingCmd: 3.693722 target range: 155.188736 and range: 156.00 m.hel@h*h"h hgfffdddjd Zd `?5Bɢ=G4)9 =ui9)=m Q<9AiEe޼iEĹ%IIIMel@IIR>iM9@I @Q@U/@QԉԹiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011100^AIi Iy O > E 7 E .E (E "E m;*E ;VE c44ZE BE yEE`9yYy=}Fy}@EQ 5Y5\Ê?Q 9Y5%)BY?Q E:y'Q I@DIX;i ;.Y5yɮ0AԹjhFNOT Ignoring new targets: 155.19 m.RhߋZhߋ ProNav: ac range: 155.188736 m, nav range: 153.366776 m, bearing: 223.571836 deg, approach rate: -0.498632 m/s, LOS rate: -0.015286 deg/s, cmd heading: 211.634696 deg, new cmd heading: 211.616176 deg. Bh'HeadingCmd: 3.693399 target range: 155.188736 and range: 156.00 m.h`l@h*hq"hq hqgqfyfyf}|BdyddjdZd?BɢŗV) oi)K<iUݼi%  I `l@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258977Ii) @)  @) @- /@)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108029 ^A 9>Iy I O >.,|R?AZI}@Zuޅ@Z<ٱZud rAHRS rotation from veh to nav: [[-0.504491,0.837896,0.208374],[-0.863037,-0.482206,-0.150477],[-0.025605,-0.255749,0.966404]]ZH$ ?@?x޿Bÿ "8`0^п@?iZI}@IZ9T^;ZCYہByIbDU VDU:2yeDiDm<bEm-4jEm04rEm#e0Eu\ Eu?Eu'Eq"Eu;*Eu;VEu'4ZEqa@a@a@a@%8=ٔNm:Q->9Y=Fy@E\E>Q 5Y5OÊ?Q 9Y5w)BYyQ I@DI/;iL;2Y5y Bɮ1AEjhFNOT Ignoring new targets: 155.19 m.Rh~GZh~G  ProNav: ac range: 155.188736 m, nav range: 153.142212 m, bearing: 223.566934 deg, approach rate: -0.498606 m/s, LOS rate: -0.010901 deg/s, cmd heading: 211.616172 deg, new cmd heading: 211.601444 deg. Bh eHeadingCmd: 3.693142 target range: 155.188736 and range: 156.00 m.hp\l@h*h"h hgfffdd!d!jd!Zd%X?UBɢU)o)Q UcʾiY)]IBFY T ,0R?Aɰ6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014954B2|@B@B(]<ٱB8 JAHRS rotation from veh to nav: [[-0.525676,0.825822,0.204166],[-0.850298,-0.502835,-0.155406],[-0.025676,-0.255295,0.966522]]BHU!m?"?@59[ÿJ Vп?iB2|@IB8^;BCYRρByRIi-Mb@Mb@Mb@)))) )9-~jt?V-S㥛?Y-?y--/<-Z&A9-@ -EA)-+ A)Y- AbDMVDM:2y]{%]L=ٔ]=9Q-e>9aYa=eFye@EmEm>qQ 5}Y5uCÊ?Q 9}Y5u|)uBY}?Q E:yQ I@uDIu ;iui ;uZ6Y5yɮ1AjhFNOT Ignoring new targets: 155.19 m.Rh*OZh*O ProNav: ac range: 155.188736 m, nav range: 152.932846 m, bearing: 223.562481 deg, approach rate: -0.531480 m/s, LOS rate: -0.011320 deg/s, cmd heading: 211.601446 deg, new cmd heading: 211.588068 deg. Bh]HeadingCmd: 3.692909 target range: 155.188736 and range: 156.00 m.h]Xl@hY*hY"hY hYgYfafafeBdadidijdiZdm`@Bɢ) پi)Zh@<i[ۼi%I%Xl@I)iEO E7E(E"E;*E ;VEc44ZEBE,)R?A2ܒz@2?D@2m<ٱ2 :AHRS rotation from veh to nav: [[-0.547055,0.813472,0.197471],[-0.836702,-0.524118,-0.158843],[-0.025716,-0.252120,0.967354]]2H@y ?F?BTĿ`OU`"п ?i2ܒz@I2O.^;2CYBByFIH N49\Y\=^Fy^"@EbyEb>dQ 5jY5f6Ê?Q 9nY5f)fȤBYlyniQ In@fDIf$;if%;f9Y5ypɮr|2Atjh FNOT Ignoring new targets: 155.19 m.RhhZhh% ProNav: ac range: 155.188736 m, nav range: 152.712738 m, bearing: 223.559912 deg, approach rate: -0.529127 m/s, LOS rate: -0.006186 deg/s, cmd heading: 211.588073 deg, new cmd heading: 211.580353 deg. Bh-؇-HeadingCmd: 3.692774 target range: 155.188736 and range: 156.00 m.h-hVl@h *h "h  hgfffdddjdZd%@iiImAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519190颍Bɢ) i)9<顑i~ټiN%IhVl@IDzD?AEK EoE'E"E;*E );VE'4ZEa@a@a@a@@ @@/@% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770795) Be b>Be CBe IBe ߁BBe =Ba Ba Be k;Be *E^AM 1>Q e Gy 5۷91Y=2AA؟AIIO>,%S?A6:x@6t@6<ٱ6 JAHRS rotation from veh to nav: [[-0.568054,0.800466,0.191230],[-0.822593,-0.545007,-0.162196],[-0.025611,-0.249441,0.968051]]6H~-@k? 9j"?Yj"?=nFyn'@Er=TEv>Q 5-Y5&Ê?ԱQ 9-Y5\)ҤBYy Q I@DIeY5y=BɮET2AEE BDAT read: Rx Time:05:21:14.9841 TRx dataTimestamp_ set to:1761542476.352249checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024014EB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 155.19 m.Rh]㎷Zh]㎷ ProNav: ac range: 155.188736 m, nav range: 152.452057 m, bearing: 223.559367 deg, approach rate: -0.466789 m/s, LOS rate: -0.000976 deg/s, cmd heading: 211.580355 deg, new cmd heading: 211.578719 deg. Bhw+HeadingCmd: 3.692745 target range: 155.188736 and range: 156.00 m.hUl@h*h"h hgfffdIdIdIjdIZdU! @额Bɢ*) *i)9e1<顡i/ؼi%IUl@Iy@ @@0@E=? E=AE=+E9"E=t;*E=;VE= [4ZE9BE=W checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2758141 A .AI I O >P,E+S?A2[w@2@2<ٱ2ǀ :AHRS rotation from veh to nav: [[-0.588396,0.786700,0.186798],[-0.808178,-0.564982,-0.166265],[-0.025263,-0.248796,0.968226]]2H@$,?? `T@-HſޙϿ?i2[w@I2:^;0YVByVIqi Mb@Mb@Mb@     9 Pn?q= ףpy&1?Y ?y 뽙 `< %A  )  Y  AbD%VD%βy5p<%5.=ٔ5AQ-=>9= ?Y= ?==Fy=,@EEYEE>IQ 5UY5MsÊ?Q 9UY5M)MܤBYU?Q E]:y]Q I]@MDIMA;iM:MXBY5yaɮe82AajhFNOT Ignoring new targets: 155.19 m.Rhs8Zhs8 ProNav: ac range: 155.188736 m, nav range: 152.206696 m, bearing: 223.561025 deg, approach rate: -0.615700 m/s, LOS rate: 0.004165 deg/s, cmd heading: 211.578715 deg, new cmd heading: 211.583695 deg. Bh69HeadingCmd: 3.692832 target range: 155.188736 and range: 156.00 m.h]Wl@h*h"h hgfffBdddjdZd@F @uBɢu$)q uiq)}D]+i-?ּ5@`=J4@ d=)Q@Idrw?LB#?gjo/? >?)I4QOid@9@=a>MT****** received valid address query ******MR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.E ; E KE 'E "E Dq;*E ;VE '4ZE a @a @a @a @^A= 1> Am ؟AIq I O >X,ES?AN*DAT read: user:373> RBDAT read: Tx time:05:21:16.1744 R$Ping request sent.RB^CB^IB^ƁBB^ =B\B\B^k;B^*EBCBCBB =B =C{5ԑY By I@A@AbD%VD%ܲyUv%UD=ٔ]Q-]>9]"?Y]"?=]Fy]0@EeEe>Q 5Y5 Ê?Q 9Y5)BYyQ I@DI:i:FY5yBɮg2AEiyi}6S?AJi}eCRi}eCji}4y@b}CFRb@cd>0- !@R}K+L?ߪ 襲ɿᢔ?Zi}4QObi}dj}0[A˕QZ^]@S(@Z}@v">L?2i}:i}"i}y?*i}aBi}Biyi}ai}Bi}ZCi}y@U addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.782034 s, deltaX: -1.800003 m, approachRate: -0.475935 m/s, rangeRepo size: 4  Added new target pos. range: 153.396973 m, bearing: 223.508106 deg, lat: 36.779388 deg, lon: -121.859724 deg, deltaT: 3.782034 s, deltaX: -1.791763 m, approachRate: -0.473757 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 153.40 m.RhZh ProNav: ac range: 153.396973 m, nav range: 152.354950 m, bearing: 223.708722 deg, approach rate: 0.000000 m/s, LOS rate: 0.004165 deg/s, cmd heading: 211.583701 deg, new cmd heading: 211.589157 deg. BhHeadingCmd: 3.692927 target range: 153.396973 and range: 154.20 m.hXl@h*h"h hgfffdddjd`fFc@Zd?颭Bɢ]) i)^#<顱iwռԹi%IXl@I@ @@|0@iIIIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251406^A 9> Eu F Eu WEq Eq "Eu >{;*Eu j;VEq ZEq BEu ,gaS?A2,At@2g@21<ٱ2) :AHRS rotation from veh to nav: [[-0.626882,0.758549,0.177828],[-0.778716,-0.602728,-0.174127],[-0.024902,-0.247635,0.968533]]2HjF??>@I@Iƿ`Ͽ9?i2,At@I2|^;2CYFByFjIiMb@Mb@Mb@ 9oʡ?S㥻/$?Y ?y/ݽ<#A A) AY AbD5VD50y=%EM=ٔeQ->9Y=Fy4@EUE>Q 5Y5Š?Q 9Y5)BY?Q E:yPQ I@%DI7:i :IY5yɮ3Ajh  FNOT Ignoring new targets: 153.40 m.RhA9ZhA9% ProNav: ac range: 153.396973 m, nav range: 152.125839 m, bearing: 223.712873 deg, approach rate: -0.583280 m/s, LOS rate: 0.010584 deg/s, cmd heading: 211.589152 deg, new cmd heading: 211.601623 deg. Bh%n9-HeadingCmd: 3.693145 target range: 153.396973 and range: 154.20 m.h-}\l@h)*h1"h1 h1g1f1f9f=:Bd9d9dAjdAZdE@Ѡ?uBɢue)q ua iq)}F`ԉ ,{S?A ɰ f˽r@fY@f+<ٱft rAHRS rotation from veh to nav: [[-0.645125,0.743566,0.175851],[-0.763688,-0.620134,-0.179486],[-0.024408,-0.250086,0.967916]]fH@ܤK?G? p#bƿ@gп+?if˽r@If's^;fCY BygIbD%VD%ky5B%5L=ٔ=ŧQ-=>9AYA=EFyE8@EEQ{EM>IQ 5UY5M Š?Q 9]Y5M?)MBYYy]Q I]@M,DIMz;iM;MLY5ymBɮm2AmEyjhFNOT Ignoring new targets: 153.40 m.Rho9Zho9 ProNav: ac range: 153.396973 m, nav range: 151.910278 m, bearing: 223.718702 deg, approach rate: -0.558671 m/s, LOS rate: 0.015129 deg/s, cmd heading: 211.601624 deg, new cmd heading: 211.619136 deg. Bh&:HeadingCmd: 3.693451 target range: 153.396973 and range: 154.20 m.hal@h*h"h hgfffdddjdZdC?E] E]1E](EY"E]j;*E]f;VE]c44ZEYae@ae@ae@ae@颕BɢQ) i)RH<顙iҼi5%Ial@Iq@q @q@u/@qԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006826Bb>BBIBBB =BBBk;B*E^AM1>IIO> ,S?AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261369}Cq@}F9@}#<ٱ}҂ AHRS rotation from veh to nav: [[-0.662583,0.728538,0.173829],[-0.748602,-0.636703,-0.184946],[-0.024062,-0.252671,0.967253]]}H3.P? @? _Kǿƣ+п?i}Cq@I}C~^;yYBy\Ii=Mb@Mb@Mb@9999 99=n?i|?5?Y=V?y==<=-$A=~@ 9)= A9Y= A Up9qYq=uFyu=@EuUE}>yQ 5Y5}5Š?Q 9Y5}H)}BY?Q E:y#Q I@}4DI}K ;i} ;}PY5yBɮ"4AEEB*** querying acoustic contact ***iA iAjhy}FNOT Ignoring new targets: 153.40 m.Rh-9Zh-9 ProNav: ac range: 153.396973 m, nav range: 151.659897 m, bearing: 223.728954 deg, approach rate: -0.536035 m/s, LOS rate: 0.021985 deg/s, cmd heading: 211.619136 deg, new cmd heading: 211.649944 deg. Bhiq:HeadingCmd: 3.693988 target range: 153.396973 and range: 154.20 m.hNjl@h!*h)"h) h1g9fIfQfU4BdQdYdYjdYZd] ?Bɢ6) }i)=% IMNjl@IIEeH Ee;Ee,Ea"Ee};*Ee ;VEeg4ZEaBEeeI I O% >4,S?A2o@2l}@2Ă<ٱ2@- >AHRS rotation from veh to nav: [[-0.679319,0.714119,0.168999],[-0.733463,-0.653305,-0.187683],[-0.023620,-0.251451,0.967582]]2H@?¡?x@`ȿ /@пn?i2o@I2b^;0YFByFTIbDNVDNJyVt %Vj=ٔZ⥺Q-Z>9XYX=^Fy^@@E^4E^>`Q 5fY5bŠ?Q 9fY5b_)bBYhyj Q Ij@b:DIbg:ib=:bSY5ynBɮn4AnEjh FNOT Ignoring new targets: 153.40 m.Rh :Zh :% ProNav: ac range: 153.396973 m, nav range: 151.463013 m, bearing: 223.738755 deg, approach rate: -0.603663 m/s, LOS rate: 0.030089 deg/s, cmd heading: 211.649940 deg, new cmd heading: 211.679381 deg. Bh%2:-HeadingCmd: 3.694502 target range: 153.396973 and range: 154.20 m.h-rl@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdEo?mBɢm))u uViq)uIrl@I!9@ @@/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763344^Am1>IIO%>IE]@ E]CE](EY"E]u;*E];VE]c44ZEYae@ae@ae@ae@qԡ B c>B B lIB BB B B B k;B *E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015005,]S?A@2[n@29Q|@2 <ٱ2 :AHRS rotation from veh to nav: [[-0.695899,0.699414,0.162924],[-0.717766,-0.670085,-0.189205],[-0.023160,-0.248609,0.968327]]2HD`a??Uq7ȿ 6kϿ?i2[n@I2^;2CYFByFWIIJ)>)J>J=J=bDRVDRkyV50<%VL=ٔZpQ-Z>9XY\=^Fy^D@E^HiEb>`Q 5fY5bŠ?Q 9jY5b)b BYhyj"Q Ij@bADIb:i`beWY5y9ɮ= 4AAjhFNOT Ignoring new targets: 153.40 m.Rha:Zha: ProNav: ac range: 153.396973 m, nav range: 151.238266 m, bearing: 223.751983 deg, approach rate: -0.539066 m/s, LOS rate: 0.031776 deg/s, cmd heading: 211.679379 deg, new cmd heading: 211.719122 deg. Bhu:HeadingCmd: 3.695196 target range: 153.396973 and range: 154.20 m.h~l@h*h"h hgfffdddjdZd@5Bɢ=hr)9 =Mi9)=W;99iELμiE%MJIM~l@IIԑ9@ @@@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268897^AmS%}>I I! O= >E  E 4E )E "E *E ;VE FA4ZE BE 9Y=FyI@E\E>Q 5Y5QŠ?Q 9Y5)BY?Q E:y"Q I@IDI;i;?[Y5yBɮ4AEjh)-FNOT Ignoring new targets: 153.40 m.Rh5w+:Zh5w+:E ProNav: ac range: 153.396973 m, nav range: 150.988037 m, bearing: 223.767884 deg, approach rate: -0.588778 m/s, LOS rate: 0.037477 deg/s, cmd heading: 211.719117 deg, new cmd heading: 211.766899 deg. BhE:MHeadingCmd: 3.696030 target range: 153.396973 and range: 154.20 m.hMl@hI*hI"hI hQgQfQfYf]BBdYdYdYjdaZde@@颍Bɢ$) Ki)HW;顙i̼i%S<C>Il@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518949-9@) @1@50@1^As>AIIOn>i m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7709200d,\S?A(Y=By=UIbDMVDMfy]\<%eR=ٔeQ-e>9iYi=mFymM@EmEm>qQ 5}Y5uŠ?Q 9Y5u)uBYyQ I@uQDIu;iu:u^Y5yɮ3AjhFNOT Ignoring new targets: 153.40 m.Rh%:Zh%: ProNav: ac range: 153.396973 m, nav range: 150.767166 m, bearing: 223.781964 deg, approach rate: -0.567668 m/s, LOS rate: 0.036239 deg/s, cmd heading: 211.766901 deg, new cmd heading: 211.809201 deg. Bh:D1zD5@AbEc44jE:4rE/E=] E=HE=(E9"E= ;*E=;VE=c44ZE9aM@aM@aM@aM@uHeadingCmd: 3.696768 target range: 153.396973 and range: 154.20 m.huٗl@hq*hq"hy hygyfyfyfdddjdZd X @ÂBɢ() 'i)9;i*˼i܇%T<QF>Iٗl@IQyAABBCBYIBBBBBBk;B*EBDAT read: Rx Time:05:21:18.8133 TRx dataTimestamp_ set to:1761542480.132124checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023942ԙu6 9@  @ @ /@ ^A (W>I I O >5O,DT?A8ɰ8P5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277006i@sw@<ٱ\Lq AHRS rotation from veh to nav: [[-0.745081,0.652008,0.140498],[-0.666645,-0.721389,-0.187570],[-0.020944,-0.233417,0.972151]]H`@@??'U@ LȿOrͿ?ii@Iu^;CY%~By-FI11ieMb@Mb@Mb@aaaa a9ev?v/S㥛?Ye?yex齙e/9Y=FyR@EɽE>Q 5Y5̈Š?Q 9Y5)&BY?Q E:ym%Q I@ZDI:i@:bY5yBɮ 4AEMB*** querying acoustic contact ***iI iIjhQ]FNOT Ignoring new targets: 153.40 m.Rh] V:Zhe V:m ProNav: ac range: 153.396973 m, nav range: 150.481033 m, bearing: 223.804881 deg, approach rate: -0.583012 m/s, LOS rate: 0.046784 deg/s, cmd heading: 211.809207 deg, new cmd heading: 211.878089 deg. Bhum;uHeadingCmd: 3.697970 target range: 153.396973 and range: 154.20 m.hul@hy*hy"hy hygyfffBdddjdZd^ @łBɢ=) a#i)&";iwpɼi )t% \< ^>I l@IEE/ EE9EE*EA"EEaf;*EE ;VEE(N4ZEABEEͷI I O >u ,k0T?A2nBh@28v@2<ٱ2Ir :AHRS rotation from veh to nav: [[-0.761087,0.633937,0.137369],[-0.648348,-0.737020,-0.190910],[-0.019781,-0.234362,0.971948]]2HZ5I? R?C oȿmAͿ2?i2nBh@I2~^;2CYBByFPI J4IEkl@IA]DAT read: 05:21:18.8133 LVL= 27104, 32753, 32754, 32755, AGC= 69, IDX= 225, 0.42,-0.105,-1.728, 0.081,-0.300, PHS= 0.297,-1.384, 0.337, RAW= 151.2, 8.9, CAL= 150.7, 9.6, ROT= 359.3, -9.6 eYgot valid direction response: 05:21:18.8133 LVL= 27104, 32753, 32754, 32755, AGC= 69, IDX= 225, 0.42,-0.105,-1.728, 0.081,-0.300, PHS= 0.297,-1.384, 0.337, RAW= 151.2, 8.9, CAL= 150.7, 9.6, ROT= 359.3, -9.6 mPDAT read: Bearing 14.6, -4.1 (Local) u~Local bearing/azimuth received: Bearing 14.6, -4.1 (Local) }DAT read: Range 11 to 50 : 176.1 m (Round-trip 234.8 ms) speed 0.5 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [0.985922,-0.012046,0.166769]Fpublishing direction and range infoy)-ei-&-D>-[(@->-aU(@ -+>)-ū@I-+))-Ś3" ?V<]?n&? -A ?)-}RI-D+Hi-+))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DU%=DQEe; EeBEe)Ea"EeDq;*EeZ;VEeFA4ZEaam@am@am@am@@ @@k0@^A NM>I) I9 OM > B B B SIB BB =B B B ^k;B *E *DAT read: user:374>  BDAT read: Tx time:05:21:20.2259  $Ping request sent. M_Cy}T$ŀG%>=۲9 Y Aٔ=SQ-M>ye ?eFA9QYa=eFymY@EmQEm>Q 5Y5fŠ?Q 9Y5 )7BYyt(Q I@iDIg@U =^A= z!>Ee ? Ee >Ee (Ea "Ee t;*Ee ?;VEe c44ZEa BEe Wɗ, dT?A@FUe@FUKs@FU)<ٱFZ7 RAHRS rotation from veh to nav: [[-0.789961,0.597248,0.138764],[-0.612941,-0.763196,-0.204536],[-0.016254,-0.246630,0.968973]]FH\G? ? 7l`:.ʿϿ?iFUe@IF1^;FCYZByZWIi=Mb@Mb@Mb@9999 99=333333?`"Mb?Y=?y===="A9 =A)=A9Y9bDUVDU0ye!=%eJ=ٔeðQ-e>9iYi=mFym]@EuqEu>Q 5Y5UŠ?Q 9Y5 )ABY?Q E:yZ*Q I@pDI ;i ;lY5y ɮ e3A 1jh1=FNOT Ignoring new targets: 153.40 m.RhEڢ:ZhEڢ:U ProNav: ac range: 153.396973 m, nav range: 149.802750 m, bearing: 223.873630 deg, approach rate: -0.633244 m/s, LOS rate: 0.071188 deg/s, cmd heading: 212.007760 deg, new cmd heading: 212.084658 deg. BhUlC;]HeadingCmd: 3.701576 target range: 153.396973 and range: 154.20 m.h]l@hY*hY"hY hYgafafafe&BdididijdiZdu*?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506995颭ɂBɢ ,) i),;顱iżi9%<=Il@Ii@i @i@m/@q^AE;>aIIO@>ԉiA IA M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759146Թ , }T?A2/c@2q@28h<ٱ2 :AHRS rotation from veh to nav: [[-0.803573,0.579123,0.137432],[-0.595038,-0.776144,-0.208639],[-0.014161,-0.249433,0.968288]]2Hݶ-?[? +@ʿgoϿ8?i2/c@I2N^;2CYNByRRIbDZVDZ1y~%~Q=ٔlQ->9Y=Fy a@E kE >Q 5Y5CŠ?Q 9Y5)KBY!y%+Q I%@xDI;i;9pY5y- Bɮ- 4A-EjhQUFNOT Ignoring new targets: 153.40 m.Rh]:Zh]:m ProNav: ac range: 153.396973 m, nav range: 149.584183 m, bearing: 223.900276 deg, approach rate: -0.582013 m/s, LOS rate: 0.071058 deg/s, cmd heading: 212.084655 deg, new cmd heading: 212.164709 deg. BhmC;uHeadingCmd: 3.702973 target range: 153.396973 and range: 154.20 m.hul@hy*hy"hy hygyfyffdddjdZd T?颽˂Bɢ*) v!i);iüi5"%<=Il@IE) E'E)E"E`;*E";VEFA4ZEa@a@a@a@ԑQ@Q @Q@U/@QB B B B B B B B k;B z*EBCBCBBBCħ4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011032^A1Ae .AIq I O > _%,˗T?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.265385m{b@mqp@mA<ٱm =AHRS rotation from veh to nav: [[-0.816522,0.561234,0.135311],[-0.577194,-0.788805,-0.211268],[-0.011836,-0.250606,0.968017]]mH `? Q?^x= ˿= п?im{b@Im^;mCYUBy]dIiUMb@Mb@Mb@QQQQ Q9Uv?i|?59 ?Y ?=Fyf@E9E>Q 5Y5:-Š?Q 9Y5)YBY?Q E:y,Q I@DIX:i:ytY5yBɮq3AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 153.40 m.RhM:ZhM: ProNav: ac range: 153.396973 m, nav range: 149.304596 m, bearing: 223.936444 deg, approach rate: -0.574394 m/s, LOS rate: 0.074444 deg/s, cmd heading: 212.164705 deg, new cmd heading: 212.273412 deg. Bh\L;HeadingCmd: 3.704870 target range: 153.396973 and range: 154.20 m.hm@h*h"h hgfffcBdd d jd Zd O?=̂Bɢ= p)9 =i9)El;AAiE|E¼iM%MbAzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.515244A ؟AI I! O- >A +,T?Aɰp;Y~By~lI bDVDy%=%%z=ٔ%Q-%?9-"?Y-"?=-Fy-i@E5E5?9Q 5Y5=!Š?Q 9Y5=)=cBYyQ I@=DI=:i=b:=SwY5yɮ@3AjhFNOT Ignoring new targets: 153.40 m.Rh:Zh: ProNav: ac range: 153.396973 m, nav range: 149.116882 m, bearing: 223.960806 deg, approach rate: -0.561514 m/s, LOS rate: 0.072968 deg/s, cmd heading: 212.273414 deg, new cmd heading: 212.346593 deg. BhOH;HeadingCmd: 3.706147 target range: 153.396973 and range: 154.20 m.h1m@h*h"h hgfffdddjdZd7?%͂Bɢ%]-)! %Ni!)-IR;))i-i51$5<5m=I51m@I9Q@ @@p0@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768823^A =yAI!I1O=r>E- EE(E"Ed;*E:VEc44ZEa%@a%@a%@a%@ԩ B B B fIB BB =B B B *k;B *E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0188352,2vT?A>_@>Ym@@><ٱ>8a JAHRS rotation from veh to nav: [[-0.839474,0.527793,0.129300],[-0.543340,-0.811746,-0.214125],[-0.008055,-0.250006,0.968211]]>H ?? cph˿~@п ?i>_@I>^;9)Y)=-Fy-m@E-jϽE5>1Q 5EY55 Š?Q 9EY55)5oBYAyEu/Q IE@5DI5v;i5A:5zY5yUBɮU2AUEjhy}FNOT Ignoring new targets: 153.40 m.Rh:Zh: ProNav: ac range: 153.396973 m, nav range: 148.888199 m, bearing: 223.994658 deg, approach rate: -0.577609 m/s, LOS rate: 0.085635 deg/s, cmd heading: 212.346592 deg, new cmd heading: 212.448305 deg. Bhk;HeadingCmd: 3.707922 target range: 153.396973 and range: 154.20 m.hNm@h*h"h hgfffdddjdZd@eςBɢe))i mGii)m3;iiim?޿i$ <A> A I I O >E% = E% 1E% &E! "E% s;*E% f;VE% 4ZE! BE% 9yYy=}Fy}r@Ex'E>Q 5Y5?Q 9Y5)BY?Q E:y1Q I@DI* ;i ;y~Y5yɮ2AjhFNOT Ignoring new targets: 153.40 m.Rh:Zh: ProNav: ac range: 153.396973 m, nav range: 148.652878 m, bearing: 224.033080 deg, approach rate: -0.568060 m/s, LOS rate: 0.092896 deg/s, cmd heading: 212.448308 deg, new cmd heading: 212.563755 deg. Bh;HeadingCmd: 3.709937 target range: 153.396973 and range: 154.20 m.hom@h*h"h hgfffsBdddjdZdg@5ЂBɢ5ߺ)1 =i9)=F;99i=ôiE$E- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774849i ?,,T?A6b]@6k@6;ٱ6Nu >AHRS rotation from veh to nav: [[-0.856349,0.502727,0.118036],[-0.516366,-0.831116,-0.206428],[-0.005675,-0.237724,0.971316]]6H5g V? 7?8lʿ?wmο?i6b]@I6O^;6CYFByJIIL)NbDRVDR:yZEd=%ZW=ٔZGQ-^>9\Y\=bFybv@Ebl Eb>dQ 5jY5f{?Q 9jY5f)fBYhyn2Q In@fDIf:if;fˁY5yrBɮr2ArEjh  FNOT Ignoring new targets: 153.40 m.Rh:Zh:- ProNav: ac range: 153.396973 m, nav range: 148.438812 m, bearing: 224.069712 deg, approach rate: -0.563924 m/s, LOS rate: 0.096641 deg/s, cmd heading: 212.563751 deg, new cmd heading: 212.673806 deg. Bh-;5HeadingCmd: 3.711858 target range: 153.396973 and range: 154.20 m.h5m@h1*h1"h1 h1g19f9fAfAdAdAdIjdIZdMC" @}тBɢ}Rv)y }! iy)g:顁ii$’<߻Im@IEe8 EeEe*Ea"Een;*Eex:VEe(N4ZEaam@au@au@au@@ @@/@^A =iBBByIBBBBBBdk;B*EBDAT read: Rx Time:05:21:22.8631 TRx dataTimestamp_ set to:1761542484.168863checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028697AI)I9OER>ԑ E,U?AZ)]@Zj@Zvɡ;ٱZkchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282344ԙ 5AHRS rotation from veh to nav: [[-0.862753,0.493248,0.111191],[-0.505602,-0.839446,-0.199243],[-0.004937,-0.228116,0.973621]]ZH૛b?`w?-@@ʀɿ`)9t2Ϳ@'?iZ)]@IZj^;ZCYEByEIi5Mb@Mb@Mb@1111 195 ףp= ?7A`¿:v?Y5Q?y55T=15@ 5rA)5rA1Y5f AAAbDIVDIy];%]&=ٔeĺQ-e>9aYa=mFym{@EmмEm>qQ 5}Y5uq?Q 9}Y5u)uBYv?Q E:y5Q I@uDIun:iu:uY5yBɮ1AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 153.40 m.Rh:Zh: ProNav: ac range: 153.396973 m, nav range: 148.169693 m, bearing: 224.120773 deg, approach rate: -0.546655 m/s, LOS rate: 0.103907 deg/s, cmd heading: 212.673813 deg, new cmd heading: 212.827273 deg. Bh;HeadingCmd: 3.714537 target range: 153.396973 and range: 154.20 m.hm@h*h"h hgffflBdddjdZd@v @҂Bɢ)! % i!)%&:))i-ci-d$5<5MI5m@I1Em; Em&Em)Ei"EmDq;*Em;VEmFA4ZEiBEm5eL,3U?A6Ji\@6^j@6i;ٱ6xb JAHRS rotation from veh to nav: [[-0.867587,0.485989,0.105391],[-0.497267,-0.845987,-0.192437],[-0.004363,-0.219364,0.975633]]6HEs?`?6߿@Sȡȿ`q`̿c8?i6Ji\@I6iuhuu@ u@X>)uk>Iu@Xqqu₈?'{?66? upm>)uEIuk>iu@Xqq T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AQIYIiO}X>bEFA4jEh=4rET/E6 E0EE"El;*E;VEZEa@a@a@a@B% d>B! B% IB% BB% =B! B! B% wk;B% *E  *DAT read: user:375> % BDAT read: Tx time:05:21:24.2759 % $Ping request sent.% 9Y=Fy@E=E=>AQ 5MY5E?Q 9MY5E#)EBYIyM26Q IU@EDIE:iE:EY5y]Bɮ]n1AYiij4;U?AJi-CRi-Cji).{@b5e$d@FٻiC@D2dr9B@Rla4^v?^ɨ\?9h?Zik>bi@Xj1(oVqr^{F7N^!Ꚍ:@Z4+miHHyO_W?2iu:i"iW?*i*ȗBiBiy?i.gZi'BiCi |@ addTargetRange:: Added new target pos. range: 174.800003 m, deltaT: 8.067731 s, deltaX: 20.600006 m, approachRate: 2.553383 m/s, rangeRepo size: 4 - Added new target pos. range: 173.891327 m, bearing: 224.868314 deg, lat: 36.779381 deg, lon: -121.859826 deg, deltaT: 8.067731 s, deltaX: 20.494354 m, approachRate: 2.540287 m/s, posRepo size: 4 jh)uFNOT Ignoring new targets: 173.89 m.RhuZhq ProNav: ac range: 173.891327 m, nav range: 154.783691 m, bearing: 226.420562 deg, approach rate: 0.000000 m/s, LOS rate: 0.106745 deg/s, cmd heading: 212.934795 deg, new cmd heading: 213.073824 deg. BhHeadingCmd: 3.718840 target range: 173.891327 and range: 174.80 m.hyn@h*h"h hgfffdddjde@Zd@Y?UԂBɢU{<)Q U iQ)]r9YYi]?ie;$eRE / E 7E (E "E af;*E ;VE c44ZE BE ͷ9 ?Y ?=Fy@EE>Q 5Y5?Q 9Y5$)ҥBY\?Q E:y8Q I@DI&;i;TY5yɮ 1Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506912jhFNOT Ignoring new targets: 173.89 m.Rh ;Zh ;- ProNav: ac range: 173.891327 m, nav range: 154.566238 m, bearing: 226.470498 deg, approach rate: -0.539132 m/s, LOS rate: 0.123981 deg/s, cmd heading: 213.073830 deg, new cmd heading: 213.223849 deg. Bh-,;1=HeadingCmd: 3.721458 target range: 173.891327 and range: 174.80 m.h=_,n@h9*h9"h9 h9gAfAfAfEHBdIdIdIjdIZdMI?颉ɢ) i)l8顙iU9iV#Jt<J"I_,n@I9@ @@/@aԉ^A /A A > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760072A} ؟AI I O >Թ Z`,yU?A2@[@2i@253;ٱ2.V :AHRS rotation from veh to nav: [[-0.873361,0.476948,0.098799],[-0.487066,-0.854052,-0.182650],[-0.002735,-0.207641,0.978201]]2H `R?J? ,߿eTaǿ`ffʿlM?i2@[@I2 N^;0YB΁ByBIbDN VDN2yr)=%vU=ٔvQ-v>9z"?Yz"?=zFyz@EzIEz>Q 5 Y5?Q 9 Y5P&)BY y 8Q I @ǔDI:i;:Y5yBɮ0AEjhAEFNOT Ignoring new targets: 173.89 m.RhMm ;ZhMm ;] ProNav: ac range: 173.891327 m, nav range: 154.370453 m, bearing: 226.515792 deg, approach rate: -0.518685 m/s, LOS rate: 0.120147 deg/s, cmd heading: 213.223848 deg, new cmd heading: 213.359902 deg. Bh];eHeadingCmd: 3.723833 target range: 173.891327 and range: 174.80 m.heGSn@ha*ha"hi higifififqdqdqdjdZd`a?E: EE'E"E\p;*E4:VE'4ZEa@a@a@a@ՂBɢ[) -i)\7i9io#</-IGSn@Iԑ@ @@/1@@@ >BA<Be>BBIBЁBBBBBk;B*E^AF˼checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011426G5gAI}ʳ9}gAY}AA.AIIOf> f,VU?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.266004-[@-i@-:ٱ-ҌD EAHRS rotation from veh to nav: [[-0.872235,0.480374,0.091903],[-0.489083,-0.856066,-0.167178],[-0.001632,-0.190767,0.981634]]-H`Z r?@?$M߿d fſھZ kȿi?i-[@I-SQ^;-CYUŁByUII]=)][?iMb@Mb@Mb@ 9`"?bX9ƿJ +?Y?yE6H=A@ EA)AY(AbD5VD50y=!%E*=ٔE.Q-E>9M ?YM ?=MFyM@EUC;EU>YQ 5eY5]g?Q 9eY5](()]BYe?Q Ee:ye9Q Ie@]ДDI]X:i] :]חY5yuܗBɮu0AuEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 173.89 m.Rh;Zh; ProNav: ac range: 173.891327 m, nav range: 154.121597 m, bearing: 226.575467 deg, approach rate: -0.517124 m/s, LOS rate: 0.124206 deg/s, cmd heading: 213.359906 deg, new cmd heading: 213.539219 deg. Bh{;HeadingCmd: 3.726963 target range: 173.891327 and range: 174.80 m.hn@h*h"h hgfff0BdddjdZd  ?ɢ.) Xi ) X  i 2i(#{a<.In@IE* EE(E"Ea;*E:VEc44ZEBETl,0U?AYЁByI))bD5VD5y]=%eo=ٔmQ-m?9u"?Yu"?=uFyu@EuE}?Q 5Y5FV?Q 9Y5z))BYyQ I@הDI:iV:ךY5yɮb0AjhFNOT Ignoring new targets: 173.89 m.Rh;Zh; ProNav: ac range: 173.891327 m, nav range: 153.944046 m, bearing: 226.618184 deg, approach rate: -0.517885 m/s, LOS rate: 0.124744 deg/s, cmd heading: 213.539225 deg, new cmd heading: 213.667526 deg. Bh8;HeadingCmd: 3.729202 target range: 173.891327 and range: 174.80 m.h>n@h*h"h hgfffdddjdZd@?%ւBɢ-!#)) -i))-e)1i5'i=wt#=F<=I{7I=>n@I9Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7678609@ @@:4@yD=D%=E0 E!E+E"EJg;*E:VE [4ZEa@a@a@a@^Ar.ԩ B d>B B IB ՁBB B B B k;B *EBBBB =B =Cɾ4Aa Ii Iy O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018826Cs,x U?A@JN\@Ji@Jt:ٱJ= VAHRS rotation from veh to nav: [[-0.870703,0.483621,0.089369],[-0.491808,-0.855809,-0.160362],[-0.001072,-0.183581,0.983004]]JH??@y߿b`ĿQ`ǿt?iJN\@IJC^;JCY^ŁBy^IbDfVDf0ynH_%rR=ٔr0Q-r>9pYt=vFyv@Ev<Ev>xQ 5~Y5zB?Q 9Y5z*)zBYy9Q I@zߔDIz6;iz;z7Y5y ֗Bɮ0AEjhYeFNOT Ignoring new targets: 173.89 m.Rhed ;Zhmd ;u ProNav: ac range: 173.891327 m, nav range: 153.744171 m, bearing: 226.666191 deg, approach rate: -0.510360 m/s, LOS rate: 0.122739 deg/s, cmd heading: 213.667524 deg, new cmd heading: 213.811730 deg. Bh}x;HeadingCmd: 3.731719 target range: 173.891327 and range: 174.80 m.hzn@h*h"h hgfffdddjdZd"@ɢ!) ~i)Ѻi]iE 3 E 2E )E "E j;*E ;VE FA4ZE BE =ٔ% Q->9Y=Fy@E@,<E>Q 5Y5W,?Q 9Y5,)$BYB$?Q E:y:Q I@DIj;i;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523591Y5yϗBɮ0AEjh)=FNOT Ignoring new targets: 173.89 m.Rh=P;ZhEP;] ProNav: ac range: 173.891327 m, nav range: 153.515060 m, bearing: 226.722320 deg, approach rate: -0.532048 m/s, LOS rate: 0.130539 deg/s, cmd heading: 213.811723 deg, new cmd heading: 213.980360 deg. Bh]-;eHeadingCmd: 3.734662 target range: 173.891327 and range: 174.80 m.heo@ha*hi"hi higififqf})BdydydjdZd^@AɢE)A E iA)M$ IIiMiu#}n<}4/I}o@Iy !@! @!@%/@)1^A4A>A>i߉ I߉  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775109a A9 IA IY Oe >A,V?A:\@:j@:ԡ :ٱ:X". FAHRS rotation from veh to nav: [[-0.865500,0.493762,0.084313],[-0.500908,-0.852971,-0.146737],[-0.000536,-0.169234,0.985576]]:H-`ʙ??p`KJ¿:Ayſ։?i:\@I:V^^;:CYNByNI V49dYd=fFyf@EjX<Ej>lQ 5rY5n?Q 9rY5n!.)n2BYtyz9Q Iz@nDInZ;in%;n>Y5yɮ0A9jhAMFNOT Ignoring new targets: 173.89 m.RhM ;ZhU ;e ProNav: ac range: 173.891327 m, nav range: 153.314713 m, bearing: 226.771023 deg, approach rate: -0.535297 m/s, LOS rate: 0.130297 deg/s, cmd heading: 213.980360 deg, new cmd heading: 214.126660 deg. Bheײ;mHeadingCmd: 3.737215 target range: 173.891327 and range: 174.80 m.hm.o@hi*hi"hi higifqfqfqdqdydyjdyZd} !U @E& EE*E"E8^;*E:VE(N4ZEa@a@a@a@ׂBɢ5) ]i)!d#i鲼i,"<~#IU.o@IYByByB}IB}ЁBByByByB}k;B}*E @  @ @ /@ qBDAT read: Rx Time:05:21:26.9103 TRx dataTimestamp_ set to:1761542488.204603checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028357ԙ^A54/Ae .AIi Iy O > 8Ն,V?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278890b]@b9j@b:ٱb@$ԡ AHRS rotation from veh to nav: [[-0.862781,0.499160,0.080306],[-0.505578,-0.851663,-0.138061],[-0.000521,-0.159717,0.987163]]bH`;?掴?- @@AqĿ`֖?ib]@Ib^;bCYUByUIiMb@Mb@Mb@ 9/$?V-ǿy&1?Yy|?`<A@ EA)AYAbDVDky-J%5)=ٔ5Q-5>9= ?Y= ?==Fy=@E=6<E=>AQ 5MY5E?Q 9UY5E0)E@BYU#?Q EU:yUu9Q IU@EDIE:iE":EyY5yeߗBɮeh1AeE}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 173.89 m.Rh;Zh; ProNav: ac range: 173.891327 m, nav range: 153.055222 m, bearing: 226.833648 deg, approach rate: -0.541632 m/s, LOS rate: 0.130938 deg/s, cmd heading: 214.126663 deg, new cmd heading: 214.314856 deg. Bh;HeadingCmd: 3.740500 target range: 173.891327 and range: 174.80 m.hZdo@h*h"h hgfffBdddjdZd* @ɢD") i))Gii["Š<I Zdo@I E' E#E'E"E _;*E;VE'4ZEBE,J6V?AY5By5qII=8>)==bDEVDEβyU%]p=ٔ]Q-]?9]"?Ye"?=eFye@EeEe?iQ 5uY5m?Q 9uY5mw1)mJBYyyyQ I}@mDIm;im_:mrY5yؗBɮ1AEjhFNOT Ignoring new targets: 173.89 m.Rh;Zh; ProNav: ac range: 173.891327 m, nav range: 152.873093 m, bearing: 226.877761 deg, approach rate: -0.537112 m/s, LOS rate: 0.130247 deg/s, cmd heading: 214.314862 deg, new cmd heading: 214.447357 deg. BhƲ;HeadingCmd: 3.742812 target range: 173.891327 and range: 174.80 m.h=o@h*h"h hgfffdddjdZd`@颩ɢ\J) i)b项iʋix"׳<+(I=o@IDAT read: 05:21:26.9103 LVL= 27504, 32753, 32114, 32755, AGC= 70, IDX= 73, 0.46,-2.085, 2.308,-2.473,-2.401, PHS= 0.418,-1.529,-0.116, RAW= 134.6, 14.0, CAL= 133.8, 15.1, ROT= 16.2, -15.1 Ygot valid direction response: 05:21:26.9103 LVL= 27504, 32753, 32114, 32755, AGC= 70, IDX= 73, 0.46,-2.085, 2.308,-2.473,-2.401, PHS= 0.418,-1.529,-0.116, RAW= 134.6, 14.0, CAL= 133.8, 15.1, ROT= 16.2, -15.1 PDAT read: Bearing 10.0, 13.0 (Local) ~Local bearing/azimuth received: Bearing 10.0, 13.0 (Local) DAT read: Range 11 to 50 : 172.6 m (Round-trip 230.2 ms) speed 1.1 m/s R#Rx 1: Read range and direction messages.@ @@0@\direction in FSK: [0.927137,0.269358,0.260505]%Fpublishing direction and range infoyim ?F ȗ*=?QfJ0?Ym,Cimpkimr} i)mFIm>imFÿmhmY@m5z>9mt@ mV>)mÐ>ImViimU ?YǸT?VQ.G? m>)m yImÐ>imViiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E" E E,E"EZ;*E:VEg4ZEa@a@a@a@^AeByB B B IB ƁBB =B B B Ek;B *EA I I O > *DAT read: user:376> % BDAT read: Tx time:05:21:28.3244 % $Ping request sent.% 9Y=Fy@EE>Q 5Y5^?Q 9Y5!3)VBYyQ I@DIC;i;Y5yɮ1Aiih=V?AJi+CRi+Cjiz@bݾo'c@HoG@k]]F@R ?F ȗ*=?QfJ0?ZiÐ>biVj$퓧[_%;WB@Zm)o}QcY?2i:iW"i;nj?*ip&BiBi;nj?iiBiCin{@u addTargetRange:: Added new target pos. range: 172.600006 m, deltaT: 4.034442 s, deltaX: -2.199997 m, approachRate: -0.545304 m/s, rangeRepo size: 4 q Added new target pos. range: 171.703064 m, bearing: 228.717024 deg, lat: 36.779323 deg, lon: -121.859826 deg, deltaT: 4.034442 s, deltaX: -2.188263 m, approachRate: -0.542395 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 171.70 m.RhZh ProNav: ac range: 171.703064 m, nav range: 157.111664 m, bearing: 225.218965 deg, approach rate: 0.000000 m/s, LOS rate: 0.130247 deg/s, cmd heading: 214.447354 deg, new cmd heading: 214.614116 deg. Bh%HeadingCmd: 3.745723 target range: 171.703064 and range: 172.60 m.h%o@h!*h!"h! h!g)f)ffdddjd@3e@Zd^*?!ɢ%|4)i mii)u!qqiu+i}e"}Ж<}>2I}o@Iԡ!@! @!@%,0@!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253664^A )E  E E E "E W;*E :VE ZE BE Dg,ӣkV?A6ki^@6 _l@6_F;ٱ6; >AHRS rotation from veh to nav: [[-0.851621,0.520712,0.060007],[-0.524138,-0.844988,-0.106183],[-0.004586,-0.121880,0.992534]]6H{@?`.?@$ .r 3@?i6ki^@I6Ny^;6CYNByNZIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503662iMb@Mb@Mb@ 9MbX9?/$ƿ9Y=Fy@E%VF=E%>)Q 55Y5-?Q 95Y5-T5)-^BY5'?Q E5:y56Q I=@-DI-~:i-:-Y5yEїBɮE2AEEjhimFNOT Ignoring new targets: 171.70 m.Rhu;Zhu; ProNav: ac range: 171.703064 m, nav range: 156.854767 m, bearing: 225.270181 deg, approach rate: -0.595883 m/s, LOS rate: 0.118993 deg/s, cmd heading: 214.614120 deg, new cmd heading: 214.768020 deg. BhS;HeadingCmd: 3.748409 target range: 171.703064 and range: 172.60 m.ho@h*h"h hgfffBdddjdZdn?)ɢ5+J)1 5#i1)U$┻YYi]O­i]9"ekD,zQV?AɰB^@Bjl@B;ٱBS NAHRS rotation from veh to nav: [[-0.848519,0.526077,0.057084],[-0.529135,-0.842355,-0.102245],[-0.005703,-0.116962,0.993120]]BH'?*:?`,3\w4?iB^@IB^;BCYVByVQI XXbDbVDb:yf ,%jc=ٔj`K;Q-j>9hYl=nFyn@EbEm:4jEm>4rEmS}0Er' Er0Er$Ep"Er _;*Er;VEr4ZEpaz@az@az@az@~<E~>Q 5 Y5?Q 9 Y5&7)dBY y )6Q I@DI$:i=:Y5yʗBɮ2AEjhAEFNOT Ignoring new targets: 171.70 m.RhMD;ZhMD;] ProNav: ac range: 171.703064 m, nav range: 156.645401 m, bearing: 225.311506 deg, approach rate: -0.576232 m/s, LOS rate: 0.113889 deg/s, cmd heading: 214.768017 deg, new cmd heading: 214.892157 deg. Bh]R;eHeadingCmd: 3.750576 target range: 171.703064 and range: 172.60 m.heo p@ha*ha"ha higifififqdqdqdqjdqZd}{?颥ւBɢ\) 'i)顩iBBIBBB =BBBj;Bb*Eԡq@q @q@u/@q5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007617^AMC"A.AIIOb> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258949! Xo,4/V?AYByJIiMb@Mb@Mb@ 9MbX?l¿9 ?Y ?=Fy@EE>Q 5Y5j?Q 9Y59)jBY.?Q E:y(3Q I@#DI\:i:*Y5yɮG2AiB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 171.70 m.RhG:ZhG: ProNav: ac range: 171.703064 m, nav range: 156.360214 m, bearing: 225.361816 deg, approach rate: -0.591826 m/s, LOS rate: 0.104596 deg/s, cmd heading: 214.892163 deg, new cmd heading: 215.043370 deg. Bh;HeadingCmd: 3.753215 target range: 171.703064 and range: 172.60 m.h4p@h*h"h hgfffBdddjdZd _t?E, E$E)E"Ec;*E;VEFA4ZEBEt&,ڸV?A>p_@>|fm@>;ٱ> FAHRS rotation from veh to nav: [[-0.843073,0.534836,0.056377],[-0.537755,-0.837022,-0.101058],[-0.006860,-0.115516,0.993282]]>H t@`?ݬ?J5 ޹c|| ?i>p_@I>I^;>CYReByR'IXbD^VD^yjU'%nr=ٔnB_;Q-r?9v"?Yv"?=vFyz@E~V<E~? Q 5Y5 ?Q 9Y5 <) nBY!y%2Q I-@ +DI \;i M; )Y5y=ėBɮ=2A9jhyFNOT Ignoring new targets: 171.70 m.Rh:Zh: ProNav: ac range: 171.703064 m, nav range: 156.148132 m, bearing: 225.398393 deg, approach rate: -0.640429 m/s, LOS rate: 0.110602 deg/s, cmd heading: 215.043370 deg, new cmd heading: 215.153249 deg. Bhϗ;HeadingCmd: 3.755133 target range: 171.703064 and range: 172.60 m.hTp@h*h"h hgfffdddjdZdc?颁ɢav) <8i)ɻ顑i 'checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763367i!Z<#ITp@IIfA)dAY@a @a@e/@a@m=@m= E@ E1E&E"Eu;*Ef;VE4ZEa%@a%@a%@a%@^A%?Bf>BBSIBBBBBBj;BL*E 7j> dC 'G- hA9 I m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016008 9 hAY IAAu .AI I O >q,V?AY~cBy~$II>)> = =bDVDNy%%-E=ٔ-Q-->9- ?Y5 ?=5Fy5@E5E5>9Q 5EY5=k?Q 9MY5=>)=rBYIyIQ IM@=4DI=:i=:=Y5yUBɮ]2A]EjhFNOT Ignoring new targets: 171.70 m.Rh:Zh: ProNav: ac range: 171.703064 m, nav range: 155.895325 m, bearing: 225.442137 deg, approach rate: -0.606793 m/s, LOS rate: 0.105165 deg/s, cmd heading: 215.153254 deg, new cmd heading: 215.284697 deg. BhX; HeadingCmd: 3.757427 target range: 171.703064 and range: 172.60 m.h yp@h *h "h  hgfffdddjd!Zd%@5@MՂBɢMk)Q U8iQ)]#FܻYYi]3{ie!eIE-  E- E- +E) "E- V;*E- :VE- [4ZE) BE- 9 "?Y "?= Fy @E <E>Q 5%Y5U?Q 9%Y5A)vBY%!/?Q E%:y%u.Q I%@=DI :i:Y5y1ɮ5A3A1jhY]FNOT Ignoring new targets: 171.70 m.Rhe:Zhe:u ProNav: ac range: 171.703064 m, nav range: 155.620819 m, bearing: 225.482209 deg, approach rate: -0.656332 m/s, LOS rate: 0.095980 deg/s, cmd heading: 215.284694 deg, new cmd heading: 215.405123 deg. Bhu;}HeadingCmd: 3.759529 target range: 171.703064 and range: 172.60 m.h}p@hy*hy"hy hgfff6BdddjdZdC@9ɢ=Gl)A E?iA)EAAiEdi!c<Ip@IԩE9@A @A@A@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771060^Am D- A I I O >,}YW?A:-`@:c#n@:;ٱ:+ FAHRS rotation from veh to nav: [[-0.836820,0.544168,0.060116],[-0.547442,-0.830439,-0.103338],[-0.006310,-0.119385,0.992828]]:H: i?Ǯ?@Yty ??i:-`@I:r^;8YNLByNIbDTVDTy^;>%ba=ٔbQ-b>9dYd=fFyf@Ef<Ef>hEr* Er4Er)Ep"Era;*Er ;VErFA4ZEpav@av@av@av@Q 5zY5jA?Q 9~Y5jfD)jxBY|y~C.Q I~@jEDIjԱ;ij;jY5y Bɮ Q3A Ejh15FNOT Ignoring new targets: 171.70 m.Rh=:Zh=:M ProNav: ac range: 171.703064 m, nav range: 155.390106 m, bearing: 225.515708 deg, approach rate: -0.630644 m/s, LOS rate: 0.091705 deg/s, cmd heading: 215.405124 deg, new cmd heading: 215.505771 deg. BhM{;UHeadingCmd: 3.761285 target range: 171.703064 and range: 172.60 m.hUp@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdm T{ @颕ԂBɢ) Ci)F顙i!if!v~<Ip@IB9B9B=.IB=kBB= =B9B9B=j;B=2*EBBBBBC5]>i]>9@ @@`0@@fA@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023083!^A tQA I I O >y i I A BDAT read: Rx Time:05:21:30.9555  TRx dataTimestamp_ set to:1761542492.488352 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276210%,j2 W?AB\`@Qn@5;ٱ* AHRS rotation from veh to nav: [[-0.835267,0.546324,0.062121],[-0.549817,-0.828754,-0.104246],[-0.005469,-0.121228,0.992610]]H|{?Oί?'ٯ`fv@u?iB\`@IV^;CYQByI   bD-VD-Yymr<%u2=ٔ{Q->9Y=Fy@E;E>Q 5Y5)?Q 9Y5G)|BYy.Q I@ODI" ;iq ;Y5yBɮ2AE]B*** querying acoustic contact ***iY iYjhamFNOT Ignoring new targets: 171.70 m.Rhu:Zhu: ProNav: ac range: 171.703064 m, nav range: 155.095139 m, bearing: 225.558330 deg, approach rate: -0.619197 m/s, LOS rate: 0.089641 deg/s, cmd heading: 215.505774 deg, new cmd heading: 215.633881 deg. Bhv;HeadingCmd: 3.763521 target range: 171.703064 and range: 172.60 m.hp@h*h"h hgfffdddjdZd J @ӂBɢi) )Ai)W ii-B!9}<uIp@IE% EE&E"EO];*E:VE4ZEBE ,F?:W?AV{~`@Vtn@VC;ٱV; jAHRS rotation from veh to nav: [[-0.834121,0.547840,0.064142],[-0.551563,-0.827473,-0.105197],[-0.004555,-0.123126,0.992381]]VH?k?@hz`4{r*?iV{~`@IVG^;VCYzLByzIiMb@Mb@Mb@ 9|?5^?)\(Mb?Y2?yGὙ<&A A)AYA p<<bDVD0y%Q=ٔQ->9Y=Fy@E;E> Q 5Y5 ?Q 9Y5 J) BY(5?Q E:y~-Q I@ XDI i  ; Y5y!ɮ%3A)jhIUFNOT Ignoring new targets: 171.70 m.RhUC:ZhUC:e ProNav: ac range: 171.703064 m, nav range: 154.839081 m, bearing: 225.594476 deg, approach rate: -0.690212 m/s, LOS rate: 0.097596 deg/s, cmd heading: 215.633881 deg, new cmd heading: 215.742500 deg. Bhm;mHeadingCmd: 3.765417 target range: 171.703064 and range: 172.60 m.hmp@hq*hq"hq hqgqfqԙDAT read: 05:21:30.9555 LVL= 31856, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.16,-0.478,-2.315,-0.768,-0.777, PHS= 0.400,-1.493,-0.035, RAW= 137.3, 13.1, CAL= 136.6, 14.1, ROT= 13.4, -14.1 Ygot valid direction response: 05:21:30.9555 LVL= 31856, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.16,-0.478,-2.315,-0.768,-0.777, PHS= 0.400,-1.493,-0.035, RAW= 137.3, 13.1, CAL= 136.6, 14.1, ROT= 13.4, -14.1 PDAT read: Bearing 10.5, 10.8 (Local) ~Local bearing/azimuth received: Bearing 10.5, 10.8 (Local) DAT read: Range 11 to 50 : 170.3 m (Round-trip 227.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.943468,0.224766,0.243615]Fpublishing direction and range infoyy}k0?TX. ? .?Y}L*Cy}p|y} y)}CI}>i}})\}]@} j>}k@ }d{>)}|o>I}d{yy}~?Nԫ)l?JU? }ؚ>)}biI}|o>i}d{yyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.f f 3Bd ddjdIe@ZdH/?҂Bɢr|)  Ci ) Ѱ  i ;Bi5#!5,#|<=I=p@I99@ @@5@@@@@D=Dp=E- E6E)E"Ed;*E ;VEFA4ZEa@a@a@a@B%g>B!B%IB%QBB!B!B!B%Zj;B%*E5 *DAT read: user:377> = BDAT read: Tx time:05:21:32.3243 = $Ping request sent.= ! v,SW?AR?`@Rn@R&j;ٱRg` ZAHRS rotation from veh to nav: [[-0.833357,0.548697,0.066695],[-0.552724,-0.826471,-0.106970],[-0.003573,-0.126008,0.992023]]RH۪@??``rr]b@Dm!?iR?`@IR_^;RCYrBByrIbD~VD~y-*b%-Z=ٔ-~+Q-->91Y1=5Fy5@E=r;EM>YQ 5eY5]?Q 9mY5]M)]BYiymf-Q Im@]aDI]:i]:]kY5yuBɮ@3AEiit?W?AJij)CRij)CjiW@bbid{jXc[ C_&nA@Z˃Ͼ0w4M?2iv:i"i;$?*i rBigBi;$?i*ȗiBi2"Ci"~@% addTargetRange:: Added new target pos. range: 170.300003 m, deltaT: 4.031944 s, deltaX: -2.300003 m, approachRate: -0.570445 m/s, rangeRepo size: 4 U Added new target pos. range: 169.415695 m, bearing: 228.592130 deg, lat: 36.779310 deg, lon: -121.859929 deg, deltaT: 4.031944 s, deltaX: -2.287369 m, approachRate: -0.567312 m/s, posRepo size: 4 jhY]FNOT Ignoring new targets: 169.42 m.RheZha ProNav: ac range: 169.415695 m, nav range: 162.198959 m, bearing: 227.511945 deg, approach rate: 0.000000 m/s, LOS rate: 0.097596 deg/s, cmd heading: 215.742494 deg, new cmd heading: 215.858163 deg. BhHeadingCmd: 3.767436 target range: 169.415695 and range: 170.30 m.hq@h*h"h hgfffdddjdZd ?тBɢ ) Gi);?!iiM !M{i E & E $E 'E "E 8^;*E ;VE '4ZE BE 9Y=Fy@ElF;E>Q 5Y5迊?Q 9Y5iQ)BY=?Q E:y+Q I@kDI;i ; Y5yBɮV3AEjhFNOT Ignoring new targets: 169.42 m.Rhu:Zhu: ProNav: ac range: 169.415695 m, nav range: 161.912033 m, bearing: 227.550272 deg, approach rate: -0.721499 m/s, LOS rate: 0.096548 deg/s, cmd heading: 215.858157 deg, new cmd heading: 215.973343 deg. Bh;HeadingCmd: 3.769446 target range: 169.415695 and range: 170.30 m.h>q@h*h"h hgfff!BdddjdZd?-ЂBɢ-3)1 5(Ci1)5=+11i5Мi= =z<=XIE>q@IAi@ @@/@ԙA.AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754506 ,W?A2`@23n@2eI:ٱ2 :AHRS rotation from veh to nav: [[-0.832033,0.550023,0.072087],[-0.554726,-0.824797,-0.109497],[-0.000768,-0.131094,0.991370]]2H @ə? Qt?Pd,IM?i2`@I2n^;2CLYRLByRIXXD\zD^AAEb# EbEb*E`"Eb[;*Eb:VEb(N4ZE`aj@aj@aj@aj@bD^VD^ ye|<%eN=ٔeKzQ-e>9m ?Ym ?=mFym@EmN;;Eu>qQ 5Y5uҿ?Q 9Y5uT)uBYy+Q I@utDIu4:iuV:uY5yɮH3AjhFNOT Ignoring new targets: 169.42 m.Rh :Zh : ProNav: ac range: 169.415695 m, nav range: 161.636597 m, bearing: 227.587071 deg, approach rate: -0.692589 m/s, LOS rate: 0.092688 deg/s, cmd heading: 215.973341 deg, new cmd heading: 216.083925 deg. Bh>BBIBGBB =BBBoj;B)*EBhq~;HeadingCmd: 3.771376 target range: 169.415695 and range: 170.30 m.h9^q@h*h"h hgfff d d d jd Zd ?=ςBɢ=R)A EAiA)E4AAiM+,iM} Mry!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258547,>{W?AB`@B\n@BٱBpv JAHRS rotation from veh to nav: [[-0.831451,0.550749,0.073240],[-0.555597,-0.824337,-0.108536],[0.000598,-0.130934,0.991391]]BH@?ֿ?s@`ɻC?s`y?iB`@IBAR^;BCYVPByV IbD^VD^N2yfɮ<%fT=ٔngQ-n>9v"?Yv"?=zFyz@EG/;E>1Q 5MY55⼿?Q 9UY55hX)5BYaye*Q Ie@5}DI5;i5k;5Y5y%Bɮ-2A-EB*** querying acoustic contact ***i ijh5FNOT Ignoring new targets: 169.42 m.Rh5[:Zh5[:E ProNav: ac range: 169.415695 m, nav range: 161.362579 m, bearing: 227.623697 deg, approach rate: -0.611691 m/s, LOS rate: 0.081900 deg/s, cmd heading: 216.083922 deg, new cmd heading: 216.193987 deg. BhE`;MHeadingCmd: 3.773297 target range: 169.415695 and range: 170.30 m.hM}q@hQ*hQ"hQ hQgQfQfYfYdYdYdajdaZdezF?E E E'E"EW;*E:VE'4ZEBED',^W?AJ`@Jn@JSٱJ VAHRS rotation from veh to nav: [[-0.830798,0.551624,0.074068],[-0.556571,-0.823832,-0.107377],[0.001788,-0.130433,0.991456]]JH??@n`\}`wJ]??iJ`@IJyB^;HY^cBy^%I ```bAQiMb@Mb@Mb@ 9x?"~j:v?YK7?yS㽙<AI@ A)AYzAbDVDy=%;=ٔ13Q->9Y=Fy@E2;E>Q 5Y5a?Q 9Y5[)BY9?Q E:y,Q I@DI":iX:Y5yBɮ!2AEjh%FNOT Ignoring new targets: 169.42 m.Rh%:Zh%:5 ProNav: ac range: 169.415695 m, nav range: 161.077057 m, bearing: 227.665313 deg, approach rate: -0.765628 m/s, LOS rate: 0.111790 deg/s, cmd heading: 216.193983 deg, new cmd heading: 216.319051 deg. Bh5p;=HeadingCmd: 3.775480 target range: 169.415695 and range: 170.30 m.h=vq@h9*hA"hA hAgAfAfIfMYBdIdQdQjdQZdU@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762729 ͂Bɢ ò)  4i) $HiY嗼i?~ v<R䣼Ivq@I!ԉ@ @@0@bEec44jEeƭ54rEeƝ/E  EEE"EX;*EVEZEa@a@a@a@ԩBBBIBLBBBBB|j;B/*E^Au5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015378 A I I O > ,7W?A24a@2n@2m_ٱ2 :AHRS rotation from veh to nav: [[-0.829734,0.553204,0.074213],[-0.558154,-0.822938,-0.106003],[0.002432,-0.129377,0.991593]]2H`-س??f@U"`c?`i@ ?i24a@I2,]^;2CYFfByF(I LNp<bDRVDR:yVES<%Z^=ٔZQ-Z>9XY\=^Fy^@E^;Eb>`Q 5fY5b?Q 9jY5b^)bBYhyj,Q Ij@bDIbt:ib;bY5ypɮr 2Apjh  FNOT Ignoring new targets: 169.42 m.Rhk:Zhk:% ProNav: ac range: 169.415695 m, nav range: 160.830078 m, bearing: 227.701248 deg, approach rate: -0.670207 m/s, LOS rate: 0.097664 deg/s, cmd heading: 216.319058 deg, new cmd heading: 216.427029 deg. Bh% ;-HeadingCmd: 3.777364 target range: 169.415695 and range: 170.30 m.h-Vq@h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE@\ @m̂Bɢm)q u 3iq)ubPqqi}Uki}`_ }]u<IVq@IԱ9@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266559^Aԅ!AII O >E  E E )E "E &U;*E :VE FA4ZE BE 9Y=Fy@EM;E>Q 5Y5x?Q 9Y5_b)BY"8?Q E:y^-Q I@DI7:i@:Y5yBɮm1AEjh!-FNOT Ignoring new targets: 169.42 m.Rh-:Zh-:E ProNav: ac range: 169.415695 m, nav range: 160.540009 m, bearing: 227.745005 deg, approach rate: -0.658728 m/s, LOS rate: 0.099548 deg/s, cmd heading: 216.427029 deg, new cmd heading: 216.558537 deg. BhE;MHeadingCmd: 3.779660 target range: 169.415695 and range: 170.30 m.hMq@hI*hI"hI hIgIfIfQfUiBdYdYdYjdYZd]0@颍ʂBɢm) +i)g9Z顑iӔi9 +mt<2Iq@Il>i>)@) @)@-4@)@5fA@5gAA^AIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871A I I O >ԙ F,X?AER' ERER'EP"ER _;*ER4:VER'4ZEPaV@aZ@aZ@aZ@Y~~By~FII>); = =bDVDy%k=%%U=ٔ%Q-->9)Y)=-Fy-@E5E5>9Q 5EY5=c?Q 9MY5=ge)=BYQyYQ Ie@=DI=;i=;=Y5yuBɮu0AqBBB!IB`BBBBBj;B1*EjhFNOT Ignoring new targets: 169.42 m.Rhs:Zhs: ProNav: ac range: 169.415695 m, nav range: 160.286972 m, bearing: 227.783314 deg, approach rate: -0.649933 m/s, LOS rate: 0.098553 deg/s, cmd heading: 216.558538 deg, new cmd heading: 216.673645 deg. BhE;HeadingCmd: 3.781668 target range: 169.415695 and range: 170.30 m.hr@h*h"h hgfffdddjdZdK @+Gԁ9YA5ɂBɢ5m)1 =9%i9)=!c99i=OiE E#s [I,"X?A2fa@2\o@2"ZGٱ2 :AHRS rotation from veh to nav: [[-0.826215,0.558234,0.075790],[-0.563347,-0.819418,-0.105801],[0.003042,-0.130110,0.991495]]2HYp ? f? @8 Ah?sS?i2fa@I2EQ^;2CYFByFXILNBAbDPVDPyEz=%MH=ٔ]kĹQ-e>9iYq=uFy@E0<E>Q 5Y5L?Q 9 Y5h)ƦBY!y--Q I-@DIPiwĻ @Vh>ZB@ )ȭT>Iٗ{h?>H ?%`? Е>)#hIȭT>1@1 @1@54@1@==@==iuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse) a ^A A ?A >IIDAT read: Range 11 to 50 : 142.0 m (Round-trip 189.4 ms) speed 0.7 m/s X#Rx 2: Read range message, but no direction.yYCT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O>v,^AX?A2=a@2ޔo@2/6ٱ2X :AHRS rotation from veh to nav: [[-0.824276,0.560972,0.076681],[-0.566181,-0.817338,-0.106758],[0.002786,-0.131414,0.991324]]2Hw`{?_?('Tf?(?i2=a@I2^E^;0YFByFgIPiMb@Mb@Mb@ 9|?5^?ʡEÿJ +?Y-?yH=SA )AYAbD5VD51yE0=%M=ٔMG:Q-M>9IYQ=UFyU@EU;EU>Q 5Y51?Q 9Y5Xl)٦BY2?Q E:y0Q I@DI:i:EY5yɮ/AiQiU~AX?AJiUC CRiUC CjiUJ~@bUތ: `@'*]@<@E74A@RUp^?nS? .?ZiUȭT>biQjUW*_˪Y9Ȯ>@ZU\1俢LC3Av*F?2iUV:iU"iUj栊?*iUBiU&BiQiQiU&BiUCiUx~@-EaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 142.000000 m, deltaT: 4.031892 s, deltaX: -28.300003 m, approachRate: -7.019038 m/s, rangeRepo size: 4jhAMFNOT Ignoring new targets: 169.42 m.RhM2;ZhM2;} ProNav: ac range: 169.415695 m, nav range: 159.685471 m, bearing: 227.880361 deg, approach rate: -0.663704 m/s, LOS rate: 0.113827 deg/s, cmd heading: 216.799425 deg, new cmd heading: 216.965335 deg. Bh<;HeadingCmd: 3.786759 target range: 169.415695 and range: 170.30 m.hDZr@h*h"h hgfffBdddjda@Zd?E5( E5E5*E1"E5`;*E5:VE5(N4ZE1aE@aE@aE@aE@Bi>BB@IBzBBBBBj;B5*EBBBB =B =CĈ3%łBɢ%MR)! %i))5du11i5.)iEpmhp BDAT read: Tx time:05:21:36.3243 $Ping request sent.m,r]X?A6:a@6o@6O5ٱ6 ] >AHRS rotation from veh to nav: [[-0.822233,0.564009,0.076335],[-0.569146,-0.815338,-0.106287],[0.002292,-0.130838,0.991401]]6HO[ ?`? r6@?5b?@M?i6:a@I6?_^;4YFByFuI LLNALbDRVDRܲyZn=%ZX=ٔ^%:Q-^>9\Y\=bFyb@Eb<Eb>dQ 5=Y5f?Q 9=Y5fn)fBYAyE/Q IE@fDIf&y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502432 g+,ٱ2 :AHRS rotation from veh to nav: [[-0.820036,0.567231,0.076088],[-0.572308,-0.813190,-0.105756],[0.001886,-0.130269,0.991477]]2H=&?@z?YP@^?-?i2Pb@I2P^;2CPY^BybpIiEMb@Mb@Mb@AAAA A9E(\?+ǿI +?YE.?yEv>E94=E=AE3@ A)EAAYEA e49Y=FyAE<E>Q 5Y5?Q 9Y5q)BY4?Q E:y2Q I@ʕDI/x;iw;LY5yBɮ/AEjhFNOT Ignoring new targets: 169.42 m.Rh;Zh; ProNav: ac range: 169.415695 m, nav range: 159.183044 m, bearing: 227.971041 deg, approach rate: -0.611418 m/s, LOS rate: 0.115930 deg/s, cmd heading: 217.084135 deg, new cmd heading: 217.237798 deg. Bh;HeadingCmd: 3.791515 target range: 169.415695 and range: 170.30 m.h.r@h*h"h hgfffBdddjdZd?mBɢmfX) Li)顱i qiw_Mn<I.r@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755281@ @@/@@gA@fAE % E E E "E O];*E A:VE ZE a @a @a @a @^A 5%A gAzA fAB) B- CB- fIB- BB) B) B- DB- j;B- L*EA II Ia Om >$,*X?A2Rb@2WHp@2ٱ2B :AHRS rotation from veh to nav: [[-0.818027,0.570158,0.075840],[-0.575178,-0.811221,-0.105313],[0.001478,-0.129770,0.991543]]2HF->?;j? g```"5X?Q`?i2Rb@I2r^;2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006532Y^By^IbDfVDf:3yr=%rV=ٔvŒ:Q-v>9tYt=vFyzAEz<Ez>|Q 5 Y5ハ?Q 9 Y5't)BY y J2Q I @ҕDI$:i:Y5yBɮ.AjhAEFNOT Ignoring new targets: 169.42 m.RhMA;ZhMA;] ProNav: ac range: 169.415695 m, nav range: 158.946411 m, bearing: 228.015619 deg, approach rate: -0.659210 m/s, LOS rate: 0.124370 deg/s, cmd heading: 217.237800 deg, new cmd heading: 217.371733 deg. Bh];eHeadingCmd: 3.793852 target range: 169.415695 and range: 170.30 m.hezr@ha*ha"ha hagifififidqdqdqjdyZd} ?EBɢEp8`)A EiI)MHIIiMw)i;QZm< Izr@I)I@I @Q@U0@QQ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258576^AeII O >ԉ WA*,yX?AE" E"E"%E "E"V;*E":VE" 4ZE BE"{Q?`?iNb@INnT^;NCYEByEIQI]G>)]e?i Mb@Mb@Mb@     9 J +?&1ʿ?Y (?y P L=  `@ A)  Y AbD% VD%2y5<%57=ٔ5y:Q-5>99Y9==Fy= AEE<EE>IQ 5Z5MG׾?Q 9Z5Mv)MBY1?Q E:y 4Q I@MܕDIM:g = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762447n%1,X?A2b@2cp@2_Njٱ2: :AHRS rotation from veh to nav: [[-0.813365,0.576667,0.076761],[-0.581753,-0.806455,-0.105799],[0.000894,-0.130709,0.991420]]2H t?`?{@IM? ?i2b@I2]H^;2CY^By^Idf@AbDjVDjN2yr$<%rc=ٔv9Q-v>9tYt=vFyvAEz'/<Ez>|Q 5Z5~þ?Q 9Z5~x)~#BY y 3Q I @~DI~:i~:~Z5yBɮl.AEjh9EFNOT Ignoring new targets: 169.42 m.RhE4;ZhE4;U ProNav: ac range: 169.415695 m, nav range: 158.461990 m, bearing: 228.113181 deg, approach rate: -0.622719 m/s, LOS rate: 0.125200 deg/s, cmd heading: 217.534203 deg, new cmd heading: 217.664865 deg. BhUث;ԹHeadingCmd: 3.798969 target range: 169.415695 and range: 170.30 m.hM"s@h*h"h hgff f d d djdZd5b@颅BɢwQ[) Ni)顉i%mii ak<"'oIM"s@IDU=DU<E] E]EYEY"E]>T;*E]:VEYZEYae@ae@ae@ae@BBBIBBBBBBj;B]*E9@ @@G0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014539^A}UA I) I9 9 OM >gO7,;X?A>c@>} q@>qٱ> FAHRS rotation from veh to nav: [[-0.811119,0.579587,0.078520],[-0.584881,-0.803987,-0.107328],[0.000923,-0.132980,0.991118]]>H@? ?@XB@y >N?~=?i>c@I>]^;>CYRByRIbDZVDZ02ybI;%bL=ٔb˘Q-f>9dYd=fFyfAEj<Ej>lQ 5rZ5n?Q 9rZ5nD{)n3BYpyv3Q Iv@nDIn";in:n) Z5yzBɮz(.AzEjhFNOT Ignoring new targets: 169.42 m.Rh% ;Zh% ;5 ProNav: ac range: 169.415695 m, nav range: 158.221512 m, bearing: 228.161159 deg, approach rate: -0.602029 m/s, LOS rate: 0.120293 deg/s, cmd heading: 217.664865 deg, new cmd heading: 217.809016 deg. Bh5;=HeadingCmd: 3.801485 target range: 169.415695 and range: 170.30 m.h=Ks@h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU@}Bɢ[) i)顁i%i._j<_IKs@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2666459@ @@4@IE E%E'E"EO;*E;VE'4ZEBE6 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518484ԙ )~=,̗X?AɰYzByzI iMb@Mb@Mb@ 9MbX?Q˿l?Y*?y(\= A)AYbDVDy % 7=ٔQ->9Y=FyAEE>!Q 5-Z5%?Q 9-Z5%})%BBY53?Q E5:y5q4Q I5@%DI% ;i%G ;% Z5y9ɮ=,.A9jhaeFNOT Ignoring new targets: 169.42 m.iRhu;Zhu; ProNav: ac range: 169.415695 m, nav range: 157.950089 m, bearing: 228.217335 deg, approach rate: -0.606625 m/s, LOS rate: 0.125768 deg/s, cmd heading: 217.809023 deg, new cmd heading: 217.977840 deg. Bh;HeadingCmd: 3.804431 target range: 169.415695 and range: 170.30 m.h{s@h*h"h hgfffāBdddjdZd@f@Bɢ8O) i)򽒼iigi<I{s@I@ @@4@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770970ԙ^AjZXbE-4jE-4rEȁ/Ee " Ee Ee )Ea "Ee Z;*Ee 4:VEe FA4ZEa au @au @au @au @A A AAB j>B B IB BB B B B j;B a*EI I O > XaD,B_Y?A6BDAT read: Rx Time:05:21:38.9494 6TRx dataTimestamp_ set to:1761542500.300180:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023607>Ec@>q@>ٱ>"k JAHRS rotation from veh to nav: [[-0.806113,0.586232,0.080713],[-0.591762,-0.798693,-0.109126],[0.000492,-0.135731,0.990746]]>H h?`?  @?_@0?i>Ec@I>Jq^;>CYRByVI XZ<bD^VD^{Uyfּ%fb=ٔj/:Q-j>9hYh=jFyjAEn<E>Q 5Z5Y?Q 9Z5()OBYy3Q I@DI?;i] ;kZ5yyBɮ.AEjhFNOT Ignoring new targets: 169.42 m.Rh;Zh; ProNav: ac range: 169.415695 m, nav range: 157.716324 m, bearing: 228.264915 deg, approach rate: -0.609340 m/s, LOS rate: 0.124208 deg/s, cmd heading: 217.977838 deg, new cmd heading: 218.120789 deg. Bh|;HeadingCmd: 3.806926 target range: 169.415695 and range: 170.30 m.hs@h*h"h hgfffdddjdZd @5Bɢ5fH])1 5i9)=ߕ99i=WiE{Eh\J,S,Y?AD zD@AE E#E'E"EQ;*E;VE'4ZEBEȥ9Y)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529018=Fy AE;E>Q 5 Z5d?Q 9 Z5)_BY#1?Q E:yi4Q I@ DIy);ih;Z5y=rBɮ=D.AEEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 169.42 m.Rh ;Zh ; ProNav: ac range: 169.415695 m, nav range: 157.426529 m, bearing: 228.325280 deg, approach rate: -0.580768 m/s, LOS rate: 0.121197 deg/s, cmd heading: 218.120793 deg, new cmd heading: 218.302219 deg. BhZ;HeadingCmd: 3.810092 target range: 169.415695 and range: 170.30 m.hs@h*h"h hgfffBdddjdZd @颭BɢOQ)Y ]<iY)]EYYieie'Ge{gi ¿ ̼ 7@ ԇ> @  >) +>I    " =?+I?=S!?  >) I +>i    T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Ա ^A !I) IA OM >kQ,2HY?A "@NXd@Nr@NٱN]/ ZAHRS rotation from veh to nav: [[-0.801681,0.592095,0.082037],[-0.597751,-0.794228,-0.109064],[0.000580,-0.136472,0.990644]]NH_ r?`[?` @Qj뻿PB?wZ?iNXd@INAF^;LY%By%|II-=)-=bD]VD]1ym;%mP=ٔmعQ-m>9qYq=uFyu$AE}-%<E}>Q 5Z5)Q?Q 9Z5)kBYy+4Q I@DI.;i;Z5yɮ9.AiIiM7CY?AJiM$CRiM$CjiM1@bMf|c@ A9^:@PeG@RM$H?Xҍ}?rwkq?ZiM+>E5 E5&E5&E1"E5mR;*E5;VE54ZE1a=@a=@a=@aE@biMjM@n!eZ;Ms]O=%E@ZMY g6SU&%n?2iM[:iM)"iMh$?*iMɳBiMBBiIiMɳiMgBiMwCiM@e addTargetRange:: Added new target pos. range: 165.600006 m, deltaT: 8.063851 s, deltaX: -4.699997 m, approachRate: -0.582848 m/s, rangeRepo size: 4 BqBqBqBqBqBqBqBuk;Buz*Eԉ Wj>_CԀG15 Added new target pos. range: 164.741577 m, bearing: 228.462391 deg, lat: 36.779310 deg, lon: -121.859947 deg, deltaT: 8.063851 s, deltaX: -4.674118 m, approachRate: -0.579638 m/s, posRepo size: 4 ]9aYehAjh9FNOT Ignoring new targets: 164.74 m.RhZh ProNav: ac range: 164.741577 m, nav range: 158.467743 m, bearing: 228.770868 deg, approach rate: 0.000000 m/s, LOS rate: 0.121197 deg/s, cmd heading: 218.302217 deg, new cmd heading: 218.433159 deg. BhHeadingCmd: 3.812378 target range: 164.741577 and range: 165.60 m.hs@h*h"h hgfffdddjd@3d@Zd@us?-Bɢ-)9d)) -ai1)5.u11i5rAi=!=f<= IMs@Iy*DAT read: user:379> BDAT read: Tx time:05:21:40.3743 $Ping request sent. X,aY?A2Td@2Jr@2Mcٱ2O :AHRS rotation from veh to nav: [[-0.799576,0.594794,0.083055],[-0.600564,-0.792093,-0.109143],[0.000869,-0.137148,0.990550]]2H!?@C?7X`i}L?@?i2Td@I2_^;0YNByRsIV@AVAArchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249552bDZVDZkyz%zS=ٔzCQ-~>9|Y|=Fy(AEV<E> Q 5Z5 ;?Q 9Z5 H) yBYy3Q I@ DI ;i 3; %Z5y%kBɮ%>.A!jhIUFNOT Ignoring new targets: 164.74 m.RhU;ZhU; ProNav: ac range: 164.741577 m, nav range: 158.236069 m, bearing: 228.819045 deg, approach rate: -0.628799 m/s, LOS rate: 0.130953 deg/s, cmd heading: 218.433165 deg, new cmd heading: 218.577910 deg. Bh; HeadingCmd: 3.814904 target range: 164.741577 and range: 165.60 m.h d't@h *h "h  h gffQfQdYdYdYjdYZd]A?Bɢf)) 5i1)= ̠9AiEAԀiQDM=DMR=Ee Ee"Ee+Ea"Ee&U;*Ee;VEe [4ZEaBEeF^, {Y?A6Rd@6r@67Dٱ6~ BAHRS rotation from veh to nav: [[-0.797540,0.597535,0.082953],[-0.603265,-0.790259,-0.107533],[0.001299,-0.135805,0.990735]]6Hr?b9Y=Fy,AE8<E>Q 5Z5W%?Q 9Z5)BY-?Q E:y1Q I@$DI:i@:Z5ydBɮv.AEjhFNOT Ignoring new targets: 164.74 m.Rh);Zh); ProNav: ac range: 164.741577 m, nav range: 157.983978 m, bearing: 228.867803 deg, approach rate: -0.596452 m/s, LOS rate: 0.115546 deg/s, cmd heading: 218.577911 deg, new cmd heading: 218.724417 deg. Bh;HeadingCmd: 3.817461 target range: 164.741577 and range: 165.60 m.hIQt@h*h"h hgfff Bd d d jdZd@T?=BɢEv)A E iA)EbAIiM~iUlU\e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005666,e,Y?A@Jzd@Jr@JٱJas VAHRS rotation from veh to nav: [[-0.795763,0.599951,0.082587],[-0.605605,-0.788764,-0.105322],[0.001954,-0.133826,0.991003]]JH`v@2?o$?a=@Z`?7!K?iJzd@IJz^;HY^By^dI ``bDjVDj:yrC;%rU=ٔr,Q-v>9tYt=vFyv0AEzq;Ez>|Q 5Z5~?Q 9Z5~`)~BYy1Q I @~,DI~;i~;~."Z5yɮl.Ajh9=FNOT Ignoring new targets: 164.74 m.RhE;ZhE;U ProNav: ac range: 164.741577 m, nav range: 157.755371 m, bearing: 228.911876 deg, approach rate: -0.597483 m/s, LOS rate: 0.115355 deg/s, cmd heading: 218.724418 deg, new cmd heading: 218.856828 deg. BhUU;]HeadingCmd: 3.819772 target range: 164.741577 and range: 165.60 m.h]&wt@hY*hY"hY hYgafafafadididijdiZduH?颥Bɢ(;p) i)M顩i|iӪd<mI&wt@Iq@q @q@u2@qԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260855^AxrA I I O >E}  E} E} (Ey "E} L;*E} O:VE} c44ZEy BE} <2E} <JE} J<:E} J<Vk,uY?A2dd@2r@27&ٱ2 >AHRS rotation from veh to nav: [[-0.793913,0.602422,0.082404],[-0.608026,-0.787147,-0.103462],[0.002536,-0.132243,0.991214]]2H@g G?h? t`N0w|d?`X?i2dd@I2m[^;2CYFByFNIliMb@Mb@Mb@ 9q= ףp?I +ƿI +?Y+?y949< A)AYA )-p;bD5VD5P)y=%<=ٔQ->9Y=Fy4AE;E>Q 5Z5?Q 9Z5x)BYm1?Q E:yG/Q I@5DI:i@:%Z5y]Bɮ.AEjh!%FNOT Ignoring new targets: 164.74 m.Rh-:Zh-:= ProNav: ac range: 164.741577 m, nav range: 157.485321 m, bearing: 228.959441 deg, approach rate: -0.622065 m/s, LOS rate: 0.109754 deg/s, cmd heading: 218.856828 deg, new cmd heading: 218.999767 deg. Bh=;EHeadingCmd: 3.822267 target range: 164.741577 and range: 165.60 m.hEt@hA*hA"hI hIgIfIfIfUB]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509823dadadajdaZde rA?颕BɢKp) i)R顙i:xic<It@I @ @@4@1^AAfAzAdA- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765517i A9 IA IY Oe >Fr,Y?A2e@2s@2 <ٱ2cG >AHRS rotation from veh to nav: [[-0.792142,0.604714,0.082658],[-0.610330,-0.785475,-0.102602],[0.002881,-0.131724,0.991282]]2H`:Y`Y?)?҇"@D?g?S?i2e@I2 J^;2CYFByFOIbDNVDNyV<%Z]=ٔZtQ-Z>9XY\=^Fy^8AE^<E^>`Q 5fZ5b彊?Q 9jZ5b)bBYhyj/Q Ij@b>DIba;ib;b3)Z5yn`Bɮn.ArE~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 164.74 m.Rh::Zh::% ProNav: ac range: 164.741577 m, nav range: 157.255142 m, bearing: 228.999828 deg, approach rate: -0.622494 m/s, LOS rate: 0.109383 deg/s, cmd heading: 218.999770 deg, new cmd heading: 219.121110 deg. Bh%#;-HeadingCmd: 3.824385 target range: 164.741577 and range: 165.60 m.)h5t@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE @uBɢu})uk uiy)}Ƭyyi}vi\"Bc<It@E   E E 'E "E X;*E j:VE '4ZE a@a@a@a@B%k>B!B%rIB%BB!B!B!B!B!I9@ @@@4@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013828^AA1 I9 II Oe > hx,DY?A2AGe@2)J>bDRVDR1yZq%ZK=ٔZQ-Z>9\Y\=^Fbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265816y^hQ 5nZ5jPн?Q 9nZ5j )jBYpyr.Q Ir@jGDIj;ij;j,Z5ytɮv0/AtjhFNOT Ignoring new targets: 164.74 m.Rh':Zh':- ProNav: ac range: 164.741577 m, nav range: 157.003296 m, bearing: 229.043889 deg, approach rate: -0.624038 m/s, LOS rate: 0.109350 deg/s, cmd heading: 219.121116 deg, new cmd heading: 219.253509 deg. Bh-;5HeadingCmd: 3.826696 target range: 164.741577 and range: 165.60 m.h5t@h1*h9"h9 hgfffdddjdZd@>v@颵Bɢbw) |i)项i ri 7b<٥It@I)=9@A @A@M/@IEu EuEu)Eq"EuV;*Eu:VEuFA4ZEqBEu{~,Y?AYsBy8IiMb@Mb@Mb@ 9(\?㥛 ¿y&1?Yz4?y`e<&A3@ )AY(AAA@AbDVDyC%:=ٔQ->9Y=FyAAEE>Q 5Z5w?Q 9Z5)BYX8?Q E:y+Q I@QDI ;ie ;0Z5yYBɮ+/AEjh!-FNOT Ignoring new targets: 164.74 m.Rh-:Zh-:E ProNav: ac range: 164.741577 m, nav range: 156.712204 m, bearing: 229.088511 deg, approach rate: -0.663093 m/s, LOS rate: 0.101837 deg/s, cmd heading: 219.253512 deg, new cmd heading: 219.387629 deg. BhENj;EHeadingCmd: 3.829036 target range: 164.741577 and range: 165.60 m.hMu@hI*hI"hI hIgIfIff_BdddjdZd"@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769884Bɢҷv)! M iI)M IIiMboiUUaA > BDAT read: Rx Time:05:21:42.9970  TRx dataTimestamp_ set to:1761542504.332099 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022763Y Aq I I O >,Z?AN"e@NÄs@NyٱN VAHRS rotation from veh to nav: [[-0.787906,0.609820,0.085574],[-0.615783,-0.781106,-0.103365],[0.003809,-0.134137,0.990955]]NH 6?@2?` v3o?g+ ?iN"e@INz^;NCYbhByb*IbDjVDj1yrgt%rU=ٔvQ-v>9tYt=5Fy5EAE=U7<E=>IQ 5]Z5M?Q 9uZ5M )MBYqy}e+Q I}@MZDIMe;iM[;M4Z5yRBɮO/AEjhFNOT Ignoring new targets: 164.74 m.Rh:Zh:M ProNav: ac range: 164.741577 m, nav range: 156.450623 m, bearing: 229.128262 deg, approach rate: -0.636296 m/s, LOS rate: 0.096854 deg/s, cmd heading: 219.387630 deg, new cmd heading: 219.507080 deg. BhM;UHeadingCmd: 3.831121 target range: 164.741577 and range: 165.60 m.hU1u@hQ*hQ"hY hYgYfYfYfadadadjdZd* @Bɢ) li) i Rli`<ZI1u@IiߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274077ܪ&! @!  @! @% @4@! I E- ! E- E- )E) "E- Y;*E- 4:VE- FA4ZE) aU @aU @aU @a] @q ^AE echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528171A9IAIQO?d,A.8Z?ANe@N"s@NHwٱN VAHRS rotation from veh to nav: [[-0.785821,0.612350,0.086680],[-0.618443,-0.778904,-0.104100],[0.003770,-0.135411,0.990782]]NHq%^? 0?HH@n? "U`}?iNe@INM^;NCYjbByj$I AAiuMb@Mb@Mb@qqqq q9ud;O?HzG9Y=FyJAE;E>Q 5Z5_?Q 9Z5)ǧBY8?Q E:y)*Q I@gDI ;i` ;8Z5yfBɮ(AEjhFNOT Ignoring new targets: 164.74 m.9Rh]5:Zh]5:m ProNav: ac range: 164.741577 m, nav range: 156.079819 m, bearing: 229.181791 deg, approach rate: -0.689403 m/s, LOS rate: 0.099758 deg/s, cmd heading: 219.507076 deg, new cmd heading: 219.668044 deg. Bhm;uHeadingCmd: 3.833931 target range: 164.741577 and range: 165.60 m.hu_u@hq*hq"h hgfffSBdddjdZd@Bɢ Pr) i)i XYhi  `<ܻI5_u@I1DAT read: 05:21:42.9970 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 44,-0.11, 0.426,-1.261, 0.301, 0.188, PHS= 0.341,-1.403, 0.069, RAW= 141.7, 12.2, CAL= 141.1, 13.2, ROT= 8.9, -13.2 Ygot valid direction response: 05:21:42.9970 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 44,-0.11, 0.426,-1.261, 0.301, 0.188, PHS= 0.341,-1.403, 0.069, RAW= 141.7, 12.2, CAL= 141.1, 13.2, ROT= 8.9, -13.2 PDAT read: Bearing 12.4, 7.0 (Local) ~Local bearing/azimuth received: Bearing 12.4, 7.0 (Local) DAT read: Range 11 to 50 : 163.9 m (Round-trip 218.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.961857,0.150623,0.228351]Fpublishing direction and range infoyim0x?{s@HG? :?Ym#Ciiii i)m@Im>immO=mG@m^ Z>m7@ mk>)m>Imkiim\?#\|?E'? mě>)mYIm>imkiiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9 @  @ @ 4@ 1 B B B :IB uBB B B B /k;B *EbEUc44jEUc44rEU0E  E #E (E "E &U;*E ;VE c44ZE BE -BDAT read: Tx time:05:21:44.4243 -$Ping request sent.5e@~s@~wٱ~F AHRS rotation from veh to nav: [[-0.784735,0.613578,0.087825],[-0.619820,-0.777668,-0.105146],[0.003784,-0.136947,0.990571]]~H`@n?@{?꺿n?z@²?i~>e@I~Hm^;|Y%XBy%IbD=VD=NyM$%M%=ٔM:Q-U>9U ?YU ?=UFyUOAE]g;E]>aQ 5mZ5ej?Q 9mZ5eH)eѧBYiyu *Q Iu@erDIe;ie;e0=Z5y}TBɮ}'A}Eiyi}EZ?AJi} #CRi} #Cji}"@b}c@5 &8@ ̝B@R}0x?{s@HG? :?Zi}>bi}kj}Wl'.ZP&^PA@Z}w Q~J%翄nwb?2i}q:i}v"i}>?*i}\qBi}Biyi}\qiyi}yCi}S@ addTargetRange:: Added new target pos. range: 163.899994 m, deltaT: 4.031967 s, deltaX: -1.700012 m, approachRate: -0.421633 m/s, rangeRepo size: 4  Added new target pos. range: 163.050888 m, bearing: 228.938794 deg, lat: 36.779310 deg, lon: -121.859973 deg, deltaT: 4.031967 s, deltaX: -1.690689 m, approachRate: -0.419321 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 163.05 m.RhZh ProNav: ac range: 163.050888 m, nav range: 157.473846 m, bearing: 229.768813 deg, approach rate: 0.000000 m/s, LOS rate: 0.099758 deg/s, cmd heading: 219.668050 deg, new cmd heading: 219.817727 deg. BhHeadingCmd: 3.836543 target range: 163.050888 and range: 163.90 m.hu@h*h"h hgfffdddjd|d@Zd-u?Bɢt,~) i)6ż  i ^di ȕ`:_<Iu@IAAa]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249820ԉ9@ @@4@ D 4=D a=E % E $E &E "E O];*E ;VE 4ZE a @a @a @a @^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502095AI I!O=>, zZ?ANle@N s@N*ٱN VAHRS rotation from veh to nav: [[-0.784121,0.614354,0.087888],[-0.620593,-0.777194,-0.104083],[0.004362,-0.136156,0.990678]]NH `ɨ??@)aq? m?iNle@IN&W^;LY^JBy^IhiMMb@Mb@Mb@IIII I9MQ?Zd;/$?YM5?yMM9Y=FyTAE:E>Q 5Z5O?Q 9Z5)ۧBY8?Q E:y(Q I@~DI:i:AZ5yMBɮ(AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 163.05 m.Rh:Zh:- ProNav: ac range: 163.050888 m, nav range: 157.128418 m, bearing: 229.816786 deg, approach rate: -0.677208 m/s, LOS rate: 0.094258 deg/s, cmd heading: 219.817727 deg, new cmd heading: 219.961962 deg. Bh5`;5HeadingCmd: 3.839061 target range: 163.050888 and range: 163.90 m.h5+u@h9*h9"h9 h9g9f9fAfE;BdAdAdIjdIZdM?}Bɢ},&)y } iy)Pʼ顁iڬ`ilX^<I+u@I]9@a @a@e0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754651)^AezB <A <B l>B B 'IB fBB B B B )k;B *E ŀG gA E  E E *E "E *E u:VE (N4ZE BE Vޤ,kZ?A6f@6t@6_ٱ6 >AHRS rotation from veh to nav: [[-0.783070,0.615668,0.088063],[-0.621913,-0.776318,-0.102736],[0.005114,-0.135217,0.990803]]6H`?L?Lt?N ?i6f@I6+I^;6CYZMByZ IbDfVDf:yjb<%n[=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005826ٔvQ-v>9v"?Yv"?=zFyzXAEz#;Ez>|Q 5Z5~;?Q 9 Z5~o)~BY y (Q I @~DI~e:i~:~DZ5yZBɮl(A9jhAMFNOT Ignoring new targets: 163.05 m.RhM:ZhM:] ProNav: ac range: 163.050888 m, nav range: 156.875610 m, bearing: 229.851867 deg, approach rate: -0.672180 m/s, LOS rate: 0.093425 deg/s, cmd heading: 219.961967 deg, new cmd heading: 220.067379 deg. Bhe;;eHeadingCmd: 3.840900 target range: 163.050888 and range: 163.90 m.hePu@hi*hi"hi higififqfqdqdqdyjdyZd} {?颭Bɢ) i)Kͼ顱i~]ifN]<-IPu@IQ@Y @Y@]/@Yiԙ^AA>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257698A I I O > k,_Z?AEf! EfEf,Ed"EfY;*Ef:VEfg4ZEdav@av@av@av@UY(f@Ut@UĻٱUu  AHRS rotation from veh to nav: [[-0.782105,0.616807,0.088658],[-0.623118,-0.775485,-0.101721],[0.006010,-0.134801,0.990855]]UH@?@G?@@d tx?`'A?iUY(f@IU^^;QYUOBy] IiUMb@Mb@Mb@QQQQ Q9UK?1Zd9Y=Fy]AE$N;E>Q 5Z5q!?Q 9Z5<)BYmIZ5y]Bɮr(AEjhFNOT Ignoring new targets: 163.05 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509810Rh=:Zh=: ProNav: ac range: 163.050888 m, nav range: 156.535797 m, bearing: 229.895692 deg, approach rate: -0.694131 m/s, LOS rate: 0.089716 deg/s, cmd heading: 220.067384 deg, new cmd heading: 220.199146 deg. BhIv;HeadingCmd: 3.843200 target range: 163.050888 and range: 163.90 m.hu@h*h "h  h g f ff&BdddjdZdFW?MBɢMN)I MViI)UCҼQQiUYi](]\<]I]u@Ia@ @@/@!^A +Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762368A) I1 IA OU >,5Z?A2;f@21t@2v9ٱ2W :AHRS rotation from veh to nav: [[-0.781354,0.617669,0.089279],[-0.624049,-0.774879,-0.100628],[0.007026,-0.134341,0.990910]]2H@?۶?5`¹@|?`2?i2;f@I2O^;2CYBLByBI HJp<bDNVDN1yV%V=ٔVUQ-Z?9xY|=~Fy~`AE~*u;E~ ?Q 5 Z5^?Q 9 Z5`)BY1y5&Q I5@DI;i; LZ5y9ɮE(AAjhFNOT Ignoring new targets: 163.05 m.Rh:Zh: ProNav: ac range: 163.050888 m, nav range: 156.313995 m, bearing: 229.924300 deg, approach rate: -0.676212 m/s, LOS rate: 0.087342 deg/s, cmd heading: 220.199152 deg, new cmd heading: 220.285097 deg. Bho;HeadingCmd: 3.844700 target range: 163.050888 and range: 163.90 m.hv@h*h"h hgfffdddjdZdi@)uBɢu˒)y }fiy)}"ּyyi}Vi$\\<"Iv@IB1B1B5IB5VBB1B1B1B5k;B5*EBBBB =B =C†4E$ E"E&E"Eg\;*E;VE4ZEBE/Ա %,Z?Aɰ2CRf@2Gt@2ٱ2!A :AHRS rotation from veh to nav: [[-0.780497,0.618599,0.090324],[-0.625108,-0.774091,-0.100113],[0.007989,-0.134600,0.990868]]2H ?q?@`[  g\?`:0?i2CRf@I2l^;2CYFMByF I HHbDRVDRyV;%VJ=ٔZQQ-Z>9Z ?Y^ ?=^Fy^dAE^a;Eb>`Q 5fZ5bL?Q 9jZ5bC)bBYhyj&Q Ij@bDIb|:ib:b~OZ5ynVBɮrH(ArEjh  FNOT Ignoring new targets: 163.05 m.Rh:Zh:% ProNav: ac range: 163.050888 m, nav range: 156.039963 m, bearing: 229.959610 deg, approach rate: -0.708040 m/s, LOS rate: 0.091393 deg/s, cmd heading: 220.285103 deg, new cmd heading: 220.391219 deg. Bh%z;-HeadingCmd: 3.846552 target range: 163.050888 and range: 163.90 m.h--v@h)*h)"h) h)g1f1f1fdddjdZdp@-}Bɢ-P/)) -i)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265862ԑ)ټiSi}@[<_*I-v@I 9@ @@@@fA@gAE EEE"EmR;*E:VEZEa@a@a@a@^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518804A ؟AI I O > L,Z?A2kf@2_at@2)ٱ2 :AHRS rotation from veh to nav: [[-0.779519,0.619560,0.092175],[-0.626316,-0.773037,-0.100709],[0.008860,-0.136235,0.990637]]2H o?˘? @ ȹ %?'p@L?i2kf@I2NU^;2CYFSByFIiMb@Mb@Mb@ 9`"?)\(9E"?YE"?=EFyEiAEEp;EM>QQ 5]Z5U伊?Q 9]Z5UX)UBY]:?Q E]:y],'Q I]@UDIUe:iU:U0SZ5ymOBɮm'AmEB*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 163.05 m.Rh=:Zh=:m ProNav: ac range: 163.050888 m, nav range: 155.750793 m, bearing: 229.997539 deg, approach rate: -0.651911 m/s, LOS rate: 0.085666 deg/s, cmd heading: 220.391217 deg, new cmd heading: 220.505213 deg. Bhm*k;uHeadingCmd: 3.848542 target range: 163.050888 and range: 163.90 m.huNv@hq*hq"hq hqgyfyfyf}5BdddjdZd }@yBɢ}r) %i!)%5޼!!i%Pi-2-ApZ<-1I5Nv@I1@ @@/0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770118^AK'A! A! B1 B1 B1 B1 B1 B1 B1 B5 k;B5 *EQ E  E E )E "E V;*E A:VE FA4ZE BE +,[?A6f@6}t@6#ٱ6 >AHRS rotation from veh to nav: [[-0.778425,0.620696,0.093762],[-0.627659,-0.771973,-0.100511],[0.009995,-0.137091,0.990508]]6H?@?ex?/>?i6f@I65H^;6CYJPByJ IR@APbDRVDRkyZՉ%ZT=ٔ^NAQ-^>fBDAT read: Rx Time:05:21:47.0073 fTRx dataTimestamp_ set to:1761542508.364232fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0228439\Yh=jFyjmAEn\;En>pQ 5vZ5rм?Q 9vZ5r)r BYtyv'Q Iz@rDIrt:irI:rVZ5y|ɮ~'A|jh!%FNOT Ignoring new targets: 163.05 m.Rh-:Zh-:= ProNav: ac range: 163.050888 m, nav range: 155.485748 m, bearing: 230.032240 deg, approach rate: -0.721791 m/s, LOS rate: 0.094661 deg/s, cmd heading: 220.505212 deg, new cmd heading: 220.609493 deg. Bh;%HeadingCmd: 3.850362 target range: 163.050888 and range: 163.90 m.h%Ulv@h!*h)"h) h)g)f1fqfydyddjdZd @ uBɢ 1)  7i )qi|Mi5_5*Y<52I=Ulv@I9Y@ @@34@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276741^A 0ԩ A9 II Ia Ou >V,T/[?A,,@DPzDR?AEb EbE`E`"Eb&U;*Eb&:VE`ZE`ar@ar@ar@ar@-Yf@-t@-6=ٱ-N uAHRS rotation from veh to nav: [[-0.777597,0.621524,0.095134],[-0.628656,-0.771300,-0.099441],[0.011572,-0.137132,0.990485]]-H? Z?`|t D? ?i-Yf@I-_^;-CY`By!IU=U=Ա]DAT read: 05:21:47.0073 LVL= 28256, 32753, 27170, 32755, AGC= 69, IDX= 36,-0.23,-2.010, 2.414,-2.093,-2.302, PHS= 0.394,-1.522, 0.165, RAW= 143.7, 10.6, CAL= 143.3, 11.6, ROT= 6.7, -11.6 Ygot valid direction response: 05:21:47.0073 LVL= 28256, 32753, 27170, 32755, AGC= 69, IDX= 36,-0.23,-2.010, 2.414,-2.093,-2.302, PHS= 0.394,-1.522, 0.165, RAW= 143.7, 10.6, CAL= 143.3, 11.6, ROT= 6.7, -11.6 PDAT read: Bearing 12.1, 5.1 (Local) ~Local bearing/azimuth received: Bearing 12.1, 5.1 (Local) DAT read: Range 11 to 50 : 134.1 m (Round-trip 178.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.E\direction in FSK: [0.972885,0.114288,0.201078]MFpublishing direction and range infoy2h$!?\zA?o?YC`n"j )EI^>i¿(> @q=>iMb@Mb@Mb@ 95^I ?X9v?Q @ 4QO>)|=I4QOY$?iL?ء? >)&>I|=i4QOT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y8?y<=A@ 3A)dAYAbD VD 0y)[=% =ٔ,Q->9Y=FysAE;E>Q 5Z5氼?Q 9Z5)BY:?Q E:y'Q I@ÖDI:i:[Z5yHBɮ=A'A9ii7[?AJigCRigCji}@b79`@l1@~.@`(:@R2h$!?\zA?o?Zi|=bi4QOjIpǵB9V%1:X oM9@Z\x+oR忠s=4?2i :iʱ"iIm?*i ZBiVBiiɳiBiXCi~3@- addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 134.100006 m, deltaT: 3.781724 s, deltaX: -29.799988 m, approachRate: -7.880001 m/s, rangeRepo size: 4jh FNOT Ignoring new targets: 163.05 m.Rh:Zh:- ProNav: ac range: 163.050888 m, nav range: 155.079224 m, bearing: 230.087296 deg, approach rate: -0.645581 m/s, LOS rate: 0.087661 deg/s, cmd heading: 220.609496 deg, new cmd heading: 220.775097 deg. Bh-p;uHeadingCmd: 3.853252 target range: 163.050888 and range: 163.90 m.huv@hq*hq"hq hqgqfyfyf}FBdyddjd@3`@ZdK?nBɢlo) 8i)iIIi  .gX< ^JI v@I 9@  @ @ /@  *DAT read: user:381>  BDAT read: Tx time:05:21:48.2243  $Ping request sent. A>B1B1B5IB5[BB1B1B1B5,l;B5 +EE  E E &E "E N;*E ]:VE 4ZE BE nAHRS rotation from veh to nav: [[-0.775734,0.623213,0.099205],[-0.630878,-0.769638,-0.098233],[0.015132,-0.138789,0.990206]]6H` ]?e?(0ߠ%c? ů?i6f@I6(p^;6CYJaByJ"IbDRVDR2yZ3\;%ZR=ٔ^ Q-^>9\Y\=bFybwAEb;Eb>dQ 55Z5f4?Q 9=Z5fT)f$BY9y=x'Q I=@f̖DIf^q Z,@m[?AFrf@Ft@F kٱF{ VAHRS rotation from veh to nav: [[-0.774564,0.624095,0.102741],[-0.632254,-0.768480,-0.098460],[0.017506,-0.141222,0.989823]]FH9 ?CM?k;b4@%?`¿?iFrf@IF*]^;FCYbgByb)I jp9v ?Yz ?=zFyz{AEz;Ez>Q 5%Z5~?Q 9%Z5E)/BY)y-Y'Q I-@֖DI;i;bZ5y5:Bɮ5&A=EjhiuFNOT Ignoring new targets: 163.05 m.D=D<E EE+E"EO;*Ex:VE [4ZEa@a@a@a@Rhu:ZhU:Թ ProNav: ac range: 163.050888 m, nav range: 154.545334 m, bearing: 230.159184 deg, approach rate: -0.700553 m/s, LOS rate: 0.094395 deg/s, cmd heading: 220.877881 deg, new cmd heading: 220.991139 deg. Bh;HeadingCmd: 3.857023 target range: 163.050888 and range: 163.90 m.h wv@h *h"h hg!f!fQfYdadidjdZd@?fBɢz) i)SiDi>F`V<re=Iwv@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755273@ @@4@ ^A ܪ&A ؟AI! I1 A OM >,HS[?A4<ɰ4<6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006496:4 g@:t@:2ٱ:a BAHRS rotation from veh to nav: [[-0.773345,0.625137,0.105552],[-0.633682,-0.767338,-0.098185],[0.019615,-0.142817,0.989555]]:H@>?r?G"?G¿n?i:4 g@I:W^;8YJtByJ9IiMb@Mb@Mb@ 9&1?Qy&1?Y0?y`<@ A)zAYAbD5VD5fyEr=%EE=ٔMbQ-M>9M"?YM"?=UFyUAEU;EU>YQ 5uZ5]Lr?Q 9uZ5])];BYu3?Q E}:y}'Q I}@]ߖDI]f;i]=<]9fZ5yBBɮt&AEEB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 163.05 m.RhU:Zh}: ProNav: ac range: 163.050888 m, nav range: 154.273254 m, bearing: 230.196509 deg, approach rate: -0.629674 m/s, LOS rate: 0.086535 deg/s, cmd heading: 220.991139 deg, new cmd heading: 221.103313 deg. Bhm;HeadingCmd: 3.858981 target range: 163.050888 and range: 163.90 m.hv@h*h"h hgfffUBdddjdZd_?bBɢ5Ȁ)1 5,i9)=99i=BiE+&ElV,[?A0>D&g@>u@>ٱ>Vm FAHRS rotation from veh to nav: [[-0.772187,0.626201,0.107700],[-0.635026,-0.766353,-0.097190],[0.021676,-0.143441,0.989421]]>H ? A?!RnḿF2? H\¿ W?i>D&g@I>g^;>CYR~ByRFIbDZ VDZf2ybyX=%bU=ٔfܯQ-f>9dYd=jFyjAEjN;Ej>lQ 5rZ5n^?Q 9rZ5n)nGBYtyv'Q Iv@nDIn=:in:niZ5yz;Bɮz%AzEjh%FNOT Ignoring new targets: 163.05 m.Rh%:Zh%:5 ProNav: ac range: 163.050888 m, nav range: 154.021164 m, bearing: 230.231028 deg, approach rate: -0.697321 m/s, LOS rate: 0.095640 deg/s, cmd heading: 221.103318 deg, new cmd heading: 221.207044 deg. Bh5F;=HeadingCmd: 3.860791 target range: 163.050888 and range: 163.90 m.h=4w@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU?颍^Bɢ) ߾i) 顑i@i9OU< AI4w@I9@ @@/@iߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511662ԡ^AU*:E EE+E"EsH;*E :VE [4ZEa%@a%@a-@a-@II Iq O > E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762393w,Ӻ[?A\Y-By-TIiMb@Mb@Mb@ 9sh|??L7A`/$?Y)?y+,=SA@ 3A)dAYQAAAbDVD:2yO=%9=ٔQ->9Y=FyAEE> Q 5Z5 H?Q 9Z5 c) XBY-?Q E:y(Q I@ DI ;i \ ; smZ5y%4Bɮ%Q%A!jhIMFNOT Ignoring new targets: 163.05 m.RhU:ZhU:e ProNav: ac range: 163.050888 m, nav range: 153.743362 m, bearing: 230.271710 deg, approach rate: -0.627477 m/s, LOS rate: 0.092056 deg/s, cmd heading: 221.207042 deg, new cmd heading: 221.329308 deg. Bhe|;mHeadingCmd: 3.862925 target range: 163.050888 and range: 163.90 m.hm*:w@hi*hi"hq hqgqfqfyf}zBdydydjdZd@F@-YBɢ5Ui)1 5sϾi1)5H99i=п>i=EDQTB B MIB BB B B B l;B >+EO5 >= 맿9= hAY= AA E%  E% E% $E! "E% V;*E% :VE% 4ZE! BE% 9tYt=vFyvAEz/<Ez>|Q 5Z5~Q6?Q 9 Z5~)~gBY y (Q I @~DI~R2;i~:~pZ5yɮ$A!jhAMFNOT Ignoring new targets: 163.05 m.RhM::ZhM::] ProNav: ac range: 163.050888 m, nav range: 153.511658 m, bearing: 230.305377 deg, approach rate: -0.625500 m/s, LOS rate: 0.091024 deg/s, cmd heading: 221.329302 deg, new cmd heading: 221.430456 deg. Bhey;eHeadingCmd: 3.864691 target range: 163.050888 and range: 163.90 m.heWw@hi*hi"hi higififqfqdqdqdjdZdC@颽UBɢTh) ci))it4=iS<Au>IIO > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518394ԡ ,j[?A>g@>Yzu@> ڼٱ>1 FAHRS rotation from veh to nav: [[-0.768421,0.630199,0.111256],[-0.639390,-0.763295,-0.092523],[0.026613,-0.142233,0.989475]]>H*?@I{?ul@?4¿@ȩ?i>g@I>LW^;>CYRByRnIbDZVDZ0yb<%bL=ٔbiQ-f>9dYd=fFyfAEj_;Ej>lQ 5rZ5n{"?Q 9rZ5n)nwBYpyr(Q Iv@nDIn;in;n+tZ5yz-Bɮzn$AzEjhFNOT Ignoring new targets: 163.05 m.Rh%:Zh%:5 ProNav: ac range: 163.050888 m, nav range: 153.260574 m, bearing: 230.341800 deg, approach rate: -0.630500 m/s, LOS rate: 0.091613 deg/s, cmd heading: 221.430457 deg, new cmd heading: 221.539906 deg. Bh5~{;=HeadingCmd: 3.866601 target range: 163.050888 and range: 163.90 m.h=cvw@h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU@4@ԁE  EE&E"EG;*Ex:VE4ZEa@a@a@a@=PBɢU[)Y eİia)mXqqiu*;iSR<utCIcvw@Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7713609@ @@/@^A *:I I O5 > ,c\?A6BDAT read: Rx Time:05:21:50.8039 6TRx dataTimestamp_ set to:1761542512.144202:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023513>g@>u@>pٱ> k FAHRS rotation from veh to nav: [[-0.766975,0.631743,0.112471],[-0.641076,-0.761978,-0.091714],[0.027760,-0.142445,0.989413]]>H`=7?ʼ? bz%m?;¿@F?i>g@I>WJ^;>CYRByR~IiMb@Mb@Mb@ 9E?~jtÿZd;O?Y&?yj<=A3@ A)AYzA <bDVDyDp=%9=ٔ*Q->9Y=FyAE;E>Q 5 Z5| ?Q 9 Z5)BY +?Q E:yx*Q I@ DI:iO/;xZ5y%%Bɮ%#A%E=B*** querying acoustic contact ***i9 i9jhIMFNOT Ignoring new targets: 163.05 m.RhU:ZhU:e ProNav: ac range: 163.050888 m, nav range: 152.989914 m, bearing: 230.384736 deg, approach rate: -0.610460 m/s, LOS rate: 0.097011 deg/s, cmd heading: 221.539904 deg, new cmd heading: 221.668939 deg. Bhe';mHeadingCmd: 3.868853 target range: 163.050888 and range: 163.90 m.hmIw@hi*hq"hq hqgqfqfyf}BdyddjdZd @5KBɢ5rV)1 5i1)=99i=R:iElEQ*, B"\?A;ɰ6g@6u@6źٱ6 >AHRS rotation from veh to nav: [[-0.765828,0.632963,0.113427],[-0.642407,-0.760930,-0.091096],[0.028650,-0.142630,0.989361]]6H :A? ?Y@RQV?@A¿ ٨?i6g@I6_^;6CYFByFIbDR VDR2yZ=%Za=ٔZ0 Q-Z>9\Y\=^Fy^AEb/;Eb>dQ 5jZ5fg?Q 9jZ5f)fBYhyj[*Q Ij@fDIf:ifw:f6{Z5ypɮrG#ApjhFNOT Ignoring new targets: 163.05 m.Rhw:Zhw: ProNav: ac range: 163.050888 m, nav range: 152.767090 m, bearing: 230.420038 deg, approach rate: -0.585369 m/s, LOS rate: 0.092876 deg/s, cmd heading: 221.668940 deg, new cmd heading: 221.775001 deg. Bh~;HeadingCmd: 3.870704 target range: 163.050888 and range: 163.90 m.hw@h*h"h hgfffdddjdZd @1}FBɢ}N)y Éi)bhchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529030顩i>9i fSP<rFIw@I)a@ @@0@@@E E+E%E"EN;*E=;VE 4ZEa@a@a@a@ԉ^A) A1 zA5 dA DAT read: 05:21:50.8039 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.24, 2.338, 0.499, 2.294, 2.058, PHS= 0.383,-1.514, 0.192, RAW= 144.8, 10.4, CAL= 144.3, 11.3, ROT= 5.7, -11.3  Ygot valid direction response: 05:21:50.8039 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.24, 2.338, 0.499, 2.294, 2.058, PHS= 0.383,-1.514, 0.192, RAW= 144.8, 10.4, CAL= 144.3, 11.3, ROT= 5.7, -11.3  PDAT read: Bearing 12.6, 4.9 (Local) Թ  ~Local bearing/azimuth received: Bearing 12.6, 4.9 (Local)  DAT read: Range 11 to 50 : 131.5 m (Round-trip 175.4 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.975766,0.097394,0.195946] Fpublishing direction and range infoy1 5 8y9?⫋?>x_?Y5 C1 5 1 5  1 )5 FI5 >i5 5 D>5 ?!@5 9>5 E/!@ 5 I>)5 %=I5 I1 1 5 ? .Q [?Y? 5 3>)5 9I5 %=i5 I1 1  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 >,A=\?Ag@u@ٱ =AHRS rotation from veh to nav: [[-0.764397,0.634522,0.114361],[-0.644082,-0.759547,-0.090809],[0.029242,-0.143071,0.989280]]Hu N?F?R5N;??@*P¿ /?ig@IxN^;YMByIiMb@Mb@Mb@ 9x&?xƿ&1?Y7)?yK7P==A@ \A)dAYQA%@A!bD-VD-N2y=8%==ٔ=Q-=>9AYA=EFyEAEM;EM>QQ 5]Z5U߻?Q 9]Z5Uw)UBY]/?Q E]:yh,Q I@UDIU;iU;UZ5yBɮ1#AEii9\?AJiCRiCji ~@b܅_@uOp{)@u%W29@R8y9?⫋?>x_?Zi%=biIj@z.£U2Wf D;@ZC\, c: 翉XQ?2iq:i"i`a?*i\ŘBiBBi`a?ii&BiCi?@ addTargetRange:: Added new target pos. range: 131.500000 m, deltaT: 7.814619 s, deltaX: -32.399994 m, approachRate: -4.146075 m/s, rangeRepo size: 4 M Added new target pos. range: 130.819550 m, bearing: 227.427256 deg, lat: 36.779404 deg, lon: -121.859752 deg, deltaT: 7.814619 s, deltaX: -32.231339 m, approachRate: -4.124493 m/s, posRepo size: 4 jhIUFNOT Ignoring new targets: 130.82 m.RhUZhQ ProNav: ac range: 130.819550 m, nav range: 130.659195 m, bearing: 228.511252 deg, approach rate: 0.000000 m/s, LOS rate: 0.092876 deg/s, cmd heading: 221.774999 deg, new cmd heading: 221.917362 deg. BhHeadingCmd: 3.873189 target range: 130.819550 and range: 131.50 m.hSw@h*h"h hgfffBdddjdp`@Zd3?颕@BɢB) i)V顙i7ib=O<~^LISw@I*DAT read: user:382> BDAT read: Tx time:05:21:52.2243 $Ping request sent.x,"[\?A6h@6kv@6ٱ6d< BAHRS rotation from veh to nav: [[-0.762828,0.636311,0.114897],[-0.645933,-0.757991,-0.090668],[0.029397,-0.143380,0.989231]]6Hi \?i?z`vA6Z? DZ¿ǧ?i6h@I6Zn^;6CYJByNIbDVVDVfy^ =%^X=ٔ^׹Q-^>9b ?Yb ?=bFybAEf;Ef>hQ 5UZ5jy̻?Q 9]Z5jf)jƨBYYy]?,Q I]@j&DIj1J) Nyi) i| 7iIO<hJIx@I ԡ9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502726^A-lX Ae ؟AIi Iy O >E # E E %E "E [;*E :VE 4ZE a @a @a @a @,t\?APR@p@h@l6v@]vٱ AHRS rotation from veh to nav: [[-0.760968,0.638327,0.116047],[-0.648115,-0.756075,-0.091093],[0.029593,-0.144530,0.989058]]HY-m?:?[1QM?¿\?i@h@IX^;YÁByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756061iUMb@Mb@Mb@QQQQ Q9U-?A`"˿A`"?YU5?yUYUY=USAU3@ UEA)UAQYUzAbDmVDm0y}I<%}%=ٔ}ϹQ-}>9"?Y"?=FyAEN;E>Q 5Z5?Q 9Z5)ߨBY'?Q E:y90Q I@0DI:i":MZ5yBɮ"AEjhFNOT Ignoring new targets: 130.82 m.Rh;Zh; ProNav: ac range: 130.819550 m, nav range: 130.135925 m, bearing: 228.617221 deg, approach rate: -0.599803 m/s, LOS rate: 0.130943 deg/s, cmd heading: 222.048152 deg, new cmd heading: 222.235919 deg. Bh;HeadingCmd: 3.878748 target range: 130.819550 and range: 131.50 m.hj=x@h*h"h hgfffBd d d jdZd@?=6BɢEr<)A EdiA)MKIIiM6iULUVKNK#,Y1\?A2%zh@2ov@2^ ٱ2h :AHRS rotation from veh to nav: [[-0.758696,0.640767,0.117468],[-0.650775,-0.753669,-0.092061],[0.029543,-0.146292,0.988800]]2H;G)? f?`& L@k@?`¿@?i2%zh@I2L^;2CYFŁByFI LNbDNVDN1BZn>BXBZIBZЁBBXBXBXBZk;BZ*Eyf<%f~=ٔjq$9Q-j ?9hYh=nFynAEn2<En ?pQ 5vZ5rG?Q 9vZ5r)rBYxyz/Q Iz@r7DIrH;ir;rZ5y~Bɮ~"A~E %B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 130.82 m.Rh5;Zh5;M ProNav: ac range: 130.819550 m, nav range: 129.948807 m, bearing: 228.657765 deg, approach rate: -0.578974 m/s, LOS rate: 0.125632 deg/s, cmd heading: 222.235914 deg, new cmd heading: 222.357722 deg. BhMp;UHeadingCmd: 3.880874 target range: 130.819550 and range: 131.50 m.hU?`x@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde)? 1BɢPD) rYi)i25iuE- E-E-,E)"E-O;*E-g:VE-g4ZE)BE-6ԙ ),\?ABh@Bv@BbٱB} JAHRS rotation from veh to nav: [[-0.756078,0.643788,0.117827],[-0.653818,-0.751075,-0.091699],[0.029462,-0.146369,0.988791]]BH@1@?@)? y8+?:¿-?iBh@IBMi^;BCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797ԹYByIbD VD y-@1%-+=ٔ-%19Q-->91Y1=5Fy5AE=R <E=>AQ 5MZ5E'?Q 9MZ5E)E BYIyM/Q IU@EADIE7;iE3;ELZ5y]Bɮ]_"A]EjhFNOT Ignoring new targets: 130.82 m.Rh ;Zh ; ProNav: ac range: 130.819550 m, nav range: 129.669968 m, bearing: 228.717815 deg, approach rate: -0.583527 m/s, LOS rate: 0.125937 deg/s, cmd heading: 222.357724 deg, new cmd heading: 222.538261 deg. Bh۬;HeadingCmd: 3.884025 target range: 130.819550 and range: 131.50 m.hߓx@h*h"h hgfffdddjdZdn?,Bɢp|:) Si)BLi:4i֋EL<3Iߓx@IEM EMEM&EI"EML;*EMx:VEM4ZEIa]@a]@a]@a]@9@ @@/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765076^A :I I O- >9 G0,\?Aɰ;2%h@2v@2"(ٱ2# :AHRS rotation from veh to nav: [[-0.753428,0.646963,0.117414],[-0.656866,-0.748595,-0.090175],[0.029556,-0.145066,0.988981]]2H@ ?? ~`C?¿?i2%h@I2=R^;2C @)BlA@@@FCDiFIDDIHiH HH)HNsC NkANNpFNRCPIP)PiP)RYCIVkAVVC[F TV CVkAZEiZnIFXYXY^ˁBy^IiEMb@Mb@Mb@AAAA A9E?$C˿I +?YEf&?yEZE94=AE@ E\A)EdAAYEAbDVD1yG=%a=ٔQ->9Y=FyAE4<E>!Q 5-Z5%w?Q 9-Z5%s)%BY5w/?Q EU:yU.Q IU@%IDI%;i%F;%Z5yaɮe"AajhFNOT Ignoring new targets: 130.82 m.Rh;Zh; ProNav: ac range: 130.819550 m, nav range: 129.444000 m, bearing: 228.764783 deg, approach rate: -0.600937 m/s, LOS rate: 0.125124 deg/s, cmd heading: 222.538259 deg, new cmd heading: 222.679409 deg. Bh;HeadingCmd: 3.886489 target range: 130.819550 and range: 131.50 m.hBBIB߁BB =BBBk;B*EbEǀ'4jEDž04rEX0EU EQEU(EQ"EUW;*EQVEUc44ZEQBEUD9qYq=uFyuAE}K-<E}>Q 5Z55c?Q 9Z5L).BYyx.Q I@RDI:i:Z5yBɮ"AEjh  FNOT Ignoring new targets: 130.82 m.Rh;Zh;% ProNav: ac range: 130.819550 m, nav range: 129.201096 m, bearing: 228.814933 deg, approach rate: -0.628536 m/s, LOS rate: 0.130011 deg/s, cmd heading: 222.679412 deg, new cmd heading: 222.830144 deg. Bh%s;-HeadingCmd: 3.889120 target range: 130.819550 and range: 131.50 m.h-Vx@h)*h)"h) h1g1f1f1f9d9d9dAjdAZdE@au#BɢuF;)y }?iy)}ryyiv2i^8_K< IVx@I59@1 @1@50@9ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518702^A}ԹIIO>EM  EM EM 'EI "EM P;*EM :VEM '4ZEI a] @a] @a] @a] @ /<,8\?Ai@/uw@$ٱ{=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771459 MAHRS rotation from veh to nav: [[-0.748191,0.652784,0.118673],[-0.662775,-0.743603,-0.088227],[0.030652,-0.144664,0.989006]]H .`?]a?s5`@@Uc?]¿?ii@I&Y^;YByIiUMb@Mb@Mb@QQQQ Q9U#~j?NbX9ȿX9v?YU%?yUEU9Y=FyAE <E>Q 5Z5K?Q 9Z5)@BYE-?Q E:yM,Q IM@[DI¾D,]?A2i@2 w@2ٱ2- :AHRS rotation from veh to nav: [[-0.745382,0.656141,0.117833],[-0.665905,-0.741120,-0.085500],[0.031228,-0.142196,0.989346]]2H+?S*?O@BW㵿 ]? |3¿`?i2i@I2{J^;2CYFByFIbDNVDNkyV I<%Vh=ٔVֺQ-Z>9XYX=ZFyZAE^C<E^>`Q 5fZ5b9?Q 9fZ5b~)bNBYdyff,Q Ij@En EnEn(El"EnV;*En&:VEnc44ZElBEnAIA I I9 y O >i߱ I߱  DAT read: 05:21:54.8005 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.37, 0.608,-1.223, 0.590, 0.358, PHS= 0.352,-1.536, 0.188, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0  Ygot valid direction response: 05:21:54.8005 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.37, 0.608,-1.223, 0.590, 0.358, PHS= 0.352,-1.536, 0.188, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0  PDAT read: Bearing 14.2, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 14.2, 4.5 (Local)  DAT read: Range 11 to 50 : 129.0 m (Round-trip 172.1 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.974573,0.083550,0.207912] Fpublishing direction and range infoy  j6/??ac?hٜ?Y C ) CI X9>i Ŀ @> j"@ D> "@ PwV>) %=I PwV t JY?p ?$[^l? >) DI %=i PwV - T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.vJ,,]?Aej@ew@eCٱe< uAHRS rotation from veh to nav: [[-0.742942,0.659108,0.116679],[-0.668593,-0.739050,-0.082387],[0.031930,-0.139219,0.989747]]eH /h?޽?eLN@Y?@?iej@Ieb^;eCYByIQbDVDyU%]&=ٔ]IQ-]>9aYa=eFyeAEe;Em>Q 5Z5g ?Q 9Z5O)bBYy/,Q I@nDI:i:dZ5E& E E'E"E8^;*E:VE'4ZEa@a@a@a@yBɮ-"AEii$+]?AJiUCRiUCjiP@b:?{}D_@萛q%@*:@Rj6/??ac?hٜ?Zi%=biPwVj(UTp!oWYf<@Zp&%`+A?2i|:iz"i䟊?*i BiBii iBi Bi~@ addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.777799 s, deltaX: -2.500000 m, approachRate: -0.661761 m/s, rangeRepo size: 4  Added new target pos. range: 128.333344 m, bearing: 228.567889 deg, lat: 36.779404 deg, lon: -121.859717 deg, deltaT: 3.777799 s, deltaX: -2.486206 m, approachRate: -0.658110 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 128.33 m.RhZh ProNav: ac range: 128.333344 m, nav range: 126.063736 m, bearing: 228.041431 deg, approach rate: 0.000000 m/s, LOS rate: 0.124130 deg/s, cmd heading: 223.119317 deg, new cmd heading: 223.312364 deg. Bh5HeadingCmd: 3.897536 target range: 128.333344 and range: 129.00 m.h5;qy@h1*h1"h1 h1g1f9f9f9dYdadajde `@Zdep?ԁeBɢm5)q uxAi)顑i=0i{-*DAT read: user:383> EBDAT read: Tx time:05:21:55.9743 M$Ping request sent.UB9B=IB=ՁBB9B9B9B=k;B=*EBBBB =B =C5iMb@Mb@Mb@ 9q= ףp?+ǿZd;O?Y+?yv>j<@ 3A)@Y\AbDVD:y%(=ٔQ->9 ?Y ?=FyAEE>Q 5Z5V?Q 9 Z5D )sBY 2?Q E :y +Q I @xDIS;i ;Z5yBɮ"A%EjhimFNOT Ignoring new targets: 128.33 m.RhuN ;ZhuN ; ProNav: ac range: 128.333344 m, nav range: 125.753021 m, bearing: 228.096390 deg, approach rate: -0.677000 m/s, LOS rate: 0.120044 deg/s, cmd heading: 223.312366 deg, new cmd heading: 223.477650 deg. BhŤ;E  E E (E "E W;*E VE c44ZE BE DصY,bh]?A2^j@2KTx@2~ ٱ2x  :AHRS rotation from veh to nav: [[-0.739021,0.663975,0.113953],[-0.672833,-0.735943,-0.075390],[0.033806,-0.132386,0.990622]]2H G??,?ه׌@LO?,?i2^j@I2{z^;2CYFByF^IHJAbDNVDN0yV%V`=ٔZѨQ->9 "?Y "?= Fy AE|<E>Q 5%Z5?Q 9%Z5` )BY!y%*Q I%@DI[:i:ާZ5y1ɮ5"A1jhY]FNOT Ignoring new targets: 128.33 m.RheT;ZheT;u ProNav: ac range: 128.333344 m, nav range: 125.510971 m, bearing: 228.138735 deg, approach rate: -0.655048 m/s, LOS rate: 0.114817 deg/s, cmd heading: 223.477656 deg, new cmd heading: 223.604936 deg. Bhu;}HeadingCmd: 3.902642 target range: 128.333344 and range: 129.00 m.h}y@hy*hy"hy hgfffddchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749622djdZd@%? Bɢ=P) ni)Vin.iZG<'SIy@Ip>i>ԉ9@ @@4@ԱEm EmEm%Ei"EmP;*Em4:VEm 4ZEiau@au@au@au@^Aee checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003991A I I O > `,o]?A2 j@2x@2y ٱ2׈ :AHRS rotation from veh to nav: [[-0.737012,0.666237,0.113762],[-0.674994,-0.734158,-0.073454],[0.034581,-0.130925,0.990789]]2H@Q?? 8~@Ͳ?)?i2 j@I2 b^;2CY^BybdIi}Mb@Mb@Mb@yyyy y9}&1?{GzĿ~jt?Y}0?y}#}D<} A}@ y)}n@yY}AbDVDNyw<%<=ٔ Q->9Y=FyAEG;E>Q 5Z5ݺ?Q 9Z5G)BY5?Q E:y'Q I@DIP:i:Z5yBɮ"AEjh!-FNOT Ignoring new targets: 128.33 m.Rh5m:Zh5m:E ProNav: ac range: 128.333344 m, nav range: 125.226791 m, bearing: 228.182210 deg, approach rate: -0.662626 m/s, LOS rate: 0.101602 deg/s, cmd heading: 223.604930 deg, new cmd heading: 223.735651 deg. BhEt;MHeadingCmd: 3.904924 target range: 128.333344 and range: 129.00 m.hMEy@hI*hI"hI hIgQfQfQf];BdYdYdYjdYZdeF?颍Bɢ`C) Yi)f顑i±-ip54TG<٪IEy@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253756@ @@3@B9A=<BABABEIBEBBABABABEk;BE*E^ASQ Eu  Eu Eu )Eq "Eu V;*Eu :VEu FA4ZEq BEu ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505455f,2t]?A$00Nj@N*x@NGٱN Q VAHRS rotation from veh to nav: [[-0.735478,0.667898,0.113951],[-0.676608,-0.732857,-0.071575],[0.035705,-0.129742,0.990905]]NH @l_?+?`ŦsRG?`~?iNj@INU^;NCYbBybPIbDjVDj1yrO%rW=ٔvuAQ-v>9tYt=zFyzAE~^;E~>Q 5 Z5;ʺ?Q 9 Z5)BY y 'Q I@DI;i;Z5yBɮ"A=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 128.33 m.RhMo:ZhUo:] ProNav: ac range: 128.333344 m, nav range: 124.971046 m, bearing: 228.221231 deg, approach rate: -0.678862 m/s, LOS rate: 0.103790 deg/s, cmd heading: 223.735646 deg, new cmd heading: 223.852948 deg. Bhev;eHeadingCmd: 3.906971 target range: 128.333344 and range: 129.00 m.he z@hi*hi"hi higifqfqfqdqdydyjdyZd}?颭Bɢ-N)) -lpi))5 11i5,i==F<=lިI= z@I9A@ @@/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757716^A%ԡ A] .AIa Iy O >l,`9]?AE E$E'E"EO;*E;VE'4ZEa@a@a@a@>=j@<>x@>)ٱ>R JAHRS rotation from veh to nav: [[-0.734301,0.669022,0.114944],[-0.677821,-0.731831,-0.070585],[0.036897,-0.129743,0.990861]]>Hch?@m?(k @%?@g "?i>=j@I>pu^;>CYRByRSIbD^VD^:2yfT<%fM=ٔfCQ-f>9j ?Yj ?=jFyjAEn ;En>pQ 5vZ5r?Q 9vZ5r})rBYtyv'Q Iz@rDIr:ir:rcZ5y|ɮ~"A|jh!-FNOT Ignoring new targets: 128.33 m.Rh5y:Zh5y: ProNav: ac range: 128.333344 m, nav range: 124.703529 m, bearing: 228.262002 deg, approach rate: -0.671088 m/s, LOS rate: 0.102496 deg/s, cmd heading: 223.852948 deg, new cmd heading: 223.975522 deg. Bh ;EHeadingCmd: 3.909110 target range: 128.333344 and range: 129.00 m.hM.z@hI*hq"hy hygfffdddjdZdA@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012291ԱBɢ8C) X^i)%ln !!i%H,i--F<-BI-.z@I19@ @@@@=@= ^AE 3 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262004A ؟AI I O >t,]?AB<B<B>IB>BB<B<B<B> l;B>*EHNxj@Nx@NٱN VAHRS rotation from veh to nav: [[-0.733377,0.669789,0.116363],[-0.678731,-0.731087,-0.069542],[0.038493,-0.129980,0.990769]]NHw@n?ɽ? *`eͱT? ,a?iNxj@IN]^;NCY^By^XIimMb@Mb@Mb@iiii i9mgfffff?v/9"?Y"?=FyAE^?;E>Q 5Z5?Q 9Z5)BY5?Q E:yo#Q I@DI:i:CZ5yƕBɮM!AMEjhFNOT Ignoring new targets: 128.33 m.Rh:Zh:E E E&E"EmR;*E:VE4ZEBERz,I]?Aɰ4<2j@2x@27$ٱ2 >AHRS rotation from veh to nav: [[-0.732980,0.669854,0.118477],[-0.679063,-0.730802,-0.069291],[0.040169,-0.131243,0.990536]]2Htpo?T?@b` ?x?i2j@I2^;2CYF~ByFEIH LLbDVVDV벝zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768122y%F=ٔYQ->9Y=FyAEg:E>Q 5Z5Ɗ?Q 9Z5j )BYyf#Q I@DI_:iQ:Z5y Bɮ "AEjh1=FNOT Ignoring new targets: 128.33 m.Rh=:ZhE: ProNav: ac range: 128.333344 m, nav range: 124.111916 m, bearing: 228.332953 deg, approach rate: -0.718852 m/s, LOS rate: 0.086531 deg/s, cmd heading: 224.084942 deg, new cmd heading: 224.188880 deg. Bhm;HeadingCmd: 3.912834 target range: 128.333344 and range: 129.00 m.hkz@h*h"h hgfffdddjdZd@Bɢ؁J) ^i)V iO+i-ֳ- D<-I-kz@I99@ @@/@E EE(E"EV;*EO:VEc44ZEa@a@a@a@BDAT read: Rx Time:05:21:58.5471 TRx dataTimestamp_ set to:1761542519.959249checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023159^A cջ! A I I O >4,^?A28j@2x@2A+ٱ2c :AHRS rotation from veh to nav: [[-0.732664,0.669667,0.121451],[-0.679296,-0.730537,-0.069812],[0.041973,-0.133650,0.990139]]2Hqm? g? ʼ``5߱@}?o8?i28j@I2y^;2CYF{ByFBI|iEMb@Mb@Mb@AAAA A9E/$?KMb?YE&1?yE^E9Y=FyAE|:E>Q 5Z5w?Q 9Z5$)ƩBY2?Q E:yU!Q I@DI:i:nZ5yɮ"Ajh!%FNOT Ignoring new targets: 128.33 m.Rh-:Zh-:= ProNav: ac range: 128.333344 m, nav range: 123.840492 m, bearing: 228.361407 deg, approach rate: -0.678584 m/s, LOS rate: 0.071294 deg/s, cmd heading: 224.188884 deg, new cmd heading: 224.274433 deg. Bh=C;EHeadingCmd: 3.914327 target range: 128.333344 and range: 129.00 m.hEWz@hA*hA"hA hAgIfIfIfM)BdQdQdQjdYZd] @颅Bɢ@J) |Zi)Zv 顉iN*i_>D< VIWz@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270546 @  @ @=0@9AE@AAE@ABIBMCBMrIBMBBIBIBIBMk;BM*EQ^AMbE=-4jE=Ȩ,4rE=S}/E E E)E"EO;*E:VEFA4ZEBE6 DAT read: 05:21:58.5471 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 413,-0.48, 0.022,-1.759, 0.046,-0.198, PHS= 0.322,-1.516, 0.200, RAW= 146.6, 11.2, CAL= 146.3, 12.2, ROT= 3.7, -12.2  Ygot valid direction response: 05:21:58.5471 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 413,-0.48, 0.022,-1.759, 0.046,-0.198, PHS= 0.322,-1.516, 0.200, RAW= 146.6, 11.2, CAL= 146.3, 12.2, ROT= 3.7, -12.2  PDAT read: Bearing 15.9, 3.7 (Local)  ~Local bearing/azimuth received: Bearing 15.9, 3.7 (Local)  DAT read: Range 11 to 50 : 126.5 m (Round-trip 168.7 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.975379,0.063075,0.211325] Fpublishing direction and range infoy  0j&M6?{XQR%?\ ?Y B ) >I /ݤ>i J ¿ L> #@ +H> .k#@ ^ Z>) A=I ^ Z U`?EǮ?rڇ? '>) GI A=i ^ Z  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.x_,^?ABj@Bx@BB12ٱBb JAHRS rotation from veh to nav: [[-0.732709,0.669179,0.123847],[-0.679152,-0.730631,-0.070229],[0.043490,-0.135568,0.989813]]BH Yri?i?`Sa [D?KZ`?iBj@IB^;BCYYeByeMIquAAbDVD1yE,=%MB=ٔMlQ-M>9IYQ=FyAEE>Q 5Z5@c?Q 9Z5<))өBYyV!Q I@—DIR:i;-Z5yBɮ!AEiie^?AJiBRiBji~@b([Z֯^@H:@a(:@R0j&M6?{XQR%?\ ?Zi A=bi^ ZjNxenKUT|?Vt>@Zr dɮ`%`=?2i:i"i肝?*iSBiBiIm?i ZiiBi#@e addTargetRange:: Added new target pos. range: 126.500000 m, deltaT: 3.779650 s, deltaX: -2.500000 m, approachRate: -0.661437 m/s, rangeRepo size: 4  Added new target pos. range: 125.845963 m, bearing: 228.220541 deg, lat: 36.779406 deg, lon: -121.859715 deg, deltaT: 3.779650 s, deltaX: -2.487381 m, approachRate: -0.658098 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 125.85 m.RhZh ProNav: ac range: 125.845963 m, nav range: 123.377838 m, bearing: 228.410486 deg, approach rate: 0.000000 m/s, LOS rate: 0.071294 deg/s, cmd heading: 224.274439 deg, new cmd heading: 224.369613 deg. BhHeadingCmd: 3.915988 target range: 125.845963 and range: 126.50 m.hz@h*h"h hgfff)dIdIdIjdM_@ZdU?}Bɢ}=) *;iԉ)) 顡i*i(iC<i{ Iz@Iy@y @y@}"0@*DAT read: user:384>  BDAT read: Tx time:05:21:59.7743 $Ping request sent.,:^?AZj@Z?x@Z=>ٱZ(l AHRS rotation from veh to nav: [[-0.732668,0.668482,0.127789],[-0.679001,-0.730770,-0.070241],[0.046429,-0.138232,0.989311]]ZH@r3d? a[?_wbU ŧ?@o?iZj@IZ^;ZCchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251942Y-By-[II5=)5%=iMb@Mb@Mb@ 9Cl?I +y&1?Y/?y9`<A A)n@YAbDVDy *;=%&=ٔĻQ->9 ?Y ?=FyAE%4E%>)Q 55Z5-L?Q 95Z5-_.)-BY5t1?Q E5:y5 Q I5@-͗DI-:i-:-fZ5yEBɮE AEEeB*** querying acoustic contact ***ia iajhiuFNOT Ignoring new targets: 125.85 m.Rhu:Zhu: ProNav: ac range: 125.845963 m, nav range: 123.052559 m, bearing: 228.444134 deg, approach rate: -0.695810 m/s, LOS rate: 0.072167 deg/s, cmd heading: 224.369611 deg, new cmd heading: 224.470821 deg. BhF;HeadingCmd: 3.917755 target range: 125.845963 and range: 126.50 m.hz@h*h"h hgfff3BdddjdZd o,V^?A 2+j@2x@2qCٱ2E>( E<E>&E<"E>`;*E<VE>4ZE<BE>QRBB9"?Y"?=FyAEQE>Q 5Z5%:?Q 9Z52)BYy!Q I@՗DI ;i;Z5yBɮ!AEjhFNOT Ignoring new targets: 125.85 m.Rh-0:Zh-0:= ProNav: ac range: 125.845963 m, nav range: 122.790245 m, bearing: 228.471450 deg, approach rate: -0.666817 m/s, LOS rate: 0.069587 deg/s, cmd heading: 224.470820 deg, new cmd heading: 224.552944 deg. Bh=?;=HeadingCmd: 3.919188 target range: 125.845963 and range: 126.50 m.hEz@hAAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753518*hi"hq hqgqfqfqfydydydyjdyZdP? ցBɢ9) i)O8i+ieKeAԙ 9 @9  @9 @= /@9 @E =@E =% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006037 ^A%/CE EE%E"E>T;*E:VE 4ZEa@a@a@a@AIIO?,1^z^?ANj@Nbx@NZHٱNd VAHRS rotation from veh to nav: [[-0.732410,0.668199,0.130708],[-0.679106,-0.730718,-0.069764],[0.048894,-0.139860,0.988963]]NHoa?@?;` bܱ@??iNj@INo^;NCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259703YByhI !!1bDeVDeky]=%=ٔ Q- >9 Y=FyAE/:E>Q 5%Z5??Q 9MZ58) BYIyM Q IM@DId;i;Z5yUBɮUI A]EjhFNOT Ignoring new targets: 125.85 m.Rh:Zh: ProNav: ac range: 125.845963 m, nav range: 122.405647 m, bearing: 228.511587 deg, approach rate: -0.667877 m/s, LOS rate: 0.069919 deg/s, cmd heading: 224.552946 deg, new cmd heading: 224.673735 deg. Bh?;HeadingCmd: 3.921296 target range: 125.845963 and range: 126.50 m.hz@h*h"h h!g!f!f)f)d)d)d1jd1Zd5@o?΁Bɢ#&) pнi)i+i/);@<eIz@IYԑE  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509467 @  @ @ /@ Ա B <A 4=B B B IB BB =B B B k;B *EBeCBeCBaBaBaCe˻4Ee Ee&Ee'Ea"EeP;*Ee;VEe'4ZEaBEe9Y=FyAEs:E>Q 5 Z5y?Q 9 Z5>) BY73?Q E:y"Q I@DIL:i:wZ5yBɮ)AEjhFNOT Ignoring new targets: 125.85 m.RhZ:ZhZ: ProNav: ac range: 125.845963 m, nav range: 122.045609 m, bearing: 228.553746 deg, approach rate: -0.663851 m/s, LOS rate: 0.077964 deg/s, cmd heading: 224.673732 deg, new cmd heading: 224.800582 deg. BhV; HeadingCmd: 3.923510 target range: 125.845963 and range: 126.50 m.h {@h *h "h  h gfff?Bd9d9d9jdAZdE@颍ǁBɢ[) pi)UQQiU,i]]eP?T;*EM 4:VEI ZEI ae @ae @ae @ae @Y ^A} mUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268270AII9Ou ?U,g^?A~R(k@~y@~Pٱ~~S AHRS rotation from veh to nav: [[-0.730151,0.670006,0.134056],[-0.681381,-0.728604,-0.069687],[0.050983,-0.142226,0.988520]]~Hf]p?(?Pױw?r4¿?i~R(k@I~xA^;|Y%By%IiMb@Mb@Mb@ 9x&?QI +?Y7)?y94=nA~@ )@YQAbDVDy=%=ٔQ->9Y=FyBE$;E>Q 5Z5F칊?Q 9Z5JC):BYY,?Q E:y#Q I@DI:i:(Z5yBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 125.85 m.Rh{:Zh{: ProNav: ac range: 125.845963 m, nav range: 121.700447 m, bearing: 228.598051 deg, approach rate: -0.640060 m/s, LOS rate: 0.082391 deg/s, cmd heading: 224.800582 deg, new cmd heading: 224.933873 deg. Bh-b;HeadingCmd: 3.925837 target range: 125.845963 and range: 126.50 m.h@{@h*h"h hgf f f 0Bd ddjd9Zd%N@颥Bɢ11) i)顩i&-iuu->y,=)^?AE E EE"EsH;*E:VEZE65k@6J+y@8BE2EJEB:EB6Sٱ6Ҿ FAHRS rotation from veh to nav: [[-0.729570,0.670602,0.134239],[-0.681950,-0.728166,-0.068692],[0.051683,-0.141660,0.988565]]6H`Xu?.?!M̕3v?!¿S?i65k@I6X^;6CYR؁ByRIbDZVDZyb>%b^=ٔfQ-f>9dYd=fFyjBEj ;Ej>lQ 5rZ5n۹?Q 9rZ5nF)nLBYtyv#Q Iv@nDIn1:inI:n_Z5yqɮuAqjhFNOT Ignoring new targets: 125.85 m.Rh/:Zh/:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769518 ProNav: ac range: 125.845963 m, nav range: 121.463814 m, bearing: 228.628486 deg, approach rate: -0.648511 m/s, LOS rate: 0.083573 deg/s, cmd heading: 224.933866 deg, new cmd heading: 225.025350 deg. Bhke;HeadingCmd: 3.927433 target range: 125.845963 and range: 126.50 m.h[{@h*h"h hgf!f!f!d!d)dIjdIZdMNR@Bɢ) hh=i)įi.immL=̞,^?A2Zk@2JPy@2Tٱ2Z :AHRS rotation from veh to nav: [[-0.728017,0.672134,0.135006],[-0.683586,-0.726637,-0.068622],[0.051978,-0.142246,0.988466]]2H@K?G?`@@/`М?5¿?i2Zk@I23^;0YB݁ByBIJ=Ja=bDNVDNyV"<%VM=ٔVAQ-V>9Z ?YZ ?=ZFyZ BE^u;E^>`Q 5fZ5bNȹ?Q 9fZ5bJ)b_BYdyf#Q If@b DIb:ib:bZ5ynBɮncAlpjh FNOT Ignoring new targets: 125.85 m.Rh Q:ZhQ:% ProNav: ac range: 125.845963 m, nav range: 121.206985 m, bearing: 228.661358 deg, approach rate: -0.669075 m/s, LOS rate: 0.085817 deg/s, cmd heading: 225.025350 deg, new cmd heading: 225.124173 deg. Bh%k;-HeadingCmd: 3.929158 target range: 125.845963 and range: 126.50 m.h-Sw{@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=@C @]Bɢ]{)Y eL=ia)m-uiiim/iua}{<<}p{ISw{@IE E E)E"E&U;*E:VEFA4ZEa@a@a@a@ q@q @q@}0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2755869^AoMi A ؟AI) I O >,_?A:DAT read: 05:22:02.3439 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.20,-1.220,-2.962,-1.161,-1.418, PHS= 0.300,-1.499, 0.214, RAW= 147.6, 11.2, CAL= 147.3, 12.3, ROT= 2.7, -12.3 >Ygot valid direction response: 05:22:02.3439 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.20,-1.220,-2.962,-1.161,-1.418, PHS= 0.300,-1.499, 0.214, RAW= 147.6, 11.2, CAL= 147.3, 12.3, ROT= 2.7, -12.3 VPDAT read: Bearing 16.9, 3.0 (Local) V~Local bearing/azimuth received: Bearing 16.9, 3.0 (Local) ZDAT read: Range 11 to 50 : 124.1 m (Round-trip 165.5 ms) speed 0.4 m/s ^R#Rx 1: Read range and direction messages.Jk@yy@Uٱ AHRS rotation from veh to nav: [[-0.726269,0.673990,0.135169],[-0.685425,-0.724970,-0.067914],[0.052220,-0.141972,0.988492]]H=@T?9M?@2`b`?%,¿?iJk@I; ^;%\direction in FSK: [0.975961,0.046025,0.213030]%Fpublishing direction and range infoy "*~k;?d?AzUmD?Y"3B )"DI">i";߿""[>"$@ ""$@ "[>)"A=I"[ "1?}?_? ">a>)"MH9I"A=i"[ ]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.CYByIA!A%AAB)B)B-IB-BB)B)B)B)B)iMb@Mb@Mb@ 9sh|??OnÿZd;O?Y)?yj<= A)@YzAbDVDNy=%!=ٔSQ->9"?Y"?=FyBE;E>Q 5-Z5?Q 9-Z5eO)yBY-.?Q E-:y-&Q I5@DI;i;QZ5y=Bɮ=A=Eii i"7S_?AJi"BRi"Bji"X~@b"aj^@*f@L:@R"*~k;?d?AzUmD?Zi"A=bi"[j"ʳTݺV"cY{?@Z"m뇏Zb`CR?2i":i"?"i"O?*i"1gBi"Bi i"\Ři i"Bi">Q@M addTargetRange:: Added new target pos. range: 124.099998 m, deltaT: 3.780108 s, deltaX: -2.400002 m, approachRate: -0.634903 m/s, rangeRepo size: 4 uPExceeded connect timeout, disconnecting. Added new target pos. range: 123.458733 m, bearing: 227.841447 deg, lat: 36.779406 deg, lon: -121.859710 deg, deltaT: 3.780108 s, deltaX: -2.387230 m, approachRate: -0.631524 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 123.46 m.E EE&E"EP;*E:VE4ZEBE  BDAT read: Tx time:05:22:03.5743  $Ping request sent.*,0._?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249026:k@::y@:Wٱ:  ^AHRS rotation from veh to nav: [[-0.724528,0.675794,0.135502],[-0.687244,-0.723295,-0.067379],[0.052473,-0.141941,0.988483]]:H`V/? X? :%?ݪ?+¿?i:k@I:<^;:CYfByfIbDnVDnyv=%vI=ٔz%Q-z>9z ?Y~ ?=~Fy~BE~;E~>Q 5 Z5?Q 9 Z5 S)BYy%Q I@DIM;i&;Z5y~BɮA%EjhAMFNOT Ignoring new targets: 123.46 m.RhMF:ZhMF:e ProNav: ac range: 123.458733 m, nav range: 120.288315 m, bearing: 228.610157 deg, approach rate: -0.698263 m/s, LOS rate: 0.102847 deg/s, cmd heading: 225.263395 deg, new cmd heading: 225.378164 deg. Bhe*;eHeadingCmd: 3.933591 target range: 123.458733 and range: 124.10 m.hm{@hi*hi"hi higififqfqdqdydyjdyZd} N?颭Bɢwc)옼 r->i)4l 顱i2i_:<uI{@I1@1 @1@51@1DzD@AE EE(E"EsH;*Ej:VEc44ZEa@a@a@a@^Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5012019Ae ؟AI I O >Y ,cH_?A2Ak@2y@2jWٱ2> >AHRS rotation from veh to nav: [[-0.722607,0.677956,0.134961],[-0.689257,-0.721496,-0.066090],[0.052568,-0.140780,0.988644]]2H@ѱ?hF?e~C밿`.? ¿?i2Ak@I2,^;2CYFByFIHHiMb@Mb@Mb@ 9#~j?ʡEƿ ףp= ?Y%?y-2Q8=A A)YAbD-VD-y=&;%=H=ٔ=rQ-=>9E"?YE"?=EFyEBEMH;EM>QQ 5]Z5U?Q 9Z5UV)UBY&,?Q E:yu(Q I@U&DIUi) 顉im4i:9<nI {@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754175@ @@4@@gA@BMq>BIBMIBM BBIBIBMDBMk;BM*Eԉ^A5vnManaging dock network, ignoring radio surface power offԱbEɀ'4jE*4rE8/E EEE"EV;*EVEZEBE{E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005178 9*,?b_?AY=By= IbDMVDM:y]=%eH=ٔeQ-e>9aYi=mFymBEmEm>qQ 5}Z5ut?Q 9}Z5uZ)uBYyQ I@u/DIuj;iu;uZ5yɮAjhFNOT Ignoring new targets: 123.46 m.Rh:Zh: ProNav: ac range: 123.458733 m, nav range: 119.776047 m, bearing: 228.696580 deg, approach rate: -0.654674 m/s, LOS rate: 0.110934 deg/s, cmd heading: 225.507848 deg, new cmd heading: 225.637995 deg. BhD;HeadingCmd: 3.938126 target range: 123.458733 and range: 124.10 m.hA |@h*h"h hgfffdddjdZd "?ԱuBɢu )y }k>iy)}+ yyi6iuS8<IA |@IA@A @A@M4@IiߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257546 ^A mI E % E E E "E O];*E 4:VE ZE a @a @a @a @I O >9 tT,|_?A2Cl@2i9z@2Vٱ2p >AHRS rotation from veh to nav: [[-0.718207,0.682499,0.135552],[-0.693865,-0.717086,-0.065868],[0.052248,-0.141362,0.988578]]2H`@?Y?$4^ܰ@2? #¿o?i2Cl@I2u9^;0YFByF IbDNVDN:yV^<%VV=ٔZ\:Q-Z>9XYX=^Fy^BE5<E5>9Q 5EZ5=`?Q 9EZ5=])=ΪBYIyM (Q IM@=7DI=:i=:=sZ5yUlBɮUAQjhFNOT Ignoring new targets: 123.46 m.Rh:Zh: ProNav: ac range: 123.458733 m, nav range: 119.526932 m, bearing: 228.738026 deg, approach rate: -0.620734 m/s, LOS rate: 0.103487 deg/s, cmd heading: 225.637990 deg, new cmd heading: 225.762586 deg. Bh ;HeadingCmd: 3.940300 target range: 123.458733 and range: 124.10 m.h-|@h*h"h hgfffdddjdZd(?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512421额BɢA) f}>i)( i^8i--n7<-fOI--|@I19M`Ի} Gԑ hA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762382 19 hAY QA @  @ @ m0@ BA AE <BI BI BM ! IBM 1BBI BI BI BM k;BM *Eԑ ^A-]A=>A=>IIO> y,)&_?AE" E1E E "EZ;*Ef;VE ZE BE9Y=Fy$BE;E>Q 5Z5H?Q 9Z5a)BY+?Q E:y)Q I@BDI:i*:Z5ydBɮM AMEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013253jhFNOT Ignoring new targets: 123.46 m.Rh:Zh: ProNav: ac range: 123.458733 m, nav range: 119.217453 m, bearing: 228.794680 deg, approach rate: -0.597999 m/s, LOS rate: 0.109755 deg/s, cmd heading: 225.762587 deg, new cmd heading: 225.932989 deg. Bh;-HeadingCmd: 3.943274 target range: 123.458733 and range: 124.10 m.h-^|@h)*h)"h1 h1g1f1f9f=Bd9d9d9jdAZdES@!MBɢM ')Q UΊ>iQ)U QQiUz:i]}m6<ZI^|@I]m@ @@4@IE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265390y ^A ONI I) Om >,_?A2)l@2ɝz@27Uٱ2# :AHRS rotation from veh to nav: [[-0.713945,0.686936,0.135652],[-0.698254,-0.712909,-0.064815],[0.052183,-0.140994,0.988634]]2H`@a?]?X@'@@˷?` ¿@?i2)l@I2>^;2CYZ/ByZ I ``bDfVDfyn=%nX=ٔr9Q-r>9pYt=vFyv(BEvB <Ev>xQ 5~Z5z`5?Q 9Z5zd)zBYy)Q I@zJDIz? ;iz ;z Z5y ɮAjh1=FNOT Ignoring new targets: 123.46 m.Rh= ;ZhE ;M ProNav: ac range: 123.458733 m, nav range: 118.983246 m, bearing: 228.837355 deg, approach rate: -0.656351 m/s, LOS rate: 0.119830 deg/s, cmd heading: 225.932986 deg, new cmd heading: 226.061263 deg. BhUy;UHeadingCmd: 3.945513 target range: 123.458733 and range: 124.10 m.YhUJ|@ha*ha"ha hagafafifidididqjdqZdu@颥BɢP) >i): 项iڤ,i_?A2l@2lz@2X Uٱ2 :AHRS rotation from veh to nav: [[-0.712304,0.688772,0.134969],[-0.699943,-0.711333,-0.063910],[0.051988,-0.139994,0.988787]]2H 1`k ?F?`e=@i\@8?`R#?i2l@I2N$^;2CYB1ByB" Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769263i}Mb@Mb@Mb@yyyy y9}v/?Fxɿl?Y}x)?y}K}=}nA}h@ }A)}@yY}AbDVDNy;%>=ٔ9Q->9Y=Fy-BE(;E>ԹQ 5Z5?Q 9Z5[h)BY71?Q E:y)Q I@SDI:i:Z5y[BɮRAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 123.46 m.Rh D;Zh D; ProNav: ac range: 123.458733 m, nav range: 118.707664 m, bearing: 228.887356 deg, approach rate: -0.640660 m/s, LOS rate: 0.116511 deg/s, cmd heading: 226.061257 deg, new cmd heading: 226.211609 deg. Bh;%HeadingCmd: 3.948137 target range: 123.458733 and range: 124.10 m.h%H|@h!*h)"h) h)g)f)f1f5Bd1d1d9jd9Zd=@mBɢm"D)i m0>ii)uqBBB: IBEBBBBBk;B*EB9B9B9B9B9C=‡4i7>imqV5<RIH|@I@ @@/@@fA@E EE)E"E>T;*E:VEFA4ZEBE"9 ,_?AY 4By % IbDVDy-~<%-R=ٔ-Q-5>91Y1=5Fy51BE=E=>AQ 5MZ5E ?Q 9MZ5Ek)E'BYIyQQ IU@E\DIE:iE:EFZ5y]SBɮ]A]EjhFNOT Ignoring new targets: 123.46 m.Rh&;Zh&; ProNav: ac range: 123.458733 m, nav range: 118.458679 m, bearing: 228.932746 deg, approach rate: -0.641989 m/s, LOS rate: 0.117281 deg/s, cmd heading: 226.211603 deg, new cmd heading: 226.348060 deg. Bh;HeadingCmd: 3.950519 target range: 123.458733 and range: 124.10 m.hM|@h*h"h hgfffdddjdZd @Bɢ=) V>i)i AihJ4< wI M|@I @ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275285A^AONqD=DC=E E EE"EmR;*E:VEZEa@a@a@a@Aa I I O >ԡ  DAT read: 05:22:06.1405 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.40,-0.789,-2.524,-0.695,-1.039, PHS= 0.352,-1.440, 0.300, RAW= 148.5, 9.0, CAL= 148.1, 9.7, ROT= 1.9, -9.7 p,`?A]Ygot valid direction response: 05:22:06.1405 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.40,-0.789,-2.524,-0.695,-1.039, PHS= 0.352,-1.440, 0.300, RAW= 148.5, 9.0, CAL= 148.1, 9.7, ROT= 1.9, -9.7 *PDAT read: Bearing 15.2, 3.1 (Local) .~Local bearing/azimuth received: Bearing 15.2, 3.1 (Local) bDAT read: Range 11 to 50 : 121.5 m (Round-trip 162.1 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.985162,0.032681,0.168489]Fpublishing direction and range infoy  fWq?fC?RV?Y B ) FI X9>i Q > H%@ | > m%@ -\->) =I -\-  ?@N4?9a? >) , I =i -\-  T****** received valid address query ****** R****** received valid ping request ******qQuerying Benthos address 50 with one ping in standard two-way mode.=Jm@=,@{@=gNٱ=Y AHRS rotation from veh to nav: [[-0.707055,0.694609,0.132631],[-0.705362,-0.706104,-0.062309],[0.050371,-0.137608,0.989205]]=H2<:? ? S`f@毿`0ʩ?`'`?i=Jm@I=_#^;=CY=By0 II =) 9qYq=uFy}6BEԙa<E>Q 5[5︊?Q 9[5p)CBY:4?Q E:yj(Q I@hDI>;i;[5yEBɮFAäEi i `?AJi BRi Bji ~@b @]@ P#@]4@R fWq?fC?RV?Zi =bi -\-j U2' S{gVV59@Z qd8 OB&?2i :i "i 6~?*i |Bi pBi `a?i Si i -Bi q@ addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 3.783971 s, deltaX: -2.599998 m, approachRate: -0.687108 m/s, rangeRepo size: 4  Added new target pos. range: 120.872726 m, bearing: 228.191744 deg, lat: 36.779404 deg, lon: -121.859701 deg, deltaT: 3.783971 s, deltaX: -2.586006 m, approachRate: -0.683411 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 120.87 m.RhZh ProNav: ac range: 120.872726 m, nav range: 117.587959 m, bearing: 228.685352 deg, approach rate: 0.000000 m/s, LOS rate: 0.117281 deg/s, cmd heading: 226.348057 deg, new cmd heading: 226.547024 deg. BhHeadingCmd: 3.953991 target range: 120.872726 and range: 121.50 m.h2}@h*h"h hgfffzBdddjd`^@Zdl?=*DAT read: user:386> EBDAT read: Tx time:05:22:07.4243 E$Ping request sent.Ei)\顙iDiu3<J7I2}@IAqAu@AByByB}M IB}TBByByByB}k;B}*Ea @a  @a @m /@i E  E E 'E "E &U;*E :VE '4ZE BE A >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250972!A.AIIO?,#`?ANsm@Nh{@NcKٱN7? VAHRS rotation from veh to nav: [[-0.705334,0.696464,0.132071],[-0.707135,-0.704329,-0.062294],[0.049635,-0.137330,0.989281]]NH@ nI??ڠ@܉寿 i?0?iNsm@IN@^;NCY^:Byb- IbDjVDjfyrQ%r\=ٔr;Q-v>9v ?Yv ?=vFyv:BEz;Ez>|Q 5[5~ܸ?Q 9[5~s)~VBYy B(Q I @~pDI~:i~ :~G[5yɮYAjh9=FNOT Ignoring new targets: 120.87 m.RhE;ZhE;U ProNav: ac range: 120.872726 m, nav range: 117.346565 m, bearing: 228.726673 deg, approach rate: -0.688692 m/s, LOS rate: 0.118129 deg/s, cmd heading: 226.547020 deg, new cmd heading: 226.671236 deg. Bh]$;]HeadingCmd: 3.956159 target range: 120.872726 and range: 121.50 m.he1}@ha*ha"ha hagafafifididqdqjdqZdu?颥Bɢ M) ŷ>i)c顩i5Ei2<:I1}@Iie9@a @a@m/@i^AE0:DQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502531AIIOf>y E] , E] E] *EY "E] c;*E] :VE] (N4ZEY ae @ae @ae @ae @d,=`?A2Im@2{@2\Gٱ2 :AHRS rotation from veh to nav: [[-0.703501,0.698304,0.132126],[-0.709027,-0.702342,-0.063218],[0.048653,-0.138155,0.989215]]2H@X?`? Y y/? ?i2Im@I2m+^;2C@Y^4Byb& If=f=bDjVDjyrA%rK=ٔv;Q-v>9tYt=vFyz>BEzp;Ez>|Q 5[5~Aȸ?Q 9[5~w)~kBY y (Q I @~yDI~F:i~:~ [5y=BɮAA¤EjhFNOT Ignoring new targets: 120.87 m.Rh\:Zh\: ProNav: ac range: 120.872726 m, nav range: 117.081345 m, bearing: 228.771880 deg, approach rate: -0.632940 m/s, LOS rate: 0.108129 deg/s, cmd heading: 226.671234 deg, new cmd heading: 226.807162 deg. Bhj;HeadingCmd: 3.958532 target range: 120.872726 and range: 121.50 m.hX}@h *h "h  h g f fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754772fdQdQdYjdYZd]C?~BɢRB) Q>i)UYYi]JHԹi2<'6IX}@Iy9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006560 ^A 'B r>B B S IB YBB B B B k;B *EA ؟AI I! 1 OE >H,S{Y`?AFm@F{@F&CٱFD RAHRS rotation from veh to nav: [[-0.701722,0.700288,0.131083],[-0.710850,-0.700520,-0.062963],[0.047734,-0.137363,0.989370]]FHt h?@W?IjTp?` ?iFm@IFT^;FCYZ5ByZ' IE-( E-E-+E)"E-`;*E-:VE- [4ZE)BE-Q9"?Y"?=FyCBE;E > Q 5[5 ?Q 9[5 |) BY9?Q E:y'Q I@ DI S;i ; [5y-4Bɮ-A-EEB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 120.87 m.Rh] ;Zh] ;m ProNav: ac range: 120.872726 m, nav range: 116.761078 m, bearing: 228.823816 deg, approach rate: -0.704529 m/s, LOS rate: 0.114563 deg/s, cmd heading: 226.807168 deg, new cmd heading: 226.963403 deg. Bhm?;uHeadingCmd: 3.961259 target range: 120.872726 and range: 121.50 m.huC}@hq*hy"hy hygyfyffhBdddjdZdR?}zBɢ})y E>i)顁iJir8;1<;IC}@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259225M9@I @I@U0@QA^Au *:y A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510712O >N1,#s`?A02(m@2{@2>ٱ2-Z >AHRS rotation from veh to nav: [[-0.700021,0.702361,0.129071],[-0.712606,-0.698801,-0.062203],[0.046506,-0.135520,0.989683]]2H`fy?c? \ٯϧ?Xz?i2(m@I2<^;2CYF1ByF" IbDRVDRyV%Vd=ٔZn`;Q-Z>9XY\=^Fy^FBE^b;Eb>`Q 5f[5b?Q 9j[5by)bBYhyj&Q Ij@bDIbF:ib=:b [5y9ɮ=AAjhFNOT Ignoring new targets: 120.87 m.RhQ:ZhQ: ProNav: ac range: 120.872726 m, nav range: 116.516312 m, bearing: 228.863396 deg, approach rate: -0.648283 m/s, LOS rate: 0.105051 deg/s, cmd heading: 226.963402 deg, new cmd heading: 227.082392 deg. Bh1;HeadingCmd: 3.963336 target range: 120.872726 and range: 121.50 m.hJ}@h*h"h hgfffdddjdZd+\?颭vBɢ5)9 =>i9)=ҝAAiE5LԉikxG0<5IJ}@IEU EUEU&EQ"EUW;*EU:VEU4ZEQae@ae@ae@ae@e9@i @i@m0@iԹ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762498^A 0:D A I! I1 O= >#, Ҍ`?AhYn/Byn IprAiMb@Mb@Mb@ 9x?I +ƿ:v?YK7?y94<+ A$@ )Y@bD VDf2yC%<=ٔQ->9Y=FyKBEE>Q 5[5Z?Q 9[5)BYiq)uqqiu_Ni}`Q} /<}C\I}U}@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014658B<A<BBBZ IB^BBBBBk;B*E@ @@4@)bE:4jE:4rEƺ/Eu Eu!Eu)Eq"EuV;*Eu:VEuFA4ZEqBEu{3),`?A2:n@20|@2F6ٱ2 :AHRS rotation from veh to nav: [[-0.696827,0.705719,0.128031],[-0.715861,-0.695378,-0.063187],[0.044437,-0.135683,0.989755]]2HhLA?@Rc?U@ -}?^@?i2:n@I2Z^;0YF8ByF* IbDNVDNk1yVD=%V]=ٔZ;Q-Z>9XYX=ZFy^OBE^9J<E^>`Q 5f[5bs?Q 9f[5b)bBYhyj$Q Ij@bDIb:ibV:b[5ylɮnApjh FNOT Ignoring new targets: 120.87 m.Rh ~:Zh ~: ProNav: ac range: 120.872726 m, nav range: 115.951981 m, bearing: 228.947111 deg, approach rate: -0.702711 m/s, LOS rate: 0.103816 deg/s, cmd heading: 227.218933 deg, new cmd heading: 227.334162 deg. Bh%;%HeadingCmd: 3.967730 target range: 120.872726 and range: 121.50 m.h%H}@h)*h)"h) h)g)f)f1f1d1d19d9jdAZdE~@oBɢY?) >i)a9i=PiEm0EG/E - E 'E 'E "E d;*E ";VE '4ZE a @a @a @a @ 0, t`?A6&Xn@6M|@61ٱ6# >AHRS rotation from veh to nav: [[-0.695581,0.707044,0.127498],[-0.717135,-0.694013,-0.063744],[0.043415,-0.135773,0.989788]]6H2B? Q? Z5Q:?`X?i6&Xn@I6UF^;6CYJ5ByJ' IbDRVDR02yZQ%ZJ=ٔZ%;Q-^>9\Y\=^FybSBEbD;Eb>dQ 5j[5f]?Q 9j[5f)f«BYhyn$Q In@fDIf:if;f[5yr"BɮrjArEjh  FNOT Ignoring new targets: 120.87 m.Rh2:Zh2:% ProNav: ac range: 120.872726 m, nav range: 115.667450 m, bearing: 228.988981 deg, approach rate: -0.702880 m/s, LOS rate: 0.103687 deg/s, cmd heading: 227.334159 deg, new cmd heading: 227.460078 deg. Bh%Q;-HeadingCmd: 3.969927 target range: 120.872726 and range: 121.50 m.h-J~@h)*h)"h1 h1g1f1f9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770701fAdIdIdIjdIZdMK5@}lBɢ}+) H>i)C顁i Sij Ye.<9=IJ~@Iԙ59@9 @9@E/@A  ^AE0uԀGB9YAIIO>BDAT read: Rx Time:05:22:09.9869 TRx dataTimestamp_ set to:1761542531.300150checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023677B q>B B S IB YBB B B B k;B *E F6,R`?A2rn@2~h|@2DQ-ٱ21 :AHRS rotation from veh to nav: [[-0.694444,0.708206,0.127250],[-0.718303,-0.692712,-0.064736],[0.042301,-0.136359,0.989756]]2H8?@I? V@*@?`6t?i2rn@I2d>^;2CYv4Byv& Iz=z=EE! EEEE*EA"EEY;*EE:VEE(N4ZEABEEլ9Y=FyWBEt;E>Q 5[5G?Q 9[5)ӫBY9?Q E:y1#Q I@DI:iX:m [5yBɮAȤE B*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 120.87 m.Rh%:Zh%:5 ProNav: ac range: 120.872726 m, nav range: 115.362000 m, bearing: 229.029881 deg, approach rate: -0.695240 m/s, LOS rate: 0.093339 deg/s, cmd heading: 227.460080 deg, new cmd heading: 227.583103 deg. Bh=;=HeadingCmd: 3.972075 target range: 120.872726 and range: 121.50 m.hEx6~@hA*hA"hA hAgAfAfIfMDBdIdIdjdZd$ @=hBɢEȆ)A E>iA)EAIiM\Ui=-</DIx6~@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275408!=9@9 @9@=/@9I^A 4|EI I O- >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526611t<,q;`?A@ɰ@n@}|@\A*ٱO AHRS rotation from veh to nav: [[-0.693541,0.709192,0.126677],[-0.719217,-0.691741,-0.064966],[0.041554,-0.136165,0.989814]]H}1 ?6?"F?m?in@IM^;CYy% IbDVDky%E=ٔ<:Q-%>9!Y!=%Fy%[BE5I;E5>9QQ 5][5=2?Q 9][5=)=BYYy]#Q I]@=DI=;i==;=$[5yqɮuAqjh15FNOT Ignoring new targets: 120.87 m.Rh=:Zh=:m ProNav: ac range: 120.872726 m, nav range: 115.070061 m, bearing: 229.068980 deg, approach rate: -0.663200 m/s, LOS rate: 0.089049 deg/s, cmd heading: 227.583105 deg, new cmd heading: 227.700702 deg. Bhmtt;uHeadingCmd: 3.974127 target range: 120.872726 and range: 121.50 m.huX~@hq*hq"hq hygyfyfyfydddjdZdpL@dBɢP!) >i)EM EMEM%EI"EMN;*EM:VEM 4ZEIaU@aU@aU@aU@QiUWi],<NPIX~@IyU9@Q @Q@U/@Y}DAT read: 05:22:09.9869 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 402, 0.45, 1.300,-0.345, 1.443, 1.216, PHS= 0.186,-1.515, 0.183, RAW= 149.9, 13.4, CAL= 150.0, 14.9, ROT= 0.0, -14.9 Ygot valid direction response: 05:22:09.9869 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 402, 0.45, 1.300,-0.345, 1.443, 1.216, PHS= 0.186,-1.515, 0.183, RAW= 149.9, 13.4, CAL= 150.0, 14.9, ROT= 0.0, -14.9 PDAT read: Bearing 21.7, -0.1 (Local) ~Local bearing/azimuth received: Bearing 21.7, -0.1 (Local) DAT read: Range 11 to 50 : 118.8 m (Round-trip 158.4 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.966376,0.000000,0.257133]Fpublishing direction and range infoyQU ?Fht?YUBQQQQ Q)UEIUv>>iUUZd;>Up'@U|o>U6'@ U%>)UIU%QQUA/'?v ?]ϐ ? Ub?)UoIUiU%QQT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԩ^A 2DI I O > +XC,a?A2|n@2|@28(ٱ2P` :AHRS rotation from veh to nav: [[-0.692829,0.710016,0.125958],[-0.719933,-0.691012,-0.064799],[0.041030,-0.135575,0.989917]]2H +s?`? @`?`Zf?i2|n@I27^;0Yb2Byb# IiMMb@Mb@Mb@IIII I9M9v?(\¿V-?YM4?yMzM9yYy=}Fy}_BE-;E>Q 5[5?Q 9[5)BY8?Q E:y"Q I@ŘDI* ;i ;g'[5y BɮAǤEiiۋa?AJi_BRi_Bji[~@b`Ĝ\@F9c>@R ?Fht?Zibi%jVPRUR%ov U 6{bA@Z4rxcw濕?2ic:i"iR?V?*iP??BiBiR?V?i|iBicBi!@ addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 4.031986 s, deltaX: -2.699997 m, approachRate: -0.669644 m/s, rangeRepo size: 4  Added new target pos. range: 118.186592 m, bearing: 228.191193 deg, lat: 36.779403 deg, lon: -121.859698 deg, deltaT: 4.031986 s, deltaX: -2.686134 m, approachRate: -0.666206 m/s, posRepo size: 4 jh FNOT Ignoring new targets: 118.19 m.Rh Zh ProNav: ac range: 118.186592 m, nav range: 114.694183 m, bearing: 228.963260 deg, approach rate: 0.000000 m/s, LOS rate: 0.089049 deg/s, cmd heading: 227.700707 deg, new cmd heading: 227.797154 deg. BhHeadingCmd: 3.975810 target range: 118.186592 and range: 118.80 m.hs~@h*h"h hg*DAT read: user:387> BDAT read: Tx time:05:22:11.3743 $Ping request sent.ByB}M IB}TBByByByB}k;B}*EB9B9B9B9B9C=ÄB4)  >i ) u iYi +<YIs~@I9@9 @9@E0@AE]" E]E]'EY"E]Z;*E]x:VE]'4ZEYBE]I,W )a?A2n@2|@2Y=%ٱ2 :AHRS rotation from veh to nav: [[-0.692171,0.710549,0.126568],[-0.720606,-0.690180,-0.066180],[0.040331,-0.137013,0.989748]]2H D&м?@`3?3`$9^ ?Y^ ?=^Fy^cBE^C;Eb>`Q 5f[5b ?Q 9j[5bd)bBYhyj"Q Ij@bΘDIbQ;ib;b*[5ynBɮrQArƤEjh FNOT Ignoring new targets: 118.19 m.Rh:Zh:% ProNav: ac range: 118.186592 m, nav range: 114.417458 m, bearing: 228.997872 deg, approach rate: -0.704278 m/s, LOS rate: 0.088301 deg/s, cmd heading: 227.797150 deg, new cmd heading: 227.901236 deg. Bh%fr;%HeadingCmd: 3.977627 target range: 118.186592 and range: 118.80 m.h-q~@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd=g?^Bɢ ;) >i)Cim[i%D-o<+<-fI-q~@I1ԉ@ @@"1@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502876Ա^AlXE  E E %E "E N;*E ]:VE 4ZE a @a @a @a @A I! I1 O] > RP,Ba?A2Yn@2|@2Xo"ٱ2 :AHRS rotation from veh to nav: [[-0.691378,0.710925,0.128771],[-0.721404,-0.689064,-0.069044],[0.039647,-0.140631,0.989268]]2H ?{?@ ۬@L?6¿?i2Yn@I2y5^;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754789YV&ByV IbDbVDb0yf%jI=ٔj :Q-j>9hYl=nFyngBEn5;Er>pQ 5v[5r?Q 9z[5rˡ)rBYxyz!Q Iz@rטDIr:ir=:rk.[5yɮAjhFNOT Ignoring new targets: 118.19 m.RhR:ZhR: ProNav: ac range: 118.186592 m, nav range: 114.134445 m, bearing: 229.033241 deg, approach rate: -0.664057 m/s, LOS rate: 0.083195 deg/s, cmd heading: 227.901242 deg, new cmd heading: 228.007612 deg. Bhbd;%HeadingCmd: 3.979484 target range: 118.186592 and range: 118.80 m.h%ܯ~@h!*h!"h! h!g!f)f)f)d)d1d1jdYZd] ?ZBɢL΋) >i)i]i o 5*< kpI ܯ~@I@ @@v0@iQIQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007235BBBBBBBBk;B*EI ^A zly A ؟AI I E  E E )E "E W;*E j:VE FA4ZE BE DDW,J|^a?ABPn@B|@BٱB NAHRS rotation from veh to nav: [[-0.690039,0.711895,0.130579],[-0.722736,-0.687393,-0.071719],[0.038703,-0.143863,0.988840]]BH`?Ҷ? `,\У?j¿?iBPn@IB&^;@YV2ByV# Ii5Mb@Mb@Mb@1111 195@5^I ?/$:v?Y5b0?y515<5rA5@ 5+@)5`@1Y5@bDMVDM:y]Xc=%]5=ٔe ;Q-e>9e"?Ym"?=mFymlBEm8;E>Q 5[5᷊?Q 9[5Ʀ)#BY3?Q E:y!Q I@DI:i:x2[5y Bɮ 9AMB*** querying acoustic contact ***iI iIjhY]FNOT Ignoring new targets: 118.19 m.Rhe:Zhe:i ProNav: ac range: 118.186592 m, nav range: 113.819252 m, bearing: 229.070618 deg, approach rate: -0.697094 m/s, LOS rate: 0.082894 deg/s, cmd heading: 228.007615 deg, new cmd heading: 228.120057 deg. Bhc;HeadingCmd: 3.981446 target range: 118.186592 and range: 118.80 m.h~@h*h"h hgfchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259073ffBdddjdZd:?颅WBɢm:) <>i)_顉i'+`iOY)<qI~@IԙQ@Q @Q@U"4@Q} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510790^A m A I I O >a],ya?A6n@6|@6ٱ6× >AHRS rotation from veh to nav: [[-0.688495,0.713273,0.131211],[-0.724260,-0.685625,-0.073252],[0.037713,-0.145464,0.988644]]6H&!??#- O?¿?i6n@I6A?^;6CYJ9`Y`=bFybpBEf;Ef>hQ 5n[5jη?Q 9n[5j)j2BYlyn Q Ir@jDIj:ij:j5[5yvBɮvAvŤEjhFNOT Ignoring new targets: 118.19 m.Rh:Zh: ProNav: ac range: 118.186592 m, nav range: 113.550514 m, bearing: 229.102327 deg, approach rate: -0.667519 m/s, LOS rate: 0.078949 deg/s, cmd heading: 228.120054 deg, new cmd heading: 228.215406 deg. BhX;HeadingCmd: 3.983110 target range: 118.186592 and range: 118.80 m.hG~@h*h"h hgfffdddjdZd?D D 4=E! EEE"EY;*E:VEZEa@a@a@a@!=TBɢmf;)i m>ii)myqqiu1bi}o4}K(<}͞jI}G~@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7629859q@q @q@u4@qi^A uԑ A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015398I I O >ke,a?A4<ɰB$A&<B*s>B(B(B(B* =B(B(B*k;B**EBo@B#}@BٱBs JAHRS rotation from veh to nav: [[-0.686999,0.714855,0.130441],[-0.725752,-0.683960,-0.074048],[0.036283,-0.145539,0.988687]]BH?I?\9 ?¿S?iBo@IB1,^;BCYV?ByV2 Ii5Mb@Mb@Mb@1111 195ʡE?q= ףpMb?Y5/?y5뽙5<5 A5@ 5A@)5v@1Y5Q@bDVDy><%'=ٔ%@;Q->9Y=FyuBE;E>Q 5[5N?Q 9[5n)@BY2?Q E:y_Q I@DI7:i :0:[5yBɮ]AΤEjhAEFNOT Ignoring new targets: 118.19 m.RhMۦ:ZhMۦ:} ProNav: ac range: 118.186592 m, nav range: 113.219231 m, bearing: 229.137291 deg, approach rate: -0.689089 m/s, LOS rate: 0.072939 deg/s, cmd heading: 228.215403 deg, new cmd heading: 228.320601 deg. Bh}:H;HeadingCmd: 3.984946 target range: 118.186592 and range: 118.80 m.h\ @h*h"h hgfff*BdddjdZd O+@QBɢ 5;)   >i ) S iUȞdi]X]'<]hI]\ @IaE E EE"EW;*E:VEZEBEa2EaJE? 5k,a?A2Co@2'9}@23Rٱ2 :AHRS rotation from veh to nav: [[-0.685439,0.716526,0.129476],[-0.727301,-0.682231,-0.074795],[0.034739,-0.145435,0.988758]]2H`@?@? F%[ɡ?@¿ ?i2Co@I2N^;2CYF;ByF. IbDNVDN:yV;%Vp=ٔZ;Q-Z?9XY\=^Fy^xBE^;E^?`Q 5f[5b?Q 9j[5b4)bJBYhyj;Q Ij@bDIbg:ib:b)=[5ynBɮn6ArͤEjh FNOT Ignoring new targets: 118.19 m.Rh :Zh : ProNav: ac range: 118.186592 m, nav range: 112.988075 m, bearing: 229.161540 deg, approach rate: -0.697078 m/s, LOS rate: 0.073277 deg/s, cmd heading: 228.320602 deg, new cmd heading: 228.393499 deg. Bh(I;HeadingCmd: 3.986218 target range: 118.186592 and range: 118.80 m.h4@h*h"h hgfffdddjdZdj@q颅NBɢ;) >i)߼顉ifiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519278i&<ZI4@I@ @@/@ԁE EE'E"EV;*E:VE'4ZEa@a@a@a@^AjZXԹ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770972A I I O- > r, a?AFco@F2Y}@F$ٱFF %AHRS rotation from veh to nav: [[-0.684051,0.718135,0.127895],[-0.728677,-0.680743,-0.074960],[0.033232,-0.144471,0.988951]]FH@?^?RQ 0?~¿@|?iFco@IF'4^;FCYeGBye= IAbDVDJy[=%8=ٔ^;Q->9Y=Fy}BE-;E>Q 5[5?Q 9[5o)WBYyQ I@DI ;ia;EA[5y)ɮ-A)jhq}FNOT Ignoring new targets: 118.19 m.Rh}:Zh}: ProNav: ac range: 118.186592 m, nav range: 112.668594 m, bearing: 229.194896 deg, approach rate: -0.664253 m/s, LOS rate: 0.069548 deg/s, cmd heading: 228.393494 deg, new cmd heading: 228.493844 deg. Bh>;HeadingCmd: 3.987970 target range: 118.186592 and range: 118.80 m.h:@h*h"h hgfffdddjdZd O @=JBɢ=I;)9 =K>i9)pۼ顡ihi&<I:@IBDAT read: Rx Time:05:22:13.9335  TRx dataTimestamp_ set to:1761542535.332928checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0250529@9 @9@=/@9Bmr>BiBiBiBm =BiBiBmk;Bm*EA ^A ONA% >A% >bE%c44jE%ʅ04rE%+/E  E E )E "E L;*E :VE FA4ZE BE ݡmx,>Ya?A2)o@2u}@2؉ٱ2 :AHRS rotation from veh to nav: [[-0.682814,0.719662,0.125903],[-0.729908,-0.679427,-0.074926],[0.031620,-0.143058,0.989209]]2Hy??g[ ݽ@\. 0?O¿?i2)o@I2&^;2C~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274876YyiMb@Mb@Mb@ 9 rh?~jty&1?YC+?yĽ`e<@ @)@Y@bDVDkٔ_;Q->9Y=FyBE*t;E>Q 5[5?Q 9[5i)bBY-?Q E:yQ I@DI7:i:*E[5yٔBɮAB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 118.19 m.Rh:Zh: ProNav: ac range: 118.186592 m, nav range: 112.372696 m, bearing: 229.222081 deg, approach rate: -0.679015 m/s, LOS rate: 0.062548 deg/s, cmd heading: 228.493843 deg, new cmd heading: 228.575613 deg. Bh+;HeadingCmd: 3.989397 target range: 118.186592 and range: 118.80 m.hHR@h*h"h hgfff(BdddjdZdE @GBɢf;) >i)5ؼ99iE/kim-%<EtWIHR@I1DAT read: 05:22:13.9335 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.24,-0.149,-1.935,-0.005,-0.421, PHS= 0.373,-1.469, 0.371, RAW= 149.9, 7.9, CAL= 149.4, 8.5, ROT= 0.6, -8.5 Ygot valid direction response: 05:22:13.9335 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.24,-0.149,-1.935,-0.005,-0.421, PHS= 0.373,-1.469, 0.371, RAW= 149.9, 7.9, CAL= 149.4, 8.5, ROT= 0.6, -8.5  PDAT read: Bearing 16.4, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 16.4, 0.8 (Local) % DAT read: Range 11 to 50 : 116.3 m (Round-trip 155.1 ms) speed 0.6 m/s - R#Rx 1: Read range and direction messages.5 \direction in FSK: [0.988962,0.010357,0.147809]5 Fpublishing direction and range infoy$X^ߒ? 5?%)k?YBA  )GI>i1>0 >&@ >)+ 2BDAT read: Tx time:05:22:15.1743 2$Ping request sent.2Țo@>h}@>ٱ>6 FAHRS rotation from veh to nav: [[-0.681659,0.721090,0.123979],[-0.731050,-0.678207,-0.074840],[0.030117,-0.141651,0.989459]]>H% +??d޳(@֞?!¿ऩ?i>Țo@I>@^;< L)NlANPPPRAlAiRIPPIV@CiVkA V#T)TX ZkAZZVFX^C\I\)\i\)`IbkAb` `dfkAfGaiddidh)h hIhYhYnSBynK IbDzVDzy4<%<ٔb;Q->9 Y = Fy BE %t;E>Q 5%[5k?Q 9%[5I)mBY!y%kQ I%@DIR:i:H[5y5ДBɮ5A5̤Ei1i5}a?AJi5fBRi5fBji5@b5w:\@¯#,?H#T1@R5$X^ߒ? 5?%)k?Zi5+<bi5j5@0NR[croUm3<24@Z5*5rѶ翬;(CX?2i5{:i5"i5飙?*i51!Bi5Bi5O?i1i1i5DBi5@= addTargetRange:: Added new target pos. range: 116.300003 m, deltaT: 3.780388 s, deltaX: -2.500000 m, approachRate: -0.661308 m/s, rangeRepo size: 4  Added new target pos. range: 115.699921 m, bearing: 228.818133 deg, lat: 36.779402 deg, lon: -121.859698 deg, deltaT: 3.780388 s, deltaX: -2.486671 m, approachRate: -0.657782 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 115.70 m.RhZhmŀG9YPA ProNav: ac range: 115.699921 m, nav range: 112.134422 m, bearing: 229.218212 deg, approach rate: 0.000000 m/s, LOS rate: 0.062548 deg/s, cmd heading: 228.575614 deg, new cmd heading: 228.673499 deg. BhHeadingCmd: 3.991106 target range: 115.699921 and range: 116.30 m.hFn@h*h"h hgfffdddjd@3]@Zd`?]CBɢ];)a e?ia)egӼaaiemimnD+$<YIFn@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251328-9@) @)@-/@)AQAQB]t>BYB]S IB]YBB] =BYBYB]sk;B]*E) I ^Am jZXE - E E +E "E d;*E :VE [4ZE BE <~,w#b?A6o@6~}@6zּٱ6 >AHRS rotation from veh to nav: [[-0.679317,0.724268,0.118173],[-0.733378,-0.675769,-0.074115],[0.026179,-0.137012,0.990223]]6H`3-?@?w,Κ??i6o@I6W^;6Chchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502932YRByJ I%=%=i Mb@Mb@Mb@     9 uV?ʡE{Gz?Y r(?y - #<  A @ @) v@ Y  @ p<bD%VD%ky5%5=ٔ=[;Q-=>9= ?Y= ?==Fy=BEE;EE>IQ 5U[5MU?Q 9U[5M)MwBY])?Q E]:y]Q I]@M%DIM:iMX:MM[5yaɮeAijhFNOT Ignoring new targets: 115.70 m.Rh :Zh : ProNav: ac range: 115.699921 m, nav range: 111.794594 m, bearing: 229.246981 deg, approach rate: -0.783143 m/s, LOS rate: 0.066500 deg/s, cmd heading: 228.673504 deg, new cmd heading: 228.760073 deg. Bh6;HeadingCmd: 3.992616 target range: 115.699921 and range: 116.30 m.h@h*h"h hgfff)BdddjdZd?uABɢuN<)y }`?iy)} м顡ipoiOx#<TAI@I9@9 @9@9@9@MgA@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757920^AY Ae fAzAe dAY IY Iq O} >_,ka=b?A2Jo@2}@2&ȼٱ2w :AHRS rotation from veh to nav: [[-0.678657,0.725420,0.114851],[-0.734050,-0.675135,-0.073238],[0.024412,-0.134010,0.990679]]2H`6?f?V}?<'?i2Jo@I2=^;2CE%! E%E%)E!"E%Y;*E%:VE%FA4ZE!a-@a-@a-@a-@Y5VBy5O I9bDMVDM:y]<%]Z=ٔ];Q-e>9aYa=eFyeBEm$;Em>qQ 5}[5uvE?Q 9}[5uF)uBYyyQ I@u-DIu;iu&;uP[5yǔBɮAˤEjhFNOT Ignoring new targets: 115.70 m.Rh}:Zh}: ProNav: ac range: 115.699921 m, nav range: 111.549866 m, bearing: 229.267699 deg, approach rate: -0.654140 m/s, LOS rate: 0.055500 deg/s, cmd heading: 228.760070 deg, new cmd heading: 228.822361 deg. Bh[;HeadingCmd: 3.993704 target range: 115.699921 and range: 116.30 m.hט@h*h"h hgfffdddjdZd`??Bɢ|<)  ?i)̼!!i%qi%ކ-B"<-L_FI-ט@I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007369M9@I @I@M0@Iyԙ^A:I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259052B! B! B% ` IB% dBB! B! B! B% Ok;B% *EBBBB =B =C˞4,=Wb?AFo@F}@F0ٱF VAHRS rotation from veh to nav: [[-0.678338,0.725970,0.113245],[-0.734395,-0.674697,-0.073813],[0.022820,-0.133237,0.990821]]FH%;??@* j岿!^? @ϴ?iFo@IF.^;FCYbeBybb IԙiMb@Mb@Mb@ 9J +?9!Y!=%Fy%BE%Q:E->)Q 55[5-}3?Q 9=[5-0)-BY=)?Q E=:y=Q I=@-6DI- ;i- ;-T[5yEBɮMAMԤEjhiuFNOT Ignoring new targets: 115.70 m.Rh}[:Zh}[: ProNav: ac range: 115.699921 m, nav range: 111.269142 m, bearing: 229.288156 deg, approach rate: -0.655423 m/s, LOS rate: 0.047882 deg/s, cmd heading: 228.822361 deg, new cmd heading: 228.883886 deg. Bhq;HeadingCmd: 3.994777 target range: 115.699921 and range: 116.30 m.ho@h*h"h hgfffBdddjdZd?U! ,7qb?A2qo@2}@2lӮٱ2 :AHRS rotation from veh to nav: [[-0.677801,0.726591,0.112476],[-0.734936,-0.673981,-0.074963],[0.021339,-0.133472,0.990823]]2H<@?7˼?@@0ڕ? Ҵ?i2qo@I2I^;2CYBqByBp IHJAHJAAbDNVDNyvi=%v`=ٔv;Q-v>9xYx=zFyzBEz;E~>Q 5 [5)$?Q 9 [5bQ = tI)BY y Q I@>DI:i;W[5yBɮ.A=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 115.70 m.RhMZ:ZhUZ:e ProNav: ac range: 115.699921 m, nav range: 111.029587 m, bearing: 229.305597 deg, approach rate: -0.654598 m/s, LOS rate: 0.047764 deg/s, cmd heading: 228.883887 deg, new cmd heading: 228.936326 deg. Bhe;mHeadingCmd: 3.995693 target range: 115.699921 and range: 116.30 m.hmn@hi*hi"hi higifqfqfqdydydyjdyZdޭ?颭9Bɢ<) ?i)ż顱iuiHfr]!<7QIn@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763268q@q @q@u'4@y!E=! E=E=)E9"E=Y;*E=:VE=FA4ZE9aE@aM@aM@aM@^AONAA>IIO%>QM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015043y ,b?Avo@v}@vvٱv -AHRS rotation from veh to nav: [[-0.677438,0.726959,0.112288],[-0.735309,-0.673393,-0.076567],[0.019953,-0.134435,0.990721]]vH?C?ᾼ?n♳yn?@.5`?ivo@Ivm3^;vCYmBym II4>)>bDVD:Qyo=%3=ٔF;Q->9Y=FyBE:E>Q 5[5?Q 9[5)BYyQ I@HDI ;i* ;[[5yɮAjhFNOT Ignoring new targets: 115.70 m.Rhn[:Zhn[: ProNav: ac range: 115.699921 m, nav range: 110.729622 m, bearing: 229.327457 deg, approach rate: -0.656363 m/s, LOS rate: 0.047960 deg/s, cmd heading: 228.936330 deg, new cmd heading: 229.002085 deg. Bh;HeadingCmd: 3.996840 target range: 115.699921 and range: 116.30 m.h<@h *h "h  h g fffdddjdZd@~@M6BɢMI<)Q Ui$?iQ)UHNQQi]xi]yS] BBs IBsBBBBB mƨ,1Τb?A2 p@20~@2zٱ2R :AHRS rotation from veh to nav: [[-0.676800,0.727656,0.111616],[-0.735931,-0.672597,-0.077575],[0.018625,-0.134645,0.990719]]2H@XH?㒼?۳g? < ?i2 p@I2c\^;2CYZByZ Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519108iMMb@Mb@Mb@IIII I9M'1Z?l9yYy=}Fy}BE;E>Q 5[5?Q 9[5)BY#?Q E:y;Q I@ODI` ;i ;^[5yBɮ AӤEjhFNOT Ignoring new targets: 115.70 m.RhU[:ZhU[: ProNav: ac range: 115.699921 m, nav range: 110.496956 m, bearing: 229.345052 deg, approach rate: -0.632592 m/s, LOS rate: 0.047939 deg/s, cmd heading: 229.002091 deg, new cmd heading: 229.054987 deg. Bh;HeadingCmd: 3.997764 target range: 115.699921 and range: 116.30 m.h\@h*h"h hgfff@BdddjdZdo@Ա3Bɢ_^<) ,?i)i:zi%ZD%R9 ,b?A26p@2 ~@2mٱ2 :AHRS rotation from veh to nav: [[-0.676334,0.728129,0.111360],[-0.736384,-0.671987,-0.078562],[0.017629,-0.135138,0.990670]]2HL?@?v u ?5L`?i26p@I2SB^;2CYBByB IJ=J= HJ<bDNVDN:yVm=%VX=ٔZ*,;Q-Z>9XYX=ZFyZBE^:E^>`Q 5f[5b?Q 9f[5b)bBYdyj0Q Ij@bWDIb:ib:b>b[5ylɮnAlD|zD~?AE$ EE&E"Eg\;*E:VE4ZEa @a@a@a@jh%FNOT Ignoring new targets: 115.70 m.Rh%Y:Zh%Y:5 ProNav: ac range: 115.699921 m, nav range: 110.257217 m, bearing: 229.363174 deg, approach rate: -0.627620 m/s, LOS rate: 0.047546 deg/s, cmd heading: 229.054984 deg, new cmd heading: 229.109469 deg. Bh5;=HeadingCmd: 3.998715 target range: 115.699921 and range: 116.30 m.h=@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU@\} @1Bɢԁ<) <5?i)ӷi tx|i 4 U <A`I@I@ @@/@BDAT read: Rx Time:05:22:17.7300 TRx dataTimestamp_ set to:1761542539.112262checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0245829^AONi I I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274966B t>B B IB BB =B B B Ok;B *E;ص,b?A(.;ɰ,Z#p@Z~@ZԇٱZs bAHRS rotation from veh to nav: [[-0.675729,0.728711,0.111220],[-0.736964,-0.671218,-0.079692],[0.016580,-0.135815,0.990595]]ZHQ?x?4zf]?`db@?iZ#p@IZ<^;ZCYnByn IiMb@Mb@Mb@ 9/$?"~j rh?Y1(?yS㽙C =rA@ @)v@YbDVDy?==%:=ٔz;Q->9Y=FyBE:E>Q 5[5W߶?Q 9[5)BY*?Q E:y6Q I@`DI:i:f[5yBɮAҤEjhFNOT Ignoring new targets: 115.70 m.Rh%:Zh%:5 ProNav: ac range: 115.699921 m, nav range: 109.970497 m, bearing: 229.392221 deg, approach rate: -0.656874 m/s, LOS rate: 0.066720 deg/s, cmd heading: 229.109475 deg, new cmd heading: 229.196843 deg. Bh5(7;=HeadingCmd: 4.000239 target range: 115.699921 and range: 116.30 m.h=@h9*hA"hA hAgAfAfIfMYBdIdIdIjdQZdUv @颅.Bɢ?<) ;?i)y顉ip~i%7<kI@IqE E$E'E"E>T;*E;VE'4ZEBE"iV;ߏ>+(@B>q(@ PwV>)y@IPwVE7ps?|p.?*??  ?)-CIDdiPwVT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AugW IY Iy O >,_b?A27p@2-~@2Jٱ2 :AHRS rotation from veh to nav: [[-0.674835,0.729481,0.111597],[-0.737800,-0.670156,-0.080887],[0.015782,-0.136922,0.990456]]2H@W?? @q`$)? ѱ?i27p@I2d^;2CLYRByR IbDZVDZ0ybW>=%f\=ٔf ;Q-f>9dYh=jFyjBEjW;Ej>lQ 5r[5n϶?Q 9v[5n)nBYtyv!Q Iv@nhDIn:in:nUi[5yzBɮzmA~ѤEiIiMVcb?AJiM:BRiM:BjiM(@bMX:f[@K#|#;C7@RMC=4L?0& 5hٜ?ZiMDdbiMPwVjM AJRKgTd>V0@9@ZMQu俅]N1V翨 ?2iM:iMR"iM7?*iMofBiM/BiM6~?iM1giMpBiMfBiM@ addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.779639 s, deltaX: -2.600006 m, approachRate: -0.687898 m/s, rangeRepo size: 4  Added new target pos. range: 113.113831 m, bearing: 228.430466 deg, lat: 36.779394 deg, lon: -121.859689 deg, deltaT: 3.779639 s, deltaX: -2.586090 m, approachRate: -0.684216 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 113.11 m.RhZh ProNav: ac range: 113.113831 m, nav range: 109.699280 m, bearing: 228.779471 deg, approach rate: 0.000000 m/s, LOS rate: 0.066720 deg/s, cmd heading: 229.196833 deg, new cmd heading: 229.275364 deg. BhHeadingCmd: 4.001610 target range: 113.113831 and range: 113.70 m.h0 @h*h"h hgfff d d d jdl\@Zd?=+BɢE=)Ec EA?iA)EܬAIiMtiMUUyo BDAT read: Tx time:05:22:18.9243 $Ping request sent.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2393041 g,: c?AFLp@FA~@F+vٱF, bAHRS rotation from veh to nav: [[-0.673936,0.730265,0.111906],[-0.738636,-0.669107,-0.081929],[0.015047,-0.137873,0.990336]]FH T^?`㥼?SiJ 9ю?`ѥ@԰?iFLp@IF R^;FCY~‚By I15AIIbDeVDeNy;=%>=ٔ:Q->9Y=FyBEUU8;E]>qQ 5[5u ?Q 9[5u)uʬBYy Q I@urDIuBqBu IBuBBu =BqBqBuk;Bu*E@ @@/@YbEFA4jEɲ>4rEXQ0E9  E= E= %E9 "E9 *E= :VE= 4ZE9 BE= fo,b&c?A2^lp@2a~@2Iiٱ2; :AHRS rotation from veh to nav: [[-0.672488,0.731479,0.112686],[-0.739970,-0.667461,-0.083305],[0.014278,-0.139406,0.990132]]2HFh?ټ?@֭ [S=?@*?i2^lp@I2u^;2CYFȂByF Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.743400iUMb@Mb@Mb@QQQYQ Q9UE?(\¿l?YU&?yUzU=QU@ Q)U`@QYQbDuVDuky`<%K=ٔ:Q->9Y=FyBES;E>Q 5[5?Q 9[5~)׬BY+?Q E:y*!Q I@zDI:i:p[5yBɮAjhFNOT Ignoring new targets: 113.11 m.Rh:Zh: ProNav: ac range: 113.113831 m, nav range: 109.157860 m, bearing: 228.837456 deg, approach rate: -0.666555 m/s, LOS rate: 0.081550 deg/s, cmd heading: 229.360484 deg, new cmd heading: 229.449732 deg. Bh_;HeadingCmd: 4.004653 target range: 113.113831 and range: 113.70 m.h&@h*h"h hgff f {Bd d d jdZd7?'Bɢ0 =) P?i)iqiwh<r lI&@Iԉ9@ @@/0@ԱiߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.997347^AkIA IY Oe > >,?c?A6p@6~@6aٱ6 BAHRS rotation from veh to nav: [[-0.670613,0.733053,0.113630],[-0.741679,-0.665430,-0.084350],[0.013780,-0.140843,0.989936]]6Hu +u? ?`ֻ3K@8?'¿@?i6p@I6Q^;6CYJׂByJ IbDRVDRyZ=%ZX=ٔZ:Q-^>9\Y\=bFybBEb;Eb>dQ 5j[5fϘ?Q 9j[5f])fBYhyn Q In@fDEr= Er'Er(Ep"Ers;*Er";VErc44ZEpav@av@av@az@If:if;fs[5y|ɮ~ A|jh!%FNOT Ignoring new targets: 113.11 m.Rh-:Zh-:= ProNav: ac range: 113.113831 m, nav range: 108.913170 m, bearing: 228.867103 deg, approach rate: -0.642880 m/s, LOS rate: 0.078068 deg/s, cmd heading: 229.449741 deg, new cmd heading: 229.538883 deg. BhEOV;EHeadingCmd: 4.006209 target range: 113.113831 and range: 113.70 m.hE2@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]`%?颍$Bɢ*1=)  Y?i)J顑iʄiU<cC^I2@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247577Y@Y @a@e0@a AE GgA@@% c9% gAY- ΜA@y ? ZA@A Bq Bq Bu IBu ĂBBq Bq Bq Bu k;Bu *E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500299iAe؟AIiIyO?,L`c?Aɰ;2p@21~@2PRٱ2Q >AHRS rotation from veh to nav: [[-0.668054,0.735147,0.115165],[-0.744002,-0.662576,-0.086335],[0.012836,-0.143359,0.989587]]2H` S?k{?3@I?Y¿`?i2p@I2I^;0YF߂ByF IJ=J=E^4 E^&E^*E\"E^j;*E^;VE^(N4ZE\BE^9"?Y"?=FyBE;E>Q 5[5~?Q 9[5)BQ A+:YQ E:y Q I@DI ;i ?w[5yBɮ A٤EjhFNOT Ignoring new targets: 113.11 m.Rh(:Zh(: ProNav: ac range: 113.113831 m, nav range: 108.565025 m, bearing: 228.908806 deg, approach rate: -0.651697 m/s, LOS rate: 0.078315 deg/s, cmd heading: 229.538889 deg, new cmd heading: 229.664400 deg. BhV;HeadingCmd: 4.008400 target range: 113.113831 and range: 113.70 m.hD@h  *h "h hgfffdddjd!Zd%e?M"BɢUR =)Q U^?iQ)UFQYi]$ri]e%a} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003797ԑ ,9tYt=vFyvBEz"<Ez>|Q 5[5~Lo?Q 9[5~)~BQ A :YQ E P:y  Q I @~DI~n:i~k?~y[5yzBɮf AؤEjh9EFNOT Ignoring new targets: 113.11 m.RhE:ZhE:U ProNav: ac range: 113.113831 m, nav range: 108.317986 m, bearing: 228.938060 deg, approach rate: -0.648342 m/s, LOS rate: 0.076950 deg/s, cmd heading: 229.664401 deg, new cmd heading: 229.752362 deg. BhU=S;]HeadingCmd: 4.009935 target range: 113.113831 and range: 113.70 m.hedQ@ha*ha"ha hagafafifidididqjdqZdu @颥 BɢFq@=) f?i)!y顩i懼i|<,/IdQ@IqD=D<E8 E3E'E"En;*Et ;VE'4ZEa@a@a@a@ԡ9@ @@30@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256539AII O > ,I*c?A2Rq@2H@2Y!ٱ2h :AHRS rotation from veh to nav: [[-0.662046,0.741006,0.112274],[-0.749398,-0.656487,-0.086178],[0.009848,-0.141191,0.989933]]2H{/`Q??$+?¿?i2Rq@I2Q^;2CYBByF!IaEaE aEaE aEaM aMaM iMMb@Mb@Mb@IIII I9MS?)\(̿Zd;?YM/?yMGaMy=M AI M@)M@IYM@bDeVDeNyu%uB=ٔua;Q-u>9yYy=}Fy}BE''<E>Q 5[5G[?Q 9[5f)BQ AT:Y'?Q E:y'Q I@DI;iC;}[5yɮ ABABq>BB!IBBB =BBBk;B*EBBBBBCW4Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508869B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 113.11 m.Rh:Zh : ProNav: ac range: 113.113831 m, nav range: 108.059761 m, bearing: 228.985844 deg, approach rate: -0.563241 m/s, LOS rate: 0.104475 deg/s, cmd heading: 229.752373 deg, new cmd heading: 229.896067 deg. Bh%f;%HeadingCmd: 4.012443 target range: 113.113831 and range: 113.70 m.h%e@h)*h)"h) h)g)f1f9f=Bd9d9d9jdAZdE{r@Bɢ'=) Je?i)iSxiS<Ie@I@ @@4@A>A>E@ E7E(E"Eu;*E ;VEc44ZEBE )  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759406Y ,;c?ABǙq@Bg@BٱB NAHRS rotation from veh to nav: [[-0.658809,0.744257,0.109785],[-0.752270,-0.653238,-0.085853],[0.007819,-0.139149,0.990241]]BH@?? Su x? ?iBǙq@IBS^;@YVByV !IbD^VD^fyf<<%fU=ٔj;Q-j>9hYl=nFynBEnd8<En>pQ 5v[5rI?Q 9v[5r )r*BYxyz'Q Iz@rDIr6;ir;r[5y~qBɮ AפEjh!-FNOT Ignoring new targets: 113.11 m.Rh-E;Zh5E;= ProNav: ac range: 113.113831 m, nav range: 107.824265 m, bearing: 229.029050 deg, approach rate: -0.676467 m/s, LOS rate: 0.124381 deg/s, cmd heading: 229.896053 deg, new cmd heading: 230.025955 deg. BhE;EHeadingCmd: 4.014710 target range: 113.113831 and range: 113.70 m.hEx@hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]@1 @=BɢE`Q=)A Eh?iA)mV8iiimڊiu.u8Di>!@ @@/@MBDAT read: Rx Time:05:22:21.4766 UTRx dataTimestamp_ set to:1761542542.893570]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015387Y^Amԁ E ? E GE +E "E t;*E ;VE [4ZE a @a @a @a @A I I O >,c?A06Hq@6@68`ٱ6. >AHRS rotation from veh to nav: [[-0.655298,0.747464,0.109006],[-0.755348,-0.649519,-0.087031],[0.005749,-0.139369,0.990224]]6H@48?? +@Gw??i6Hq@I6_v^;6CYFByF!IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263429bDVDy ߼%G=ٔ;Q->9Y=FyBE%:<E%>)Q 55[5-5?Q 95[5-3 )->BY1y5O'Q I5@-DI-:i-];-[5yAɮEJ AAjhimFNOT Ignoring new targets: 113.11 m.Rhub:Zhub: ProNav: ac range: 113.113831 m, nav range: 107.571953 m, bearing: 229.074844 deg, approach rate: -0.613643 m/s, LOS rate: 0.111637 deg/s, cmd heading: 230.025963 deg, new cmd heading: 230.163668 deg. Bh;;HeadingCmd: 4.017114 target range: 113.113831 and range: 113.70 m.h2@h*h"h hgfffdddjdZd| @BɢMeG=) f?i)3|i5=iQ<w»I2@Iq@q @q@q@qԙ^AMA}.AIԹIO l>Bo>BCB!IBBB =BBBk;B*EDAT read: 05:22:21.4766 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.00, 2.367, 0.651, 2.619, 2.219, PHS= 0.250,-1.523, 0.356, RAW= 152.9, 10.1, CAL= 152.6, 10.9, ROT= 357.4, -10.9 Ygot valid direction response: 05:22:21.4766 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.00, 2.367, 0.651, 2.619, 2.219, PHS= 0.250,-1.523, 0.356, RAW= 152.9, 10.1, CAL= 152.6, 10.9, ROT= 357.4, -10.9 PDAT read: Bearing 20.7, -3.7 (Local) ~Local bearing/azimuth received: Bearing 20.7, -3.7 (Local) DAT read: Range 11 to 50 : 111.1 m (Round-trip 148.2 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.980948,-0.044545,0.189095]Fpublishing direction and range infoyY]TLc?p5yΦoG4?Y]3BYYYY Y)YI]>i]¿]E>]{*@]J4>]t*@ ]B>)]@I]BYY]k0v?pջ?e9fY? ]?)]3I]9i]BYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ,{c?AER EREPEP"ERW;*ER]:VEPZEPBERD9 ?Y ?=FyBEE>Q 5[5!?Q 9[5)PBYr$?Q E:yr(Q I@DI:i(;D[5y`Bɮ AEiiYc?AJi BRi Bji ~@b[@{ e4@RTLc?p5yΦoG4?Zi9biBj [R?J !T8fO6@Z1俯L_O3_{?2i:i"inH?*iVBiBi飙?iofi/BiBi@U addTargetRange:: Added new target pos. range: 111.099998 m, deltaT: 3.780654 s, deltaX: -2.599998 m, approachRate: -0.687711 m/s, rangeRepo size: 4 e Added new target pos. range: 110.526161 m, bearing: 228.018756 deg, lat: 36.779386 deg, lon: -121.859689 deg, deltaT: 3.780654 s, deltaX: -2.587669 m, approachRate: -0.684450 m/s, posRepo size: 4 jhaeFNOT Ignoring new targets: 110.53 m.RhmZhi} ProNav: ac range: 110.526161 m, nav range: 107.866890 m, bearing: 228.769269 deg, approach rate: 0.000000 m/s, LOS rate: 0.111637 deg/s, cmd heading: 230.163660 deg, new cmd heading: 230.308566 deg. BhyHeadingCmd: 4.019643 target range: 110.526161 and range: 111.10 m.hꠀ@h*h"h hgfffBdddjd`f[@Zd_?Bɢ؜9=) e?i),pi'i'< Iꠀ@I*DAT read: user:390> BDAT read: Tx time:05:22:22.7243 $Ping request sent.5,c?AJr@J1<@JivٱJVZ RAHRS rotation from veh to nav: [[-0.648065,0.753944,0.107608],[-0.761584,-0.641737,-0.090346],[0.000940,-0.140503,0.990080]]JHP ?6?`^ N?໮?iJr@IJ^;HY^ԂBy^ IbDfVDfk2ynR%n[=ٔrR9pYp=vFyvBEv<Ev>xQ 5~[5z/?Q 9~[5z)z^BYy'Q I@zDIz@;izL;z[5y ɮ \ A jh15FNOT Ignoring new targets: 110.53 m.9RhEU;ZhEU;U ProNav: ac range: 110.526161 m, nav range: 107.641830 m, bearing: 228.810532 deg, approach rate: -0.610680 m/s, LOS rate: 0.112197 deg/s, cmd heading: 230.308569 deg, new cmd heading: 230.432616 deg. BhU;]HeadingCmd: 4.021808 target range: 110.526161 and range: 111.10 m.h]@hY*ha"ha hagafafifidididijdqZdu?颥BɢK=) ^?i)e顩iꎼii)<崺I@Im9@i @q@u0@q@}=@}=E# E"E'E"E[;*E;VE'4ZEa@a@a@a@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502441^At0ԙI I O > ",nd?A2r@2Ma@2T:ٱ2B :AHRS rotation from veh to nav: [[-0.644608,0.757172,0.105697],[-0.764512,-0.638103,-0.091361],[-0.001730,-0.139698,0.990193]]2H :??vWk@iciY\`?i2r@I2um^;2CYBʂByF IAqAu@AB}n>ByB}!IB}BB} =ByB}DB}5l;B} +EԡiMb@Mb@Mb@ 9V-?A`"˿:v?Y?yY<rA @)@Yp@bDVDN2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754464yl6%7=ٔ6;Q-%>9!Y!=%Fy%BE-0&<E5>1Q 5=[55`?Q 9E[55)5kBYE.&?Q EE:yE"&Q IE@5șDI5:i5 ;5m[5yUWBɮUf AUߤEmB*** querying acoustic contact ***iq iqjhy}FNOT Ignoring new targets: 110.53 m.RhW:ZhW: ProNav: ac range: 110.526161 m, nav range: 107.366386 m, bearing: 228.857006 deg, approach rate: -0.615928 m/s, LOS rate: 0.104187 deg/s, cmd heading: 230.432606 deg, new cmd heading: 230.572383 deg. Bh;HeadingCmd: 4.024247 target range: 110.526161 and range: 111.10 m.hƀ@h*h"h hgf!f)f-Bd)d)d1jd1Zd5`׶?}Bɢ,=) Z?i)ͫX顩i&irxm<_Iƀ@I@ @@/@E E(E#E"E*E;VE3ZEBEf $J ,!Z/d?A2s@2 @2*X;ٱ23 :AHRS rotation from veh to nav: [[-0.641441,0.760058,0.104235],[-0.767161,-0.634730,-0.092643],[-0.004252,-0.139390,0.990228]]2HeR?@,?O`lkq``?i2s@I2R^;2CYBByB IbDNVDN02yRSӽ%Vf=ٔV4;Q-V>9XYX=ZFyZBE^Q><E^>`Q 5b[5b굊?Q 9f[5b)btBYdyf%Q If@bЙDIb:ib=:b[5ynNBɮn AnޤEjhFNOT Ignoring new targets: 110.53 m.Rh :Zh : ProNav: ac range: 110.526161 m, nav range: 107.146866 m, bearing: 228.893684 deg, approach rate: -0.618444 m/s, LOS rate: 0.103544 deg/s, cmd heading: 230.572379 deg, new cmd heading: 230.682639 deg. Bh;%HeadingCmd: 4.026172 target range: 110.526161 and range: 111.10 m.h%fր@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd="?eBɢe:M=)i mQ?ii)mOiiim'iuru5<}:I}fր@Iy9@ @@4@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258411y^A?BɺA>A>IIIYOuy>ԑE ' E E (E "E _;*E A:VE c44ZE a @a @a @a @Թ y/,*Id?A2Ls@2)@2;V;ٱ2B :AHRS rotation from veh to nav: [[-0.638614,0.762608,0.102958],[-0.769496,-0.631652,-0.094295],[-0.006877,-0.139444,0.990206]]2Ho@Ig?q[?` ~6#*|@Kį?i2Ls@I2ag^;0Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510451YJByJ IIN>)N>bDRVDRk1yZ:%ZJ=ٔ^=;Q-^>9`Y`=bFybBEb3<Ef>dQ 5j[5fص?Q 9n[5f)fBYlyn%Q In@fؙDIf;if;f[5ytɮv6 AtjhFNOT Ignoring new targets: 110.53 m.Rh:Zh: ProNav: ac range: 110.526161 m, nav range: 106.896347 m, bearing: 228.935185 deg, approach rate: -0.594119 m/s, LOS rate: 0.098654 deg/s, cmd heading: 230.682645 deg, new cmd heading: 230.807441 deg. Bhi;HeadingCmd: 4.028350 target range: 110.526161 and range: 111.10 m.h>@h*h"h hgfffdddjdZd?]Bɢ])=)a eJ?ia)epDaaie!im:Om@IIeA)dAm9@q @q@u4@qBr>BCB IB݂BBBBDBl;B?+Ei1I1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763330^A9I I! O5 > !Y,cd?A2ws@2ƶ@2k<ٱ2 :AHRS rotation from veh to nav: [[-0.636570,0.764346,0.102730],[-0.771164,-0.629267,-0.096586],[-0.009181,-0.140706,0.990009]]2H^u?@L?@`"`乸`j͂¿ '?i2ws@I2GP^;2CbE c44jE 54rE W0EB& EB'E@E@"EB8^;*EB";VE@ZE@BEB9Y=FyBEw;E>Q 5[5ĵ?Q 9[5")BYn$?Q E:y Q I@DI;i;[5yEBɮ AݤEjh)-FNOT Ignoring new targets: 110.53 m.Rh:Zh: ProNav: ac range: 110.526161 m, nav range: 106.621201 m, bearing: 228.969486 deg, approach rate: -0.649200 m/s, LOS rate: 0.081141 deg/s, cmd heading: 230.807446 deg, new cmd heading: 230.910615 deg. Bh^;HeadingCmd: 4.030150 target range: 110.526161 and range: 111.10 m.h@h*h"h hgfffBBdddjdZd%'@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014566BɢDs=) z??i)9iSi1v<:wB;I@I9@ @@4@Q ^A ?B:M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267374A5 ؟AIA IQ ԉ O >,,2X}d?A2s@2ˀ@2oo;<ٱ2 :AHRS rotation from veh to nav: [[-0.634592,0.766036,0.102381],[-0.772762,-0.626970,-0.098729],[-0.011440,-0.141769,0.989834]]2HN ]? 5?x"MF`m`}%¿?i2s@I2Vo^;2CYBwByBw IbDNVDNyR%V[=ٔVB;Q-V>9Z"?YZ"?=ZFyZBEZU;E^>\Q 5b[5^q?Q 9f[5^&)^BYdyf Q If@^DI^;i^;^.[5yhɮnuAljh|FNOT Ignoring new targets: 110.53 m.Rh :Zh : ProNav: ac range: 110.526161 m, nav range: 106.387779 m, bearing: 228.998383 deg, approach rate: -0.626019 m/s, LOS rate: 0.077669 deg/s, cmd heading: 230.910609 deg, new cmd heading: 230.997490 deg. Bh7U;%HeadingCmd: 4.031667 target range: 110.526161 and range: 111.10 m.h%j@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5@Bɢ-=) 3?i)x1iLi<I2y;Ij@IEe) EeEe)Ea"Ee`;*Eej:VEeFA4ZEaam@au@au@au@M9@I @I@U/@QAechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518375^AU ;AYzAY= GU hAi ԁ 9 hAY AA I I Ou >~%, d?A4rs@r؀@r^<ٱrjBAB t>B B  IB BB  =B B B l;B W+E 5AHRS rotation from veh to nav: [[-0.633399,0.767208,0.100984],[-0.773705,-0.625592,-0.100075],[-0.013604,-0.141519,0.989842]]rHD?ڹ?2@?܋M¿@ɬ?irs@IrT^;rCYE_ByMZ I IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770514iMb@Mb@Mb@ 9MbX9? ףp= 9Y=FyBERU;E>Q 5[5?Q 9[5+)BYp#?Q E:yQ I@DI;ih;C[5yi>U9@Q @Q@Q@YE1 EE'E"E2h;*EA:VE'4ZEBE_+,_d?A2^s@2݀@2Ҁ<ٱ2  >AHRS rotation from veh to nav: [[-0.632866,0.767937,0.098755],[-0.774101,-0.624978,-0.100847],[-0.015725,-0.140269,0.989989]]2Hq@ ?G? p`ѹ$U?i2^s@I2E^;2CYFJByFA IbDRVDRyVA%Zc=ٔZ;Q-Z>9\Y\=^Fy^BEbG:Eb>dQ 5f[5fՓ?Q 9j[5f/)fBY9yE{Q IE@fDIf~E DAT read: 05:22:25.2737 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.33,-1.528, 3.094,-1.276,-1.598, PHS= 0.172,-1.547, 0.277, RAW= 152.9, 12.3, CAL= 153.0, 13.7, ROT= 357.0, -13.7 M Ygot valid direction response: 05:22:25.2737 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.33,-1.528, 3.094,-1.276,-1.598, PHS= 0.172,-1.547, 0.277, RAW= 152.9, 12.3, CAL= 153.0, 13.7, ROT= 357.0, -13.7 2,d?APDAT read: Bearing 24.9, -5.5 (Local) ~Local bearing/azimuth received: Bearing 24.9, -5.5 (Local) PfDAT read: Range 11 to 50 : 108.9 m (Round-trip 145.3 ms) speed 0.4 m/s fR#Rx 1: Read range and direction messages.j^direction in FSK: [0.970218,-0.050847,0.236838]jFpublishing direction and range infoyIMo ?!.Ȝ4ӋHP?YMBIIII I)MDIM 0>iMƿMҍ>IM[>M*@ MGt>)Mb@IMGtIIM89AYA=EFyEBEMZ9EM>QQ 5}[5U䁵?Q 9}[5U5)UBYyzQ I@UDIU;iU:UT[5y+Bɮ{AEiIiM`9d?AJiMBRiMBjiM(L@bMO l(GZ@v& {9@RMo ?!.Ȝ4ӋHP?ZiMQwVbiMGtjM>TQ"T BI8@ZM\0)S1#?2iM:iM"iM i3 ?*iMtŖ{BiMβBiIiIiMβBiM(BiMM@ addTargetRange:: Added new target pos. range: 108.900002 m, deltaT: 3.779285 s, deltaX: -2.199997 m, approachRate: -0.582120 m/s, rangeRepo size: 4  Added new target pos. range: 108.338417 m, bearing: 229.715757 deg, lat: 36.779386 deg, lon: -121.859689 deg, deltaT: 3.779285 s, deltaX: -2.187744 m, approachRate: -0.578878 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 108.34 m.RhZh ProNav: ac range: 108.338417 m, nav range: 105.578247 m, bearing: 229.047785 deg, approach rate: 0.000000 m/s, LOS rate: 0.038176 deg/s, cmd heading: 231.093194 deg, new cmd heading: 231.146675 deg. Bh-HeadingCmd: 4.034271 target range: 108.338417 and range: 108.90 m.h-@h1*h1"h1 h1g1f1f9f9d9d9dAjdE9[@ZdE?5 Bɢ5 <)9 m?ii)ug?yyi} i7P<2X;I@IBs>BBy IBxBB =BBBl;BV+EBIBIBIBM =BM =CMA5*DAT read: user:391> BDAT read: Tx time:05:22:26.5243 $Ping request sent.A >Q A.AIIO>C:,d?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249607Y 'By IԑieMb@Mb@Mb@aaaa a9eʡE?&1 rhYe/?yePeCeAe@ a)e@aYe@bD}VD}yl%#=ٔQ->9 ?Y ?=FyBEE>Q 5[5m?Q 9[5;)~BY'0?Q E:yOQ I@DI":iv:[5y BɮAEjhFNOT Ignoring new targets: 108.34 m.Rhz9Zhz9  ProNav: ac range: 108.338417 m, nav range: 105.233932 m, bearing: 229.056687 deg, approach rate: -0.726732 m/s, LOS rate: 0.018849 deg/s, cmd heading: 231.146688 deg, new cmd heading: 231.173479 deg. Bh N:HeadingCmd: 4.034739 target range: 108.338417 and range: 108.90 m.h@h*h"h hgfffˀBdd!d!jd!Zd-a5?U BɢU,<)Q ]P?iY)]NYYi][ieek^%A,ye?AD"=D"4=E& E&*E&(E$"E&V;*E&;VE&c44ZE$a*@a*@a*@a*@>'s@>dˀ@> <ٱ> JAHRS rotation from veh to nav: [[-0.634511,0.767521,0.091145],[-0.772622,-0.626604,-0.102091],[-0.021245,-0.135199,0.990591]]>HM ?@MU?`Q@$ " R3N ?i>'s@I>w^;>CYRByR IbDZVDZܲyb %fn=ٔf OG,e?A:~s@:ع@:Ӓ<ٱ:k BAHRS rotation from veh to nav: [[-0.636148,0.766190,0.090930],[-0.771241,-0.628026,-0.103778],[-0.022407,-0.136147,0.990435]]:HS[?3G?@/Em ?i:~s@I:ab^;8YbBybIiMMb@Mb@Mb@IIII I9M@5^I ?MbpMbpYMb0?yMMM\AI M3@)M@IYM(@bDeVDe:yu׼%u@=ٔu2;Q-u>9yYy=}Fy}CEˤE>Q 5[56P?Q 9[5F)vBYc0?Q E:yQ I@DI2 ;i ;m[5yɮVAԱEU% EUEU'EQ"EUO];*EU:VEU'4ZEQBEUM,9e?A2Ss@2@2 <ٱ2K :AHRS rotation from veh to nav: [[-0.638116,0.764376,0.092400],[-0.769576,-0.629513,-0.107084],[-0.023685,-0.139441,0.989947]]2Hrku??@]$i`@4`?i2Ss@I2%U^;2CYFByF IbDNVDN02yVd<%VK=ٔVP;Q-Z>9Z"?YZ"?=ZFyZCE^mһE^>`Q 5f[5b7A?Q 9j[5bK)brBYlyrAQ Iv@b(DIb;ib;b[5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509611yBɮAjh9=FNOT Ignoring new targets: 108.34 m.Rh{Zh{  ProNav: ac range: 108.338417 m, nav range: 104.428307 m, bearing: 229.057802 deg, approach rate: -0.801713 m/s, LOS rate: -0.006925 deg/s, cmd heading: 231.184008 deg, new cmd heading: 231.176842 deg. Bh HeadingCmd: 4.034797 target range: 108.338417 and range: 108.90 m.h@h*h"h hgf9fAfAdAdAdAjdIZdMs?YBɢ=) ?i)iH㕼i<FI@I9@ @@5@ԉE E#E%E"EUS;*E;VE 4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762089^AΒ{A! I) IA OM > T,Se?A2;)s@2n@2P?<ٱ2 :AHRS rotation from veh to nav: [[-0.640098,0.762674,0.092747],[-0.767896,-0.631210,-0.109128],[-0.024686,-0.141073,0.989691]]2H{g?L? 2@AG¿ ?i2;)s@I2tl^;2CYFByF IbDNVDN:yVX=%VL=ٔZ#;Q-Z>9XYX=ZFy^ CE^LԻE^>`Q 5n[5b/2?Q 9v[5b/Q)bnBYxy~lQ I~@b1DIb;ib\;bq[5yBɮ~AEBt>BB IBBBBBBXl;B"+EjhyFNOT Ignoring new targets: 108.34 m.Rh?Zh? ProNav: ac range: 108.338417 m, nav range: 104.151878 m, bearing: 229.055804 deg, approach rate: -0.581615 m/s, LOS rate: -0.004214 deg/s, cmd heading: 231.176850 deg, new cmd heading: 231.170842 deg. Bh9HeadingCmd: 4.034692 target range: 108.338417 and range: 108.90 m.h3@h*h"h hgfffdddjdZd@@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013651}Bɢ}/<)y } ?iy)-顁iiPH<I3@I=9@9 @A@E4@AE EE(E"EO;*E:VEc44ZEBE6[,ane?AYe(Bye IiMb@Mb@Mb@ 9-?I +?{Gzt?Y?5?y94<ף;A )@Yp@bDVDkyD=%/=ٔQ->9Y!=%Fy%CE%E%>)Q 55[5- ?Q 9=[5-W)-jBY=F5?Q E=:y=Q I=@-;DI-;i-;-[5yEBɮMAMEjhiuFNOT Ignoring new targets: 108.34 m.Rh}Zh} ProNav: ac range: 108.338417 m, nav range: 103.822090 m, bearing: 229.049228 deg, approach rate: -0.855289 m/s, LOS rate: -0.017110 deg/s, cmd heading: 231.170840 deg, new cmd heading: 231.151047 deg. Bh;HeadingCmd: 4.034347 target range: 108.338417 and range: 108.90 m.h_@h*h"h hgfffBdddjdZd@)额Bɢ=) $?i)! һi:i<|I_@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517528@ @@4@@@ԁ ^A SEm  Ei Ei Ei "Em >T;*Ei VEi ZEi au @au @au @a} @Ա AU .AIa Iq O} >b,֊e?A2r@2ZQ@2<ٱ2J NAHRS rotation from veh to nav: [[-0.645841,0.757610,0.094422],[-0.762956,-0.635903,-0.116300],[-0.028067,-0.147151,0.988716]]2HW>?,?!j@RY Ž`¿@?i2r@I2]^;0zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769545aY/By IIC>)<AbDVDy(=%.=ٔ\;Q->9 ?Y ?=FyCEfE>Q 5[5?Q 9 [5^)fBY y pQ I @FDI[:i:[5yBɮjAEjh9EFNOT Ignoring new targets: 108.34 m.RhMNZhMN] ProNav: ac range: 108.338417 m, nav range: 103.490135 m, bearing: 229.043954 deg, approach rate: -0.708092 m/s, LOS rate: -0.011285 deg/s, cmd heading: 231.151059 deg, new cmd heading: 231.135188 deg. Bh]eHeadingCmd: 4.034070 target range: 108.338417 and range: 108.90 m.he@ha*ha"ha hagifififidqdqdqjdqZdu@!@Bɢv=) ?i)vi^i  <57I5@I1ԑ @ @@4@Beu>BaBeIBe BBaBaBaBe@l;Be+Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021386Թ^A5 3 bEjEgi,?re?A22r@2iE@2T<ٱ2Q :AHRS rotation from veh to nav: [[-0.646927,0.756603,0.095065],[-0.761983,-0.636585,-0.118916],[-0.029455,-0.149368,0.988343]]2H@@6? 6V?)b^Lq|)`ÿ?i22r@I2N^;2C @)BlAB@@DF=lAiF,IFsaFDIDiD J,JKF)HH NkANTLLN&CLIP)PiP)PIRkAR\P TTVkAV什iV`IFTiXX)X XIXY\Yb;Byb. IiiMb@Mb@Mb@ 9gfffff?Zd;O~jt?Y33?yj< A@ I@)@Y@bDVD1y54Y=%5A=ٔ5V;Q-5>9="?Y="?==Fy=CE=aEE>AQ 5[5EN?Q 9[5Ed)EhBYf3?Q E:yTQ I@EODIE04e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525547 Jp,8e?A6{r@6[8@6^<ٱ6 ' >AHRS rotation from veh to nav: [[-0.648117,0.755651,0.094531],[-0.760924,-0.637591,-0.120304],[-0.030636,-0.149902,0.988226]]6H`J.?*3? }Y$g`6̾^ /ÿ?i6{r@I6g^;6CYHBy> IbD-VD-:2y=7=%=\=ٔE1P;Q-E>9AYI=MFyMCEM{EM>QQ 5][5Uﴊ?Q 9][5Ui)UiBYayenQ Ie@UXDIU;iU;U[5ymBɮm] AqjhFNOT Ignoring new targets: 108.34 m.Rhm9Zhm9 ProNav: ac range: 108.338417 m, nav range: 102.933067 m, bearing: 229.049276 deg, approach rate: -0.740125 m/s, LOS rate: 0.007455 deg/s, cmd heading: 231.143328 deg, new cmd heading: 231.151197 deg. Bh9HeadingCmd: 4.034349 target range: 108.338417 and range: 108.90 m.hd@h*h"h hgfffdddjdZdf7@}Bɢ}*6=)y $?i)顁iKߖi<[Id@IE EE)E"EO;*E:VEFA4ZEa@a@a@a@)@) @)@-/@)@5=@5= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777614 !!ԀG9YA1^A*:A I I) OM >y vv,\e?ABev>BaBe IBeBBe =BaBaBel;Be*Ex%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029637ɰxpr@H3@Q=ٱϷ AHRS rotation from veh to nav: [[-0.648567,0.755215,0.094925],[-0.760497,-0.637751,-0.122141],[-0.031705,-0.151407,0.987963]]H *?L?U th@D;`Laÿd?ipr@IR^;1Y5QBy=J IE=E=iMb@Mb@Mb@ 9Fx?9AYA=EFyE"CEMԬEM>QQ 5][5Ugܴ?Q 9][5Uho)UpBY]-?Q E]:yeQ Ie@UbDIUa:iU3:U[5yiɮm AijhFNOT Ignoring new targets: 108.34 m.Rh:Zh: ProNav: ac range: 108.338417 m, nav range: 102.616913 m, bearing: 229.064720 deg, approach rate: -0.672718 m/s, LOS rate: 0.032962 deg/s, cmd heading: 231.151196 deg, new cmd heading: 231.197668 deg. Bh:HeadingCmd: 4.035161 target range: 108.338417 and range: 108.90 m.h @h*h"h hgfffBBdddjdZd}@Bɢ&=) #*?i) i i X<pmI @Ia9@ @@@E EE&E"EQ;*Eg:VE4ZEBEȥ|,e?A2yr@2^7@2 =ٱ2 :AHRS rotation from veh to nav: [[-0.648177,0.755588,0.094626],[-0.760807,-0.637316,-0.122475],[-0.032234,-0.151378,0.987950]]2Hݽ`-?`h9?Xd@ZV`ÿJ?i2yr@I2t;^;2CY^dByba IbDjVDjyr=%rz=ٔr}:Q-r?9tYt=vFyv%CEz:Ez? Q 5[5 δ?Q 9%[5 ws) vBY)y-Q I-@ iDI ;i ; [5yEBɮE AEEjhFNOT Ignoring new targets: 108.34 m.Rh :Zh : ProNav: ac range: 108.338417 m, nav range: 102.395844 m, bearing: 229.075513 deg, approach rate: -0.656848 m/s, LOS rate: 0.032139 deg/s, cmd heading: 231.197669 deg, new cmd heading: 231.230119 deg. Bht:HeadingCmd: 4.035727 target range: 108.338417 and range: 108.90 m.h$@h*h"h hgfffdddjdZd@ԑ]Bɢ]>=)Y eB4?ia)evaaie ri\b.<xlI$@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533939%9@! @!@%/@!E EEE"ECJ;*E&:VEZEa@a@a@a@^AM tA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785544 ,f?A2r@2@@2?=ٱ2 :AHRS rotation from veh to nav: [[-0.647345,0.756365,0.094116],[-0.761472,-0.636391,-0.123158],[-0.033258,-0.151392,0.987914]]2H `#4??]P]I-`ÿ?i2r@I2,<^;0YBrByBq IbDJVDJyR=%VN=ٔVW);Q-V>9XYX=ZFyZ)CEZ0;EZ>\Q 5b[5^پ?Q 9f[5^Yx)^|BYdyfQ If@^qDI^:i^:^[5yhɮj AljhFNOT Ignoring new targets: 108.34 m.Rh5:Zh5: ProNav: ac range: 108.338417 m, nav range: 102.130302 m, bearing: 229.088379 deg, approach rate: -0.653326 m/s, LOS rate: 0.031737 deg/s, cmd heading: 231.230126 deg, new cmd heading: 231.268824 deg. Bh?:HeadingCmd: 4.036402 target range: 108.338417 and range: 108.90 m.h5*@h*h"h hgff f d d d jdZd}@额Bɢ[J=) v;?i)_R顡iؗiKWx<-`gI55*@I1I=fA)=fA@ @@N0@@gA@hABw>BB! IB1BB =B!BB#l;B +EBBBB =B =CřA5=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037647^A zlQ I I O% >E  E E 'E "E M;*E ]:VE '4ZE BE 9YYY=eFye.CEeEm>qQ 5[5uS?Q 9[5uI})uBYt&?Q E:yyQ I@u{DIuXD;iurB;checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290263u[5yړBɮ AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.34 m.RhA:ZhA: ProNav: ac range: 108.338417 m, nav range: 101.836655 m, bearing: 229.117708 deg, approach rate: -0.655733 m/s, LOS rate: 0.065681 deg/s, cmd heading: 231.268812 deg, new cmd heading: 231.357051 deg. BhN4;HeadingCmd: 4.037942 target range: 108.338417 and range: 108.90 m.h6@h!*h!"h! h!g!f!f)f-wBd)d1d1jd1Zd5A@QeBɢm8I=)i C?i )B'i=Ki <I6@I!9@ @@0@yԩ ^A% jbU checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542601I! I1 O= >G,PBf?A2Cr@2X@27m=ٱ2  :AHRS rotation from veh to nav: [[-0.644970,0.758555,0.092776],[-0.763360,-0.633773,-0.124953],[-0.035985,-0.151412,0.987815]]2HF?#? rm`G lxaÿ@/?i2Cr@I2}_;2CYBByB IHbDRVDRN2yV;%Zk=ٔZ! B B CB M IB TBB B B B bl;B )+Ea,g'\f?A5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048306r@p@P=ٱ AHRS rotation from veh to nav: [[-0.642716,0.760722,0.090653],[-0.765168,-0.631575,-0.125023],[-0.037854,-0.149719,0.988004]]H "@W? 5?@B| 5@a)ÿ๝?ir@IǠ`;YBy IiMb@Mb@Mb@ 9Gz? ףp= ǿA`"?Yp?yQ8Y= A@ @)MAY@bDVD1yB=%-=ٔk;Q->9Y=Fy6CE%;E>Q 5[5?Q 9[5)BY$?Q E:yp"Q I@DIG ;iX:)[5yѓBɮ Ajh)-FNOT Ignoring new targets: 108.34 m.Rh5?:Zh5?:E ProNav: ac range: 108.338417 m, nav range: 101.322418 m, bearing: 229.182583 deg, approach rate: -0.641620 m/s, LOS rate: 0.094529 deg/s, cmd heading: 231.422546 deg, new cmd heading: 231.552209 deg. BhE;MHeadingCmd: 4.041348 target range: 108.338417 and range: 108.90 m.hMR@hI*hI"hI hIgIfQfQfUBdQdYdYjdYZd]P@!MBɢMO=)I MUK?iI)UQQiUi]Bz]] <]\\I]R@IY>iE E E'E"E,K;*E:VE'4ZEBEL6ݜ,uf?A2x%s@2@2$=ٱ2} FAHRS rotation from veh to nav: [[-0.639953,0.763382,0.087793],[-0.767363,-0.628920,-0.124955],[-0.040173,-0.147334,0.988271]]2H~zm?@y?= ` `¿?i2x%s@I2/a;2CYVByZ I \\bDjVDjay]v;%mf=ٔm;Q-u>9qYq=uFyu:CE}!<E}>Q 5[5w?Q 9[5)BYy:"Q I@DI:i:I[5yɮ AjhFNOT Ignoring new targets: 108.34 m.RhD:ZhD: ProNav: ac range: 108.338417 m, nav range: 101.100380 m, bearing: 229.214932 deg, approach rate: -0.620515 m/s, LOS rate: 0.090602 deg/s, cmd heading: 231.552210 deg, new cmd heading: 231.649471 deg. Bhx;HeadingCmd: 4.043046 target range: 108.338417 and range: 108.90 m.h`@h*h"h hgfffdddjdZd@-Bɢ-Zt=)) -AL?i))5A:11i5i=q^= <=3KBI=`@IA9@ @@/@5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549695ԉԱ^AjbIYIiOu>DD%=E E EE"EV;*E:VEZEa@a@a@a@  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801497`ţ,яf?A29ds@2@2-=ٱ2N :AHRS rotation from veh to nav: [[-0.636949,0.766103,0.085919],[-0.769737,-0.625886,-0.125585],[-0.042435,-0.146126,0.988355]]2Ha? ?஡C@*`D¿?i29ds@I2ca;2CY^By^ IbDjVDjkyrC=%rR=ٔr;Q-r>9tYt=vFyv>CEz"<Ez>|Q 5[5~f?Q 9[5~)~BYy!Q I@~DI~;i~;~[5yɓBɮ AEjh9=FNOT Ignoring new targets: 108.34 m.RhEE:ZhEE:U ProNav: ac range: 108.338417 m, nav range: 100.860535 m, bearing: 229.249498 deg, approach rate: -0.621156 m/s, LOS rate: 0.089731 deg/s, cmd heading: 231.649472 deg, new cmd heading: 231.753415 deg. BhUSv;ԹHeadingCmd: 4.044860 target range: 108.338417 and range: 108.90 m.ho@h*h"h hgfffdddjdZd@{@Bɢzg=) iQ?i)`I2ii@  <  'I o@II9@ @@ /@ BABBBs IBsBBBBB`l;B(+EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.056716^A *AIy I O >9 E  E E )E "E CJ;*E VE FA4ZE BE 9yYy=FyBCE^<E>Q 5[5S?Q 9[5)BYm&?Q E:y%Q I@DIg;iQ;\[5yBɮ\ AEeB*** querying acoustic contact ***ia iachecking for new query: numPingsReceived=0, elapsed TxPingTime=7.305833jhFNOT Ignoring new targets: 108.34 m.RhI:ZhI: ProNav: ac range: 108.338417 m, nav range: 100.598091 m, bearing: 229.295347 deg, approach rate: -0.582195 m/s, LOS rate: 0.101976 deg/s, cmd heading: 231.753428 deg, new cmd heading: 231.891335 deg. Bh;HeadingCmd: 4.047267 target range: 108.338417 and range: 108.90 m.h7@h*h"h hgfffׁBdddjdZd O@颅BɢZ_=) O?i)b:1:顱i&7iG= <hI7@IAa@a @a@e/@a@i@mfAq^A A A >M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557533ԙ A .AI I O > װ,f?AY~By~ II=);bD VD:2y%7%%O=ٔ%Q-->9- ?Y- ?=-Fy-FCE5E5>9Q 5E[5=@?Q 9E[5= )=ȭBYAyAQ IM@=DI==:i=k:=[5yUBɮU` AUEjhy}FNOT Ignoring new targets: 108.34 m.Rh;Zh; ProNav: ac range: 108.338417 m, nav range: 100.354927 m, bearing: 229.338053 deg, approach rate: -0.665618 m/s, LOS rate: 0.117181 deg/s, cmd heading: 231.891343 deg, new cmd heading: 232.019769 deg. Bhנ;HeadingCmd: 4.049509 target range: 108.338417 and range: 108.90 m.h@h*h"h hgfffdddjdZd`μ@ɢx=) mK?i)DW:ii1 <;I@IqE EE&E"E[I;*Eu:VE4ZEa@a@a@a@@ @@o0@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809448ԩ^AAE ؟AIQ Ia O} >B B B  IB }BB B B B 8l;B +E! ,shf?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.063728uPExceeded connect timeout, disconnecting.Yyyyi5Mb@Mb@Mb@1111 195d;O?nʿ ףp= ?Y5?y5V5Q8=5X A5h@ 5@)11Y5f@bDMVDMkٔYQ-e>9e"?Ye"?=eFyeKCEiEm>qQ 5}[5u+?Q 9}[5u2)uԭBY|?Q E:y%Q I@uDIu:iu:u[5yBɮ AjhFNOT Ignoring new targets: 108.34 m.Rh:Zh: ProNav: ac range: 108.338417 m, nav range: 100.074097 m, bearing: 229.389234 deg, approach rate: -0.587788 m/s, LOS rate: 0.107426 deg/s, cmd heading: 232.019778 deg, new cmd heading: 232.173753 deg. Bhs;HeadingCmd: 4.052197 target range: 108.338417 and range: 108.90 m.h@h*h"h hgfff؁BdddjdZd @BɢX=) K?i)%ɇ;!!i%Ԛi--<-CO_I-@I1bE-ŀ'4jE-^+4rE-T/E E E(E"E*E:VEc44ZEBE/O,f?AVat@V+@VJR=ٱVB bAHRS rotation from veh to nav: [[-0.624704,0.776903,0.078527],[-0.779174,-0.613584,-0.128074],[-0.051318,-0.141195,0.988651]]VH@d?Y?`{d _F¿@?iVat@IVa;VCYjByj IbDrVDryz%z<ٔ~:VEu4ZEqa@a@a@a@a II IY Oe >} checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817491E G2,g?A ,Ft@FQC@FNY=ٱF NAHRS rotation from veh to nav: [[-0.622396,0.778992,0.076117],[-0.780904,-0.611434,-0.127818],[-0.053029,-0.138993,0.988872]]FH@?f|?)ސ@W\&פ?iFt@IFa;FCb6v9`Yb_AYfrByfr I hhn=n=bDrVDryz%zK=ٔ~^;Q-~>9Y=FyRCE;E> Q 5[5 t ?Q 9[5 ) BYy$Q I@ ĚDI dB)B-y IB-xBB)B)B)B-$l;B- +EԡI5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079772IAOew>EnManaging dock network, ignoring radio surface power off E  E E /E "E N;*E :VE J4ZE BE n9yYy=}Fy}WCE;E>Q 5[5?Q 9[5)BY!?Q E:yB"Q I@ϚDI:i7:[5yɮ AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.34 m.Rh`:Zh`: ProNav: ac range: 108.338417 m, nav range: 99.322495 m, bearing: 229.513634 deg, approach rate: -0.630356 m/s, LOS rate: 0.095897 deg/s, cmd heading: 232.403525 deg, new cmd heading: 232.547928 deg. Bh;HeadingCmd: 4.058727 target range: 108.338417 and range: 108.90 m.h@h*h"h hgfffBdddjd Zd @g#@颉ɢ]B=)Ί  :?i)€;iԚi]9h<&ZI @I 9@ @@5@@@hA- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.5815011 ^Au 3A} >A} >I I O >̜,eFg?A$2t@2p@2e=ٱ2 >AHRS rotation from veh to nav: [[-0.617943,0.782963,0.071527],[-0.784219,-0.607320,-0.127137],[-0.056104,-0.134656,0.989303]]2H 0?O?Q)oF h<`^?i2t@I2.b;2CYFQByFH IbDNVDNyV%V=ٔZh;Q-Z?9XY\=^Fy^[CE^<E^?`Q 5f[5b糊?Q 9f[5bd)bBYhyj"Q Ij@b՚DIb;ib;b[5ynBɮnn ArEjh FNOT Ignoring new targets: 108.34 m.Rh :Zh : ProNav: ac range: 108.338417 m, nav range: 99.137520 m, bearing: 229.541578 deg, approach rate: -0.612065 m/s, LOS rate: 0.092640 deg/s, cmd heading: 232.547915 deg, new cmd heading: 232.631906 deg. BhO~;%HeadingCmd: 4.060193 target range: 108.338417 and range: 108.90 m.h-@h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=#@E  EE)E"EG;*EL:VEFA4ZEa@a@a@a@ɢj=)  .?i ) K;  i iE$<vI@Iy59@1 @1@=/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834173ԡ^A}mIIO> BY BY B] Z IB] ^BBY BY BY B] l;B] +EBCBCBB =B =CA4^, `g?Ai$I$.9Y=Fy_CEO};E>Q 5\5Tӳ?Q 9\5 )BY"?Q E:yr Q I@ޚDI ;iu ;\5yɮ Ajh!%FNOT Ignoring new targets: 108.34 m.Rh-ۿ:Zh-ۿ:= ProNav: ac range: 108.338417 m, nav range: 98.847054 m, bearing: 229.581016 deg, approach rate: -0.615880 m/s, LOS rate: 0.083866 deg/s, cmd heading: 232.631899 deg, new cmd heading: 232.750560 deg. Bh=:f;EHeadingCmd: 4.062263 target range: 108.338417 and range: 108.90 m.hE@hA*hA"hI hIgIfIfQfUBdQdQdQjdYZd]A$@颁ɢLC=) )?i)ɠ;顑iei#<I@IE EE*E"ECJ;*E:VE(N4ZEBE9 9,Tzg?A2&u@2@2^}q=ٱ2 :AHRS rotation from veh to nav: [[-0.615040,0.785327,0.070618],[-0.786291,-0.604163,-0.129358],[-0.058923,-0.135087,0.989080]]2Hhf!? ?K)MU͎1+J`?i2&u@I2"b;0Y^+By^ IbDjVDjyr%rp=ٔr;Q-r?9tYt=vFyvcCEv;Ez?xQ 5\5zij?Q 9\5zj)zBYyU Q I@zDIz:izI:z\5yBɮU AEjh9EFNOT Ignoring new targets: 108.34 m.RhEپ:ZhEپ:U ProNav: ac range: 108.338417 m, nav range: 98.637093 m, bearing: 229.609440 deg, approach rate: -0.614940 m/s, LOS rate: 0.083426 deg/s, cmd heading: 232.750553 deg, new cmd heading: 232.836006 deg. Bh]e;]HeadingCmd: 4.063755 target range: 108.338417 and range: 108.90 m.h]H @ha*ha"ha hagafafifidididqjdqZdu %@Yɢ]WM=)a eS?ia)eh;aaiepim%  S<4~IH @IU2Acoustic response timeoutA̼qE EE.E"EL;*E:VEـ4ZEa@a@a@a@Y@Y @Y@]/@Yԡ  2Acoustic response timeout^A5 A9 zA= gA AaIyIO>u,g?A2.u@2<@2u=ٱ2P :AHRS rotation from veh to nav: [[-0.614605,0.785762,0.069561],[-0.786557,-0.603746,-0.129690],[-0.059908,-0.134422,0.989112]]2Hت $?α? y+Q< 4`ͦ?i2.u@I2zb;2CYBByB IbDNVDN2yRK%V,=ٔVi;Q-V>9XYX=ZFyZhCE^D:E^>`Q 5f\5be?Q 9f\5b)bBYdyfM Q If@bDIb ;ib ;b \5ynBɮn AnEjhFNOT Ignoring new targets: 108.34 m.Rh F:Zh F: ProNav: ac range: 108.338417 m, nav range: 98.344940 m, bearing: 229.649116 deg, approach rate: -0.617075 m/s, LOS rate: 0.084050 deg/s, cmd heading: 232.836013 deg, new cmd heading: 232.955392 deg. Bhf;%HeadingCmd: 4.065839 target range: 108.338417 and range: 108.90 m.h%Z@h!*h!"h! h!g)f)f)f1d1d1d1jd9Zd={&@aɢm3=)iBy>BB. IB;BBBBDBl;B +E mT?i)];ii <<ԷIZ@IQጼ2Acoustic response timeout@ @@/@yEm EmEm'Ei"EmCJ;*Emu:VEm'4ZEiBEiau2Eia}JEm#< 2Acoustic response timeout !,g?A29?u@2m@2>y=ٱ2 :AHRS rotation from veh to nav: [[-0.613785,0.786350,0.070160],[-0.787128,-0.602694,-0.131109],[-0.060813,-0.135698,0.988882]]2H)?@?&0@EI2@"^ ?i29?u@I2a;2CYBByBI DDJ=J=i]Mb@Mb@Mb@YYYY Y9])\(?㥛 ¿I +?Y]G!?y]]9<]X A]@ ]@)]AYY]AbDuVDu0yk%>=ٔ ;Q->9Y=FylCE4;E>Q 5\5??Q 9\5÷)Y%?Q E:y Q I@DIX:i: \5yBɮ= AEB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 108.34 m.Rh%|:Zh%|:Թ ProNav: ac range: 108.338417 m, nav range: 98.070663 m, bearing: 229.678066 deg, approach rate: -0.625610 m/s, LOS rate: 0.066219 deg/s, cmd heading: 232.955404 deg, new cmd heading: 233.042498 deg. Bh5;HeadingCmd: 4.067359 target range: 108.338417 and range: 108.90 m.h'@h*h"h hgfffxBdddjdZdp'@aɢe#=)i m0?ii)Q;顉iMTi 9L<xI'@I2Acoustic response timeout@ @@/@ Dy zD} AAE , E E %E "E c;*E :VE 4ZE a @a @a @a @9 ^A &tA >A >2Acoustic response timeoutII O>%l,g?A$68Nu@6졁@61|=ٱ6* >AHRS rotation from veh to nav: [[-0.613037,0.786787,0.071781],[-0.787654,-0.601571,-0.133090],[-0.061532,-0.138127,0.988501]]6H [-?@7`?v4 @ !'`͡?i68Nu@I6Úa;4YJByJIbDRVDR:yZ%Z/=ٔZ:Q-^>9\Y\=^Fy^qCEb';Eb>dQ 5j\5f?Q 9j\5fӼ)fBYhynQ In@fDIf:if:f\5yr}Bɮr ArEjh  FNOT Ignoring new targets: 108.34 m.RhΜ:ZhΜ:% ProNav: ac range: 108.338417 m, nav range: 97.772675 m, bearing: 229.709512 deg, approach rate: -0.647582 m/s, LOS rate: 0.068545 deg/s, cmd heading: 233.042503 deg, new cmd heading: 233.137127 deg. Bh%*<;-HeadingCmd: 4.069010 target range: 108.338417 and range: 108.90 m.h-U5@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdEiO(@ɢ%=)! ->i))-T;))i5񦘼i= e{ E  E E 'E "E N;*E :VE '4ZE BE nؽ%M4=ٔMb:Q-U>9QYQ=UFyUuCE]e:E]>aQ 5m\5egx?Q 9m\5e)eBYm?%?Q Eu:yuTQ Iu@e DIeT ;ie ;e\5yyɮ}j AyjhFNOT Ignoring new targets: 108.34 m.RhfS:ZhfS: ProNav: ac range: 108.338417 m, nav range: 97.481674 m, bearing: 229.730441 deg, approach rate: -0.640517 m/s, LOS rate: 0.046205 deg/s, cmd heading: 233.137115 deg, new cmd heading: 233.200090 deg. Bh:HeadingCmd: 4.070109 target range: 108.338417 and range: 108.90 m.hV>@hBDAT read: Response Not Received *response not received*DAT read: user:392> BDAT read: Tx time:05:22:38.9743 $Ping request sent.i1)5i;11i5◼i= =><=N#ۻI=V>@IA%9@! @!@%*0@!^AE [RӻI I O >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249979#u, h?A2fu@23@2h-=ٱ2 :AHRS rotation from veh to nav: [[-0.611799,0.787720,0.072105],[-0.788498,-0.600050,-0.134946],[-0.063033,-0.139414,0.988226]]2Hړ`5?wu?`;3 E"S?i2fu@I26a;2CYBByBIJAJAHJ@AbDRVDRfyV. %Zi=ٔZ;Q-Z>9\Y\=^Fy^yCEb%;Eb>dQ 5f\5fcj?Q 9j\5f)fBYhyjFQ Ij@fDIf :if;f\5yruBɮr ArEjh  FNOT Ignoring new targets: 108.34 m.RhS:ZhS:% ProNav: ac range: 108.338417 m, nav range: 97.256783 m, bearing: 229.746592 deg, approach rate: -0.640863 m/s, LOS rate: 0.046132 deg/s, cmd heading: 233.200089 deg, new cmd heading: 233.248655 deg. Bh-H:-HeadingCmd: 4.070957 target range: 108.338417 and range: 108.90 m.h-HE@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE@,)@qɢuˊ=)y >i)o;iDi& <ۻIHE@I!DD<E E E(E"EP;*E:VEc44ZEa@a@a@a@@ @@4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501865y^A `ԻIIO>ԙ A @AA ?AB x>B B IB ځBB B B B l;B Q+E, h?AJou@J@JRM=ٱJ} 5AHRS rotation from veh to nav: [[-0.611359,0.787989,0.072895],[-0.788834,-0.599477,-0.135526],[-0.063094,-0.140357,0.988089]]Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756333JH`@47?`.X&`5l?iJou@IJ1F`;ԉJCYByIbD% VD%2yU5%]3=ٔe 9Q-e>9aYa=mFym~CEmr:Em>Q 5\5W?Q 9\5)BYy<Q I@DI:i:\5yɮBAjhFNOT Ignoring new targets: 108.34 m.Rh%BS:Zh%BS:5 ProNav: ac range: 108.338417 m, nav range: 96.954651 m, bearing: 229.768301 deg, approach rate: -0.640640 m/s, LOS rate: 0.046174 deg/s, cmd heading: 233.248665 deg, new cmd heading: 233.313993 deg. Bh5:=HeadingCmd: 4.072097 target range: 108.338417 and range: 108.90 m.h=N@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdUL*@}Bɢ}X<) з>i);顁iwFiw <<}IN@IԩQ@Q @Q@U4@QbE-:4jE-FA4rE-0E EE)E"EN;*E:VEFA4ZEBEa2EaJE> , 9h?AYrByrXIiMb@Mb@Mb@ 9NbX9?EԸ:v?Y%?yƽT<A )EAYAbDVD0y#%U=ٔQ->9Y=FyCEE>Q 5\5H?Q 9\5)BY'?Q E:yQ I@#DI6;i4; \5ymBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.34 m.Rh1):Zh1): ProNav: ac range: 108.338417 m, nav range: 96.714226 m, bearing: 229.782828 deg, approach rate: -0.610498 m/s, LOS rate: 0.036980 deg/s, cmd heading: 233.313989 deg, new cmd heading: 233.357679 deg. Bh:HeadingCmd: 4.072860 target range: 108.338417 and range: 108.90 m.hT@h*h"h hgfff,BdddjdZd+@1ɢ5<)1 5җ>i9)=<99i=adiEu E  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509969,-Th?A6͈u@67@6m=ٱ6  BAHRS rotation from veh to nav: [[-0.610184,0.788738,0.074620],[-0.789799,-0.598166,-0.135705],[-0.062401,-0.141740,0.987935]]6H`W=?I?F`,$^`$¿@*?i6͈u@I6_;6CYJ}ByJDI LLbDVVDV0yZ!%ZW=ٔbQ-b>9`Y`=bFyfCEf:;Ef>hQ 5n\5j9?Q 9n\5j)jBYpyrQ Ir@j+DIj{;ij;j_#\5y dBɮ <AEjh 5FNOT Ignoring new targets: 108.34 m.Rh5:/:Zh=:/:E ProNav: ac range: 108.338417 m, nav range: 96.466759 m, bearing: 229.797622 deg, approach rate: -0.638999 m/s, LOS rate: 0.038299 deg/s, cmd heading: 233.357675 deg, new cmd heading: 233.402172 deg. BhMF:MHeadingCmd: 4.073637 target range: 108.338417 and range: 108.90 m.hM;[@qhQ*h"h hgfffdddjdZd`s,@5Bɢ5ƻ<)1 5>i1)=<99i=MqiE?i E6BqBurIBuBBqBqBqBul;Bu<+E!@! @!@%/@!@-fA@-eAԡ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764386^AE I! I1 OE >E  E E E "E E;*E L:VE ZE BE 9AYA=EFyECEM86;EM>QQ 5]\5U)'?Q 9]\5U)UBY]7)?Q E]:yeQQ Ie@U6DIUU:iU:U'\5ym\Bɮm>AmEjhFNOT Ignoring new targets: 108.34 m.Rh*9Zh*9 ProNav: ac range: 108.338417 m, nav range: 96.146286 m, bearing: 229.809214 deg, approach rate: -0.705152 m/s, LOS rate: 0.025590 deg/s, cmd heading: 233.402181 deg, new cmd heading: 233.437071 deg. Bh:HeadingCmd: 4.074245 target range: 108.338417 and range: 108.90 m.h8`@h*h"h hgfff(BdddjdZd U-@BɢS<) {>i) <igiD_ <#ڻI8`@I9@ @@/@) - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266101^A [RӻI I O >N!,އh?AYXByIbDVDky%(%%t=ٔ%Q--?9)Y)=-Fy-CE5E5?9Q 5E\5=I?Q 9E\5=)=BYAyAQ IM@==DI=4:i=A:=*\5yQɮU!AQjhFNOT Ignoring new targets: 108.34 m.Rh9Zh9 ProNav: ac range: 108.338417 m, nav range: 95.925453 m, bearing: 229.817246 deg, approach rate: -0.659805 m/s, LOS rate: 0.024055 deg/s, cmd heading: 233.437069 deg, new cmd heading: 233.461223 deg. Bh:HeadingCmd: 4.074667 target range: 108.338417 and range: 108.90 m.hc@h*h"h hgfffd d d jd Zd.@E= E=E=)E9"E=C;*E=:VE=FA4ZE9aE@aE@aM@aM@QɢUv<)Y ]tA>iY)]]? ԩ Ba Aa Bm {>Bi Bm 4IBm pBBi Bi Bm DBm Ll;Bm #+EB1B1B1B1B1C5?4(,ˡh?A@~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772780]u@]ҁ@]q=ٱ] AHRS rotation from veh to nav: [[-0.608442,0.789797,0.077579],[-0.791402,-0.596585,-0.133303],[-0.059000,-0.142504,0.988034]]]H@\x@F?<ܳ?)S955=¿?i]u@I]_;]CYQByIi%Mb@Mb@Mb@!!!! !9%Q?9QYY=]Fy]CE]= ;E]>ԡQ 5\5?Q 9\5=)ޭBYV0?Q E:yQ I@GDIw;i:.\5yTBɮAEjh FNOT Ignoring new targets: 108.34 m.Rh O9Zh O9 ProNav: ac range: 108.338417 m, nav range: 95.590073 m, bearing: 229.828542 deg, approach rate: -0.686459 m/s, LOS rate: 0.023202 deg/s, cmd heading: 233.461221 deg, new cmd heading: 233.495227 deg. Bh~:%HeadingCmd: 4.075261 target range: 108.338417 and range: 108.90 m.h%h@h)*h)"h) h)g)f)f1f5#Bd1d1d9jd9Zd=`Z.@mBɢm<)mSC m0>iq)u5.,Ȗh?AlYri))-|<)IiMYiU3H UO@<] wI]k@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274101 %9@! @)@-O0@)9DU?AzDU?AE] E]E](EY"E]1A;*E]:VE]c44ZEYae@ae@ae@ae@^Am [RӻI I O >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525908y5,|h?AAY5.By5IbDEVDEy}|%}6=ٔyQ-}>9Y=FyCEE>Q 5\5.貊?Q 9\5[)խBYyQ I@XDI-:i:5\5yLBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.34 m.Rh9Zh9 ProNav: ac range: 108.338417 m, nav range: 95.061440 m, bearing: 229.846510 deg, approach rate: -0.687313 m/s, LOS rate: 0.023491 deg/s, cmd heading: 233.517747 deg, new cmd heading: 233.549292 deg. Bh:HeadingCmd: 4.076204 target range: 108.338417 and range: 108.90 m.hDp@h*h"h hgfffddd jd Zd @B0@=Bɢ='<)9 =P=i9)EBBIBBBBBBBol;B5+Ea9@ @@4@EDAT read: 05:22:41.5097 LVL= 31728, 32753, 32562, 32755, AGC= 70, IDX= 269,-0.29, 1.226,-0.487, 1.593, 1.141, PHS= 0.187,-1.583, 0.408, RAW= 155.8, 10.5, CAL= 155.7, 11.4, ROT= 354.3, -11.4 eYgot valid direction response: 05:22:41.5097 LVL= 31728, 32753, 32562, 32755, AGC= 70, IDX= 269,-0.29, 1.226,-0.487, 1.593, 1.141, PHS= 0.187,-1.583, 0.408, RAW= 155.8, 10.5, CAL= 155.7, 11.4, ROT= 354.3, -11.4 PDAT read: Bearing 24.7, -10.7 (Local) ~Local bearing/azimuth received: Bearing 24.7, -10.7 (Local) ԡDAT read: Range 11 to 50 : 98.4 m (Round-trip 131.3 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.975424,-0.097360,0.197657]Fpublishing direction and range infoy p6?6츿g4L?YB{2 )FI|?>iʿ`>.@f;>'-@ %K>)@I%K7̫?D%w{i?gB?  ?);I)˽i%K T****** received valid address query ******^A- = R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode. Em  Em Em 'Ei "Em sH;*Em :VEm '4ZEi BEm G;,Oh?Aɰ^u@^Iށ@^"c=ٱ^v jAHRS rotation from veh to nav: [[-0.607430,0.790597,0.077366],[-0.792429,-0.596253,-0.128607],[-0.055547,-0.139427,0.988673]]^H`p`L?@Bγ?@[ 5vp5?i^u@I^_;\Y%(By%Iԙ]*DAT read: user:393> eBDAT read: Tx time:05:22:42.9243 e$Ping request sent.e99Y9==Fy=CEE~[;EE>yQ 5\5}bײ?Q 9\5})}ЭBY -?Q E:yzQ I@}bDI}lIgBi-xBi-7?i->gi-Bi-Bi-Ia@U addTargetRange:: Added new target pos. range: 98.400002 m, deltaT: 16.388126 s, deltaX: -10.500000 m, approachRate: -0.640708 m/s, rangeRepo size: 4  Added new target pos. range: 97.894035 m, bearing: 228.534728 deg, lat: 36.779386 deg, lon: -121.859689 deg, deltaT: 16.388126 s, deltaX: -10.444382 m, approachRate: -0.637314 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 97.89 m.RhZh ProNav: ac range: 97.894035 m, nav range: 94.797447 m, bearing: 229.863538 deg, approach rate: 0.000000 m/s, LOS rate: 0.023491 deg/s, cmd heading: 233.549303 deg, new cmd heading: 233.583438 deg. BhHeadingCmd: 4.076800 target range: 97.894035 and range: 98.40 m.h%u@h*h"h hgfffBdddjdX@Zdl?MBɢM >k<)Q Ul=iQ)U:Ai a 9@  @ @ /@ Dm=Dm%=Eu Eu Eu&Eq"Euy>;*Eu:VEu4ZEqa}@a}@a}@a}@ԉ^AΒchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502695AIIO ?E,Xi?AJpu@Jށ@Ja=ٱJK RAHRS rotation from veh to nav: [[-0.607476,0.790725,0.075678],[-0.792438,-0.596681,-0.126545],[-0.054907,-0.136843,0.989070]]JH rpM?_?[@2`u?iJpu@IJN_;JCY ByIbDVDNyͼ%=ٔćQ->9 Y = Fy CE RE>Q 5\5?Q 9%\5)ʭBY!y%|Q I%@oDI+;i7;>\5y-=Bɮ15 EAAAEAABM>BMCBMIBMBBM =BIBMDBMrl;BM@+Ejhq}DNOT Ignoring new targets: 97.89 m.RhN9ZhN9 ProNav: ac range: 97.894035 m, nav range: 94.383583 m, bearing: 229.875796 deg, approach rate: -0.732172 m/s, LOS rate: 0.021781 deg/s, cmd heading: 233.583426 deg, new cmd heading: 233.620361 deg. Bh*o:HeadingCmd: 4.077445 target range: 97.894035 and range: 98.40 m.hmz@h*h"h hgfffdddjdZd{?Bɢ]eV<)Y ]|=iY)eGtAHRS rotation from veh to nav: [[-0.607690,0.790517,0.076126],[-0.792320,-0.596933,-0.126093],[-0.054237,-0.136942,0.989093]]2H2rK?@|?Z @#īMদ?i2yu@I2#_;2C @)B lABDDDF$lAiFIDDIHiJkA J H)LL NkANyLLRCR pAIP)PiP)TIVkAVT TXZlAZiXXi\\)\ \I\Y\YbByfIԱi-Mb@Mb@Mb@)))) )9-gfffff?Zd;y&1?Y-33?y-y-`e<)-3@ -MA)-rA)Y-AbDEVDEkyU?%U#=ٔ]MQ-]>9YYY=eFyeCEeEe>iQ 5u\5m?Q 9u\5m)mƭBY}3?Q E}:y}Q I}@mzDImL:im:m C\5y5Bɮ2A Ejh DNOT Ignoring new targets: 97.89 m.Rh_9Zh_9M ProNav: ac range: 97.894035 m, nav range: 94.031105 m, bearing: 229.883817 deg, approach rate: -0.690685 m/s, LOS rate: 0.015777 deg/s, cmd heading: 233.620364 deg, new cmd heading: 233.644519 deg. BhM?-:UHeadingCmd: 4.077866 target range: 97.894035 and range: 98.40 m.hU}@hQ*hQ"hQ hQgQfQfYf]BdYdadjdZdg,?uBɢu1<)q }u@B؁@B$Q=ٱBO JAHRS rotation from veh to nav: [[-0.608089,0.790081,0.077464],[-0.792215,-0.597632,-0.123414],[-0.051212,-0.136414,0.989327]]BHvuWH?@Գ? Y t8v?iB>u@IB^;@XB>BCBIBBB =BADBDBl;BP+EY-By-I=A9bDEVDE:2y}1"%}=ٔ}bQ-}>9Y=FyCEX>E>Q 5\5?Q 9\5 )­BYyQ I@DI9:it:G\5yɮ7AB*** querying acoustic contact ***i ijhquDNOT Ignoring new targets: 97.89 m.Rh}79Zh}79 ProNav: ac range: 97.894035 m, nav range: 93.663147 m, bearing: 229.892344 deg, approach rate: -0.691521 m/s, LOS rate: 0.016088 deg/s, cmd heading: 233.644516 deg, new cmd heading: 233.670197 deg. Bh0:HeadingCmd: 4.078314 target range: 97.894035 and range: 98.40 m.h@h*h"h hgfffdddjdZd@?UBɢU-<)Y ]5\,ui?A4u@ׁ@nJ=ٱn  -AHRS rotation from veh to nav: [[-0.608243,0.789837,0.078727],[-0.792212,-0.597897,-0.122142],[-0.049402,-0.136661,0.989385]]Hv`XF?s'?@Y!`D@1K@~ ?i4u@I(^;CYyIiMb@Mb@Mb@ 9ʡE?ʡEQ?Y-2?y-u<jAI@ n@)AYAbDVDk1y%9=ٔ_Q->9Y=FyCEE>Q 5\5u?Q 9\5)BY3?Q E:y!Q I@DI ;iq ;}K\5y&BɮAEjh DNOT Ignoring new targets: 97.89 m.Rh.:Zh.:% ProNav: ac range: 97.894035 m, nav range: 93.354057 m, bearing: 229.906594 deg, approach rate: -0.733286 m/s, LOS rate: 0.033918 deg/s, cmd heading: 233.670197 deg, new cmd heading: 233.713087 deg. Bh%8:-HeadingCmd: 4.079063 target range: 97.894035 and range: 98.40 m.h-@h1*h1"h1 h1g1f1f9f=Bd9d9dAjdAZdE]@Bɢ>,<) c,ʨi?ABGNhAXr۷9rhAYr2Aɰ49Y=FyCEݱ9E>Q 5\5ft?Q 9 \5)BY yQ I@DI;iy;N\5yɮAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518798jhDNOT Ignoring new targets: 97.89 m.Rh:Zh:  ProNav: ac range: 97.894035 m, nav range: 93.082451 m, bearing: 229.919165 deg, approach rate: -0.673716 m/s, LOS rate: 0.031273 deg/s, cmd heading: 233.713091 deg, new cmd heading: 233.750913 deg. Bh :HeadingCmd: 4.079723 target range: 97.894035 and range: 98.40 m.h@h*h"h hg!fAfIfIdQdYdYjdYZd]s@Bɢ/<) BBIBBB =BBBl;BW+Ei^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772343ԩ AI Ii I O >8?j,i?A2u@2ہ@2<=ٱ2;6 :AHRS rotation from veh to nav: [[-0.607968,0.789708,0.082073],[-0.792624,-0.597694,-0.120455],[-0.046070,-0.138286,0.989320]]2HytIE??,]@O ־mY ?i2u@I2Y^;0YBByBI9iMb@Mb@Mb@ 9(\?&1X9v?Y.?yн<Av@ A)+ AY=AE EE'E"Ea?;*E;:VE'4ZEBEa2EaJE5'9)Y)=-Fy5CE5O:E5>9Q 5E\5=b?Q 9E\5=N)=­BYM40?Q EM:yMnQ IM@=DI=H:i=<:=R\5yBɮBAEjh15DNOT Ignoring new targets: 97.89 m.Rh=6:Zh=6:M ProNav: ac range: 97.894035 m, nav range: 92.792892 m, bearing: 229.936343 deg, approach rate: -0.671846 m/s, LOS rate: 0.039982 deg/s, cmd heading: 233.750903 deg, new cmd heading: 233.802599 deg. BhM:UHeadingCmd: 4.080625 target range: 97.894035 and range: 98.40 m.hU{@hQ*hQ"hQ hYgYfYfYfeDBdadadajdaZdm@ @颕Bɢq*9<) O%q,:i?A2qu@2 @25=ٱ2՚ :AHRS rotation from veh to nav: [[-0.607505,0.789916,0.083491],[-0.793077,-0.597329,-0.119277],[-0.044347,-0.138676,0.989344]]2HpF?_?@`@Q鈾@$?i2qu@I2^;2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274780YJByJIbDRVDRk1yZ]μ%Zc=ٔ^❻Q-^>9\Y`=bFybCEb:Eb>dQ 5j\5f$T?Q 9j\5f)fŭBYlyncQ In@fDIfK ;if;fU\5ypɮvgAtjh DNOT Ignoring new targets: 97.89 m.Rh#G:Zh#G:- ProNav: ac range: 97.894035 m, nav range: 92.548660 m, bearing: 229.950815 deg, approach rate: -0.732620 m/s, LOS rate: 0.043525 deg/s, cmd heading: 233.802594 deg, new cmd heading: 233.846123 deg. Bh-:-HeadingCmd: 4.081385 target range: 97.894035 and range: 98.40 m.h5@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE`l @ԩBɢ.,<) i=m˿=7>=R.@=M>=.@ =d>)=n@I=d99=w@? L~>?u ? =[j"?)=NI=Vi=d99] T****** received valid address query ******] R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.A I I O >! Ow,i?AB>BCBBB =BBBl;Bh+EBmCBmCBmCBm =Bm =Cm26((Vu@V@V.=ٱV@[ nAHRS rotation from veh to nav: [[-0.606914,0.790270,0.084435],[-0.793624,-0.596914,-0.117705],[-0.042618,-0.138447,0.989452]]VH@k`I??^e@!ҥ @?iVu@IVY^;VCYvByvIbD%VD%02y5R=%5C=ٔ5Q-5>9YYY=]Fy]CEe:Ee>iQ 5u\5mB?Q 9u\5m5%)mȭBYqyuWQ I@mDIm<) =i) <iĄi% %t-;%b1I%@I!u{>iu>*DAT read: user:394> BDAT read: Tx time:05:22:46.6743 $Ping request sent.}y},4i?A2(u@2d@2'=ٱ2 :AHRS rotation from veh to nav: [[-0.606206,0.790722,0.085282],[-0.794261,-0.596421,-0.115893],[-0.040775,-0.137992,0.989594]]2H fM?յ?j2 ि`?i2(u@I2^;2CYBByFIHJAiuMb@Mb@Mb@qqqq q9uK7?S㥛 ףp= ?Yu)?yu$uQ8=uAq udA)u AqYuAbDVDNy1%C=ٔQ->9 ?Y ?=FyCE;E>Q 5\51?Q 9\5+*)ЭBYd-?Q E:yQ I@DI. ;i ;]\5yɮAB*** querying acoustic contact ***i ijh  DNOT Ignoring new targets: 95.01 m.Rhy:Zhy:% ProNav: ac range: 95.014259 m, nav range: 92.828224 m, bearing: 229.342759 deg, approach rate: -0.698464 m/s, LOS rate: 0.054595 deg/s, cmd heading: 233.903680 deg, new cmd heading: 233.969100 deg. Bh%;-HeadingCmd: 4.083531 target range: 95.014259 and range: 95.50 m.h-I@h)*h)"h) h)g1QfffXBdddjdZd[?M Bɢ 7<) V,3j?ABu@B@B% =ٱBr JAHRS rotation from veh to nav: [[-0.605436,0.791225,0.086083],[-0.794933,-0.595846,-0.114229],[-0.039088,-0.137589,0.989718]]BH _Q? ?p`,>@h ī?iBu@IB*^;BCYRByRIbD^VD^ 3ybd;%f\=ٔf”Q-f>9j"?Yj"?=jFyjCEn3;En>pQ 5r\5rS!?Q 9v\5r.)r׭BYtyvQ Iv@rěDIr :ir:rF`\5y~Bɮ~A~Ejh!%DNOT Ignoring new targets: 95.01 m.Rh-o:Zh-o:= ProNav: ac range: 95.014259 m, nav range: 92.578690 m, bearing: 229.362165 deg, approach rate: -0.671731 m/s, LOS rate: 0.052383 deg/s, cmd heading: 233.969086 deg, new cmd heading: 234.027464 deg. Bh=;EHeadingCmd: 4.084550 target range: 95.014259 and range: 95.50 m.hE@hA*hA"hA hAgIfIfIfQdQdQdQjdQZd]ly?=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757793uBɢu6<)q u@B9B=IB=BB= =B9B=DB=l;B=y+E^AM*:!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009218A .AI I O >},,j?A8ɰ:;fv@f@f=ٱfN vAHRS rotation from veh to nav: [[-0.604268,0.792109,0.086160],[-0.795885,-0.594922,-0.112399],[-0.037774,-0.136493,0.989921]]fH )V@X?@?w 4Ƽ`Wxm?ifv@If ^;dY%ByIiMb@Mb@Mb@ 9Gz?~jtÿ~jt?Yp?yD=A@ zA)+ AYA E EE'E"E1A;*Ej:VE'4ZEBEa2EaJEL9 ?Y ?=FyCEU;E>Q 5\5B?Q 9\53)BY"?Q E:yQ I@ΛDI:i:Td\5yBɮAEjh9=DNOT Ignoring new targets: 95.01 m.RhE:ZhE:Iu ProNav: ac range: 95.014259 m, nav range: 92.288994 m, bearing: 229.392925 deg, approach rate: -0.613905 m/s, LOS rate: 0.065389 deg/s, cmd heading: 234.027471 deg, new cmd heading: 234.120040 deg. Bhu3;}HeadingCmd: 4.086165 target range: 95.014259 and range: 95.50 m.h}@hy*hy"hy hygfffBdddjdZd@k?BɢeA<)! %=i)a<iIi eY;7I@I Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261056y9@ @@@@@cAԡ ^A A% >A% >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512377AU ؟AIY Ii O} >,EHj?A2*v@2!@2=ٱ2I :AHRS rotation from veh to nav: [[-0.603132,0.792947,0.086416],[-0.796815,-0.594030,-0.110517],[-0.036300,-0.135514,0.990110]]2HL_?a?JJ``X?i2*v@I2^;2CYB$ByBI LNAbDVVDV:y^ܻ%^U=ٔ^{Q-b>9b"?Yb"?=bFybCEf};Ef>hQ 5n\5j?Q 9n\5j7)jBYlynQ Ir@j՛DIj:ij:jg\5ytɮvAtjhDNOT Ignoring new targets: 95.01 m.Rh#:Zh#:- ProNav: ac range: 95.014259 m, nav range: 92.051971 m, bearing: 229.418035 deg, approach rate: -0.638511 m/s, LOS rate: 0.067816 deg/s, cmd heading: 234.120033 deg, new cmd heading: 234.195555 deg. Bh-*:;5HeadingCmd: 4.087483 target range: 95.014259 and range: 95.50 m.h5̂@h1*h1"h9 h9g9f9f9fAdAdAdAjdZd?5Bɢ5hz><)1 ==i9)=V<99i=U⁼iea e|E;ms5Im̂@IiԉE EE*E"EsH;*E:VE(N4ZEa@a@a@a@9@ @@/@ԩ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764742^A!Ai Iy I O >B >B CB IB BB B B B /m;B +E $,aj?A2Lv@2'!@2=ٱ2jn :AHRS rotation from veh to nav: [[-0.601505,0.794049,0.087623],[-0.798108,-0.592522,-0.109273],[-0.034849,-0.135661,0.990142]]2H`?h?@rn?@@Kס`S]>?i2Lv@I2(^;2CYbBybIbDjVDjk1yr%rH=ٔvoiQ-v>9tYx=zFyzCEz;Ez>|Q 5\5~?Q 9 \5~;)~BY y Q I @~ޛDI~:i~_:~4k\5yBɮAEjh9EDNOT Ignoring new targets: 95.01 m.RhE:ZhM:] ProNav: ac range: 95.014259 m, nav range: 91.797333 m, bearing: 229.444818 deg, approach rate: -0.624784 m/s, LOS rate: 0.065899 deg/s, cmd heading: 234.195548 deg, new cmd heading: 234.276122 deg. Bh]4;eHeadingCmd: 4.088890 target range: 95.014259 and range: 95.50 m.he/؂@ha*ha"ha hagafififididqdqjdqZdu`:@颥Bɢ#,<) AHRS rotation from veh to nav: [[-0.600251,0.794932,0.088212],[-0.799119,-0.591482,-0.107506],[-0.033284,-0.135022,0.990283]]6H A5@p? ?a`l }` @fHf?i6gv@I6 ^;6CYF'ByFIi%Mb@Mb@Mb@!!!! !9%V-?(\ſ~jt?Y%?y%.!%A%@ %A)!!Y!15@AbDVDky\$=%>=ٔ9Y=FyCEu;E>Q 5\5۱?Q 9\5h@)BYP#?Q E:y=Q I@DI` ;i ;n\5yɮAB*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 95.01 m.Rhʯ:Zhʯ:- ProNav: ac range: 95.014259 m, nav range: 91.528641 m, bearing: 229.477849 deg, approach rate: -0.623271 m/s, LOS rate: 0.076844 deg/s, cmd heading: 234.276117 deg, new cmd heading: 234.375500 deg. Bh-R;5HeadingCmd: 4.090624 target range: 95.014259 and range: 95.50 m.h5e@h9*h9"h9 h9g9f9fAfEBdAdAdIjdIZdMR@}Bɢ}8<)y } /,^j?APr[v@r=@r==ٱr checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772877  AHRS rotation from veh to nav: [[-0.598753,0.795844,0.090148],[-0.800302,-0.590012,-0.106781],[-0.031792,-0.136081,0.990187]]rH(w??@@aU Gk?ir[v@Ir9_;pY"By%IbD5VD5kyEѼ%ER=ٔE5{Q-M>9IYI=MFyMCEU;EU>YQ 5e\5]˱?Q 9e\5]vD)] BYaymQ Im@]DI]k:i]b:]_r\5y}Bɮ}A}EjhDNOT Ignoring new targets: 95.01 m.Rh:Zh: ProNav: ac range: 95.014259 m, nav range: 91.285408 m, bearing: 229.507603 deg, approach rate: -0.623281 m/s, LOS rate: 0.076449 deg/s, cmd heading: 234.375510 deg, new cmd heading: 234.465011 deg. BhQ;HeadingCmd: 4.092186 target range: 95.014259 and range: 95.50 m.h1@h*h"h hgfffdddjdZd q@Bɢ ɛ)<)  `bBBIBBB =BBBm;B,EBDAT read: Rx Time:05:22:49.2023 TRx dataTimestamp_ set to:1761542570.624183checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025479! A9 I I O >V,&j?A2v@2^O@2BG<ٱ29 :AHRS rotation from veh to nav: [[-0.597080,0.797038,0.090694],[-0.801605,-0.588536,-0.105141],[-0.030425,-0.135478,0.990313]]2HFV?`7?ྦ`J꺿 '@[W?i2v@I25_;0YB%ByBIbE-c44jE-c44rE-Jv/EZ EZEZ)EX"EZy>;*EZ:VEZFA4ZEXBEZS9Y=FyCE;E>Q 5\5?Q 9\5H)BY?Q E:yQ I@DI ;iC ;v\5y ɮ pA jh)5DNOT Ignoring new targets: 95.01 m.Rh=Կ:Zh=Կ:M ProNav: ac range: 95.014259 m, nav range: 91.030098 m, bearing: 229.542833 deg, approach rate: -0.606004 m/s, LOS rate: 0.083854 deg/s, cmd heading: 234.465013 deg, new cmd heading: 234.570996 deg. BhM1f;UHeadingCmd: 4.094036 target range: 95.014259 and range: 95.50 m.hUX@hQ*hQ"hQ hQgYfYfYf]BdadadajdaZde @颕Bɢjt+<) Qԁ  DAT read: 05:22:49.2023 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402,-0.29, 2.605, 0.937, 2.983, 2.540, PHS= 0.167,-1.558, 0.398, RAW= 156.2, 10.7, CAL= 156.2, 11.8, ROT= 353.8, -11.8  Ygot valid direction response: 05:22:49.2023 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402,-0.29, 2.605, 0.937, 2.983, 2.540, PHS= 0.167,-1.558, 0.398, RAW= 156.2, 10.7, CAL= 156.2, 11.8, ROT= 353.8, -11.8  PDAT read: Bearing 26.0, -9.7 (Local)  ~Local bearing/azimuth received: Bearing 26.0, -9.7 (Local)  DAT read: Range 11 to 50 : 92.9 m (Round-trip 123.9 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.973142,-0.105717,0.204496] Fpublishing direction and range infoy  ##? dTErG,?Y ̹B ) BI +>i lǿ > !z.@ t;?> !z.@ BR>) e@I BR E&^?49?޺%? !?) B?I iݽi BR 5 T****** received valid address query ******5 R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.>,kj?Aɰ2v@2c@2<ٱ2 :AHRS rotation from veh to nav: [[-0.595118,0.798221,0.093151],[-0.803117,-0.586549,-0.104707],[-0.028941,-0.137124,0.990131]]2H5 ?ط?! κ ԢF '?i2v@I2B"_;2CYFByFI Na9U ?Y} ?=}FyCEa;E>Q 5\5?Q 9\5yL)BYyhQ I@DI&22@R##? dTErG,?ZiiݽbiBRjLMUWQJ/s1@Z=iO俫ݵEߞ*?2i:iEn"i6?*iUUBiBi6?iViԥBiBi @ addTargetRange:: Added new target pos. range: 92.900002 m, deltaT: 3.782895 s, deltaX: -2.599998 m, approachRate: -0.687304 m/s, rangeRepo size: 4  Added new target pos. range: 92.429565 m, bearing: 228.983577 deg, lat: 36.779368 deg, lon: -121.859682 deg, deltaT: 3.782895 s, deltaX: -2.584694 m, approachRate: -0.683258 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 92.43 m.RhZh ProNav: ac range: 92.429565 m, nav range: 90.786476 m, bearing: 228.994448 deg, approach rate: 0.000000 m/s, LOS rate: 0.083854 deg/s, cmd heading: 234.570990 deg, new cmd heading: 234.674564 deg. BhHeadingCmd: 4.095844 target range: 92.429565 and range: 92.90 m.h '@h *h "h  h g)f1f1f1d1d9d9jd=9W@Zd=?E EE%E"EB;*E>:VE 4ZEa@a@a@a@ Bɢ8< j>_C) -ԀGi)=yI'@Ia>i!>A@A @A@E4@IA}>A}>*DAT read: user:395> %BDAT read: Tx time:05:22:50.4243 %$Ping request sent.-B >B B IB BB =B B DB Sn;B >,E i,Hj?A2v@22v@2,<ٱ2 :AHRS rotation from veh to nav: [[-0.593324,0.799346,0.094930],[-0.804494,-0.584814,-0.103835],[-0.027484,-0.137978,0.990054]]2H??UM?j˶``$@G`?i2v@I2n^;2CԱYByIbD VD 2y5恼%=;=ٔ=?[Q-=>9AYA=EFyECEEˬ;EM>IQ 5e\5M񗱊?Q 9e\5MP)M%BYayeBQ Im@MDIM8W;iM:M:}\5}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250681y}Bɮ}A!EjhDNOT Ignoring new targets: 92.43 m.Rhػ:Zhػ: ProNav: ac range: 92.429565 m, nav range: 90.526360 m, bearing: 229.028153 deg, approach rate: -0.631897 m/s, LOS rate: 0.082114 deg/s, cmd heading: 234.674563 deg, new cmd heading: 234.775968 deg. Bhja;HeadingCmd: 4.097614 target range: 92.429565 and range: 92.90 m.h@h*h"h hgfffdddjdZd4? #Bɢ z;)   i )<i%|ig 0;QfI@I!@ @@/@E  EE&E"ED;*E:VE4ZEBEϚA- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502611y 㒾,y j?AY=By=IiMb@Mb@Mb@ 9$C?oʡſ~jt?Y?y-<"A@ A)Y AbD VD  y%%L=ٔ%Q-%>9)Y)=-Fy-CE-E->1Q 5\5ㆱ?Q 9\5T)+BY/ ?Q E:y3Q I@DI;i:ր\5yBɮ]A EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 92.43 m.RhD:ZhD: ProNav: ac range: 92.429565 m, nav range: 90.272690 m, bearing: 229.058449 deg, approach rate: -0.617809 m/s, LOS rate: 0.073993 deg/s, cmd heading: 234.775977 deg, new cmd heading: 234.867121 deg. BhK;HeadingCmd: 4.099205 target range: 92.429565 and range: 92.90 m.h,@h*h"h hgff f Bd d djdZd?E&BɢENe;)A EpĽiA)MԹ z,k?A$$rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006832YByI @A bD VD:2y ]<%U=ٔQ->9Y=FyCEE>Q 5\5w?Q 9\5X)1BYyQ I@DI:i,:\5yɮHAjhDNOT Ignoring new targets: 92.43 m.Rhh:Zhh: ProNav: ac range: 92.429565 m, nav range: 90.043983 m, bearing: 229.085913 deg, approach rate: -0.615103 m/s, LOS rate: 0.074053 deg/s, cmd heading: 234.867120 deg, new cmd heading: 234.949722 deg. BhIK;HeadingCmd: 4.100646 target range: 92.429565 and range: 92.90 m.h~8@h*h"h hgf f f d ddjdZd`?E)BɢEzb;)A EĽiI)MWBqBuIBuBBu =BqBqBun;BuV,EB5CB5CB5ēCB5 =B5 =C5V4^Am:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258654IIO>! d,0k?A6Xw@6M@6G<ٱ6TEB EBEB&E@"EB8;*EB:VEB4ZE@BEB׏9Y=FyCEIs<E>Q 5\58g?Q 9\5\)6BY?Q E:yQ I@DIC:i:\5yْBɮLAEjhDNOT Ignoring new targets: 92.43 m.Rh:Zh:} ProNav: ac range: 92.429565 m, nav range: 89.795563 m, bearing: 229.111774 deg, approach rate: -0.615136 m/s, LOS rate: 0.064214 deg/s, cmd heading: 234.949710 deg, new cmd heading: 235.027509 deg. Bh}G0;HeadingCmd: 4.102004 target range: 92.429565 and range: 92.90 m.hC@h*h"h hgfffBdddjdZd|?u,BɢudƩ:)y }(iy)} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762650,Jk?A6;tw@6@6T<ٱ6 >AHRS rotation from veh to nav: [[-0.587225,0.803081,0.101130],[-0.809123,-0.579005,-0.100361],[-0.022043,-0.140761,0.989798]]6H`ײ? ?V6:rr¿m?i6;tw@I6`^;6CYF܀ByFIbD% VD%2y5Ž%5P=ٔ5IYQ-=>99Y9=EFyECEEj;EE>IQ 5U\5M[W?Q 9U\5Ma)M;BYQy]yQ I]@M'DIM;iM;M\5yaɮeAajhDNOT Ignoring new targets: 92.43 m.Rh:Zh: ProNav: ac range: 92.429565 m, nav range: 89.553307 m, bearing: 229.136868 deg, approach rate: -0.614810 m/s, LOS rate: 0.063856 deg/s, cmd heading: 235.027520 deg, new cmd heading: 235.103004 deg. BhK/;HeadingCmd: 4.103322 target range: 92.429565 and range: 92.90 m.hiN@h*h"h hgfffdddjdZd@/BɢPB) ~$i)<iwi ]; -I iN@I QD@AzDE  EEE"EE;*E1:VEZEa@a@a@a@@ @@4@^AIIO (>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014718ԩ Bi Bi Bm IBm BBi Bi Bi Bm n;Bm _,E!,dk?Aɰ2܊w@2>@2Nz<ٱ24 :AHRS rotation from veh to nav: [[-0.586121,0.803833,0.101559],[-0.809953,-0.578066,-0.099074],[-0.020931,-0.140328,0.989884]]2H??`"@\ n`B ?i2܊w@I2_;2CTYZ̀ByZkIbDbVDbyjͤ%jQ=ٔn:Q-n>9pYp=rFyrDErf;Er>tQ 5z\5vG?Q 9z\5v?e)vABY|y~cQ I~@v.DIv;iv ;v{\5yӒBɮ 2A jh)5DNOT Ignoring new targets: 92.43 m.Rh5:Zh5:M ProNav: ac range: 92.429565 m, nav range: 89.311974 m, bearing: 229.161790 deg, approach rate: -0.616407 m/s, LOS rate: 0.063827 deg/s, cmd heading: 235.103007 deg, new cmd heading: 235.177975 deg. BhM7/;UHeadingCmd: 4.104630 target range: 92.429565 and range: 92.90 m.hU!Y@hQ*hY"hY hYgYfYfafadadadijdiZdm2@2Bɢۡ) DKi)i<!i%wvi%tm -;-/I-!Y@I)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267916@ @@4@E E E'E"E1A;*E:VE'4ZEBEs,/n~k?A2w@2Bɂ@2<ٱ2& :AHRS rotation from veh to nav: [[-0.585244,0.804377,0.102314],[-0.810617,-0.577321,-0.097980],[-0.019744,-0.140280,0.989915]]2HQs?`H1? jy67 b?i2w@I2f_;2CYBByFZI|i%Mb@Mb@Mb@!!!! !9%X9v?Mb{Gz?Y%?y%%#<%9A! !)%+ A!Y!bD=VD=0yM%MC=ٔU@9Q-U>9]"?Y]"?=]Fy]DE]+;E]>aQ 5m\5e37?Q 9m\5ei)eDBYuU!?Q Eu:yu^Q I}@e7DIe.;ie!.;e&\5yɮAjh)-DNOT Ignoring new targets: 92.43 m.RhUuI:ZhuuI: ProNav: ac range: 92.429565 m, nav range: 89.049271 m, bearing: 229.180941 deg, approach rate: -0.602217 m/s, LOS rate: 0.044032 deg/s, cmd heading: 235.177975 deg, new cmd heading: 235.235598 deg. Bh:HeadingCmd: 4.105636 target range: 92.429565 and range: 92.90 m.h^a@h*h"h hgfff^BdddjdZd w@5Bɢ) li)# <顙iti\ ;I^a@I!a@a @a@e4@aiiImAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771963@}=@}=Q^A D =D <E  E E +E "E =;*E >:VE [4ZE a @a @a @a @ԁ I I O >S, Ek?A2w@2T΂@2:j<ٱ2K >AHRS rotation from veh to nav: [[-0.584756,0.804677,0.102740],[-0.810999,-0.577011,-0.096641],[-0.018482,-0.139833,0.990003]]2H@R?@-M?`v o풿@?i2w@I2_;2CYFByFEIbBDAT read: Rx Time:05:22:52.9495 fTRx dataTimestamp_ set to:1761542574.404278fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023848YbD=VD=ky^%E=ٔmGQ->9Y=Fy DE:E>Q 5\5&?Q 9\5n)HBYyTQ I@?DI9:i1:ϕ\5y̒BɮAEUB*** querying acoustic contact ***iQ iQjhaeDNOT Ignoring new targets: 92.43 m.RheU:ZhmU: ProNav: ac range: 92.429565 m, nav range: 88.786972 m, bearing: 229.200075 deg, approach rate: -0.638319 m/s, LOS rate: 0.046702 deg/s, cmd heading: 235.235595 deg, new cmd heading: 235.293167 deg. Bh4;HeadingCmd: 4.106640 target range: 92.429565 and range: 92.90 m.hi@h*h"h hgfffdddjdZdc @%8Bɢ%1))) -͊i))M} ,1k?AE6 E6E6(E4"E6C;*E6:VE6c44ZE4BE6>9YYY=]Fy]DE]0:Ee>iQ 5u\5mO?Q 9u\5mt)mIBYu$?Q Eu:yuQ Iu@mIDIm:im:mʙ\5DAT read: 05:22:52.9495 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 421,-0.16, 2.371, 0.777, 2.675, 2.369, PHS= 0.105,-1.547, 0.262, RAW= 154.5, 13.5, CAL= 154.8, 15.2, ROT= 355.2, -15.2 Ygot valid direction response: 05:22:52.9495 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 421,-0.16, 2.371, 0.777, 2.675, 2.369, PHS= 0.105,-1.547, 0.262, RAW= 154.5, 13.5, CAL= 154.8, 15.2, ROT= 355.2, -15.2 PDAT read: Bearing 29.7, -7.8 (Local) ~Local bearing/azimuth received: Bearing 29.7, -7.8 (Local)  DAT read: Range 11 to 50 : 90.8 m (Round-trip 121.1 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.961632,-0.080751,0.262189]Fpublishing direction and range infoy㏰?o?;f$?YB )HI= =iƿ$>,@:Fq>,@ ԇ>)a@Iԇ"?uu? t? 3?)aqIiԇ=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.yȒBɮ}iA}'Eiik?AJiBRiBjib@bZU@QN\.%鏰7@R㏰?o?;f$?Zibiԇj¿٘KЬ!Qy@t6@ZZ=2D}\IF5A]H?2i:iX"iz>?*i~BiBii>giiBi*@ addTargetRange:: Added new target pos. range: 90.800003 m, deltaT: 3.779909 s, deltaX: -2.099998 m, approachRate: -0.555569 m/s, rangeRepo size: 4 % Added new target pos. range: 90.340446 m, bearing: 231.663934 deg, lat: 36.779368 deg, lon: -121.859689 deg, deltaT: 3.779909 s, deltaX: -2.089119 m, approachRate: -0.552690 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 90.34 m.Rh-Zh) ProNav: ac range: 90.340446 m, nav range: 88.977493 m, bearing: 229.482536 deg, approach rate: 0.000000 m/s, LOS rate: 0.046702 deg/s, cmd heading: 235.293159 deg, new cmd heading: 235.361537 deg. BhHeadingCmd: 4.107834 target range: 90.340446 and range: 90.80 m.h`s@h*h"h hgfff Bdddjd@3V@Zd4?M  BDAT read: Tx time:05:22:54.2242  $Ping request sent. Q,)k?AHbsw@b ؂@b>)<ٱb AHRS rotation from veh to nav: [[-0.583821,0.805220,0.103797],[-0.811729,-0.576439,-0.093886],[-0.015766,-0.139068,0.990157]]bH@\?s? @/r@$@^?ibsw@Ib_;bCY-By$II=)R=bDVDܲE  EE*E"EC;*Ed:VE(N4ZEa @a @a @a @y5g!%=D=ٔ=RQ-=>9AYA=EFyEDEe:Em>iQ 5u\5m?Q 9}\5my)mKBYyy}Q I}@mQDIm:im:mw\5y’BɮwA&EjhDNOT Ignoring new targets: 90.34 m.RhD,:ZhD,: ProNav: ac range: 90.340446 m, nav range: 88.707909 m, bearing: 229.496944 deg, approach rate: -0.702395 m/s, LOS rate: 0.037652 deg/s, cmd heading: 235.361543 deg, new cmd heading: 235.404897 deg. Bh:EHeadingCmd: 4.108591 target range: 90.340446 and range: 90.80 m.hMy@hI*hI"hI hIgQfQfYfYdddjdZd?额?Bɢ. ) i)<顡ioi, ;$Iy@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251506I@Q @Q@U/@QB>BBSIBBB =BBBn;Bb,E ^A} }UI I O >,k?A6w@6݂@6=m<ٱ6% >AHRS rotation from veh to nav: [[-0.583256,0.805395,0.105597],[-0.812159,-0.575898,-0.093485],[-0.014480,-0.140287,0.990005]]6H ? b? 5ms?i6w@I66_;6CYF{ByJIbDRVDR:yZ%Zh=ٔZfoQ-^>9\i`I`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503185Y\=fFyfDEj;Ej>lQ 5r\5n?Q 9r\5nH})nMBYpyvQ Iv@nYDIn;in;n\5yxɮz6Ax|jh!%DNOT Ignoring new targets: 90.34 m.Rh-:Zh-:= ProNav: ac range: 90.340446 m, nav range: 88.483459 m, bearing: 229.508897 deg, approach rate: -0.646781 m/s, LOS rate: 0.034534 deg/s, cmd heading: 235.404901 deg, new cmd heading: 235.440853 deg. Bh=:EHeadingCmd: 4.109218 target range: 90.340446 and range: 90.80 m.hE~@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUJ?}ABɢ}ٱ)y /ƾi)5j;顁iFniG" ;1kI~@I1i@q @q@}/@ybEĀ'4jEĨ,4rE0E% E%E%(E!"E%g5;*E%:VE%c44ZE!BE%}ԁ H,l?Aɰ6+w@6ނ@68X<ٱ6* NAHRS rotation from veh to nav: [[-0.583163,0.805364,0.106348],[-0.812248,-0.575936,-0.092474],[-0.013226,-0.140308,0.990020]]6H`E?9?ne@3=?i6+w@I6^;4YVoByVIi5Mb@Mb@Mb@1111 195!rh?RQMbp?Y5l'?y5½15A5@ 5\A)5 A1Y5p A E49iYi=mFymDEu?9Eu>yQ 5\5}H簊?Q 9\5})}OBY/)?Q E:ywQ I@}bDI}@:i}:}<\5yBɮ_AjhDNOT Ignoring new targets: 90.34 m.Rh9Zh9 ProNav: ac range: 90.340446 m, nav range: 88.203293 m, bearing: 229.519453 deg, approach rate: -0.660814 m/s, LOS rate: 0.024976 deg/s, cmd heading: 235.440855 deg, new cmd heading: 235.472623 deg. Bh :HeadingCmd: 4.109773 target range: 90.340446 and range: 90.80 m.hB@h*h"h hgfffBdddjdZd-/?额DBɢ#) Ծi)&;顡ieli0 4;IB@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007952m9@i @i@m0@iԉe~GugAԹc9gAYΜAE EE)E"E<;*E:VEFA4ZEa-@a-@a-@a-@^AUIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258633K,|l?A:w@:@:C<ٱ:,1 FAHRS rotation from veh to nav: [[-0.582603,0.805660,0.107170],[-0.812669,-0.575515,-0.091390],[-0.011952,-0.140338,0.990032]]:H?vo? bj[e@=zV?i:w@I:^;:CY^YBybI dfAbDjVDjyr߽%rS=ٔvIWQ-v>9tYt=zFyzDEz:Ez>|Q 5\5~Wذ?Q 9\5~z)~QBY y lQ I @~jDI~:i~:~\5yɮ A5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 90.34 m.RhM9ZhM9] ProNav: ac range: 90.340446 m, nav range: 87.947372 m, bearing: 229.529037 deg, approach rate: -0.659101 m/s, LOS rate: 0.024754 deg/s, cmd heading: 235.472629 deg, new cmd heading: 235.501465 deg. Bh]:eHeadingCmd: 4.110276 target range: 90.340446 and range: 90.80 m.hea@ha*ha"ha hagifififidqdqdqjdqԹZdude?B9B9B=!IB=BB= =B9B9B=n;B=|,E颅FBɢE=  E= E= 'E9 "E= O6;*E= :VE= '4ZE9 BE= F9Y=Fy#DEG:E>Q 5\5)ư?Q 9\5΍)Y5?Q E:yPQ I@tDI:i3:\5yBɮA%EjhDNOT Ignoring new targets: 90.34 m.RhG9ZhG9 ProNav: ac range: 90.340446 m, nav range: 87.624306 m, bearing: 229.534246 deg, approach rate: -0.674744 m/s, LOS rate: 0.010919 deg/s, cmd heading: 235.501453 deg, new cmd heading: 235.517138 deg. Bh9HeadingCmd: 4.110549 target range: 90.340446 and range: 90.80 m.h@h*h"h hgfffҀBdddjdZd*@ IBɢ3 ϼ) Ii);iFhix %k;%I%@I)A@ @@1@i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014729^A 0A fAzA dA I9 II Oe >~,}Pl?A@6w@6H@6Li<ٱ6ږ >AHRS rotation from veh to nav: [[-0.581461,0.806147,0.109679],[-0.813516,-0.574500,-0.090232],[-0.009730,-0.141692,0.989863]]6HU?`?@RMbm탿"¿@?i6w@I6*^;6CYJKByJIRAARAAbDRVDRkyZ%^k=ٔ^BQ-^?9\Y`=bFyb'DEb:Eb?dQ 5j\5fT?Q 9n\5f)fRBYlynEQ In@f|DIf:if:f\5yrBɮv:Av.Ejh DNOT Ignoring new targets: 90.34 m.Rh[9Zh[9- ProNav: ac range: 90.340446 m, nav range: 87.378387 m, bearing: 229.538129 deg, approach rate: -0.755788 m/s, LOS rate: 0.011967 deg/s, cmd heading: 235.517135 deg, new cmd heading: 235.528816 deg. Bh-f:5HeadingCmd: 4.110754 target range: 90.340446 and range: 90.80 m.h5K@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE!"@uKBɢu')q }iy)}6;yyi}.{fE EE&E"E:;*E :VE4ZEa@a@a@a@i ~;' IK@I ԡ9@ @@0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266714^AB%>B!B%IB%gBB% =B!B%DB%o;B%,EBBBB =BCw3IaIyO>! ,.jl?A2Jw@2@2<ٱ2` >AHRS rotation from veh to nav: [[-0.581300,0.806215,0.110038],[-0.813641,-0.574455,-0.089382],[-0.008849,-0.141489,0.989900]]2H?q+?Y aᶿ P¿`C?i2Jw@I2^;0YFAByFIIJ8>)J4<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518773bDVVDVJ2ybN%bK=ٔb4Q-b>9dYd=fFyf+DEj:Ej>lQ 5r\5nS?Q 9r\5n4)lYpyrBQ Iv@nDIn;in;n,\5yzBɮz[AxjhDNOT Ignoring new targets: 90.34 m.Rh%L9Zh%L95 ProNav: ac range: 90.340446 m, nav range: 87.093674 m, bearing: 229.542614 deg, approach rate: -0.707028 m/s, LOS rate: 0.011174 deg/s, cmd heading: 235.528828 deg, new cmd heading: 235.542327 deg. Bh=e9HeadingCmd: 4.110989 target range: 90.340446 and range: 90.80 m.h9@h*h"h hgfffdddjdZd@颅NBɢ j) gi);顉iIdiD W;- I9@Iu9@q @y@}/@yE  EE'E"EG;*E:VE'4ZEBE)i , l?A Yr:ByrIi}Mb@Mb@Mb@yyyy y9}-?~jt{Gzt?Y}?5?y}}ף;y}@ }A)} AyY} AbDVD1y%<=ٔQ->9Y=Fy/DEE>Q 5\5?Q 9\5H)TBYK6?Q E:yQ I@DI7:i:\5yɮAjhDNOT Ignoring new targets: 90.34 m.Rh $9Zh $9 ProNav: ac range: 90.340446 m, nav range: 86.784981 m, bearing: 229.546506 deg, approach rate: -0.711758 m/s, LOS rate: 0.009005 deg/s, cmd heading: 235.542325 deg, new cmd heading: 235.554042 deg. Bh9%HeadingCmd: 4.111194 target range: 90.340446 and range: 90.80 m.h%掃@h!*h!"h! h!g)f)f)f-ԀBd1d1d1jd1Zd=`6 @ePBɢe~*)i m ii)m۩;iiimbiu };}dI}掃@IyqBDAT read: Rx Time:05:22:56.7462 TRx dataTimestamp_ set to:1761542578.185107checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024861-9@) @)@-/@)ԙDD<E EE(E"E77;*EV:VEc44ZEa@a@a@a@^Au8IIO > e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274707 ', l?Aɰ6w@6@6;ٱ6s >AHRS rotation from veh to nav: [[-0.580832,0.806216,0.112473],[-0.813996,-0.574096,-0.088459],[-0.006747,-0.142932,0.989709]]6H ,?˼?@ ^A`ˢ{`K¿@?i6w@I6^;6CLYR9ByRI Zp9Y=Fy3DEO:E>!Q 5-\5%ˇ?Q 9-\5%)%WBY)y5Q I5@%DI%:i%:%Q\5y=Bɮ=lA=-E]B*** querying acoustic contact ***iY iYjhamDNOT Ignoring new targets: 90.34 m.Rhmk 9Zhmk 9 ProNav: ac range: 90.340446 m, nav range: 86.511604 m, bearing: 229.549864 deg, approach rate: -0.711336 m/s, LOS rate: 0.008766 deg/s, cmd heading: 235.554045 deg, new cmd heading: 235.564152 deg. Bh9HeadingCmd: 4.111370 target range: 90.340446 and range: 90.80 m.hX@h*h"h hgfffdddjdZd @RBɢV )  i)h;B<AB>BBIBIBB =BBB:o;B,Ei`i ^;j IX@I9@ @@/@DAT read: 05:22:56.7462 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404,-0.07, 0.919,-0.699, 1.301, 0.908, PHS= 0.113,-1.562, 0.349, RAW= 156.5, 12.2, CAL= 156.7, 13.6, ROT= 353.3, -13.6 Ygot valid direction response: 05:22:56.7462 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404,-0.07, 0.919,-0.699, 1.301, 0.908, PHS= 0.113,-1.562, 0.349, RAW= 156.5, 12.2, CAL= 156.7, 13.6, ROT= 353.3, -13.6 PDAT read: Bearing 28.3, -8.8 (Local) ~Local bearing/azimuth received: Bearing 28.3, -8.8 (Local)  DAT read: Range 11 to 50 : 88.4 m (Round-trip 117.9 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.%^direction in FSK: [0.965323,-0.113400,0.235142]%Fpublishing direction and range infoy_g@?`E#?Y̰B )Il=iǿ!>.@^ Z> /@ s>)Q@Is{$'%?ě?I8I? #?)5[YI|is]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.^AU &IIO>) E=  E= E= )E9 "E= <;*E= :VE= FA4ZE9 BE= “AHRS rotation from veh to nav: [[-0.580943,0.806104,0.112703],[-0.813919,-0.574237,-0.088250],[-0.006421,-0.142999,0.989702]]2H ?`ڼ? @%`@LzM¿?i2w@I2"^;2C|*DAT read: user:397> %BDAT read: Tx time:05:22:58.0242 %$Ping request sent.%9 Y = Fy 9DE E >Q 5\5r?Q 9%\5k)YBY%:?Q E%:y%Q I%@DI ;i ;\5y)ɮ5A1iil?AJiBRiBji]@b9U@$#=Nk4@R_g@?`E#?Zi|bisj%E+Kt;."LP*NvY5@ZN+D俉{an?2ig:i!\"iU?*if^BiBiif^iiBi@ addTargetRange:: Added new target pos. range: 88.400002 m, deltaT: 3.780075 s, deltaX: -2.400002 m, approachRate: -0.634908 m/s, rangeRepo size: 4  Added new target pos. range: 87.952446 m, bearing: 229.834395 deg, lat: 36.779368 deg, lon: -121.859686 deg, deltaT: 3.780075 s, deltaX: -2.388000 m, approachRate: -0.631734 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 87.95 m.RhZh ProNav: ac range: 87.952446 m, nav range: 85.868279 m, bearing: 229.404834 deg, approach rate: 0.000000 m/s, LOS rate: 0.008766 deg/s, cmd heading: 235.564154 deg, new cmd heading: 235.578280 deg. BhHeadingCmd: 4.111617 target range: 87.952446 and range: 88.40 m.h]@h*h"h hgfffπBdddjdV@Zd?uUBɢu)q i);;顙i8m]i /;I]@IaU9@Q @Q@U/@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825ԁ ^Au Ա DzDIyIO>fa5,:l?AEJ EJEJ*EH"EJ9;*EJ:VEJ(N4ZEHaN@aN@aN@aN@ )lA#AlAi#I!I!i%kA %!)!) )-O)ґәӝpAIә)әiә)ԙIԥkAӥӥ4[F ԡԡԥkAԭ,iԩԩiթթ)թ ձIձYY0ByIbDVD0y oܼ%T=ٔQ->9Y=Fy=DEE>)!Q 55\5%5c?Q 95\5%)%ZBY9y9Q I=@%DI%+;i%:%W\5yEBɮEyAE5EjhiuDNOT Ignoring new targets: 87.95 m.RhuiZhui ProNav: ac range: 87.952446 m, nav range: 85.588379 m, bearing: 229.404722 deg, approach rate: -0.733161 m/s, LOS rate: -0.000294 deg/s, cmd heading: 235.578279 deg, new cmd heading: 235.577942 deg. BhNHeadingCmd: 4.111611 target range: 87.952446 and range: 88.40 m.hQ@h*h"h hgfffdddjdZd@? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510722MWBɢMdv)Q U=iQ)Ur;QQiU]=[i] ]5?;aIeQ@Ia9@ @@/@QB>BBIB:BB =BBBNo;B,Eԁ^A}  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.765335I I Ա O >c;,Rl?AFw@F@F;ٱF{ NAHRS rotation from veh to nav: [[-0.581838,0.805218,0.114400],[-0.813294,-0.575346,-0.086772],[-0.004051,-0.143528,0.989638]]FH`kY?KI?;i`6ӗp_¿ ?iFw@IF];FCY}5By}IbDVDy<%S=ٔEȻQ->9Y=FyADE7E>Q 5\5S?Q 9\5)\BY y Q I@DIn;i;\5ԙyɮTAEU EUEU(EQ"EU=;*EU:VEUc44ZEQBEU `mB,<. m?ABw@B@Bn1;ٱB NAHRS rotation from veh to nav: [[-0.582843,0.804221,0.116285],[-0.812580,-0.576364,-0.086705],[-0.002707,-0.145027,0.989424]]BH@`-?Ľ?qP2@-f<¿\?iBw@IB];BCYmABymIIu=)uY?iyI}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.267068iMb@Mb@Mb@ 9A`"? rh91Y1=5Fy=EDE=-@E=>AQ 5M\5EB?Q 9M\5E)E`BYM9?Q EU:yU-Q IU@EDIE ;iE ;El\5y]Bɮ]AYjhDNOT Ignoring new targets: 87.95 m.RhF8ZhF8 ProNav: ac range: 87.952446 m, nav range: 84.999832 m, bearing: 229.405774 deg, approach rate: -0.854317 m/s, LOS rate: 0.002713 deg/s, cmd heading: 235.578224 deg, new cmd heading: 235.581112 deg. BhL8HeadingCmd: 4.111666 target range: 87.952446 and range: 88.40 m.hŒ@h*h"h hgfff߀BdddjdZd`?颅[BɢO)  i)6;顩i Wi, J;[3IŒ@Iq@q @q@u@0@q!E] E]EYEY"E]y>;*E]:VEYZEYam@am@am@am@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519352I ^AU 0I I O >B B B IB 0BB B B B qo;B ,EڛH,$m?ABw@BJ܂@B0#:ٱBH bAHRS rotation from veh to nav: [[-0.583472,0.803662,0.116999],[-0.812132,-0.577083,-0.086122],[-0.001695,-0.145268,0.989391]]BH ͫ`??ww e[ (¿?iBw@IB];BCYj=BynIbDvVDv:y~吼%~_=ٔ~55Q->9Y=FyIDE A E >Q 5\5*4?Q 9\5)cBYy9Q I%@ȜDI:i:\5y)ɮ-A)MB*** querying acoustic contact ***iI iIjhQ]DNOT Ignoring new targets: 87.95 m.Rh]PE8Zh]PE8m ProNav: ac range: 87.952446 m, nav range: 84.734009 m, bearing: 229.406759 deg, approach rate: -0.725324 m/s, LOS rate: 0.002695 deg/s, cmd heading: 235.581120 deg, new cmd heading: 235.584084 deg. Bhu8uHeadingCmd: 4.111718 target range: 87.952446 and range: 88.40 m.h}1@hy*hy"hy hygyfyffdddjdZd@?颽\Bɢ") \i)TB;i]*UiS ;=I1@III@I @I@U4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.771482y^AM 7IIOM>bEEc44jEE64rEE8/E}  E} E} *Ey "E} <;*E} :VE} (N4ZEy BE} “w@RoՂ@RK I:ٱRgV ZAHRS rotation from veh to nav: [[-0.584152,0.803093,0.117506],[-0.811644,-0.577861,-0.085505],[-0.000767,-0.145321,0.989384]]RH`_?@?}㵿@!I¿ ?iR>w@IR];RCYbWBybIiMMb@Mb@Mb@IIII I9MX9v?kt rh?YM3?yM MC9yYy=}Fy}MDEE>Q 5\5N#?Q 9\5)iBY5?Q E:yQ I@ҜDI;i;H\5yBɮA4EjhMDNOT Ignoring new targets: 87.95 m.RhU!9ZhU!9e ProNav: ac range: 87.952446 m, nav range: 84.437782 m, bearing: 229.413291 deg, approach rate: -0.706844 m/s, LOS rate: 0.015642 deg/s, cmd heading: 235.584071 deg, new cmd heading: 235.603737 deg. Bhe+:HeadingCmd: 4.112061 target range: 87.952446 and range: 88.40 m.h@h*h"h hgfffBdddjdZdJ@颍^Bɢ ) ;i)k:顑i>Si a;NI@ԡII)dA=9@9 @9@=4@9@E=@E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274871^Ae 0:D u Wj>u ZC G hAI I  O% >M Q9M hAYM ?AEM  EM EM &EI "EM 8;*EM ;:VEM 4ZEI aU @aU @aU @aU @ɰU,3Wm?A2hw@2ς@2W繷ٱ2 _ :AHRS rotation from veh to nav: [[-0.584788,0.802569,0.117922],[-0.811186,-0.578580,-0.084983],[0.000022,-0.145354,0.989380]]2H?0?=ใ v<>¿?i2hw@I27];2CYB_ByBI HHbDR VDR2yZ =%ZW=ٔZQ-Z>9\Y\=^Fy^QDEb$Eb>dhQ 5j\5f?Q 9n\5f)foBYlynQ In@fڜDIfh-;ift.;f\5ypɮrAtjh DNOT Ignoring new targets: 87.95 m.Rh69Zh69% ProNav: ac range: 87.952446 m, nav range: 84.169388 m, bearing: 229.419393 deg, approach rate: -0.705356 m/s, LOS rate: 0.016088 deg/s, cmd heading: 235.603742 deg, new cmd heading: 235.622107 deg. Bh%0:HeadingCmd: 4.112381 target range: 87.952446 and range: 88.40 m.h@h*h"h hgfffdddjdZd@M_BɢMc)Q UmiQ)Uz:QQi]Qi]s ej;e]Ie@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5269469@ @@/@!B%>B!B%IB%:BB% =B!B!B%o;B%,E)^AEONAQzAUgAY  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779482A I I O >[,(qm?A2w@2Ȃ@2 ٱ2) :AHRS rotation from veh to nav: [[-0.585427,0.802087,0.118034],[-0.810725,-0.579299,-0.084485],[0.000613,-0.145153,0.989409]]2H`л? }7? v@ɠ D?^¿ =?i2w@I2];2CYvsByvIbD~VD~y =% F=ٔ 5Q->9Y=FyUDE~E>!Q 5-\5%Y?Q 9-\5%)%uBY1y5Q I5@%DI%:i%_:%8\59yEBɮEAEb,3m?A2ǚw@24Ȃ@2[kٱ2v> :AHRS rotation from veh to nav: [[-0.585462,0.802143,0.117476],[-0.810699,-0.579443,-0.083740],[0.000900,-0.144264,0.989539]]2H (??? ̊ o zM?@w¿@M?i2ǚw@I2`];2CYBByBIi Mb@Mb@Mb@     9 @5^I ?#~jS㥛?Y b0?y 㥽 /< A @ A)  A Y  AbD%VD%ky5=%5G=ٔ= 7Q-=>99Y9==Fy=YDEE6EE>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282868ԑIQ 5\5MD?Q 9\5M2)M}BY1?Q E:yQ I@MDIM9iM>Թ@ @@/@@ @ E EE)E"E:;*E:VEFA4ZEa@a@a@a@E DAT read: 05:23:00.5421 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 394,-0.02, 2.611, 1.033, 2.967, 2.616, PHS= 0.097,-1.538, 0.306, RAW= 155.9, 12.9, CAL= 156.3, 14.5, ROT= 353.7, -14.5 M Ygot valid direction response: 05:23:00.5421 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 394,-0.02, 2.611, 1.033, 2.967, 2.616, PHS= 0.097,-1.538, 0.306, RAW= 155.9, 12.9, CAL= 156.3, 14.5, ROT= 353.7, -14.5 U PDAT read: Bearing 29.8, -8.4 (Local) ] ~Local bearing/azimuth received: Bearing 29.8, -8.4 (Local) ^A] mM DAT read: Range 11 to 50 : 85.3 m (Round-trip 113.8 ms) speed 0.6 m/s M R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.962301,-0.106239,0.250380]] Fpublishing direction and range infoy  Iif+?x2=9?Y B     ) EI =i /Ŀ > X$.@ f> .@  >) @I    `|@?k2tN?N4/?  M ?) fI i0i   u T****** received valid address query ******u R****** received valid ping request ******B >B B IB SBB B B B o;B -EBBBB =BC49 A I I O > Querying Benthos address 50 with one ping in standard two-way mode.;h,Sm?AYnBynIIr!>)r=tvAbDzVDz:y%r=%%L=ٔ-Q-->9)Y)=5Fy5]DE5E5>YQ 5e\5]a㯊?Q 9e\5])]BYiyiQ Im@]DI]:i]:]X\5yuBɮuAiAiEtm?AJiEBRiEBjiE}@bEDjT@R,K"q?5@REIif+?x2=9?ZiEi0biEjEa }BDAT read: Tx time:05:23:01.8742 $Ping request sent.Am ?ԙ A .AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249484`o,3m?A2ȕw@2ł@2Ӻٱ2\ :AHRS rotation from veh to nav: [[-0.585709,0.802007,0.117173],[-0.810520,-0.579843,-0.082701],[0.001615,-0.143409,0.989662]]2H` @ ?? `+vZ?=[¿O?i2ȕw@I2[];2CYBByB2IieMb@Mb@Mb@aaaa a9ey&1?QI +?Ye`%?yee94=eAa a)e AaYe AbD}VD}yD=%D=ٔQ->9 ?Y ?=FyaDE?E>Q 5\5ӯ?Q 9\5)BY(?Q E:yQ I@DIT ;i ;\5yɮ\AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 84.87 m.RhR:ZhR: ProNav: ac range: 84.867210 m, nav range: 82.247826 m, bearing: 229.752635 deg, approach rate: -0.688294 m/s, LOS rate: 0.046011 deg/s, cmd heading: 235.674175 deg, new cmd heading: 235.728265 deg. Bh: HeadingCmd: 4.114234 target range: 84.867210 and range: 85.30 m.h ϧ@h *h "h  h gfff\Bdddjd!Zd%@ ?MeBɢU :)Q UƾiQ)U(49YYi] Ki] e;eIeϧ@IaԱI@I @I@MO0@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501472^Amv A ؟AI I O >D zD @AE  E E )E "E =;*E V:VE FA4ZE a @a @a @a @1 u,4m?ANw@N˂@N ٱN VAHRS rotation from veh to nav: [[-0.585110,0.802566,0.116339],[-0.810952,-0.579380,-0.081704],[0.001831,-0.142151,0.989843]]NH 8`?`Ƚ?QG 괿y^?2¿ˬ?iNw@INg];LY^By^@I df<bDjVDjkyrg=%rV=ٔr=Q-r>9v"?Yv"?=vFyveDEvw:Ez>|Q 5~\5~ï?Q 9\5~@)~BYyQ I@~DI~:i~F:~K\5y BɮA;Ejh1=DNOT Ignoring new targets: 84.87 m.Rh=G:ZhEG:M ProNav: ac range: 84.867210 m, nav range: 81.998444 m, bearing: 229.769248 deg, approach rate: -0.653920 m/s, LOS rate: 0.043694 deg/s, cmd heading: 235.728270 deg, new cmd heading: 235.778260 deg. BhU:]HeadingCmd: 4.115107 target range: 84.867210 and range: 85.30 m.h]@hY*hY"hY hYgYfafafadadidijdiZdm?额fBɢ){ټ) i)l顡iSJi wq;I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754373@ @@4@B>BCBIBwBB =BBB6p;B,-E9^Ai A .AI IA OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005599!|,m?A 6Bw@6҂@6&Eٱ6 >AHRS rotation from veh to nav: [[-0.584397,0.803190,0.115606],[-0.811464,-0.578829,-0.080515],[0.002247,-0.140863,0.990027]]6H`b`? U?@ąhb?¿@L?i6Bw@I6t];6CYFÀByJ_I LLbDRVDRyZ=%ZM=ٔ^Q-^>9b ?Yb ?=bFybiDEf;Ej>pQ 5z\5r?Q 9~\5r)rBYYy]Q I]@rDIrف'_,S$n?A>w@>T݂@>q"ٱ>< FAHRS rotation from veh to nav: [[-0.583368,0.804037,0.114917],[-0.812204,-0.577928,-0.079518],[0.002479,-0.139724,0.990187]]>H `?5k?c~F[Nd? |`?i>w@Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509635I>];9aYa=eFyenDEmf:;Em>qQ 5}\5u?Q 9}\5u)uBY}%?Q E}:yQ I@uDIu7:iu@:u\5yBɮ ACEjhDNOT Ignoring new targets: 84.87 m.Rhn:Zhn: ProNav: ac range: 84.867210 m, nav range: 81.454285 m, bearing: 229.819575 deg, approach rate: -0.685676 m/s, LOS rate: 0.080185 deg/s, cmd heading: 235.830613 deg, new cmd heading: 235.929746 deg. Bh\;HeadingCmd: 4.117751 target range: 84.867210 and range: 85.30 m.hă@h*h"h hgfffBdddajdaZdm=-?颕hBɢɽ) |i)*顙ib&Hi| A;Iă@I!@ @@1@@@@@D=Da=E EE'E"E77;*Eg:VE'4ZEa@a@a@a@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761415y B% >B! B% :IB% BB! B! B! B% p;B% `-EA ؟AI I O >,'n?A06w@6H@6ٱ6: >AHRS rotation from veh to nav: [[-0.581587,0.805259,0.115388],[-0.813481,-0.576100,-0.079734],[0.002268,-0.140238,0.990115]]6H[@? ? ho`viab?Q ?i6w@I6^;6CYF؀ByFzILLbDRVDRyVq=%ZW=ٔZ.:Q-Z>9^"?Y^"?=^Fy^rDEK;E>!Q 5-\5%?Q 9-\5%G)%ȮBY)y-Q I-@% DI%:i%:%\5y9ɮ=M A9jhaeDNOT Ignoring new targets: 84.87 m.Rhm:Zhm:} ProNav: ac range: 84.867210 m, nav range: 81.204987 m, bearing: 229.848413 deg, approach rate: -0.636424 m/s, LOS rate: 0.073846 deg/s, cmd heading: 235.929733 deg, new cmd heading: 236.016514 deg. Bh}J;HeadingCmd: 4.119265 target range: 84.867210 and range: 85.30 m.hу@h*h"h hgfffdddjdZd @jBɢѮ)  i)sbi 6Gi} ;,AIу@Iq@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014240ԩAIIOG>ԹE  E E (E "E a?;*E r:VE c44ZE BE 9IYI=MFyMvDEMV;EU>QQ 5e\5Uɀ?Q 9e\5Ug)UخBYe?Q Ee:yeKQ Ie@U(DIU7:iUv:U\5yu}Bɮu Aq B*** querying acoustic contact ***i  i jh9=DNOT Ignoring new targets: 84.87 m.RhE:ZhE: ProNav: ac range: 84.867210 m, nav range: 80.957214 m, bearing: 229.884285 deg, approach rate: -0.574001 m/s, LOS rate: 0.083356 deg/s, cmd heading: 236.016504 deg, new cmd heading: 236.124447 deg. Bhd;HeadingCmd: 4.121149 target range: 84.867210 and range: 85.30 m.ht@h*h"h hgfffBdddjdZd-1@kBɢ) Hi) i@Fi^ ;;cIt@I@ @@/@A>A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520330A II)O5>A E  E E )E "E g5;*E :VE FA4ZE a @a @a @a @듖,ݖ[n?A27x@2@2ٱ2g >AHRS rotation from veh to nav: [[-0.577680,0.808056,0.115462],[-0.816261,-0.572215,-0.079295],[0.001994,-0.140054,0.990142]]2H@Z|?㎽?@OL}V`?G >?i27x@I2˞^;2CYtytbDVD02y ތ:%N=ٔ:Q->9Y=%Fy%zDE%q;E%>)Q 55\5-p?Q 95\5-i)-BY9y= Q I=@-0DI-H;i-;-+\5yAɮE AIjhiuDNOT Ignoring new targets: 84.87 m.Rhu:Zhu: ProNav: ac range: 84.867210 m, nav range: 80.716858 m, bearing: 229.918832 deg, approach rate: -0.636370 m/s, LOS rate: 0.091740 deg/s, cmd heading: 236.124448 deg, new cmd heading: 236.228398 deg. Bh{;HeadingCmd: 4.122963 target range: 84.867210 and range: 85.30 m.hQ@h*h"h hgfffdddjdZdh@lBɢ) ;i)3igEiA k;yIQ@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7735539@ @@/@B>BBfIBȀBB =BBDBp;BP-EIAIIO J>ԁ BDAT read: Rx Time:05:23:04.3887  TRx dataTimestamp_ set to:1761542585.756180 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026600 ,~un?A ɰ J&cx@Jc,@JZ޺ٱJ RAHRS rotation from veh to nav: [[-0.575503,0.809634,0.115277],[-0.817798,-0.570049,-0.079064],[0.001700,-0.139775,0.990182]]JH j`?`ǂ?e+==`[?#?iJ&cx@IJN^;JCYnBynI r;r4<bDvVDv1y~=<%~K=ٔr?:Q->9Y= Fy ~DE U;E >Q 5\5O`?Q 9%\5x)BY!y%Q I%@8DI:iA;\5y-xBɮ-X A5BEjhQ]DNOT Ignoring new targets: 84.87 m.Rh]x:Zh]x:m ProNav: ac range: 84.867210 m, nav range: 80.474358 m, bearing: 229.953426 deg, approach rate: -0.603275 m/s, LOS rate: 0.086320 deg/s, cmd heading: 236.228404 deg, new cmd heading: 236.332499 deg. Bhml;bEUFA4jEU94rEU/E EEE"E2;*EI:VEZEBE#٣,%n?A6DAT read: 05:23:04.3887 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.15,-2.598, 2.100,-2.212,-2.656, PHS= 0.160,-1.483, 0.400, RAW= 156.7, 10.4, CAL= 156.7, 11.4, ROT= 353.3, -11.4 :Ygot valid direction response: 05:23:04.3887 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.15,-2.598, 2.100,-2.212,-2.656, PHS= 0.160,-1.483, 0.400, RAW= 156.7, 10.4, CAL= 156.7, 11.4, ROT= 353.3, -11.4 >PDAT read: Bearing 27.7, -8.1 (Local) B~Local bearing/azimuth received: Bearing 27.7, -8.1 (Local) FDAT read: Range 11 to 50 : 82.8 m (Round-trip 110.4 ms) speed 0.4 m/s JR#Rx 1: Read range and direction messages.N^direction in FSK: [0.973577,-0.114369,0.197657]NFpublishing direction and range infoy'?TOGg4L?YB )I #>iҽ> /@9> /@ %K>)Q@I%K\9?_o {?} X$? U$?)(:I|i%KZT****** received valid address query ******ZR****** received valid ping request ******^Querying Benthos address 50 with one ping in standard two-way mode.G9YAښx@=H@9ٱ  AHRS rotation from veh to nav: [[-0.572720,0.811567,0.115543],[-0.819750,-0.567188,-0.079420],[0.001080,-0.140202,0.990122]]H@S[?>?d; g&TলQ? #?iښx@IR_;CYByIEe EeEaEa"Ee:;*Ee;:VEaZEaam@au@au@au@iMb@Mb@Mb@ 9@5^I ?nʿˡE?Yb?yV'=fA@ ) AY AbDVD:yzv<%=ٔ:Q->9Y=FyDE;E>Q 5 \5H?Q 9 \5) BY5V?Q E5:y5}!Q I5@CDIh;i;\5y=tBɮ= AEAEiin?AJi¤BRi¤BjiAz@bi/Y T@?˽",ZIeH0@R'?TOGg4L?Zi|bi%KjObI#Nx̎1@Z~}$Ac BDAT read: Tx time:05:23:05.5742 $Ping request sent.Bi Bm IBm BBi Bi Bm DBm cp;Bm ?-E @  @ @ /@ Q  PExceeded connect timeout, disconnecting.ԁ^Azlchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250635A-.AIIIaO}?, Ѵn?A$$Zx@Z%e@ZCٱZ{ bAHRS rotation from veh to nav: [[-0.569824,0.813564,0.115819],[-0.821766,-0.564214,-0.079765],[0.000453,-0.140628,0.990062]]ZH@<?V?K yk@h=?¿ ?iZx@IZw_;ZCYByIbD%VD%y5]%5A=ٔ=:Q-=>9= ?Y= ?=EFyEDEE> <EE>QQ 5]]5U[7?Q 9]]5U )UBYYy]B!Q I]@UKDIU1:iU(:Ud]5yiɮmm AijhDNOT Ignoring new targets: 82.38 m.Rh;Zh; ProNav: ac range: 82.378906 m, nav range: 80.119904 m, bearing: 230.193921 deg, approach rate: -0.602850 m/s, LOS rate: 0.111981 deg/s, cmd heading: 236.486421 deg, new cmd heading: 236.621701 deg. Bh;HeadingCmd: 4.129828 target range: 82.378906 and range: 82.80 m.h'@h*h"h hgfffdddjdZd?rBɢ2) ًi)%D !!i%B>Bi- -;-WI-'@I1E] E]E](EY"E]9;*E]:VE]c44ZEYBE]v,ׇn?A:y@:·@:L˂9ٱ:E& FAHRS rotation from veh to nav: [[-0.566342,0.816150,0.114700],[-0.824170,-0.560789,-0.079118],[-0.000249,-0.139340,0.990245]]:H z?\?_ AiY0?i:y@I:_;8YNπByNnIPi%Mb@Mb@Mb@!!!! !9%9e"?Ye"?=mFymDEm\*<Em>qQ 5]5u&?Q 9]5us)u%BY?Q E:y Q I@uSDIuR6;iu5;u]5yoBɮ A@EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 82.38 m.Rh:Zh: ProNav: ac range: 82.378906 m, nav range: 79.879395 m, bearing: 230.236637 deg, approach rate: -0.590344 m/s, LOS rate: 0.105165 deg/s, cmd heading: 236.621713 deg, new cmd heading: 236.750248 deg. BhY;HeadingCmd: 4.132071 target range: 82.378906 and range: 82.80 m.h9@h*h"h hgfffBdddjdZd@?颕tBɢļ) i)x>顩i@i٫  3;h;I9@IEm EmEm'Ei"EmO6;*Em;:VEm'4ZEiau@au@au@au@9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634^A S-PA >A >) BU >BQ BU IBU BBQ BQ BQ BU 9p;BU --EBCBCBB =B =Cʆ:5AQ Ia Iq O} >,4n?A2;Zy@2@26:ٱ2* :AHRS rotation from veh to nav: [[-0.563106,0.818423,0.114438],[-0.826384,-0.557564,-0.078814],[-0.000697,-0.138950,0.990299]]2H0? K?q`!-F@?i2;Zy@I2I_;2CYB΀ByBmIbDNVDN:2yRD%VT=ٔVɗ:Q-V>9XYX=ZFyZDE^Q&<E^>`Q 5f]5b?Q 9f]5b#)b/BYdyfG Q If@b[DIb:ib=:hbQ ]5yntBɮn. ArJEznManaging dock network, ignoring radio surface power offjh DNOT Ignoring new targets: 82.38 m.Rh:Zh:- ProNav: ac range: 82.378906 m, nav range: 79.650475 m, bearing: 230.276862 deg, approach rate: -0.592095 m/s, LOS rate: 0.104340 deg/s, cmd heading: 236.750257 deg, new cmd heading: 236.871279 deg. Bh-7;HeadingCmd: 4.134184 target range: 82.378906 and range: 82.80 m.h  ?;%I;*EQVEU(N4ZEQBEUS checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510737Ę,o?A2y@2ƃ@2:ٱ23 :AHRS rotation from veh to nav: [[-0.559982,0.820761,0.113011],[-0.828504,-0.554547,-0.077834],[-0.001214,-0.137216,0.990540]]2H^ C?I? پ쳿@SJ?i2y@I2_;2CYBByB[Ii Mb@Mb@Mb@     9 tV? rȿ:v?Y ?y C T<  +@ )  A Y  AbD%VD%y5%5B=yٔ=:Q->9Y=FyDE <E>Q 5]5?Q 9]5`)7BY?Q E:yQ I@cDI@:i: ]5yoBɮ| AIEjhDNOT Ignoring new targets: 82.38 m.Rh :Zh : ProNav: ac range: 82.378906 m, nav range: 79.393951 m, bearing: 230.317706 deg, approach rate: -0.590900 m/s, LOS rate: 0.094387 deg/s, cmd heading: 236.871288 deg, new cmd heading: 236.994215 deg. Bh;%HeadingCmd: 4.136329 target range: 82.378906 and range: 82.80 m.h%\@h!*h!"h) h)g)f)f)f5Bd1d1d9jd9Zd= ?mwBɢm)i mii)m8qqiu=i}f }H;}o I}\@I@ @@4@ԩ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762669^A5A I I O > D] <D] <Ea  Ee Ee )Ea "Ea *Ee :VEe FA4ZEa am @au @au @au @,[o?A>y@>߃@>o;:ٱ>c VAHRS rotation from veh to nav: [[-0.557464,0.822535,0.112556],[-0.830199,-0.552048,-0.077539],[-0.001642,-0.136669,0.990615]]>H5R? }м?`ٳ mZa~?i>y@I>*_;>CYbBybFI ddbDjVDjyr׳%rP=ٔr:Q-v>9tYt=vFyvDEzc<Ez>|Q 5]5~?Q 9]5~)~?BYy Q I @~jDI~k:i~:~n]5yɮ Ajh9=DNOT Ignoring new targets: 82.38 m.RhE{:ZhE{:U ProNav: ac range: 82.378906 m, nav range: 79.171089 m, bearing: 230.352902 deg, approach rate: -0.589238 m/s, LOS rate: 0.093320 deg/s, cmd heading: 236.994204 deg, new cmd heading: 237.100091 deg. BhU;]HeadingCmd: 4.138177 target range: 82.378906 and range: 82.80 m.h]k@hY*hY"hY hagafafafidididijdiZdu@额yBɢ) ʾi).L顩iVBCBIBBB =BBBp;B-E^AAeAzAdA1A! I) I9 M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266838OU >a V,D6o?AYzByz#IbD VD 0y %F=ٔQ->9!Y!=%Fy%DE-E->1Q 5=]55r宊?Q 9=]55)5GBY9y9Q I=@5rDI5z;i5;5]5yMkBɮMAMHEjhquDNOT Ignoring new targets: 82.38 m.Rh}:Zh}: ProNav: ac range: 82.378906 m, nav range: 78.928513 m, bearing: 230.391442 deg, approach rate: -0.588801 m/s, LOS rate: 0.093835 deg/s, cmd heading: 237.100100 deg, new cmd heading: 237.216075 deg. Bhˀ;E- E-E--E)"E-77;*E-r:VE-t4ZE)BE->,Qo?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7706566n%z@6 @6);ٱ6 BAHRS rotation from veh to nav: [[-0.552812,0.825881,0.110991],[-0.833302,-0.547472,-0.076699],[-0.002580,-0.134889,0.990857]]6H m?i?`h@O"e D?i6n%z@I6_;4YJByJIi=Mb@Mb@Mb@9999 99="~j?ˡEĿ~jtY=S#?y='=D=OA=@ = A)= A9Y= AbDmVDm:y]4%]-=ٔeM;Q-e>9aYa=mFymDEm=B<Em>qQ 5]5uѮ?Q 9]5u#)uIBY(?Q E:y!Q I@u|DIu;iu;u&]5yɮ"A%B*** querying acoustic contact ***i! i!jh1]DNOT Ignoring new targets: 82.38 m.Rhe[:Zhe[: ProNav: ac range: 82.378906 m, nav range: 78.621101 m, bearing: 230.424433 deg, approach rate: -0.630348 m/s, LOS rate: 0.067912 deg/s, cmd heading: 237.216076 deg, new cmd heading: 237.315435 deg. Bhn:;HeadingCmd: 4.141936 target range: 82.378906 and range: 82.80 m.h@h*h"h hgfff?BdddjdZdC" @DQzDU?AE] E]E])EY"E]I@;*E]V:VE]FA4ZEYae@ae@ae@ae@}|Bɢ) i)顙iR7i: N;λI@I E9@A @A@M/@IBDAT read: Rx Time:05:23:08.0860 TRx dataTimestamp_ set to:1761542589.536256checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0239089BBBfIBȀBB =BBBo;B,E^A- i A] .AIa Iy O >,clo?A63Fz@6@6x@;ٱ6f FAHRS rotation from veh to nav: [[-0.551144,0.826986,0.111059],[-0.834405,-0.545769,-0.076845],[-0.002937,-0.135020,0.990838]]6H@`v?Zn?qvhYH?i63Fz@I6_;6CYVwByVIb@AbAAbDfVDfN2y]R%]Y=ٔex:Q-e>9m ?Ym ?=mFymDEu;Eu>yQ 5]5}g®?Q 9]5}')}KBYyQ I@}DI}` ;i}h;}u]5ygBɮAGEjhDNOT Ignoring new targets: 82.38 m.Rhv:Zhv: ProNav: ac range: 82.378906 m, nav range: 78.374298 m, bearing: 230.450740 deg, approach rate: -0.680546 m/s, LOS rate: 0.072767 deg/s, cmd heading: 237.315442 deg, new cmd heading: 237.394610 deg. BhG;HeadingCmd: 4.143318 target range: 82.378906 and range: 82.80 m.h@h*h"h hgf ffdddjdZd) @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274700=~Bɢ=*)E ~i)I*顩i5iԓ;j7ɻI@I99@ @@/@@=@=EE EEEE&EA"EEC;*EE:VEE4ZEABEE>A > DAT read: 05:23:08.0860 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.48,-0.656,-2.222,-0.271,-0.660, PHS= 0.106,-1.517, 0.345, RAW= 156.8, 12.1, CAL= 157.0, 13.6, ROT= 353.0, -13.6  Ygot valid direction response: 05:23:08.0860 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.48,-0.656,-2.222,-0.271,-0.660, PHS= 0.106,-1.517, 0.345, RAW= 156.8, 12.1, CAL= 157.0, 13.6, ROT= 353.0, -13.6  PDAT read: Bearing 31.1, -8.7 (Local)  ~Local bearing/azimuth received: Bearing 31.1, -8.7 (Local)  DAT read: Range 11 to 50 : 80.7 m (Round-trip 107.7 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages.e ^direction in FSK: [0.964716,-0.118452,0.235142]e Fpublishing direction and range infoy  ga?>!^R#?Y fB ) Dԑ I =i -¿ ף> %/@ @X> ^/@ s>) '@I s /?<,=?d ? N$?) XI 5i s  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A) I9 II OU >=i,%o?AB8Vz@B%@BI;ٱB ^AHRS rotation from veh to nav: [[-0.550328,0.827638,0.110246],[-0.834943,-0.545019,-0.076315],[-0.003075,-0.134048,0.990970]]BHH`|? 9?ڷ@p`c`p0i {(?iB8Vz@IB0_;@YfdByfII4>)p;iiMb@Mb@Mb@ 9oʡ?K7Ay&1Y-?y `eA@ rA)Y AbD VD2yM%M/=ٔU9Q-U>9QYQ=UFy]DE]t ;E]>Q 5]5k?Q 9]5.)Y0?Q E:yQ I@DI@:i:]5ycBɮAFEiio?AJiBRiBjiKO@b?GV]S@qz# ?2@Rga?>!^R#?Zi5bisj?$õo5HyffwN k3@ZjK:P H迺z?2is:iA"iKa?*i\pBiBi;&?if^ii)Bi@M addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.779742 s, deltaX: -2.100006 m, approachRate: -0.555595 m/s, rangeRepo size: 4 } Added new target pos. range: 80.291367 m, bearing: 231.528205 deg, lat: 36.779383 deg, lon: -121.859686 deg, deltaT: 3.779742 s, deltaX: -2.087540 m, approachRate: -0.552297 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 80.29 m.RhZh ProNav: ac range: 80.291367 m, nav range: 77.581352 m, bearing: 230.932353 deg, approach rate: 0.000000 m/s, LOS rate: 0.072767 deg/s, cmd heading: 237.394617 deg, new cmd heading: 237.500855 deg. BhHeadingCmd: 4.145172 target range: 80.291367 and range: 80.70 m.h@@h*h"h hgfffBdddjd,T@Zd@?EBɢE&)A Eo iA)EIIiM3iU4Un;UIU@@Iyԑ*DAT read: user:400> %BDAT read: Tx time:05:23:09.3742 %$Ping request sent.%BB-IBBB =BBBo;B,E!I)IAOM?:,o?AY NBy IbDVDy-Ͻ%-==ٔ5Q-5>91Y1=5Fy5DE=E=>AQ 5M]5E0?Q 9M]5E3)AYIyQQ IU@EDIE;iE:EM#]5y]jBɮ]A]PEjhDNOT Ignoring new targets: 80.29 m.Rh$U:Zh$U: ProNav: ac range: 80.291367 m, nav range: 77.288574 m, bearing: 230.951424 deg, approach rate: -0.712489 m/s, LOS rate: 0.046585 deg/s, cmd heading: 237.500868 deg, new cmd heading: 237.558297 deg. Bh:HeadingCmd: 4.146174 target range: 80.291367 and range: 80.70 m.hv@h*h"h hgfffdddjdZd5?BɢOB) 7i)iy0i̲;yIv@I9@ @@/@-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5026851^AY A) I9 II bE:4jE:4rES)0EU  EU EU &EQ "EU y>;*EU :VEU 4ZEQ BEU S[2,Uo?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754760Y:ByIi}Mb@Mb@Mb@yyyy y9}bX9?sh|?I +Y}E6?y}}94}Ay }\A)}AyY}AbDVD3y%6=ٔQ->9Y=FyDEE>Q 5]5?Q 9]5 :)Y7?Q E:yQQ I@DI:i ;<']5ygBɮdAOEjhDNOT Ignoring new targets: 80.29 m.Rh@39Zh@39 ProNav: ac range: 80.291367 m, nav range: 76.965919 m, bearing: 230.955816 deg, approach rate: -0.716611 m/s, LOS rate: 0.009795 deg/s, cmd heading: 237.558296 deg, new cmd heading: 237.571526 deg. Bh9HeadingCmd: 4.146405 target range: 80.291367 and range: 80.70 m.hZ@h*h"h hg!f!f!f-Bd)d)d)jd1Zd5 h?]Bɢ]b4E)a e#ia)=n»ins-i7;iIZ@I _C% ` ) ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008628i } gA  09 gAY oAA 9@  @ @ /@ @ gA@ gAi Eu  Eu Eq Eq "Eu 9;*Eu :VEq ZEq a @a @a @a @^AAfAzAԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258766A5؟AI9IIO]? ,$o?AB>>B<B>IB>mBB<B<B<B>o;B>,Ej\Yz@j~'@jh;ٱj rAHRS rotation from veh to nav: [[-0.550167,0.828165,0.107044],[-0.835047,-0.545078,-0.074743],[-0.003552,-0.130508,0.991441]]jH`T?@Dg?സFqW"m~@?ij\Yz@IjDy_;jCY~1By~I bD VD  yN%=ٔ%p:Q-%>9%"?Y%"?=-Fy-DE-9E->1Q 5=]55xx?Q 9=]55A)5JBYAyENQ IE@5DI5:i5_:5+]5yIɮUAQmB*** querying acoustic contact ***ii iijhy}DNOT Ignoring new targets: 80.29 m.Rh39Zh39 ProNav: ac range: 80.291367 m, nav range: 76.593681 m, bearing: 230.960875 deg, approach rate: -0.716283 m/s, LOS rate: 0.009783 deg/s, cmd heading: 237.571519 deg, new cmd heading: 237.586771 deg. Bh9HeadingCmd: 4.146671 target range: 80.291367 and range: 80.70 m.h@h*h"h hgfffdddjdZdG?Bɢ1A) (i)5ػiim)iuu{;uIu@IyM8@ @@/@ԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797^AzA .AI I) O= >Eu  Eq Eu )Eq "Eu =;*Eq VEu FA4ZEq BEu ?inAz@In^;lY+ByI}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763732ԉi%Mb@Mb@Mb@!!!! !9%$C?i|?5Y%:?y%q%%A%+@ !)% A!Y% AbD=VD=yMԼ%M)=ٔMZQ-U>9U ?YU ?=UFyUDE]EE]>aQ 5m]5e2f?Q 9m]5eH)eKBYm:?Q Eu:yu Q Iu@eDIeq ;ie ;e/]5y}cBɮ}A}NEjhDNOT Ignoring new targets: 80.29 m.Rh+Zh+ ProNav: ac range: 80.291367 m, nav range: 76.241936 m, bearing: 230.956366 deg, approach rate: -0.729764 m/s, LOS rate: -0.009398 deg/s, cmd heading: 237.586764 deg, new cmd heading: 237.573175 deg. BhcιHeadingCmd: 4.146434 target range: 80.291367 and range: 80.70 m.h@h*h"h hgfffĀBdddjdZd`~@ Bɢ zM)  ,i )7i&i'; I@I!))))ԹM 9@I  @I @M /@I @U =@U =5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016817 ^AI EM EIEM+EI"EM;;*EIVEM [4ZEIaU@aU@aU@aU@9A}؟AIIO?,p?AB$z@B6 @Bo ?;ٱB  JAHRS rotation from veh to nav: [[-0.552844,0.826285,0.107781],[-0.833280,-0.547744,-0.074976],[-0.002915,-0.131261,0.991344]]BH p?? :1+g@* ?iB$z@IBʮ^;@YR%ByVIbD^VD^1yf˼%f<=ٔf]Q-f>9j"?Yj"?=jFyjDEn3En>pQ 5v]5rU?Q 9v]5ruO)rLBYtyv(Q Iz@rĝDIr;ir;r3]5y|ɮ~A|jh!%DNOT Ignoring new targets: 80.29 m.Rh-Zh-= ProNav: ac range: 80.291367 m, nav range: 75.925072 m, bearing: 230.952685 deg, approach rate: -0.729436 m/s, LOS rate: -0.008509 deg/s, cmd heading: 237.573186 deg, new cmd heading: 237.562097 deg. BhEݺEHeadingCmd: 4.146241 target range: 80.291367 and range: 80.70 m.hM@hI*hI"hI hIgIfQfQfQdYdYdYjdYZd]@ Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902ɢmY)q u/iq)umBqqiu*L#i}}S;}-I@IԱB>BCBIBDBB =BBDBo;B-EBCBCBB =B =Cˆ59@ @@@^A   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520011I I O >) ,I9p?A2%z@2@2;ٱ2 :AHRS rotation from veh to nav: [[-0.554403,0.824999,0.109604],[-0.832246,-0.549245,-0.075481],[-0.002072,-0.133064,0.991105]]2H ef??`j`R @``A@"?i2%z@I2s^;2CYF3ByFIIJ?>)J49\Y\=^Fy^DEbwEb>dQ 5j]5f|F?Q 9j]5fyU)fNBYhyjFQ Ij@f͝DIf:if:fE7]5yrhBɮrArWEjh  DNOT Ignoring new targets: 80.29 m.Rh Zh E EE(E"E<;*Ed:VEc44ZEBE“,hUp?Any@n@nhk:ٱn zAHRS rotation from veh to nav: [[-0.556246,0.823490,0.111602],[-0.831017,-0.551062,-0.075772],[-0.000898,-0.134891,0.990860]]nH@@Z??`L@emMD ?iny@InN^;nCyYE7ByEIDzDE EE)E"Eg5;*E:VEFA4ZEa@a@a@a@iMb@Mb@Mb@ 9S?:v:v?Y/=?yTT<"A@ )AYA 4<p;bDVD1y $<%=ٔ Q->9Y=FyDEE>!Q 5-]5%1?Q 95]5%])%SBY5=?Q E5:y5Q I5@%ڝDI%2 ;i% ;%<]5y9ɮEAAjhamDNOT Ignoring new targets: 80.29 m.Rhu}Zhu} ProNav: ac range: 80.291367 m, nav range: 75.226715 m, bearing: 230.942100 deg, approach rate: -0.740416 m/s, LOS rate: -0.013869 deg/s, cmd heading: 237.553050 deg, new cmd heading: 237.530181 deg. BhJHeadingCmd: 4.145684 target range: 80.291367 and range: 80.70 m.hq@h *h "h  h g f ffBdddjdZd@y @颍BɢR) 'i) 顑iJi;O\Iq@Iԡp>i>-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275665]9@Y @Y@]/@YB>BCBIB+BBBBDBo;B-E^A 2D Iy I O >,:pp?A23y@2jۃ@2(?йٱ2h8 NAHRS rotation from veh to nav: [[-0.557901,0.822108,0.113507],[-0.829907,-0.552724,-0.075831],[0.000397,-0.136506,0.990639]]2HT@N? ?`i:?` yP?i23y@I2#x^;0 P)R lAR/]RPMFTTV=lAiZIXXI`ifkA j'h)lp rkAr`erVFpv&CtIt)tit)xIzkAzx x|~kA~½i||i) IYY ]5yeBɮIAVEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 80.29 m.RhfZhfaeDAT read: 05:23:11.8826 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408,-0.16, 1.039,-0.518, 1.437, 1.035, PHS= 0.106,-1.509, 0.358, RAW= 157.1, 11.9, CAL= 157.3, 13.3, ROT= 352.7, -13.3 uYgot valid direction response: 05:23:11.8826 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408,-0.16, 1.039,-0.518, 1.437, 1.035, PHS= 0.106,-1.509, 0.358, RAW= 157.1, 11.9, CAL= 157.3, 13.3, ROT= 352.7, -13.3 PDAT read: Bearing 30.7, -9.3 (Local) ~Local bearing/azimuth received: Bearing 30.7, -9.3 (Local) DAT read: Range 11 to 50 : 78.1 m (Round-trip 104.2 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.965291,-0.123656,0.230050]Fpublishing direction and range infoy  h?W#񧿿gz}"Er?Y 3B     ) FI i & K> ~{/@ ȭT> /@ ,m>) @I ,m   sť?q3t?@_? %?) TI twi ,m  T****** received valid address query ******R****** received valid ping request ******E ProNav: ac range: 80.291367 m, nav range: 74.981789 m, bearing: 230.937863 deg, approach rate: -0.726530 m/s, LOS rate: -0.012610 deg/s, cmd heading: 237.530183 deg, new cmd heading: 237.517430 deg. BhEw MHeadingCmd: 4.145461 target range: 80.291367 and range: 80.70 m.hM@hI*hI"hI hQgQfQ}Querying Benthos address 50 with one ping in standard two-way mode.fQfdddjd`fS@ZdD?ɢRh) %i)ii x _;vI@Iԑ9@ @@/@E5 E5E1E1"E5:;*E5I:VE1ZE1BE51  BDAT read: Tx time:05:23:13.1742  $Ping request sent. <^",p?AYuKByuI yy==iMb@Mb@Mb@ 9Q?T㥛 Zd;O?Y(9AYA=EFyEDEMEM>QQ 5]]5U<?Q 9]]5Ui)U^BYe"iUަe_?*iUfBiUdBiUަe_?iQiUBiU*BiU€@ addTargetRange:: Added new target pos. range: 78.099998 m, deltaT: 3.780855 s, deltaX: -2.599998 m, approachRate: -0.687675 m/s, rangeRepo size: 4  Added new target pos. range: 77.701057 m, bearing: 230.697567 deg, lat: 36.779377 deg, lon: -121.859686 deg, deltaT: 3.780855 s, deltaX: -2.590309 m, approachRate: -0.685112 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 77.70 m.RhZh ProNav: ac range: 77.701057 m, nav range: 75.083221 m, bearing: 230.543549 deg, approach rate: 0.000000 m/s, LOS rate: -0.012610 deg/s, cmd heading: 237.517424 deg, new cmd heading: 237.501196 deg. BhHeadingCmd: 4.145178 target range: 77.701057 and range: 78.10 m.hL@h*h"h hgff f Bd ddjdZd/?EBɢEf^)A E6iA)Ma%IIiMMiUUh';UmIUL@IY@ @@_0@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246217^A v) EU  EU EU %EQ "EU ;;*EU :VEU 4ZEQ a] @a] @a] @a] @Iq I O >](,ţp?A6y@6Nǃ@6Qٱ65 >AHRS rotation from veh to nav: [[-0.559936,0.820090,0.118002],[-0.828533,-0.554624,-0.076980],[0.002316,-0.140872,0.990025]]6H->?`d5?Wy򴳿b?¿I?i6y@I6bx^;6Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500777YrPByvIxxbD~VD~0y u<% `=ٔWQ->9Y=FyDEB%>B%CB%IB%0BB% =B!B!B%(p;B%-E=.ڻE=>AQ 5M]5E?Q 9M]5E)o)EdBYIyMQ IU@EDIE:iE:EE]5yubBɮuA}UEjhY]DNOT Ignoring new targets: 77.70 m.Rhec Zhec u ProNav: ac range: 77.701057 m, nav range: 74.811371 m, bearing: 230.540622 deg, approach rate: -0.694804 m/s, LOS rate: -0.007507 deg/s, cmd heading: 237.501196 deg, new cmd heading: 237.492384 deg. Bh}ޤ}HeadingCmd: 4.145024 target range: 77.701057 and range: 78.10 m.h @h*h"h hgfffdddjdZd[?ɢF\) Ni)d&-ii8ȧ;4I @IQQ@Q @Q@U4@Yyechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751145^AhII O >ԩ E]  E] E] )EY "E] I@;*E] r:VE] FA4ZEY BE] 9AYA=MFyMDE}E}>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003798ԱQ 5]5?Q 9]5v)mBYyQ I@DI:i:5J]5ylBɮ:A_Ejh1=DNOT Ignoring new targets: 77.70 m.Rh=GZhEGu ProNav: ac range: 77.701057 m, nav range: 74.451530 m, bearing: 230.536843 deg, approach rate: -0.767756 m/s, LOS rate: -0.008102 deg/s, cmd heading: 237.492371 deg, new cmd heading: 237.480979 deg. Bhuﱹ}HeadingCmd: 4.144825 target range: 77.701057 and range: 78.10 m.h}h@hy*hy"hy hygyfffdddjdZd`?BɢB) i).6ii--;)I5h@I1@ @@4@ ^A% ]U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2554311 Au .AIy I O >T6,?p?A2y@2ȃ@2Ӛٱ2- :AHRS rotation from veh to nav: [[-0.559797,0.819955,0.119587],[-0.828616,-0.554751,-0.075146],[0.004725,-0.141158,0.989976]]2H =?@A? <@\Zs? x¿?i2y@I2sD^;0YBByFIIJ=)JG?imMb@Mb@Mb@iiii i9mV-?zGếkt?Ymh1?ym ׽m 0=mOAm@ m A)iiYmf AbDVDN2y=>%L=ٔ Q->9 ?E EE(E"E8;*E;:VEc44ZEa@a@a@a@Y ?=FyDE:E>Q 5]5㭊?Q 9]5{)xBY3?Q E:yQ I@ DI3:iH:M]5yiBɮ=A^EjhDNOT Ignoring new targets: 77.70 m.Rh 9Zh 9 ProNav: ac range: 77.701057 m, nav range: 74.183456 m, bearing: 230.546321 deg, approach rate: -0.713504 m/s, LOS rate: 0.025319 deg/s, cmd heading: 237.480978 deg, new cmd heading: 237.509517 deg. Bh:%HeadingCmd: 4.145323 target range: 77.701057 and range: 78.10 m.h%}@h!*h!"h! h!g)f)f)f-4Bd1d1d1jd1Zd=i?aɢeI)i mii)m(=BCBIBDBB =BBDB,p;B"-E^Aq A ؟AI I O >xo<,p(p?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757677ny@n΃@nᲬٱn) vAHRS rotation from veh to nav: [[-0.559174,0.820331,0.119923],[-0.829034,-0.554201,-0.074594],[0.005270,-0.141131,0.989977]]nH&@?@L?qUu?¿?iny@In}|^;lYByI p<4<bDVD0y%-=%-S=ٔ-ոQ-->9-"?Y5"?=5Fy5DE5;E5>AQ 5M]5Eԭ?Q 9M]5E )EBYIyU~Q IU@EDIE:iE_:EP]5yYɮ]AY}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 77.70 m.Rh9Zh9 ProNav: ac range: 77.701057 m, nav range: 73.914841 m, bearing: 230.555733 deg, approach rate: -0.698452 m/s, LOS rate: 0.024562 deg/s, cmd heading: 237.509528 deg, new cmd heading: 237.537867 deg. Bhچ:HeadingCmd: 4.145818 target range: 77.701057 and range: 78.10 m.h@h*h"h hgffQfQdYdYdYjdYZde@颩ɢ>) 1i)NB项i iV;7I@IQM9@I @I@M/@QbEQjEUc44rEU0E EE&E"E9;*E:VE4ZEBEhWC,qq?A:y@:)܃@:)ǻٱ:]$@ FAHRS rotation from veh to nav: [[-0.557816,0.821272,0.119807],[-0.829943,-0.553018,-0.073257],[0.006091,-0.140297,0.990091]]:HG?`?`R[x? >Ү?i:y@I:_;:CYNByN0Ii%Mb@Mb@Mb@!!!! !9%K7?S㥛+?Y%)?y%$%=%A! !)% A!Y% AbDEVDEf?yMַ=%MH=ٔUQ-U>9QYY=FyDE{;E>Q 5]5í?Q 9]5i)BYL-?Q E:yCQ I@DI:i:T]5yfBɮNA]EhAjhU9UhAYUݧA]DNOT Ignoring new targets: 77.70 m.RheK:ZhmK: ProNav: ac range: 77.701057 m, nav range: 73.629745 m, bearing: 230.575454 deg, approach rate: -0.640748 m/s, LOS rate: 0.044493 deg/s, cmd heading: 237.537860 deg, new cmd heading: 237.597250 deg. BhG:HeadingCmd: 4.146854 target range: 77.701057 and range: 78.10 m.h@h*h"h hgԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261725fffEBdddjdZd`<8@ɢ%/)! %ui!)MIIIiMt iUU`ơ;UsςIU@IY}9@y @y@}/@yE  EE)E"EG;*EI:VEFA4ZEa@a@a@a@ ^Aa  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517350A A AAB >B B IB gBB =B B DB p;B -EA I I O >dI,(q?A(>y@>-@><ٻٱ>a JAHRS rotation from veh to nav: [[-0.556291,0.822178,0.120676],[-0.830961,-0.551538,-0.072870],[0.006645,-0.140814,0.990014]]>H#IO?? ;3`8{?/¿1?i>y@I>_;>CYBy/I bDVDN2y:r%.=ٔQ->9Y=FyDEY;E>Q 5]5?Q 9]5+)BYy%Q I@$DI:i:X]5yɮVAjh)-DNOT Ignoring new targets: 77.70 m.Rh5\:Zh5\:E ProNav: ac range: 77.701057 m, nav range: 73.324364 m, bearing: 230.596299 deg, approach rate: -0.703912 m/s, LOS rate: 0.048249 deg/s, cmd heading: 237.597255 deg, new cmd heading: 237.660051 deg. BhEs;MHeadingCmd: 4.147950 target range: 77.701057 and range: 78.10 m.hM@hI*hI"hI hIgQfQfQfQdYdYdYjdYZd]`p@i颹ɢ8) Si)Oin inP;||I@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765640q@q @q@u/@qԉE  E E 'E "E 8;*E u:VE '4ZE BE ׏UQ,xEq?A >BDAT read: Rx Time:05:23:15.6787 FTRx dataTimestamp_ set to:1761542597.103753Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023331z@.@4LٱM AHRS rotation from veh to nav: [[-0.554664,0.823171,0.121401],[-0.832041,-0.550014,-0.072059],[0.007455,-0.140979,0.989985]]H@ο jW?? @rrt~? ¿ ?iz@I`;CYByAIiMMb@Mb@Mb@IIII I9MMb?'1ZĿ{Gz?YM#?yM"M#=MfAMA@ M A)M AIYM\ AeAAe@AbDmVDm1y}U=%};=ٔ}Q-}>9Y=FyDE;E> Q 5]5 l?Q 9]5 u) BYc(?Q E:y$Q I@ .DI  ;i : \]5y%pBɮ%-A%fEjhIUDNOT Ignoring new targets: 77.70 m.RhU:ZhU:e ProNav: ac range: 77.701057 m, nav range: 73.031715 m, bearing: 230.627324 deg, approach rate: -0.647850 m/s, LOS rate: 0.068958 deg/s, cmd heading: 237.660039 deg, new cmd heading: 237.753488 deg. BheM=;iuHeadingCmd: 4.149581 target range: 77.701057 and range: 78.10 m.hu^Ʉ@hq*hq"hq hqgyfyfyf}|BdddjdZd @颱ɢ*) ޾i)PV项ifi\;.yI^Ʉ@Ie9@a @a@e/@aԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269485^A-  A] .AIa Iq O >E)  E- E- (E) "E) nW,,_q?A*E}:VE}c44ZEya@a@a@a@;ɰ;` $z@  @ 2ٱ ,- mAHRS rotation from veh to nav: [[-0.552840,0.824285,0.122154],[-0.833248,-0.548261,-0.071468],[0.008063,-0.141295,0.989935]] H@ް `?|E? ZK?¿?i $z@I Ib; CYBy5SIbDEVDENyu==%}M=ٔ}HǺQ-}>9 ?Y ?=FyDEd;E>Q 5]5󏭊?Q 9]5)BYyQ I@6DIp/;i0;_]5ynBɮ AeEjhDNOT Ignoring new targets: 77.70 m.Rh#:Zh#:5 ProNav: ac range: 77.701057 m, nav range: 72.782761 m, bearing: 230.653477 deg, approach rate: -0.639211 m/s, LOS rate: 0.067379 deg/s, cmd heading: 237.753475 deg, new cmd heading: 237.832202 deg. Bh=8;=HeadingCmd: 4.150955 target range: 77.701057 and range: 78.10 m.hEԄ@hA*hA"hA hAgAfAfIfIB>BCB!IBBB =BBBo;B,EBuCBuCBqBu =Bu =Cun5DAT read: 05:23:15.6787 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 400,-0.24,-2.591, 2.174,-2.201,-2.604, PHS= 0.115,-1.460, 0.359, RAW= 157.1, 11.5, CAL= 157.2, 12.8, ROT= 352.8, -12.8 Ygot valid direction response: 05:23:15.6787 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 400,-0.24,-2.591, 2.174,-2.201,-2.604, PHS= 0.115,-1.460, 0.359, RAW= 157.1, 11.5, CAL= 157.2, 12.8, ROT= 352.8, -12.8 PDAT read: Bearing 31.1, -8.9 (Local) ~Local bearing/azimuth received: Bearing 31.1, -8.9 (Local)  DAT read: Range 11 to 50 : 75.2 m (Round-trip 100.3 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.967460,-0.122219,0.221548]Fpublishing direction and range infoy n?sj;I@|[?YfB )DI=iHếη>M>/@ d>)j @IdŪ^QQ?Ļ?u? P%?)MIid5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.dddjdR@Zd?Qɢ]2h$)Y ]ϾiY)]V\aaie~iuv~;|nIԄ@I=9@9 @9@=/@9I ^A M *DAT read: user:402> ] BDAT read: Tx time:05:23:16.9242 ] $Ping request sent.] ^,&zq?A>Pz@>:#@>Sٱ> FAHRS rotation from veh to nav: [[-0.550583,0.825749,0.122462],[-0.834733,-0.546158,-0.070234],[0.008888,-0.140892,0.989985]]>H`l?@Y?!z3?¿ ?i>Pz@I>c;9dYd=fFyfDEj;Ej>lQ 5r]5nƀ?Q 9r]5nh)nʯBYpyvQ Iv@n>DIn:in:n2c]5yxɮz8 Axiifq?AJiBRiBjiz+@bVEgR@#I"CI0@R n?sj;I@|[?ZibidjpG㳯F((kKLcJW2@Z[h?VC4迒a?2i[b:i}5"i&{P?*i*jBiuBi&{P?ifidBiӐBi @E addTargetRange:: Added new target pos. range: 75.199997 m, deltaT: 3.782981 s, deltaX: -2.900002 m, approachRate: -0.766592 m/s, rangeRepo size: 4 U Added new target pos. range: 74.815842 m, bearing: 231.277699 deg, lat: 36.779382 deg, lon: -121.859689 deg, deltaT: 3.782981 s, deltaX: -2.885216 m, approachRate: -0.762683 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 74.82 m.Rh]Zham ProNav: ac range: 74.815842 m, nav range: 72.412529 m, bearing: 231.201498 deg, approach rate: 0.000000 m/s, LOS rate: 0.067379 deg/s, cmd heading: 237.832214 deg, new cmd heading: 237.908111 deg. Bhq}HeadingCmd: 4.152280 target range: 74.815842 and range: 75.20 m.h}z߄@hy*hy"hy hygyfffdddjdZd`z?E EE&E"E9;*E:VE4ZEBEd,طq?A>zz@>+8@>Eٱ>< FAHRS rotation from veh to nav: [[-0.548444,0.827035,0.123378],[-0.836133,-0.544089,-0.069635],[0.009538,-0.141351,0.989914]]>H ی w??`-iӱ?¿`_?i>zz@I>ic;=ٔźQ->9Y=FyDEq;E>Q 5]58p?Q 9]5)ٯBY ?Q E:yQ I@FDIK ;i ;f]5yɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 74.82 m.Rh:Zh:  ProNav: ac range: 74.815842 m, nav range: 72.153763 m, bearing: 231.236471 deg, approach rate: -0.605750 m/s, LOS rate: 0.082162 deg/s, cmd heading: 237.908111 deg, new cmd heading: 238.013405 deg. Bh a;HeadingCmd: 4.154118 target range: 74.815842 and range: 75.20 m.h@h*h"h hgf!f!f%yBd!d)d)jd)Zd5P?Yɢ]z.)Y e Ҿia)eeaaieCimBP;TI@I@ @@1@D!D%<E- E-E-)E)"E-2;*E-r:VE-FA4ZE)a=@a=@a=@a=@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752939^AlXB<A=B>BBLIBBB =BBBo;B,EIi Iy O >! ~k,㉮q?A:sz@: P@:'ٱ: RAHRS rotation from veh to nav: [[-0.546002,0.828613,0.123626],[-0.837721,-0.541790,-0.068461],[0.010252,-0.140944,0.989964]]:H`x`??@WV@ ?@t ¿ʭ?i:sz@I:e;:CYZπByZnIbDfVDfNyj>%nX=ٔnQ-n>9pYp=rFyrEEr;Ev>tQ 5z]5va?Q 9~]5v|)vBYyyQ I@vNDIv,;iv-;vDj]5y kBɮ  A dEjh15DNOT Ignoring new targets: 74.82 m.Rh=:Zh=:M ProNav: ac range: 74.815842 m, nav range: 71.925888 m, bearing: 231.266948 deg, approach rate: -0.601413 m/s, LOS rate: 0.080691 deg/s, cmd heading: 238.013405 deg, new cmd heading: 238.105127 deg. BhM];UHeadingCmd: 4.155718 target range: 74.815842 and range: 75.20 m.hU@hQ*hQ"hY hYgYfYfafadadadijdiZdm ?颙ɢg%) ݸi)ifj顡iij(F;BI@IQ@Q @Q@U^4@Q5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0051921^A1QIIO>E5 E5E5'E1"E5;;*E5:VE5'4ZE1BE59Y=FyEE=;E>Q 5 ]5-Q?Q 9 ]5)BY ?Q E:yQ I@VDId;i;n]5yɮ AjhAEDNOT Ignoring new targets: 74.82 m.RhMy:ZhMy:] ProNav: ac range: 74.815842 m, nav range: 71.668808 m, bearing: 231.302819 deg, approach rate: -0.585225 m/s, LOS rate: 0.081951 deg/s, cmd heading: 238.105121 deg, new cmd heading: 238.213119 deg. Bh]`;eHeadingCmd: 4.157603 target range: 74.815842 and range: 75.20 m.he @ha*ha"ha higififqfuBdqdqdqjdyZd}@?颥Bɢ) ﶾi)xo顱iZi ;!=I @IE9@A @I@M/@Iԁ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508952^Am:IIO> E=  E= E= &E9 "E= 3;*E= :VE= 4ZE9 aM @aM @aM @aM @**x,>q?A2z@2z@2;ٱ21 >AHRS rotation from veh to nav: [[-0.541618,0.831481,0.123648],[-0.840547,-0.537675,-0.066228],[0.011415,-0.139802,0.990114]]2HT?b?`4@W `? ?i2z@I2f;2CYFƀByFcILNAAbDnVDn2yv[%v\=ٔv[޺Q-z>9xYx=zFyz EE~|;E~>Q 5 ]5KC?Q 9 ]5g)BY y Q I@]DI:i:Yq]5yiBɮ AcEjhAEDNOT Ignoring new targets: 74.82 m.RhM:ZhM:] ProNav: ac range: 74.815842 m, nav range: 71.451981 m, bearing: 231.332804 deg, approach rate: -0.585114 m/s, LOS rate: 0.081161 deg/s, cmd heading: 238.213120 deg, new cmd heading: 238.303348 deg. Bh]^;eHeadingCmd: 4.159178 target range: 74.815842 and range: 75.20 m.he@ha*ha"hi higifififqdqdqdqjdyZd}k?颡ɢ?-) i)8t顩iZԹie,;,I@IB>BBlIB̀BB =BBDBB>o;B,Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762780m9@q @q@u/@q^A*:I1IIO]>M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0129379 cT~,Tq?Aɰ4<6O4{@6@6 Cٱ6V >AHRS rotation from veh to nav: [[-0.538924,0.833073,0.124706],[-0.842270,-0.535029,-0.065763],[0.011936,-0.140477,0.990012]]6H>??`հ@q?@'-?i6O4{@I6g;6CY^̀BybjIbDjVDj1yr><%rK=ٔrQ-r>9tYt=vFyv EEz<Ez>xQ 5]5zC4?Q 9]5z)z BYyzQ I@zeDIz;iz;zt]5yɮ Ajh9=DNOT Ignoring new targets: 74.82 m.RhEB:ZhEB:U ProNav: ac range: 74.815842 m, nav range: 71.216476 m, bearing: 231.364951 deg, approach rate: -0.584939 m/s, LOS rate: 0.080109 deg/s, cmd heading: 238.303360 deg, new cmd heading: 238.400119 deg. BhU[;]HeadingCmd: 4.160867 target range: 74.815842 and range: 75.20 m.h]%@hY*hY"hY hYgafafafadididijdiZdm @E EE'E"E77;*E:VE'4ZEBEI%@Im9@i @i@m/@iQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267617^AMyA ؟AI I O >ԙ 8<,Ir?A2d{@2H@2}Oٱ2k :AHRS rotation from veh to nav: [[-0.536417,0.834471,0.126159],[-0.843858,-0.532569,-0.065367],[0.012641,-0.141524,0.989854]]2HS*?@%? 绰`? v¿`?i2d{@I2ұf;2CYFǀByFdIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516982iUMb@Mb@Mb@QQQQ Q9U/$?ktƿZd;O?YU&?yU 0Uj9"?Y"?=FyEED;E>Q 5]5]$?Q 9]5)BY?Q E:yQ I@mDI ;i:x]5yuBɮu AlEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 74.82 m.Rh/:Zh/: ProNav: ac range: 74.815842 m, nav range: 70.970009 m, bearing: 231.400890 deg, approach rate: -0.580113 m/s, LOS rate: 0.084885 deg/s, cmd heading: 238.400130 deg, new cmd heading: 238.508323 deg. Bhi;HeadingCmd: 4.162755 target range: 74.815842 and range: 75.20 m.hK5@h*h"h hgfff Bd d d jdZd^t@q颹ɢP)) 迾i)W~ii ~F;- IK5@I9@ @@/@E EE+E"Ey>;*E#:VE [4ZEa%@a%@a%@a%@ԡAqAu@AB}>ByB}xIB}׀BB} =ByByB}o;B},Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768908^AA I I) O= > Tf,[/r?A:){@:佄@:`[ٱ:n FAHRS rotation from veh to nav: [[-0.534699,0.835612,0.125892],[-0.844936,-0.531030,-0.063956],[0.013410,-0.140568,0.989980]]:HAU?:? 2k_v? ?i:){@I:f;:CYNByNVI TVbDZVDZybv%bW=ٔfQ-f>9dYd=jFyjEEj;Ej>lQ 5r]5n!?Q 9r]5nз)n BYtyvQ Iv@ntDIn:in:n{]5yxɮz Axjh%DNOT Ignoring new targets: 74.82 m.Rh%:Zh%:5 ProNav: ac range: 74.815842 m, nav range: 70.748894 m, bearing: 231.432992 deg, approach rate: -0.582308 m/s, LOS rate: 0.084805 deg/s, cmd heading: 238.508321 deg, new cmd heading: 238.604928 deg. Bh5h;=HeadingCmd: 4.164442 target range: 74.815842 and range: 75.20 m.h=C@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU ~ @频ɢv28) ˾i)􋁼顩ii]]]v;] I]C@Iat>iBDAT read: Rx Time:05:23:19.4255 TRx dataTimestamp_ set to:1761542600.880207checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022076@! @!@%0@!bEǀ'4jE-4rEǰ/E EE%E"E=;*E-:VE 4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275009Y bW,Ir?Atv@5g{@5΄@5eٱ5z MAHRS rotation from veh to nav: [[-0.532979,0.836697,0.125984],[-0.846012,-0.529436,-0.062942],[0.014037,-0.140131,0.990033]]5H*7?? ?@#@W?Z?i5g{@I5?g;5CY]ŀBy]bIiMb@Mb@Mb@ 9X9v?OnÿI +?Y?y9<A+@  A)AY AbD-VD-ky5+=%=4=ٔ=Q-=>9AYA=EFyEEEMq;EM>QQ 5U]5U?Q 9]]5U)U,BY]?Q E]:y]:Q I]@U|DIU ;iUT ;U]5ymtBɮmx AmkEjhDNOT Ignoring new targets: 74.82 m.Rhf:Zhf:! ProNav: ac range: 74.815842 m, nav range: 70.481720 m, bearing: 231.462409 deg, approach rate: -0.586954 m/s, LOS rate: 0.064871 deg/s, cmd heading: 238.604927 deg, new cmd heading: 238.693512 deg. Bh2;HeadingCmd: 4.165987 target range: 74.815842 and range: 75.20 m.hO@h*h"h hg ff!f-}B Mj>QdymG!md9iYuܥAddyjdZd` @yլ?A%Bɢ%p)! %i!I)MIIQiU{iU,]U;]8NI]O@IYmDAT read: 05:23:19.4255 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.23, 1.087,-0.459, 1.536, 1.053, PHS= 0.137,-1.466, 0.439, RAW= 158.5, 10.1, CAL= 158.4, 10.9, ROT= 351.6, -10.9 }Ygot valid direction response: 05:23:19.4255 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.23, 1.087,-0.459, 1.536, 1.053, PHS= 0.137,-1.466, 0.439, RAW= 158.5, 10.1, CAL= 158.4, 10.9, ROT= 351.6, -10.9 PDAT read: Bearing 30.7, -9.2 (Local) ~Local bearing/azimuth received: Bearing 30.7, -9.2 (Local) DAT read: Range 11 to 50 : 72.9 m (Round-trip 97.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.971425,-0.143448,0.189095]Fpublishing direction and range infoyL?:}\¿oG4?Y̑B9@! @)@-0@) )EII >i㥻> 1@J4>;0@ B>)^@IBu2?oL\?\? 2+?)3IT iBuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.y E  E E E "E *E :VE ZE a @a @a @a @^AE zԩ Be>BaBaBaBe =BeADBaBe(o;Be,EAII*DAT read: user:403> BDAT read: Tx time:05:23:20.7242 $Ping request sent.Ù,hr?A2H{@2t@2*eqٱ2M :AHRS rotation from veh to nav: [[-0.531120,0.837807,0.126455],[-0.847169,-0.527687,-0.062062],[0.014733,-0.140091,0.990029]]2H@P?@/? @ Ư],?@Q?i2H{@I2Ug;2CYBByBVIHJ=bDPVDPyZ6&%Z;=ٔZкQ-^>9\Y\=^Fy^EEb_;Eb>dQ 5j]5f?Q 9j]5fp)f7BYhynQ In@fDIf;if;f]5ypɮr Apxii&Xr?AJiBRiBji@b7tWC#Q@AY$횀m+@RL?:}\¿oG4?ZiT biBjVƁ3F{f9K(X0@Z2>㿈_I迶y]?2i1\:i1"iC+?X?*i2^iBiBiަe_?i2^iiuBiWBi:@5 addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.781998 s, deltaX: -2.299995 m, approachRate: -0.608143 m/s, rangeRepo size: 4 u Added new target pos. range: 72.527786 m, bearing: 231.110242 deg, lat: 36.779377 deg, lon: -121.859690 deg, deltaT: 3.781998 s, deltaX: -2.288055 m, approachRate: -0.604986 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 72.53 m.Rh}Zh ProNav: ac range: 72.527786 m, nav range: 70.671150 m, bearing: 231.164045 deg, approach rate: 0.000000 m/s, LOS rate: 0.064871 deg/s, cmd heading: 238.693501 deg, new cmd heading: 238.779093 deg. BhHeadingCmd: 4.167481 target range: 72.527786 and range: 72.90 m.h\@h*h"h hgfffdddjd9R@Zdʅ?iɢm^%6)i mʾii)uqqiuji}g}/;}nI}\@I!Y@a @a@e0@aQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250882^A y E  E E (E "E *E d:VE c44ZE BE a 2E a JE )̨,Âr?A2{@2+@2ۑ~ٱ2R :AHRS rotation from veh to nav: [[-0.529591,0.838771,0.126480],[-0.848111,-0.526314,-0.060841],[0.015537,-0.139490,0.990102]]2Hh5? 0?`#@`&я??i2{@I2f'g;2CYBByB7IHJ@AbDNVDNβye%D=ٔ Q->9% ?Y% ?=%Fy%"EE-b;E->1Q 55]55權?Q 9=]55)5BBY9y=Q IE@5DI5e;i5;5P]5yMrBɮMAMjEYjhq}DNOT Ignoring new targets: 72.53 m.Rh}Ɍ:ZhɌ: ProNav: ac range: 72.527786 m, nav range: 70.425789 m, bearing: 231.189334 deg, approach rate: -0.595016 m/s, LOS rate: 0.061542 deg/s, cmd heading: 238.779097 deg, new cmd heading: 238.855229 deg. Bh(;HeadingCmd: 4.168810 target range: 72.527786 and range: 72.90 m.hf@h*h"h hgfffdddjdZd?ɢH checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755371 Ӧ,r?Aɰ;28|@2@2߇ٱ2K :AHRS rotation from veh to nav: [[-0.528365,0.839515,0.126670],[-0.848856,-0.525266,-0.059499],[0.016585,-0.138962,0.990159]]2H\N?`6? ) v?~a?i28|@I2Tg;2CYFByF9IiMMb@Mb@Mb@IIII I9MZd;?7A`¿Zd;O?YM?yMMj9yYy=}Fy}&EEib;E>Q 5]5׬?Q 9]5)NBY?Q E:yQ I@DI ;i ;]5yɮsAԹB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 72.53 m.Rhk:Zhk: ProNav: ac range: 72.527786 m, nav range: 70.171219 m, bearing: 231.212774 deg, approach rate: -0.612193 m/s, LOS rate: 0.056573 deg/s, cmd heading: 238.855240 deg, new cmd heading: 238.925815 deg. BhM;HeadingCmd: 4.170042 target range: 72.527786 and range: 72.90 m.hp@h*h"h hgfffaBdddjd Zd `l ?9ɢ=BoB)9 =i9)=4%AAiEOiE=MR;MIMp@IIE EE'E"EI@;*E:VE'4ZEa@a@a@a@@ @@4@BA<B>BCBlIB̀BB =BBDBo;B,EBUCBUCBQBU =BQCUM5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859!^A`ԻI I O >9 ,xr?A6%|@6@65Əٱ6V9 BAHRS rotation from veh to nav: [[-0.526909,0.840407,0.126819],[-0.849741,-0.523980,-0.058187],[0.017550,-0.138423,0.990218]]6H@o?;?1@qʭ ?ٷݯ?i6%|@I61h;4YJByJ6IINa=)Na=bDVVDVJ2yZ[%^W=ٔ^K&Q-^>9`Y`=bFyb*EEfؒ;Ef>hQ 5j]5jɬ?Q 9n]5j )jXBYlynQ In@jDIj;ij;jC]5yvqBɮvAtjhDNOT Ignoring new targets: 72.53 m.Rh:Zh:- ProNav: ac range: 72.527786 m, nav range: 69.938103 m, bearing: 231.234070 deg, approach rate: -0.614873 m/s, LOS rate: 0.056358 deg/s, cmd heading: 238.925809 deg, new cmd heading: 238.989910 deg. Bh-;5HeadingCmd: 4.171161 target range: 72.527786 and range: 72.90 m.h5&z@h1*h1"h1 h1g1f9f9f9dAdAdAjdAZdM?iYI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259233颅BɢJ) >i)N폼顉izij+h;ֻI&z@I@ @@/@AE EE+E"E2;*E:VE [4ZEBE#y- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513192ԙ Y,Rr?A23|@2@2 ٱ2f :AHRS rotation from veh to nav: [[-0.525663,0.841206,0.126690],[-0.850493,-0.522906,-0.056835],[0.018437,-0.137625,0.990313]]2H ;)?a7?`=7` y0? `?i23|@I2h;2CY^Byb(IiMb@Mb@Mb@ 9Zd;?Zd;/$?Y?y<fA+@  A)rAY A p<bDVD3yD%6=ٔ%DQ-%>9!Y)=-Fy-.EE-T;E->1Q 5=]55m?Q 9E]55)5cBYE"?Q EE:yEQ IE@5DI5X:i5:52]5yMBɮUUAUsEqjhyDNOT Ignoring new targets: 72.53 m.Rh:Zh: ProNav: ac range: 72.527786 m, nav range: 69.654648 m, bearing: 231.249232 deg, approach rate: -0.628968 m/s, LOS rate: 0.033779 deg/s, cmd heading: 238.989904 deg, new cmd heading: 239.035573 deg. Bhu:HeadingCmd: 4.171958 target range: 72.527786 and range: 72.90 m.h@h*h"h hgfffNBddd)jd1Zd5औ?颙ɢD) i)顡iݻi%Yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762952;ƻI@Iԡ!@! @!@!@!DzDE EE&E"EM;*EV:VE4ZEa@a@a@a@^A% `ԻI I O >B >B CB YIB BB =B BDB DB n;B u,E % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014881,.r?A8:@VQ|@V#@VZ៼ٱVi ^AHRS rotation from veh to nav: [[-0.524113,0.842072,0.127360],[-0.851425,-0.521510,-0.055701],[0.019515,-0.137632,0.990291]]VH@?`XM?>6ۄ ?@w?iVQ|@IVh;TYfByj,IbDrVDrkyz/<%z_=ٔzUAQ-z>9|Y|=~Fy~2EE;E> Q 5]5 Q?Q 9]5  ) mBYyQ I@ DI U;i n; c]5y%Bɮ%2A%rEjhYeDNOT Ignoring new targets: 72.53 m.Rhm:Zhm: ProNav: ac range: 72.527786 m, nav range: 69.424339 m, bearing: 231.261299 deg, approach rate: -0.627207 m/s, LOS rate: 0.032973 deg/s, cmd heading: 239.035584 deg, new cmd heading: 239.071907 deg. Bh:HeadingCmd: 4.172592 target range: 72.527786 and range: 72.90 m.h@h*h"h hgfffdddjdZdU@颍BɢT) i)O顱iڻi;z/I@I@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266857^AI ) I1 O= >E  E E 'E "E 8;*E :VE '4ZE BE ׏9IYI=MFyM6EEUEU>YQ 5e]5]z?Q 9e]5])]wBYayaQ Ie@]DI]A:i]:]]5yqɮuAqjhDNOT Ignoring new targets: 72.53 m.Rh:Zh: ProNav: ac range: 72.527786 m, nav range: 69.163643 m, bearing: 231.275056 deg, approach rate: -0.615169 m/s, LOS rate: 0.032585 deg/s, cmd heading: 239.071921 deg, new cmd heading: 239.113348 deg. Bh:HeadingCmd: 4.173315 target range: 72.527786 and range: 72.90 m.h̋@h*h"h hg!f!f!f!d)d)d)jd)Zd-@]Bɢ]HX)a eqia)eyaaied׻imm Y;uqIű@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521088a]9@Y @a@e/@ay^A3I I! O1 ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770900 ,s?A@Y~~By~ IiMb@Mb@Mb@ 9)\(?K7Ay&1?YG!?y `<AA@ )Yf AAAbDVD:ys%B=ٔQ->9Y=Fy;EEE>Q 5]5?Q 9]5W)BY$?Q E:yQ I@DI":i:]5yBɮAB*** querying acoustic contact ***i ijh!%DNOT Ignoring new targets: 72.53 m.Rh-):Zh-):] ProNav: ac range: 72.527786 m, nav range: 68.894562 m, bearing: 231.290160 deg, approach rate: -0.657726 m/s, LOS rate: 0.037062 deg/s, cmd heading: 239.113339 deg, new cmd heading: 239.158826 deg. Bh]|:]HeadingCmd: 4.174109 target range: 72.527786 and range: 72.90 m.heM@ha*ha"ha hagafafifm1BdididqjdqZdu@HK @D%=D%=E EE&E"E=;*E:VE4ZEa@a@a@a@颽Bɢ.m]) 9i)]iӻi`;ȲֻIM@IԹ@ @@0@B5>B5CB5FIB5BB5 =B1B1B5n;B5P,EBDAT read: Rx Time:05:23:23.2227 TRx dataTimestamp_ set to:1761542604.660238checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024042^A `Ի A= ؟AIA IY Oe >J,7s?Aɰ2|@2Y@2Iٱ2 :AHRS rotation from veh to nav: [[-0.518450,0.844729,0.132826],[-0.854803,-0.516123,-0.054120],[0.022837,-0.141598,0.989661]]2H#? m? Zb?¿L?i2|@I2jh;0Y^}Byb IbDjVDjlyr9v"?Yz"?=zFyz>EEz̏<Ez>|Q 5]5~z?Q 9 ]5~)~BY y Q I @~ƞDI~:i~:~]5yɮ AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274883jhDNOT Ignoring new targets: 72.53 m.Rh :Zh : ProNav: ac range: 72.527786 m, nav range: 68.654343 m, bearing: 231.302372 deg, approach rate: -0.602094 m/s, LOS rate: 0.030716 deg/s, cmd heading: 239.158828 deg, new cmd heading: 239.195593 deg. Bh:HeadingCmd: 4.174751 target range: 72.527786 and range: 72.90 m.h@h*h"h hg!f!f!f!d)d)d)jd)Zd-s @Yɢ]hbc)a e!ia)ew4aaieDлimm9;mvnIu@Iq 9@ @@c1@E EE+E"E9;*E:VE [4ZEBEB>m(1@ PwV>)?B@IPwV4֘?"(?*:1?i c+?)BItiPwVA I I O > T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.]3,gQs?AZ|@ZOk@Z¼ٱZd AHRS rotation from veh to nav: [[-0.516595,0.845773,0.133406],[-0.855900,-0.514412,-0.053052],[0.023756,-0.141589,0.989640]]AZH ?s?cv@)iS? ¿"?iZ|@IZGh;ZCY}tBy}II,>)pQ-->9IYi=uFyuCEEɐ;E>Q 5]5n?Q 9]5H)BY3'?Q E:ySQ I@ОDI;i:A]5y~BɮRAqEiiuJs?AJiߌBRiߌBji8@bUQ@,$kJ-@RYB?Uc¿hٜ?ZitbiPwVjs-DIUJ1@ZGIX"㿧5-o^I?2i"W:i'"iF1H?*itBiBi&{P?i*jiiBim@M*DAT read: user:404> UBDAT read: Tx time:05:23:24.5742 U$Ping request sent.]:,os?A2N|@2wz@2'a˼ٱ2S >AHRS rotation from veh to nav: [[-0.514997,0.846625,0.134181],[-0.856832,-0.512968,-0.051979],[0.024824,-0.141740,0.989593]]2Hz?,?+k9^ ?Y^ ?=^Fy^GEEb;Eb>dQ 5j]5fa?Q 9j]5f)fBYhyj5Q In@fמDIf ;if&;fv]5yrBɮrArzEjh  DNOT Ignoring new targets: 70.44 m.Rha :Zha :% ProNav: ac range: 70.437202 m, nav range: 67.773338 m, bearing: 231.749091 deg, approach rate: -0.670747 m/s, LOS rate: 0.035054 deg/s, cmd heading: 239.239779 deg, new cmd heading: 239.277091 deg. Bh%u:-HeadingCmd: 4.176173 target range: 70.437202 and range: 70.80 m.h-6@h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE@?%Bɢ%t)) -iI)UřQQiU .ɻieIe;eE:Ie6@Iq  @  @ @ 4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5026701^A 9a bE-4jEɅ04rE0E  E E E "E a?;*E :VE ZE BE X,s?A >"}@>܋@>hԼٱ>L FAHRS rotation from veh to nav: [[-0.513162,0.847618,0.134935],[-0.857900,-0.511299,-0.050808],[0.025926,-0.141834,0.989551]]>H`k?`E?s\`U?'¿f?i>"}@I>}h;>CYN`ByRIbDZVDZN2yva%vG=ٔv0Q-v>9z"?Yz"?=zFyzKEE~;E~>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962 Q 5]5 R?Q 9]5 8) BYyQ I@ DI a;i ~ ; ]5y!ɮ-uA)jhIUDNOT Ignoring new targets: 70.44 m.Rhe :Zhe : ProNav: ac range: 70.437202 m, nav range: 67.505997 m, bearing: 231.762638 deg, approach rate: -0.648943 m/s, LOS rate: 0.033012 deg/s, cmd heading: 239.277099 deg, new cmd heading: 239.317899 deg. Bh?:HeadingCmd: 4.176885 target range: 70.437202 and range: 70.80 m.h @h*h"h hgfffdddjdZd`?q颭~Bɢߞ,J(s?AE EE"E "E;;*E:VE(3ZE a@a@a@a@>iE}@>@>ݼٱ>! FAHRS rotation from veh to nav: [[-0.511296,0.848588,0.135925],[-0.858978,-0.509595,-0.049704],[0.027088,-0.142170,0.989472]]>H@\@'?e?|Nr?`2¿`?i>iE}@I>Eyh;>CYN^ByRI TTiMb@Mb@Mb@ 9sh|??S㥛Zd;O?Y)?y$j<  A)\AY AbDVD0yQ %3=ٔ&Q->9Y=FyPEEG;E>Q 5]5@?Q 9]5F)ưBY\-?Q E :y Q I @DI;i~ ; ]5yBɮAyE5B*** querying acoustic contact ***i1 i1jh9EDNOT Ignoring new targets: 70.44 m.Bm>BiBmIBmBBiBiBiBmn;BmH,ERh:Zh: ProNav: ac range: 70.437202 m, nav range: 67.198898 m, bearing: 231.777847 deg, approach rate: -0.672594 m/s, LOS rate: 0.033464 deg/s, cmd heading: 239.317889 deg, new cmd heading: 239.363727 deg. Bh:HeadingCmd: 4.177685 target range: 70.437202 and range: 70.80 m.h@h*h"h hgfffB!d)d)d)jd)Zd5 ?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258900颵}Bɢip) Yi)ʭii >; 0;I @I IA)EbA9@ @@&4@@=@=Iԁ ^AU NJ: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510778ԡ A I I O >,As?AJT}@J@JnٱJm. RAHRS rotation from veh to nav: [[-0.507430,0.850381,0.139166],[-0.861180,-0.506040,-0.047875],[0.029712,-0.144140,0.989111]]JH<Q6?0? ʎ`z1`@l?/s¿`̦?iJT}@IJ;h;JCYZOBy^I``bDfVDfyn:%nR=ٔryܻQ-r>9pYp=rFyvTEEv;<Ev>YQ 5]]5]1?Q 9e]5])]ҰBYayeQ Ie@]DI]p:i]g:]]5yqɮuAqjhDNOT Ignoring new targets: 70.44 m.Rh:Zh: ProNav: ac range: 70.437202 m, nav range: 66.927696 m, bearing: 231.790342 deg, approach rate: -0.674414 m/s, LOS rate: 0.031196 deg/s, cmd heading: 239.363734 deg, new cmd heading: 239.401368 deg. BhF:HeadingCmd: 4.178342 target range: 70.437202 and range: 70.80 m.h@h*h"h hgfffdddjdZd$?|Bɢ) Ei)[5iji Q;;I@IE  EE(E"EG;*E1:VEc44ZEBE)i ,es?Aɰ2}@2ԅ@2yٱ2 >AHRS rotation from veh to nav: [[-0.505431,0.851406,0.140168],[-0.862317,-0.504201,-0.046814],[0.030815,-0.144530,0.989021]]2H},>?@? j" 썟?¿`?i2}@I2=*i;2CYFLByFIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014791i%Mb@Mb@Mb@!!!! !9%B`"?V-/$?Y%.?y%%<%A! %+ A)!!Y!bD=VD=yEVI%MB=ٔM=+Q-M>9QYQ=UFyUXEE]j;E]>aQ 5e]5e"?Q 9m]5e^ )e߰BYmn1?Q Em:ymQ Iu@eDIe ;ie ;e$]5yyɮ} Ayjh%DNOT Ignoring new targets: 70.44 m.RhMV9ZhMV9] ProNav: ac range: 70.437202 m, nav range: 66.644981 m, bearing: 231.796611 deg, approach rate: -0.664178 m/s, LOS rate: 0.014790 deg/s, cmd heading: 239.401382 deg, new cmd heading: 239.420268 deg. Bh]g":]HeadingCmd: 4.178672 target range: 70.437202 and range: 70.80 m.he@ha*ha"ha hgfffBdddjdZd`f@zBɢ2|) i)tiZںiY(;Vu;I@I )9@ @@/@E EEE"EC;*Eu:VEZEa@a@a@a@IB>BBIBwBB =BADBBn;BG,EBqBqBqBu =Bu =CuSL5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266857^A #2;ԁ AI IY Ii Ou >2,)s?A0b }@bV@bGٱb jAHRS rotation from veh to nav: [[-0.503570,0.852345,0.141161],[-0.863367,-0.502491,-0.045836],[0.031864,-0.144955,0.988925]]bH > hF?@? g wsP?¿ F?ib }@IbDh;bCYQByIIe>)=AbDVD02y9<%2=ٔ:Q->9Y=Fy]EE ;E >Q 5]5?Q 9]5)BYyQ I@DI$:iR:$]5y)ɮ-A)jhQ]DNOT Ignoring new targets: 70.44 m.Rh]͆9Zhe͆9u ProNav: ac range: 70.437202 m, nav range: 66.328781 m, bearing: 231.803099 deg, approach rate: -0.714519 m/s, LOS rate: 0.014732 deg/s, cmd heading: 239.420260 deg, new cmd heading: 239.439818 deg. Bhu!:}HeadingCmd: 4.179013 target range: 70.437202 and range: 70.80 m.h}z@hy*hy"hy hygyfffdԉddjdZd@@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518926]xBɢ]y)a ei)̲顡ikiªY؍;Pi>]9@Y @Y@e/@aԹE  EE,E"EF;*E:VEg4ZEBEa,[,t?AZC}@Zr@ZٱZ AHRS rotation from veh to nav: [[-0.502064,0.853148,0.141670],[-0.864202,-0.501165,-0.044586],[0.032961,-0.144817,0.988909]]ZHL?`="?@ ԦI?Z¿@%?iZC}@IZg;ZC ѡ)ѩЭyбйiIIikA DKF) kA  %C%pAI))1i1)AIMkAUGaQ YY]kAe9iaaiaa)i IYYMCByMIiiMb@Mb@Mb@ 9?)\(/$?Y,?yGὙ9A@ )Y A 5<5<bD=VD=βyM`t%M0=ٔMDQ-M>9QYQ=UFyUaEEUs;E]>aQ 5m]5e?Q 9m]5e:)eBYm)/?Q Em:ym/Q Im@eDIe :ie:e1]5y}Bɮ}A}EjhDNOT Ignoring new targets: 70.44 m.Rhg(9Zhg(9 ProNav: ac range: 70.437202 m, nav range: 66.012939 m, bearing: 231.807338 deg, approach rate: -0.682430 m/s, LOS rate: 0.009202 deg/s, cmd heading: 239.439822 deg, new cmd heading: 239.452598 deg. Bh9HeadingCmd: 4.179236 target range: 70.437202 and range: 70.80 m.hN@h*h"h hgfff݀BdddjdZd` @ wBɢ )  i )ic⳻i6<;֏#B1 B5 IB5 mBB5 =B1 B1 B5 gn;B5 8,EII OU > ,*t?A22 ~@2i@2L ٱ2M :AHRS rotation from veh to nav: [[-0.500785,0.853753,0.142550],[-0.864907,-0.500022,-0.043754],[0.033923,-0.145204,0.988820]]2Hn`Q?@??P@.f O^? ¿i?i22 ~@I2Pg;2Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274575YUPByUIbDVD0y=%i=ٔs/Q->9 ?Y ?=FyeEE;E>)Q 5=]5-?Q 9=]5-P)-BYAyEQ IE@-DI-';i-;-a]5yqɮuAqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 70.44 m.Rhi9Zh i9 ProNav: ac range: 70.437202 m, nav range: 65.764183 m, bearing: 231.810386 deg, approach rate: -0.663653 m/s, LOS rate: 0.008164 deg/s, cmd heading: 239.452608 deg, new cmd heading: 239.461788 deg. BhK9HeadingCmd: 4.179397 target range: 70.437202 and range: 70.80 m.h@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU` @uBɢ)A EiA)MpüIIiM°iUzU;}@65$+3@6&>3@ %/>)0O@I%/nW% ?rfٸ{?B[p? &4?)%IT8i%/= T****** received valid address query ******= R****** received valid ping request ******A E Querying Benthos address 50 with one ping in standard two-way mode.^A5 h%v,iFt?A2> ~@2 @2|ٱ2`E> E>E>(E<"E>=;*E>:VE>c44ZE<BE>-- ~@I2"Qf;2CY5TBy5I 99E=E=bDMVDMyz<%4=ٔQ->9"?Y"?=FyjEE=;E> Q 5]5㫊?Q 9]5m!)BYyQ I@!DIk4;iV5;5]5y!ɮ%dA%Eii^e 5BDAT read: Tx time:05:23:28.2742 5$Ping request sent.5',`t?A2&~@2*@2ٱ23 :AHRS rotation from veh to nav: [[-0.499307,0.854360,0.144088],[-0.865703,-0.498733,-0.042708],[0.035374,-0.146062,0.988643]]2H ߿V? |q?ճ`?߿ݥ@|?`)¿@?i2&~@I26e;0YBOByFIiMb@Mb@Mb@ 9㥛 ?333333Mb?Y5?y<  A)3AYA))bD-VD-02y=%=Q=ٔEfǺQ->9 ?Y ?=FynEE}:E>Q 5]5ի?Q 9]5')BY6?Q E:y} Q I@+DI(;i';]5yɮA!jhIMDNOT Ignoring new targets: 67.75 m.RhUa ZhUa  ProNav: ac range: 67.751122 m, nav range: 65.499817 m, bearing: 231.365140 deg, approach rate: -0.706636 m/s, LOS rate: -0.030901 deg/s, cmd heading: 239.472388 deg, new cmd heading: 239.434435 deg. BhHeadingCmd: 4.178919 target range: 67.751122 and range: 68.10 m.h@h*h"h hgfffπBdddjdZdgB?5qBɢ5)1 5D9zD=@AEE  EEEE%EA"EEF;*EE:VEE 4ZEAaM@aM@aM@aM@i1)U˼QQimiJ;QBeCBeIBebBBaBeBDBeDBaBe7,EI@I @I@U}0@Qichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503482y^A *:<ԡ A ؟AI I O >,ސzt?A4<ɰB~@B @B/ٱBV JAHRS rotation from veh to nav: [[-0.499727,0.854041,0.144527],[-0.865432,-0.499242,-0.042253],[0.036068,-0.146193,0.988598]]BH߿ MT? ?߿@.`w?r¿?iB~@IBd;@YPyPbD^VD^kٔfQ-f>9f"?Yj"?=jFyjqEEj۰Ej>lQ 5r]5nȫ?Q 9v]5n8-)n(BYtyv Q Iv@n3DIn:ing:n]5yxɮx|jh!%DNOT Ignoring new targets: 67.75 m.Rh-nZh-n= ProNav: ac range: 67.751122 m, nav range: 65.237091 m, bearing: 231.353720 deg, approach rate: -0.723314 m/s, LOS rate: -0.031567 deg/s, cmd heading: 239.434440 deg, new cmd heading: 239.400041 deg. Bh=PEHeadingCmd: 4.178319 target range: 67.751122 and range: 68.10 m.hEʴ@hA*hA"hA hIgIfIfIfQdQdQdQjdQechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754964ZdetD?颥pBɢ) Hi)Nμ顩i^i!c4;Iʴ@Iԙi@q @q@ub4@qEe EeEe(Ea"Ee=;*Ee#:VEec44ZEaBEaam2EaauJEe6 $,yt?AY^ByII%C=)%x>iMb@Mb@Mb@ 9gfffff?sh|?:v?Y33?y<OA@  A)EAYp AbDVD02y=%<ٔQ->9 ?Y ?=FyvEEE>Q 5]5"?Q 9]53)6BY4?Q E:y1 Q I@=DI:i:]5y Bɮ A Ejh1=DNOT Ignoring new targets: 67.75 m.Rh=)߹Zh=)߹M ProNav: ac range: 67.751122 m, nav range: 64.928230 m, bearing: 231.343040 deg, approach rate: -0.701928 m/s, LOS rate: -0.024388 deg/s, cmd heading: 239.400043 deg, new cmd heading: 239.367850 deg. BhU兺UHeadingCmd: 4.177757 target range: 67.751122 and range: 68.10 m.h]0@hY*hY"hY hYgYfYfafeBdadadijdaZdm^?mBɢYs) i)tҼiպiEVE;EW:YB B B B =B B B vn;B ?,E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511406A% ؟AI1 IA O] >+,et?ABS}@Bz@B~ٱBJf JAHRS rotation from veh to nav: [[-0.501862,0.852187,0.148026],[-0.864104,-0.501533,-0.042294],[0.038198,-0.149136,0.988079]]BH @@E?? ?ÿ W?iBS}@IB'd;BCYRiByRI Zp9j"?Yj"?=jFyjzEEn_޻En>pQ 5v]5r?Q 9v]5rB9)rBBYxyzX Q Iz@rEDIr;irT;r]5y|ɮ~XA~EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 67.75 m.RhǹZhǹ ProNav: ac range: 67.751122 m, nav range: 64.668274 m, bearing: 231.334520 deg, approach rate: -0.663794 m/s, LOS rate: -0.021842 deg/s, cmd heading: 239.367859 deg, new cmd heading: 239.342197 deg. BhoMHeadingCmd: 4.177310 target range: 67.751122 and range: 68.10 m.hM@hQ*hQ"hQ hQgQfYfYfYdddjdZd`?AMkBɢM/)I M iQ)U ּQQiUUimmX;mB8Y1,!t?AbE5c44jE5^+4rE50E EE&E"EI@;*E:VE4ZEBE9)Y)=-Fy-~EE5 E5>9Q 5E]5=?Q 9E]5=c?)=PBYAyEf Q IE@=NDI=+;i=F:=]5yQɮUAQjhDNOT Ignoring new targets: 67.75 m.RhڹZhڹ ProNav: ac range: 67.751122 m, nav range: 64.378387 m, bearing: 231.325155 deg, approach rate: -0.736493 m/s, LOS rate: -0.023901 deg/s, cmd heading: 239.342205 deg, new cmd heading: 239.313983 deg. Bh8HeadingCmd: 4.176817 target range: 67.751122 and range: 68.10 m.h|@h*h"h hgfffdddjdZd@miBɢmu)q ui)ؼ顑i]Fi‘;5i8,t?A:=}@:o@:4%ٱ:i FAHRS rotation from veh to nav: [[-0.503405,0.850215,0.154002],[-0.863109,-0.503123,-0.043706],[0.040323,-0.154923,0.987103]]:H4?Z?`@``*?ÿY?i:=}@I:,,e;:CYNByNI PPl9 ?Y ?=FyEE8E>Q 5]5?Q 9]5F)`BQ A+:YQ Es:yq Q I@YDI':i.>]5yBɮAEjhDNOT Ignoring new targets: 67.75 m.Rh%ϹZh%Ϲ ProNav: ac range: 67.751122 m, nav range: 64.062683 m, bearing: 231.315058 deg, approach rate: -0.704353 m/s, LOS rate: -0.022637 deg/s, cmd heading: 239.313982 deg, new cmd heading: 239.283543 deg. BhxHeadingCmd: 4.176286 target range: 67.751122 and range: 68.10 m.h"@h*h "h  h g f ffdddjdZd@@E5 E5E1E1"E5=;*E5;:VE1ZE1aE@aE@aE@aE@]gBɢ]g)a eia)e-ܼaaim^j B>BCBIBrBB =BADBDBgn;B9,Ei5q57;52:>,t?A2}@26݅@23)ٱ2[! :AHRS rotation from veh to nav: [[-0.504354,0.849265,0.156130],[-0.862502,-0.504149,-0.043874],[0.041452,-0.156790,0.986762]]2H#--? ?@`!v79?Ŀ`?i2}@I2/e;2CYBByB*IaJ@JPowering downJJNNLLbDRVDR0y=%-g=ٔ5MOQ-5>95"?Y5"?==Fy=EE=NE=>AQ 5M]5E?]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771639aQ 9m]5EXK)ElBQ A :YQ EE:y Q I@EaDIE>E,qqu?Aɰ4<2}@2$Յ@2-ٱ2 $ :AHRS rotation from veh to nav: [[-0.505183,0.848278,0.158792],[-0.861970,-0.505000,-0.044531],[0.042415,-0.159370,0.986307]]2Ht* %?LS?@A(̦l? @fĿ@ԏ?i2}@I2p5e;0YFByF@IbDNVDNkyVv=%VR=ٔV#Q-V>9XYX=ZFyZEE^p'E^>`Q 5f]5bZs?Q 9f]5bQ)bzBQ Af9YdQ Ef:yf Q Ij@biDIb:ib?b]5ynʒBɮnAnEjhyDNOT Ignoring new targets: 67.75 m.RhƹZhƹԹ ProNav: ac range: 67.751122 m, nav range: 63.541336 m, bearing: 231.298861 deg, approach rate: -0.702260 m/s, LOS rate: -0.021738 deg/s, cmd heading: 239.259887 deg, new cmd heading: 239.234750 deg. BhnHeadingCmd: 4.175434 target range: 67.751122 and range: 68.10 m.h(@h*h"h hgfffdddjdZd @mbBɢm])i m긾iq)-Q11i5Vޛi=e= ;=!B) B- IB- BB- =B) B) B- qn;B- >,EB B B B B C r65A I) IA I O] >U DAT read: 05:23:30.7656 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410, 0.17, 2.753, 1.229,-3.002, 2.706, PHS= 0.149,-1.432, 0.531, RAW= 160.6, 8.4, CAL= 160.2, 8.7, ROT= 349.8, -8.7 FK,K/u?A&Ygot valid direction response: 05:23:30.7656 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410, 0.17, 2.753, 1.229,-3.002, 2.706, PHS= 0.149,-1.432, 0.531, RAW= 160.6, 8.4, CAL= 160.2, 8.7, ROT= 349.8, -8.7 *PDAT read: Bearing 30.2, -9.1 (Local) *~Local bearing/azimuth received: Bearing 30.2, -9.1 (Local) .DAT read: Range 11 to 50 : 65.4 m (Round-trip 87.3 ms) speed 0.7 m/s BR#Rx 1: Read range and direction messages.F^direction in FSK: [0.972871,-0.175047,0.151261]FFpublishing direction and range infoyIMGu!?^gƿni\?YM̂BIIII I)MAIMu>iMKM?MUd3@MQ >M2@ M|>)M|]@IM|IIM® ?Sɼ4g?cnM? MJ5?)MxIMK6iM|IIRT****** received valid address query ******VR****** received valid ping request ******VQuerying Benthos address 50 with one ping in standard two-way mode.v}@vυ@v0ٱv& ~AHRS rotation from veh to nav: [[-0.505723,0.847568,0.160848],[-0.861615,-0.505562,-0.045016],[0.043164,-0.161355,0.985952]]vH@.G??`Z-`b `? FĿ`?iv}@Ive;vCY By OII8>)bD%VD%0y5Gk=%5B=ٔ5PQ-5>99Y9=EFyEEEMfȺEU>aQ 5u]5eQd?Q 9u]5eUW)eBQ A9YQ E:y Q I@esDIe~;ie?eN]5yɮAEiIiM(.u?AJiM!BRiM!BjiM@bMCJjO@k&j#@RMGu!?^gƿni\?ZiMK6biM|jM! DS֜HFQy,@ZMp㿿5-#o?2iMD:iMT "iM2?*iM,fBiMBBiMC+?X?iIiMBiM/}BiM$@ addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.788073 s, deltaX: -2.699997 m, approachRate: -0.712763 m/s, rangeRepo size: 4  Added new target pos. range: 65.065254 m, bearing: 230.845121 deg, lat: 36.779376 deg, lon: -121.859690 deg, deltaT: 3.788073 s, deltaX: -2.685867 m, approachRate: -0.709033 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 65.07 m.RhZh ProNav: ac range: 65.065254 m, nav range: 63.296570 m, bearing: 231.229810 deg, approach rate: 0.000000 m/s, LOS rate: -0.021738 deg/s, cmd heading: 239.234752 deg, new cmd heading: 239.204194 deg. BhHeadingCmd: 4.174901 target range: 65.065254 and range: 65.40 m.hʘ@h*h"h hgfffdddjdYP@Zd ?_Bɢ<'H) i).i%i"]; z! BDAT read: Tx time:05:23:32.0742 $Ping request sent.SR,SKu?Ab`}@b΅@b 4ٱbm( jAHRS rotation from veh to nav: [[-0.505848,0.847054,0.163149],[-0.861503,-0.505708,-0.045525],[0.043943,-0.163582,0.985551]]bH`/??n. O@?DĿ@?ib`}@Ibe;bCYrǀByvdIz:Expecting PD13 message format ~4<~<bDVDfy=%<=ٔ?Q->9Y!=%Fy%EE%ǹE%>)Q 55]5- U?Q 95]5-])-BQ A=9Y9Q E=9y= Q I=@-}DI-@:i-9@-]5yAɮEAichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250159IB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 65.07 m.Rh-Zh-= ProNav: ac range: 65.065254 m, nav range: 62.994053 m, bearing: 231.220196 deg, approach rate: -0.776371 m/s, LOS rate: -0.024792 deg/s, cmd heading: 239.204208 deg, new cmd heading: 239.175227 deg. Bh==HeadingCmd: 4.174395 target range: 65.065254 and range: 65.40 m.hE@hA*hA"hA hAgIfIfIfIdQdQdQjdQZd]?]Bɢ J) i)X,,eu?A2Y}@2}̅@2f8ٱ2 ) :AHRS rotation from veh to nav: [[-0.506035,0.846739,0.164200],[-0.861337,-0.506042,-0.044947],[0.045034,-0.164176,0.985402]]2H`o1|?`?1K?ſj?i2Y}@I2e;2CYfՀByfuIbDrVDr1yvf=%zN=ٔz&4Q-z>9xY|=~Fy~EE"E>Q 5 ]5F?Q 9]5c)BQ Ao9YQ E9y Q I@DI:i@]5y%˒Bɮ%A%EjhIUDNOT Ignoring new targets: 65.07 m.RhU׹ZhU׹e ProNav: ac range: 65.065254 m, nav range: 62.715511 m, bearing: 231.211319 deg, approach rate: -0.734307 m/s, LOS rate: -0.023506 deg/s, cmd heading: 239.175220 deg, new cmd heading: 239.148471 deg. BhmmHeadingCmd: 4.173928 target range: 65.065254 and range: 65.40 m.hmҐ@hq*hq"hq hqgqfqfyfydyddjdZd`?颵ZBɢA) i)Y项iii;n *BBLIBBBBBBn;BU,Eu9@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754380^Aܪ&<1I I O >Y (_,~u?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0063236}@6΅@6;ٱ65+ BAHRS rotation from veh to nav: [[-0.505772,0.846344,0.167021],[-0.861451,-0.505779,-0.045708],[0.045791,-0.166998,0.984893]]6HH/@?@`?@X/` gq?@0`ſ ??i6}@I6pze;6CYJByJIbDZVDZ:yb>%bM=ٔbXQ-f>9dYd=fFyfEEj};:Ej>lQ 5r]5n8?Q 9r]5nxi)nBQ ArB9YpQ Er9yv Q Iv@nDIn ;in 6@ne]5yxɮzAxjhDNOT Ignoring new targets: 65.07 m.Rh%2ҹZh%2ҹ5 ProNav: ac range: 65.065254 m, nav range: 62.436401 m, bearing: 231.202232 deg, approach rate: -0.702471 m/s, LOS rate: -0.022971 deg/s, cmd heading: 239.148473 deg, new cmd heading: 239.121093 deg. Bh5<|=HeadingCmd: 4.173450 target range: 65.065254 and range: 65.40 m.h=茅@h9*h9"hA hAgAfAfAfIdIdIdIjdIZdU?XBɢ.)  Ri!)%K!!i%Śi--;-r;5A>IqIԉO>Թ e,Řu?A2}@2ׅ@25=ٱ2N, >AHRS rotation from veh to nav: [[-0.504832,0.846694,0.168090],[-0.861982,-0.504876,-0.045692],[0.046178,-0.167957,0.984712]]2H'??Z'd ?ſ Â?i2}@I2Je;2CYFByFIbDNVDNk1yvq=%vG=ٔzwQ-z>9xY|=~Fy~EE~,;E>Q 5 ]5k*?Q 9 ]5o)ıBQ A9YQ E_9y Q I@DI:iXP@]5y%̒Bɮ%xA!jhIMDNOT Ignoring new targets: 65.07 m.RhUbڹZhUbڹe ProNav: ac range: 65.065254 m, nav range: 62.148933 m, bearing: 231.192489 deg, approach rate: -0.700866 m/s, LOS rate: -0.023866 deg/s, cmd heading: 239.121098 deg, new cmd heading: 239.091732 deg. BhemHeadingCmd: 4.172938 target range: 65.065254 and range: 65.40 m.hm@hi*hi"hi higqfqfqfqdydydyjdyZdC?颭UBɢF&) /i)g顱iZiJ;LDU=DU<E] E]E]*EY"E]77;*E]:VE](N4ZEYae@ae@ae@ae@B>BBIBBB =BBDBBn;BN,E  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7622439 ul,u?An2}@n߅@nr?ٱn+ vAHRS rotation from veh to nav: [[-0.503951,0.847354,0.167403],[-0.862467,-0.504156,-0.044461],[0.046723,-0.166785,0.984886]]nH^ ?rm?U "`æ?7Yſ.?in2}@In*Ye;nCY~ByIbDVD1y%=%%G=ٔ%Q-%>9)Y)=-Fy-EE-S ;E5>9Q 5E]5=?Q 9E]5=u)=ӱBQ AE8YAQ EE49yEu Q IE@=DI=U:i=j@=]5yBɮAEjhDNOT Ignoring new targets: 65.07 m.RhkٹZhkٹE ProNav: ac range: 65.065254 m, nav range: 61.860390 m, bearing: 231.182367 deg, approach rate: -0.674219 m/s, LOS rate: -0.023760 deg/s, cmd heading: 239.091728 deg, new cmd heading: 239.061222 deg. BhMsUHeadingCmd: 4.172405 target range: 65.065254 and range: 65.40 m.hUX@hQ*hQ"hQ hQgQfYfYfYdYdadajdaZde`Z@颕RBɢv) bi)UQ顙ivoi;1U`a E]  E] E] (EY "E] L;*E] ;:VE] c44ZEY BE] ݡ}@>@>7Aٱ>E+ MAHRS rotation from veh to nav: [[-0.503119,0.847780,0.167750],[-0.862924,-0.503425,-0.043873],[0.047255,-0.166829,0.984853]]>H!?@x? `}v 1?Zſ?i>}@I> e;>CY]By]IbDmVDm0yS=%C=ٔQ->9Y=FyEE;E>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266428Q 5=]5# ?Q 9=]5{)BQ A=8Y9Q EE9yEe Q IE@DI:iC@ ]5yMBɮMBAMEmB*** querying acoustic contact ***ii iijhDNOT Ignoring new targets: 65.07 m.RhZh% ProNav: ac range: 65.065254 m, nav range: 61.566757 m, bearing: 231.171711 deg, approach rate: -0.686200 m/s, LOS rate: -0.025022 deg/s, cmd heading: 239.061211 deg, new cmd heading: 239.029089 deg. Bh-`qHeadingCmd: 4.171844 target range: 65.065254 and range: 65.40 m.h@h*h"h hgfffdddjdZd@UNBɢUl<)Y ]̽iY)]YYi]v䝻i6 d;_ty,u?A6%}@6@6Bٱ6>+ >AHRS rotation from veh to nav: [[-0.501934,0.848540,0.167457],[-0.863600,-0.502330,-0.043131],[0.047520,-0.166265,0.984935]]6H='?`>o?`GT?,Hſ ?i6%}@I6d;6CYFByFIbDNVDN1yZB<%ZD=ٔ^&Q-^>9^ ?Y^ ?=^Fy^EEEj EjEj&Eh"Eja?;*Ej:VEj4ZEhan@an@an@an@bV;En>tQ 5v]5vU?Q 9z]5v)vBQ Az8YxQ Ez8yzO Q Iz@vDIv:iv6@vg]5yɮ AB->B-CB-IB-BB)B)B)B-kn;B-8,EjhAMDNOT Ignoring new targets: 65.07 m.RhUZhUe ProNav: ac range: 65.065254 m, nav range: 61.271736 m, bearing: 231.160533 deg, approach rate: -0.739334 m/s, LOS rate: -0.028147 deg/s, cmd heading: 239.029082 deg, new cmd heading: 238.995387 deg. BhemHeadingCmd: 4.171257 target range: 65.065254 and range: 65.40 m.hmz@hi*hi"hi higqfqfqfqdydydyjdyZd@w@颅KBɢA) $i)u顉i (i)]#;j,av?A 2~@2@2+Dٱ2) >AHRS rotation from veh to nav: [[-0.500683,0.849478,0.166443],[-0.864306,-0.501223,-0.041849],[0.047875,-0.164811,0.985163]]2H.?N?@d Lm`?ſs?i2~@I2d;0Yb-BybIbDjVDj1y%5=%%E=ٔ%1`Q-->9-"?Y-"?=-Fy-EE5b;E5>9Q 5E]5=慠?Q 9E]5=/)=BQ AE8YAQ EE8yM9 Q IM@=DI=:i=`@=]5yUBɮU AUEjhy}DNOT Ignoring new targets: 65.07 m.RhZh ProNav: ac range: 65.065254 m, nav range: 60.983467 m, bearing: 231.149140 deg, approach rate: -0.707428 m/s, LOS rate: -0.028091 deg/s, cmd heading: 238.995395 deg, new cmd heading: 238.961054 deg. Bh;HeadingCmd: 4.170657 target range: 65.065254 and range: 65.40 m.hv@h*h"h hgfffdddjdZd` @HBɢ!)c @Zi)piײi3;A^s҆,$v?A2)~@2 @2!Eٱ2n* :AHRS rotation from veh to nav: [[-0.499492,0.850088,0.166908],[-0.864982,-0.500077,-0.041592],[0.048110,-0.165147,0.985095]]2H@߿3?@:]?Kϡ?#ſ?i2)~@I2 wd;2CYB+ByFIbDJPVDJ0yV@6%VR=ٔZLQ-Z>9XYX=ZFy^EE^g;Eb>dQ 5f]5f=⪊?Q 9j]5f)fBQ Aj[8YhQ Ej8yj" Q Ij@fƟDIf:if֩@f]5ypɮr Apjh  DNOT Ignoring new targets: 65.07 m.RhZh- ProNav: ac range: 65.065254 m, nav range: 60.710335 m, bearing: 231.137887 deg, approach rate: -0.701282 m/s, LOS rate: -0.029023 deg/s, cmd heading: 238.961053 deg, new cmd heading: 238.927142 deg. Bh-W-HeadingCmd: 4.170065 target range: 65.065254 and range: 65.40 m.h5-q@h1*h1"h1 h1g1f1f9f9dAdAdAjdAZdE @EBɢr) Q-DAT read: 05:23:34.5623 LVL= 32752, 32753, 28658, 32755, AGC= 65, IDX= 408,-0.24,-2.869, 1.951,-2.362,-2.933, PHS= 0.166,-1.354, 0.527, RAW= 160.4, 7.7, CAL= 160.0, 7.8, ROT= 350.0, -7.8 5Ygot valid direction response: 05:23:34.5623 LVL= 32752, 32753, 28658, 32755, AGC= 65, IDX= 408,-0.24,-2.869, 1.951,-2.362,-2.933, PHS= 0.166,-1.354, 0.527, RAW= 160.4, 7.7, CAL= 160.0, 7.8, ROT= 350.0, -7.8 =PDAT read: Bearing 29.5, -8.5 (Local) =~Local bearing/azimuth received: Bearing 29.5, -8.5 (Local) EDAT read: Range 11 to 50 : 62.9 m (Round-trip 83.9 ms) speed 0.4 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.975696,-0.172041,0.135716]UFpublishing direction and range infoyȧ78?;wsƿ M _?Y{Bo )I)>iOy?$+3@ >¸2@ 'g >)z@I'g ҳ$??o?l~%%? <4?) I2i'g uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.i)I顑i_i[=g;pE EE'E"E=;*E:VE'4ZEa @a @a @a @A9A=?ABABABEIBE8BBABABABEjn;BE7,E^A5<A=>A=> *DAT read: user:407>  BDAT read: Tx time:05:23:35.8257  $Ping request sent. ,x6v?A63~@6@6lEٱ6) >AHRS rotation from veh to nav: [[-0.498362,0.850758,0.166872],[-0.865626,-0.498997,-0.041163],[0.048249,-0.164963,0.985119]]6H (߿i9?\?4߿P?ſ?i63~@I6Pd;6CYF7ByJILLbDRVDRkyZop=%ZJ=ٔZ۴Q-^>9`Y`=bFybEEfpR;Ef>hQ 5j]5jԪ?Q 9n]5j)j BQ An18YlQ En|8yn Q Ir@jϟDIj? ;ijͶ@j]5yvBɮv(AvE|i)i-ܽ v?AJi-OzBRi-OzBji-.>@b-U5FN@y2w+%AL @R-ȧ78?;wsƿ M _?Zi-2bi-'g j-Y|CKJ6Gɶy6-*@Z-svۄ[ut> ?2i-Q?:i-"i-GC?*i- ~Bi-dBi-*E?i)i-+Bi-BrBi-@E addTargetRange:: Added new target pos. range: 62.900002 m, deltaT: 3.779828 s, deltaX: -2.500000 m, approachRate: -0.661406 m/s, rangeRepo size: 4 U Added new target pos. range: 62.577724 m, bearing: 231.408493 deg, lat: 36.779374 deg, lon: -121.859690 deg, deltaT: 3.779828 s, deltaX: -2.487530 m, approachRate: -0.658107 m/s, posRepo size: 4 jhQ]DNOT Ignoring new targets: 62.58 m.Rh]Zham ProNav: ac range: 62.577724 m, nav range: 60.564598 m, bearing: 230.964014 deg, approach rate: 0.000000 m/s, LOS rate: -0.029023 deg/s, cmd heading: 238.927148 deg, new cmd heading: 238.891481 deg. BhquHeadingCmd: 4.169443 target range: 62.577724 and range: 62.90 m.hul@hy*hy"hy hygyfyffdddjd@3sO@Zd o?颽BBɢ) ૼi)li=iG;JI,UPv?A;ɰ;2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501675YU0ByUIabDVDNy%<=ٔQ->9 ?Y ?=FyEEE>Q 5]5Ī?Q 9]5t)0BQ A8YQ EL8yQ I@؟DI:i@B]5yBɮlAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 62.58 m.Rh!Zh! ProNav: ac range: 62.577724 m, nav range: 60.260605 m, bearing: 230.950087 deg, approach rate: -0.707865 m/s, LOS rate: -0.032595 deg/s, cmd heading: 238.891494 deg, new cmd heading: 238.849500 deg. BhHeadingCmd: 4.168710 target range: 62.577724 and range: 62.90 m.hf@h*h"h! h!g!f!f!f)d)d)d)jd)Zd55?]>Bɢ]H)a eia)eޞaaieR0imSm_6;BA BE IBE QBBE =BA BE DBE n;BE P,EBCBCBBBC4E! E! "E% a?;*E% r:VE! ZE! BE% <2E% <JE% *<:E% *< A؟AIIO >k,Xov?A>\~@> )@>fGٱ>c) FAHRS rotation from veh to nav: [[-0.496176,0.852050,0.166794],[-0.866853,-0.496951,-0.040075],[0.048742,-0.164470,0.985177]]>HX߿C?Y? B ߿`?^ ſ?i>\~@I>c;>CYN5ByNIIR<)R4<^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005677bDZVDZyr<%v.=ٔzQ-z>9~"?Y"?=FyEE ";E >Q 5%]5i?Q 9-]5)BBQ A-7=PExceeded connect timeout, disconnecting.Y)Q EE%8yE Q IE@DI;i@f]5yYɮ]AAYjhDNOT Ignoring new targets: 62.58 m.RhZh- ProNav: ac range: 62.577724 m, nav range: 59.929188 m, bearing: 230.933955 deg, approach rate: -0.668441 m/s, LOS rate: -0.032717 deg/s, cmd heading: 238.849502 deg, new cmd heading: 238.800839 deg. )BhmuHeadingCmd: 4.167861 target range: 62.577724 and range: 62.90 m.hu_@hq*hq"hq hqgyfyfyfydddjdZd |?9Bɢ4) `i)7iͨiExaM;M9Y=FyEEE>Q 5]5Š?Q 9]5)WBQ A7YQ E8yQ I@DI:i@]5yBɮAEjhDNOT Ignoring new targets: 62.58 m.Rh%Zh%- ProNav: ac range: 62.577724 m, nav range: 59.534489 m, bearing: 230.914508 deg, approach rate: -0.730612 m/s, LOS rate: -0.036236 deg/s, cmd heading: 238.800844 deg, new cmd heading: 238.742116 deg. Bh-ƺ5HeadingCmd: 4.166836 target range: 62.577724 and range: 62.90 m.h5V@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdM J?u5BɢuW)y }iy)}Zyyi}YiEr;,v?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014495V+~@V=@VJٱVo+ fAHRS rotation from veh to nav: [[-0.493962,0.852889,0.169060],[-0.868084,-0.494782,-0.040258],[0.049312,-0.166644,0.984783]]VH߿J?`?W߿v??Tſ@X?nManaging dock network, ignoring radio surface power offiV+~@IVDd;VCY}By}IbD VD2y%-=ٔbQ->9Y=FyEE;E>Q 5]5^?Q 9]5)iBQ A7YQ E7y Q I@DIG:i@]5yBɮAEjhDNOT Ignoring new targets: 62.58 m.Rh)Zh)  ProNav: ac range: 62.577724 m, nav range: 59.203712 m, bearing: 230.897159 deg, approach rate: -0.700431 m/s, LOS rate: -0.036941 deg/s, cmd heading: 238.742104 deg, new cmd heading: 238.689769 deg. BhʺHeadingCmd: 4.165922 target range: 62.577724 and range: 62.90 m.hGo;@->-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265562A ^Ae T<Ae >Ae >A I I O >,`v?A2r~@2 A@2dKٱ2, >AHRS rotation from veh to nav: [[-0.493621,0.852900,0.169998],[-0.868259,-0.494466,-0.040360],[0.049636,-0.167525,0.984617]]2H`~߿J?`?U߿` @i?@wqſ?i2r~@I2Ed;2CYF&ByFI HHbDRVDRyVɉ=%Z[=ٔZcQ-Z>9XY\=^Fy^EE^ц:Eb>`Q 5f]5bp?Q 9j]5b)bwBQ Ajw7YhQ Ej7yj Q Ij@bDIb:iboAb]5yrBɮrArEE EE)E"E=;*Ed:VEFA4ZEa @a @a @a @jh!%DNOT Ignoring new targets: 62.58 m.Rh-s*Zh-s*= ProNav: ac range: 62.577724 m, nav range: 58.942822 m, bearing: 230.883229 deg, approach rate: -0.694666 m/s, LOS rate: -0.037255 deg/s, cmd heading: 238.689758 deg, new cmd heading: 238.647783 deg. Bh=̺EHeadingCmd: 4.165190 target range: 62.577724 and range: 62.90 m.hEiA IE AE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769833h,2v?A@:Ҍ~@::A@:Kٱ:#- JAHRS rotation from veh to nav: [[-0.493600,0.852742,0.170852],[-0.868267,-0.494419,-0.040762],[0.049713,-0.168465,0.984453]]:H#߿I?x?`߿ ޤ t? Bſ ?i:Ҍ~@I:Mc;8YRByVIXZ@AbDzVDzyLw%E=ٔ DQ- >9 Y = FyEEcg8E>Q 5%]5u?Q 9%]5)BQ A-H7Y)Q E-7y- Q I-@ DI;:iA]5y1ɮ5A9UB*** querying acoustic contact ***iQ iQjhaeDNOT Ignoring new targets: 62.58 m.Rhm.Zhm.} ProNav: ac range: 62.577724 m, nav range: 58.652084 m, bearing: 230.867538 deg, approach rate: -0.704899 m/s, LOS rate: -0.038233 deg/s, cmd heading: 238.647793 deg, new cmd heading: 238.600486 deg. Bh}ѺHeadingCmd: 4.164364 target range: 62.577724 and range: 62.90 m.hxB@h*h"h hgfffdddjdZd@+Bɢ) i)igiƚQ;9XYX=ZFyZEE^y9E^>`Q 5f]5bmg?Q 9f]5b)bBQ Af"7YdQ Eff7yf Q Ij@bDIb:ibZ Ab]5ynBlɮrArEjh DNOT Ignoring new targets: 62.58 m.Rh 0Zh0 ProNav: ac range: 62.577724 m, nav range: 58.377411 m, bearing: 230.852508 deg, approach rate: -0.700069 m/s, LOS rate: -0.038487 deg/s, cmd heading: 238.600474 deg, new cmd heading: 238.555172 deg. BhNӺHeadingCmd: 4.163573 target range: 62.577724 and range: 62.90 m.h;@h*h"h hgfffdchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273835d1d1jd9Zd=I @}'Bɢ) Ui)S顑ii;ik [2@ +> X8>) I X8 ik?K&V?g~n? dU3?) C,I i X8  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A1 IA IQ Oe >, ]w?A1}j~@}@@}Lٱ}w. AHRS rotation from veh to nav: [[-0.493721,0.852496,0.171729],[-0.868184,-0.494545,-0.041012],[0.049965,-0.169341,0.984290]]}H߿G?8?`)߿?ſN?i}j~@I}Jd;}CYByII]>)=bDVDy%6=ٔ Q-->9)Y)=5Fy5EE5:E5>9Q 5E]5=W?Q 9E]5=Y)=BQ Am7YiQ Em:7ym Q Im@=DI=;i=A=]5yqɮuAyii(w?AJi(qBRi(qBji媁@b<(T5M@b_Й$wV:K%@RTĆ?`fſ?ZibiX8j Ah@Gvŏ.@Z %sT0{6?2iB8:i"i]J?*irBiBiitiiiBi-@ addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 3.780902 s, deltaX: -2.300003 m, approachRate: -0.608321 m/s, rangeRepo size: 4  Added new target pos. range: 60.289375 m, bearing: 232.168874 deg, lat: 36.779374 deg, lon: -121.859695 deg, deltaT: 3.780902 s, deltaX: -2.288349 m, approachRate: -0.605239 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 60.29 m.Rh=Zh9M ProNav: ac range: 60.289375 m, nav range: 58.401371 m, bearing: 231.107738 deg, approach rate: 0.000000 m/s, LOS rate: -0.038487 deg/s, cmd heading: 238.555176 deg, new cmd heading: 238.498629 deg. BhIUHeadingCmd: 4.162586 target range: 60.289375 and range: 60.60 m.hU3@hQ*hQ"hQ hQYgfffdddjdLN@Zd ?*DAT read: user:408> BDAT read: Tx time:05:23:39.6242 $Ping request sent.>,25w?A2~@2<@2?Mٱ2/ :AHRS rotation from veh to nav: [[-0.494072,0.852014,0.173103],[-0.867967,-0.494880,-0.041555],[0.050260,-0.170779,0.984027]]2H߿@C?>(?b ߿F ?`ſ%}?i2~@I2]vd;2CYFByFI j;jp;bDnVDnkyv%vB=ٔz7Q-z>9z ?Yz ?=zFy~EE~ E~>Q 5 ]57I?Q 9e]5)BQ Ae6YaQ Ee7ye Q Ie@(DIERbEFA4jEh=4rET/E  E E (E "E a?;*E r:VE c44ZE BE AHRS rotation from veh to nav: [[-0.494184,0.851582,0.174900],[-0.867883,-0.494972,-0.042220],[0.050617,-0.172657,0.983681]]2H@߿)@? c?߿ םo?@ƿOz?i2b~@I2 d;2CYFByFIbDNVDNβyVL%VO=ٔZmQ-Z>9Z"?YZ"?=^Fy^EE^~E^>`Q 5f]5b;?Q 9f]5bs)bƲBQ Aj6YhQ Ej6yj Q Ij@b1DIbX:ib!Ab]5yrBɮrAvEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756351jh DNOT Ignoring new targets: 60.29 m.Rh Zh  !%ZCŀGgA9gAYjA ProNav: ac range: 60.289375 m, nav range: 57.833588 m, bearing: 231.079127 deg, approach rate: -0.664488 m/s, LOS rate: -0.033801 deg/s, cmd heading: 238.454526 deg, new cmd heading: 238.412367 deg. BhHeadingCmd: 4.161081 target range: 60.289375 and range: 60.60 m.h'@h*h"h hgf!f!f!d!d)d)jd)ZdM?ԉ额Bɢ) (i)顡i4i ;=I'@I59@1 @1@=0@9@E>@E>Թ^AI AM >AM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007232 A .AI I O > ,J(iw?A2@r~@23@24JQٱ2DO2 :AHRS rotation from veh to nav: [[-0.494973,0.851019,0.175407],[-0.867406,-0.495810,-0.042178],[0.051074,-0.173026,0.983592]]2H߿ ;?s? [߿`\&? %ƿ@y?i2@r~@I2pd;2CYFڀByF|I HHbDNVDNyVd%VJ=ٔZQ-Z>9Z ?YZ ?=^Fy^EE`bEb>dQ 5j]5fu-?Q 9j]5f|)fֲBQ Aj6YhQ Ej6yn Q In@f:DIfv:if(Af]5yrBɮr(ArEB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 60.29 m.Rh/Zh/5 ProNav: ac range: 60.289375 m, nav range: 57.550247 m, bearing: 231.064899 deg, approach rate: -0.760568 m/s, LOS rate: -0.038379 deg/s, cmd heading: 238.412370 deg, new cmd heading: 238.369477 deg. Bh5ҺHeadingCmd: 4.160332 target range: 60.289375 and range: 60.60 m.hq!@h*h"h hgfffdddjdZd?Ee EeEe$Ea"Ee,K;*Ee1:VEe4ZEaam@au@au@au@Bɢzd) ^iBBBIBBB =BBBin;B6,E)顉imiϬ;P=Iq!@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2629359@ @@m0@^A 9=A A ؟AI I O >%,!w?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510997:0g~@:i.@:[Rٱ:3 BAHRS rotation from veh to nav: [[-0.495549,0.850407,0.176747],[-0.867055,-0.496384,-0.042659],[0.051457,-0.174389,0.983331]]:H߿`6?@? ߿jץX? dRƿ@sw?i:0g~@I:33d;8YJՀByJvIPPbDTVDTy^%^I=ٔ^vQ-^>9b"?Yb"?=bFybEEf0ٺEf>hQ 5n]5jM?Q 9n]5j)jBQ Anb6YlQ En6yr Q Ir@jCDIj:ij.Aj]5ytɮvOAtYjhamDNOT Ignoring new targets: 60.29 m.RhuqZhuq} ProNav: ac range: 60.289375 m, nav range: 57.265285 m, bearing: 231.050620 deg, approach rate: -0.683348 m/s, LOS rate: -0.034412 deg/s, cmd heading: 238.369477 deg, new cmd heading: 238.326426 deg. BhZHeadingCmd: 4.159581 target range: 60.289375 and range: 60.60 m.hI@h*h "h  h g f ffdddjdZd 2?mBɢmb)i miq)u qqiui}$}2p;}=I}I@I=9@9 @9@=4@9yE]" E]E]'EY"E]Z;*E]]:VE]'4ZEYBE],ޜw?A2V~@2K&@2(Uٱ2^4 :AHRS rotation from veh to nav: [[-0.496393,0.849713,0.177711],[-0.866538,-0.497274,-0.042783],[0.052018,-0.175231,0.983152]]2H߿0?`=?W߿祿 ? mƿu?i2V~@I2 >d;2CԹYŀBybIbDVD1yP%-=ٔgQ->9 ?Y ?=FyEE E>Q 5]5?Q 9 ]5)BQ A 76Y Q E 6y  Q I@NDI~ ;i&6A]5y BɮAEjhAEDNOT Ignoring new targets: 60.29 m.RhM#ZhM#Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014976e ProNav: ac range: 60.289375 m, nav range: 56.933681 m, bearing: 231.034141 deg, approach rate: -0.716322 m/s, LOS rate: -0.035805 deg/s, cmd heading: 238.326419 deg, new cmd heading: 238.276694 deg. BheĺmHeadingCmd: 4.158713 target range: 60.289375 and range: 60.60 m.hu-@hq*hq"hq hqgqfqfyfydydydjdZd`/@颵Bɢ$) "i)_项ii[b;=I-@I@ @@4@@@@@B<A<E} E}E}*Ey"E}>T;*E}:VE}(N4ZEya@a@a@a@B>BBIBBBBBBtn;B;,EBBBBBCa4A) zA- eA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267263A A] ؟AIa Iy O > ,$w?AJ@~@J7@JHWٱJ3 VAHRS rotation from veh to nav: [[-0.497548,0.849133,0.177255],[-0.865837,-0.498553,-0.042075],[0.052644,-0.174409,0.983265]]JH߿@,?L?K߿銥 ?Sƿ`v?iJ@~@IJXd;JC X)ZlA^\\\\b5lAib@IbdaF`I`ibkA f`ed)df3C dfdhj&CjpAIh)hih)lIln@l lprkArirQIFpitv;A)t tItYtY~ɀBy~gIbD VD Ny<%m=ٔ%Q-%?9%"?Y%"?=%Fy-EE-pE-?1Q 5U]55?Q 9U]55)5BQ AU6YQQ E]S6y] Q I]@5VDI5!;i5;A5]5yaɮeAijhDNOT Ignoring new targets: 60.29 m.RhZh ProNav: ac range: 60.289375 m, nav range: 56.692051 m, bearing: 231.022356 deg, approach rate: -0.693992 m/s, LOS rate: -0.033992 deg/s, cmd heading: 238.276695 deg, new cmd heading: 238.241190 deg. BhHeadingCmd: 4.158093 target range: 60.289375 and range: 60.60 m.h@h*h"h hgffyfydydydjdZd(@颭Bɢ6%) i)%i\Oi;Q=I@I@ @@/@Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519092IIOk>qE  E E +E "E L;*E :VE [4ZE BE ݡ9Y=FyEEe{checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770947E>Q 5]5?Q 9]5)BQ A5YQ E*6y Q I@_DI ;iqBA]5y6Bɮ}AEjh  DNOT Ignoring new targets: 60.29 m.RhZh% ProNav: ac range: 60.289375 m, nav range: 56.395554 m, bearing: 231.008241 deg, approach rate: -0.705620 m/s, LOS rate: -0.033768 deg/s, cmd heading: 238.241178 deg, new cmd heading: 238.198611 deg. Bh%f-HeadingCmd: 4.157350 target range: 60.289375 and range: 60.60 m.h- @h)*h)"h1 h1g1f1f9f9d9d9dAjdAZdEBR@yBɢ6#) fi)i=¾i ;Ou BDAT read: Rx Time:05:23:42.1061 u TRx dataTimestamp_ set to:1761542623.568161} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023942 ,ow?A2 ~@2@2X^ٱ2 3 :AHRS rotation from veh to nav: [[-0.500712,0.847261,0.177300],[-0.863912,-0.501971,-0.041005],[0.054257,-0.173703,0.983302]]2H ?±?)&@ǫ?@;ƿ`6w?i2 ~@I2c;2CYy!bDVDٔqQ->9Y=FyEEE>Q 5]5婊?Q 9 ]5)'BQ A 5Y Q E  6y 6 Q I@hDIP;iIA]5y%7Bɮ%A%EB=>B9B=IB=BB= =B9B9B=n;B=K,EDIzDIEU  EUEU(EQ"EUG;*EU>:VEUc44ZEQBEU)<2EU)<JEU8<:EU8<B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 60.29 m.Rh8Zh8 ProNav: ac range: 60.289375 m, nav range: 56.108093 m, bearing: 230.995051 deg, approach rate: -0.683437 m/s, LOS rate: -0.031522 deg/s, cmd heading: 238.198613 deg, new cmd heading: 238.158838 deg. BhHeadingCmd: 4.156656 target range: 60.289375 and range: 60.60 m.hS@h*h"h hgfffdddjdZd@ @颍Bɢ^") i)ֻ项i`ii;A>IAIQOeU>iԑ G,Lx?A*DAT read: 05:23:42.1061 LVL= 32752, 32753, 31730, 32755, AGC= 66, IDX= 409,-0.10,-0.833,-2.312,-0.323,-0.881, PHS= 0.151,-1.386, 0.514, RAW= 160.4, 8.3, CAL= 160.0, 8.6, ROT= 350.0, -8.6 .Ygot valid direction response: 05:23:42.1061 LVL= 32752, 32753, 31730, 32755, AGC= 66, IDX= 409,-0.10,-0.833,-2.312,-0.323,-0.881, PHS= 0.151,-1.386, 0.514, RAW= 160.4, 8.3, CAL= 160.0, 8.6, ROT= 350.0, -8.6 2PDAT read: Bearing 28.8, -8.1 (Local) 2~Local bearing/azimuth received: Bearing 28.8, -8.1 (Local) :DAT read: Range 11 to 50 : 58.3 m (Round-trip 77.8 ms) speed 0.6 m/s :R#Rx 1: Read range and direction messages.>^direction in FSK: [0.973735,-0.171696,0.149535]BFpublishing direction and range infoyHE(?(ſS&r#?Y3iB{ )BI>ish?$+3@V> `>)I`dP7 ?#fd)?5Q +{?  \4?)^Ii`NT****** received valid address query ******NR****** received valid ping request ******NQuerying Benthos address 50 with one ping in standard two-way mode.vt}@v@vaٱv"s2 AHRS rotation from veh to nav: [[-0.502933,0.845984,0.177113],[-0.862568,-0.504321,-0.040465],[0.055089,-0.173123,0.983358]]vH@M??'e#@۷4?(ƿw?ivt}@Iv3c;vCY]рBy]qIbDmVDmy=l<%=<ٔ=Q-=>9AYA=EFyEFEM̻EM>QQ 5}]5U֩?Q 9}]5UD)U8BQ A5YQ E5ya Q I@UrDIUX:iUOAU]5yɮ1Aiix?AJihBRihBji-@bc=L@o`#`_֦X!@RHE(?(ſS&r#?Zibi`jI_F|A'Fzm*@Zx|jL4~.~?2i-0:i+ "i(8?*iRBiBiGC?i ~iBBii`Bi@ addTargetRange:: Added new target pos. range: 58.299999 m, deltaT: 3.778861 s, deltaX: -2.299999 m, approachRate: -0.608649 m/s, rangeRepo size: 4  Added new target pos. range: 58.000652 m, bearing: 231.294595 deg, lat: 36.779374 deg, lon: -121.859699 deg, deltaT: 3.778861 s, deltaX: -2.288723 m, approachRate: -0.605665 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 58.00 m.bhPowering the camera and arming the capture device at range: 58.30 m.2hRhZh ProNav: ac range: 58.000652 m, nav range: 56.103416 m, bearing: 231.184236 deg, approach rate: 0.000000 m/s, LOS rate: -0.031522 deg/s, cmd heading: 238.158834 deg, new cmd heading: 238.117385 deg. BhHeadingCmd: 4.155932 target range: 58.000652 and range: 58.30 m.hf@h*h"h h2hg!f!f!Qf!dddjd`f&M@Zd? Bɢ ) i)io»i $ $;  1 BDAT read: Tx time:05:23:43.3742 $Ping request sent. c,x?A>y}@> υ@>@}eٱ>3 FAHRS rotation from veh to nav: [[-0.505484,0.844180,0.178455],[-0.861017,-0.506935,-0.040828],[0.055998,-0.174290,0.983101]]>H,??r 8`v礿Ы?@&Oƿu?i>y}@I>gc;>CYNӀByNtITTbDZVDZkybS<%b^=ٔb!Q-b>9dYd=fFyfFEjEj>lQ 5r]5nɩ?Q 9r]5n)nGBQ Ar5YpQ Ev5yv Q Iv@nzDIn:inUAn]5yz8Bɮz'AzEjh)5DNOT Ignoring new targets: 58.00 m.bh15Powering the camera and arming the capture device at range: 58.30 m.2h9Rh=Zh=M ProNav: ac range: 58.000652 m, nav range: 55.844864 m, bearing: 231.174613 deg, approach rate: -0.765458 m/s, LOS rate: -0.028619 deg/s, cmd heading: 238.117388 deg, new cmd heading: 238.088387 deg. BhM!UHeadingCmd: 4.155427 target range: 58.000652 and range: 58.30 m.hUA@hQ*hY"hY hY2hYgYfYfafadadadijdiZdm\?颽 Bɢ) <޽i)p&iUûiM2-Mn%;UjAA@AyBBBIBBB =BBB]n;B/,ED<D<E  E E 'E "E US;*E 1:VE '4ZE BE Y2?pƿr?i2j}@I2d;0YNۀByR}IbDZVDZyf=%fJ=ٔf'Q-j>9hYh=jFyj FEn@En>pQ 5v]5r?Q 9v]5r )rWBQ AvO5YtQ Ev5yz Q Iz@rDIrH:ir\Ar]5y|ɮ~A|jh15DNOT Ignoring new targets: 58.00 m.bh1=Powering the camera and arming the capture device at range: 58.30 m.2h9Rh=ٹZhEٹM ProNav: ac range: 58.000652 m, nav range: 55.561848 m, bearing: 231.165051 deg, approach rate: -0.701520 m/s, LOS rate: -0.023823 deg/s, cmd heading: 238.088401 deg, new cmd heading: 238.059568 deg. BhU˂UHeadingCmd: 4.154923 target range: 58.000652 and range: 58.30 m.h]"@hY*hY"hY hY2hYgYfafafadadidijdiZdm?yU Bɢ] )Y ]iY)][Yaieƻieq5mli;mE  E E E "E L;*E :VE ZE a @a @a @a @ }r,*Rx?A:!(}@:ᎅ@:9$mٱ:TN6 BAHRS rotation from veh to nav: [[-0.512159,0.839553,0.181230],[-0.856939,-0.513706,-0.041969],[0.057864,-0.176797,0.982545]]:H c?`2? lGp|J?Lƿq?i:!(}@I:d;8Y^By^IbDjVDj0yr\>%rI=ٔrQ-r>9v ?Yv ?=vFyv FEv$Ez>xQ 5~]5z?Q 9]5z)zhBQ A(5YQ En5yzDIz4:izbAz]5yOBɮAEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005771jhDNOT Ignoring new targets: 58.00 m.bhPowering the camera and arming the capture device at range: 58.30 m.2hRhiZhi ProNav: ac range: 58.000652 m, nav range: 55.276875 m, bearing: 231.156518 deg, approach rate: -0.676852 m/s, LOS rate: -0.020372 deg/s, cmd heading: 238.059577 deg, new cmd heading: 238.033846 deg. Bh_%HeadingCmd: 4.154474 target range: 58.000652 and range: 58.30 m.h%t@h!*h!"h! h)2h)g)f)ffdddjdZd`?Bɢ)  i )}yyi}sɻi<; ,{lx?ABv|@B t@B8pٱB8 rAHRS rotation from veh to nav: [[-0.514940,0.837481,0.182925],[-0.855220,-0.516493,-0.042825],[0.058614,-0.178493,0.982194]]BH`dz?j?]-? ƿ!n?iBv|@IBd;BCY~ ByI M49iYi=uFyuFEu3Eu>ByByB}IB}BByByByB}Ln;B}&,E㝩?)zBQ A5YQ EA5yDQ I@DI;iMiAyɮ+AE EE*E"EO;*E:VE(N4ZEBE7Q!,x?A6|@6Z@6sٱ6 8 BAHRS rotation from veh to nav: [[-0.517566,0.835687,0.183716],[-0.853574,-0.519195,-0.042982],[0.059465,-0.179062,0.982039]]6H `??{P> 9r?}ƿ`l?i6|@I6+Jd;6CYJByJIbDVVDV2yZ=%^T=ٔ^Q-^>9b"?Yb"?=bFybFEbEf>dQ 5j]5f?Q 9n]5ft)fBQ An4YlQ En5ynvfDIf+;ifpoAf]5ypɮvAtjh DNOT Ignoring new targets: 58.00 m.bh%Powering the camera and arming the capture device at range: 58.30 m.2h!Rh-%Zh-%= ProNav: ac range: 58.000652 m, nav range: 54.711510 m, bearing: 231.142082 deg, approach rate: -0.707929 m/s, LOS rate: -0.017064 deg/s, cmd heading: 238.009744 deg, new cmd heading: 237.990313 deg. Bh=_;EHeadingCmd: 4.153715 target range: 58.000652 and range: 58.30 m.hE;@hA*hA"hA hI2hIgIfIfQfQdQdQdYjdYZd]@ Bɢ K׼)  X=i )fifYϻi>IV ;8A ? A% .AI) IA OM >1 ',mtx?A2|@2E@2vٱ2h{9 :AHRS rotation from veh to nav: [[-0.519724,0.834142,0.184647],[-0.852209,-0.521414,-0.043218],[0.060228,-0.179819,0.981854]]2H J?? KEl @0֮?NǿYk?i2|@I2Fc;0YB1ByFIbDNVDN1yV=%VK=ٔVcQ-Z>9Z ?YZ ?=ZFyZFE^лE^>`b?bP#)bBQ Aj4YlQ Er4yrbDIbK;ibuA`yPBɮAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267879jh-DNOT Ignoring new targets: 58.00 m.bhQUPowering the camera and arming the capture device at range: 58.30 m.2hQRh]pZh]p ProNav: ac range: 58.000652 m, nav range: 54.430096 m, bearing: 231.136011 deg, approach rate: -0.607091 m/s, LOS rate: -0.013163 deg/s, cmd heading: 237.990319 deg, new cmd heading: 237.972014 deg. BhHeadingCmd: 4.153395 target range: 58.000652 and range: 58.30 m.h@h*h"h h2hgfffdddjd Zd  ؊@UBɢ]Pż)Y ]=iY)]Yaie$ӻi{NEʿ;EWnBBIB=BBBBB@n;B ,EE$ EE(E"Eg\;*E:VEc44ZEBE/h.,3px?A6ls|@64@6/yٱ6U9 BAHRS rotation from veh to nav: [[-0.521485,0.833013,0.184776],[-0.851085,-0.523266,-0.042973],[0.060890,-0.179670,0.981841]]6H@ ??<@,?kƿ =k?i6ls|@I6c;6CYJOByJ Ia%a% a%a% a%a% a%a% a%a- i%Mb@Mb@Mb@!!!! !9%|?5^?V-{Gz?Y%2?y%m%#=%"A%@ %A)%@!Y%GA=@A=AAbDE VDE2y=%+=ٔQ->9"?Y"?=FyFEE>Q 5 ]5Pq?Q 9]5h*)BQ A%T:Y%3?Q E-:y-L Q I-@DIN;i; ]5y1ɮ5A1jhYeDNOT Ignoring new targets: 58.00 m.bhaePowering the camera and arming the capture device at range: 58.30 m.2haiRhu2[Zhu2[ ProNav: ac range: 58.000652 m, nav range: 54.098923 m, bearing: 231.116018 deg, approach rate: -0.788725 m/s, LOS rate: -0.047909 deg/s, cmd heading: 237.972014 deg, new cmd heading: 237.911666 deg. BhHeadingCmd: 4.152342 target range: 58.000652 and range: 58.30 m.h߄@h*h"h h2hgfff_BdddjdZd@@Bɢ) >i)tiu'ػi_E;Շd U BDAT read: Rx Time:05:23:45.8523 ] TRx dataTimestamp_ set to:1761542627.348105] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022705U5,`x?A~U|@~%@~1|ٱ~]7  AHRS rotation from veh to nav: [[-0.523002,0.832360,0.183429],[-0.850107,-0.524951,-0.041760],[0.061532,-0.177775,0.982146]]~Hn?z?4ea?Rƿm?i~U|@I~A\c;~CYgBy*IbD5VD5ky=U=%ET=ٔEںQ-M>9M ?YM ?=UFyU"FEUjEU>YQ 5e]5]d?Q 9e]5]&0)]ijBYiyml Q Im@]DI];i]+;]]5yugBɮuAuƥEjhDNOT Ignoring new targets: 58.00 m.bhPowering the camera and arming the capture device at range: 58.30 m.2hRh*?Zh*? ProNav: ac range: 58.000652 m, nav range: 53.830597 m, bearing: 231.100196 deg, approach rate: -0.705096 m/s, LOS rate: -0.041782 deg/s, cmd heading: 237.911663 deg, new cmd heading: 237.863962 deg. BheHeadingCmd: 4.151509 target range: 58.000652 and range: 58.30 m.h*ل@h*h"h h2hgfffdddjdZd] @颭Bɢ|)j R>i)3顱iܻԹiamvý;;WB B B :IB uBB =B B B n;B ,EBBBB =B =Cl4zu;,x?ARE|@R@R~ٱR6 bAHRS rotation from veh to nav: [[-0.523813,0.832015,0.182678],[-0.849562,-0.525911,-0.040760],[0.062160,-0.176546,0.982328]]RHݟ?a? /Csޤ aӯ? ƿ`:o?iRE|@IRc;RCYv~ByvFIE# EE&E"E[;*E:VE4ZEBEf9M"?YM"?=MFyM'FEUEU>YQ 5e]5]WU?Q 9e]5]5)]ܳBYe^&?Q Ee:ymQ Im@]àDI]:i]v:]I]5yqɮuGAqB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 58.00 m.bhPowering the camera and arming the capture device at range: 58.30 m.2hRho7Zho7 ProNav: ac range: 58.000652 m, nav range: 53.552547 m, bearing: 231.100835 deg, approach rate: -0.639967 m/s, LOS rate: 0.001478 deg/s, cmd heading: 237.863961 deg, new cmd heading: 237.865887 deg. Bh܁8HeadingCmd: 4.151543 target range: 58.000652 and range: 58.30 m.hqل@h*h"h h2hgfffBdddjdZd0@EDAT read: 05:23:45.8522 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 402, 0.01,-0.449,-1.948, 0.001,-0.572, PHS= 0.225,-1.331, 0.529, RAW= 158.8, 6.7, CAL= 158.2, 6.6, ROT= 351.8, -6.6 MYgot valid direction response: 05:23:45.8522 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 402, 0.01,-0.449,-1.948, 0.001,-0.572, PHS= 0.225,-1.331, 0.529, RAW= 158.8, 6.7, CAL= 158.2, 6.6, ROT= 351.8, -6.6 QUPDAT read: Bearing 26.4, -5.7 (Local) ]~Local bearing/azimuth received: Bearing 26.4, -5.7 (Local) eDAT read: Range 11 to 50 : 55.5 m (Round-trip 74.0 ms) speed 0.7 m/s mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.983217,-0.141684,0.114937]uFpublishing direction and range infoygv?X`l"¿NZl?Y^B )>Ifff>i5^l?a1@|= 0@ =)p{@I뽩,,j?ѐ?e? n1-?)ITi뽩T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Bɢ HYQ)  >i)yi  BDAT read: Tx time:05:23:47.1741  $Ping request sent. [B,ʧ y?AF;|@F@FٱF/5 RAHRS rotation from veh to nav: [[-0.524326,0.831837,0.182015],[-0.849222,-0.526512,-0.040087],[0.062488,-0.175590,0.982478]]FHF i?@DL?,@0=`]?@yƿ@vp?iF;|@IFc;DY^By^nI fp%n]=ٔrhQ-r>9v ?Yv ?=vFyv*FEv3ںEv>xQ 5~]5zH?Q 9~]5z:)zBYy*Q I@zˠDIz;iz;z]5y hBɮ LAťEiip|x?AJi\BRi\BjiF1@b)PϞ$K@˨J-o`7b@Rgv?X`l"¿NZl?ZiTbijqѯ@;*E Y3&@ZUeLnUҳz^ c?2i(:iD"iX '?*iGBiBi(8?iriBieVBi@ addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 3.779994 s, deltaX: -2.799999 m, approachRate: -0.740742 m/s, rangeRepo size: 4  Added new target pos. range: 55.215286 m, bearing: 231.318243 deg, lat: 36.779373 deg, lon: -121.859702 deg, deltaT: 3.779994 s, deltaX: -2.785366 m, approachRate: -0.736870 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 55.22 m.bhPowering the camera and arming the capture device at range: 55.50 m.2hRhZh ProNav: ac range: 55.215286 m, nav range: 53.599468 m, bearing: 231.173168 deg, approach rate: 0.000000 m/s, LOS rate: 0.001478 deg/s, cmd heading: 237.865900 deg, new cmd heading: 237.867556 deg. BhHeadingCmd: 4.151572 target range: 55.215286 and range: 55.50 m.hل@h*h"h h2hgfffdddjdK@Zd?额Bɢd) >i) 顡i;1iYl];]BxH,X$y?AP H?|@ u@ ٱ A6Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505021 AHRS rotation from veh to nav: [[-0.524140,0.831751,0.182940],[-0.849340,-0.526277,-0.040681],[0.062441,-0.176701,0.982282]] H@ ? j?`-`BԤB?!ƿn?i H?|@I b; CYByyIiMb@Mb@Mb@ 9ףp= ?S㥛)\(?Y?y$Ga=A@ rA)AYAbD-VD-N2y=3=%=+=ٔ=8Q-=>9E"?YE"?=EFyE/FEM9EM>QQ 5]]5U7?Q 9]]5Uu@Q =]tI)U BY]"?Q E]:ye0Q Ie@UՠDIU;iU;U]5yɮAjhDNOT Ignoring new targets: 55.22 m.bhPowering the camera and arming the capture device at range: 55.50 m.2hRh%K:Zh%K:= ProNav: ac range: 55.215286 m, nav range: 53.300728 m, bearing: 231.194717 deg, approach rate: -0.613469 m/s, LOS rate: 0.044498 deg/s, cmd heading: 237.867567 deg, new cmd heading: 237.932575 deg. BheO:mHeadingCmd: 4.152707 target range: 55.215286 and range: 55.50 m.hm@hq*hq"hq hq2hqgyfyffƁBdddjdZd `?AAAAB}>ByB}IB}BByByByB}!n;B},EBɢ.) >i)iPi}Y;6A>A.AIIO ?IR,OLy?A6']|@6d)@6ٱ65i3H NAHRS rotation from veh to nav: [[-0.522591,0.833212,0.180710],[-0.850293,-0.524873,-0.038873],[0.062461,-0.173971,0.982768]]6H ?!?5 磿?Dƿr?i6']|@I6 b;6CYZǁByZI \\bDbVDbNyjP=%j=ٔnuQ-n>9n ?Yn ?=rFyr5FErZ;Er>tQ 5z]5v0$?Q 9z]5vG)v-BY|y~Q I~@vDIv;iv;vx]5yjBɮ AĥEjh)5DNOT Ignoring new targets: 55.22 m.bh15Powering the camera and arming the capture device at range: 55.50 m.2h1Rh=Q:Zh=Q:M ProNav: ac range: 55.215286 m, nav range: 52.960033 m, bearing: 231.219037 deg, approach rate: -0.638472 m/s, LOS rate: 0.045869 deg/s, cmd heading: 237.932563 deg, new cmd heading: 238.005992 deg. BhM:UHeadingCmd: 4.153988 target range: 55.215286 and range: 55.50 m.hUy@hQ*hY"hY hY2hYgYfYfafadadadijdiZdm`0?额Bɢ8X) s>i)顡iLiD;3@Y,g'fy?AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.51338491|@:@2ٱXY2 AHRS rotation from veh to nav: [[-0.520777,0.834538,0.179826],[-0.851419,-0.523100,-0.038109],[0.062264,-0.172953,0.982960]]H`5? ?>`<?W#ƿ`ht?i1|@Ib;CYہByIieMb@Mb@Mb@aaaa a9eʡE?/$ÿy&1?Ye?yee`e=eAa eA)eMAaYeAbD}VD}fyĦ=%-=ٔ9Q->9Y=Fy9FEl;E>Q 5 ^5?Q 9 ^5 L)IBY?Q E:yQ I@DI ;iq ;^5yɮs A!jhYeDNOT Ignoring new targets: 55.22 m.bhimPowering the camera and arming the capture device at range: 55.50 m.2hiRhuO:Zh}O: ProNav: ac range: 55.215286 m, nav range: 52.691727 m, bearing: 231.254490 deg, approach rate: -0.563864 m/s, LOS rate: 0.074886 deg/s, cmd heading: 238.006001 deg, new cmd heading: 238.112901 deg. BhM;HeadingCmd: 4.155854 target range: 55.215286 and range: 55.50 m.h@h*h"h h2hgfffBdddjdZd? BɢM9) p>i)BIBIBMIBMBBIBIBIBM&n;BM,Eai]@ie0&m;mFD9z"?Yz"?=zFyz?FE~o7<E~>|Q 5 ^5~?Q 9 ^5~Q)~jBY y 5Q I @~DI~;i~@;~j^5yBɮ AͥE5B*** querying acoustic contact ***i1 i1jhAMDNOT Ignoring new targets: 55.22 m.bhIMPowering the camera and arming the capture device at range: 55.50 m.MlFinal approach. Armed for intercept at range: 55.50 m.M\Transitioning guidance mode to: FINAL_APPROACH:hU@RhU?:ZhU?:iu ProNav: ac range: 55.215286 m, nav range: 52.377914 m, bearing: 231.294347 deg, approach rate: -0.572199 m/s, LOS rate: 0.073110 deg/s, cmd heading: 238.112907 deg, new cmd heading: 238.233195 deg. Bh}H;HeadingCmd: 4.157954 target range: 55.215286 and range: 55.50 m.h @h*h"h hgff!f!d)d)d1jd1Zd=3z@颵Bɢ9) >i)项E# EE&E"E[;*Ej:VE4ZEa@a@a@a@i i&;-Hj,y?ABQ.}@B@BYuٱB;T- RAHRS rotation from veh to nav: [[-0.511775,0.841131,0.174888],[-0.857031,-0.514026,-0.035705],[0.059864,-0.168157,0.983941]]BHu`?b? lrG ?@.ſ@q|?iBQ.}@IBf;@Y^BybIB<A<B>BB IBBB =BBBm;B+EiMb@Mb@Mb@ 9!rh?I +ƿ?Yl?y94L= A A)@YbDVDܲy =%=ٔ5;Q->9Y=FyDFE% <E->9Q 5E^5=?Q 9M^5=V)=BYMK?Q EU:yUQ IU@=DI=VP;i=O;= ^5yeBɮed Ae̥EԉjhDNOT Ignoring new targets: 55.22 m.bhRhh:Zhh:Ei EmEm)Ei"Ei*Em:VEmFA4ZEiBEmfq,ky?ABDAT read: Rx Time:05:23:49.6488 TRx dataTimestamp_ set to:1761542631.128267checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024016~|}@~>@~oٱ~>,  AHRS rotation from veh to nav: [[-0.507700,0.843882,0.173502],[-0.859542,-0.509834,-0.035445],[0.058546,-0.167128,0.984195]]~H?`?R5?^P %@?`sdſ@~?i~|}@I~e;~CY%By%IbD5VD502yE.=%EJ=ٔEV;Q-M>9IYI=MFyUHFEUC<EU>YQ 5e^5]ᨊ?Q 9e^5]Z)]BYiym<Q Im@]DI]:i]:]y^5yyɮ} AyjhDNOT Ignoring new targets: 55.22 m.bhRh&:Zh&: ProNav: ac range: 55.215286 m, nav range: 51.878700 m, bearing: 231.386877 deg, approach rate: -0.551209 m/s, LOS rate: 0.101480 deg/s, cmd heading: 238.392645 deg, new cmd heading: 238.512159 deg. BhJ;HeadingCmd: 4.162822 target range: 55.215286 and range: 55.50 m.h5@h*h"h hgf)f1f1d1d1d9jd9Zd= @颅Bɢ5<) ?i)ۼ顱i# i);bԹ x,y?A4<ɰ4<2^}@2߅@2kٱ2s+ :AHRS rotation from veh to nav: [[-0.503711,0.846476,0.172489],[-0.861956,-0.505763,-0.035138],[0.057496,-0.166378,0.984384]]2HgU?"?% 6/ p?Kſ?i2^}@I2d;2CYbBybI ddbDjVDj1yr6#<%rQ=ٔv0;Q-v>9tYt=vFyzLFEzD<Ez>|Q 5^5~Ө?Q 9^5~^)~BY y Q I @~ DI~$:i~:~^5yɮ AjhDNOT Ignoring new targets: 55.22 m.bhRh:Zh:5 ProNav: ac range: 55.215286 m, nav range: 51.667084 m, bearing: 231.424884 deg, approach rate: -0.520677 m/s, LOS rate: 0.093899 deg/s, cmd heading: 238.512146 deg, new cmd heading: 238.626634 deg. Bh5;=HeadingCmd: 4.164821 target range: 55.215286 and range: 55.50 m.h=6F@h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU1@颁ɢV)<ԙ) p?i)׼iiH;gsBCB IB,BB =BBBm;B+EYgot valid direction response: 05:23:49.6488 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 399, 0.25,-0.085,-1.543, 0.385,-0.143, PHS= 0.159,-1.356, 0.484, RAW= 159.5, 8.4, CAL= 159.2, 8.8, ROT= 350.8, -8.8 PDAT read: Bearing 28.5, -6.7 (Local) ~Local bearing/azimuth received: Bearing 28.5, -6.7 (Local) UDAT read: Range 11 to 50 : 52.9 m (Round-trip 70.6 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [0.975516,-0.157999,0.152986]uFpublishing direction and range infoyAE8)[nm7?vR9Ŀ8C ?YESBAAAA A)E?IE">iEhE>E)2@EQ >E1@ EnF>)Ev@IEnFAAE8Yj?$%?oռ? E0?)EwIEl$iEnFAAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E0 EE#E"EJg;*E:VE3ZEBE  BDAT read: Tx time:05:23:51.0741  $Ping request sent. ~,p@y?AB~@BT@Bm2gٱB+ ^AHRS rotation from veh to nav: [[-0.499862,0.848815,0.172195],[-0.864266,-0.501793,-0.035333],[0.056415,-0.166484,0.984429]]BH@߿})?{ ?`; `?XOſ@q?iB~@IBd;BCY-By-IiMb@Mb@Mb@ 9w/?I +ƿMb?Y?y=A@ \A)YQAbDVD!y-ټ%--=ٔ-p;Q-->91Y1=5Fy5QFE=(<E=>AQ 5M^5Eè?Q 9M^5Ec)EɴBYMx?Q EM:yMQ IU@EDIE& ;iEm ;E^5y]Bɮ]I A]˥Eiiy?AJiRBRiRBjiශ@b'txI@0wc ML @R8)[nm7?vR9Ŀ8C ?Zil$binFj;S}U?bΨI=Df z,z?A2)g~@2f.@2+aٱ2* :AHRS rotation from veh to nav: [[-0.495458,0.851651,0.170915],[-0.866892,-0.497246,-0.035274],[0.054946,-0.165642,0.984654]]2H߿@?? ߿ l!?`3ſ@I?i2)g~@I2cc;0Y^BybIbDjVDj:rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500653yv%vb=ٔzg;Q-z>9xYx=zFyzUFEuh<Eu>yQ 5^5}?Q 9^5}f)}۴BYyQ I@}DI}|:i}R:}L^5yɮk AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 52.63 m.bhRhb:Zhb: ProNav: ac range: 52.628170 m, nav range: 51.181671 m, bearing: 231.665585 deg, approach rate: -0.547473 m/s, LOS rate: 0.099834 deg/s, cmd heading: 238.756011 deg, new cmd heading: 238.867838 deg. Bh;HeadingCmd: 4.169030 target range: 52.628170 and range: 52.90 m.hh@h*h"h hgfffdddjdZdH?!ɢ%p:<)) -?i))-4м))i-Fi5PN=;=PA A @AB |>B B B B =B B B m;B +EBBCBB =B =C559 ,&0z?A~~@~U@~'Yٱ~(  AHRS rotation from veh to nav: [[-0.491335,0.854502,0.168570],[-0.869349,-0.492951,-0.035089],[0.053113,-0.163787,0.985065]]~H@ r߿`X??߿<1?Ŀ?i~~@I~c;~CY%By%II-<)-p;iMb@Mb@Mb@ 9Fx?{GzĿ{Gz?Y ?y#ף<SA@ )X@YAbDVDܲE@ E-E+E"Eu;*EK;VE [4ZEBE 99Y9==FyEYFEE30<EE>IQ 5u^5M?Q 9u^5MEk)MBY}?Q E}:y}5Q I}@M DIM;iMX:M^5yBɮ AʥEjhDNOT Ignoring new targets: 52.63 m.bhRhj:Zhj: ProNav: ac range: 52.628170 m, nav range: 50.940224 m, bearing: 231.699091 deg, approach rate: -0.549953 m/s, LOS rate: 0.076679 deg/s, cmd heading: 238.867835 deg, new cmd heading: 238.968828 deg. BhR; HeadingCmd: 4.170793 target range: 52.628170 and range: 52.90 m.h#w@h*h"h hgfff%āBd!d!d!jdIZdM?颕Bɢ;) >i)ͼ顙iio1;iߙ Iߙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256867,}Jz?A 6~@6Sv@6Rٱ69& >AHRS rotation from veh to nav: [[-0.487920,0.856998,0.165797],[-0.871374,-0.489391,-0.034704],[0.051398,-0.161404,0.985549]]6H :߿`l?@8?K-R߿`ġ@P?ިĿ?i6~@I6bb;4YFByFIbDRVDRP)yZ%Zg=ٔZ;Q-Z>9\Y\=-Fy-]FE50<E5>9Q 5E^5=?Q 9E^5= o)=BYAyEQ IE@='DI=:i=:=H ^5yQɮU AQjhyDNOT Ignoring new targets: 52.63 m.bhRh@:Zh@: ProNav: ac range: 52.628170 m, nav range: 50.733913 m, bearing: 231.727063 deg, approach rate: -0.572370 m/s, LOS rate: 0.077919 deg/s, cmd heading: 238.968839 deg, new cmd heading: 239.053097 deg. BhU;HeadingCmd: 4.172264 target range: 52.628170 and range: 52.90 m.h/@h*h"h hgfffdddjdZd "n?ɢ,<) T>i)@kʼibiX;p,rdz?A6~2@6@6VKٱ6% BAHRS rotation from veh to nav: [[-0.484797,0.859008,0.164553],[-0.873218,-0.486047,-0.035341],[0.049623,-0.160824,0.985735]]6H߿|??fd߿`'@+h?Ŀ#?i6~2@I6ob;6CYJہByJIPbDVVDVJy^%^J=ٔ^;Q-b>9`Y`=bFybaFEf+<Ef>hQ 5n^5j?Q 9n^5j;s)jBYlyrQ Ir@j.DIjH;ijT;j#^5yvBɮv AvӥEjhDNOT Ignoring new targets: 52.63 m.bhRh:Zh:- ProNav: ac range: 52.628170 m, nav range: 50.514725 m, bearing: 231.756114 deg, approach rate: -0.561841 m/s, LOS rate: 0.074787 deg/s, cmd heading: 239.053097 deg, new cmd heading: 239.140626 deg. Bh-MM;5HeadingCmd: 4.173791 target range: 52.628170 and range: 52.90 m.h5@h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdM?uBɢ}$<) i>i) ~Ǽ顁i<iO܏;I=I@I>i!>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762602Q@Y @Y@e/@a@@Bw>BCB IBBBBBDBzm;B+E^AU<AYA]>IIO>E? E5E%E"Et;*E ;VE 4ZEBEW9Y=FyfFE$;E>Q 5^5L?Q 9^5Hx)BY?Q E:yQ I@6DIi ;i ;'^5yɮAjh DNOT Ignoring new targets: 52.63 m.bhRh%:Zh%:- ProNav: ac range: 52.628170 m, nav range: 50.259457 m, bearing: 231.771856 deg, approach rate: -0.585004 m/s, LOS rate: 0.036259 deg/s, cmd heading: 239.140632 deg, new cmd heading: 239.188097 deg. Bh-:-HeadingCmd: 4.174620 target range: 52.628170 and range: 52.90 m.h5|@h1*h1"h1 h1g1f9f9f=BdAdAdAjdAZdE@8T@ɢ);) >i)Hļi'"i; =I|@I )@ @@0@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265037Q^A2g=I I O >ԁ E < E FE (E "E ,r;*E v;VE c44ZE a @a @a @a @^ɥ,NEz?AJt@J@J<ٱJ;# RAHRS rotation from veh to nav: [[-0.480130,0.862210,0.161457],[-0.875986,-0.480943,-0.036624],[0.046074,-0.159018,0.986200]]JH t޿ :??޿S? ZĿ@?iJt@IJlCb;HYZƁByZIbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516653bDhVDhyr%vX=ٔv;Q-v>9xYx=zFyziFEz;Ez>|Q 5^5~t?Q 9 ^5~|)~BY y Q I @~=DI~y:i~:~*^5yɮA5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 52.63 m.bhARhM:ZhM:Ye ProNav: ac range: 52.628170 m, nav range: 50.038380 m, bearing: 231.784991 deg, approach rate: -0.584724 m/s, LOS rate: 0.034895 deg/s, cmd heading: 239.188088 deg, new cmd heading: 239.227669 deg. Bhe:mHeadingCmd: 4.175311 target range: 52.628170 and range: 52.90 m.hm%@hi*hi"hi higqfqfqfydydydyjdZd\@颩ɢE;) >i)项iU%ikD;s=I%@I@ @@0@ԁԱ^A-y=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770840IIO > B <A <B o>B CB IB BB =B B DB qm;B +E,'z?A:h@:Ɇ@:6ٱ:# BAHRS rotation from veh to nav: [[-0.479256,0.862793,0.160941],[-0.876542,-0.479837,-0.037827],[0.044588,-0.159200,0.986239]]:H ޿@?೙? ޿^FԦ? `ĿD?i:h@I:cb;8YJByNIiUMb@Mb@Mb@QQQQ Q9US?/$MbPYU?yUUU=AU@ UA)UA@QYUfAbDmVDm1y}%}A=ٔ}ef;Q-}>9Y=FynFE: ;E>Q 5^5g?Q 9^5)&BY?EG E<EE"E&|;*E1;VEZEBEi)顁iJ(i];=I[@IBDAT read: Rx Time:05:23:53.5461 TRx dataTimestamp_ set to:1761542634.909056checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022902E@@A @I@M4@I@U=@U>)^A =I I! O- >Y } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272597ڲ,z?A2@2҆@2sO0ٱ2z% :AHRS rotation from veh to nav: [[-0.478245,0.863219,0.161662],[-0.877172,-0.478527,-0.039768],[0.043031,-0.160824,0.986045]]2H޿}?T?@`1޿q\`0?ߕĿ?i2@I2 b;0YvByv~IIzY>)z;bDVD02y8%Q=ٔ؂;Q->9Y=Fy%rFE%G;E%>)Q 55^5-5[?Q 95^5-")-.BY1y== Q I=@-MDI-;i-;-1^5yAɮEvAAjhimDNOT Ignoring new targets: 52.63 m.bhqRhu͹Zhu͹ ProNav: ac range: 52.628170 m, nav range: 49.543545 m, bearing: 231.767666 deg, approach rate: -0.622588 m/s, LOS rate: -0.022479 deg/s, cmd heading: 239.201175 deg, new cmd heading: 239.175444 deg. BhvHeadingCmd: 4.174399 target range: 52.628170 and range: 52.90 m.h@h*h"h hgfffdddjdZd @ɢT;) >i)ޣi*i[ O;c=I@Iԙ?@ @@2@E? E:E)E"Et;*E$ ;VEFA4ZEa@a@a@a@]DAT read: 05:23:53.5461 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 420,-0.08, 0.568,-0.906, 1.106, 0.500, PHS= 0.170,-1.361, 0.562, RAW= 161.1, 7.2, CAL= 160.6, 7.1, ROT= 349.4, -7.1 mYgot valid direction response: 05:23:53.5461 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 420,-0.08, 0.568,-0.906, 1.106, 0.500, PHS= 0.170,-1.361, 0.562, RAW= 161.1, 7.2, CAL= 160.6, 7.1, ROT= 349.4, -7.1 uPDAT read: Bearing 28.2, -8.4 (Local) ^AK=~Local bearing/azimuth received: Bearing 28.2, -8.4 (Local) uDAT read: Range 11 to 50 : 50.9 m (Round-trip 67.9 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [0.975398,-0.182541,0.123601]Fpublishing direction and range infoyv6?#]ǿA7X?YKB )@I{.>i?5;?P3@>Ud3@ =)K$@IM1S?^1]?E ? 7?)Iq=iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A I I! O- > A,z?A6N@6؆@6*ٱ6& BAHRS rotation from veh to nav: [[-0.477609,0.863507,0.162004],[-0.877584,-0.477635,-0.041363],[0.041661,-0.161928,0.985923]]6H$޿١??+@޿@- T? Ŀ?i6N@I6ܸa;4Y^By^uIbDhVDhyr%rM=ٔra;Q-r>9tYt=vFyvvFEz:Ez>|Q 5^5~O?Q 9^5~A)~5BYy0 Q I@~UDI~;i~:~c5^5yBɮAѥEi!i%V~z?AJi%JBRi%JBji%@b%H@q֑|"32 @R%v6?#]ǿA7X?Zi%q=bi%j%Ij>V+C1ZCs#@Z%ݘO㿘.CtL?2i%:i%u"i%F@?*i%Bi%Bi%F@?i%i%cBi%EBi%@e addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 3.780837 s, deltaX: -2.000000 m, approachRate: -0.528983 m/s, rangeRepo size: 4 u Added new target pos. range: 50.636868 m, bearing: 232.054813 deg, lat: 36.779373 deg, lon: -121.859705 deg, deltaT: 3.780837 s, deltaX: -1.991302 m, approachRate: -0.526683 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 50.64 m.bhyRh}Zhy ProNav: ac range: 50.636868 m, nav range: 49.481262 m, bearing: 231.862424 deg, approach rate: 0.000000 m/s, LOS rate: -0.022479 deg/s, cmd heading: 239.175439 deg, new cmd heading: 239.148365 deg. BhHeadingCmd: 4.173926 target range: 50.636868 and range: 50.90 m.hΐ@h*h"h hgfffdddjd@3sI@Zd`?ɢ:) )>i)Ni,=*DAT read: user:412> EBDAT read: Tx time:05:23:54.7741 E$Ping request sent.EB]CB]IB]ځBB] =BYB]DB]zm;B]+E!DzDEO E5E+E"E;*E ;VE [4ZEBE/,Sz?A>@>Ԇ@>A%ٱ>$ JAHRS rotation from veh to nav: [[-0.478075,0.863653,0.159839],[-0.877392,-0.477953,-0.041753],[0.040335,-0.160203,0.986260]]>HȘ޿ ?u? @ɖ޿`Ц?Ŀp?i>@I>a;9] ?Y] ?=]Fy]zFEeEe>iQ 5u^5mB?Q 9u^5m)m=BYu #?Q Eu:y} Q I}@m]DIm ;im ;m 9^5yBɮ@AۥEjhDNOT Ignoring new targets: 50.64 m.bhRhvZhv ProNav: ac range: 50.636868 m, nav range: 49.215775 m, bearing: 231.840162 deg, approach rate: -0.640175 m/s, LOS rate: -0.053972 deg/s, cmd heading: 239.148364 deg, new cmd heading: 239.081216 deg. Bh)HeadingCmd: 4.172754 target range: 50.636868 and range: 50.90 m.h4@h*h"h hgfff8BdddjdZdސ?颩ɢ `:) >i)UķiJ/iMx; =I4@IQm?@i @i@i@i@q@ugAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503217y^AA>A>ԩ m G fA 9 fAY nAbE}:4jE}ʭ54rE}ʅ0E E E 3E *E "E Vz;*E t ;VE (N4ZE a @a @a @a @A ؟AI I O% >,i{?A@Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955b@b/ʆ@bf"ٱb$z# jAHRS rotation from veh to nav: [[-0.479231,0.863300,0.158275],[-0.876792,-0.479043,-0.041877],[0.039669,-0.158843,0.986507]]bH෫޿'?@^B? ޿p`oO?TĿ`v?ib@Ibwa;bCYvByvbI xxbD~VD~ 8y ½% O=ٔB:Q->9"?Y"?=Fy~FEXE>!Q 5-^5%6?Q 9-^5%)%DBY1y5 Q I5@%eDI%:i%:%<^5y9ɮEAA]B*** querying acoustic contact ***iY iYjhimDNOT Ignoring new targets: 50.64 m.bhiRhurZhur ProNav: ac range: 50.636868 m, nav range: 48.965054 m, bearing: 231.819304 deg, approach rate: -0.633936 m/s, LOS rate: -0.053007 deg/s, cmd heading: 239.081210 deg, new cmd heading: 239.018317 deg. BhHeadingCmd: 4.171657 target range: 50.636868 and range: 50.90 m.h6~@h*h"h hgfffdddjdZd C?MBɢM :)I U\>iQ)}Fyyi}Z1iJ#S;=I6~@IԱ@ @@@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006855^Amr = I I O >BU _>BU CBU IBU BBU =BQ BU DBU Sm;BU +EA,e3{?A2@2ھ@2ٱ2w$ :AHRS rotation from veh to nav: [[-0.480455,0.862492,0.158969],[-0.876150,-0.480099,-0.043210],[0.039052,-0.160041,0.986338]]2Hƿ޿@?@Y?j `޿`?:|Ŀ?i2@I2a;2ClD=D<E= E2E+E"Es;*E;VE [4ZEBE9Y=FyFEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258909D9E>Q 5^5D(?Q 9^5)LBY?(?Q E:y|Q I@oDI ;ie ;@^5yBɮAڥEjhDNOT Ignoring new targets: 50.64 m.bh RhZh% ProNav: ac range: 50.636868 m, nav range: 48.645584 m, bearing: 231.779797 deg, approach rate: -0.653217 m/s, LOS rate: -0.081310 deg/s, cmd heading: 239.018317 deg, new cmd heading: 238.899018 deg. Bh%5_-HeadingCmd: 4.169574 target range: 50.636868 and range: 50.90 m.h-'m@h)*h)"h) h)g1f1f1f5'Bd9d9d9jd9ZdE``r? ɢ ))  >i)0i÷3igE"|;"=I'm@Ia@ @@@9i ^A m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511848I I O >C,N{?A2}h@2@2cٱ2Dž& :AHRS rotation from veh to nav: [[-0.482158,0.861344,0.160031],[-0.875248,-0.481572,-0.045044],[0.038269,-0.161785,0.986084]]2H ޿!?{?޿?`aĿ@?i2}h@I2a;2C @)@BC@@DFlAiF什IFaFDHIHiJkA JEL)LN@C NkANONUFPRCPIP)PiP)TIVkAV#T TXXZ'iZCIFXi\b9A)` `I`YdYrByrlIbD VD y% =%%m=ٔ% ;Q--?91Y1==Fy=FE=EE?Q 5^5?Q 9^5)RBYyQ I@wDI1:i:C^5yɮAjhIMDNOT Ignoring new targets: 50.64 m.bhQRhU'ZhU' ProNav: ac range: 50.636868 m, nav range: 48.409473 m, bearing: 231.750801 deg, approach rate: -0.638142 m/s, LOS rate: -0.078751 deg/s, cmd heading: 238.899008 deg, new cmd heading: 238.811595 deg. Bh/XHeadingCmd: 4.168049 target range: 50.636868 and range: 50.90 m.h`@h*h"h hgfffdddjdZd{? Bɢ8R;) >i)iW5i=d^Ej;Eg(!=IE`@IAԹE : E 6E *E "E \p;*E  ;VE (N4ZE a@a@a@a@@ @@/@@>@>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762936^A A eAzA eAI I O > ,,ch{?A6I@6@6iٱ6( >AHRS rotation from veh to nav: [[-0.483832,0.860201,0.161126],[-0.874370,-0.482957,-0.047216],[0.037201,-0.163729,0.985804]]6H޿Æ?ǟ?޿@,@ ? Ŀ`?i6I@I6a;6C|YByrII ?>) >bD VD:2yEU<%MI=ٔM,;Q-M>9IYQ=UFyUFEUEU>YQ 5e^5]?Q 9m^5])]XBYiymQ Im@]DI]$:i]=:]SG^5yqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889ɮxAjhDNOT Ignoring new targets: 50.64 m.bhRh;Zh; ProNav: ac range: 50.636868 m, nav range: 48.155853 m, bearing: 231.719906 deg, approach rate: -0.657642 m/s, LOS rate: -0.080534 deg/s, cmd heading: 238.811608 deg, new cmd heading: 238.718435 deg. Bh]HeadingCmd: 4.166423 target range: 50.636868 and range: 50.90 m.hVS@h*h"h hgyfffdddjdZd5ڑ@1B]W>B]CB]IB]BB] =BYB]DB] m;B]s+EB%CB%CB%ĕCB% =B% =C%l6颱ɢS:) ܯ>i)F项i7i y;i =IVS@IE@@A @A@E 0@AE%/ E%2E!E!"E%af;*E%;VE!ZE!BE%ͷ,>{?A2-@2@2ٱ2/c+ :AHRS rotation from veh to nav: [[-0.485337,0.859040,0.162782],[-0.873592,-0.484080,-0.050024],[0.035827,-0.166483,0.985393]]2H߿`A}??@x+޿W?ROſ`W?i2-@I2a;2CY=By=zIYiMb@Mb@Mb@ 9sh|??X9v{Gz?Y)?y#<AQ@ A)+@YQAbDVDk2yx<%@=ٔS;Q->9Y=FyFEkE> Q 5^5 ?Q 9^5 ) `BY0*?Q E:yQ I@ DI  ;i  ;  K^5y%Bɮ%IA%٥EjhIMDNOT Ignoring new targets: 50.64 m.bhIRh]ٺZh]ٺm ProNav: ac range: 50.636868 m, nav range: 47.875309 m, bearing: 231.680288 deg, approach rate: -0.668001 m/s, LOS rate: -0.094887 deg/s, cmd heading: 238.718445 deg, new cmd heading: 238.598895 deg. Bhm=uHeadingCmd: 4.164336 target range: 50.636868 and range: 50.90 m.hu>B@h*h"h hgfffBdddjdZd:@uBɢuܙ;)y }>iy)}%pyyi9i: ;#"=I>B@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519591ԙe?@a @a@e4@aԱ^A 2=I I O >E- 4 E- E- (E) "E- j;*E- :VE- c44ZE) a5 @a5 @a5 @a5 @ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770793?,a{?A2[@2~|@2 ٱ2p, :AHRS rotation from veh to nav: [[-0.487617,0.857776,0.162635],[-0.872373,-0.486083,-0.051857],[0.034572,-0.167164,0.985323]]2H`5߿r?5?z ߿@@m?eſÇ?i2[@I2a;2CYBByBIbDNVDNܲyR8{=%V_=ٔV`;Q-V>9XYX=ZFyZFEZEZ>`Q 5f^5b?Q 9f^5bf)bgBYdyfQ If@bDIb6:ibN:b?N^5yjǓBɮnAnEzB*** querying acoustic contact ***ix ixjhDNOT Ignoring new targets: 50.64 m.bh Rh }ӺZh }Ӻ ProNav: ac range: 50.636868 m, nav range: 47.633747 m, bearing: 231.646555 deg, approach rate: -0.658684 m/s, LOS rate: -0.092449 deg/s, cmd heading: 238.598889 deg, new cmd heading: 238.497176 deg. Bh%}%HeadingCmd: 4.162561 target range: 50.636868 and range: 50.90 m.h%3@h)*h)"h) h)g)f)f1f1d1d9d9jd9Zd=`r@mBɢm,;)i m>ii)uNqqiu;ԙiOK;=I3@Im@@q @q@u/@q@y@y}BDAT read: Rx Time:05:23:57.2430 TRx dataTimestamp_ set to:1761542638.689057checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024800^Ar =A>A?II!O5>BE Q>BE CBE IBE BBE =BA BA BE m;BE d+E ,#{?AEr EpEr&Ep"ErUS;*EpVEr4ZEpBErY9Y=FyFE E >Q 5^5?Q 9%^5)uBY%"?Q E%:y% Q I%@DI3;i 2;R^5y)ɮ5mA5EjhY]DNOT Ignoring new targets: 50.64 m.bhYRherZheru ProNav: ac range: 50.636868 m, nav range: 47.355061 m, bearing: 231.613145 deg, approach rate: -0.628753 m/s, LOS rate: -0.075820 deg/s, cmd heading: 238.497174 deg, new cmd heading: 238.396355 deg. Bhu#P}HeadingCmd: 4.160801 target range: 50.636868 and range: 50.90 m.h}I%@hy*hy"hy hygfff%BdddjdZd  @ɢ@;) 2>i)i2>i$;&=II%@I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277505?@ @@/@Ay^Aiߡ Iߥ A DAT read: 05:23:57.2430 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 404,-0.21, 2.795, 1.355,-2.983, 2.758, PHS= 0.139,-1.358, 0.498, RAW= 160.5, 8.5, CAL= 160.2, 8.8, ROT= 349.8, -8.8  Ygot valid direction response: 05:23:57.2430 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 404,-0.21, 2.795, 1.355,-2.983, 2.758, PHS= 0.139,-1.358, 0.498, RAW= 160.5, 8.5, CAL= 160.2, 8.8, ROT= 349.8, -8.8  PDAT read: Bearing 30.6, -9.5 (Local)  ~Local bearing/azimuth received: Bearing 30.6, -9.5 (Local)  DAT read: Range 11 to 50 : 48.6 m (Round-trip 64.8 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.972610,-0.175000,0.152986] Fpublishing direction and range infoy  cFr ?bgAhfƿ8C ?Y fBB ) >I V>i ҭ > G3@ > 2@ nF>) |]@I nF #9?r?rK? 4?) I K6i nF  T****** received valid address query ******II IY Om > R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.ԙ ,{?A5~@5\@56ٱ50 mAHRS rotation from veh to nav: [[-0.491050,0.855476,0.164411],[-0.870579,-0.488639,-0.057659],[0.031011,-0.171446,0.984705]]5H^m߿`?`j ?E߿y?@ſ?i5~@I5ǰa;1YǁByIbDVD0qyz=%A=ٔ 9Y=FyFEE>Q 5^5᧊?Q 9^5)BYyH Q I@DIq(i)7U顩i@i7k;6V=I@*DAT read: user:413>  BDAT read: Tx time:05:23:58.5241  $Ping request sent. @%>^A Vw$= I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250735O >,6{?A~@LQ@R^ٱ1 ]AHRS rotation from veh to nav: [[-0.492298,0.854782,0.164289],[-0.869945,-0.489464,-0.060181],[0.028972,-0.172549,0.984575]]qH΁߿_Z?j? ^S߿Ю ?ƿ?i~@I|a;CYށByIBB>BCBIB߁BB =BBDBl;BU+EbDVDy%=%%.=ٔ-w;Q-->9)Y1=5Fy5FEUCCEU>YQ 5e^5]ԧ?Q 9m^5]")]BYiym^ Q Im@]DI]:i]:]Y^5yɮKAjhDNOT Ignoring new targets: 48.35 m.bhRh%}Zh%}5 ProNav: ac range: 48.345322 m, nav range: 46.960884 m, bearing: 231.712815 deg, approach rate: -0.641888 m/s, LOS rate: -0.072779 deg/s, cmd heading: 238.294672 deg, new cmd heading: 238.193144 deg. Bh5G=HeadingCmd: 4.157255 target range: 48.345322 and range: 48.60 m.h=;@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU ?}Bɢ}-<)y S>i)w顁iBi@ԑ;>!=I;@IE EE&E"E=;*E:VE4ZEBE,W|?A2.~@2H@2mۼٱ2X2 :AHRS rotation from veh to nav: [[-0.493218,0.854257,0.164257],[-0.869492,-0.489937,-0.062807],[0.026822,-0.173798,0.984416]]2H`߿`V?c? "[߿@!Uw??ƿU?i2.~@I2a;2CYBByBIIF%=)F=J=J=iMMb@Mb@Mb@IIII I9MS?A`"Mb?YM/?yMYM=MAI I)MA@IYMAbDeVDek1yu=%um=ٔ};Q-}?9yY=FyFEBE?Q 5^53ʧ?Q 9^5)BY?Q E:yj Q I@DIS*;i%);\^5yȓBɮAEjhDNOT Ignoring new targets: 48.35 m.bhRhԉZhԉ ProNav: ac range: 48.345322 m, nav range: 46.751648 m, bearing: 231.693214 deg, approach rate: -0.640277 m/s, LOS rate: -0.060251 deg/s, cmd heading: 238.193148 deg, new cmd heading: 238.134081 deg. Bhe%HeadingCmd: 4.156224 target range: 48.345322 and range: 48.60 m.h@h*h"h hgff f kBd d d jdZd0?9ɢE<)A E>iA)E IIiMDiM# U;QIU@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755468 ?@  @ @0@ ^A5$=1IIE EE)E"E*E:VEFA4ZEa@a@a@a@O> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006655Y #,a2 |?AYByIbD5VD50yE>=%EN=ٔEQ-E>9IYI=MFyMFEMEU>QQ 5]^5U?Q 9e^5U )UBYayaQ Ie@UDIU ;iU ;Ui`^5ymݓBɮuAuEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 48.35 m.bhRh?Zh? ProNav: ac range: 48.345322 m, nav range: 46.508423 m, bearing: 231.670205 deg, approach rate: -0.612522 m/s, LOS rate: -0.058246 deg/s, cmd heading: 238.134081 deg, new cmd heading: 238.064694 deg. BhHeadingCmd: 4.155013 target range: 48.345322 and range: 48.60 m.h@h*h"h hgfffdddjdZd@?1Bɢ <) ?i) iGi3;^&=I@I@ @@@ԑ-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259104ԙAAAAB.>BCBIBBBBBDBl;BH+E^A "=A% >A% >I I O >Թ E  E E 'E "E /;*E :VE '4ZE BE Ɉ9Y=FyFE@E>Q 5^5;?Q 9^5J)BY?Q E:ym Q I@¡DIq:i: d^5yɮhAjhDNOT Ignoring new targets: 48.35 m.bhRh̹Zh̹ ProNav: ac range: 48.345322 m, nav range: 46.259827 m, bearing: 231.660969 deg, approach rate: -0.597168 m/s, LOS rate: -0.022306 deg/s, cmd heading: 238.064686 deg, new cmd heading: 238.036829 deg. Bht%HeadingCmd: 4.154526 target range: 48.345322 and range: 48.60 m.h%@h!*h!"h! h!g)f)f)f-Bd1d1d1jd1Zd=?eBɢe<)i m ?ii)mdiiiu[7Iiu;};}n!=I}@Iy-@@) @)@-0@)^AMO$=IIO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7626041 Q u,cS|?A 44R~~@RD:@RٱR>3nGvhA595hAY5QA EAHRS rotation from veh to nav: [[-0.494846,0.853886,0.161265],[-0.868741,-0.490472,-0.068743],[0.020397,-0.174115,0.984514]]RH߿ S?R? c߿%?bIƿ#?iR~~@IRa;RCYuByu I yybDVDNy=%H=ٔ;Q->9Y=FyFEʹE>Q 5^5ץ?Q 9^5~)BYyp Q I@ʡDIF:i=:g^5y ɮ5 A5EbEc44jE64rE/E} E}EyEy"E}9;*E}V:VEyZEya@a@a@a@jhDNOT Ignoring new targets: 48.35 m.bhRhǹZhǹ ProNav: ac range: 48.345322 m, nav range: 46.013462 m, bearing: 231.651775 deg, approach rate: -0.581630 m/s, LOS rate: -0.021821 deg/s, cmd heading: 238.036819 deg, new cmd heading: 238.009091 deg. BhoHeadingCmd: 4.154042 target range: 48.345322 and range: 48.60 m.h@h*h"h hgfffdddjdZd`v@Bɢ#<) h?i)ӟi}KiCk; |#=I @I 1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014903?@ @@4@Y^A #=ԁ A I I O% >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267431,m|?A,J~@J[=@JMٱJ3 VAHRS rotation from veh to nav: [[-0.494542,0.854309,0.159952],[-0.868969,-0.489791,-0.070700],[0.017943,-0.173957,0.984590]]JH߿V? My?@X߿ j_? 9Y=%Fy%FEBU >BUCBU IBU'BBU =BUCDBU}DBU>m;BUT+E)d:E>Q 5-^5?Q 95^5)̵BYAyEi Q Im@ҡDIɀ",yw|?A,2J~@2vA@2ٱ2 3 >AHRS rotation from veh to nav: [[-0.494124,0.854745,0.158909],[-0.869248,-0.489033,-0.072482],[0.015758,-0.173946,0.984629]]2H@߿@Z?W?RL߿+"?`Cƿ?i2J~@I2a;2CYF9 ?Y ?=FyFE:E>Q 5^5\?Q 9^5a)׵BY?Q E:y%Q I@١DI:i*:n^5yɮ AEjhDNOT Ignoring new targets: 48.35 m.bhRh(9Zh(9 ProNav: ac range: 48.345322 m, nav range: 45.538479 m, bearing: 231.645063 deg, approach rate: -0.607292 m/s, LOS rate: 0.009229 deg/s, cmd heading: 237.979036 deg, new cmd heading: 237.988814 deg. Bh9HeadingCmd: 4.153688 target range: 48.345322 and range: 48.60 m.h@h*h"h hgfffǁBddd jd Zd  p@=Bɢ=<)9 =!?iA)EE BDAT read: Rx Time:05:24:00.9897 E TRx dataTimestamp_ set to:1761542642.468210M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023841*(,$B|?A2~~@2O@2m\ٱ2T2 :AHRS rotation from veh to nav: [[-0.492697,0.855790,0.157713],[-0.870097,-0.487282,-0.074080],[0.013453,-0.173725,0.984702]]2HY߿@b?`/?`/߿` z?<ƿ?i2~~@I2]a;0\YbEByb; If=f= j;jp;bDnVDny%Y4=%-P=ٔ-];Q-->95"?Y5"?=5Fy5FE5;E=>AQ 5E^5EU?Q 9M^5E)EBYIyM Q IM@EDIE:iE:E#r^5yYɮ] AYuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 48.35 m.bhRh 9Zh 9 ProNav: ac range: 48.345322 m, nav range: 45.311485 m, bearing: 231.648047 deg, approach rate: -0.578244 m/s, LOS rate: 0.007642 deg/s, cmd heading: 237.988816 deg, new cmd heading: 237.997816 deg. Bhӧ9HeadingCmd: 4.153845 target range: 48.345322 and range: 48.60 m.hM@h*h"h hgfffdddjdZdS3 @Bɢ|<) "?i){iRiG;-=IM@I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275450!BAB>BCB: IBEBB =B^AEP"=BBm;B=+EBCBCBǗCB =B =CDŽ6A I I O >EE & EE EE 'EA "EE 8^;*EE :VEE '4ZEA BEE k~@>]@>_8ٱ>*x0 ZAHRS rotation from veh to nav: [[-0.491227,0.857166,0.154802],[-0.870959,-0.485659,-0.074599],[0.011237,-0.171471,0.985125]]>HAp߿m?? ߿ ?ſ %?i>k~@I>pWa;>CYbIByb? I-DAT read: 05:24:00.9897 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 402,-0.15, 1.014,-0.460, 1.550, 0.963, PHS= 0.154,-1.377, 0.543, RAW= 161.1, 7.8, CAL= 160.6, 7.9, ROT= 349.4, -7.9 5Ygot valid direction response: 05:24:00.9897 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 402,-0.15, 1.014,-0.460, 1.550, 0.963, PHS= 0.154,-1.377, 0.543, RAW= 161.1, 7.8, CAL= 160.6, 7.9, ROT= 349.4, -7.9 9EPDAT read: Bearing 29.0, -10.9 (Local) M~Local bearing/azimuth received: Bearing 29.0, -10.9 (Local) UDAT read: Range 11 to 50 : 46.1 m (Round-trip 61.5 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.e^direction in FSK: [0.973607,-0.182206,0.137445]eFpublishing direction and range infoynT'?T(Rǿyjȗ?Yf8B )AI->iA  ?P3@'g >Ud3@ 0 >)K$@I0 %a՟*?)ݙ?^ٮW? f7?)+ Iq=i0 }T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9{Gz?X9v9Y=FyFEf;E>Q 5^5 s?Q 9^5 )BY?Q E:yQ I@DI;i;av^5yBɮE AEii+|?AJig7BRig7BjivE@b:1RF@ϗl]s 20H5@RnT'?T(Rǿyjȗ?Ziq=bi0 j F|Q BDAT read: Tx time:05:24:02.2741 $Ping request sent.Ae >I9 II OU >_5,|?A:y~@:l@:1ٱ:G. FAHRS rotation from veh to nav: [[-0.489638,0.858556,0.152105],[-0.871877,-0.483938,-0.075059],[0.009167,-0.169369,0.985510]]:H@ @@/@^AiIIO> i߹ I߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503692;,|?ABN%>BNCBNM IBNTBBN =BLBNDBNTl;BN*E~@y@ٱ{- AHRS rotation from veh to nav: [[-0.488199,0.859613,0.150757],[-0.872700,-0.482327,-0.075866],[0.007499,-0.168604,0.985655]]H >߿?L?( p޿k ~? Δſ@}?i~@Ia;YuEByu: I y}AAiMb@Mb@Mb@ 9!rh?PnS㥛?Yl?y/<&Ah@ @)@YAbD5VD5yE%E(=ٔMHa;Q-M>9QYQ=UFyUFEU_;E]>YQ 5e^5]Z?Q 9m^5])] BYm ?Q Em:ymQ Im@]DI]u ;i]" ;]}^5yyɮ}j AyjhDNOT Ignoring new targets: 45.85 m.bhRh^:Zh^: ProNav: ac range: 45.851460 m, nav range: 44.613621 m, bearing: 231.702627 deg, approach rate: -0.544987 m/s, LOS rate: 0.048734 deg/s, cmd heading: 238.047857 deg, new cmd heading: 238.118345 deg. Bh;HeadingCmd: 4.155949 target range: 45.851460 and range: 46.10 m.h@h*h"h hgfffŁBdddjdZd?E, EE%E"Ec;*E:VE 4ZEBEsBB, }?A2@2R@2|ٻٱ2L/, :AHRS rotation from veh to nav: [[-0.487277,0.860384,0.149332],[-0.873222,-0.481385,-0.075837],[0.006637,-0.167354,0.985874]]2H@/߿D?S? p޿j/{?kſH?i2@I2,a;0YBQByBI IbDNVDNβyVj=%V=ٔVk1;Q-V ?9XYX=ZFyZFE^Z;E^ ?`Q 5f^5b@P?Q 9f^5b)bBYdyfQ Ij@bDIb:ib|:be^5ylɮn AljhDNOT Ignoring new targets: 45.85 m.bhRh 8\:Zh 8\: ProNav: ac range: 45.851460 m, nav range: 44.441269 m, bearing: 231.717883 deg, approach rate: -0.541680 m/s, LOS rate: 0.048133 deg/s, cmd heading: 238.118344 deg, new cmd heading: 238.164289 deg. Bh!;%HeadingCmd: 4.156751 target range: 45.851460 and range: 46.10 m.h%@h!*h!"h) h)g)f)f1f1d1d1d1jd9Zd=7?achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853mBɢm =)i m%?ii)l项ixZi<9=I@Iԉ-?@) @1@5?0@1E%6 E%6E%*E!"E%l;*E% ;VE%(N4ZE!a-@a-@a-@a-@Ա5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259332^AI I I O > DH,%}?A2'@2Ŏ@2ٱ2J+ :AHRS rotation from veh to nav: [[-0.485952,0.861323,0.148237],[-0.873967,-0.480003,-0.076019],[0.005677,-0.166496,0.986026]]2H@߿@?n?]޿u Aw?`Oſ ?i2'@I2`;0YbPBybH IbDjVDjyrj%rG=ٔr;Q-r>9tYt=vFyvFEz5r;Ez>|Q 5^5~C?Q 9^5~o)~BYyQ I@~DI~;i~;~^5yɮ AEB*** querying acoustic contact ***i iԹjhDNOT Ignoring new targets: 45.85 m.bhRhN:ZhN: ProNav: ac range: 45.851460 m, nav range: 44.218815 m, bearing: 231.737326 deg, approach rate: -0.514984 m/s, LOS rate: 0.045236 deg/s, cmd heading: 238.164298 deg, new cmd heading: 238.222919 deg. Bh\:%HeadingCmd: 4.157774 target range: 45.851460 and range: 46.10 m.h%} @h!*h!"h) h)g)f)f1f1d1d1d9jd9Zd=?颍 BɢHx<) #?i) d顱i \i8<;=I} @II@I @I@U4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511028AyAyB4>BCBZ IB^BB =BBDBk;B*E^Aп8=I1 IA OM >E- < E- +E- (E) "E- ,r;*E- =;VE- c44ZE) BE- 9Y=FyFE;E>Q 5^56?Q 9^5)'BYd?Q E:yQ I @ DIn:iU:·^5yɮ Ajh9EDNOT Ignoring new targets: 45.85 m.bhARhM'f:ZhM'f:] ProNav: ac range: 45.851460 m, nav range: 43.987175 m, bearing: 231.758187 deg, approach rate: -0.555622 m/s, LOS rate: 0.050304 deg/s, cmd heading: 238.222928 deg, new cmd heading: 238.285843 deg. Bh] ;eHeadingCmd: 4.158873 target range: 45.851460 and range: 46.10 m.he|@ha*ha"ha hagifififuBdqdqdqjdyZd}@@颥 BɢA<) !?i)Ɨ[顱i]id<>=I|@II@I @I@M4@IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014691i^A8=A I I O% >ԙ V,fJY}?A20^@2驆@2ٱ2"* :AHRS rotation from veh to nav: [[-0.483057,0.863198,0.146779],[-0.875579,-0.477009,-0.076315],[0.004140,-0.165381,0.986221]]2Hi޿`R?@?@Q޿[,p? 1+ſ?i20^@I2yf_;2CYZGByZ< IbDfVDf1yn/%nU=Er; Er-Er&Ep"ErDq;*ErK;VEr4ZEpav@av@av@av@ٔz1:Q-z>9Y= FyFE%Rd;E->1Q 55^55&+?Q 9=^55)5/BY9y=Q IE@5DI5e;i5;5^5yIɮM\ AMEjhquDNOT Ignoring new targets: 45.85 m.bhqRh}Y:Zh}Y: ProNav: ac range: 45.851460 m, nav range: 43.786976 m, bearing: 231.776056 deg, approach rate: -0.530689 m/s, LOS rate: 0.047584 deg/s, cmd heading: 238.285848 deg, new cmd heading: 238.339700 deg. Bh;HeadingCmd: 4.159812 target range: 45.851460 and range: 46.10 m.h/@h*h"h hgfffdddjdZd6@ Bɢ<) ?i)Ti_iVI<LJ@=I/@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267614m@@q @q@u/@qԡ^AUC;=A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519733 1\,%s}?AB"K>B"CB"S IB"YBB" =B"BDB"DB"k;B"j*EbAc@bq@b}SٱbtM) AHRS rotation from veh to nav: [[-0.482788,0.863537,0.145667],[-0.875731,-0.476672,-0.076671],[0.003227,-0.164581,0.986358]]bH޿?`:?@ ́޿oj?@ſ ??ibAc@IbO^;bCYUHBy> IbD=VD=0y;%2=ٔ;Q->9Y=FyFE1:E>Q 5^5t?Q 9^5 )9BYyQ I@DI;i2;^5yɮP AjhAMDNOT Ignoring new targets: 45.85 m.bhIRhu'W:Zhu'W: ProNav: ac range: 45.851460 m, nav range: 43.545265 m, bearing: 231.797766 deg, approach rate: -0.520691 m/s, LOS rate: 0.047026 deg/s, cmd heading: 238.339697 deg, new cmd heading: 238.405186 deg. Bh;HeadingCmd: 4.160955 target range: 45.851460 and range: 46.10 m.h&@h*h"h hgfffdddjdZd@E2 E3E)E"Ei;*Et ;VEFA4ZEBE'@ @@/@@>@=) ^A l;=Y A I I O- > c,}?ABBDAT read: Rx Time:05:24:04.7370 JTRx dataTimestamp_ set to:1761542646.250132Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026816^r;@^@^ٱ^+ nAHRS rotation from veh to nav: [[-0.484917,0.862169,0.146698],[-0.874559,-0.478327,-0.079682],[0.001470,-0.166935,0.985967]]^H߿??c`޿` f/X?@"^ſ ?i^r;@I^S]^;\Yz:By~- I  AAimMb@Mb@Mb@iiii i9m rh?!rh:v?Ym ?yml罙mT9Y=FyFEZE> MGayQ 5^5 ?Q 9^5 ) AB9YAY?Q E:yQ I@ !DI ݼ-qj,̫}?AB"@B@BeٱB^/ NAHRS rotation from veh to nav: [[-0.486247,0.861061,0.148786],[-0.873821,-0.479214,-0.082403],[0.000346,-0.170080,0.985430]]BH ߿Ѝ? i ?`X@p޿_@6?1ſ?iB"@IBJ^;BCY^1Byb! IbDnVDnkyzFC%zM=ٔ~8;Q-~>9Y=FyFE eyE >Q 5%^5"?Q 9-^5)GBY)y-1Q I=@(DIs;i+;Y^5yAɮMAI}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 45.85 m.bhRh:Zh: ProNav: ac range: 45.851460 m, nav range: 43.080971 m, bearing: 231.820357 deg, approach rate: -0.587864 m/s, LOS rate: 0.029468 deg/s, cmd heading: 238.440756 deg, new cmd heading: 238.473323 deg. Bhɡ:HeadingCmd: 4.162145 target range: 45.851460 and range: 46.10 m.hJ0@h*h"h hgfffdddjdZd+@DAT read: 05:24:04.7370 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 406, 0.42,-0.542,-2.012,-0.042,-0.573, PHS= 0.133,-1.394, 0.487, RAW= 160.2, 9.0, CAL= 160.0, 9.4, ROT= 350.0, -9.4 Ygot valid direction response: 05:24:04.7370 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 406, 0.42,-0.542,-2.012,-0.042,-0.573, PHS= 0.133,-1.394, 0.487, RAW= 160.2, 9.0, CAL= 160.0, 9.4, ROT= 350.0, -9.4 PDAT read: Bearing 30.4, -11.0 (Local) ~Local bearing/azimuth received: Bearing 30.4, -11.0 (Local) DAT read: Range 11 to 50 : 44.0 m (Round-trip 58.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.971584,-0.171316,0.163326]Fpublishing direction and range infoy2 97?ſ$vz?Y0B )?I'1>inX>2@| >¸2@ '>)z@I'ۗ^$?%]f?BCBA IBJBB =BBDBj;B^*EBɢ6g<)  ?i)LI:i  BDAT read: Tx time:05:24:06.1241  $Ping request sent. Yq,Ū}?ARN@R{@R::ٱRV3 ZAHRS rotation from veh to nav: [[-0.487964,0.859636,0.151386],[-0.872863,-0.480359,-0.085824],[-0.001057,-0.174018,0.984742]]RH:߿`"? `?~1޿GRQ 9Y=FyFETE>ԉQ 5^5?Q 9^5)MBY?Q E:yQ I@/DI:i':^5yɮAiAiE"}?AJiE/BRiE/BjiE@bEp/ɂCE@m{]V@RE2 97?ſ$vz?ZiE2biE'jEx#:vuA*~ @ZEjQtQnE?2iE:iE"iEnS_?*iE}BiEÒBiEL?iEiEBiE/+BiE@ addTargetRange:: Added new target pos. range: 44.000000 m, deltaT: 3.780706 s, deltaX: -2.099998 m, approachRate: -0.555451 m/s, rangeRepo size: 4  Added new target pos. range: 43.771233 m, bearing: 232.579022 deg, lat: 36.779375 deg, lon: -121.859708 deg, deltaT: 3.780706 s, deltaX: -2.080227 m, approachRate: -0.550222 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 43.77 m.bhRhZh  ProNav: ac range: 43.771233 m, nav range: 42.796261 m, bearing: 232.022768 deg, approach rate: 0.000000 m/s, LOS rate: 0.029468 deg/s, cmd heading: 238.473323 deg, new cmd heading: 238.510292 deg. Bh HeadingCmd: 4.162790 target range: 43.771233 and range: 44.00 m.h5@h*h"h hgfffBd!dAdAjdEF@ZdMa?颕Bɢ<) $ ?i);3顙ifi <#=I5@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251463=?@9 @9@E/@A@MgA@I^A] S,=E / E "E %E "E af;*E ;VE 4ZE a @a @a @a @ A .AI I O >w,-}?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502520R~@Rd@R;ٱR4 ^AHRS rotation from veh to nav: [[-0.490437,0.858081,0.152210],[-0.871474,-0.482495,-0.087927],[-0.002008,-0.175770,0.984429]]RHQc߿ gu?`{? 2޿`e4s`ƿq?iR~@IR N^;RCYf&Byf IIj=)jp;bDrVDryz%zR=ٔ~ ;Q-~>9~ ?Y ?=FyFEqE> Q 5^5 d즊?Q 9^5 ) ) SBYyQ I@ 6DI ;i r; j^5y)ɮ-A-EjhQUDNOT Ignoring new targets: 43.77 m.bhQRh]H9Zh]H9m ProNav: ac range: 43.771233 m, nav range: 42.579819 m, bearing: 232.026969 deg, approach rate: -0.561996 m/s, LOS rate: 0.010964 deg/s, cmd heading: 238.510288 deg, new cmd heading: 238.522956 deg. Bhm9uHeadingCmd: 4.163011 target range: 43.771233 and range: 44.00 m.huc7@hq*hq"h hgfffdddjdZd,?Bɢ<) ?i)%,!!i%'@gi-- <-=I-c7@Iq @  @ @ /@ %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7560271^AM "=B Z>B CB . IB ;BB =B B B k;B k*EBCBCBɖCB =B =Cɏ7A] ؟AI ԡ I O >л},c}?AZ~@ZYP@ZХZ;ٱZ)8 fAHRS rotation from veh to nav: [[-0.492602,0.856517,0.154015],[-0.870248,-0.484145,-0.090952],[-0.003336,-0.178834,0.983874]]ZH̆߿`h?@ö?:޿`HTk ƿ`{?iZ~@IZn^;ZCYrByr IDQzDQE]* E] E])EY"E]a;*E]:VE]FA4ZEYBE]9-"?Y-"?=-Fy-FE5E5>9Q 5E^5=|ߦ?Q 9E^5=i%)=ZBYE}?Q EE:yEiQ IE@=>DI=:i=Q:=J^5yQɮUHAQijhyDNOT Ignoring new targets: 43.77 m.bhRhSZhS ProNav: ac range: 43.771233 m, nav range: 42.328209 m, bearing: 232.024110 deg, approach rate: -0.567192 m/s, LOS rate: -0.006484 deg/s, cmd heading: 238.522965 deg, new cmd heading: 238.514336 deg. BheHeadingCmd: 4.162860 target range: 43.771233 and range: 44.00 m.h'6@h*h"h hgfffBdddjdZd?Bɢ*<) $?i)n&ichihw <n=I'6@Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006487a@a @a@m`0@iԙ^A=A I I % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259708O- > ⟄,e~?A2~@2>@2 ;ٱ2Q< :AHRS rotation from veh to nav: [[-0.494460,0.854984,0.156563],[-0.869186,-0.485347,-0.094620],[-0.004911,-0.182868,0.983125]]2H;߿\?`A ? `߿ 9`t`9hǿu?i2~@I2lX^;2CYBByFIbDNVDNܲyViL%Vf=ٔV];Q-V>9XYX=ZFyZFEZŻE^>`Q 5f^5b զ?Q 9f^5b))b_BYdyfQ If@bDDIb=:ib:bd^5ylɮnAljhDNOT Ignoring new targets: 43.77 m.bhRh:Zh: ProNav: ac range: 43.771233 m, nav range: 42.126728 m, bearing: 232.022318 deg, approach rate: -0.541997 m/s, LOS rate: -0.004842 deg/s, cmd heading: 238.514331 deg, new cmd heading: 238.508931 deg. BhTHeadingCmd: 4.162766 target range: 43.771233 and range: 44.00 m.ha5@h*h"h hgfffdddjdZd@a?Bɢ-<) >i)2 i\iiA <N =Ia5@I Eu EuEu%Eq"Eu>T;*Eu:VEu 4ZEqa}@a}@a}@a}@@ @@4@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510642^Am]=) A I I O >-ˊ,E-~?AJ!`~@J*@J4;ٱJ> VAHRS rotation from veh to nav: [[-0.496569,0.853676,0.157023],[-0.867972,-0.487000,-0.097235],[-0.006537,-0.184576,0.982796]]JH߿PQ?@X? n+߿j丿z0ǿs?iJ!`~@IJ7>^;HYf ByfIppbDvVDvk1y~"%~E=ٔ~k;Q->9Y= Fy FEE>)Q 5^5-Ȧ?Q 9^5-.)-eBYyQ I@-LDI-1BUCBU IBU!BBU =BQBUDBU k;BUp*E ProNav: ac range: 43.771233 m, nav range: 41.889603 m, bearing: 232.020943 deg, approach rate: -0.520361 m/s, LOS rate: -0.003035 deg/s, cmd heading: 238.508922 deg, new cmd heading: 238.504773 deg. BhJHeadingCmd: 4.162694 target range: 43.771233 and range: 44.00 m.h4@h*h"h hgfffdddjdZd@@#Bɢ%Z{<)! %>iA)MkIIiM3jiU$U3:VE'4ZEBE1',I~?A26~@2@2<ٱ22= >AHRS rotation from veh to nav: [[-0.498790,0.852621,0.155713],[-0.866684,-0.488946,-0.098951],[-0.008233,-0.184310,0.982834]]2H@,߿@H?f?߻ J߿Tm܀vǿ_s?i26~@I2gS^;0YDyFIiMb@Mb@Mb@ 9bX9? rhI +?YE?yC94<AQ@ n@)AYGAbD VD ky%.=ٔal;Q->9!Y!=EFyEGEMEM>QQ 5]^5U?Q 9]^5Ut4)UiBY]M?Q E]:y] Q I]@UUDIU:iU$BɮAEjhYDNOT Ignoring new targets: 43.77 m.bhRhZh ProNav: ac range: 43.771233 m, nav range: 41.611237 m, bearing: 232.009167 deg, approach rate: -0.641793 m/s, LOS rate: -0.027333 deg/s, cmd heading: 238.504769 deg, new cmd heading: 238.469203 deg. BhHeadingCmd: 4.162073 target range: 43.771233 and range: 44.00 m. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268257h/@h*h"h hgf9f9f=Bd9dAdAjdAZdE1:@}&Bɢ}n <)y }>iy)҅顁ijiO<z>,{d~?AZ~@Z@Z7y <ٱZ= bAHRS rotation from veh to nav: [[-0.500705,0.851681,0.154706],[-0.865562,-0.490590,-0.100615],[-0.009794,-0.184286,0.982824]]ZH@@?j?௲ e߿ǿJs?iZ~@IZ?^;ZCYnBynIbDvVDv y=!J%=K=ٔ=~;Q-=>9AYA=EFyEGEEEM>QQ 5]^5UA?Q 9]^5Us9)UmBYaye! Q Ie@U]DIU:iU:U^5ymBBɮmAuEjhDNOT Ignoring new targets: 43.77 m.bhRh Zh  ProNav: ac range: 43.771233 m, nav range: 41.375553 m, bearing: 231.999796 deg, approach rate: -0.617998 m/s, LOS rate: -0.024712 deg/s, cmd heading: 238.469197 deg, new cmd heading: 238.440924 deg. BhHeadingCmd: 4.161579 target range: 43.771233 and range: 44.00 m.h+@h*h"h hgfffdddjdZd :@(Bɢ|l<) H>i)è iDki d S< BCBIBBB =BBDBmk;B*E^A u<ԡAQ I I O > nManaging dock network, ignoring radio surface power off E  E E +E "E 77;*E VE [4ZE BE ) <==BDAT read: Rx Time:05:24:08.5842 TRx dataTimestamp_ set to:1761542650.028227checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023785i=Mb@Mb@Mb@9999 99="~?T㥛 rh?Y=?y==C<==A=$@ =X@)99Y=AbDMVDMky}l%6=ٔF;Q->9Y=FyGEԑoE>Q 5^5??Q 9^5 ?)rBY?Q E:y Q I@eDI+;ib;^5yɮAjh9=DNOT Ignoring new targets: 43.77 m.bh9RhE$ZhE$u ProNav: ac range: 43.771233 m, nav range: 41.112846 m, bearing: 231.986781 deg, approach rate: -0.570503 m/s, LOS rate: -0.028445 deg/s, cmd heading: 238.440920 deg, new cmd heading: 238.401626 deg. Bhu+}HeadingCmd: 4.160893 target range: 43.771233 and range: 44.00 m.h} &@hy*hy"hy hygfffyBdddjdZd @,Bɢ<) N>i)K顩ikin<Ğ,]ě~?AEv EvEv'Et"EvO6;*Ev:VEv'4ZEta~@a~@a~@a~@ }@ M@ SO<ٱ < AHRS rotation from veh to nav: [[-0.503894,0.850311,0.151859],[-0.863673,-0.493421,-0.102980],[-0.012635,-0.183047,0.983023]] H  5?`p?@55߿\@=nǿt?i }@I o6^; CY5By5IbDEVDEyUu%UD=ٔ]i;Q-]>9YYY=eFaye GEm*Em>qQ 5}^5uV?Q 9}^5u&D)uvBYyy} Q I@umDIu;iu;u4^5yɮIAjhDNOT Ignoring new targets: 43.77 m.bhRhZh ProNav: ac range: 43.771233 m, nav range: 40.872925 m, bearing: 231.975360 deg, approach rate: -0.592875 m/s, LOS rate: -0.028388 deg/s, cmd heading: 238.401633 deg, new cmd heading: 238.367170 deg. BhۛHeadingCmd: 4.160292 target range: 43.771233 and range: 44.00 m.h!@h*h"h hgfffdddjdZd @/Bɢp<) 8>i)%S>!!i%Zli-z-<-Zg1@+H>1@ k]>)+@Ik] OW?bh?^Y? @.?)DHI5&ik]T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑ^A<A I I O5 > *DAT read: user:416>  BDAT read: Tx time:05:24:09.8741  $Ping request sent. B CB IB BB  =B CDB }DB k;B *E转,mq~?Aj}@j]څ@jc<ٱjI9 AHRS rotation from veh to nav: [[-0.505039,0.850169,0.148826],[-0.862985,-0.494634,-0.102927],[-0.013891,-0.180417,0.983492]]jHF)4? ?@߿tYsǿx?ij}@Ijj+^;jCYByIbDVDy㪼%E=ٔF;Q->9Y=FyGEqPE>Q 5 ^54?Q 9 ^5UI)zBYy Q I@tDI:i;ߺ^5yAɮEnAMEiIiM ~?AJiM'BRiM'BjiMA@bMPB!D@uf_i!@RM갑ٻ?[13Ŀh`r|?ZiM5&biMk]jMY`՚8!2G4@OR"@ZMDGhri cXW?2iM:iME% E%E!E!"E%%.;*E%-:VE!ZE!BE%8iy)顡iyliu<+i=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254142u?@y @y@}/@y@=@=1Y ^A <A i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507519IIO%>,~?A2,}@2˅@2u<4ٱ2_6 >AHRS rotation from veh to nav: [[-0.506553,0.849884,0.145260],[-0.862078,-0.496305,-0.102484],[-0.015006,-0.177139,0.984071]]2H5@2?`?$t߿_<@ }ƿ`}?i2,}@I2X^;2C QQŀGgA9gAYeAԑYByI AimMb@Mb@Mb@iiii i9mI +?y&1Mb?Ym9?ym`em9Y=FyGERE>Q 5^5z?Q 9^5)P)BY?Q E:yJ Q I@DI~ ;i ;^5yXBɮPAEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 41.77 m.bhRhL6ZhL6 ProNav: ac range: 41.773834 m, nav range: 40.360508 m, bearing: 232.000981 deg, approach rate: -0.668454 m/s, LOS rate: -0.039844 deg/s, cmd heading: 238.325299 deg, new cmd heading: 238.268239 deg. Bhں HeadingCmd: 4.158565 target range: 41.773834 and range: 42.00 m.h @h *h "h  h gfffBdddjdZd`?bEĀ'4jEii)mT)iqiuliu}z<}`,̸~?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010739}@PÅ@a<ٱ6 AHRS rotation from veh to nav: [[-0.507445,0.849439,0.144751],[-0.861526,-0.496920,-0.104133],[-0.016525,-0.177549,0.983973]]H<@.?5?߿~`쐿ƿ`|?i}@IS^; )%lA%'%AMF!!-9lAi-'I))I)i-kA 5 1)11 5kA55UF999B>BCBIBBB =BB|DBk;B*EԙI9)i)IkA7  kA #i  i  ;A) IYY=By=IbDUVDU1yf%A=ٔk;Q->9Y=FyGE!E>Q 5^5fn?Q 9^5rU)BYy[ Q I@DIf:i/:b^5y ɮ A jh1=DNOT Ignoring new targets: 41.77 m.bh9Rh=Zh=M ProNav: ac range: 41.773834 m, nav range: 40.113594 m, bearing: 231.986536 deg, approach rate: -0.581816 m/s, LOS rate: -0.034249 deg/s, cmd heading: 238.268226 deg, new cmd heading: 238.224622 deg. BhM UHeadingCmd: 4.157804 target range: 41.773834 and range: 42.00 m.hU @hY*hY"hY hYgYfYfafadadadijdiZdmC?颽;BɢI<) >i)Vili?<VS, ?A2|}@2-@2,<ٱ26 :AHRS rotation from veh to nav: [[-0.508501,0.848931,0.144024],[-0.860882,-0.497814,-0.105186],[-0.017598,-0.177475,0.983968]]2HE@q*?@co?W/߿@zSƿ@|?i2|}@I2Z>^;2CYEByEIiMb@Mb@Mb@ 9gfffff?S㥫?Y3?y/]<&A;@ )AYAbDVDyK<%l=ٔJ;Q-?9Y=FyGE6kE? Q 5^5 d?Q 9^5 Y) BY?Q E:y Q I@ DI :i : e^5y)ɮ-pA)jhQUDNOT Ignoring new targets: 41.77 m.bhQRh]O-Zh]O-m ProNav: ac range: 41.773834 m, nav range: 39.914536 m, bearing: 231.973525 deg, approach rate: -0.576662 m/s, LOS rate: -0.037879 deg/s, cmd heading: 238.224622 deg, new cmd heading: 238.185395 deg. BhmϺuHeadingCmd: 4.157119 target range: 41.773834 and range: 42.00 m.hu@hq*hq"hq hygyfffuBdAdAdIjdIZdU?>BɢrǏ<) >i)[ۻilixN<5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766949_,U#?A>l}@>:@><ٱ>C5 FAHRS rotation from veh to nav: [[-0.509326,0.848681,0.142576],[-0.860371,-0.498575,-0.105758],[-0.018669,-0.176534,0.984118]]>H`fL@d(?@??( ߿ ƿ}?i>l}@I>c^;>CYEByEIIM>)M>M=M= Up9qYq=uFyu"GE}$E}>Q 5^5bY?Q 9^5^)BYy% Q I@DI:i(:^5yɮgAjh!%DNOT Ignoring new targets: 41.77 m.bh!Rh-e+Zh-e+= ProNav: ac range: 41.773834 m, nav range: 39.683937 m, bearing: 231.958630 deg, approach rate: -0.576627 m/s, LOS rate: -0.037461 deg/s, cmd heading: 238.185389 deg, new cmd heading: 238.140446 deg. Bh=ͺEHeadingCmd: 4.156335 target range: 41.773834 and range: 42.00 m.hE@hA*hA"hA hIgIfIfQfYdidqdyjdZd@i@颭ABɢ<) *>i)Pӻ项ivliQ(<%BmCBmIBmBBm =BiBm{DBmk;Bm*EBCBCBȗCB =B =C]6^Ac<I I) O5 >ԩ 4,~q=?ALEj EjEj%Eh"Ej2;*Ej:VEj 4ZEhBEj#checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2711529Y=Fy'GE E>Q 5 ^5L?Q 9^5c)BYJ?Q E:y Q I@DIn:iH:^5yɮ%oA%EjhIMDNOT Ignoring new targets: 41.77 m.bhIRhU4ZhU4e ProNav: ac range: 41.773834 m, nav range: 39.433144 m, bearing: 231.951321 deg, approach rate: -0.570856 m/s, LOS rate: -0.016743 deg/s, cmd heading: 238.140447 deg, new cmd heading: 238.118380 deg. Bhe7mHeadingCmd: 4.155950 target range: 41.773834 and range: 42.00 m.hm@hi*hi"hi higqfqfqfuBdydydyjdyZd`V@MEBɢMv<)I Mk>iI)UdɻQQiUk/li]$]<]=2,Xi) L»  i +li)=<=@  @ @ C4@ @=@=1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774772Q^AT<IYIqO}>ԁ ,"q?A2`}@2.@2ڲ<ٱ25 :AHRS rotation from veh to nav: [[-0.509929,0.848571,0.141071],[-0.859940,-0.498701,-0.108633],[-0.021831,-0.176707,0.984021]]2HUQ}'?@?`߿eϻ`ZYƿ@}?i2`}@I2X^;2CYBByFI DDHJAbDn VDn2yv.%vG=ٔv ;Q-v>9xYx=zFyz.GEzp8E~>Q 5 ^5M7?Q 9 ^5l)BY y  Q I @DIg:i=:3^5yɮA5B*** querying acoustic contact ***i1 i1jhAMDNOT Ignoring new targets: 41.77 m.bhIRhM֟ZhM֟eBDAT read: Rx Time:05:24:12.3312 eTRx dataTimestamp_ set to:1761542653.812338mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028102i} ProNav: ac range: 41.773834 m, nav range: 39.010120 m, bearing: 231.938536 deg, approach rate: -0.572178 m/s, LOS rate: -0.017467 deg/s, cmd heading: 238.101241 deg, new cmd heading: 238.079815 deg. Bh}?HeadingCmd: 4.155277 target range: 41.773834 and range: 42.00 m.h@h*h"h hgfffdddjdZd`K @KBɢ8z<) >i)(iki/<ĦB}CB}IB}BB} =ByB}|DB}!l;B}*Ei@q @q@u/@qԉD@AzDE EE)E"Eg5;*E :VEFA4ZEBE} ,m?A5h}@5ܮ@5_<ٱ5<5 EAHRS rotation from veh to nav: [[-0.509533,0.848963,0.140132],[-0.860153,-0.498274,-0.108899],[-0.022627,-0.176023,0.984126]]5HN`*? ?` ߿໿{+ƿ}?i5h}@I5^;1YUByUIԱiMb@Mb@Mb@ 99aYa=eFye3GEm1:Eu>yQ 5^5})?Q 9^5}Mr)}BY?Q E:yQ I@}DI}r;i}r;})^5yeoBɮmmAmEjhDNOT Ignoring new targets: 41.77 m.bhRh;Zh; ProNav: ac range: 41.773834 m, nav range: 38.746677 m, bearing: 231.937970 deg, approach rate: -0.547133 m/s, LOS rate: -0.001183 deg/s, cmd heading: 238.079822 deg, new cmd heading: 238.078113 deg. BhOHeadingCmd: 4.155247 target range: 41.773834 and range: 42.00 m.h@h*h"h hgfffdddjdZd@@PBɢNP<) />i ) E  i rki%0o<%e1@e D>e/ 2@ e^ Z>)e@Ie^ ZaaeO?*v5?%? e~/?)eqWEIe'ie^ Zaa T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.?@ @@@)^A <E  E E %E "E C;*E ;:VE 4ZE a @a @a @a @Y A .A *DAT read: user:417> % BDAT read: Tx time:05:24:13.6241 % $Ping request sent.% ,Dݤ?Abp}@bݲ@b<ٱbN5 jAHRS rotation from veh to nav: [[-0.509102,0.849209,0.140212],[-0.860384,-0.497651,-0.109923],[-0.023571,-0.176598,0.984001]]bH`J,?w?`C@߿#`#`Śƿ |?ibp}@Ib^;bCYe܁BymIbDVDyԼ%U=ٔ";Q->9 ?Y ?=Fy7GE3:E>Q 5%^5?Q 9%^5w)BY!y%Q I%@DI:i:^5)yQɮUAQii1?AJiBRiBjiÁ@bCx䌥 C@6_> @RRT-xy?t\u nĿ\ ?Zi'bi^ Zj}@w.7zV/><R @Z-tyum@AjP?2iQ:i"iz[?*i%xMBiBiz[?i%xMiÒBiMBiÁ@ addTargetRange:: Added new target pos. range: 39.700001 m, deltaT: 3.783532 s, deltaX: -2.299999 m, approachRate: -0.607897 m/s, rangeRepo size: 4  Added new target pos. range: 39.485332 m, bearing: 232.343144 deg, lat: 36.779376 deg, lon: -121.859711 deg, deltaT: 3.783532 s, deltaX: -2.288502 m, approachRate: -0.604859 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 39.49 m.bhRhZh ProNav: ac range: 39.485332 m, nav range: 38.575771 m, bearing: 232.343285 deg, approach rate: 0.000000 m/s, LOS rate: -0.001183 deg/s, cmd heading: 238.078101 deg, new cmd heading: 238.076765 deg. BhHeadingCmd: 4.155223 target range: 39.485332 and range: 39.70 m.h@h*h"h hg f f f dddjdC@Zd`?ESBɢMud<)I M>iI)UQQiUji]0]G<]1BBIB߁BBBBBl;B*Eԑ^AE <AE >AE >Au ؟AIy I Ա O >,̷?AEZ EXEZ'EX"EZ,K;*EXVEZ'4ZEXBEZK`4?`A? N߿u=şƿI|?i }@I ^; Y9y9IE=)E=ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.508710i Mb@Mb@Mb@     9 Gz?+~jt?Y ?y  < SA @ A@) 3A Y AbD%VD%1y5v:%54=ٔ5R;Q-=>9="?Y="?==Fy=IQ 5U^5M?Q 9U^5MF|)MBYU$?Q E]:y]Q I]@M¢DIM~:iM:Mt^5yaɮeAiqIAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIEntering USBL mode with 120.000000 count pings at 39.700001 m (mode 2.000000 count ).IIjhDNOT Ignoring new targets: 39.49 m.bhRh<8Zh<8 ProNav: ac range: 39.485332 m, nav range: 38.322994 m, bearing: 232.344392 deg, approach rate: -0.585159 m/s, LOS rate: 0.002578 deg/s, cmd heading: 238.076762 deg, new cmd heading: 238.080103 deg. Bh}8HeadingCmd: 4.155282 target range: 39.485332 and range: 39.70 m.h@h*h"h hgfffBdddjdZd@~D?WBɢ>4N<) 2>i) S  i Sii/<,|a?AY ҁBy IbD%VD%ܲy5@h%5t=ٔ5Q-5?9= ?Y= ?==Fy=?GEEEE?AQ 5U^5E?Q 9U^5E?)EBYQyQQ IU@EȢDIE+;iEz;Ea^5yaɮeAeEi}^@I}1J}jhDNOT Ignoring new targets: 39.49 m.bhRh";8Zh";8 ProNav: ac range: 39.485332 m, nav range: 38.131878 m, bearing: 232.345238 deg, approach rate: -0.574394 m/s, LOS rate: 0.002556 deg/s, cmd heading: 238.080095 deg, new cmd heading: 238.082647 deg. Bh8HeadingCmd: 4.155326 target range: 39.485332 and range: 39.70 m.hn@h*h"h hgffIfIdIdIdIjdQZdUTA?额ZBɢ6N<) p>i) ؞iKii.V<,&?A 2™}@2Dž@2J<ٱ2j5 >AHRS rotation from veh to nav: [[-0.506874,0.850749,0.138944],[-0.861610,-0.495037,-0.112100],[-0.026586,-0.176536,0.983935]]2HO8U9??O ߿@w9@ƿ@e|?i2™}@I2^;0YFفByFIbDNVDNyV]=%VT=ٔZA#;Q-Z>9Z"?YZ"?=^Fy^CGE^!;E^>`Q 5f^5b?Q 9f^5bф)bBYhyjQ Ij@bϢDIb:ibF:b^5yQɮUAYiq1JuqJu}B*** querying acoustic contact ***iy i}xjhDNOT Ignoring new targets: 39.49 m.bhRh7Zh7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266532 ProNav: ac range: 39.485332 m, nav range: 37.911976 m, bearing: 232.345924 deg, approach rate: -0.547393 m/s, LOS rate: 0.001718 deg/s, cmd heading: 238.082636 deg, new cmd heading: 238.084707 deg. Bh8B>BCBIBՁBB =BB~DBk;B*EHeadingCmd: 4.155362 target range: 39.485332 and range: 39.70 m.h@h*h"h hgfffdd d jd Zd  ?=]Bɢ=YM<)A Ex>iA)EAAiE^hiMA.M+ ,D ?A2B}@2rɅ@2<ٱ25 :AHRS rotation from veh to nav: [[-0.506682,0.851001,0.138096],[-0.861705,-0.494843,-0.112225],[-0.027168,-0.175860,0.984040]]2H`6 g;??``߿@ĺћƿA}?i2B}@I2:^;2CYBҁByBI DDHJAPiMb@Mb@Mb@ 9B`"?Ky&1?Y?y^`<A@ @)AY3AbD-VD-yG%%5=ٔ%:Q-%>9)Y)=5Fy5GGE]9E]>aQ 5m^5e?Q 9m^5e)eBYm?Q Em:ym+Q Iu@eעDIe;ie;e^5ynBɮAEjqJCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjhDNOT Ignoring new targets: 39.49 m.bhRh ^9Zh ^9= ProNav: ac range: 39.485332 m, nav range: 37.653835 m, bearing: 232.355613 deg, approach rate: -0.570753 m/s, LOS rate: 0.021569 deg/s, cmd heading: 238.084712 deg, new cmd heading: 238.113978 deg. Bh=l:EHeadingCmd: 4.155873 target range: 39.485332 and range: 39.70 m.hE@hA*hA"hA hAgAfIfifmBdqdqdqjdqZd}T?aBɢ$<) b>i)igi % p< :?9 ,ɯ&?A>}@>̅@>?<ٱ>+2 FAHRS rotation from veh to nav: [[-0.506333,0.851554,0.135953],[-0.861890,-0.494659,-0.111617],[-0.027798,-0.173692,0.984408]]>H@3??`f? ~߿`쒼v;ƿD?i>}@I>̜^;>CHYRɁByRIbDZVDZ0ybP%b[=ٔf`:Q-f>9dYd=fFyjKGEj:Ej>lQ 5r^5n⥊?Q 9r^5nV)nBYtyv'Q Iv@nޢDIn|:inR:n^5yxɮz-A|jhAEDNOT Ignoring new targets: 39.49 m.bhIRhM9Zh9 ProNav: ac range: 39.485332 m, nav range: 37.446037 m, bearing: 232.363436 deg, approach rate: -0.576133 m/s, LOS rate: 0.021811 deg/s, cmd heading: 238.113973 deg, new cmd heading: 238.137573 deg. Bh~o:HeadingCmd: 4.156285 target range: 39.485332 and range: 39.70 m.hI@h*h"h hgIfIfIfQdQdQdQjdQZd] <@ dBɢ<)% nI>i)m iJfiM#M_BuCBuIBuˁBBu =BqBuDBu1k;Bu\*E^A= < Ai Iy I O >E ,'@?AE*% E*&E*(E("E*O];*E*;VE*c44ZE(BE*JE*+Z9iYi=mFyuPGEuEu>yQ 5^5}/ԥ?Q 9^5})}BY?Q E:yQ I@}DI} ;i}z ;}9^5yBɮAEjhDNOT Ignoring new targets: 39.49 m.bh!Rhe9Zhe9u ProNav: ac range: 39.485332 m, nav range: 37.167469 m, bearing: 232.370153 deg, approach rate: -0.574956 m/s, LOS rate: 0.013967 deg/s, cmd heading: 238.137578 deg, new cmd heading: 238.157879 deg. Bhu]:}HeadingCmd: 4.156639 target range: 39.485332 and range: 39.70 m.h}0@hy*hy"h hgfffBdddjdZd@hBɢ<) dX>i)v  i  eiT:<n4 ,K:^?A2}@2Tͅ@2J<ٱ2, :AHRS rotation from veh to nav: [[-0.506263,0.852399,0.130818],[-0.861929,-0.495242,-0.108694],[-0.027864,-0.167784,0.985430]]2H`O3F??@ ߿aӻiyſ`?i2}@I2e_;2CYBByFIIJ%>)J9\Y\=^Fy^TGE^;^9Eb>`Q 5f^5bȥ?Q 9j^5bx)bĶBYhyjQ Ij@bDI`ib\ ;b^5yrBɮr)Apjh DNOT Ignoring new targets: 39.49 m.bh RhV9ZhV9% ProNav: ac range: 39.485332 m, nav range: 36.953526 m, bearing: 232.375473 deg, approach rate: -0.569483 m/s, LOS rate: 0.014244 deg/s, cmd heading: 238.157877 deg, new cmd heading: 238.173930 deg. Bh%g:-HeadingCmd: 4.156919 target range: 39.485332 and range: 39.70 m.h-|@h)*h)"h) h)E} E}$E}&Ey"E}V;*E};VE}4ZEya@a@a@a@g)fffdddjdZd` @%kBɢ-<)I M(>iI)UQQiUdi]]<]t checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282324B '>B CB IB BB =B B DB j;B <*EB]CB]CB]˕CB] =B] =C]D6) jZ ,x?A}@х@O<ٱl, %AHRS rotation from veh to nav: [[-0.505810,0.852673,0.130785],[-0.862189,-0.494772,-0.108768],[-0.028035,-0.167778,0.985426]]H/I? ?@@V߿@;ػ`3 yſ?i}@IL^;CYUByUIbDeVDekyuf<%}1=ٔ}99Q-}>9 ?Y ?=FyYGEٔ:E>Q 5^5+?Q 9^5ߝ)ɶBYyQ I@DI";i$;^5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 39.49 m.bhRh~9Zh~9 ProNav: ac range: 39.485332 m, nav range: 36.691032 m, bearing: 232.381871 deg, approach rate: -0.567126 m/s, LOS rate: 0.013921 deg/s, cmd heading: 238.173942 deg, new cmd heading: 238.193272 deg. Bh:HeadingCmd: 4.157257 target range: 39.485332 and range: 39.70 m.h@@h*h"h hgff f dddjdZdI @UoBɢ][;)a m'>i){iTci56=t<=z|)2@k]>2@ d{>)|]@Id{yn?k*?3? 2?)]IK6id{uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.}Uiq a @a  @a @e 4@i @m =@m =ԑ ^AM#*<*DAT read: user:418> BDAT read: Tx time:05:24:17.4241 $Ping request sent.9Y=Fy^GEE>Q 5^5M?Q 9^5Q)жBYE?Q E:y`Q I@DI ;i ;X^5yɮ&AEii䟆?AJi3BRi3Bji@bcA@Kz(6Hz,"@R#)_?jfſ .?ZiK6bid{jH6PAi1)=]p99i=(aieePVB5 CB5 IB5 BB1 B1 B1 B5 j;B5 7*EU checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501470^AE)<Au؟AIIO ?. ,#?AB}@BɅ@B<ٱB* NAHRS rotation from veh to nav: [[-0.506731,0.852239,0.130050],[-0.861701,-0.496085,-0.106632],[-0.026360,-0.166098,0.985757]]BH#7 E?{?ܿ߿@AL-BſQ?iB}@IB^;BCYVByVIbD^VD^:yfl%f'=ٔj`Q-j>9n"?Yn"?=nFyncGEn En>pQ 5v_5rO?Q 9v_5r)rֶBYxyzsQ Iz@r DIr;ir;r_5y|ɮsAjh!-DNOT Ignoring new targets: 37.30 m.bh)Rh59Zh59E ProNav: ac range: 37.300125 m, nav range: 36.094181 m, bearing: 232.409429 deg, approach rate: -0.579265 m/s, LOS rate: 0.027761 deg/s, cmd heading: 238.216371 deg, new cmd heading: 238.256720 deg. BhEj:MHeadingCmd: 4.158364 target range: 37.300125 and range: 37.50 m.hMR@hI*hI"hI hIgQfQfQfQdYdadayjdiZd`@?颵wBɢf;) 0=i)h项i>`i<@1 @1@=K0@9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005308^Am 6 ,k܀?A6x}@6?@6<ٱ6, >AHRS rotation from veh to nav: [[-0.508639,0.850677,0.132798],[-0.860652,-0.498099,-0.105716],[-0.023784,-0.168064,0.985489]]6H`F@8?`? u߿8Z ſ ?i6x}@I6^;4YFByFIiMb@Mb@Mb@ 9n?RQ?YV?y½A@ A)YAbD-VD-y=%=$=ٔEpQ-E>9AYA=MFyMhGEM=EM>Q 5_5?Q 9_5)ݶBY?Q E:yQ I@DI:ia:_5y ɮ A EjhQ]DNOT Ignoring new targets: 37.30 m.bhYRh]Y:Zh]Y:u ProNav: ac range: 37.300125 m, nav range: 35.804344 m, bearing: 232.426582 deg, approach rate: -0.554474 m/s, LOS rate: 0.033080 deg/s, cmd heading: 238.256724 deg, new cmd heading: 238.308599 deg. Bhu:}HeadingCmd: 4.159270 target range: 37.300125 and range: 37.50 m.h}@hy*hy"hy hygyfyffBԑE6 E'E*E"El;*E";VE(N4ZEa@a@a@a@dddjdZdE?{Bɢ;;) =i)aiF^iM;MұA?A1 I9 II O] > % = ,?AB>>BCBIBBB =BBDBDBj;B3*E2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.50933988r`k}@r@rv<ٱr/ ~AHRS rotation from veh to nav: [[-0.509356,0.849839,0.135390],[-0.860248,-0.498627,-0.106506],[-0.023004,-0.170718,0.985051]]rH L@1?rT?'߿C@Wſ@?ir`k}@Ir ^;pY By IbD%VD%y-I%-L=ٔ55Q-5>91Y1==Fy=lGE=}EE>AQ 5M_5E?Q 9M_5EI)EBYQyUQ IU@EDIEN:iE:Ex _5y]BɮejAeEjhDNOT Ignoring new targets: 37.30 m.bhRh!:Zh!: ProNav: ac range: 37.300125 m, nav range: 35.587498 m, bearing: 232.439821 deg, approach rate: -0.576180 m/s, LOS rate: 0.035390 deg/s, cmd heading: 238.308606 deg, new cmd heading: 238.348563 deg. BhM:HeadingCmd: 4.159967 target range: 37.300125 and range: 37.50 m.ht@h*h"h hgfffdddjdZd@=?m~BɢmIG;)i m=ii)uX]顑i%]i#<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761313I _C ,?A2@O}@2r@2u<ٱ2i1 >AHRS rotation from veh to nav: [[-0.510842,0.848677,0.137067],[-0.859391,-0.500043,-0.106793],[-0.022094,-0.172348,0.984788]]2HX@](?@e? @ZVƿb?i2@O}@I2^;2CYFByFzIiMb@Mb@Mb@ 9 +?J +{Gz?Y?yȽף<A@ @)AYQAbDaVDaym%uF=ٔuQ-u>9} ?Y} ?=}Fy}pGE}1E>Q 5_5r?Q 9_5F)BY?Q E:yQ I@!DI? ;i ; _5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 37.30 m.bhRh+&:Zh+&: ProNav: ac range: 37.300125 m, nav range: 35.341194 m, bearing: 232.454733 deg, approach rate: -0.595739 m/s, LOS rate: 0.036319 deg/s, cmd heading: 238.348576 deg, new cmd heading: 238.393624 deg. Bhg:HeadingCmd: 4.160754 target range: 37.300125 and range: 37.50 m.h$@h*h"h hgfffBdddjdZd:@5Bɢ5y;)1 5=i9)=FY99i=\iEE% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265412FJ ,ep*?A22}@2I@2<ٱ24 :AHRS rotation from veh to nav: [[-0.512338,0.847257,0.140231],[-0.858525,-0.501304,-0.107838],[-0.021068,-0.175641,0.984229]]2H e@? ? y D`蒕i{ƿ`~?i22}@I2+^;2C@Y^By^}IbDfVDffynHJ<%rT=ٔr.Q-r>9pYt=vFyvtGEv9Ev>xQ 5~_5zZf?Q 9_5z)zBYyQ I@z(DIzy;iz;zp_5yBɮlAEjhIUDNOT Ignoring new targets: 37.30 m.bhQRh]I.:ZheI.:u ProNav: ac range: 37.300125 m, nav range: 35.111717 m, bearing: 232.469388 deg, approach rate: -0.592607 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.393628 deg, new cmd heading: 238.437881 deg. Bh}%:HeadingCmd: 4.161526 target range: 37.300125 and range: 37.50 m.h9+@h*h"h hgfffdddjdZd@Bɢ;)  =i)GGUi8[iD<NhB-CB-yIB-BB- =B)B-DB-j;B-.*EDDAT read: Rx Time:05:24:19.6006 TRx dataTimestamp_ set to:1761542660.876760PDAT read: Bearing 34.1, -12.9 (Local) ~Local bearing/azimuth received: Bearing 34.1, -12.9 (Local) DAT read: Range 11 to 50 : 35.6 m (trip time 23.7 ms) speed 0.6 DAT read: 05:24:19.6006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 162,-0.14,-0.492,-1.947,-0.031,-0.434, PHS= 0.043,-1.468, 0.358, RAW= 159.3, 12.6, CAL= 159.7, 14.2, ROT= 350.3, -14.2 Ygot valid direction response: 05:24:19.6006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 162,-0.14,-0.492,-1.947,-0.031,-0.434, PHS= 0.043,-1.468, 0.358, RAW= 159.3, 12.6, CAL= 159.7, 14.2, ROT= 350.3, -14.2 R#Rx 1: Read range and direction messages.^direction in FSK: [0.955586,-0.163341,0.245307]Fpublishing direction and range infoy4(O(?Ɛh^Ŀ/;f?YfB )CI 0=im绿K>1@z0a>b2@ }>)@I}FXIj,??6BK%? /?)W`I4\-i}checking for new query: numPingsReceived=1, elapsed TxPingTime=2.534049^A< A ؟AI! I9 OE >E  E "E %E "E X;*E ;VE 4ZE BE 95"?Y5"?=5Fy5yGE5E5>9Q 5E_5=V?Q 9M_5=)=BYM?Q EM:yMQ IM@=2DI= ;i=;=_5yQɮ]TAYii8?AJi BRi Bji@b*@@j[#'z_!@R4(O(?Ɛh^Ŀ/;f?Zi4\-bi}j3N50;;SrH!@Z/ĜTz7K?2i:i*"i]}k?*i>BicBinS_?iicBi5 Bi߁@ addTargetRange:: Added new target pos. range: 35.599998 m, deltaT: 2.773251 s, deltaX: -1.900002 m, approachRate: -0.685117 m/s, rangeRepo size: 4  Added new target pos. range: 35.413750 m, bearing: 232.190256 deg, lat: 36.779377 deg, lon: -121.859711 deg, deltaT: 2.773251 s, deltaX: -1.886375 m, approachRate: -0.680204 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 35.41 m.bhRhZh ProNav: ac range: 35.413750 m, nav range: 34.802299 m, bearing: 232.538601 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.437888 deg, new cmd heading: 238.492846 deg. BhHeadingCmd: 4.162486 target range: 35.413750 and range: 35.60 m.h3@h*h"h hgfffBdddjdA@Zd4~?%Bɢ%2P:)) -М=i))-yP))i5zZi551= <=~G ! U 9Q YU A DDAT read: Rx Time:05:24:20.1004  TRx dataTimestamp_ set to:1761542661.384354 PDAT read: Bearing 32.8, -11.7 (Local)  ~Local bearing/azimuth received: Bearing 32.8, -11.7 (Local)  DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed 1.0  DAT read: 05:24:20.1004 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496,-0.07,-0.642,-2.122,-0.211,-0.631, PHS= 0.090,-1.446, 0.375, RAW= 158.4, 11.5, CAL= 158.6, 12.8, ROT= 351.4, -12.8  Ygot valid direction response: 05:24:20.1004 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496,-0.07,-0.642,-2.122,-0.211,-0.631, PHS= 0.090,-1.446, 0.375, RAW= 158.4, 11.5, CAL= 158.6, 12.8, ROT= 351.4, -12.8  R#Rx 2: Read range and direction messages. ^direction in FSK: [0.964185,-0.145820,0.221548]^A MR<M Fpublishing direction and range infoy  ⶚? f7¿@|[?Y 3 B Y y ? ʭA ) ?I Q=i  > ;0@ M> m(1@ d>) ?B@I d 4?hu?.6? j+?) ANI ti d  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.065390AI IY Ii Ou >CW ,x^?AB }@Bz@B<ٱB3: jAHRS rotation from veh to nav: [[-0.515011,0.844841,0.144937],[-0.856953,-0.503542,-0.109894],[-0.019861,-0.180801,0.983319]]BH`z?@N?)l@@"@V$ǿYw?iB }@IB^;BCYrByvwIbD~VD~βy RA% q=ٔ iQ-?91Y1==Fy=}GE=E=?AQ 5M_5EK?Q 9M_5E)EBYyIQ I@E8DIE.@@gd{xeu@R⶚? f7¿@|[?Zitbidj 4=tJ;r@ZAY7?2iS:i"i*uր?*i^UBiuBi]}k?i^Uiix Bi%@E addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.507594 s, deltaX: -0.299999 m, approachRate: -0.591022 m/s, rangeRepo size: 4 bE!4jErE/EU( EU'EU'EQ"EU`;*EU";VEU'4ZEQae@ae@ae@ae@ Added new target pos. range: 35.115322 m, bearing: 232.906037 deg, lat: 36.779378 deg, lon: -121.859709 deg, deltaT: 0.507594 s, deltaX: -0.298428 m, approachRate: -0.587926 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 35.12 m.bhRhZh ProNav: ac range: 35.115322 m, nav range: 34.367783 m, bearing: 232.569289 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.492857 deg, new cmd heading: 238.534317 deg. BhHeadingCmd: 4.163209 target range: 35.115322 and range: 35.30 m.h9@h*h"h hgfff!d)d)d)jd-`fA@Zd5U?颅Bɢ N:) a=i)MiYis <yA >B d>B CB rIB BB =B B DB aj;B *E DDAT read: Rx Time:05:24:20.6001  TRx dataTimestamp_ set to:1761542661.886262 PDAT read: Bearing 33.9, -12.4 (Local)  ~Local bearing/azimuth received: Bearing 33.9, -12.4 (Local)  DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4  DAT read: 05:24:20.6001 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.11,-1.541,-3.004,-1.097,-1.494, PHS= 0.055,-1.465, 0.353, RAW= 158.8, 12.5, CAL= 159.2, 14.1, ROT= 350.8, -14.1  Ygot valid direction response: 05:24:20.6001 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.11,-1.541,-3.004,-1.097,-1.494, PHS= 0.055,-1.465, 0.353, RAW= 158.8, 12.5, CAL= 159.2, 14.1, ROT= 350.8, -14.1  R#Rx 3: Read range and direction messages. ^direction in FSK: [0.957396,-0.155064,0.243615] Fpublishing direction and range infoy   ?&ÿ .?Y 3 B ) @I Ga=i  j> a1@ f_> 1@ d{>) v@I d{ xYlZ?Pj+ϒ?\1? P-?) h^I l$i d{  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.543908Ae .AIq I O > ^ ,*z?A,ng|@nq@n<ٱnz< zAHRS rotation from veh to nav: [[-0.516044,0.843891,0.146787],[-0.856336,-0.504344,-0.111018],[-0.019656,-0.182989,0.982919]]nHo'??g #k .lǿt?ing|@In{^;nCY!y!bDUVDUye%e3=ٔmQ-m>9m ?Y ?=FyGE^-E>Q 5_5e ,?ADDAT read: Rx Time:05:24:21.1000 TRx dataTimestamp_ set to:1761542662.388551PDAT read: Bearing 32.8, -12.0 (Local) ~Local bearing/azimuth received: Bearing 32.8, -12.0 (Local) "DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.8 6DAT read: 05:24:21.1000 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.07,-1.270,-2.744,-0.829,-1.248, PHS= 0.080,-1.451, 0.375, RAW= 158.6, 11.7, CAL= 158.9, 13.1, ROT= 351.1, -13.1 :Ygot valid direction response: 05:24:21.1000 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.07,-1.270,-2.744,-0.829,-1.248, PHS= 0.080,-1.451, 0.375, RAW= 158.6, 11.7, CAL= 158.9, 13.1, ROT= 351.1, -13.1 :R#Rx 4: Read range and direction messages.>^direction in FSK: [0.962249,-0.150684,0.226651]>Fpublishing direction and range infoy9z¾? =$Iÿ+#?Y B )I ף=i^>m(1@Q>5~1@  j>)[@I jKx?ƍB?? ,?)iQIi jNchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.045518 YByuII=)p;iMb@Mb@Mb@ 9"~?)\(~jt?Y?yGὙ<@ A)YAbD]VD]ky=%=ٔQ->9"?Y"?=FyGEE>Q 5_5*?Q 9_5)BY?Q E:yQ I@KDI:i: _5yBɮHA&E9iiޘ?AJiH BRiH Bji@b9@@:칯ܦF@R9z¾? =$Iÿ+#?Zibi jjRL|C4r7:u&@Z?^D ٽV̟?2iIE] E]E]*EY"E]&U;*E]:VE](N4ZEYam@am@am@am@:i"iuX~?*i΍BiBiuX~?i΍iiBi@ addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.502289 s, deltaX: -0.299999 m, approachRate: -0.597264 m/s, rangeRepo size: 4  Added new target pos. range: 34.320839 m, bearing: 232.631911 deg, lat: 36.779380 deg, lon: -121.859706 deg, deltaT: 0.502289 s, deltaX: -0.298439 m, approachRate: -0.594158 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.32 m.bhRh Zh = ProNav: ac range: 34.320839 m, nav range: 33.389034 m, bearing: 232.632034 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.586977 deg, new cmd heading: 238.650446 deg. Bh9EHeadingCmd: 4.165236 target range: 34.320839 and range: 34.50 m.hEI@hA*hA"hA hAgIfIfIfm΁Bdqdqdqjdu@A@Zd}`O?Bɢ =M) =i)HiViz <]BA4=Bj>BCBBB =BBDB;j;B*EBCBCBΖCB =B =C?6F^m ,?A2|@2n@2]<ٱ2x< :AHRS rotation from veh to nav: [[-0.516298,0.843736,0.146787],[-0.856185,-0.504607,-0.110988],[-0.019574,-0.182980,0.982922]]BDDAT read: Rx Time:05:24:21.5997 FTRx dataTimestamp_ set to:1761542662.892850JPDAT read: Bearing 33.7, -11.2 (Local) J~Local bearing/azimuth received: Bearing 33.7, -11.2 (Local) RDAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 fDAT read: 05:24:21.5997 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.06,-2.695, 2.115,-2.292,-2.673, PHS= 0.079,-1.451, 0.337, RAW= 157.7, 12.3, CAL= 158.0, 13.8, ROT= 352.0, -13.8 jYgot valid direction response: 05:24:21.5997 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.06,-2.695, 2.115,-2.292,-2.673, PHS= 0.079,-1.451, 0.337, RAW= 157.7, 12.3, CAL= 158.0, 13.8, ROT= 352.0, -13.8 jR#Rx 5: Read range and direction messages.n^direction in FSK: [0.961683,-0.135156,0.238533]rFpublishing direction and range infoy@Bw?b-LiC?YBfB@@@@ @)@IBʡ=i@BD>B'0@B[>B|0@ BϢv>)B @IBϢv@@2H?@?e%iO `kǿt?i2|@I2E^;2CYByfIBk W8??k~\U? B/P(?)B`\IB4iBϢv@@checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553468bD%VD%0y5l%=G=ٔ=PQ-=>9AYA=EFyEGEE<EE>IQ 5=_5M?Q 9=_5MI)MBY9yEQ IE@MSDIMfajL4M(Q?2iB!:iB1"iBk]Ӱ?*iBf(BiBBiB*uր?i@iBBiBBiB`@ addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.504299 s, deltaX: -0.400002 m, approachRate: -0.793183 m/s, rangeRepo size: 4  Added new target pos. range: 33.923450 m, bearing: 233.635475 deg, lat: 36.779380 deg, lon: -121.859706 deg, deltaT: 0.504299 s, deltaX: -0.397388 m, approachRate: -0.788002 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.92 m.bhRhZh ProNav: ac range: 33.923450 m, nav range: 33.150703 m, bearing: 232.689786 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.650443 deg, new cmd heading: 238.697449 deg. Bh  HeadingCmd: 4.166057 target range: 33.923450 and range: 34.10 m.hVP@h*h"h hgfffdddjd A@Zdo? BɢP$) uu ,Ձ?AU|@Un@Un<ٱU)a< mAHRS rotation from veh to nav: [[-0.516286,0.843740,0.146802],[-0.856196,-0.504631,-0.110796],[-0.019402,-0.182894,0.982941]]UHj?i?e`%%]<ޓiǿAt?iU|@IU_*^;UCYByoIDDAT read: Rx Time:05:24:22.0996 TRx dataTimestamp_ set to:1761542663.396794%PDAT read: Bearing 34.3, -12.6 (Local) -~Local bearing/azimuth received: Bearing 34.3, -12.6 (Local) =DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.5 ]DAT read: 05:24:22.0996 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.02,-0.864,-2.333,-0.414,-0.804, PHS= 0.042,-1.484, 0.346, RAW= 158.9, 12.8, CAL= 159.4, 14.6, ROT= 350.6, -14.6 eYgot valid direction response: 05:24:22.0996 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.02,-0.864,-2.333,-0.414,-0.804, PHS= 0.042,-1.484, 0.346, RAW= 158.9, 12.8, CAL= 159.4, 14.6, ROT= 350.6, -14.6  R#Rx 6: Read range and direction messages. ^direction in FSK: [0.954715,-0.158052,0.252069]Fpublishing direction and range infoyf[U?P7 ;Ŀ!?YB )I1,=i󽿉&>5~1@d>/ 2@ w>)@Iwmb3F?U9M ?YM ?=MFyMGEU7EU>yQ 5_5} ?Q 9_5})}BY?Q E:yQ I@}]DI}X:i}:})_5yBɮkA%Eiieف?AJiBRiBji(΁@bCI@@@%R$#fw!@Rf[U?P7 ;Ŀ!?Zi'biwju,T3 9Wi!@Z0lgeM?2i:i"i +??*iiqBi Bi +??iiiABi@e addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503944 s, deltaX: -0.199997 m, approachRate: -0.396863 m/s, rangeRepo size: 4  Added new target pos. range: 33.724491 m, bearing: 232.415499 deg, lat: 36.779380 deg, lon: -121.859706 deg, deltaT: 0.503944 s, deltaX: -0.198959 m, approachRate: -0.394804 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 33.72 m.bhRhZh ProNav: ac range: 33.724491 m, nav range: 32.813618 m, bearing: 232.727059 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.697462 deg, new cmd heading: 238.761413 deg. BhHeadingCmd: 4.167173 target range: 33.724491 and range: 33.90 m.h{Y@h*h"h hgfffɁBdddjd@3@@Zd ?EU EUEU&EQ"EU<;*EU:VEU4ZEQa]@a]@a]@a]@颕Bɢ ) `jB2CB2lIB2BB2 =B0B2DB2Lj;B2*ER=$}@R@R<ٱRB9 ZAHRS rotation from veh to nav: [[-0.513132,0.846009,0.144792],[-0.858105,-0.501970,-0.108086],[-0.018761,-0.179708,0.983541]]RHk?@?`u"`5 ǿ*y?iR=$}@IR^;RCYfByfaI hhbDrVDr1yvd%zO=ٔz]պQ-z>9~"?Y~"?=~Fy~GE~4<E>Q 5 _5DDAT read: Rx Time:05:24:22.5993 %TRx dataTimestamp_ set to:1761542663.900790-PDAT read: Bearing 32.6, -12.0 (Local) 5~Local bearing/azimuth received: Bearing 32.6, -12.0 (Local) =DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 QmDAT read: 05:24:22.5993 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.09,-1.707, 3.101,-1.258,-1.688, PHS= 0.082,-1.450, 0.385, RAW= 158.9, 11.5, CAL= 159.1, 12.8, ROT= 350.9, -12.8 uYgot valid direction response: 05:24:22.5993 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.09,-1.707, 3.101,-1.258,-1.688, PHS= 0.082,-1.450, 0.385, RAW= 158.9, 11.5, CAL= 159.1, 12.8, ROT= 350.9, -12.8 uR#Rx 7: Read range and direction messages.}^direction in FSK: [0.962876,-0.154228,0.221548]}Fpublishing direction and range infoy!%?u"ÿ@|[?Y%B!!!! !)%?I%=i%%>!%M>%g1@?Q 9_5 %d>)%@I%d!!%Oj?~:J ?6f? %-?)% NI%"i%d!!checking for new query: numPingsReceived=7, elapsed TxPingTime=5.558363u)BYyUQ I@dDI[ ,G?A H}@ 4@ t<ٱ o5 AHRS rotation from veh to nav: [[-0.511218,0.847623,0.142095],[-0.859249,-0.500480,-0.105885],[-0.018634,-0.176225,0.984173]] H`[`? .0?~@ ƿ`Y~?i H}@I .^; C)YMByMdIiMb@Mb@Mb@ 9n?v/Q?YV?yx齙<A3@ A)YAbDVD0y:)<%%2=ٔ%Q-%>9- ?Y- ?=-Fy-GE-;E5>1Q 5E_557?Q 9E_55)5!BYE?Q EE:yEQ IE@5mDI5 ;i52 ;5r0_5yQɮUAQuB*** querying acoustic contact ***iq iqjhyDNOT Ignoring new targets: 33.33 m.bhRh:Zh: ProNav: ac range: 33.325108 m, nav range: 32.194069 m, bearing: 232.594697 deg, approach rate: -0.622207 m/s, LOS rate: 0.081620 deg/s, cmd heading: 238.808548 deg, new cmd heading: 238.910965 deg. Bh`;HeadingCmd: 4.169783 target range: 33.325108 and range: 33.50 m.hn@h*h"h hgfffρBdddjdZd sI?Bɢ) `gi)HiQiAhL!<In@IDDAT read: Rx Time:05:24:23.0992 TRx dataTimestamp_ set to:1761542664.405307PDAT read: Bearing 34.6, -11.6 (Local) ~Local bearing/azimuth received: Bearing 34.6, -11.6 (Local) xDAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms0.7 DAT read: 05:24:23.0992 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 499, 0.13, 0.304,-1.167, 0.721, 0.346, PHS= 0.060,-1.468, 0.331, RAW= 158.0, 12.8, CAL= 158.4, 14.4, ROT= 351.6, -14.4 Ygot valid direction response: 05:24:23.0992 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 499, 0.13, 0.304,-1.167, 0.721, 0.346, PHS= 0.060,-1.468, 0.331, RAW= 158.0, 12.8, CAL= 158.4, 14.4, ROT= 351.6, -14.4 R#Rx 8: Read range and direction messages.%^direction in FSK: [0.958193,-0.141494,0.248690]%Fpublishing direction and range infoyD\?Gav¿l?Y3B )Iu=im绿x>|0@d>;0@ >)^@Ib+?4:?6ZK? )?)k=dIT iMchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.067645Qe?@a @a@e0@aԁ^Azl<A>A>E EE&E"EI@;*E:VE4ZEa@a@a@a@ԩ A I I O >U checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297426n{ ,+?A64r}@6볅@6<ٱ63 FAHRS rotation from veh to nav: [[-0.509044,0.849212,0.140405],[-0.860539,-0.498576,-0.104381],[-0.018639,-0.173959,0.984576]]6H@J`,?@?`߿ /@HDƿ?i64r}@I6~(^;6CYVByVaIbDbVDbynD%]c=ٔmZ7Q-u>ԡ9Y=FyGE ;E> Q 5M_5 䤊?Q 9U_5 ) )BYyQ I@ tDI ;yBCBfIBBB =BBDBj;B-*EiIDDAT read: Rx Time:05:24:23.5989 TRx dataTimestamp_ set to:1761542664.910168PDAT read: Bearing 32.5, -12.4 (Local) ~Local bearing/azimuth received: Bearing 32.5, -12.4 (Local) DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.6 DAT read: 05:24:23.5989 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496, 0.42,-1.681, 3.125,-1.210,-1.663, PHS= 0.084,-1.450, 0.409, RAW= 159.4, 11.1, CAL= 159.6, 12.3, ROT= 350.4, -12.3 %Ygot valid direction response: 05:24:23.5989 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496, 0.42,-1.681, 3.125,-1.210,-1.663, PHS= 0.084,-1.450, 0.409, RAW= 159.4, 11.1, CAL= 159.6, 12.3, ROT= 350.4, -12.3 %R#Rx 9: Read range and direction messages.-^direction in FSK: [0.963363,-0.162941,0.213030]-Fpublishing direction and range infoy*??ĿAzUmD?YB9@9 @9@=/@9@EgA@A )@I1=ish>/ 2@aF>aF2@ [>)E@I[lbA?" ?=ܵ? 2!0?)FI+i[checking for new query: numPingsReceived=9, elapsed TxPingTime=6.572326! ^A} q<E  E E 'E "E <;*E :VE '4ZE BE “0 ,/I?A0Jchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.803424}@ȅ@q<ٱ10 AHRS rotation from veh to nav: [[-0.506847,0.850808,0.138678],[-0.861831,-0.496621,-0.103029],[-0.018787,-0.171737,0.984964]]H`89?`4? ߿`=zſ҄?i}@I0D^;CYByI<)p<==iMb@Mb@Mb@ 9S?ʡE{Gz?Y?y-ף<@ A)AYfAbDVDky5%5=ٔ=n9Q-=>9AYA=MFyMGEUL;EU>aQ 5m_5eդ?Q 9m_5e)e/BYu?Q Eu:yuQ Iu@e}DIeu;ie;eG8_5y}”Bɮ}rA.Eԉiiim1@:?AJimBRimBjimW@bmT /?@'f[5TZ@Rm*??ĿAzUmD?Zim+bim[jm=}3HST#=9c@Zm˦ XxNZ]}?2im:imc"im-͘ ,d?AE EE(E"EP;*E:VEc44ZEa"@a"@a"@a"@checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305404YByRIbDVDy\%A=ٔQ->9Y=FyGEE>Q 5 _5*ɤ?Q 9 _5)4BYyQ I@DId:i:;_5yBɮA%-EM addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.502433 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhQUDNOT Ignoring new targets: 32.72 m.bhQRh]D:Zh]D:m ProNav: ac range: 32.724960 m, nav range: 31.493452 m, bearing: 232.708372 deg, approach rate: -0.593952 m/s, LOS rate: 0.028909 deg/s, cmd heading: 239.135414 deg, new cmd heading: 239.170137 deg. Bhm:uHeadingCmd: 4.174306 target range: 32.724960 and range: 32.90 m.hu듅@hq*hq"hq hqgyfyffdddjdZd\?颽Bɢ) xui)NikMi!<W/uBm CBm YIBm BBm =Bi Bi Bm k;Bm S*Em DDAT read: Rx Time:05:24:24.5986 m TRx dataTimestamp_ set to:1761542665.917553u PDAT read: Bearing 33.7, -12.6 (Local) } ~Local bearing/azimuth received: Bearing 33.7, -12.6 (Local)  DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4  DAT read: 05:24:24.5986 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.01,-2.869, 1.956,-2.399,-2.833, PHS= 0.065,-1.449, 0.390, RAW= 159.5, 11.7, CAL= 159.8, 13.0, ROT= 350.2, -13.0 ^A < Ygot valid direction response: 05:24:24.5986 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.01,-2.869, 1.956,-2.399,-2.833, PHS= 0.065,-1.449, 0.390, RAW= 159.5, 11.7, CAL= 159.8, 13.0, ROT= 350.2, -13.0  T#Rx 11: Read range and direction messages. ^direction in FSK: [0.960152,-0.165847,0.224951] Fpublishing direction and range infoyi m V?zy:ſ:/2?Ym Bi i i i i )m ?Im =im xm >m )2@m Q>m 2@ m Vh>)m @Im Vhi i m uYҐ+?pe?? m c0?)m PIm %/im Vhi i  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.578943A zA gAԉ I I O > ,G?A2}@2A@2<ٱ2( ^AHRS rotation from veh to nav: [[-0.502470,0.854453,0.132034],[-0.864369,-0.492963,-0.099264],[-0.019729,-0.164003,0.986263]]2H<W?@|? ߿@`i3Ŀ`v?i2}@I2+^;2C b&C)bkAbbfFddflAif'IfMFdIxiz(lA z#z#lF)|| ~kA~ 0~?F|kAI#)QFi) fCI kA   YF 5C5lA1i11i=C="A)9 9I9Y9YEByM]IuAAqbD}VD}yQ4=%U=ٔg;Q->9Y=FyGE&V<E>Q 5_5?Q 9_50)9BYyQ I@DI;i;U?_5yɮAii0z?AJiBRiBjiā@bFll>@'al@RV?zy:ſ:/2?Zi%/biVhj\(3YP8aT @E EE)E"EL;*Eg:VEFA4ZEBEܡi>1@9 @9@=0@A - G^A5 a w9 Y yaA) 6 ,w?A6DDAT read: Rx Time:05:24:25.0984 :TRx dataTimestamp_ set to:1761542666.420758>PDAT read: Bearing 33.0, -12.9 (Local) >~Local bearing/azimuth received: Bearing 33.0, -12.9 (Local) FDAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 ZDAT read: 05:24:25.0984 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.28,-2.098, 2.724,-1.605,-2.071, PHS= 0.075,-1.443, 0.422, RAW= 160.1, 11.0, CAL= 160.2, 12.2, ROT= 349.8, -12.2 ^Ygot valid direction response: 05:24:25.0984 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.28,-2.098, 2.724,-1.605,-2.071, PHS= 0.075,-1.443, 0.422, RAW= 160.1, 11.0, CAL= 160.2, 12.2, ROT= 349.8, -12.2 ^T#Rx 12: Read range and direction messages.b^direction in FSK: [0.961968,-0.173085,0.211325]bFpublishing direction and range infoy46͆q?~Y\'ƿ\ ?Y6fB4444 4)4I6=i696b>6[2@6 D>62@ 6^ Z>)6|]@I6^ Z446 ?>8?I>u>u? 6m 3?)6KDI6K6i6^ Z44rchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.077773Y~ByFIiEMb@Mb@Mb@AAAA A9EFx?I +I +?YE ?yE9E99Y=FyGEE>Q 5_5Ư?Q 9 _5)?BY  ?Q E :y Q I @DIj;i;}C_5yBɮA,Ei4i6횂?AJi6nARi6nAji6\x@b6Y >@`H3K@R6͆q?~Y\'ƿ\ ?Zi6K6bi6^ Zj6C3؏_m~8a^@Z6Tz)NZbzT ?2i6:i6"i6bhX?*i6cօBi6gBi6GpIo?i4i6fBi6Ai6Ɓ@ addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503205 s, deltaX: -0.300003 m, approachRate: -0.596185 m/s, rangeRepo size: 4 - Added new target pos. range: 31.928854 m, bearing: 231.815407 deg, lat: 36.779378 deg, lon: -121.859704 deg, deltaT: 0.503205 s, deltaX: -0.298403 m, approachRate: -0.593004 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 31.93 m.bh1Rh1Zh1m ProNav: ac range: 31.928854 m, nav range: 31.099548 m, bearing: 232.359131 deg, approach rate: 0.000000 m/s, LOS rate: 0.028909 deg/s, cmd heading: 239.205710 deg, new cmd heading: 239.246317 deg. BhiuHeadingCmd: 4.175636 target range: 31.928854 and range: 32.10 m.huϞ@hq*hq"hq hqgyfybE5-4jE514rE5ňt0E  E E$E"EE;*E:VE4ZEa@a@a@a@ffBdddjd @@Zdc?5Bɢ5y)1 5Թi1)=*V9YYi]&CJiee΂"㱬 ,??A2~@2@2<ٱ2qL :AHRS rotation from veh to nav: [[-0.500403,0.856781,0.124594],[-0.865538,-0.491561,-0.095978],[-0.020987,-0.155869,0.987555]]2HMj?c?|`u߿ }ÿ ?i2~@I25^;2CY5By5GIbDMVDMy};%}g=ٔ}Cl;Q->9Y=FyGE3;E?Q 5_5?Q 9_5)CBYyQ I@DI:i2:F_5yɮAB<ABBBGIBBB =BCDBDBMk;Bn*EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 31.93 m.bhRhȷ9Zhȷ9 ProNav: ac range: 31.928854 m, nav range: 30.908363 m, bearing: 232.365797 deg, approach rate: -0.572528 m/s, LOS rate: 0.020084 deg/s, cmd heading: 239.246309 deg, new cmd heading: 239.266429 deg. Bh\:HeadingCmd: 4.175987 target range: 31.928854 and range: 32.10 m.h@h*h"h hg!f!f!f!d)d)d)jd)Zd57?]Bɢ] 0)a eia)eqZaaievIDDAT read: Rx Time:05:24:25.5982 TRx dataTimestamp_ set to:1761542666.924657PDAT read: Bearing 34.0, -12.3 (Local) ~Local bearing/azimuth received: Bearing 34.0, -12.3 (Local) DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4 DAT read: 05:24:25.5982 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.24, 0.655,-0.801, 1.115, 0.684, PHS= 0.073,-1.439, 0.387, RAW= 159.2, 11.6, CAL= 159.5, 12.9, ROT= 350.5, -12.9 %Ygot valid direction response: 05:24:25.5982 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.24, 0.655,-0.801, 1.115, 0.684, PHS= 0.073,-1.439, 0.387, RAW= 159.2, 11.6, CAL= 159.5, 12.9, ROT= 350.5, -12.9 %T#Rx 13: Read range and direction messages.-^direction in FSK: [0.961393,-0.160882,0.223250]5Fpublishing direction and range infoyǂ)?zƗĿNu?YfA )@I=i'1$>1@4QO>)2@ f>)@IfG^F?D?;? ic/?)NI)ifMchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.581190QimXm<"IY Ii O} >ԡ  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819687 ,jς?A@~@ @#<ٱӅ AHRS rotation from veh to nav: [[-0.499960,0.857661,0.120243],[-0.865774,-0.491466,-0.094318],[-0.021798,-0.151259,0.988254]]HW߿q?`;Ⱦ? l/t߿@@%0Rp\ÿƟ?i~@I Z^;CY|ByCIiEMb@Mb@Mb@AAAA A9E> ףp=? ףp= rh?YE?yEQEC9qYq=}Fy}GE}X:E}>Q 5_5?Q 9 _5 )GBY ?Q E :y Q I@DI@R@R ǂ)?zƗĿNu?Zi )bi fj 2Q3~8.LlW@Z W"K8`迡1'b2@aF>)2@ ^ Z>)a@I^ ZįCd%??rY ? 1?)f FI40i^ Z-checking for new query: numPingsReceived=14, elapsed TxPingTime=9.112048^A N< I) I9 OE >E%  E% E% +E! "E% C;*E% Z:VE% [4ZE! a- @a- @a- @a- @ ,h?A2L"~@2 @2J4<ٱ2 :AHRS rotation from veh to nav: [[-0.499726,0.858018,0.118656],[-0.865892,-0.491292,-0.094146],[-0.022484,-0.149791,0.988462]]2H߿t?@@`?bUq߿  V,ÿ@{?i2L"~@I2!T^;2CYNlByR/IbDZVDZN2ly%ز%%b=ٔ%0:Q-%>9)Y)=-Fy-GE5=:E5>Echecking for new query: numPingsReceived=14, elapsed TxPingTime=9.3214459Q 5M_5=?Q 9M_5=)=JBYQyUQ IU@=DI=:i=:=vM_5y]Bɮ]Ae+Eii~rۂ?AJi?ARi?Aji@b8k&\>@j(1ю(@Rt?U0&ſ\ ?Zi40bi^ Zjg`2"nO8Q/O,@Zv[q{5ɑ+}:0?2i:ik"i%R?*ijBiюBiBB:IBuBB =BBDBDBkk;B~*EBCBCBB =B =C 7iIADDAT read: Rx Time:05:24:26.5978 TRx dataTimestamp_ set to:1761542667.932977 PDAT read: Bearing 33.9, -12.8 (Local)  ~Local bearing/azimuth received: Bearing 33.9, -12.8 (Local)  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 E DAT read: 05:24:26.5978 LVL= 32752, 32753, 31154, 32755, AGC= 64, IDX= 501, 0.33, 3.035, 1.567,-2.765, 3.068, PHS= 0.068,-1.456, 0.406, RAW= 159.8, 11.4, CAL= 160.0, 12.7, ROT= 350.0, -12.7  Ygot valid direction response: 05:24:26.5978 LVL= 32752, 32753, 31154, 32755, AGC= 64, IDX= 501, 0.33, 3.035, 1.567,-2.765, 3.068, PHS= 0.068,-1.456, 0.406, RAW= 159.8, 11.4, CAL= 160.0, 12.7, ROT= 350.0, -12.7  T#Rx 15: Read range and direction messages. ^direction in FSK: [0.960714,-0.169400,0.219846] Fpublishing direction and range infoyR+?OſF#?YAy )@IC=i5^;>2@%K>¸2@ b>)z@IbiCr>?e?ACjZ? 1?),LI2ib checking for new query: numPingsReceived=15, elapsed TxPingTime=9.598061a A ؟AI I O > ,~?AB1~@B@BI<ٱB JAHRS rotation from veh to nav: [[-0.498911,0.858244,0.120436],[-0.866340,-0.490151,-0.095955],[-0.023321,-0.152211,0.988073]]BH@'߿v?Ծ? `^߿@z@[ᗿ{ÿJ?iB1~@IBj^;BCYbiByf+IbDnVDnNyvy%vN=ٔv$ ;Q-z>9z"?Yz"?=zFyzGE;E>!Q 5-_5%d?Q 9-_5%)%NBY)y5Q I5@%DI%I:i%:%P_59y]ՔBɮ}fA}5Ei)i-?AJi-DARi-DAji-@b- y=@[OCn@aJ@R-R+?OſF#?Zi-2bi-bj-@ tx2`I7ƑJ=wb@Z-\d$ۦ?-BɢM2`)Y ]ia)eqoiqiuVCieq#<"  DDAT read: Rx Time:05:24:27.0978  TRx dataTimestamp_ set to:1761542668.436652 PDAT read: Bearing 34.4, -11.9 (Local)  ~Local bearing/azimuth received: Bearing 34.4, -11.9 (Local) % DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 M DAT read: 05:24:27.0978 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.23, 2.321, 0.855, 2.765, 2.345, PHS= 0.077,-1.445, 0.375, RAW= 158.8, 11.7, CAL= 159.0, 13.1, ROT= 351.0, -13.1 U Ygot valid direction response: 05:24:27.0978 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.23, 2.321, 0.855, 2.765, 2.345, PHS= 0.077,-1.445, 0.375, RAW= 158.8, 11.7, CAL= 159.0, 13.1, ROT= 351.0, -13.1 * ,?ANT#Rx 16: Read range and direction messages.R^direction in FSK: [0.961985,-0.152363,0.226651]RFpublishing direction and range infoy15E.?kÿ+#?Y11115 1)5?I5-=i55>5a1@5Q>5Κ1@ 5 j>)5 @I5 j115H@l?%rr?? 5D-?)5QI5t i5 j11%:~@%7@%<ٱ%* =AHRS rotation from veh to nav: [[-0.498419,0.858343,0.121763],[-0.866617,-0.489482,-0.096865],[-0.023543,-0.153801,0.987821]]%H߿w?`+?@SS߿'̸@@ÿ`;?i%:~@I%Uo^;%Cԙchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.156699Y[ByIieMb@Mb@Mb@aaaa a9e"~?ˡEI +?Ye?ye什e949 ?Y ?=FyGEԕ:E>Q 5_5r?Q 9_5)PBYy?Q E:yQ I@DI;i[;?U_5yɮAi1i5?AJi1Ri1ji5fI@b5<(ܚ=@p&Kآ"@R5E.?kÿ+#?Zi5t bi5 jj5 ׾2iY =8! t ,{6?A;ɰ2<~@2&@2|<ٱ2& :AHRS rotation from veh to nav: [[-0.498318,0.858473,0.121259],[-0.866671,-0.489416,-0.096713],[-0.023679,-0.153285,0.987898]]2Hq߿x?@ ?ĻR߿@'¸[?`֞ÿݜ?i2<~@I2+^;2CY^XBy^IbDjVDjy%=ٔ9Q- ?9 "?Y "?= Fy GE 9E ?Q 5%_5i?Q 9%_5)RBY!y%Q I%@DIo:i:X_5y5ԔBɮ5A54EA]AAA]@ABe#>BaBe!IBe`BBe =BeCDBeDBek;Be*Ejhy}DNOT Ignoring new targets: 31.03 m.bhyRh}R8Zh}R8 ProNav: ac range: 31.033680 m, nav range: 29.975458 m, bearing: 232.430079 deg, approach rate: -0.620042 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.369143 deg, new cmd heading: 239.371714 deg. Bh8HeadingCmd: 4.177824 target range: 31.033680 and range: 31.20 m.h@h*h"h hgfffdddjdZdA ?Bɢ壼)? Ai)iF?i;Fb$<.ͥ[2@;0>¸2@ q=>)z@Iq=m? ֠K?I?  3?)v0I2)iq=5checking for new query: numPingsReceived=17, elapsed TxPingTime=10.662957AII)OMR>E EE&E"EV;*E:VE4ZEBE{`|ÿ?in:~@I&^;CY5[By5IiMb@Mb@Mb@ 9Q?bX9ȶI +?Y?yE`@ )AYAbDVDyd<%<=ٔl$Q->9Y=FyGEgE>Q 5_5[?AQ 9_5")TBY?Q E:yMQ I@ȣDIn7(ʹ@ZSkRX%7f`??2i:i6"i7?*i􏓺BiBii3ߎiBiAi ԁ@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.505164 s, deltaX: -0.300001 m, approachRate: -0.593869 m/s, rangeRepo size: 4  Added new target pos. range: 30.734968 m, bearing: 231.866689 deg, lat: 36.779377 deg, lon: -121.859706 deg, deltaT: 0.505164 s, deltaX: -0.298712 m, approachRate: -0.591316 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.73 m.bhRhEZhAU ProNav: ac range: 30.734968 m, nav range: 29.731844 m, bearing: 232.456645 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.371711 deg, new cmd heading: 239.375639 deg. BhQ]HeadingCmd: 4.177893 target range: 30.734968 and range: 30.90 m.h]M@hY*hy"h hgfffBdddjd`f>@Zd`v?Bɢ) ?i)Zi<3@M>G3@ f>)2@IfX?ȴcG?YȖ? E4?)NIt;ifchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.129502ԡ^Au FΞ<A} >A} ?E  E ;E ,E "E *E ;VE g4ZE a @a @a @a @ A .AI I O >a ,k?A>checking for new query: numPingsReceived=18, elapsed TxPingTime=11.337533Fq4~@F @Fy<ٱFL  VAHRS rotation from veh to nav: [[-0.498759,0.858366,0.120196],[-0.866431,-0.490054,-0.095626],[-0.023179,-0.151836,0.988134]]FH߿w?2ž?@͹ ]߿zC]oÿʞ?iFq4~@IFj<^;FCYbRBybI np9  ?Y  ?= FyGE"rE>1Q 5U_55eO?Q 9]_55')5WBYayeSQ Ie@5ϣDI5X;i5Z;5I__5yӔBɮA3E!iaie\?AJieARieAjiei@beBp\=@ E>[@Re~?0ɼƿNu?Ziet;biefjeRj~2Eqm7!@Ze IQd䨑xJ#~?2iek:ie"ie8?*ie|ߏBie!Bie%R?ie|ߏiaieGAie@u addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504261 s, deltaX: -0.100000 m, approachRate: -0.198311 m/s, rangeRepo size: 4  Added new target pos. range: 30.635502 m, bearing: 231.712232 deg, lat: 36.779375 deg, lon: -121.859707 deg, deltaT: 0.504261 s, deltaX: -0.099466 m, approachRate: -0.197252 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.64 m.bhRhZh ProNav: ac range: 30.635502 m, nav range: 29.659931 m, bearing: 232.173607 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.375645 deg, new cmd heading: 239.379417 deg. BhHeadingCmd: 4.177959 target range: 30.635502 and range: 30.80 m.hױ@h*h"h hgfffdddjd%>@Zd=/?mBɢm)i uUiq)uMÌqqiuj:i+%<6{BCBIBQBBBBDBDBk;B*E5DDAT read: Rx Time:05:24:28.5971 5TRx dataTimestamp_ set to:1761542669.948801EPDAT read: Bearing 32.4, -12.6 (Local) E~Local bearing/azimuth received: Bearing 32.4, -12.6 (Local) UDAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4 }DAT read: 05:24:28.5971 LVL= 32752, 32753, 29922, 32755, AGC= 62, IDX= 510, 0.42, 3.077, 1.588,-2.711, 3.075, PHS= 0.104,-1.442, 0.453, RAW= 160.0, 10.2, CAL= 159.9, 11.0, ROT= 350.1, -11.0 ԁYgot valid direction response: 05:24:28.5971 LVL= 32752, 32753, 29922, 32755, AGC= 62, IDX= 510, 0.42, 3.077, 1.588,-2.711, 3.075, PHS= 0.104,-1.442, 0.453, RAW= 160.0, 10.2, CAL= 159.9, 11.0, ROT= 350.1, -11.0 T#Rx 19: Read range and direction messages.^direction in FSK: [0.967010,-0.168770,0.190809]Fpublishing direction and range infoy15I0?HBſP@ml?Y5fA1115t 1)5>I5=i5u5>5¸2@5K6>5)2@ 5 D>)5a@I5 D115+;Tk$?K;?nr? 52?)5x~5I540i5 D11checking for new query: numPingsReceived=19, elapsed TxPingTime=11.606304^A R5<Թ A ؟AI I O t ,?A2:~@2"@2L<ٱ2sE> E>$E>'E<"E>CJ;*E>;VE>'4ZE<BE>YXYX=ٔ=vQ-=>9="?YE"?=EFyEGEEf:EE>IQ 5U_5M0B?Q 9U_5M,)MYBYYy]MQ I]@MףDIM;iM;Mc_5yaɮeAiii(|?AJiARiAjiI@b, %=@cX?@RI0?HBſP@ml?Zi40bi DjֵC225(}P7v.@ZJ }Rj+?瀄x?2i:i"iØD?*iBiBiØD?iiiAiM@ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.502724 s, deltaX: -0.500000 m, approachRate: -0.994582 m/s, rangeRepo size: 4  Added new target pos. range: 30.138979 m, bearing: 232.024736 deg, lat: 36.779374 deg, lon: -121.859708 deg, deltaT: 0.502724 s, deltaX: -0.496523 m, approachRate: -0.987665 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.14 m.bhRhZh ProNav: ac range: 30.138979 m, nav range: 29.576456 m, bearing: 232.024844 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.379416 deg, new cmd heading: 239.382582 deg. Bh HeadingCmd: 4.178014 target range: 30.138979 and range: 30.30 m.hK@h*h"h hgfffdd!d!jd%L>@Zd%4? checking for new query: numPingsReceived=19, elapsed TxPingTime=11.844032颵BɢZs) Li)%))i5X8im uv%Ŀm~S?Y A "~ ) <I m=i 𧶿 > )2@ %/> / 2@ f;>) @I f; [1T? ]6,?wV? >0?) .I 'i f;  checking for new query: numPingsReceived=20, elapsed TxPingTime=12.109076 @!  @! @% 0@! q ԡ^A}MR<AzAE EEE"EQ;*E:VEZEa@a@a@a@AIIO? ,ڐ?A"checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345626!(~@@M<ٱ =AHRS rotation from veh to nav: [[-0.499440,0.857673,0.122296],[-0.866108,-0.490974,-0.093818],[-0.020421,-0.152778,0.988049]]H߿`r?`N?(l߿wC锿@=ÿ?i!(~@I^;CY}WBy}IiMb@Mb@Mb@ 9l?9IYI=MFyMGEUEU>YQ 5e_5]n.?Q 9e_5]/5)]]BYe?Q Ee:ymn Q Im@]DI] ;i] ;]h_5yuBɮuAuĿm~S?Zi'bif;jd1oX:7O;vV^@ZX2fޏo?2iԹ:i7"iI?*i!9(Bi_BiiiBiAiA@ addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503869 s, deltaX: -0.299999 m, approachRate: -0.595391 m/s, rangeRepo size: 4  Added new target pos. range: 29.840574 m, bearing: 232.378491 deg, lat: 36.779374 deg, lon: -121.859708 deg, deltaT: 0.503869 s, deltaX: -0.298405 m, approachRate: -0.592227 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.84 m.bhRhZh ProNav: ac range: 29.840574 m, nav range: 29.231789 m, bearing: 232.080449 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.382585 deg, new cmd heading: 239.388446 deg. BhHeadingCmd: 4.178117 target range: 29.840574 and range: 30.00 m.h"@h*h"h hgfffBdddjd >@Zd @ ?颕Bɢ ) jSi)顙iQ.5iq%<?BeCBeIBeGBBe =BaBeDBaBe*EDDAT read: Rx Time:05:24:29.5966 TRx dataTimestamp_ set to:1761542670.956837PDAT read: Bearing 32.7, -12.5 (Local) ~Local bearing/azimuth received: Bearing 32.7, -12.5 (Local) DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.5 =DAT read: 05:24:29.5966 LVL= 32752, 32753, 31666, 32755, AGC= 62, IDX= 506,-0.44, 1.189,-0.281, 1.680, 1.194, PHS= 0.097,-1.430, 0.442, RAW= 160.0, 10.4, CAL= 160.0, 11.3, ROT= 350.0, -11.3 EYgot valid direction response: 05:24:29.5966 LVL= 32752, 32753, 31666, 32755, AGC= 62, IDX= 506,-0.44, 1.189,-0.281, 1.680, 1.194, PHS= 0.097,-1.430, 0.442, RAW= 160.0, 10.4, CAL= 160.0, 11.3, ROT= 350.0, -11.3 ET#Rx 21: Read range and direction messages.M^direction in FSK: [0.965717,-0.170282,0.195946]MFpublishing direction and range infoy,>'?ſ>x_?YA{ )>I=i= M>¸2@9>¸2@ I>)z@II0 ?r58? HP? 2?)S8I2iImchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.613554a v u @@q  @q @u /@y ԉ E-  E- E- )E) "E- N;*E- :VE- FA4ZE) BE- n|9YQ 5_5?Q 9_5r<)dBY?Q E:ydQ I@DIG ;i*:m_5yɮAii'?ſ>x_?Zi2biIj N1 KJ6!1@ZpVboê Ug?2i:iZ"iJ@?*ilBi-BiJ@?iiiAi󑉁@  addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.504167 s, deltaX: -0.400000 m, approachRate: -0.793387 m/s, rangeRepo size: 4  Added new target pos. range: 29.443581 m, bearing: 231.903299 deg, lat: 36.779373 deg, lon: -121.859708 deg, deltaT: 0.504167 s, deltaX: -0.396994 m, approachRate: -0.787425 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 29.44 m.bh1Rh1Zh9M ProNav: ac range: 29.443581 m, nav range: 28.861086 m, bearing: 231.935767 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.388459 deg, new cmd heading: 239.393434 deg. BhIUHeadingCmd: 4.178204 target range: 29.443581 and range: 29.60 m.hUس@hQ*hQ"hQ hQgYfYfYfeBdadadajde=@Zdm@,)?额ÁBɢؔ) $ei)%!!i%k2eDDAT read: Rx Time:05:24:30.0965 mTRx dataTimestamp_ set to:1761542671.460783uPDAT read: Bearing 33.0, -12.5 (Local) u~Local bearing/azimuth received: Bearing 33.0, -12.5 (Local) DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.5 DAT read: 05:24:30.0965 LVL= 32752, 32753, 30786, 32755, AGC= 62, IDX= 505,-0.49,-3.037, 1.782,-2.549,-3.027, PHS= 0.092,-1.429, 0.434, RAW= 159.9, 10.5, CAL= 160.0, 11.5, ROT= 350.0, -11.5 Ygot valid direction response: 05:24:30.0965 LVL= 32752, 32753, 30786, 32755, AGC= 62, IDX= 505,-0.49,-3.037, 1.782,-2.549,-3.027, PHS= 0.092,-1.429, 0.434, RAW= 159.9, 10.5, CAL= 160.0, 11.5, ROT= 350.0, -11.5 T#Rx 22: Read range and direction messages.^direction in FSK: [0.965037,-0.170162,0.199368]Fpublishing direction and range infoyimI?p%ſi?Ym3AiiimBx i)iImj=imy鶿m?5>m)2@mf;>i mM>)iImMiim1 ?=XHe1?~c?iR&<AIIO?3_ ,?A:}@:@:E<ٱ:T& BAHRS rotation from veh to nav: [[-0.502029,0.854765,0.131695],[-0.864702,-0.493268,-0.094744],[-0.016023,-0.161441,0.986752]]:H9`Y`=bFybGEfEf>hQ 5n_5j ?Q 9n_5jB)jkBYlynQ Ir@jDIj;ij:j]r_5yvBɮvAv;EB~?>B~CB|B|B~ =B|B|B~k;B~*Eiix}݃?AJiARiAji @bXJ8<@!hA^oR@RI?p%ſi?ZibiMj~1^ɶr66+j@ZDɠBQ;]|з?2i:i;"iG3@'>3@ ¸2>)0O@I¸2iot?[>}?} ߽? z4?)(IT8i¸2Mchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.625581UŁBɢU@)Y ]\iY)]xYYi] 0ieǶeF&U!,.?AYuOByu Ia%@a% a%@a% a%@a% a%@a% )bD5VD51yE. %E2=ٔEQ-E>9IYI=MFyMGEUEU>YQ 5]_5]b?Q 9e_5]H)]pBQ Ae+:YaQ Ee:yaQ Ie@]DI]':i]r>]u_5yqɮuAqii?AJiARiAji3@b&6(t;@vQu @RYAy?kƿٖNs:?ZiT8bi¸2jj߶1 g#6q~.B@Z<؎ ]Z|?2i:i"iĆ)?*i&`BiBiiiBi^AiĊ@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.504034 s, deltaX: -0.400000 m, approachRate: -0.793597 m/s, rangeRepo size: 4  Added new target pos. range: 28.847050 m, bearing: 231.334359 deg, lat: 36.779373 deg, lon: -121.859708 deg, deltaT: 0.504034 s, deltaX: -0.397890 m, approachRate: -0.789411 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.85 m.bhRhZh ProNav: ac range: 28.847050 m, nav range: 28.296061 m, bearing: 231.944142 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.397775 deg, new cmd heading: 239.401694 deg. BhHeadingCmd: 4.178348 target range: 28.847050 and range: 29.00 m.h@h*h"h hgfffdd d jd =@Zd @F?=ƁBɢ=N)9 =8oi9)EAAiE-iMU&3@2@ )|]@IƪG?l?*%? "4?)Q(IK6iMchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.131368ԩ^A% }U<E " E E (E "E Z;*E :VE c44ZE a @a @a @a @AU .AIy I O > | !,+?A6}@6@6 [<ٱ6+ FAHRS rotation from veh to nav: [[-0.503015,0.853237,0.137704],[-0.864174,-0.494065,-0.095406],[-0.013369,-0.166991,0.985868]]6H  M?`J?@Q ž߿@l`fa_ſ:?i6}@I6g^;4YRQByVIbDbVDb02yrE<%vd=ٔv7Q-z>%checking for new query: numPingsReceived=24, elapsed TxPingTime=14.3650629~ ?Y5 ?==FyEGEU FEU>Q 5_5?Q 9_5L)vBQ A% :Y!Q E-l:y-Q I5@DIBBIBQBB =BBDBk;B*EBCBBƔCB =B =CU;6DDAT read: Rx Time:05:24:31.5958 TRx dataTimestamp_ set to:1761542672.972663PDAT read: Bearing 31.5, -12.6 (Local) ~Local bearing/azimuth received: Bearing 31.5, -12.6 (Local) DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.7  DAT read: 05:24:31.5958 LVL= 32752, 32753, 31986, 32755, AGC= 62, IDX= 497, 0.28,-2.612, 2.190,-2.097,-2.622, PHS= 0.112,-1.426, 0.481, RAW= 160.5, 9.5, CAL= 160.4, 10.2, ROT= 349.6, -10.2  Ygot valid direction response: 05:24:31.5958 LVL= 32752, 32753, 31986, 32755, AGC= 62, IDX= 497, 0.28,-2.612, 2.190,-2.097,-2.622, PHS= 0.112,-1.426, 0.481, RAW= 160.5, 9.5, CAL= 160.4, 10.2, ROT= 349.6, -10.2  T#Rx 25: Read range and direction messages. ^direction in FSK: [0.968027,-0.177666,0.177085] Fpublishing direction and range infoy`?<?xYHp½ƿki?Y3A| )IB`=i+E>G3@)>$+3@ K6>)@@^A% <A) zA) IK6ټ???*ac8? S5?)*I9iK6 checking for new query: numPingsReceived=25, elapsed TxPingTime=14.6851729 Aq I I O >!,{gF?AF}@F@F:A<ٱFN%/ ^AHRS rotation from veh to nav: [[-0.503106,0.852606,0.141238],[-0.864144,-0.494062,-0.095698],[-0.011813,-0.170196,0.985339]]FHqH?? `߿ `b1ſ?iF}@IFn^;FCYfYByfIbDrVDr1yzi&=%zE=ٔzevQ-z>9|Y|=~Fy~GEuE> Q 5 _5 w棊?Q 9_5 tQ) {BQ A9YQ E?:yQ I@ DI  ;i ͝? y_5y%Bɮ%4A%DEii@>?AJiARiAjiF.@E]$ E].E]+EY"E]g\;*E];VE] [4ZEYBE]/@y @y@0@) ^A +w< DDAT read: Rx Time:05:24:32.0957  TRx dataTimestamp_ set to:1761542673.476783 PDAT read: Bearing 30.7, -4.0 (Local)  ~Local bearing/azimuth received: Bearing 30.7, -4.0 (Local)  DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.5  DAT read: 05:24:32.0957 LVL= 32752, 32753, 28866, 32755, AGC= 63, IDX= 512, 0.24,-0.100,-1.646, 0.127,-0.297, PHS= 0.299,-1.304, 0.380, RAW= 152.4, 7.7, CAL= 151.9, 8.1, ROT= 358.1, -8.1  Ygot valid direction response: 05:24:32.0957 LVL= 32752, 32753, 28866, 32755, AGC= 63, IDX= 512, 0.24,-0.100,-1.646, 0.127,-0.297, PHS= 0.299,-1.304, 0.380, RAW= 152.4, 7.7, CAL= 151.9, 8.1, ROT= 358.1, -8.1  T#Rx 26: Read range and direction messages. ^direction in FSK: [0.989479,-0.032824,0.140901] Fpublishing direction and range infoy  VЩ?PݖSΠ:N ?Y A p ) ?I >i y馿 \> ;*@ > )@ >) 3@I  ̼h?V#?>S0 ? ?) I i   checking for new query: numPingsReceived=26, elapsed TxPingTime=15.133912AM ؟AIY Ii Ou >!,ׄ`?A9"?Y"?=FyGE:E>!Q 5m_5%ף?Q 9m_5%W)%BQ AmT:Ym?Q Em:ymQ Iu@%DI%'ie>DDAT read: Rx Time:05:24:32.5954 TRx dataTimestamp_ set to:1761542673.736462checking for new query: numPingsReceived=26, elapsed TxPingTime=15.3809165?@1 @1@=/@9 ^A <Bu [>Bu CBu IBu VBBu =Bq Bu DBu k;Bu *EI A I I O >!,}?Aɰ;2}@2T@2:<ٱ2/ :AHRS rotation from veh to nav: [[-0.502853,0.852485,0.142854],[-0.864317,-0.494042,-0.094230],[-0.009753,-0.170855,0.985248]]2H`_G?`I?{`߿oſ&?i2}@I2^;2CYB`ByF!IHRPDAT read: Bearing 32.8, -12.6 (Local) R~Local bearing/azimuth received: Bearing 32.8, -12.6 (Local) ^DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5 nDAT read: 05:24:32.5954 LVL= 32752, 32753, 31058, 32755, AGC= 62, IDX= 509, 0.20,-3.056, 1.773,-2.558,-3.041, PHS= 0.086,-1.424, 0.439, RAW= 160.2, 10.5, CAL= 160.3, 11.5, ROT= 349.7, -11.5 rYgot valid direction response: 05:24:32.5954 LVL= 32752, 32753, 31058, 32755, AGC= 62, IDX= 509, 0.20,-3.056, 1.773,-2.558,-3.041, PHS= 0.086,-1.424, 0.439, RAW= 160.2, 10.5, CAL= 160.3, 11.5, ROT= 349.7, -11.5 rT#Rx 27: Read range and direction messages.v^direction in FSK: [0.964133,-0.175213,0.199368]zFpublishing direction and range infoyLN.?oT^mƿi?YNALLLNRy L)N>IN =iNEN>N2@Nf;>N3@ NM>)N0O@INMLLNئOb?sV?[;RV? N|3?)N};INT8iNMLL checking for new query: numPingsReceived=27, elapsed TxPingTime=15.639844HbD VD2y-l!<%-O=ٔ-+Q->9Y=FyGEڹE>IQ 5U_5MEɣ?Q 9]_5M7\)MBYYy]Q I]@M!DIM:iM#:M_5y}Bɮ}A}CEԉiLiN=~?AJiNARiNAjiN`@bNקx:@? Y>9;@RN.?oT^mƿi?ZiNT8biNMjNppV0'5i@ZNXRa㿢L$OwR?2iN&:iN "iN`O?*iN-BiNJBiLiN&`iLiNfAiNO@u addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.506691 s, deltaX: -0.500000 m, approachRate: -0.986795 m/s, rangeRepo size: 4  Added new target pos. range: 27.456070 m, bearing: 231.648620 deg, lat: 36.779372 deg, lon: -121.859706 deg, deltaT: 0.506691 s, deltaX: -0.495876 m, approachRate: -0.978656 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.46 m.bhRhZh ProNav: ac range: 27.456070 m, nav range: 27.299822 m, bearing: 231.526185 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.412638 deg, new cmd heading: 239.416350 deg. BhHeadingCmd: 4.178604 target range: 27.456070 and range: 27.60 m.h@h*h"h hgfffdddjd;@Zd~O?颅ˁBɢ ) Ui)icɻ顉i6&ixߘ'<A ? DAT read: 05:24:33.0952 LVL= 32752, 32753, 30530, 32755, AGC= 62, IDX= 507, 0.22,-3.037, 1.786,-2.532,-3.029, PHS= 0.094,-1.423, 0.453, RAW= 160.4, 10.2, CAL= 160.4, 11.0, ROT= 349.6, -11.0  Ygot valid direction response: 05:24:33.0952 LVL= 32752, 32753, 30530, 32755, AGC= 62, IDX= 507, 0.22,-3.037, 1.786,-2.532,-3.029, PHS= 0.094,-1.423, 0.453, RAW= 160.4, 10.2, CAL= 160.4, 11.0, ROT= 349.6, -11.0  T#Rx 28: Read range and direction messages. ^direction in FSK: [0.965501,-0.177202,0.190809]% Fpublishing direction and range infoyy}j Xa?v?ƿP@ml?Y}fAyyy}Bw y)yI}=i}$}>}$+3@}K6>}$+3@ } D>)}@@I} Dyy}\?*1h?Bi~? }p4?)}5I}9i} Dyy] checking for new query: numPingsReceived=28, elapsed TxPingTime=15.9777101 A I I O >T%!,Ք?AYdBy&IԉiMb@Mb@Mb@ 9/$?ʡEMb?Y&?yy= ) AYG A bDVDfy<%*=5checking for new query: numPingsReceived=28, elapsed TxPingTime=16.129509ٔ5Q-5>99Y9==Fy=HE=EE>iQ 5u_5m?Q 9u_5moa)mBYuo?Q Eu:yu|Q Iu@m)DIm:im:m_5yɮAi)i-qu?AJi-BARi-BAji-E@b-'o8:@o?XwI@R-j Xa?v?ƿP@ml?Zi-9bi- Dj-;]"06ص45@Z-"yv|ȁTzzq볻?2i-0:i-a"i-?H?*i-փBi-Bi-?H?i-pgi-EBi- Ai-Ju@5 addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.258069 s, deltaX: -0.300001 m, approachRate: -1.162484 m/s, rangeRepo size: 4 e Added new target pos. range: 27.157635 m, bearing: 231.460827 deg, lat: 36.779374 deg, lon: -121.859704 deg, deltaT: 0.258069 s, deltaX: -0.298435 m, approachRate: -1.156416 m/s, posRepo size: 4 jhaeDNOT Ignoring new targets: 27.16 m.bhiRhiZhi} ProNav: ac range: 27.157635 m, nav range: 26.754414 m, bearing: 231.793945 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.416353 deg, new cmd heading: 239.420200 deg. BhHeadingCmd: 4.178671 target range: 27.157635 and range: 27.30 m.h@h*h"h hgfffBdddjdL;@ZdPO?-́Bɢ-y)) 5nPi1)5Sϻ11i5D%i]]]'<][4,!, ?A2~@2P@2;ٱ2"5 :AHRS rotation from veh to nav: [[-0.501282,0.852281,0.149441],[-0.865254,-0.492303,-0.094725],[-0.007162,-0.176789,0.984223]]2H E?@ ?)߿?.V}ƿ~?i2~@I2^;2CYB`ByB I1bDVD1y=K%=<=ٔ='ƻQ-=>9E ?YE ?=EFyEHEE;Bm<AiBuJ>BuCBu!IBu`BBu =BqBuDBuk;Bu*EEM>Q 5_5֬?Q 9_5ef)BYyVQ I@1DI:i:J_5yBɮABEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 27.16 m.bhRh[:Zh[: ProNav: ac range: 27.157635 m, nav range: 26.504745 m, bearing: 231.820372 deg, approach rate: -0.598786 m/s, LOS rate: 0.063978 deg/s, cmd heading: 239.420206 deg, new cmd heading: 239.500234 deg. Bh/;HeadingCmd: 4.180068 target range: 27.157635 and range: 27.30 m.hÅ@h*h"h hgfffdd d jd Zd @3z?=΁Bɢ=F)9 =\iA)EԻAAiE#iMzM6'i33 ?J4@V>4@ >)@Iez7?É?gwre? F9?)}I4+Hi@@ @@'3@@@@ @  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.650967ԉE  E E +E "E P;*E 1:VE [4ZE BE 3!,τ?A"DDAT read: Rx Time:05:24:34.0948 *TRx dataTimestamp_ set to:1761542675.2568766PDAT read: Bearing 32.9, -12.7 (Local) :~Local bearing/azimuth received: Bearing 32.9, -12.7 (Local) DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.5 ԡDAT read: 05:24:34.0948 LVL= 32752, 32753, 30082, 32755, AGC= 62, IDX= 503, 0.43, 2.983, 1.536,-2.789, 3.005, PHS= 0.080,-1.424, 0.445, RAW= 160.6, 10.5, CAL= 160.7, 11.5, ROT= 349.3, -11.5 Ygot valid direction response: 05:24:34.0948 LVL= 32752, 32753, 30082, 32755, AGC= 62, IDX= 503, 0.43, 2.983, 1.536,-2.789, 3.005, PHS= 0.080,-1.424, 0.445, RAW= 160.6, 10.5, CAL= 160.7, 11.5, ROT= 349.3, -11.5 T#Rx 30: Read range and direction messages.^direction in FSK: [0.962887,-0.181939,0.199368]Fpublishing direction and range infoy$&o_v?ӍIǿi?Y&A$&&&u $)$I& ף=M~@MP @Ms;ٱM4 ]AHRS rotation from veh to nav: [[-0.500123,0.853025,0.149082],[-0.865931,-0.491384,-0.093300],[-0.006331,-0.175757,0.984413]]MH K?!?r߿ⷿjy2ƿ@P?iM~@IMI^;MCi&E& >&Ud3@&f;>&3@ &M>)&@I&M$$&'uw?SO{? [P? & y5?)&;I&t;?i&M$$}checking for new query: numPingsReceived=30, elapsed TxPingTime=17.002659YdBy&II%=)===iMb@Mb@Mb@ 9q= ףp?ʡE󽿸Q?Y ?y<A@ \A) AYp A@AbDVD0y%}<%%=ٔ%̺Q-->9)Y)=-Fy- HE5p%;E5>Q 5_5?Q 9_5_l)BY?Q E:yQ I@;DI:i@; _5yɮAi$i&pЄ?AJi&zARi&zAji&oJ@b&b1q9@.HT<,K.@R&o_v?ӍIǿi?Zi&t;?bi&Mj&ÐEw0}FC4.@Z&r5 l㿪Xoj迨i"o?2i&:i&"i&OM?*i&eBi&1Bi&OM?i&-i&Bi& Ai&e@checking for new query: numPingsReceived=30, elapsed TxPingTime=17.137527 addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 1.015333 s, deltaX: -0.599998 m, approachRate: -0.590938 m/s, rangeRepo size: 4  Added new target pos. range: 26.559988 m, bearing: 231.494198 deg, lat: 36.779375 deg, lon: -121.859702 deg, deltaT: 1.015333 s, deltaX: -0.597647 m, approachRate: -0.588621 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.56 m.bhRh Zh  ProNav: ac range: 26.559988 m, nav range: 26.005598 m, bearing: 231.685473 deg, approach rate: 0.000000 m/s, LOS rate: 0.063978 deg/s, cmd heading: 239.500228 deg, new cmd heading: 239.607866 deg. Bh%HeadingCmd: 4.181946 target range: 26.559988 and range: 26.70 m.h%҅@h!*h!"h! h!g!f)f)f-Bd1d1d1jd5@3:@Zd5 ?颽ЁBɢ) Xi)ݻi-!iz@=(<Bc@  @ @ /@ A zA  I I E  E E (E "E a?;*E :VE c44ZE a @a @a @a @O >-:!,>?AY`By!IbD=VD=k2yM%U=ٔ]Q-]*?9aYa=mFym HEuEu)?ԁQ 5_5W?Q 9_5o)BYyQ I@?DI,;i;1_5yɮADDAT read: Rx Time:05:24:34.5946 TRx dataTimestamp_ set to:1761542675.751956PDAT read: Bearing 31.0, -12.1 (Local) ~Local bearing/azimuth received: Bearing 31.0, -12.1 (Local) DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.5 =Z#Rx 31: Read range message, but no direction.yY3A}checking for new query: numPingsReceived=31, elapsed TxPingTime=17.421396 addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.495080 s, deltaX: -0.300001 m, approachRate: -0.605965 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 26.56 m.bhRh:Zh: ProNav: ac range: 26.559988 m, nav range: 25.869165 m, bearing: 231.701782 deg, approach rate: -0.469601 m/s, LOS rate: 0.056432 deg/s, cmd heading: 239.607872 deg, new cmd heading: 239.657057 deg. Bh;HeadingCmd: 4.182805 target range: 26.559988 and range: 26.40 m.hم@h*h"h hgfIfIfIdIdQdQjdU`ff:@ZdU?颥ҁBԡɢμ) bi)'ip ilY(<\rBCB.IBkBB =BBDBk;B*EIyIO>M DAT read: 05:24:34.5946 LVL= 32752, 32753, 27634, 32755, AGC= 63, IDX= 501,-0.24,-1.021,-2.475,-0.504,-1.042, PHS= 0.123,-1.388, 0.495, RAW= 160.7, 9.0, CAL= 160.5, 9.4, ROT= 349.5, -9.4 U Ygot valid direction response: 05:24:34.5946 LVL= 32752, 32753, 27634, 32755, AGC= 63, IDX= 501,-0.24,-1.021,-2.475,-0.504,-1.042, PHS= 0.123,-1.388, 0.495, RAW= 160.7, 9.0, CAL= 160.5, 9.4, ROT= 349.5, -9.4 U Z#Rx 32: Read direction message, but no range.] ^direction in FSK: [0.970052,-0.179789,0.163326]y) - = ?M%ZPǿ$vz?) ) ) - k ) )- ?I- m=i- - p>- 3@- | >- G3@ - '>)- 2@I- ') - a_??q~? - 6?)-  I- t;i- '} checking for new query: numPingsReceived=32, elapsed TxPingTime=17.651417 <A!,?A2E~@2@2-;ٱ2؃2 :AHRS rotation from veh to nav: [[-0.497974,0.854461,0.148046],[-0.867178,-0.489706,-0.090497],[-0.004827,-0.173447,0.984831]]2H ߿ W?*?`WW߿@*s3ƿ?i2E~@I2=_;0YnbByn#IbDv VDv2y;%N=ٔyQ->9Y=FyHE%;E%>)Q 55_5-C?Q 95_5-]s)-÷BY1y5Q I5@-FDI-;i-;-_5yEBɮE~AEKEii ?AJiARiAjiz@@bKV6Sy9@Khz~'@R= ?M%ZPǿ$vz?Zit;bi'j0 F*4@Zu`迹ӽ?2iU:i"iO DDAT read: Rx Time:05:24:35.0945 TRx dataTimestamp_ set to:1761542676.259718PDAT read: Bearing 31.1, -12.4 (Local) ~Local bearing/azimuth received: Bearing 31.1, -12.4 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 DAT read: 05:24:35.0945 LVL= 32752, 32753, 30914, 32755, AGC= 62, IDX= 500, 0.00, 1.000,-0.465, 1.534, 0.985, PHS= 0.116,-1.406, 0.505, RAW= 161.1, 9.0, CAL= 160.9, 9.5, ROT= 349.1, -9.5 1=Ygot valid direction response: 05:24:35.0945 LVL= 32752, 32753, 30914, 32755, AGC= 62, IDX= 500, 0.00, 1.000,-0.465, 1.534, 0.985, PHS= 0.116,-1.406, 0.505, RAW= 161.1, 9.0, CAL= 160.9, 9.5, ROT= 349.1, -9.5 =T#Rx 33: Read range and direction messages.E^direction in FSK: [0.968492,-0.186502,0.165048]EFpublishing direction and range infoy;w?;vKǿG ?YfAx )>Ih=iG?P3@3@ )>)g@I)9z?!,N?_? _7?) !ItBi)checking for new query: numPingsReceived=33, elapsed TxPingTime=17.990965a y 9 Y hAY &@G!,@i?A2e~@2-@2@&z;ٱ2$0 :AHRS rotation from veh to nav: [[-0.496267,0.855680,0.146736],[-0.868162,-0.488379,-0.088211],[-0.003817,-0.171167,0.985235]]2H߿`a?A?A߿Do@ſ ?i2e~@I2k_;2CYN\ByRI TTTTrchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.145571iMb@Mb@Mb@ 9!rh?Q?Yl?y<A ) AY A 4<4<bD VD:2yuϼ%@=ٔ4Q->9Y=FyHEr;E>Q 5_5D{?Q 9_5w)̷BY ?Q E:yWQ I@NDI:i:U_5yɮAii8?AJiIARiIAji@bdf,V9@E'kE@R;w?;vKǿG ?ZitBbi)jD\t0/&13$̦H@Z@Yu连BWm?2i:i"iH-?*ieɅBiXBi?H?iiiAi=a@1M addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.507762 s, deltaX: -0.100000 m, approachRate: -0.196943 m/s, rangeRepo size: 4  Added new target pos. range: 26.160904 m, bearing: 231.131829 deg, lat: 36.779374 deg, lon: -121.859702 deg, deltaT: 1.002842 s, deltaX: -0.399084 m, approachRate: -0.397953 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 26.16 m.bhRhZh ProNav: ac range: 26.160904 m, nav range: 25.458986 m, bearing: 231.653714 deg, approach rate: 0.000000 m/s, LOS rate: 0.076297 deg/s, cmd heading: 239.733301 deg, new cmd heading: 239.831070 deg. BhHeadingCmd: 4.185842 target range: 26.160904 and range: 26.30 m.hk@h*h"h hg!f!f!f%Bd)d)dIjdML:@ZdU?ՁBɢj) qi)i.i : Ӷ(<EiM!,C8?A: ~@:A@:`;ٱ:). BAHRS rotation from veh to nav: [[-0.494139,0.857027,0.146056],[-0.869376,-0.486448,-0.086906],[-0.003432,-0.169921,0.985452]]:H`߿`l??`!߿u?lſ҈?i: ~@I:&`;:CY^WBybIbDjVDjyrVϼ%rZ=ٔrmQ-r>9tYt=vFyvHEz;Ez>|Q 5_5~o?Q 9_5~{)~ԷBYy0Q I @~TDI~;i~:~_5y BɮAJEE addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.501493 s, deltaX: -0.500000 m, approachRate: -0.997023 m/s, rangeRepo size: 4 jhAMDNOT Ignoring new targets: 26.16 m.bhIRhMV:ZhMV:] ProNav: ac range: 26.160904 m, nav range: 25.256350 m, bearing: 231.681230 deg, approach rate: -0.547179 m/s, LOS rate: 0.074897 deg/s, cmd heading: 239.831082 deg, new cmd heading: 239.914292 deg. BheM;eHeadingCmd: 4.187294 target range: 26.160904 and range: 25.80 m.heQ@hi*hi"hi higififqfqdqdqdyjd}9@Zd}E?AAB;>BB'IBfBB =BBBk;B*EցBɢX!ؼ) ~i)liNi#(<x`3@-\->3@ f;>)@If;`e@,?w,!c?OTcݤ? M=6?)-It;?if;]checking for new query: numPingsReceived=35, elapsed TxPingTime=18.663031y^Au<IIO>E  E E )E "E <;*E :VE FA4ZE BE “9T#Rx 36: Read range and direction messages.^direction in FSK: [0.919956,-0.139131,0.366501]Fpublishing direction and range infoY=FyHEyVHi Hp?ѨCt?YA )< E >Q 5_5ya?Q 9_5)߷BYy!Q I%@\DI :i:_5y)ɮ-A)Iuiq= >/@>m(1@ 7 >)?B@I7 `T k@?Cq?ΒpqH? ;u&?)Iti7 }checking for new query: numPingsReceived=36, elapsed TxPingTime=19.038815ԩiiP?AJiARiAji@b[47@V>t \+m"@RVHi Hp?ѨCt?Zitbi7 j2⇢*3xg#@ZhA^[rm?2i=:iT"iF?*iDBiҔBiiփiiAi`@U addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503439 s, deltaX: -0.099998 m, approachRate: -0.198631 m/s, rangeRepo size: 4  Added new target pos. range: 25.564182 m, bearing: 235.743159 deg, lat: 36.779374 deg, lon: -121.859702 deg, deltaT: 1.004932 s, deltaX: -0.596722 m, approachRate: -0.593793 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.56 m.bhRhZh ProNav: ac range: 25.564182 m, nav range: 24.963839 m, bearing: 231.650469 deg, approach rate: 0.000000 m/s, LOS rate: 0.074897 deg/s, cmd heading: 239.914301 deg, new cmd heading: 240.027814 deg. Bh%HeadingCmd: 4.189276 target range: 25.564182 and range: 25.70 m.h%@h!*h)"h) h)g)f)f1f1d1d1d1jd=@39@ZdP?فBɢļ) i)Ti\is)<;xi>checking for new query: numPingsReceived=36, elapsed TxPingTime=19.153379 @  @@/@ E%  E% E% (E! "E% C;*E% :VE% c44ZE! a- @a- @a- @a- @^A5 <1 ADDAT read: Rx Time:05:24:36.5938 TRx dataTimestamp_ set to:1761542677.768852PDAT read: Bearing 32.5, -12.5 (Local) ~Local bearing/azimuth received: Bearing 32.5, -12.5 (Local) 5DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 =Z#Rx 37: Read range message, but no direction.yYAEchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.424818IIIYOm?U\!,wr?AB~@Bu@B/;ٱB( ZAHRS rotation from veh to nav: [[-0.488638,0.860895,0.141745],[-0.872482,-0.481647,-0.082405],[-0.002671,-0.163937,0.986467]]BHE߿`t?$? `N޿| eĿ#?iB~@IB``;BCYfHByfIxI)==iuMb@Mb@Mb@qqqq q9u(\?:v rh?Yu?yuԽuC9Y=Fy!HEN<E>Q 5_5R?Q 9_5X)BYV ?Q E:yQ Ie@eDIgBBIB[BB =BBBzl;B+EBIBMCBMĕCBM =BM =CMT6Zd7?MہBɢM ּ)Q U/iQ)uqyi}li}S})<ȿ?{ )I\=izQ>,4@+>P3@ X8>)@IX8[۹?:I=1?) ^? ?8?)*+IaFiX8uchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.673599y ^AU u<D zD AAE  E E )E "E M;*E L:VE FA4ZE BE c!,Ə?AjDDAT read: Rx Time:05:24:37.0938 nTRx dataTimestamp_ set to:1761542678.273383PDAT read: Bearing 32.5, -12.3 (Local)  ~Local bearing/azimuth received: Bearing 32.5, -12.3 (Local) MDAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 }DAT read: 05:24:37.0938 LVL= 32752, 32753, 28866, 32755, AGC= 59, IDX= 509,-0.39,-0.874,-2.308,-0.345,-0.873, PHS= 0.100,-1.390, 0.484, RAW= 161.2, 9.4, CAL= 161.0, 10.1, ROT= 349.0, -10.1 Ygot valid direction response: 05:24:37.0938 LVL= 32752, 32753, 28866, 32755, AGC= 59, IDX= 509,-0.39,-0.874,-2.308,-0.345,-0.873, PHS= 0.100,-1.390, 0.484, RAW= 161.2, 9.4, CAL= 161.0, 10.1, ROT= 349.0, -10.1 T#Rx 39: Read range and direction messages.^direction in FSK: [0.966415,-0.187852,0.175367]Fpublishing direction and range infoyhjPA? { ȿ:ujr?Yhhhhjp h)j;Ij=ij뱿j>j4@j'>j3@ jJ4>)j@IjJ4hhj~?A? l? j8?)jQ(IjDijJ4hhEchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.027031i@@~:ٱ& AHRS rotation from veh to nav: [[-0.482454,0.864423,0.141458],[-0.875920,-0.475860,-0.079509],[-0.001415,-0.162266,0.986746]]H ޿Z?N?``|t޿@Z/WĿl?ii@I`;Y :By IiMb@Mb@Mb@ 9oʡ?+ηMb`?Y ?yv;OA@ \A)+ AY AbDMVDMN2y}4%}=ٔ}%Q-}>9"?Y"?=Fy(HEU><E>Q 5_5A?Q 9_5^)BY ?Q E:yFQ I@pDI;iO;q_5y BɮyAIEihij?AJijARijAjijn@bj_C98@8(c@RjPA? { ȿ:ujr?ZijDbijJ4jjW-eE.9S3# E@]checking for new query: numPingsReceived=39, elapsed TxPingTime=20.161493ZjՎRIXy迾kE?2ij:ij-r"ijlE?*ijMBij]BijlE?ijeɅij]BijrAijWj@} addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504531 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.066816 m, bearing: 231.934798 deg, lat: 36.779374 deg, lon: -121.859702 deg, deltaT: 1.008733 s, deltaX: -0.497366 m, approachRate: -0.493060 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.07 m.bhRhZh ProNav: ac range: 25.066816 m, nav range: 24.431023 m, bearing: 231.717375 deg, approach rate: 0.000000 m/s, LOS rate: 0.035590 deg/s, cmd heading: 240.079701 deg, new cmd heading: 240.145216 deg. Bh HeadingCmd: 4.191325 target range: 25.066816 and range: 25.20 m.h U@h *h "h  h g f f f ԁBd! d! d! jd! Zd- `r?1 5 ށBɢ5 ؼ)1 5 i9 )= x9 9 i= KiE E 2*A?ԱA.AII O ?Pm!,ط?A27@2mÆ@2C9ٱ2k# :AHRS rotation from veh to nav: [[-0.480332,0.865924,0.139485],[-0.877087,-0.474196,-0.076532],[-0.000128,-0.159101,0.987262]]2H½޿@?@?@9Y޿``h m]Ŀ ?i27@I2I`;2CYB3ByBIbDNVDNk2yVs%VI=ٔVQQ-V>9Z ?YZ ?=ZFyZ,HE^;E^>`Q 5f_5bh5?Q 9f_5b)bBYdyf Q If@bwDIb3;ibL;b_5ynBɮnXAnSE  addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503691 s, deltaX: -0.300001 m, approachRate: -0.595606 m/s, rangeRepo size: 4 jh DNOT Ignoring new targets: 25.07 m.bhRhZh% ProNav: ac range: 25.066816 m, nav range: 24.205982 m, bearing: 231.716005 deg, approach rate: -0.589531 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.145217 deg, new cmd heading: 240.141067 deg. Bh%"-HeadingCmd: 4.191252 target range: 25.066816 and range: 24.90 m.h5@h1*h1"h1 h1g1f9f9f9d9dAdAjdE`f8@ZdE |?߁Bɢ2 ) Di)F iYi;E*<BCBIBGBB =BBDBl;B&+E@ @@/@^Am<DAT read: 05:24:37.5935 LVL= 32752, 32753, 28530, 32755, AGC= 62, IDX= 506,-0.00,-1.446,-2.876,-0.900,-1.434, PHS= 0.089,-1.398, 0.490, RAW= 161.6, 9.5, CAL= 161.5, 10.2, ROT= 348.5, -10.2 Ygot valid direction response: 05:24:37.5935 LVL= 32752, 32753, 28530, 32755, AGC= 62, IDX= 506,-0.00,-1.446,-2.876,-0.900,-1.434, PHS= 0.089,-1.398, 0.490, RAW= 161.6, 9.5, CAL= 161.5, 10.2, ROT= 348.5, -10.2  Z#Rx 41: Read direction message, but no range.^direction in FSK: [0.964438,-0.196217,0.177085]y!,?N$פɿki?ro )>IE=i񲿉H>J4@)>e4@ K6>)@IK6C\y?>D?)!q7? 9?)b*IMiK6Mchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.686640IIOn> E  E &E ,E "E L;*E ;VE g4ZE BE ԉ9Y=Fy1HE_;E>Q 5_5&?Q 9_5)BYyQ I%@DI;i;p_5y-Bɮ-A5REi i#҅?AJiXARiXAji\@b97@/J\ >y@R!,?N$פɿki?ZiMbiK6jV-Y[B2[UZ@ZXam tpo\!f?2ib:io"i7?*ixBiXBiOJ4@ +>)Q@I+*8g؇?f8#?8g D? M ;?)"I4QOi+checking for new query: numPingsReceived=43, elapsed TxPingTime=21.181440)@) @)@)@1 ^AU 8<E  E E )E "E L;*E j:VE FA4ZE a @a @a @a @ IiIO><{!,#?A>DDAT read: Rx Time:05:24:38.5932 >TRx dataTimestamp_ set to:1761542679.783327FPDAT read: Bearing 32.2, -13.1 (Local) F~Local bearing/azimuth received: Bearing 32.2, -13.1 (Local) NDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 bDAT read: 05:24:38.5932 LVL= 32752, 32753, 27730, 32755, AGC= 61, IDX= 503,-0.19,-1.639,-3.063,-1.057,-1.632, PHS= 0.095,-1.385, 0.531, RAW= 162.5, 8.8, CAL= 162.3, 9.2, ROT= 347.7, -9.2 fYgot valid direction response: 05:24:38.5932 LVL= 32752, 32753, 27730, 32755, AGC= 61, IDX= 503,-0.19,-1.639,-3.063,-1.057,-1.632, PHS= 0.095,-1.385, 0.531, RAW= 162.5, 8.8, CAL= 162.3, 9.2, ROT= 347.7, -9.2 fT#Rx 44: Read range and direction messages.j^direction in FSK: [0.964477,-0.210290,0.159881]zFpublishing direction and range infoy<>71+:?³ʿČsv?Y>A<<<>Rl <)>=I>\=i>G>?>5@>nF>>uJ5@ >l$>)><1@I>l$<<>Ʉ3M?vt2a?2? >>?)>\I>[i>l$<<checking for new query: numPingsReceived=44, elapsed TxPingTime=21.443937))QT@{ކ@fhٱ AHRS rotation from veh to nav: [[-0.477432,0.868332,0.134380],[-0.878666,-0.472192,-0.070572],[0.002173,-0.151768,0.988414]]H`=޿a?Y3?d8޿ a?#mÿ?iT@IW`;CԁBeB>BeCBeIBe8BBe =BaBeDBe}l;Be+EYu$ByuIiMb@Mb@Mb@ 9kt?p= ףMb`Y ?y@ ) AYG AbDVDk1y%%%=ٔ%Q-%>9)Y)=-Fy-7HE5:E5>9Q 5E_5=<?Q 9E_5=6)=BYE?Q EE:yE Q IM@=DI=:i=:=_5yQɮUAQi<i>"?AJi>ARi>Aji>؀@b>tO7@n A7+@R>71+:?³ʿČsv?Zi>[bi>l$j>xL.r2r@Z>O +TM这”?2i>:i>`r"i>T?*i>Bi>Bi>7?i>i<i>Ai>i8@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.499936 s, deltaX: -0.299999 m, approachRate: -0.600075 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=44, elapsed TxPingTime=21.6734875 Added new target pos. range: 24.370840 m, bearing: 230.700247 deg, lat: 36.779373 deg, lon: -121.859702 deg, deltaT: 0.499936 s, deltaX: -0.297581 m, approachRate: -0.595238 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 24.37 m.bh1Rh9Zh9m ProNav: ac range: 24.370840 m, nav range: 23.692825 m, bearing: 231.368160 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.135326 deg, new cmd heading: 240.128991 deg. BhiuHeadingCmd: 4.191041 target range: 24.370840 and range: 24.50 m.hu@hq*hy"hy hygyfyffBdddjd8@Zd)?BɢW)  ¿i - PExceeded connect timeout, disconnecting.)e ya a ie Qfim m ?b,;*E5 >:VE5 c44ZE1 BE5 S54@ 5| >)5@I5| 11a5 ڀ?o,?0OD? 5;?)5I5Qi5| 11checking for new query: numPingsReceived=45, elapsed TxPingTime=21.988070 )lAeFlAiIIIIIiU-lA QQ)QQ UkAYYYYYI]')Yia)aIae# ii) IYYByIԁiMb@Mb@Mb@ 9ʡE?~jtMbP?Y-?yD:A@ A) AYAbDEVDE0yUڼ%U.=ٔ]Q->9Y=FyQ 5_5 ?Q 9_59)BY?Q E:y Q I@DI;i;ι_5yBɮAQEi1i5:?AJi5`ARi5`Aji5)@b58*Y`7@T}u]A]#@@R5"H?Vy"ɿp ?Zi5Qbi5| j5L-k2M4@Z5#>X4_迈s?2i5.:i5m"i5%?*i5~jBi5)Bi1i5xi1i5;Ai5M@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.501496 s, deltaX: -0.200001 m, approachRate: -0.398808 m/s, rangeRepo size: 4  Added new target pos. range: 24.171894 m, bearing: 231.266005 deg, lat: 36.779373 deg, lon: -121.859704 deg, deltaT: 0.501496 s, deltaX: -0.198946 m, approachRate: -0.396705 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 24.17 m.bhRhZh ProNav: ac range: 24.171894 m, nav range: 23.529125 m, bearing: 231.516548 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.128988 deg, new cmd heading: 240.123670 deg. BhHeadingCmd: 4.190948 target range: 24.171894 and range: 24.30 m.h@@h*h"h hgff!f%Bd!d)d)jd-L8@Zd-`l?]checking for new query: numPingsReceived=45, elapsed TxPingTime=22.177561eBɢm)i mǾiiԱ)< 顱i\i4&-<7ϋ!,H1?A$:DDAT read: Rx Time:05:24:39.5928 >TRx dataTimestamp_ set to:1761542680.788731BPDAT read: Bearing 31.8, -13.1 (Local) B~Local bearing/azimuth received: Bearing 31.8, -13.1 (Local) JDAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.5 ^DAT read: 05:24:39.5928 LVL= 32752, 32753, 27938, 32755, AGC= 60, IDX= 499, 0.28, 0.428,-1.019, 1.026, 0.426, PHS= 0.104,-1.400, 0.556, RAW= 162.8, 8.4, CAL= 162.4, 8.7, ROT= 347.6, -8.7 bYgot valid direction response: 05:24:39.5928 LVL= 32752, 32753, 27938, 32755, AGC= 60, IDX= 499, 0.28, 0.428,-1.019, 1.026, 0.426, PHS= 0.104,-1.400, 0.556, RAW= 162.8, 8.4, CAL= 162.4, 8.7, ROT= 347.6, -8.7 bT#Rx 46: Read range and direction messages.f^direction in FSK: [0.965435,-0.212265,0.151261]jFpublishing direction and range infoy8:/?E-/}+˿ni\?Y:3A888:"m 8):<I:=i:33:V?:o5@:Q >: g5@ :|>):"@I:|88:S)9??g߂)}?X? :??):I:t]i:|88-checking for new query: numPingsReceived=46, elapsed TxPingTime=22.453451ՙ@dž@jٱ> AHRS rotation from veh to nav: [[-0.479863,0.866526,0.137344],[-0.877326,-0.474925,-0.068887],[0.005536,-0.153552,0.988125]]H޿@?? @-e޿Lv?ÿ?iՙ@Iig`;YByIbD VD f?y=%EG=ٔEoQ-E>9IYI=MFyM@HEMcEU>yQ 5_5?Q 9_5o)BYy Q I@DI:iI:l_5yɮ Ai8i:z2?AJi:1ARi:1Aji:@b:G6@x?~/Dk @R:/?E-/}+˿ni\?Zi:t]bi:|j: $-Q1@@Z: C'6迢?2i::i:In"i:?*i:TBi:Bi:%?i8i:Bi:kAi:T @} addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503908 s, deltaX: -0.400000 m, approachRate: -0.793795 m/s, rangeRepo size: 4  Added new target pos. range: 23.774004 m, bearing: 230.376992 deg, lat: 36.779371 deg, lon: -121.859704 deg, deltaT: 0.503908 s, deltaX: -0.397890 m, approachRate: -0.789609 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.77 m.bhRhZh ProNav: ac range: 23.774004 m, nav range: 23.427610 m, bearing: 231.052833 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.123660 deg, new cmd heading: 240.119160 deg. BhHeadingCmd: 4.190870 target range: 23.774004 and range: 23.90 m.h@h*h"h hgfffdddjd`f7@Zd R&?AIAIBU;>BUCBUIBU.BBU =BQBQBUgl;BU +EuBɢuMG)y }ξiy)}K &yyi}_ i6-<i>ԩA@A @A@E4@A@M=@M=%checking for new query: numPingsReceived=46, elapsed TxPingTime=22.681982 nManaging dock network, ignoring radio surface power off ^Aa I I O >!,4K?A2o@2̲@2Իٱ2" :AHRS rotation from veh to nav: [[-0.482101,0.864661,0.141208],[-0.876091,-0.476980,-0.070387],[0.006493,-0.157645,0.987474]]2H@޿`M?@? Ն޿/z?-Ŀd?i2o@I2O;`;2C\D|D|E  E E )E "E =;*E :VE FA4ZE BE 9Y=FyCHE%ӻE->YQ 5]_5]8?Q 9e_5]Q)]BYaye Q Ie@]DI]t:i]:]_5DDAT read: Rx Time:05:24:40.0927 TRx dataTimestamp_ set to:1761542681.292753PDAT read: Bearing 31.3, -12.8 (Local) ~Local bearing/azimuth received: Bearing 31.3, -12.8 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 DAT read: 05:24:40.0927 LVL= 32752, 32753, 26338, 32755, AGC= 61, IDX= 498,-0.40,-1.195,-2.621,-0.611,-1.206, PHS= 0.113,-1.370, 0.551, RAW= 162.6, 8.2, CAL= 162.2, 8.4, ROT= 347.8, -8.4 Ygot valid direction response: 05:24:40.0927 LVL= 32752, 32753, 26338, 32755, AGC= 61, IDX= 498,-0.40,-1.195,-2.621,-0.611,-1.206, PHS= 0.113,-1.370, 0.551, RAW= 162.6, 8.2, CAL= 162.2, 8.4, ROT= 347.8, -8.4 T#Rx 47: Read range and direction messages.^direction in FSK: [0.966930,-0.209058,0.146083]Fpublishing direction and range infoy$&?yqjʿ/8ٲ?YAf )=Il=i)\V ?>5@C>-5@ Q >)?@IQ oǵT?FCm?8#? ->?)6It ZiQ checking for new query: numPingsReceived=47, elapsed TxPingTime=22.950012yɮA!iiwR?AJiARiAjiO@b`i6@KʶXs  @R$&?yqjʿ/8ٲ?Zit ZbiQ j̿5-D¿1悅M@Z 俕~P>8~H|?2i:iu4@ u+>)umj@Iu+qqY*ByIAuxMt?c,?Š2? uC;?)ubE"IuTiu+qq checking for new query: numPingsReceived=48, elapsed TxPingTime=23.457632Aonly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, 20.00, 55.84 a@a a@a a@a a@a bDVD0yB;% =ٔsQ->9"?YE"?=EFyEIHEEEM>IQ 5U_5M䢊?Q 9U_5M)MBQ A+:YQ E:y. Q I@MDIMRjB5CB1B1B5 =B1B5DB5jl;B5+E)E/2顉i i~.<ؽ@A  @A @E 0@A ԙ % checking for new query: numPingsReceived=48, elapsed TxPingTime=23.689899 ^Ae A<DE?AzDAA.AII E EEE"EP;*EL:VEZEBE  g5@ `>) "@I `   #ܪ;?tv?Cr?? 3??  AHRS rotation from veh to nav: [[-0.488500,0.859837,0.148487],[-0.872526,-0.482943,-0.073925],[0.008147,-0.165671,0.986147]]) rI t]i `  %checking for new query: numPingsReceived=49, elapsed TxPingTime=23.977373HC߿ȃ?`?޿`첿\?4ſ?i~@Iu`;aY]-ByeIbDVDJyE <%u=ٔ}Q->9 ?Y ?=FyOHEEE>IQ 5U_5M&բ?Q 9]_5MȽ)MBQ A] :YYQ E]s:y]x Q I]@MDIMn:iM3?M8_5ԁyɮ Ai i %@?AJi ѷARi ѷAji i@b )_06@KpuृRV4| @R q?V-˿S&r#?Zi t]bi `j iie: -J3%B1Vc@Z $:@Z ,WNb?2i :i ah"i ?h@ ?*i չBi Bi ?i vi Bi Ai %@e addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503927 s, deltaX: -0.199999 m, approachRate: -0.396881 m/s, rangeRepo size: 4  Added new target pos. range: 22.977291 m, bearing: 229.917530 deg, lat: 36.779369 deg, lon: -121.859702 deg, deltaT: 0.503927 s, deltaX: -0.199648 m, approachRate: -0.396184 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.98 m.bhRhZh ProNav: ac range: 22.977291 m, nav range: 22.508932 m, bearing: 230.240233 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.108415 deg, new cmd heading: 240.102329 deg. BhHeadingCmd: 4.190576 target range: 22.977291 and range: 23.10 m.h3@h*h"h hgfffdddjd7@Zd]?UBɢU6")Q }iy)}8yyi},3iN9/<v<R g5@RX8>P R+H>)PIR+HPP AHRS rotation from veh to nav: [[-0.489831,0.858498,0.151812],[-0.871771,-0.484130,-0.075063],[0.009055,-0.169113,0.985555]]FH`bY߿@x?@n?`޿`L7?`}ſઉ?iF~@IFj`;DY-ABy-IR8=k>?0=?V'b@? R=?)Rl7IPiR+HPP=checking for new query: numPingsReceived=50, elapsed TxPingTime=24.465597aa aa aa aa iMb@Mb@Mb@ 9-?i|?5:v?Y??yq<A@ A)AYp AbDVDk1yͶ=%9=ٔQ->9Y=FySHEkE>iQ 5 _5ɢ?Q 9 _5)BQ AT:Y(?Q E:y. Q I@DI~=i|=_5y+BɮSA%YEiPiR?AJiRARiRAjiR@bR==5@1i}/z@RR?R^\nqʿmVѫ?ZiPbiR+HjRjm,T05TJ@ZRR㿫R!iPzP,?2iR:iR8`"iRϳ,?*iRQBiRBiPiRչiPiRAiR@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504119 s, deltaX: -0.400000 m, approachRate: -0.793463 m/s, rangeRepo size: 4  Added new target pos. range: 22.579416 m, bearing: 230.309345 deg, lat: 36.779369 deg, lon: -121.859702 deg, deltaT: 0.504119 s, deltaX: -0.397875 m, approachRate: -0.789248 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.58 m.bhRhZh ProNav: ac range: 22.579416 m, nav range: 22.235699 m, bearing: 230.110632 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.102323 deg, new cmd heading: 240.097617 deg. BhEHeadingCmd: 4.190494 target range: 22.579416 and range: 22.70 m.hE@hA*hA"hA hAgAfIfIfMՁBdIdQdQjdU@36@ZdU#?Bɢ: ) i)x=i(i  /< BECBEIBE8BBE =BABABE/l;BE*EBCBCBŔCB =B =C86ԙ@ @@0@Uchecking for new query: numPingsReceived=50, elapsed TxPingTime=24.697624^A }< I I O- >M!,M͆?AE EE&E"E,K;*E:VE4ZEBEK9Y=FyXHEILE>Q 5_5?Q 9_5)BYyC Q I@ȤDI;i;_5yɮ)ADDAT read: Rx Time:05:24:42.0919 TRx dataTimestamp_ set to:1761542683.308814PDAT read: Bearing 29.6, -13.0 (Local) ~Local bearing/azimuth received: Bearing 29.6, -13.0 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.6 DAT read: 05:24:42.0919 LVL= 32752, 32753, 26434, 32755, AGC= 59, IDX= 506,-0.08,-0.043,-1.478, 0.566,-0.070, PHS= 0.129,-1.362, 0.592, RAW= 163.1, 7.3, CAL= 162.6, 7.2, ROT= 347.4, -7.2 %Ygot valid direction response: 05:24:42.0919 LVL= 32752, 32753, 26434, 32755, AGC= 59, IDX= 506,-0.08,-0.043,-1.478, 0.566,-0.070, PHS= 0.129,-1.362, 0.592, RAW= 163.1, 7.3, CAL= 162.6, 7.2, ROT= 347.4, -7.2 %T#Rx 51: Read range and direction messages.-^direction in FSK: [0.968221,-0.216423,0.125333]-Fpublishing direction and range infoySj?_9˿cK ?YABg )I>iVP?8/6@w>>5@ >)W@I ŭ,?Ri?W_gD? X@?)ՁIt0aimchecking for new query: numPingsReceived=51, elapsed TxPingTime=24.969732iiӆ?AJi ARi Aji@bzq4CU5@ c_rحp@RSj?_9˿cK ?Zit0abijUՈ,0q0w@Zy3Ad:v?2i:ie"ib?*i/BiBiiiBiƯAi{@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503905 s, deltaX: -0.200001 m, approachRate: -0.396902 m/s, rangeRepo size: 4 - Added new target pos. range: 22.380491 m, bearing: 229.364356 deg, lat: 36.779369 deg, lon: -121.859702 deg, deltaT: 0.503905 s, deltaX: -0.198925 m, approachRate: -0.394767 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 22.38 m.bh1Rh1Zh1e ProNav: ac range: 22.380491 m, nav range: 21.972153 m, bearing: 230.047925 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.097624 deg, new cmd heading: 240.092905 deg. BhimHeadingCmd: 4.190412 target range: 22.380491 and range: 22.50 m.hm@hq*hq"hq hqgqfqffdddjd6@Zd@i?Bɢ) Ui)BiXiMUL/J"!,=?A2~@2Z@2Ԯ9ٱ2\2 :AHRS rotation from veh to nav: [[-0.491461,0.856665,0.156819],[-0.870826,-0.485730,-0.075687],[0.011333,-0.173759,0.984723]]2Ht߿i?`?2߿`@`5?@=ƿق?i2~@I2\y`;2CYVSByZIxiuMb@Mb@Mb@qqqq q9uM?ʡEQ?Yun?yuu\=qu@ u A)u AqYu AbDVDk2yw=%B=ٔNQ->9Y=Fy\HEEu  Eu Eu#Eq"EuG;*Eu:VEu3ZEqa@a@a@a@ۉE>Q 55_5ί?Q 9=_5G)%BYe?Q Em:yu0 Q Iu@ФDII-=ior?6@">o5@ +>)@I+$?-?1k(? FW@?)3!Itdi+%checking for new query: numPingsReceived=52, elapsed TxPingTime=25.473759]Bɢ])a e)ia)e'Gaaie'imum0>B CB IB LBB =B B DB k;B *Ey = checking for new query: numPingsReceived=52, elapsed TxPingTime=25.705545^A ]<I I O >h!,?A2v~@2 `@2Hٱ2l3H bAHRS rotation from veh to nav: [[-0.490900,0.856869,0.157460],[-0.871130,-0.485307,-0.074896],[0.012240,-0.173934,0.984681]]2Hj߿wk?'? L`E߿f,T?{Cƿ?i2v~@I2d`;2CYj^ByjIbDrVDrܲyz"S=%zK=ٔ~Q-~>9|Y=Fy`HE:E> Q 5_5 G?Q 9_5 ) /BYy% Q I@ פDI ;i ; _5y%=Bɮ%A-bEii2?AJiݯARiݯAji=@bh#5@82g58T @Rr?˿8_X?Zitdbi+jr+9?`[033@Z"t@']ác?2iۂ:i^"i?*i|BiƊBi?i|iBi˫Ai=@} addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504003 s, deltaX: -0.400000 m, approachRate: -0.793645 m/s, rangeRepo size: 4  Added new target pos. range: 21.983278 m, bearing: 229.614760 deg, lat: 36.779368 deg, lon: -121.859700 deg, deltaT: 0.504003 s, deltaX: -0.397213 m, approachRate: -0.788116 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.98 m.bhRhZh ProNav: ac range: 21.983278 m, nav range: 21.474121 m, bearing: 229.614838 deg, approach rate: 0.000000 m/s, LOS rate: -0.094880 deg/s, cmd heading: 239.961922 deg, new cmd heading: 239.863735 deg. BhHeadingCmd: 4.186412 target range: 21.983278 and range: 22.10 m.h@h*h"h hgfffdddjd6@Zd@?Bɢ,) 3i)IiBi1R0<9O˿mu"޽?Y3A{r_ ):II >iV"?ih6@Ϣ=ּ5@ |=) @I|ゥ&o("?׈e?HDͧ? BJA?)Ibi|ゥchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.982534^Au<IIO >A !,?A2?~@2a@2^b]ٱ2~2 :AHRS rotation from veh to nav: [[-0.490690,0.856956,0.157639],[-0.871229,-0.485341,-0.073512],[0.013512,-0.173412,0.984757]]2Hxg߿ .l?@-?@߿Ѳ?[2ƿ` ?i2?~@I2`;2CYNdByN&ITVAiMb@Mb@Mb@ 9B`"?zGếl?Y?y ׽=A@ A)Y AbDVDyn<%<=ٔ?Q->9Y=FydHE4 :E>!Q 5-_5% ?Q 9-_5%)%=BY-?Q E-:=checking for new query: numPingsReceived=53, elapsed TxPingTime=26.209518y5cQ Iu@%ߤDI%&˿mu"޽?Zibbi|j l,b~sED09J(' @Zc QÜoz:?2i":i`"i˗?*i]BiBi?h@ ?iiBiAis/@  addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504098 s, deltaX: -0.200001 m, approachRate: -0.396750 m/s, rangeRepo size: 4 ] Added new target pos. range: 21.784332 m, bearing: 229.218065 deg, lat: 36.779368 deg, lon: -121.859700 deg, deltaT: 0.504098 s, deltaX: -0.198946 m, approachRate: -0.394657 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 21.78 m.bhaRhaZha ProNav: ac range: 21.784332 m, nav range: 21.253439 m, bearing: 229.514987 deg, approach rate: 0.000000 m/s, LOS rate: -0.094880 deg/s, cmd heading: 239.863731 deg, new cmd heading: 239.734209 deg. BhHeadingCmd: 4.184151 target range: 21.784332 and range: 21.90 m.h@h*h"h hgfff!Bdddjd`f5@Zdj?IBɢ u)  i ) TN i`5iV0<þ ih6@ 6&>) B@I 6& B ?_?]Zø? p^B?) gI mi 6&  checking for new query: numPingsReceived=54, elapsed TxPingTime=26.523422A ؟AI I O >{!,N>B>CB>'IB>fBB> =B<B>DB>pk;B>*E ^AHRS rotation from veh to nav: [[-0.490263,0.857320,0.156986],[-0.871448,-0.485251,-0.071487],[0.014890,-0.171852,0.985010]]2Hv`߿*o??[߿L@~?@?ſ@4?i2~@I2`;2CYffByv(IbD~VD~k2y-b<%5>=ٔ5RQ-5>9="?Y="?==Fy=iHE=:EE>AQ 5m_5E6?Q 9u_5E)EKBYqyu^Q Iu@EDIE:iE(:E_5y};BɮAaEii4?AJiARiAji+@b{>4@X?kTh6j @R(H}?2{,Ϳo?Zimbi6&jXTa+1߽/2lB-@ZQ{G翶u`3?2i|:i ["iq ?*i|Bi}Biq ?i/i}BiOAi@  addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503802 s, deltaX: -0.400000 m, approachRate: -0.793962 m/s, rangeRepo size: 4  Added new target pos. range: 21.387224 m, bearing: 229.075290 deg, lat: 36.779368 deg, lon: -121.859700 deg, deltaT: 0.503802 s, deltaX: -0.397108 m, approachRate: -0.788222 m/s, posRepo size: 4 jhEDNOT Ignoring new targets: 21.39 m.bhARhIZhI] ProNav: ac range: 21.387224 m, nav range: 21.039026 m, bearing: 229.405655 deg, approach rate: 0.000000 m/s, LOS rate: -0.094880 deg/s, cmd heading: 239.734203 deg, new cmd heading: 239.615406 deg. BhY]HeadingCmd: 4.182078 target range: 21.387224 and range: 21.50 m.heӅ@h*h"h hgfffdddjd5@Zd`6?!%Bɢ-O)) -Ji))-cQ))i5Ti5x=I1<=ZMi} 󭿉} /?} c6@} 5=} K6@ } =)} @I} y y I O >} dޑ?i^?RvK? } ތC?)} I} ki} y y  checking for new query: numPingsReceived=55, elapsed TxPingTime=26.983503c[!,xV?Aɰ4<06?~@6g@6ʋٱ6 - BAHRS rotation from veh to nav: [[-0.490033,0.857905,0.154489],[-0.871554,-0.485482,-0.068565],[0.016179,-0.168245,0.985612]]6H\߿`s?L? "߿|I? ſ #?i6?~@I6Q$a;4YJpByJ4IbDeVDeyuA=%uG=ٔ6KQ->9 ?Y ?=FymHE:E>Q 5_5w~?Q 9_5)XBYy`Q I@DI ';i~(;2_5yɮ]ZAYԙiiCT?AJiARiAji-~@br.c4@'Ք ]^,@Rq4t?M{ͿEO?Zikbijl i+Μ΍5!,5s?ArDDAT read: Rx Time:05:24:44.5908 rTRx dataTimestamp_ set to:1761542685.828526vPDAT read: Bearing 29.7, -12.9 (Local) z~Local bearing/azimuth received: Bearing 29.7, -12.9 (Local) DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.7 %DAT read: 05:24:44.5908 LVL= 32752, 32753, 28898, 32755, AGC= 62, IDX= 510, 0.26,-1.946, 2.896,-1.315,-1.964, PHS= 0.120,-1.378, 0.605, RAW= 163.6, 7.3, CAL= 163.1, 7.3, ROT= 346.9, -7.3 -Ygot valid direction response: 05:24:44.5908 LVL= 32752, 32753, 28898, 32755, AGC= 62, IDX= 510, 0.26,-1.946, 2.896,-1.315,-1.964, PHS= 0.120,-1.378, 0.605, RAW= 163.6, 7.3, CAL= 163.1, 7.3, ROT= 346.9, -7.3 -T#Rx 56: Read range and direction messages.]^direction in FSK: [0.966081,-0.224815,0.127065]]Fpublishing direction and range infoyprTE#?<4̿Ir=irNbrH?r36@rw>r8/6@ rw>)rپ@Irwppr$!?SX?b ^? r1B?)rPIr4 jirwppchecking for new query: numPingsReceived=56, elapsed TxPingTime=27.493189Y{ByBI==ԉieMb@Mb@Mb@aaaa a9ex&?M¿l?Ye7 ?yenaae@ e A)e AaYe A@AbDVD2yY(=%=ٔQ->9Y=FyrHEE>Q 5 _5m?Q 9 _5)kBYT?Q E:yQ I@DIG:iX:_5y9BɮAE`Eipiru?AJirARirAjir;@br6ʚ3@&-ZǦx@RrTE#?<4̿B%CB%@IB%zBB% =B!B%DB%k;B%*EBh}HeadingCmd: 4.177383 target range: 20.591421 and range: 20.70 m.h}@h*h"h hgfff=Bdddjd@34@Zdt?ԹBɢ%:)! %Rpi!)%wY))i-i-v522<5bA= >E  E E 'E "E CJ;*E :VE '4ZE BE Z\!,QJ?A4:@:*@:݋ٱ:, BAHRS rotation from veh to nav: [[-0.487222,0.859321,0.155505],[-0.873085,-0.483076,-0.066034],[0.018376,-0.167942,0.985626]]:H .߿??O޿ 簿@6ђ?@ſ>?i:@I:Y`;8YJxByJ>IbDVVDVk1yZ\%^T=ٔ^/Q-^>9`Y`=bFybvHEbZ<Ef>dQ 5j_5fa?Q 9n_5f )fxBYlynQ In@fDIfN:if:f _5ytɮvAtB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 20.59 m.bhRh:Zh:- ProNav: ac range: 20.591421 m, nav range: 20.174381 m, bearing: 229.140498 deg, approach rate: -0.574904 m/s, LOS rate: 0.069756 deg/s, cmd heading: 239.346412 deg, new cmd heading: 239.422744 deg. Bh-}?;5HeadingCmd: 4.178715 target range: 20.591421 and range: 20.70 m.h5 @h1*h9"h9 h9g9f9fAfAuDDAT read: Rx Time:05:24:45.0907 uTRx dataTimestamp_ set to:1761542686.332848}PDAT read: Bearing 30.8, -13.1 (Local) ~Local bearing/azimuth received: Bearing 30.8, -13.1 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 DAT read: 05:24:45.0907 LVL= 32752, 32753, 27154, 32755, AGC= 59, IDX= 509, 0.45,-1.048,-2.474,-0.422,-1.043, PHS= 0.097,-1.386, 0.578, RAW= 163.6, 8.1, CAL= 163.2, 8.3, ROT= 346.8, -8.3 Ygot valid direction response: 05:24:45.0907 LVL= 32752, 32753, 27154, 32755, AGC= 59, IDX= 509, 0.45,-1.048,-2.474,-0.422,-1.043, PHS= 0.097,-1.386, 0.578, RAW= 163.6, 8.1, CAL= 163.2, 8.3, ROT= 346.8, -8.3 T#Rx 57: Read range and direction messages.^direction in FSK: [0.963381,-0.225959,0.144356]Fpublishing direction and range infoyquu/? <̿'ЌCz?YṳAqqquj q)u;Iu=iushu?qu>uK6@ uV>)u@IuVqqu+?qת$?33? u B?)u46IukiuVqqchecking for new query: numPingsReceived=57, elapsed TxPingTime=27.991587d9dAdAjdE4@ZdEn?颕Bɢ) xi)f\顙ԡi8EiLM3<q@ @@/@ checking for new query: numPingsReceived=57, elapsed TxPingTime=28.225645 ^AM <I I O >|!,?AFf,@F@F*wٱF3 VAHRS rotation from veh to nav: [[-0.485635,0.859195,0.161069],[-0.873961,-0.481159,-0.068398],[0.018732,-0.173985,0.984570]]FH`߿~? ? }`N޿.?$Eƿ ?iFf,@IFa;FCYfpByj5IpbE-4jE$4rE./E  E E %E "E a?;*E Z:VE  4ZE a=@aE@aE@aE@iMb@Mb@Mb@ 9Pn?(\¿X9v?Y?yz<|A  A)\AY AbDVD1yU% =ٔ}7Q-> 9)Y)=-Fy-{HE5jg;E5>9Q 5E_5=Q?Q 9E_5=7)=BYEq ?Q Ee:yeQ Im@=DI=;i=W;=_5yuMBɮuAujEDDAT read: Rx Time:05:24:45.5905 TRx dataTimestamp_ set to:1761542686.836817PDAT read: Bearing 30.8, -12.8 (Local) ~Local bearing/azimuth received: Bearing 30.8, -12.8 (Local) DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.5 DAT read: 05:24:45.5905 LVL= 32752, 32753, 29874, 32755, AGC= 62, IDX= 507,-0.22, 2.182, 0.751, 2.800, 2.182, PHS= 0.102,-1.386, 0.574, RAW= 163.3, 8.1, CAL= 163.0, 8.2, ROT= 347.0, -8.2 Ygot valid direction response: 05:24:45.5905 LVL= 32752, 32753, 29874, 32755, AGC= 62, IDX= 507,-0.22, 2.182, 0.751, 2.800, 2.182, PHS= 0.102,-1.386, 0.574, RAW= 163.3, 8.1, CAL= 163.0, 8.2, ROT= 347.0, -8.2 T#Rx 58: Read range and direction messages.^direction in FSK: [0.964408,-0.222651,0.142629]Fpublishing direction and range infoyn?t̿x0A?YfAt )>I`=i?ih6@6@ C>)&@ICҘ6 ??? A?)=IVhiC-checking for new query: numPingsReceived=58, elapsed TxPingTime=28.497751iii?AJiARiAjis-@bs#y3@,] @Rn?t̿x0A?ZiVhbiCjۥ)]-.@ZuKC_俈ы+>?2ip:iM"iDM?*is/|BihBiis/|ii*AiV@ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 1.008291 s, deltaX: -0.400002 m, approachRate: -0.396712 m/s, rangeRepo size: 4  Added new target pos. range: 20.194210 m, bearing: 229.500998 deg, lat: 36.779368 deg, lon: -121.859698 deg, deltaT: 1.008291 s, deltaX: -0.397211 m, approachRate: -0.393945 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.19 m.bhRh Zh  ProNav: ac range: 20.194210 m, nav range: 19.895967 m, bearing: 229.170302 deg, approach rate: 0.000000 m/s, LOS rate: 0.069756 deg/s, cmd heading: 239.422746 deg, new cmd heading: 239.538106 deg. Bh9EHeadingCmd: 4.180728 target range: 20.194210 and range: 20.30 m.hEȅ@hA*hA"hA hIgIfIfIfUBdQdQdQjdUL4@Zd]ꎭ?Bɢ ) i)! aii9i=(4<=<BCBMIBBB =BBDBk;B*E@@ @@/@a E checking for new query: numPingsReceived=58, elapsed TxPingTime=28.729591^A <ԑ I I O >!,fȇ?A2E@2ɝ@2ٱ2a9 :AHRS rotation from veh to nav: [[-0.484266,0.858880,0.166772],[-0.874706,-0.479500,-0.070499],[0.019417,-0.180017,0.983472]]2H`5޿{?X?@ ޿8 ? ǿ x?i2E@I2a;2CYFtByF9IbDNVDN0yVԐ<%Vo=ٔZQ-Z?9XYX=ZFyZHE^,;E^?`Q 5f_5bUK6@ U >)U@IU QQU?|?hߌ? UfB?)U=IUkiU QQchecking for new query: numPingsReceived=59, elapsed TxPingTime=29.009789Q ^Au u<A zA I I) OU >j:!,?A2O]@2y@2tɥٱ2!= :AHRS rotation from veh to nav: [[-0.483009,0.858873,0.170407],[-0.875381,-0.478145,-0.071306],[0.020236,-0.183613,0.982790]]2H ޿{?? ޿@AѸ?ǿs?i2O]@I2a;2CYBeByB&I9iMMb@Mb@Mb@IIII I9MuV?@5^I ¿9yYy=}Fy}HEJ[;E>Q 5_59?Q 9_5)BY7 ?Q E:i߹I߽Achecking for new query: numPingsReceived=59, elapsed TxPingTime=29.237782yQ I@DI} ih6@ } Q >)} B@I} Q y y } ¶?Zh?c>? } B?)} rI} mi} Q y y ] checking for new query: numPingsReceived=60, elapsed TxPingTime=29.519903 A I I O >d!,]?Aɰb t@bִ@bٱb? jAHRS rotation from veh to nav: [[-0.481785,0.859045,0.172989],[-0.876032,-0.476949,-0.071325],[0.021235,-0.185907,0.982338]]bH`޿@L}?}$?t@T޿[B?`ǿOo?ib t@Ib`;bCB[>BCBSIBBB =BBDBl;B*EBCBCBCB =B =CQ6Y)y-'IY]BAbDeVDeyuiR;%uJ=ٔu"Q->ԙ9Y=FyHEX;E>Q 5 _5},?Q 9 _5)BYy5Q I5@DI;i>;_5y=HBɮEAEhEii `?AJiǜARiǜAji<@b 2@k<efH+@R ?d!Ϳ/8ٲ?ZimbiQ jP/(P:5-֙8!+@ZBJ5,;6Nؗf?2ii:iF"i(]?*i|Bi{Bi ?i-_|iiAi@ addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504072 s, deltaX: -0.400000 m, approachRate: -0.793537 m/s, rangeRepo size: 4  Added new target pos. range: 19.597591 m, bearing: 229.609156 deg, lat: 36.779368 deg, lon: -121.859698 deg, deltaT: 0.504072 s, deltaX: -0.398590 m, approachRate: -0.790740 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.60 m.bhRh Zh = ProNav: ac range: 19.597591 m, nav range: 19.240088 m, bearing: 229.327941 deg, approach rate: 0.000000 m/s, LOS rate: 0.093726 deg/s, cmd heading: 239.745049 deg, new cmd heading: 239.864814 deg. Bh9EHeadingCmd: 4.186431 target range: 19.597591 and range: 19.70 m.hE>@hA*hA"hA hAgIfififqdqdqdqjdu@33@Zd}{?BɢiF ) qi)kii9185<@Ichecking for new query: numPingsReceived=60, elapsed TxPingTime=29.743290@ @@0@^A E  E E *E "E mR;*E VE (N4ZE BE P",J?ADDAT read: Rx Time:05:24:47.0900 TRx dataTimestamp_ set to:1761542688.352779PDAT read: Bearing 31.0, -13.0 (Local) ~Local bearing/azimuth received: Bearing 31.0, -13.0 (Local) "DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 6DAT read: 05:24:47.0900 LVL= 32752, 32753, 25074, 32755, AGC= 58, IDX= 502, 0.45,-0.687,-2.118,-0.058,-0.676, PHS= 0.091,-1.398, 0.573, RAW= 163.6, 8.3, CAL= 163.2, 8.6, ROT= 346.8, -8.6 :Ygot valid direction response: 05:24:47.0900 LVL= 32752, 32753, 25074, 32755, AGC= 58, IDX= 502, 0.45,-0.687,-2.118,-0.058,-0.676, PHS= 0.091,-1.398, 0.573, RAW= 163.6, 8.3, CAL= 163.2, 8.6, ROT= 346.8, -8.6 :T#Rx 61: Read range and direction messages.>^direction in FSK: [0.962632,-0.225784,0.149535]BFpublishing direction and range infoyV??a~-z̿S&r#?YAa ):I5^=i񲿉!?V>K6@ `>)@I`q?y??V9x? B?)QFIki`nchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.017513vk@v@vdٱv= AHRS rotation from veh to nav: [[-0.480630,0.859837,0.172265],[-0.876640,-0.476103,-0.069477],[0.022277,-0.184407,0.982597]]vH޿ȃ? ?@p zx޿9ɱϖ?࢚ǿ@pq?ivk@Iva;vC Y-[By-IbDEVDEy67%8=ٔQ->9"?Y"?=FyHEE;E>Q 5_5?Q 9_5)BYyQ I@#DI;i ;_5yɮiAii?AJi0ARi0Aji_X@bȌz2@8s4@RV??a~-z̿S&r#?Zikbi`j4={(z ,+`Y%K@ZHr1<?2ig:iC"itF?*iϤ%~BiBi(]?i|ihBiA9iA@U addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503167 s, deltaX: -0.200001 m, approachRate: -0.397484 m/s, rangeRepo size: 4  Added new target pos. range: 19.398632 m, bearing: 229.801189 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.503167 s, deltaX: -0.198959 m, approachRate: -0.395414 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.40 m.bhRhZh ProNav: ac range: 19.398632 m, nav range: 18.938894 m, bearing: 229.641971 deg, approach rate: 0.000000 m/s, LOS rate: 0.093726 deg/s, cmd heading: 239.864824 deg, new cmd heading: 240.001848 deg. BhHeadingCmd: 4.188822 target range: 19.398632 and range: 19.50 m.h @h*h"h hgfffdddjd3@Zd}?MBɢU~@)Q UʡiQ)]pYYi]ie e{6:VE FA4ZE a @a @a @a @AAIIIYOe>Q ",4?A(2=@2dž@2 ٱ29 >AHRS rotation from veh to nav: [[-0.479717,0.860922,0.169363],[-0.877111,-0.475676,-0.066395],[0.023401,-0.180401,0.983315]]2H޿@? ?J{q޿IQ?@`ǿPw?i2=@I2a;2CYF^ByFIDDAT read: Rx Time:05:24:47.5898 %TRx dataTimestamp_ set to:1761542688.856716-PDAT read: Bearing 32.8, -13.4 (Local) -~Local bearing/azimuth received: Bearing 32.8, -13.4 (Local) =DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 eDAT read: 05:24:47.5898 LVL= 32752, 32753, 26866, 32755, AGC= 58, IDX= 500,-0.19,-2.730, 2.151,-2.108,-2.679, PHS= 0.051,-1.408, 0.527, RAW= 163.7, 9.5, CAL= 163.5, 10.3, ROT= 346.5, -10.3 mYgot valid direction response: 05:24:47.5898 LVL= 32752, 32753, 26866, 32755, AGC= 58, IDX= 500,-0.19,-2.730, 2.151,-2.108,-2.679, PHS= 0.051,-1.408, 0.527, RAW= 163.7, 9.5, CAL= 163.5, 10.3, ROT= 346.5, -10.3 uT#Rx 62: Read range and direction messages.}^direction in FSK: [0.956700,-0.229683,0.178802]}Fpublishing direction and range infoy!%I?x`CfͿ?Y%A!!!%h !)!I%`P=i%X9%y?%6@%)>%6@ %X8>)%@I%X8!!%$Ah.?!?'6? % C?)%y*I%4Fqi%X8!!checking for new query: numPingsReceived=62, elapsed TxPingTime=30.517536iMb@Mb@Mb@ 9|?5^?T㥛 Mb`?Y ?y;1Av@ + A)rAY AbDVDy ;,<% 5=ٔ $Q- >9Y=FyHER;E>!Q 5-`5%?Q 9-`5%!)%¸BY-r?Q E-:y5Q I5@%+DI% ;i% ;%`5y9ɮ=VA9i!i%o6?AJi%͘ARi%͘Aji%Z@b%E&E2@H݄=R @R%I?x`CfͿ?Zi%4Fqbi%X8j%rG'U, `Q O@Z%(0~ ji*h"?2i%b:i%n?"i% ?*i%ʦzBi%Bi%DM?i!i%{Bi%lAi%G@M addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503937 s, deltaX: -0.299999 m, approachRate: -0.595311 m/s, rangeRepo size: 4 ] Added new target pos. range: 19.100191 m, bearing: 229.819088 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.503937 s, deltaX: -0.298441 m, approachRate: -0.592219 m/s, posRepo size: 4 jhYԁDNOT Ignoring new targets: 19.10 m.bhRhZh ProNav: ac range: 19.100191 m, nav range: 18.677999 m, bearing: 229.680338 deg, approach rate: 0.000000 m/s, LOS rate: 0.093726 deg/s, cmd heading: 240.001837 deg, new cmd heading: 240.112516 deg. BhHeadingCmd: 4.190754 target range: 19.100191 and range: 19.20 m.h@h*h"h hgfffBdddjd@333@ZdE?mBɢm^c)i mEii)uxtqqiui}e},7<7BCB@IBzBB =BBDBdl;B+E1@1 @1@5?0@1Աchecking for new query: numPingsReceived=62, elapsed TxPingTime=30.749548 ^A} ( <A I  I OM >",>vP?AEV EV EV+ET"EVO;*EV:VEV [4ZETBEV69QYQ=UFyUHE]n:E]>aQ 5m`5e?Q 9m`5e )eʸBYiymQ Iu@e3DIeU;iea;e+`5y}FBɮ}$ A}gEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 19.10 m.bhRh=:Zh=: ProNav: ac range: 19.100191 m, nav range: 18.444277 m, bearing: 229.691979 deg, approach rate: -0.590364 m/s, LOS rate: 0.029777 deg/s, cmd heading: 240.112514 deg, new cmd heading: 240.147880 deg. Bh|:HeadingCmd: 4.191371 target range: 19.100191 and range: 19.20 m.h@h*h"h hgfffdddjdZd ?颅BɢN/) i)cy顉iriJʱ7<.-6@ -t;?>)-i@I-t;?))-i?6ƥm?}l? -fC?)-V50I-Tti-t;?))checking for new query: numPingsReceived=63, elapsed TxPingTime=31.0236879@9 @9@=4@9 ^A 7<9 I I) O= > checking for new query: numPingsReceived=63, elapsed TxPingTime=31.253351",/j?A:@:͆@:-μٱ:O6 BAHRS rotation from veh to nav: [[-0.479089,0.861674,0.167307],[-0.877406,-0.475577,-0.063135],[0.025166,-0.177043,0.983881]]:Hc޿Ւ?Rj? o޿ )@ ř?\ƿ{?i:@I:8a;:CY^@By^I ``iuMb@Mb@Mb@qqqq q9uQ?B`"۹~jthYu?yuνuDuAq u A)u\AqYu AbDVDN2y%D=ٔP Q->9Y=uFy}HE~~9E>Q 5 `5?Q 9%`5<)ѸBQY-?Q Eu:yu[Q Iu@;DITU6@ UJ4>)U@IUJ4QQUb&7A?nț?hY? UB?)U"(IU4FqiUJ4QQchecking for new query: numPingsReceived=64, elapsed TxPingTime=31.550854ԩ B `>B CB .IB kBB B B DB |l;B (+E^A G<A zA I I O >(!",܄?A 2]@2φ@2Ҽٱ2\6 ~AHRS rotation from veh to nav: [[-0.478935,0.861706,0.167585],[-0.877476,-0.475502,-0.062718],[0.025643,-0.177090,0.983860]]2H ަ޿?qs?@Hn޿I`B?@ƿ{?i2]@I2`;2CY EBy IbD%VD%ky5L<=checking for new query: numPingsReceived=64, elapsed TxPingTime=31.757463%uM=ٔuQ-u>9yYy=}Fy}HE9E>Q 5`58ꡊ?Q 9`5)ָBYyXQ I@BDI$6@ A>)i@IA0d?;f?̴Y?  C?)l1ITtiAm checking for new query: numPingsReceived=65, elapsed TxPingTime=32.026108Ա ^A] <I I O >R'",9?A@DɰFp;%c@%І@%ռٱ%5 =AHRS rotation from veh to nav: [[-0.478821,0.861827,0.167288],[-0.877525,-0.475502,-0.062029],[0.026087,-0.176500,0.983955]]%H޿?i?  n޿@A¯@?ƿ|?i%c@I%X`;%CYm>BymIiMb@Mb@Mb@ 95^I ?V-{GztY?yhףfA@  A)AYAԡAAbDVD1y%&=ٔGqQ->9Y= Fy HE ؄9E >Q 5`5ۡ?Q 9`5)ܸBY%&?Q E%:y% Q I%@LDI;iU;`5Mchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.261494yQɮU AQi!i%ܛ?AJi!Ri!ji%J@b%[91@} 7Bs @R%?? fz2AͿ0i?Zi%Ttbi%Aj%3+'&S+al`@Z%Ђ= 俳\ r r?2i%Z:i%\9"i%/o ?*i%yBi%Bi!i%}i%Bi%Ai%+F@% addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.502825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 18.503120 m, bearing: 229.706690 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.502825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 18.50 m.bh1RhYZhYm ProNav: ac range: 18.503120 m, nav range: 17.690491 m, bearing: 229.673879 deg, approach rate: 0.000000 m/s, LOS rate: 0.029777 deg/s, cmd heading: 240.223928 deg, new cmd heading: 240.266449 deg. BhiuHeadingCmd: 4.193440 target range: 18.503120 and range: 18.60 m.hu0@hq*hq"hq hgfffÁBdddjdZd`#?颵Bɢ() Ⱦi);iQiaK}9<%R 7@  aF>) xL@I aF   G?j;?r?  r5D?) 4I Tlxi aF  } checking for new query: numPingsReceived=66, elapsed TxPingTime=32.5303881 IQ Ia Ou >& .",%纈?Ab@bCΆ@b#ڼٱb4 zAHRS rotation from veh to nav: [[-0.479002,0.861812,0.166844],[-0.877410,-0.475818,-0.061223],[0.026625,-0.175717,0.984081]]bH@޿`?&[?`@s޿@X`C?}ƿ}?ib@Ibr`;bCY0By IbDVDky-H%-h=ٔἺQ->9Y=FyHEE>Bd>BCBIB[BB =BBDBl;BJ+EQ 5M`55ѡ?Q 9M`5)BYQyU Q IU@SDI!c@ @@/@A>A>=checking for new query: numPingsReceived=66, elapsed TxPingTime=32.765530IYIiO}X>A E]  E] E] 'EY "E] =-;*E] :VE] '4ZEY BE] pAHRS rotation from veh to nav: [[-0.479388,0.861668,0.166480],[-0.877185,-0.476316,-0.060584],[0.027094,-0.175077,0.984182]]2HJ޿Ȓ?@7O? {޿?hƿk~?i2@I2OC_;2CYz=ByzIbD VD !yE=%EI=ٔMQ-M>9IYQ=UFyUHEU=EU>YQ 5e`5]š?Q 9m`5]$)]BYiym" Q Im@]ZDI]:i]|:]8`5yuUBɮ} A}oEB*** querying acoustic contact ***DDAT read: Rx Time:05:24:50.0890 TRx dataTimestamp_ set to:1761542691.376855PDAT read: Bearing 32.9, -13.5 (Local) ~Local bearing/azimuth received: Bearing 32.9, -13.5 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 DAT read: 05:24:50.0890 LVL= 32752, 32753, 26098, 32755, AGC= 57, IDX= 508,-0.02,-1.178,-2.570,-0.544,-1.127, PHS= 0.051,-1.399, 0.539, RAW= 164.0, 9.3, CAL= 163.8, 10.0, ROT= 346.2, -10.0 Ygot valid direction response: 05:24:50.0890 LVL= 32752, 32753, 26098, 32755, AGC= 57, IDX= 508,-0.02,-1.178,-2.570,-0.544,-1.127, PHS= 0.051,-1.399, 0.539, RAW= 164.0, 9.3, CAL= 163.8, 10.0, ROT= 346.2, -10.0 T#Rx 67: Read range and direction messages.^direction in FSK: [0.956381,-0.234909,0.173648]Fpublishing direction and range infoy?hq4_οٖNs:?Y e )I`P=io ?~G07@6&>c6@ ¸2>)Z@I¸24o?ν?^M? vD?)wG&Ivi¸2 }9YfAi iE addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504096 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhAEDNOT Ignoring new targets: 18.11 m.bhAI checking for new query: numPingsReceived=67, elapsed TxPingTime=33.064068Rhm>Zhm>} ProNav: ac range: 18.105673 m, nav range: 17.260443 m, bearing: 229.471296 deg, approach rate: -0.566669 m/s, LOS rate: -0.166944 deg/s, cmd heading: 240.300863 deg, new cmd heading: 240.098070 deg. Bh}$HeadingCmd: 4.190502 target range: 18.105673 and range: 18.20 m.h@h*h"h hgfffdddjdZdk?E BɢMX6)I M̾iI)MsQQiU^qi]]}:<]cU checking for new query: numPingsReceived=67, elapsed TxPingTime=33.269588ԡ ;",?A?Ն޿@P?@bƿ~?i5`@I5^;5CY91Y1==Fy=HE=E=>aDDAT read: Rx Time:05:24:50.5887 TRx dataTimestamp_ set to:1761542691.880824PDAT read: Bearing 34.5, -14.2 (Local) ~Local bearing/azimuth received: Bearing 34.5, -14.2 (Local) DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 DAT read: 05:24:50.5887 LVL= 32752, 32753, 26290, 32755, AGC= 56, IDX= 505, 0.05,-0.614,-2.002, 0.028,-0.526, PHS= 0.014,-1.431, 0.510, RAW= 164.2, 10.4, CAL= 164.2, 11.5, ROT= 345.8, -11.5 Ygot valid direction response: 05:24:50.5887 LVL= 32752, 32753, 26290, 32755, AGC= 56, IDX= 505, 0.05,-0.614,-2.002, 0.028,-0.526, PHS= 0.014,-1.431, 0.510, RAW= 164.2, 10.4, CAL= 164.2, 11.5, ROT= 345.8, -11.5 T#Rx 68: Read range and direction messages.^direction in FSK: [0.949983,-0.240383,0.199368]Fpublishing direction and range infoyӞCf?vAοi?YAf )8IB`ei7@ M>)!@IMQ 5`5e?Q 9%`5es+)eBY%?Q E%:y%' Q I%@edDIe>iB;>BCBIBQBB =BBDBm;Ba+Ee @@a  @a @a @a Aq Iy I O >U checking for new query: numPingsReceived=68, elapsed TxPingTime=33.7734767B",}?A2@2-@2$nռٱ2^1 ^AHRS rotation from veh to nav: [[-0.481052,0.861324,0.163430],[-0.876305,-0.477950,-0.060443],[0.026051,-0.172290,0.984702]]2H`޿`?D? @޿U? ƿ?i2@I2W^;2ChY@ByIbD%VD%kyU<%U=ٔU:Q-]?9YYY=]Fy]HEe&VEe?iQ 5`5m殡?Q 9`5m/)mBYy8 Q I@mjDIm:im:mM`5ySBɮ Ajh!MDNOT Ignoring new targets: 17.61 m.bhIRhU➻ZhU➻ ProNav: ac range: 17.608265 m, nav range: 16.776281 m, bearing: 229.250509 deg, approach rate: -0.661661 m/s, LOS rate: -0.277818 deg/s, cmd heading: 239.850535 deg, new cmd heading: 239.617285 deg. Bh> HeadingCmd: 4.182111 target range: 17.608265 and range: 17.70 m.h Ӆ@h*h"h hgIfifyfydddjdZd `?颵 BɢvI) 8̾i)돼izhix;< =IӅ@IE EE'E"E /;*E:VE'4ZEBE@ @@/@)DDAT read: Rx Time:05:24:51.0886 TRx dataTimestamp_ set to:1761542692.385155PDAT read: Bearing 34.6, -14.3 (Local) ~Local bearing/azimuth received: Bearing 34.6, -14.3 (Local) DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 DAT read: 05:24:51.0886 LVL= 32752, 32753, 24530, 32755, AGC= 57, IDX= 504, 0.11, 1.263,-0.133, 1.911, 1.353, PHS= 0.013,-1.440, 0.514, RAW= 164.3, 10.4, CAL= 164.3, 11.5, ROT= 345.7, -11.5  Ygot valid direction response: 05:24:51.0886 LVL= 32752, 32753, 24530, 32755, AGC= 57, IDX= 504, 0.11, 1.263,-0.133, 1.911, 1.353, PHS= 0.013,-1.440, 0.514, RAW= 164.3, 10.4, CAL= 164.3, 11.5, ROT= 345.7, -11.5  T#Rx 69: Read range and direction messages.^direction in FSK: [0.949563,-0.242040,0.199368]Fpublishing direction and range infoyXb?FZ*οi?Y̌A_ )9ITH",=$?A2tb@2 @2K*Ӽٱ2‘- :AHRS rotation from veh to nav: [[-0.482673,0.861063,0.159991],[-0.875421,-0.479722,-0.059202],[0.025774,-0.168635,0.985342]]2H޿ ԍ?z?`s ³޿Od?@ӕſ?i2tb@I2:^;2CYBCByFIiMb@Mb@Mb@ 9?)\(~jt?Y ?yGaD<A`@ rA)3AYAbD%VD%y:<%4=ٔ>:Q->9Y=FyHEE>checking for new query: numPingsReceived=69, elapsed TxPingTime=34.277489Q 5`5?Q 9`55)BY ?Q E:y Q I@sDItl;ik;G!`5yfBɮ!AxEiia?AJiARiAjib@bΟ0@'(0P @RXb?FZ*οi?ZiTbijs:&lAt)SY2BT@ZM%EPF[y_>C(@H?2iK:i1"i|?*iWBimBi8?i~iwBi5Ai @5 addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504331 s, deltaX: -0.100000 m, approachRate: -0.198283 m/s, rangeRepo size: 4 E Added new target pos. range: 17.507271 m, bearing: 228.869726 deg, lat: 36.779368 deg, lon: -121.859699 deg, deltaT: 0.504331 s, deltaX: -0.100994 m, approachRate: -0.200254 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 17.51 m.bhIRhMZhQ] ProNav: ac range: 17.507271 m, nav range: 16.526045 m, bearing: 229.039893 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 239.617298 deg, new cmd heading: 239.246224 deg. BhamHeadingCmd: 4.175634 target range: 17.507271 and range: 17.60 m.hm̞@hi*hi"hi higifqfqfuBdqdydyjd}1@Zd}{?颭Bɢ >) ʾi)_顱i]i<y  DDAT read: Rx Time:05:24:51.5883  TRx dataTimestamp_ set to:1761542692.889324 PDAT read: Bearing 33.3, -14.5 (Local)  ~Local bearing/azimuth received: Bearing 33.3, -14.5 (Local)  DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.5  DAT read: 05:24:51.5883 LVL= 32752, 32753, 23938, 32755, AGC= 57, IDX= 501, 0.20,-0.303,-1.702, 0.367,-0.231, PHS= 0.030,-1.425, 0.554, RAW= 164.8, 9.5, CAL= 164.7, 10.3, ROT= 345.3, -10.3  Ygot valid direction response: 05:24:51.5883 LVL= 32752, 32753, 23938, 32755, AGC= 57, IDX= 501, 0.20,-0.303,-1.702, 0.367,-0.231, PHS= 0.030,-1.425, 0.554, RAW= 164.8, 9.5, CAL= 164.7, 10.3, ROT= 345.3, -10.3  T#Rx 70: Read range and direction messages. ^direction in FSK: [0.951680,-0.249669,0.178802] Fpublishing direction and range infoy  !*t?&%Ͽ?Y ̈A ] ) I 7@ X8>) @I X8 Ӓd?6r=?"? P0H?) )I J\i X8 % checking for new query: numPingsReceived=70, elapsed TxPingTime=34.550091CN",O>?Aɰ;,6J@6C@6YyԼٱ6+ >AHRS rotation from veh to nav: [[-0.483930,0.860632,0.158505],[-0.874723,-0.481084,-0.058469],[0.025934,-0.166943,0.985625]]A@A@BF >BFCBFIBFVBBF =BFCDBFDBFHm;BFh+EBMCBMCBMCBM =BICM666H ޿M?`I? ޿`ﭿh?d^ſ@>?i6J@I6 ^;6CY^LBy^IddbDjVDjy9=%V=ٔ۹Q->9 Y = Fy HEcwE>YQ 5e`5],?Q 9e`5];)]BYaye6 Q Ie@]{DI]:i](:]$`5yqɮu Aqii8?AJiARiAji~@bt/0@To9=UT@R!*t?&%Ͽ?ZiJ\biX8j&l'*n(3@Z3^ݴ=tKB+!դhK ?2iD:i0"i-{?*iw~BiBi/o ?iw~iiAi@% addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504169 s, deltaX: -0.500000 m, approachRate: -0.991731 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.008615 m, bearing: 228.163837 deg, lat: 36.779368 deg, lon: -121.859699 deg, deltaT: 0.504169 s, deltaX: -0.498655 m, approachRate: -0.989064 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 17.01 m.bhYRhYZhYm ProNav: ac range: 17.008615 m, nav range: 16.335224 m, bearing: 228.815753 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 239.246227 deg, new cmd heading: 238.912977 deg. BhiHeadingCmd: 4.169818 target range: 17.008615 and range: 17.10 m.h&o@h*h"h hgfffdddjd1@Zd{?%Bɢ%m5)) - þi))MIIiUx[iUiA]1=<]+=I]&o@IYiԉchecking for new query: numPingsReceived=70, elapsed TxPingTime=34.781754@ @@5@Թ^A = E  E E %E "E 9;*E :VE 4ZE BE hU",X?A*DDAT read: Rx Time:05:24:52.0881 *TRx dataTimestamp_ set to:1761542693.393158.PDAT read: Bearing 33.0, -14.7 (Local) 2~Local bearing/azimuth received: Bearing 33.0, -14.7 (Local) :DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4 JDAT read: 05:24:52.0881 LVL= 32752, 32753, 25074, 32755, AGC= 57, IDX= 499, 0.28,-0.070,-1.466, 0.608, 0.000, PHS= 0.032,-1.421, 0.564, RAW= 165.0, 9.3, CAL= 164.8, 10.0, ROT= 345.2, -10.0 NYgot valid direction response: 05:24:52.0881 LVL= 32752, 32753, 25074, 32755, AGC= 57, IDX= 499, 0.28,-0.070,-1.466, 0.608, 0.000, PHS= 0.032,-1.421, 0.564, RAW= 165.0, 9.3, CAL= 164.8, 10.0, ROT= 345.2, -10.0 RT#Rx 71: Read range and direction messages.V^direction in FSK: [0.952135,-0.251565,0.173648]VFpublishing direction and range infoy(*Rn-/w?TQݣпٖNs:?Y*fA(((*a ()(I*o=i*T㵿*Nb?*N8@*6&>*X8@ *¸2>)*@\I*¸2((*4jS?T?'س? *'I?)*Y&I* Ai*¸2((fchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.050411~(*@~揆@~R ռٱ~w+  AHRS rotation from veh to nav: [[-0.485675,0.859666,0.158413],[-0.873753,-0.482813,-0.058722],[0.026002,-0.166934,0.985625]]~HL߿a?F?`g޿@e?^ſ=?i~(*@I~];|YaBy"II<)<bDVDkyr=%?=ٔ (Q->9 ?Y ?=FyHEܘE>QQ 5]`5UX?Q 9]`5UA)UBYayeW Q Ie@UDIU:iU:U~(`5ymcBɮm AuwEi(i*)Y?AJi*ARi*Aji*~@b*/@Jwk,ѭ6@R*Rn-/w?TQݣпٖNs:?Zi* Abi*¸2j*zE%ݯ(4!@Z*\n@{TeZDs?2i*@:i*."i*e?*i*}Bi*UBi*|?i*~i*mBi*Ai*1~@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503834 s, deltaX: -0.300001 m, approachRate: -0.595436 m/s, rangeRepo size: 4 5 Added new target pos. range: 16.710217 m, bearing: 227.899662 deg, lat: 36.779366 deg, lon: -121.859699 deg, deltaT: 0.503834 s, deltaX: -0.298399 m, approachRate: -0.592257 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 16.71 m.bh9Rh9ZhA} ProNav: ac range: 16.710217 m, nav range: 16.199509 m, bearing: 228.061238 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 238.912968 deg, new cmd heading: 238.525217 deg. BhyHeadingCmd: 4.163050 target range: 16.710217 and range: 16.80 m.h7@h*h"h hgfffdddjd0@Zd ?eBɢm#)q i)CƗ顑i޻iJe/?<2/;=I7@Ichecking for new query: numPingsReceived=71, elapsed TxPingTime=35.286434@ @@{0@a ^A #'=A ?A >E!  E% E% )E! "E! *E% :VE% FA4ZE! a- @a- @a5 @a5 @q A؟AI)I9OM?|~]",(x?A2DDAT read: Rx Time:05:24:52.5878 2TRx dataTimestamp_ set to:1761542693.896833:PDAT read: Bearing 34.9, -15.2 (Local) :~Local bearing/azimuth received: Bearing 34.9, -15.2 (Local) BDAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 VDAT read: 05:24:52.5878 LVL= 32752, 32753, 25042, 32755, AGC= 56, IDX= 496, 0.25, 0.069,-1.314, 0.740, 0.178, PHS=-0.007,-1.447, 0.518, RAW= 165.0, 10.6, CAL= 165.0, 11.9, ROT= 345.0, -11.9 ZYgot valid direction response: 05:24:52.5878 LVL= 32752, 32753, 25042, 32755, AGC= 56, IDX= 496, 0.25, 0.069,-1.314, 0.740, 0.178, PHS=-0.007,-1.447, 0.518, RAW= 165.0, 10.6, CAL= 165.0, 11.9, ROT= 345.0, -11.9 ZT#Rx 72: Read range and direction messages.^^direction in FSK: [0.945167,-0.253257,0.206204]^Fpublishing direction and range infoy022>?]_Z5пFa5d?Y23A0002a 0)28I2B`i2L72?02q=>2N8@ 2ȭT>)22@I2ȭT002YxZA? yZ8?? 2?H?)2>I2 i2ȭT00~checking for new query: numPingsReceived=72, elapsed TxPingTime=35.557629QYdBy&IiMb@Mb@Mb@ 9Q?Zd;{Gz?Y(?yyף<fAv@ A)AYAbD5VD5kyM@<%M=ٔMQ-M>9U"?YU"?=UFyUHEUE]>B">BB'IBfBB =BBB>m;Bc+EYQ 5`5]y?Q 9`5].H)]BY?Q E:y Q I@]DI]6-?]_Z5пFa5d?Zi2 bi2ȭTj2a.n%7I?2i2::i2("i2%c?*i2\?{Bi24Bi0i2}i24Bi2}Ai2~@M addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503675 s, deltaX: -0.400000 m, approachRate: -0.794162 m/s, rangeRepo size: 4 y Added new target pos. range: 16.312363 m, bearing: 228.013375 deg, lat: 36.779366 deg, lon: -121.859699 deg, deltaT: 0.503675 s, deltaX: -0.397854 m, approachRate: -0.789902 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.31 m.bhRhZh ProNav: ac range: 16.312363 m, nav range: 15.869430 m, bearing: 227.887744 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 238.525205 deg, new cmd heading: 238.099588 deg. BhHeadingCmd: 4.155622 target range: 16.312363 and range: 16.40 m.h@h*h"h hgfff߁Bdddjd`ff0@Zd?颥BɢL$) ܬi)x顩iܻi*}@<yU=I@Im@@i @i@ul0@qԩchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.790260 ^A п8=E=  E= E= (E9 "E= 0;*E= :VE= c44ZE9 BE= De", ?AR~@R`@RؼٱRd1 bAHRS rotation from veh to nav: [[-0.490701,0.855953,0.162960],[-0.870926,-0.487497,-0.061918],[0.026444,-0.172310,0.984688]]RHg߿@c?? &3߿@@?>ƿ?iR~@IR];RCDDAT read: Rx Time:05:24:53.0877 TRx dataTimestamp_ set to:1761542694.400754PDAT read: Bearing 33.2, -15.2 (Local) ~Local bearing/azimuth received: Bearing 33.2, -15.2 (Local) DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.5 DAT read: 05:24:53.0877 LVL= 32752, 32753, 24274, 32755, AGC= 56, IDX= 511, 0.38,-0.294,-1.674, 0.396,-0.209, PHS= 0.017,-1.421, 0.560, RAW= 165.4, 9.5, CAL= 165.3, 10.3, ROT= 344.7, -10.3 %Ygot valid direction response: 05:24:53.0877 LVL= 32752, 32753, 24274, 32755, AGC= 56, IDX= 511, 0.38,-0.294,-1.674, 0.396,-0.209, PHS= 0.017,-1.421, 0.560, RAW= 165.4, 9.5, CAL= 165.3, 10.3, ROT= 344.7, -10.3 %T#Rx 73: Read range and direction messages.-^direction in FSK: [0.949014,-0.259621,0.178802]-Fpublishing direction and range infoyQ^?kп?YA^ )ICR8@ X8>)M@IX8G6*?D͘v?m>? /J?)*IڸiX8 checking for new query: numPingsReceived=73, elapsed TxPingTime=36.085815Y-vBy-;IbDVD0y|=%=ٔRQ->9AYAQ=EFymHE}'E}>Q 5`5i?Q 9`5O)!BY!y-M Q I-@DIT;*E:VE [4ZEa@a@a@a@^AuO=AyzA}fADDAT read: Rx Time:05:24:53.5875 TRx dataTimestamp_ set to:1761542694.905342-PDAT read: Bearing 33.3, -15.6 (Local) -~Local bearing/azimuth received: Bearing 33.3, -15.6 (Local) =DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.5 ]DAT read: 05:24:53.5875 LVL= 32752, 32753, 24306, 32755, AGC= 55, IDX= 508, 0.48,-1.519,-2.889,-0.822,-1.422, PHS= 0.005,-1.421, 0.556, RAW= 165.7, 9.8, CAL= 165.6, 10.7, ROT= 344.4, -10.7 mYgot valid direction response: 05:24:53.5875 LVL= 32752, 32753, 24306, 32755, AGC= 55, IDX= 508, 0.48,-1.519,-2.889,-0.822,-1.422, PHS= 0.005,-1.421, 0.556, RAW= 165.7, 9.8, CAL= 165.6, 10.7, ROT= 344.4, -10.7 mT#Rx 74: Read range and direction messages.u^direction in FSK: [0.946416,-0.264244,0.185667]uFpublishing direction and range infoy I?$H`п &K{?Y|A^ )7I ף;iV?9@%/>8@ t;?>)hY@It;?[% ?P?? ɢm?  L?)D{.I*git;?checking for new query: numPingsReceived=74, elapsed TxPingTime=36.562366A.AIIO?9n",?Au~@uW@uܼٱu7 AHRS rotation from veh to nav: [[-0.491648,0.854324,0.168559],[-0.870377,-0.488111,-0.064750],[0.026958,-0.178544,0.983563]]uH*w߿V?X?@5=߿o?ƿ Xy?iu~@Iu];uCB)A-<B5 >B1B5GIB5BB5 =B1B1B5m;B5O+E q)qqyyyyi}'IցցIׁiׁ ׅ'֡)שש ةשױױرصkAIص)رiع)ٹIٹؽع ٹii C) IYYByWIi%Mb@Mb@Mb@!!!! !9%5^I ?KV-?Y%?y%^%<%A%I@ %\A)%A!Y%AAbD=VD=ܲy'=%=ٔyQ->9 ?Y ?=FyHE[E>Q 5`5 Y?Q 9`54V)1BY?Q E:y}Q I@DIU:i:6`5ytBɮ>AEii ?AJir{ARir{Aji[}@br#M6-@ki(+W@R I?$H`п &K{?Zi*gbit;?j.i$7&\ @Zмj{S';DHV?2i1:i%"iR?*i6\zBiBie?i}iisAi~@M addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504588 s, deltaX: -0.400001 m, approachRate: -0.792727 m/s, rangeRepo size: 4 } Added new target pos. range: 15.715569 m, bearing: 226.970728 deg, lat: 36.779365 deg, lon: -121.859699 deg, deltaT: 0.504588 s, deltaX: -0.397863 m, approachRate: -0.788492 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.72 m.bhRhZh ProNav: ac range: 15.715569 m, nav range: 15.229618 m, bearing: 227.401427 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 237.606900 deg, new cmd heading: 237.198611 deg. BhHeadingCmd: 4.139897 target range: 15.715569 and range: 15.80 m.h z@h*h"h hgfffBdddjd/@Zd I?IɢM9)I MjiI)uLqqiuٻi}+ }XD<}r=I} z@IiIchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.797737qi@i @i@m/@qԙ D %=D a=E%  E% E% 'E! "E% sH;*E% :VE% '4ZE! BE% L39@ | >)<@I| AIIO%>5v",Trۉ?Afj?|Q?LӾ&? ?M?)I0i| ^checking for new query: numPingsReceived=75, elapsed TxPingTime=37.093906Y By aIbDVDyf=%<=ٔQ->9Y=FyHEE>Q 5`5K?Q 9`5[)?BYyQ I@DI;i;{:`5yqBɮAEii.ډ?AJiRiji+|@b0Y -@o3ZW@Rqi?Ojn6ѿp ?Zi0bi| j]9&%h1&9\* @Z)Xzmu@Փ濄o߯?2i1:i("iӝ?*i%ayBiBiR?iibBi/pAiG}@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503765 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.715569 m, bearing: 226.473482 deg, lat: 36.779365 deg, lon: -121.859699 deg, deltaT: 0.503765 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.72 m.bhRhZh% ProNav: ac range: 15.715569 m, nav range: 15.011701 m, bearing: 227.145299 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 237.198618 deg, new cmd heading: 236.833644 deg. Bh!-HeadingCmd: 4.133527 target range: 15.715569 and range: 15.80 m.h-E@h)*h)"h) h)g)f1f1f1d1dYdajdiZdu@&?Bɢ) 9i!)% t)QiUWػi] ]sF<]v=I]E@IYchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.302177 @  @@/@!Q E=  E= E= $E9 "E= y>;*E= :VE= 4ZE9 aE @aE @aE @aE @^AM np=A}؟AԁIIO>}",+?ADDAT read: Rx Time:05:24:54.5872 TRx dataTimestamp_ set to:1761542695.912754PDAT read: Bearing 32.5, -16.1 (Local) ~Local bearing/azimuth received: Bearing 32.5, -16.1 (Local) "DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.6 2DAT read: 05:24:54.5872 LVL= 32752, 32753, 24450, 32755, AGC= 56, IDX= 505,-0.25, 2.133, 0.786, 2.848, 2.239, PHS=-0.004,-1.407, 0.566, RAW= 166.3, 9.6, CAL= 166.2, 10.5, ROT= 343.8, -10.5 6Ygot valid direction response: 05:24:54.5872 LVL= 32752, 32753, 24450, 32755, AGC= 56, IDX= 505,-0.25, 2.133, 0.786, 2.848, 2.239, PHS=-0.004,-1.407, 0.566, RAW= 166.3, 9.6, CAL= 166.2, 10.5, ROT= 343.8, -10.5 :T#Rx 76: Read range and direction messages.>^direction in FSK: [0.944213,-0.274320,0.182236]>Fpublishing direction and range infoy6?xtѿm~S?YtA_ )8Ioi`?F9@+>9@ f;>)@If;4?^)?lzo? N?)M,IÐif;jchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.577496z~@zB@zҀٱz@  AHRS rotation from veh to nav: [[-0.493873,0.851588,0.175751],[-0.869083,-0.489940,-0.068220],[0.028012,-0.186434,0.982068]]zH߿4@?? `+[߿v`$? ǿm?iz~@Iz];zCB '>B B rIB BB  =B B DB m;B P+E!Y%By%pII))-9"?Y"?=FyHE E>Q 5`5?:?Q 9`5a)VBYF?Q E:y Q I@DI>;i ;D?`5yɮA iij?AJi~sARi~sAji6|@b}',@sQd/@R6?xtѿm~S?ZiÐbif;j2+T$UbC%F<@ZD'ip_忚#1[xk?2i*:i""iBᝊ?*i^gyBioBiꝊ?i\?{ioBikAiuN}@ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503647 s, deltaX: -0.500000 m, approachRate: -0.992759 m/s, rangeRepo size: 4  Added new target pos. range: 15.218428 m, bearing: 226.288291 deg, lat: 36.779364 deg, lon: -121.859698 deg, deltaT: 0.503647 s, deltaX: -0.497141 m, approachRate: -0.987082 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.22 m.bhRhZh)= ProNav: ac range: 15.218428 m, nav range: 14.688076 m, bearing: 226.771746 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 236.833640 deg, new cmd heading: 236.372248 deg. Bh9=HeadingCmd: 4.125474 target range: 15.218428 and range: 15.30 m.hE@hA*hA"hA hAgAfAfIfmBdidqdqjdu.@Zdu?Bɢ)E ) ii)MbIIiMػiU UHiachecking for new query: numPingsReceived=76, elapsed TxPingTime=37.805725@  @ @ @ i ԑ D zD E  E E 'E "E L;*E 1:VE '4ZE BE ܡ9@ t;?>)@It;?/ֶ? Re"?'? O?O ?")UFL.IU:iUt;?QQFchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.114510,U0?AZ{|9XY^eA``E~@E>@ESٱEDB uAHRS rotation from veh to nav: [[-0.494287,0.850983,0.177506],[-0.868837,-0.490267,-0.068993],[0.028313,-0.188326,0.981698]]EH g߿@@;? ? `߿`,?ȿj?iE~@IEq];ECY By-IԉbDEVDE:2yGO=%(=ٔG%Q->9 ?Y ?=FyHE킺E>Q 5`5*?Q 9`5'g)jBYyQ I@DI:i:{C`5yoBɮ A~EiQiU?AJiUqARiUqAjiU|@bUhE؀,@xf& &t@RUS*?$8trѿ &K{?ZiU:biUt;?jUo+;$U։ %iޗ@ZU^Shk6C;<7ޖ?2iUP(:iU!"iUo֝?*iUI{BiUBiUBᝊ?iUI{iQiUhAiU}@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503975 s, deltaX: -0.100000 m, approachRate: -0.198423 m/s, rangeRepo size: 4 U Added new target pos. range: 15.118960 m, bearing: 226.121744 deg, lat: 36.779363 deg, lon: -121.859698 deg, deltaT: 0.503975 s, deltaX: -0.099467 m, approachRate: -0.197365 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 15.12 m.bhRhZhԹ ProNav: ac range: 15.118960 m, nav range: 14.501635 m, bearing: 226.502974 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 236.372247 deg, new cmd heading: 235.947821 deg. BhHeadingCmd: 4.118066 target range: 15.118960 and range: 15.20 m.h3ǃ@h*h"h hgfffdddjd`ff.@Zd{?}checking for new query: numPingsReceived=77, elapsed TxPingTime=38.309525BɢX) Ri)5ih׻iN [K< =I 3ǃ@IQ5 @@9  @9 @E O1@A bEjE˨,4rEJ0E  E E (E "E P;*E u:VE c44ZE a @a @a @a @ ^AM i=5DDAT read: Rx Time:05:24:55.5868 5TRx dataTimestamp_ set to:1761542696.921020EPDAT read: Bearing 32.0, -16.2 (Local) E~Local bearing/azimuth received: Bearing 32.0, -16.2 (Local) UDAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.8 uDAT read: 05:24:55.5868 LVL= 32752, 32753, 22674, 32755, AGC= 55, IDX= 501,-0.05, 2.557, 1.216,-3.000, 2.663, PHS=-0.004,-1.401, 0.576, RAW= 166.6, 9.4, CAL= 166.4, 10.2, ROT= 343.6, -10.2 Ygot valid direction response: 05:24:55.5868 LVL= 32752, 32753, 22674, 32755, AGC= 55, IDX= 501,-0.05, 2.557, 1.216,-3.000, 2.663, PHS=-0.004,-1.401, 0.576, RAW= 166.6, 9.4, CAL= 166.4, 10.2, ROT= 343.6, -10.2 T#Rx 78: Read range and direction messages.^direction in FSK: [0.944153,-0.277879,0.177085]Fpublishing direction and range infoy15q6?ѿki?Y53kA1115X 1)57I5oi5S5t?5:@5'>1 5K6>)1I5K6115|)? `na?/7? 5P?)5(I1i5K611checking for new query: numPingsReceived=78, elapsed TxPingTime=38.581726AA؟AIIO?D",>?AAAB/>BCBIBƁBB =BBDBDBDm;Bn+EYByI ԁiMb@Mb@Mb@ 9/$?jtĿI +?Y ?y 94=Av@  A)Yp AbDVD 8y؛=%=ٔQ- >9 "?Y "?= Fy HEE>9Q 5e`5=?Q 9m`5=l)=BYm?Q Em:ymbQ Im@=ȥDI=:i=:=%H`5yqɮ}eAyii:?AJiiARiiAji'z|@b\c޾S+@t%@H@Rq6?ѿki?ZibiK6jM_YƤ#\${ @ZVK~!JHX/?2i":i&"i]ݝ?*iuҔxBi'Bi]ݝ?i6\zii cAig|@ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504291 s, deltaX: -0.500000 m, approachRate: -0.991491 m/s, rangeRepo size: 4  Added new target pos. range: 14.621922 m, bearing: 226.029300 deg, lat: 36.779363 deg, lon: -121.859698 deg, deltaT: 0.504291 s, deltaX: -0.497039 m, approachRate: -0.985619 m/s, posRepo size: 4 jh=DNOT Ignoring new targets: 14.62 m.bh9RhAZhAU ProNav: ac range: 14.621922 m, nav range: 14.195361 m, bearing: 226.219019 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 235.947819 deg, new cmd heading: 235.529469 deg. BhQ}HeadingCmd: 4.110765 target range: 14.621922 and range: 14.70 m.h}b@hy*hy"hy hygyfffVBdddjd`ff-@Zd3?BɢΉ) f+i)P{i`׻i  ;N< =I b@I1Աchecking for new query: numPingsReceived=78, elapsed TxPingTime=38.814026?@ @@/@D =D <E  E E E "E ,K;*E :VE ZE BE KWѿP@ml?Y ffA W ) I B`ei T㵿 ? F9@ ¸2> F9@ D>) S@I D VF?Fy?>iV ? O?) u1I zi D %checking for new query: numPingsReceived=79, elapsed TxPingTime=39.081394O5>",cG\?A2z~@27@2ٱ2C jAHRS rotation from veh to nav: [[-0.494995,0.850261,0.178986],[-0.868410,-0.490994,-0.069195],[0.029048,-0.189684,0.981415]]2H ߿@W5??tl߿ा?Gȿ`g?i2z~@I2G^;2C Y-āBy5IbDVDNy<%B=ٔQ->9Y=FyHEE>Q 5`5 ?Q 9`5=q)BYymQ I@ХDI-:i:K`5ye~BɮeAeEii.[?AJi-eARi-eAji>|@bɛv*@2&1L@R`6C&?Fh>WѿP@ml?Zizbi Dj$/#M&#إDM@Zꖚ!SƝFѻ?2i:i"i|杊?*itwBiiBii^gyiiBi^Ai|@ addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503721 s, deltaX: -0.300000 m, approachRate: -0.595568 m/s, rangeRepo size: 4 % Added new target pos. range: 14.323515 m, bearing: 226.246440 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.503721 s, deltaX: -0.298407 m, approachRate: -0.592405 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 14.32 m.bh)Rh1Zh1e ProNav: ac range: 14.323515 m, nav range: 13.931083 m, bearing: 226.130578 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 235.529457 deg, new cmd heading: 235.171133 deg. BhamHeadingCmd: 4.104511 target range: 14.323515 and range: 14.40 m.hm'X@hi*hi"hi higqfqffdddjd,@Zd@V?Bɢ9) (*i)i@ֻifo LP<%U=I%'X@I!1@ @@@^A=AzAgA-checking for new query: numPingsReceived=79, elapsed TxPingTime=39.318123aA I9 Ia O >ԉ ݜ",(u?AɰE6 E6E4E4"E6y>;*E6:VE4ZE4a:@a:@a:@a:@>k~@>0@>c*ٱ>C FAHRS rotation from veh to nav: [[-0.495748,0.849752,0.179321],[-0.867980,-0.491704,-0.069555],[0.029069,-0.190129,0.981329]]>HU߿*1?`?}x߿Vα9ĝ?$Vȿ` g?i>k~@I>C.^;>CY ByIyiMb@Mb@Mb@ 9v/?/$ƿ+?Yx ?y&1=AI@ rA)AY AbDVDy+м%H=ٔ[Q->9Y=FyHE E>Q 5`5?Q 9 `5Pu)BY ?Q E :y Q I @ץDI:ij:\O`5yɮA=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 14.32 m.bhIRhM ;ZhM ;DDAT read: Rx Time:05:24:56.5863 TRx dataTimestamp_ set to:1761542697.928550PDAT read: Bearing 31.4, -15.6 (Local) ~Local bearing/azimuth received: Bearing 31.4, -15.6 (Local) DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 DAT read: 05:24:56.5863 LVL= 32752, 32753, 22786, 32755, AGC= 55, IDX= 496, 0.22, 3.072, 1.697,-2.494,-3.125, PHS= 0.016,-1.416, 0.587, RAW= 166.1, 9.1, CAL= 165.9, 9.8, ROT= 344.1, -9.8 Ygot valid direction response: 05:24:56.5863 LVL= 32752, 32753, 22786, 32755, AGC= 55, IDX= 496, 0.22, 3.072, 1.697,-2.494,-3.125, PHS= 0.016,-1.416, 0.587, RAW= 166.1, 9.1, CAL= 165.9, 9.8, ROT= 344.1, -9.8 T#Rx 80: Read range and direction messages.^direction in FSK: [0.947708,-0.269961,0.170209]Fpublishing direction and range infoyĞS?, Gѿrl?Y`AY )IoO9@ %/>).@I%/_"?(?S? M?)I#Iji%/checking for new query: numPingsReceived=80, elapsed TxPingTime=39.584843] ProNav: ac range: 14.323515 m, nav range: 13.705847 m, bearing: 226.175975 deg, approach rate: -0.593243 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.171145 deg, new cmd heading: 235.309575 deg. Bh]Ѧ;eHeadingCmd: 4.106927 target range: 14.323515 and range: 14.40 m.hek@ha*ha"ha hagafiffIBdddjd,@Zd5?Bɢ")ԡ 7i)֨顱iVֻiG e-S<Y=Ik@IBM;>BMCBMIBMځBBM =BIBMDBM$m;BMe+EB CB CB ŔCB =B =C  6A@A @A@A@AU checking for new query: numPingsReceived=80, elapsed TxPingTime=39.821995^Aa  I I O >",H?AJ&7~@Je@JMxٱJJ RAHRS rotation from veh to nav: [[-0.498527,0.846888,0.185072],[-0.866360,-0.494093,-0.072743],[0.029838,-0.196603,0.980029]]JH߿?p?`99߿A`?K*ɿe\?iJ&7~@IJ1$^;HYnBynIIv=)tbDzVDzkyHg<%M=ٔ `Q- >9 Y =FyHEE>!Q 5-`5x?Q 9-`5Qy)BY)y-Q I-@ޥDI+;i,;R`5y=|Bɮ=A=Eii]m{?AJi^ARi^Aji8|@b&+h Ee*@\P6myu@RĞS?, Gѿrl?Zijbi%/j0.47"xUns#RҼ @Z>͝{;mf?2i:i1"il1ݝ?*iJzyBiBil1ݝ?iiiWAi~|@ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503809 s, deltaX: -0.400000 m, approachRate: -0.793951 m/s, rangeRepo size: 4  Added new target pos. range: 13.926018 m, bearing: 226.274335 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.503809 s, deltaX: -0.397497 m, approachRate: -0.788984 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.93 m.bhRhZh ProNav: ac range: 13.926018 m, nav range: 13.481153 m, bearing: 226.236816 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.309579 deg, new cmd heading: 235.456063 deg. BhHeadingCmd: 4.109484 target range: 13.926018 and range: 14.00 m.h䀃@h*h"h hgfffdddjdZd?Bɢ ) |3i)S⩼  i ջi   T<6S=I䀃@IE EE%E"E8;*E:VE 4ZEBE׏ Q>)IQwx? (xO?N| A? L?);IiQ}checking for new query: numPingsReceived=81, elapsed TxPingTime=40.090569y^AT=I I O >Թ >",?A>checking for new query: numPingsReceived=81, elapsed TxPingTime=40.327545Z~@Z_@Z[,ٱZM AHRS rotation from veh to nav: [[-0.500003,0.845446,0.187666],[-0.865494,-0.495403,-0.074139],[0.030290,-0.199493,0.979431]]ZH ?m?@ @߿`T?ɿW?iZ~@IZ9Y=FyHE-i_E->1Q 5=`55'ޠ?Q 9=`553~)5ϹBY=?Q E=:y= Q IE@5DI5C:i5:59W`5yIɮMAIiAiE ?AJiE[ARiE[AjiE}@bE}u)@2zF u (#D@REm"?{H+ѿ ?ZiAbiEQjE"J{@$##0@ZErIJdRO R?2iE":iE"iEZ 㝊?*iE yBiEvBiAiEJzyiAiEmSAiEH|@ addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504314 s, deltaX: -0.200000 m, approachRate: -0.396578 m/s, rangeRepo size: 4   Added new target pos. range: 13.727076 m, bearing: 226.586899 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.504314 s, deltaX: -0.198942 m, approachRate: -0.394481 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.73 m.bhRhZhE EE&E"E*E:VE4ZEa@a@a@a@ ProNav: ac range: 13.727076 m, nav range: 13.214245 m, bearing: 226.361978 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.456073 deg, new cmd heading: 235.643251 deg. Bh!-HeadingCmd: 4.112751 target range: 13.727076 and range: 13.80 m.h-@h)*h)"h) h)g)f1f1f5fBd1d9dyjd}+@Zd?颭Bɢ) 5i)|iջig %W<%-=I%@I!%DDAT read: Rx Time:05:24:57.5860 -TRx dataTimestamp_ set to:1761542698.937563=PDAT read: Bearing 32.1, -15.6 (Local) =~Local bearing/azimuth received: Bearing 32.1, -15.6 (Local) UDAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 DAT read: 05:24:57.5860 LVL= 32752, 32753, 23586, 32755, AGC= 56, IDX= 509,-0.22, 1.149,-0.213, 1.853, 1.256, PHS=-0.005,-1.425, 0.553, RAW= 165.9, 10.0, CAL= 165.8, 10.9, ROT= 344.2, -10.9 Ygot valid direction response: 05:24:57.5860 LVL= 32752, 32753, 23586, 32755, AGC= 56, IDX= 509,-0.22, 1.149,-0.213, 1.853, 1.256, PHS=-0.005,-1.425, 0.553, RAW= 165.9, 10.0, CAL= 165.8, 10.9, ROT= 344.2, -10.9 T#Rx 82: Read range and direction messages.^direction in FSK: [0.944858,-0.267368,0.189095]Fpublishing direction and range infoy!%9ӡG%L39@ %B>)%<@I%B!!%^?Y: ?J1_!? %8L?)%1I%0i%B!!5 checking for new query: numPingsReceived=82, elapsed TxPingTime=40.613670I @I  @Q @U /@Q B <A <B G>B CB IB BB =B B DB l;B #+E ^Am X=Au ?Aq I I O >",5Ȋ?A ,F<}@F@F ٱFO NAHRS rotation from veh to nav: [[-0.502042,0.843781,0.189704],[-0.864284,-0.497384,-0.074983],[0.031087,-0.201603,0.978974]]FH@?8H?@7!߿@23՟?ɿ@S?iF<}@IF'^;FCYVByZIbDbVDb0yj%je=ٔj Q-j>9lYl=nFynHEre޻Er>tQ 5v`5vҠ?Q 9z`5v)v߹BYxyz/Q I~@vDIvr;iv;vGZ`5yɮAii?AJiVARiVAji|@b `)@7S rFM7P@R9ӡGEU EUEU'EQ"EUI@;*EU:VEU'4ZEQBEU 8@ 4QO>) v@I 4QO 3b3-?ȷjkk?P9? J?) *:I i 4QO - checking for new query: numPingsReceived=83, elapsed TxPingTime=41.102654!",?A2}@2ޅ@2/Vٱ2 P :AHRS rotation from veh to nav: [[-0.504363,0.842305,0.190104],[-0.862896,-0.499823,-0.074746],[0.032059,-0.201740,0.978914]]2H#`*?UU?ٜ ߿" j?ɿ@DS?i2}@I2+C^;2C\YbBybI ddbDjVDjNy $% G=ٔ Q- >9Y=FyHE>ػE=>AQ 5M`5Eà?Q 9M`5E)EBYIyM\Q IM@EDIEF:iE:E]`5y}yBɮ}A}Eiihu܊?AJiRARiRAjisW}@bh#(@/VS qBH@Rկю8?cկпo?Zibi4QOj&QB!-ώa"_^ @Zu a忮]ey24?2i :i "i$읊?*i}SwBiBiZ 㝊?ixiBiDKAi>}@ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.507103 s, deltaX: -0.300000 m, approachRate: -0.591596 m/s, rangeRepo size: 4 ] Added new target pos. range: 13.130607 m, bearing: 226.803197 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.507103 s, deltaX: -0.298423 m, approachRate: -0.588486 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 13.13 m.bhRhZh ProNav: ac range: 13.130607 m, nav range: 12.704307 m, bearing: 226.522701 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.766437 deg, new cmd heading: 235.920649 deg. BhHeadingCmd: 4.117592 target range: 13.130607 and range: 13.20 m.hQÃ@h *h"h hg!f!fQfYdadadjd`ff*@Zd4? checking for new query: numPingsReceived=83, elapsed TxPingTime=41.337646 Bɢ )A ENMiI)M|IQiUB6ջi] ]][9",ʧ?A28}@2…@2ٱ2Q :AHRS rotation from veh to nav: [[-0.507270,0.840280,0.191329],[-0.861138,-0.502853,-0.074703],[0.033439,-0.202655,0.978679]]2H; ?@y}? q^?ɿVQ?BDDAT read: Rx Time:05:24:58.5855 FTRx dataTimestamp_ set to:1761542699.948841JPDAT read: Bearing 33.2, -14.7 (Local) J~Local bearing/azimuth received: Bearing 33.2, -14.7 (Local) RDAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 fDAT read: 05:24:58.5855 LVL= 32752, 32753, 24738, 32755, AGC= 55, IDX= 505, 0.24,-2.960, 1.944,-2.298,-2.844, PHS=-0.014,-1.450, 0.502, RAW= 164.8, 11.0, CAL= 164.9, 12.3, ROT= 345.1, -12.3 jYgot valid direction response: 05:24:58.5855 LVL= 32752, 32753, 24738, 32755, AGC= 55, IDX= 505, 0.24,-2.960, 1.944,-2.298,-2.844, PHS=-0.014,-1.450, 0.502, RAW= 164.8, 11.0, CAL= 164.9, 12.3, ROT= 345.1, -12.3 jT#Rx 84: Read range and direction messages.n^direction in FSK: [0.944194,-0.251230,0.213030]rFpublishing direction and range infoy@BwHJ6?&n(пAzUmD?YBLA@@@B` @)@IBB`eiBB?BX8@B D>B18@ B[>)B~@IB[@@B{7MxL?`{zX ??4d? BH?)BZDIB%iB[@@~checking for new query: numPingsReceived=84, elapsed TxPingTime=41.6054801i28}@I2"^;2CYByIB9>BCBIB߁BB =BBDB4l;B*EiMb@Mb@Mb@ 9v/?MbX9Ŀ/$?Yx ?y!<1A3@ )AYAbDVDk1y%&=ٔ7Q->9Y=FyIE E >Q 5`5?Q 9`5)BYf?Q E:y&Q IE@DIl;iJ;4b`5yIɮMHAIai@iBй?AJiBKARiBKAjiB}@bB8%/`0 (@H z@RBwHJ6?&n(пAzUmD?ZiB%biB[jB'4҈ W@C!bDq @ZBlZ俷116|HS?2iB%:iBF"iB6l?*iBZ?uBiBBi@i@i@iBFAiBu}@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504175 s, deltaX: -0.400000 m, approachRate: -0.793375 m/s, rangeRepo size: 4  Added new target pos. range: 12.732405 m, bearing: 227.260060 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.504175 s, deltaX: -0.398202 m, approachRate: -0.789809 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.73 m.bhRhZh  ProNav: ac range: 12.732405 m, nav range: 12.430699 m, bearing: 226.582905 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.920663 deg, new cmd heading: 236.100689 deg. BhHeadingCmd: 4.120734 target range: 12.732405 and range: 12.80 m.h݃@hY*hY"hY hYgYfYfafe5Bdadadijdm)@Zdm`?!BɢT) Fci){iԻi%e %]<%Ųv=I-݃@I)ԑ@ @@?0@Echecking for new query: numPingsReceived=84, elapsed TxPingTime=41.843197^Aff=I I O > ",%v?Aɰ2|U}@2@2!{ ٱ2lUQ :AHRS rotation from veh to nav: [[-0.510335,0.838312,0.191811],[-0.859282,-0.506035,-0.074589],[0.034534,-0.202885,0.978593]]2H`Tr?F?<o1C}?&ɿP?i2|U}@I2^;2CYNByNzIbDZVDZyX0% =ٔ fQ- ?9Y=FyIE?EE EEEE(EA"EE>T;*EE:VEEc44ZEABEE!'7@A>7@ PwV>)@IPwV{'^?.p?} i? rG?)@IJ\iPwV5checking for new query: numPingsReceived=85, elapsed TxPingTime=42.113583U#BɢU )Y ]siY)]YYi]oԻi? <^<]b=I@I9@9 @9@=4@A1^Am _=U checking for new query: numPingsReceived=85, elapsed TxPingTime=42.346863a Iq I O >.",j0?AYmByutIIy)}}=}a=ԩiMb@Mb@Mb@ 9@5^I ?L7A`~jt?Yb?y+D<A@ )YQAbDVDy%%%2=ٔ}Q-}>9Y=Fy IEE>Q 5`5 ?Q 9`5В)BYQ?Q E:yQ I@ DIi:i:h`5yBɮ AEiAiE?AJiEHARiEHAjiE}@bE`7q'@-Aj@RE_F?oϿhٜ?ZiEJ\biEPwVjE Q !! 3߹ @ZEjJY j !~c}U?2iE :iE"iEm靊?*iEzBiE҈BiEm靊?iAiAiE?AiEo}@ addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503973 s, deltaX: -0.200000 m, approachRate: -0.396846 m/s, rangeRepo size: 4   Added new target pos. range: 12.533461 m, bearing: 227.193236 deg, lat: 36.779364 deg, lon: -121.859697 deg, deltaT: 0.503973 s, deltaX: -0.198944 m, approachRate: -0.394751 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 12.53 m.bhRhZh% ProNav: ac range: 12.533461 m, nav range: 11.939548 m, bearing: 226.887879 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.232474 deg, new cmd heading: 236.421940 deg. Bh!-HeadingCmd: 4.126341 target range: 12.533461 and range: 12.60 m.h- @h)*h1"h1 h1g1f1f9f=Bd9d9d9jdE@33)@ZdEA?u$Bɢu\,")q uЀiq)}yyi}ӻi d_<aZ=I @IEM EMEIEI"EMa?;*EMg:VEIZEIaU@aU@a]@a]@@ @@/@DDAT read: Rx Time:05:24:59.5851 %TRx dataTimestamp_ set to:1761542700.956815-PDAT read: Bearing 33.4, -14.1 (Local) 5~Local bearing/azimuth received: Bearing 33.4, -14.1 (Local) EDAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 eDAT read: 05:24:59.5851 LVL= 32752, 32753, 27474, 32755, AGC= 55, IDX= 501,-0.13, 0.675,-0.699, 1.306, 0.793, PHS=-0.015,-1.447, 0.469, RAW= 164.1, 11.5, CAL= 164.2, 13.0, ROT= 345.8, -13.0 mYgot valid direction response: 05:24:59.5851 LVL= 32752, 32753, 27474, 32755, AGC= 55, IDX= 501,-0.13, 0.675,-0.699, 1.306, 0.793, PHS=-0.015,-1.447, 0.469, RAW= 164.1, 11.5, CAL= 164.2, 13.0, ROT= 345.8, -13.0 uT#Rx 86: Read range and direction messages.}^direction in FSK: [0.944598,-0.239020,0.224951]}Fpublishing direction and range infoy!%ɏ&:?xz7ο:/2?Y%DA!!!%Rk !)%7I%ui%L7% >%-M7@%M>%i7@ %Vh>)%!@I%Vh!!%r?X{0?!? %D?)%MI%}i%Vh!!checking for new query: numPingsReceived=86, elapsed TxPingTime=42.613693^An=II!O5q> BM>>BIBMIBMЁBBM =BIBIBMk;BM*E1 m",/J?A2|@2ZZ@2ٱ2Q :AHRS rotation from veh to nav: [[-0.518131,0.833291,0.192787],[-0.854442,-0.514393,-0.072999],[0.038339,-0.202548,0.978522]]2HQ?9aYa=eFye IEm%ͼEu>checking for new query: numPingsReceived=86, elapsed TxPingTime=42.850155Q 5`5v?Q 9`5)(BYyQ I@DI5 36@5 4QO>5 c6@ 5 k>)5 Z@I5 k1 1 5 "q?ϙ?;r ? 5 B?)5 OI5 vi5 k1 1  checking for new query: numPingsReceived=87, elapsed TxPingTime=43.119823ԙ ^A Ba=I I O >",F d?A2`|@2*@2#ٱ2,P :AHRS rotation from veh to nav: [[-0.523042,0.830276,0.192532],[-0.851368,-0.519561,-0.072310],[0.039995,-0.201736,0.978623]]2H ü@??g>`?傲4z?~ɿP?i2`|@I2@^;2CYBByFeIbDNVDN0yv;G%vQ=ٔvZQ-v>9xYx=zFyzIEzVtE~>!Q 5-`5%\?Q 9-`5%)%4BY)y-Q I-@%DI%:i%:%o`5y9ɮ=SA9iiim{]?AJim+BARim+BAjim\~@bm}m&@܄ɋ[+@RmVA?6㼹Ϳ :?ZimvbimkjmUJQ;̵_!$< @Zmb3M3rl濤9:s?2im:im"imhk흊?*imN$zBimBimhk흊?imWximBim7Aim}@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503852 s, deltaX: -0.100000 m, approachRate: -0.198472 m/s, rangeRepo size: 4  Added new target pos. range: 12.135585 m, bearing: 227.446344 deg, lat: 36.779365 deg, lon: -121.859697 deg, deltaT: 0.503852 s, deltaX: -0.099472 m, approachRate: -0.197423 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 12.14 m.bh RhZhy ProNav: ac range: 12.135585 m, nav range: 11.477174 m, bearing: 227.134245 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.600594 deg, new cmd heading: 236.745602 deg. BhHeadingCmd: 4.131990 target range: 12.135585 and range: 12.20 m.hD9@h*h"h hqgqfyffddd!jdu`ff(@Zd}?checking for new query: numPingsReceived=87, elapsed TxPingTime=43.357479ԡ颥(Bɢ#) Vi)˶顩i]ӻi. a<=ID9@I @  @ @ 0@ bEu!4jEu!4rEuQ/Em  Em Em &Ei "Em 8;*Em :VEm 4ZEi a} @a} @a} @a} @^A 3=I I O > E DDAT read: Rx Time:05:25:00.5847 E TRx dataTimestamp_ set to:1761542701.964692U PDAT read: Bearing 33.5, -13.3 (Local) U ~Local bearing/azimuth received: Bearing 33.5, -13.3 (Local) ",T}?ADAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5 >DAT read: 05:25:00.5847 LVL= 32752, 32753, 28642, 32755, AGC= 54, IDX= 497, 0.16, 2.640, 1.238,-3.038, 2.751, PHS=-0.010,-1.469, 0.450, RAW= 163.3, 11.8, CAL= 163.5, 13.5, ROT= 346.5, -13.5 J|@J@RYgot valid direction response: 05:25:00.5847 LVL= 32752, 32753, 28642, 32755, AGC= 54, IDX= 497, 0.16, 2.640, 1.238,-3.038, 2.751, PHS=-0.010,-1.469, 0.450, RAW= 163.3, 11.8, CAL= 163.5, 13.5, ROT= 346.5, -13.5 VT#Rx 88: Read range and direction messages.Z^direction in FSK: [0.945503,-0.226995,0.233445]ZFpublishing direction and range infoyqunA?U-Ϳ%E?Yu3;Aqqquo q)qIu #iu1uff>uih6@uBR>u6@ u:Fq>)u@Iu:FqqquY]?">;w?/p|C? uVA?)uSIu4Fqiu:Fqqqfchecking for new query: numPingsReceived=88, elapsed TxPingTime=43.634605J)ٱJTP AHRS rotation from veh to nav: [[-0.527914,0.827029,0.193212],[-0.848296,-0.524514,-0.072660],[0.041250,-0.202259,0.978463]]JH w? (?@=%`ԙ?@ɿO?iJ|@IJ#^;JCBB>BCBIBƁBB =BBDBk;B*EYBy\I AiMb@Mb@Mb@ 9㥛 ?Zd;OMbP?Y?yj:|A@ rA)AYAbDVDy޼%!=ٔ!Q-%>9!Y!=%Fy%IEM8EM>QQ 5]`5Un?Q 9]`5U)U?BY]Y?Q Ee:yeQ Ie@U#DIU:iUL:Ut`5yBɮsAiqiu}?AJiu6:ARiu6:Ajiu~@bu"+&@l"˴C@RunA?U-Ϳ%E?Ziu4Fqbiu:Fqju)@pJ fIid, @Zu) cfg[z ?2iuW:iu"iuHVz?*iuzVwBiuۈBiu6?iqiqiu2AiuU}@ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504025 s, deltaX: -0.500000 m, approachRate: -0.992014 m/s, rangeRepo size: 4  Added new target pos. range: 11.638383 m, bearing: 227.483537 deg, lat: 36.779365 deg, lon: -121.859697 deg, deltaT: 0.504025 s, deltaX: -0.497202 m, approachRate: -0.986463 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 11.64 m.bhRhZh ProNav: ac range: 11.638383 m, nav range: 11.130744 m, bearing: 227.334339 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.745613 deg, new cmd heading: 236.959234 deg. BhHeadingCmd: 4.135719 target range: 11.638383 and range: 11.70 m.hW@h*h"h hgfffBd d d jd `ff'@Zd ?m)BDDAT read: Rx Time:05:25:01.0846 TRx dataTimestamp_ set to:1761542702.219536checking for new query: numPingsReceived=88, elapsed TxPingTime=43.863667ɢu7h2) i)빸!!i-ӻi}p !+b<M4@M}>M4@ MV>)Mmj@IMVIIMٛK=W?'36l?zW^? M8?)M~IMTiMVIIchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.130772A1I9IIO]?",j?A(Y)y-[IbDEVDEymX%%m=ٔuQ-u>9qYq=uFy}IE}E}>Q 5`5b^?Q 9`5)KBYyQ I@,DID;i;x`5yɮyAiiim靋?AJim8ARim8AjimP@bmW%@4i= DL_ @Rm r?UGKɿWԷH?ZimTbimVjmr #.#q HC}C@Zm?V)MAryXς?2im:im"im?*imTBimԉBiiimziiimD.Aim}4~@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.502695 s, deltaX: -0.099999 m, approachRate: -0.198927 m/s, rangeRepo size: 4  Added new target pos. range: 11.538910 m, bearing: 229.748738 deg, lat: 36.779365 deg, lon: -121.859698 deg, deltaT: 0.502695 s, deltaX: -0.099473 m, approachRate: -0.197879 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 11.54 m.bhRh Zh  ProNav: ac range: 11.538910 m, nav range: 10.891747 m, bearing: 227.576178 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.959234 deg, new cmd heading: 237.167979 deg. Bh%HeadingCmd: 4.139362 target range: 11.538910 and range: 11.60 m.h%u@h!*h!"h! h!g)f)f)f)d1d1d1jd5@33'@Zd5`=?颅*Bɢ/) i)꺼顉i1cӻid4 Mb< E}  E} E} +Ey "E} ;;*E} :VE} [4ZEy a @a @a @a @m DAT read: 05:25:01.5844 LVL= 32752, 32753, 29522, 32755, AGC= 53, IDX= 510,-0.48, 1.269,-0.140, 1.839, 1.373, PHS=-0.002,-1.468, 0.423, RAW= 162.3, 12.2, CAL= 162.6, 13.8, ROT= 347.4, -13.8 u Ygot valid direction response: 05:25:01.5844 LVL= 32752, 32753, 29522, 32755, AGC= 53, IDX= 510,-0.48, 1.269,-0.140, 1.839, 1.373, PHS=-0.002,-1.468, 0.423, RAW= 162.3, 12.2, CAL= 162.6, 13.8, ROT= 347.4, -13.8 u Z#Rx 91: Read direction message, but no range.} ^direction in FSK: [0.947746,-0.211846,0.238533]yI M 1S?Ǘ4˿iC?I I I M Rs I )I IM oiM m绿M u>M uJ5@M ^ Z>M >5@ M Ϣv>)M W@IM ϢvI M 5k?o;w??۔? M _M=?)M DYIM t0aiM Ϣv checking for new query: numPingsReceived=91, elapsed TxPingTime=44.622807\",ھ?A4YBy]IB>>BBIBBB =BBBk;B*EBmCBmCBmCBm =Bm =Cm`(6iMb@Mb@Mb@ 9Zd;?Ky&1|?Y?y^`;A@ A)zAYAbD%VD%:y5%;%5:=ٔ9Q-]>9aYa=eFye IEaEm>iQ 5u`5mO?Q 9}`5mt)mVBY?Q E:ytQ I@m5DIm*%Am ? EE  EE EE 'EA "EE 0;*EE :VEE '4ZEA BEE ",1ۋ?AYBygII ) =bDVD0y%M=%-D=ٔ)Q-->9)Y1=5Fy5$IE1E5>eDAT read: 05:25:02.0843 LVL= 32752, 32753, 26978, 32755, AGC= 54, IDX= 509,-0.26, 1.785, 0.370, 2.356, 1.860, PHS= 0.027,-1.444, 0.453, RAW= 162.3, 11.2, CAL= 162.5, 12.5, ROT= 347.5, -12.5 mYgot valid direction response: 05:25:02.0843 LVL= 32752, 32753, 26978, 32755, AGC= 54, IDX= 509,-0.26, 1.785, 0.370, 2.356, 1.860, PHS= 0.027,-1.444, 0.453, RAW= 162.3, 11.2, CAL= 162.5, 12.5, ROT= 347.5, -12.5 uZ#Rx 93: Read direction message, but no range.}^direction in FSK: [0.953154,-0.211309,0.216440]yAEHɲAE+H>E5@ Ef_>)E@IEf_AE@22?b&?G? E@=?)E|GIEf_iEf_checking for new query: numPingsReceived=93, elapsed TxPingTime=45.132236y9Q 5=`5='B?Q 9=`5={)=aBY9yAQ IE@==DI=:i=:=`5yMBɮMAMEiIiM΋?AJiM0ARiM0AjiM~@bMel %@< Z,W[@RMHɲ_",3?AVz@V\=@Vb1ٱVK ^AHRS rotation from veh to nav: [[-0.547427,0.815308,0.188671],[-0.835737,-0.544265,-0.072940],[0.043219,-0.197609,0.979328]]VH@?@c&?Z j/` ??Kɿ@V?iVz@IV:^;TYfByfZIE] E]E])EY"E]4;*E]:VE]FA4ZEYae@ae@ae@ae@imMb@Mb@Mb@iiii i9m ףp= ?p= ףMb?YmQ?ymm9Y=Fy)IEPE>Q 5`53?Q 9`5 )mBYG?Q E:y'Q I@FDIL:i:`5yɮAB*** querying acoustic contact ***i iijhq}DNOT Ignoring new targets: 11.04 m.bhyRh}rTZh}rT ProNav: ac range: 11.041519 m, nav range: 10.161454 m, bearing: 228.245334 deg, approach rate: -0.698322 m/s, LOS rate: -0.185736 deg/s, cmd heading: 237.561028 deg, new cmd heading: 237.344265 deg. BhHeadingCmd: 4.142439 target range: 11.041519 and range: 11.10 m.h܎@h*h"h hgfffǁBdddjdZd ?].Bɢ]ʠ;)Y ]jiY)ezaPDAT read: Bearing 31.6, -11.7 (Local) ~Local bearing/azimuth received: Bearing 31.6, -11.7 (Local) DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.5 DAT read: 05:25:02.5840 LVL= 32752, 32753, 28578, 32755, AGC= 53, IDX= 506,-0.17, 0.420,-0.998, 0.977, 0.487, PHS= 0.035,-1.440, 0.446, RAW= 162.0, 11.2, CAL= 162.1, 12.4, ROT= 347.9, -12.4 Ygot valid direction response: 05:25:02.5840 LVL= 32752, 32753, 28578, 32755, AGC= 53, IDX= 506,-0.17, 0.420,-0.998, 0.977, 0.487, PHS= 0.035,-1.440, 0.446, RAW= 162.0, 11.2, CAL= 162.1, 12.4, ROT= 347.9, -12.4 T#Rx 94: Read range and direction messages.^direction in FSK: [0.954974,-0.204729,0.214735]Fpublishing direction and range infoy_n2%?!"4ʿh`r|?Y3+Ao )5I)\=iQZ>4@D5@ k]>)M@Ik]j5{X?kfju?]? 2y;?)GI@Xik]checking for new query: numPingsReceived=94, elapsed TxPingTime=45.647694ai@һi  c< z;I ܎@I B />B CB IB BB  =B B DB !l;B *Eԙ@ @@@@fA@gA^A <] DDAT read: Rx Time:05:25:03.0838 m TRx dataTimestamp_ set to:1761542704.248592 PDAT read: Bearing 32.2, -12.2 (Local)  ~Local bearing/azimuth received: Bearing 32.2, -12.2 (Local)  DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5  Z#Rx 95: Read range message, but no direction.ya Ye f&Aa Ai I I O >+#,<?Achecking for new query: numPingsReceived=95, elapsed TxPingTime=45.944637YByfIbDVDNyA=%?=ٔQ->9Y=Fy-IEE>Q 5`5!&?Q 9`5C)yBYyQ I@NDI-:i1:`5yBɮAii?AJi%ARi%Aji}@b #@> Yj}l@R_n2%?!"4ʿh`r|?Zi@Xbik]jXE:*@ZEde_VsFy濓r?2i:i"i 7?*iK]{BiBiiiBi~Ai~@)= addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 1.018911 s, deltaX: -0.700001 m, approachRate: -0.687009 m/s, rangeRepo size: 4 M Added new target pos. range: 10.344816 m, bearing: 227.252542 deg, lat: 36.779366 deg, lon: -121.859699 deg, deltaT: 1.018911 s, deltaX: -0.696703 m, approachRate: -0.683772 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 10.34 m.bhQRh]ZhY ProNav: ac range: 10.344816 m, nav range: 9.905914 m, bearing: 228.175610 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 237.344265 deg, new cmd heading: 237.112373 deg. Bh  HeadingCmd: 4.138391 target range: 10.344816 and range: 10.40 m.hm@h*h"h hgfffddd!jdE$@ZdETQ?E EE(E"E%.;*Ed:VEc44ZEBE8-5@BR> g5@ ,m>)"@I,m:$2?]?j? Ա #,-?ADDAT read: Rx Time:05:25:03.5835 TRx dataTimestamp_ set to:1761542704.754400PDAT read: Bearing 30.3, -12.1 (Local) ~Local bearing/azimuth received: Bearing 30.3, -12.1 (Local) DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.5 ="Iz@=c@= *ٱ=xIUDAT read: 05:25:03.5835 LVL= 32752, 32753, 24610, 32755, AGC= 52, IDX= 501,-0.01,-0.281,-1.704, 0.304,-0.223, PHS= 0.044,-1.436, 0.483, RAW= 162.6, 10.5, CAL= 162.6, 11.5, ROT= 347.4, -11.5 ]Ygot valid direction response: 05:25:03.5835 LVL= 32752, 32753, 24610, 32755, AGC= 52, IDX= 501,-0.01,-0.281,-1.704, 0.304,-0.223, PHS= 0.044,-1.436, 0.483, RAW= 162.6, 10.5, CAL= 162.6, 11.5, ROT= 347.4, -11.5 eT#Rx 97: Read range and direction messages. mAHRS rotation from veh to nav: [[-0.550518,0.813923,0.185631],[-0.833784,-0.547158,-0.073634],[0.041637,-0.195313,0.979857]]=H؝` ?@?\RٲmQ?@ɿZ?i="Iz@I=G^;9Y}ByzIԉ^direction in FSK: [0.956325,-0.213764,0.199368]Fpublishing direction and range infoy4au6?SiO\˿i?YfA"` )4IX94=iηK>>5@f;>>5@ M>)W@IM A{B)?M?L:? a>?)>:It0aiMchecking for new query: numPingsReceived=97, elapsed TxPingTime=46.469521iMb@Mb@Mb@ 9`"?ʡE{Gz?Y?yף<|A@ A)YAbDVDyy=% =ٔ~K;Q->9Y=Fy2IEE> Q 5`5 ?Q 95`5 X) BY=+?Q E=:y=Q I=@ XDI ;i ; .`5yAɮEAAiiH0?AJiARiAԱji?|@b"@_fi?R4au6?SiO\˿i?Zit0abiMj""ia@Z3;忪da%>WG?2i:i"iA?*i8bvBiBi~F?iiBiAif~@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.505808 s, deltaX: -0.500000 m, approachRate: -0.988517 m/s, rangeRepo size: 4 % Added new target pos. range: 9.847469 m, bearing: 226.333875 deg, lat: 36.779365 deg, lon: -121.859699 deg, deltaT: 0.505808 s, deltaX: -0.497347 m, approachRate: -0.983272 m/s, posRepo size: 4 jh!-BNOT Ignoring new targets: 9.85 m.bh)-6Short final. Range: 9.90 m.MVTransitioning guidance mode to: SHORT_FINAL:hM@@RhQZhQe ProNav: ac range: 9.847469 m, nav range: 9.659775 m, bearing: 227.751283 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 237.112367 deg, new cmd heading: 236.819432 deg. Bham|HeadingCmd: 4.133279 target range: 9.847469 and range: 9.90 m.hmC@h*h"h hgfffBdddjd#@Zd ?E EE'E"EO6;*E :VE'4ZEa@a@a@a@-0Bɢ-%)1 5i1)5ż11i5:ӻi= =bBa Be IBe BBe =Ba Ba Be )l;Be *E ^A r;AII!9OE?##,*M?A(ɰ*p;DDAT read: Rx Time:05:25:04.0834 TRx dataTimestamp_ set to:1761542705.260972PDAT read: Bearing 31.2, -12.3 (Local) ~Local bearing/azimuth received: Bearing 31.2, -12.3 (Local) ?z@ R@ &ٱ 8E -AHRS rotation from veh to nav: [[-0.551055,0.814446,0.181703],[-0.833475,-0.547814,-0.072239],[0.040705,-0.191252,0.980696]] H@>? B?ԫ@~;פ? zȿa?i ?z@I !^; -DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.5 YMByMIDAT read: 05:25:04.0834 LVL= 32752, 32753, 27042, 32755, AGC= 52, IDX= 500, 0.04, 1.850, 0.418, 2.435, 1.927, PHS= 0.024,-1.464, 0.464, RAW= 162.6, 11.2, CAL= 162.7, 12.5, ROT= 347.3, -12.5 Ygot valid direction response: 05:25:04.0834 LVL= 32752, 32753, 27042, 32755, AGC= 52, IDX= 500, 0.04, 1.850, 0.418, 2.435, 1.927, PHS= 0.024,-1.464, 0.464, RAW= 162.6, 11.2, CAL= 162.7, 12.5, ROT= 347.3, -12.5 T#Rx 98: Read range and direction messages.^direction in FSK: [0.952410,-0.214635,0.216440] Fpublishing direction and range infoyVi%z?v*y˿K?YAi )I+H>ּ5@ f_>bDVDyEY:=%E7=ٔM ;Q-M>9IYQ=UFyU7IEUŵEU>) @If_Ai?ī=?=:? ;>?)[GIbif_echecking for new query: numPingsReceived=98, elapsed TxPingTime=46.958027Q 5`5?Q 9`5)BYyQ I@`DI:i:8`5yBɮAEiiijP?AJiARiAji|@bDG}"@Sq$%6@RVi%z?v*y˿K?Zibbif_j x>Q7L@Z\C F!q#濹Oj?2i:i"ifQ!蝊?*iaAyBieBi 7?iK]{iBi Ai}@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.506572 s, deltaX: -0.099999 m, approachRate: -0.197404 m/s, rangeRepo size: 4 u Added new target pos. range: 9.748065 m, bearing: 226.336803 deg, lat: 36.779365 deg, lon: -121.859698 deg, deltaT: 0.506572 s, deltaX: -0.099404 m, approachRate: -0.196229 m/s, posRepo size: 4 jhqbhq}zIgnoring new targets. Set target to previous: 9.75 m. 9.85 m.RhyZhy ProNav: ac range: 9.847469 m, nav range: 9.384641 m, bearing: 227.696811 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 236.819433 deg, new cmd heading: 236.560107 deg. Bh|HeadingCmd: 4.128753 target range: 9.847469 and range: 9.80 m.h@h*h"h hgfffdIdIdIjdU#@ZdU^?颙ɢ{C#) yi)Ǽi5#ӻi: 4b< b^;CYByIYgot valid direction response: 05:25:04.5832 LVL= 32752, 32753, 27122, 32755, AGC= 53, IDX= 497, 0.15, 0.525,-0.902, 1.152, 0.606, PHS= 0.021,-1.463, 0.501, RAW= 163.6, 10.6, CAL= 163.6, 11.8, ROT= 346.4, -11.8 T#Rx 99: Read range and direction messages.^direction in FSK: [0.951421,-0.230173,0.204496]Fpublishing direction and range infoyܒ' r?0PvͿrG,?YAi )5I136@ BR>)\w@IBR m? ?q*̂? B?)=IsiBR]checking for new query: numPingsReceived=99, elapsed TxPingTime=47.494686imMb@Mb@Mb@iiii i9m"~?KX9v?Ym?ym^m9 Y=Fy=IE:E>Q 5m`5?Q 9m`5y)BYm?Q Em:ymQ Im@kDI - 5TbBU CBU IBU ˁBBU =BQ BU DBU l;BQ  ^A5zl<A=>A=>AAIiԡIO?R$#,2?ADDAT read: Rx Time:05:25:05.0831 TRx dataTimestamp_ set to:1761542706.273069PDAT read: Bearing 30.4, -8.9 (Local) "~Local bearing/azimuth received: Bearing 30.4, -8.9 (Local) &DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.5 *\#Rx 100: Read range message, but no direction.yY3A.checking for new query: numPingsReceived=100, elapsed TxPingTime=47.920021@@YuǁByuIbDVDβy=% 2=ٔ Q- >9Y=FyBIEE>!Q 5%`5%䟊?Q 9-`5%)%BY)y)Q I-@%tDI%L;i%;%I`5y=hBɮ= A=EUB*** querying acoustic contact ***iY iYm addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.499320 s, deltaX: -0.100000 m, approachRate: -0.200273 m/s, rangeRepo size: 4 jhibhquzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh}XZh}X ProNav: ac range: 9.847469 m, nav range: 8.781173 m, bearing: 227.653152 deg, approach rate: -0.612563 m/s, LOS rate: -0.047362 deg/s, cmd heading: 236.237665 deg, new cmd heading: 236.175769 deg. Bh|HeadingCmd: 4.122045 target range: 9.847469 and range: 9.20 m.h@h*h"h hgfffdddjd`ff"@Zd_?2BɢK ) Ui)hW˼iGӻi"P !$c<H/ 2@¸2>1@ A>)+@IAA[??21q?? /?)!2I5&iA-checking for new query: numPingsReceived=101, elapsed TxPingTime=48.176559AiIqIO>) .*#,?AYMׁByUIbD VD2yu=%b=ٔQ->9 Y=Fy%EIE1E=>YQ 5`5]؟?Q 9`5]Q =tI)]ɺBYyQ I@]{DI]!-B CB IB BB =B B DB )l;B *E l[?S6ZgϿi?    2]  ) I o 7@  M>) @I M  X3n?-Ms?'& ?  G?) :I i M] checking for new query: numPingsReceived=103, elapsed TxPingTime=48.713291 A I I O>1#,7Ȍ?A6qz@6>@6yEٱ6 + NAHRS rotation from veh to nav: [[-0.547435,0.821405,0.160025],[-0.836011,-0.545345,-0.060698],[0.037411,-0.167011,0.985245]]6HH?{?vs@ '?`ſ ?i6qz@I6^;6CYVByZI\^Ai=Mb@Mb@Mb@9999 99=/$?RQy&1?Y=&?y=½=`<=A=@ =A)=A9Y=AbDUVDUJyp=%6=ٔ;Q->9Y=FyJIEE;E>Q 5`5Hʟ?Q 9`5)غBYY?Q E:yQ I@DI;y;ix;g`5ycBɮAQjhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhUZhU} ProNav: ac range: 9.847469 m, nav range: 8.311491 m, bearing: 227.629925 deg, approach rate: -0.581542 m/s, LOS rate: -0.014134 deg/s, cmd heading: 235.933667 deg, new cmd heading: 235.915322 deg. Bh3|HeadingCmd: 4.117499 target range: 9.847469 and range: 8.90 m.hƒ@h*h"h hgfffBdddDDAT read: Rx Time:05:25:06.0828 TRx dataTimestamp_ set to:1761542707.280798PDAT read: Bearing 30.0, -14.6 (Local) ~Local bearing/azimuth received: Bearing 30.0, -14.6 (Local) DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.5 DAT read: 05:25:06.0828 LVL= 32752, 32753, 23122, 32755, AGC= 53, IDX= 509,-0.35, 0.137,-1.258, 0.825, 0.233, PHS= 0.006,-1.445, 0.548, RAW= 165.2, 10.0, CAL= 165.2, 11.0, ROT= 344.8, -11.0 Ygot valid direction response: 05:25:06.0828 LVL= 32752, 32753, 23122, 32755, AGC= 53, IDX= 509,-0.35, 0.137,-1.258, 0.825, 0.233, PHS= 0.006,-1.445, 0.548, RAW= 165.2, 10.0, CAL= 165.2, 11.0, ROT= 344.8, -11.0 V#Rx 104: Read range and direction messages.^direction in FSK: [0.947286,-0.257372,0.190809]Fpublishing direction and range infoy 1+P?yXxпP@ml?Y3 ARZ )5I;iI ?8@¸2>8@  D>)@I D. /?5a?~Nj?? *J?)2Iԇi Dechecking for new query: numPingsReceived=104, elapsed TxPingTime=48.945553jdaZde?y颹ɢ) i)ͼiӻi ]c<:VE c44ZE BE “M8#,Ƨ?Aɰ;xYByIbD-VD-ܲyE<%E5=ٔEQ-E>9IYI=MFyMNIEUEU>YQ 5e`5]ɻ?Q 9e`5])]BYayaQ Ie@]DI]:i]:]Q`5yqɮuAqi!i%ь?AJi%w ARi%w Aji%y@b%][e @fSDЍk?R% 1+P?yXxпP@ml?Zi%ԇbi% Dj%&m6nq q@Z%_[a濞8忌Z| ?2i%:i%"i%?*i%xBi%Bi%fQ!蝊?i%xi%Bi%x@i%f|@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.498358 s, deltaX: -0.200000 m, approachRate: -0.401318 m/s, rangeRepo size: 4  Added new target pos. range: 8.654154 m, bearing: 223.474712 deg, lat: 36.779364 deg, lon: -121.859697 deg, deltaT: 2.526398 s, deltaX: -1.193316 m, approachRate: -0.472339 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.65 m. 9.85 m.RhZhrT ProNav: ac range: 9.847469 m, nav range: 8.055259 m, bearing: 227.623500 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 235.915335 deg, new cmd heading: 235.692891 deg. Bh|HeadingCmd: 4.113617 target range: 9.847469 and range: 8.70 m.h@h*h"h hgfffddd jd `ff!@Zd @?9ɢ=CC)9 =i9)EɠμAAiEJԻiM5 My[d@  @@/@9%DDAT read: Rx Time:05:25:06.5825 -TRx dataTimestamp_ set to:1761542707.789404PDAT read: Bearing 29.2, -15.5 (Local) ~Local bearing/azimuth received: Bearing 29.2, -15.5 (Local) DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 IDAT read: 05:25:06.5825 LVL= 32752, 32753, 21234, 32755, AGC= 51, IDX= 506,-0.17,-1.271,-2.645,-0.534,-1.168, PHS=-0.001,-1.431, 0.590, RAW= 166.5, 9.4, CAL= 166.4, 10.1, ROT= 343.6, -10.1 Ygot valid direction response: 05:25:06.5825 LVL= 32752, 32753, 21234, 32755, AGC= 51, IDX= 506,-0.17,-1.271,-2.645,-0.534,-1.168, PHS=-0.001,-1.431, 0.590, RAW= 166.5, 9.4, CAL= 166.4, 10.1, ROT= 343.6, -10.1 V#Rx 105: Read range and direction messages.^direction in FSK: [0.944448,-0.277966,0.175367]Fpublishing direction and range infoy!%OJs8?51ѿ:ujr?Y%A!!!%R !)%3I%oi%+%= ?%w9@%'>%9@ %J4>)%@I%J4!!%l.6?y@?'4=? %/O?)%'I%:i%J4!!]checking for new query: numPingsReceived=105, elapsed TxPingTime=49.503529^Aa5E  E E &E "E I@;*E L:VE 4ZE a% @a% @a% @a- @ ?#,zp?A2z@2E@2ٱ2G% :AHRS rotation from veh to nav: [[-0.546707,0.822896,0.154770],[-0.836507,-0.544928,-0.057538],[0.036991,-0.160922,0.986274]]2H~ *U? ?@ pu w?Ŀ?i2z@I2I*^;2CYBByFIechecking for new query: numPingsReceived=105, elapsed TxPingTime=49.677505iiMb@Mb@Mb@ 9K7A`?Pn~jt?Y ?y=A@ EA)AYAbDVDy Z=% ?=ٔ :Q- >B8>BCBIBBBBBDBhl;B+EBCBCBCB =B =C59QYQ=UFyUSIE]C;E]>aQ 5m`5e,?Q 9m`5eV)eBYm5?Q Em:ymQ Iu@eDIe;ie;e"`5y]BɮCAEiYi]?AJi]ARi]Aji]x@b]Vv0@ϴs)\Sf*?R]OJs8?51ѿ:ujr?Zi]:bi]J4j]NBk@Z]0<"KieR+?2i]_:i]"i]I?*i].3sBi]!Bi]W坊?iYi]Bi]f@i]bI|@M addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.508606 s, deltaX: -0.400000 m, approachRate: -0.786463 m/s, rangeRepo size: 4 } Added new target pos. range: 8.256138 m, bearing: 222.098010 deg, lat: 36.779364 deg, lon: -121.859697 deg, deltaT: 3.035004 s, deltaX: -1.591331 m, approachRate: -0.524326 m/s, posRepo size: 4 jhybhyzIgnoring new targets. Set target to previous: 8.26 m. 9.85 m.RhZh ProNav: ac range: 9.847469 m, nav range: 7.813846 m, bearing: 227.729590 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 235.692889 deg, new cmd heading: 235.440427 deg. Bh|HeadingCmd: 4.109210 target range: 9.847469 and range: 8.30 m.h~@h*h"h hgfffBdddjd @Zd+?9ɢE)A EiA)mϼiiim1Իiuf" ue5 AQ:@ 5 t;?>)5 ֭@I5 t;?1 1 5 Bf?9" ?Qw? 5 Q?)5 b.I5 J i5 t;?1 1  checking for new query: numPingsReceived=106, elapsed TxPingTime=49.991249A .AI I O >;F#,$?Afz@fP@fR ٱf<' rAHRS rotation from veh to nav: [[-0.545586,0.823415,0.155960],[-0.837253,-0.543679,-0.058474],[0.036644,-0.162481,0.986031]]fH@pujY?~?e@S¢?*Ŀ?ifz@If];fCY~By~II%=)4= = =bD5VD5k1yE%EP=ٔM9h:Q-M>Q9U ?YU ?=]Fy]WIE]e;E]>aQ 5m`5Eq EqEu(Eq"Eq*EqVEuc44ZEqBEuU=IQ`@Ichecking for new query: numPingsReceived=106, elapsed TxPingTime=50.181496ԁ?@ @@0@^A̅ =ԩA%؟AIAIYOe>  DDAT read: Rx Time:05:25:07.5820  TRx dataTimestamp_ set to:1761542708.796873 PDAT read: Bearing 30.8, -16.4 (Local)  ~Local bearing/azimuth received: Bearing 30.8, -16.4 (Local) eL#,3?A:[z@:U@:|/ٱ:r& BAHRS rotation from veh to nav: [[-0.545106,0.823845,0.155370],[-0.837566,-0.543254,-0.057956],[0.036658,-0.161724,0.986155]]:H@q\?&?@V`VbpĢ?bĿ?i:[z@I:O];:C^DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.5 YzByzIDAT read: 05:25:07.5820 LVL= 32752, 32753, 23586, 32755, AGC= 52, IDX= 501, 0.11,-0.277,-1.656, 0.490,-0.128, PHS=-0.047,-1.483, 0.573, RAW= 167.1, 10.5, CAL= 167.1, 11.8, ROT= 342.9, -11.8 %Ygot valid direction response: 05:25:07.5820 LVL= 32752, 32753, 23586, 32755, AGC= 52, IDX= 501, 0.11,-0.277,-1.656, 0.490,-0.128, PHS=-0.047,-1.483, 0.573, RAW= 167.1, 10.5, CAL= 167.1, 11.8, ROT= 342.9, -11.8 -V#Rx 107: Read range and direction messages.u^direction in FSK: [0.935595,-0.287826,0.204496]uFpublishing direction and range infoy  Y$d?|WkҿrG,?Y @ "\ ) I @i ҽ !? :@ f;> :@ BR>) @I BR zk? ?'#O? jR?) ;I Θi BR ԩchecking for new query: numPingsReceived=107, elapsed TxPingTime=50.512634i=Mb@Mb@Mb@9999 99=HzG?(\¿l?Y== ?y=z===A=@ 9)=dA9Y=zAbD}VD}k2yf=%8=ٔQ->9"?Y"?=Fy[IE:E>Q 5 `5?Q 9 `5)BY s?Q E :y qQ I @DI;i;s`5yɮAi i 2?AJi @Ri @ji w@b L:!e@q-h?R Y$d?|WkҿrG,?Zi Θbi BRj AYXޑnn@Z w%gsK?2i :i ƪ"i H ϝ?*i IM"lBi 8Bi i .3si 8Bi [@i qWx@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504393 s, deltaX: -0.500000 m, approachRate: -0.991291 m/s, rangeRepo size: 4  Added new target pos. range: 7.460366 m, bearing: 221.778373 deg, lat: 36.779360 deg, lon: -121.859694 deg, deltaT: 4.042473 s, deltaX: -2.387104 m, approachRate: -0.590506 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.46 m. 9.85 m.Rh Zh  ProNav: ac range: 9.847469 m, nav range: 7.351253 m, bearing: 228.003278 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 235.228245 deg, new cmd heading: 234.973520 deg. BhE|HeadingCmd: 4.101061 target range: 9.847469 and range: 7.50 m.hE;@hA*hA"hA hAgIfIfIfMBdQdQdQjdU@ZdU ?E EE'E"Ey>;*Er:VE'4ZEa@a@a@a@ɢ)  ǽi ) |Ѽ  i_ջi =f<=6,=I=;@I9@ @@%0@checking for new query: numPingsReceived=107, elapsed TxPingTime=50.685604AABD>BCBIBBB =BBDBYl;B+E ^A =A zA eA1 AI Iy I O >T#,Q?A<>z@>W@>R2ٱ>l# JAHRS rotation from veh to nav: [[-0.544865,0.824431,0.153084],[-0.837711,-0.543224,-0.056104],[0.036905,-0.158809,0.986619]]>H`oa?A?`b1?SĿb?i>z@I>(];>C~DDAT read: Rx Time:05:25:08.0819 TRx dataTimestamp_ set to:1761542709.299546 PDAT read: Bearing 29.3, -16.9 (Local)  ~Local bearing/azimuth received: Bearing 29.3, -16.9 (Local) DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 EDAT read: 05:25:08.0819 LVL= 32752, 32753, 22322, 32755, AGC= 50, IDX= 500, 0.38,-0.210,-1.583, 0.593,-0.074, PHS=-0.034,-1.464, 0.624, RAW= 167.9, 9.5, CAL= 167.8, 10.3, ROT= 342.2, -10.3 MYgot valid direction response: 05:25:08.0819 LVL= 32752, 32753, 22322, 32755, AGC= 50, IDX= 500, 0.38,-0.210,-1.583, 0.593,-0.074, PHS=-0.034,-1.464, 0.624, RAW= 167.9, 9.5, CAL= 167.8, 10.3, ROT= 342.2, -10.3 MV#Rx 108: Read range and direction messages.U^direction in FSK: [0.936786,-0.300769,0.178802]UFpublishing direction and range infoy&? ?ӿ?Y@2W )2IC iZdw?͋;@)>5o;@ X8>)@IX8O"#?!}o?%LVJ? `>V?)q)IiX8uchecking for new query: numPingsReceived=108, elapsed TxPingTime=50.955746ԩYeByeI iibDuVDuܲy<%=ٔ2Q->9Y=FyaIEa:E>Q 5`5}?Q 9`5")0BYyQ I@DIY;i;<`5ydBɮAEii+S?AJi@Ri@jiv@E EE&E"E;;*EL:VE4ZEBE=I?@II ) checking for new query: numPingsReceived=108, elapsed TxPingTime=51.193661@ @@/@ ^A #'=1 I I1Ou?[#,|q?AɰDDAT read: Rx Time:05:25:08.5817 %TRx dataTimestamp_ set to:1761542709.808918EPDAT read: Bearing 29.7, -16.8 (Local) }~Local bearing/azimuth received: Bearing 29.7, -16.8 (Local) DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 z@]V@ ٱ# AHRS rotation from veh to nav: [[-0.545007,0.824370,0.152909],[-0.837609,-0.543417,-0.055762],[0.037125,-0.158469,0.986666]]Hp=a?`? cٌ?HĿ Ē?iz@I];C )   3Ci,I5DAT read: 05:25:08.5817 LVL= 32752, 32753, 28306, 32755, AGC= 48, IDX= 498,-0.36,-2.448, 2.476,-1.657,-2.307, PHS=-0.039,-1.455, 0.606, RAW= 167.8, 9.8, CAL= 167.7, 10.7, ROT= 342.3, -10.7 IiY ],]lF)Ya ekAaaaimkAIm')iii)qIqu#q qy}Ygot valid direction response: 05:25:08.5817 LVL= 32752, 32753, 28306, 32755, AGC= 48, IDX= 498,-0.36,-2.448, 2.476,-1.657,-2.307, PHS=-0.039,-1.455, 0.606, RAW= 167.8, 9.8, CAL= 167.7, 10.7, ROT= 342.3, -10.7 V#Rx 109: Read range and direction messages.^direction in FSK: [0.936097,-0.298747,0.185667]Fpublishing direction and range infoy0*I?zګӿ &K{?Y3@yii) IYYByIn )0Iwiq="?5o;@%/>R;@ t;?>)'-@It;?x -?^?+m? U?)Z.I:+it;?echecking for new query: numPingsReceived=109, elapsed TxPingTime=51.557583iMb@Mb@Mb@ 9Q?SÿS㥛?Y\?y/< A@ 3A)AYbD]VD]02ymi=%m$=ٔQ->9Y=FyfIE)E>Q 5`5k?E EE(E"Ey>;*E:VEc44ZEa@a@a@a@Q 9`5H)CBY?Q E:yQ I @DI{TB B  IB !BB =B B B l;B +E @  @ @ /@ i ^A l;=A A >ԡIIO?d#,?A.DDAT read: Rx Time:05:25:09.0816 .TRx dataTimestamp_ set to:1761542710.3085822PDAT read: Bearing 27.4, -17.7 (Local) 6~Local bearing/azimuth received: Bearing 27.4, -17.7 (Local) >DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 NDAT read: 05:25:09.0816 LVL= 32752, 32753, 26354, 32755, AGC= 48, IDX= 497,-0.10,-1.634,-2.984,-0.784,-1.507, PHS=-0.025,-1.432, 0.679, RAW= 169.1, 8.4, CAL= 168.8, 8.8, ROT= 341.2, -8.8 RYgot valid direction response: 05:25:09.0816 LVL= 32752, 32753, 26354, 32755, AGC= 48, IDX= 497,-0.10,-1.634,-2.984,-0.784,-1.507, PHS=-0.025,-1.432, 0.679, RAW= 169.1, 8.4, CAL= 168.8, 8.8, ROT= 341.2, -8.8 VV#Rx 110: Read range and direction messages.Z^direction in FSK: [0.935506,-0.318472,0.152986]ZFpublishing direction and range infoy,.X:ک?&&6aԿ8C ?Y.@,,,.f ,),I.̼i.K.-?.<@.Q >.)<@ .nF>).⏾@I.nF,,.???!? .t[?).6I.i.nF,,fchecking for new query: numPingsReceived=110, elapsed TxPingTime=51.964840zz@z]@zٱz, AHRS rotation from veh to nav: [[-0.544241,0.823454,0.160388],[-0.838087,-0.542229,-0.059984],[0.037572,-0.167065,0.985230]]zHljY??@YH 9Y=FyjIE;E>Q 5`5x]?Q 9`5e)RBYyQ I@DI:iI:%`5yɮnA!i,i.Ͽ?AJi.@Ri.@ji.}nu@b. ~N@γ|H?R.X:ک?&&6aԿ8C ?Zi.bi.nFj.Z-'R NpA?Z.u3~[\;C4?2i.J:i. "i.?*i.kmBi.XBi,i.Tbni.҅Bi.?@i.sv@ addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.499664 s, deltaX: -0.200000 m, approachRate: -0.400269 m/s, rangeRepo size: 4  Added new target pos. range: 6.863686 m, bearing: 219.721793 deg, lat: 36.779359 deg, lon: -121.859692 deg, deltaT: 5.554182 s, deltaX: -2.983784 m, approachRate: -0.537214 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.86 m. 9.85 m.Rh Zh  ProNav: ac range: 9.847469 m, nav range: 6.529908 m, bearing: 228.697114 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.385946 deg, new cmd heading: 234.164137 deg. BhYe|HeadingCmd: 4.086935 target range: 9.847469 and range: 6.90 m.he,Ȃ@ha*ha"ha hagifififidqdqdqjdu@Zd}~?1Bɢ)  i ) rҼ  i >׻i] 5k<=s_=I=,Ȃ@I9E] E]EYEY"E]M;*E]Z:VEYZEYBE]Q 9yYy=FynIEE>Q 5`5%N?Q 9`5)bBYyQ I@ĦDI;ic;`5y XBɮ AEDDAT read: Rx Time:05:25:09.5813 TRx dataTimestamp_ set to:1761542710.817399ePDAT read: Bearing 31.9, -17.6 (Local) m~Local bearing/azimuth received: Bearing 31.9, -17.6 (Local) }DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 B*** querying acoustic contact ***i ijhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh<Zh< ProNav: ac range: 9.847469 m, nav range: 6.284791 m, bearing: 228.940314 deg, approach rate: -0.531150 m/s, LOS rate: 0.547551 deg/s, cmd heading: 234.164129 deg, new cmd heading: 234.922140 deg. Bh<|HeadingCmd: 4.100165 target range: 9.847469 and range: 6.90 m.h4@h*h"h hgff!f!d!d)d)jd)Zd-@ ?EDAT read: 05:25:09.5813 LVL= 32752, 32753, 30754, 32755, AGC= 47, IDX= 510, 0.02,-0.888,-2.229,-0.092,-0.690, PHS=-0.096,-1.494, 0.554, RAW= 168.1, 11.4, CAL= 168.2, 13.2, ROT= 341.8, -13.2 MYgot valid direction response: 05:25:09.5813 LVL= 32752, 32753, 30754, 32755, AGC= 47, IDX= 510, 0.02,-0.888,-2.229,-0.092,-0.690, PHS=-0.096,-1.494, 0.554, RAW= 168.1, 11.4, CAL= 168.2, 13.2, ROT= 341.8, -13.2 MV#Rx 111: Read range and direction messages.U^direction in FSK: [0.924873,-0.304083,0.228351]UFpublishing direction and range infoyY?8vӿ :?YY@"x )/IĽid; ?;@%K>;@ k>)@IkwDD?e.W?`B`kSZ? 7V?)>,LI ikchecking for new query: numPingsReceived=111, elapsed TxPingTime=52.527508颙ɢw) Oi)0Ӽieػi +=I4@IR>i>q@q @q@q@qEu EuEu$Eq"Eu9;*Eu :VEu4ZEqa}@a}@a}@a}@ԉ% checking for new query: numPingsReceived=111, elapsed TxPingTime=52.705357Bm I>Bm CBm ( IBm 6BBm =Bi Bi Bm l;Bm C+E^A lX=Թ I! I1 OE >q#,{ƍ?AY "By  IiMb@Mb@Mb@ 9B`"?(\¿Zd;O?Y?yzj<SA )MAYAbDVDkyh=%W=ٔQ->9Y=FyrIEE>Q 5`5@?Q 9`5)oBY?Q E:yQ I@˦DI:i<:%`5yɮAԡPExceeded connect timeout, disconnecting.iiDP?AJi@Ri@ji%v@b!@:չduZ[尟?RY?8vӿ :?Zi bikjق`#QPW!#@Zb{rg[NL槶?2i:ia"iZ:?*iqFoBi&BiZ:?iii@i|v@= addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.508817 s, deltaX: -0.400000 m, approachRate: -0.786137 m/s, rangeRepo size: 4  Added new target pos. range: 6.465870 m, bearing: 221.024986 deg, lat: 36.779359 deg, lon: -121.859692 deg, deltaT: 6.062999 s, deltaX: -3.381599 m, approachRate: -0.557744 m/s, posRepo size: 4 jh bh zIgnoring new targets. Set target to previous: 6.47 m. 9.85 m.RhZhrT ProNav: ac range: 9.847469 m, nav range: 6.072321 m, bearing: 229.150730 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.922144 deg, new cmd heading: 234.714080 deg. Bh|HeadingCmd: 4.096533 target range: 9.847469 and range: 6.50 m.h @h *h)"h1 h1g1f1f9f=Bd9d9d9jdE@ZdEA?DDAT read: Rx Time:05:25:10.0812 TRx dataTimestamp_ set to:1761542711.316828PDAT read: Bearing 32.3, -18.0 (Local) ~Local bearing/azimuth received: Bearing 32.3, -18.0 (Local) DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 DAT read: 05:25:10.0812 LVL= 32752, 32753, 29026, 32755, AGC= 48, IDX= 509, 0.25, 0.211,-1.129, 1.020, 0.426, PHS=-0.113,-1.510, 0.550, RAW= 168.4, 11.8, CAL= 168.5, 13.7, ROT= 341.5, -13.7 Ygot valid direction response: 05:25:10.0812 LVL= 32752, 32753, 29026, 32755, AGC= 48, IDX= 509, 0.25, 0.211,-1.129, 1.020, 0.426, PHS=-0.113,-1.510, 0.550, RAW= 168.4, 11.8, CAL= 168.5, 13.7, ROT= 341.5, -13.7 V#Rx 112: Read range and direction messages.^direction in FSK: [0.921343,-0.308277,0.236838]Fpublishing direction and range infoyQh{?UϺӿ4ӋHP?Y@bq )0IliG ?<@BR>`7<@ Gt>)ƺ@IGt -?Dj?L>T? $X?)FRIJQiGtMchecking for new query: numPingsReceived=112, elapsed TxPingTime=52.981743]0Bɢ])Y ]0ia)ecӼaaie/ڻim mJlE  E E &E "E <;*E V:VE 4ZE BE “9hYh=jFyjvIE~7E~>Q 5 `53?Q 9 `5u )|BYy#Q I@ҦDI :ig:m`5y9ɮ=A9iiFԍ?AJi@Ri@jiʸv@bL-@eئA^Bx?RQh{?UϺӿ4ӋHP?ZiJQbiGtj/cLpĕ (tr2 @@Zbϡz?2iOx:ir"ih﹝?*ioBi+Bih﹝?ienii@ixv@ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.499429 s, deltaX: -0.200000 m, approachRate: -0.400457 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=112, elapsed TxPingTime=53.209476  Added new target pos. range: 6.266921 m, bearing: 220.876864 deg, lat: 36.779359 deg, lon: -121.859693 deg, deltaT: 6.562428 s, deltaX: -3.580549 m, approachRate: -0.545613 m/s, posRepo size: 4 jh bh zIgnoring new targets. Set target to previous: 6.27 m. 9.85 m.RhQZhQe ProNav: ac range: 9.847469 m, nav range: 5.858477 m, bearing: 229.379771 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.714069 deg, new cmd heading: 234.525793 deg. Bham|HeadingCmd: 4.093247 target range: 9.847469 and range: 6.30 m.hm@hi*hi"hi higfffdddjd@33@Zdi?ɢ۲); (i)Ӽiڻi%' %m<%1E=I%@I)@ @@4@A^A )=I i߱ I߱  DDAT read: Rx Time:05:25:10.5810  TRx dataTimestamp_ set to:1761542711.825537 PDAT read: Bearing 30.1, -19.1 (Local)  ~Local bearing/azimuth received: Bearing 30.1, -19.1 (Local) e DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 ԁ I O >] DAT read: 05:25:10.5810 LVL= 32752, 32753, 28658, 32755, AGC= 47, IDX= 507,-0.34, 3.063, 1.740,-2.342,-3.008, PHS=-0.110,-1.490, 0.622, RAW= 170.0, 10.5, CAL= 169.9, 12.0, ROT= 340.1, -12.0 m Ygot valid direction response: 05:25:10.5810 LVL= 32752, 32753, 28658, 32755, AGC= 47, IDX= 507,-0.34, 3.063, 1.740,-2.342,-3.008, PHS=-0.110,-1.490, 0.622, RAW= 170.0, 10.5, CAL= 169.9, 12.0, ROT= 340.1, -12.0 m V#Rx 113: Read range and direction messages.u ^direction in FSK: [0.919741,-0.332941,0.207912]u Fpublishing direction and range infoy  Y]n?jNտhٜ?Y f@ o ) /I Gi R d;? N=@ f;> =@ PwV>) @I PwV ס=?~]?/ ҵl? .3_?) uAHRS rotation from veh to nav: [[-0.546473,0.819803,0.171143],[-0.836507,-0.544152,-0.064456],[0.040287,-0.178386,0.983135]]2H|`;??`i6n? ]ƿu?i2z@I2^;2CYNByN I PRATVAYiMb@Mb@Mb@ 9X9v?Dl~jt?Y?yO <A@ A)AYAbDEVDEyM%U4=bE!4jE#4rE/E] E]EYEY"E]4;*E]:VEYZEYam@am@am@am@ٔu#ȺQ-u>9yYy=}Fy}{IE}7!E>Q 5`5n#?Q 9`5V)BY?Q E:yQ I@ڦDI' ?Z hmN@G1#A?2i vm:i "i ڢ?*i OoBi υBi i oi хBi *@i Qv@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.508709 s, deltaX: -0.100000 m, approachRate: -0.196577 m/s, rangeRepo size: 4  Added new target pos. range: 6.167445 m, bearing: 219.111042 deg, lat: 36.779359 deg, lon: -121.859693 deg, deltaT: 7.071137 s, deltaX: -3.680024 m, approachRate: -0.520429 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.17 m. 9.85 m.RhZh ProNav: ac range: 9.847469 m, nav range: 5.592233 m, bearing: 229.642792 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.525801 deg, new cmd heading: 234.268105 deg. Bh|HeadingCmd: 4.088750 target range: 9.847469 and range: 6.20 m.h ׂ@h*h"h hgff!f%BdAdIdIjdM@ZdMu?ԁ额/Bɢ) p0i)ӼiHܻiq f[n<lP=I ׂ@I checking for new query: numPingsReceived=113, elapsed TxPingTime=53.713463B-H>B)B-. IB-;BB- =B)B-DB-l;B-K+E@ @@74@ԱnManaging dock network, ignoring radio surface power off^A rE=  DDAT read: Rx Time:05:25:11.0808  TRx dataTimestamp_ set to:1761542712.324952 PDAT read: Bearing 30.7, -19.3 (Local)  ~Local bearing/azimuth received: Bearing 30.7, -19.3 (Local)  DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4  DAT read: 05:25:11.0808 LVL= 32752, 32753, 29650, 32755, AGC= 47, IDX= 505,-0.13,-2.636, 2.333,-1.761,-2.408, PHS=-0.125,-1.497, 0.604, RAW= 170.0, 11.0, CAL= 170.0, 12.7, ROT= 340.0, -12.7  Ygot valid direction response: 05:25:11.0808 LVL= 32752, 32753, 29650, 32755, AGC= 47, IDX= 505,-0.13,-2.636, 2.333,-1.761,-2.408, PHS=-0.125,-1.497, 0.604, RAW= 170.0, 11.0, CAL= 170.0, 12.7, ROT= 340.0, -12.7  V#Rx 114: Read range and direction messages. ^direction in FSK: [0.916703,-0.333653,0.219846] Fpublishing direction and range infoy  \U?gǁZտF#?Y ̼@ s ) I i ? D> N=@ b>) N@I b A- .AI9 II 822?v ?Vv,y? O_?) DI ʸi b ] checking for new query: numPingsReceived=114, elapsed TxPingTime=53.985512Oe >G#,"?A4<ɰ4@=&ٱ=9 uAHRS rotation from veh to nav: [[-0.547322,0.818844,0.173010],[-0.835933,-0.544915,-0.065452],[0.040681,-0.180448,0.982743]]=H`3? 2%?`@o@o (Ԥ?ǿ r?i=Jz@I=^;=CY*By IbDVD1y=%@=ٔuQ->9 ?Y ?=FyIEE>aQ 5m`5e?Q 9m`5e)eBYqyuQ Iu@eDIe:ieV:e/`5y}^Bɮ}AEii?AJiϻ@Riϻ@jiټt@beQ@xcTj ?R\U?gǁZտF#?Ziʸbibj7`ѿLr qp ʾq?ZQvj*24;?2i`:ie"i~i?*isoBi؅Bi?ii؅Bi@iIu@M addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.499415 s, deltaX: -0.300000 m, approachRate: -0.600702 m/s, rangeRepo size: 4 } Added new target pos. range: 5.869072 m, bearing: 219.100566 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 7.570552 s, deltaX: -3.978397 m, approachRate: -0.525510 m/s, posRepo size: 4 jhybhyzIgnoring new targets. Set target to previous: 5.87 m. 9.85 m.RhZh ProNav: ac range: 9.847469 m, nav range: 5.337614 m, bearing: 229.921462 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.268112 deg, new cmd heading: 234.028992 deg. Bh|HeadingCmd: 4.084577 target range: 9.847469 and range: 5.90 m.hڴ@h*h"h hgfffdddjd@Zd ]?M.BɢMjvؼ)IE] E]EYEY"E]g5;*E]:VEYZEYBE]}]#,܄0?AJvz@JN6@J'ٱJ1; RAHRS rotation from veh to nav: [[-0.548203,0.817950,0.174444],[-0.835351,-0.545677,-0.066527],[0.040774,-0.182192,0.982417]]JH` ,?+T?@1/v W?`Rǿ@o?iJvz@IJB^;JCYn+Byn IpbDzVDzk1yv;%U=ٔ ~Q- >9"?Y"?=Fy-IE=2E=>AQ 5M`5Ej?Q 9M`5E)EBYIyM+Q IM@EDIE:iE:Eu`5y]YBɮ]lA]EjhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh^<Zh^< ProNav: ac range: 9.847469 m, nav range: 5.117889 m, bearing: 230.186691 deg, approach rate: -0.619159 m/s, LOS rate: 0.779468 deg/s, cmd heading: 234.029001 deg, new cmd heading: 234.858788 deg. Bh=|HeadingCmd: 4.099059 target range: 9.847469 and range: 5.90 m.h~+@h*h"h  h gfDDAT read: Rx Time:05:25:11.5805 TRx dataTimestamp_ set to:1761542712.841853PDAT read: Bearing 31.9, -19.1 (Local) ~Local bearing/azimuth received: Bearing 31.9, -19.1 (Local) f!f!d)d1dYjdaZdmm?DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 DAT read: 05:25:11.5805 LVL= 32752, 32753, 30658, 32755, AGC= 47, IDX= 502, 0.03,-2.526, 2.445,-1.673,-2.282, PHS=-0.141,-1.511, 0.565, RAW= 169.5, 11.9, CAL= 169.7, 14.0, ROT= 340.3, -14.0 %Ygot valid direction response: 05:25:11.5805 LVL= 32752, 32753, 30658, 32755, AGC= 47, IDX= 502, 0.03,-2.526, 2.445,-1.673,-2.282, PHS=-0.141,-1.511, 0.565, RAW= 169.5, 11.9, CAL= 169.7, 14.0, ROT= 340.3, -14.0 -V#Rx 115: Read range and direction messages.]-Bɢ]Eּ)Y eria)eӼaaiey߻im u^direction in FSK: [0.913505,-0.327082,0.241922]uFpublishing direction and range infoy wn;? Կ79K?Y̬@w )INbishף?TU=@ȭT>=@ 5z>)3@I5z R?ɂl?_T? U]?)~)TIz i5z=I~+@Ichecking for new query: numPingsReceived=115, elapsed TxPingTime=54.588764E- E-E)E)"E-=-;*E-:VE)ZE)a5@a5@a5@a5@Ae checking for new query: numPingsReceived=115, elapsed TxPingTime=54.722057B @>B CB 4 IB @BB =B B DB l;B >+EBCBCBɓCB =B =CɰD6i @  @ @ 4@ @ gA@ ԙ ^AgW=A%.AI)I9OM?#,T?A"DDAT read: Rx Time:05:25:12.0804 &TRx dataTimestamp_ set to:1761542713.332792*PDAT read: Bearing 32.4, -19.7 (Local) *~Local bearing/azimuth received: Bearing 32.4, -19.7 (Local) 2DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 FDAT read: 05:25:12.0804 LVL= 32752, 32753, 29874, 32755, AGC= 47, IDX= 501, 0.22,-0.779,-2.078, 0.094,-0.510, PHS=-0.167,-1.523, 0.560, RAW= 170.1, 12.3, CAL= 170.3, 14.6, ROT= 339.7, -14.6 JYgot valid direction response: 05:25:12.0804 LVL= 32752, 32753, 29874, 32755, AGC= 47, IDX= 501, 0.22,-0.779,-2.078, 0.094,-0.510, PHS=-0.167,-1.523, 0.560, RAW= 170.1, 12.3, CAL= 170.3, 14.6, ROT= 339.7, -14.6 JV#Rx 116: Read range and direction messages.N^direction in FSK: [0.907604,-0.335733,0.252069]NFpublishing direction and range infoy " ?X'|տ!?Y"@ "t ) I" +i"¿")\?">@"[>":>@ "w>)"j@I"w r_z@r*@rq'ٱr*/="p$ ?b? H? "0_?)"[I" gi"w ~checking for new query: numPingsReceived=116, elapsed TxPingTime=54.997528 AHRS rotation from veh to nav: [[-0.549390,0.816921,0.175528],[-0.834566,-0.546763,-0.067453],[0.040868,-0.183548,0.982161]]rH8$?w?`ô D?`|~ǿm?ir_z@Ir(^;rCY$By II=)ԩiMb@Mb@Mb@ 9oʡ?S㥛y&1?Y ?y$`< 3A)n@YAbDVD0y%%=ٔ-Q-->9- ?Y- ?=5Fy5IE5E5>9Q 5e`5=?Q 9e`5=)=BYm*?Q Em:ymQ Im@=DI=;i=[;=`5yqɮuAyi i"wLU?AJi"@Ri"@ji"t@b"w'#@A^Q!@MC?R" ?X'|տ!?Zi" gbi"wj"7ii 8>D8 5?Z")SQdDž6)?2i"_G:i"u"i"e)?*i"poBi"ʅBi"e)?i i i"S@i"t@5 addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 1.007840 s, deltaX: -0.600000 m, approachRate: -0.595333 m/s, rangeRepo size: 4 e Added new target pos. range: 5.272087 m, bearing: 219.039959 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 8.578392 s, deltaX: -4.575382 m, approachRate: -0.533361 m/s, posRepo size: 4 jhabhimzIgnoring new targets. Set target to previous: 5.27 m. 9.85 m.RhuZhurT ProNav: ac range: 9.847469 m, nav range: 4.765233 m, bearing: 230.651030 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.858787 deg, new cmd heading: 234.494729 deg. Bh|HeadingCmd: 4.092705 target range: 9.847469 and range: 5.30 m.hq@h*h"h hgfffBdddjd@33@Zd׻?%,Bɢ-jۼ))E] E]E]*EY"E]U,;*E]I:VE](N4ZEYBE]"t?@ "|o>)"$@I"|o " [??Z? " ve?)"0LI"j;i"|o checking for new query: numPingsReceived=117, elapsed TxPingTime=55.567402!iMb@Mb@Mb@ 9M?X9vE= E=E='E9"E=77;*E=:VE='4ZE9aM@aM@aM@aM@9YYY=]Fy]IE]E]>aQ 5m`5eݞ?Q 9m`5e#)eһBYu?Q Eu:y}cQ I}@eDIe&;ie$;e`5ySBɮ|AEi i"qu?AJi"ʘ@Ri"ʘ@ji".s@b"GSKL@WxMZ?R"oF? ((cֿ] A?Zi"j;bi"|oj"!L\ BƊ1?Z"[Zz⿬!N?2i"t0:i":d"i"?*i"3FlBi"JBi i"soi"υBi"@i")t@% addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503966 s, deltaX: -0.500000 m, approachRate: -0.992130 m/s, rangeRepo size: 4 Q] Added new target pos. range: 4.774721 m, bearing: 217.709083 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 9.082358 s, deltaX: -5.072749 m, approachRate: -0.558528 m/s, posRepo size: 4 jhYbhaezIgnoring new targets. Set target to previous: 4.77 m. 9.85 m.RhiZhi ProNav: ac range: 9.847469 m, nav range: 4.432493 m, bearing: 231.049208 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.494738 deg, new cmd heading: 234.178174 deg. Bh|HeadingCmd: 4.087180 target range: 9.847469 and range: 4.80 m.h.ʂ@h*h"h hgfffBdddjd@33@Zd_?%*Bɢ%6`ڼ)! %PiI)MUAԼIIiMiUY U rBCB: IBEBBBBDBl;B0+Echecking for new query: numPingsReceived=117, elapsed TxPingTime=55.729500y Ա @  @ @ /@ DDAT read: Rx Time:05:25:13.0800 TRx dataTimestamp_ set to:1761542714.340739PDAT read: Bearing 30.4, -21.6 (Local) ~Local bearing/azimuth received: Bearing 30.4, -21.6 (Local) DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 DAT read: 05:25:13.0800 LVL= 32752, 32753, 31378, 32755, AGC= 48, IDX= 498,-0.19,-2.687, 2.331,-1.718,-2.400, PHS=-0.185,-1.508, 0.638, RAW= 172.3, 11.3, CAL= 172.4, 13.2, ROT= 337.6, -13.2 Ygot valid direction response: 05:25:13.0800 LVL= 32752, 32753, 31378, 32755, AGC= 48, IDX= 498,-0.19,-2.687, 2.331,-1.718,-2.400, PHS=-0.185,-1.508, 0.638, RAW= 172.3, 11.3, CAL= 172.4, 13.2, ROT= 337.6, -13.2 V#Rx 118: Read range and direction messages.^direction in FSK: [0.900118,-0.371002,0.228351]Fpublishing direction and range infoyRѤE?P׿ :?Yf@z )Ip=i%S#?v@@I>@@ k>))@Ikz -?dz? D9qYq=uFyuIE}E}>Q 5`5˞?Q 9`58))BYyQ I@ DI%;i;i`5yMBɮ,AiiΕ?AJi@Ri@jiDq@bD-~@k'LP?RRѤE?P׿ :?Zi+Ⱦbikj}d 3)FU>?Z Khc8!?2i':i$c"i?*i03nBi>Bi~i?ipoiʅBi @i| s@m addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503981 s, deltaX: -0.100000 m, approachRate: -0.198421 m/s, rangeRepo size: 4 } Added new target pos. range: 4.675035 m, bearing: 216.461758 deg, lat: 36.779357 deg, lon: -121.859693 deg, deltaT: 9.586339 s, deltaX: -5.172434 m, approachRate: -0.539563 m/s, posRepo size: 4 jhybhyzIgnoring new targets. Set target to previous: 4.68 m. 9.85 m.RhZh ProNav: ac range: 9.847469 m, nav range: 4.140848 m, bearing: 231.468768 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.178172 deg, new cmd heading: 233.896345 deg. Bh|HeadingCmd: 4.082262 target range: 9.847469 and range: 4.70 m.h㡂@h*h"h hgfffdddjd@Zd?e(Bɢeռ)a eia)mtDԼiiimiu ul5t@ @@0@^AI6=ԁII!OM>ԙ  DDAT read: Rx Time:05:25:13.5798  TRx dataTimestamp_ set to:1761542714.848763 PDAT read: Bearing 31.6, -22.3 (Local)  ~Local bearing/azimuth received: Bearing 31.6, -22.3 (Local) 5 DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 -#,G?A<}DAT read: 05:25:13.5798 LVL= 32752, 32753, 29442, 32755, AGC= 48, IDX= 511, 0.03,-2.085, 2.941,-1.093,-1.758, PHS=-0.225,-1.540, 0.621, RAW= 172.9, 12.1, CAL= 173.0, 14.5, ROT= 337.0, -14.5 Ygot valid direction response: 05:25:13.5798 LVL= 32752, 32753, 29442, 32755, AGC= 48, IDX= 511, 0.03,-2.085, 2.941,-1.093,-1.758, PHS=-0.225,-1.540, 0.621, RAW= 172.9, 12.1, CAL= 173.0, 14.5, ROT= 337.0, -14.5 V#Rx 119: Read range and direction messages.^direction in FSK: [0.891185,-0.378285,0.250380]Fpublishing direction and range infoy]?'5ؿ=9?Y̌@s )Ifffiſ?!A@@X>,>A@ >)`7@IľDR?܇?qY? +l?)bPXI;ichecking for new query: numPingsReceived=119, elapsed TxPingTime=56.567459=y@=U@=%ٱ=> MAHRS rotation from veh to nav: [[-0.554518,0.813314,0.176154],[-0.831196,-0.551563,-0.069937],[0.040279,-0.185200,0.981875]]=H?5? )fg籿r?`ǿ@k?i=y@I=A^;=CY$By IԩiMb@Mb@Mb@ 9tV?zGế/$?Y?y ׽<Ah@ A)@YAbD VD k1yd%%=ٔ:Q->9!YA=EFyEIEM>MEM>QQ 5]`5U?Q 9]`5U.)UBY]:?Q E]:y]4Em EmEm%Ei"EmU,;*Em|:VEm 4ZEiau@au@au@au@Q I@UDIU;iU;U`5yɮHAii"R?AJi @Ri @jiA9q@b`3@Je}OA {?R]?'5ؿ=9?Zi;bijS]ڇ \> %򧉢?Z&R8b?7K]lῴ#!ԃ?2i:i>T"i׆?*i^mBi8Bii03niJBi@iq@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.508024 s, deltaX: -0.300000 m, approachRate: -0.590523 m/s, rangeRepo size: 4 M Added new target pos. range: 4.376629 m, bearing: 215.954635 deg, lat: 36.779357 deg, lon: -121.859692 deg, deltaT: 10.094363 s, deltaX: -5.470840 m, approachRate: -0.541970 m/s, posRepo size: 4 jhIbhIUzIgnoring new targets. Set target to previous: 4.38 m. 9.85 m.RhYZhY ProNav: ac range: 9.847469 m, nav range: 3.855263 m, bearing: 231.843404 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 233.896358 deg, new cmd heading: 233.620481 deg. Bh|HeadingCmd: 4.077446 target range: 9.847469 and range: 4.40 m.hqz@h*h"h hgfffBdddjd@Zd`?'Bɢּ) i)"OԼ项i i* 1u<`|W=Iqz@IBA<B$>BCBA IBJBB =BCDBDBl;B++E=checking for new query: numPingsReceived=119, elapsed TxPingTime=56.741043?@ @@/@@@ ^A BJ=A >A ?) Iq I O >#,ӎ?AFiy@F@Fu$ٱF< ^AHRS rotation from veh to nav: [[-0.556276,0.812647,0.173674],[-0.830027,-0.553452,-0.068885],[0.040141,-0.182473,0.982391]]FH@3?`:? u@T?@G[ǿ`o?iFiy@IF^;FCYf'Byj IbDVDy<%m=ٔ59Q-?9Y=FyIE%3˻E%?)Q 55`5-}?EDDAT read: Rx Time:05:25:14.0797 ETRx dataTimestamp_ set to:1761542715.348791MPDAT read: Bearing 29.9, -24.7 (Local) U~Local bearing/azimuth received: Bearing 29.9, -24.7 (Local) eDAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 DAT read: 05:25:14.0797 LVL= 32752, 32753, 25410, 32755, AGC= 49, IDX= 510, 0.31,-1.144,-2.380,-0.009,-0.775, PHS=-0.267,-1.560, 0.722, RAW= 175.6, 11.2, CAL= 175.6, 13.2, ROT= 334.4, -13.2 Ygot valid direction response: 05:25:14.0797 LVL= 32752, 32753, 25410, 32755, AGC= 49, IDX= 510, 0.31,-1.144,-2.380,-0.009,-0.775, PHS=-0.267,-1.560, 0.722, RAW= 175.6, 11.2, CAL= 175.6, 13.2, ROT= 334.4, -13.2 V#Rx 120: Read range and direction messages.^direction in FSK: [0.878005,-0.420670,0.228351]Fpublishing direction and range infoyAEZl%?G@ڿ :?YEf@AAAEBc A)E1IE9iEǿE8?E%D@E+H>E%D@ Ek>)Eú@IEkAAEDJA?FCJ?8?? Enx?)EGGIEiEkAAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Q 95`5-p2)-BYyYQ I@-DI-BiEy@iE~p@ addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.500028 s, deltaX: -0.200000 m, approachRate: -0.399978 m/s, rangeRepo size: 4   Added new target pos. range: 4.177603 m, bearing: 212.910679 deg, lat: 36.779357 deg, lon: -121.859692 deg, deltaT: 10.594391 s, deltaX: -5.669867 m, approachRate: -0.535176 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.18 m. 9.85 m.RhZhM ProNav: ac range: 9.847469 m, nav range: 3.658803 m, bearing: 232.142374 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 233.620473 deg, new cmd heading: 233.413983 deg. BhIU|HeadingCmd: 4.073843 target range: 9.847469 and range: 4.20 m.hU\@hQ*hQ"hY hYgYfYfafadadadjd@Zd@>!?%BɢѼ) ;i)IԼii e v< ,\=I \@I@ @@1@EE EEEE(EA"EE';*EEE:VEEc44ZEABEE2Acoustic response timeout! Nߺ#,?A`mwy@m@m`$ٱmp; AHRS rotation from veh to nav: [[-0.556830,0.812337,0.173345],[-0.829657,-0.554014,-0.068832],[0.040121,-0.182145,0.982453]]mH ?.0? |?`Pǿ@p?imwy@Im];iY5By& II)bDVDyt=%<=ٔA8Q->9Y=FyIEɺE> Q 5`5 ؠ?Q 9`5 77)  BYyeQ I@  DI g:i : `5y!ɮ%A!EB*** querying acoustic contact ***iA iAjhQbhQUzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh]v<Zh]v<m ProNav: ac range: 9.847469 m, nav range: 3.408879 m, bearing: 232.575721 deg, approach rate: -0.644394 m/s, LOS rate: 1.199228 deg/s, cmd heading: 233.413983 deg, new cmd heading: 234.809047 deg. BhmM=u|HeadingCmd: 4.098191 target range: 9.847469 and range: 4.20 m.hua$@hq*hq"hq hqgyfyfyfydddjdZd?颵$Bɢ) (=i)Լ项ii͆ $=Ia$@IeDDAT read: Rx Time:05:25:14.5794 mTRx dataTimestamp_ set to:1761542715.856795uPDAT read: Bearing 28.4, -26.9 (Local) }~Local bearing/azimuth received: Bearing 28.4, -26.9 (Local) DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 DAT read: 05:25:14.5794 LVL= 32752, 32753, 25714, 32755, AGC= 48, IDX= 508,-0.22, 1.903, 0.673,-3.092, 2.323, PHS=-0.318,-1.604, 0.824, RAW= 178.0, 10.5, CAL= 177.9, 12.2, ROT= 332.1, -12.2 Ygot valid direction response: 05:25:14.5794 LVL= 32752, 32753, 25714, 32755, AGC= 48, IDX= 508,-0.22, 1.903, 0.673,-3.092, 2.323, PHS=-0.318,-1.604, 0.824, RAW= 178.0, 10.5, CAL= 177.9, 12.2, ROT= 332.1, -12.2 R#Rx 1: Read range and direction messages.@ @@4@^direction in FSK: [0.863807,-0.457362,0.211325]Fpublishing direction and range infoyim֨M? kEݿ\ ?Ym3s@iiimrd i)m0ImТimOͿmR?mF@mf;>mYF@ m^ Z>)mz@Im^ Zii mIf?Ȳ?MH_9? m?)m:ImQim^ ZiiU2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.EM  EM EM )EI "EM 2;*EM :VEM FA4ZEI a] @a] @a] @a] @^AY I I O >9 B >B CB G IB OBB =B B DB +m;B V+E 2Acoustic response timeout##,`?AY~1By~" IiMb@Mb@Mb@ 9ʡE?EԸ/$?Y-?yƽAQ@ A)X@YAbD VD y%%%H=ٔ-Q-5>99Y9=EFyEIEEEM>YQ 5e`5],?Q 9e`5];)]BYe^?Q Ee:ymQ Im@](DI]:i] :]`5yqɮu Aqii?AJiq@Riq@ji j@bo @$%ϡ'J?R֨M? kEݿ\ ?ZiQbi^ ZjY#zy}?Z 'Ʃ޿Bs]K?2i+:i]E"iͫN?*i|KkBiBi?i3Fli8BiZ@ihm@ addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.508004 s, deltaX: -0.400000 m, approachRate: -0.787395 m/s, rangeRepo size: 4  Added new target pos. range: 3.779687 m, bearing: 210.355140 deg, lat: 36.779356 deg, lon: -121.859692 deg, deltaT: 11.102395 s, deltaX: -6.067782 m, approachRate: -0.546529 m/s, posRepo size: 4 QjhYbhYzIgnoring new targets. Set target to previous: 3.78 m. 9.85 m.RhZhrT ProNav: ac range: 9.847469 m, nav range: 3.172236 m, bearing: 232.993716 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.809036 deg, new cmd heading: 234.576106 deg. Bh|HeadingCmd: 4.094125 target range: 9.847469 and range: 3.80 m.h@h*h"h hgfffBdddjd`ff@Zdb?颅"Bɢpļ) mDDAT read: Rx Time:05:25:15.0792 uTRx dataTimestamp_ set to:1761542716.358379}PDAT read: Bearing 28.3, -28.6 (Local) }~Local bearing/azimuth received: Bearing 28.3, -28.6 (Local) DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 ԱDAT read: 05:25:15.0792 LVL= 32752, 32753, 26450, 32755, AGC= 48, IDX= 506, 0.08, 2.846, 1.644,-2.052,-2.964, PHS=-0.371,-1.630, 0.868, RAW= 179.7, 10.5, CAL= 179.6, 12.3, ROT= 330.4, -12.3 Ygot valid direction response: 05:25:15.0792 LVL= 32752, 32753, 26450, 32755, AGC= 48, IDX= 506, 0.08, 2.846, 1.644,-2.052,-2.964, PHS=-0.371,-1.630, 0.868, RAW= 179.7, 10.5, CAL= 179.6, 12.3, ROT= 330.4, -12.3 R#Rx 1: Read range and direction messages.^direction in FSK: [0.849536,-0.482604,0.213030]Fpublishing direction and range infoyim?Vf/?`R1޿AzUmD?Ym`@iiimRg i)iImimףпm?5^?mH@imyH@ m[>)m@Im[iim9V{?.15-?# N? ms?)m|;Im Aim[ii 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A]&=A%gAzA!u ~G 9 Y qAAe ؟AIi Iy O > E] 3 E] E] (EY "E] j;*E] E:VE] c44ZEY BE] ByF2 IbDNVDNNyV=%Vd=ٔV|q9Q-V>9Z"?YZ"?=ZFyZIE^E^>pQ 5v`5r`5y~MBɮ~tA~Eii?AJi^@Ri^@jih@bB{@? r[?R?Vf/?`R1޿AzUmD?Zi Abi[j9dofp:Ir?Z>*pܿX2?2iȿ:i8"i*?*ihBiBi *?i|KkiBiQ@ij@ԙ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.501584 s, deltaX: -0.300000 m, approachRate: -0.598105 m/s, rangeRepo size: 4  Added new target pos. range: 3.481291 m, bearing: 208.482683 deg, lat: 36.779356 deg, lon: -121.859691 deg, deltaT: 11.603979 s, deltaX: -6.366179 m, approachRate: -0.548620 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.48 m. 9.85 m.RhZh ProNav: ac range: 9.847469 m, nav range: 2.966408 m, bearing: 233.422314 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.576099 deg, new cmd heading: 234.367868 deg. Bh  |HeadingCmd: 4.090491 target range: 9.847469 and range: 3.50 m.h M@h *h"h hgf1f9f9d9d9dAjdE @ZdE?颕!B2Acoustic response timeoutɢi%) m=i)Ӽ项i-iU Yx<"_=IM@IQ@Q @Q@U/@Y^A"=M DDAT read: Rx Time:05:25:15.5791 U TRx dataTimestamp_ set to:1761542716.860305] DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4 e X#Rx 1: Read range message, but no direction.yQ YU L@Q e 2Acoustic response timeoutm Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A I I) I Om >O4#,ɓ;?Aj}y@j[@j=#ٱjK=  AHRS rotation from veh to nav: [[-0.560897,0.809242,0.174704],[-0.826918,-0.557826,-0.070978],[0.040016,-0.184277,0.982059]]jH `O?@\? v@+}?@gǿm?ij}y@Ij];jCY]8Bye* I imAi%Mb@Mb@Mb@!!!! !9%&1?EԸ/$?Y%?y!!%SA%h@ !)!!Y%fA99bDEVDE2yU%U1=ٔD8Q->9Y=FyIEvE>Q 5`5w?bE]-4jE]^+4rE]'0E EE$E"E3;*Ea:VE4ZEa@a@a@a@Q 9`5D)2BY?Q E:yQ I@7DIOb1Ӽ顙i@)B B B M IB TBB  =B B B m;B +E2Acoustic response timeouti hu0E DDAT read: Rx Time:05:25:16.0790 M TRx dataTimestamp_ set to:1761542717.365439] PDAT read: Bearing 34.0, -31.2 (Local) ] ~Local bearing/azimuth received: Bearing 34.0, -31.2 (Local) m DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4  DAT read: 05:25:16.0790 LVL= 24304, 19745, 19666, 30707, AGC= 44, IDX= 503, 0.04, 0.924,-0.197, 2.395, 1.581, PHS=-0.555,-1.733, 0.771, RAW= 181.9, 13.9, CAL= 181.9, 17.8, ROT= 328.1, -17.8  Ygot valid direction response: 05:25:16.0790 LVL= 24304, 19745, 19666, 30707, AGC= 44, IDX= 503, 0.04, 0.924,-0.197, 2.395, 1.581, PHS=-0.555,-1.733, 0.771, RAW= 181.9, 13.9, CAL= 181.9, 17.8, ROT= 328.1, -17.8  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.808331,-0.503142,0.305695] Fpublishing direction and range infoyA E k?Ѿќ?YE @@A E ^E !ME L E w)E ,IE {iE ݿE B`E?E +/K@E Ulx>E +/K@ E >)E >@IE A A E EMs?6? Yj?? E Th?)E $xIE ՇiE A A5.AI9IIO]>Y#,Y?Aq 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.(yDD<E EE%E"E/;*E:VE 4ZEBEɈ9 ?Y ?=FyIEE>Q 5`5e?Q 9`5J)CBYyQ I@ADI;iD;`5yGBɮ ;A iqiuZcW?AJiu>@Riu>@jiu}g@buf3K@-ʀg0?Ruk?Ѿќ?ZiuՇbiujue#bDJz-M?Zum'鿗[ V4ڿ}hT7?2iuc:iu$"iuAښ?*iujBiuɄBiqiujiuɄBiu-@iuf@U addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.505134 s, deltaX: -0.200000 m, approachRate: -0.395935 m/s, rangeRepo size: 4 e Added new target pos. range: 2.983956 m, bearing: 206.898076 deg, lat: 36.779356 deg, lon: -121.859691 deg, deltaT: 12.611039 s, deltaX: -6.863513 m, approachRate: -0.544246 m/s, posRepo size: 4 jhibhimBIntercept lockout. Range: 3.00 m.ubTransitioning guidance mode to: INTERCEPT_LOCKOUT:hu@hqhq*hq"hq hqgqfyfyfydyddjd@Zd`>?颵BɢN) =i)GҼ项ii ex<"@#,kes?A2Ay@2ϛ@2#ٱ2A :AHRS rotation from veh to nav: [[-0.563881,0.806573,0.177421],[-0.824897,-0.560427,-0.073941],[0.039793,-0.188048,0.981353]]2HP q?๵?e`_?ȿ`?g?i2Ay@I2\[];2CBCBffAi@I@BPJBC FCkAF`廉DDFfCDIH)HiH)HIJ5jAJxJYF LNCLLiPPiRCP)P PIT T)TTTTYXY^AB`y^5 IbDjVDjyr<%r=ٔr[W:Q-r$?9v"?Yv"?=vFyvIEz5YEz$?|Q 5}`5~\?Q 9`5~M)~LBYy-Q I@~FDI~[K@ h>)@Ih쾩L?D?e? X?)㇩I6ih쾩2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503320 s, deltaX: -0.300000 m, approachRate: -0.596042 m/s, rangeRepo size: 4 jhbhh!h!*h!"h) h)gQfYfafdddjd@Zd x?Bɢyg) t=i)F"Ҽi\i%, AE02IAII@ @@@E  E E &E "E %;*E :VE 4ZE a@a@a@a@^A.<B B B Z IB ^BB B B B *n;B +EBCBCBȔCB =B =C26 2Acoustic response timeoutA I I O >A R-#,PS?AYTByL II)=i}Mb@Mb@Mb@yyyy y9}gfffff?zGế~jt?Y}3?y} ׽}<}A}Q@ }A)}n@yYybDVD:y=%%=ٔQ->9Y=FyIEE>Q 5a5K?Q 9a56S)\BY?Q E:yQ I@ODI ;iz ;a5yLBɮAEi)i-w?AJi-+@Ri-+@ji- h@b-x]P7@[r4,?R-u=g('?)6޿H?Zi-6bi-hj-F!#]m_ж?Z-}9_a}PؿƃL=?2i-:i-i"i- ?*i-K|nBi-SBi)i)i)i-@i-b@jhbhhh*h"hA hgfffBdddjdZde? DDAT read: Rx Time:05:25:17.0788  TRx dataTimestamp_ set to:1761542718.372758PDAT read: Bearing 56.4, -34.4 (Local) ~Local bearing/azimuth received: Bearing 56.4, -34.4 (Local) -DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 MDAT read: 05:25:17.0788 LVL= 29968, 28225, 23538, 32755, AGC= 45, IDX= 500, 0.17,-1.032,-1.703, 0.357,-0.008, PHS=-0.921,-1.650, 0.321, RAW= 188.6, 24.7, CAL= 187.1, 36.6, ROT= 322.9, -36.6 UYgot valid direction response: 05:25:17.0788 LVL= 29968, 28225, 23538, 32755, AGC= 45, IDX= 500, 0.17,-1.032,-1.703, 0.357,-0.008, PHS=-0.921,-1.650, 0.321, RAW= 188.6, 24.7, CAL= 187.1, 36.6, ROT= 322.9, -36.6 ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.640314,-0.484266,0.596225]eFpublishing direction and range infoy  `t}?~'6޿|(F?Y   u An [ ) -I ki 33ӿ Z> R@ > "P@ Ƈ#?) eW@I Ƈ#   h(eB?bXnh ?&o? "?) ݾI %i Ƈ#  }2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.BɢSy) =i)QѼi>i- w< r;I I 9q?@ @@/@@=@=E  E E )E "E ;*E :VE FA4ZE BE ;rЂ#,?AI=y@=@=#ٱ=@ AHRS rotation from veh to nav: [[-0.566262,0.805147,0.176312],[-0.823258,-0.562868,-0.073666],[0.039928,-0.186865,0.981574]]=H ?c? X۲@oq?-ǿ i?i=y@I=];=CY%VBy%O IbD5VD5:2yE/<%E.=ٔM&Q-M>9IYI=UFyUIEU.ʻEU>YQ 5ea5];?Q 9ea5]WX)]lBYiymQ Im@]XDI];i]:]a5yqɮuAqiiDۗ?AJiRiji5d@bV8?n G+_?R`t}?~'6޿|(F?Zi%biƇ#j$_eYƦD*MQ"?Zn?*3;mӿDh%q?2i6M:i޿"i<\?*immBiBiAښ?i|Kkii@i$`@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503999 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.685563 m, bearing: 204.753404 deg, lat: 36.779356 deg, lon: -121.859691 deg, deltaT: 1.007319 s, deltaX: -0.298393 m, approachRate: -0.296225 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjdZds?颽Bɢ) 8=i)xnмii* dw<IIIyDDAT read: Rx Time:05:25:17.5786 TRx dataTimestamp_ set to:1761542718.877893PDAT read: Bearing 71.8, -44.2 (Local) ~Local bearing/azimuth received: Bearing 71.8, -44.2 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4 =@ @@/@mDAT read: 05:25:17.5786 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 498,-0.17, 1.937, 1.935,-2.660,-2.832, PHS=-1.412,-1.471, 0.128, RAW= 208.1, 31.8, CAL= 204.9, 43.9, ROT= 305.1, -43.9

Z?E5?Z0?) R?i:)?7iiZd=III2Acoustic response timeout)9@ @@/@@hA@Q ^A =IQ Iq O >7,SW?ApY]%By]#IbDmVDmy)%q=ٔQ-?9Y=FyE?Q 55XY?Q 95)BYyQ I[@CIB:i:5yɮ@DNOT Ignoring new targets: 23.87 m.hh*h"h hgfffddDDAT read: Rx Time:04:47:26.0317 TRx dataTimestamp_ set to:1761540447.252789 PDAT read: Bearing 353.3, -35.7 (Local) ~Local bearing/azimuth received: Bearing 353.3, -35.7 (Local) %DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.3 ]DAT read: 04:47:26.0317 LVL= 32752, 23537, 30626, 32755, AGC= 67, IDX= 502, 0.39, 3.126,-0.976,-2.129,-1.964, PHS=-1.092, 1.032,-0.210, RAW= 305.6, 2.9, CAL= 303.3, -0.6, ROT= 206.7, 0.6 jdZdu`i?Ygot valid direction response: 04:47:26.0317 LVL= 32752, 23537, 30626, 32755, AGC= 67, IDX= 502, 0.39, 3.126,-0.976,-2.129,-1.964, PHS=-1.092, 1.032,-0.210, RAW= 305.6, 2.9, CAL= 303.3, -0.6, ROT= 206.7, 0.6 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.893322,-0.449294,-0.010472]Fpublishing direction and range infoyDpMc<ܿ/;rYfAZAZAZAZAQ)Q U?i]:)Y]YiYiaae=Ia[w )CIƋi?= W㭪@ e@ )f@Iqh84-N渿IDh? B)^SI<+i2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IE  E  E 'E "E ;*E {;VE '4ZE a@a@a@a@E9@A @A@E/@A^AX=I!I9OMR>1AU@AAQBBBm$IBBB =BBBc;B&E 2Acoustic response timeoutY 0,oW?A2[8>2>2`ٱ2;T :AHRS rotation from veh to nav: [[0.910636,-0.379772,-0.162836],[0.383031,0.923656,-0.012140],[0.155015,-0.051317,0.986578]]2H#?.Nؿ Ŀ??܈@?)F ?i2[8>I26_;2CYfByf#I hhll9iMb@Mb@Mb@ 9/$?zG?Zd;O?Yy =j<@@ S@)1@Y@bDVDNyO%H=ٔS:Q->9Y=Fyq;E>Q 55\?Q 95)BYx?>Q E;y_?Q I[@ CI:i ;5yɮB@i1i5-W?AJi5\ARi5\Aji5LO@b55v5 S %-2пR5DpMc<ܿ/;rZi5<+bi1j5.g\.w/L2WdPZ5ʉ[ۣ9迢82i5a:i5w"i5*B?*i5VBi5 ~Bi5*B?i5Vi1i5ӿAi5OO@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503992 s, deltaX: 0.299999 m, approachRate: 0.595246 m/s, rangeRepo size: 4  Added new target pos. range: 24.170048 m, bearing: 229.737717 deg, lat: 36.779374 deg, lon: -121.859598 deg, deltaT: 0.503992 s, deltaX: 0.298328 m, approachRate: 0.591931 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.17 m.hh*h"h hg)f)f1f5]Bd1d9jd=L8@Zd=+?iZx?>Zx?>Z?Z_?`) \?i:)-5iiy=II-DDAT read: Rx Time:04:47:26.5317 5TRx dataTimestamp_ set to:1761540447.760396MPDAT read: Bearing 353.3, -35.8 (Local) M~Local bearing/azimuth received: Bearing 353.3, -35.8 (Local) mDAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.3 DAT read: 04:47:26.5317 LVL= 32752, 22929, 31346, 32755, AGC= 67, IDX= 502, 0.23, 2.166,-1.920,-3.079,-2.912, PHS=-1.104, 1.036,-0.211, RAW= 305.5, 3.0, CAL= 303.2, -0.5, ROT= 206.8, 0.5 Ygot valid direction response: 04:47:26.5317 LVL= 32752, 22929, 31346, 32755, AGC= 67, IDX= 502, 0.23, 2.166,-1.920,-3.079,-2.912, PHS=-1.104, 1.036,-0.211, RAW= 305.5, 3.0, CAL= 303.2, -0.5, ROT= 206.8, 0.5 R#Rx 1: Read range and direction messages.-bdirection in FSK: [-0.892552,-0.450860,-0.008727]-Fpublishing direction and range infoy)-2ܤȏy\aܿB7߁Y)))-Y-rz )}9@y @@@))I-Oi-?-bX-@-PwV=-V@ -5)-qf@I-5<))-`xAM*&? -B)-XI-D +i-5<))2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E%! E%RE%)E!"E%;*E%M;VE%FA4ZE!BE%:=a52E%:=a=JE%!1,0W?A22Acoustic response timeout6J9>6q>6~ٱ6AHRS rotation from veh to nav: [[0.910254,-0.380838,-0.162483],[0.384104,0.923211,-0.012071],[0.154603,-0.051422,0.986638]]6H ?`_ؿ =Ŀ(??ĸ? T?i6J9>I6*_;6CYNByN#IbDZ VDZ:2yb %bZ=ٔb:Q-b>9dYd=jFylvG;Ez>|Q 55~_?Q 9 5~)~BY y ?Q I [@~CI~p:i~:~5y{Bɮ@EiYi]TW?AJiYRiYji] e@b]*]l5 m%VTRsʿR]2ܤȏy\aܿB7߁Zi]D +bi]5<j]16.Mx?!X2H*Z]l\uf7tINSJ?2i]:i]=w"i]d\I?*i]V+Bi]/~Bi]d\I?iYi]n~Bi]Ai]g@m addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.507607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 24.170048 m, bearing: 229.890411 deg, lat: 36.779374 deg, lon: -121.859598 deg, deltaT: 0.507607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.17 m.hh*h"h hgfffdԱdjd1Zd5?ZQZQZQZU?e~)i mQ?im:)i額Wk5iia;=IIIgA)-9@) @)@-2@)@1@5 >*DAT read: user:201> %DAT read: 50 -:unknown deviceResponse_: 50 5DAT read: Ok 5:unknown deviceResponse_: Ok =*DAT read: user:202> MBDAT read: Tx time:04:47:27.4297 M$Ping request sent.UE-  E- E- ,E) "E- ;*E- À;VE- g4ZE) a5 @a5 @a5 @a5 @y L,*X?ABt:>BN>B}ٱBU JAHRS rotation from veh to nav: [[0.909943,-0.381736,-0.162114],[0.385017,0.922832,-0.011935],[0.154160,-0.051556,0.986700]]BHA?[nؿ&Ŀ?ׇ?q`?`e ?iBt:>IB^;BCYRByR#IbD^ VD^2yr9%vH=ٔvΏ:Q-v>9xYx=zFyxzq;Ez>Q 55b?Q 9 5ܬ)BY y ?Q I [@CI-:i:h5yɮ5@YDNOT Ignoring new targets: 24.17 m.hh*h"h hgfffddB&>BCBH$IBBB =BBDBc;B&EBBBB =B =Cn5jdZd=!?QZZZZ3?=})A E?iEW:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246608)页h5iiӢ=II II)Iԁ}9@y @y@}2@yԩ^A ܝ=I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497241 A ,e3X?AEr ErEr*Ep"Ery;*Er n;VEr(N4ZEpBEr=az2Er=azJEry=/<@ @)Y@bDVDyɽ%>=ٔQ->9Y=FyE>Q 557g?Q 95\)BY<>Q E;yX?Q I[@'CI ;i ;)5yɮ@ DNOT Ignoring new targets: 24.17 m.h h*h"h hgfff%BddjdZd ?ԱZ<>Z<>Z-E>ZX?) 3?i:)5ii!!%I=I!I)9@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748285^A =IIO> 9 (, AMX?A2S;>2>2zٱ2XW :AHRS rotation from veh to nav: [[0.909523,-0.382975,-0.161548],[0.386308,0.922298,-0.011522],[0.153408,-0.051928,0.986798]]2H ?ؿ@ĿC?@w??N`ؓ?i2S;>I2^;2CY^Byb}#IbDhVDhyr%rX=ٔr;Q-v>9tYt=vFytzm;Ez>|Q 5U5~j?Q 9U5~ )~BYYy]qX?Q I][@~0CI~RBB"$IBrBB =BBBc;B&E^Au2=IIO> A I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256135ԁ sG (hA [9 (hAY 6GAR,gX?A N[A=>NM>NZٱNnU VAHRS rotation from veh to nav: [[0.909163,-0.384265,-0.160507],[0.387539,0.921779,-0.011656],[0.152431,-0.051606,0.986966]]NH?̗ؿĿ`r?7?߇߂?l@9?iN[A=>INiG^;NCYrByvt#IimMb@Mb@Mb@iiii m5C9mK7?Mb? rh?YmI >ym@=mC =m@i i)iiYmp@bDVD0y %@=ٔ;Q->9Y=FyF;E>Q 55n?Q 95)ʉBYX>Q E;yB?Q I[@8CIi ;i ;/5yɮn@DNOT Ignoring new targets: 24.17 m.hh*h"h hgQfQfYf]!BdYdYjdaZdew?ZX>ZX>Z55>ZB?Z)  ?i :)15461i1iQQ]@=IYIYqiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505857e9@i @i@i@iԙE EE)E"E;*E4q;VEFA4ZEBE=a 2E=a JE: ,X?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759095Jz^=>JP\>J =ٱJU RAHRS rotation from veh to nav: [[0.909183,-0.384400,-0.160069],[0.387667,0.921727,-0.011564],[0.151985,-0.051540,0.987038]]JH?`ؿ&}Ŀ? ~?ЮAt?qcЕ?iJz^=>IJ ^;JCYnބBynm#I pptvAbDzVDzye%T=ٔ d:Q- >9 Y =Fy 9E>Q 55 r?Q 95)ՉBYyB?Q I[@?CI];i;5y|Bɮ@ EDNOT Ignoring new targets: 24.17 m.hh*h"h hgfffddjdZd@~@Z!Z!Z!Z%B?5 =)9 =B?i=:)9=+R69iAiAAM=IIII-9@) @)@-/@)aychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.008886^AmТ=IyIO>D =D p=E  E E ,E "E ;*E vl;VE g4ZE a @a @a @a @ e&,[ҚX?AB4=>BzG>BٱBU NAHRS rotation from veh to nav: [[0.909297,-0.384273,-0.159730],[0.387545,0.921780,-0.011408],[0.151620,-0.051529,0.987095]]BH@?ؿrĿ?`9?-]Fh?bH?iB4=>IB^;@YV҄ByV]#IbD^VD^ܲyfJ~%fN=ٔf{t:Q-j>9hYh=jFyhn+ҹEn>pQ 5v5rCu?Q 9v5r)r߉BYtyvB?Q Iz[@rECIr:irW:r5y|ɮ~@|%DNOT Ignoring new targets: 24.17 m.h)h)*h)"h) h)g)f)f1f1d1d1jd9Zd=@ZYZYZYZ]WB?m)q u?iu:)quo6B >BCB#IBSBB =BBDBc;B&EԹqii)ͦ=II!mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262989@ @@0@@>@>^A1I9IQO]> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512608! ",,?X?AJPY=>JY>J ٱJT RAHRS rotation from veh to nav: [[0.909288,-0.384476,-0.159289],[0.387691,0.921716,-0.011643],[0.151295,-0.051168,0.987163]]JH?@ؿcĿ? ~?(؇]?2ז?iJPY=>IJj];JCYXyZ^#IEb EbEb*E`"Eb;*Eby;VEb(N4ZE`BEbC*=aj2EbC*=ajJEbyU=U'=U@Q Q)UG@QYU@bDmVDmJy}<:%}?=ٔI:Q->9Y=Fy#9E>Q 559y?Q 95)BY>Q E;y.?Q I[@MCI ;i ;5yɮ@DNOT Ignoring new targets: 24.17 m.hh*h"h hgfffBddjdZd7 @Z>Z>Zŀ>Z.? ) \?i:)顭f6ii5=II9@ @@0@!echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764311Q^AqIIO>y {3,ܛX?A6H=>6lQ>6!ٱ6R BAHRS rotation from veh to nav: [[0.909366,-0.384498,-0.158791],[0.387656,0.921728,-0.011848],[0.150918,-0.050782,0.987241]]6H? ؿ@GSĿ[?~?CGQ?`(z?i6H=>I6];6CYFׄByFd#IIN>)N9`Y`=bFy`b/Eb>dQ 5U5f|?Q 9]5f)fBYYy].?Q I][@fTCIfCBCB#IB:BB =BBDBc;B&Eԩ^A I1 IQ } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270217O > 9,AeX?A2=>2 7>2(ٱ2nQ :AHRS rotation from veh to nav: [[0.909497,-0.384387,-0.158312],[0.387496,0.921793,-0.011994],[0.150542,-0.050437,0.987316]]2H?˙ؿ`CĿ ?T?yD?@ҩ`?i2=>I2^;2CYPyPԹiMb@Mb@Mb@ 9㥛 ? ףp= ?kt?Y>yQ8= 0=E@ @ &@)@Y@bDVD1y^%#=ٔF:Q->9Y=FyйE>Q 55b?Q 95ˣ)BY ">Q E ;y >;?Q I[@^CIډ;i‡;| 5yɮ%N@!DAT read: 04:47:29.8677 LVL= 32752, 30065, 28146, 32755, AGC= 70, IDX= 72,-0.36, 1.923,-2.112, 2.978,-3.137, PHS=-1.121, 1.070,-0.212, RAW= 305.6, 2.8, CAL= 303.3, -0.8, ROT= 206.7, 0.8  Ygot valid direction response: 04:47:29.8677 LVL= 32752, 30065, 28146, 32755, AGC= 70, IDX= 72,-0.36, 1.923,-2.112, 2.978,-3.137, PHS=-1.121, 1.070,-0.212, RAW= 305.6, 2.8, CAL= 303.3, -0.8, ROT= 206.7, 0.8 PDAT read: Bearing 353.0, -35.4 (Local) ~Local bearing/azimuth received: Bearing 353.0, -35.4 (Local) DAT read: Range 11 to 50 : 25.3 m (Round-trip 33.8 ms) speed 0.0 m/s %*DAT read: user:203> -BDAT read: Tx time:04:47:30.9813 -$Ping request sent.-GI<+id<u:publishing transmit ping time)}Fpublishing direction and range infoy ɕ4XRܿ4Y )Ii )Ibk= ￰ v? )Ii addTargetRange:: Added new target pos. range: 25.299999 m, deltaT: 4.027869 s, deltaX: 1.000000 m, approachRate: 0.248270 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.17 m.hh*h"h hgfff=BddjdL9@Zd?Z">Z">Z>ZS>;?() f?i=~:)9=69iAiAAM=IIIIE EE'E"E[;*Eh;VE'4ZEBEX&=a2EX&=aJEZ @,?Y?AF<>F!>FaٱF.O ^AHRS rotation from veh to nav: [[0.909608,-0.384311,-0.157854],[0.387370,0.921844,-0.012160],[0.150191,-0.050087,0.987387]]FH?@ؿ4Ŀ?`?爿`q9??iF<>IF];DYvքByvb#IbDVDyu%=ٔP:Q-?9Y=FyE%?!Q 5M5%:?Q 9U5%)%BYQyU*;?Q IU[@%cCI%;i%`;%2#5yYɮ]c@aiirX?AJiRARiRAji/u@bz6&\T|ֿR ɕ4XRܿ4Zi<+bid<j 0NM 3țLA Zgg俬dPR*qQ2i:i`"i ;?*iBi }Bi*B?ii/~BiIAiB@ DNOT Ignoring new targets: 24.17 m.h h *h "h hgfffddjdZd@D?ZaZaZaZe*;?a) ?i:)顝[6ii5@=II!u9@y @y@}/@yI^AIIO>y E ! E E )E "E ;*E e;VE FA4ZE a @a @a @a @ǣF,bY?A06x<>6>6ٱ6DO BAHRS rotation from veh to nav: [[0.909845,-0.383950,-0.157367],[0.387008,0.921999,-0.011970],[0.149688,-0.050011,0.987468]]6H@s? ؿ $Ŀ??򃈿(?U?i6x<>I6];4YvӄByv^#I xxxzA|~BAbD VD2yd%K=ٔe:Q->9Y=%Fy!%E%>)Q 555-뇣?Q 955-)-BY1y5;?Q I=[@-kCI-;i-;-&5yAɮE@ABe->BeCBe#IBe0BBe =BaBaBec;Be&EDNOT Ignoring new targets: 24.17 m.hh*h"h hgfffddjdZd k?ZZZZ;?) Y?i:)b6iie=IIԙ9@ @@/@Թ^A1IAIQOe> L,[5Y?A2Sv<>2>>2Hٱ2N >AHRS rotation from veh to nav: [[0.909883,-0.383969,-0.157102],[0.387014,0.921996,-0.011972],[0.149444,-0.049908,0.987510]]2H?ؿĿ@?@? ?@ ?i2Sv<>I2];0YBτByFZ#IEb; Eb?E`E`"Eb;*EbL;VE`ZE`BEbD=aj2EbD=ajJEby5O=5@=5/@1 5=@)11Y1bDMVDMy]%F=ٔ:Q->9Y=Fy·E>Q 55?Q 95),BYX>Q E;y%1o?Q I%[@sCI@;i;v*5y)ɮ-@)DNOT Ignoring new targets: 24.17 m.hh*h"h hgfff6BddjdZd3?ZX>ZX>Zy>Z1o?H) f?i:)6iiIU=IQIQ @ @@@@%>@!>1^A=IIO>a S,OY?AJL<>J`>J9ٱJ@O VAHRS rotation from veh to nav: [[0.909996,-0.383823,-0.156805],[0.386891,0.922051,-0.011708],[0.149076,-0.050012,0.987560]]JH ? ؿ@/Ŀ?q?L?4?iJL<>IJy];JCYfԄByf`#IbDvVDv1y<%P=ٔ n:Q- >9Y=FyܹE%>)9Q 5E5-?Q 9E5-)-8BYIyM"o?Q IM[@-yCI-s;i-P;--5yYɮe@aDNOT Ignoring new targets: 24.17 m.hh*h"h hgfffddjdZd ?ZZZZ"o?9) s?i:)顭6iiW=IIE E'E,E"E;*E;VEg4ZEa@a@a@a@M9@I @I@M/@IqB].>BYBYBYBYBYBYB]c;B]&EB%CB%CB!B% =B% =C%Ǒ5ԑ^AIIO> Y,jiY?A2e<>2>2 ٱ2N :AHRS rotation from veh to nav: [[0.909962,-0.384065,-0.156408],[0.387117,0.921956,-0.011695],[0.148693,-0.049906,0.987623]]2H`h?ؿ`+Ŀ?`?^?@A@?i2e<>I2S];0YBۄByBi#IIF)>)F?F=F=iMMb@Mb@Mb@IIII I9Mrh|?S㥻?J +?YM=yM/=MH=IMM@ MS@)M@IYMG@ e;ep;bDeVDeyu=%}C=ٔ}r:Q->9Y=Fy :E>ԙQ 55ҏ?Q 95)EBY.>Q E;yF?Q I[@CIxL;iK;p15yɮ @DNOT Ignoring new targets: 24.17 m.h h *h "h  h gff!f%VBd!d)jd)Zd-?Z.>Z.>Z;v8?Z4F? ) G?iU:) }6 i iQY]fҥ=IYIaE E E)E"E;*EC|;VEFA4ZEBEz)=a2Ez)=aJE/_a,Y?A25=>2G>2wٱ2 hM >AHRS rotation from veh to nav: [[0.909753,-0.384748,-0.155947],[0.387743,0.921690,-0.011975],[0.148342,-0.049573,0.987693]]2H?@ؿÿ?`{~??a.?i25=>I2:];0YBByBs#IbDnVDn:yv=%v5=ٔvM:Q-z>9xYx=zFyx~:E~>Q 5 52?Q 9 56)SBY y W?Q I[@CI;i;^55y}Bɮ@ EEDNOT Ignoring new targets: 24.17 m.hAhI*hI"hI hIgIfIfQfQdQdQjdYZd]`z@ZyZyZyZ}W?w) b?iy:)顕16iix=II!Y@Y @Y@e2@aI^A=IIO>DD<bEmFA4jEmI4rEmǟ/E EE(E"E8;*E;VEc44ZEa@a@a@a@q BQ BQ BU #IBU 5BBQ BQ BQ BU d;BU &Eg,liAH^?9^liAY^An >>n>nٱn'L vAHRS rotation from veh to nav: [[0.909487,-0.385565,-0.155479],[0.388508,0.921364,-0.012239],[0.147971,-0.049274,0.987763]]nH?`ؿÿ`O?{?@?f:?in >>InK];nCY=߄By=m#IbDMVDMfyn%?=ٔb:Q->9Y=Fy:E>1Q 5M55?Q 9M55)5aBYYy]m?Q Ie[@5CI5;i5_;5795yɮ@ԉDNOT Ignoring new targets: 24.17 m.hh*h"h hgfffddjdZd`@ZZZZm?U)Q U8?iUY:)Q]7YiYiYaeo=II9@ @!@%0@!Թ5 BDAT read: Rx Time:04:47:33.4198 5 TRx dataTimestamp_ set to:1761540454.820100 ^A Т=I I! O- >E  E PE 'E "E ;*E Ə;VE '4ZE BE #=a 2E #=a JE >6>6hٱ6K >AHRS rotation from veh to nav: [[0.909225,-0.386315,-0.155149],[0.389242,0.921054,-0.012302],[0.147653,-0.049206,0.987814]]6H`^?@bؿÿU?@Ey?1K?@w1 -?i6>>I6@S];6CYFByFr#I\iMb@Mb@Mb@ 9)\(?M??YG=yn>L=@d@ )Y@bD-VD-y=<%=S=ٔEj\:Q-E>9AYA=EFyAM;EM>QQ 55U?Q 95U˘)UlBY?>Q E;y8?Q I[@UCIUlZ]?>Z] Dj?Z]G8?mh)i m?im:)qu[ 7qiqiyy}=IyIIfA)gA@ @@04@@>@>^AII1O=>I t,Y?ADAT read: 04:47:33.4198 LVL= 32752, 24705, 32738, 32755, AGC= 67, IDX= 446,-0.29,-1.368, 0.807,-0.315,-0.185, PHS=-1.081, 1.037,-0.174, RAW= 304.7, 2.4, CAL= 302.6, -1.3, ROT= 207.4, 1.3 "Ygot valid direction response: 04:47:33.4198 LVL= 32752, 24705, 32738, 32755, AGC= 67, IDX= 446,-0.29,-1.368, 0.807,-0.315,-0.185, PHS=-1.081, 1.037,-0.174, RAW= 304.7, 2.4, CAL= 302.6, -1.3, ROT= 207.4, 1.3 &PDAT read: Bearing 354.1, -35.8 (Local) &~Local bearing/azimuth received: Bearing 354.1, -35.8 (Local) *DAT read: Range 11 to 50 : 25.8 m (Round-trip 34.4 ms) speed -0.2 m/s .R#Rx 2: Read range and direction messages.fbdirection in FSK: [-0.887587,-0.460081,-0.022687]jFpublishing direction and range infoyim}a<g}>}uٱ}K AHRS rotation from veh to nav: [[0.908898,-0.387190,-0.154880],[0.390110,0.920686,-0.012333],[0.147371,-0.049210,0.987856]]}H?@ؿÿ?Av?1B ?2?i}?>I}];}CD?AzD?AE EE(E"EU;*E;VEc44ZEa@a@a@a@YByo#IbDVDNy%{3%%<=ٔ-X,:Q-->9)Y1=5Fy15y ;E=>9Q 5E5= ?Q 9E5=Ζ)=yBYIyMT?Q IM[@=CI=:i=:=J@5yɮ@iiimY?AJimMARimMAjim@bm3'-6Ձ0'+אRm}a<gԡ ({,Y?Aja@>jH>jJٱj8L  AHRS rotation from veh to nav: [[0.908552,-0.388131,-0.154556],[0.391057,0.920285,-0.012265],[0.146996,-0.049297,0.987908]]jH?#ؿ~ÿ ?@r?u? k=?ija@>Ij^];hY%لBy%f#IyiMb@Mb@Mb@ 9`"?'1Z?Q?Y=y">\= @)Y3@bDVD:y % L=ٔ x:Q- >9Y=Fyz&;E>!Q 5%5%}?Q 9-5%Ŕ)%BY-O>Q E-;y-&?Q I-[@%CI%H:i%a;%C5y9ɮ=<@9eDNOT Ignoring new targets: 25.66 m.haha*hi"hi higififfrBddjdZd5/?ZEO>ZEO>ZEk?ZE&?J) ?i:)顝_7ii+=II I)ԡE E#E*E"E;*E;VE(N4ZEBE+%=a2E+%=aJE2 ,Z?AY~҄By~]#I = =bDVD02y%#%%Z=ٔ%Q-->9)Y)=-Fy)5E5>9Q 5u5=֙?Q 9}5=ߒ)=BYyyyQ I}[@=CI=;i= ;=G5yɮ@DNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZd ?ZZZZ) ?is:)  7 i i =II%x>i%>9@ @@@^A\=ID=D%=E EEE"E;*E4q;VEZEa@a@a@a@IO>1B 0>B B B B B B DB rd;B 'EY J,;"Z?A2BC>2N>2\[ٱ2L :AHRS rotation from veh to nav: [[0.907724,-0.390311,-0.153933],[0.393233,0.919357,-0.012264],[0.146306,-0.049399,0.988005]]2H@ ? ؿÿ*? _k?@&?J ?i2BC>I2T^;2CYB˄ByBU#IbDJVDJ:yR%VP=ٔV:Q-V>9TYX=ZFyXZT;EZ>\Q 5b5^=?Q 9b5^ߐ)^BYdyfo?Q If[@^ĦCI^:i^:^}J5yhɮj@lDNOT Ignoring new targets: 25.66 m.hh*h"h hg f f f ddjdZd?ZaZaZaZedo?u\[) +?i:)x'7 i iAAM,=IIIyE9@A @I@M/@IA^Am.=qIyIO>E " E \E 'E "E d;*E ;VE '4ZE BE ;=a 2E ;=a JE !:>:dٱ:L BAHRS rotation from veh to nav: [[0.907302,-0.391376,-0.153714],[0.394295,0.918901,-0.012305],[0.146064,-0.049444,0.988039]]:H?P ٿÿ"I:D^;:CYJByJD#IiMb@Mb@Mb@ 9 rh?oʡ?y&1?YC >y->`<z@ j@)YbD1VD1yE脽%EC=ٔE:Q-E>9IYI=MFyIU`4;EU>YQ 5e5]?Q 9e5])]BYe_>Q Eer;ye=?Q Im[@]ЦCI]:i]]:]'N5yuiBɮu@uEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffWBddjdZd@}?Z_>Z_>Z'd?Z=?d) ?i:)p.7iiqqu=IyIyԙ 9@  @ @ N0@ ^A56=I9IQOe>! K,6VZ?A2xE>2i>2Cٱ2}L >AHRS rotation from veh to nav: [[0.906958,-0.392306,-0.153375],[0.395226,0.918502,-0.012265],[0.145687,-0.049494,0.988092]]2H? ٿ`ǡÿ``K?^d?j`ۥ?I2=^;2CYBByB:#I DDbDNVDNyV.%VT=ٔV(:Q-Z>9XYX=ZFyX^*;E^>!Q 5-5%?Q 9-5%e)%BY)y-\?Q I-[@%ۦCI%|:i%:%Q5y1ɮ=B@9mDNOT Ignoring new targets: 25.66 m.hihi*hi"hi higifqfqfqdqdyjdyZd}ஓ@E E#E*E"E;*E;VE(N4ZEa@a@a@a@ZZZZ\?C) ?i:)757iiA[=II9@ @@4@@>@>B<A<B4>BB#IB0BB =BBBd;B'E^Au"=IIO>Q w,pZ?A0V*F>V,>VuٱVM fAHRS rotation from veh to nav: [[0.906559,-0.393317,-0.153141],[0.396230,0.918069,-0.012312],[0.145437,-0.049518,0.988128]]VH? ,ٿ "ÿ`[?`?7૝? ]Zཞ?iV*F>IVh'^;VCYvByv7#IiMb@Mb@Mb@ 9Mb?On?:v?Y>y><@ @)Y(@bDVDNy%8=ٔg:Q->9Y=Fyu!;E>Q 55Р?Q 95F)BYJ>Q E;yu?Q I[@CIS;i;bU5yɮ b@ 5DNOT Ignoring new targets: 25.66 m.h1h1*h1"h9 h9g9f9f9fE\BdAdAjdAZdE@@ZmJ>ZmJ>Zmn\?Zm8u?}u)y }?ih:)顅+<7ii'=IIԉ%9@! @)@-4@)E E E,E"E;*E{;VEg4ZEBEe-=a2Ee-=aJE ?],Z?A6VG>6bX>6Rٱ6M >AHRS rotation from veh to nav: [[0.906286,-0.393974,-0.153070],[0.396903,0.917779,-0.012242],[0.145308,-0.049659,0.988139]]6HJ?6ٿ͗ÿf?q^?q?`l֞?i6VG>I6K^;6CYFByF#IbDNVDN0yV8%V`=ٔVl9Q-Z>9XYX=ZFyX^;E^>`dQ 5f5fu?Q 9j5fy)fBYhyj?Q Ij[@fCIf:ify:fX5ypɮr@p DNOT Ignoring new targets: 25.66 m.h h *h "h  hgfffddjdZd% @ZAZAZAZE?UR)Q U?iU?:)Y]YiYiaaeE=IaIi9@ @@/@^A==IIIYOew>E: EBE-E"EG;*E;VEt4ZEa@a@a@a@A B 8>B CB #IB BB B B B d;B 'EBmCBmCBiBiBm =Cm4:,OɣZ?A4<ɰ;6G>6%>6ٱ6&DN >AHRS rotation from veh to nav: [[0.906095,-0.394480,-0.152899],[0.397427,0.917554,-0.012098],[0.145065,-0.049804,0.988168]]6H`?`(?ٿ0ÿro? \?ƈ?` ?i6G>I6];6CYfByf#IbDrVDr1yz%zF=ٔzb:Q-z>9|Y|=~Fy|e:E> Q 55 O?Q 95 q) BYy?Q I[@ CI :i : /\5y!ɮ-@)]DNOT Ignoring new targets: 25.66 m.hYhY*hY"hY hagafafafadidijdiZdm B @ZZZZ?) ?i:)4ii)=III)q@y @y@y@@hA@Iq^Aõ=IIO>ԡ E  E 8E ,E "E |;*E t;VE g4ZE BE S:=a 2E S:=a JE 6\>6\ٱ6nM BAHRS rotation from veh to nav: [[0.905904,-0.395043,-0.152575],[0.397972,0.917317,-0.012157],[0.144762,-0.049708,0.988217]]6H*?``Hٿ@ÿ`_x?@Z?刿?Ksy?i6H>I6Y];6CYF}ByF"IiEMb@Mb@Mb@AAAA A9En?rh|??YEV>yE=Ey9yYy=Fy4:E>Q 55ꦣ?Q 95)ĊBY?>Q E;y8?Q I[@CI? ;i ;_5yɮ@DNOT Ignoring new targets: 25.66 m.hh*h"h hgfff5BddjdZdR @Z?>Z?>Zr9?Z08?\) ?i:)!%T5!i!i))- =I)I)@ @@/@ԩ^A箵=II1O=> ,x~Z?A2mH>2>2vmٱ2?M >AHRS rotation from veh to nav: [[0.905940,-0.395069,-0.152295],[0.398008,0.917304,-0.012001],[0.144442,-0.049742,0.988262]]2Hu?`Hٿ d~ÿx? Z?#}? w ؟?i2mH>I2b];0YFuByF"IbDNVDNyV%VX=ٔV_:Q-Z>9XYX=ZFyX^N8E^>`Q 5f5bC?Q 9j5b)bˊBYhyj7?Q Ij[@b CIb:ib:b+c5ypɮr:@p DNOT Ignoring new targets: 25.66 m.h h *h "h  hgfffddjdZd% R@ZAZAZAZEJ7?Uvm)Q U ?iUG:D}@AzDybE(N4jEKJ4rE(90E E(E(E"ER;*E=;VEc44ZEa@a@a@a@)I5iiz=II9@ @@/@AQAUAAB]<>BYB]#IB]BB] =BYB]DB]d;B]'E G1I}TF9yY}4A^A(׵=9I IO>Y Ļ,h[Z?A,,Y=dBy="IiMb@Mb@Mb@ 9A`"?EԸ?V-?Y=y=<@ @)@Y@bDVDk1ys%7=ٔQ->9Y=Fy E >Q 55D?Q 95`)ԊBY>Q E;y?Q I[@CIo;i:g5y)ɮ-%A)1UDNOT Ignoring new targets: 25.66 m.hYhY*hY"hY hYgYfYfafeBdadajdiZdm .@Z>Z>Z7=?Zߋ?) 3?ie:)顥n5iiIIl>i>m9@i @i@m0@i@u>@u >E  EE*E"E;*En;VE(N4ZEBE2=a2E2=aJE[Թ T–,2 [?A6 EH>6>6ٱ6!N >AHRS rotation from veh to nav: [[0.906115,-0.394858,-0.151801],[0.397811,0.917393,-0.011707],[0.143884,-0.049780,0.988342]]6H?XEٿ6nÿu?H[?j?|~?i6 EH>I67];6CYZWByZ"IbDfVDfyn%n_=ٔn:Q-r>9pYp=rFypv4Ev>xQ 5~5zꬣ?Q 9~5z)zۊBY|y~?Q I[@zCIz@;iz;zFj5y ɮ A 5DNOT Ignoring new targets: 25.66 m.h1h1*h1"h9 h9g9f9fAfAdAdAjdIZdM@ZiZiZiZm?}) ?i:)顅6ii|=IIԙ=9@9 @9@=5@9iIA^AqID=D<E E E'E"E;*E(z;VE'4ZEa@a@a@a@IO>BM @>BM CBM g#IBM ڄBBM  =BI BI BM d;BM I'E Ȗ,U%[?A2G>2cx>2qٱ2N >AHRS rotation from veh to nav: [[0.906431,-0.394240,-0.151515],[0.397231,0.917649,-0.011299],[0.143492,-0.049945,0.988390]]2H|?;;ٿdÿ@:l?b]?#@]?V?i2G>I2]!];2CYBNByF"IbDNVDN0yVC%VM=ٔVT:Q-V>9XYX=ZFyXZ=ۺE^>`Q 5b5b?Q 9f5b~)bBYdyfh?Q If[@b!CIb:ib|:bm5yhɮnAlmDNOT Ignoring new targets: 25.66 m.hihi*hq"hq hqgqfqffddjdZdB<@ZZZZ h?q)! %?i%:)!%E6!i!i))-WU=I1I19@ @@4@!^A-箵=I9IIO]>I E  E PE (E "E ;*E Ə;VE c44ZE BE ;5=a 2E ;5=a JE [?A;ɰ4<6@G>6^M>6nٱ62N BAHRS rotation from veh to nav: [[0.906563,-0.393962,-0.151449],[0.396934,0.917777,-0.011379],[0.143480,-0.049800,0.988400]]6H ?6ٿ@bÿ`]g? m^?M ]?S ?i6@G>I6LS];6CYF9ByF"IiMb@Mb@Mb@ 91Zd?p= ף?X9v?Y"=y=<@ )Y@bD-VD-ܲy%9=ٔm7Q->9Y=Fy'AE>Q 5 56?Q 9 5})BY>Q E;y}?Q I5[@(CIW;i ;q5yEjBɮEAEEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd@IZe>Ze>Ze ?Ze}?n) ?ia:)顽:6ii  f=I I!9@ @@4@@@gAyԩ ^A (׵=I I O >Ֆ,&X[?A6eF>6I>6lFٱ6'M >AHRS rotation from veh to nav: [[0.906805,-0.393496,-0.151217],[0.396437,0.917990,-0.011468],[0.143328,-0.049549,0.988434]]@6H@?@/ٿ[ÿ9_? -`?W|X? ~^@?i6eF>I6߀];4YJ6ByJ"IbDRVDRyZf%Z^=ٔ^9Q-^>9\Y\=bFy`bȺEb>dQ 5j5fB?Q 9j5f|)fBYhynr}?Q In[@f.CIfW:if;ft5ypɮrAp DNOT Ignoring new targets: 25.66 m.hh*h"h hgfDYzD]AAEe EeHEe,Ea"Eeg;*Ee;VEeg4ZEaam@am@am@am@ffddjdZdw@ZZZZr}?5lF)1 =A?i=:)9=$S69i9iAAEص=IAIIԱBA<BA>BB;#IBBBBBBPe;Bz'E9@ @@/@^AqII OM > 0ܖ,0r[?A2&F>2>2(ٱ2J >AHRS rotation from veh to nav: [[0.907046,-0.393113,-0.150762],[0.395984,0.918182,-0.011763],[0.143051,-0.049030,0.988500]]2H?`(ٿ,Lÿ`W? a?[ O?gˡ?i2&F>I2^;2CYB2ByB"IliMb@Mb@Mb@ 9"~j?)\(?+?YS=yGa==@ @) @Y\@bD-VD-:y=[%=B=ٔ=-:Q-E>9AYA=EFyAMEM>QQ 5]5U۵?Q 9]5U{)UBY]>Q E];y]h?Q Ie[@U4CIU ;iU& ;Ux5yiɮmAiEDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hIgIfIfQfUBdYdYjdYZd]-@Z}>Z}>Z} >Z}h?() ?i:)顝,m6ii=II m9@i @i@i@i@u@u@u@uE}" E}SE})Ey"E}d;*E};VE}FA4ZEyBE};=a2E};=aJE} a {,~[?A2<]E>2[>2ٱ2J/I :AHRS rotation from veh to nav: [[0.907366,-0.392479,-0.150490],[0.395293,0.918477,-0.012006],[0.142933,-0.048593,0.988539]]2H$ ?@_ٿ@?Cÿ |L?(d?K?@?ᨿ?i2<]E>I2K^;2CYf.Byf"I hhllbDrVDryzZ%zO=ٔz=9Q-z>9|Y|=~Fy&E> Q 55 K?Q 95 z)  BYyh?Q I[@ :CI ;i Q; {5y!ɮ%A!9UDNOT Ignoring new targets: 25.66 m.hQhQ*hQ"hQ hYgYfYfafadadajdaZdms@ZZZZϊh?) ?i}:)Ă6ii4=III)i@q @q@u/@qIIO=aD}<D}<E ENEE"E&;*E?;VEZEa@a@a@a@ԡB B B #IB BB B B B Xe;B ~'E +$,`W[?A2DD>2Z>2ٱ2aH :AHRS rotation from veh to nav: [[0.907801,-0.391529,-0.150343],[0.394327,0.918892,-0.011989],[0.142843,-0.048400,0.988561]]2H` ? ٿn>ÿI2L^;2CY^)Byb"IbDjVDjfyrrӼ%rK=ٔrn9Q-v>9tYt=vFytz.Ez>|Q 5]5~Ǻ?Q 9]5~y)~BYaye@h?Q Ie[@~ACI~~^E  E 'E E "E ;*E ;VE ZE BE 0=a 2E 0=a JE 2=>2ٱ2G >AHRS rotation from veh to nav: [[0.908252,-0.390525,-0.150229],[0.393322,0.919324,-0.011870],[0.142745,-0.048308,0.988580]]2H`f?\ؿ@:ÿ 1,?`k?COtE?ûr?i2 C>I2?^;2CY^"By^"Ii=Mb@Mb@Mb@9999 99=V-?y&1?kt?Y==y=`e== 0=99 9)= @9Y=@bDU VDU:2ye%eB=ٔmw9Q-m>9iYi=uFyqu,Eu>yQ 55}?Q 95}x)}!BY >Q E;ye?Q I[@}GCI}L:i}:}%5y1ɮ5>A1}DNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd.@Z >Z >ZF>ZSe?) ?i:)6ii=II9@ @@X0@IIO>iԑ :6, [?A:^A>:Ƭ>:ٱ:UH BAHRS rotation from veh to nav: [[0.908666,-0.389482,-0.150430],[0.392310,0.919759,-0.011636],[0.142891,-0.048442,0.988552]]:H?Eؿ`GAÿ? n?ԇ@J?eͨ@8?i:^A>I:?];:CY^'Byb"IIb=)b<bDjVDj1yr<%rS=ٔvȹQ-v>9tYt=vFytzY;Ez>|Q 55~?Q 95~w)~-BYy e?Q I [@~MCI~:i~:~5yɮAEE EE;EE-EA"EE;*EE>;VEEt4ZEAaM@aM@aM@aM@UDNOT Ignoring new targets: 25.66 m.hQhQ*hY"hY hYgYfYfafadadajdiZdm@XB @ZZZZOe?) ?i :)顥6ii5=IIa>i>q59@1 @1@54@1AA@ABBB #IBBBBBBe;B'EB]CB]CBYB] =B] =C]5ԡ^A]=IiIyO|> `,-[?A2@>2>2ٱ2I :AHRS rotation from veh to nav: [[0.909195,-0.388183,-0.150593],[0.391068,0.920294,-0.011189],[0.142933,-0.048719,0.988533]]2H ?ؿ`FÿA? s?!ꆿK? ?i2@>I2T];2CYN%ByR"Ii]Mb@Mb@Mb@YYYY Y9]+η?Q?J +?Y]v=y]\=]H=]@]@ ]@)] @YYYbDqVDqyG%@=ٔlѸQ->9Y=FyRE>Q 55?Q 95ev)9BYS>Q E;yՍ?Q I[@SCI':i/:;5yɮ(ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd;!@ZS>ZS>Z-%?ZՍ?-)) -?i-:))-61i1i99=2=I9I99@ @@3@EU" EU EQEQ"EUd;*EUz;VEQZEQBEU;=ae2EU;=aeJEU) G, \?A6Ԡ?>6}>6 ٱ6MI >AHRS rotation from veh to nav: [[0.909575,-0.387327,-0.150501],[0.390209,0.920659,-0.011108],[0.142862,-0.048623,0.988547]]6H>?`ؿ Cÿ -? v?翆QI?娿@.?i6Ԡ?>I6"];6CYF#ByF"IbDNVDNyV%VY=ٔZrF9Q-Z>9XYX=ZFyX^k%E^>`Q 5f5bgã?Q 9f5bhu)bEBYdyf?Q Ij\@bYCIb:ib:b5ylɮn6Al5DNOT Ignoring new targets: 25.66 m.h1h1*h1"h1 h9gfffddjdZd!@Z!Z!Z!Z%?M )I MB B>B B "IB ~BB B B B ~e;B 'Eԩ G ! U $9Q YU PAs ,"'\?A6>>6z>6ٱ6H< >AHRS rotation from veh to nav: [[0.909875,-0.386637,-0.150462],[0.389482,0.920965,-0.011292],[0.142936,-0.048328,0.988551]]6H?`ؿTBÿ`G?x? K?}`6?i6>>I6o^;6CY^%By^"Idf@AbDjVDj2yrX,<%rG=ٔr9tYt=vFytvEz>xQ 5~5z$ţ?Q 95zRt)zQBYy?Q I\@z_CIzf;izB:z5y ɮ%AEDNOT Ignoring new targets: 25.66 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZd]ޭ"@ZyZyZyZ}s?) ?i:)顕m6iiB9=II!Ա9@ @@/@^A p=IiIyO> Ee  Ee Ee )Ea "Ee ;*Ee z;VEe FA4ZEa BEe 7=au 2Ee 7=au JEa au :Ea au 0Z,FzA\?A:W>>:>: ٱ:KF BAHRS rotation from veh to nav: [[0.910039,-0.386273,-0.150404],[0.389056,0.921140,-0.011670],[0.143051,-0.047895,0.988556]]:H ?`ؿ@p@ÿ`K?y?y懿~O???i:W>>I:];:CYJ!ByJ"IliMb@Mb@Mb@ 9)\(??~jt?YG=y=D=@@ @) @YG@bD5VD5yEr%ED=ٔMQ-M>9IYQ=UFyQUEU>YQ 5e5] ǣ?Q 9e5]r)]]BYm>Q Em;ym?Q Im\@]gCI]]:i]:]5yqɮuCAyDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd`#@Z>Z>Zs2>2!ٱ2E :AHRS rotation from veh to nav: [[0.910274,-0.385695,-0.150470],[0.388457,0.921391,-0.011788],[0.143189,-0.047721,0.988544]]2H ?9ؿBÿ{? |?f$ T?`n'?i2=>I2];2CYB,ByB"IbDJVDJyRb=%VU=ٔVSQ-V>9XYX=ZFyXZݺEZ> Q 55 ȣ?Q 95 uqDzD@AE%  E% E%+E!"E%;*E%{;VE% [4ZE!a-@a-@a5@a5@) iBY1y5ٗ?Q I5\@ nCI n;i ;9 15yAɮEAAuDNOT Ignoring new targets: 25.66 m.hqhq*hq"hq hqgqfyfyfyddjdZd^N$@ZZZZٗ?!) ?i:)6ii[j=IIB1A1B9B9B9B9B= =B9B9B=ke;B='Ei@q @q@u0@qi^A=ԙIIO> ^,@0u\?Aɰ;6 <>6>6'5ٱ6LE >AHRS rotation from veh to nav: [[0.910633,-0.384799,-0.150588],[0.387586,0.921761,-0.011582],[0.143263,-0.047819,0.988529]]6H #? ؿxFÿ 6?`?0oV? { ?i6 <>I6];6CYF.ByF"Ii Mb@Mb@Mb@     9 ?rh|?kt?Y >y =  0= @ @ @)  Y =@bD}VD}Ny<%==ٔ5Q->9Y=Fyԙ+E>Q 55ʣ?Q 95o)uBY8>Q E;yx?Q I\@wCI:i :5yVBɮCAEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfff8BddjdZd%%@Z8>Z8>Z[F?Z%x?-'5)1 5p?i5:)15R61i1i99Eҥ=IAIAIMgA)I@ @@Q0@@=@=E5 E5"E5/E1"E5;*E5;VE5J4ZE1BE5#=a=2E5#=a=JE5 c#, \?AJf;>JI>J UٱJ߅F ZAHRS rotation from veh to nav: [[0.910909,-0.384079,-0.150758],[0.386893,0.922054,-0.011394],[0.143384,-0.047948,0.988505]]JH*&?`ؿ Lÿ@? x?U dZ?@ա?iJf;>IJN];JCYf)Byf"IbDvVDv0y2Ҽ%S=ٔ  Q- >9Y=Fy%E%>)Q 5=5-̣?Q 9E5-n)-BYAyE`?Q IE\@-CI-+;i-},;-J5yIɮUkAQDNOT Ignoring new targets: 25.66 m.hh*h"h hgff9f9d9d9jd9ZdE`Q%@ZZZZ`?5 U)1 5+?i5:)1=w69i9iAAEg=IAII%9@! @!@%0@))iߡIߥAD5=D5<E= E=E=,E9"E=;*E=b;VE=g4ZE9aM@aM@aM@aM@QB5 C>B5 CB1 B1 B1 B1 B5 DB5 ee;B5 'E^Am T=Iq I O >y U),`\?A2i.;>2JD>2ٱ2G :AHRS rotation from veh to nav: [[0.911168,-0.383355,-0.151039],[0.386215,0.922342,-0.011107],[0.143567,-0.048213,0.988465]]2H I(?`ؿ;Uÿ ?@Ӄ?) h`?g@?i2i.;>I2D];2CYF'ByJ"IbDr VDr2y%I=ٔQ->9!Y!=%Fy!%`E%>)Q 555-ϣ?Q 955-Ml)-BY9y=J?Q I=\@-CI-;i-;-Ѣ5yAɮExAIuDNOT Ignoring new targets: 25.66 m.hqhq*hq"hq hqgyfyffddjdZd`&@ZZZZJ?) Ȼ?i:)n7ii c=IIQ9@ @@\4@ԁ^AII!O5>EU  EU EQ EQ "EU X;*EU C|;VEQ ZEQ BEU *=a] 2EU *=ae JEU /6`#>6\{ٱ6&G >AHRS rotation from veh to nav: [[0.911270,-0.383142,-0.150961],[0.385988,0.922436,-0.011161],[0.143528,-0.048099,0.988477]]6H@)?gؿRÿ??wۆ_?b?i6:>I6];6CYDyDi Mb@Mb@Mb@     9 1Zd?7A`?ˡE?Y "=y > '= =@ E@ ) d@ Y @bD}VD}ٔ8Q->9Y=FylE>Q 55?У?Q 95\j)BY>>Q E;y?Q I\@CI:i:y5yWBɮ|ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffKBddjdZd>'@Z>>Z>>Zk q?Z?-\{)) - ?i-:)15Q 71i1i99= "=I9IAM;>iM!>@ @@/@@hA@hAA^A͢=IIO->i o6,\?A 6:>6 >6ٱ6F >AHRS rotation from veh to nav: [[0.911425,-0.382765,-0.150982],[0.385609,0.922595,-0.011151],[0.143563,-0.048057,0.988474]]6Hd*?7ؿ_Sÿϭ??ֆG`?@효`?i6:>I6m];6CYFByF"IbDRVDRyVFѼ%Z<ٔZƸQ-Z>9\Y\=^Fy\b4Eb>`Q 5f5b\ѣ?Q 9j5bh)bBYhyj?Q Ij\@bCIb9:ib:bé5ypɮrApD|zD~?AE EE*E"E;*E߂;VE(N4ZEa @a@a@a@%DNOT Ignoring new targets: 25.66 m.h!h!*h!"h) h)g)f)f)f1d1d1jd1Zd5S(@ZYZYZYZ]?m)i up?iu/:)qu7qiqic=IIBBCB"IBBBBBBde;B'Ei@ @@/@ԙ^AТ=IIO> <,x\?A6$:>6X>6ٱ6+F BAHRS rotation from veh to nav: [[0.911557,-0.382451,-0.150977],[0.385290,0.922728,-0.011157],[0.143578,-0.048000,0.988474]]6Hz+?zؿ7Sÿ`? ?ن `?h?i6$:>I6];6CYJByJy"IPiMb@Mb@Mb@ 9ʡE?ʡE?L7A`?Y=y>+=&@@ @)M@Y3@bD5VD5NyE%EA=ٔM+Q-M>9IYI=MFyIU1XEU>YQ 5e5]ң?Q 9e5]f)]BYeH>Q Em;ym@?Q Im\@]CI]a:i]j:]u5yqɮuAqDNOT Ignoring new targets: 25.66 m.hh*h"h hgfff2BddjdZd u*)@ZH>ZH>Zk?Z_@?e)a m?im:)im7iiiiۡ=IIE EE.E"E.;*E=;VEـ4ZEBE#=a2E#=aJE) C,)]]?AR]9>R[>R>ٱRG ZAHRS rotation from veh to nav: [[0.911843,-0.381715,-0.151116],[0.384593,0.923022,-0.010872],[0.143633,-0.048205,0.988456]]RH`-?nؿWÿ ,?e?Cb?Fo?iR]9>IR\;RCYbBybr"If=d jp9x|Yx=~Fy|E> Q 55 Oԣ?Q 95 d) BYy'?Q I\@ CI a;i n; 5y!ɮ%!A!MDNOT Ignoring new targets: 25.66 m.hIhI*hQ"hQ hQgQfQfYfYdYdYjdaZde@K)@ZZZZ'?>) E?i:)顝7iix=IIm9@i @i@m/@i)DD<E% E%E%(E!"E%;*E%o;VE%c44ZE!a-@a-@a-@a-@Q^AIIO>BD>BCB"IB~BBBBBe;B'EBBBB =B =C4y ~J,4.*]?A28>2>2ٱ2VH >AHRS rotation from veh to nav: [[0.912041,-0.381220,-0.151167],[0.384119,0.923222,-0.010705],[0.143642,-0.048303,0.988450]]2Hq/?`eؿtYÿg??셿b?'@b?i28>I2];2CY^Bybn"IbDjVDjyv%vK=ٔvyQ-z>9xYx=zFyxY~&Ee>iQ 5}5mգ?Q 9}5mb)mBYy?Q I\@mCIm[0;im;C;m5yɮ;ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZdD*@Z)Z)Z)Z-?E)A Eq?iE:)IM"7IiIiQQUG=IQIY9@ @@0@!ԉԹ^AM`=IYIiO}>E-  E- E- +E) "E- ;*E- |;VE- [4ZE) BE- .=a= 2E- .=a= JE- 2>2_ٱ2I :AHRS rotation from veh to nav: [[0.912301,-0.380533,-0.151334],[0.383479,0.923491,-0.010380],[0.143705,-0.048563,0.988428]]2H 1?Zؿ^ÿ?@=?NBd?`Iݨ@4?i28>I2\;0YB ByBh"Ii Mb@Mb@Mb@     9 +η?ףp= ?Q?Y v=y > \= =@ E@ K@) z@ Y @bD%VD%y5ͼ%5F=ٔ5J"Q-=>99Y9=EFyAEݺEE>IQ 5U5M֣?Q 9U5M`)M‹BYU<>Q E];y]`?Q I]\@M§CIM;iMG;M5yaɮefAaԹ DNOT Ignoring new targets: 25.66 m.h h *h"h hg1f1f9f=BBd9d9jdAZdE`+@Z<>Z<>Zc?Z`?_) ?i:)顽:(7iiʅ=II9@ @@0@^A=IIO>9 W,]]?A:7>:b6>:ٱ:oJ BAHRS rotation from veh to nav: [[0.912700,-0.379544,-0.151412],[0.382552,0.923881,-0.009896],[0.143642,-0.048890,0.988421]]:H@4?@rJؿuaÿ`{?o?D b?+%?i:7>I: ];:CYJByJX"I LLbDVVDVy^"%^R=ٔ^w+9Q-b>9`Y`=bFy`f',Ef>hQ 5n5j1ף?Q 9n5bEm [4jEmY4rEm?z0Er) ErEr'Ep"Er;*Ern;VEr'4ZEpaz@az@az@az@j^)jʋBY|y~=?Q I~\@j˧CIjݳ;ijk;jl5yɮA-DNOT Ignoring new targets: 25.66 m.h1h1*h1"h1 h1g1f1f9f9d9d9jdAZdE|^,@ZaZaZaZe=?u)q }?i}n:)y}~-7yiyi=III) mf>mCB<APExceeded connect timeout, disconnecting.BBB"IBtBB =BBBe;B'E+G)59@1 @1@54@1A@I@MgA?9Y AA^AQIiIyO|>qԙ QJ],Yw]?A2[6>2>2 ٱ2)J :AHRS rotation from veh to nav: [[0.912956,-0.378883,-0.151520],[0.381911,0.924148,-0.009745],[0.143719,-0.048970,0.988406]]2H6??ؿeÿ9q??ce?@?i2[6>I2];2CYBByFG"IiMMb@Mb@Mb@IIII I9M1Zd?HzG??YM"=yM= >MQ-u>9qYy=}FyyֺE>Q 55أ?Q 95\)ыBY>2>Q E;y?Q I\@էCI:i?;'5yɮ:ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfff2>Z>2>Zf?Z? ) ͬ?ix:)37ii!!%൛=I!I)q@ @@/@E EE)E"E;*E x;VEFA4ZEBE,=a2E,=aJE 2d,]?A2Cq5>2e>2zٱ24J >AHRS rotation from veh to nav: [[0.913323,-0.378067,-0.151346],[0.381105,0.924483,-0.009545],[0.143525,-0.048961,0.988435]]2H9?@2ؿJ_ÿ@d?`\?w_?] B?i2Cq5>I29];2CYBByF9"IbDNVDNkyVr%VX=ٔV:Q-V>9XYX=ZFyXZE^>`Q 5b5bڣ?Q 9f5bY[)b؋BYdyf?Q If\@bݧCIb:ib:bv5yhɮnAlDNOT Ignoring new targets: 25.66 m.hh*h"h h g f f fddjdZdR-@ZZZZӐ?z) ?i:)m87iiK'=II9@ @@@E E EE"E;*EC|;VEZEa @a @a @a @^Ar=IIO>BuE>BqBu"IBu`BBqBqBqBue;Bu'EnManaging dock network, ignoring radio surface power off9 Q ^j,Z]?Aɰ6Fc4>6>6Lٱ6nJ BAHRS rotation from veh to nav: [[0.913739,-0.377134,-0.151169],[0.380174,0.924868,-0.009389],[0.143352,-0.048892,0.988463]]6HX=?"ؿYÿT??L:ZY?U~?i6Fc4>I6];4YJ׃ByJ)"IbDZVDZyb_{%fH=ٔf9Q-f>9hYh=nFyln$Er>tQ 5z5vۣ?Q 9~5vY)vߋBY|y~n?Q I\@vCIvD;ivE;v 5y ɮ A]DNOT Ignoring new targets: 25.66 m.hYha*ha"ha hagafififidqdjdZd.@ZyZyZyZ}>n?L) ?i1:)=7ii$w=IIJ>i>)i@i @q@q@q@=@Y^AS=IIO>ԑ E  E E ,E "E ;*E Os;VE g4ZE BE -=a 2E -=a JE s9Y=FyE>Q 55uܣ?Q 95W)BY>Q E;ym?Q I\@CI:i:5yyɮ}uAyDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd/@Z>Z>Z_y?Zm?) ?i:)lC7ii˵=IIԱi@i @q@u/@q^A=IIO> How,.]?A2=1>2K>2ٱ2;J :AHRS rotation from veh to nav: [[0.914928,-0.374288,-0.151046],[0.377374,0.926019,-0.008787],[0.143160,-0.048961,0.988488]]2HG?U׿wUÿ@&??@S?w?i2=1>I2f^;0YBByB"IbDJVDJyR%V_=ٔVa :Q-V>9XYX=ZFyXZO EZ>Eb EbE`E`"Eb;*Eb;VE`ZE`af@af@af@af@IQ 5U5M>ݣ?Q 9U5MV)MBYQyU?Q I}\@MCIM;iM6;M55yɮADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZd@:0@AAAAB%F>B!B%"IB%KBB% =B!B!B%e;B!ZaZaZaZe?) k?iS:)顝H7ii̒=III9@ @@/@q^Am=IIO>ԡ },]?A2C/>2N>2fٱ2'K >AHRS rotation from veh to nav: [[0.915658,-0.372469,-0.151123],[0.375606,0.926742,-0.008310],[0.143147,-0.049154,0.988480]]2HM?׿Wÿ ?@ߧ?R?* ?i2C/>I2~^;0YBByB!IHHi Mb@Mb@Mb@     9 sh|??Mb?X9v?Y =y = < @ @ @)  Y @!!bD-VD-y5p%5B=ٔ=8Q-=>9AYA=EFyAEEM>IQ 5U5M{ޣ?Q 9U5ԙMOU)MBYF>Q E;yޢ?Q I\@MCIMzZF>Z{X?ZZޢ?f) f?i:)N7iij=IIE EE%E"Es;*Ew;VE 4ZEBE%=a2E%=aJE! ,^?A:7->::>:ٱ:9#L BAHRS rotation from veh to nav: [[0.916484,-0.370507,-0.150935],[0.373693,0.927520,-0.007744],[0.142865,-0.049307,0.988513]]:H`S?b׿Qÿ?>?ͷ`dI?>?i:7->I: _;8YJByJ!IbDVVDV0yZ(%ZS=ٔ^@:Q-^>9`Y`=bFy`bEf>dQ 5j5fߣ?Q 9j5fT)fBYlyn?Q In\@fCIf;if;f 5ypɮvAtDNOT Ignoring new targets: 25.66 m.hh*h"h hgfff!d!d!jd!Zd%O1@ZIZIZIZMi?])Y ]Z?ieN:)aeR7aiaiiim}t=IiIq-9@1 @1@54@1!D<D<E EE'E"E;*Em;VE'4ZEa@a@a@a@^AU=IaIqO}{>BK>BCB"IB-BBBBB f;B'Eqԙ ,,^?AF*>Fd >F}ٱFL bAHRS rotation from veh to nav: [[0.917357,-0.368353,-0.150906],[0.371592,0.928368,-0.007185],[0.142743,-0.049484,0.988522]]FHZ?`׿@Pÿ*?`1?m}gE?V?iF*>IFD_;FCY~By|bDVDβy5:J%=B=ٔE9Q-E>9IYI=UFyQ] E]>iQ 5u5m࣊?Q 9}5mR)mBYyK?Q I\@mCImQ;imR;m5yɮADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZdp1@qZZZZlK?}) 0?i:)wX7ii칈=II9@ @@4@ԡ^A=IIO>E  E 8E (E "E ;*E t;VE c44ZE BE +=a 2E +=a JE 2p>2sٱ2&L >AHRS rotation from veh to nav: [[0.918205,-0.366316,-0.150704],[0.369573,0.929177,-0.006824],[0.142530,-0.049431,0.988555]]2Ha?q׿`CJÿ?`л?"{m>? N??i2|(>I2@`;2CYBByF!Ii Mb@Mb@Mb@     9 RQ?V-?Mb?Y =y h= = @ r@ K@) @ Y @bD}VD}y%E=ٔp:Q->9Y=Fy+E>Q 55⣊?Q 95Q)BY=Q E;y͇?Q I\@CI:iE:k5yɮ,ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd1@Z=Z=ZM$?Z͇?-s)) 5?i5_:)15]71i9i99ED=IAIA9@ @@/@^A8=IIQO]>) ,w`^?A6f%>6Ȕ>6Oٱ6IL >AHRS rotation from veh to nav: [[0.919186,-0.363892,-0.150596],[0.367179,0.930129,-0.006382],[0.142396,-0.049430,0.988575]]6Hi?J׿Fÿ ??#z :?Ng?i6f%>I6ea;6CYFByF!IDLzDN@AER ER=ER)EP"ERC;*ERŊ;VERFA4ZEPaZ@aZ@aZ@aZ@bDZ VDZ2yb%fW=ٔfƺ9Q-f>9dYh=jFyhjEj>lQ 5r5n䣊?Q 9r5nP)nBYtyvv?Q Iv\@nCIn:ind:n5yxɮzAx%DNOT Ignoring new targets: 25.66 m.h!h!*h!"h! h!g)f)f)f)d)d1jd1Zd592@ZQZQZQZUkv?mO)i m?imN:)iub7qiqB<ABS>BBm"IBBB =BBDB+f;B'EBCBCBB =B =C5iڞ=II19@ @@@Y^A=II O>ԉ 杗,]Oz^?A0:O">:>:;<ٱ:aM BAHRS rotation from veh to nav: [[0.920282,-0.361117,-0.150585],[0.364453,0.931204,-0.005808],[0.142323,-0.049536,0.988580]]:Hr?׿``Fÿ@1S?k?Zw7? \r?i:O">I:Mb;8Y^Byb!IiEMb@Mb@Mb@AAAA A9ERQ?J +?9qYq=uFyq}E}>Q 55磊?Q 95O)!BY=Q E;yd?Q I\@CI/:i:r5yDBɮAEDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddQjdQZd]2@Z=Z=Ze>Zd?;<) ?i":)g7iiw=II ԉE EE+E"E;*ENi;VE [4ZEBE$=a2E$=aJE Τ,*^?A2>2">2 ٱ2L >AHRS rotation from veh to nav: [[0.921306,-0.358541,-0.150480],[0.361897,0.932202,-0.005416],[0.142220,-0.049468,0.988598]]2H V{?UֿBÿP)? ?o/vC4?S?i2>I2\c;2CYB~ByB!IHJAHJAAlbDNVDN:yv ;%vS=ٔz9Q-z>9xYx=~Fy|~E~>Q 5 5*飊?Q 9 5N)*BYy!d?Q I\@CI :i:5yɮ*A!MDNOT Ignoring new targets: 25.66 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]6 3@ZyZyZyZ} !d? ) ?i':)顝l7iiJn=IIM9@Q @Q@U0@QD=D<bEEFA4jEEƏB4rEEƭ<0E EE)E"E;*Ey;VEFA4ZEa@a@a@a@)^A}=u=:GIB]>BCBG"IBBB =BBDBDBe;B'EIO>-9)Y-#AA 1,^?AFn>FK>F} ٱFזM ZAHRS rotation from veh to nav: [[0.922463,-0.355516,-0.150565],[0.358937,0.933350,-0.004750],[0.142218,-0.049662,0.988589]]FH`ф?ֿ`Eÿ@?@?ts44??m?iFn>IF0mc;FCYfsByj!IbDzAVDz:2y}S%}D=ٔ16Q->9Y=FyE>Q 55y룊?Q 95N)4BYyQc?Q I\@$CI&;ii;5yɮA-DNOT Ignoring new targets: 25.66 m.h)h1*h1"h1 h1g1f9f9f9d9dAjdAZdE7x3@ZaZaZaZeQc?}} )y }?i}:)y顅q7iic=IIi@ @@0@ԑ^A `k=I I) O5 >E  E E *E "E I;*E t;VE (N4ZE BE =a 2E =a JE 2>2"ٱ2džM :AHRS rotation from veh to nav: [[0.923500,-0.352807,-0.150580],[0.356257,0.934378,-0.004330],[0.142226,-0.049646,0.988588]]2HP?dֿ3Fÿ`?l?Cqw4?Ak ?i2\>I2;c;2CYBoByB!Ii Mb@Mb@Mb@     9 1Zd?ˡE?l?Y "=y '= =  @ @)  Y G@bD%VD%ky5[%5M=ٔ5Q-5>99Y9==Fy9E$EE>IQ 5U5M?Q 9U5MOM)M>BYU=Q EU;yUD?Q IU\@ԙM)CIMZWD?") G?i:)顽v7iiR7Z=II@ @@1@^AJc=IIO> ,^?A:E>:Ϻ>:)ٱ:OJNEF EFEF(ED"EF;*EFxv;VEFc44ZEDaJ@aJ@aJ@aJ@ NAHRS rotation from veh to nav: [[0.924684,-0.349687,-0.150594],[0.353201,0.935540,-0.003632],[0.142157,-0.049831,0.988589]]:H?Eaֿ@Fÿؚ?`? m/2? |?i:E>I: d;:CYVeByV!IIZp<)Z49lYl=nFylr Er>tQ 5v5v?Q 9z5vL)vHBYxyzD?Q Iz\@v/CIv:iv:vd5yɮAE-DNOT Ignoring new targets: 25.66 m.h)h)*h)"h) h1g1f1f1f1d9d9jd9ZdE`>4@AYAYBef>BeCBe."IBe܃BBe =BaBeDBee;BaZZZZD?)) ?ie:)顥{7iiO=II9)@) @)@-4@)!q^A&V=IIOԡ 8,;^?AYgBy!IiMb@Mb@Mb@ 9bX9ȶ? ףp= ?/$?YE=yQ8=,=@ @)@Y@bDVDβy;%;=ٔQ->9Y=FyE>Q 55?Q 95K)TBY=Q E;y*b?Q I\@4CI:i#:45yɮAqDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZdD4@Z=Z=Z>Z*b?) )?i3:)  }7 i iP=IIE EE+E"E;*E;VE [4ZEBE'=a2E'=aJE1 [ŗ,s_?A2"i>2a>2ٱ27O :AHRS rotation from veh to nav: [[0.927027,-0.343356,-0.150759],[0.346997,0.937864,-0.002293],[0.142179,-0.050187,0.988568]]2H3?`տ`Lÿ15?`?b 2?)Y?i2"i>I2ed;2CYNdByR!IbDZVDZyv%vZ=ٔv_|Q-v>9xYx=zFyxztE~>YQ 5e5]?Q 9e5]J)]^BYaye{`?Q Ie\@]9CI]d:i]:]5yiɮuAqDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZd5@ZZZZ{`?) b?i\:)Ԃ7ii+7=II9@ @@/@E  EE)E"E;*Eo;VEFA4ZEa@a@a@a@Bm>BCB"IB̃BB =BBDBe;B'E^AdO=IIO>) J˗,d]/_?A$$V >V >VٱV;O fAHRS rotation from veh to nav: [[0.928146,-0.340343,-0.150707],[0.344024,0.938959,-0.001752],[0.142104,-0.050221,0.988577]]VH`^?-տZJÿ|?` ?\r0?@l?iV >IVWd;VCYn_Byn!I ppbDzVDz:yƼ% H=ٔ PC9Q- >9Y=FyxE>!Q 5%5%?Q 9-5%/J)%iBY)y-_?Q I-\@%>CI%:i%:% 5y9ɮ=,A9DNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjd Zd `{5@Z)Z)Z)Z-_?=)A E?iE:)AEM7AiAiIQU>.=IQIQIa)efAI9@ @@/@^Aп8=I)IIOu6>yE  E E +E "E p;*E n;VE [4ZE BE )=a 2E )=a JE [:J>:ٱ:P@ FAHRS rotation from veh to nav: [[0.929330,-0.337026,-0.150861],[0.340776,0.940144,-0.001055],[0.142187,-0.050429,0.988554]]:H?ԑտiOÿ G??4IQ+3?ѩI:%'e;:CY^^By^!IiEMb@Mb@Mb@AAAA A9E`"??9qYq=uFyy} E}>Q 55?Q 958I)sBY >Q E;y>F?Q I\@DCI:iM:5yɮ-ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd@j5@Z} >Z} >Z}>Z}s>F?) )?i:)顽̇7ii!#=IIԱ9@ @@@^A8=II O > Yؗ,Sc_?AD0zD0E6 E6E6'E4"E6.;*E6À;VE6'4ZE4a:@a:@a:@a:@B>Bp">B@0ٱBJQ JAHRS rotation from veh to nav: [[0.930521,-0.333655,-0.151016],[0.337474,0.941335,-0.000364],[0.142278,-0.050625,0.988531]]BH ? Zտ{Tÿ+?`j?7 (6?`멿` ?iB>IBle;BCYR\ByR!IbDZVDZ:yb&%bV=ٔfj|Q-f>9dYd=fFydjEj>llQ 5v5n?Q 9v5nUH)n}BYtyvYE?Q Iv\@nKCIn8;in;n5y|B<A<B%u>B%CB% "IB%BB% =B!B%DB%e;B%'Eɮ=ADNOT Ignoring new targets: 25.66 m.hh*h"h hg f f f ddjdZd5`K6@ZqZqZqZuYE?@0) ?i:)顕A7iiL=IIm9@i @i@m0@i^AE"=IQIiO}7>1a ޗ,|_?A4ɰ64e>V_>VWٱV=Q ^AHRS rotation from veh to nav: [[0.931689,-0.330408,-0.150951],[0.334277,0.942475,0.000266],[0.142180,-0.050708,0.988541]]VHe?h%տ`Rÿd?`(?w1?2?_!?iV>e>IVe;VCYfXByf!I1iMb@Mb@Mb@ 9ˡE?L7A`?Zd;O?Y=y+=j<=@@ @)@Yp@bDVD:yF%;=ٔsm9Q->9Y=FyE>Q 55?Q 95NG)BYB=Q E;y?Q I\@PCI:i]:5yɮdADNOT Ignoring new targets: 25.66 m.hh*h"h hgff!f%Bd!d!jd!Zd- 6@ZMB=ZMB=ZMK~-?ZM}?]W)Y e?iei:)ae7aiaiqquK =IyIyEu EuEu(Eq"Euغ;*Eus;VEuc44ZEqBEu=a2Eu=aJEuԹ k,_?A6Z=6>6ٱ6ҪR BAHRS rotation from veh to nav: [[0.932900,-0.326958,-0.150982],[0.330893,0.943668,0.000996],[0.142151,-0.050888,0.988536]]6HQ?Կ aSÿW-? 2?,PP?2? @?i6Z=I6e;6CYJcByJ!IbDVVDVfyZ}=%^]=ٔ^w8Q-^>9`Y`=bFy`f Ef>dQ 5j5fA?Q 9n5foF)fBYlyn?Q In\@fUCIf;if;f 5ytɮvAtDNOT Ignoring new targets: 25.66 m.hh*h"h hgf!f!f!d!d)jd)Zd- 7@ZIZIZIZM?e)a e?ie:)imÎ7iiiiqqui߁I߁D=DR=E EE+E"E;*Ej;VE [4ZEa@a@a@a@Bx>BCB"IBBBBBBOf;B(EBCBCBƔCB =B =CƋ*6! ؗ, _?A:c=:->: ٱ:LS NAHRS rotation from veh to nav: [[0.934080,-0.323569,-0.150988],[0.327556,0.944830,0.001632],[0.142130,-0.050982,0.988534]]:H`?ZԿSÿ`? 9hYl=rFyprkEr>tQ 5z5v?Q 9z5vyE)vBY|y~?Q I~\@vZCIv;iv;v 5yɮA 5DNOT Ignoring new targets: 25.66 m.h1h1*h1"h1 h9g9f9f9f9dAdAjdAZdEKz7@ZiZiZiZm?} )y }!?i}:)顅7iiQE  E E E "E v;*E X;VE ZE BE @!=a 2E @!=a JE 6ٱ6S >AHRS rotation from veh to nav: [[0.935239,-0.320238,-0.150916],[0.324264,0.945964,0.002190],[0.142060,-0.050984,0.988544]]6H z?`~Կ`5Qÿ?`VE?a?/?`'?i6=I6f;6CYFbByF!IiMMb@Mb@Mb@IIII I9MK?#~j?{Gz?YM^=yM=M#=M@M@ I)M/@IYMf@bDe VDe2yuՃ:%u@=ٔ}>.9Q-}>9yY=FyVE>Q 55?Q 95JD)BYM>Q E;y?Q I\@aCIu ;i ;X5yɮADNOT Ignoring new targets: 25.66 m.hh*h"h hgfff.BddjdZd7@ZM>ZM>Z1:?Zñ?-)) 5͌?i5 :)9=a79i9iIIUN CU ɀG,J_?AD zD"AAbEUT4jEUJJ4rEUd/E& E&E$E$"E&غ;*E&%f;VE$ZE$a.@a.@a.@a.@HA`Ab@ABf|>BdBf "IBfBBf =BdBfDBff;Bfj(Ev/&9tYvA&=>uٱ^S AHRS rotation from veh to nav: [[0.936462,-0.316693,-0.150816],[0.320770,0.947153,0.002864],[0.141939,-0.051059,0.988558]]H ~?`DԿMÿ}?O?ug? +? h$C?i&=I?{g;Y!y!bD5VD50ٔ9Q->9Y=FyE>Q 55?Q 95 C)BYy6?Q I\@gCI:i=:5yɮ}DNOT Ignoring new targets: 25.66 m.hyhy*hy"h hgfffddjdZd S8@ԹZ)Z)Z)Z-m6?=u)9 AiE9)AE7AiAiIIM9 A,\_?Aj3=jئ>jٱjT vAHRS rotation from veh to nav: [[0.937805,-0.312733,-0.150732],[0.316902,0.948451,0.003850],[0.141758,-0.051378,0.988567]]jH`?Կ`3KÿH?Y?ފo?@!%?@N`W?ij3=Ij#g;jCY~^By~!IiMb@Mb@Mb@ 9V-?1Zd? ףp= ?Ym=y"=Q8=@@ )\@Y\@bDVD:yg %<ٔ9Q->9Y=Fy%E>Q 55/?Q 95A)BY>Q E;y ?Q I\@mCIu ;i ;5y ɮ /A 5DNOT Ignoring new targets: 25.66 m.h1h1*h9"hA hAgAfAfIfM:BdIdIjdQZdU8@Zu>Zu>Zu5{?Zu ?) ?ib:)页җ7ii~I , `?A :]=:|>:ٱ:ǔT FAHRS rotation from veh to nav: [[0.938938,-0.309350,-0.150661],[0.313552,0.949561,0.004380],[0.141707,-0.051353,0.988576]]:H@ ?`bӿHÿ >?`b? q?q#?`Ji?i:]=I:g;:CYRaByR!IV=T Z;ZbDZVDZyb{<%f_=ٔf9Q-f>9hYh=jFyhj En>lQ 5r5n?Q 9v5n@)nƌBYtyv?Q Iv\@nsCIn:ina:n5yxɮ~A|%DNOT Ignoring new targets: 25.66 m.h)h)*h)"h) h)g)f)f1f1d1d1jd9Zd={9@ZYZYZYZ]?m)q u?iu:)qu7qiyiy,D]%=D]4=Ee EeEe)Ea"Ee4;*Ee%f;VEeFA4ZEaam@am@am@am@ԙB>BCB"IBBBBBBg;B(E G ,n1`?A2=2>2iٱ2|tU >AHRS rotation from veh to nav: [[0.940221,-0.305488,-0.150535],[0.309765,0.950799,0.005248],[0.141526,-0.051565,0.988591]]2H@K?ӿDÿ/?l?Cu??f?i2=I2Mh;2CYF\ByF!IPbDNVDN02yZӼ%ZL=ٔZ9Q-Z>9\Y\=~Fy|!E> Q 5 5 '?Q 95 f?) ЌBYy?Q I\@ yCI :i : Q5yAɮECAADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZd[9@ZZZZ?-i)1 5Z?i59)1=79i9i9AE+WEq  Eu Eq Eq "Eq *Eu n;VEq ZEq BEu =a} 2Eu =a} JEu [2W?ٱ2rU >AHRS rotation from veh to nav: [[0.941424,-0.301836,-0.150387],[0.306164,0.951960,0.005946],[0.141368,-0.051641,0.988609]]2H$ ?HQӿ?ÿ1?@uv?Zx?Y?p௢?i2)==I2Sph;2CY^PByb!I|iMb@Mb@Mb@ 9x&?L7A`?/$?Y7=y+>,=K@@ Z@)YQ@bDVD0yTK%8=ٔ9Q->9Y=FyE> Q 55 ?Q 9%5 =) ڌBY%>Q E%;y%V?Q I-\@ CI wo;i o; #"5y9ɮ=AADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffZE>ZE?ZEV?uW?)y }?i}Z9)y}N7yiyiq%ԁ V,e`?AE EE*E"E;*Eh;VE(N4ZEa@a@a@a@B0A0B4B4B4B4B6 =B4B4B6h;B6R)ER=R:&>R ٱRE`U ZAHRS rotation from veh to nav: [[0.942542,-0.298444,-0.150151],[0.302794,0.953034,0.006455],[0.141172,-0.051549,0.988642]]RHN)?ӿ$8ÿ`?A?jpz?? d?iR=IRh;RCYnOByr!I tttvAbDzVDzyB%Z=ٔ  :Q- >9 Y =FyGE>Q 5%5S?Q 9%5G<)BY)y-߹?Q I-\@CI:i:f%5y1ɮ5A1YeDNOT Ignoring new targets: 25.66 m.hahi*hi"hi higififqfqdqdqjdZdT:@ZZZZ{߹? ) Ʉ?ib:)Y7ii;IIԉԱ:{>i>q @q  @y @} 0@y ^Am h%<Iy I O > ,a`?A2*=2&>2ٱ2U8 >AHRS rotation from veh to nav: [[0.943745,-0.294720,-0.149952],[0.299123,0.954187,0.007193],[0.140962,-0.051642,0.988667]]2H(3?ҿ@1ÿ$?ೈ?u}? ?p@)?i2*=I2Ph;2CYFIByFz!IiMb@Mb@Mb@ 9(\µ?333333?t=@@ @)Y@bDVDy̼%/=ٔ+9Q->9Y=FyE>Q 55 ?Q 954:)BYZ4>Q E;y?Q I\@CI;i/;y)5yɮAE EE)E"E ;*ENi;VEFA4ZEBE=a2E=aJEZZ4>ZW?Z?M)I M׃?iM#9)IM7QiQiQY]YB;IYIyԩ9@ @@4@^Am;IIO`> &,b؛`?A2 =2>2ٱ2 V :AHRS rotation from veh to nav: [[0.944975,-0.290781,-0.149892],[0.295266,0.955381,0.008088],[0.140852,-0.051901,0.988669]]2H@==?)ҿ/ÿ ?z?a? n?༒-?i2 =I2vh;2CYB9TYT=VFyT^5Ej>ptQ 5z5v ?Q 9z5v8)vBYxy~?Q I~\@vCIvfa ,,`?A4<ɰ2X7=2>2nٱ2jX :AHRS rotation from veh to nav: [[0.946203,-0.286872,-0.149682],[0.291440,0.956546,0.009057],[0.140579,-0.052193,0.988693]]2H`KG?\ҿ(ÿ??8? ? _?i2X7=I2h;2CYB8ByBf!IF=F=bDVVDV:yf%fH=ٔj%0:Q-j>9hYh=nFylrV"Er>tQ 5z5v ?Q 9z5v6)vBYxyz ?Q Iz\@vCIv:iv:vG05yɮ^A-DNOT Ignoring new targets: 25.66 m.h)h)*h1"h1 h1g1f19f9f9dAdAjdAZdE;@Z!Z!Z!Z%t ?En)A EF?iE :)AE7AiIiIIU/"IqIq 9@  @ @ @ i^Aq:I1IYO}7>ԑE EE)E"EX;*Ek;VEFA4ZEBE*=a%2E*=a%JEfٱf Z nAHRS rotation from veh to nav: [[0.948494,-0.279456,-0.149212],[0.284172,0.958712,0.010840],[0.140022,-0.052683,0.988746]]fH`Z?ѿ]ÿ/?ĭ?P3?:?TΣ?ifu9Y=FyWE>Q 55 ?Q 954)BY0>Q E;y~?Q I\@CIv:i: 45yɮADNOT Ignoring new targets: 25.66 m.hh*h"h hgfff.BddjdZd:<@Z0>Z0>Z2?Z~?M)I Uq}?iUD9)QU7QiQiYY]@IYIae9@a @a@e/@a^A rg:I I O >A! A! B% >B! B% !IB% BB% =B! B! B% i;B% )EBCBCBʓCB =B =CX5I E]  E] E] /EY "E] ^;*E] n;VE] J4ZEY BE] "=2E] "=JE] <:E] <9,i`?AY~By~@!IbD VD k1y%%%S=ٔ%Q-->9)Y)=-Fy)5E5>9Q 5E5=L ?Q 9E5=3)= BYAyAQ IM]@=CI=`:i=:=n75yQɮUR AQDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZdq`<@ZZZZ) v?i=:)v7iijI I  I!)!@ @@/@A^Ae&tIiIO>>qԡ @,Ra?A R94=R":>R-ٱR[ ZAHRS rotation from veh to nav: [[0.950672,-0.272305,-0.148567],[0.277127,0.960753,0.012378],[0.139365,-0.052939,0.988825]]RH@k?@smѿ:ÿ@t?~?Y? ? t?iR94=IR_g;RCYbByb9!I ddiMb@Mb@Mb@ 9T㥛 ?MbX9?Zd;O?Y=yj<x@S@ )@Y3@bDVD2y %@=ٔ:Q->9Y=FyE>Q 55 ?Q 9551)BY/>Q E;y?Q I]@CIs:i:#;5yE EE+E"E;*E_;VE [4ZEa@a@a@a@ɮ A5DNOT Ignoring new targets: 25.66 m.h1h1*h1"h1 h1g1f9f9f=-Bd9dAjdAZdEf<@Ze/>Ze/>Ze1?Ze?i}-) 3s?i9)顅n7iiuIIIfA)A@A @A@Eo0@A@MgA@Iԙ^AmIqIO> F,-a?AB$|=BxA>BٱBL[ NAHRS rotation from veh to nav: [[0.951794,-0.268600,-0.148128],[0.273483,0.961786,0.013255],[0.138907,-0.053126,0.988879]]BH u?0ѿ¿??a%?? ^3?iB$|=IB9g;BCYRByV !IbD^VD^fyfս%f[=ٔf:Q-j>9hYh=jFyln )En>pQ 5v5r9 ?Q 9v5r/)rBYtyvl?Q Iz]@rǨCIr:ir :rf>5y~1Bɮ~ A~E%DNOT Ignoring new targets: 25.66 m.h!h)*h)"h) h)g)f)f1f1d9d9jd9Zd=/,=@ZaZaZaZel?u)q u?i?i}9)y}yiyiIIG9@ @@4@iIR.9YA^AnIB>BCB!IBBBBBDD=D<bEmFA4jEmI4rEmz:0E EE)E"E;*E[j;VEFA4ZEBE=a2E=aJE! vM,6a?A J_l=J9>JkVٱJ\ VAHRS rotation from veh to nav: [[0.952920,-0.264762,-0.147799],[0.269715,0.962836,0.014169],[0.138554,-0.053365,0.988916]]JH R~?`п¿C?@?? &?R 3?iJ_l=IJg;JCYZByZ!IbDfVDfyjϽ%nJ=ٔn>f:Q-n>9pYp=rFypv Ev>tQ 5z5v ?Q 9~5v-)vBY|y~?Q I~]@vШCIv;iv;vA5yɮ 2 A 5DNOT Ignoring new targets: 25.66 m.h1h1*h1"h9 h9g9f9fAfAdAdAjdIZdM ړ=@ZiZiZiZm?kV) ^?i+9)顉ii II)59@1 @1@5/@1Y^Au+wIIO>E EE'E"EL;*E%f;VE'4ZEa%@a%@a%@a%@ԁ fT,1Pa?A;ɰ;,:Z=:# >: ٱ:[W^ FAHRS rotation from veh to nav: [[0.954112,-0.260635,-0.147447],[0.265679,0.963941,0.015263],[0.138152,-0.053736,0.988952]]:H?`>п¿@?`?A?? < ?i:Z=I:h;:CYJ؂ByN Ii]Mb@Mb@Mb@YYYY Y9]kt?Dl?Q?Y] 0=y]O >]u9Y=Fy"E>Q 55 ?Q 95,)BY>Q E;y?Q I]@بCI/:iD;E5yɮ ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd4>@Z>Z>Ze?Z?- )) -z?i-9)15~41i1i99= ǼI9IAԁ9@ @@@@ =@ =Ա^A%፨I1IAOM> B A <B >B CB !IB qBB =B B DB Uj;B 2*ED zD @AE  E E )E "E ;*E VE FA4ZE BE t=a- 2E u=a- JE RR ٱR_ ZAHRS rotation from veh to nav: [[0.955334,-0.256420,-0.146922],[0.261555,0.965049,0.016435],[0.137572,-0.054129,0.989012]]RH ? 0iпU¿@R??TԐ?@?Ͷ?iR10I=IRwh;RC\YfЂByf IbDrVDrJyzQ%%~T=ٔ:Q->9Y = Fy Q8E>Q 5-5 ?Q 9-5*)BY)y5?Q I5]@ߨCI1;i_3; I5yAɮE AADNOT Ignoring new targets: 25.66 m.hh*h"h hgff!f!d!d)jd)Zd-j>@ZZZZ?R ) v?i9)5ii!!%I!I)9@ @@/@A^A 8ƼI I O >I a,xa?AVLp6=V{>V" ٱVpbi\I\ fAHRS rotation from veh to nav: [[0.956592,-0.251954,-0.146460],[0.257199,0.966196,0.017731],[0.137042,-0.054631,0.989058]]VHg? п 6¿u??(? ? \?iVLp6=IVLXi;VCYnByn IieMb@Mb@Mb@aaaa a9eI +?S㥻? rh?Ye94=ye/=eC9Y=Fyk1E>Q 55b?Q 95[)) BY\=Q E;yp?Q I]@CI ;i7 ;L5y-Bɮ AE EE*E"E;*ES;VE(N4ZEa@a@a@a@DNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd`[>@Z\=Z\=Z?Z^p?-" )1 5k?i5a9)15n=51i1i99=I9IAA9@ @@/@i^AII O >ԙ ?g,ga?A2c$=29>2> ٱ2%c :AHRS rotation from veh to nav: [[0.957784,-0.247681,-0.145956],[0.252999,0.967284,0.018774],[0.136531,-0.054908,0.989113]]2H@+?Ͽ`¿"1?@?@9?`y?@@Ц?i2c$=I2lj;2CYBByB IDFAHHbDNVDN:yV=Ľ%VZ=ٔV:Q-V>9XYX=ZFyX^AE^>`Q 5f5b?Q 9f5b7()b#BYdyfܺ?Q If]@bCIb:ib :bP5ylɮn& AlyDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZd4?@ZZZZܺ?> ) Wb?i9)s5ii5II@ @@/@B>ԩBCBy!IBHBB =BBDBj;BP*EDDE EEE"E;*Ej;VEZEBER=a2ER=aJE,A im,Ca?A2=2ρ>2L ٱ2d :AHRS rotation from veh to nav: [[0.959045,-0.243099,-0.145378],[0.248500,0.968426,0.019947],[0.135939,-0.055256,0.989175]]2H?Ͽ¿?`Y?@l?sf?J`R?i2=I2,l;2CYBByB IbDNVDN0yV]%VJ=ٔV:Q-V>9XYX=ZFyXZK?E^>`Q 5b5b@?Q 9f5b&)b'BYdyf>?Q If]@bCIbd:ib9:bS5yhɮn AlDNOT Ignoring new targets: 25.66 m.hh*h"h h g f f fddjdZdF?@Z9Z9Z9Z=>?ML )I MZ?iM9)QU5QiQiIII9@  @ @0@E EE-E"E@;*Eh;VEt4ZEa@a@a@a@i^A eI I O >ԙ Qt,a?A6^<6~>6k ٱ6e BAHRS rotation from veh to nav: [[0.960318,-0.238435,-0.144697],[0.243905,0.969571,0.021054],[0.135274,-0.055511,0.989252]]6H? οq¿`F8???P?k?i6^9AYA=EFyIMp:EM>QQ 5]5U?Q 9]5U &)U+BY]=Q Ee ԡA A AAB >B B A!IB BB =B B B j;B w*EE  E E +E "E ;*E S;VE [4ZE BE w =a 2E x =a JE ': @ ٱ:re VAHRS rotation from veh to nav: [[0.961570,-0.233792,-0.143961],[0.239304,0.970696,0.021995],[0.134600,-0.055600,0.989339]]:H.?ͿQm¿ ? ?ㅖ?:?w?i:P9 Y = Fy FE>!Q 555%?Q 9=5%&%)%.BYAyE?Q IM]@%CI%;i%W;%Z5yYɮe} AaDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZd 6@@ZZZZ{?} @ )y }9\?i]9)顅ii>III)m9@i @i@m4@i^Au IyIO>) Y m,b?AvhAvK ٱve ~AHRS rotation from veh to nav: [[0.962783,-0.229205,-0.143225],[0.234736,0.971792,0.022768],[0.133966,-0.055541,0.989428]]vH ?@VͿ/U¿ ? ?P?%?oe?ivhA9Y=Fy4E>Q 55?Q 95$)4BY=Q EFq ۍ,-b?A0Y~mBy~l IbD VD yR%%X=ٔ%Q-%>9)Y)=-Fy)-E->1Q 5u55?Q 9u55#)59BYqyyQ I}]@5CI5$IA IQ O] > ,:9b?A2P2<2j>2 9ٱ2a=e :AHRS rotation from veh to nav: [[0.965286,-0.219437,-0.141672],[0.225013,0.974050,0.024413],[0.132638,-0.055443,0.989613]]2H?̿ K"¿ 6?j+??H?@c ?i2P29XYX=ZFyX\Z!ռE^>`Q 5f5b?Q 9f5bh#)b>BYhyjB?Q Ij]@bCIb>:ib:b0e5ylɮn8Al DNOT Ignoring new targets: 25.66 m.h h *h "h  h g fffddjdZd_@@Z9Z9Z9Z=AB?U 9)Q UV?iUJ9)Y]#5YiYiaaerIaIaqiu>9@ @@@^A<HIIO>E EE-E"E;*ER;VEt4ZEa@a@a@a@A , fSb?A6ָ;6 e>6ٱ6d >AHRS rotation from veh to nav: [[0.966543,-0.214364,-0.140864],[0.219955,0.975184,0.025210],[0.131964,-0.055351,0.989708]]6H?`Jp˿¿|'?4?`Й?/?`V ?i6ָ;I6};6CY^kBy^i IiMMb@Mb@Mb@IIII I9MˡE?+?L7A`?YM'=yM=M+=M@Mx@ M@)M@IYIbDeVDeβyu<%u>=ٔu:Q-u>9yYy=}FyyHE>Q 55?Q 95")EBY'=Q EJUXGq19Y!A- 9@)  @) @- /@) B% <A% <B- >B) B- IB- ӂBB) B) B) B- :k;B- *Eԡ D zD bEmʙT4jEmU4rEmJ0E  E E ,E "E ;*E P;VE g4ZE BE =a 2E =a JE lzZ,ob?A,B@B T_>BٱBwe NAHRS rotation from veh to nav: [[0.967860,-0.208865,-0.140080],[0.214497,0.976373,0.026219],[0.131294,-0.055423,0.989793]]BH?`ʿ ! t?@r>?9ٚ?;?@m``b?iB@IB}3;@YRfByRb IbD^VD^1yb|ۼ%fC=ٔf[:Q-f>9dYh=jFyhjd]En>lQ 5r5n?Q 9r5nW")nMBYtyvY?Q Iv]@n CIn):in:nl5yxɮ~>A|%DNOT Ignoring new targets: 25.66 m.h!h!*h!"h! h!g)f)f)f)d1djdZdԱ ?,mb?Aɰ:$@:@Y>:6ٱ:+eEB EBEB*E@"EB;*EBJ;VEB(N4ZE@aF@aJ@aJ@aJ@ NAHRS rotation from veh to nav: [[0.969115,-0.203469,-0.139344],[0.209131,0.977512,0.027114],[0.130694,-0.055418,0.989873]]:H?`I ʿ` ?G?`Û??_ ?i:$@I:$;:CYViByVf I\i5Mb@Mb@Mb@1111 195I +? ףp= ?/$?Y594=y5Q8=5,=5@5@ 5VA)11Y5@bDMVDM0y]j<%]A=ٔe:Q-e>9aYa=mFyimWEm>qQ 5}5u}?Q 9}5u!)uWBY=Q E/h,Db?A6@6`S>6ٱ6d BAHRS rotation from veh to nav: [[0.970318,-0.198110,-0.138690],[0.203796,0.978615,0.027931],[0.130190,-0.055367,0.989942]]6H ?[ɿ ?P??@?Y?i6@I6-;6CYFhByJe IbDRVDRyZ㹻%ZV=ٔZK:Q-^>9\Y\=bFy`bklEb>dQ 5j5fd?Q 9j5f1!)f`BYhyj?Q In]@fCIf:ifl:fs5ypɮr.Ap DNOT Ignoring new targets: 25.66 m.h h*h"h hgff!f!d!d!jd!Zd-`A@ZIZIZIZM?])Y e|V?ie9)aeC5aiaiiimvIiIqB>BB IBBBBADBBk;B*EiID=D=E EE)E"E;*EC;VEFA4ZEBE =a2E =aJEԡ ,b?A2 @2?N>2uٱ29d :AHRS rotation from veh to nav: [[0.971523,-0.192657,-0.137934],[0.198370,0.979704,0.028811],[0.129584,-0.055352,0.990022]]2H?ȿӧ`-d?Y?? 5?'W@C?i2 @I2(u;0YBkByBi IbDJVDJ:yR<%RK=ٔV9:Q-V>9TYT=ZFyXZdEZ>\Q 55^Y?Q 95^ )^iBYyS?Q I]@^CI^$Pߵ,b?AFZ@FH>F4zٱFd RAHRS rotation from veh to nav: [[0.972651,-0.187430,-0.137187],[0.193148,0.980726,0.029508],[0.129012,-0.055198,0.990106]]FH?`ǿ@U ? b?@W7?u? B?iFZ@IF:;DYVzByV{ Ii=Mb@Mb@Mb@9999 99=)\(?9iYi=mFyiumBEu>yQ 55}?Q 95})}tBY=Q EiAAAAB>BB IBBB =BBDBk;B +EE& EEE"E5;*EsX;VEZEBE<=a2E<=aJE?2ٱ2bc :AHRS rotation from veh to nav: [[0.973749,-0.182225,-0.136407],[0.187944,0.981716,0.030182],[0.128413,-0.055026,0.990193]]2H(?#Sǿ u?7j??`o?@c,`?i2.@I2{À;2CYvByv IbD~VD~0y )<% Q=ٔ#:Q->9Y=Fyo`E>!Q 5-5%?Q 9-5%)%~BY)y5–?Q I5]@%CI%y:i%-:%~5y9ɮ=k A9mDNOT Ignoring new targets: 25.66 m.hihi*hi"hi higifqfqfqdqydyjdZdAB@ZZZZ–?) VM?i9)顽6ii춽IIԡ99@ @@4@ iQ IQ ^A :I I O >E  E E -E "E ;*E ;VE t4ZE a% @a% @a% @a% @y˜,: c?A2@2=>2:ٱ2njb :AHRS rotation from veh to nav: [[0.974800,-0.177131,-0.135607],[0.182841,0.982661,0.030777],[0.127804,-0.054796,0.990285]]2H1?@<ƿ[Ug?q??[?: i?i2@I2р;0Y^By^ Ii Mb@Mb@Mb@     9 J +?A`"?Mb?Y H=y = @= @ @ ) &@ Y @bD%VD%Ny5Y%59=ٔ=:Q-=>99YA=EFyAEBEE>IQ 5U5M?Q 9U5Mt)MBY]>Q E];y]?Q I]]@M$CIMz ;iM ;Mb5yaɮer AiDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZdzB@Z>Z>Z?Z?=:)9 =@?iEa9)AEw6AiAiIim^vIiIq91m 9@i  @i @m 4@i ^AE õIQ Ia Om >Y ɘ,"&c?A2@28>2tٱ2a :AHRS rotation from veh to nav: [[0.975788,-0.172290,-0.134739],[0.177975,0.983539,0.031256],[0.127136,-0.054479,0.990388]]2H9?` ƿ#??%y??`F?`䫿@B?i2@I2B;2CYBByB IF=F= J49XYX=ZFyX^gE^>`Q 5f5bM?Q 9f5bc)bBYdyfq?Q If]@b)CIb:ib:bz5ylɮn8 AlDNOT Ignoring new targets: 25.66 m.hh*h "h  h g f ffddjdZdpB@Z9Z9Z9Z= q?Mt)I UC?iU9)QU 6QiQiYYeǽIaIa)BE>BECBE IBEĂBBE =BABABEl;BE`+EE EE*E"E+;*E3;VE(N4ZEBE7=a2E7=aJEԱ .?Ϙ,?c?A>@>@3>>ٱ>da FAHRS rotation from veh to nav: [[0.976846,-0.166902,-0.133850],[0.172630,0.984456,0.032314],[0.126376,-0.054672,0.990475]]>H@RB?]ſ !?઀?i?-??i>@I>!|;>CYNByN IbDVVDVy^;%bI=ٔbT:Q-b>9`Yd=fFydf]Ef>hQ 5n5j?Q 9n5j+)jBYpyr?Q Ir]@j/CIj;ij;j5ytɮv+ AtDNOT Ignoring new targets: 25.66 m.hh*h"h hg!f!f!f!d!d)jd)Zd-^B@ZIZIZIZMڳ?e)a elD?ie9)amH-6iiiiiquнIqIyԑ-9@1 @1@5 0@1^A ˺II)O5 >E E+E)E"E;*E;VEFA4ZEa @a @a @a @ &֘,Yc?A6n@6 .>69ٱ6b >AHRS rotation from veh to nav: [[0.977800,-0.162053,-0.132836],[0.167815,0.985255,0.033319],[0.125478,-0.054871,0.990578]]6H#J?*Ŀ`z?5?@/?@?`@в?i6n@I6vx;6CYvByv IiuMb@Mb@Mb@qqqq q9ui|?5?Q?ˡE?Yuq=yu\>u'=u@u@ uA)uK@qYu@bDVD1y<%==ٔj ;Q->9Y=Fy;E>Q 551?Q 95y)BY"!>Q E;y?Q I]@8CI ;ir;̌5yɮ ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfff#BddjdZd @C@Z-"!>Z-"!>Z-?Z-?=9)9 E5?iEF9)AE+96AiAiIIMؽIII@ @@?0@BAAAB]>B]CB] IB]΂BB] =B]BDB]DB]pm;B]+EBYB]CB]ǓCBYB] =C]@6E EE-E"E1;*E9@;VEt4ZEBEJ=a2EK=aJEQQ Pܘ,asc?A2d@2 )>2Tٱ2 b >AHRS rotation from veh to nav: [[0.978603,-0.158178,-0.131591],[0.163931,0.985885,0.034030],[0.124351,-0.054874,0.990720]]2HP?,?Ŀ? ^?il?`pտ?m?i2d@I2m@t;2CY^Byb I ``dfAbDjVDjyrC<%rW=ٔvC;Q-v>9tYt=zFyxz+Ez>|Q 55~) ?Q 95~)~BYy {?Q I ]@~?CI~F:i~_:~ 5yɮ ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZdEC@ZZZZ}{? T)  6?i 9)D6iiR*߽II!)Q9@ @@4@^A^ӽIIO>yԩ E  E E .E "E ;*E fW;VE ـ4ZE a @a @a @a @$8,c?A@VI@V&>VtٱV%Ub fAHRS rotation from veh to nav: [[0.979280,-0.155008,-0.130317],[0.160735,0.986392,0.034578],[0.123184,-0.054808,0.990869]]VHCV?Iÿ> ?`? :?? @3?iVI@IVp;VCYrByr IiMb@Mb@Mb@ 9p= ף?(\?L7A`?Y=y.>+=Q@@ A)Yz@bDVDkyB%;=ٔ{0;Q->9Y=FyE>Q 55`!?Q 95)BYh=>Q E ;y ±?Q I ]@ICI:if:5yɮ AEDNOT Ignoring new targets: 25.66 m.hAhA*hA"hA hAgAfIfIfM8BdIdQjdQZdUU{C@Zuh=>Zuh=>ZuP?Zu±?t) (?i9)額O6ii+KIIԩ-9@) @)@-u4@)^AUٽIYIiO}> ) A Y 029 Y y"Ab,]c?A>2@>#>>R ٱ>a FAHRS rotation from veh to nav: [[0.979901,-0.152309,-0.128824],[0.157990,0.986819,0.035029],[0.121791,-0.054678,0.991049]]>HY[?~ÿ M}`9??J?-??i>2@I>CXo;>CYNByN IbDVVDV1y^=%^_=ٔb {;Q-b>9`Yd=fFydf Ef>hlQ 5n5ji"?Q 9r5j1)jBYpyr^?Q Iv]@jRCIj,;ij-;j$5yxɮz AxDNOT Ignoring new targets: 25.66 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5`DC@ZQZQZQZU^?mR )i mG,?im9)quY6qiqiyy}IyI I)BE>BABE IBE؂BBE =BABEDBEm;BE,ED=D<bE(N4jEwX4rE.0E EE*E"E;*E`;VE(N4ZEBEd=a2Ed=aJE1a J,8c?Aɰ4<2:@2 >2*ٱ2Na :AHRS rotation from veh to nav: [[0.980554,-0.149328,-0.127341],[0.154984,0.987273,0.035673],[0.120393,-0.054715,0.991217]]2H`?1ÿL?༗?`C?Ҿ?`` ?i2:@I2oo;0YvByv IbDVD!y %E=ٔ^;Q->9Y=Fy%nE%>!Q 5-5%#?Q 955%=)%BY1y5?Q I5]@%[CI%d:i%9:%Ú59yAɮE* AAmDNOT Ignoring new targets: 25.66 m.hqhq*hq"hq hqgqfyfyfyddjdZd\C@ZZZZ?*) /(?i9)d6iiIIm9@q @q@q@q@}=@}=iE EE)E"E;*ER;VEFA4ZEa@a@a@a@^AUMIaIqO}{>ԑ t,c?A2@2`>2ٱ2}a :AHRS rotation from veh to nav: [[0.981189,-0.146622,-0.125579],[0.152226,0.987683,0.036199],[0.118725,-0.054635,0.991423]]2He?`¿@ |???@d??i2@I2#p;2CYFByF IiMb@Mb@Mb@ 9Dl?Mb?~jt?YO=y@><~@ )@Y@bDmVDmky} ܼ%}D=ٔ}у;Q->9Y=FyD߻E>ԙQ 55$?Q 95)čBYN>Q E;y:?Q I]@fCI1;i0;i5yɮX ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffEBddjdZdD@Z N>Z N>Z x ?Z A:?%)! %?i%K9))-n6)i)i115I1I99@ @@/@^AIIO!>A=@AA=@ABE>BECBE IBE݂BBE =BEADBABE?n;BE3,EDzDE EE,E"E%;*E/S;VEg4ZEBE=a2E=aJE2ٱ2` :AHRS rotation from veh to nav: [[0.981802,-0.144081,-0.123717],[0.149618,0.988065,0.036647],[0.116960,-0.054491,0.991641]]2Hj?9dYd=fFydfEj>hQ 5r5j&?Q 9r5j)jȍBYpyrܰ?Q Ir]@jpCIj;ij;j5yvBɮz AzޥEDNOT Ignoring new targets: 25.66 m.hh*h"h! h!g!f!f!f)d)d)jd)Zd-cED@ZQZQZQZUܰ?e)a e?im9)imx6iiiiqquwIqI9@ @@/@!^AQIaIqO}>Qԁ E  E E +E "E ;*E Z`;VE [4ZE a @a @a @a @c,d?ADDf@f>f ٱfYa nAHRS rotation from veh to nav: [[0.982469,-0.141240,-0.121679],[0.146731,0.988470,0.037371],[0.114998,-0.054569,0.991866]]fH cp?&¿W&?`?@:"?}p?@]?if@Ifq;fCYvpByvo IimMb@Mb@Mb@iiii i9m?+?~jt?YmL=ymv>>m9Y=FynE>Q 55&?Q 95 )ˍBY.F>Q E;yi?Q I]@{CI` ;i3:5yɮU AIDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBBddjdZd D@Z.F>Z.F>Zr?Zi? )  ?iu9)\6iiNII9@ @@0@@gA@y^AIIOA>ԡ Ͱ ,<(d?A2{@2 >2ٱ2u,a :AHRS rotation from veh to nav: [[0.983110,-0.138567,-0.119559],[0.144000,0.988847,0.038020],[0.112957,-0.054595,0.992099]]2Hu?`kn??@hw? ?F?i2{@I2Nr;0YBfByBb IbDJVDJyz2^%zV=ٔ~;Q-~>9|Y=FyE> Q 55 '?Q 95  ) ΍BYy?Q I]@ CI r;i ; ڨ5y!ɮ% A)UDNOT Ignoring new targets: 25.66 m.hQhQ*hQ"hQ hQgQfYfYfYdadajdaZde D@ZZZZ?) ?ih9)顥6ii?IIiIDqDu<ԱBU>BQBU IBUĂBBU =BUBDBQBUkn;BUH,EE EEE"E;*E~E;VEZEBEB=a2EB=aJEަ9 ,Bd?A2Ѥ@2>2Qٱ2a :AHRS rotation from veh to nav: [[0.983766,-0.135818,-0.117298],[0.141194,0.989222,0.038777],[0.110767,-0.054709,0.992339]]2H{?xb5? ?@ڣ? 5[?`>?i2Ѥ@I2s;2CYBaByB] IbDJVDJk1yR%RP=ٔR~;Q-V>9TYT=VFyTZEZ>\Q 5b5^D(?Q 9b5^)^эBY`yb?Q If]@^CI^;i^;^J5yhɮj Ah}DNOT Ignoring new targets: 25.66 m.hyhy*hy"hy hygfffddjdZdD@ZZZZ{?Q) h?i%z9)!%U6!i!i))-sI)I19@ @@4@^AuIIO5.>AE EE(E"E;*E=;VEc44ZEBEd=2Ed=JE <:E :,߽ٱ:Ta BAHRS rotation from veh to nav: [[0.984380,-0.133143,-0.115192],[0.138450,0.989588,0.039324],[0.108757,-0.054659,0.992565]]:H ?` :}`?@?V"?~׻?3?i:@I:u;:CYJUByJN IiMb@Mb@Mb@ 9~jt?sh|??Q?Y=y)>u<~@-@ )@Y @bD5VD5fyE/a%EA=ٔE.;Q-E>9IYI=MFyIUٻEU>QQ 55U(?Q 95U)UӍBY/>Q E;y޾?Q I]@UCIU҇;iUj;U5yɮ/A-DNOT Ignoring new targets: 25.66 m.h)h)*h1"h1 h1gfff,BddjdZd`3E@Z/>Z/>ZA?ZO޾?,߽) {?i9)(6iixII1ԉ9@ @@'1@@=@=ԹBADzD?A^AII B B B IB BB =B ADB B n;B z,EOE >E  E E ,E "E @;*E UB;VE g4ZE BE =2E =JE #<:E #< ,6vd?A6w@6? >6ڽٱ6` >AHRS rotation from veh to nav: [[0.984986,-0.130539,-0.112966],[0.135756,0.989944,0.039759],[0.106640,-0.054498,0.992803]]6H`? }X뼿`p`??W[?L?1竿 ?i6w@I6puw;6CYF?ByF4 IbDRVDR:yV޽%ZT=ٔZ;Q-Z>9\Y\=^Fy\`bEb>dQ 5j5f5)?Q 9j5fb)fՍBYhyn?Q In]@fCIf:if7;f^5ypɮrApDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffd!d!jd!Zd%`GE@ZAZAZAZE1?]ڽ)Y ] ?i]9)Yeaiaiaim1IiIi)@1 @1@5/@1^A II)O5 >I i1 I5 A*#,d?AE EE*E"E;*E:;VE(N4ZEBE<2E<JEĝ<:Eĝr3jֽٱrP_ zAHRS rotation from veh to nav: [[0.985582,-0.127947,-0.110719],[0.133072,0.990292,0.040176],[0.104504,-0.054330,0.993039]]rH`?`X}?x?ꑤ?`?@$ѫ?irv`@Irx;rCY:By- IiMb@Mb@Mb@ 9Q?n?{Gz?Y\=yV>#<@ lA)@YbDVDy%:=ٔ;Q->9Y=Fy:λE>Q 55)?Q 95)֍BY">Q E;y?Q I]@CI7 ;i:15yɮADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffBddjdZd@ځE@Z">Z">Z|?ZA?53jֽ)I M{?iM;9)IMT!4IiIiQQU IYIYI9@ @@@i^A% I1 IA OM >ԙ ),d?A2J@2>2ҽٱ2%^ :AHRS rotation from veh to nav: [[0.986162,-0.125381,-0.108466],[0.130408,0.990631,0.040541],[0.102366,-0.054125,0.993273]]2H?@| `eĻ`8? @??4?G?i2J@I2iy;2CYF*ByF IHHbDNVDN1yV%V]=ٔZ;Q-Z>9XY\=^Fy\^GEb>`Q 5f5bH*?Q 9f5bZ)b׍BYhyjú?Q Ij]@bCIbl:ib:bl5yYɮ]AaԁB*** querying acoustic contact ***i i2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. DNOT Ignoring new targets: 25.66 m.hD]%=D]=h*hq"hq hygyfyffddjdB>BCB IBBB =BBDBCo;B,EBCBCBB =B =C5Zd&E@Ez EE'E"E4;*EM;VE'4ZEBE<2E<JE%<:E%<Z Z Z Z ú?mҽ)i m/ ?iu_9)qu4qiqi, II I)ԩ9@ @@@@@gA *DAT read: user:204>  BDAT read: Tx time:04:48:18.0295  $Ping request sent.  0,hd?A21@2 >2ͽٱ2=^ :AHRS rotation from veh to nav: [[0.986749,-0.122575,-0.106310],[0.127514,0.990991,0.040944],[0.100334,-0.053958,0.993490]]2H`r?a (7]R?3?@?{?Y?i21@I2:z;2CYB(ByB IbDJVDJk2yRV%VK=ٔV;Q-V>9TYX=ZFyXZEZ>\Q 5b5^*?Q 9b5^)^ٍBYdyf`?Q If]@^CI^B:i^9:^5yhɮjAlDNOT Ignoring new targets: 25.66 m.hh*h"h hg f f f ddjdZdE@Z9Z9Z9Z=Y`?Mͽ)I M ?iMq9)QUa4QiQiYY]IYIa9@ @@z0@^A IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251969E EEE"E;*EUB;VEZEBE=2E=JE#<:E#<)Y 37,Ud?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5029826@6s>6>ɽٱ6^ BAHRS rotation from veh to nav: [[0.987336,-0.119643,-0.104179],[0.124506,0.991352,0.041471],[0.098316,-0.053916,0.993694]]6HA?񠾿q߿?'?;?:+?@V?i6@I6+Wz;6CYrByrIi}Mb@Mb@Mb@yyyy y9}I +?"~j?9Y=FyE>Q 55+?Q 95)܍BY=Q E;y?Q I]@CI:i:5yɮADNOT Ignoring new targets: 25.66 m.hh*h"h hg f f f ۀBddjdZd@F@qZ=Z=Zc?ZҪ?>ɽ) {?iM9)ii8II 9=C:G(hA-169-(hAY-9%Ay>?-A9@ @@0@ԡAyA}AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755259B}>B}CB}` IB}dBB} =B}BDByB}o;B},E^AIIO>bE ɷG4jE ɷG4rE ɻ0E EE(E"E;*E`;VEc44ZEBE<2E<JE<:E< ;=,J~d?A2?@2@=2 Žٱ2!] :AHRS rotation from veh to nav: [[0.987892,-0.116801,-0.102112],[0.121587,0.991693,0.041963],[0.096362,-0.053870,0.993887]]2HϜ?潿 #[ ??.|? 1? 锫?i2?@I2uy;2CYNByRIbDZVDZyb%bZ=ٔb;Q-f>9dYd=fFydj*Ej>lQ 5r5nM+?Q 9r5nk)nߍBYpyrA?Q Iv]@n©CIn;in;n5yxɮzAxDNOT Ignoring new targets: 25.66 m.hh*h"h h!g!f!f!f!d)d)jd)Zd-}JF@ZQZQZQZUA?- Ž)) - ?i-9)15 41i1i99=(I9I9M;>iM>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0073349@ @@4@@=@=^A,aIIO%>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260533E z E zE .E "E 4;*E .;VE ـ4ZE BE <2E <JE M<:E M<$D,Nae?A4-D@-=-Jٱ-^ EAHRS rotation from veh to nav: [[0.988460,-0.113626,-0.100178],[0.118354,0.992059,0.042565],[0.094546,-0.053931,0.994059]]-H@w??pL? ? ˥?$4?ǜ T?i-D@I-:y;)YMByUIi Mb@Mb@Mb@     9 l?I +?Q?Y =y 9= u<  Z@ A) @ Y @bD%VD%y5<%55=ٔ5u;Q-5>99Y9==Fy9EEE>AQ 5M5EA,?Q 9U5ER)EBYU=Q EU  LJ,;4+e?APExceeded connect timeout, disconnecting.6@6A=6\ٱ6] >AHRS rotation from veh to nav: [[0.989001,-0.110427,-0.098397],[0.115089,0.992423,0.043015],[0.092901,-0.053866,0.994217]]6H`? D0tv???`ȷ?S?i6@I66x;4pYvByvIbD VD yE`G%E[=ٔM;Q-M>9QYQ=]FyYe Ee>iQ 5}5m-?Q 95mi)mBYy?Q I]@m̩CIm[;im^;mB5yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764486B>BCB: IBEBB =BADBD5=D5<E=j E=E=)E9"E=;*E=m;VE=FA4ZE9BE= <2E= <JE=r<:E=r<Bo;B-EDNOT Ignoring new targets: 25.66 m.hh*h"h hgfffdd jd Zd `F@ZiZiZiZm?\) (?i9)顅4ii6III-099u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015191 9@  @ @ 2@ @ fA@ a ԉ ^A -II)O5>%R,Ie?A2 @2=2ٱ2q] :AHRS rotation from veh to nav: [[0.989537,-0.106995,-0.096794],[0.111599,0.992802,0.043463],[0.091447,-0.053810,0.994355]]2H I?d`zǸÑ? ?@? i?@?i2 @I2w;0YBByBIbDNVDNNyRA};%R7=ٔVV;Q-V>9XYX=ZFyXZE^>\Q 5b5^.?Q 9b5^V)^BYdyf0?Q If]@^ѩCI^>:i^;^!5yhɮnAl}DNOT Ignoring new targets: 25.66 m.hh*h"h hgfffddjdZdF@ZZZZZ0?-)1 5?i5(9)9=`59i9iiimIiIqԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267779Em EmEm+Ei"Em ;*Em9;VEm [4ZEiau@au@au@au@uB9}9@y @y@/@Թ^AmDIyIO\> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941 LX,Obe?A2 @2?=2Ҹٱ2%?] :AHRS rotation from veh to nav: [[0.990072,-0.103312,-0.095310],[0.107866,0.993195,0.043925],[0.090123,-0.053769,0.994478]]2H?@r99Y9==Fy9EcEE>IQ 5M5M.?Q 9U5Mr)MBYU=Q EUBB! IB1BB =BBBp;B#-E)E} E}rE},Ey"E}+;*E}*;VE}g4ZEyBE}7=a2E}7=aJE}I q ^AM BIQ Ii Ou >_,e?ABDAT read: Rx Time:04:48:20.4762 "TRx dataTimestamp_ set to:1761540501.992214"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024067:o@:=:ٱ:K\ FAHRS rotation from veh to nav: [[0.990571,-0.099628,-0.094033],[0.104135,0.993576,0.044293],[0.089016,-0.053668,0.994583]]:Hò?`<@?`??ɶ?Tz@?i:o@I:Cu;:CYJByNIbDVVDVFy^l%^@=ٔ^5+;Q-^>9`Y`=bFy`fEf>IQ 5u5M=/?Q 9u5M)MBYqyu?Q I}]@MکCIM;iM2;M5yɮ[ADNOT Ignoring new targets: 25.66 m.hh*h"h hgfffd d jd Zd  ;]G@)ZIZIZIZM4?e)a ?i 9)顭vV5ii!II9@ @@/@Q^AuKIIO<>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277137E}{ E}E})Ey"E};*E}|;;VE}FA4ZEya@a@a@a@ԩ e,Ře?AY~By~II]>)= = =iMb@Mb@Mb@ 99Y=FyE>Q 55&0?Q 95)BY=Q EU@ U4Q>)Ue@IU4QϾQQU_s>cWLuf? UB)U5IUZ,iU4QϾQQiidY!II9@ @@@ ^A I I Oe >B B CB  IB 'BB =B B B p;B t-ED} %=D} R=E  E }E *E "E |;*E m0;VE (N4ZE BE S:=a 2E T:=a JE 9XYX=ZFyXZZE^>\Q 5b5^0?Q 9f5^Q =ftI)^BYdyfß?Q If^@^CI^L:i^:^5yhɮnfAliie?AJiARiAjii@bo4:b9)D!(@R=嵀}_ٿ3X6?ZiZ,bi4QϾjpCJ9𸆤-ﰎ%@Z _{CZݿ0p?2i-h:i"iܨ?*iftBi}Bi*B?iiiAi|@m addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 47.172117 s, deltaX: 6.000000 m, approachRate: 0.127194 m/s, rangeRepo size: 4  Added new target pos. range: 31.640242 m, bearing: 209.196309 deg, lat: 36.779374 deg, lon: -121.859598 deg, deltaT: 47.172117 s, deltaX: 5.977358 m, approachRate: 0.126714 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjd?@Zdn?ZZZZß?%񠳽)! %?i-9))-5)i)i11=?(I9IQ9@ @@/0@@gA@^A_!IIO$>9i r, |e?A06@6n=6Aٱ60\ JAHRS rotation from veh to nav: [[0.991820,-0.089036,-0.091462],[0.093466,0.994589,0.045350],[0.086930,-0.053528,0.994775]]6H? ˶jj?`?%8?A?h 3?i6@I6RYl;6CY-By)bDMVDMyeG%m?=ٔm:Q-m>9qYq=uFyq}E}>Q 551?Q 95)BYyT?Q I^@CIl:id:L5yɮkADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd`%X?ZZZZYT?A) ?iP9)5ii!!%Ë*I)I)E= E=E=,E9"E=+;*E=bC;VE=g4ZE9aE@aE@aE@aM@ԑ9@ @@5@Թ^AMR!II1O=> $y,Ve?A2@2|=2Bٱ2[ :AHRS rotation from veh to nav: [[0.992085,-0.086687,-0.090845],[0.091076,0.994812,0.045330],[0.086444,-0.053245,0.994833]]2H)?1@A`P?`?u5?.!?B?i2@I2P2i;0YBByBI DDHJA`iMb@Mb@Mb@ 9I +?+η?Mb?Y99Y=FyͿE>Q 55Q2?Q 95)BYf=Q EiUy9)QUz5QiYiYaes,IaIa iiIi)iBQBQBQBQBU =BQBUDBUNq;BU-EBmCBmCBiBm =Bm =Cmq69@ @@4@EM EMaEM+EI"EM=;*EM!;VEM [4ZEIBEM =a]2EM =aeJEMA  ,2f?A:h@:=:~ٱ:QZ BAHRS rotation from veh to nav: [[0.992310,-0.084587,-0.090362],[0.088950,0.995001,0.045389],[0.086071,-0.053078,0.994874]]:H`?! lŶ? ?@?=?? - ?i:h@I:3f;8YJByJIbDTVDTyZ;%^S=ٔ^Q:Q-^>9`Y`=bFy`fhEf>dQ 5j5f2?Q 9n5f)f BYlynZ?Q In^@fCIf;if;f(5ypɮvPAtDNOT Ignoring new targets: 31.64 m.hh*h"h hgf!f!f!d)d)jd)Zd-?ZIZIZIZMZ?e~)a e>ie9)am)5iiiiiqu+.IqIqE9@A @A@E/@A@M=@M=I^AUx*IaIqyO{>Ee EeEe)Ea"Ee;*Ee2;VEeFA4ZEaam@am@am@am@ԡ 6, f?A2@2=2¯ٱ20`Z :AHRS rotation from veh to nav: [[0.992520,-0.082573,-0.089915],[0.086926,0.995170,0.045618],[0.085714,-0.053093,0.994904]]2H@?#@?@n?`E[?\?/@A?i2@I2c;2CYfByfIiMMb@Mb@Mb@IIII I9My&1?S㥻?S㥛?YM`e9Y=FyE>Q 552?Q 95)BY=Q E;y?Q I^@CIP;i;5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZd`?Z =Z =Z ?Z ?¯)! %?i%9)!%5!i!i))-/I1I)@) @)@-/@)ԩqliAd9liAYOA^AMr.IYIiO}>BE >BA BA BA BE =BA BE DBE q;BE -E bEʙT4jEʙT4rE#0Ee o Ee Ee (Ea "Ee 7;*Ee IK;VEe c44ZEa BEe 9tYt=vFytz)Ez>|Q 5]5~2?Q 9e5~)~BYaye?Q Ie^@~CI~fi9)r5iiFo1IIq@q @q@u/@q ^A/IIO>1Y J,Mf?AJ@J=JAٱJd[ ZAHRS rotation from veh to nav: [[0.992844,-0.079010,-0.089541],[0.083396,0.995438,0.046349],[0.085470,-0.053484,0.994904]]JHa?9"춿`pY???_? Kb`A?iJ@IJ_;JCYfByfIbDnVDn:yv/%vI=ٔz9Q-z>9xYx=~Fy|~فE~>Q 5 52?Q 9 5x)BY y?Q I^@CIu:i):5yɮfAEDNOT Ignoring new targets: 31.64 m.hIhI*hI"hI hIgIfIfQfQddjdZd=@E5 E5~E5*E1"E5m;*E50;VE5(N4ZE1a=@aE@aE@aE@AZqZqZqZu?A) b>i9)額Y5iiD2IiIy]9@a @a@a@a@i@mhAԉԩ^A 1I I O > r,gf?A6@6'=6\ٱ6a\ BAHRS rotation from veh to nav: [[0.992957,-0.077809,-0.089338],[0.082200,0.995527,0.046566],[0.085316,-0.053582,0.994912]]6HN?L볿޶` ?@\?ק?`=׵?@o R?i6@I6_;4YFByFIiMb@Mb@Mb@ 9/$?p= ף?~jt?Y<@ A)Z@Y@bD-VD-βy=;%=E=ٔ=9Q-E>9AYA=EFyAM?EM>QQ 5]5UC3?Q 9]5U )UBY]=>Q E];yeO?Q Ie^@U CIUi ;iUm ;Ul5ym BɮmAmեEDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZd \l @ZM=>ZM=>ZM叴?ZMO?e\)a e)>im+9)im.5iiii3IIԹBqAqB>BBBBBBDBwq;B-EiߩI߭A!@! @!@%/@!EM EMEM(EI"EM;*EM:;VEMc44ZEIBEM =a]2EM =a]JEMĝ9 0^, f?A2@2=2ٱ2}\ :AHRS rotation from veh to nav: [[0.993056,-0.076702,-0.089203],[0.081099,0.995609,0.046751],[0.085226,-0.053661,0.994916]]2H?¢ֶ ´??@?Vѵ?uy`Y?i2@I2yj^;0YBByBI DFADFAbDNVDNܲyVt<%VT=ٔVeu9Q-V>9XYX=ZFyX^4<E^>`Q 5f5b3?Q 9f5b)bBYdyf+?Q If^@bCIb:ib:b5ylɮnAlDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd { @Z)Z)Z)Z-+?E)A E>iE^9)AM6IiIiQQU4IQIY 9@ @ @ 0@ 9E5 E5sE5+E1"E5F;*E5)+;VE5 [4ZE1a=@a=@a=@a=@^A=3IIIYOm>a Q,mUf?A 2@2@=2ٱ2R[ >AHRS rotation from veh to nav: [[0.993097,-0.076121,-0.089245],[0.080506,0.995664,0.046610],[0.085311,-0.053473,0.994918]]2Hr?|ض?@z? 5ݧ?ֵ?`@_?i2@I2g ^;2CYFByFIi Mb@Mb@Mb@     9 y&1?333333?~jt?Y `e D< lA @ ) @ Y @bD%VD%Ny5I,%5B=ٔ=]TQ-=>9AYA=EFyAEEM>IQ 5U5M3?Q 9U5M)M BY>Q E;y?Q I^@MCIM5Z>ZW&?Z ?) >i9)N 6iiqiqy}5IyIy9@ @@ 4@ @@=ԙ^A- r5IA IY By By By By By By By B} Cq;B} -EO > EE  EE ZEE *EA "EE ;*EE ;VEE (N4ZEA BEE y=aU 2EE y=aU JEE [ :AHRS rotation from veh to nav: [[0.993139,-0.075525,-0.089281],[0.079901,0.995718,0.046491],[0.085387,-0.053306,0.994921]]2H@?@U۶`t? ?ͧ? ۵?J`d?i2@I2];0PYnByrIbDzVDzy7W%N=ٔKQ->9 Y = Fy 0ɺE>Q 5%53?Q 9%5q)!BY!y%?Q I%^@CI;i;5y)ɮ5A1]DNOT Ignoring new targets: 31.64 m.hYhY*hY"ha hagafafafididijdiZdmN@ZZZZ?) ">i9)k6iij5II}99@ @@0@! ^A5 4IQ Ii Ou >,+Pf?A2E@2΢=27hٱ2[ :AHRS rotation from veh to nav: [[0.993188,-0.074741,-0.089395],[0.079121,0.995780,0.046492],[0.085543,-0.053248,0.994911]]2H1?@@"⶿GA?n?@ͧ?*?PCN?i2E@I2N];0YBByBIIF<)FF=F=bDNVDNyV3 %VN=ٔVιQ-V>9XYX=ZFyXZvE^>|Q 5%53?Q 9%5)"BY)y-?Q I-^@'CI:i:5y1ɮ5*AiDNOT Ignoring new targets: 31.64 m.hhEi EoE+E"E~;*E );VE [4ZEa@a@a@a@*h"h hgfffddjdZd ;@ZZZZ??57h)1 5G>i5R9)9=69i9iAAE'6IAIA59@1 @9@=/@9iԑ^Avh5IIO> й,9(f?AY~ہBy~IԙiMb@Mb@Mb@ 9~jtx?/$?t<pA@ A)@Yz@bD VD Ny-I%-4=ٔ-Q-5>99Y9=EFyAEEE>YQ 5e5]|3?Q 9e5])YYm>Q Em;ymN?Q Iu^@]0CI]{r;i]t;]f 5yɮoAAA@AB >B B  IB !BB B B B q;B -EDNOT Ignoring new targets: 31.64 m.hh*h"h hgfff BddjdZd@Z>Z>Z~ ?ZN?))) 5>i59)1561i1i99=B6I9IAIE EhE,E"E+;*E^%;VEg4ZEBE7=a2E7=aJE ),lg?AY~߁By~IbD VD kyԵ<%]=ٔ!Q-%>9)Y)=5Fy1IEU>YQ 5e5]J3?Q 9e5])]#BYayiQ Im^@]7CI]:i]|:] 5yqɮuMAqDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd Pm@ZiZiZiZi)  >i9)顝L$6iiv5IIM9@I @I@M/@I@U@U@U@U)E EE)E"E;*EbC;VEFA4ZEa@a@a @a @I9IIQO]>y ƙ,jg?A2@2=2}ٱ2vx\ :AHRS rotation from veh to nav: [[0.993336,-0.072212,-0.089831],[0.076655,0.995948,0.047028],[0.086071,-0.053600,0.994846]]2H h?|!?@???{q?i2@I2]];2CYnсBynItvAiMb@Mb@Mb@ 9y&1|l?~jtx?Y`y>;A )@Yp@bDVD:y΃%A=ٔ䣺Q->9Y=FyzE>Q 552?Q 95)"BY>Q E;y?Q I^@?CI2 ;i ;M5yɮA DNOT Ignoring new targets: 31.64 m.hh*hQ"h hgfffBddjdZd[*@Z=>Z=>Z=?Z=?u})q u>iu^9)qu*6yiyiy g8II!@! @!@%/@)I9IIOm5>ԁԱBBBIBBB =BBBp;B|-EBCBCBB =B =C5E  E E E "E x;*E >;VE ZE BE ~9IYI=MFyIUEU>QQ 5e5U2?Q 9e5Uh)U!BYaye?Q Ie^@UGCIU:iU9:U5yqɮuAqDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd`W@ZZZZ?:E) >i9)606ii8II I)ԱIgA)I@I @I@M00@IIaIqO}> 9 &ә,BPg?A2@2@Ě=2u鱽ٱ2%\ :AHRS rotation from veh to nav: [[0.993386,-0.070741,-0.090445],[0.075213,0.996058,0.047027],[0.086762,-0.053519,0.994790]]2H?@i' )A??? 6?fR?i2@I21];0YBƁByBIbDJVDJyR6%RU=ٔVUQ-V>9TYT=VFyTZEZ>\Q 5b5^y1?Q 9b5^)\Y`yf?Q If^@^NCI^;i^;^5yhɮjAp%DNOT Ignoring new targets: 31.64 m.h!h!*h!"h! h)g)f)f)f)d1d1jd1Zd5!6@E EE'E"E;*E3;VE'4ZEa@a@a@a@ZZZZP?Eu鱽)A E>iE+9)AE66IiIiIQU_9IqIq9@! @!@%4@)IaIO )>9i gg>  G) 9 m $9i Ym oAڙ,ujg?A 2}y@2=2Dzٱ2,{[ >AHRS rotation from veh to nav: [[0.993409,-0.069929,-0.090816],[0.074408,0.996124,0.046906],[0.087184,-0.053355,0.994762]]2H?@汿 ?@d ????Q? NQ?i2}y@I2>];0YBByFIiUMb@Mb@Mb@QQQQ Q9U~jtx?㥛 ?YU;yU>UUAU@ UA)U@QYUf@bD VD2ye%m1=ٔmpQ-m>9qYq=uFyq}E}>yQ 55}O1?Q 95}%)}BY>Q E;y?BA<BBBIBBB =BBBvp;BX-EQ I^@}WCI};i};}5yɮJADNOT Ignoring new targets: 31.64 m.hh*h"h hgfff BddjdZd`@Z%>Z%>iZ%?Z%?}Dz) 4>i9)顅 <6ii :IIbEUķG4jEUI4rEUp/E EE)E"E՘;*Ez1;VEFA4ZEBEA,Kg?A6r@6_=6xlٱ6Z >AHRS rotation from veh to nav: [[0.993445,-0.069082,-0.091076],[0.073562,0.996193,0.046783],[0.087497,-0.053176,0.994744]]6HM?]PԲ???7f?`9@?i6r@I6^;6CYFByFITbDfVDffyn%nh=ٔr,iQ-r>9pYp=rFypvEv>xQ 5~5z/1?Q 9~5z)zBY|y?Q I^@z]CIz;iz;z-5y ɮ A 5DNOT Ignoring new targets: 31.64 m.h1h1*h9"h9 h9g9f9fAfAdAdAjdIZdM`3t@ZiZiZiZm6?}xl) G>i*9)顅@6ii9:IIp>iU9@Q @Q@U/@Q^A-8IIIYOu>E EE+E"Ep;*EN;VE [4ZEa@a@a@a@) 0, &g?A2 i@2=2hٱ2Z :AHRS rotation from veh to nav: [[0.993479,-0.067901,-0.091592],[0.072407,0.996276,0.046804],[0.088073,-0.053131,0.994696]]2H@?a`r@????`3?i2 i@I2DG^;2CYFByFI|ieMb@Mb@Mb@aaaa a9e~jtx?Dl?~jtx?YayeO >e;eAe@ eQA)aaYe@bD}VD}Jy=%@=ٔQ->9Y=Fy2E>Q 55 1?Q 95=)Y >Q E;y?Q I^@eCIj:i:!5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZd  @Z >Z >Z?ZG?5h)1 5>i5X9)9=E69i9iAAE;IAII)m9@i @i@i@i@ua=@u=Y^Az:B>BCBIBBB =BBBZp;BK-EIIO>ԁ E y E lE (E "E ;*E y';VE c44ZE BE 9AYA=MFyIMEM>QYQ 5e5U0?Q 9e5U)QYayiQ Im^@UlCIU8;iU9;UX%5yqɮuAqDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd @ZZZZ) ɐ>i9)rJ6iil;IIu9@q @q@u/@qԉ^A;IIԹO> A,Yg?AY=By=yIbDUVDUym,%mH=ٔiQ-m>9qYq=uFyqE EE*E"E;*En:;VE(N4ZEa@a@a@a@ԹE>Q 550?Q 95E)BYyQ I^@sCIU;i; )5yɮA-DNOT Ignoring new targets: 31.64 m.h1h1*h1"h1 h1g9f9f9f9d9dAjdAZdE!@ZaZaZaZay)y }>i}9)y} O6ii;II59@1 @1@=/@9^Am;IyIO>9 >l,kg?A^F@^c=^pٱ^ϬZ nAHRS rotation from veh to nav: [[0.993564,-0.063584,-0.093737],[0.068215,0.996560,0.047052],[0.090423,-0.053144,0.994484]]^HG?` G)v?? 4? %?5 ?i^F@I^Za^;\YzByztIiMb@Mb@Mb@ 9MbP?/$?:v?Y:y1>T<$A@ ;A)@YAA9A=AABABECBEIBEBBE =BABABEVp;BEI-EbDUVDUye<%e;=ٔeWQ-m>9iYi=mFyiuEu>yQ 55}v0?Q 95})}BY>Q E;yd?Q I^@}zCI}:i}:},5yɮ)ADNOT Ignoring new targets: 31.64 m.hh*h"h hgfff BddjdZd`*"@Z>Z>Z{?Z:d?p) >iK9)T6ii!!-?I)I)Ez E~E'E"E4;*E0;VE'4ZEBEԙ $T,h?AB?@B}=BٱB0Y NAHRS rotation from veh to nav: [[0.993573,-0.062649,-0.094278],[0.067290,0.996632,0.046875],[0.091023,-0.052918,0.994442]]BH Y?@ @"9? h? ?LM?w?iB?@IBċ^;BCYjByjoIIn<)n=n=n=bDvVDvyz-%~e=ٔ~ ݺQ-~>9Y=Fy )E > Q 55 40?Q 95 )  BYyG?Q I^@ CI ;i ; /5y)ɮ-KA)UDNOT Ignoring new targets: 31.64 m.hQhQ*hQ"hY hYgYfYfafadadajdiZdmQF#@ZZZZfG?) f>i9)顥vX6ii?IIqu9@q @q@}4@y^AM?IaIqO>ԡE EE*E"EI;*E6;VE(N4ZEa@a@a@a@ ,ρh?A:8@:=:A1ٱ:rX FAHRS rotation from veh to nav: [[0.993555,-0.061891,-0.094961],[0.066542,0.996694,0.046617],[0.091762,-0.052635,0.994389]]:H`4?@'VO??ާ?`}?`?i:8@I:^;:ۑCYNByN`IiUMb@Mb@Mb@QQQQ Q9U~jt?T㥛 ?I +?YUDU949Y=FyE>Q 55P0?Q 95!)!BY>Q E;y?Q I^@CI:iQ:35yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZdu$@Z >Z >Z z?Z ?%A1)! %{>i%39)!%C]6)i)i115@I1I1IA)EgA@ @@4@^A>IIO>B->B)B-IB-ځBB- =B)B)B-ep;B-P-E! D =D E  E uE )E "E Ʊ;*E 6,;VE FA4ZE BE =a 2E =a JE 9IYI=MFyIUEU>Q 55k0?Q 95)"BYyQ I^@CI;i;75yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd$@ZZZZ) >>i9)b6ii!!%d@I!I)I9@ @@/@q^A @II)O5>ԡ ,5%Sh?A6,@6=6Ѿٱ6V@ BAHRS rotation from veh to nav: [[0.993533,-0.060404,-0.096139],[0.065079,0.996808,0.046250],[0.093039,-0.052207,0.994293]]6H?J ???@dѷ?㺪@??i6,@I6a^;6CYJByJjIbDV VDV:2yZA<%ZT=ٔ^ZQ-^>9`Y`=bFy`bxEf>dQ 5j5f0?Q 9j5f)f#BYlyn?Q In^@fCIf%;ifd;f`:5ytɮviAtDNOT Ignoring new targets: 31.64 m.hh*h"h hgff!f!d!d!jd!Zd-%@ZIZIZIZM?eѾ)a mq>im9)imf6iiiiqqE~ EoEE"E;*E );VEZEa@a@a@a@uAIIM9@I @Q@Q@Qԩ^Au-@IIO> },mh?A^%@^,=^ ´ٱ^ Wl vAHRS rotation from veh to nav: [[0.993542,-0.059502,-0.096616],[0.064209,0.996859,0.046363],[0.093554,-0.052267,0.994241]]^H?w@ջ p?D?ؼ?&?ª ?i^%@I^J^;^CY~By~mIi}Mb@Mb@Mb@yyyy y9}Mb`?T㥛 ? rh?Y};yy}C<}A}$@ }A)yyY}AbDVDy2<%;=ٔQ->9Y=FyE>Q 55B0?Q 95)&BB<ABBBIBЁBBBBBp;Bb-EBBBBB =C^5Y5>Q E;yJ?Q I^@CI;it;/>5yɮVADNOT Ignoring new targets: 31.64 m.hh*h"h hgfff#BddjdZd`&@Z5>Z5>Z?Z`J?5 ´)1 5u>i569)1=k69i9i9Ae{BIaIaul>iu!>DyzDyE EE-E"E;*EH;VEt4ZEBE" =a2E" =aJEY c!,چh?AYbBybcIbDjVDj yr(%rX=ٔvQ-v>9tYx=zFyxzEz>)Q 555-0?Q 955-)-(BY19y9Q IE^@-CI-,;i-y-;-A5yMBɮMAM̥EuDNOT Ignoring new targets: 31.64 m.hqhq*hy"hy hygyfyffddjdZd@R'@ZZZZ) e>i9)nn6ii CBII]9@Y @Y@]/@Y@a@egAi^AuCIE EyE,E"E;*EQ.;VEg4ZEa@a@a@a@ԩIO> m',h?Aɰ;6K@6@P=6F½ٱ6 W >AHRS rotation from veh to nav: [[0.993530,-0.058036,-0.097623],[0.062816,0.996935,0.046626],[0.094618,-0.052456,0.994131]]6H ?嶭??@Vߧ?8?۪@?i6K@I6^;6ߑCYFByFZIJ=Jp=iMb@Mb@Mb@ 9{Gz?p= ף?t<$A@ QA)@YQA -p;)bD-VD-fy=%=E=ٔE(Q-E>9AYA=MFyIMK\EM>QԙQ 55U 0?Q 95Ua)U*BY>Q E;yq?Q I^@UCIU>Z>Z1i 9) Xs6ii9CII!9@ @@/@B>BBBB =BBBp;Bo-E^A BI I O >bE-(N4jE-ʼP4rE-]%0E  E E -E "E ;*E z1;VE t4ZE BE =a 2E =a JE 9tYt=vFytz{Ez>|Q 55~0?Q 95~)~,BYy `?Q I ^@~CI~ ;i~:~H5yɮ8A=DNOT Ignoring new targets: 31.64 m.h9hA*hA"hA hAgAfAfIfIdIdIjdQZdU@(@ZqZqZqZuI`?ý) !>i9)額xw6iibCII19@ @@1@a^ACIIO>ԉԹ _4,kh?AYvByv`IbD~VD~:yM:<%MD=ٔUQ-U>9QEe` EeEe,Ea"Eei;*Ee,?;VEeg4ZEaam@am@am@am@Yi=uFyquEu>yQ 55}0?Q 95})}/BYyQ I^@}CI}K:i}:}8L5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd)@ZZZZ)  >i x9)  E|6 iiCIIԑ9@ @@4@@@@@IaIqO}{> ;,Kh?A>@>=> WĽٱ>W JAHRS rotation from veh to nav: [[0.993467,-0.057304,-0.098688],[0.062132,0.996981,0.046562],[0.095722,-0.052390,0.994028]]>H{?VC@ϯ?@E?@ק?B?Ҫ?i>@I>'|];-`e<-A-$@ -hA)-@)Y-GAbD=VD=N2ye&%e:=ٔmQ-m>9iYq=uFyqu2E}>yQ 55}D0?Q 95})}1BY>Q E;y?Q I^@}CI}:i};} P5yɮDADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZd*@Z>Z>Z6?ZP? WĽ) Ha>i 9) 6iiWDIIEx EE*E"EL;*E<;VE(N4ZEBEI A,F(i?A6@6y=6Ľٱ6CW >AHRS rotation from veh to nav: [[0.993449,-0.057214,-0.098924],[0.062044,0.996992,0.046455],[0.095969,-0.052288,0.994010]]6H@U?K`S-į?@[? ȧ? i?Ū ?i6@I6I];6ߑCYFByF\IbDNVDN0yV"<%Vk=ٔZ:Q-Z?9XYX=ZFy\b}Eb?`Q 5f5bf0?Q 9j5b)b2BYhyj?Q Ij^@bĪCIb:ib|:bS5ypɮr6Ap DNOT Ignoring new targets: 31.64 m.h h *h "h  hgfffddjd!Zd%FV+@ZAZAZAZE6?UĽ)Y ]d>i]9)Y]6YiYiaaeODIaIiIq)q9@ @@%/@!IIYIqO}=yE ElE+E"E.;*Ey';VE [4ZEa@a@a@a@ԡ H,("i?A6@6t=6(Žٱ6V8 NAHRS rotation from veh to nav: [[0.993435,-0.057209,-0.099071],[0.062038,0.996996,0.046371],[0.096120,-0.052212,0.993999]]6H@7?oJ\@pï? d?彧?`Y??i6@I6FR];4YVByV^Ii5Mb@Mb@Mb@1111 195~jtxl?~jt?Y5Ļy5>5<5A1 5A)5@1Y5AbDMVDMy];%]?=ٔ]Q-e>9aYa=eFyam;Em>qQ 5}5u/?Q 9}5u)u5BY}>Q E};y?Q I^@u̪CIu:iuv:uV5yɮ-A˥EDNOT Ignoring new targets: 31.64 m.hh*h"h hgfff+BddjdZd0,@Z>Z>Z??Z?(Ž) L>i9)Q6i i#DIIԡE9@A @A@A@AIQIaOu>Bu>BqBqBqBqBqBqBunp;BuW-E E  E E (E "E ^;*E =;VE c44ZE BE W=a 2E W=a JE 9TYT=VFyXZ9EZ>\Q 5b5^J/?Q 9b5^)^7BYdyf?Q If^@^ӪCI^;i^$:^Z5yhɮj[Ah}DNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd4,@ZZZZ>?%2Ž)! %NA>i%9))-ڄ6)i)i)15QCI1I99@ @@@)Y^ABIIO>ԁ ,U,Ui?A2@2@d=2#;Žٱ2V :AHRS rotation from veh to nav: [[0.993380,-0.058037,-0.099131],[0.062845,0.996959,0.046080],[0.096155,-0.052005,0.994007]]2H?@`??`ϗ??d?i2@I2J];2CY\y`bDjVDjyr. ;%rF=ٔrZ#Q-v>9tYt=vFytzf:Ez>|Q 55~.?Q 95~)~9BYy6?Q I^@~۪CI~;i~;~]5yɮXAEe EaEe*Ea"Ee1;*EaVEe(N4ZEaam@am@am@am@qDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd-@ZyZyZyZ}C6?#;Ž) 0B>i)页i6iiG\CII{>i>ԉ@ @@/@Ա^ACIIO> Y[,oi?A2@2@A=2Ľٱ2kV >AHRS rotation from veh to nav: [[0.993366,-0.058464,-0.099022],[0.063264,0.996934,0.046046],[0.096026,-0.052005,0.994019]]2H ?` ﭿ`~Y2? ?@W?+?`i?i2@I2];2ޑCYFByFUIi Mb@Mb@Mb@   BAB%>B!B!B!B% =B!B!B%!p;B%2-E  9  D< ;A @ ) @ Y pAbDMVDM1y]%]C=ٔ]9Q-]>9aYa=eFyam:Em>iQ 5}5m .?Q 9}5mG)m:BY}b>Q E};y}?Q I}^@mCImP ;im:mca5yɮdAUDNOT Ignoring new targets: 31.64 m.hQhQ*hQ"hQ hQgYfYfYf]BdadajdaZde(.@Zb>Zb>Z?Z?Ľ)  W>i49)"6iiIIM CIIIIEm~ EmEm)Ei"Em;*Em7;VEmFA4ZEiBEmq ?b,9tYx=zFyxz:Ez>|Q 55~m-?Q 95~)|Y y +?Q I ^@~CI~:i~d:~d5yɮAEDNOT Ignoring new targets: 31.64 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU c/@ZZZZ+?0Ľ) D>i#9)6iiBIIQ]9@Y @Y@e5@a@mgA@mgAԁ^AuBEv EE-E"Ec;*E<;VEt4ZEa@a@a@a@IIO>Թ Ilh,Ti?AR(@R=R<`ĽٱR-U ZAHRS rotation from veh to nav: [[0.993309,-0.059821,-0.098784],[0.064581,0.996865,0.045709],[0.095740,-0.051783,0.994059]]RH`0?ҠIZ?Q?`3g?g?JS?iR(@IR];RݑCYb{BybBIiMb@Mb@Mb@ 9QʡE?:v?Yuy>T<QAQ@  A)$@YAbD VD2yQ%>=ٔ8:Q->9Y=Fy:E>Q 55,?Q 95);BY>Q E;y?Q I^@CI ;i. ;h5yɮADNOT Ignoring new targets: 31.64 m.h h *h "h  h gfff8BddjdZd 0@Z=>Z=>Z=}?Z=?U<`Ľ)Q U >iU9)Y]6YiYiaaeAIaIaqԩ@ @@4@B!B!B%IB%BB!B!B!B%p;B%+-EBCBCBB =B =C+5^A BII)O5> Dy Dy E  E E +E "E ;*E 5;VE [4ZE BE T9TYX=ZFyXZ:E^>\Q 5b5^+?Q 9b5^)^AlDNOT Ignoring new targets: 31.64 m.hh*h"h hg f f f ddjdZd~0@Z9Z9Z9Z=,?Mý)I M =iM9)IU6QiQiYY]b`AIYIa 9@  @ @ /@ A9^AUeAIiIO~>a 3{u,ri?Aɰp; >&5@>=>½ٱ>aT FAHRS rotation from veh to nav: [[0.993283,-0.061369,-0.098094],[0.066071,0.996781,0.045417],[0.094991,-0.051593,0.994140]]>H?k@?? @?[Q?_j@?i>&5@I>r:];9tYt=vFytvo ;Ez>xQ 5 5z*?Q 9 5zܻ)xY y I?Q I^@zCIzf;izg;z]o5yɮaAEEb EEEE*EA"EEQ;*EEF;VEE(N4ZEAaM@aM@aM@aM@]DNOT Ignoring new targets: 31.64 m.haha*ha"ha hagafafifididijdqZdu 0@ZZZZI?½) p=iF9)顭X6ii٫@IIe9@a @a@i@ii@u=@u=ԡ  C}G^AoAIIO>9Y? A ͤ{,bi?A2 :@2?=2 ½ٱ2ųT :AHRS rotation from veh to nav: [[0.993276,-0.061974,-0.097782],[0.066665,0.996739,0.045460],[0.094646,-0.051673,0.994169]]2H?>@?I?F?@:?@t;?i2 :@I2@];2CYBaByB"IPAbAAAb@ABdBdBfIBfBBf =BdBdBfOp;BfH-EiMb@Mb@Mb@ 9Mb~jt?{Gzt?Yy>ף;Ah@  A)@YbD VD:2yw=%>=ٔS:Q->9Y=Fy:E>Q 55-*?Q 95')Y>Q E;y?Q I^@ CI:i :s5yѓBɮ}ADNOT Ignoring new targets: 31.64 m.hh*h "h  h g f ffBddjdZd V1@Z=>Z=>Z=?Z=?M ½)Q U >iU9)Y]m6YiYiaae;@IaIiIi)mfADIzDM@AbEjER4rEͰ/E]s E]E])EY"E];*E]4;VE]FA4ZEYBE]! , j?A2?@2=2#ٱ2T :AHRS rotation from veh to nav: [[0.993254,-0.062692,-0.097553],[0.067374,0.996691,0.045467],[0.094380,-0.051733,0.994191]]2H ? `A@o???{G? L)?`|i?i2?@I25];2ݑCYB]ByBIbDJVDJ:yR%R]=ٔV<:Q-V>9TYT=VFyXZ:EZ>\Q 5f5^)?Q 9f5^)^;BYhyj2?Q Ij^@^CI^v;i^F;^[v5ytɮvAxDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd`f1@Z9Z9Z9Z=2?M#)I Ul=iU9)y}i6yiyi?II)59Eez EenEe*Ea"Ee4;*Ee(;VEe(N4ZEaau@au@au@au@y9@ @@@ԩ ^A -@I I1 O= >*,s&j?A2B@2^=2ٱ2y.V :AHRS rotation from veh to nav: [[0.993267,-0.063002,-0.097223],[0.067697,0.996656,0.045762],[0.094014,-0.052035,0.994210]]2H?` 㸿 T??n?S?W?i2B@I2];2ޑCYBKByBIHHJAi]Mb@Mb@Mb@YYYY Y9]~jtxDl?Y]Ļy]O >]]hAY ] A)]@YY]AqqbD}VD}:2y%%1=ٔO:Q->9Y=Fy!6:E>Q 55 )?Q 95)9BYr >Q E;y?Q I^@CI"&;iX%;iz5yɮ)ADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZd+2@Z5r >Z5r >Z5?Z53?) =i9)j6ii ar?II99@ @@@B>BBfIBBB =BBBp;Bu-EE u E E -E "E ;*E bC;VE t4ZE BE  $ ,2@j?A2&H@2nj=2<ٱ2{V :AHRS rotation from veh to nav: [[0.993247,-0.063697,-0.096972],[0.068382,0.996608,0.045788],[0.093727,-0.052110,0.994233]]2H`?kN*Ӹ`?@6?xq?y?`?i2&H@I2̃];2ߑCY^EBy^IbDj VDj2yr0 %rV=ٔrRG:Q-v>9tYt=vFytz:Ez>||Q 55~(?Q 95~)~8BY y ?Q I ^@~!CI~C*;i~`+;~}5yɮ^ADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd2@ZZZZ?m<)q u<=iu9)quF6qiyiyyq>III=)=mm9uV>iu>)%9@! @!@%0@!Q^AM ?IQ Ii Ou >ԁ :,&Zj?AE"a E"E")E "E"݉;*E"A;VE"FA4ZE a&@a&@a&@a&@>I@>-=>I{ٱ>(W FAHRS rotation from veh to nav: [[0.993268,-0.063880,-0.096636],[0.068578,0.996580,0.046101],[0.093361,-0.052417,0.994252]]>H?`nZ$U??}?|?@p֪?i>I@I>j];>ݑCYN:ByNIbDVVDVy^X%^L=ٔ^p:Q-b>9`Y`=bFy`f9Ef>hQ 5n5j(?Q 9n5j1)j6BYlyn?Q Ir^@j)CIj;ij;j95ytɮvAtDNOT Ignoring new targets: 31.64 m.hh*h"h hgff!f!d!d!jd!Zd-;2@ZIZIZIZM4?QeI{)a e=ie+9)im6iiiiF>II9@ @@5@@ =@ =ԁԹ^A->I9IIOU> B A B >B B GIB BB =B B B q;B -E`,sj?AF:K@F=F ־ٱFHX NAHRS rotation from veh to nav: [[0.993285,-0.064064,-0.096340],[0.068760,0.996561,0.046236],[0.093047,-0.052550,0.994274]]FH?fB?`? O?ѷ?`窿?iF:K@IFx];FߑCYV+ByVIIX)ZC=i5Mb@Mb@Mb@1111 195Mb`?Q?Mb`?Y5;y5=5;15~@ 5 A)11Y53AbDMVDM!y]㉽%]A=ٔ]C:Q-e>9aYa=eFyamF9Em>qQ 5}5u'?Q 9}5u۲)u5BY}=Q E};yZ?Q I^@u/CIu ;iu ;u5yɮ)AԹDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZd_3@Z=Z=Z?ZjZ? ־) =iN9)͑6ii>IIEUo EQEU*EQ"EU7;*EQVEU(N4ZEQBEUII O >9 J,ˍj?A>RM@>=>ٱ>W FAHRS rotation from veh to nav: [[0.993306,-0.064350,-0.095931],[0.069017,0.996548,0.046141],[0.092631,-0.052453,0.994318]]>H)?`Dy򎸿?`?ʟ?৶? ۪s?i>RM@I>{];>ۑCYN%BybIbDnVDnܲyv %vR=ٔv:Q-v>9xYx=zFyx~+:E~>Q 55'?Q 9 5)4BY y c?Q I _@5CI:i:U5yɮ`AEDNOT Ignoring new targets: 31.64 m.hAhA*hA"hA hIgIfIfIfQdQdQjdQZd]3@ZyZyZyZ}c?) d=i?9)顕x6iiE>IIԩ9@ @@/@9E] E]mEYEY"E];*E](;VEYZEYam@am@am@am@^A5^>I9IQO]v>iԙ u,}j?A>N@>l=>ٱ>,W FAHRS rotation from veh to nav: [[0.993336,-0.064562,-0.095470],[0.069190,0.996543,0.045986],[0.092171,-0.052285,0.994370]]>H`i?!p`q? ?`~??"Ū?i>N@I>];>ݑCYNByNIiMMb@Mb@Mb@IIII I9MQ?RQ?Mb`?YMu9Y=FyX9E>Q 55'?Q 95)Y=Q E I)I19@ @@@@hA@hAB>BCB'IBfBB =BBDBvq;B-Eԙ^A@>II O >Em  Em qEm )Ei "Em ;*Em *;VEm FA4ZEi BEm :=au 2Em :=au JEm 59TYT=ZFyXZEZ>\Q 5b5^?(?Q 9b5^)\Ydyf?Q If_@^?CI^:i^:^O5yj“BɮjAjEDNOT Ignoring new targets: 31.64 m.hh*h"h hgf f f d djdZd`4@Z1Z1Z1Z5?M])I M>iM9)IMe6QiQiQ>II I)-9@) @)@-/@)^AIIYIiO}>) ,Lkj?AE EyE+E "E;*EQ.;VE [4ZE a@a@a@a@VD@V=VBٱV(W ^AHRS rotation from veh to nav: [[0.993506,-0.063388,-0.094488],[0.067992,0.996610,0.046323],[0.091232,-0.052447,0.994448]]VH?6:b0 g?`:??Z?@Iڪ?iVD@IV];VݑCYfByfIbDrVDr:yv%vE=ٔz:Q-z>9|Y|=~Fy|~E>Q 5 5(?Q 9 5)3BYyz?Q I_@DCI;i;5yɮA!MDNOT Ignoring new targets: 31.64 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd] 04@ZZZZz?B) =ik9)顝76iiH?II!e9@a @a@e/@aY^AJ>IIO>y Au @AAq B} >By B} IB} QBB} =By By B} q;B} .EB9B9B9B= =B9C=˔5n,0j?A022?@2=2ٱ2W >AHRS rotation from veh to nav: [[0.993601,-0.062736,-0.093919],[0.067316,0.996651,0.046419],[0.090692,-0.052444,0.994497]]2H?q@ @;?@?7ħ?7?@٪?i22?@I26];2ޑCYBByDiuMb@Mb@Mb@qqqq q9u rh?#~j?Mb?YuC9Y=FyҺE>Q 55(?Q 95)4BYJ=Q Ei9)L6ii-?IIiIE5| E5E5*E1"E5;*E59;VE5(N4ZE1BE5$ >Ú,c k?A27@2@=2ٱ2W :AHRS rotation from veh to nav: [[0.993710,-0.061834,-0.093363],[0.066389,0.996710,0.046499],[0.090181,-0.052405,0.994546]]2H`y?@ 淿@? ? Χ??ԪQ?i27@I2`^;2ܑCYBByBIIF<)FF=F=bDNVDNܲyV%V[=ٔV:Q-V>9XYX=ZFyX^$E^>``Q 5f5bL)?Q 9f5bج)b5BYhyjԷ?Q Ij_@bLCIby:ib:b5ylɮnAp DNOT Ignoring new targets: 31.64 m.h h *h "h  h gfffddjdZd5@ZZZZԷ?) >i9)%L6!i!i))-@I)I19@ @@2@EE EEEAEA"EE;*EE3;VEAZEAaM@aM@aM@aM@^A#@IIAO]>A u G % 009! Y% Aɚ,V(k?AY= By=Ionly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.63, 85.31, 78.17 a@a a@a a@a a@a bDVDyt%8=ٔQ->9Y=FyE>Q 5-5)?Q 955)7BQ A5+:Y1Q E55yIɮMAQDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd;6@) =i9)K6ii@IIA9@ @@4@B->B)B-IB-GBB- =B)B)B-(r;B-;.Eq^A@IIO>DE %=DE <bEjE(N4rEȼ/EM  EM |EM (EI "EM 1;*EM /;VEM c44ZEI BEM 2AHRS rotation from veh to nav: [[0.993962,-0.059701,-0.092061],[0.064207,0.996839,0.046784],[0.088977,-0.052412,0.994654]]6H?`Mo?? ?0Ƕ?@ժ4?i6{%@I6^;6ۑCY^BybIbDjVDjyr<%r\=ٔr`U;Q-r>9tYt=vFytvûEz>xQ 5~5z*?Q 95z)z8BQ A :YQ E;y?Q I_@zUCIz? ;izP?z-5yɮA=DNOT Ignoring new targets: 31.64 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU6@yMw) >i-9)額C6iiBII9@ @@/@ԩ^A1IAIQOew> E]  E] E] .EY "E] C;*E] 8;VE] ـ4ZEY ae @am @am @am @o֚,6\k?A2W @2@ӂ=2Ѵٱ2V :AHRS rotation from veh to nav: [[0.994073,-0.059141,-0.091218],[0.063587,0.996886,0.046636],[0.088176,-0.052160,0.994738]]2Hr?GZCG?}????i2W @I2^;0YBByBI DDbDNVDN0y <% F=ٔ:Q->9Y=FyqǺE>!Q 5-5%v*?Q 9-5%1)%9BQ A-9Y)Q E5;y5t?Q I5_@%YCI%e:i%E?%5y9ɮ=aA9eDNOT Ignoring new targets: 31.64 m.hihi*hi"hi higififqfqdqdqjdyZd}7@Ѵ)  >i49)顭e6iiBII9@9 @9@9@9^ABIIO>!B A <B >B CB B B =B B B Ar;B I.EI ܚ,wvk?A2q@2ـ=29Y=FyE>Q 55*?Q 95()>BQ AT:YW=Q EԉԹ ,Sk?A2@2a=2ñٱ2%U :AHRS rotation from veh to nav: [[0.994300,-0.057724,-0.089645],[0.062074,0.996987,0.046519],[0.086690,-0.051818,0.994887]]2H`M?%ȯ?Q?Vѧ?R1?`󇪿?i2@I2J_;2ݑCYBByBIbDJVDJ0yRc%R[=ٔV1;Q-V>9TYT=VFyTZ ǺEZ>\Q 5b5^*?Q 9b5^<)^CBYdyf:?Q If_@^cCI^ ;i^;^5yhɮjJAh~DNOT Ignoring new targets: 31.64 m.hh*h"h hgff f d d jdZd`V7@Z1Z1Z1Z5:?Eñ)I M=iM9)IMz6IiQiQQ]&DIYIYԑ9@ @@/@@=@=E% E%NE!E!"E%;*E%;VE!ZE!a-@a-@a-@a5@^AUCIaIqO}{> ,)9Y=Fy  srE >Q 55i+?Q 95)JBYE>Q E%;y%C?Q I%_@kCI;i;5y)ɮ-A1]DNOT Ignoring new targets: 31.64 m.hYhY*hY"hY hYgafafafeBdidijdiZdm&O8@ZE>ZE>Z˯?ZC?Y) P, k?A2 @2{=2ٱ2ȋT >AHRS rotation from veh to nav: [[0.994485,-0.056970,-0.088058],[0.061237,0.997037,0.046544],[0.085145,-0.051679,0.995027]]2H ?!+zZ? ? ԧ?̵?uC?i2 @I2C^;2ܑCYv#ByvIbDVDk2y  <%}=ٔQ.;Q- ?9Y=FyjE%?!Q 5-5%+?Q 955%)%NBY1y51?Q I5_@%pCI%:i%;%15yAɮEAAmDNOT Ignoring new targets: 31.64 m.hihi*hi"hi hqgqfqfqfydydyjdyZdȝ8@ZZZZJ1?) @ԩ E= u E= rE= *E9 "E= ;*E= *;VE= (N4ZE9 aM @aM @aM @aM @ ,k?A2 @2qz=2hٱ2%:U :AHRS rotation from veh to nav: [[0.994573,-0.056641,-0.087271],[0.060887,0.997047,0.046789],[0.084363,-0.051848,0.995085]]2H? iW,??`?ؘ?ߋ?i2 @I2yZ^;0@YF'ByFIbDNVDNyVԢ<%VQ=ٔVl;Q-V>9XYX=ZFyX^nE^>`Q 5f5bA,?Q 9f5bS)bSBYdyf?Q If_@bvCIb:ibv:b5ylɮnAlDNOT Ignoring new targets: 31.64 m.hh*h "h  h g f ffddjdZd 9@ZZZZ?h) =if9)*6ii99=)EI9IAԩ99@ @@/@@@ A A AAB >B CB IB VBB =B B B r;B .E^A ”DI I O >/,kek?A2@ @2{=2 ٱ2U >AHRS rotation from veh to nav: [[0.994615,-0.056963,-0.086581],[0.061173,0.997031,0.046773],[0.083660,-0.051818,0.995146]]2H?L*,*R???@j?؇=?i2@ @I2n^;2ݑCYB-ByFI HHae@ae i]Mb@Mb@Mb@YYYY Y9]y&1?/$?Q?Y]`e]<] AY Y)]VAYI]bD}VD}:y<%2=ٔ:Q->9Y=Fy;":E>Q 55[,?Q 95v)YBYL >Q E;y?Q I_@CI7 ;i ;5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd.w9@Z%L >Z%L >E5s E5E5/E1"E5;*E5*5;VE5J4ZE1BE5ԙ F,$l?A2A@2}=2ٱ2ŰT :AHRS rotation from veh to nav: [[0.994650,-0.057499,-0.085821],[0.061663,0.997005,0.046682],[0.082880,-0.051724,0.995216]]2H@,?`p`^Y?`v?? 7?{?i2A@I2A^;2ܑC@YDyFIbDNVDNyVY%VZ=ٔV0 ;Q-Z>9XYX=ZFyX^e:E^>`Q 5f5bp,?Q 9f5b)b]BYdyf?Q Ij_@bCIb):ibB:b5ylɮnAlDNOT Ignoring new targets: 31.64 m.h h *h "h  h g f ffddjdZd@9@ZZZZ~?) pA=i9)6ii^DII!Ա 9@  @ @ /@ EM EMjEM*EI"EM;*EMk&;VEM(N4ZEIaU@aU@aU@aU@^A5DI9IIO]> o , -l?Af@f=fblٱfT vAHRS rotation from veh to nav: [[0.994679,-0.058072,-0.085096],[0.062199,0.996971,0.046685],[0.082127,-0.051730,0.995278]]fHi?@ȵد?@0?"?`K?T| R?if@If6<^;fۑCY~%By~Iaa iMb@Mb@Mb@ 9X9v?I +?:v?Y< AA )AYAbDVDk1y %5=ٔ:Q->9Y=Fy:E%>!Q 5-5%"-?Q 955%Ҟ)%bBY58>Q E5;y5?Q I5_@%CI% ;i%P;%н5y9ɮEAAmDNOT Ignoring new targets: 31.64 m.hihq*hq"hq hqgqfqfyf}>BdydyjdZd;J:@Z8>Z8>ZѾ?Z?b) Li9)6iiCIIB>BCB!IB`BB =BBBr;B.EBuCBuCBqBu =Bu =Cu p5 M9@I @I@M/@I@U=@U=1E] E]E])EY"E];*E]|;;VE]FA4ZEYBE]GY H,fFl?A6'@6@=6<ٱ61T >AHRS rotation from veh to nav: [[0.994675,-0.058904,-0.084569],[0.062993,0.996929,0.046530],[0.081568,-0.051610,0.995331]]6H`?`(`I`W ??ҧ??l?i6'@I6u^;6ݑCYF&ByFIIJ=)J<bDRVDRJ2yZ;%Zd=ٔZ]:Q-Z>9\Y\=^Fy\bo;Eb>dQ 5f5f-?Q 9j5f#)feBYhyj?Q Ij_@fCIf:if :f5ypɮrAp DNOT Ignoring new targets: 31.64 m.h h *h "h hgfffddjdZd%:@9ZAZAZAZE?<) 0Bi9)+6iil:CII)@) @)@)@)iԑ^ACIIO> Ee  Ee rEe 'Ea "Ee ;*Ee *;VEe '4ZEa am @am @am @am @a,l`l?A2O!@2@=2ͦٱ2'S :AHRS rotation from veh to nav: [[0.994645,-0.059671,-0.084389],[0.063742,0.996887,0.046396],[0.081358,-0.051526,0.995352]]2H ?8`fQ?@?,?Ӵ?a?i2O!@I2Lj^;2ܑCYB!ByBIbDJVDJ 8yRɼ%VK=ٔVo :Q-V>9TYX=ZFyXZ:EZ>\Q 5b5^M.?Q 9b5^?)^iBYdyf?Q If_@^CI^W:i^-:^w5yhɮjAlԙDNOT Ignoring new targets: 31.64 m.hh*h"h hgfff d d jd Zd  ';@ g>CIG=.99Y=AZaZaZaZe?ͦ) ji9)顝6iiuBII I)9@ @@@B A B >B B IB [BB B B DB r;B .E^A BI I! O- > ,zl?A2N(@2ф=2ٱ2 }S :AHRS rotation from veh to nav: [[0.994600,-0.060537,-0.084294],[0.064592,0.996840,0.046244],[0.081228,-0.051439,0.995367]]2H ?P?@? X? c˴?EV` ?i2N(@I2^;2ޑCYBByBIi Mb@Mb@Mb@     9 ~jt?^I +?Mb?Y  <  A lA  A) VA Y AbD%VD%ܲy-%-B=ٔ579Q-5>91Y9=Fy%;E>Q 55.?Q 95&)Y%;>Q E;y{?Q I_@CI:i:G5yɮADNOT Ignoring new targets: 31.64 m.hh*hbE|a4jE^4rE#e0Ew EtE-E"Eؓ;*E+;VEt4ZEBE9Zm%;>Zm 0?Zm{?})y }\ic9)顅6iiAIII) @  @ @ 0@@@gA!^A5BQIYIqO>y $,:yl?A2+@2=2ٱ2T :AHRS rotation from veh to nav: [[0.994604,-0.060958,-0.083950],[0.065016,0.996801,0.046483],[0.080848,-0.051690,0.995385]]2H ?5`}礰? ?̧?@t?&w 2?i2+@I2-^;2ܑCYBByBI DDDFAbDNVDN1yVov%VS=ٔV:Q-V>9XYX=ZFyX^K:E^>`Q 5f5b"/?Q 9f5b])bjBYdyf?Q If_@bCIb:ib:b5ylɮntAlDNOT Ignoring new targets: 31.64 m.hh*h"h  h g f f fddjdZd@%;@Z9Z9Z9Z=?M)I M$iU9)qug6qiqiyy}AIyIQ9@ @@2@E%a E%YE%'E!"E%݉;*E%w;VE%'4ZE!a-@a5@a5@a5@y^AAIIO>ԩ +,Xl?Ar1@r8=r֤ٱr&U zAHRS rotation from veh to nav: [[0.994591,-0.061718,-0.083547],[0.065764,0.996748,0.046569],[0.080401,-0.051811,0.995415]]rH?@ Vcհ?[?ק?@+?p?ir1@Ir^;rۑCY ByIiMb@Mb@Mb@ 9?S?MbP?Y: )YbDVDy]4%9=ٔ :Q->9Y=Fy:E>Q 55/?Q 95^)hBY0>Q E;y?Q I_@CI;i;d5yɮADNOT Ignoring new targets: 31.64 m.ԩhh*h"h hgfff-BddjdZd^R<@Z0>Z0>Zz?Z?BU>BQBUIBUQBBU =BQBQBUr;BU.E֤) \i9)顕˙6iiAII=9@9 @9@=r4@9D-<D)E5 E5mE5)E1"E5[;*E5(;VE5FA4ZE1BE5=a=2E5=a=JE5c1 1,"l?A217@2=2֣ٱ2TU :AHRS rotation from veh to nav: [[0.994587,-0.062372,-0.083102],[0.066407,0.996699,0.046699],[0.079915,-0.051964,0.995446]]2H?@Aﯿ$F???Fu?@?i217@I2.^;2ݑCYBByBIbDJVDJ:yR%R`=ٔVS:Q-V>9TYT=VFyXZ:EZ>\Q 5b5^0?Q 9b5^)^gBYdyf?Q If_@^ǫCI^:i^9:^5yhɮjAj¥EDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd[<@ZaZaZaZeԖ?֣) @i&9)顭'6iiDr@II9@ @@^4@@=@=9^Am@IyIO>i EE w EE cEE ,EA "EE ؓ;*EE ";VEE g4ZEA aM @aM @aM @aU @8,l?A 28@2@߈=2ٱ2V >AHRS rotation from veh to nav: [[0.994607,-0.062529,-0.082749],[0.066571,0.996674,0.047015],[0.079534,-0.052270,0.995461]]2H?@/@ ??J? U\?ê?i28@I2dF^;0YBByFIIJ<)Jp;bDNVDNβyVZ%VJ=ٔVBw:Q-Z>9XYX=ZFyX^59E^>`Q 5f5b0?Q 9f5b)bfBYdyf?Q Ij_@bЫCIbW:ib :b5ylɮn0AlDNOT Ignoring new targets: 31.64 m.hh *h "h  h g f ffddjdZd@I=@Z9Z9Z9Z=?M)Q UxĽiU9)QUj6QiQi>`@IIi9@ @@/@ԩ^A]-@IqIO}>UPExceeded connect timeout, disconnecting.Bq Bq Bu IBu =BBq Bq Bq Bu r;Bu .E D>,El?A68:@6K=6nٱ6MW >AHRS rotation from veh to nav: [[0.994606,-0.062735,-0.082600],[0.066777,0.996655,0.047113],[0.079368,-0.052375,0.995469]]6H?`iB%`L??.?sQ?Ъ?i68:@I6^;6ۑCYFByFIPiMb@Mb@Mb@ 9{Gz?@5^I ?t7 A )lAYfAbD5 VD52yE㋽%UA=ٔ]9Q-]>9aYa=eFyae9Eu>Q 551?Q 95E)cBY]>Q E;y?Q I_@ثCI:i':5yɮADNOT Ignoring new targets: 31.64 m.DzD?AE~ EkE-E"E;*E&;VEt4ZEBEZ]>Z?Z?n) ̽i9)6ii F@II9@ @@@^AIIO>! w,E,5m?A2$;@2=2rٱ29tYt=vFytvƗ9Ez>x|Q 55z2?Q 95zҎ)z`BY y  ?Q I _@z߫CIz-;izt.;z<5yBɮAEEDNOT Ignoring new targets: 31.64 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU =@ZqZqZqZu ?r) i69)顕6ii@IIm9@i @q@u/@q@y@}hA)E k E E *E "E f;*E 4;VE (N4ZE a@a@a@a@Y^Au#@IIO>ԁ YK,|/m?Ao8@@و=+-ٱoW %AHRS rotation from veh to nav: [[0.994642,-0.062529,-0.082330],[0.066562,0.996666,0.047181],[0.079105,-0.052408,0.995488]]H? `/ ??(?`9@?@5ժ ?io8@I];ڑCY5By5I 99QnManaging dock network, ignoring radio surface power offiMb@Mb@Mb@ 9~jt?:v?~jthY9QYQ=UFyQU0@EU>YQ 5e5]l3?Q 9e5])]_BYm=Q Em;ymγ?Q Im_@]CI]" ;i] ;],5yqɮ}AyB>BBIBBBBBBr;B.E=DNOT Ignoring new targets: 31.64 m.h9hA*hA"hA hAgAfafifmBdidqjdqZduh\>@Z=Z=Z?Zγ?+-) ̽i9)6ii@IIԁ@ @@/@ԩD =D <E{ ETE,E"E;*E;VEg4ZEBE\ >R,iIm?A23@2=2ٱ2"W :AHRS rotation from veh to nav: [[0.994684,-0.061998,-0.082221],[0.066022,0.996703,0.047157],[0.079026,-0.052335,0.995498]]2H@s?1s ?@?%?;?˪@?i23@I2];2ّCYB̀ByBlIbDJ VDJ2yR%Vi=ٔVk9Q-V>9TYX=ZFyXZs˺EZ>\Q 5b5^3?Q 9b5^)^^BYdyf?Q If_@^CI^:i^:^;5yhɮj9Al DNOT Ignoring new targets: 31.64 m.h h *h"h hgff!f)d)d1jd1Zd5`ڰ>@ZqZqZqZu`?) i9)iiQU@IYIY9@ @@0@)Q^ABIIO>E% Z E% OE% +E! "E% ;*E% 3;VE% [4ZE! a- @a5 @a5 @a5 @ԁ hX,Dcm?A2-@2=2ٱ2V :AHRS rotation from veh to nav: [[0.994742,-0.061155,-0.082151],[0.065175,0.996758,0.047173],[0.079000,-0.052279,0.995503]]2H?OM?`q?'?T9?XĪ(?i2-@I2];2ڑCYVπByVnIbDbVDbβyjW <%jH=ٔj8Q-j>9lYl=nFylrCEr>tQ 5v5v4?Q 9z5vy)v\BYxyz?Q Iz_@vCIvK:iv:v5yɮ*A-DNOT Ignoring new targets: 31.64 m.h)h)*h1"h1 h1g1f1f9f9d9d9jdAZdE@?@ZaZaZaZe?u)y }T i}9)y}yiyiRAIIQ59@1 @1@54@1@9@==ԁ^Au@IIO>ԩB>BBIB BB =BBBr;B.EBBBB =B =CȈ\5 ^,}m?A2#@2=2c,ٱ2V :AHRS rotation from veh to nav: [[0.994806,-0.060035,-0.082198],[0.064058,0.996829,0.047206],[0.079103,-0.052226,0.995497]]2Hs?` `f?@?@S+?` @?V`?i2#@I2^;2ّCYBĀByBaIIF<)F=iEMb@Mb@Mb@AAAA A9Ey&1?9qYy=}Fyy}b-E>Q 554?Q 95)]BY=Q E49 ze,m?A2@2=2\Oٱ2IV :AHRS rotation from veh to nav: [[0.994893,-0.058574,-0.082196],[0.062603,0.996916,0.047327],[0.079170,-0.052231,0.995492]]2H*?b@ ??N;?|D?@?i2@I2*P^;0YBByB[IbDJVDJkyR麼%VX=ٔV8Q-V>9TYX=ZFyXZ^}EZ>\Q 5b5^-5?Q 9b5^)^^BYdyf?Q If_@^CI^:i^6:^5yhɮjAlDNOT Ignoring new targets: 31.64 m.h h *h "h  h g f ffddjdZd F?@Z1Z1Z1Z5q?M\O)I M|޽iM39)IU˰QiQiyy}yCIyI-9@) @)@-/@)EH E,E)E"E};*E;VEFA4ZEa@a@a@a@i I 9:Gs9YA^AmBIyIO>i Jk,m?A= @={==wٱ=~pV MAHRS rotation from veh to nav: [[0.994973,-0.057147,-0.082244],[0.061180,0.997002,0.047371],[0.079290,-0.052165,0.995486]]=H?iB R?p? A?YL? U?i= @I=^;=ڑCY]By]XIBBBIBBBBBBr;B.EYi}Mb@Mb@Mb@yyyy y9}y&1|?i|?5? rh?Y}`;y}q=}C<}M Ay y)yyY}AbDVDy(%"=ٔlzQ->9Y=Fy9E>Q 55E5?Q 95#)aBY}=Q EV- t,m?A2@2t=2ٱ2Y-V >AHRS rotation from veh to nav: [[0.995058,-0.055495,-0.082344],[0.059534,0.997099,0.047432],[0.079473,-0.052100,0.995475]]2H ? i|@D{?;? I?`RX?ପ?i2@I2 _;2ّCYFByFQI HHbDRVDRβhyvK%zK=ٔ 2Q- >9Y=Fy‚E>Q 5%5Y5?Q 9%5|)dBY)y-.?Q I-_@CI;i;5y5Bɮ=A9eDNOT Ignoring new targets: 31.64 m.haha*ha"ha hagifififqdqdqjdqZduh@@ZZZZ*.?) i9)"ii6uFIIm9)@ @@ 4@ EV ECE(E"E;*E;VEc44ZEa@a@a@a@Q ^A 5EI I O >z,m?AD~@~g=~yٱ~d|U AHRS rotation from veh to nav: [[0.995211,-0.052375,-0.082537],[0.056423,0.997276,0.047501],[0.079824,-0.051931,0.995455]]~H`?@Ъ#!{? ?R?\o? ?i~@I~ T_;~ؑCY-By-MIbDUVDUye]%e7=ٔeSQ-m>9iYi=mFyiuEu>yQ 5}5}p5?Q 95}̇)}hBYy?Q I_@}CI}3;i}Q;}5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZdb@@ZZZZ?my)q uBi9)顭^KiiCIII I=)>AA@ABBBIBBB =BBB!s;B.E 9 E} g E} DE} )Ey "E} ;*E} h;VE} FA4ZEy BE} ?@ >1?]?mT?`?抪?iZ@IZT_;ZۑCYjByjUI i]Mb@Mb@Mb@YYYY Y9]Q?Zd;?Zd;O?Y]u9Y=FyWBE>Q 555?Q 95)mBY=Q EFaE} L E} 7E} +Ey "E} W;*E} ;VE} [4ZEy a @a @a @a @ԙ ,&n?A2@2S\=2ٱ2T :AHRS rotation from veh to nav: [[0.995294,-0.049506,-0.083303],[0.053589,0.997432,0.047508],[0.080737,-0.051749,0.995391]]2H`r?XTS`p? ?@S?,?@~>?i2@I2d_;2ڑCY@y@IFC=)F;F=F=bDNVDNܲٔVPϺQ-V>9XYX=ZFyXZnjEZ>Q 5506?Q 9%5R)qBY!y%״?Q I%_@ CI;i;t5y)ɮ)1]DNOT Ignoring new targets: 31.64 m.hYhY*hY"hY hYgafafafadidijdiZdm`A@yZZZZ״?) iG9)顭ii>DKIIU9@Q @Y@]/@Yԡ^AuIIIO>B>BBBB =BBBns;B.E >,?n?A2T@2Y=2tٱ2bS :AHRS rotation from veh to nav: [[0.995308,-0.048868,-0.083511],[0.052936,0.997481,0.047216],[0.080993,-0.051416,0.995388]]2H? :`@z?`]?`,??`%S 7?i2T@I2^;2ّCYB€ByB^Ii Mb@Mb@Mb@     9 ~jt?sh|??Zd;O?Y 9Y=FyBºE>Q 556?Q 95\)vBY=Q EY ',!Yn?A2@2V=2,Jٱ2ƵR :AHRS rotation from veh to nav: [[0.995334,-0.048212,-0.083585],[0.052273,0.997521,0.047101],[0.081107,-0.051251,0.995387]]2H?<`e`ê? ?? mô? =5?i2@I2o^;0YBByB[IJAAJAAbDNVDN1yV+%V\=ٔVQ-V>9XYX=ZFyXZE^>`Q 5b5b7?Q 9f5b)bzBYdyf?Q If_@bCIb:ib:bk 5yhɮnAlDNOT Ignoring new targets: 31.64 m.hh*h"h h g f f f ddjdZdxA@Z1Z1Z1Z5'?M,J)I M'iM9)QUQiQiYY]Y?LIYIa19@ @@/0@EMa EM4EM,EI"EM݉;*EM ;VEMg4ZEIa]@a]@a]@a]@a^A5gKIAIQO]v>ԑԹ R,qsn?Ae@eDT=ecٱeRB<A<B>BBBBBBBs;B/E AHRS rotation from veh to nav: [[0.995363,-0.047567,-0.083601],[0.051629,0.997554,0.047113],[0.081156,-0.051211,0.995385]]eH@?`Z fo?`?@6?ƴ?@P81?ie@Iey];aYy\I AEAԑiMb@Mb@Mb@ 9{Gzt1Zd?y&1?Yףy"=`<$A d A)AYAbDVD02yi:%+=ٔոQ->9Y=Fy7E>Q 5 56?Q 9 5/)BY=Q E;y?Q I_@CI ;ia; 5yɮA!MDNOT Ignoring new targets: 31.64 m.hIhI*hI"hI hIgQfQfQfU&BdYdYjdYZd]A@Z}=Z}=Z} ?Z}κ?c) %Li%9))-Ӵ)i)i115{LI1I1 99I=)=u9@y @y@}/@yE]F E]@E])EY"E]>{;*E]M;VE]FA4ZEYBE] 8,Vn?A2@2R=2 mٱ2yR :AHRS rotation from veh to nav: [[0.995380,-0.047216,-0.083601],[0.051278,0.997572,0.047124],[0.081173,-0.051193,0.995384]]2H@'?,`fA? ? ?`Ǵ?6`0?i2@I2];0YBByBXIbDNVDNNyV%Vx=ٔVaQ-V?9XYX=ZFyX^PE^?|Q 55~56?Q 9 5~:)~BY y ?Q I _@~CI~:i~:~5yɮA9DNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd`~A@ZZZZn? m) Ri9)봉ii   MI I9@ @@4@^AȷLIIO>I Em Q Em LEm (Ei "Em ;*Em ;VEm c44ZEi au @au @au @au @b,W]n?Aɰ6L@6R=6vgٱ6)R BAHRS rotation from veh to nav: [[0.995383,-0.047176,-0.083585],[0.051231,0.997578,0.047053],[0.081163,-0.051118,0.995389]]6H@.? i'@e:?@(?P?`Ǵ?,`:?i6L@I6Tc];6ۑCYFByF^IbDRVDRyV<%ZJ=ٔZ7Q-Z>9\Y\=^Fy\^Eb>`Q 5f5b5?Q 9f5b)bBYhyj?Q Ij_@b#CIb:ib:b5ylɮrAp DNOT Ignoring new targets: 31.64 m.h h *h "h  h gfffddyjdyZd}B@ZZZZ ?vg) Iio9)  i iYY]DMIaIiQM9@Q @Q@U4@QԁBBBIBBB =BBBs;B#/EBYBYBYB] =BYC]ǰ5^AMXMIYIqO}>ԩ J,8n?A6@6vR=6lٱ6گR@ FAHRS rotation from veh to nav: [[0.995385,-0.047124,-0.083599],[0.051190,0.997574,0.047183],[0.081172,-0.051245,0.995382]]6H1? `f5??e(?Ǵ?`<+?i6@I6G3];6ݑCYJByJRIR=R=D%=DE%} E%CE%)E!"E%;*E%;VE%FA4ZE!BE%Et9qYq=}Fyy}sƸE}>Q 55)5?Q 95)BY>Q E;yZ?Q I_@*CI:i:5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffU-BdQdYjdYZd]LB@Z>Z>Z?ZZ?l) ki9)ii%MIIԱ9@ @@/@@gA@hA^ALIIO> t,n?A2B@2S=2sٱ2lSS :AHRS rotation from veh to nav: [[0.995375,-0.047268,-0.083627],[0.051347,0.997559,0.047325],[0.081186,-0.051400,0.995373]]2H?@{3h 8J??:?ȴ?Q?i2B@I2B];2ڑCYBByBMIbDJVDJlyrp%rS=ٔvQ-v>9tYx=zFyxz9Ez>|Q 55~4?Q 95~V~)~BY y _?Q I _@~0CI~-:i~:~"5yɮAEDNOT Ignoring new targets: 31.64 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdUB|B@ZqZqZqZux_?s) sin9)顕 ii6LIIM9@Q @Q@Q@Q E5: E5AE1E1"E5\p;*E5;VE1ZE1a=@a=@a=@a=@ g>CXGM59IYM&%A9^AuNMIIO>a &,n?A@@AAAEAAB]>B] CBYBYB] =BYBYB]s;B]/EԩYByNIi=Mb@Mb@Mb@9999 99=MbP? rh?=t<9=A =d A)99Y9bDUVDU0ye/;%e(=ٔeQ-e>9iYi=mFyiuEu>yQ 55}V4?Q 95}|)yY >Q E;y?Q I_@}9CI} ;i}; ;}a5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfff*BddjdZdwB@Z >Z >Z?Z?)  ki 9)  1 iiMII9@ @@@@=@=bEFA4jEC4rE8/EE7 EE9EE(EA"EEm;*EE ;VEEc44ZEABEEÛ,mo?A2@2S=2sٱ2T :AHRS rotation from veh to nav: [[0.995378,-0.047461,-0.083481],[0.051562,0.997532,0.047667],[0.081012,-0.051751,0.995369]]2H$?`L^`Of?`?@g?@;? ?i2@I2 L];2ؑCYBByB?I DDbDJVDJyR%V=ٔVI:Q-V?9XYX=ZFyXZ3:EZ?\Q 5b5^,4?Q 9f5^y{)\Ydyf?Q If_@^>CI^:i^):^ "5yhɮjKAlDNOT Ignoring new targets: 31.64 m.h h *h "h  h g f ffddjdZdB@Z9Z9Z9Z=?Ms)Q UiU9)QU?QiQiYaeLIaIa)89Q@Q @Y@Y@YQEM r EM DEM *EI "EM ;*EM h;VEM (N4ZEI aU @aU @aU @aU @ia Ie A^A} NMԁ I I O >ɛ,(o?A>@>U=>>|ٱ>T FAHRS rotation from veh to nav: [[0.995383,-0.047856,-0.083200],[0.051938,0.997515,0.047602],[0.080715,-0.051703,0.995395]]>H-?L??K_?ũ?`x@G?i>@I>';];>בCYNByN7IbDVVDVy^C%bI=ٔb?:Q-b>9dYd=fFydfPr:Ef>hQ 5n5j3?Q 9r5jz)jBYpyr?Q Ir_@jECIj;ij;j%5ytɮv|AxDNOT Ignoring new targets: 31.64 m.h!h!*h!"h! h!g)f)f1f1dAdAjdAZdM3C@ZZZZ?>|) 凾i9)页Pii(wLIIQ-9@) @)@-?0@)ԉBU>BQBUIBUBBU =BQBQBUs;BU.E^AmLIyIO>Ա Л,Bo?A;ɰ4<2R@2U=2kٱ2U :AHRS rotation from veh to nav: [[0.995423,-0.047900,-0.082691],[0.051967,0.997507,0.047747],[0.080197,-0.051825,0.995431]]2H@?_6+d?@?=r?Ї?ֈ?i2R@I2h];2ؑCYBByB.IE6 EPEE"El;*E;VEZEBEJmm Am$A m A)iiYmA 4<4<bD VDf2ym%==ٔ:Q->9Y=Fy8E>Q 554?Q 95x)BYq>Q E;yK?Q I_@MCI ;i;t)5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZd @ NC@Z-q>Z-q>Z-6?Z-K?Աk) ui9)`iiLII9@ @@F2@@hA@^AiIyIO> 9 ֛,[\o?AY By II%=)<bDVDy-%-Q=ٔ5Q-5>91Y1==Fy9=EE>AQ 5M5E'4?Q 9M5E4w)EBYQyQQ IU_@ESCIEK:iE:E,5yYɮ]:AaDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZdC@ZZZZ) @i9)0riiAqLIIu9@q @q@uh4@qE7 E8E-E"Em;*E ;VEt4ZEa%@a%@a%@a%@9^ALIIO>i Zܛ,@vo?AR.@RU=RٱRTB~>B|B~lIB~̀BB~ =B|B|B~js;B~.E EAHRS rotation from veh to nav: [[0.995491,-0.047935,-0.081858],[0.051953,0.997510,0.047688],[0.079368,-0.051726,0.995502]]RH ? ??j?`xQ?`{'?iR.@IRg];RّCY By5IiMb@Mb@Mb@ 9I +?1Zd?MbpY949)Y)=5Fy15E5>9Q 5E5=e4?Q 9E5=u)=BYEq=Q EM;yM?Q IM`@=ZCI=z ;i= ;=05yQɮUbAQiDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffBddjdZdC@kJTimed out from 2025-10-27T04:39:01.5Z5jfCompleted lineCaptureHoming:MicromodemComms:CheckInq5jAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInjVCompleted lineCaptureHoming:MicromodemCommsZq=Zq=Z?Z?) =i79)iiGLII9@ @@4@ԑDzD@AEM E>E*E"Eˀ;*E?;VE(N4ZEBEP,o?A6j@60T=6ٱ6#lT BAHRS rotation from veh to nav: [[0.995536,-0.047620,-0.081490],[0.051619,0.997528,0.047682],[0.079018,-0.051676,0.995533]]6Hm?a ܴm??@i?:?9ug?i6j@I6];6ؑCYFByF ILLPbDRVDRyZ %Z|=ٔ^:Q-^ ?9`Y`=bFy`bEb ?dQ 5j5f4?Q 9j5ft)fBYlyn?Q In`@f^CIfj;iff;f35ypɮrAtDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffd!d!jd!Zd%yC@15- j-nAggregate::initialize lineCaptureHoming:MicromodemCommsq55j5~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn55ZIZIZIZM?e)a eoie9)aeiiiiiqu[LIqIq yyIy)y9 9@  @ @ /@ @=@=^AȷLII!E- 7 E- 8E) E) "E- m;*E-  ;VE) ZE) a5 @a5 @a5 @a5 @9 Q O>b,o?A2@2Q=2 ٱ2|T :AHRS rotation from veh to nav: [[0.995606,-0.046991,-0.081002],[0.050970,0.997557,0.047775],[0.078559,-0.051693,0.995568]]2H`?@D ?`?u?o?`w@?i2@I2J];0YBoByBI DDbDNVDNyV%V%=ٔVt:Q-Z>9XYX=ZFyX^uE^>`Q 5f5b4?Q 9f5bs)bBYdyf?Q Ij`@beCIbH;ibD;b85ylɮnAlaDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd'D@ZZZZ? ) Πi9)ii]~MII9@ @@@@@@@BQBQBULIBUBBU =BQBQBUzs;BU.EԙIiIyO|>ԹEu ] Eu Eu +Eq "Eu ;*Eu J;VEu [4ZEq BEu ,8jo?A2w@2N=2Eٱ2JT :AHRS rotation from veh to nav: [[0.995670,-0.046333,-0.080587],[0.050291,0.997590,0.047802],[0.078178,-0.051647,0.995601]]2H?@󸧿@VĿ?A?@ry?v?q?i2w@I20^;2בCYBqByBIiEMb@Mb@Mb@AAAA A9E:v?#~j?MbpYE9 Y =FyɺE>Q 5%55?Q 9%5r)BY-j=Q E-1Y h,Do?Aɰ;6@6KK=6rٱ6N'T BAHRS rotation from veh to nav: [[0.995739,-0.045521,-0.080202],[0.049461,0.997629,0.047852],[0.077833,-0.051615,0.995629]]6H`?`wN`@R??? ?Jm2?i6@I6F`^;4YJdByJI Np9\Y\=bFy`bEb>dQ 5j5fZ6?Q 9j5fq)fBYhyn?Q In`@fnCIf:if';f%?5ypɮrqAp DNOT Ignoring new targets: 31.64 m.hh*h"h hgfffdd!jd!Zd%ًD@EE< EELEE)EA"EE,r;*EE;VEEFA4ZEAaM@aM@aM@aM@ZaZaZaZe(?}r)y }+i}'9)y顅iiNII19@ @@/@IYIiO}=iԉAI AI Bm >Bi Bm 4IBm BBm =Bi Bi Bm s;Bm /EB CB CBB =B =Ck5 ,#o?A2@2wH=2Uٱ2S :AHRS rotation from veh to nav: [[0.995813,-0.044872,-0.079644],[0.048776,0.997667,0.047775],[0.077314,-0.051459,0.995678]]2H ?kc.?`?u?ʳ?X?i2@I2^;2֑CY^aBybIIfR=)f=iEMb@Mb@Mb@AAAA A9EZd;O?v/?Mbp?YEj9yYy=}Fyy-ӺE>Q 557?Q 950q)YK|=Q EWԹ! z,jp?A2I@2D=2ٱ2QeS :AHRS rotation from veh to nav: [[0.995892,-0.043834,-0.079232],[0.047721,0.997714,0.047850],[0.076954,-0.051434,0.995707]]2HX?sqHn?E??@:?U ?i2I@I2^;2ؑCYNNByRIbDZVDZkyb[ǽ%bV=ٔbVx:Q-f>9dYd=fFydj56Ej>lQ 5r5n7?Q 9r5np)nBYpyr}?Q Ir`@ntCIn#;in;n8F5yxɮz"Ax%DNOT Ignoring new targets: 31.64 m.h!h!*h!"h! h!g)f)f)f)d)d1jd1Zd5D@ZZZZ&}?)  i 9)  ) i i11=?PI9I99@ @@0@E}L E}=EyEy"E}W;*E};VEyZEya@a@a@a@^AJ-GAQIYIiOu>A9Y0AI A ,{0p?A 6@6?=6ۜٱ6R >AHRS rotation from veh to nav: [[0.995973,-0.042858,-0.078741],[0.046715,0.997763,0.047820],[0.076515,-0.051306,0.995748]]6H?pV(??{?{?D*?i6@I6&4_;6בCY^TBy^IbDfVDf:ynU<%nH=ٔrd:Q-r>9pYp=vFytv"Ev>xQ 5~5zi8?Q 9~5zo)xYy[?Q I`@zwCIz;izj;zI5y Bɮ A E=DNOT Ignoring new targets: 31.64 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM'E@ZiZiZiZm[?ۜ) b{i9)額񾵉iiPII%]>i%>q9@ @@4@B>BBIBBBBBBs;B,/E^AQIiIOC>ԙ bE(N4jE(N4rE/Ee ; Ee JEe 'Ea "Ee Dq;*Ee ;VEe '4ZEa BEe 5=ٔ:Q->9Y=FyZE>Q 558?Q 95uo)BYE=Q E) ,Xdp?A2p@25=2Hٱ2vR :AHRS rotation from veh to nav: [[0.996171,-0.040415,-0.077521],[0.044219,0.997868,0.047996],[0.075416,-0.051240,0.995835]]2H`? V kس@꣦?`??vN?(<?i2p@I2_;0YBQByBIbDNVDNyV%V]=ٔVL:Q-V>9XYX=ZFyX^=E^>`Q 5f5b8?Q 9f5bo)bBYdyf?Q If`@b|CIb:ib:bP5ylɮnAl|E%\ E%8E%*E!"E%;*E% ;VE%(N4ZE!a-@a-@a-@a-@DNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd TE@Z1Z1Z1Z5?]H)Y ]ie_9)aeеaiaiiimcRIiIq 9@  @ @/@I^AtRII O*>YB A <B >B CB IB BB B B B 6t;B H/Eԩ t,er~p?A,ɰ,J`t@J/=J̪ٱJnsR RAHRS rotation from veh to nav: [[0.996269,-0.038972,-0.076997],[0.042754,0.997927,0.048100],[0.074962,-0.051213,0.995870]]JH`p? ???0?8+?iJ`t@IJ` `;J֑CYZUByZIi=Mb@Mb@Mb@9999 99=Mb??{Gz?Y=9Y=FyYE>Q 55G9?Q 95in)BYf=Q El EU.EU,EQ"EUs;*EU;VEUg4ZEQBEU %,Bp?AY]ByII%%=)%a=bD5VD5fyEe*=%EU=ٔEQ-E>9IYI=MFyIUEU>QQ 5e5U9?Q 9e5Um)UBYayaQ Ie`@UCIUL ;iU:UX5yqɮu:AqDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZdE@ZyZyZyZy) ,i9)顝xⵉiiTIIM9@I @I@I@IE=B E=6E=*E9"E=w;*E= ;VE=(N4ZE9aE@aE@aM@aM@iYIY1^AMTIIO >Y +,p?A2V`@2%=2ٱ2+Q :AHRS rotation from veh to nav: [[0.996445,-0.036595,-0.075877],[0.040320,0.998026,0.048146],[0.073965,-0.051035,0.995954]]2H? l ʤ??`?e?`7! ?i2V`@I2_;2בCYZaByZIbDfVDfyn<%nQ=ٔn';Q-r>9pYp=rFypv ͻEv>xQ 5~5z:?Q 9~5z\m)zBYy]?Q I`@zCIz[;izF;zl[5y ɮ A 5DNOT Ignoring new targets: 31.64 m.h1h9*h9"h9 h9g9fAfAfAdAdIjdIZdM/*F@ZiZiZiZm+]?) 1i{9)顅f굉iit_VII1M9@Q @Q@U0@QB>BBBBBBBmt;Bd/Ea^AIIO>ԉDE =DE <EU J EU DEU (EQ "EU ~;*EU h;VEU c44ZEQ BEU 9Y=FywE>Q 559?Q 95l)BY=Q E6 9,p?A2]O@2)=2ٱ2Q :AHRS rotation from veh to nav: [[0.996622,-0.034593,-0.074482],[0.038259,0.998096,0.048372],[0.072667,-0.051058,0.996048]]2H@T?B@?g?`-Ĩ?N?`C$?i2]O@I2_;2בCYbfBybIbDjVDjJyr%rV=ٔv:Q-v>9tYt=zFyxzSEz>E_ EE+E"E;*E:VE [4ZEa @a @a @a @Q 5%59?Q 9%5k)BY)y-?Q I-`@CIG;iyH;b5y1ɮ5A1eDNOT Ignoring new targets: 31.64 m.haha*ha"ha hagafififididqjdqZdu@EF@ZZZZI A A @AB B B IB BB B B B lt;B ?2?,p?A jI@jI=j6ٱj=tQ rAHRS rotation from veh to nav: [[0.996675,-0.033916,-0.074086],[0.037560,0.998124,0.048358],[0.072306,-0.050980,0.996079]]jH?l]@F ;??k¨??`?ijI@IjU^;jّCYzgByzIi}Mb@Mb@Mb@yyyy y9}~jtMb?~jt?Y}Dy}=}<}zA}QA }zA)}QAyY}f AbDVD:2yդ;%>=ٔ\:Q->9Y=FyYֺE>Q 5519?Q 95j)BY3=Q EF,\q?A4<ɰ4<2G@2D=2Ւٱ2nQ :AHRS rotation from veh to nav: [[0.996733,-0.033708,-0.073401],[0.037314,0.998135,0.048315],[0.071635,-0.050896,0.996131]]2H9XY\=^Fy\*E>!Q 5-5%8?Q 9-5%i)%BY)y-?Q I5`@%CI% :i%|:%i5y9ɮ=A9eDNOT Ignoring new targets: 31.64 m.hahi*hi"hi higififqfqdqdyjdyZd}F@ZZZZm?Ւ) i9)页 iiXIIm9@i @i@u/@qE%& E%E!E!"E%8^;*E%&:VE!ZE!a-@a-@a-@a-@^AuUYIIO>! AL,g3q?A2G@2M=2Xٱ2P :AHRS rotation from veh to nav: [[0.996775,-0.033757,-0.072804],[0.037324,0.998140,0.048205],[0.071041,-0.050767,0.996181]]2H?@H C&? ?@P?@/?``?i2G@I27Q^;0YBrByBIbDJVDJkyRһ%RK=ٔV:Q-V>9TYX=ZFyXZm7EZ>\Q 5b5^8?Q 9b5^h)^BYdyf?Q If`@^CI^:i^:^m5yhɮjAh|DNOT Ignoring new targets: 31.64 m.hh *h "h  h g f ffddjdZd /G@Z Z Z Z w?%X)) -맾i-L9))-)i)i11=XI9I9B=>B= CB='IB=BB9B9B9B=qt;B=f/EBCBCBBB =Cœ49@ @@@@=@=)Q^AM۠XIYIiO}>E- 9 E- E) E) "E- so;*E- :VE) ZE) BE- AMq?A2G@2=29ٱ2zP :AHRS rotation from veh to nav: [[0.996814,-0.033702,-0.072293],[0.037249,0.998139,0.048288],[0.070531,-0.050827,0.996214]]2H@?gAɁ L??>?O??i2G@I2];2בCYBnByBIi Mb@Mb@Mb@     9 Qi|?5?~jt?Y y = < A A A)  Y  AbD%VD%y-Ҏ%5B=ٔ5:Q-5>91Y9==Fy9E>EE>AQ 5M5E6?Q 9U5Eg)EBYU^=Q EU;yUY?Q IU`@ECIE<:YiE:Ep5yaɮeAaEDNOT Ignoring new targets: 31.64 m.hAhA*hA"hA hIgIfIfIfU1BdQdQjdQZd]dG@Z}^=Z}^=Z}?Z}aY?9) ¾iL9)顕9iiXII-9@) @)@)@)ԁԹ^AmXIyIO> TY ,"gq?A6IG@Lf9dYfAErU ErOEr(Ep"Erl;*Er3;VErc44ZEpav@av@av@av@))}F@}=}Aٱ}P AHRS rotation from veh to nav: [[0.996860,-0.033703,-0.071654],[0.037221,0.998137,0.048351],[0.069891,-0.050866,0.996257]]}HF?vAW?@?i?e? V?i}F@I}o];yYvByIԹ5@A1bD=VD=P)yU7=%]9=ٔ]ܽ:Q-e>9aYa=mFyiuŋEu>Q 555?Q 957f)BYyV?Q I`@CI:f;il;t5yɮoADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd zG@Z9Z9Z9Z=V?UA)Y ]i]9)Y]NaiaiҰXIIm)9qB- <A- <B5 >B1 B5 -IB5 BB1 B1 B1 B5 t;B5 }/E% 9@!  @! @% /@! @- @- @- @- A I I O >`,#q?A2I@2?=2ٱ2P :AHRS rotation from veh to nav: [[0.996889,-0.034075,-0.071073],[0.037559,0.998128,0.048270],[0.069295,-0.050789,0.996302]]2H?Ir`1:??۶?P?`?i2I@I2A];2֑CYBnByBI DDHiUMb@Mb@Mb@QQQQ Q9UX9vHzG?Ut9Y=FyvP:E>Q 55:4?Q 95d)Y#>Q E;y?Q I`@CI]:i:Gx5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfff6BddjdZdG@Z5#>Z5#>Z5"?Z5?bE% [4jE%U4rE%/Em@ EmjEm.Ei"Emu;*Emk&;VEmـ4ZEiBEm  g,q?A2L@2{=2? ٱ2tP :AHRS rotation from veh to nav: [[0.996911,-0.034403,-0.070603],[0.037861,0.998119,0.048226],[0.068811,-0.050750,0.996338]]2H?Rsb?? ??@?i2L@I2ʒ];0YBiByBIbDJVDJyRټ%RZ=ٔV:Q-V>9TYT=ZFyXZR:EZ>\Q 5f5^3?Q 9f5^hc)\Ydyf?Q If`@^CI^:i^t:^{5ylɮnAl| DNOT Ignoring new targets: 31.64 m.h h *h "h  h gfffddjdZd%H@ZZZZ?? ) ̾i9)(ii!)-m XI)I) 9)9@ @@ 0@IIO">E= EUE*E"Es;*E\;VE(N4ZEa@a@a@a@Yԁ Lm,rŷq?Aɰ;6M@6=6K*ٱ6*Q >AHRS rotation from veh to nav: [[0.996935,-0.034538,-0.070191],[0.037985,0.998106,0.048384],[0.068387,-0.050902,0.996360]]6H@?`ꮡ`@r?|?Ũ?@Ɂ?`-?i6M@I6];6ԑCYFdByFIbDNVDNβyVɼ%VJ=ٔZ:Q-Z>9XYX=ZFyX^9E^>`Q 5f5b1?Q 9f5ba)`Ydyj?Q Ij`@bCIb:ibb:b5ypɮrApDNOT Ignoring new targets: 31.64 m.hh*h"h hgff!f!d!d!jd)Zd-`4H@ZIZIZIZMk?Be>BaBe'IBeBBe =BaBeDBet;Be{/EqK*) ѾiO9)額.iiWIII=)0>ԉ}9IgA)fAԱ 9@ @@/@I!I1O=>E; EDEE"EDq;*Eh;VEZEBE5AHRS rotation from veh to nav: [[0.996956,-0.034705,-0.069811],[0.038141,0.998094,0.048506],[0.067994,-0.051021,0.996380]]6H ?@ġ߱.?c?ը?`h?qX?i6JN@I6~];6ՑCY\ybIIfC=)f=iMMb@Mb@Mb@IIII I9ML7A`堿HzG?YM+yIMMAI I)MhAIYM\ AbDeVDe yu F%u>=ٔ}Fp:Q-}>9yYy=Fy9E>Q 55}0?Q 95x`)BYO>Q E;y1?Q I`@ŬCI%;i ;؂5yɮA}DNOT Ignoring new targets: 31.64 m.hyhy*hy"hy hygyfffddjdZd@hnH@ZO>ZO>Z?Zc1? \) Ѿi9)5ii   WI)Iq9@ @@5@^A XI I O >9 E V E 6E ,E "E ;*E  ;VE g4ZE a @a @a @a @_z,,q?AJO@JT=JŠٱJ R VAHRS rotation from veh to nav: [[0.996970,-0.034883,-0.069532],[0.038313,0.998082,0.048624],[0.067702,-0.051141,0.996394]]JH,?/ܡ̱Ɲ?I?=?T?/u?iJO@IJ];J֑CYbSBybIbDeVDeFy}%}I=ٔ=:Q->9Y=Fy9E>Q 55//?Q 95_)BYy7?Q I`@̬CI:ie;p5yɮADNOT Ignoring new targets: 31.64 m.hh*h "h  h g f ffddjdZdiH@ZAZAZAZEp7?UŠ)Q UiU9)Y]B] CB]IB]BB] =BYBYB]t;BY^AIIQiIiO}>ԙ D,@Qr?A2R@2=2P.ٱ2Q :AHRS rotation from veh to nav: [[0.996975,-0.035260,-0.069266],[0.038673,0.998071,0.048561],[0.067420,-0.051093,0.996416]]2H8?@ ḥ? 3?`ݨ?`oB?(?i2R@I2b];2ԑCYBLByBIi Mb@Mb@Mb@     9 S㥛S㥛? t A  ) A Y  AbD%VD%y5%5O=ٔ5.<:Q-=>9Y=Fyf:E>Q 55".?Q 95])BYE >Q E;y?Q I`@ӬCI;i;5yɮAMDNOT Ignoring new targets: 31.64 m.E]5 E]1E]+EY"E]k;*E]f;VE] [4ZEYԉBE]Z=E >Z=L?Z=?P.) Ǿi9)顝1CiiwWIIl>i>9@ @@/@ԩ^A rWI I O > q,8r?A2zU@28 =2Mٱ2rQ :AHRS rotation from veh to nav: [[0.996979,-0.035624,-0.069027],[0.039018,0.998063,0.048450],[0.067167,-0.050997,0.996438]]2H??[= ?@"? |Ψ?1?N ?i2zU@I2E];2בCYF;ByFI HHbDLVDLyV;%VS=ٔZ+:Q-Z>9XY\=^Fy\^s:E^>`Q 5f5b*-?Q 9f5bc\)bBYhyj(?Q Ij`@b٬CIbp:ibg:b75ylɮnLAp DNOT Ignoring new targets: 31.64 m.h h *h "h  h g fffddjdZd@I@Z9Z9Z9Z=_(?UM)Y eFؾieL9)iutIyiyi WII)9@ @@@@p=@=i߁I߅AE[ E$E.E"E%;*E;VEـ4ZEa@a@a@a@^AWIIO>! v,9r?A:`V@: =:7 ٱ:*Q FAHRS rotation from veh to nav: [[0.996994,-0.035754,-0.068729],[0.039128,0.998062,0.048386],[0.066866,-0.050930,0.996461]]:Ha? VN`<??ƨ?@!? z?i:`V@I:IW];:ՑCYJ2ByJIbDVVDV!y^*%^J=ٔ^YC:Q-^>9`Y`=bFy`f9Ef>hQ 5j5j,?Q 9n5j[)jBYpyr-?Q Iv`@jCIjI;ijJ;j5yxɮzAxBBBIBrBBBBBt;Bw/E=DNOT Ignoring new targets: 31.64 m.h9h9*hA"hA hAgIfQfafidqdqjdqZdu8I@ZZZZU-?7 ) i9)页PiiWII I)Q9@ @@/@y^AVIIO>Du=Du4=E ( E _E )E "E `;*E ;VE FA4ZE BE R9Y=Fy!7E>Q 55+?Q 95Y)BYG=Q E;yU?Q I`@CI; ;ia;5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfff Bdd jd Zd  nI@Z-G=Z-G=Z-_?Z-}U?EG)A EGiE9)AEWIiIiIQQIIԱ9@ @@/@^A&VIIO> ,lr?AEA E,E&E"Ev;*E;VE4ZEa&@a&@a&@a&@NS@No=NWٱN{Q ^AHRS rotation from veh to nav: [[0.997049,-0.035481,-0.068074],[0.038829,0.998068,0.048509],[0.066221,-0.051009,0.996500]]NH?`*@Hm t?+?@"֨?@?T?iNS@INdb];NՑCYfByfIlbDzVDz0y =.%T=ٔ2:Q->9Y=Fy,LE>Q 55+?Q 95X)BYyL?Q I`@CIB:i: 5yɮ)ADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd@jI@Z!Z!Z!Z%2L?5W)1 5i=39)9=R_9i9iAAE`WIAII9@  @ @ 0@ @gA@hA!BA<B>B CBIBXBB =BBDBt;B/EB CB CBB =B =Cs51^AmrWIyIO>a 2,竆r?A2R@2=2$ٱ2lEQ :AHRS rotation from veh to nav: [[0.997073,-0.035355,-0.067785],[0.038686,0.998075,0.048478],[0.065940,-0.050958,0.996522]]2H`? `TZΣ?:?`Ҩ?t?@2@?i2R@I2+e];2֑CYB ByB~I1i-Mb@Mb@Mb@)))) )9-~jthZd;O?~jtxY-Dy-j=-Ļ-A) -A)))Y- AbDM VDM2y]~%]E=ٔe 9:Q-e>9aYa=eFyam Em>Q 55*?Q 9%5W)BY%=Q E5Թ _,yvr?A:P@:=:uٱ:%Q BAHRS rotation from veh to nav: [[0.997104,-0.035161,-0.067441],[0.038474,0.998083,0.048474],[0.065607,-0.050929,0.996545]]:HE?`C۲?L?Ѩ?˰?P`?i:P@I:];8YJ ByJ}IRAAPbDVVDVyZ铻%^V=ٔ^d:Q-^>9`Y`=bFy`fEf>dQ 5z5f*?Q 9~5fV)fBYy3?Q I`@fCIf{;ifd;fߞ5y ɮ A=DNOT Ignoring new targets: 31.64 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdMJ@ZiZiZiZm3?u)  ݾi9)額 miikWIԙIM9@I @I@U0@Q XG!9m39iYm#AE5 E1E)E"Ek;*Ef;VEFA4ZEa @a @a @a @^AQIaIqO}{> 筜,Or?A25L@2=2ٱ2xQ :AHRS rotation from veh to nav: [[0.997151,-0.034593,-0.067035],[0.037894,0.998098,0.048617],[0.065226,-0.051019,0.996565]]2H?0:)f? l?P??@?i25L@I2!];2ԑCYBByBxIbDJVDJ1BV>BVCBVIBV:BBTBTBTBVt;BV/Eye%e@=ٔek:Q-e>9iYi=mFyiuhEu>yQ 55}*?Q 95}U)}BYy!?Q I`@}CI}:i}:}5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZdYbEșT4jER4rE\00EM EfE+E"Eˀ;*EP$;VE [4ZEBEPը? ? ?i29YYY=eFyae읺Ee>iQ 5u5m*?Q 9u5mT)mBY~=Q E$E * E RE E "E a;*E ;VE ZE a @a @a @a @ ,5 r?A4<ɰ491Y1=5Fy1=vE=>AQ 5M5E+?Q 9M5ES)EBYIyMq?Q IM`@ECIEK:iE:E5yYɮ]AYDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd@RJ@ZZZZ_q?() si9)8iihYIIԱ9@ @@/@AABBBIB%BBBBBt;B/E^AUYIIO> 9 ,s?Af7@fb=fscٱfhO nAHRS rotation from veh to nav: [[0.997314,-0.032198,-0.065784],[0.035414,0.998204,0.048311],[0.064111,-0.050511,0.996664]]fH?Q|;װ`!?@J?B?@i?ܩ ?if7@If>^;f֑CYvByv\IIz%=)zE EE*E"EUS;*Ej:VE(N4ZEBEYQ 554+?Q 95$S)BY=Q EF Ȝ,w!s?A F1@FP=F悽ٱF{gO RAHRS rotation from veh to nav: [[0.997356,-0.031462,-0.065511],[0.034667,0.998228,0.048368],[0.063873,-0.050511,0.996679]]FHV?XŰ`ٿ?`{?è? Z?`ܩ ?iF1@IF^;FԑCYVByVHIbDbVDbyjn%ja=ٔj_+:Q-j>9lYl=nFylrEr?tQ 5z5vM+?Q 9z5vR)vBYxyz?Q Iz`@v CIv:iv:v5yyɮ}&AyDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd ? K@ZZZZ?悽) i>9)䈶iiZIIq9@ @@P0@E- E-JE-)E)"E-CJ;*E-;VE-FA4ZE)a=@a=@a=@a=@ԙ^A9[IIO> 5Μ,Ė;s?AB.>B. CB.IB.BB,B,B,B.t;B./EPY=By=PIIM@AbDMVDM02y<%>=ٔQ->9Y=FyE>Q 55l+?Q 95Q)BYyQ I`@ CI{;i;M5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgfffdd jd Zd  C@K@Z)Z)Z)Z)9)A E@iEu9)AEьAiAiIIQIQIQa 9@Q @Y@]G4@aE=' E=+E=/E9"E= _;*E==;VE=J4ZE9BE=! ՜,qUs?AJ)@J =JٱJ1O RAHRS rotation from veh to nav: [[0.997429,-0.030443,-0.064872],[0.033617,0.998262,0.048405],[0.063285,-0.050461,0.996719]]JH?o,o06??~Ȩ?`y3?֩ ?iJ)@IJ ^;JӑCYZByZRI \\`bA|iEMb@Mb@Mb@AAAA A9E~jt?Dl?~jt?YE9qYq=uFyq}-E}>Q 55+?Q 95Q)BY=Q E69|Y|=~Fy|~∺E>Q 5 5},?Q 9 5XP)BYy(?Q I`@CI;i;.5yɮ%A!MDNOT Ignoring new targets: 31.64 m.hIhI*hI"hIQ hIgQfYfYfYdYdajdaZdeK@ZZZZ(?) in9)顝퓶ii[IIe9@a @a@e/@iyB5<A5p<B=>B9B=~IB= BB= =B9B9B=vt;B=m/E^AIԩIO> 2,;9s?Av$@v=v ٱv"N  AHRS rotation from veh to nav: [[0.997481,-0.029986,-0.064291],[0.033116,0.998289,0.048198],[0.062735,-0.050206,0.996767]]vH`\?Zu? ?@i?m? ?iv$@IvT^;vבCYeByeTIԱE8 E%E.E"En;*E;VEـ4ZEBE۾9AYA=EFyAEmaEM>IQ 5U5MP-?Q 9]5MvO)MBY]ء=Q E]'1 (Y,s?A2#@2B=2Oٱ2M :AHRS rotation from veh to nav: [[0.997507,-0.029843,-0.063939],[0.032952,0.998297,0.048140],[0.062394,-0.050127,0.996792]]2H? V^ ߠ?` ?Х? ??@?i2#@I2];2ԑCYBByB\IF=F=bDNVDNkyV=%Vh=ٔV~:Q-V>9XYX=ZFyX^wE^>`Q 5f5b-?Q 9f5bN)bBYdyf?Q If`@bCIb:ib:b'5ylɮn:AlDNOT Ignoring new targets: 31.64 m.hh*h "h  h g f ffddjdZd@" L@Z9Z9Z9Z=̹?MO)I MiU9)QU]QiQiYY]\IaIaE-* E-E-+E)"E-a;*E-:VE- [4ZE)a=@a=@a=@a=@Ag9U9@Q @Y@Y@Yi^A} [I I ԡ O >BE >BA BA BA BE =BA BA BE St;BE \/EBBV,@߼s?ABABE =BE =CE_5R$@R=R}ٱRYM ^AHRS rotation from veh to nav: [[0.997532,-0.029993,-0.063491],[0.033074,0.998298,0.048036],[0.061942,-0.050017,0.996826]]RH`?@@ ??%?@߶?֛?iR$@IR^;RՑCYvByvZIbDVDy%%%C=ٔ-Y:Q-->9)Y)=5Fy15A9E5>9Q 5E5=.?Q 9E5=M)=BYIyM?Q IM`@=!CI=:i=:=5yQɮUHAQuB*** querying acoustic contact ***iq iqDNOT Ignoring new targets: 31.64 m.hh*h"h hgfffddjdZd @L@ZZZZ?}) i9)*iiII!q@ @@/@ԩ^Ap\IIO>D%=DR=E1 EE*E"E2h;*E:VE(N4ZEBE_9Y=FyFE>Q 55.?Q 95L)BY=Q E BDAT read: Tx time:04:49:18.5294 $Ping request sent.!G^A[IIhAO > 9 hAY A) y /? p AE- 8 E- E- -E) "E- n;*E- :VE- t4ZE) a5 @a5 @a= @a= @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250107Q ,s?A2Z$@2=2pzٱ2M :AHRS rotation from veh to nav: [[0.997589,-0.030005,-0.062580],[0.033051,0.998290,0.048226],[0.061026,-0.050178,0.996874]]2H`??C???>?ﰩd?i2Z$@I2H];2ՑCYBBy@bDJVDJNyR4%RY=ٔV\:Q-V>9TYT=ZFyXZx9EZ>\Q 5b5^.?Q 9b5^L)^BYdyf?Q If`@^*CI^:i^:^5yhɮj)AhDNOT Ignoring new targets: 31.64 m.hh*h"h hgf f f d djdZdEL@ZZZZs?pz) i%C9)!%!i!i))-9\I1I119@  @ @ }1@ @=@=AAB>BBIBBB =BBB.t;BI/EYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501960^A-{\I9IIOU>ԁ r,9~ t?A0m+@1 =wٱL %AHRS rotation from veh to nav: [[0.997596,-0.030913,-0.062015],[0.033914,0.998275,0.047937],[0.060427,-0.049925,0.996923]]H@O? }@!]?`?)?9AYA=EFyAE[:EE>iQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754369YQ 5e5].?Q 9e5]J)]BYmb=Q Em0,+K$t?A;ɰ;:0@: =:Xuٱ:L BAHRS rotation from veh to nav: [[0.997609,-0.031577,-0.061483],[0.034549,0.998255,0.047888],[0.059863,-0.049898,0.996959]]:Hh?*z@e?? ҄?`?`:?i:0@I:<^;8YJByJbI R;R4<bDVVDV:y^<%^g=\ٔb:Q-b>9`Yd=fFydf:Ef>hQ 5n5j.?Q 9n5jI)jBYpyr"?Q Ir`@j5CIj^;ij{;j5ytɮvAtDNOT Ignoring new targets: 31.64 m.hh*h"h hg!f!f!f!d)d)jd)Zd-M@ZIZIZIZMY"?eXu)a enie9)im魶iiiiqquuZIqIy yyI)Y-9@) @)@-1@)E4 E`E*E"Ej;*E'!;VE(N4ZEa@a@a@a@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258091^AM[IYIiO}>A B >B CB IB BB =B B DB ;t;B S/EV,g&>t?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510088YvByzeII~=)~;bDVDyK<%E=ٔQ-%>9!Y!=%Fy!-E->1Q 5=55.?Q 9=55H)5BY9yAQ IE`@5:CI52 ;i5 ;5t5yIɮMAIuDNOT Ignoring new targets: 31.64 m.hqhy*hy"hy hygyfyffddjdZd@HCM@ZZZZ) i9)iizZIIi@q @q@u/@q@}gA@}fAI^AUYIaIqyO{>E, EOE)E"Ec;*E3;VEFA4ZEBEt9Y=Fy}M;E>Q 55.?Q 95pG)Y-=Q E;y3?Q Ia@@CI]:iE:$5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgf f f BddjdZd HyM@Z=-=Z=-=Z=?Z=I3?M!p)I MiM)9)IU޵QiQiYY]YIYIa5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.02616359@9 @9@=/@9ԩ^Am.[II O > E  E KE +E "E V;*E ;VE [4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277963,Oyrt?AԉlD@=mٱL AHRS rotation from veh to nav: [[0.997642,-0.034094,-0.059571],[0.036963,0.998175,0.047743],[0.057835,-0.049832,0.997082]]H ? t? ?q?@?@?ilD@I^;ґCYBypIBAbD%VD%y5<%50=ٔ51:Q-=>99Y9==Fy9EJ;EE>IQ 5U5M/?Q 9U5MF)MBYQyUW?Q IUa@MGCIM:iM:M35yaɮeAa DNOT Ignoring new targets: 31.64 m.h h *h "h  h gfffddjd!Zd%`ֶM@ZAZAZAZEW?]m)Y ]i]9)aecaiaiiimXIiIqԹB9A=<BE>BABEIBE BBE =BABABEJt;BEZ/E9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531208^A KY! I9 Ia O >",@t?A% J@%=%yjٱ%CL =AHRS rotation from veh to nav: [[0.997652,-0.034809,-0.058985],[0.037649,0.998150,0.047738],[0.057214,-0.049846,0.997117]]%H? sҡ73 F??q?K?@wa?i% J@I%ޒ^;%ӑCYIyI QQE}  E}8E}-Ey"E}E;*E} ;VE}t4ZEyBE}9Y=Fy:E>Q 55.?Q 95D)BYO=Q E;y?Q Ia@MCIs:ie;5yɮADNOT Ignoring new targets: 31.64 m.hh*h"h hgff f Bd djdZdM@Z5O=Z5O=Z5V?Z5?Eyj)I MiM9)IM+QiQiQY][1XIYIY!=9@9 @9@9@9@E=@E=I BDAT read: Rx Time:04:49:20.9829  TRx dataTimestamp_ set to:1761540562.520269 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035214^A] zdXIi Iy O >ԙ ),t?A2nP@2=2vKgٱ2kL :AHRS rotation from veh to nav: [[0.997666,-0.035621,-0.058251],[0.038428,0.998117,0.047802],[0.056438,-0.049929,0.997157]]2H?@<ӭ@欣??`vy??>`?i2nP@I2^;2ґCY^BybqIbDrVDrkyz;%zh=ٔ~[;Q-~>9Y=Fy;E> Q 55 N.?Q 95 C) BYy?Q Ia@ SCI D;i r; 5y!ɮ%A)UDNOT Ignoring new targets: 31.64 m.hQhQ*hQ"hQ hQgQfYfYfYdadajdaZde@N@ZZZZH?vKg) i9)顥ii?WIIYU9@Q @Q@U0@YE EE/E"EP;*E:VEJ4ZEa@a@a@a@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286037ԁ^A]XIIO>ԩ% PExceeded connect timeout, disconnecting.BA BA BE IBE %BBA BA BA BE 7t;BE Q/E >/,t?Aɰ4<vDAT read: 04:49:20.9829 LVL= 27536, 23745, 26210, 31939, AGC= 59, IDX= 5, 0.28, 1.840,-2.476,-2.998,-2.894, PHS=-1.447, 0.463,-0.148, RAW= 288.3, 13.3, CAL= 285.9, 20.5, ROT= 224.1, -20.5 zYgot valid direction response: 04:49:20.9829 LVL= 27536, 23745, 26210, 31939, AGC= 59, IDX= 5, 0.28, 1.840,-2.476,-2.998,-2.894, PHS=-1.447, 0.463,-0.148, RAW= 288.3, 13.3, CAL= 285.9, 20.5, ROT= 224.1, -20.5 PDAT read: Bearing 310.6, -44.9 (Local) ~Local bearing/azimuth received: Bearing 310.6, -44.9 (Local)  DAT read: Range 11 to 50 : 36.9 m (Round-trip 49.3 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.672649,-0.651842,0.350207]Fpublishing direction and range infoy`bmoV] SZ8i?YbB`bkb\bbf b|)b;IbL7ibV>bPb`@b,m>b;@ b0>)bvRz@Ib0``b8h|*J<\?`O? bi;@)b.nIb?ib0``YBytI -4<-<bD5VD5y <%4=ٔQ->9Y=FyE>ԱQ 55-?Q 950B)BYyQ Ia@ZCI:i6:5yɮAi`ib~t?AJibBRibBjibz@bbJ8 7)@RbmoV] SZ8i?Zib?bib0jb9 0g82'+98V?)@Zbab志ltF?2ib:ibK"ib5?*ib/SBibCBib ;?ibV+ib/~BibBibp@ addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 60.527910 s, deltaX: 5.100002 m, approachRate: 0.084259 m/s, rangeRepo size: 4  Added new target pos. range: 36.717377 m, bearing: 224.631724 deg, lat: 36.779373 deg, lon: -121.859598 deg, deltaT: 60.527910 s, deltaX: 5.077135 m, approachRate: 0.083881 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjd-@3sB@Zd-ज़?ZqZqZqZq) iO9)57ƶ1i9iQY]WIiI=9@9 @9@=/@9@A@EhAE[ E E'E"E%;*E:VE'4ZEBEI9 &6,!t?A>a@>g&=> bٱ>>?L FAHRS rotation from veh to nav: [[0.997654,-0.037817,-0.057070],[0.040553,0.998045,0.047566],[0.055160,-0.049768,0.997236]]>H`?\@W8 Nä? ?Z?=?@{`\?i>a@I>^;>ԑCYNByNrIIR=)R=i%Mb@Mb@Mb@!!!! !9%~jt?Mb`?Y%ļy%>%;%A% A !)% A!Y!bD=VD=yMH%M`=ٔUf;Q-U>9QYQ=UFyY];E]>aQ 5m5e,?Q 9m5eA)eBYuZ>Q Eu;yuI?Q Iua@e`CIeQ:ie#:e5yyɮ}ADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffBddjdZd J?ZZ>ZZ>ZW?ZCI? b)q uiu9)quɶyiyiy;UII-9@) @)@-4@)A^AU}WIqIO>i E 3 E E *E "E j;*E :VE (N4ZE a @a @a @a @P<,t?A 2h@2)=2~U_ٱ28L >AHRS rotation from veh to nav: [[0.997654,-0.038714,-0.056455],[0.041424,0.998005,0.047649],[0.054498,-0.049876,0.997267]]2H?Xң`笿5?? re?`%?R`?i2h@I2^;2ӑCYFByFgIbDNVDNyVv/%VU=ٔV:Q-Z>9XYX=ZFyX^=;E^>Q 5%5,?Q 9%5?)BY!y-f?Q I-a@fCIz:i:55y1ɮ5A1]DNOT Ignoring new targets: 36.72 m.haha*ha"ha hagafafifididijdqZdu'?ZZZZf?~U_) i9)顭ͶiikUII59@1 @1@5/@1inManaging dock network, ignoring radio surface power offAABBBBB =BBByt;Bq/EB CB CBB =BCq5ԡ^A5UIAIQOew> ;C,u u?A88LE]. E]E],EY"E]ye;*E]A:VE]g4ZEYBE]%%3A%~A !)!!Y!bDEVDEyU%U2=ٔUj:Q-U>9YYY=]FyYe;Ee>aQ 5u5ed+?Q 9u5e2>)eBYu>Q Eu;yu?Q I}a@enCIe ;ie ;e5yɮA-DNOT Ignoring new targets: 36.72 m.h)h)*h)"h) h)g1f1f1f5Bd9d9jd9Zd= y?Z}>Z}>Z}&?Z}Ʀ?_\) i9)顽 ҶiimTII}9@ @@/@@@=^A TI I O > cI,[a'u?AVGbliAl  W9liAY DA=u@=T0==Yٱ=˲M ]AHRS rotation from veh to nav: [[0.997660,-0.040314,-0.055230],[0.042975,0.997929,0.047866],[0.053186,-0.050127,0.997326]]=H?@G??ہ?`&;? E?i=u@I=n^;=ґCYuByumI bDVDy%-=%%N=ٔ%:Q-->9)Y)=-Fy)5:E5>9Q 5E5=*?Q 9E5=<)=BYAyE?Q IMa@=tCI=B:i=9:=5yQɮUAQDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd?ZZZZ?Y) Ai9)նii  SI I)Eu EuEqEq"EuW;*Eu:VEqZEqa@a@a@a@9@ @@@iAIAQ^AlTIIO>ԁ B >B B IB BB =B B B t;B /EsJP,C8Au?A6|@63=6irWٱ6M BAHRS rotation from veh to nav: [[0.997656,-0.041174,-0.054662],[0.043808,0.997892,0.047885],[0.052575,-0.050167,0.997356]]6H?m??R?`?y@W?i6|@I6+^;4YFByFjIbDVVDV0y^Y%^e=ٔ^:Q-b>9`Y`=bFy`f;Ef>hQ 5j5jN*?Q 9n5j;)jBYlyn?Q Ira@jzCIj;ij;j5ytɮvAtDNOT Ignoring new targets: 36.72 m.hh*h"h hgff!f!d!d!jd)Zd- D@ZIZIZIZM?YeirW)a eie9)im\ٶiiiiqquSIqIy59@1 @1@5/@1ԉ^A5ܢSIAIQOew>bEjErExE0E} E}#E}*Ey"E}L;*E};VE}(N4ZEyBE}ݡAHRS rotation from veh to nav: [[0.997652,-0.041881,-0.054182],[0.044493,0.997859,0.047937],[0.052058,-0.050235,0.997380]]2H?wq෽Ǧ?u?)?]?d?i2&@I2z];2ёCYvByvcIiuMb@Mb@Mb@qqqq q9uuuAq q)u AqYu AbDVD02ye̼%==ٔÜ:Q->9Y=Fy:E>ԹQ 55v)?Q 952:)BYY>Q E;y?Q Ia@CI2;i1;~5yɮ ADNOT Ignoring new targets: 36.72 m.hh*h"h hgfff Bd d jd Zd ǻ@Z5Y>Z5Y>Z59?Z5W?ESU)A EiM9)IMݶIiIiRIII)gAm9@i @i@m0@i@uhA@q^A5 SI9IQOe>E  E E +E "E X;*E :VE [4ZE a @a @a @a @9 Ȟ\,tu?A2@29=2Sٱ2UM :AHRS rotation from veh to nav: [[0.997640,-0.042693,-0.053775],[0.045281,0.997827,0.047866],[0.051615,-0.050188,0.997405]]2H?ۥd` /?2?⁨?`:m?@<@?i2@I2r];2БCY^BybSIIb4=)b%=f=dbDjVDj0yr%rW=ٔv:Q-v>9tYt=zFyxz;Ez>|Q 55~(?Q 95~8)~BY y ?Q I a@~CI~p:i~:~5yɮvADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd @ZZZZI?ES)I MN iM9)IMᶉIiIiqquQIyIy 9@  @ @ 1@ BA<B>BBIBBBBBBt;B/EA^AM`RIYqIqO}>ԙ c,0Ԏu?AEMJ EM EM)EI"EM~;*EM:VEMFA4ZEIBEM9Y=Fy:E>Q 55s(?Q 957)BY=Q E;y?Q Ia@CI:i:5yɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffBddjdZdRt @Z=Z=Z??Z?9R) i 9)  _涉 i i7^QIIԙ9@ @@1@^A= QII IY Om > 9i,Ϣu?AF@F>=FYQٱF1wM %AHRS rotation from veh to nav: [[0.997609,-0.043989,-0.053306],[0.046545,0.997776,0.047709],[0.051089,-0.050076,0.997438]]FHi?Jԧ?`?Mm?J(?@?iF@IF];FґCYByJIAAbDVDyp%9=ٔ9Q->99Y9=EFyAEU7 EU7EU2EQ"EUm;*EU ;VEU4ZEQa]@a]@a]@a]@]:Ee>aQ 5m5e/(?Q 9u5e!6)eBYqyu?Q Iua@eCIed:ie:e 5yyɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd@!@ZZZZ?YQ) 7i9)궉iiQIIJ>i>@ @@5@1 B >B B ~IB BB B B B t;B /E^A 2QI I O >Y p,]u?A2K@2@=2K#Pٱ2 M >AHRS rotation from veh to nav: [[0.997605,-0.044403,-0.053034],[0.046950,0.997754,0.047780],[0.050793,-0.050156,0.997449]]2H`a?<'@ ?? v?? ?i2K@I2V];2ёCYBByFAIHJAbDlVDlyvL%v=ٔzx:Q-z?9xYx=~Fy|~>:E~?Q 5 5(?Q 9 5:5)BY y?Q Ia@CI:i:m 5yɮAEDNOT Ignoring new targets: 36.72 m.hIhI*hI"hI hIgIfIfQfQdYdYjdYZd]@ >@ZyZyZyZ}?K#P) 3i-9)顝eiib}PII)M9@Q @Q@U/@QaD]=D]<Eu: Eu@Eu(Eq"Eu\p;*EuM;VEuc44ZEqBEumԉ v,[u?A06њ@6B=6(Pٱ6}|M >AHRS rotation from veh to nav: [[0.997579,-0.044957,-0.053062],[0.047500,0.997733,0.047677],[0.050798,-0.050082,0.997452]]6H *?@*@Q?@m?i?A? Q@!?i6њ@I6W5];6ӑCYFByFBIiMMb@Mb@Mb@IIII I9MQ?:v?MbYMu9yYy=}Fyy}M:E>Q 55d(?Q 954)BY=Q E;y?Q Ia@CI@;i;5yɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffBddjdZd@Z=Z=Z?Z{?(P) i29)򶉢!i!i!)-/PI)I)ԑ9@ @@/@Թ^A}PIIO > Em ; Em Em *Ei "Em Dq;*Em :VEm (N4ZEi au @au @au @au @|,6u?Aɰ4<2ŝ@2]D=2Oٱ2ءM :AHRS rotation from veh to nav: [[0.997568,-0.045322,-0.052950],[0.047860,0.997714,0.047699],[0.050667,-0.050118,0.997457]]2H ?m4 7&?F?l??+?i2ŝ@I2<];2ԑCYFByF7IbDNVDNfyV>D%VX=ٔV9Q-V>9XYX=ZFyX^y:E^>``Q 5f5b(?Q 9f5b 3)bBYhyj?Q Ija@bCIb:ib:bi5ylɮr,Ap DNOT Ignoring new targets: 36.72 m.h h *h "h  h gfffddjdZdp@ZAZAZAZE?UO)Q U iUI9)iiOII9@ @@/@A5AAA1B9B9B=lIB=BB9B9B9B=t;B=/E^AOIIO>A |؃,:!v?AE=. E=GE=+E9"E=ye;*E=;VE= [4ZE9BE=9Y=Fy:E>Q 5 5(?Q 951)BY=Q E p,A)v?AN@NH=NNٱNM bAHRS rotation from veh to nav: [[0.997522,-0.046440,-0.052851],[0.048970,0.997664,0.047635],[0.050515,-0.050105,0.997466]]NH@? ƧL?`?c?`*ݩ?Y=?iN@INF];LYjByj IbDvVDvy~%~q=ٔ~k8Q-?9Y=Fy 9:E ?Q 55)?Q 950)BYy?Q Ia@CI;i;5y)ɮ-A)eDNOT Ignoring new targets: 36.72 m.haha*ha"hi higififqyfqddjdZd"@ZZZZ?N) ic9)iiNIIE-S E-`E-*E)"E-;*E-'!;VE-(N4ZE)a5@a5@a5@a=@ԡ]F99@ @@/@B- >B) B- YIB- BB) B) B) B- Ku;B- /EBBBBBC 4 ^A5 ;OIA IQ O] >B퐝,"Cv?AY By !IbDVDܲy]J;%]D=ٔ]Q-]>9aYa=eFyaeEm>qQ 5u5u<)?Q 9}5u/)uBYyyyQ I}a@uCIuu:iu:u45yBɮRAEDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZdTa@ZZZZ) ri9)r i i oOII IfA)9@ @@4@@=@=EE@ EE'EE)EA"EEu;*EE";VEEFA4ZEABEE Q ,]v?A2Ԯ@2L=2;Pٱ2M :AHRS rotation from veh to nav: [[0.997459,-0.047393,-0.053196],[0.049937,0.997619,0.047558],[0.050816,-0.050093,0.997451]]2H.?C<\?? }Y??@֥@?i2Ԯ@I2EM];0YNwByRI TTTVAi-Mb@Mb@Mb@)))) )9-V-?ʡE?9Y=Fy;E>Q 55#*?Q 95/)BY=Q E CuGq/9Y;A^AޤNI!I9OE>ԑEM  EM EI EI "EM O;*EM &:VEI ZEI aU @aU @aU @aU @Թ :,~wv?A6L@6 N=6#Qٱ6M BAHRS rotation from veh to nav: [[0.997432,-0.047680,-0.053433],[0.050237,0.997603,0.047583],[0.051037,-0.050145,0.997437]]6H?`i`[?]?\?`z!?@?i6L@I60,];6ёCYDyDbDRVDRyZ%ZU=ٔZQ-Z>9\Y\=^Fy\bV:Eb>dQ 5j5f*?Q 9j5fX.)fBYhyj1?Q Ija@fCIfB:if:f%5ypɮr{Ap DNOT Ignoring new targets: 36.72 m.h h *h "h hgfffd!d!jd!Zd%@݅@ZAZAZAZEx1?]#Q)Y ]xi]Z9)aeaiaiiimMIiIqԑ9@ @@/@BAp<BBBFIBBBBBBu;B0E^ANIIOj> +#,yZv?AbE(N4jEU4rEϚ0EC EE+E"Ex;*E:VE [4ZEBEz9)Y)=5Fy15E5>9Q 5E5=+?Q 9E5=-)=}BYEF=Q EMSi=9@9 @A@E/@A@I@MgAI ^Ae MIi I O >N,AHRS rotation from veh to nav: [[0.997374,-0.048332,-0.053937],[0.050910,0.997573,0.047498],[0.051511,-0.050120,0.997414]]6H|?`?`?Q?_?D?i6ֶ@I6C&];6ґCYFaByF IIH)J=bDRVDRyZ"<%Z|=ٔ^0Q-b ?9`Y`=fFydf;Ej ?Q 5%5~,?Q 9%5-){BY)y-o?Q I-a@­CI-/;i;7,5yaɮeAaDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd@ZQZQZQZUo?eS)i mim~9)im> ii?MIIIE E2EE"E[I;*E;VEZEa@a%@a%@a%@E9@A @A@I@IiIy^AiIIO>ԡ B >B B :IB BB =B B B u;B /E4,v?A@Y~oBy~IbDVDy=%%D=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5}55D-?Q 9}55{,)5zBYyQ Ia@5ŭCI5#! ~`,v?A2@2%=H=ٔ=Q-=>9AYA=EFyAM R:EM>IQ 5]5M-?Q 9]5M+)MyBY]a=Q E]pE-  E- )E- +E) "E- P;*E- 0;VE- [4ZE) a5 @a5 @a5 @a5 @ԁ ,v?A6L@6Q=6Uٱ6\M >AHRS rotation from veh to nav: [[0.997330,-0.048484,-0.054604],[0.051086,0.997573,0.047310],[0.052178,-0.049973,0.997387]]6H@!?`Ҩ@ `(?@? 9? ??i6L@I6];4YFzByFI HHbDRVDR0yZ$=%ZT=ٔZĹQ-Z>9\Y\=^Fy\b/ɹEb>dQ 5j5f.?Q 9j5fe+)dYhyj-?Q Ija@f˭CIfl:ifB:f65ypɮrmAp DNOT Ignoring new targets: 36.72 m.h h *h"h hgfffddjd!Zd%`!@ZAZAZAZE-?UU)QY U(i]E9)aeGaiaiiimAMIiIq9@ @@4@Au@AAqB>BB3IBBBBBBqu;B/Eԉ^ANMI!I1OEs>Ա qĝ, w?ABs@BQ=B VٱBvM fAHRS rotation from veh to nav: [[0.997326,-0.048500,-0.054659],[0.051105,0.997572,0.047311],[0.052232,-0.049978,0.997384]]BH@?ԨKi*? ?/9? $??iBs@IB3!];DpzDr@AE~  E~&E~*E|"E~X;*E~;VE~(N4ZE|BE~ 9Y=Fy%8E>Q 55?/?Q 95*)xBYy.?Q Ia@έCI:i::5y ɮ iA uDNOT Ignoring new targets: 36.72 m.hqhy*hy"hy hygyfyffddjdZd $"@ZZZZ .? V) i9){ii  \MII@ @@@^A XMI I! O- >A ʝ,G,w?AɰBk@BR=BUVٱBL RAHRS rotation from veh to nav: [[0.997310,-0.048739,-0.054739],[0.051344,0.997563,0.047235],[0.052304,-0.049918,0.997383]]BH?@^@I? ? )/?Ǫ? 厩`?iBk@IB];BґCYZBy^)Ii]Mb@Mb@Mb@YYYY Y9]l?)\(?Y]=y]Ga=]YY ]A)] AYY] AbDuVDuyP=%`=ٔOQ->9Y=Fy  %:E>Q 5%5V0?Q 9%5/*)Y%=Q E%H5y5Bɮ5A1eDNOT Ignoring new targets: 36.72 m.haha*ha"ha hagafafifmBdqdqjdqZdu#@Z=Z=Z+z?Ze?UV)  i9)页iiLIIEL E"E(E"EW;*E;VEc44ZEa@a@a@a@E9@A @A@E2@A@M@M@M@M9II!O->aBi Bi Bm @IBm BBm =Bi Bi Bm u;Bm /Eԑ ѝ,CWFw?A:V@:R=:Uٱ:M FAHRS rotation from veh to nav: [[0.997319,-0.048734,-0.054597],[0.051335,0.997561,0.047306],[0.052158,-0.049982,0.997387]]:H?H??s8? z?/?i:V@I:\;:ϑCY^Byb:IIb=)b<bDjVDjyr=%rV=ٔv9Q-v>9tYt=vFyxzڷEz>|Q 55~d1?Q 95~))|Yy Q I a@~խCI~:i~:~[A5yɮA=DNOT Ignoring new targets: 36.72 m.hAhA*hA"hA hAgIfIfQfQdYdajdaZde@=$@ZZZZ?U)  i9)ii MIIq 9@  @ @ /@ II1O= >ԡE/ EE+E"Eaf;*E:VE [4ZEBEη9iYi=uFyquc:Eu>yQ 55}1?Q 95}()}yBY=Q E6) E  E E (E "E >T;*E &:VE c44ZE a @a @a @a @ݝ,zw?A2@2V=2Sٱ2BK >AHRS rotation from veh to nav: [[0.997287,-0.049838,-0.054182],[0.052394,0.997528,0.046825],[0.051714,-0.049537,0.997433]]2H? M@SӪ??u? Lz?@\?i2@I2\;2ϑCYBByFHIHJBAbDNVDN yV=%VW=ٔV9:Q-Z>9XYX=ZFyX^g:E^>`Q 5f5by2?Q 9f5b(()b{BYdyj~?Q Ija@bܭCIb:ib:bZH5ylɮnSAlDNOT Ignoring new targets: 36.72 m.h h *h "h  h g f ffddjdZd %@ZZZZ~?S) (i9)iiLII!B<A<1B!B!B%SIB%BB% =B!B!B%u;B%0EBBBB =B =Csz49@ @@/@IIO>aԁ ',w?A4B@BY=BcRٱBJ JAHRS rotation from veh to nav: [[0.997269,-0.050567,-0.053836],[0.053097,0.997499,0.046653],[0.051342,-0.049384,0.997459]]BH?@㩿`\/???I?H/?iB@IB''];BБCYRByRXI TTEbS Eb-Eb*E`"Eb;*EbK;VEb(N4ZE`BEb9IYI=MFyQ]y:Ee>Q 5 53?Q 95X')}BYAyE?Q IMa@CI,o(,~w?A2@2v^=2`Pٱ2 I :AHRS rotation from veh to nav: [[0.997231,-0.051720,-0.053430],[0.054215,0.997452,0.046363],[0.050896,-0.049132,0.997495]]2HQ? z-[`«? !?? ?`'z?i2@I22];0YBByBnIEU( EU.EU&EQ"EU`;*EU;VEU4ZEQa]@a]@a]@a]@ԉiEMb@Mb@Mb@AAAA A9EI +?J +?:v?YE949Y=Fy;E > Q 55 J3?Q 95 %) BY=Q EBBrIBBB =BBBv;BC0E^AU LIa Iy O > ,w?Aɰ2@2Kb=2(Nٱ2jI :AHRS rotation from veh to nav: [[0.997203,-0.052674,-0.053033],[0.055149,0.997402,0.046343],[0.050454,-0.049138,0.997517]]2H`?'@y 6,w?A2@2g=2|ALٱ2I :AHRS rotation from veh to nav: [[0.997158,-0.054048,-0.052493],[0.056498,0.997325,0.046375],[0.049846,-0.049209,0.997544]]2H?$@iિR?`?@? z? 1 ?i2@I2]^;2ϑCYBByBpIIF=)F`e<A A) AY=AbD=VD=k2QyU)<%U2=ٔUp:Q-]>9YYY=]FyYe@;Ee>iQ 5u5m2?Q 9u5m#)mBYu8 >Q Eu;y}0?Q I}a@mCIm ;imL ;mW5yɮLADNOT Ignoring new targets: 36.72 m.hh*h"h hgfff/BddjdZd6W)@Z8 >Z8 >Zd?Z'0? |AL)  i9)$ii!!% HII]9@Y @Y@]0@YԁEu EuBEu*Eq"EuO;*EuZ;VEu(N4ZEqa@a@a@a@ԩ^A% МII1 IA OM > ,tx?AB$B$B&IB&BB$B$B$B&ev;B&g0ER@Rn=RJٱRyJ ZAHRS rotation from veh to nav: [[0.997086,-0.055777,-0.052052],[0.058205,0.997228,0.046350],[0.049322,-0.049244,0.997568]]RH?@ގ ͭ?J?,? @?6 ?iR@IR-^;RΑCY~ By~zI  AAbDVD2y+=%V=ٔɴ:Q->9Y=Fy>;E>Q 55J2?Q 95%")BYyg?Q Ia@CI):i:Z5yɮ A}DNOT Ignoring new targets: 36.72 m.hyhy*hy"hy hgfffddjdZdQ"*@ԱZZZZDg?J) iz9)'ii/GIIm9@i @i@m4@q^AZHIIO> E  E E %E "E >T;*E :VE 4ZE BE "P mŮ?[?տ? ݨ?B@X?ivB@Iv_;tY ByIiMb@Mb@Mb@ 9S㥛?MbP?Yy$>:3A A )7 AYAbDVD: y-<%5=ٔ:Q->9Y=Fy%;E%>)Q 555-1?Q 955-< )-BY5$>Q E=;y=?Q I=a@-CI-:i-]:-^5yAɮEAAuDNOT Ignoring new targets: 36.72 m.hqhq*hq"hq hqgqfyfyf}7BdydjdZd+@Z$>Z$>Z?Z?G) zi9)顽)iiEII I)IegA)a1@1 @1@=4@99a ^A] GIi Iy O >o ,*4x?A 2N@2"=2Dٱ2aJ >AHRS rotation from veh to nav: [[0.996917,-0.059812,-0.050775],[0.062177,0.996988,0.046350],[0.047849,-0.049364,0.997634]]2H?@կ? T?+??=F ?i2N@I2I_;2͑CYFByFI HHHJAbDNVDN0yVς<%V|=ٔZE;Q-Z ?9XYX=^Fy\^;E^ ?`Q 5f5b1?Q 9f5b)bBYhyj?Q Ija@b CIb:ib:ba5ylɮnAp DNOT Ignoring new targets: 36.72 m.h h *h "h  h gfffdEE$ EE:EE'EA"EEg\;*EE$ ;VEE'4ZEAaM@aM@aM@aM@djdZd4+@ZZ$>ZZ?-D)) -'i59i9I9)1U+QiQiYY]CIYIaq9@ @@/@BE>BABEIBE%BBE =BABABEhv;BEj0Eԙ^A+EII1O=> W,Nx?A2$@2=2Aٱ2TJ :AHRS rotation from veh to nav: [[0.996817,-0.061990,-0.050139],[0.064326,0.996849,0.046403],[0.047104,-0.049481,0.997664]]2H? ϫw?0?@-§??U`?i2$@I22`;0YBByBuI J9XYX=ZFy\^Ϯ;E^>`Q 5f5bT1?Q 9f5b))bBYhyj ?Q Ija@bCIb:ib-:bJe5ylɮn*Al DNOT Ignoring new targets: 36.72 m.h h *h "h  h g fffddjdZd@v,@ZZ$>ZZ ? A)  i 9).ii99=BI9IA9@ @@@DQDQEm  EmEm,Ei"EmX;*Emn:;VEmg4ZEiBEm ! ,gx?Aɰ;B7@B=Bs=ٱBK VAHRS rotation from veh to nav: [[0.996712,-0.064231,-0.049385],[0.066534,0.996701,0.046480],[0.046237,-0.049613,0.997698]]BH@?xq@HY??+̧?P?@f#?iB7@IBa;BϑCY^ByfqIiMb@Mb@Mb@ 9Q/$?y&1|Yuy&1>`A A A) AYbD5VD5βyE%M3=ٔMK:Q-U>9QYY=]FyYe\;Ee>iQ 5}5mV0?Q 9}5m)m{BY}1>Q E;y(?Q Ia@mCImR;imY;mJi5yɮJADNOT Ignoring new targets: 36.72 m.hh*h"h hgfff*BddjdZd=d-@Z%1>Z%1>Z%!?Z%A(?=s=)A EziE9)AE0IiIiQQ]o^@IYIY99@ @@@QEe] Ee%Ee-Ea"Ee ;*Ee;VEet4ZEaam@am@am@am@^Am yAIq I O >ԁ B= >B9 B= IB= +BB9 B9 B9 B= ^v;B= e0Ei ,{x?AbSK@b@=b=:ٱbK zAHRS rotation from veh to nav: [[0.996577,-0.066730,-0.048797],[0.069000,0.996536,0.046414],[0.045531,-0.049622,0.997730]]bH?7`?@?ç?@O?hf?ibSK@Ibza;bБCY By|IbD%VD%1y5D=%5^=aٔm:Q-m>9iYq=uFyqu;Eu>yQ 55}/?Q 95}k)}xBYy{?Q Ia@}$CI}:i}d:}l5yBɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZda .@ZZZZn{? =:)  i 9) 2ii%*>I!I!9@ @@/0@@=@=ԉ^A?ԹIIO>Em N Em AEm /Ei "Em @;*Em ;VEm J4ZEi BEm A A) AY AbD VD 1y%<=ٔb;Q->9!Y!=%Fy!%;E->1Q 5=55v.?Q 9=55)5rBY="&>Q EE;yE}?Q IEa@5-CI5:i5:5Lp5yIɮM|AQ}DNOT Ignoring new targets: 36.72 m.hyhy*hy"hy hygyfffBddjd Zd /@ZM"&>ZM"&>ZM0?ZM}?]7)Y e[ie9)a顅5iiMGII Ia Om >1 ,,qx?A2r@2}=2 4ٱ2K :AHRS rotation from veh to nav: [[0.996296,-0.071621,-0.047586],[0.073830,0.996191,0.046392],[0.044082,-0.049733,0.997789]]2H?U@%]`?? ?⑦?v?i2r@I2a;2ΑCYBByBdIbDJVDJyRǼ%Vf=ٔV:Q-V>9TYX=ZFyXZ;EZ>\Q 5b5^-?Q 9b5^.)^mBYdyf?Q Ifa@^4CI^y:i^:^gs5yhɮjAhDNOT Ignoring new targets: 36.72 m.hh*h"h hg f f f ddjdZdu/@E%$ E!E%*E!"E%g\;*E!VE%(N4ZE!a-@a-@a-@a5@ZZZZ?  4)  i 9)  D7 ii-:I!I!)9@ @@4@ABBBIB BB =BBBcv;Bg0EBBBB =B =CE4^A;IIO>iԙ ۥ3,Lx?A6+@6=62ٱ6L BAHRS rotation from veh to nav: [[0.996175,-0.073609,-0.047077],[0.075798,0.996036,0.046548],[0.043464,-0.049939,0.997806]]6H@?ز{g?? -է?@??i6+@I6̽a;4YFByF]IbDRVDRyV%ZJ=ٔZ :Q-Z>9\Y\=^Fy\b;Eb>`Q 5f5b,?Q 9j5b)bgBYhyj?Q Ija@b=CIbl:ibB:bv5ylɮrAp DNOT Ignoring new targets: 36.72 m.h h *h "h hgfffddjdZd% @0@ZYZYZYZ]?u2)q uiu9)q}9yiyi8IIy@ @@/@@hA@hAE5 E5@E5+E1"E5mR;*E5M;VE5 [4ZE1BE5 ) - C9,?sx?A"XG(8j39hYjS#A-@-+=-*/ٱ-M EAHRS rotation from veh to nav: [[0.996062,-0.075397,-0.046650],[0.077570,0.995894,0.046672],[0.042939,-0.050106,0.997820]]-H?`3M`⧿`۳?\?`T? *? %?i-@I-a;)YUByUFIiMb@Mb@Mb@ 9`A A) AY=A bD%VD%P)ԩye%+=ٔ:Q->9Y=Fys;E>Q 55,?Q 95)_BY>Q E;y?Q Ia@DCI ;i\ ;{5yɮdA-DNOT Ignoring new targets: 36.72 m.h)h)*h)"h) h1g1f1f1f= Bd9d9jd9Zd=@0@Ze>Ze>Ze6?Ze?*/)  iy9)顥%<iia7II=9@9 @A@A@AE E>E(E"EL;*E?;VEc44ZEa%@a%@a%@a%@ ^Ae 8Iq I O >A A B >B B ~IB BB =B B B Vv;B a0E1 8@, y?A4<ɰ4<2@2@~=2.ٱ2M :AHRS rotation from veh to nav: [[0.995955,-0.077035,-0.046264],[0.079188,0.995767,0.046664],[0.042473,-0.050139,0.997839]]2H? ܯE?R?R??ëK?i2@I2eO`;2ϑCYBByBDIbDJVDJfyR+,%Rx=ٔV:Q-V?9TYX=ZFyXZ;EZ?\Q 5b5^,?Q 9b5^)^YBYdyf?Q Ifa@^JCI^:i^:^}5yhɮjrAlDNOT Ignoring new targets: 36.72 m.hh*h"h h g f f f ddjdZd[1@ZZZZ?.) i9)`>ii95II)9@ @@/@Y^A }7II)O5>ԁ bEəT4jEOS4rEɘ0EE  EE ,EE -EA "EE N;*EE ;VEE t4ZEA BEE n9YYY=]FyYe&;Ee>iQ 5u5m,?Q 9u5mQ =utI)mQBYu=Q E}  M,k6y?A6"@6=6DG+ٱ6M >AHRS rotation from veh to nav: [[0.995825,-0.079023,-0.045696],[0.081149,0.995607,0.046713],[0.041804,-0.050226,0.997863]]6H ? : ve@2ƴ??`?Og?6}?i6"@I6pz^;4YFByF ILLbDR VDR2yZlJ%Zj=ٔZe[:Q-Z>9\Y\`=bFy`f];Ef>dQ 5j5f,?Q 9n5f)fKBYlynT?Q Inb@fSCIfQ;if;f5yv~BɮvAvEE E-EE"EL;*EK;VEZEa @a @a @a @-DNOT Ignoring new targets: 36.72 m.h)h)*h)"h) h1g1f1f1f1dIdIjdIZdM@1@ZiZiZiZmQT?DG+)  in9)額iiha4IIU9@Y @a@e0@aB>BB_IBBB =BBB5v;BP0E^A4IIO>A S,Py?A2y@2=2G *ٱ2 QN :AHRS rotation from veh to nav: [[0.995814,-0.079319,-0.045418],[0.081435,0.995579,0.046803],[0.041505,-0.050306,0.997871]]2H? 9XYX=ZFyXZW::E^>Q 5%5,?Q 9%5)DBY)y-a?Q I-b@XCI*;i+;5y1ɮ5'A1mDNOT Ignoring new targets: 36.72 m.hihi*hq"hq hqgqfqfyfydydyjdZdH2@ZZZZa?G *) i9)顽6iioH4IIp>i>m9@q @q@u]1@qE8 EE&E"En;*E:VE4ZEBE۾ԡ qZ,qjy?A6@6=6+)ٱ6M FAHRS rotation from veh to nav: [[0.995795,-0.079629,-0.045295],[0.081735,0.995559,0.046712],[0.041374,-0.050218,0.997881]]6H@?b 0`? ? ?.?,?i6@I6~];6̑CYJdByJI PPPRAyiMb@Mb@Mb@ 9S㥛?J +?~jtY/9Y=Fy01:E> Q 55 -?Q 95 ^) >BYZy=Q EY B >B B @IB BB =B B B *v;B K0E*a,Ky?A2@2=2@)ٱ2$ N :AHRS rotation from veh to nav: [[0.995827,-0.079275,-0.045218],[0.081379,0.995585,0.046775],[0.041310,-0.050259,0.997882]]2H ?WK&@Fմ?@?`?&? @?i2@I2i];2͑CYBUByBI J;Jp;bDNVDNN2yV_*%Va=ٔVY99Q-V>9XYX=ZFyX^]E^>`Q 5f5b.?Q 9f5b )b:BYdyft?Q Ifb@b]CIb :ib:b5ylɮnAlDNOT Ignoring new targets: 36.72 m.hh*h "h  h g f ffddjdZd=3@ZIZIZIZM=t?]@))Y ]i]9)aeaiaiiim]4IiIq9@ @@3@^A:4IIO>1E-  E- `E- )E) "E- V;*E- '!;VE- FA4ZE) BE- ?Y @%:?`F?K?)?`] ?i@IV];YJByI1i}Mb@Mb@Mb@yyyy y9}Mb? rh? rhY}@=y}C<}C}3A}~A }zA)} AyY} AbDVDfy%.=ٔ`Q->9Y=FyE>Q 55`0?Q 95 )6BYQ Ib@`CI:i;5yɮAE%DNOT Ignoring new targets: 36.72 m.h!h!*h!"h) h)g)f)f1f5Bd1d1jd1Zd=3@Z]Z]eQ>M6[))I MiM9)IM*QiQiQY]+5IYIYia9@ @@4@ԉ^A 04I) I9 OM >Ա Zm,y?A2ä@2=2?)ٱ2r8N :AHRS rotation from veh to nav: [[0.995947,-0.077785,-0.045148],[0.079890,0.995701,0.046866],[0.041309,-0.050283,0.997880]]2H?@鳿``s? ?`?p&?@?i2ä@I2{];2ΑCYBfByBIF=F=Er Er6EpEp"ErW;*Er ;VEpZEpav@av@av@av@bDNVDNky~=%~j=ٔr8Q->9Y= Fy  E >Q 551?Q 95w )3BY!y%>Q I%b@cCI;i;̖5y)ɮ-VA)eDNOT Ignoring new targets: 36.72 m.hahi*hi"hi higififqfqdqdqjdyZd}]3@ZZZZ]>?)) i9)页Eii5IIԑ59@1 @1@5/@1@==@==B)B)B-'IB-BB- =B)B)B-v;B-B0EԹ^AUe4IaIqO}{> Bt,My?A2j@2=2ݢ)ٱ23N :AHRS rotation from veh to nav: [[0.996015,-0.076887,-0.045200],[0.078996,0.995771,0.046894],[0.041403,-0.050278,0.997877]]2H@Z?ள`r$9?[??`2? ?i2j@I2Au];2̑CYB^ByB IHJ@AbDNVDNyV%VP=ٔV{Q-V>9XYX=ZFyX^E^>`Q 5f5bE3?Q 9f5bC )b0BYdyfj>Q Ijb@beCIb+;ibY;b;5ylɮnwAlDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZdO4@ZZZZj> ݢ))  i a9)di1i99=t6I9IAEL EE+E"EW;*E:VE [4ZEBEz,&y?AB1@Bɠ=B+ٱBMQM vAHRS rotation from veh to nav: [[0.996051,-0.076245,-0.045486],[0.078360,0.995832,0.046682],[0.041738,-0.050062,0.997874]]BH`?ЄJl?@??^?@?iB1@IBu];B͑CY~bBy~IiMb@Mb@Mb@ 9V-?~jt?MbP?Y9Y=Fy<E>Q 55Y4?Q 95 )Y=Q EQ Ib@gCI* ;ir;<5yɮgA-DNOT Ignoring new targets: 36.72 m.h)h)*h)"h1 h1g1f1f1f=Bd9d9jd9Zd=)4@ԡZ=Z=Z>Ze>%+)) -i-9))-@)i)i11=6I9I9u9@q @q@q@qE] E]&E]*EY"E]۵;*E];VE](N4ZEYae@ae@ae@ae@ ^A 6I I O >B} >By B} !IB} BB} =By By B} u;B} 0EB9B9B9B= =B= =C=H=5) `,z?A21@2=2P+ٱ2_L :AHRS rotation from veh to nav: [[0.996092,-0.075635,-0.045619],[0.077752,0.995884,0.046574],[0.041909,-0.049939,0.997873]]2H`?\@`[?H?ا?u?@?i21@I2];0YBmByBIbDJVDJyZ7<%Z\=ٔZ'Q-^>9`Yd=fFydjֺEj>pQ 5z5r:5?Q 9z5r )r1BYy>Q Ib@rhCIrs;irt;r5yɮ9ADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd'&5@ZAZAZAZE>uP+)y }>i}#9)y}9yiyig7II-9@) @)@-0@)@5gA@19^AIIYIiO}>i Eu : Eu 9Eu +Eq "Eu \p;*Eu ;VEu [4ZEq BEu m9Y=FyE>Q 55X6?Q 95 )3BYS#=Q EiM>ԩmG(hA9@ @@_0@CA9(hAYC/A^A _7I I! O- > ,Ő:z?AE' E-E)E"E _;*EK;VEFA4ZEa@a@a@a@ ɰ >6@> =>U-ٱ> L FAHRS rotation from veh to nav: [[0.996162,-0.074402,-0.046097],[0.076536,0.995986,0.046414],[0.042458,-0.049764,0.997858]]>H? `䗳??ç?@?z@t?i>6@I>p];>ˑCYNByN4I|bD-VD-ye6=%e_=ٔmzJQ-m>9iYi=mFyiuEu>yQ 55};7?Q 95}c )}5BYy#;?Q Ib@}mCI}:i}p:}5yɮqADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd`5@ZZZZ#;?-U-)) 5i5:9)15വ9i9i9AE?_8IAIA9@ @@4@)B5>B1B5-IB5BB1B1B1B5~u;B5/EY^A8IIO>ԁ iޔ,kTz?A2@2l=2 /ٱ2K :AHRS rotation from veh to nav: [[0.996174,-0.074092,-0.046339],[0.076235,0.996013,0.046329],[0.042722,-0.049684,0.997851]]2H?Ĺ)?V?`?ߥ?.pe?i2@I2`<];2БCYBByBEIIF=)F=bDJVDJ:y%=%%N=ٔ%.Q-->9)Y)=-Fy)5GE5>ԁQ 55:8?Q 95 )7BYy;?Q Ib@oCI :i:U5yɮAMDNOT Ignoring new targets: 36.72 m.hIhI*hI"hI hIgIfQffddjdZd`}a6@ZZZZ;? /) {iR9)_ĵii   8I bE·G4jEKJ4rEa0E5= E55E1E1"E5s;*E5 ;VE1ZE1BE5 ,Lnz?AY]ByeWIiMb@Mb@Mb@ 9?i|?5?{Gz?Y9IYI=MFyIUEU>YQ 5e5]8?Q 9e5]m )]9BYe҄=Q EeLB% <A% <B- >B) B- LIB- BB- =B) B) B- vu;B- /Ey g,"z?A v @v@=v\(1ٱvW%K  AHRS rotation from veh to nav: [[0.996130,-0.074364,-0.046855],[0.076523,0.996000,0.046122],[0.043238,-0.049529,0.997836]]vHK?~ @e` ?`9iYi=uFyquK:Eu>yQ 55}9?Q 95} )}:BYy?Q Ib@}uCI}:i}:}S5yɮ6ADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd)7@ZZZZ=? \(1)  &i 9)Z嵉iiMI8II!q@ @@/@@@@@ԡIAIQOew>EU - EU 5EU ,EQ "EU d;*EU ;VEU g4ZEQ BEU =9Y=Fy!%u.;E->1Q 5E559?Q 9E55 )5;BYM=Q EM! D,ֻz?AE  EE*E"EX;*Ex:VE(N4ZEa@a@a@a@Y=By=I Mp9Y=FyE>Q 55:?Q 95)yԩ ,,xz?Aɰ4<:@:@l=::L4ٱ:K@ FAHRS rotation from veh to nav: [[0.995930,-0.076459,-0.047729],[0.078662,0.995834,0.046121],[0.044004,-0.049688,0.997795]]:H?Вo/#??8?`?p?i:@I:];8YJByNIbD^VD^:yfg7=%fY=ٔfzQ-f>9hYh=jFyhj ;En>pQ 5z5rJ:?Q 9~5r)r=BY y$?Q Ib@rCIr7;ir;r5yɮ%8A!MDNOT Ignoring new targets: 36.72 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZde`:\8@ZZZZ$?:L4) i9)顥 iinq6II59@1 @1@5K1@1IAIQEex Ee$Ee)Ea"EeL;*Ee;VEeFA4ZEaBEe;A A) AY AbDVDy6q=%==ٔXHQ->9Y=Fy"?;E>Q 55<:?Q 95*)Q E;yx?Q Ib@CI:i:5yɮADNOT Ignoring new targets: 36.72 m.h h *h "h  h g f ff.BddjdZd8@Z=>Z=>Z=i?Z=x?M5)Q i9)页iip5II)m9@i @i@m5@iEeB EeEe,Ea"Eew;*Ee:VEeg4ZEaam@am@am@am@Q^AMU7IYIiO}>B B B IB BB B B B u;B 10Eԁ ?ž,eo {?AB@B'=Be6ٱBK NAHRS rotation from veh to nav: [[0.995677,-0.079212,-0.048513],[0.081446,0.995617,0.045964],[0.044659,-0.049716,0.997764]]BH`?6G`֨ٴ??`?ݦ?ht?iB@IBf^;@Y !By IM@AIYbDUVDUymHh%mN=ٔmnWQ-m>9qYq=uFyq} ~;E}>Q 55.:?Q 95);BYy?Q Ib@CI:i:5yɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd@./9@ZZZZ̪? e6)  ic9)ii%(4I!I!@ @@a4@ԁԱ^Ar5II O>Em ( Em Em *Ei "Em `;*Em F;VEm (N4ZEi BEm Rmtm3Am A mA)m AiYmp AbDVDy=%,=ٔQ->9Y=Fy};E>Q 559?Q 95)7BY+'>Q E;y?Q Ib@CI]:i:#5yɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfff=BddjdZd9@Z-+'>Z-+'>Z-?Z-G?= 9)9 == i=9)AE$AiAiIIMD2IIIQ9@ @@4@ ^A 3I I O >9 Ξ,={?AE E/EE"EmR;*EY;VEZEa@a@a@a@~@ܮ=4;ٱL AHRS rotation from veh to nav: [[0.995317,-0.082906,-0.049711],[0.085189,0.995316,0.045712],[0.045689,-0.049733,0.997717]]H`?W9sε? ?@g? d?v@L?i~@In^;ˑCY%,By%I )))-AbD]VD]Jym<%m`=ٔm:xQ-u>9Y=FyZ;E>Q 55/9?Q 95/)3BYy)?Q Ib@CI;i;\5yɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfff!d!d!jd!Zd% :@ZIZIZIZM)?]4;)Y ]i]9)ae,aiaiiBBBIB:BBBBBu;B+0EB9B9B9B= =B= =C=45AM1IIIIA9@ @@/@@ >@=q^A |1I I! O- >ԙ z՞,V{?AY/ByI 4<bDVDk1y%4<%-a=ٔ-Q-->9)Y1=5Fy15E5>AQ 5E5E8?Q 9M5E)E0BYIyIQ IMb@ECIEy:iEp:E~5yQɮUqAYDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd"c:@ZZZZ) i9)4ii3'1IIqD1D5R=E=  E=E9E9"E=E;*E=A:VE9ZE9BE= 7h>= IGM liAa `9 liAY LA Ǥ۞,Ip{?Aɰ;J@J>=J=`=ٱJM AHRS rotation from veh to nav: [[0.995150,-0.084503,-0.050348],[0.086831,0.995161,0.045994],[0.046218,-0.050143,0.997672]]JHE?;ǩ:?`[?@?ߩ?P ?iJ@IJO^;JɑCY-1By-IiMb@Mb@Mb@ 9ˡE?~jtYy'>A A ) AYG AbDVD0ya;%?=ٔQ->9Y=FyO};E>Q 55L8?Q 95)*BY)>Q E;y6?Q Ib@CIG ;i ;95y ɮ gA =DNOT Ignoring new targets: 36.72 m.h9h9*h9"h9 h9g9fAfAfE@BdAdIjdIZdM@|:@Zm)>Zm)>Zm?Zm6?=`=) if9)顅=ii /II9@ @@/@EE  EE-EE)EA"EEX;*EEK;VEEFA4ZEAaM@aM@aM@aM@^A1IIO >) B B B IB IBB B B B u;B /0EQ ގ,{?AB@B=B>ٱBPM JAHRS rotation from veh to nav: [[0.995033,-0.085648,-0.050726],[0.087987,0.995067,0.045815],[0.046552,-0.050051,0.997661]]BHP? `@P?? u?է?@8 ?iB@IB!M^;B̑CY%/By%IbD5VD5yE%ET=ٔMcQ-M>9IYI=MFyIU F;E>Q 557?Q 95&)%BYy[?Q Ib@CI;i;5yɮsADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd`5;@Z!Z!Z!Z%([?=>)9 =ti=9)9E4FAiAiAIM.IIII)9@ @ @ .0@ @hA@hAY^A/II O>bE(N4jErEd/E] & E] E] (EY "E] 8^;*E] :VE] c44ZEY BE] ]]A]hA ]A)] AYY] A}AAybDVDy%=ٔ&Q->9Y=Fy:E>Q 55y7?Q 95)BY#>Q E;y?Q Ib@ǮCIH;ihH;5yɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfff8BddjdZd;@Z #>Z #>Z ʝ?Z =?E^@)A EiEd9)IMOIiIiQQU\.IQIQIa)aԹ59@1 @1@5/@1 ^A v/I! I9 E} = E} E} )Ey "E} s;*E} :VE} FA4ZEy a @a @a @a @O >R,y{?A "@\@@@ =AٱXM -AHRS rotation from veh to nav: [[0.994848,-0.087271,-0.051584],[0.089648,0.994924,0.045705],[0.047334,-0.050094,0.997622]]H?cWCi#?`k? f?#! ,{?A^@^߸=^Cٱ^;9N jAHRS rotation from veh to nav: [[0.994793,-0.087641,-0.052017],[0.090045,0.994883,0.045824],[0.047735,-0.050269,0.997594]]^H`X?o+ ??2v? p?ؼJ?i^@I^ ];^ʑCYn%BynIbDzVDz|y%P=ٔ …Q- >9 Y =Fy:E>qQ 5}5u6?Q 9}5u4)uBYyy}?Q Ib@uծCIu;iur;uD5yɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZdk<@ZZZZֲ?C)  i9)_ii   #-IIE EE+E"E;*E:VE [4ZEBE=a2E=aJESԁ 3,<{?AV@Vm=VQDٱVM bAHRS rotation from veh to nav: [[0.994716,-0.088392,-0.052217],[0.090798,0.994823,0.045651],[0.047911,-0.050151,0.997592]]VH?࠶)`>?? _?҇?@aE?iV@IV];VˑCYdyjIYiUMb@Mb@Mb@QQQQ Q9U{Gz?x&?L7A`堿YUףU+UIAU A UA)U AQYUp A mp9Y=FyK:E>Q 5 5E7?Q 9 5)BY >Q E ;y ?Q I b@ܮCI:i:5yɮAEDNOT Ignoring new targets: 36.72 m.hAhI*hI"hI hIgIfIfQfU:BdQdYjdYZd],<@Z}>Z}>Z}?Z}f?QD) = i9)顕~hii,IIa>i>-9@) @)@-/@)ԉE EE)E"E;*E :VEFA4ZEa@a@a@a@^AM},IYIiO}>A) A) B5 >B1 B1 B1 B1 B1 B1 B5 v;B5 |0E E,1} |?AɰN@N@e=N EٱNM VAHRS rotation from veh to nav: [[0.994656,-0.088849,-0.052580],[0.091268,0.994784,0.045542],[0.048259,-0.050097,0.997578]]NH9?ʾ몿P]?@F?9 Y = Fy  :E>Q 557?Q 9%5g)BY!y%ÿ?Q I%b@CI/;i+;:5y)ɮ5)A1]DNOT Ignoring new targets: 36.72 m.hYhY*hY"hY hagafafafadidijdiZdm7=@ZZZZÿ? E) i9)顭Lqii,IԹIm9@i @q@u/@q^AN1-IIO>Ee E$E(E"E;*E;VEc44ZEBE9Y=FyA:E>Q 557?Q 95)BYy˿?Q Ib@CI;i;25yɮYADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd \=@Z)Z)Z)Z-?˿?MkRG)Q UiUn9)Y]>{YiYiaim_+IiIq9@ @@@@@Aq^A ++I I) O5 >ԡ E  E ;E -E "E [I;*E ;VE t4ZE a @a @a @a @ ,s0@|?AFo@Fٻ=FvHٱFM NAHRS rotation from veh to nav: [[0.994604,-0.089031,-0.053256],[0.091484,0.994764,0.045546],[0.048922,-0.050172,0.997542]]FH? ʶND k? ?@Q?B ?`3?iFo@IFQh];DYVByVIiMb@Mb@Mb@ 9Mb`?&1?Y;y=̼3AA A) AYz AAAbDVDyc%T=ٔk=Q->9Y=FyDE>Q 557?Q 95)BY=Q E;yc?Q Ib@CI ;iG ;5yɮtADNOT Ignoring new targets: 36.72 m.hh*h"h hgf!f!f%Bd!d)jd)Zd- >@ZM=ZM=ZMm?ZMc?evH)a eie+9)am\iiiiiqqu+IyIyB>BBIB:BBBBBgv;Bh0E-9@) @1@5/@1ԡ^Aml,IyIO> n9,TZ|?ABl@B@=BnIٱB`M NAHRS rotation from veh to nav: [[0.994581,-0.089144,-0.053488],[0.091603,0.994758,0.045440],[0.049157,-0.050093,0.997534]]BH?@Ҷ`b`Ns?`?C?'+? ץ?iBl@IB 6];@YR ByR~IbD^VD^βyf5%f[=ٔf%Q-f>9hYh=jFyhn39En>pQ 5r5r7?Q 9v5r)rBYtyve?Q Ivb@rCIr:ir:r5y|ɮ~A|%DNOT Ignoring new targets: 36.72 m.h!h!*h!"h! h)g)f)f)f1d1d1jd1Zd=@l>@ZYZYZYZ]e?mnI)i miu9)qu%qiqiyy}+IyIEB ESE)E"Ew;*EN;VEFA4ZEBE! _,s|?AF@F3=FU,JٱF UM RAHRS rotation from veh to nav: [[0.994568,-0.089188,-0.053667],[0.091653,0.994757,0.045376],[0.049339,-0.050048,0.997527]]FH ?ն=zv? ?|;?@B?㟩?iF@IF];FʑCYVByVsIi5Mb@Mb@Mb@1111 195Q?(\µ?~jtY5u9aYa=mFyim8Em>qQ 5}5u7?Q 9}5u)uBY=Q E@Z=Z=Z2?Z솼?U,J) ie9) 3 i i IIY-9@) @)@-4@)@1@5=E: E;E+E"E\p;*E ;VE [4ZEa@a@a@a@ymPExceeded connect timeout, disconnecting.^AII1O=>B<AB>BBIB+BB =BBBu;B.0EBBBBBCs4ԩ H#,Í|?A6@6@Ļ=6Jٱ6M@ FAHRS rotation from veh to nav: [[0.994578,-0.088965,-0.053860],[0.091442,0.994774,0.045415],[0.049538,-0.050094,0.997515]]6H@?kƶ h?0? @? ]?@ܥ ?i6@I63];6ƑCYRByRuI Z49dYh=jFyhjEj>1Q 5=55)8?Q 9E55)5BYAyE~?Q IEb@5CI5Q;i5 ;55yIɮMgAQ}DNOT Ignoring new targets: 36.72 m.hyhy*hy"hy hygfffddjdZd=?@ZZZZ*~?J) i"9)iiv ,III)i@q @q@u3@qԩ^A;+IIO>DzDAAE; EE*E"EDq;*E:VE(N4ZEBE5?@2?k?@?i@Ig&];ˑCYeByekIiMb@Mb@Mb@ 9Q?㥛 ?QY9Y=FyvE>!Q 5-5%-9?Q 9-5%)%܍BY-=Q E5%E ( E 5E E "E `;*E ;VE ZE a @a @a @a @+Z0,1z|?AV@V@u=VLٱVM bAHRS rotation from veh to nav: [[0.994578,-0.088807,-0.054114],[0.091291,0.994793,0.045300],[0.049809,-0.049994,0.997507]]VH?۴ ^?X?1?`?@ۘ ?iV@IV=];VƑCYjByjsIbDvVDvyz:=%z=~nManaging dock network, ignoring radio surface power offٔQ-?9 Y = Fy E?Q 5%59?Q 9%5i)ٍBY!y%?Q I%b@CI ;i ;5y1ɮ5uA1]DNOT Ignoring new targets: 36.72 m.hYhY*ha"ha hagafafifididijdiZdu@@yZZZZ?L) i 9)页ii,IIBB CBIB%BB =BBBu;B/Eu9@q @q@}/@yԩ^A+IIO> 6,W|?A6G@6O=6UMٱ6=L BAHRS rotation from veh to nav: [[0.994574,-0.088727,-0.054323],[0.091217,0.994804,0.045225],[0.050028,-0.049935,0.997499]]6H?̶ AЫZ?@n?'?M? `?i6G@I6.];6ȑCYHyJtIhhbDjVDj:yv:%vK=ٔvQ-z>9xYx=zFyx~>E~>Q 5 5:?Q 9 5)֍BY y?Q Ib@ CI:i:q5yɮtAEDNOT Ignoring new targets: 36.72 m.hIhI*hI"hI hIgIfIfQfQdQdYjdYZd]W9@@ZyZyZyZ}?UM) Wi9)顝.ii8,IIi>i>D=D<bE%·G4jE%L4rE%?/E E$E)E"E*E;VEFA4ZEBER9Y ~<,0|?A:+@:Ȼ=:JMٱ:$L BAHRS rotation from veh to nav: [[0.994549,-0.088963,-0.054388],[0.091447,0.994791,0.045028],[0.050099,-0.049756,0.997504]]:H@X??ƶث i?T? ?? y?i:+@I:G];:ɑCYJByJqIiUMb@Mb@Mb@QQQQ Q9Uy&1?9Y=Fy1:E>Q 55:?Q 95)ԍBY=Q E4AqAqB}>B} CB}IB} BB} =ByByB}u;B}0EԉԹ RC, }?A6f@6V=6Lٱ6ZK BAHRS rotation from veh to nav: [[0.994530,-0.089247,-0.054276],[0.091718,0.994773,0.044883],[0.049987,-0.049616,0.997517]]6H/? ض@ʫ z?@.?? 䗩?9g ?i6f@I6];6ˑCY^BybnI ``bDjVDjyr\%rU=ٔrj9Q-v>9tYt=vFytz9:Ez>|Q 55~%;?Q 95~)~ӍBYyn?Q I b@~CI~;i~A:~} 5yɮAEDNOT Ignoring new targets: 36.72 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU@@ZZZZn?EL)A MJiM+9)IM🶉IiIiqquo+IyIyԙ 9@  @ @ 0@ @@@@IIO>EP E/EE"E(;*EY;VEZEBE9Y=Fy9E>QQ 5m5Up;?Q 95U8)UэBYys?Q Ib@UCIUp.I E - E &E +E "E d;*E ;VE [4ZE a @a @a @a @WP,B}?A;ɰp;B@B|=BaLٱB8L JAHRS rotation from veh to nav: [[0.994523,-0.089309,-0.054298],[0.091790,0.994759,0.045039],[0.049991,-0.049776,0.997509]]BH!?̫ܶ@??L?p?`:|?iB@IB!];BɑCY ByIiMb@Mb@Mb@ 99Y=Fy\E>Q 55;?Q 95q)ЍBY=Q E+BBBBBBBu;B/EDNOT Ignoring new targets: 36.72 m.hh*h"h hgff f BQd dYjdYZd]A@Z=Z=Z?Z0?aL) i9)ii+II 9@ @@4@IIOC>yԩ qV,\}?A62 @6 =6Lٱ6CL@ FAHRS rotation from veh to nav: [[0.994499,-0.089578,-0.054295],[0.092058,0.994735,0.045036],[0.049975,-0.049786,0.997509]]6H ?`̫??`?@[?@}?i62 @I6O];4YJ ByJzIIN<)N%=R=R=bDVVDVk1y^¢%^]=ٔb48Q-b>9`Y`=fFydf0?:Ef>hQ 5n5j) \,xv}?A6q @6=6$Lٱ6M BAHRS rotation from veh to nav: [[0.994504,-0.089605,-0.054159],[0.092088,0.994723,0.045242],[0.049819,-0.049981,0.997507]]6H?`T?`?`*?߁?`?i6q @I6/];6ǑCYHyJ{IliMb@Mb@Mb@ 9Q?(\µ?I +Y\=y=94A ) AY11bD5 VD52yE;%EB=ٔM9Q-M>9IYQ=UFyQUu8EU>Q 550=?Q 95)̍BY=Q Ea kc,HS}?ABE@BN=BtKٱBL JAHRS rotation from veh to nav: [[0.994458,-0.090203,-0.054012],[0.092675,0.994672,0.045150],[0.049651,-0.049905,0.997519]]BH?@s@?Z??`k?/?iBE@IB!];@Y^BybvIbDjVDjܲyrʐ%rQ=ٔr9Q-r>9tYt=vFytz:Ez>xQ 55z>?Q 95z)zɍBYy?Q Ib@z&CIz;iz;z#5yɮbA9EDNOT Ignoring new targets: 36.72 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU*A@ZqZqZqZu?tK) .ir9)額첶iiG*II59@1 @1@1@1i^AU| ,IaIqO}{>ԑE- E=E0E"Ed;*E;VE4ZEBE=9|Y|=Fy:E> Q 55 ??Q 95 ) ǍBYy¡?Q Ib@ +CI ;i A;  5ԡyɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgf f1f1d1d9jd9Zd=A@ZyZyZyZ}$¡?.#K) Ui9)顽𶶉ii*IIe9@a @a@a@a@mhA@mgA^A W*I I O > E  E 3E *E "E US;*E t ;VE (N4ZE a @a @a @a @gp,} }?AR@R@=RDJٱR'qM ZAHRS rotation from veh to nav: [[0.994365,-0.091352,-0.053791],[0.093820,0.994559,0.045283],[0.049362,-0.050075,0.997525]]RH?b?m?X/?E?``?iR@IR{];RȑCYbBybIi}Mb@Mb@Mb@yyyy y9}y&1? ףp= ?MbY}`BBBBBBBfu;B/EBBBBBC395Q->9 Y = Fy :E>!Q 555%??Q 9=5%)%BY==Q E= 9Y=Fy:E>Q 5 5u@?Q 9 5)BYy?Q Ib@5CID;i;(5yɮ`AEDNOT Ignoring new targets: 36.72 m.hIhI*hI"hIQE]W E]'E].EY"E]T;*E]";VE]ـ4ZEYBE]& J},߿}?A #@='$Hٱ˦M AHRS rotation from veh to nav: [[0.994259,-0.092755,-0.053343],[0.095201,0.994426,0.045309],[0.048843,-0.050127,0.997548]]H`? ǾO _?@W?`2??;`?i #@I];ǑCY- By-{II5=)5R=iMb@Mb@Mb@ 9{Gz?kt?QY#9Y=Fy:E>Q 55@?Q 95)BY=Q E?Zm?}'$H) Gi(9)顅¶iiԱ(I)I19@ @@4@Em# Em1Em&Ei"Em[;*Emf;VEm4ZEia}@a}@a}@a}@B>BBBB =BBBru;B/E ^A pG(I I1 O= >9 2,x~?AB)@B=B3KGٱBM JAHRS rotation from veh to nav: [[0.994199,-0.093501,-0.053169],[0.095937,0.994357,0.045271],[0.048637,-0.050109,0.997559]]BH`y?@﷿9L??-?@?`秩?iB)@IB:];@YR ByRIXXbDZVDZybf<%f^=ٔf:Q-f>9hYh=jFyhj/;En>lQ 5r5n@?Q 9v5n%)nBYtyv ?Q Ivc@n=CIn:in:n.5yxɮ~+A|%DNOT Ignoring new targets: 36.72 m.h!h!*h!"h) h)g)f)f)f1d1d1jd1Zd5BB@ZZZZ ?3KG) ޾i9)Ŷii4(II9@ @@F3@9^Ab(IIO>bE|a4jE [4rE0Eu EuEu)Eq"EuL;*Eux:VEuFA4ZEqBEuݡ9Y=%Fy!-N:E->1Q 5E55@?Q 9E555)5BYIyM?Q IMc@5BCI5?F;i5)G;5c25yYɮ]AaUDNOT Ignoring new targets: 36.72 m.hYhY*ha"ha hagifffddjdZd@B@qZZZZ?F) ۾i9)>ɶii'II@ @@3@ԙ^A R( I I O >E  E "E E "E N;*E ;VE ZE a @a @a @a @D,QE~?APR/@R=RDٱR;N ZAHRS rotation from veh to nav: [[0.994146,-0.094338,-0.052663],[0.096757,0.994270,0.045441],[0.048074,-0.050271,0.997578]]RH ?&`Ÿ??` D? /?(?iR/@IRFv];RȑCY5By=I AAIMABm>BiBmIBm%BBm =BiBiBm:u;Bm/Ei-Mb@Mb@Mb@)))) )9-9Y=Fy:E>Q 55@?Q 95I)BY=Q E#! n,#,_~?A62@6a=6|Cٱ6,M BAHRS rotation from veh to nav: [[0.994132,-0.094692,-0.052306],[0.097090,0.994241,0.045377],[0.047708,-0.050189,0.997600]]6H?=Ǫ@ڸ??;?:m?_V?i62@I6K];6ǑCYJByJI PRp<bDRVDRyZx%Zo=ٔ^:Q-^?9\Y`=bFy`b~:Eb?dQ 5j5f@?Q 9j5f)fBYlyn?Q Inc@fJCIf;if;fT95ypɮrAt|DNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd`:BC@Z Z Z Z ?E= E=*E9E9"E=>T;*E=;VE9ZE9BE="ԁ ߘ,y~?AɰYByIYiMb@Mb@Mb@ 9/$?MbX9?/$Y9Y=FyE>Q 5 5rA?Q 9 5)BY ج=Q E ,;~?AV2@Vy=VӋ@ٱVCM bAHRS rotation from veh to nav: [[0.994161,-0.094781,-0.051581],[0.097139,0.994240,0.045290],[0.046991,-0.050037,0.997641]]VH*? Ch ޸??O0?5?b`?iV2@IV@];VȑCY~By~IbDVDfy%ke=%%X=ٔ%:Q-%>9)Y)=-Fy)-&8E5>1Q 5=55A?Q 9E55)5BYAyE ?Q IEc@5RCI5;i5 ;5@5yIɮUAQ}DNOT Ignoring new targets: 36.72 m.hyhy*hy"hy hgfffddjdZd`=C@ZZZZ ?ԹӋ@) i09){նiiQQUN'IYIY9@ @@?0@@=@=^AI!I1EU EUEU,EQ"EUO;*EU]:VEUg4ZEQBEU79 ,;ì~?A1@%=>ٱM AHRS rotation from veh to nav: [[0.994194,-0.094643,-0.051188],[0.096980,0.994256,0.045276],[0.046609,-0.049977,0.997662]]Hp?:I5@Ӹ??\.?ݧ?`?i1@IZ];ǑCY%#By%IbD=VD=ܲyM<%MH=ٔUt:Q-]>9aYi=mFyi}̹E}>Q 55iB?Q 95)BYy ?Q Ic@VCI:id:D5yɮvADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjd Zd%@C@ZqZqZqZuV ?>) i9)ضii}'IIG>iQ9@ @@_0@i^A _'I I O >Ee $ Ee 'Ee -Ea "Ee g\;*Ee ";VEe t4ZEa am @am @am @am @ԙ ,~?A@B >B B IB 0BB B B B u;B /EE1@E=Ez=ٱEL AHRS rotation from veh to nav: [[0.994222,-0.094611,-0.050711],[0.096921,0.994265,0.045213],[0.046143,-0.049867,0.997689]]EH?`f8 `ϸ? ?4&?@ ?`.@?iE1@IEC];EȑCY1ByIqiMb@Mb@Mb@ 99AYA=MFyIm+ Em>qQ 5}5u~B?Q 9}5u)uBY=Q E ļ,s~?A:/@:=::ٱ:RL BAHRS rotation from veh to nav: [[0.994262,-0.094477,-0.050177],[0.096764,0.994276,0.045304],[0.045610,-0.049899,0.997712]]:H?/@հŸ? ? 2?-Z?@`@B?i:/@I:`];8YJ3ByJI LLPPbDVVDVk1y^/<%^~=ٔb3:Q-b ?9`Y`=fFydfEf ?hQ 5n5jB?Q 9n5jU)jBYpyr?Q Irc@j^CIj#;ij;jJ5ytɮvAtDNOT Ignoring new targets: 36.72 m.hh*h"h hgf!f!f!d!d)jd)Zd-BD@ZIZIZIZM?e:)a eie9)aeT޶iiiiiqu'IqIqE%# E%*E%)E!"E%[;*E%;VE%FA4ZE!BE%g1 罟,Q~?Af/@f@=f'8ٱf=`L rAHRS rotation from veh to nav: [[0.994288,-0.094495,-0.049615],[0.096754,0.994278,0.045283],[0.045052,-0.049825,0.997741]]fH`5?0 gĸ?`?@a/??@?if/@IfA];főCYv;ByvIiuMb@Mb@Mb@qqqq q9u{Gz+η?{GztYuףyuv=uףquA u A)qqYu AbD VD2y =%==ٔ1:Q->9Y=FyE>Q 55A?Q 95N)BY=Q E ԁ ğ,)?Aɰ49)Y1=5Fy15)s9E5>Q 55@?Q 95Z)BYy?Q Ic@iCIg:ig:BR5yɮFADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd \D@Z Z Z Z ?-7)) -Gi-t9)150䶉1i1i99=Q'I9IA9@ @@@!^Ao'IIO>E=* E=$E9E9"E=a;*E=;VE9ZE9BE=9Y=Fy9E>Q 55|??Q 95L)BYy%?Q Ic@nCI;i;&V5yɮ mAIMDNOT Ignoring new targets: 36.72 m.hIhI*hQ"hQ hQgQfQfYfYdYdYjdYZdeD@ZZZZ\%?5) %i9)W綉ii   |'I IIfA)fA9@ @@@@=@=qԩ ^A O'I I O >E% % E% E! E! "E% O];*E% :VE! ZE! a- @a- @a- @a- @џ,G?ABTBTBVIBVSBBV =BTBTBV'u;BV/E=U4@===x3ٱ=K MAHRS rotation from veh to nav: [[0.994293,-0.095130,-0.048294],[0.097322,0.994223,0.045261],[0.043710,-0.049703,0.997807]]=H>?nZ ?`? s,?a?r` ?i=U4@I= ];=ǑCY]TBy]IԙiMb@Mb@Mb@ 9Mb!rh?MbPYyl=hA zA) AY\ AbDVDy >=%Q=ٔ:Q->9Y=Fy%6:E%>!Q 5-5%>?Q 955%3)%BY5=Q E5;y5?Q I5c@%tCI% ;i%G ;%|Y5yAɮEAAmDNOT Ignoring new targets: 36.72 m.hihi*hi"hq hqgqfqfyf}&BdydyjdyZd@=E@Z=Z=Zb?Z ?Ux3)Y ]Ѿi]9)Y]j궉YiYiaae6'IiI%9@! @!@%/@!^Ae 'Iq I O > ؟,a?A@^V8@^=^c1ٱ^'K fAHRS rotation from veh to nav: [[0.994263,-0.095638,-0.047901],[0.097809,0.994176,0.045250],[0.043295,-0.049676,0.997827]]^H? { ? J?+?*?@o2?i^V8@I^%E];^ƑCYn\BynIbDvVDvβy~,=%~^=ٔ:Q->9Y = Fy  ٭:E >Q 55ԙ 5ޟ,{?AY]iBy]IiMb@Mb@Mb@ 9+M?{GztYyn>ףA  A)~AY AbDVD1yob=%;=ٔ Q- >9 Y = FyE>Q 5%5:?Q 9%5)BY->Q E-;y-R?Q I-c@CI:if:`5qyɮIADNOT Ignoring new targets: 36.72 m.hh*h"h hgfff+BddjdZdE@Z%>Z%>Z%f$?Z%eR?9)9 =¾i=9)9=𶉢9iAiAAM&IIIQ]R>i]>E  E E E "E *E :VE ZE a@a@a@a@%9@! @!@%4@!@)@)ԡBAB>BBIBgBB =BBBJu;B/E^Am 'Iq I O > ,q?AFaC@F=FH-ٱFK NAHRS rotation from veh to nav: [[0.994167,-0.097020,-0.047106],[0.099153,0.994041,0.045282],[0.042432,-0.049689,0.997863]]FH7?Lָ< b?/?@2/?`?p~?iFaC@IFI];FǑCYVlByVIbDbVDbk2yfӑ<%j`=ٔj_;Q-j>9hYl=nFylnVr;Er>pQ 5v5rB9?Q 9v5r:)rBYxyz?Q Izc@rCIr:irp:rc5yYɮ].AYDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd@E@Z!Z!Z!Z%?UH-)Q ]=i]`9)Y]󶉢YiYiaaey%IaIi9@ @@3@^A'DzD@AE  EE+E"EX;*E:VE [4ZEBE ) F,K?A%iJ@%W=%!,ٱ%UL 5AHRS rotation from veh to nav: [[0.994099,-0.097888,-0.046740],[0.100008,0.993950,0.045415],[0.042012,-0.049822,0.997874]]%H ?* ]@$?`o?@@??B?i%iJ@I%];%őCYmByIbDVDy);%:=ٔ+z:Q->9Y= Fy :E>Q 5%5K7?Q 9%5)BY)y-?Q I-c@CI:i:g5y1ɮ5"A9eDNOT Ignoring new targets: 36.72 m.haha*hi"hi hqgyfffddjdZdE@QZZZZd?]!,) i$9)額ii$IIY@Y @Y@e4@aԁԩ ^A X%I I O >E% ! E% %E% (E! "E% Y;*E% ;VE% c44ZE! a5 @a5 @a5 @a5 @/, )?AB&>B$B&IB&|BB& =B$B$B&u;B&/EDrjR@rW=rN*+ٱrZL zAHRS rotation from veh to nav: [[0.994011,-0.098869,-0.046554],[0.100980,0.993850,0.045433],[0.041776,-0.049862,0.997882]]rH?tO`էٹ??`B?c?}@?irjR@Irg];rƑCYtByIiMb@Mb@Mb@ 9X9v{Gz?~jtYy#>D  A)Y3 AbDVDy =%J=ٔ:Q->9Y=Fy;E>Q 5 55?Q 9 5)|BYV'>Q E;y?Q Ic@CIe ;i ;k5yfBɮA%EMDNOT Ignoring new targets: 36.72 m.hIhI*hI"hI hIgQfQfQf]ABdYdYjdYZd]5F@ZV'>ZV'>Z?Z"?N*+) ̾i9)顝iih$IIԩm9@i @i@m/@i@q@u>^AIIO> X,?AFp\@F@=F>6*ٱFL NAHRS rotation from veh to nav: [[0.993896,-0.100094,-0.046383],[0.102198,0.993726,0.045436],[0.041544,-0.049899,0.997890]]FH?ɟu)?@?gC?6E?\?iFp\@IF ^;FǑCYTyVIbD^VD^:yf뙻%f_=ٔj8&:Q-j>9hYh=jFyllrZ;Er>tQ 5z5vM4?Q 9z5vz)vxBYxyz!?Q Izc@vCIv:ivk:vNn5yɮA-DNOT Ignoring new targets: 36.72 m.h)h)*h1"h1 h1g1f1f9f9d9d9jdAZdE@HF@ZaZaZaZe0!?u>6*)q };i}9)y}yiyi"IID%=DR=E9 E6E)E"Eso;*E ;VEFA4ZEBEa ,H?A>h@>=>l)ٱ>kEL FAHRS rotation from veh to nav: [[0.993750,-0.101631,-0.046175],[0.103718,0.993575,0.045302],[0.041274,-0.049808,0.997906]]>H?~>D?\?1?!?`f?i>h@I>#^;>ƑCYNvByNI9i]Mb@Mb@Mb@YYYY Y9]y&1kt?/$Y]`y] 0>]Y]A ] A)YYY] AbDqVDqy<%?=ٔ_%:Q->9Y=FyWj;E>Q 552?Q 95)qBY3>Q E;yE?Q Ic@CI:i: r5yɮADNOT Ignoring new targets: 36.72 m.hh*h"h hgfff8BddjdZd~F@Z3>Z3>Z˷?Z,E?-l))) -¾i-9))- 1i1i99=!I9I99@ @@/@iE% E-E-E"EO];*EK;VEt4ZEa%@a%@a%@a%@A9A=@ABABABEIBEBBE =BABABEu;BE/Eԑ^Ac?#IIO> j,N?A:%t@:=:7(ٱ:2ML BAHRS rotation from veh to nav: [[0.993613,-0.102993,-0.046114],[0.105075,0.993434,0.045259],[0.041150,-0.049815,0.997910]]:H?@]J5?5?0,??`g?i:%t@I:h^;:ÑCYJkByJIbDRVDRN2yZe%ZY=ٔ^9Q-^>9\Y\=bFy`bl;Eb>dQ 5j5fJ1?Q 9j5f)fkBYhynr?Q Inc@fCIf`:if{;fUu5ypɮrAp DNOT Ignoring new targets: 36.72 m.hh*h"h hgff!f!d!d!jd!Zd->F@ԙZ Z Z Z r?%7()) -g;i-9))-)i)i19=ܞ I9I9IMgA)I@ @@Z0@@@^A!v"I)I9O]>E A E E *E "E v;*E 4:VE (N4ZE BE 9pYp=rFytvR;Ev>xQ 5~5z/?Q 9~5z%)zeBY|y?Q Ic@zCIzp:iz|:zx5y gBɮ A E5DNOT Ignoring new targets: 36.72 m.h9h9*h9"h9 h9g9f9fAfAdAdAjdIZdM@F@ZiZiZiZm?}.') Ѿi9)顅GiiimaIiIq!@) @)@55@1I^AY IIO>y E J E E -E "E ~;*E :VE t4ZE a @a @a @a @B9 B= CB9 B9 B9 B9 B9 B= ju;B= /EBD},pJ?AB1B1B1B1C5uO54<ɰ̼zAQA ) AY AbDVD0yŻ%>=ٔ\Q->9Y=Fy=;E>Q 55.?Q 95Q)]BY/>Q E;y?Q Ic@ůCI ;iC ;|5yɮA DNOT Ignoring new targets: 36.72 m.h h *h "h hQgfff#BddjdZdG@Z/>Z/>Z3?Z?? () pi9)iiII @ @@4@ԁԩ^A I I) O5 > %,Jd?A:@:=:n(ٱ:zL BAHRS rotation from veh to nav: [[0.993198,-0.106853,-0.046262],[0.108939,0.993020,0.045197],[0.041110,-0.049929,0.997906]]:H G?Z`q??$?S ? K`?i:@I:`^;:őCYJfByJIbDPVDPyZ ;%Z\=ٔZ녹Q-^>9\Y\=bFy`bj;Eb>dQ 5j5f,?Q 9j5f)fVBYhyj?Q Inc@fͯCIf):ifd:f5yiɮm AiDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffd d jd Zd7NG@ZIZIZIZM?]n()a eie99)aeRaiaiiimiIqEN E(E'E"E@;*E;VE'4ZEBEi>a@a @a@eN4@a@m=@m= ^A 4#I I O >9 a,&~?A6@6@=6ay)ٱ6#DM BAHRS rotation from veh to nav: [[0.993087,-0.107751,-0.046569],[0.109854,0.992917,0.045247],[0.041364,-0.050050,0.997890]]6H]? @ק`d??*?-?&?i6@I6$^;4YJQByJIiMb@Mb@Mb@ 9Q롿l?:vY\y>ԼA d A)~AY A))bD5VD5ky鼽%<=ٔQ->9Y=Fy ;E>Q 55*?Q 95)OBY>Q E;y?Q Ic@կCI;i;5yɮADNOT Ignoring new targets: 36.72 m.h h *h "h  h g f ffBddjdZd G@Z=>Z=>Z=>?Z=?Uay))Q U¾iU9)Q]YiYiYaeIaIa9@ @@/@EC E?E(E"Ex;*E;VEc44ZEa@a@a@a@B>B CBIBBBBBBfu;B/E9^ARII1O=>i T%,?A>`@>@=>{(*ٱ>M FAHRS rotation from veh to nav: [[0.992975,-0.108683,-0.046791],[0.110800,0.992809,0.045308],[0.041531,-0.050174,0.997877]]>Hr?һh]?`?2?~C?@b?i>`@I>13^;>đCYjGBynIbDvVDvy~QP%~V=ٔ~Q-~>9Y=Fy #;E > Q 55 2)?Q 95 ) HBYy ?Q I%c@ ݯCI 2 ;i  ; 5y)ɮ-A)UDNOT Ignoring new targets: 36.72 m.hQhQ*hY"hY hYgYfYfafadadajdaZdm`G@ZZZZ ?}{(*)y }̾i}9)y}{ iiqIIi%9@! @!@!@!ԑbEmȷG4jEmJJ4rEm\00E-+ E-!E)E)"E-b;*E-:VE)ZE)BE-JIQIiOu> L+,ܱ?A>@>=>+ٱ>qN FAHRS rotation from veh to nav: [[0.992899,-0.109210,-0.047165],[0.111349,0.992743,0.045406],[0.041863,-0.050335,0.997855]]>H?) %d??r??!o? ũl?i>@I>,];>ÑCLYR8ByRIbDZVDZyb왽%fN=ٔf/\Q-f>9hYh=jFyhj9:Ej>lQ 5r5n'?Q 9v5n4)nABYtyv0?Q Ivc@nCInn:in:n5yxɮ~zA|%DNOT Ignoring new targets: 36.72 m.h!h!*h!"h! h)g)f)f)f1d1d1jd1Zd5`G@ZYZYZYZ]0?m+)i m۾im9)qu$ qiqiyy}ۃIyI@ @@%0@!@9@9^AuOTIIO>) E= # E= %E= *E9 "E= [;*E= ;VE= (N4ZE9 aE @aE @aE @aE @B B B IB mBB =B B B u;B /E22,ˀ?A>@>@=>0-ٱ>]M FAHRS rotation from veh to nav: [[0.992777,-0.110132,-0.047595],[0.112283,0.992649,0.045176],[0.042270,-0.050194,0.997845]]>H?1e^?@?P!?`i? W?i>@I>c];>őC|Y y IiMb@Mb@Mb@ 9~jtq= ףp?X9vYy=zAA  A)AY= A p<p;bDVD:y;%<=ٔtQ->9Y=Fy ;E>Q 55n&?Q 95)8BY=Q E;y?Q Ic@CI ;i ;U5yɮvADNOT Ignoring new targets: 36.72 m.hh*h"h hgf!f!f%Bd!d)jd)Zd-@yH@ZM=ZM=ZM:?ZM.?0-) i%9)!% !i!i))UrIQIQ)9@ @@/@Q^A <I I) O5 >ԁ 88,u倾?Aɰ;:9@:=:(/ٱ:hM FAHRS rotation from veh to nav: [[0.992707,-0.110541,-0.048092],[0.112715,0.992603,0.045109],[0.042750,-0.050201,0.997824]]:HB?rL@ڼ? g?@}?``?`ᳩ ,?i:9@I:{];8YR$ByVIbDjVDjJyvս%vY=ٔzQ-z>9xYx=~Fy|f:E >YQ 55x%?Q 95־)1BYy ?Q Ic@CI: u?,n?A>г@>@=>Q0ٱ>fN JAHRS rotation from veh to nav: [[0.992681,-0.110585,-0.048539],[0.112785,0.992592,0.045179],[0.043184,-0.050323,0.997799]]>H ?@RO@#ڨs߼?P?!?`'?@é ?i>г@I>F];>đCYR"ByRIi%Mb@Mb@Mb@!!!! !9%Mb?{Gz?9QYQ=]FyY]59Ee>aQ 5m5e%?Q 9m5e)e)BYuh=Q Eu9 F,sL?A6$@6@=6D2ٱ6!N BAHRS rotation from veh to nav: [[0.992657,-0.110600,-0.048995],[0.112822,0.992588,0.045175],[0.043635,-0.050371,0.997777]]6H?IP?@G?` !?WW? +ʩ?i6$@I6J];6ǑCYJByJIhj@AbDnVDnܲyvfK%vQ=ٔvFQ-z>9xYx=zFyx~8E~>Q 5 5%?Q 9 5+)!BY y ?Q Ic@CI%:i:5yɮ{AEDNOT Ignoring new targets: 36.72 m.hIhI*hI"hI hIgIfIfQfQdQdYjdYZd]=H@ZyZyZyZ}?D2) Qi9)顕iiZIIU9@Y @Y@]/@YIyIO=ADzDAAE EKE+E"EV;*E;VE [4ZEBE9tYt=zFyxzxEz>QQ 5]5U%?Q 9]5UO)UBYaye?Q Iec@UCIU;iUF;UN5yiɮmAiDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd :H@ZZZZ ?4) i99)JiiiIIq9@ @@@II9O>ԡE 2 E EE -E "E i;*E ;VE t4ZE a @a @a @a @B >B CB IB :BB =B B B u;B /E |,S,OM?AY5 By5|IiMb@Mb@Mb@ 9~jtx? ףp= ?V-Y;yQ8=$A  A)AY AbDVDfy<%8=ٔQ->9Y=FyE>Q 5 5%?Q 95ϻ)BY\=Q Evi%9@! @!@!@)I9IIOU> DY,f?AE}  E}E}*Ey"E}X;*E}A:VE}(N4ZEyBE} 9 Y = Fy E5>9Q 5=5=%?Q 9E5=W)= BYAyE?Q IEc@=CI=:i=:=5yIɮuAqDNOT Ignoring new targets: 36.72 m.hh*h"h hgfff1d9d9jd9ZdEaXI@ZZZZ ?:) Si59)iioIIA}9@y @y@y@yԁ^A Թ I I) O= >b+`,?A;ɰ!@=P<ٱ7O AHRS rotation from veh to nav: [[0.992755,-0.108654,-0.051298],[0.110991,0.992795,0.045148],[0.046023,-0.050515,0.997662]]H?`л@Ci?? ?`H? ݩ?i!@Io];‘CY%By%xIԱiMb@Mb@Mb@ 9Mb?Zd;O?Y9Y=Fy%E%>)Q 5-5-;&?Q 955-)-BY5=Q E5 Vf,G?AF@F=F@?ٱFO RAHRS rotation from veh to nav: [[0.992828,-0.107702,-0.051899],[0.110066,0.992902,0.045073],[0.046676,-0.050462,0.997635]]FH>?WuG-????@-֩?iF@IF];FƑCYVByZlIIZ<)Z4<bDbVDbNyj0V%ja=ٔjQ-n>9lYl=rFypr_'Er>tQ 5z5v&?Q 9z5v޺)vBYxyzk?Q I~c@vCIv;iv;vP5yɮMA-DNOT Ignoring new targets: 36.72 m.h)h1*h1"h1 h1g1f1f9fAdAdAjdAZdM@wI@ZiZiZiZmWk?}@?) i9)顅ii.IIM9@I @I@U0@Q!^AuMIE> EE*GE"Es;*E:VE(N4ZE)BEiI II Թ l,k?A>@>@u=>Aٱ>cN FAHRS rotation from veh to nav: [[0.992888,-0.106873,-0.052449],[0.109257,0.992999,0.044899],[0.047284,-0.050311,0.997614]]>H?@ \@ڪD?? ?5?M©s?i>@I>];>đCYvByvwI||bDVDy\#=%F=ٔQ->9Y=Fy%+E%>)Q 555-1'?Q 955-)-BY1y5E?Q I5c@-CI-:i-:-5yAɮE AAuDNOT Ignoring new targets: 36.72 m.hqhq*hq"hq hqgyfyfyfddjdZd/I@ZZZZ{E?A) Sir9)iioIIԙ9@ @@X0@^A 0I I! O- >E  E E )E "E X;*E :VE FA4ZE a @a @a @a @B! B! B% IB% BB% =B! B! B% t;B% /E1 ks,V΁?AN@Nh=NuxDٱN 9Y=FyE>Q 55'?Q 95)BYA [y,-聾?AF@F5=FNFٱFN NAHRS rotation from veh to nav: [[0.993053,-0.104754,-0.053591],[0.107191,0.993228,0.044809],[0.048534,-0.050242,0.997557]]FH?,Ѻ@8p p??,?i٨?N?iF@IFg^;FđCYVByVI XXbDbVDbk1yf=%jY=ٔj;̺Q-j>9lYl=nFylr:Er>pQ 5v5r'?Q 9z5re)rBYxyza?Q Izc@rCIra;ir;r5yɮdA-DNOT Ignoring new targets: 36.72 m.h)h)*h)"h) h1g1f1f9f9d9d9jdAZdERJ@bE(N4jEP4rEϚ/E] E]>EYEY"E]V;*E]?;VEYZEYBE] cy,"?A>}@>@-=>Hٱ>QN FAHRS rotation from veh to nav: [[0.993135,-0.103743,-0.054039],[0.106202,0.993334,0.044809],[0.049030,-0.050240,0.997533]]>H?쎺0?@e?`)? ?@?i>}@I>S^;>őCYN(ByNIPi%Mb@Mb@Mb@!!!! !9%~jt?/$?~jtxY%D9YYY=]FyYeEe>iQ 5m5m(?Q 9u5m')mBYu$BBIB%BBBBBt;B/E^AHoII O >! ,k?Aɰp;RYv@RS=RW&KٱRM ZAHRS rotation from veh to nav: [[0.993204,-0.102823,-0.054532],[0.105302,0.993435,0.044712],[0.049577,-0.050151,0.997510]]RH S?R뫿`?@7?@? b?`?iRYv@IRN^;RÑCYz.ByzI|bD VD 1y`<%N=ٔ%TQ-%>9!Y!=-Fy)- E->1Q 5=55v(?Q 9=55)5BYAyE?Q IEc@5 CI5;i5 ;5 5yIɮMAIDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd DJ@ZZZZո?W&K) @iq9)GiiK II)9@ @@@QE}C E}/E}(Ey"E}x;*E}Y;VE}c44ZEyBE}zԁ ͌,l5?AZn@Zb=Z MٱZM bAHRS rotation from veh to nav: [[0.993280,-0.101859,-0.054950],[0.104359,0.993534,0.044706],[0.050041,-0.050140,0.997488]]ZH ?r@d">?? ??@񫩿k?iZn@IZI^;XYn9ByrIIt)v<bDzVDzy)j=%L=ٔ Q- >9 Y = Fy E>YQ 55(?Q 95)BYy?Q Ic@ CI9:iF:5yɮnADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZdJ@ZZZZY? M) f)i 9)  R i i}!II%]>i%>9@ @@/@ԑԱ^A\\!I1IAO]>E # E &E -E "E [;*E ;VE t4ZE a @a @a @a @B B B IB ?BB =B B B u;B /E ~,9Y=FyeEm>iQ 5u5mq(?Q 9u5m)mBY}JE=Q E} ,\Tn?A:g@:=:Oٱ:L VAHRS rotation from veh to nav: [[0.993345,-0.100990,-0.055376],[0.103496,0.993637,0.044420],[0.050538,-0.049855,0.997477]]:H{? ڹ8Z`~??`*?@?@T?i:g@I:];:ÑCYZ^BybIbDjVDjkyr©=%rF=ٔrQ-v>9tYt=vFytzEz>|Q 55~%(?Q 9 5~)|Y y ?Q I c@~CI~:i~p:~>5yQɮ]HAYDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffddjdZd@TaK@ZZZZ?-O)I M4iM9)QUlQiQii$"II99@ @@%0@!^A _!I9 i IY O >,5?A:f@:d=:mPٱ:L BAHRS rotation from veh to nav: [[0.993336,-0.100871,-0.055762],[0.103388,0.993656,0.044255],[0.050945,-0.049725,0.997463]]:Hg?ҹ⌬`w???`i? u 7?i:f@I:];8YJiByJI LLPRAi-Mb@Mb@Mb@)))) )9-MbbX9ȶ?~jth?Y-y-E=-D;)-;A - A)-A)Y-AbDEVDE1yUF=%UC=ٔ]Q-]>9YYY=eFyae=Ee>iQ 5u5m'?Q 9u5m)mBY}=Q E}BBIB]BB =BBBNu;B/E}DNOT Ignoring new targets: 36.72 m.hyhy*h"h hgfffBddjdZd@GK@Z=Z=Zf?Z?mP) i+9)~ii1"III-=)-=a9 9@ @@0@ԑ ^A N!I I O% >,H?A6g@6=6LQٱ69L >AHRS rotation from veh to nav: [[0.993313,-0.101020,-0.055900],[0.103543,0.993641,0.044231],[0.051076,-0.049723,0.997456]]6H7?tܹ򞬿 Ɓ?@?m?@&?Ou )?i6g@I6];6‘CLYRzByRI Z;ZbD^VD^yf=%fT=ٔf䳹Q-f>9hYh=jFyhn9En>pQ 5v5r&?Q 9v5r)pYtyv?Q Ivc@rCIr:ir[:rC5y|ɮ~gA-DNOT Ignoring new targets: 36.72 m.h)h)*h1"h1 h1g1f1f9f9d9d9jdAZdE5K@ZaZaZaZe?uLQ)y }fi}g9)y}酵yii]!IID zD ?AE%' E%#E%,E!"E% _;*E%;VE%g4ZE!BE%D,׻?Aɰ4<2l@2=2Qٱ2K :AHRS rotation from veh to nav: [[0.993243,-0.101618,-0.056057],[0.104143,0.993583,0.044131],[0.051213,-0.049671,0.997452]]2H`? {%?m?d? 8?@n ?i2l@I2];2CY^BybIbDjVDjN2yrh=%rI=ٔrQ-r>9tYt=vFytz:Ez>xaQ 5m5zf&?Q 9u5zε)xYy?Q Id@zCIz=,k-ڂ?A6}@6"=6kQٱ6kK >AHRS rotation from veh to nav: [[0.993029,-0.103652,-0.056123],[0.106170,0.993377,0.043926],[0.051198,-0.049578,0.997457]]6H?@舺-??`j}?6?Gb@+?i6}@I6X];6‘CYFByF-IIJ<)Jp;i]Mb@Mb@Mb@YYYY Y9]~jtDl?Y]Dy]O >]]M A]$A ]7 A)]QAYY]zAbDuVDuyo=%%=ٔ7Q->9Y=Fy;E>Q 55N%?Q 95 )BY >Q E;yy?Q Id@'CI" ;iG ;$5yɮhAB*** querying acoustic contact ***i iDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffBddjdZd`9L@Z >Z >Z*?Z@y?-kQ)1 5ki59)15\1i1i99="IAIA MgAMfA%2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.AII)I9@ @@4@ wh>CGhA^A MR!E% 0 E% E% +E! "E% Jg;*E% :VE% [4ZE! a5 @a5 @a5 @a5 @9 IQ Ia O} >9 1@9 hAY .Ay :? g*A *DAT read: user:206>  BDAT read: Tx time:04:50:18.8292  $Ping request sent. Ǭ@??m? :?\`,?i^@I^o*^;\Y=By=9IIM@AbDUVDU02yeH?=%eM=ٔeɜQ-e>9iYi=mFyiu`;Eu>Q 55j$?Q 95)BYy?Q Id@.CI:i:5yɮA=DNOT Ignoring new targets: 36.72 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM`wnL@ZZZZ?Q) ~Xi9)YiiԔIIIA@ @@F4@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252891ԩ ^A VI I! O- >A A B% >B! B% @IB% BB! E= 4 E= LE= -E9 "E= j;*E= ;VE= t4ZE9 BE= AHRS rotation from veh to nav: [[0.992717,-0.106625,-0.056069],[0.109129,0.993068,0.043668],[0.051025,-0.049468,0.997472]]6HV?K #?`6?[? ?@S`I?i6@I6[^;`6ÑCY%By%2Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503206iMb@Mb@Mb@ 9Mbgfffff?y&1|Yy33>`d AA  A)AYAbDVDܲyҼ%C=ٔ9Q->9Y=Fy&|;E>Q 557#?Q 95)BY4>Q E;y0?Q Id@7CI7:i:I5yɮHADNOT Ignoring new targets: 36.72 m.hh*h"h hgfffBddjdZdL@Z4>Z4>Zz?Z0?-Q)1 5ui5X9)15?1i1i99=:I9IA9I @I  @I @M 4@I ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756011A q ^A FI I O >$ʠ,i*?A2ң@2=2XDPٱ2J :AHRS rotation from veh to nav: [[0.992542,-0.108313,-0.055942],[0.110807,0.992886,0.043574],[0.050825,-0.049448,0.997483]]2H?fq]?`?TO?? 7Q`?i2ң@I2^;2đCYBByBAI DDbDNVDNkyV?i=%VG=ٔV7:Q-V>9XYX=ZFyX^;E^>`Q 5b5b"?Q 9f5b)bBYdyfh?Q Ifd@b@CIb;ib;b5yn\BɮnAnvEDNOT Ignoring new targets: 36.72 m.hh*h"h hgff!f!d!d)bE [4jEwX4rE0E+ E+EE"Eb;*E=;VEZEa@a@a@a@jd)ZdL@ZZZZh?MXDP)I U]iU9)QU_QiQiYY]_IYIaI?)?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0073489a@a @a@e3@aA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258993q ^A AI I O >iѠ,FE?A~@~=~Oٱ~pK %AHRS rotation from veh to nav: [[0.992385,-0.109752,-0.055913],[0.112248,0.992721,0.043639],[0.050717,-0.049583,0.997482]]~H`? L?_?W?`?b`^?i~@I~!^;~CY)y1iMb@Mb@Mb@ 9S㥛K7? rhY/ݼyI>C A$A M A)YzA 4<<bDVD1yo:%/=ٔer9Q->9Y=Fy}K;E>Q 55( ?Q 95)ߌBY[L>Q E;y?Q Id@LCI3:i ;5yɮAEDNOT Ignoring new targets: 36.72 m.hAhA*hA"hA hIgIfIfIfU BdQdQjdQZdUM@ԉZ[L>Z[L>Z?Z?MO)I MkiM9)IMQQiQiQY]_IYIYB>BB_IBÀBB =BBBu;B#0EE1 E"E,E"E2h;*E;VEg4ZEBE_~ؠ,wc?A4<ɰ2@2=2;Nٱ22K >AHRS rotation from veh to nav: [[0.992235,-0.111258,-0.055605],[0.113742,0.992549,0.043700],[0.050329,-0.049685,0.997496]]2H c?b{;x0??_? ĩ?Qp|?i2@I2^;2‘CYBByBKIbDNVDNyR=%VA=ٔVp:Q-V>9XYX=ZFyX^+h;E^>\Q 5b5^s?Q 9f5^`)^ٌBYdyfP?Q Ifd@^WCI^;i^;^5ylɮnMAlDNOT Ignoring new targets: 36.72 m.hh*h"h hgfffd d jdZdLM@ZaZaZaZe}P?;N) Zi9)顝ii_tII9E%  E%2E%(E!"E%X;*E%;VE%c44ZE!a-@a-@a5@a5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015531]9i@  @ @ /@ ԑ ^A! I1 IA OM >&ߠ,Ɖ?A8>B@>=>|"Mٱ>ԍL FAHRS rotation from veh to nav: [[0.992077,-0.112743,-0.055424],[0.115225,0.992373,0.043818],[0.050061,-0.049857,0.997501]]>H?ܼ@}``]? ?Bo? ?͆ ?i>B@I>D_;)b9tYt=vFyxz\;Ez>|Q 55~?Q 95~$)~ӌBYy ?Q I d@~bCI~oR;i~c;~5Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269092yQɮ]wAY}DNOT Ignoring new targets: 36.72 m.hyh*h"h hgfffddjdZdM@ԡZZZZy?|"M) Rei 9)  u i i9=FI9IABB CBlIB̀BB =BBBv;B40EE5 E5DE5)E1"E5>T;*E5h;VE5FA4ZE1BE5"O,?A2@2~=2]Lٱ2KL :AHRS rotation from veh to nav: [[0.991873,-0.114534,-0.055409],[0.117012,0.992167,0.043746],[0.049964,-0.049874,0.997505]]2H l?R^`|?Կ?e?@?`#`?i2@I2~_;0YBByB4IiMb@Mb@Mb@ 9QE?MbYuyF>M AA  A)AYA))bD5VD5P)yEkX%E$=ٔMJ9Q-M>9IYI=MFyQUl;EU>YQ 5e5]+?Q 9e5])]ȌBYmI>Q Em;ym?Q Imd@]nCI]:i]C:]5yqɮuAqԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771029=DNOT Ignoring new targets: 36.72 m.h9h9*hA"hA hAgAfAfIfMBdIdIjdIZdUM@ZI>ZI>Zn?ZB?]L) Bi B9)  ȵ i iIIE> EFE*E"Es;*Ev;VE(N4ZEa@a@a@a@- 9@)  @) @) @) @5 fA@5 fAu BDAT read: Rx Time:04:50:21.2889 u TRx dataTimestamp_ set to:1761540622.788170} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024076! ^A BI I O >+,p?A2@2@=2Kٱ2CLM :AHRS rotation from veh to nav: [[0.991697,-0.116107,-0.055274],[0.118584,0.991975,0.043848],[0.049739,-0.050039,0.997508]]2H`?3`L`[?@C??s?`lw??i2@I2i_;2CYBByB.IhbDrVDr:yz%z:=ٔz:Q-~>9|Y|=~Fy|El;E> Q 55 ?Q 95 x) BYy?Q Id@ yCI ;i ; 5y!ɮ%A!MDNOT Ignoring new targets: 36.72 m.hIhQ*hQ"hQ hQgQfQfYfYdYdYjdYZdeM@ZZZZ?K) .Mi9)顥εiijIImchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.27495659IQ)Q9@ @@/@B>BBBB =BBB3v;BK0EEe % Ee $Ee ,Ea "Ee O];*Ee ;VEe g4ZEa BEe  Խ Q@ f> ֞@  >) d{@I    <$X(=D?x掐?  1:@) ?ufI Q i   ^Am = Iq I O >3,Ճ?AXrg@r=r@[KٱrN %AHRS rotation from veh to nav: [[0.991537,-0.117485,-0.055246],[0.119966,0.991804,0.043969],[0.049627,-0.050224,0.997504]]rH`?'I?`ۼ? ?h??irg@Irwv_;r‘CYUByUI YYYYiMb@Mb@Mb@ 9'zAA  A);AY(AbDVDyC%*=ٔ%ds9Q-%>9)Y)=-Fy)-<;E5>1Q 5=55?Q 9e55c)5BYeR1>Q Ee;ye?Q Ied@5CI5;i5;55yiɮulAqi i ,҃?AJi %BRi %Bji @b =i22;tR.;Ҙqs,@R GS忎A9{x忱"??Zi Q bi j b1}8V:y.>'|ax,@Z Bi`⿶_U6MV?2i w:i "i w?*i [JBi Bi 5?i /Si }Bi qBi 1@% addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 60.269120 s, deltaX: 4.699997 m, approachRate: 0.077983 m/s, rangeRepo size: 4 5 Added new target pos. range: 41.394077 m, bearing: 230.944246 deg, lat: 36.779315 deg, lon: -121.859508 deg, deltaT: 60.269120 s, deltaX: 4.676701 m, approachRate: 0.077597 m/s, posRepo size: 4 5DNOT Ignoring new targets: 41.39 m.h1hY*hY"hY hYgYfYfafeBdadijdmD@Zdm@G?ZR1>ZR1>Z?Z??@[K)  Wi9),ֵii0hII ] &99  @  @ @ @ D= =D= <EE  EE EA EA "EE mR;*EE :VEA ZEA aM @aM @aM @aM @a ^A]H1IaIyO?R,Y?A;ɰp;6,@6@H=6AJٱ60N >AHRS rotation from veh to nav: [[0.991213,-0.120253,-0.055106],[0.122724,0.991470,0.043880],[0.049359,-0.050257,0.997516]]6H?Ⱦ`6`j? ?iw?E?G`?i6,@I6^;6CYFByFI Np9\Y\=^Fy\bV;Eb>dQ 5j5f?Q 9j5f)fBYhyn?Q Ind@fCIf:if:f5ypɮrAp DNOT Ignoring new targets: 41.39 m.hh*h"h hgff!f!d!d!jd)Zd-?ZIZIZIZM?]AJ)a eJhieA9)aeuݵiiII9u9@y @y@}/@yi^AEIiIO>ԑ AI AM @ABQ BQ BU SIBU BBQ BQ BQ BU ,v;BU G0EBBBB =BC˄5E 0 E *E +E "E Jg;*E ;VE [4ZE BE @d AA  A)$AYAbDVDyp%<=ٔN8Q->9Y=Fy;E>Q 55?Q 95)BY >Q E;yO?Q Id@CIv:i]:}5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffڀBddjdZd`?Z >Z >Z1?ZO?-++J)I MBiU'9)QU䵉QiQiYY]?IYIaJ9ԩ9@ @@%0@!^AE IQ Ia Ou > ,)?A2@2=2qJٱ2O :AHRS rotation from veh to nav: [[0.991020,-0.121808,-0.055160],[0.124288,0.991270,0.044010],[0.049318,-0.050471,0.997507]]2H o?@.=`Yѿ?@{??.@?@Vש?i2@I2a];2CYRpByVIGI-=)-=1bDeVDeβYy};%}N=ٔ'P8Q->Ϳ9YTA9Y=Fy:E>Q 55n?Q 95)BYya?Q Id@CInu;ij;5yɮcA-DNOT Ignoring new targets: 41.39 m.h1h1*h1"h1 h9g9f9fAfAdAdIjdIZdM?E9 EbE,E"Eso;*E5";VEg4ZEa@a@a@a@ZIZIZIZMa?mqJ)q u$Uiu9)qu굉qiyiyyII fAF91I @I  @I @M /@I @U gA@Q Y ^Ay I I O>,!G?A4HHPExceeded connect timeout, disconnecting.YcByIimMb@Mb@Mb@iiii i9mMbMbX9?lYmymʡ=mm AmA m A)mAiYm AbDVD:yJ%!=ٔQ->9Y=FyE>Q 55?Q 95)BYh=Q E0,d?AYUByIbDeVDe0y}%}E=ٔQ->9Y=FyE>Q 55<?Q 95)}BYyQ Id@CI:i: 5yɮ;ADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd@Z Z Z Z )! %+i%L9)!-0)i)i)15I1I1QqDD4=bE|a4jEOS4rEŮ10E* EE&E"Ea;*E:VE4ZEa @a@a@a@ y9ԡ9@ @@/@ ^A I I O > ,N?A2#@2=2KMٱ2RO :AHRS rotation from veh to nav: [[0.990981,-0.121769,-0.055943],[0.124288,0.991271,0.043974],[0.050100,-0.050531,0.997465]]2H?G,`Oѿ?~?@˃?෦?'ߩ;?i2#@I22];2CYBNByBIbDJVDJyR%RL=ٔVCQ-V>9TYT=ZFyXZ37EZ>\Q 5b5^?Q 9b5^)^uBYdyf?Q Ifd@^CI^:i^:^5yQɮUpAQDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd @ZZZZ}?KM) 8i9)%iiII9@ @@4@unManaging dock network, ignoring radio surface power offB<A<BBBIBBBBBBu;B(0E^AII!O->EMO EMEM*EI"EM;*EM:VEM(N4ZEIBEM9Y=FyZӺE>Q 55A?Q 95)nBY9=Q EԩEe  Ee Ee (Ea "Ee &U;*Ee :VEe c44ZEa am @am @am @am @ o,,)?A:@:B=:rOٱ:tN FAHRS rotation from veh to nav: [[0.991151,-0.120174,-0.056370],[0.122705,0.991476,0.043810],[0.050625,-0.050339,0.997448]]:H?þ@ܬ`i?`+?9`Y`=fFydfEf>hQ 5n5j?Q 9n5jp)jhBYpyrx?Q Ird@jCIj+;ijH;j5ytɮv_AtDNOT Ignoring new targets: 41.39 m.hh*h"h hgff!f!d!d)jd)Zd-{ @ZIZIZIZMx?]rO)a eie#9)ae|aiiiiiuGIqIqI)ԑ9@ @@/@^AU IaIqO{> DH3,T̈́?ABDBDBFIBFmBBDBDBDBFu;BF$0EY~LBy~II=)4<  =iMb@Mb@Mb@ 9MbI +?=ٔQ->9Y=FyE>Q 55?Q 95U)dBYѸi t9,D焾?A:@:<=:6Sٱ:M BAHRS rotation from veh to nav: [[0.991344,-0.118188,-0.057178],[0.120752,0.991722,0.043672],[0.051543,-0.050198,0.997408]]:H@? A`mF?.?)\?c??i:@I:X^;:CYJNByJIPRAAbDVVDVNy^x=<%^[=ٔ^_!Q-b>9`Y`=bFy`f~Ef>hQ 5=5jM?Q 9=5j>)j`BYAyEG@Q IEd@jCIjm Z@,y?A2@2=2Uٱ2XN :AHRS rotation from veh to nav: [[0.991465,-0.116909,-0.057703],[0.119504,0.991869,0.043766],[0.052117,-0.050288,0.997374]]2H?@/З?@c?rh? ? Q}?i2@I2`^;2CYBQByBIbDJVDJPyV0<%VL=ٔVQ-Z>9XYX=ZFyX^ME^>`Q 5f5b?Q 9f5b%)b]BYdyf'@Q Ijd@bCIb:ib:b(!5ylɮnYAlDNOT Ignoring new targets: 41.39 m.hh *h "h  h g f ffddjdZd`h@ZZZZ'@U) ,˽io9)!%!i!i)QUIQIY>i>59@1 @1@9@9I)I9O9>AyAyB>BBIBgBBBBBu;B0EE=3 E=6E=+E9"E=j;*E= ;VE= [4ZE9BE==ٔu췺Q-u>9yYy=}Fyy>E>Q 55?Q 95)[BYQy DA zDE AAEM , EM 'EM *EI "EM c;*EM ";VEM (N4ZEI aU @aU @aU @aU @L,05?A6@62=63OZٱ6 ?N >AHRS rotation from veh to nav: [[0.991605,-0.115172,-0.058772],[0.117816,0.992073,0.043703],[0.053273,-0.050260,0.997314]]6H@;?{b7)??9`?F?`?i6@I6^;6CYjiByjI prbDpVDpyz=%zS=ٔ~uQ-~>9Y=FyE > Q 55 3?Q 95 ) ZBYy`@Q Id@ CI 7;i D; M(5y!ɮ-A)UDNOT Ignoring new targets: 41.39 m.hQhQ*hQ"hQ hQYgQfYfafadadajdiZdmV@ZZZZ`@3OZ) 약i9)顥i ii$KIIM9@Q @Q@U4@QIaIqO}=ԁԱ CS,x O?AB>BBIBrBB =BBBu;B/EBqBqBqBu =Bu =Cu]4F@F=FA\ٱFiN NAHRS rotation from veh to nav: [[0.991641,-0.114557,-0.059377],[0.117232,0.992142,0.043704],[0.053903,-0.050299,0.997278]]FH ?S@f@??`Z`? ;? ?iF@IF^;FCYVuByVIiMb@Mb@Mb@ 9y&1Q?Mb`?Y`ey<; A  A)AYAbDVD02yZ=%?=ԹٔQ->9Y=Fy겺E>Q 55?Q 95)Y=Q EA iY,h?A2@2@=2`_ٱ2AM :AHRS rotation from veh to nav: [[0.991602,-0.114549,-0.060029],[0.117237,0.992158,0.043342],[0.054593,-0.050016,0.997255]]2H4?`S D??0??@?i2@I2^;0YBByBIIF<)Fp;F=F=bDNVDNyV=%V]=ٔVgQ-V>9XYX=ZFyXZ7E^>\Q 5b5^?Q 9f5^U)\YdydQ Ifd@^CI^d:i^9:^F/5yhɮnAlDNOT Ignoring new targets: 41.39 m.hh*h"h hg f f f ddjdZddž@ )-CIGliA=9=liAY=AZqZqZqZur@`_) ai59) iiIID%=D<E > E E +E "E s;*E :VE  [4ZE a@a@a@a@Au9q 9@  @ @ 1@ ԙ ^A5 0BI9 IQ O] >+a,鄅?A6@6=6Dbٱ6nIM RAHRS rotation from veh to nav: [[0.991590,-0.114268,-0.060768],[0.116989,0.992190,0.043276],[0.055348,-0.050021,0.997213]]6H@?@??@A(?V?],?i6@I6Y^;6CYByI15@AbDEVDE:y]=%]1=ٔe׺Q-e>9aYa=eFyaiu4 Eu>yQ 55}Y?Q 95})yYy@Q Id@}CI}:i}y:}N35yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZdc@ZZZZT@-Db)1 =$i=z9)AEO ii I Iԙ9@ @@/@B9A=<BE>BABEIBEBBE =BABABE6u;BE/EE+ E0E)E"Eb;*E;VEFA4ZEBE YOg,?A2@2=2Weٱ2nL :AHRS rotation from veh to nav: [[0.991529,-0.114469,-0.061375],[0.117210,0.992172,0.043083],[0.055963,-0.049912,0.997185]]2H@?@M@l`?߿? ?@ ? ?i2@I2#,_;0YBByB3Ii Mb@Mb@Mb@     9 y&1L7A`?{Gzt?Y y += ף;  A  A) A Y fAbD}VD}Ny=%H=ٔiźQ->9Y=Fy:E>Q 55?Q 95M)Y=Q EDbE(N4jEɔK4rE8/E- 3 E- E) E) "E- j;*E- :VE) ZE) a= @a= @a= @a= @a |m,摸?A2@2=2hhٱ2(YL :AHRS rotation from veh to nav: [[0.991435,-0.114925,-0.062042],[0.117686,0.992126,0.042855],[0.056629,-0.049789,0.997153]]2Hչ?k`į ?~??t?}?i2@I2nX_;2CYBByB@I DDHHbDNVDNyVf=%VZ=ٔVQ-V>9XYX=ZFyX^:E^>`Q 5f5b?Q 9f5b)`Ydyf?Q Ifd@bCIb6:ib :b':5yn]BɮnAnuEDNOT Ignoring new targets: 41.39 m.hh*h"h  h g f f fddjdZd@Z9Z9Z9Z=?Mhh)I MpiU9)QUMQiQiYY] 7IaIa1@ @@/@Y^A;iI!I9OEs>ԑB! B! B% :IB% BB% =B! B! B% u;B% /EԱ ]at,W_҅?Aɰp;2O@2Q=27kٱ2M :AHRS rotation from veh to nav: [[0.991372,-0.115043,-0.062829],[0.117848,0.992103,0.042926],[0.057395,-0.049960,0.997101]]2HP?osK+?O?q?b?`e??i2O@I2r_;2CEr' Er!Er,Ep"Er _;*Er:VErg4ZEpBEr9Y=Fyh9E>Q 55?Q 95)YBY+=Q E;y?Q Id@CI:io:=5yɮGADNOT Ignoring new targets: 41.39 m.hh*h "h  h g f ff؀BԑddjdZd@( @Z+=Z+=Z?Z?7k) \i9)ii!!I!I!!@! @!@!@!^AM !8Ii I O > z,:셾?A>d@>@=>Lcnٱ>/XM JAHRS rotation from veh to nav: [[0.991239,-0.115736,-0.063635],[0.118579,0.992019,0.042857],[0.058167,-0.050027,0.997053]]>H;?砽`fJ.[?`?Q?@ȭ?`&?i>d@I>v_;9IYI=MFyIUH:EU>QQ 5e5U ?Q 9e5Uy)UXBYaye?Q Ied@UŰCIU:iU:U_A5yqɮu2AqDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd@ @ZZZZ?Lcn) i9)\iimII I)l>i>ED E-E)E"Eny;*EK;VEFA4ZEa@a@a@a@I@I @I@Mm0@I^Am;iIyIO>I t,?AV@V@=V^qٱVM fAHRS rotation from veh to nav: [[0.991089,-0.116599,-0.064406],[0.119477,0.991914,0.042805],[0.058894,-0.050118,0.997005]]VH?hٽ |??? a'?!w?iV@IV `;TYjByjVIIr=)rR=r=r=bDvVDv1y~<%~N=ٔQ->9Y= Fy  ;E >Q 55 ?Q 95k)WBY!y% ?Q I%d@˰CIL;iY;D5y)ɮ-A)DNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd[!@ZAZAZAZEl ?U^q)Q Uii]<9)Y]YiYiaaeyIaIiYQ@Y @Y@]4@a@@@@B>BBfIBȀBB =BBB u;B/EyE2 E/E*E"Ei;*EY;VE(N4ZEBE(ԡ ,?A:@:=:8tٱ:qM@ FAHRS rotation from veh to nav: [[0.990854,-0.118166,-0.065155],[0.121069,0.991732,0.042547],[0.059588,-0.050047,0.996968]]:H`? #@@Z?D?ȥ?@_? (?i:@I:`;:CYNÀByN_Ii%Mb@Mb@Mb@!!!! !9%I +/$?%t% A%A % A)%A!Y%A99bD=VD=0yM=%ME=ٔU2ܺQ-U>9QYY=]FyY]~;Ee>aQ 5m5e ?Q 9m5e)eSBYu>Q Eu;yuR?Q Iud@eҰCIe3:ie<:erH5yyɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBddjdZdֆ"@Z>Z>Z֟?Z+R?8t)q uiu9)q}WγyiyiJIIIQ@Q @Q@U4@YIiIyO>qD zD ?AE 4 E 3E -E "E j;*E t ;VE t4ZE a @a @a @a @ԡ iA IA Lȍ,9?A2'@2G=25wٱ2M :AHRS rotation from veh to nav: [[0.990616,-0.119711,-0.065952],[0.122647,0.991543,0.042419],[0.060317,-0.050110,0.996921]]2H?`b`Aⰿ e? ?跥? ?`?i2'@I2a;2CYv̀ByvlIbD~ VD~2y M=% O=ٔ Q->9Y=Fyz;E>!Q 5-5% ?Q 9-5%)%PBY)y-?Q I5d@%ٰCI%:i%g:%K5y9ɮ=A9eDNOT Ignoring new targets: 41.39 m.hahi*hi"hi higififqfqdqydyjdyZd@Q#@ZZZZ?5w) i39)顽hiiIIi@i @q@u/@qIԡIO>B >B B IB BB =B B DB ]u;B /EY e,S?A27@2%>2uzٱ2AM :AHRS rotation from veh to nav: [[0.990331,-0.121631,-0.066710],[0.124584,0.991318,0.042035],[0.061018,-0.049940,0.996887]]2Hʰ?;# @???=?~?i27@I2jEa;2CYNƀByNcI PPTTEb> Eb1Eb+E`"Ebs;*Ebf;VEb [4ZE`BEbEE AEA E A)AAYEfAbD]VD]ymD %mD=ٔmݺQ-m>9qYq=uFyq}H;E}>Q 55 ?Q 95)JBY!>Q E;y?Q Id@CIH:i:O5y5SBɮ5jA=lEDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBddjdZd`6$@Z!>Z!>Z!?ZӇ? uz)I M̽iM{9)IUQiQia{^II!@! @!@%/@!I1IAOU2>)Y ښ,/m?Aɰ4R|ٱRlM ^AHRS rotation from veh to nav: [[0.990102,-0.123072,-0.067459],[0.126059,0.991136,0.041947],[0.061699,-0.050036,0.996840]]RH?@E`"?a?@ z?`?@R?iRu"@IR a;RCYfЀByfoI ln<bDrVDrkyvEM=%vS=ٔz{Q-z>9xY|=~Fy|~_|;E>Q 5 5?Q 9 5q)EBYy?Q Id@CI:i:R5yɮ%A!MDNOT Ignoring new targets: 41.39 m.hIhI*hI"hI hIgIfQfQfQdYdYjdYZd]$$@ZyZyZyZ}?|) i9)顝A2iinII1E6 E7EE"El;*E ;VEZEa@a@a@a@i99@ @@/@ԑԹ ^A UI I O >¡,c?A:,@:>:eCٱ:%N BAHRS rotation from veh to nav: [[0.989904,-0.124302,-0.068111],[0.127324,0.990973,0.041961],[0.062280,-0.050210,0.996795]]:H K?Iҿ o`&L? ?{?@#?@?i:,@I:`;:CYJĀByJ`IbDRVDRyZtu%ZN=ٔZfQ->9 Y = Fy N;E>Q 5%5f?Q 9%5ҋ)?BY!y%?Q I-d@CI[:i1:|V5y1ɮ5|A1]DNOT Ignoring new targets: 41.39 m.hYhY*ha"ha hagafafifididijdiZdu>%@ZZZZ?eC) սiK9)顭\Mii III)ԑQ@Y @Y@]/@Y^AM8'B>BBIBBB =BBBxu;B/EB)B)B)B)B)C-N5IIOE/>ԹE$ EE)E"Eg\;*E!R;VEFA4ZEBE/ A )AYbDVDܲyPӼ%<=ٔQ->9Y=FyE>Q 55?Q 95)7BY#>Q E;yb?Q Id@CI3:i;4Z5yɮA%DNOT Ignoring new targets: 41.39 m.h!h!*h)"h) h)g1f1f9fEBdAdAjdAZdM`&@ZU#>ZU#>ZU?ZU'b?a)a m̽imx9)i額iiihVII)@) @)@1@1}ɀG =9 Y-A!^A I I) O5 >I E = E E E "E s;*E x:VE ZE a @a @a @a @,?A2A@2>2'遽ٱ2s*O >AHRS rotation from veh to nav: [[0.989508,-0.126744,-0.069348],[0.129826,0.990651,0.041891],[0.063390,-0.050454,0.996713]]2H ?#9#?j?@r?`[:? 'թ?i2A@I2V`;2CYBByFUIHHbDLVDLyV%V\=ٔZDQ-Z>9XYX=ZFy\^8;E^>`Q 5f5b?Q 9f5b)b0BYdyj?Q Ijd@bCIb:ib:br]5ylɮnAlDNOT Ignoring new targets: 41.39 m.h h *h "h  h g f ffddjdZdh^'@Z Z Z Z ?='遽)9 =ڽiE9)AEAiAiIIM IIIQQ 9@  @ @ 3@ ԁ^A5 I9IQO]>ԩ B >B B B B =B B DB Mu;B /Ea,Ԇ?A2>N@2`&>2Eٱ2N :AHRS rotation from veh to nav: [[0.989267,-0.128226,-0.070061],[0.131329,0.990464,0.041634],[0.064054,-0.050388,0.996674]]2H?i~ﱿe??Q?e?s̩?i2>N@I2_;2C-- A-A - A)-A)Y-AbDEVDENyU%U@=ٔU̺Q-]>9YYY=]FyYej;Ee>iQ 5u5m?Q 9u5m)m'BYu$>Q Eu;yu4?Q I}d@mCImT ;imz ;m)a5yɮAMDNOT Ignoring new targets: 41.39 m.hIhI*hI"hI hIgqfqfqfu߀BdydyjdyZd}u;(@Z$>Z$>Z?Z$4?E) ԣi9)7ii115 I1I9AiE>@ @@4@^A  I I! O5 > (,?A2W@2@[>2ٱ2,O >AHRS rotation from veh to nav: [[0.989086,-0.129368,-0.070512],[0.132491,0.990312,0.041564],[0.064452,-0.050453,0.996645]]2H? ` z?`?G? ? ԩ@?i2W@I2zo_;2CYBByFFI HHbDNVDN0lyr%vQ=ٔvمQ-v>9xYx=zFyxzF;Ez>|Q 55~?Q 9 5~)~BY y V?Q I d@~CI~$:i~:~d5yɮ(AEDNOT Ignoring new targets: 41.39 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU(@ZqZqZqZuV?) ½iO9)顕ߗii II I)9@ @@/@)bE5ÙT4jE5OS4rE5١/E5: E5>E5+E1"E5\p;*E5?;VE5 [4ZE1ae@am@am@am@iIAY^A IIO>ԁ ¡,/?A6c@6@ >6(ٱ6 N >AHRS rotation from veh to nav: [[0.988858,-0.130798,-0.071071],[0.133932,0.990131,0.041260],[0.064973,-0.050319,0.996618]]6H@?1 $?'?? ?@\éJ?i6c@I6-_;4YFByFCI LNbDRVDRyZ4D%ZN=ٔZQ-Z>9\Y\=^Fy\bq;Eb>dQ 5f5fa?Q 9j5f)fBYhyj?Q Ijd@fCIf):if:f h5ypɮr;Ap DNOT Ignoring new targets: 41.39 m.h h *h "h  h gfffddjdZd%)@ZAZAZAZEU?U()Q U̽iUK9Y)YeaiaiaimIiIi@ @@@B->B)B-IB-BB- =B)B-DB--u;B-/EE/ EE(E"Eaf;*E:VEc44ZEBEη 9ȡ,"?AY~By~9IiMb@Mb@Mb@Թ 9MbPi|?5?L7A`堿Yy=+lA ~A)lAYpAbDMVDMy]k%e2=ٔeQ-e>9aYi=mFyimEm>qQ 55u?Q 95u)uBY=Q E;y?Q Id@uCIu;iu;u l5yɮ~ADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBddjdZd*@Z=Z=Z%?Z?))) -#i-r9)15>1i1i99=bI9I9I9@  @ @ @ ^A- I1 II OU >E ? E iE +E "E t;*E %;VE [4ZE a @a @a @a @9 \cΡ,!Y2 ٱ20N :AHRS rotation from veh to nav: [[0.988553,-0.132654,-0.071867],[0.135821,0.989880,0.041114],[0.065686,-0.050405,0.996566]]2H:?@eb??@ ? а?Ω`?i2s@I2x^;2CYBByB2IIF<)F;bDNVDNyV %Vk=ٔVrQ-V?9XYX=ZFyX^;E^?Q 5 5h?Q 9 5)BY y ?Q I d@#CI:i:)o5yɮA!DNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd@Ig+@Z Z Z Z k?% )! %Li%+9))-m)i)i115'I1I99@ @@/@@@@@AIIO>qB% >B! B% rIB% ҀBB! B! B! B% Qu;B% /Eԡ Kա,6V?A2 x@2` >2=ٱ2nO :AHRS rotation from veh to nav: [[0.988465,-0.133176,-0.072117],[0.136359,0.989804,0.041151],[0.065901,-0.050510,0.996547]]2H? ?v5t?`z??ް?ܩ`?i2 x@I2];2CEF6 EF)EDED"EFl;*EF0;VEDZEDBEFJ9 Y = Fy :E>Q 5%5?Q 9%5)BY%H=Q E% ԡ yۡ, p?A2z@2` >2Fٱ2>P >AHRS rotation from veh to nav: [[0.988411,-0.133501,-0.072254],[0.136699,0.989753,0.041268],[0.066005,-0.050667,0.996532]]2H? `B`X? ?!??@@?i2z@I2X];2CYBByB$IbDNVDNNyV#%Vc=ٔVQ-V>9XYX=ZFyX^z:E^>`Q 5b5b?Q 9f5b)bBYdyfI?Q Ifd@b,CIb:ib:b(v5ylɮnAlDNOT Ignoring new targets: 41.39 m.hh*h"h h g f f f ddjdZdT,@Z9Z9Z9Z=I?MF)I M`ۼiM9)QUϱQiQiYY]_aIYIaIi)i9@ @@4@I!I9OM=E( E3E.E"E`;*Et ;VEـ4ZEa@a@a@a@! 7],tꉇ?A>@@>F >>1mٱ>%O JAHRS rotation from veh to nav: [[0.988333,-0.134036,-0.072332],[0.137227,0.989687,0.041093],[0.066078,-0.050539,0.996534]]>Hl?(X?? ?}?J੿?i>@@I>zv];>CYbByb-I dddfAbDjVDj0yre=%rG=ٔv;Q-v>9tYt=zFyxz:Ez>|Q 55~@?Q 95~~)~BY y Z?Q I d@~0CI~:i~:~y5yɮAEDNOT Ignoring new targets: 41.39 m.hAhA*hA"hA hAgAfIfIfIdIdQjdQZdU@-@ZqZqZqZuZ?1m) i*9)顕'iiII@! @!@%4@!I1IAQO]=B>BBfIBȀBB =BBBu;B/EyE. EE*E"Eye;*E^~;VE(N4ZEBE2ٱ2%O :AHRS rotation from veh to nav: [[0.988313,-0.134290,-0.072130],[0.137465,0.989657,0.041006],[0.065877,-0.050442,0.996552]]2HC?i0`wv?F?`?@Wݰ?ө?i26@I2]4];0PYVByV,IiMb@Mb@Mb@ 9~jtQ? rhYDy\=C~A )YzA 4<bDVD0y-%-7=ٔ-t9Q-5>91Y1==Fy9= :E=>AQ 5M5E?Q 9M5E~)EBYM=Q EU5i!>E 4 E FE E "E j;*E v;VE ZE a @a @a @a @% 9@!  @! @- 0@) ) i I Q ^AQIYIqO}>,'‡?A6@6`Z >6qٱ6rNN >AHRS rotation from veh to nav: [[0.988348,-0.134152,-0.071909],[0.137305,0.989686,0.040840],[0.065688,-0.050238,0.996575]]6H?`+ h4???а?ø?i6@I6+];6CYbByb4IbDjVDj:yr=%r==ٔv9Q-v>9tYt=vFyxzƹEz>|Q 55~?Q 95~D})~BYy F?Q I e@~8CI~;i~<;~k5yɮA=DNOT Ignoring new targets: 41.39 m.h9h9*hA"hA hAgAfAfIfIdIdIjdQZdUk/@ZZZZF?q) P =i9)顽!1iiIIU9@Q @Q@U4@Y^A5d1IAIQOu6>BBB_IBÀBBBBBu;B/EBYBYBYB] =B] =C]ǥ5aE Y E ]E )E "E =;*E ;VE FA4ZE BE 2ٱ2/HN :AHRS rotation from veh to nav: [[0.988399,-0.133932,-0.071626],[0.137074,0.989717,0.040889],[0.065413,-0.050233,0.996593]]2H`?$Vࠋ? «?h?뾰?@?i2}@I2Q];2CYNByR;IIVa=)V=V=V=ieMb@Mb@Mb@aaaa a9e:vL7A`?y&1|YeTye+=e`e AelA e A)aaYeAbD}VD}yD<%A=ٔ*:Q->9Y=Fy~E>Q 55?Q 95|)BY=Q ED9Y-A^A ݑI! I1 OE > ,?A2 |@2 >2ٱ2_sN :AHRS rotation from veh to nav: [[0.988447,-0.133714,-0.071370],[0.136849,0.989744,0.040981],[0.065158,-0.050275,0.996608]]2H[?GEB?`?}? /?5?i2 |@I2(];2CYBByB?IJ@AHbDNVDN0yVC<%VZ=ٔV3:Q-V>9XYX=ZFyXZ E^>`Q 5b5bX?Q 9f5b{)bBYdyfh?Q Ife@b?CIb:ib:bd5yhɮnWAlDNOT Ignoring new targets: 41.39 m.hh*h"h h g f f f ddjdZd0@Z1Z1Z1Z5h?M)I M=iM9)QUQiQE( E*E*E"E`;*E;VE(N4ZEa@a@a@a@i^IIy99@ @@3@) ^A I I O% >,?A>Cz@> >> ٱ>H ١? @&V}?`+?=?J?ǩn?i>Cz@I>9];9`Yd=fFydfr Ef>hQ 5n5j?Q 9n5jC{)jBYpyrd?Q Ire@jCCIj;ij;j5ytɮvAtDNOT Ignoring new targets: 41.39 m.hh*h"h hgf!f!f!d!d)jd1Zd5[0@BU>BQBUfIBUȀBBU =BQBUDBUtu;BU/EZZZZd? ) i9)页iiwIIYE* EKEE"Ea;*E;VEZEBEgc ,X+?A67}@6 >6eٱ6M BAHRS rotation from veh to nav: [[0.988494,-0.133917,-0.070326],[0.136999,0.989723,0.040981],[0.064115,-0.050144,0.996682]]6H`? 0$`.?ϫ? k? i?o?i67}@I68];6CYJByN]I PPTVAiMb@Mb@Mb@ 9 rhʡE?Mb`?YCy=;~AA A)AYzAbDVDy2q=%+=ٔo:Q->9Y=Fy:F:E>Q 5 5?Q 9 5Vz)BY=Q E() CM,uE?AJ}@J >JmٱJOM ^AHRS rotation from veh to nav: [[0.988517,-0.133996,-0.069857],[0.137057,0.989714,0.041011],[0.063643,-0.050114,0.996714]]JH? &!Ɀ??Y?J? ?iJ}@IJ0];JCYjЀByjoI llbDrVDrfyz=%z[=ٔ~l:Q-~>9|Y|=Fy9E> Q 55 ?Q 95 y) YyD?Q Ie@ KCI K:i : ]5y!ɮ%A!]DNOT Ignoring new targets: 41.39 m.hYhY*ha"ha hagafafifididijdqZdu@1@ZZZZD?em)a eF=ie49)imz2iiiiqqul0IqIyu9@q @q@}0@yB5>B1B5xIB5׀BB5 =B1B5DB5Iu;B5/EI^AIIO Y E 9 E E E "E so;*E j:VE ZE BE :)Vٱ:M FAHRS rotation from veh to nav: [[0.988468,-0.134627,-0.069330],[0.137652,0.989638,0.040859],[0.063111,-0.049931,0.996757]]:H?@q;@??@o?(?`n?i:@I:m];:CYJрByNqIiMb@Mb@Mb@ 99IYQ=UFyQU:EU>Q 55?Q 95x)BY=Q E Ř,hy?A2@2S>2qٱ2|L :AHRS rotation from veh to nav: [[0.988424,-0.135286,-0.068678],[0.138274,0.989554,0.040781],[0.062444,-0.049805,0.996805]]2H*? Q┱?`m?F? ?@?i2@I2qy];2CEB, E@E@E@"EBc;*E@VE@ZE@aJ@aJ@aJ@aJ@YNـByN{IPIV=)V=bDZVDZyb )=%bS=ٔf:Q-f>9dYd=jFyhj:Ej>li߹I߹Q 55n#?Q 95nw)nBYy?Q Ie@nVCIn! BE >BA BE IBE BBA BA BA BE Cu;BE /E $,.䒈?A2@2@b>2G}ٱ2K :AHRS rotation from veh to nav: [[0.988314,-0.136347,-0.068150],[0.139299,0.989418,0.040598],[0.061893,-0.049617,0.996849]]2H@E?sDr?O?Hɤ?x?cg@/?i2@I2];2CY^By^IfAAf@AbDjVDjkyr+P=%rH=ٔr :Q-v>9tYt=vFytz%;Ez> Q 5%5 X?Q 9-5 pv) BY1y5?Q I5e@ [CI =i 0= 5yɮ{AmDNOT Ignoring new targets: 41.39 m.EN EUE-E"E@;*E\;VEt4ZEBE1*,ì?AZȗ@ZW>Z=zٱZz L fAHRS rotation from veh to nav: [[0.988227,-0.137302,-0.067501],[0.140230,0.989281,0.040717],[0.061187,-0.049704,0.996888]]ZH`? G ?1? ؤ?`S? r?iZȗ@IZ<^;ZCYrByrIiiMb@Mb@Mb@ 9/$x&?~jth?Yy7 >D;lA  A)lAYpAbDVD:2y=%>=ٔ:Q->9!Y!=%Fy!%E ;E%>)Q 555-?Q 9=5-t)-ߋBY= >Q E=;y=?Q I=e@-cCI- ;i- ;-ʡ5yAɮMAIuDNOT Ignoring new targets: 41.39 m.hqhq*hq"hq hqgyfyfyf} BddjdZd6}3@Z >Z >Z?Z.?=z) #i9)Q1ii$pIIM9@I @I@M/@IԁEB EE+E"Ew;*Ej:VE [4ZEa@a@a@a@Թ^AIIO> 1,ƈ?A6@6=>6wٱ6[M NAHRS rotation from veh to nav: [[0.988145,-0.138183,-0.066891],[0.141103,0.989143,0.041072],[0.060489,-0.050023,0.996915]]6H?@?`?\?f? ?i6@I6^;6CYVByVI XXbDbVDb1yf.u%jZ=ٔj:Q-j>9lYl=nFyln;Er>pQ 5v5r?Q 9v5rs)rދBYxyz?Q Ize@riCIr;ir;r5y|ɮ/A-DNOT Ignoring new targets: 41.39 m.h)h)*h)"h) h)g1f1f1f9d9d9jd9Zd= 3@ZyZyZyZ}3?w) i9)顝BiiɵIIԱI@I @I@M/@IBBBIBBBBBB>u;B/E^AiIyIO~>E : E .E .E "E \p;*E ;VE ـ4ZE BE m2uٱ2M :AHRS rotation from veh to nav: [[0.987969,-0.139727,-0.066278],[0.142621,0.988923,0.041122],[0.059798,-0.050080,0.996953]]2Hr?@@cA?A? ? ͝? ?i2@I2k_;2CYBByBIiEMb@Mb@Mb@AAAA A9E{Gz'1Z?~jthYE#yE">EDAA A)AAYA U;U4<bDuVDufy=%?=ٔ:Q->9Y=Fyk;E>Q 55?Q 95q)ۋBY*#>Q E;y?Q Ie@rCIs:i{:5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBddjdZdMG4@Z-*#>Z-*#>Z-?Z-?]u)Y ]#i]9)ae5aiaii`qII@ @@/@Ay^A- I1 II OU >ԙ =,:urٱ:M FAHRS rotation from veh to nav: [[0.987750,-0.141530,-0.065724],[0.144398,0.988665,0.041123],[0.059159,-0.050109,0.996990]]:H`?`¿MӰ{?$?? J?짩W?i:2@I:$`;:CYJByNIbDVVDV y^%^X=ٔb:Q-b>9`Y`=bFy`fq;Ef>hQ 5n5j?Q 9n5jfp)jًBYlyr)?Q Ire@jyCIj;ij;j5ytɮvAtDNOT Ignoring new targets: 41.39 m.hh*h"h hgff!f!d!d!jd)Zd-4@ZZZZ)?ur) (WiN9)!%!i!i))-I)I1y@ @@0@ԡ^A1I9IIO]>B >B B IB BB B B B Xu;B /EBBBBBC<"5 UD,k?A>k@>>>BLoٱ>MM FAHRS rotation from veh to nav: [[0.987489,-0.143648,-0.065046],[0.146481,0.988361,0.041070],[0.058389,-0.050085,0.997037]]>H ?@c¿ ٦߿?`?.?@-??i>k@I>`;>CYNByNIIP)R;bDZ VDZ2yn%rF=ٔr":Q-r>9pYt=vFytv;Ev>xQ 5~5z_?Q 9~5zn)z׋BYyp?Q Ie@zCIz;iz;z5y JBɮ A bEDNOT Ignoring new targets: 41.39 m.h h *h "h hg!f!f1fIdqdyjdZd5@ԹZIZIZIZMp?EU5 EUIEU/EQ"EUk;*EU ;VEUJ4ZEQBEUK,S2?A2@2>2ylٱ2N :AHRS rotation from veh to nav: [[0.987265,-0.145425,-0.064495],[0.148236,0.988095,0.041156],[0.057742,-0.050193,0.997069]]2H? G¿@c?z?t?X?ݲ ?i2@I2a;2CYBByBIi Mb@Mb@Mb@     9  rh/$?I +Y Cy &1> 94  A A  A)  Y GA!!!bD-VD-y=-=%=+=ٔ=g:Q-E>9AYA=EFyAMPr;EM>QQ 5]5U?Q 9]5Ul)UҋBY]\2>Q Ee;ye?Q Iee@UCIU ;iUu ;Udz5yiɮmAiUDNOT Ignoring new targets: 41.39 m.hQhQ*hQ"hQ hQgYfYfYfe BdadajdaZde@s5@Z\2>Z\2>Z?Z?yl) i9)顥wiiIIIDizDm@AEu2 Eu5Eu*Eq"Eui;*Eu ;VEu(N4ZEqa@a@a@a@9ԁ9@ @@/@ԩ ^A aI I O% >NS,"M?A6r@6L>6Qiٱ6Y*N >AHRS rotation from veh to nav: [[0.987061,-0.147089,-0.063841],[0.149870,0.987847,0.041195],[0.057006,-0.050230,0.997109]]6H?¿W@.?`q??/?ȷ R?i6r@I6z`;4YFByFIbDRVDRkXyVt%ZF=ٔ^:Q-^>9\Y\=^Fy`bԂ;Eb>dQ 5j5fC?Q 9j5fj)f͋BYhyn?Q Ine@fCIfY;ifD;fc5ypɮrApDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd 5@ZZZZ?Qi) _iC9)liiIIB >B B IB BB  =B B B iu;B /E9E. E*E(E"Eye;*E;VEc44ZEBEHY,jh?A2@2`>2sIgٱ2fM :AHRS rotation from veh to nav: [[0.986846,-0.148739,-0.063337],[0.151492,0.987603,0.041116],[0.056437,-0.050170,0.997145]]2H >?` ÿ6d?q?$ ???篩`?i2@I2~`;2CYBByBIHiUMb@Mb@Mb@QQQQ Q9UQ?/$YUyU(>UUzAUQA UzA)UAQYUzAbDmVDm1y}&%}7=ٔ}:Q-}>9Y=Fy6q;E>Q 55d?Q 95h)NjBYR*>Q E;yD?Q Ie@CIj:is:G5yɮ2ADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffـBddjdZdh6@Z5R*>Z5R*>Z5?Z5D?MsIg)I U9e>i>e9@a @a@e0@a@mhA@mgAbE [4jE|a4rES)0EE 4 EE 9EE *EA "EE j;*EE ;VEE (N4ZEA aU @aU @aU @aU @ ^A ?I I O >`,cb?A6@6@;>6P`eٱ6bNH VAHRS rotation from veh to nav: [[0.986686,-0.149964,-0.062945],[0.152704,0.987412,0.041224],[0.055971,-0.050287,0.997165]]6H?2ÿ@-͋?? D?4?0?i6@I6: `;6CYv׀ByvxI }p9QYQ=UFyQ]5;E]>aQ 55e?Q 95ef)eBYyo?Q Ie@eCIe6|g,#?A2m@2@L>2(Dcٱ2kN :AHRS rotation from veh to nav: [[0.986555,-0.151010,-0.062499],[0.153736,0.987246,0.041360],[0.055456,-0.050413,0.997188]]2Hڑ?ITÿ`??@--?d?ϩ ?i2m@I2_;0YB΀ByBmIi Mb@Mb@Mb@     9 Mb`n?y&1Y y V> ` A A A) A Y AbD% VD%:2y%9=ٔh:Q->9Y=Fy;E>Q 55?Q 95ee)BY5>Q E;y?Q Ie@CI6;i; 5yɮA IUDNOT Ignoring new targets: 41.39 m.hYhY*hY"hY hagafififmɀBdqdqjdyZd} !N7@Z5>Z5>ZM?Z?M(Dc)I M;iMa9)QU0QiQiYY]IYIu9@y @y@}4@yԁԡ^A yI I O > R n,zߺ?A2@2@4>2BUaٱ2ihO :AHRS rotation from veh to nav: [[0.986444,-0.151899,-0.062090],[0.154613,0.987103,0.041501],[0.054985,-0.050538,0.997207]]2H?nqÿAʯ [?@Y???@'?-੿?i2@I25_;0YBɀByBgIbDJVDJNyRۼ%R]=ٔV9:Q-V>9TYT=VFyXZI;EZ>\Q 5b5^?Q 9b5^d)^BYdyf?Q Ife@^CI^:i^:^@5yhEn& EnEn'El"En8^;*EnA:VEn'4ZElav@av@av@av@ɮvAxDNOT Ignoring new targets: 41.39 m.hh*h"h hg!f!f!f!d)d)jd)Zd-V7@ZIZIZIZM?eBUa)a eie9)aeiiiiiquIqIqԱ-9@) @)@-/@)@5=@5=^AMIYIiO}z> 1 t,ԉ?ABBCBIBBB =BBBt;B/ER@R7 >R_ٱRNEO ^AHRS rotation from veh to nav: [[0.986312,-0.152898,-0.061735],[0.155592,0.986951,0.041468],[0.054589,-0.050506,0.997231]]RHݏ?`&ÿ@ɛ`r?`?S;?%?`۩`P?iR@IR^;PYbByfFIhjAAbDnVDn:yve%vF=ٔz|:Q-z>9xYx=zFy|G;E> Q 5 5 P?Q 95 b) BYy+?Q Ie@ CI  :i : 5y!ɮ%A!MDNOT Ignoring new targets: 41.39 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZde@58@ZZZZy+?_) XRi]9)顙iigzIIE9@A @A@I@IE  E E ,E "E V;*E :VE g4ZE BE i {,?AY-By-JIiMb@Mb@Mb@ 9I +?MbX?X9vY949Y=FyE>Q 55:?Q 95}a)BY=Q E;y(?Q Ie@ñCI ;i ;5yɮA 5DNOT Ignoring new targets: 41.39 m.h1h1*h1"h1 h1g9f9f9f=BdAdAjdAZdEK8@Ze=Ze=Ze?ZeH(?y)y } ,i?A2b@2J!>2xH]ٱ2O :AHRS rotation from veh to nav: [[0.986180,-0.153956,-0.061215],[0.156633,0.986780,0.041619],[0.053998,-0.050632,0.997257]]2HȎ?ҴÿW` ?ಓ?O?`? o쩿?i2b@I2-^;2CYBByB=IbDJLVDJyVYh%V`=ٔVi:Q-Z>9XYX=ZFyX^(<;E^>`Q 5f5b&?Q 9f5b`)bBYdyfQ?Q Ije@bȱCIb :ib:b5ylɮn!AlDNOT Ignoring new targets: 41.39 m.hh *h "h  h g f ffddjdZd@8@ZAZAZAZE2Q?UxH])Q UiU9)Y]YiYiaaeIaIi iiIm)mI)fA9@ @@/@@gA@AAAAB%>B!B%IB%BB% =B!B!B%t;B%/E^AIIIO>E G E E *E "E &|;*E :VE (N4ZE BE "?A6#@6`!>6B\ٱ6ZO BAHRS rotation from veh to nav: [[0.986108,-0.154511,-0.060976],[0.157171,0.986698,0.041522],[0.053749,-0.050529,0.997275]]6H1? ÿ`/8-??^B??ީ?i6#@I6 ^;6CYFByF-I!iMb@Mb@Mb@ 9:v??:vYT=ٔ}:Q->9Y=Fy:E>Q 55d?Q 95_)BYl=Q Eeԡ 2[ٱ28O :AHRS rotation from veh to nav: [[0.986075,-0.154769,-0.060850],[0.157422,0.986659,0.041496],[0.053616,-0.050497,0.997284]]2H?{ÿ 'e&?`?>?s?ک ?i2%@I2];2CYBByB+IbDJVDJyR;%VY=ٔVظ9Q-V>9XYX=ZFyXZ0:EZ>EbA Eb Eb+E`"Ebv;*Eb:VEb [4ZE`af@aj@aj@aj@hQ 5U5j?Q 9U5jy_)jBYQy]4?Q I]e@jͱCIj=i79)82iiӉIIu9@q @q@u4@qԩ^ACIIO> B! B! B% _IB% ÀBB! B! B! B% t;B% /EBCBCBBBCf{5Y<,U?A2#@2!>2Q&[ٱ2cP :AHRS rotation from veh to nav: [[0.986128,-0.154474,-0.060732],[0.157133,0.986695,0.041730],[0.053478,-0.050694,0.997281]]2H@]?@ÿ@C?`?]?qa?@?i2#@I2 ];0YBByBIIF%=)F=bDJVDJyR3u%VJ=ٔV9Q-V>9XYX=ZFyXZ>EZ>`Q 5b5b?Q 9f5b^)bBYdyf,?Q Ife@bбCIb:ib:bm5yhɮnAlDNOT Ignoring new targets: 41.39 m.hh*h"h hg f f f ddjdZd:@Z1Z1Z1Z5 ,?Q&[)  II {>i >9@ @@4@E3 E!E,E"Ej;*E:VEg4ZEBE  IGA Q a t9 Y )_AVl,o?A6#@6 !>61[ٱ6O >AHRS rotation from veh to nav: [[0.986137,-0.154416,-0.060738],[0.157074,0.986705,0.041713],[0.053489,-0.050675,0.997282]]6Ho?ÿ?@?@t[?b?!`?i6#@I6hj];6CYZByZ,Ii=Mb@Mb@Mb@9999 99=Q?y&1? rhY=u=ٔegطQ-m>9iYi=mFyquEEu>yQ 55}S?Q 95}^)}BYHԩ N, ?A6 @6q!>6![ٱ6/O BAHRS rotation from veh to nav: [[0.986186,-0.154124,-0.060681],[0.156781,0.986751,0.041745],[0.053443,-0.050682,0.997284]]6H֎?Vÿ@e?`v?_?`\??i6 @I6CJ];6CYJByJ$IbDRVDRNyZZ%ZW=ٔZ8Q-^>9\Y\=^Fy`bMEb>dQ 5j5f?Q 9j5f^)fBYhyjX?Q Ine@fұCIf:if:f5ypɮrAp DNOT Ignoring new targets: 41.39 m.h h*h"h hgfffdd!jd!Zd% 7:@ZAZAZAZEX?U![)Y ]̵=iY)Y]3aiaiaimIiIiԙB<A<BBBLIBBBBBBt;B/E]9a@ @@4@@%hA@!E 0 E 4E ,E "E Jg;*E ;VE g4ZE BE n,^?A2 @2u!>2UZٱ2bN >AHRS rotation from veh to nav: [[0.986189,-0.154159,-0.060554],[0.156797,0.986758,0.041514],[0.053352,-0.050435,0.997301]]2Hێ?@yÿ??YA?@P? ҩ@?i2 @I2JR];2CYNByN,I TTiMb@Mb@Mb@ 9:v?Mb`MbYT9Y=Fy8E>Q 55E?Q 95^)BY:|,?A2@2 >2Zٱ2N :AHRS rotation from veh to nav: [[0.986259,-0.153697,-0.060582],[0.156334,0.986834,0.041466],[0.053411,-0.050367,0.997302]]2H`o?@Wÿ@?#?;?X?ɩ?i2@I2H];2C@YFByF?I N9\Y\=^Fy\D`zDbAAbEIjEMOS4rEM(0EfD Ef0Ef+Ed"Efny;*Ef;VEf [4ZEdaj@aj@aj@aj@nEn>pQ 5v5r?Q 9v5r^)rBYtyzKQ Ize@pIr:ir:r5y|ɮ~A|%DNOT Ignoring new targets: 41.39 m.h)h)*h)"h) h)g)f)f1f1d1d1jd9Zd@;@ZZZZk@Z) >i:9)j4ii!!%]I!I)ԩ]99@ @@@ ^A /B >B B B B =B B B t;B /EI I O% >,=׊?A\YByLIbD-VD-y=O=%E@=ٔEQ-E>9AYI=MFyIMEM>QQ 5]5U,?Q 9]5U^)UBYayaQ Iee@UԱCIU3;iUa;U=5ymJBɮmAiDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjd Zd @ #<@Z)Z)Z)Z)a)i m.>imw9)imB4iiqiqy}IyIyI=)N>E2 E%E)E"Ei;*E;VEFA4ZEBE(,ü?A(2J@2>2J[ٱ2FN >AHRS rotation from veh to nav: [[0.986414,-0.152663,-0.060677],[0.155301,0.986999,0.041406],[0.053567,-0.050267,0.997298]]2H?wÿ?@? *3?,m?` ?i2J@I2:];2CYF€ByF^IIJ<)J9Y=FyE>Q 559?Q 95^)BY4 ¢,1| ?A2@2t>2[ٱ2.N :AHRS rotation from veh to nav: [[0.986478,-0.152230,-0.060715],[0.154867,0.987069,0.041356],[0.053634,-0.050200,0.997298]]2H ;?I|ÿ ??,?u?³?i2@I2#];0YB؀ByBzIJ@AJ@AbDNVDN:yV=%V]=ٔV=Q-V>9XYX=ZFyXZޛE^>``Q 5f5bE?Q 9f5bu^)bBYhyj?Q Ije@bձCIb:ib :bY5ylɮrAp DNOT Ignoring new targets: 41.39 m.h h *h "h  h g fffddjdZdO<@Z9Z9Z9Z=?[) '>ii9)ii I I mg9BBB_IBÀBBBBBWu;B/E9@ @@0@ E- ^ E- !E- ,E) "E- ;*E- :VE- g4ZE) BE- Y m&ɢ,`&?A6@6@9>6\ٱ6uM BAHRS rotation from veh to nav: [[0.986503,-0.152004,-0.060884],[0.154641,0.987110,0.041223],[0.053833,-0.050082,0.997293]]6Hn? tÿ:,J?@h?>? ?c?i6@I6m&];6CYN߀ByNIi=Mb@Mb@Mb@9999 99={Gzt?/$?~jt?Y=ף;y=,==D<=hA9 =hA)99Y=AbDeVDeNyu<%u>=ٔ}4Q-}>9yY=Fy E>Q 550?Q 95])BY4=Q Eԙ E J E E E "E ~;*E VE ZE a% @a% @a% @a% @8 Т,@3@?A2 @2`>2\ٱ2I(M :AHRS rotation from veh to nav: [[0.986523,-0.151873,-0.060893],[0.154506,0.987135,0.041140],[0.053861,-0.049994,0.997296]]2H?pÿ`S-??@F??Ę?i2 @I2< ];2CYBByBI DDbDNVDN1yVq >%VY=ٔV*Q-V>9XYX=ZFyXZCE^>AQ 5M5E?Q 9M5E])EBYIyM?Q IMe@EٱCIEB:iE:E5yYɮ]AYyDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZdL=@Z)Z)Z)Z-֓?m\) ">i9)顝iidII9ԩe9@a @a@e4@a^A I I O >B >B B IB BB =B B B u;B 0E /6֢, Z?A2@2`9>2\ٱ2L :AHRS rotation from veh to nav: [[0.986499,-0.152015,-0.060921],[0.154641,0.987121,0.040975],[0.053908,-0.049843,0.997301]]2H f?:uÿ1@I?}??ϙ? ?i2@I2 ];2CYB ByBI J49XYX=ZFyX^9E^>`Q 5f5b ?Q 9f5b])bBYdyf?Q Ije@b۱CIb:ib6:b5ylɮnAlDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd@->@Z9Z9Z9Z=ט?M\)I M)>iM\9)QU,+3QiQiYY]?BIYIaE E"E*E"EV;*E;VE(N4ZEBE|Y cܢ,Es?A2,@2 >2I_]ٱ2K :AHRS rotation from veh to nav: [[0.986449,-0.152300,-0.061021],[0.154922,0.987084,0.040793],[0.054020,-0.049694,0.997303]]2H?~ÿ@>y?1?@?`v?@zq?i2,@I2 ];2CYB*ByBIi-Mb@Mb@Mb@)))) )9-MbPJ +?y&1?Y-y-=-`e<-A-VA -A)-VA)Y-AbDIVDIy]>%]?=ٔ]tQ-]>9aYa=eFyae/:Em>iQ 5u5mq?Q 9}5m\)mBY}=Q E}@Z=Z=Z5^?Z?I_]) `=i9)ii-I)I)I5.?)5&?YE> EE,E"Es;*E:VEg4ZEa@a@a@a@M9ԉ9@ @@4@@@=Ա ^A II9 II OU >,?AY2ByIbDVDy%(=%%>=ٔ-Q-->91Y1=5Fy15E5>9Q 5E5=?Q 9E5=Z)=BYIyIQ IUe@=CI=C&;i=P';=m5yYɮ]AYԉDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd@?@ZZZZ) =i9)v2iiIIBE>BABEIBEBBABABABEu;BE/EBBBBBC<&5Ա9E 0 E )E )E "E Jg;*E 0;VE FA4ZE BE 1,V?ARG^hAhh~9hAY~A"@!>q_ٱl+O AHRS rotation from veh to nav: [[0.986086,-0.154318,-0.061809],[0.157011,0.986731,0.041352],[0.054607,-0.050482,0.997231]]H@?ÿ@j?`L?,?@~?ةQ?i"@IV];CYGByIiUMb@Mb@Mb@QQQQ Q9UI +S㥛?~jt?YU9yU$>UD9Y=Fy;E>Q 55죊?Q 95X)BY&>Q E;y?Q Ie@CI ;i2 ; 5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfff8BddjdZd ?@Z&>Z&>Zq?Zc?%q_)! -u,Ƌ?A6.@6@!#>6aٱ6?R JAHRS rotation from veh to nav: [[0.985837,-0.155633,-0.062473],[0.158393,0.986486,0.041928],[0.055103,-0.051229,0.997166]]6H?@ÿh4F?@J?w? u6?`:?i6.@I6c];6CYRZByRIbDZVDZ:yb=%fl=ٔfQ-f?9hYh=jFyhj;En?lQ 5r5n룊?Q 9v5n{W)lYtyv?Q Ive@nCIn:in:n 5yxɮ~A|%DNOT Ignoring new targets: 41.39 m.h)h)*h)"h) h)g)f)f1f1d1d9jd9Zd=`?@ZYZYZYZ]M?ma)q u=iu9)quyiyiyII9A@ @@/@@@gAqB>BBIBGBB =BBBu;B/E^A I I) O5 >ԡ ~,ߋ?A2<@2$>2Adٱ2T :AHRS rotation from veh to nav: [[0.985523,-0.157309,-0.063238],[0.160134,0.986185,0.042378],[0.055698,-0.051891,0.997098]]2Hf?"Ŀ[0G?@Ԏ??l?v:?i2<@I2w9];2CEF1 EF.EF*ED"EF2h;*EF;VEF(N4ZEDBEF_9Y=%Fy!5Ł;E=>QQ 5u5U飊?Q 95UU)UBYy&?Q Ie@UCIUC,܃?A2@R@2'>25eٱ2\V :AHRS rotation from veh to nav: [[0.985074,-0.159877,-0.063779],[0.162735,0.985758,0.042420],[0.056089,-0.052166,0.997062]]2H?vĿS@|?`S? ?`??i2@R@I2Y];2CYBbByB#IDM=DM<bET4jE-W4rEͰ/E], E]5E]-EY"E]c;*E] ;VE]t4ZEYae@ae@ae@ae@imMb@Mb@Mb@iiii i9mMb|?5^?Mb`YmymR>mimlA m~A)iiYmA 4<bDVDky<%/=ٔ\Q->9Y=Fy2;E>Q 556磊?Q 95BS)BY{U>Q E~;yP?Q Ie@ CI@:i:5yɮHADNOT Ignoring new targets: 41.39 m.hh*h"h hgfff]BddjdZd `@@Z{U>Z{U>Z?ZP?5e) ;id9)eܣ2aiaiiquiFIqIy9 Y @Y  @Y @] /@a  PExceeded connect timeout, disconnecting.A A B >B B 4IB pBB B B B u;B I ^A I I O >{,1?A2j@2`*>2cgٱ2pV :AHRS rotation from veh to nav: [[0.984553,-0.162804,-0.064421],[0.165689,0.985271,0.042282],[0.056589,-0.052303,0.997027]]2Hu?Ŀ@}N5?`W??5?@hǪ?i2j@I2J];2CYBYByBIbDJVDJβyR/2%RD=ٔVXQ-V>9XYX=ZFyXZ;EZ>\Q 5b5^䣊?Q 9b5^Q)^BYdyf?Q Ife@^CI^:i^;^L5yhɮjAlDNOT Ignoring new targets: 41.39 m.hh*h"h hgf f f ddjdZd n@@ZZZZ?5cg)9 =i=9)9=9i9i"ܽIIE% E6E)E"EO];*E ;VEFA4ZEBEAi ۞ ,14?A2#@2->2UCQUA Q)QQYUzAbDmVDmy};%}>=ٔQ->9Y=Fy;E>Q 55⣊?Q 95N)BYk>Q Eg;y?Q Ie@%CI ;i ; 5yBBɮBAXEQDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffOBddjdZd@@ZEk>ZEk>ZEB?ZE$?] ,!N?A2@20>2,mٱ2iX :AHRS rotation from veh to nav: [[0.983519,-0.168323,-0.066008],[0.171291,0.984317,0.042186],[0.057872,-0.052797,0.996927]]2Hx?`ſ尿?@?\?X?2`?i2@I2l];2CYBOByB IHJAAbDNVDN:2yV\%VY=ٔVQ-V>9XYX=ZFyXZ;E^>`Q 5b5bᣊ?Q 9f5bjL)b{BYdyfn?Q Ife@b0CIb:ib1:bW 5yhɮnAleDNOT Ignoring new targets: 41.39 m.haha*ha"ha hagafififididqjdqZdu*@@ZZZZn?UnManaging dock network, ignoring radio surface power off5,m)Y ]ie9)aeaiaiiimҽIiI-9@) @)@-2@1B=>B9B=GIB=BB= =B9B9B=u;B=/E^A%ewֽI1IAOM1> E5 2 E5 #E5 *E1 "E5 i;*E5 ;VE5 (N4ZE1 BE5 (2 qٱ2CX :AHRS rotation from veh to nav: [[0.982943,-0.171248,-0.067064],[0.174253,0.983812,0.041826],[0.058816,-0.052799,0.996872]]2HDt?tſ +@M?c{?@4j?!?k`_?i2]@I2hc];2CYN>ByNIi%Mb@Mb@Mb@!!!! !9%MbQ?L7A`堿Y%y%(\>%+%~A%@ %hA)!!Y%(AbD=VD=yM%M@=ٔMQ-M>9QYQ=UFyQj;E>Q 5 51ߣ?Q 9-5IQ =-tI)qBY5W_>Q E5s;y5?Q I=f@ZW_>Z?Z?m q)q u#=iu9)qu*2qiyiyyͽIIY@a @a@e/@a@mfA@i9i ^A lؽI I O >E= % E= *E= +E9 "E= O];*E= ;VE= [4ZE9 aE @aE @aE @aE @ ,w?A >\@> 6>>tٱ>X RAHRS rotation from veh to nav: [[0.982396,-0.173959,-0.068099],[0.177002,0.983335,0.041502],[0.059744,-0.052825,0.996815]]>Ho?@GDƿn?`{w?`??Җ? ?i>\@I>];>CYb3BybI hhlnAbDzVDzy 3R% O=ٔQ->9Y=-Fy)5;E5>AQ 5M5Eݣ?Q 9M5EG)EhBYQyU?Q IUf@EFCIEO;iEET;E'5yiɮmvAiUDNOT Ignoring new targets: 41.39 m.hQhQ*hQ"hQ hYgYfYfYfadadajdaZdeiA@ZZZZ?t) )ԙ B) B) B- @IB- zBB- =B) B) B- u;B- $0E&,l[?A2@2]9>2 xٱ2oV :AHRS rotation from veh to nav: [[0.981857,-0.176665,-0.068888],[0.179704,0.982879,0.040694],[0.060519,-0.052335,0.996794]]2H@`k? ƿ@ ?s?`դ?X?˪?i2@I2ds];0TYZByZI `bbDbVDbyj޽%jN=ٔn2Q-n>9pYp=rFyprc;Er>tQ 5z5vۣ?Q 9z5vE)v_BY|y~6?Q I~f@vQCIv;iv;v*5yɮ'A 5DNOT Ignoring new targets: 41.39 m.h1h1*h1"h1 h1g1f9f9f9dAdAjdAZdEA@ZaZaZaZeN6?} x)y }i}9)顅iiĽIIEV E#EE"E;*E;VEZEBE]! ,,6?A2@2@r;>26!zٱ2NT :AHRS rotation from veh to nav: [[0.981460,-0.178679,-0.069360],[0.181693,0.982547,0.039850],[0.061029,-0.051713,0.996795]]2Hh?@ƿ@A?`q?)g?-??z?i2@I2];2CYBByBI i=Mb@Mb@Mb@9999 99=~jt-?/$Y=Dy=?5>=,=A9 9)=VA9Y=AbDUVDU:ye%mA=ٔmnQ-m>9iYq=uFyqu;Eu>yQ 55}lڣ?Q 95}C)}TBY:>Q E;y?Q If@}ZCI}U:i}:}.5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBddjdZd A@Z:>Z:>Z?ZM?6!z) u=i]9)!!!i!i))-I)I1I9)99@ @@ 0@@=@=)E* E%E,E"Ea;*E;VEg4ZEa5@a5@a5@a5@Q^A5ýI9IQO]>ԁ 3,{Ќ?A22@2=>2}ٱ2R :AHRS rotation from veh to nav: [[0.981126,-0.180166,-0.070234],[0.183190,0.982294,0.039251],[0.061918,-0.051377,0.996758]]2Hae?ǿ@`r?n??³?N q?i22@I2kr^;2CYBByBIIF<)F=bDJVDJyR%RW=ٔVQ-V>9TYX=ZFyXZ;EZ>\Q 5b5^٣?Q 9b5^1B)^JBYdyf%?Q Iff@^cCI^:i^:^15yhɮjoAhDNOT Ignoring new targets: 41.39 m.hh*h"h hgf f f d djdZd@#A@Z1Z1Z1Z5%?y}) BBIBVBB =BBBv;B50EBBBBBC 5ԩ^A/ýIIO>E , E E *E "E c;*E :VE (N4ZE BE t@>`>>>ٱ>tR JAHRS rotation from veh to nav: [[0.980863,-0.181171,-0.071310],[0.184228,0.982115,0.038863],[0.062994,-0.051256,0.996697]]>H:c?0ǿdAĔ?|m??b ?@F>?i>@I>_;>CYRByRIi-Mb@Mb@Mb@)))) )9-~jtx?zG? ףp= Y-;y- =-Q8-hA-h@ ))-Q@)Y-A Uh>UېCurGliAaaP9liAYAbDVDyR%'=ٔQ->9!Y!=%Fy!-;E->)Q 5U5-أ?Q 9]5-@)-=BY]G=Q E];y]l?Q I]f@-iCI-;i-;-?65yiɮmAiDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBddjdZd ?B@ZEG=ZEG=ZEn?ZEl?})y =iJ9)顅X'3ii IIE9@A @A@EN0@A^Ae D翽Iq I O >A E 2 E =E ,E "E i;*E ;VE g4ZE a @a @a @a @@,?Av @v>>v|ٱv9R AHRS rotation from veh to nav: [[0.980642,-0.181904,-0.072474],[0.185000,0.981983,0.038534],[0.064159,-0.051196,0.996626]]vHka?@Hǿ ?fl??l? T6[?iv @IvZ_;vCY%By%YIbD5VD5:yEK%Ep=ٔM+`Q-M?9IYI=UFyQU ;EU?YQ 5e5]mأ?Q 9e5]?)]4BYiymt?Q Imf@]nCI]K:i]:];95yqɮu$AqDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZdGiB@QZZZZt?|) U=iR9)iiIIU,IQIQ9@ @@4@yԹ^A I I! O5 >A A @AB >B B IB )BB =B B B u;B 0E G,?A2@2 W?>2\ٱ2Q :AHRS rotation from veh to nav: [[0.980479,-0.182225,-0.073852],[0.185371,0.981926,0.038189],[0.065558,-0.051134,0.996538]]2H@`?`(Sǿ粿@:?k? ?`mȰ?7.?i2@I2_;2CYBByBKI DDDDbDNVDNyvj%vQ=ٔvjQ-v>9xYx=zFyxz:E~>Q 55أ?Q 9 5>)*BY y k?Q I f@sCI:i6:<5yɮAEDNOT Ignoring new targets: 41.39 m.hAhA*hA"hA hIgIfIfIfIdQdQjdQZdUaB@ZyZyZyZ}k?\) P 9 (;M,~7?A2j@2K?>25ٱ2IQ :AHRS rotation from veh to nav: [[0.980397,-0.182116,-0.075206],[0.185312,0.981949,0.037894],[0.066947,-0.051088,0.996448]]2Hi_?Oǿ@I? l?f?`r#? +(`?i2j@I2Ue`;2CYBByB5Ii=Mb@Mb@Mb@9999 99=S㥛?S㥛?~jtY=/9qYq=uFyqu+ָE}>yQ 55}أ?Q 95}>)}"BY\=Q Evim9)iu33qiqiyy}IyI-9@) @)@)@)bE} [4jE}Y4rE}ŧ/E. EqE-E"Eye;*E*;VEt4ZEa @a @a @a @9^AM]wIYIiO}>i "T,YQ?A :A @:>>::ٱ:jQ BAHRS rotation from veh to nav: [[0.980370,-0.181667,-0.076627],[0.184915,0.982035,0.037610],[0.068418,-0.051041,0.996350]]:H1_?@ǿ@۝I?l? A?ރ?"?i:A @I:`;8YJByJ IbDRVDR:yZֹ%ZW=ٔZ}Q-^>9\Y\=bFy`bEb>dQ 5j5f٣?Q 9j5fD>)fBYhyjAc?Q Inf@fwCIf:if:fC5ypɮrAp DNOT Ignoring new targets: 41.39 m.h h*h"h hgfffdd!jd!Zd%C@ZAZAZAZEwAc?U:)Y ]=i]X9)Y]3YiaiaamIiIi59@1 @1@5/@1Bu>BqBuIBuBBqBqBqBuIu;Bu/Eԉԙ^Au=cIIO> E% ; E% >E% ,E! "E% Dq;*E% ?;VE% g4ZE! BE% 5>rt(ٱrQ ~AHRS rotation from veh to nav: [[0.980417,-0.180828,-0.077995],[0.184130,0.982190,0.037392],[0.069844,-0.051021,0.996252]]rH_?@`%ǿ|?n?%?S? tL?ir@Ira;rCYByII%=)%a=%=%=iMb@Mb@Mb@ 9y&1?y&1{GzY`9qYq=uFyq}ϺE}>yQ 55}*ۣ?Q 95}>)}BY5=Q Ei9)顝3iiYII@ @@/@1^A9 II IY a Om >D D 8a, ?AE.( E.NE.)E,"E.`;*E.;VE.FA4ZE,a2@a2@a2@a2@J@J@<>JSٱJØQ RAHRS rotation from veh to nav: [[0.980536,-0.179542,-0.079465],[0.182903,0.982426,0.037208],[0.071388,-0.051018,0.996143]]JH@`?:ƿ@Wai? p? ?{F?@@g?iJ@IJua;HYZByZI`b@AbDfVDfJynܻ%n=ٔnDQ-r ?9pYp=rFypv{Ev ?1xQ 5U5zܣ?Q 9]5z>)zBYYy]Q I]f@z{CIzeiP9)顝4ii$IIa@a @a@e0@iiԑ^AIIO>Be <Ae 4<Bi Bi Bm _IBm ÀBBi Bi Bi Bm u;Bm /E q`g,𞍾?AY~}By~ IbD VD N2y%F=ٔ%Q-%>9!Y!=-Fy)-E->1Q 5=55Dݣ?Q 9=55?)5BYAyAQ IEf@5}CI5f;i5;5\N5yIɮM%AIuDNOT Ignoring new targets: 41.39 m.hyhy*hy"hy hygyfyffddjdZd՞C@ZZZZQ)Y ]r >i]9)Y]94YiYiaaeڿIiIiE) E#E+E"E`;*E;VE [4ZEBEi>1 9@  @ @ /@ @ =@ >Y ^A G)I I O >Zn,6?AXYUByUI aaiMb@Mb@Mb@ 9:v?)\(MbPY9Y=FyE>!Q 55%ޣ?Q 95%?)%BY7y=Q EZi9)k4ii!!!I!I)E/ E'E)E"Eaf;*E";VEFA4ZEa@a@a@a@9@ @@1@iyIy ^A$ӿI I O- >9 KFٱFP NAHRS rotation from veh to nav: [[0.981047,-0.174877,-0.083451],[0.178385,0.983281,0.036560],[0.075663,-0.050753,0.995841]]FHd?[bƿ@]O? w?? ^?P?iF@IFfb;DYVByVI ^p<^p<bDbVDbyjm<%jb=ٔjAQ-j>9lYp=rFypvMEv>xQ 5~59zߣ?Q 9e5z@)xYayesQ Ief@zCIzYui 9)  4 i iȽII@ @@4@@@@@iIQIiO|>ԑE) E,E,E"E`;*E;VEg4ZEBEa2EaJE_:Dٱ:P FAHRS rotation from veh to nav: [[0.981240,-0.173275,-0.084522],[0.176820,0.983571,0.036371],[0.076831,-0.050634,0.995758]]:H@Qf?-ƿ 8?iy?A?1?쩿 ??i:@I:]b;:CY^Byb%IiEMb@Mb@Mb@AAAA A9E~jt?+9qYq=uFԙyqkE>Q 55࣊?Q 9 5@)BY a@=Q E iP9)顕;4iiFʽIIi@i @i@m/@iIyIO>E " E E 'E "E Z;*E &:VE '4ZE a @a @a @a @! "N,2 ?AF&@F`c5>FgٱF=N NAHRS rotation from veh to nav: [[0.981364,-0.172117,-0.085446],[0.175677,0.983790,0.035996],[0.077866,-0.050336,0.995692]]FHTg?`ƿߵ`|? 4{? n? ?`ũ ?iF&@IFtb;FCYVByVAIIZ=)Z=^=^=bDbVDbkyj=%jU=ٔj0Q-j>9lYl=nFylrLEr>tQ 5z5vmᣊ?Q 9z5v@)vBYxyzwQ Izf@vCIv:iv:v\5yɮA-DNOT Ignoring new targets: 41.39 m.h)h)*h)"h1 h1g1f1f9f9d9d9jdAZdEsD@ZaZaZaZeV/@ug)q }P>i}09)y}yiyii ̽II@ @@/@IYIiO}=!ByByByByB} =ByByB}Uu;B}/EBABABABABE =CE`5iy z,ސ#?Arٶ@r94>rٱr;N  AHRS rotation from veh to nav: [[0.981488,-0.170966,-0.086328],[0.174549,0.983999,0.035766],[0.078832,-0.050172,0.995625]]rHXh?`8ſW?|?O?S.?((?irٶ@Irb;rCYByPI)-AAbD5VD5yE,h=%EC=ٔEQ-M>9IYI=MFyIU1EU>YQ 5e5]D⣊?Q 9e5]:A)] BYayemwQ Imf@]CI]y:i]:]`5yqEu) EuEu)Eq"Eu`;*Euj:VEuFA4ZEqBEqa2EqaJEuLic9)p3ii   ͽI I I)ԹI@Q @Q@U/@Y5؀GUhAIiI@'9hAYAOE> 1 ,a=?AỲByjIonly read 0 of 1 data item for altitude. Device response is::BD, +11.11, , +5.04, 8.16, 0.00 a@a a@a a@a a@a bDVDy=%B=ٔQ->9Y=FyE>Q 55㣊?Q 95A)$BQ A+:YQ Ed~c5yɮA-DNOT Ignoring new targets: 41.39 m.h)h)*h)"h) h)g1f1f9f9d9d9jd9ZdED@i)i m>im"9)quqiqiyy}ԧͽIyII)E E E*E"EM;*E:VE(N4ZEa@a@a@a@)@) @)@-/@)9^AMD翽IYIiO}>i @,B-ٱBNON JAHRS rotation from veh to nav: [[0.981623,-0.169339,-0.087981],[0.172990,0.984279,0.035618],[0.080567,-0.050184,0.995485]]BHti?ſ 򅶿$?7?@%f]=ٔf Q-f>9dYh=jFyhjEj>tQ 5z5v㣊?Q 9z5vA)v(BQ Az :YxQ Ez9i`9)顑iikнIIU9@Q @Q@U<0@Qy^A-h{̽I1IIOU>ԙE EE)E"EP;*E :VEFA4ZEBE:襽ٱ:M}ML RAHRS rotation from veh to nav: [[0.981507,-0.169838,-0.088314],[0.173483,0.984204,0.035315],[0.080922,-0.049983,0.995466]]:Hh?@Cſƛ`4?`~?? G?`Y`?i:0@I:U^;:CYZByZIa=a= a=a= a=a= a=a= i=Mb@Mb@Mb@9999 99=y&1|?Zd;O?V-?Y=`;y=j==<9=@ =~A)99Y=A U;QbD]VD]fyef=%m@=ٔm[Q-m>9qYq=uFyq}:E}>yQ 55}r㣊?Q 95}@)}.BQ AT:Y=Q E ! bE%ʷG4jE%rO4rE%0E-  E- E- -E) "E- V;*E- :VE- t4ZE) a= @a= @a= @a= @霢,?A:r@:3>:祽ٱ:cO BAHRS rotation from veh to nav: [[0.981395,-0.170429,-0.088414],[0.174113,0.984078,0.035714],[0.080920,-0.050444,0.995443]]:H@g?@ſPQI?}?`)I?'?ө?i:r@I:n^;8YJByJIbDRVDRk2yZY>%ZW=ٔZ6Q-^>9\Y\=bFy`b:Eb>dQ 5j5f㣊?Q 9j5f?)f3BYhyj?Q Inf@fC|If:ifdi5z9)199i9i9AEνIAIAUe>iU>9@ @@4@@p=@=)BA<B%>B!B%IB%BB!B!B!B%uu;B%/Ea^A OνII)O=>ԁ 4Ȩ,դ?AJ@J5>JٱJR RAHRS rotation from veh to nav: [[0.981080,-0.172322,-0.088241],[0.176060,0.983705,0.036441],[0.080524,-0.051287,0.995432]]JHe? ƿ `%?z?d?7?`VB?iJ@IJ^i^;HYZByZII\)^=b=b=bDfVDfEr Er Er)Ep"ErUS;*Er:VErFA4ZEpBErY9|Y=Fy(;E> Q 55 ⣊?Q 95 >) 8BYy?Q If@ CI ;i n; Ap5y!ɮ%YA)qDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd E@ZAZAZAZE ?) />ii9)页v33iiʽIIԩ;9% 9@)  @) @- -0@) ^AM lͽIY Ii Ou >A,?AXY 7ByIiMb@Mb@Mb@ 9/$/$?y&1?Yy,>`<hAA  A)h@YAae@AbDmVDmfy}>%}%=ٔ}Q->9Y=FyE>Q 55࣊?Q 95<)Q E;y?Q If@CI&:i ;t5yɮVADzD?AE& E E/E"E8^;*E:VEJ4ZEa@a@a@a@DNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBddjdZd@PE@Z-/>Z-/>Z-?Z-?9)9 =L=i=$9)AEAiAiIIM#˽IIIQ9@ @@@4@ ^ABʽI I O- >1 B B B IB 3BB B B B xu;B /Ee,|ڎ?A2+@2D;>2ԣٱ2"X :AHRS rotation from veh to nav: [[0.980180,-0.177461,-0.088061],[0.181277,0.982722,0.037351],[0.079911,-0.052574,0.995415]]2H]? ƿ%4?`vr?`?u? 몿o?i2+@I2;$^;0YB@ByBIbDJVDJN2yRN=%Ro=ٔV:Q-V?9TYT=ZFyXZz~<EZ?\Q 5b5^ߣ?Q 9b5^j;)^?BYdyf[?Q Iff@^CI^:i^|:^w5yhɮjAh9}DNOT Ignoring new targets: 41.39 m.hyhy*hy"h hgfffddjdZd F@ZZZZ[?ԣ) ̉=i9)U2iiII!@ @@/@@gA@hAiE EE.E"E*Eu:VEـ4ZEBE <,?A2b @2>>2עٱ2Z :AHRS rotation from veh to nav: [[0.979633,-0.180578,-0.087815],[0.184420,0.982122,0.037747],[0.079429,-0.053173,0.995421]]2H&Y?`*ǿ@ {?m?S?sU?9}?i2b @I2OV^;2CYBKByBI DDDDi5Mb@Mb@Mb@1111 195{Gzti|?5?5t<15VA 5~A)5@1Y1bDMVDMyUW=%]?=ٔ]`:Q-]>9aYa=eFyam;Em>iQ 5u5ԹmDݣ?Q 95m8)m>BYq>Q E`;ym?Q If@mCIm[Zq>Z?Zm?ע) L=i/9)Y2i!i!)-r`I)II9@ @@@E< EE+E"E,r;*EL:VE [4ZEa @a @a @a @^A $ӿI I) O5 >9 wã,j?A6#'@6CB>6c8ٱ6\ BAHRS rotation from veh to nav: [[0.979018,-0.184153,-0.087246],[0.187989,0.981438,0.037939],[0.078640,-0.053544,0.995464]]6H@T?@Pǿ U?g?@l?!?`)j?i6#'@I6\^;6CYFFByJI R49\Y`=bFy`bW<Eb>dQ 5v5fۣ?Q 9~5f}6)dY|y?Q If@fȲCIfa;if;f~5y ɮ A 5DNOT Ignoring new targets: 41.39 m.h1h1*h1"h9 h9g9f9fAfAdAdAjdIZdM|F@ZiZiZiZm?}c8) =i9)顅3iiwIIM9@I @Q@U/@QABBB!IB`BBBBBCu;B/E^Au:IIO>qԩ E = E E ,E "E s;*E :VE g4ZE BE 2+ٱ2'] :AHRS rotation from veh to nav: [[0.978412,-0.187711,-0.086451],[0.191523,0.980750,0.038068],[0.077641,-0.053804,0.995529]]2H'O?ȿ@!Ӄ?Lb? }?B? 0^?i2D@I2^;2CYBJByBIbDJVDJ1yU<%UA=ٔU;Q-U>9YYY=]FyYe <Ee>iQ 5u5m٣?Q 9u5m3)m=BYqyuY?Q I}f@mղCIm ;imH;mQ5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZdF@ZZZZMY?+) >=i'9)N3ii   aI I I!)!q59@9 @9@= 0@A@]=@]=ԡ^AmOoIyIO> У,>B?A6]@6I>6,'ٱ6v] FAHRS rotation from veh to nav: [[0.977895,-0.190755,-0.085640],[0.194538,0.980152,0.038166],[0.076660,-0.053982,0.995595]]6HJ?jȿ{쵿?h]?`y???i6]@I6M^;6CYb>BybIIf<)f=iMb@Mb@Mb@ 9{GzRQ?I +Y#y>94A )VAYQAbDVDyd%D=ٔl;Q->9Y=Fy;E>Q 55ף?Q 9521)7BYȂ>Q EO;yC?Q If@CI ;i ;5yɮ!AEG EE/E"E&|;*E:VEJ4ZEa@a@a@a@DNOT Ignoring new targets: 41.39 m.hh*h"h hgfff.BddjdZd@;F@Z-Ȃ>Z-Ȃ>Z-7?Z-7C?],')a eB >B B :IB uBB =B B B ;u;B /EBiBiBiBm =Bm =CmB>5Q ֣,#\?A2fw@2`KL>2ٱ2] :AHRS rotation from veh to nav: [[0.977361,-0.193884,-0.084704],[0.197619,0.979538,0.038108],[0.075582,-0.053984,0.995677]]2H@F?0ȿ@$`K?`X?肣?VY?ף@?i2fw@I2_;2CYV=ByVIbDVD y-Է%-T=ٔ5c7;Q-5>99Y9==Fy9=<EE>AQ 5M5Eգ?Q 9M5E.)E2BYQyU?Q IUf@ECIE<;iEj;EW5y]:BɮeAeOEDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZdG@ZZZZy?)  =wh>=CGliA 5 d;9= liAY= *Aԉ ܣ,u?A4J@JR>JeٱJ[ VAHRS rotation from veh to nav: [[0.976295,-0.200031,-0.082680],[0.203630,0.978326,0.037583],[0.073370,-0.053528,0.995867]]JH=? ɿ}*?sN?`>?`^Ȳ?h%?iJ@IJ_;JCYZ,ByZIiuMb@Mb@Mb@qqqq q9u:vv?YuTyux>u̼u~AuA u A)u~@qYuzAbDVD:yڜ%D=ٔ;Q->9Y=Fyjp<E>Q 55ӣ?Q 95,)*BYz>Q EX;y?Q If@CI ;i ;5yɮkADNOT Ignoring new targets: 41.39 m.hh*h"h hgfff"BddjdZd NG@Z-z>Z-z>Z-4?Z-?=e)A Ei]>ԑ9@ @@g3@@@gAԹ^AܪII)O=>E6 EE+E"El;*E:VE [4ZEa@a@a@a@ J,Џ?AB@BU>BsٱBR[ NAHRS rotation from veh to nav: [[0.975878,-0.202497,-0.081592],[0.206035,0.977827,0.037474],[0.072194,-0.053380,0.995961]]BH@d:?pɿ/㴿[_?[J?/?O{?T?iB@IB__;BCYRByVI TTXZA`bDbVDbyj!%jX=ٔjEL;Q-j>9lYl=nFylr;Er>tQ 5z5vѣ?Q 9z5v))v"BYxyz?Q Izf@vCIv:iv:vK5yɮA-DNOT Ignoring new targets: 41.39 m.h)h)*h1"h1 h1g1f1f9f9d9d9jdAZdE`iG@ZaZaZaZe?us) #i#9)s3iiPII 9@ @@/@^AஜIIO$>BM>BM CBIBIBM =BIBIBM6u;BIA E , E E .E "E c;*E :VE ـ4ZE BE tzRٱzY -AHRS rotation from veh to nav: [[0.975451,-0.204973,-0.080512],[0.208430,0.977334,0.037090],[0.071085,-0.052960,0.996063]]zH6?<ʿo ح? QF?k?2?@ ?iz@Iz;I_;zCY=By]I qqbDVDNyB%;=ٔ';Q->91YI=MFyIU;E]>aQ 5m5eϣ?Q 9m5e')eBYqy}t?Q If@eCIe;ieJ;e>5y;BɮXANEDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZdG@ZIZIZIZM6t?R) i9)!Q%m3YiYi%II@ @@@y^A I I ԡ O >,Ï?Av@vaY>ve ٱv:=X ~AHRS rotation from veh to nav: [[0.975169,-0.206800,-0.079242],[0.210180,0.976966,0.036901],[0.069785,-0.052640,0.996172]]vH4?kxʿ`/I`*?NC??@tݱ??iv@Ivks_;tY By IyiMb@Mb@Mb@ 9~jth(\?lYDyG>hA@  A)@YAbDVDyү%K=ٔ,T;Q->9Y=Fy9;E>Q 55]Σ?Q 95%)BYDK>Q E;y?Q If@CI:i':5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h h!g!f!f!f%Bd)d)jd)Zd- G@bEt4jE^n4rEf0E? EE/E"Et;*EA:VEJ4ZEa@a@a@a@ZDK>ZDK>Z?ZT?e )! %L=i%A9)!%U3!i!iiquxIqIqԩ!@! @!@!@!@-=@-,>^AM <IQ Ii Ou > BE >BE CBE IBE [BBA BA BA BE u;BE /E,tݏ?A6@6Z>6}ٱ6 V BAHRS rotation from veh to nav: [[0.974928,-0.208410,-0.077976],[0.211700,0.976652,0.036519],[0.068545,-0.052111,0.996286]]6H2?@/ʿB?`@?@?)? ;?i6@I6_;4YFـByFzIIL)N=bDRVDR0yZJ%Z\=ٔ^[;Q-^>9\Y`=bFy`b ;Eb>dQ 5j5fͣ?Q 9j5f?#)fBYlynF?Q Inf@f(CIf{;ifw;fܚ5ypɮrApmDNOT Ignoring new targets: 41.39 m.hqhq*hq"hq hqgqfqfyfydydyjdZd@H@ZZZZF?}) i9)iiII9@ @@/@E: E-E.E"E\p;*EK;VEـ4ZEBEm)Y +,!??A2F@2`\>29hٱ2 S :AHRS rotation from veh to nav: [[0.974773,-0.209525,-0.076917],[0.212736,0.976441,0.036151],[0.067530,-0.051602,0.996382]]2H X1?ʿӰ:???`p?@I?@k@\?i2F@I2}_;0YBЀByBpIi Mb@Mb@Mb@     9 /$?Q롿Y y 1> \  ~@ ~A) ~@ Y A!%AAbD%VD%y5_ %5C=ٔ=;Q-=>99YA=EFyAE#;EE>IQ 5U5M4̣?Q 9U5M!)MBY >Q E;y?Q If@M/CIMeZ >Z?ZU?9h) `=i9)J2iiII 9@ @@ 0@aԉDD%=E+ E7E)E"Eb;*E ;VEFA4ZEa@a@a@a@^AII O > ^,3?A6@6\>6 ٱ6Q BAHRS rotation from veh to nav: [[0.974738,-0.210135,-0.075694],[0.213260,0.976340,0.035784],[0.066384,-0.051022,0.996489]]6H 1? ʿ``L?->?FR??`9\Y\=^Fy\bA:Eb>dQ 5j5f`ˣ?Q 9j5f )fBYhyj?Q Ijf@f6CIfl:if:f5ypɮr,Ap DNOT Ignoring new targets: 41.39 m.h h *h "h hgfffddjd!Zd%@mH@ZAZAZAZE?U )Q UxBBIB.BBBBBu;B/E^A؎I!I9OEs> E  E ;E +E "E W;*E ;VE [4ZE BE D2%ʅٱ2GO :AHRS rotation from veh to nav: [[0.974855,-0.210012,-0.074520],[0.213065,0.976389,0.035618],[0.065281,-0.050600,0.996583]]2H2?ʿ`E?@>? 9iYq=uFyq}E>Q 55vʣ?Q 95)BYy?Q If@=CI2;iF;5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZdҸH@ZaZaZaZe>?%ʅ) Fi9)顽QiijII@ @@4@9^AxIIO>i &,gD?AYBy*IiMb@Mb@Mb@ 9{Gztp= ף?Zd;OYףy=jAh@ hA)h@YA p<;bDVDN2yz%D=ٔQ->9Y=FyE>Q 55ɣ?Q 95e)BY=Q E? B B B IB BB =B B B vu;B /EP,*^?A2@2`Z>2ٱ2M :AHRS rotation from veh to nav: [[0.975317,-0.208632,-0.072309],[0.211572,0.976712,0.035637],[0.063190,-0.050056,0.996745]]2H5?rʿ҂?:A???2-?V?i2@I2_;2CYBByBIbDJLVDJyV.%V_=ٔV;Q-Z>9XYX=ZFyX^XE^>`Q 5f5b[ɣ?Q 9f5b)bBYdyf?Q Ijf@bCCIb:ib :b}5ylɮnAlDNOT Ignoring new targets: 41.39 m.hh *h "h  h g f ffddjdZdxI@Z9Z9Z9Z=?M)I U=iU!9)QUrL3QiQiDII9@ @@/@@=@>E%' E%,E%)E!"E% _;*E%;VE%FA4ZE!BE%) ,{,Dx?A6@6@Y>6]ٱ6Z{L BAHRS rotation from veh to nav: [[0.975589,-0.207687,-0.071355],[0.210579,0.976927,0.035649],[0.062305,-0.049805,0.996814]]6H@8? {ʿRD??B?@?i?`?i6@I6K_;6CYFzByFIIJC=)J<|iMb@Mb@Mb@ 9Mbp?Q?y&1|Y;yu<` A)Y AbD5VD50yE%EA=ٔE ;Q-M>9IYI=MFyIUZEU>YQ 5e5]gɣ?Q 9e5])]BYeE- - E- E- .E) "E- d;*E- :VE- ـ4ZE) a= @a= @a= @a= @y `$,]?AB@B@X>BU{ٱBɎK JAHRS rotation from veh to nav: [[0.975865,-0.206709,-0.070417],[0.209556,0.977145,0.035687],[0.061431,-0.049582,0.996879]]BHI:?ruʿ@? D?@E?s?bn?iB@IBX_;@YrsByrIxzBAbD~VD~0y-# %-L=ٔ-n;Q-->91Y1=5Fy1=-YE]>aQ 5m5erɣ?Q 9m5ex)eߊBYqyu5?Q Iuf@eECIe:ie:e5yyɮ}BADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd@I@ZZZZ5?U{) =i9)  3 i i!%I!I!ԉBBB_IBÀBB =BBBnu;B/EBYBYBYB] =B] =C]H49@ @@/@Ա^AbbII O > EE & EE #EE -EA "EE 8^;*EE ;VEE t4ZEA BEE B#"xٱBK NAHRS rotation from veh to nav: [[0.976101,-0.205907,-0.069496],[0.208715,0.977320,0.035828],[0.060542,-0.049477,0.996939]]BH79!Y!=%Fy!-E->1Q 5]55~ɣ?Q 9]55L)5݊BYYy]'?Q I]f@5FCI5;i5:5|5yiɮmMAiDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd@1I@ZaZaZaZeI'?#"x) =i 9)  @4 ii!9EoIIy@y @y@}/@y@@gA^A I I O >A s1,3Ɛ?A2{@2V>2uٱ2AK :AHRS rotation from veh to nav: [[0.976347,-0.204956,-0.068852],[0.207742,0.977521,0.036014],[0.059922,-0.049466,0.996977]]2H@;>?;ʿ@`H? G?vp?'?S;?i2{@I2E|_;2CYBsByBI DDi Mb@Mb@Mb@     9 ~jt?y&1|Mbp?Y 9AYA=EFyAE/EE>IQ 5U5Mʣ?Q 9U5MS)MފBY]i9)4&4ii{IIE E%E*E"EV;*E;VE(N4ZEa@a@a@a@iIA@ @@0@Aq^AKsIIO>B >B B 4IB BB =B B B u;B /Eԡ 7,ߐ?A6H@6U>6tٱ6K BAHRS rotation from veh to nav: [[0.976565,-0.203974,-0.068676],[0.206767,0.977717,0.036291],[0.059743,-0.049640,0.996979]]6H@@?ʿ Tw?@uI?@? ?@gj@?i6H@I6A_;6CYJpByJI PPbDVVDVyZH%^S=ٔ^9Q-^>9`Y`=bFy`f)Ef>dQ 5j5fʣ?Q 9n5fZ)fBYlynQ Inf@fHCIf ;if ;f&5ytɮvVAtDNOT Ignoring new targets: 41.39 m.hh*h"h hgff!f!d!d!jd!Zd-<J@ZIZIZIZMї@]t)Y e >ie9)amrG4iiiiqyBIIqM9@Q @Q@U4@QԡE + E E -E "E b;*E :VE t4ZE BE ! o=,?AZ.@Z`T>Z':uٱZmL rAHRS rotation from veh to nav: [[0.976713,-0.203226,-0.068782],[0.206038,0.977862,0.036537],[0.059834,-0.049858,0.996962]]ZH;A?@Pʿ u_?J???@?iZ.@IZr^;XYzzByzIiMb@Mb@Mb@ 9~jtx?Mbp?I +?Y;y;9<h@ )YAbD VD y%*=%/=ٔKQ->9Y=FyкE>Q 55ʣ?Q 95G)BYiU9)Y]k4YiYiaae ~IaIi@ @@4@@=@=bEg4jE|a4rE^0E * E E .E "E a;*E :VE ـ4ZE a% @a% @a% @a% @^A% t) I1 II OU >D,?A2@2@T>2)uٱ2wL >AHRS rotation from veh to nav: [[0.976782,-0.202912,-0.068729],[0.205725,0.977925,0.036602],[0.059785,-0.049891,0.996964]]2H A?ɿ64U?)K?|?@? \ ?i2@I2f];0YBByFIIJ<)J;bDNVDNyV=%Vr=ٔV9Q-Z?9XYX=ZFyX^yE^?`Q 5f5bˣ?Q 9f5b:)bBYhyjl?Q Ijf@bICIb:ibp:b25ylɮrApeDNOT Ignoring new targets: 41.39 m.hihi*hi"hi higififqfqdqdqjdZdJ@ZZZZsl? )u)  >ip9)41i1i99=ٙIAIAQ@ @@/@BM>BIBM'IBMBBM =BIBIBMu;BM/Ey^A5XIAIYOe>ԩ E%  E% E% +E! "E% V;*E% A:VE% [4ZE! BE% 9Y=FyE>Q 55!ˣ?Q 95()BYyQ If@I:i :5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hg f f f ddjdZdPJ@Z1Z1Z1Z1I)I MN&>iMb9)IU44QiQiYY]˙IYIaԩ@ @@@^A-*I9IIO]> Q,]G?A6#@6T>6qٱ6KL >AHRS rotation from veh to nav: [[0.976763,-0.203259,-0.067963],[0.206043,0.977852,0.036766],[0.058984,-0.049915,0.997010]]6HA? bʿ f_?J? Ӣ?63? ?i6#@I6Fr];6CYFByF0IliMb@Mb@Mb@ 9{Gz?kt?/$?Yף9IYI=MFyIUS:EU>YQ 5e5]pˣ?Q 9e5])]BYmpT=Q Emi>E EE*E"EN;*E:VE(N4ZEa@a@a@a@ i@i @i@m/@i@q@uhA9^AIIO>B- >B) B- 4IB- BB- =B) B) B- Ju;B- /Ea W,8a?A2@2@VU>2pٱ2;M :AHRS rotation from veh to nav: [[0.976696,-0.203703,-0.067608],[0.206478,0.977755,0.036899],[0.058588,-0.049999,0.997029]]2H@A?ʿ`N`m?`I?l?2?j ?i2@I2a];2CYBByBKI DDbDJVDJ0y-i=%5L=9ٔ5:Q-E>9IYI=MFyIU:EU>aQ 5u5eˣ?Q 9u5e-)eBYqyu?Q I}g@eNCIe"\;iem;e5yɮEADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffddjdZd$K@ZZZZ?p) &>iM9)!%!i!i))-nI)I) @  @ @ /@ iE E E/E"EmR;*E:VEJ4ZEBE ^,!{?AJ@JvV>JoٱJL RAHRS rotation from veh to nav: [[0.976483,-0.204796,-0.067383],[0.207555,0.977531,0.036794],[0.058334,-0.049914,0.997049]]JH`X??6ʿ@`&?G?֢?ݭ?@W`?iJ@IJݵ];JCYZĀByZaIiuMb@Mb@Mb@qqqq q9uy&1|EԸ?y&1?Yu`yu=u`9Y=Fy,;E>Q 55ʣ?Q 95$)BYC=Q ED<D<E  E E -E "E X;*E :VE t4ZE a @a @a @a @ d,?A2[@2W>2mٱ2 L :AHRS rotation from veh to nav: [[0.976231,-0.206077,-0.067114],[0.208823,0.977262,0.036777],[0.058009,-0.049918,0.997067]]2HI=?`ʿa.? E? xԢ? Z?`܎?i2[@I2 ^;2CYBրByBwIbDJVDJ1yR=%R]=ٔVf:Q-V>9TYT=ZFyXZCe;EZ>\Q 5b5^ɣ?Q 9b5^9)^BYdyf?Q Ifg@^XCI^=:i^ :^5yhɮj(Ah~DNOT Ignoring new targets: 41.39 m.Resuming propulsion at range: 41.60 m and bearing: 236.647318 deg. Not drifting fast enough.rh6+@hG}?h *h "h  h L?g f ffddjdZdK@Z9Z9Z9Z=?ɢMҚ<)U` U=iU9)QUJE3UiU ,ǻi>kRIG}?IAi@i @q@u4@q@}=@}=B<A4=BBBSIBBBBBBu;B/E!^AUPIyIO>Qy E & E E (E "E 8^;*E :VE c44ZE BE RlٱRc&M ^AHRS rotation from veh to nav: [[0.975931,-0.207534,-0.066999],[0.210276,0.976950,0.036778],[0.057822,-0.049981,0.997075]]RH:?}ʿ&S?,C?Ԣ?ݚ?@ ?iR@IR˪^;PYbՀByfuIIf<)fR=bDn VDn2yvͻ%vF=ٔv9Q-z>9xYx=zFyx~k;E~>Q 5 5ȣ?Q 9 52)BY y ?Q Ig@]CI:i:r5yɮ3AEDNOT Ignoring new targets: 41.39 m.hAhI*hI"hI hIgIfIfQfQ1:U tUAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyq:UtU1IIQ@ @@s4@^AmIIO%,>ԁԩ r, ȑ?A2@24[>2ctlٱ20M :AHRS rotation from veh to nav: [[0.975547,-0.209347,-0.066946],[0.212083,0.976563,0.036690],[0.057696,-0.049991,0.997082]]2H`7?ʿ a#%?`@?ɢ?X?`h?i2@I2E(_;2CYnBynIieMb@Mb@Mb@aaaa a9e~jth?㥛 ?/$?YeD;ye>e9Y=Fy;E>Q 55ǣ?Q 95)BY>Q E;y?Q Ig@eCI':iG ;(5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBdddjdZd?K@Z>Z>Zn?Z ?E5 E)E*E"Ek;*E0;VE(N4ZEa@a@a@a@Bɢq) p]i)窸ic_ӻi>S;II9@ @@ 0@^A  I I) O= >B >B B IB ܀BB =B B B t;B /EBBBBBC.Z59 9x,À⑾?AV@V u]>V'lٱVL fAHRS rotation from veh to nav: [[0.975082,-0.211502,-0.066942],[0.214229,0.976102,0.036494],[0.057623,-0.049926,0.997089]]VH3?˿#k?@99qYq=}Fyy}3;E}>Q 5%5ƣ?Q 9%5) BY!y%?Q I-g@mCI:i:5yAɮEGAAeB*** querying acoustic contact ***ia iauDNOT Ignoring new targets: 41.39 m.hqhq*hq"hq hygyfyfyfydddjdZdQ.L@ZZZZ?颽Bɢ) ,i)izٻi ?1II uh>uېCE3 EE.E"Ej;*Ej:VEـ4ZEBEf~,g?A fey8fi_>f lٱfM nAHRS rotation from veh to nav: [[0.974673,-0.213354,-0.067024],[0.216090,0.975689,0.036556],[0.057596,-0.050113,0.997081]]fH0?`-O˿@(ը?8?@l?0}?m`?ifey8IfH~`;fCYvByvI xxiMb@Mb@Mb@ 9MbPK?Mb?Yy^:><~AA ~A)AYAbDVDy<%C=ٔu8Q->9Y=Fy;E>Q 55sţ?Q 95*)Y:>Q E;y?Q Ig@vCI:i:N5y ɮ A *DAT read: user:207> BDAT read: Tx time:04:51:19.0791 %$Ping request sent.%Z:>Z?Z?额$Bɢػ) i)T顡ie޻iK!? IIiΒ%9@! @!@%/@!^A.IIO%M>ԑE2 E E)E"Ei;*E:VEFA4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250672 L,7?A6;6a>6lٱ60M >AHRS rotation from veh to nav: [[0.974159,-0.215609,-0.067280],[0.218350,0.975192,0.036375],[0.057769,-0.050125,0.997071]]6HO,?˿@K9`?4?ୟ?ݓ??i6;I6 a;6CLYRByRI Zp9hYh=jFyhn<;En>pQ 5v5r/ģ?Q 9v5rq)r BYtyz?Q Izg@rCIr:irt:r5y|ɮ~A|%DNOT Ignoring new targets: 41.39 m.h!h)*h)"h) h)g)f)f1f1d1d1d1jd9Zd=`L@ZaZaZaZe?u5Bɢu9)q }xiy)}bTyyi}i4?IIBqBqBuIBuBBqBqBqBut;Bu/E5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503654#2U9@Q @Y@]/@Y^A-9IIO>! E * E E *E "E a;*E :VE (N4ZE BE 2Pnٱ2M :AHRS rotation from veh to nav: [[0.973619,-0.217892,-0.067748],[0.220647,0.974682,0.036178],[0.058150,-0.050171,0.997046]]2H`'?`˿W+>?@0?ۅ?@ŭ? ?i2{;I2fa;2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754862YFByFIbDRVDRyZ%ZL=ٔZyQ-Z>9\Y\=^F|y9]3;E]>aQ 5m5e£?Q 9m5e{)aYiyu>?Q Iug@eCIe:ie|:e45yyɮ}AyDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffdddjdZd@L@Z)Z)Z)Z- >?}JBɢYR) =i)t顁iDi*`L?II)Y9@ @@@@=@>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006786ԁ ^AU ;I9 II OU >ޒ, L?A,>x;>^f>> pٱ>M FAHRS rotation from veh to nav: [[0.973057,-0.220237,-0.068233],[0.223002,0.974158,0.035872],[0.058570,-0.050121,0.997024]]>H`H#?`0̿w`Q? M,?]???i>x;I>oa;>CYjByjIInR=)n]Y]VA ]A)YYY]zAbD}VD}0yܡ=%0=ٔmQ->bET4jE^4rES0E$ EE-E"Eg\;*E:VEt4ZEa@a@a@a@9Y=Fy.;E>Q 55?Q 95C)BYG>Q E;y?Q Ig@CI:ij:5yu4BɮuAuEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258873DNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBdddjdZdL@ZG>ZG>ZnO?Z?_BɢV) >Bi)c $ifi%d?!!IAIIԉ9@ @@.0@^A?II)O=P>BiBiBmIBmBBm =BiBiBm[u;Bm/E E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510800,Ae?A2<2h>2qٱ2N :AHRS rotation from veh to nav: [[0.972561,-0.222270,-0.068710],[0.225051,0.973693,0.035703],[0.058967,-0.050186,0.996998]]2H8?Us̿u?}(?@G?0?g?i29XYX=ZFyX^;E^>|Q 5 5/?Q 9 5b )BYy?Q Ig@CIN:ig:o5yɮA!eDNOT Ignoring new targets: 41.39 m.hihi*hi"hi higififqfqdqdqdjdZd,M@ZZZZ?pBɢ=fщ)9 =ai9)ENAAiEiMD6t?IIIIII 9@  @ @5@1E E E+E"EUS;*E:VE [4ZEBEY>Qԉ Q/,?A2Q:<2j>2 sٱ2N :AHRS rotation from veh to nav: [[0.972060,-0.224281,-0.069261],[0.227077,0.973231,0.035446],[0.059457,-0.050183,0.996969]]2H??̿?`$?@&?(q?*?i2Q: u  A   A) A Y pAbDEVDEy]a׻%]2=ٔe勺Q-e>9aYa=eFyam ;Em>qQ 5}5u ?Q 9}5u* )uBYC>Q E;yZ?Q Ig@uCIu:iu":u`5yɮA5DNOT Ignoring new targets: 41.39 m.h1h1*h1"h9 h9g9f9fAfEBdAdAdAjdIZdMgM@ZmC>ZmC>Zm ?ZmZ?}Bɢ) i)顁ii8?IIԉ!@! @!@%4@!@-fA@)^ABIaIqOY>ԱE EE,E"EM;*E:VEg4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266789 %,?AY~By~I   AbDVDy%gǽ%%a=ٔ%Q-->9)Y)=-Fy)5E5>9Q 5E5=!?Q 9E5=`)=BYAyAQ IMg@=CI=:i=V:=5yQɮU@AQԱDNOT Ignoring new targets: 41.39 m.hh*h"h hgfffdddjdZdM@B>BBIB#BB =BBByu;B/EZIZIZIZI]Bɢ];Ѽ)a eia)eaaieiim>u?iiIqIq9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520216^AIIO>E  E E -E "E N;*E 4:VE t4ZE BE nhz<>n>>}wٱ>HP RAHRS rotation from veh to nav: [[0.971115,-0.227981,-0.070436],[0.230844,0.972343,0.035502],[0.060394,-0.050736,0.996884]]>H^?y.Ϳ L?n?B-??@ z?i>hz(Ta;>CYZByZI b49pYp=rFypr!<Ev>tQ 5z5v?Q 9~5vo)vBYy ?Q I g@vCIvܜ;ivI;v5y!ɮ%TA!MDNOT Ignoring new targets: 41.39 m.hQhQ*hQ"hQ hQgQfQfYfYdYdadajdaZde'M@ZZZZ]?额Bɢ!) i)N˺顡ii?II59@1 @1@1@1I%BDAT read: Rx Time:04:51:21.5452 -TRx dataTimestamp_ set to:1761540683.0368785checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025183^A9AMC=AIqA 2AI I O >ԙ ),FC͒?A2F<2|p>2rٱ2pr :AHRS rotation from veh to nav: [[0.970728,-0.229347,-0.071321],[0.232755,0.971552,0.043731],[0.059263,-0.059051,0.996494]]2H4?>[ͿB@??c?W?@; H?i2F=D= A=A = A)=A9Y=GAbDUVDUye%eA=ٔm/;Q-m>9m?Ym?=mFyu[Eu;Eu>E EE*E"EQ;*E:VE(N4ZEa@a@a@a@Q 55?Q 95)BYs+>Q E;y?Q Ig@óCI ;iL ;5yɮADNOT Ignoring new targets: 41.39 m.hh*h"h hgfffBdddjdZd@M@BɢK) ׾i)%.!!i%#i-?))I)I1}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274716yI@I @I@M/@I@U=@U=ԱB5>B5 CB5IB5BB5 =B1B1B5Xu;B5/E^AA DAT read: 04:51:21.5452 LVL= 32752, 21121, 25330, 32755, AGC= 56, IDX= 487,-0.18,-2.771,-0.820,-1.352,-1.251, PHS=-1.419, 0.476,-0.145, RAW= 288.7, 12.9, CAL= 286.3, 20.1, ROT= 223.7, -20.1  Ygot valid direction response: 04:51:21.5452 LVL= 32752, 21121, 25330, 32755, AGC= 56, IDX= 487,-0.18,-2.771,-0.820,-1.352,-1.251, PHS=-1.419, 0.476,-0.145, RAW= 288.7, 12.9, CAL= 286.3, 20.1, ROT= 223.7, -20.1  PDAT read: Bearing 321.0, -45.1 (Local) A I I O% >= ~Local bearing/azimuth received: Bearing 321.0, -45.1 (Local) M DAT read: Range 11 to 50 : 46.5 m (Round-trip 62.0 ms) speed -0.2 m/s M R#Rx 1: Read range and direction messages.U `direction in FSK: [-0.678934,-0.648804,0.343660]U Fpublishing direction and range infoy1 5 zԹ忙e7俱"??Y5 :B1 5 5 R5 b 1 )5 8I5 ˡi5 F>5 z5 =@1 5 l@ 1 )5 y@I1 1 1 5 ^JgFVW?Քs? 5 F~<@)5 fbgI5 ?i1 1 1 S,y璾?A~j<~Jq>~!qٱ~2m AHRS rotation from veh to nav: [[0.970599,-0.228795,-0.074768],[0.233400,0.970528,0.060001],[0.058836,-0.075688,0.995394]]~H%?(IͿ@# ? ?@s??D`E?i~j)=bDVDy:%D=ٔ~:Q->9Y=Fy_EG:E>Q 55g?Q 95)BYy?Q Ig@̳CI:i:T5yɮAiaieⒾ?AJie9BRie9BjieMH@bepi?,>]urG/@RezԹ忙e7俱"??Zie?biaje8óAee@0@ZeF(k$|¬z?2ie :ie|"ie󥎛?*ieXBieYBiew?ie[JieCBie\,Biev@M addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 60.248618 s, deltaX: 4.900002 m, approachRate: 0.081330 m/s, rangeRepo size: 4 e Added new target pos. range: 46.269421 m, bearing: 235.060280 deg, lat: 36.779313 deg, lon: -121.859507 deg, deltaT: 60.248618 s, deltaX: 4.875343 m, approachRate: 0.080920 m/s, posRepo size: 4 eDNOT Ignoring new targets: 46.27 m.haha*ha"hi higififqfqdqdqdyjd}@G@Zd} *T?颵́Bɢƙ))c i)\iyiG}?IIEC EE-E"Ex;*Ej:VEt4ZEBEzi=,?AJ\J6rٱJ踽 zAHRS rotation from veh to nav: [[0.970552,-0.227806,-0.078318],[0.233531,0.969537,0.073894],[0.059099,-0.090008,0.994186]]JH@?(Ϳ Y?@s??=B? _?iJ\T Ah@ ~A)VAYzAAAbDVDFyǽ%F=ٔ'Q->9 ?Y ?= Fy bE9E>Q 5%5??Q 9%5\)BY%>Q E%;y%?Q I%g@ԳCI:i:5yɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgff f Bd ddjdZdg?EBɢE%)A E IiI)UX)6QQiU~iYYYIYIY=9@9 @9@E 0@AqD=D4=E E E/E"E%;*E:VEJ4ZEa@a@a@a@^Ae ԡ AU AIa Iq O > eƤ,F?A2,<2q>2Quٱ2Ǡ >AHRS rotation from veh to nav: [[0.970490,-0.227475,-0.080026],[0.233594,0.969214,0.077838],[0.059856,-0.094235,0.993749]]2H A?Ϳ |l? ?5?o? ?i2,9Z??Y^??=^Fy^fE^]9Eb>`Q 5f5b?Q 9j5b)bBYhyj?Q Ijg@bڳCIb:ib:b 5ylɮrApDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdM?AAAABBCBIBBB =BBB_u;B/EBBBBBCۭ5%Bɢ%:_A)! %i!)-h S))i-ni1QQIQIYԱ9@ @@4@@gA@gA^A5# G hA - b9- hAY- AA I I E A E AE *E "E v;*E ;VE (N4ZE BE E̤,ѭ4?A2@<2s>2 qyٱ2Ӌ :AHRS rotation from veh to nav: [[0.970151,-0.229054,-0.079630],[0.234739,0.969439,0.071316],[0.060861,-0.087880,0.994270]]2Hz ?QͿb@ ?`?`A?2)? M?i2@9Y=FyjE B=;E >Q 55?Q 95)݊BYyE?Q I%g@CI;iL;5y)ɮ-A)UDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hQ hYgYfYfafadadadajdiZdm>?颕Bɢ?O) m(i)[t顡iiII m99@ @@L0@a ^A ԑ E ? E 4E (E "E t;*E ;VE c44ZE a @a @a @a @A-0AI1IAOU>uԤ,R?A6)<6t>6!(}ٱ6c >AHRS rotation from veh to nav: [[0.969672,-0.231563,-0.078196],[0.236476,0.969738,0.060731],[0.061767,-0.077381,0.995086]]6H?@٣Ϳ`D??/?ܟ? >ϳ?i6)9?Y?=FynEp;E>Q 55p?Q 95)يBY >Q E;y?Q Ig@CI ;i ;5yɮgADNOT Ignoring new targets: 46.27 m.hh*h"h h g f ffBdddjdZd@2?EBiɢM/L)  )8i ) l]i9hiIIԡB>BBIBBB =BBBZu;B/EMjb9@ @@ 0@@=@= ^A Ew EuE-E"Eؓ;*E6,;VEt4ZEBE96xٱ6` >AHRS rotation from veh to nav: [[0.969031,-0.234420,-0.077629],[0.238839,0.969585,0.053481],[0.062731,-0.070366,0.995547]]6H M?zοx߳C?? a??@|?i69^?Y^?=^Fy^sEbT;Eb>dQ 5f5fٽ?Q 9j5fa)fՊBYhyj&?Q Ijg@fCIff;if;f-5ypɮrqApDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@-Bɢ]Y) Ci)ti3 iII  ԩu9@q @y@0@ ^A 1 A I I O >k,Fꐓ?AbE^n4jEf4rE30E>E E>AE>.E<"E>Vz;*E>;VE>ـ4ZEVꃽٱVV ^AHRS rotation from veh to nav: [[0.967685,-0.238962,-0.080518],[0.243809,0.968155,0.056854],[0.064368,-0.074648,0.995130]]VH`F?@Lοќ`5? !??hz??iVy=ף A )VAYA@AbDVDܲy3%#=ٔ2VQ->9Y=FyxEe(<E >Q 55£?Q 95)ԊBY[">Q E;yK?Q Ig@CI:i{:5y)ɮ-A)UDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hY hYgYfYfYfeBdadadajdaZdm@1k@额BBɢp) Si)ġĻ顡i2fiII9@! @!@%5@!ԙB>BBIBBB =BBB3u;B/E^Ae#A I I O > 76,Ԫ?AB|=B>BٱB NAHRS rotation from veh to nav: [[0.966929,-0.241411,-0.082273],[0.246637,0.967212,0.060585],[0.064950,-0.078873,0.994767]]BH@?ο`ɑ?`g???1 ?iB|=IBHH`;BCYRByR(IbD^VD^:2yfQ%f_=ٔjкQ-j>9lYl=nFyn{Er<Er>xQ 5~5zţ?Q 9~5z)zӊBYyK?Q Ig@zCIz ;iz/;z5yɮA]DNOT Ignoring new targets: 46.27 m.hYhY*hY"hY hagafafifidqdqdqjdyZd}&i @MSBɢM )I M^iQ)UڻQQiU:iYYYIYIE: E5E(E"E\p;*E ;VEc44ZEBEm9,Šē?AJ=Jā>JuٱJh VAHRS rotation from veh to nav: [[0.965967,-0.244888,-0.083294],[0.250208,0.966284,0.060761],[0.065606,-0.079534,0.994671]]JH@3?`XϿR`h??@ ?˰?Q\@X?iJ=IJd!`;JCYZBy^Ii=Mb@Mb@Mb@9999 99= r?kt?MbpY=C>y= ===7 A=h@ = A)99Y=AbDUVDU02yeM%eB=ٔm]̺Q-m>9mc?Yuc?=uFyuEu]<Eu>yQ 55}ˣ?Q 95}Y)}ԊBYV>Q E};ya,?Q Ig@}CI}E:i}:}s#5yɮFADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd @1颅eBɢޑ)  mi)顉i[iIIm9@i @i@m/@iaE' E$E)E"E _;*E;VEFA4ZEa@a@a@a@iߙIߙ^AԑI I O >% PExceeded connect timeout, disconnecting.Թ D,{ޓ?AB0B2 CB2lIB2̀BB2 =B0B0B2Zu;B2/EF$=FE>FٱF{ RAHRS rotation from veh to nav: [[0.964693,-0.249768,-0.083563],[0.254921,0.965228,0.057879],[0.066201,-0.077137,0.994820]]FH@?iϿ[d P?@&?@S?? F ?iF$=IF:`;FCYZByZI bDVDy%%-N=ٔ-ĺQ-->91Y1=5Fy5E=I<E=>AQ 5E5E@ѣ?Q 9M5E)AYIyM-?Q IMg@ECIE;iE;E&5y]2Bɮ][AYDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@uBɢѪ) \wi)> i]iII ԉ9@ @@@Թ^AFӅI I E 1 E (E (E "E 2h;*E ;VE c44ZE BE _ l,N?Aɰp;2(<=21>2wٱ2Q՘ :AHRS rotation from veh to nav: [[0.963198,-0.255477,-0.083557],[0.260416,0.963949,0.054642],[0.066585,-0.074391,0.995004]]2H?Yпd@??`? ?`H ?i2(<=I2-`;2CYBByBIbDJVDJyR#<%RS=ٔVQ-V>9TYT=ZFyZEZq<EZ>\Q 5b5^֣?Q 9b5^)^ՊBYdyf+/?Q Ifg@^$CI^d:i^|:^L*5yhɮn5AlDNOT Ignoring new targets: 46.27 m.hh*h"h hg f f f dddjdZd@EBɢE|)MX M:}iI)MŖIIiMϸiII@ @@/@@=@)^AI1IAOM>Q R,?AE27 E2!E2*E0"E2m;*E2:VE2(N4ZE0a6@a:@a:@a:@FL/V=Fr>FٱFT픽 NAHRS rotation from veh to nav: [[0.961507,-0.261738,-0.083651],[0.266527,0.962413,0.052206],[0.066842,-0.072492,0.995127]]FH ?Rпj?`?ź??ю?iFL/V=IF<`;FCYVByVIIZ%=)Zy5ף=55 A5;@ 5 A)11Y5zAbDMVDMP)ye?%e?=ٔeQ-m>9iYi=mFymEus<Eu>yQ 55}ݣ?Q 95})}׊BY\y>Q EY;y?Q Ig@}2CI}:i}:} .5yɮxA=DNOT Ignoring new targets: 46.27 m.h9h9*h9"h9 h9gAfAfAfEyBdIdIdIjdIZdM D@颽BɢM) i)&"i iIIQnManaging dock network, ignoring radio surface power off@ @@0@Be>BaBe_IBeÀBBe =BaBaBeu;Be/Ey^A- FӅI I ԩ O >{ ,D+?A6s=6[%>6=ٱ6֒@ JAHRS rotation from veh to nav: [[0.959537,-0.268746,-0.084046],[0.273457,0.960556,0.050537],[0.067150,-0.071475,0.995179]]6H? 3ѿ`S?@߼?ߩ?@0? 4L?i6s=I6+`;6CYzByzI @A AAbDVDy-<%5N=ٔ5KKQ-=>9AYA=EFyEEMB<EM>QQ 5e5Ut䣊?Q 9m5U)UيBYiym?Q Img@U>CIU=7;iUU";U15yyɮ}MAyDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@Bɢ) 3i)'/i-iIIEu! Eu(Eu'Eq"EuY;*Eu;VEu'4ZEqBEuլ c,E?AlYrByrIiMb@Mb@Mb@ 9K7A?bX9ȶ?~jtx?Y >yE=; Ah@ hA)@YAbDVDyᆼ%C=ٔQ->9Y=FyEE>Q 55-죊?Q 95)܊BYՉ>Q EE;y?Q Ig@LCI:if:,55y+Bɮ2AQQiUFiYYYIYIa }vE) E&E)E"E`;*E;VEFA4ZEa@a@a@a@9@ @@0@@@a ^A ?΅Bm >Bi Bm SIBm BBi Bi Bi Bm =u;Bm /EB% CB% CB!B% =B!C%5ԑ AM.AIaIyO>Ӧ,Id?A2:c=2ƅ>2>шٱ2 :AHRS rotation from veh to nav: [[0.954961,-0.284623,-0.083906],[0.289126,0.956121,0.047322],[0.066756,-0.069451,0.995349]]2H ?B7ҿ@z ?@?`:?@?DZ?i2:c=I2`;2CYBByBI DDbDJVDJ:yZ=%Z8=ٔZi:Q-Z>9^ ?Y^ ?=^Fy^Eb=Eb>dQ 5j5fI?Q 9j5f )fBYhyj!?Q Ijg@f\CIf:if:f 95y%)Bɮ%A%=EMDNOT Ignoring new targets: 46.27 m.hIhQ*hQ"hQ hQgQfQfy1fyd9d9d9jdAZdEe@mςBɢm,) i)P顙i,iIIS ֐CMGai@ @@N0@9YmAE]S E]8E],EY"E];*E] ;VE]g4ZEYBE]g,&~?AY~By~I p< 4<bDVDy%%%C=ٔ%Q-%>9)Y)=-Fy-E5E5>9Q 5E5=?Q 9E5=K)=BYAyAQ IEg@=jCI=l:i= :=<5yQɮUAQԙEDNOT Ignoring new targets: 46.27 m.hAhI*hq"hq hqgyfffddd)jd1Zd=hE@Bɢ%cx)! %i!)-b))i-i111I1I9aaaaԹEm B Em /Em &Ei "Em w;*Em Y;VEm 4ZEi a} @a} @a} @a} @ @  @ @ /@  ^AFӅA ?A  ?AB5<A5p<BM>BMCBMLIBMBBM =BIBIBMu;BM/EA1IQIaO?N?6ٱN^~T ZAHRS rotation from veh to nav: [[0.948848,-0.304940,-0.081842],[0.308763,0.950351,0.038713],[0.065973,-0.062003,0.995893]]NH@\? %ӿ ?`Fi?2ң?`?@;`[?iNw=IN!`;LYbBybIiEMb@Mb@Mb@AAAA A9El?&1?~jtx?YE>yE=AE~AE~@ E A)AAYEQAbDVDky0<%=ٔL:Q->9Y=FyE =E>Q 55?Q 95R)BYS>Q E);y%?Q Ig@CIC ;i:A5yɮA DNOT Ignoring new targets: 46.27 m.h h *h "h  h g f ffBdddjdZdR@MBɢMm|)Q U]iQ)UGvQQi]iYaaIaIa@ @@/0@E > E @E %E "E s;*E M;VE  4ZE BE Ē.,?A6R7=6>6 ٱ6h BAHRS rotation from veh to nav: [[0.945261,-0.316359,-0.079998],[0.319696,0.946955,0.032725],[0.065401,-0.056509,0.996258]]6H??`9?Կz`u?tM?`? !? W?i6R7=I6;`;6CYJByJIbDZVDZβyj}%j[=ٔr!:Q-v>9tYx=zFyzEz<Ez>|Q 55~_?Q 9 5~l)~BY y (?Q I g@~CI~-:i~g:~=E5y(BɮA>EEDNOT Ignoring new targets: 46.27 m.hAhI*hI"hI hIgIfIfQfQdQdQdYjdYZd]@颍Bɢ ׽) i)ʂ顑iiII@! @)@-4@1Q^AuyA I I O >ԡ D! zD! bE:4jEʊ94rE(0E- < E- -E- *E) "E- ,r;*E- K;VE- (N4ZE) a5 @a5 @a5 @a5 @~5, ה?AY~By~$IqiMb@Mb@Mb@ 9m??Y>y=A )~@YAAAbDVDkya<%==ٔQ->9Y=FyEE>Q 55?Q 95)BY>Q E;yz?Q Ig@CI$;i_;I5yɮA DNOT Ignoring new targets: 46.27 m.h h *h "h  hgfffyBdddjdZd%@@Bɢͽ) ȡi)}!i֊i!!!I!IIBm>BmCBmSIBmBBm =BiBmDBmt;Bm/Eԡy@y @y@}5@y^A A fAzA fA A ؟AI I O >;,?A6-~>6 >6<ٱ61 >AHRS rotation from veh to nav: [[0.936977,-0.341300,-0.074755],[0.343522,0.938956,0.018817],[0.063769,-0.043311,0.997024]]6H?տ##@B? ?@D?1S?`,?i6-~>I6j`;6CYFByF'IbDNVDN0yVze<%V]=ٔV;Q-Z>9Z"?YZ"?=ZFyZE^=E^>`Q 5f5b#?Q 9f5b)bBYdyj#?Q Ijg@bCIb|:ib:b;L5ylɮnAlDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdn @E8 EFE(E"En;*Ev;VEc44ZEBE۾a (B,W ?A2׭>2>29ٱ2 >AHRS rotation from veh to nav: [[0.932171,-0.354755,-0.072158],[0.356485,0.934220,0.012276],[0.063056,-0.037166,0.997318]]2HW?Mֿx? "?@#? u$?@k?i2׭>I2 (a;2CYBByF-Ii Mb@Mb@Mb@     9 V-?J +?Mb`Y >y =  ~A VA A) @ Y (AbD%VD%ky5<%5B=ٔ=;:Q-=>9= ?YE ?=EFyEEE=EE>IQ 5U5M.?Q 9U5M)MBY]z>Q E] ;y]?Q I]g@MʴCIM ;iMi ;MO5yaɮeoAi-DNOT Ignoring new targets: 46.27 m.h)h)*h)"h1 h1g19fQfYf]BdYdYdajdaZde :h!@颭:Bɢݸ߽) 4i)+i[iIIDD<E= E5E'E"Es;*E ;VE'4ZEa@a@a@a@a#2ԑ@ @@4@Bm >Bm CBm YIBm BBm =Bi Bi Bm ]t;Bm X/E ^A AII O>J,L*?A2:.%>2D>2l~ٱ2/ >AHRS rotation from veh to nav: [[0.927086,-0.368300,-0.069761],[0.369673,0.929132,0.007445],[0.062075,-0.032691,0.997536]]2H?8׿@۱?`s?h~~?Vȯ?ռ?i2:.%>I2?a;0YBByB;I |~<bD~VD~y <=%'=ٔ;Q->9Y=Fy%E%<E%>1Q 5E55v;?Q 9E55)5BYAyM#?Q IMg@5CI5i;i5q;54T5y]%Bɮ]AaDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdZ"@ NBɢ8%ٽ) i)ui%bi))1I1I1E=) E=!E9E9"E=`;*E=:VE9ZE9BE=BR,{I?A"4<ɰ"49e"?Ym"?=mFymEmEm>qQ 5}5u?H?Q 9}5u)uBQ A+:YQ E:yQ Ig@uCIu]:iu>uW5yɮsA5DNOT Ignoring new targets: 46.27 m.h9h9*h9"h9 h9g9f9fAfAdAdAdIjdiZdmE_#@颽bBɢ_ ֽ) i)i1ܻiIIE% EE%E"EO];*EVE 4ZEa@a@a@a@iI))@) @)@)@)Y B >B B fIB ȀBB =B B DB s;B /E^AM ԉ AyIIO>|Y,Gh?A24R>2>2T{qٱ2R :AHRS rotation from veh to nav: [[0.910116,-0.409618,-0.062465],[0.410143,0.912009,-0.004768],[0.058921,-0.021280,0.998036]]2H?-7ڿc??-/?.s*?`ʕ?i24R>I2`;0YBByBWIbDJVDJyR<%R3=ٔVE;Q-V>9XYX=ZFyZEZ=EZ>\Q 5b5^S?Q 9b5^)^BQ Af :YdQ Ef:yf.?Q Ifg@^CI^ ;i^t?^VZ5yj#Bɮn9An?EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdd!d!jd!Zd%`-@$@tBɢ) i)©i_ֻiII y@y @y@}/@y@@1Eu2 Eu$Eu'Eq"Eui;*Eu;VEu'4ZEqBEu(ԉ {`,y?A^S/b>^>^nٱ^ȋ nAHRS rotation from veh to nav: [[0.903637,-0.424072,-0.060023],[0.424311,0.905468,-0.009334],[0.058308,-0.017034,0.998153]]^H`?#ۿ]`'??@ڭ?>q@?i^S/b>I^`;^CYvȀByzeIbDVDk1yEa=%D=ٔ%:Q-%>9- ?Y- ?=-Fy-E5=E5>9Q 5E5=]?Q 9E5=)= BQ AE9YAQ EE:yE2?Q IMg@=%CI=s:i=Ư?=G\5yQɮUAQ}DNOT Ignoring new targets: 46.27 m.hyhy*hy"h hgfffdddjdZd 1%@颽Bɢ)QS< i)~żiϻiqIIe9@a @i@i@iԙ^AN؅E $ E E )E "E g\;*E VE FA4ZE a @a @a @a @A ؟AI I O > f,Z؛?A2 r>2>2Īlٱ2=U :AHRS rotation from veh to nav: [[0.896781,-0.438709,-0.057596],[0.438689,0.898535,-0.013666],[0.057748,-0.013011,0.998246]]2Hn?`ܿ`G}|? ? !?஥`?i2 r>I2"\`;2CYBЀByBpI DDonly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V bD-VD-Jy=9 =%=H=ٔE:Q-E>9E"?YE"?=EFyEEM =EM>QQ 5]5Ug?Q 9]5Uk)U BQ A]9YaQ Eeo:ye6?Q Ieg@U9CIU* ;iU?U]5yiɮmAiDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd %@BɢK) i)4μi(ɻiIIB>BBrIBҀBBBBBs;B.EBECBECBABE =BE =CEŬ59@ @@/@^AI 9 Y rAA I I! O- >Q l,?AE"- E" E"%E "E"d;*E":VE" 4ZE BE"=B?>BKjٱB  JAHRS rotation from veh to nav: [[0.889565,-0.453458,-0.055234],[0.453202,0.891230,-0.017794],[0.057295,-0.009204,0.998315]]BH`Pw? sݿG@B??w8U?wق2?iB>IB `;@YR؀ByRyIbDZVDZ:yb#=%bR=ٔf:Q-f>9dYd=fFyfEj*=Ej>lQ 5r5n!q?Q 9r5n)nBQ Ar9YpQ EvA:yv$;?Q Ivg@nLCIn:in @n^5yzBɮzA~6EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd5&@}Bɢ})y .i) ؼ顁i»iII)!@! @)@-0@)@1@5=Y^AMAe?Ae ?ԉ Ia Iy O >s,ϕ?A02Pɉ>2Fv>2bZiٱ2 >AHRS rotation from veh to nav: [[0.882199,-0.467881,-0.053027],[0.467421,0.883773,-0.021536],[0.056940,-0.005787,0.998361]]2H:?ݿY&@9?`G? `B'?̳w`?i2Pɉ>I2*`;2CYBByFIa a  a a  a a  aa iMb@Mb@Mb@ 9uV?Zd;O?yj=t<$AlA A)Q@YAbD-VD-ky5 %=%=C=ٔ=^:Q-=>9AYA=EFyEEM=EM>IQ 5U5M}?Q 9m5M)MBQ AmT:Ym7>Q Em:ym0?Q Img@MeCIM;iMu;Mb5yqɮA=DNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hAgAfAfIfMBdIdIdQjdqZduj'@Bɢ)  i)%iiIIE], E]&E])EY"E]c;*E];VE]FA4ZEYau@au@au@au@ԑԹByByB}IB}BB} =ByByB}Ds;B}.E@ @@/@ ^A  I I!O->K{,$`?A23=>2?2agٱ2Z9 :AHRS rotation from veh to nav: [[0.874387,-0.482562,-0.050816],[0.481934,0.875857,-0.024768],[0.056460,-0.002833,0.998401]]2H?J޿ ??\E?5g@?i23=>I2LF`;2CYBByBIIF<)F;F=F=bDrVDr:yzC=%z'=ٔzA:Q-~>9|Y|=~Fy~E =E> Q 55 1?Q 95 )  BYyI4?Q Ig@ CI +;i 6-; f5y!ɮ%kA)UDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hQ hQgQfYfYfYdYdadajdaZde %}(@颕ǃBɢ2) i)_顙iʿiIIm;E) EE(E"E`;*E4:VEc44ZEBE 2,7 ?AԹY ByIiMb@Mb@Mb@ 9Q?zG?Q?Y>y =u<AA A)YAbDVDy,s=%/=ٔQ->9Y=FyEE>Q 55?Q 95)*BY>Q E:yI8?Q Ig@CI:i:j5yBɮA7E-DNOT Ignoring new targets: 46.27 m.h)h)*h1"h1 h1g1f1f9f=Bd9d9d9jdAZdEk)@uكBɢu)q uwiq)}yyi}ϚiIIbEƀ'4jE(4rE?/E< E)E&E"E,r;*E0;VE4ZEa@a@a@a@< e 9@a  @a @e /@a @i @i 1 B B B IB BB B B B Zs;B .E^AM AI zAI I I O >,?&?A2;ɣ>2 ?2Жdٱ2F; :AHRS rotation from veh to nav: [[0.857393,-0.512534,-0.046757],[0.511631,0.858664,-0.030496],[0.055779,0.002224,0.998441]]2Ho?fH_?`,z?`9: ?A8b?9?i2;ɣ>I2s`;2CYBByBIDbDNVDNk1yV >%VU=ٔZ4:Q-Z>9XYX=ZFy^E^,=E^>`Q 5j5b)?Q 9j5bj)b3BYhyjA?Q Ijg@bCIbP';ib(;bSn5ylɮrAp DNOT Ignoring new targets: 46.27 m.h h *h "h  h gfffdddjdZd/*@MBɢMT)Q UiQ)UPQQiUQiYYaIaIԹ9@ @@/@E-0 E-4E-)E)"E-Jg;*E- ;VE-FA4ZE)BE-#>,??A:&>:i?:Sdٱ:; FAHRS rotation from veh to nav: [[0.847895,-0.528352,-0.043798],[0.527228,0.849000,-0.035071],[0.055714,0.006645,0.998425]]:H !?Al ?@+??`7{?@?i:&>I:`;:CYNByNI PPbDZVDZ1ybhu<%bJ=ٔb'9Q-b>9dYd=jFyjEn8=Ev>|Q 55~=?Q 95~)~;BYy%E?Q I%g@~еCI~b;i~oq;~q5y5Bɮ5A58EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd+@}Bɢ} )y }巿iy)}q顁i5iII)u9@q @y@}4@yY^AIQ Ia O} >ԁ EM / EM EM (EI "EM af;*EM :VEM c44ZEI aU @aU @aU @aU @)',Y?A6̓>6a ?6(dٱ6 .< ZAHRS rotation from veh to nav: [[0.838039,-0.544061,-0.041089],[0.542746,0.838978,-0.039272],[0.055839,0.010610,0.998383]]6H6?h ,^?`?t? ??i6̓>I6r/`;6CYb/BybIiMMb@Mb@Mb@IIII I9MMbX?Cl?Q?YYM ?yM;=IMlAMA MQA)IIYIbDmVDmky}=%}?=ٔ}Q->9Y=FyE0=E>Q 55P?Q 95t)EBY ?Q E:yF?Q Ih@CI1;i;u5yɮ,ADNOT Ignoring new targets: 46.27 m.hh*h"h hgfff؀BdddjdZd i+@颵Bɢ) i) 项i|iIIB>BBIBBBBBBss;B.Ei@i @i@m4@iԉԱ^AA?A?A I I O >P,7s?A2Z>2?2fٱ2j< :AHRS rotation from veh to nav: [[0.827503,-0.560128,-0.038670],[0.558630,0.828283,-0.043344],[0.056308,0.014265,0.998312]]2H@z?̣L?`L?;1mԬ?7?+?i2Z>I29_;2CYB8ByBI J49XYX=ZFyZEZO=EZ>\Q 5b5^̤?Q 9f5^)^OBYdyfJ?Q Ifh@^ CI^:i^3:^x5yhɮnAlDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdo,@ԹE< E(EE"E,r;*E;VEZEBEI A;,?Avc?>v-?vRUhٱv< ~AHRS rotation from veh to nav: [[0.816535,-0.576166,-0.036107],[0.574506,0.817139,-0.047186],[0.056692,0.017785,0.998233]]vH !?`o`|Zb?@&?(?@Y6??ivc?>Iv_;vCY DBy IIp<)iMb@Mb@Mb@ 9S??I +?Y?y>9<VAA A)$@YGAbDVDk1y J=%7=ٔ9Y=FyE!1=E>Q 55 ۤ?Q 95)[BY?Q E:yRU?Q Ih@)CI/;i/;|5y%Bɮ%rA-9EuDNOT Ignoring new targets: 46.27 m.hyhy*hy"hy hygyfyffӀBdddjdZd-@颽&BɢP ) i)i+iII@ @@/@E 3 E 2E *E "E j;*E ;VE (N4ZE a@a@a@a%@Ai^AB A B >B B IB =BB B B DB Js;B .EA I I O- >ԑ b,1]?A:;C>:!?:ikٱ:w< BAHRS rotation from veh to nav: [[0.805112,-0.592148,-0.034003],[0.590345,0.805565,-0.050583],[0.057344,0.020651,0.998141]]:Hy? h?/?@婿-\?%? ?i:;C>I::_;:CY^OByb IbDjVDj:yr}t=%r]=ٔvQ-v>9tYx=zFyzEzY=Ez>|Q 55~椊?Q 95~m)~fBY y NZ?Q I h@~DCI~[:i~:~5y Bɮ A/EEDNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZdU;.@颅4Bɢ) Bi)#顉ilriy<aIIy1@1 @1@5/@1ԡ^AqA}gAzA}gAE: E*E1E"E\p;*E;VE-4ZEBEm J,9?AR;T>R'?R^mٱRQ< zAHRS rotation from veh to nav: [[0.793321,-0.607974,-0.031754],[0.606037,0.793608,-0.053897],[0.057968,0.023513,0.998042]]RHb?t`Bd?=e?\? ??iR;T>IR_;RCY \ByIbD-VD-y==%EE=ٔEbźQ-E>9AYI=MFyMEMA=EM>QQ 5]5U?Q 9e5U)UrBYayeO_?Q Ieh@UcCIU;iU;U5ymBɮm_ Au0EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd/@CBɢe ) ͹i)iMaiL<X6A,?6>Cqٱ6< BAHRS rotation from veh to nav: [[0.780677,-0.624244,-0.029384],[0.622156,0.780775,-0.057551],[0.058868,0.026648,0.997910]]6H@N??? Yw #?`I??i6>I6t_;6CYJXByJI LLLNAi]Mb@Mb@Mb@YYYY Y9]Cl?K7?/$?Y]d?y]I >]9Y=FyEK=E>Q 55?Q 95g)BYd?Q E:ye?Q Ih@CI:i:A5yɮ ADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBddd!jd!Zd%/@USBɢU)Q UiQ)]=0"YYi](Oiae- y } ېC  = O99 Y= FtAu,?A2>21?2עuٱ2-< :AHRS rotation from veh to nav: [[0.767215,-0.640826,-0.026901],[0.638584,0.767105,-0.061324],[0.059934,0.029871,0.997755]]2H?`ыGo??e?n??i2>I2q6_;2CYBeByB'IbDJVDJ0yV=%VY=ٔV,:Q-V>9XYX=ZFyZEZg=E^>`Q 5b5b ?Q 9f5b)bBYdyf|j?Q Ifh@bCIb-:ib:b5yhɮn Alp DNOT Ignoring new targets: 46.27 m.h h *h "h  hgfffdddjd!Zd%`R0@M`BɢM!)U`j< U¾iQ)U&YYi]=iYeA! I) I9 OM >a å,M?Ar>7? yٱ= -AHRS rotation from veh to nav: [[0.753503,-0.656978,-0.024762],[0.654629,0.753225,-0.064132],[0.060785,0.032114,0.997634]]H?6[?`k?j3? =q?`?ir>IA_;1CYEaByE"IiMb@Mb@Mb@ 9)\(?<h@A A)YAbD5VD5yE%%E3=ٔEQ-E>9IYI=MFyMEUX==EU>YQ 5e5]?Q 9e5]K)]BYe}%?Q Ee:ymp?Q Imh@]ǶCI]n:i]e ;]5yuBɮu Au1EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZdm0@qBɢ) ÿi)q,iM*i<:HIIa9@ @@4@EF E>E*E"E>{;*E?;VE(N4ZEa@a@a@a@^A}&oԉAIIO>Bu >Bu CBu :IBu uBBu =Bq Bq Bu r;Bu }.EԹ ڰɥ,r(?A2?2,9XYX=ZFyZEZny=E^>Q 5%5&?Q 9%5C)BY)y-v?Q I-h@CI:i:5y1ɮ5 A1]DNOT Ignoring new targets: 46.27 m.haha*ha"ha hagafafifidididqjdqZdu$1@~Bɢ!) ~ƿi) 1i0i֧<`6II@ @@/@^AeUYAIIOb>ES EJE(E"E;*E;VEc44ZEBE9pYp=vFyv EvBX=Ev>xQ 5~5z2?Q 9~5z)zBYy{?Q Ih@zCIz:iz:z05y Bɮ  A (EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd1@-Bɢ-)I U]ʿiQ)U6QQiUtiY]<]_c%IaIaAr;IfA)fAi@i @i@m4@iq@y@ybE:4jEC4rEp0E U E YE &E "E l;*E w;VE 4ZE a @a @a @a @ԑ ^A XA zA AII)OE><إ,?b?AB*>B(B*MIB*BB(B(B(B*r;B*p.Ejʻ?jFL?j䇽ٱj$+< rAHRS rotation from veh to nav: [[0.695812,-0.717805,-0.024507],[0.715156,0.695588,-0.068624],[0.066306,0.030223,0.997342]]jH`D?B y?AB?U@h?@?8?ijʻ?Ij^_;jCYziByz,I ||i}Mb@Mb@Mb@yyyy y9}sh|??L7A`?Mbp?Y})?y}+>};};@}A }A)}@yY}zAbDVDy<%=ٔ<ȻQ->9Y=FyE-=E5>1Q 5=55C?Q 9E55)5BYEP-?Q EE:yE~?Q IEh@55CI5n:i5:55yqɮu AqԩDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff߀BdddjdZd`i2@eBɢm6)i mͿii)m=qqiuݺiq}W<}(IyIyD-<@ @@3@^AM A! I) I9 OM >E% \ E% UE% (E! "E% ;*E% \;VE% c44ZE! BE% 9iYi=mFymEuEu>yQ 55}bO?Q 95}~)}ɋBYyQ Ih@}UCI}:i}:};5yɮ ADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdu2@Bɢ,) ҿi)tB  i Zi <hII9q@q @q@u4@q^AM pG(q A I I O >K, 6?A 2g?2L>V?2Fٱ2:s< >AHRS rotation from veh to nav: [[0.668116,-0.743461,-0.029780],[0.740721,0.668373,-0.067905],[0.070389,0.023310,0.997247]]2H3a?`o~?Nc?>b?ޗ?s?i2g?I2^;2CYB\ByFIiMMb@Mb@Mb@IIII I9M/$?S㥻?MbP?YM1(?yM/=M:Mh@I M$A)M@IYM(AbDmVDm0yu%}I=ٔ}$Q-}>9Y=FyE.=E>Q 55[?Q 95x)ӋBYs*?Q E:y?Q Ih@xCI ;i ;Ƞ5yBɮ A)EDNOT Ignoring new targets: 46.27 m.hhEI EcE*E"E};*E";VE(N4ZEa@a@a@a@*h"h hgfffȀBdddjdZd2@-Bɢ-"))1 5׿i1)5pH19i=ۍi9EBIBMSIBMBBM =BIBIBMqr;BM\.Eԙ^AX%A?A? A .AI I! O- >u,?A2"?2Z?2sHٱ2R/< :AHRS rotation from veh to nav: [[0.654971,-0.754857,-0.034684],[0.752089,0.655648,-0.066998],[0.073315,0.017796,0.997150]]2H@?'(¡??`&IJ? 9?@?i2"?I2ߠ^;0YB_ByB IIF<)F;bDJVDJβPyV<%VX=ٔZZQ-Z>9Z ?YZ ?=ZFyZE^<=E^>`Q 5f5bf?Q 9f5bTs)b݋BYhyjB?Q Ijh@bCIb:ib:b5ylɮn ApDNOT Ignoring new targets: 46.27 m.h h *h "h  h g f ffdddjdZd>3@ʄBɢ =/) ڿi)MiHKiO]<II9@ @@0@^A0ER E=EE"E;*E;VEZEBE;! ;_,ɗ?A2'?2^?2Zٱ2B< :AHRS rotation from veh to nav: [[0.642541,-0.765198,-0.040171],[0.762428,0.643686,-0.066113],[0.076447,0.011853,0.997003]]2H?|`P`e??찿?F?@s?i2'?I2^;2CYBNByB IbDJVDJyR%VJ=ٔVQ-V>9V"?YZ"?=ZFyZ"EZ$=EZ>\Q 5b5^Ur?Q 9f5^Em)^BYdyfW?Q Ifh@^CI^:i^:^5yjBɮj An E|DNOT Ignoring new targets: 46.27 m.hh *h "h  h g f ffdddjdZdx3@M؄BɢMt5)I MYiI)U6SQQiU9)iY]Iܙ<]IYIa9@ @@1@^A&9A9IAIQOmW>QDzD@AEr EhE(E"E;*E^%;VEc44ZEa @a @a @a @ԁ B= >B= CB= MIB= BB= =B9 B= DB= Kr;B= G.ED,y㗾?AB*+?Bb?B䣽ٱB,; JAHRS rotation from veh to nav: [[0.630199,-0.775129,-0.044992],[0.772307,0.631763,-0.066460],[0.079939,0.007135,0.996774]]BH*? 6 ?`g7?v?9}??iB*+?IBo^;BCYRUByRIi-Mb@Mb@Mb@)))) )9-sh|??v/?{GzY-)?y-xi=-#-;@-@ ))-@)Y-@bDEVDEk1yU=%U@=ٔUQ-U>Y9aYa=eFye&EeR=Ee>iQ 5u5m?Q 9}5mg)mBY}*?Q E}:y}x?Q I}h@m߷CImu ;im ;mV5yɮ ADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd n4@uBɢukI2)q uJiy)} oYyyi}`i:a<l{IIa@i @i@m5@i@y@yԑԹ^AAɽAfAzAA I E ` E E E "E i;*E 2;VE ZE BE 3,J?A2.?2:f?2>ꪽٱ29: :AHRS rotation from veh to nav: [[0.619151,-0.783614,-0.051002],[0.780835,0.621247,-0.065942],[0.083358,0.001004,0.996519]]2H`?]`?`A?`᰿ V?1sP? |?i2.?I25^;0YBIByBI DDbDNVDNkyR%VU=ٔVQ-V>9XYX=ZFyZ*E^=E^>`Q 5b5b?Q 9f5ba)bBYdyfx|?Q Ifh@bCIb:ib9:b5yQɮU- AQ}DNOT Ignoring new targets: 46.27 m.hyhy*h"h hgfffdddjdZd by4@ԱBɢq:) i)!_i 89i @<;NII!@ @@y4@^Aq$AII Om> 9 ,,~?AY~DBy~IiMb@Mb@Mb@ 9)\(?:v?~jtxYG!?y<Ļ$@Q@ )p@Y(@bDVD:DD4=ES EWE*E"E;*Ej;VE(N4ZEa@a@a@a@yB%9=ٔQ->9Y=Fy.EE>Q 55c?Q 95[)BYl!?Q E:yq?Q Ih@#CI;i-;5y Bɮ 3 A !E=DNOT Ignoring new targets: 46.27 m.h9h9*h9"h9 h9g9fAfAfEmBdAdIdIjdIZdM4@}Bɢ}E<)y }i)e顁i6:i <BUVIIM9@I @I@M/@I^A%xrIAAB>BCBBB =BBDBq;B.EBCBCBB =B =C[5AIIO>q ԩ 9 Y sA ,1?A2w4?2$Nl?2ٱ2l :AHRS rotation from veh to nav: [[0.600914,-0.796589,-0.065940],[0.794201,0.604351,-0.063276],[0.090256,-0.014346,0.995815]]2H:? }@o᰿ j? V?2?na?i2w4?I2^;2CYVHByVIbD^VD^yft<%f[=ٔfNQ-j>9hYh=jFyj2Eny=En>pQ 5v5r?Q 9v5rV)rBYtyvv?Q Izh@rACIrY;ir;rʵ5y|ɮ~ A|%DNOT Ignoring new targets: 46.27 m.h!h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd=E5@eBɢmuG)i mii)mkqqiu*MX:iq}~=<}IyIya9@ @@@@>@>EU EJE'E"El;*E;VE'4ZEBEA >ԱAI IY Ii Ou > ,r4K?A6Y6?6vn?6ٱ62# BAHRS rotation from veh to nav: [[0.594011,-0.801031,-0.074162],[0.798993,0.598190,-0.061468],[0.093601,-0.022742,0.995350]]6H`#? @Y?``$?`x9? I`?i6Y6?I6^;4YFCByJIIN=)N=bDRVDRkyZfü%ZM=ٔZ5 Q-^>9\Y\=bFyb6Eb_<Eb>dQ 5j5f?Q 9j5f Q)fBYhyny?Q Inh@faCIf|:ifL;fF5yrBɮr Ar"E DNOT Ignoring new targets: 46.27 m.h h*h"h hgfffdd!d!jd!Zd%@ë5@UBɢUF)Q UtiQ)]rYYi]+:iaeU~E^ EqE*E"E;*E*;VE(N4ZEa@a@a@a@i) I) 1 B >B CB @IB zBB =B B B q;B -E,e?A2N8?2$p?2ƽٱ2[H >AHRS rotation from veh to nav: [[0.588576,-0.804265,-0.082067],[0.802621,0.593480,-0.059842],[0.096834,-0.030647,0.994829]]2H`?R??`ʸ?a?i2N8?I2h^;2CYBKByFIiMMb@Mb@Mb@IIII I9M-?Mb`{GztYM5?yMMףMh@M@ I)M-@IYM3@bDVDfy=%==ٔoQ->9Y=Fy;Ew<E>Q 55߽?Q 95{K)%BY6?Q E:y?o?Q Ih@CI5;i;5yBɮ AEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffeBdddjd Zd  6@=,Bɢ=C)9 =i9)ErxAAiED:iIM-Ɠԁ E l E ]E (E "E ڎ;*E ;VE c44ZE BE AHRS rotation from veh to nav: [[0.584492,-0.806310,-0.090733],[0.805202,0.590185,-0.057726],[0.100094,-0.039318,0.994201]]2H`)?@K@:6??7? x!`~?i29?I2x^;2CYFOByF IbDNVDN:yV<%V[=ٔVQ-V>9XYX=ZFyZ>E^T<E^>`Q 5f5bNɥ?Q 9f5bF)b0BYdyfxp?Q Ijh@bCIb|:ib:bR5ylɮn Al DNOT Ignoring new targets: 46.27 m.h h*h"h hgf!f!f)d)d1d1jd9Zd=q{6@ 9Bɢ qM)  i)\.ip,:i9=+<=I9I9Ml>iM>ԑ9@ @@/0@@@Թ^AWgAzAdA AA Iy I O >%,Ř?A\YTByI !!bE%FA4jE%?4rE%b/Ev EpE*E"Ec;*E);VE(N4ZEa@a@a@a@iMb@Mb@Mb@ 9ʡE?I +~jth?Y?y9D;`@@ A)@Y@bDVD0y%<%%5=ٔ-Q-->9)Y)=5Fy5CE5E=>9Q 5E5=ץ?Q 9E5=@)=?BYM?Q EM:yM?h?Q IMh@=ĸCI=:i=s:=G5yUݒBɮ]I A]EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffTBdddjdZd16@GBɢI) i)i ;i<~II@ @@,1@^Ae B>BBMIBBBBBDBdq;B-EA.AIIO>I ',, ?A2:?2jr?2UPڽٱ2q :AHRS rotation from veh to nav: [[0.579600,-0.807462,-0.109859],[0.807926,0.586994,-0.051904],[0.106397,-0.058674,0.992591]]2H?? ?9n ?Yn ?=nFynGEr+~<Er>tQ 5z5v㥊?Q 9z5vB<)vLBYxyzi?Q Izh@vCIvI:ivA:vm5yɮ A5DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h1g1f9f9fAdAdAdAjdIZdMJ7@uSBɢuV)y }iy)}yi;iB<]II1@1 @1@54@1IEl EtE)E"Eڎ;*E+;VEFA4ZEBEa2EaJEԡ 2,(|̘?A2J;?2z!s?2Mٱ2 :AHRS rotation from veh to nav: [[0.578385,-0.806965,-0.119488],[0.808342,0.586655,-0.049186],[0.109790,-0.068139,0.991617]]2H"?Ė??.@0?qR?i2J;?I2J^;2CYNwByR=IbDZVDZ1ybJ=%bK=ٔb Q-b>9f"?Yf"?=fFyfKEjI;Ej>hQ 555j壘?Q 9=5j#7)j[BY9y= j?Q I=h@jCIjXA>I I O- > B >B CB `IB BB =B B B 1q;B -Er$9,X显?A25~;?2Ts?26%ٱ2ph :AHRS rotation from veh to nav: [[0.577505,-0.805797,-0.131069],[0.808446,0.586808,-0.045523],[0.113595,-0.079672,0.990328]]2Hz?@? !?N ?ce`ð?i25~;?I2w^;0YBByBRIIF<)Fi Mb@Mb@Mb@     9 ףp= ? rh{Gz?Y ?y C ף< @ p@ ) @ Y @bD%VD%P)y5٤=%5C=ٔ5Q->9Y=FyOE\:E>Q 556?Q 951)oBY?Q E:yl?Q Ih@"CI*:i:5yْBɮ AEDNOT Ignoring new targets: 46.27 m.hh *h "h  h g f ffyBdddjdZd@w 8@MoBɢMN)I MiI)UFQQiUCE;iY]<]PIYIa 9@  @@/@^A5ON1I) I9 OM >E ~ E E )E "E ;*E 7;VE FA4ZE BE  rAHRS rotation from veh to nav: [[0.577008,-0.804278,-0.142123],[0.808262,0.587313,-0.042143],[0.117366,-0.090556,0.988951]]bHv?@1¿@H?D?˓ ?.}?ibݑ;?Ibb^;bCYzByzqIbD%VD%:y=1=%EH=ٔEQ-E>9IYI=MFyMSEM*G:EM>QQ 5]5Ux ?Q 9e5Ut,)UBYayem?Q Ieh@U@CIU;iU ;U,5ymՒBɮu AuEDNOT Ignoring new targets: 46.27 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-@k8@]|Bɢ]iP)Y ]ia)e鏽aaiePX;iim~ԙ 6F,0?A6Ѱ;?6Ls?65eٱ6Ͻ BAHRS rotation from veh to nav: [[0.576339,-0.802831,-0.152631],[0.808132,0.587670,-0.039582],[0.121474,-0.100533,0.987490]]6H`^q?@ʰfÿ7?1?`!D?``?i6Ѱ;?I6^;6CY^BybIiEMb@Mb@Mb@AAAA A9EˡE?~jth?S㥛?YE'?yED;E/9qYq=uFEx EpE'E"EL;*E);VE'4ZEa@a@a@a@yWEy:E>Q 55E?Q 95&)BY(?Q E:yu?Q Ih@bCI:ij:5yђBɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd 8@ԑBɢOP) Gi)-ij;ic<IIIII)@ @@/@@@BU>BUCBUIBUBBU =BQBUDBU q;BU-EԹ^AONI I) OE > J`L,3?A2;?2fs?2Oٱ2] :AHRS rotation from veh to nav: [[0.575656,-0.801450,-0.162166],[0.807934,0.588036,-0.038164],[0.125946,-0.109050,0.986025]]2H k?zĿ ?0?@@?껿?i2;?I2^;2CYB΁ByBI DDDFAbDLVDLyV>%VW=ٔVBQ-Z>9XYX=ZFyZ[E^:E^>!Q 5-5%g"?Q 9-5%S!)%BY)y-u?Q I-h@%CI%t:i%:%"5y1ɮ=A9eDNOT Ignoring new targets: 46.27 m.haha*ha"ha higifififidqdqdqjdqZd}[Q9@颥BɢX) i)顩ixz;iF<4RDIIm9@i @q@u0@qEp EjE*E"E;*Ek&;VE(N4ZEBEI HS,M?A2#AHRS rotation from veh to nav: [[0.574245,-0.800954,-0.169454],[0.808197,0.587636,-0.038748],[0.130613,-0.114701,0.984776]]2H7`?jſ`??֣?@] I?i2#Q-Z>9XYX=ZFy^_E^T;E^>`Q 5f5b.?Q 9f5b)bŌBYhyjdv?Q Ijh@bCIbp:ib:b5ylɮnUApDNOT Ignoring new targets: 46.27 m.h h *h "h  h g f ffdddjdZd޹9@BɢO)  5i ) 0  i;i1=<=rb2I9I9Q@ @@1@yDzDAAE EE+E"E;*Ez1;VE [4ZEa@a@a@a@^AM*:IIO>Ա BE >BA BE IBE BBE =BA BA BE p;BE -EBCBCBʔCB =B =C6qY,g?A:a%MA=ٔM7Q-U>9QYQ=UFyUcE];E]>aQ 5m5e?\`,肁?Ab=?b t?bٱb" jAHRS rotation from veh to nav: [[0.570486,-0.801275,-0.180290],[0.809285,0.585846,-0.042920],[0.140013,-0.121421,0.982677]]bHjA? ǿ@????r r?ib=?lIbҐ^;`YrByv IIz<)z=bD|VD|y =% N=ٔ@CQ->9Y=FyhEߢ;E>!Q 5-5%H?Q 9-5%N)%BY1y5?Q I5h@%CI%:i%;%5y=ɒBɮ=ZAE EeDNOT Ignoring new targets: 46.27 m.hihi*hi"hi higififqfqdqdydyjdyZd}`:@颭BɢaV) i)C顱ie;i2<qIII@I @I@U/@Q1^AuA I I O >a Vf,U?A2߻=?2Yu?2ٱ2\ :AHRS rotation from veh to nav: [[0.568076,-0.802233,-0.183611],[0.810146,0.584366,-0.046691],[0.144753,-0.122227,0.981889]]2H -? ǿ`? ?秿@D?LJk?i2߻=?I2^;2CYB?ByB4 I9iEMb@Mb@Mb@AAAA A9EzG?㥛 ?Zd;O?YE 7?yE=Ej<=EAA A)E5@AYADYD]R=Ee EaEe%Ea"Ee;*EaVEe 4ZEaam@am@am@am@bD}VD}yi >%C=ٔ);Q->9Y=FylE;E>Q 55{T?Q 95y)BY^8?Q E:y?Q Ih@CIT:i:e5yŒBɮ(A EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd`A:@%ɅBɢ%L)) -ei))-())i5;i1=ʍ<=HB»I9I9@ @@@iB<AB>BB! IB1BB =BBBp;B[-E^AzԙI I O l,9?A2 `>?26v?2wٱ2;c :AHRS rotation from veh to nav: [[0.565654,-0.803301,-0.186395],[0.811007,0.582838,-0.050673],[0.149343,-0.122504,0.981167]]2H? ǿ`?@?? n\e?i2 `>?I2^;0YBTByBM IbDHVDHyR=%RZ=ٔV}JQ-V>9TYT=VFyVpEZ;EZ>\Q 5b5^&_?Q 9b5^Y)^3BY`yfN?Q Ifh@^3CI^:i^:^5yhɮjAh~DNOT Ignoring new targets: 46.27 m.hh*h"h hgff f d d djdZd@ES;@ԑ օBɢ P) ni) i˔;ip<%}ӀI!I!19@ @@@@@E EE'E"E;*E=;VE'4ZEBE =a2E =aJE  us,ϙ?A2??2[v?2ٱ2N :AHRS rotation from veh to nav: [[0.563255,-0.804445,-0.188709],[0.811859,0.581283,-0.054722],[0.153714,-0.122383,0.980507]]2H0? 'ȿ@? ߙ?@z?@}TP`?i2??I2^;2CYBjByBg I DDbDNVDNyV!=%VJ=ٔV2Q-V>9XYX=ZFyZtE^;E^>`Q 5f5bj?Q 9f5b)bQBYdyf?Q Ifh@bXCIb:ib9:b75ylɮnAlDNOT Ignoring new targets: 46.27 m.hh*h"h  h g f f fddd!jd!Zd% F;@MBɢUb^S)Q UݿiQ)]YYi]ţ;iae$"IiIAB >B CB  IB }BB =B BDB DB >p;B --Eq uy,虾?A2??2iw?2"ٱ26\ :AHRS rotation from veh to nav: [[0.560209,-0.806066,-0.190849],[0.813047,0.579149,-0.059501],[0.158492,-0.121836,0.979814]]2H`%<=ٔ6Q->9Y=FyxE;E>Q 55w?Q 95)qBYE?Q E:yn?Q Ih@CIA;i(S;5yBɮvAQDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff?BdddjdZd :1<@UBɢUbzE)Q U׿iY)]YYi]m;iaeΌE  E E &E "E ;*E F;VE 4ZE BE =a 2E =a JE RAHRS rotation from veh to nav: [[0.557498,-0.807418,-0.193061],[0.814013,0.577324,-0.063873],[0.163031,-0.121545,0.979106]]2H?@^@8ȿe ?@py?Y2?@T?i2@?I2w^;2CY^By^ IbDfVDfNy=%T=ٔ*CQ->9Y=Fy|E%,;E%>)Q 555-?Q 955-)-BY1y=΍?Q I=h@-CI-L;i-Y;-c5yEBɮEAEEmDNOT Ignoring new targets: 46.27 m.hihi*hq"hq hqgqfqfyfydydydjdZd;<@颭Bɢ)U) ֿi)`项i;i<8;III)ԩ9@ @@0@@=@=^A9IQIaOm> 1 ҆,?A2U2A?2y?2`,ٱ2$ :AHRS rotation from veh to nav: [[0.555064,-0.808544,-0.195348],[0.814816,0.575744,-0.067773],[0.167268,-0.121554,0.978390]]2H?&ɿ?`~l?Y@ i?(N?i2U2A?I2S^;2CYBByB IIF4=)F9AYA=EFyEEE;EE>IQ 5U5M2?Q 9U5E EE)E"E;*E;J;VEFA4ZEa@a@a@a@MW)MBY?Q?Q E:y?Q Ih@MҺCIM+BCB IBɂBB =BBDBp;B -E9@ @@@9^Am ;i A I I O >e,w6?A >A?>y?>@_0ٱ>U FAHRS rotation from veh to nav: [[0.552560,-0.809512,-0.198411],[0.815661,0.574157,-0.070992],[0.171388,-0.122609,0.977545]]>H?@eɿ?@_?, ?`Ic H?i>A?I>^;>CYNĂByN IbDZVDZyb`=%bR=ٔf/Q-f>9dYd=fFyjEj;Ej>lQ 5r5n?Q 9r5n)nˍBYtyvl?Q Ivh@nCInR:in:nZ5yzBɮzM@zEDNOT Ignoring new targets: 46.27 m.hh!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5HY=@eBɢe5Z)a eӿia)m˲iiim;iquq5 n䓦,TSP?A2B?2v[z?2y4ٱ2 :AHRS rotation from veh to nav: [[0.550062,-0.810284,-0.202168],[0.816510,0.572631,-0.073515],[0.175336,-0.124634,0.976588]]2H?ɿ ?@R?Ѳeq?`迿 5@?i2B?I26_;2CTYZ΂ByZ IbDfVDfyj6=%nI=ٔn!Q-n>9r ?Yr ?=rFyrEr>;Ev>tQ 5z5v?Q 9~5v0)vBYyŏ?Q Ih@v$CIvJ;ivK;v5yɮ@=DNOT Ignoring new targets: 46.27 m.h9h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU@=@}Bɢ}P) ;Կi)琵顁iݵ;i<i>U9@Y @Y@]/@aE EE,E"E ;*E];VEg4ZEa@a@a@a@^AX;) AA IQ Ia Om >B >B CB .!IB BB =B B DB p;B ,E,Q.j?A2e(C?2z?2W8ٱ2N :AHRS rotation from veh to nav: [[0.547652,-0.811183,-0.205085],[0.817324,0.571099,-0.076341],[0.179051,-0.125813,0.975762]]2H]?`5;@ʿ '? qF?@ ?`q9?i2e(C?I2:_;0YB܂ByB IDFA9iuMb@Mb@Mb@qqqq q9uK7?V-?/$?YuIL?yu=u9Y=FyE;E>Q 55񱦊?Q 95) BYN?Q E:y?Q Ih@PCIV;i6-;5yBɮx@E=DNOT Ignoring new targets: 46.27 m.h9hA*hA"hA hAgAfIfIfM\BdIdQdQjdYZd]1>@颅,BɢM))*< ӿi)顉i@;ii<0,$ ?A2C?2nZ{?2E;ٱ2 :AHRS rotation from veh to nav: [[0.546152,-0.811057,-0.209534],[0.817553,0.570592,-0.077671],[0.182554,-0.128884,0.974712]]2H`z?.ʿd)?IB?A⳿]? I0?i2C?I2^;0YBByB!IbDJVDJyRH=%R]=ٔVQ-V>9V"?YZ"?=ZFyZEZx;EZ>\Q 5b5^k?Q 9b5^)^(BYdyfĐ?Q Ifh@^uCI^9:i^t:^5yhɮj@lDNOT Ignoring new targets: 46.27 m.hh*h"h  h g f f fdddjdZd>@E6BɢM4Z)I M/ԿiI)M@IQiU;iQԙ݋<,CA! $,?AF[C?F֒{?F?ٱFl RAHRS rotation from veh to nav: [[0.545092,-0.810878,-0.212958],[0.817489,0.570426,-0.079540],[0.185974,-0.130734,0.973818]]FH`eq?6B˿`(? @?\?)?iF[C?IF&w^;FCYVByZ!Ii=Mb@Mb@Mb@9999 99=kt?A`"?y&1|?Y= P?y===`;=A=@ =$A)=@9Y=@bDVDNy<%;=ٔ=Q->9Y=FyE^;E>qQ 5}5u?ʦ?Q 95uG)uJBYQ?Q E:y?Q Ih@uCIu:iu:u 5E EE*E"Eް;*EK;VE(N4ZEa@a@a@a@yɮv@%DNOT Ignoring new targets: 46.27 m.h!h)*h)"h) h)g)f)f1f5>Bd1d1d9jd9Zd=`L?@DBɢL) տi)~Gi;;iŋ<7JB5CB5s!IB5CBB5 =B1B5DB5o;B5,EBCBCBÖCB =B =C6@ @@@@=@IGM N9I YM \iA^A *:?,:?A2YC?2Ե{?2Bٱ2B :AHRS rotation from veh to nav: [[0.544308,-0.810391,-0.216785],[0.817257,0.570564,-0.080913],[0.189262,-0.133128,0.972860]]2Hj?˿&?`B?`9?S !?i2YC?I2^;0YBByB!IIF<)DF=Fp=bDNVDNN2yV=%V^=ٔV$Q-V>9XYX=FyE:E>Q 5%5Ԧ?Q 9-5~)eBY)y-?Q I-h@ɻCI :i$:5y5Bɮ=c@=EeDNOT Ignoring new targets: 46.27 m.haha*hi"hi higififqfqdqdqdyjdyZd}@`?@颥NBɢdb) Uտi)顱iX^;i<IQ,Ԛ?AY%By%!I1bD=VD=kyMJ%M+=ٔUQ-U>9QYQ=]Fy]E]E]>aQ 5m5e⦊?Q 9m5e)eBYqyqQ Iuh@eCIe;ie;e5y}Bɮ}@}EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd?@\BɢR) ;ٿi)ýi@;iנ<zOBCB!IBgBB =BCDBDBo;B,E^AԹ I I O >F,?AYBy$!IԙiMb@Mb@Mb@ 9p= ף?I +?Mbp?YE?y9=;Q@E@ A)@Y@bDVDyb=%B=ٔQ->9Y=FyEE>Q 55'力?Q 95)BYgF?Q E:y?Q I h@#CI:i]:5yɮ@=DNOT Ignoring new targets: 46.27 m.h9h9*h9"hA hAgAfAfIfMBdIdIdIjdQZdU`w!@@颅hBɢ޴Y) Eٿi)ƽ顉i;i<II9@ @@/@@@E  E E E "E ;*E sX;VE ZE BE =a 2E =a JE ?6¦,%u?ABC?B{?BKٱBrv JAHRS rotation from veh to nav: [[0.543441,-0.808126,-0.227164],[0.815814,0.572196,-0.083904],[0.197787,-0.139727,0.970235]]BHc?+Ϳ@%?mO?zQ?+ ?iBC?IB^;BCYRByR!I TTbD^VD^kyb%f^=ٔfQ-f>9hYh=jFyjEndEn>pQ 5r5r?Q 9v5r)rBYtytQ Ivh@rGCIr=:ir:r5y~Bɮ~@~E%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g)f)f)f)d1d1d1jd9Zd= P@@erBɢeӱe)i mܿii)m*]ɽiqiu$;iq}|<}rNIy D =D <-Ȧ,L"?AbEFA4jEh=4rE'0E EE*E"E7;*ErN;VE(N4ZEa&@a&@a&@a&@FC?F {?FjNٱF vAHRS rotation from veh to nav: [[0.543073,-0.807316,-0.230894],[0.815466,0.572644,-0.084225],[0.200216,-0.142546,0.969327]]FH`?`ͿL?S?`ď ?>¿@?iFC?IFc^;FCY~By~!IiMb@Mb@Mb@ 9+?Q?Mb`Yv>?yu=;@@ lA)M@Y@bDVDfy;%==ٔiQ->9Y=FyE9E>Q 55?Q 955)BY??Q E:y-?Q Ii@oCI ;i ;5yɮ@ DNOT Ignoring new targets: 46.27 m.h h *h "h  h gfff€BdddjdZd%`/@@QAQAU@AB]V>B]CB]!IB]BB] =BYB]DB]n;B]T,E-Bɢ-j[)) -߿i))5%̽11i5ɯ;i9=g<=2P mTΦ,~9XYX=ZFyZE^:E^>`Q 5f5b?Q 9f5b)bBYdydQ Ifi@bCIb:ib:b 5ynBɮnP@nEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@@@=Bɢ="h)A E޿iA)MMϽIQiU;iY]V^A-*A<A5?A5>IIO> 9 @<զ,jU?A2XC?2ҥ{?2uRٱ2* :AHRS rotation from veh to nav: [[0.542859,-0.806238,-0.235129],[0.814650,0.573562,-0.085859],[0.204083,-0.144938,0.968165]]2H_?ο?`Z?`g?W¿4?i2XC?I2^_;2CYBByB7!IIF<)FbDJVDJ:2yV؋;%VJ=ٔVQ-V>9XYX=ZFyZE^*E^>`Q 5f5b#?Q 9f5b*)bBYdyf%?Q Ifi@bCIbF:ib=:b#5ynBɮna@nEDNOT Ignoring new targets: 46.27 m.hh*h"h  h g f ffdddjdZd2@@EBɢMj)I MviI)M4ѽIQiUJ;iQD<KBaBe!IBeBBaBaBaBen;Be+Ei A% .AI) I9 OM >Tfۦ,[o?A YByC!IiMb@Mb@Mb@ 9-? rh?Y?5?yC<@d@ @) @Y@bDVDJy-=%6=ٔ Q- >9  ?Y  ?=FyEE>Q 5%5%,?Q 9%5>)8BY-L5?Q E-:y-?Q I-i@CI":i:~'5y5Bɮ=@9mDNOT Ignoring new targets: 46.27 m.hihi*hi"hi higifqfqf}BdydydyjdyZd$A@颭Bɢa)  i)<ս项i{;ij/<KN,?A2-C?23{?2Vٱ2 :AHRS rotation from veh to nav: [[0.544463,-0.804325,-0.237955],[0.812707,0.576051,-0.087595],[0.207529,-0.145695,0.967318]]2H9tYt=vFyvEvܻEz>xQ 55z7?Q 95z)zSBYy?Q Ii@zCIz;iz/;z*5yBɮ @=DNOT Ignoring new targets: 46.27 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdU SA@}Bɢ}Ryo) ]i){׽顁if;i{<y%a E  E E (E "E ;*E IK;VE c44ZE a @a @a @a @w,8?APExceeded connect timeout, disconnecting.6B?6`sz?6yWٱ6. >AHRS rotation from veh to nav: [[0.546091,-0.802494,-0.240390],[0.811255,0.578161,-0.087157],[0.208927,-0.147422,0.966755]]6Hy?@ο@?J?O?¿ ?i6B?I6^;6CYF?ByFn!I HHHH|iMb@Mb@Mb@ 9(\?{Gz{Gz?Y.?y##<p@ @ Q@)@Yf@bDVDy=%<=ٔWQ->9"?Y"?=FyEզE>Q 55iE?Q 95by)uBY.?Q E:y6w?Q Ii@%CI:i':BA4<BR>BB!IBBB =BBDBm;B^+E|.5yɮ@EDNOT Ignoring new targets: 46.27 m.hAhI*hI"hI hIgIfIfQfUBdQdYdYjdYZd]A@颍Bɢ|d) ݿi)ڽi};i<d b,xa?A2B?2y?2OYٱ2VR :AHRS rotation from veh to nav: [[0.547635,-0.800779,-0.242587],[0.809772,0.580219,-0.087259],[0.210629,-0.148654,0.966197]]2H :? Ͽ?@(?@V?ÿ?i2B?I2^;2CYBHByBz!IbDNVDN0yVKO=%V_=ٔVXQ-V>9XYX=ZFyZEZE^>`Q 5f5bQ?Q 9f5b"t)bBYdyfv?Q Ifi@bDCIbp:ib:b15ynBɮn@nEDNOT Ignoring new targets: 46.27 m.hh*h"h h g f f fdddjdZdA@EBɢEKq)I MݿiI)MeݽIIiUA ;iQiUʊ<l;IIE EE'E"E;*EfW;VE'4ZEBER=a2ER=aJEV F,<כ?A6jA?6Ay?6dZٱ6NG >AHRS rotation from veh to nav: [[0.549487,-0.799196,-0.243617],[0.808119,0.582421,-0.087915],[0.212149,-0.148564,0.965879]]6He?@.Ͽ?@1?@'?@!ÿz?i6jA?I6l^;6CYFaByF!IbDNVDN:2yV=%VJ=ٔZ{Q-Z>9XYX=^Fy^E^˻E^>`Q 5f5b^?Q 9f5b[n)bBYhyjv?Q Iji@bfCIb :ib$:b955yrBɮrt@rE DNOT Ignoring new targets: 46.27 m.h h *h "h hgfffdddjd!Zd%A@MˆBɢUi)Q UڿiQ)U`QYi];iae@]=E EE*E"Ed;*E=T;VE(N4ZEa@a@a@a@nManaging dock network, ignoring radio surface power off^Au[R;IBQ>BCB"IBBB =BBBk;B*EBCBCBǓCB =B =C75IO%>A h> ːC% ؀G9 Q ,T?A.聿90Y2ElAB/@?Bx?B\ٱB JAHRS rotation from veh to nav: [[0.550817,-0.797861,-0.244987],[0.806752,0.584194,-0.088711],[0.213899,-0.148780,0.965459]]BHJ?@[Ͽ? ?` a?< ÿ ?iB/@?IBp^;BCYr|Byr!IIv<)vp9Y=FyEyE>Q 55l?Q 95h)׏BYy1?Q E:yu?Q Ii@CI*;i);95yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjd Zd k%B@׆BɢV~b) ֿi)*i?;iV<oK;I I9@ @@/@AqE EE&E"E;*EP;VE4ZEBE=a2E=aJEԙ 2, ?A2k@?2jBx?2^ٱ2 Q :AHRS rotation from veh to nav: [[0.552198,-0.796863,-0.245125],[0.805359,0.585867,-0.090314],[0.215579,-0.147543,0.965276]]2H?` D`Ͽ`? l? ?`¿?i2k@?I2^;2CYBByB!IbDJVDJ:yR>%R[=ٔVQ-V>9TYX=ZFyZEZEZ>\Q 5b5^Kx?Q 9f5^b)^BYdyfku?Q Ifi@^CI^:i^:^G<5yjBɮj@l}DNOT Ignoring new targets: 46.27 m.hyh*h"h hgfffdddjdZd*WB@Bɢm) qҿi)i;i<Z`:IIqQ@Q @Q@Q@Qԡ^A2;II O>E  E E *E "E ;*E _;VE (N4ZE a @a @a @a @ ,$?A2??2w?2_ٱ2l :AHRS rotation from veh to nav: [[0.553391,-0.795326,-0.247416],[0.804168,0.587547,-0.090015],[0.216960,-0.149150,0.964719]]2Hb? OsUϿ?.?? Y?`\ÿ ?i2??I2y^;2CYBByB!IiMb@Mb@Mb@ 9S?~jt?Y/?yD<@l@ @)@Y@bD-VD-1y5=%=A=ٔ=F[Q-=>9AYA=EFyEEEEM>IQ 5U5AA?ABO>BB5"IBBBBBBj;B8*EM內?Q 95M\)MBY?/?Q E:yt?Q Ii@MнCIMi]>9@ @@@@@^A :) I I O >,>?AF??F^_w?FaٱFD RAHRS rotation from veh to nav: [[0.554620,-0.793377,-0.250898],[0.802914,0.589420,-0.088961],[0.218464,-0.152110,0.963917]]FHr?Wcпw?@?$ƶ@?Txÿh?iF??IFi^;DYZуByZ!"I ddbDvVDv0y ;>%N=ٔ ~Q- >9Y=FyE#E%>1Q 5=55̒?Q 9E55V)5ABYIyMKt?Q IMi@5CI5[;i5\;5wC5y]Bɮe@eEDNOT Ignoring new targets: 46.27 m.hh*h"h hgffYfYdYdadajdaZde B@E EEE"EO;*EVL;VEZEBE=a2E=aJEȬf,ZX?A2$??2v?2Fcٱ2?! >AHRS rotation from veh to nav: [[0.555634,-0.792085,-0.252730],[0.801756,0.590932,-0.089366],[0.220131,-0.152973,0.963401]]2H`?@X`,п??඿A-?`ÿ.?i2$??I2n^;2CTYZByZO"IbDdVDdyn;>%nM=ٔnQ-r>9pYp=rFyrEvg|Ev>xQ 5~5z?Q 9~5zYQ)zdBY|y~s?Q Ii@zCIz/;iz;zF5y ɮ @ 5DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h9g9f9fAfAdAdAdAjdIZdMB@uBɢ},Ij)y }g¿iy)}顁i-;i<<q(II1@1 @1@50@1DzDbE)jE-ŏB4rE-xE0E EE(E"E ;*E[;VEc44ZEa@a@a@a@^AuNJκB9>BCBy"IBBB =BBDBi;B)EIIO>A |,R_r?AYBy"IiMb@Mb@Mb@ 9tV?{Gz?V-?Y2?y#<<@(@ -@)@YG@bDVDy=>%==ٔQ->9Y=FyEE>Q 55)?Q 95J)BY2?Q E:ys|?Q Ii@9CIB;i ;J5yBɮO@٤EDNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g!f!f)f-Bd)d)d1jd1Zd5(C@e Bɢe\)i mii)mEXiiiuKo;iq}<}IyIy)@) @)@-5@)@5=@5=Qy^AM2AU>AU>E EE)E"E;*EdM;VEFA4ZEBE:=a2E:=aJEԡ ",;?A2>?2!\v?2jfٱ2K% :AHRS rotation from veh to nav: [[0.557231,-0.789333,-0.257773],[0.799909,0.593572,-0.088417],[0.222798,-0.156926,0.962151]]2H ?6B[п`ژ??` ?'Ŀ?i2>?I2^;2CYN>ByR"IIV<)TbDZVDZJyb[&>%b\=ٔfQ-f>9dYd=fFyfEjջEj>lQ 5r5n⸧?Q 9r5npE)nBYpyv{?Q Ivi@nYCInp:in:nM5yzBɮz%@zڤEDNOT Ignoring new targets: 46.27 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5`'XC@eBɢeb)a eia)m iiiml";iquēA D D <E  E E *E "E ;*E [;VE (N4ZE a @a @a @a @),D?AN`^>?N4v?N:kgٱND& VAHRS rotation from veh to nav: [[0.557543,-0.788679,-0.259097],[0.799334,0.594276,-0.088884],[0.224076,-0.157548,0.961753]]NHd?<@ п%?O??*Ŀ?iN`^>?IND^;NCY^dByb"IB9A=<BE$>BECBE"IBEeBBE =BABEDBEi;BE<)EieMb@Mb@Mb@aaaa a9e/$?l?L7A`?Ye%>=ٔGQ->9Y=FyEE>Q 55iƧ?Q 95>)ِBY=?Q E:y?Q Ii@CI ;iL ;Q5yɮ@eDNOT Ignoring new targets: 46.27 m.hahi*hi"hi higififfBdddjdZdޑC@ Bɢ iV) i)I iF';i!%+<-9ţI)Iq%9@! @!@%3@!Ii^Ae SI I O >ԙ >/,𿜾?AY=By=#IbDMVDM:ys>%K=ٔQ->9Y=FyEE>Q 55ӧ?Q 958)BYyQ Ii@CI:i: &6,!ٜ?A2Bz>?2Pv?2aiٱ2 9& :AHRS rotation from veh to nav: [[0.556932,-0.788754,-0.260182],[0.799182,0.594209,-0.090682],[0.226128,-0.157429,0.961292]]2H c? x=Ѧп ? ?6`?&Ŀ@?i2Bz>?I2o{^;2CYBByBE#I DDbDJVDJyR[>%VZ=ٔV˷Q-V>9V ?YZ ?=ZFyZEZ:EZ>\Q 5b5^ާ?Q 9f5^2)^%BYdyf?Q Ifi@^ǾCI^d:i^:^X5yhɮj@l}DNOT Ignoring new targets: 46.27 m.hyh*h"h hgfffdddjdZdC@3BɢT)z: @i) i5;i!%~<%1I)I)@ @@/@E EEE"EI;*E1];VEZEa@a@a@a@iߙIߙB=>B=CB=N#IB=ńBB9B9B=~DB=Q R<,y?AY~By~w#IiMb@Mb@Mb@ 9Q?Q?y&1?Y(%:=ٔQ->9"?Y"?=FyEE>Q 55맊?Q 95*)NBY%=?Q E:yV?Q Ii@CI:i<:]\5yBɮ@ѤE%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g)f)f)f-Bd1d1d1jd1Zd=@^+D@e=Bɢe}O)m mii)m iqiu;iq}!<}}IyIy)A@A @A@E0@IY^AE EE(E"E;*Ec;VEc44ZEBE&=a2E&=aJE^8C, ?A0>n??>v?>Rkٱ>A' FAHRS rotation from veh to nav: [[0.554996,-0.789532,-0.261951],[0.799942,0.592936,-0.092299],[0.228194,-0.158320,0.960657]]>H`?@C@п@ ?U?젷`s5?CĿ`?i>n??I>^;>CYN ByN#IbDVVDVy^N>%^]=ٔbQ-b>9`Y`=fFyfEf;Ef>hQ 5n5j?Q 9n5j$)jqBYpyr?Q Iri@jCIj@;ij;j_5yvBɮv@vҤEDNOT Ignoring new targets: 46.27 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-ZD@]FBɢ]9HQ)Y e?ia)eaaie{;iim%ֆE  E E 'E "E d;*E W;VE '4ZE a @a @a @a @1fI,Ll'?A\bL??b)#w?bmٱb/'Br>BrCBr#IBr+BBr =BpBr}DBrg;Brw(EBCBCBCB =B =C6 ~AHRS rotation from veh to nav: [[0.553929,-0.790111,-0.262463],[0.800340,0.592194,-0.093605],[0.229387,-0.158209,0.960391]]bHɹ? H1п`b?A? w\?@3@Ŀ`?ibL??Ib_;bCY 5By #II=)p==iMb@Mb@Mb@ 9?MbX?~jt?YfF?y=<S@@ K@)@Y@bDVDky7>%;=ٔ7Q->9Y=FyE);E>Q 55=?Q 95)BYH?Q E:y?Q Ii@%j$=ٔjQ-j>9lYl=nFynErM;Er>tQ 5v5v?Q 9z5v)vʑBYxyz?Q I~i@vlCIv;iv;vg5yBɮ @ӤE-DNOT Ignoring new targets: 46.27 m.h)h)*h)"h) h1g1f1f9f9d9d9d9jdAZdEhD@}]Bɢ})C) i)X顁iJV;i.(<B̸II0::ԩY@Y @Y@e0@a^A A I I O >YX,c?ApvnJ@?v x?v|pٱv$ MAHRS rotation from veh to nav: [[0.550360,-0.792652,-0.262310],[0.801799,0.589382,-0.098727],[0.232857,-0.155985,0.959920]]vH?@h]пV?8?$F>?@Mÿ?ivnJ@?Iva_;vCDzD@AE EE*E"E;*Ega;VE(N4ZEa@a@a@a@YByA$IB>BCBH$IBBBBDDBBf;B((EiEMb@Mb@Mb@AAAA A9Eq= ףp?i|?5?X9v?YEK?yE=E%m'=ٔu-Q-u>9qYq=uFy}E}D;E}>Q 55s?Q 95 )BYM?Q E:y?Q Ii@CI ;i ; l5yBɮZ@ɤEDNOT Ignoring new targets: 46.27 m. hAhA*hA"hI hIgIfIfQfUBdQdQdQjdYZd]E@iBɢ,<) %ni!)%T))i-5e;i15Ӆ<=v:I9IA1e ጹi q 9@  @ @ /@ @ @ ԉ ^A%9A)zA)ԹE EEE"E;*ENi;VEZEBEb$=a 2Eb$=a JE%-$=ٔ-ոQ-5>91Y1=5Fy5 E=AQ 5M5E-?Q 9M5E)E.BYIyUF?Q IUi@EϿCIE];iE;Ehp5yYɮ]@YDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdPE@tBɢM<) `i);-i;i<;IIaԙ 9@  @ @ @ ^A- 9 Ae .AIi Iy O >{h,C?AB>A?B(y?BpٱB NAHRS rotation from veh to nav: [[0.547385,-0.795947,-0.258531],[0.803869,0.585984,-0.102063],[0.232732,-0.151958,0.960596]]BH,?exNjп L?a? +?@Ysÿ3?iB>A?IB^;BCYVByV$IbDVDy5j>%58=ٔE9Q-E>ԑD%=D%=bEjE:4rE/E EE&E"E;*Ee;VE4ZEa@a@a@a@9- ?Y5 ?=5Fy=EEF;EM>aB<AB >BB$IBBB =BBBf;B'EQ 55e ;?Q 9 5e)e^BY y ?Q I i@eCIen,?A>A?>y?>+pٱ>m FAHRS rotation from veh to nav: [[0.546046,-0.797571,-0.256347],[0.804921,0.584307,-0.103386],[0.232243,-0.149886,0.961040]]>H4y?gп??w$?t/ÿ`?i>A?I>v^;%==ٔv:Q->9="?Y="?==FyEEE؊;EE>IQ 5U5M\F?Q 9U5Mg)MBY]K?Q E]:y]?Q I]i@M'CIM :iM:M.x5yaɮe`@iDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff&BdddjdZdE@BɢzC;) `@i)iB;i<ȇ;IIEm EmEm)Ei"Em.;*Emy;VEmFA4ZEiBEm#=a}2Em#=a}JEmA>A I I O >1 u,B؝?A6"B?6uy?649oٱ6  >AHRS rotation from veh to nav: [[0.544746,-0.798994,-0.254678],[0.806015,0.582685,-0.104006],[0.231497,-0.148618,0.961416]]6Hn? [Lп? [?"@?ÿ?i6"B?I6~p^;6CYF ByF$IIJ<)J4<bDrVDryz>%zY=ٔz;Q-~>9|Y|=~Fy~E;E> Q 55 QP?Q 95 ) BYy?Q Ii@ KCI ;i ; V{5y%Bɮ%@%EMDNOT Ignoring new targets: 46.27 m.hIhI*hQ"hQ hQgQfQfYfYdYdYdajdaZdeE@颍Bɢ b:) 8i)!顙i`;i<Fo;IIM9@Q @Q@U4@QADyzDyE EE+E"E^;*Ef;VE [4ZEa@a@a@a@^A;B} >B}CB}5%IB}RBB} =ByB}|DB}f;B}'EԉA) I9 II O] >ԙ {,?A2•B?2:lz?2anٱ2 :AHRS rotation from veh to nav: [[0.543440,-0.800181,-0.253741],[0.807126,0.581143,-0.104025],[0.230698,-0.148270,0.961662]]2H`c?`@J=п@??@[`?¿ ?i2•B?I2^;2CYB1ByB %IiEMb@Mb@Mb@AAAA A9Eoʡ?T㥛 ?V-?YEM?yE>E9qYq=uFyuEu;E}>Q 55[?Q 95)֒BYO?Q E:yA?Q Ii@uCI:i:~5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd`&F@ Bɢ 6)  a4i )  iT;iӄ<,?A2[C?2z?2Emٱ22 :AHRS rotation from veh to nav: [[0.542203,-0.801665,-0.251693],[0.808177,0.579530,-0.104862],[0.229928,-0.146556,0.962109]]82HY?@=п??8غDn?Y¿?i2[C?I2L^;2CYBWByB<%IbDjVDjkyr">%r0=ٔve:Q-v>9v ?Yv ?=zFyz!Ezi;Ez>|Q 55~h?Q 95~#)~BY y v?Q I i@~CI~-:i~:~5yɮ@EDNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hAgAfIfIfIdQdQdQjdQZdU@ bF@颅Bɢ0) &i)pZ顉i;i<EM  EM EI EI "EM :;*EM X;VEI ZEI au @au @a} @a} @10,*?ABe>BaBe%IBeBBe =BaBaBeIe;BeL'El%rC?%I{?%nlٱ%e MAHRS rotation from veh to nav: [[0.540960,-0.802983,-0.250161],[0.809316,0.577922,-0.104945],[0.228843,-0.145688,0.962500]]%HO? п?U~?ݺ J? ¿`?i%rC?I%^;%CY]oByeZ%I iiquAi5Mb@Mb@Mb@1111 195~jt?S㥻?/$?Y5D?y5/=5<5l@5ߟ@ 5M@)5X@1Y5@AE@AbDMVDMܲy]=%]5=ٔe!;Q-e>9aYa=eFym%Emx;Em>qQ 5}5ut?Q 9}5u )u.BYF?Q E:yZ?Q Ii@uCIu:iu:u5y Bɮ @ ¤EUDNOT Ignoring new targets: 46.27 m.hQhY*hY"hY hYgYfYfafeBdaddjdZd`F@Bɢ0.) i)liㄏ;i <8:/Au>IaIqO} ?-,rRM?A:/D?:{?:0hٱ: nAHRS rotation from veh to nav: [[0.539277,-0.805060,-0.247100],[0.811415,0.575258,-0.103361],[0.225358,-0.144760,0.963462]]:H A? Ͽ?@h?@u`?¿@?i:/D?I:c^;8YvByvw%IbD~VD~k1y =% $=ٔ;Q->9Y=Fy*Eg;E>!Q 5-5%n?Q 9-5%)%[BY1y5?Q I5i@%CI%;i%;%Y5y=BɮE@EEmDNOT Ignoring new targets: 46.27 m.hihi*hi"hi higqfqfqfqdydydyjdyZdF@颭Bɢ.) i)/顱i6w;iP<R'S,qg?AdE=k E=E=%E9"E=f;*E=bC;VE= 4ZE9a]@ae@ae@ae@B>BCB%IBBB =BB{DBd;B&EBeCBeCBeCBe =Be =CeV5YBy%IiMb@Mb@Mb@ 9Pn??~jt?YD?y=<?@X@ @)@Y(@bDVDky=%$=ٔQ->9Y=Fy/EEe> quƐCQ 55?GQ 95)BYE?Q E:y}?Q Ii@1CI,,zm?A46D?6'_|?6;cٱ6! >AHRS rotation from veh to nav: [[0.538634,-0.806366,-0.244227],[0.813285,0.573330,-0.099295],[0.220091,-0.145143,0.964621]]6H~ ,?AZhD?Zt|?Zq@`ٱZ8 bAHRS rotation from veh to nav: [[0.538716,-0.806608,-0.243247],[0.813995,0.572783,-0.096604],[0.217250,-0.145960,0.965142]]ZH)=?"Ͽ? ?@9AYA=EFyE6EMHS:EM>QQ 5U5Un?Q 9]5U)U̓BYYy]?Q I]i@UvCIU;iUe;U&5yiɮm@iDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@yG@ ӇBɢF,) i)!i%wm;i)-3_<5RhB-CB-6&IB-"BB- =B)B-xDB-d;B-&Ei^AhW<IyIO>ԁ Nݬ,?AZD?Zl|?ZO ]ٱZ) bAHRS rotation from veh to nav: [[0.539198,-0.806436,-0.242750],[0.814485,0.572645,-0.093236],[0.214198,-0.147444,0.965598]]ZH A?RpϿB?S?@N޷ j? p¿-?iZD?IZ_;ZCY~цBy~%IYiMb@Mb@Mb@ 9RQ?MbX9?S㥛?YB?yʡ=/<@A@ l@)@Y@bDVDJy#=%<=ٔH;Q->9Y=Fy;ETE>Q 55?Q 95)BY C?Q E :y a?Q I i@CI:i:ߙ5yBɮ@EEDNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hAgAfIfIfMBdIdQdQjdQZdU@gG@颅܇Bɢ,) i)`顉irc;iU<Be"ų,Ϟ?AvMmD?vC|?vȭYٱv ]AHRS rotation from veh to nav: [[0.540085,-0.806394,-0.240907],[0.814737,0.572720,-0.090535],[0.210980,-0.147379,0.966316]]vH`H?@ ο`R?S?T-a?Q¿?ivMmD?Iv32_;vCYmBym%IbDVDy=%N=ٔԹ9"?Y"?=Fy?EȺE>Q 55 ?Q 95)BYyJ?Q Ii@CI;i;`5yɮ^@!DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd`G@EBɢE+)I MpiI)UQQiU SY;iY]J<]k\im>@ @@/@ @=@>^A) 9 A] .AIa Iy O >,鞾?AD zD bE'4jE*4rE60E. E.E.'E,"E.a;*E.n:;VE.'4ZE,aJ@aJ@aJ@aJ@BZ>BZލCBZn&IBZPBBZ =BZEDBZoDBZc;BZY&EHD?|?_mVٱj AHRS rotation from veh to nav: [[0.540915,-0.806386,-0.239067],[0.814984,0.572766,-0.087979],[0.207875,-0.147247,0.967009]]H`-O?ο@Y?T? ͅ?¿?iHD?I@^;YBy%IieMb@Mb@Mb@aaaa a9ex&1?Dl?y&1?YeA@?yeO=e`9 ?Y ?=FyCE㠺E>Q 55ɨ?Q 95Ĝ)@BY2A?Q E:y?Q Ii@CI:i:l5yɮF@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd H@颭Bɢ% *) i)D 项iO;i;<UY,?A>s D?>{?>{Sٱ>D FAHRS rotation from veh to nav: [[0.541737,-0.806382,-0.237212],[0.815151,0.572862,-0.085780],[0.205061,-0.146894,0.967663]]>HU?\ο`?T?``q??h¿?i>s D?I>^;>CYN ByN&IbDVVDV0y^=%^n=ٔb Āǧ,Fx?A&;ɰ&;n D?n5{?nPٱn ~AHRS rotation from veh to nav: [[0.542305,-0.806102,-0.236863],[0.815393,0.572933,-0.082962],[0.202583,-0.148145,0.967994]]nH@Z?`@Qο?vU?=:?m¿?in D?Inl^;lY By #&I=bD%VD%:y5 :=%5C=ٔ=&;Q-=>99Y9=EFyEKEEXEE>IQ 5U5Mߨ?Q 9U5M)MBYYy]?Q I]i@M8CIM;iM;M5yeBɮe@eEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdH@Bɢ**) i): i}@;i<HBڍCB&IBsBB. =BBmDBc;B,&E^A/C<)A I I O >Y Iͧ,|H9?Ab/C?b{?bNٱbVA jAHRS rotation from veh to nav: [[0.542979,-0.806038,-0.235532],[0.815474,0.573068,-0.081217],[0.200440,-0.147971,0.968467]]bH `?@%ο \?V?ʴ?@¿?ib/C?Ib9^;bCYrByr*&IimMb@Mb@Mb@iiii i9mjt?Mb?/$?Ym@?ym=m9Y=FyOEE>Q 55=?Q 95)BYA?Q E:y?Q Ii@`CI3:i:̫5yɮ@9MDNOT Ignoring new targets: 46.27 m.hIhI*hI"hI hIgIfQfQfU[BdYdYdYjdYZde1H@颍Bɢ|*) #i) ` 顙i8;iy <YAԹ Vԧ,[$S?A6`C?6ע{?6mLٱ6 BAHRS rotation from veh to nav: [[0.543553,-0.805900,-0.234682],[0.815612,0.573158,-0.079168],[0.198312,-0.148378,0.968843]]6H`d? ο}?NW?\D`Fb? ¿?i6`C?I6^;6CYF+ByF@&IbDRVDR:yZ=%Z`=ٔZ;Q-^>9^ ?Y^ ?=bFybSEbEb>dQ 5j5f?Q 9j5f)fŔBYhyn?Q Ini@fCIf :if;f5yrBɮr>@rE DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdd!d!jd!Zd%@H@U BɢU+)Q UiQ)]* YYi]2;iaeB r>B ۍCB &IB BB ( =B B B lc;B &EIڧ,%m?A E6Y E6lE6%E4"E6=;*E6y';VE6 4ZE4BE6<2E6<JE6<:E6=%,=ٔJ;Q->9Y=FyXE^E>Q 55?Q 953{)BY 9?Q E:yQ?Q Ii@CI :i:"5yɮ @  5DNOT Ignoring new targets: 46.27 m.h1h9*h9"h9 h9g9f9fAfE,BdAdAdIjdIZdM"I@}Bɢ}')y }߾iy)! 顁i7*;i<3:,+چ?A 2SC?2-*{?2 _Gٱ2܄ >AHRS rotation from veh to nav: [[0.545592,-0.806173,-0.228943],[0.815413,0.573728,-0.077055],[0.193471,-0.144643,0.970385]]2H`|u?@+NͿ?[?߹ ?¿`e ?i2SC?I2 ^;2CYFMByFj&IbDNVDNyV >%Vv=ٔV;Q-Z?9Z"?YZ"?=ZFyZ[E^rE^?`Q 5f5bS?Q 9f5bu)b BYdyj$?Q Iji@bCIb:ib:b 5ynBɮr@rE DNOT Ignoring new targets: 46.27 m.h h *h "h  h gfffdddjdZd% MI@Bɢ*) Ͼi)"k i%;iʃ<R!,Ϡ?AHY-XBy5x&IbDEVDE:2yU1K=%U?=ٔUQ-U>9YYY=]Fy]`E]Ee>aQ 5u5e?Q 9u5eSo)e0BYqyqQ Iui@eCIe;ie";eĹ5y}Bɮ@E DNOT Ignoring new targets: 46.27 m.h h *h"h hgfffdddjd!Zd%@BEٍCBE&IBEBBE+ =BABElDBENc;BE%EBۍCBލCBřCB( =B# =C7<7EL E`E&E"EW;*E'!;VE4ZEBE,󐺟?Aɰ|YvBy&Ia@a iMb@Mb@Mb@ 9I +? rh?Q?Y94?yC<<"@ن@ 9@)@IbDVDy>%E=ٔQ->9Y=FydEE>Q 55{,?Q 95h)RBYp4?Q E:y?Q Ii@CI:i ;c5yɮ@ DNOT Ignoring new targets: 46.27 m.h h *h "h  hgfffdddjd!Zd%øI@ ,Bɢ-$)1 5i1)=+ 99i=Ȯ;iImYE} %Ey "E} x;*E} ?;VE} 4ZEy a @a @a @a @ԉ A} .AI I O >X,kԟ?A2A?2ey?2[?ٱ2m :AHRS rotation from veh to nav: [[0.552025,-0.803665,-0.222243],[0.812825,0.578099,-0.071537],[0.185970,-0.141154,0.972363]]2H0?rr̿??`9V ?YZ ?=ZFyZhEZܘEZ>\Q 5b5^7?Q 9f5^Vc)^pBYdyf?Q Ifi@^7CI^-:i^:^5yjBɮj@nEDNOT Ignoring new targets: 46.27 m.hh*h"h hgf f f d ddjdZd I@Y3BɢZ%) i)=R  i |;i 'h<g;II9@ @@4@ԉԱ^Ax/<AE ؟AII IY Om > BE `>BE ؍CBE 'IBE ԇBBE * =BA BE kDBE 2c;BE %Eg ,N?AE4 E7E#E"Ej;*E ;VE3ZEBE9"?Y"?=FylEeE>Q 55G?Q 95[)BY=?Q E:y|?Q Ii@cCI" ;i ;5yɮͰ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd` 'J@5,{?ABk@?B6Bx?B:ٱB  JAHRS rotation from veh to nav: [[0.556116,-0.800498,-0.223468],[0.811068,0.581408,-0.064298],[0.181396,-0.145490,0.972588]]BH ?̿@D?`?@u 7?m¿q?iBk@?IB_;BCYRByR&IbDZVDZybO5>%bu=ٔf;Q-f?9dYd=fFyfpEj_ػEj?lQ 5r5n$S?Q 9r5n~VQ =rtI)nBYtyvk|?Q Ivj@nCIn:in:n5yzBɮz̮@~EDNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5OJ@eBBɢe#)a eia)m iiim;;iquWA5>ԉAY Ii Iy O >Ա ,!?A2??2Bw?28ٱ2e :AHRS rotation from veh to nav: [[0.557815,-0.799197,-0.223891],[0.810388,0.582711,-0.060987],[0.179204,-0.147419,0.972704]]2H@?@u̿??@9,?@¿d ?i2??I2_;0YB·ByB 'IbDNVDNyR=%VM=ٔV;Q-V>9XYX=ZFyZtEZE^>Q 55`?Q 95O)ӕBY!y%{?Q I%j@CI;i ;E5y-Bɮ-@-EUDNOT Ignoring new targets: 46.27 m.hQhQ*hY"hY hYgYfYfafadadadijdiZdm`J@额IBɢz) ui) 顡i;i<bIIԑm9@i @q@u/@qB T>B ׍CB B'IB BB ) =B B jDB b;B %EDYD]<bE%-4jE%T4rE%0Em_ EmrEm)Ei"Em;*Em*;VEmFA4ZEiBEmi 5,ٖ;?A2S??2Xw?2%6ٱ2 :AHRS rotation from veh to nav: [[0.559462,-0.797790,-0.224795],[0.809750,0.583977,-0.057238],[0.176939,-0.150005,0.972724]]2H?@̿x??SN? \3ÿ@ ?i2S??I2G_;2CYBByB0'Ii Mb@Mb@Mb@     9 S㥛?{Gz?~jt?Y D?y ף< < +@ v~@ n@) z@ Y @bDVDy>%<=ٔ;Q->9Y=FyxEڃE>Q 55o?Q 95H)BYD?Q E:y ?Q Ij@CIlf;iy;5yɮ@5DNOT Ignoring new targets: 46.27 m.hAhA*hA"hI hIgIfQfQf] BdYdadajdaZdmJ@mQBɢm"i)q uDFiq)uR0 qqiu :iy}U<DMIIA@A @A@E/@A!I ^Am qEu W Eu AEu $Eq "Eu T;*Eu ;VEu 4ZEq a} @a} @a} @a @I I O >,rU?AY~By~M'IbD VD fy%=%%R=ٔ%Q-%>9)Y)=-Fy-|E-E5>1Q 5=55 }?Q 9E55vB)5BYAyAQ IEj@5CI5;i5];5_5yMBɮUq@UEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@J@%XBɢ-*)) -:&i))-%Q 11i5\d:i9=6<=@ I9IAII)II@ @@/@@@y^AeIqIO>ԩ B ;>B ԍCB 'IB /BB / =B FDB gDB b;B %EJ,\o?ADzDE E!E"E"EV;*E:VE(3ZEBEX->?-v?-\2ٱ- Y eAHRS rotation from veh to nav: [[0.561797,-0.796101,-0.224960],[0.808919,0.585597,-0.052214],[0.173303,-0.152641,0.972968]]-H>?y@z̿?@6?.?ÿ"?i->?I-^;)Ym,Bym}'IiMb@Mb@Mb@ 9{Gz?l?/$?YC?y=<@u@ A@)s@Y@bDVDβy%F'>%%.=ٔ-x9)Y)=-Fy5E5 E5>9Q 5E5=?Q 9E5=:)=6BYM$D?Q EM:yM$?Q IMj@=#CI= ;i=. ;=|5yQɮU@Q}DNOT Ignoring new targets: 46.27 m.hyh*h"h hgfffBdddjdZdp(K@E`BɢEb,)A EνiA)MYi IIiMd?:iQU=.",(?A2S>?2ɇv?20ٱ2+ :AHRS rotation from veh to nav: [[0.562550,-0.796165,-0.222843],[0.808692,0.585936,-0.051926],[0.171914,-0.151001,0.973470]]2H`i?.z!̿ ?`? `C?Sÿ@&?i2S>?I2^;2CYBUByB'IbDJVDJ 8yR~>%R~=ٔV;Q-V ?9TYT=VFyVEZEZ ?\Q 5b5^w?Q 9b5^$5)^NBYdyf ?Q Ifj@^BCI^;i^:^J5yjBɮjV@jE|}DNOT Ignoring new targets: 46.27 m.hyhy*hy"hy hygfffdddjdZd`SK@eBɢ) i) o i:i  ig<%AIIE=D E=-E=)E9"E=ny;*E=K;VE=FA4ZE9aM@aM@aM@aM@@ @@4@Iq^AIQIiOu>ԡ Y(,h?AY~nBy~'IbD VD 0y(=%%C=ٔ%Q-%>9)Y)=-Fy-E-E->1Q 5=55|?Q 9E55.)5mBYAyAQ IEj@5kCI5 ;i57;55yMBɮMl@UEyDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd K@-lBɢ-< )) -5;i))5on 11i5ܛ:i9=&<=œI9IA9@ @@4@@=@=BF>BՍCB'IBqBBBBhDBb;B%EE] E]EYEY"E]W;*E]O:VEYZEYBE]B ΂.,ݼ?A6}>?6ev?6].ٱ6{ BAHRS rotation from veh to nav: [[0.563211,-0.796062,-0.221539],[0.808751,0.586041,-0.049778],[0.169458,-0.151134,0.973880]]6H? Vya[̿I??|ɰ?ZXÿ*?i6}>?I6i^;6CYbByb'Ii}Mb@Mb@Mb@yyyy y9}p= ף?~jt?Zd;O?Y}E?y}D=}j<}@};o@ }@)}j@yY}׃@bDVDNy >%@=ٔ$;Q->9Y=FyEE>QQ 55?Q 95&)BYE?Q E:yσ?Q Ij@CIX=i)%c !!i%:i)-<-EŭI)I19@ @@4@ԉԱ^AuE]  E] E] (EY "E] V;*E] :VE] c44ZEY ae @am @am @am @A I I O > j5,N֠?A2ӑ>?2Hhv?2o-ٱ2)L :AHRS rotation from veh to nav: [[0.563270,-0.796668,-0.219198],[0.808897,0.585786,-0.050407],[0.168561,-0.148915,0.974378]]2HN? M~ ̿{??@Ωd?@ÿ.?i2ӑ>?I2 ^;0YBByB(IbDHVDHyR/>%R_=ٔR";Q-V>9TYT=VFyVEZ8EZ>\Q 55^?Q 95^ )^BYy΃?Q Ij@^CI^H$B ">B эCB (IB BB . =B B eDB =b;B B%EB}ՍCB}ՍCB}ʖCB}. =B}- =C}I69 E]  E] E] %EY "E] D;*E] :VE] 4ZEY BE] Κ^:Gter9iYm\Ay?oAQɰQ>?`uv?,ٱ  AHRS rotation from veh to nav: [[0.563195,-0.797362,-0.216851],[0.809134,0.585400,-0.051072],[0.167668,-0.146698,0.974868]]H@? ˿m??@+&"v?¿2?i>?It^;CY5ՈBy=M(IIA)Ea@a a@a a@a a@a bDVD0y!>%!=ٔ:Q->9 ?Y ?=FyE09E>Q 55AЩ?Q 95)ΖBQ A+:YQ E^:yӃ?Q Ij@CI ;i?y5yBɮٝ@EB*** querying acoustic contact ***i i DNOT Ignoring new targets: 46.27 m.h h*h"h hgfffddd!jd!Zd%-L@颭Bɢ) 6&>i)r& 顱ik:i<}맻II!1@9 @9@9@A@I@I2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I ^AY y A I I O >DC,ȴ ?A2>?2exv?2+ٱ2: :AHRS rotation from veh to nav: [[0.563251,-0.797487,-0.216246],[0.809294,0.585242,-0.050345],[0.166706,-0.146650,0.975040]]2H'?˿?M?ƩV?@n¿3?i2>?I2^;2CYB ByB(IbDNVDNyR>%Vh=ٔV5;Q-V>9XYX=ZFyZEZf 9EZ>\Q 5b5^۩?Q 9f5^)^BQ Af :YdQ Ef4:yfԃ?Q Ifj@^ CI^ ;i^\?^}5yhɮn@lDNOT Ignoring new targets: 46.27 m.hh*h"h hg f f f dddjdZd ZL@MBɢMR)I MM>iI)U2 QQiUy:iY]\R BDAT read: Tx time:04:52:19.3290 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249623a bI,]'?A6>?6v?6Q+ٱ6e BAHRS rotation from veh to nav: [[0.563051,-0.797336,-0.217321],[0.809471,0.585080,-0.049382],[0.166524,-0.148110,0.974850]]6H`?ǃ)˿@/??HP?F¿`1?i6>?I69\^;6CYF&ByJ(IbDRVDR:yZ >%ZK=ٔZ9Q-Z>9\Y\=^Fy^Eb/:Eb>dQ 5f5f驊?Q 9j5f )fBQ Aj9YhQ Ej:yjރ?Q Ijj@f2CIf:ifš?f\5yrBɮrl@rEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffd!d!d!jd!Zd-BL@UBɢU])Q ]o>iY)eF aaierO:iim~BύCB(IB`BB0 =BBcDBb;B%%E=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503628Em EmEiEi"EmV;*Em:VEiZEiBEm JP,9A?A2F>?2v?2*ٱ2k :AHRS rotation from veh to nav: [[0.562496,-0.797999,-0.216321],[0.809931,0.584407,-0.049804],[0.166163,-0.147190,0.975051]]2H? 6d˿?w?@D? ¿3?i2F>?I2^;0Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753656YJ9"?Y"?=FyE:E>Q 55z?Q 95f)%BQ AT:Yz[?Q Ew:y(?Q Ij@aCI;i;)5yBɮ@EDNOT Ignoring new targets: 46.27 m.hh*h"h hgf f f Bd ddjdZdL@n%Altitude envelope ACTIVE. Altitude:3.960000m. At depth:68.617615m."c%Bc!*c%2c%=`5Altitude envelope ACTIVE. Altitude:3.960000m. At depth:68.617615m.]1]1]9]9iQɢU ?I]>]0I])]e2)]]eieԺiam}Q vV,C[?A2|??2v?2*ٱ2J :AHRS rotation from veh to nav: [[0.561843,-0.798624,-0.215713],[0.810552,0.583579,-0.049407],[0.165343,-0.147088,0.975206]]2H? T}˿ ??K)?¿@4?i2|??I2s];0YB`ByB(IbDJVDJ1yRC>%V[=ٔV(;Q-V>9V ?YZ ?=ZFyZEZ;EZ>\Q 5b5^?Q 9b5^)^?BYdyfE?Q Ifj@^CI^:i^:^i5yhɮn@lDNOT Ignoring new targets: 46.27 m.hh*h"h hgf f f d dƷ<djdZd{L@"cBc!*c!2c%])])])])iIɢIIM>M0)Q)Qijpi P}< tmI I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2582859@ @@N3@Y^A ԁ B >B B b)IB BB 1 =B B dDB a;B %EI I OU >i9 I9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509873bEEʞ4jEE4rEE0E  E !E !E "E mR;*E :VE c3ZE BE %-=ٔQ->9Y=FyEE>Q 55?Q 95))bBYN?Q E:y5?Q Ij@CI ;iu ;5yBɮV@DNOT Ignoring new targets: 46.27 m.hh*h"h! h)g1f9fMfMBdQdUƷ<dQjdQZdU2M@"c]Bca*ca2ceԁ] ] ] ] iIɢIIM>I)I)QQQiUIһiY]|<]lnxIYI9@ @@2@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762311Ա ^A} yb]IQ Ii Ou >qc,?Aɰ2??2Yw?2<<(ٱ2&3 :AHRS rotation from veh to nav: [[0.560274,-0.800252,-0.213749],[0.811999,0.581595,-0.049033],[0.163554,-0.146092,0.975657]]2H?`\˿? n?W?#¿8?i2??I2];0YBByBP)IF=F=L Jp>%~j=ٔ~;Q-~>9Y=FyE ;E > Q 55 ?Q 95 ) |BYyz?Q Ij@ CI ;i ; 5y-ƒBɮ-@-EUDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hQ hQgYfYf]fYdadeƷ<dajdaZdm ^M@"cuBcq*cq2c}]]]]iɢI>0))顩i`zi(|< IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015508E EE%E"E9;*E:VE 4ZEa%@a%@a%@a%@5&t9@ @@2@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2655079 i BA4=^AIAQzAUfAB}>B}ЍCB})IB}BB}. =ByByB}a;B}$EIIO?ʉk,e?A6:j@?6@x?6/%ٱ6i >AHRS rotation from veh to nav: [[0.558116,-0.801888,-0.213264],[0.813945,0.579031,-0.047089],[0.161247,-0.147304,0.975859]]6H`?>L˿ ?k??¿<:?i6:j@?I6];4YFByFi)IbDRVDR02yZߢ=%Z =\ٔ^ԕ;Q-^>9\Y`=bFybEb;Eb>d]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517701Q 5]5f*?Q 9e5f)fBYaye؏?Q Iej@fCIf9)Y)=-Fy-E5j`;E5>9Q 5E5=X?Q EE{:yEߍ?Q IEj@=NCI=:i=:=5yUŒBɮU@UEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdd-Ʒ<d)jd)Zd- M@"c5Bc1*c12c5]A]A]A]AiYɢaIe>mM/)u]=)qqqiuMSiiz<:II2=9@9 @A@E00@A@<mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273623 ^A5 9I I O >?lz,o롾?AYrByr)IbD VD N2ye$>%mX=ٔmQ-u>9qY=FyEE>Q 55|H?Q 95=)BYyQ Ij@wCI;i]:d5yϒBɮ@xEB>B̍CB*IBEBB* =BBaDBa;BDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZdN@"c Bc *c 2c ]]]]i9ɢ9I=>9)9)AAAiEUiIMMczAI ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778827Au ؟AIy I O >,"?A2\A?2Тy?2.ٱ2 :AHRS rotation from veh to nav: [[0.554912,-0.807613,-0.199584],[0.818723,0.572713,-0.041142],[0.147531,-0.140574,0.979017]]2H?ɿ2?S?O? QT?i2\A?I2J];2CYB ByB)IpiMb@Mb@Mb@ 9zG?L7A`?Zd;O?Y W?y+>j<I|@S@ Q@)P@YQh@bD-VD-y==%=F=ٔ=H9E"?YE"?=EFyEEM <EM>QQ 5]5UT?Q 9]5U)UBY]Y?Q E]y:y]J?Q Ij@UCIUJ+))i7iy<Ş;II!-fA-fAv/9@ @@4@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030573@T<E EE"E"E1;*E:VE(3ZEa@a@a@a@A^Am ] ;q A I I O >,e!?A2A?2my?2^ ٱ2e :AHRS rotation from veh to nav: [[0.555966,-0.809836,-0.187262],[0.820348,0.570892,-0.033344],[0.133910,-0.135082,0.981744]]2Hy?-6ǿI@? D?o@#?`_J rj?i2A?I2=];0YBByB)IIFa=)F4=bDNVDNyR<=%RK=ٔV =Q-V>9TYX=ZF\yZE^8Eb>`Q 5f5b`?Q 9f5b)bBYhyj@?Q Ijj@bCIb;ib";b 5ylɮr@p DNOT Ignoring new targets: 46.27 m.h h *h "h  h g fffddƷ<djdZd N@"c%Bc)*c)2c-=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281682]]]]iɢI>l())iiry<r;II2Bþ>BōCBI*IBrBB= =BGDB[DB=b;B%EBύCB͍CBƗCB0 =B1 =CƷ69@ @@4@=ɀGQi 9YAiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.533914@ <D% =D% <E-  E- E- *E) "E- W;*E- :VE- (N4ZE) BE- B9aYa=eFyeEe49Em>qQ 5u5u7r?Q 9}5u)u7BY}_?Q E}r:y}?Q I}j@u CIuL:iu:u#5yɮډ@zEMDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hQ hQgQfQf]f]BdYdeƷ<dajdaZdeN@"cuBcq*cq2cu]y]]]iɢI ?D#)) i Ci -y<4;IIAi?>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038170E  E $E 'E "E ;;*E ;VE '4ZE a @a @a @a @A @A  @A @E o0@A @= <ԙ ^Aur;}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289612AIIO ?꘨,ee?A 6NA?6Yy?6݆ٱ6 BAHRS rotation from veh to nav: [[0.560756,-0.816463,-0.137629],[0.825362,0.564417,0.014544],[0.065805,-0.121749,0.990377]]6H?v `Н]i?@?/ɍ? ذ?*`+?i6NA?I6+^;4YF?ByJ *I LLbDRVDRJy% F=%%=ٔ%=Q-->9)Y)=-Fy-E5z(E5>9Q 5E5=:?Q 9E5=)=JBYAyM]?Q IMj@=FCI=1:i=:=5yUؒBɮU@UqE}DNOT Ignoring new targets: 46.27 m.hyhy*h"h hgfffddƷ<djdZd O@"cBc*c2c]]]]iɢI;?N)O,)iӼix<Y;IIAB>BÍCBb*IBBBD =BBZDBb;B %EqUchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.541648DzD?AE EE$E"EL;*EZ:VE4ZEBEAHRS rotation from veh to nav: [[0.563856,-0.816747,-0.122433],[0.825071,0.563617,0.039925],[0.036397,-0.123527,0.991673]]2H  ?"@W`f?@' ? q??`ʻ?i2h@?I2];2CYFRByF!*Ii]Mb@Mb@Mb@YYYY Y9]zG?l?9Y=FyEE>Q 55?Q 95)SBYW?Q E{:y?Q Ij@CI:if:5yɮg@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBddƷ<djdZd5PO@"cBc*c2c]] ] ] i!ɢ!I-A?-f\)))111i5Ni9=x<=(:I9I9I9@ @@E2@@,F{?A6??6xw?6ٱ6< FAHRS rotation from veh to nav: [[0.567196,-0.816474,-0.107978],[0.823565,0.563165,0.067722],[0.005516,-0.127339,0.991844]]6Hw&? `v Z? s??V?@ v?L/?i6??I6]];6CYJVByJ&*IbDVVDV:yZԨ<%^Y=ٔ^=Q-^>9`Y`=bFybEbEf>dQ 5j5f棪?Q 9n5fX)fTBYlyn1?Q Inj@fCIfT ;ifq ;f5ytɮv'@tDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff!d!d%Ʒ<d!jd!Zd-`~O@"c5Bc1*c12c5]9]9]A]AiɢI!>t)!)ici/w< II=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297676ԩ!@) @)@-4@)]!%Overload Error%-!%Hardware Fault% BAp<BU>BQBU\*IBUBBUC =BQBUYDBUb;BU/%E@M<@U=@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549651 bEɻ 4jEw4rEEC0E- ) E- E) E) "E- `;*E- ]:VE) ZE) BE- ,Z?AZ>?Z v?Z_<ٱZ bAHRS rotation from veh to nav: [[0.570849,-0.815946,-0.091453],[0.820630,0.563420,0.095516],[-0.026410,-0.129574,0.991218]]ZH`dD? ; uiB??s?`( ?iZ>?IZ];ZCYj]Byj0*IIn<)na=ԡiEMb@Mb@Mb@AAAA A9Eq= ףp?V-?9qYq=}Fy}E}5E}>Q 55b?Q 95)IBYL?Q E:yT?Q Ij@CI:i<:#5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801458yBɮ8@iEDNOT Ignoring new targets: 46.27 m.hh*h"h hgYfYf]f]hBdadeƷ<dajdaZdm O@"cmBcq*cq2cu]]]]iɢIi?))iQi  av< 6II1@ @@1@ !0Uninitialize Mass Servo.!Powering downB@:@R@J@^A eI1 IA OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053577E  E !E "E "E 0;*E :VE (3ZE a @a @a @a @) ,0 ٢?A:A=?:u?:zp=ٱ:r FAHRS rotation from veh to nav: [[0.574658,-0.815034,-0.074085],[0.816287,0.564332,0.123309],[-0.058692,-0.131335,0.989599]]:Hc?@ ??)? ˪?i:A=?I:^;:CYJ`ByJ3*IbDVVDVy^a<%^l=ٔ^P=Q-b?9`Y`=bFybEfEf?hQ 5n5jVª?Q 9n5jw)j>BYpyr?Q Irj@jCIj;ij;j&5ytɮv@tDNOT Ignoring new targets: 46.27 m.hh*h"h hgff%f!d!d%Ʒ<d!jd)Zd-O@"cuBcq*cq2cu]y]y]]iɢIIU>)U~)QQYi] iu<1IIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.305492:i} 9@y  @y @} 0@y @ @ B >B čCB 0*IB ^BB A =B B ZDB b;B 1%Eԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557529^A [RӻE  E %E $E "E P;*E ;VE 4ZE BE ^,?AR;?R{s?R0)=ٱRP rAHRS rotation from veh to nav: [[0.578079,-0.814143,-0.054738],[0.810916,0.565734,0.149533],[-0.090774,-0.130830,0.987240]]RH?u ?}?@#?< y?iR;?IR^;PYWBy'*IbD%VD%Nye%e=ٔ}dt=Q->9Y=FyE2E>Q 555ժ?Q 95})%BYy?Q Ij@:CI:i:P+5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZd@P@"cBc*c2c]]]])iIɢQI]>)Y)YYYi] iiutŨ,R?Ax~N8?~p?~>ٱ~ AHRS rotation from veh to nav: [[0.582637,-0.812611,-0.014064],[0.798097,0.568790,0.198797],[-0.153545,-0.127051,0.979940]]~H?͌? 3?-r?]ÿ`4C[?i~N8?I~u^;~CYYBy%**IiMb@Mb@Mb@ 9MbX9?:v?~jtYA?y<ļi@E@ M@)\@YfV@bDVDy<%.=ٔ >Q->9Y=FyE:ƼE>IQ 5U5M媊?Q 9U5MHv)MBYUB?Q EU:yUx?Q IUj@MfCIM:iM:Mc/5yaɮe@aDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffrBddƷ<djdZd:P@"c-Bc)*c)2c-]1]1]1]1iɢI>)f)iiF s<J$μII!checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313555I]8'= 9@9  @9 @E /@A y A A @AB þ>B ōCB )IB &BB > =B B [DB Xb;B %Eԡ ^A%}Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.565693EY EdE#E"E=;*EB#;VE3ZEBEٱ MAHRS rotation from veh to nav: [[0.583997,-0.811723,0.007286],[0.791014,0.571068,0.219495],[-0.182330,-0.122421,0.975586]]H? 6}?O?0F?@j?VǿV8?iz7?Ij^;CYQBy!*II<)9Y=FyE%E>Q 55?Q 95m)җBY4?Q E:ym?Q Ij@CIi:45yBɮ@aEDNOT Ignoring new targets: 46.27 m.hh*h"h hg f f=f=Bd9d=ƷԨ,S?A:V/6?:n?:X>ٱ:0 FAHRS rotation from veh to nav: [[0.584752,-0.810735,0.027827],[0.783712,0.573452,0.238637],[-0.209429,-0.117735,0.970710]]:HI?~? +?Y?@? ʿ#@?i:V/6?I:^;:CYN>ByN *IPbDZVDZ1ybH%b=ٔb=Q-f?9dYd=fFyfEjUEj?lQ 5r5nV?Q 9r5ni)nBYpyrl?Q Ivj@nCIn;in;nZ75yxɮz@xDNOT Ignoring new targets: 46.27 m.hh*h"h! h!g!f!f-f)d)d-Ʒ<d)jd1Zd5`sP@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.069687"c=BcA*cI2cM]Q]Q]Q]QiqɢqIuo>)uKE< EeE"E"E,r;*E#;VE(3ZEa@a@a@a@)顑iio<pII 9@ @@)0@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321635! e PExceeded connect timeout, disconnecting.^A TмBe ʾ>Ba Be )IBe BBe @ =Ba Be \DBe a;Be $EBčCBčCB̔CBA =BA =C̠,6y A I I  h>CO=>ۨ,9q?AG ,B鉿9@YBzAhɰh 4? l? 1q>ٱ @ UAHRS rotation from veh to nav: [[0.585400,-0.809441,0.045953],[0.776250,0.575949,0.256356],[-0.233972,-0.114400,0.965489]] H?`? ?,n?$h?Ϳ@UIJ?i 4?I ]; CYe8Bye*IbDuVDukyi%%=ٔP=Q->9Y=FyE*E>Q 55s?Q 95b)BYyUk?Q Ij@CI:iB:;5yBɮ)@bEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.573653YE6 E'E%E"El;*E";VE 4ZEBEH9 Y = FyEE>Q 5%5()?Q 9%5Z)PBY%S.?Q E-:y-zf?Q I-j@CI;i:q@5y1ɮ5 @1]DNOT Ignoring new targets: 46.27 m.hYha*ha"ha hagafafmfmBdidmƷ<dqjdqZdu`SP@"cBc*c2c]]]]iɢI>?))顱ic)izk<<II)9@ @@0@Q nManaging dock network, ignoring radio surface power offԡ ^A% B ̾>B ƍCB C)IB BB B B B ma;B $EII)O]>,?A6UV2?6,j?6z>ٱ6g۽8 BAHRS rotation from veh to nav: [[0.583084,-0.807028,0.093379],[0.757452,0.581593,0.296675],[-0.293733,-0.102256,0.950402]]6H@?, ? =?g? ?ҿ y- i?i6UV2?I6];6CYJByJ)IbDRVDR1yZ ѽ%Z?=ٔ^i>Q-^>9\Y\=bFybEbʽEb>dQ 5j5f7?Q 9j5f'U)fBYlync?Q Inj@f2CIf;if ;f-D5yrBɮr@pDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdd%Ʒ<d!jd!Zd%P@"c-Bc)*c12c5]9]9]9]9iYɢYI]>)]޺)aaaieV,iim$ti,Zˣ?A:_+2?:j?: 8>ٱ:Tؽ FAHRS rotation from veh to nav: [[0.580495,-0.807528,0.104519],[0.753067,0.581247,0.308289],[-0.309703,-0.100250,0.945534]]:H`i?E?` ? ??,ӿA?i:_+2?I:];:CYJByJ)Ili%Mb@Mb@Mb@!!!! !9%ʡE?y&1~jtY%-2?y%`弙%%`}@%a@ %N@)%@!Y%Gq@bD=VD=NyMɽ%MB=ٔM"=Q-M>9QYQ=UFyU EU˺E]>aQ 5m5eF?Q 9m5eO)eBYm2?Q Em:ym}]?Q Iuj@eUCIe*:ie:eG5y}Bɮ}G@}YEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBddƷ))顑i/iJg< :II@ @@4@@=@=^A3AzAgAEV EGE'E"E;*E;VE'4ZEa@a@a@a@IIO%M>1a >,壾?A2: 2?2i?2S>ٱ2ҽ :AHRS rotation from veh to nav: [[0.577878,-0.807873,0.115750],[0.748936,0.581297,0.318102],[-0.324271,-0.097135,0.940964]]2H}?@ǡ? I??[?Կݸ`?i2: 2?I2~y];2CYBByB)IIFC=)Fp<bDJVDJ:2yro%rQ=ٔv =Q-v>9tYt=zFyz Ez8Ez>|Q 55~T?Q 95~J)~BY y U]?Q I j@~uCI~:i~:~GK5yBɮϐ@ZE9MDNOT Ignoring new targets: 46.27 m.hIhQ*hQ"hQ hQgQfQf]fYdYdeƷ<dajdaZdeQ@"cmBci*ci2cm]y]y]y]yiɢI>E))顡i1isue<SB)B-(IB-VBB)B)B)B-`;B-q$Eԑ^Aڅ<IqIO>DzD@AbEu4jEum4rEu).0EX EdE%E"EɅ;*EB#;VE 4ZEBEٱnqϽ vAHRS rotation from veh to nav: [[0.574226,-0.809144,0.124698],[0.745896,0.579849,0.327740],[-0.337496,-0.095185,0.936502]]nH`?@=?a? ? ?`տ@ ^?in7T2?Inj];nCY%݉By%)IԑiMb@Mb@Mb@ 9`"?~jtMbY7?y@@j@ P@)X@Y~@bDVDym6%;=ٔ=Q->9Y=FyE$;E>Q 55d?Q 95D)tBYC8?Q E:ya?Q Ij@CI:ij:O5y ɮ n@ 5DNOT Ignoring new targets: 46.27 m.h1h1*h9"h9 h9g9f9fEfE4BdAdEƷ<dAjdIZdM@!Q@"cUBcQ*cQ2cU]a]a]a]aiyɢI>ڥ7)) i {4i Ec< 9IIԹMU@ @@4@ E ] E nE E "E ;*E (;VE ZE a @a @a @a @^A =A >A >AIIIaOm>c,I?Aɰ4ٱNfʽ EAHRS rotation from veh to nav: [[0.569744,-0.810936,0.133324],[0.743568,0.577754,0.336612],[-0.349999,-0.092647,0.932157]]NH W;?/? N?|? ? cfֿ `;?iNU2?IN];NCYUˉByU|)IbDeVDeNyuܝ%u2=ٔ}K9yYy=FyE4;E>Q 55Et?Q 95>)/BYya?Q Ij@CI:it:S5yBɮ@[EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZd ?Q@"cBc*c2c]]]]iɢIS>b*)!)!!!i%)6i)-c0a<-:1I1I1 Gѽ9@ @@/@-BDAT read: Response Not Received -*response not received-B ǍCB (IB BB = =B B B `;B M$EY ^A 89I I O >: ,}7?A 653?6uk?6<>ٱ6V@ƽ >AHRS rotation from veh to nav: [[0.564870,-0.812947,0.141562],[0.741460,0.575327,0.345306],[-0.362160,-0.090090,0.927752]]6H`i? ?` ?i??-׿&$?i653?I6ֺ];6CYJByJ`)IERS ERDEPEP"ER;*ERh;VEPZEPBER9hYl=nFynEn;Er>pQ 5v5r?Q 9z5r9)rBYxyzDb?Q Izj@rCIr:ir:rpV5y|ɮ@-DNOT Ignoring new targets: 46.27 m.h)h)*h)"h) h)g)f1f5f1d1dƷ<djdZd yXQ@"cBc*c2c]]]]iɢI0>Я)T)i8i!%`_<%~(I!I)5gA5gAy]TRe]>ie>ԩ9@ @@3@ ^A 31I IO->,JW?A:l_4?:5l?:>ٱ:z BAHRS rotation from veh to nav: [[0.560103,-0.814787,0.149689],[0.739694,0.573241,0.352489],[-0.373011,-0.086706,0.923767]]:H ^?)??W? ,?i׿X2@?i:l_4?I::];:CYbByb>)IErA Er7EpEp"Erv;*Er ;VEpZEpav@av@av@av@xieMb@Mb@Mb@aaaa a9ep= ף?~jt?ˡEYe%?ye9Y=FyE];E>Q 55~?Q 95 3)BY%?Q E:yr?Q Ij@CI ;iT ;Z5yBɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBddƷ<djdZdzQ@Bɢ K(=I Ʒ<) F8= ?i )i2i]<II!!QӦA @A  @A @E 5@A y B9 B9 B= <(IB= ȈBB= : =B= FDB9 B= ]`;B= '$EԱ ^AE)IIO>,Zv?A25?2/nm?2ն>ٱ2N >AHRS rotation from veh to nav: [[0.554360,-0.817230,0.157545],[0.739404,0.570490,0.357522],[-0.382056,-0.081707,0.920520]]2HP?`&o*?3?@uA?@?`sؿ괿t?i25?I2A];2CYB~ByB)IbDNVDN0yR%V3=ٔV9XYX=ZFyZ#E^F+<E^>\Q 5b5^c?Q 9f5^_-)^gBYdyf/t?Q Ifj@^*CI^;i^G ;^^5ynBɮn@nREDNOT Ignoring new targets: 46.27 m.hh*h"h hg f ffdddjdZd@Q@Aɢ]{V=)a e>ia)e 9aEE E@EE"EVz;*EM;VEZEBE ԉ #,?A66?65n?6 >ٱ6 BAHRS rotation from veh to nav: [[0.548850,-0.819623,0.164265],[0.739363,0.567669,0.362069],[-0.390008,-0.077271,0.917563]]6H -? Y:?ܨ? X*?`%,?`ؿdz \?i66?I6׉];6CYF_ByJ(IN=N=iMb@Mb@Mb@ 9tV?y&1?9IYI=MFyM(EM=9<EU>QQ 5m5U?Q 9m5U')UBYu3?Q Eu:yuw?Q Iuj@UKCIUy;iU:Ub5yyɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffˁBdddjdZdQ@ɢ <) )>i)tE:qyyi}(i@Y<@IIm:_ǼE$ E,EE"Eg\;*E;VEZEa@a@a@a@A@A @I@I@Iԡ^AE I I O > ),?A28?2co?2}>ٱ2Xף :AHRS rotation from veh to nav: [[0.543860,-0.821893,0.169437],[0.739838,0.564896,0.365419],[-0.396050,-0.073381,0.915292]]2HLg?L ???`c?XٿɲJ?i28?I2o];0YB9ByB(IbDJVDJyR G%RU=ٔV 9TYX=ZFyZ,EZ)G<EZ>Q 556?Q 95")ؔBYyy?Q I%j@jCI;i;f5y-Bɮ-h@-SEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdQ@ɢkI<)g= D>i)d:i>#ikX<3II፨<Bu<Au<B}ھ>B}ȍCB}'IB}{BByByB}]DB}`;B}$EB=ǍCB=ǍCB9B== =B== =C=ÿ36uG@ @@/@O9 Y _}AE- E&E'E"Ed;*E;VE'4ZEBE;1,9Ĥ?A*4<ɰ(FV`9?F6q?F4 >ٱF NAHRS rotation from veh to nav: [[0.539192,-0.824510,0.171624],[0.741766,0.561439,0.366836],[-0.398817,-0.070490,0.914317]]FH@A?`cb?? O??z?7ٿ `B?iFV`9?IFr];FCYVByV(IiMb@Mb@Mb@ 9Zd;O?Mb?{GzYj9 ?Y ?=Fy0EE<E>Q 55?Q 95O)BY=?Q E:y?Q Ij@CI:i:i5yɮ@ DNOT Ignoring new targets: 46.27 m.h h *h "h  h gfff(Bdddjd!Zd%Q@MBɢM-W<)Q U>iQ)U:QQi]-iYe#Wyk7,ߤ?AN{:?Nr?N{x>ٱNN ^AHRS rotation from veh to nav: [[0.535557,-0.827259,0.169766],[0.744936,0.557467,0.366470],[-0.397804,-0.069801,0.914811]]NH I#?x ???@=t?uٿyޱ@"F?iN{:?IN];NCY~By~s(I   AAAbDVDfy%~O%-K=ٔ-3Q-->95"?Y5"?=5Fy54E5T<E5>9Q 5E5=hͫ?Q 9M5=)=9BYIyMe?Q IMj@=CI=&;i=f:=km5yQɮ]@YDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdQ@ɢ<) jQ>i){:i<i V<űII!a9@ @@/@B>BʍCB{'IB*BB5 =BB_DBj_;B#E@=@=Q y ^A A) zA) E  E E 'E "E V;*E :VE '4ZE BE ٱaw AHRS rotation from veh to nav: [[0.531389,-0.832925,0.154471],[0.754649,0.548288,0.360395],[-0.384876,-0.074938,0.919921]]H$?@R@?@&?@?`?Сؿ+/o?i^:=?IX];CYˈByA(IiMMb@Mb@Mb@IIII I9MA`"?A`"?+YM9?yMY=MMO@M+@ Mv~@)M@IYM@ԁbDVDk2y % =ٔ üQ->9 ?Y ?=Fy:E"<E>Q 55ݫ?Q 95 )ΓBY:?Q E:y?Q Ik@CI ;iX ;r5y Bɮ ţ@ JE5DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h1g9f9fAfE[BdAdAdAjdIZdM@%R@uBɢuJ<)y }>iy)}+:顁iriT< 9IIԱXh= 9@  @ @ /@ EU = EU [EU %EQ "EU s;*EU ;VEU 4ZEQ a] @a] @a] @a] @^A7ƙ9A ؟AII!O5?H,e%?AY%By-'I1bD=VD=yMߊ%U=ٔUQ-U>9]"?Y]"?=]Fy]?E]E]>aQ 5m5e뫊?Q 9u5e)eqBYqyqQ Iuk@eCIe;ie];ew5yyɮ}9@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@fFR@BɢZm:) 0i)>:i ivS<GII  YAAAAB >B΍CB'IBԇBB3 =BBbDB^;Bt#EM9@I @I@M/@QԱ^A :bEʻ 4jE 4rEL/E 6 E DE &E "E l;*E h;VE 4ZE BE H!O,t??AFq??Fw?F ǽ>ٱF^ NAHRS rotation from veh to nav: [[0.529289,-0.838417,0.130039],[0.767231,0.538407,0.348533],[-0.362230,-0.084704,0.928232]]FH@?O ? '?`:?\N?.׿0?iFq??IF`];FCYVOByV'IbDbVDbyf%fQ=ٔjQ-j>9j ?Yn ?=nFynCEn{<Er>|Q 5 5~?Q 95~)~-BYyԄ?Q Ik@~)CI~Z;i~O;~~z5y% Bɮ%@%KEMDNOT Ignoring new targets: 46.27 m.hIhI*hI"hI hIgQfQfQfYdYdadijdqZd}`_R@ԙBɢŻ) i)%l:!)imiqu$!SV,Y?A2@?2 x?2k>ٱ2{˽ >AHRS rotation from veh to nav: [[0.529088,-0.840866,0.114066],[0.773566,0.533200,0.342481],[-0.348800,-0.092964,0.932575]]2HI?`_t3? ??`3?Rֿ`̷`?i2@?I2{];0YBByBm'IE~R E~QE~$E|"E~;*E~A;VE~4ZE|a@a@a@a@imMb@Mb@Mb@iiii i9mq= ףp?I +?EԸYmK?ym9=mƽm@m@ mن@)m@iYmG@bDVD:ya%<=ٔQ->9Y=FyHE<E>Q 55?Q 95)ڒBYCN?Q E:yN?Q Ik@PCI7:i@:C~5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjd Zd F{R@-Bɢ-Q)) -DRi1)5:11i5e{i9=jR<=iI9IA@ @@/@^Au)A؟AIIO>Q B >B эCB &IB sBB ) =B EDB dDB 7^;B G#E A\,es?A2A?2xy?2>ٱ2c߽ >AHRS rotation from veh to nav: [[0.528759,-0.843225,0.096882],[0.779794,0.527686,0.336850],[-0.335164,-0.102564,0.936561]]2H`? H͸??? ?SsտAN?i2A?I2z];2CYBByB-'I DDbDNVDN:yV%V[=ٔVQ-Z>9Z"?YZ"?=ZFyZKE^0<E^>`Q 5f5b ?Q 9f5b)bBYdyf?Q Ijk@bsCIb:ib:b5ylɮn@lDNOT Ignoring new targets: 46.27 m.hh*h "h  h g f ffdddjdZd@R@BɢTN) i)ﰍ:iZi WR<A;II9@ @@0@Ea EdE)E"E݉;*EB#;VEFA4ZEBEԹ 1c,e?A2 {B?2xQz?2>ٱ2h >AHRS rotation from veh to nav: [[0.529194,-0.844720,0.080014],[0.785276,0.523299,0.330908],[-0.321395,-0.112282,0.940265]]2H(?{?@ ?ݾ?-?Կ@} ?i2 {B?I2/^;2CYBByB&Ii Mb@Mb@Mb@     9 x&?sh|??sh|?Y 7I?y =  V@ ߟ@ 3@) @ Y z@bD%VD%y5R%5A=ٔ= Q-=>99Y9=EFyEPEE;EE>IQ 5U5M?Q 9]5M)MJBY]rK?Q E]:y]?Q I]k@MCIM:iMH:M:5ymBɮm&@mBE-DNOT Ignoring new targets: 46.27 m.h)h1*h1"h1 h1g1f1f9f=Bd9d9ԁdjdZd R@Bɢ;μ) Ǿi)|A:i+iR<;IIq@q @y@}5@yԱE q E ~E %E "E ;*E 0;VE  4ZE a@a@a@a@^A5 ?B:Am .AIq I O > Ri,?AB>C?Bj{?B>7>ٱBC?IB];BCYRByR&IbDZVDZNyb%fS=ٔfQ-f>9f ?Yj ?=jFyjTEj;Ej>lQ 5r5n$?Q 9v5n)n BYtyvN?Q Ivk@nCIn$:in=:n5yxɮz@|%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5R@eBɢeH)i m(ii)mgt9iiim iquQBMٍCBM#&IBMBBM& =BIBMkDBM];BM*#E^Ar;I A! E- w E- OE- $E) "E- ؓ;*E- 3;VE- 4ZE) BE- 8:p,?A Y~YBy~z&II<)bDVDyEW%EC=ٔEQ-M>9IYI=MFyMXEUEU>YQ 5e5]0?Q 9e5])]‘BYayaQ Imk@]CI]N:i]:]H5yuBɮu@uCEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjd Zd@R@q额BɢD) i)v&顩iGۼiQ<;q;III@I @I@MV3@Iԙ ^AE [R;Au ؟AIy I O >v,iۥ?A,:D?:=|?:!x>ٱ: BAHRS rotation from veh to nav: [[0.529327,-0.847334,0.042864],[0.800773,0.515656,0.304731],[-0.280312,-0.126978,0.951473]]:H@??\H? ?@?ව?ѿ@ xr?i:D?I:h ^;:CEN{ ENEN+EL"EN;*EN@;VEN [4ZELaR@aR@aR@aR@YV+ByV@&IiMMb@Mb@Mb@IIII I9M%C?x&?)\(YMZD?yM7=MGaM @M@ MȒ@)M@IYM@bDVDyUO%]6=ٔ]{Q-]>9e"?Ye"?=eFye\EeX<Ee>Q 55>?Q 95p)BYE?Q E:yψ?Q Ik@CI:i:<5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBd!d!dAjdAZdMR@ԁ额Bɢ<>) +i)j=!!i%)Ҽi!-Q<-ZB C^A ;B 5>B ԍCB %IB BB ( =B B gDB ^;B C#EBэCBэCBʘCB) =B, =Cʈ6A- >A- > TG 9 Y G|A AA IQ Ia Om >?},?Aɰ2pE?2'G}?2d>ٱ21] :AHRS rotation from veh to nav: [[0.529277,-0.847817,0.032741],[0.805336,0.514153,0.295094],[-0.267020,-0.129819,0.954907]]2H@?P!oà?O?s??ѿ@?i2pE?I20];2CYBByB%IbDJVDJ:yR%RU=ٔV5Q-V>9TYT=ZFyZ`E;E>Q 5%5I?Q 9%5)LBY)y-?Q I-k@3CIp:ig:5y1ɮ56@9eDNOT Ignoring new targets: 46.27 m.haha*ha"ha hagafififidqdqdqjdqZdu@S@颥Bɢl) FHi)nϫ顩i_ʼi#Q<`! ",X?A2BF?2~?2闃>ٱ2} >AHRS rotation from veh to nav: [[0.528587,-0.848519,0.024747],[0.809926,0.512846,0.284622],[-0.254198,-0.130404,0.958320]]2H@.?'+W?`?;i?=7?Dп`?i2BF?I2u];0YBdžByF%I HHi Mb@Mb@Mb@     9 x&1?#~j?MbY A@?y = @ z@ ^@ "@) 5@ Y @bD%VD%N2y5<@%5B=ٔ=Q-=>9E ?YE ?=EFyEdEEI<EM>IQ 5U5MT?Q 95M)MBYA?Q E:yK?Q Ik@MXCIM5yBɮ0@:E%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g)f)f)f-Bd1d1d1jd1Zd= W3S@eBɢuA^v)y [i)^顙i2ihQ<L,]4+?A:kG?:~?:?Bz>ٱ:=d @ FAHRS rotation from veh to nav: [[0.527844,-0.849211,0.014890],[0.814145,0.510887,0.275975],[-0.241968,-0.133549,0.961049]]:H ? ,x~? z ?/Y?@?ο$?i:kG?I:];:CYNByV%IbDfVDfyr=%rP=ٔvvQ-v>9z"?Yz"?=zFyzhE~;E> Q 55 _?Q 95 _) BYy%?Q I%k@ |CI %L;i N; 5y1ɮ5@1uDNOT Ignoring new targets: 46.27 m.hqhy*hy"hy hygfffdddjdZd@KS@}BɢᎽ) ui) 8i㸼i Q< RB܍CB/%IBLBBBBnDB5^;B|#Eԩ@ @@0@E EE'E"E ;*Ei;VE'4ZEBE=a 2E=a JEBٱ~ EAHRS rotation from veh to nav: [[0.526905,-0.849911,0.004735],[0.818230,0.508756,0.267706],[-0.229935,-0.137182,0.963489]]~Hh? x2|ds?`.?G?"?@nͿ* ?i~G?I~N];~CY}dByL%IbDVDy O%;=ٔQ- >9qYy=}FymE;E5>9Q 5E5=l?Q 9E5=S)=BYAyE?Q IEk@=CI=F:i=:=ٞ5yu?Bɮu@qDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd jS@ E{Bɢe)i mȅii)mxiiiuiq}[&R<}b,uVa?A2&H?2:?2 Sa>ٱ2W >AHRS rotation from veh to nav: [[0.525800,-0.850597,-0.004413],[0.822126,0.506856,0.259240],[-0.218272,-0.139936,0.965803]]2H`[?@8r`N?+8?`b?U˿l?i2&H?I2$];2CYB6ByF%IIH)Ji5Mb@Mb@Mb@1111 195T㥛 ?l?QY5A?y5=55@5@ 5ߟ@)5=@1Y5G@bDmVDm1yu+H%}2=ٔ}/ּQ-}>9Y=FyrE;E>Q 55x?Q 95)BYB?Q E:yT?Q Ik@CI:ij:5y%BBɮ-@-;EADNOT Ignoring new targets: 46.27 m.hh*h"h hgfff1BdddjdZdS@=yBɢ=J )A E̐iA)EoAAiEKiIM`RBmCBm$IBmBBm =BmDDBmtDBm^;Bm#Eԙ ^A ፨< A! IY Ii O} >,Ք}?AD$zD&AAbE]-4jE],4rE]80E% E%E%&E!"E%;*E%#\;VE%4ZE!BE%t=a52E%t=a5JE%nٱC AHRS rotation from veh to nav: [[0.523297,-0.851943,-0.018771],[0.829410,0.504154,0.240642],[-0.195549,-0.141496,0.970432]]Hپ?C8 ?`"?Y?ɿ¿` ?iR2J?I7];CYBy$IbDVDβy (m% ?=ٔ ^Q- >9Y=FyvEp<E>aQ 5m5e҄?Q 9m5e)e[BYiym ?Q Imk@eCIe:iep:eS5yy}HBɮR@2EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdୠS@wBɢ") i)ijiS<J,Q?A;ɰ^˨J?^??^I>>ٱ^t fAHRS rotation from veh to nav: [[0.522851,-0.851946,-0.028553],[0.832032,0.502774,0.234395],[-0.185336,-0.146311,0.971722]]^H2?#C=`??? ǿR¿X?i^˨J?I^_];^CYnԅByr$IiMb@Mb@Mb@ 9?㥛 ?YfF?y=̼\@׫@ O@)&@Yz@bDVDy~n%O=ٔ׼Q->9Y=FyzE;E>Q 55?Q 95ť)8BYaG?Q E:yӌ?Q Ik@CI: ;i:5yLBɮv@3E-DNOT Ignoring new targets: 46.27 m.h)h1*h1"h1 h1g1f1f9f=Bd9d9dAjdAZdEeS@uuBɢu-ͽ)q uMiq)}O޻yyi}'iS<A y,?AZ K?Zq?Zp4>ٱZi bAHRS rotation from veh to nav: [[0.522557,-0.851758,-0.037977],[0.834388,0.501727,0.228181],[-0.175301,-0.150925,0.972878]]ZHɸ?@AqN?%?5?Apƿ Qÿ!?iZ K?IZ];ZCYjByjh$I llbDvVDvy~7`BAB>BCBB$IBBB =BBuDB_;B$E%Z=ٔoܼQ-%>9!Y!=%Fy%~E-;E->1Q 5=55?Q 9=55)5BY9yE?Q IEk@5CCI5 ;i5C ;55yIɮM@IuDNOT Ignoring new targets: 46.27 m.hqhq*h"h hgfffdddjdZd S@颕sBɢؽ) Mi)`顙iȐi*T<BI,ʦ?A\YyBy+$IiEMb@Mb@Mb@AAAA A9Ex&1?Mb?y&1|YEA@?yE@=E`E@E@ EΫ@)E5@AYE@bD]VD]ymZ%m5=ٔuQ-u>9qYy=}Fy}E}E}>Q 55S?Q 95^)BY@?Q E:yP?Q Ik@mCIP ;i ;5yɮ,@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfff߀BdddjdZd@YS@ qBɢ k) i)5iÈi_T<}FƸ,䦾?A>aK?> ?><">ٱ>& FAHRS rotation from veh to nav: [[0.523045,-0.850518,-0.055166],[0.837575,0.500946,0.217994],[-0.157773,-0.160226,0.974390]]>H ȼ?q7>`j?`?8?1Ŀ@JĿ3.?i>aK?I>q];>CYNTByn#IbDvVDvy~O%~f=ٔLQ->9Y=Fy E ]n;E >Q 5%5벬?Q 9%5E)ݏBY!y%n?Q I%k@CId*;i`+; 5y5OBɮ5@1]DNOT Ignoring new targets: 46.27 m.hYhY*hY"hY hagafafafadididijdiZdu@'T@额oBɢCz) ƿi)"Y(顡iA"i7XU<2_=IIm9@q @q@u/@qQB>BB#IB5BB =BBBo_;BE$Eq^AmG<II IY Om >ԡ ,|?AEN ENEN(EL"ENտ;*ENga;VENc44ZELBEN=aR2EN=aRJEN9Y=FyEE>Q 55?Q 95)BYyQ Ik@CI:it:÷5yUBɮD@*EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffd d d jd Zd@` T@=mBɢ=Ƹ)9 EϿiA)E>AAiEtiIMV qũ,?ABK?B{?Bw>ٱB/ JAHRS rotation from veh to nav: [[0.523948,-0.848794,-0.070909],[0.839901,0.501027,0.208656],[-0.141578,-0.168882,0.975415]]BH.?`Q)`'y?`j?9Y=FyE:E>Q 55yˬ?Q 95&)BY7;?Q E:yg?Q Ik@CI7:i:S5yɮ}@%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g!f)f)f-Bd)d1d1jd1Zd5@:T@mjBɢu()q }M׿iy)bU顁i!fiV<=IIE EE)E"E;*E_;VEFA4ZEa@a@a@a@M9@I @I@M0@I 1^Ai I I O >a ̩,e2?AB GAPARAABTBVCBVg#IBVڄBBV =BTBTBV_;BVn$EBmCBmCBmCBm =Bm =Cm"7`lhɰj; Ɔ9 Y uAEK?EA?Eb >ٱE-1 UAHRS rotation from veh to nav: [[0.523964,-0.848257,-0.076957],[0.841172,0.501156,0.203156],[-0.133761,-0.171181,0.976117]]EHP? $`v? y ?@?``@ſ`Z9Y=FyE:E>Q 55׬?Q 95|)BYy{?Q Ik@CI:i:ɾ51yUXBɮU8@U+EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@UT@hBɢZ)! %i!)%{n!!i-$WiQm _WԹ 7ҩ,oFL?A-K?-ԁ?- >ٱ-L2 EAHRS rotation from veh to nav: [[0.523967,-0.847838,-0.081419],[0.842279,0.501567,0.197476],[-0.126590,-0.172048,0.976921]]-HU?}!״? ?F? 4@ƿB?i-K?I-];)YUByU@#I YYaeAiMb@Mb@Mb@ 9|?5^?ˡE?{Gz?Y2?y'=#<@l@ @)@Yf@bDVDkyK%B=ٔ ̌Q- >9 Y=FyE:E>Q 5%5⬊?Q 9%5u)BY-E3?Q E-:y-?Q I-k@ԉ'CIt!w٩,Wg?A>K?>ׁ?>2y=ٱ>3 FAHRS rotation from veh to nav: [[0.524307,-0.847202,-0.085735],[0.843023,0.502236,0.192536],[-0.120058,-0.173224,0.977537]]>H?@H@ ?Q??`7,ƿG?i>K?I>];>CYNByN#IbDV VDV:2y^+%^S=ٔbjQ-b>9b ?Yf ?=fFyfEfҎ9Ef>hQ 5n5j?Q 9r5jo)jtBYpyr?Q Irk@jJCIj:ij9:j5yv^BɮvU@z!EDNOT Ignoring new targets: 46.27 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-@T@]cBɢ]T!)Y e~ia)eWaaieb;iimXBB#IBBB =BBB_;B$E^A@o=ԁA ؟AI! I1 Oe >E  E E (E "E ";*E ga;VE c44ZE BE %=a 2E %=a JE 9 "?Y "?= FyE% :E>AQ 5M5E!?Q 9M5Eh)EdBYIyM?Q IUk@EoCIE:iE_:E{5y]bBɮ]@]"EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd4T@`Bɢ) $i)i,ip`Y<p =IIԙ9@ @@/@^AA I I O > R,qU?A2\L?2?2=ٱ2|3 :AHRS rotation from veh to nav: [[0.524268,-0.846547,-0.092203],[0.844680,0.503248,0.182366],[-0.107981,-0.173491,0.978898]]2H?@?`?@W?@ 4ƿ!S?i2\L?I2A?^;0YBUByB"IIF<)FF=DiMb@Mb@Mb@ 99v?X9v?/$?Y4?y<<@@  @)K@Y@bDVDy%%:=ٔ%XQ-%>9!Y)=-Fy-E-:E->QQ 5]5U?Q 9e5Ua)UVBYe>5?Q Ee:ye*?Q Iek@UCIU:iUn:UR5yiɮu@E} E}E}*Ey"E}7;*E}U;VE}(N4ZEya@a@a@a@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffjBdddjdZdT@]]Bɢ]V)Y eia)eX aaie&2i+Z<$=II!@! @!@%/@!!I ^A) B ǿ>B CB "IB ABB B B vDB _;B $Eq A I I O >$,h ?A2o$L?2n?2=ٱ2p1 :AHRS rotation from veh to nav: [[0.524369,-0.846376,-0.093191],[0.845277,0.504217,0.176841],[-0.102686,-0.171502,0.979818]]2H`?U۷ ?"?@?I`ſZ?i2o$L?I2"^;0YB8ByB"IbDJVDJJyR%R^=ٔVwlQ-V>9TYT=ZFyZEZc#:EZ>\Q 5b5^X?Q 9b5^[)^KBYdyf0?Q Ifk@^CI^:i^g:^5yjfBɮj@n#E}DNOT Ignoring new targets: 46.27 m.hyhy*h"h hgfffdddjdZdOT@ZBɢ0) ?i)Ti>i!%Z<%W=I!I)@ @@/@bEc44jEq ,@/Ч?A4<ɰ2 L?29Y=FyEE>Q 55%?Q 95T)@BY\2?Q E:y?Q Ik@CI:i:[5yɮ<@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffZBd d d jd Zd T@=WBɢ=n,)9 EiA)EƼAAiE5iIM[A,.駾?A: L?:;?:$ =ٱ:3@ FAHRS rotation from veh to nav: [[0.525232,-0.845090,-0.099769],[0.845792,0.505542,0.170480],[-0.093634,-0.173925,0.980297]]:H`? @r`?e-?K?d /Cƿ`^?i: L?I:];8YNByN^"I PPTVAbDZVDZyb)%b]=ٔb>Q-b>9dYd=fFyfEjEj>lQ 5r5n'?Q 9r5nN)n8BYpyr?Q Irk@nCIn;in;n5yzkBɮz@zEDNOT Ignoring new targets: 46.27 m.hh*h"h! h!g!f!f!f)d)d)d)jd)Zd5 U@eTBɢel;)i m< ii)mdӼiqiu(iyS3\<V =IIM9@Q @Q@Uo0@QԩB-ҿ>B-CB-Z"IB-BB- =B)B-wDB-_;B-$E^Am = IQ Ia Ou >DI zDM @AEU  EU EU &EQ "EU O;*EU L_;VEU 4ZEQ BEU =ae 2EU =ae JEU )9 Y=FyEٺE>Q 5%53?Q 9-5[H)/BY)y-n?Q I-k@$CIN:iF:25y5oBɮ5@9eDNOT Ignoring new targets: 46.27 m.haha*ha"ha hagifififidqdqdqjdqZdu#U@颥QBɢST6)  i)(顩iʻi\<% =IIQ@Q @Q@U5@Q9^AIIIO>a ,m?A((VحK?V"?Vl =ٱV9 jAHRS rotation from veh to nav: [[0.526716,-0.843138,-0.108115],[0.845641,0.506810,0.167438],[-0.086380,-0.179619,0.979936]]VH ?o`}?7?`n?@ƿ[?iVحK?IVU];TY؃By*"I9iMb@Mb@Mb@ 9㥛 ??I +?Y5?y<9<p@ @ @)@Y@bDVDky%==ٔQ->9Y=FyExȺE>E EE(E"E;*Eo;VEc44ZEa@a@a@a@Q 55@?Q 95QA)%BY5?Q E:y?Q Ik@LCI ;i ;5y!ɮ%l@!MDNOT Ignoring new targets: 46.27 m.hIhI*hI"hQ hQgQfQfQf]IBdYdYdYjdaZde?U@-MBɢ-4)) 5i1)5^U11i5zi9=1]<=P2 =IAIAa9@ @@4@ԑ^A Ii Iy O >Թ B% >B% CB% "IB% ǃBB%  =B% CDB% zDB% _;B% $Ek+ ,<7?A2rK?2?2+̪=ٱ2}; :AHRS rotation from veh to nav: [[0.527619,-0.842149,-0.111366],[0.845387,0.507689,0.166051],[-0.083301,-0.181759,0.979808]]2H@?@i ?>?@+A?0S Cǿ Z?i2rK?I2];2CYBƃByB"IIF<)F4=bDJVDJNyREǽ%V`=ٔV Q-V>9XYX=ZFyZEZ"EZ>\Q 5b5^qK?Q 9f5^v;)^BYdyfφ?Q Ifk@^mCI^:i^t:^&5yhɮn@lDNOT Ignoring new targets: 46.27 m.hh*h"h hg f f f dddjdZdVU@ԙ颭JBɢK)O= i)M顱i i|3^<t.=II9@ @@/@iߙIߙE EE)E"E;*E%f;VEFA4ZEBE =a%2E =a%JE! ",VQ?ARVK?RE?R =ٱRA; ^AHRS rotation from veh to nav: [[0.528109,-0.841655,-0.112773],[0.845352,0.508483,0.163780],[-0.080503,-0.181827,0.980030]]RHC? ޼` ? E?@?@ߛFǿ`g\?iRVK?IRm];RCYbByf!IiMMb@Mb@Mb@IIII I9Mn? rh?X9v?YM6?yMC =M9Y=FyE ~E>Q 5 5nX?Q 9 54)BY e6?Q E :y ?Q I k@CIa:i:5ysBɮ@EEDNOT Ignoring new targets: 46.27 m.hAhA*hA"hI hIgIfIfIfUDBdQdQdYjdYZd] sU@颅GBɢ>) 5i)d顑i eie^<<=III@I @I@I@I @)@-fAE EEE"E;*En;VEZEa@a@a@a@1^AM y=Y A I I O >C=,^j?A;ɰ4+@ ? J?@?@]Gǿ ]?iB?K?IB];BCYRByR!IbDZVDZyb%fX=ٔfbһQ-f>9hYh=nFynErrvEr>xQ 5~5zc?Q 95z.)zBYy ?Q I k@zCIz#X;iza;zC5yxBɮ@%EeDNOT Ignoring new targets: 46.27 m.haha*hi"hi higifqfqfydyddjdZdU@DBɢ+N) i)iV-izu_<;C=IQI  8G!1@9 @9@9@9I}`9yY}yAB >BCB!IBBB =BB}DB_;B$EBCBCBB =B =C 6ԁԱ^AI E-  E- E) E) "E- a;*E- ga;VE) ZE) BE- =a5 2E- =a5 JE- O%!,:΄?A2K?2w?2uZ=ٱ2: :AHRS rotation from veh to nav: [[0.529079,-0.840892,-0.113911],[0.845138,0.510102,0.159803],[-0.076270,-0.180819,0.980555]]2H 6?`K)_ ? R?ht?r %ǿ`?i2K?I2];2CYBByB!I DDbDJVDJ2yRϽ%VL=ٔVQ-V>9XYX=ZFyZEZĺE^>Q 5%5n?Q 9%5e') BY)y-~?Q I-k@CIw:i:5y1ɮ5a@1]DNOT Ignoring new targets: 46.27 m.haha*ha"ha hagafafifidididqjdqZdu0U@颥@BɢRM) i)顩ii `<W=IIԱQf=9@ @@@ 9 ^A E= E=E9E9"E=^;*E=ik;VE9ZE9aM@aM@aM@aM@AIIO>(,0h?A(00NK?NEk?Nm=ٱN$8 ZAHRS rotation from veh to nav: [[0.529451,-0.840773,-0.113058],[0.845032,0.510924,0.157724],[-0.074846,-0.179045,0.980990]]NHD?X ?@~Y? O0? ")ƿDd?iNK?IN];LY^By^!IiEMb@Mb@Mb@AAAA A9E㥛 ?Mb?l?YE5?yE=E=EQ@Ez@ Ej@)E@AYE@bD]VD]ym4%u=ٔu:4Q-u>9qYy=}Fy}E}<E}>Q 55}?Q 95)BY5?Q E:yJ?Q Ik@ CI ;i ;F5y}Bɮa@EeDNOT Ignoring new targets: 46.27 m.hahi*hi"hi higififqfuYBdqdqdyjdyZd}U@;BɢO:) i) i^1iX`<y=IIԁԩE=B<A4=B%>B%CB%!IB%vBB% =B!B%DB%_;B%$EE 9@A  @A @A @A  ^A]0=DDR=E EE(E"EC;*Ei;VEc44ZEBE '=a2E '=aJEC9V ?YV ?=VFyVEm9Em>qQ 5}5u}?Q 9}5u)uBYyQ Ik@u?CIu:iu1:u[5ԉyɮAeDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd}`U@Թ55Bɢ5^/)9 =Ii9)=߶-9AiExg!:iAMai= > @  @ @ 0@ E  E E +E "E ;*E @h;VE [4ZE a% @a% @a% @a% @9^A2g=iA؟AIIO&?;,/m?Aɰ;N]K?N0?N=ٱNQ- VAHRS rotation from veh to nav: [[0.528380,-0.842368,-0.105974],[0.846012,0.511922,0.148993],[-0.071256,-0.168380,0.983143]]NH}?@!?a?@4?=@}ſu?iN]K?INղ];NCY^aBy^!IiEMb@Mb@Mb@AAAA A9EQ?Zd;O?ˡE?YE5?yEj<=E'=Eh@E@ E@)E-@AYEG@bD]VD]ym'%m<ٔuR^Q-u>9u"?Yu"?=}Fy}E};E}>Q 55ޟ?Q 95L )BYq6?Q E:y?Q Ik@xCI;i ;5yBɮ.A EԱDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff[BdddjdZdV@B,>BCB!IBWBB =BBDB!`;B$E0BɢeB) i)b[8i/:i&b</=II!@ @@1@i I bEFA4jEh=4rE x/E EE)E"Eö;*E/S;VEFA4ZEBEG=a2EG=aJEȫB,3 ?A2eK?2鬁?2v=ٱ2) >AHRS rotation from veh to nav: [[0.527918,-0.842993,-0.103268],[0.846349,0.512064,0.146575],[-0.070682,-0.164780,0.983794]]2H ?@oJ? b?`? 1ſ>{?i2eK?I2];0YBJByF|!IbDNVDNyV)%VX=ٔVȺQ-V>9XYX=ZFyZEZT:E^>`Q 5f5bo?Q 9f5b)bBYdyf ?Q Ifk@bCIb:ib:b5ylɮnAlDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd +V@,Bɢ*c)\= 1i)?i`,;iAc< =II @ @@q4@Aq^A =A I I O >ԙ E  E E *E "E (;*E UB;VE (N4ZE a @a @a @a @H,%?AYr:Byrh!ItvAi}Mb@Mb@Mb@yyyy y9}MbX9?X9v?Q?Y}A?y}}=}9Y=FyEE>Q 5 5?Q 9 5B)BYB?Q E:yՌ?Q Ik@CI;i: 5yBɮA EDNOT Ignoring new targets: 46.27 m.hh*h"h h g f f f YBdddjdZdFV@E(BɢMBz_)I MiI)MNHIQiUlk;iY]c<]=IYIYq 9@ @@/@@@@@ԩAA?ABA>BCB`!IB4BB =BBDBJ`;B%EA I I O qO,>?A B.K?B?BC=ٱB# JAHRS rotation from veh to nav: [[0.526495,-0.844381,-0.099117],[0.847340,0.511642,0.142260],[-0.069409,-0.158884,0.984854]]BH ?*_h? ^_?`5?ıRVĿ@?iB.K?IBX];BCYr0Byr[!IbDzVDz02y[T%U=ٔ ZQ- >9 Y =FyEj;E>Q 5% 50­?Q 9% 5m)BY)y-?Q I-k@CIy:i-:@ 5y1ɮ5A1eDNOT Ignoring new targets: 46.27 m.haha*ha"ha hagafififididqdqjdqZdu@O_V@颥$Bɢyi) i)P顩iҒ;igd<=IID]=D]4=Ee Ee}EaEa"Ee;*Eem0;VEaZEaBEe=au2Ee=a}JEe1 Q 6U,X?AYrByr:!IimMb@Mb@Mb@iiii i9m(\?+?~jt?YmG?ym=m9 ?Y ?=FyEE>Q 5 5gέ?Q 9 5)܎BYH?Q E:y?Q Ik@CI ;i ; 5yBɮAEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff]Bdd d jdZd zV@Bɢpd) M!i)Xi;)i)5!Xe<5=I1I1Eg EkE'E"E;*E&;VE'4ZEa@a@a@a@Y5=I9)=eA@ @@2@ԑ I I O >4\,@r?A0:L?:6?:1=ٱ:5 BAHRS rotation from veh to nav: [[0.524436,-0.846196,-0.094448],[0.848681,0.510566,0.138066],[-0.068609,-0.152563,0.985909]]:H`-?-e(?V?%? ]@-ÿ?i:L?I:;];:CYR ByR/!IIV<)V9hYh=jFyjEj;En>pQ 5v 5rA٭?Q 9v 5r)rӎBYtyvP?Q Ivk@r:CIr:ir:r= 5yzBɮ~GA~E%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5V@BU>BCB.!IB BB =BBDBDB`;B/%EuBɢul)y }!iy)} Xayyi}A[;if<=IIMm(=ԉ@ @@/@IYIiO}z>DizDiE}C E}4E})Ey"E}x;*E} ;VE}FA4ZEyBE}y9tYt=vFyvEz9;Ez>|Q 5 5~䭊?Q 9 5~ )~ɎBY y v?Q I k@~cCI~:i~:~ 5yɮA=DNOT Ignoring new targets: 46.27 m.h9hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU@V@颅Bɢwx)W=  $i).i顉ii;if<=I1I1]X=9@ @@/@A E 4 E -E (E "E j;*E K;VE c44ZE a @a @a @a @^A @o=A zA hAIQ Ia i Ou > i,n?A2 M?2(q?2Z=ٱ2 :AHRS rotation from veh to nav: [[0.522938,-0.847365,-0.092241],[0.849654,0.509578,0.135710],[-0.067992,-0.149341,0.986445]]2H?^0? wN?@^?gÿ?i2 M?I2];2CYBByB!IiUMb@Mb@Mb@QQQQ Q9UE?kt?{Gz?YUF?yU =Uף9Y=FyE:E>Q 5 5?Q 9 5)BYG?Q E:y?Q Ik@CI:i: 5yBɮAEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff\BdddjdZd`?V@MBɢM|h)Q Uo%iQ)UL sYYi]h B}CB}!IB}BB} =ByB}DB}`;B}i%EB=CB=CB=ƘCB= =B= =C=ƺ 7^A=IIOm>y p,©?A02MTM?2]?2H=ٱ2 >AHRS rotation from veh to nav: [[0.522007,-0.847988,-0.091783],[0.850245,0.508786,0.134983],[-0.067766,-0.148500,0.986588]]2H H?"`45?G?@G?!Y ÿ ?i2MTM?I2p<];2CYBԂByF I HJAbDNVDNβyZĽ%ZY=ٔ^?Q-^>9\Y`=bFybEb?;Eb>dQ 5j 5fM?Q 9j 5f)fBYlyn?Q Inl@fCIf ;if ;f 5ypɮv.AtDNOT Ignoring new targets: 46.27 m.hh*h"h hgfE%= E%=E%,E!"E%s;*E%;VE%g4ZE!BE%.Vw,ީ?A:>M?:ժ?:i=ٱ:^ BAHRS rotation from veh to nav: [[0.521457,-0.848362,-0.091463],[0.850598,0.508335,0.134459],[-0.067576,-0.147913,0.986689]]:Hů?%`j8?GD?5?L¿?i:>M?I:=];:CYfByj Ii]Mb@Mb@Mb@YYYY Y9]Mb?㥛 ?I +?Y]@?y]=]9<]3@]@ ]@)]@YY](@bDuVDuky}*%/=ٔչQ->9Y=FyE:E>Q 5 5= ?Q 9 5#)BYA?Q E:y|?Q Il@CI:i;5 5yBɮ AEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffgBdddjdZd@0W@Bɢut)! %Q)i!)葂i9-Be CBe IBe BBe =Be ADBe DBe .a;Be %EA- ؟AI1 IA I OU >ƀ},¢?A2hM?2Ђ?2gd=ٱ2~ :AHRS rotation from veh to nav: [[0.520487,-0.848988,-0.091172],[0.851234,0.507531,0.133463],[-0.067036,-0.147074,0.986851]]2Hӧ?* WO=?@=? N?@) S¿ I?i2hM?I2];0YBByB IbDJVDJ0yRnؽ%RY=ٔVżQ-V>9V"?YZ"?=ZFyZEZ~J;EZ>\Q 5b 5^?Q 9b 5^h)^BYdyf?Q Ifl@^CI^:i^+;^~ 5yjBɮjAl}DNOT Ignoring new targets: 46.27 m.hyhy*h"h hgfffdddjdZd W@Bɢ-)) -F+i1)=99i=R>a,`?A0Y%By% IIE%=)E9M ?YM ?=MFyUEeEe>Q 5 5T ?Q 9 5*)BYyQ Il@5CI]y;iC`;# 5yɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd5W@ԉ颽Bɢ<{) g-i)5i#Q,Ί,*R-?A"4<ɰ Y5By5 IiMb@Mb@Mb@ 9Mb? rh?95"?Y5"?=5Fy= E9E=>AQ 5M 5E+?Q 9M 5Eұ)EBYUZA?Q EU:yU?Q IUl@E\CIE2 ;iE ;E' 5y]Bɮ] AYDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffXBdddjdZd)PW@BɢxE)'=  /i)@oibBCB IBBBBBDBa;B%E9@ @@/@ԑ ^A bE=:4jE=ˊ94rE=(0E 8 E 7E (E "E n;*E ;VE c44ZE BE ۾\,F?ARM?RԂ?RvQ=ٱRX ^AHRS rotation from veh to nav: [[0.520525,-0.848224,-0.097825],[0.851512,0.507216,0.132890],[-0.063102,-0.152472,0.986291]]RH#?$@ ??@;?`?n' 3ÿ?iRM?IR];RCYbgByfe IbD~VD~y  % a=ٔ 1Q-5>91Y1=5Fy5E=9E=>AQ 5M 5E%6?Q 9M 5EG)EBYiyu?Q Iul@ECIE;iE?;EU* 5y}Bɮ}5 A}EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd hW@颍Bɢ$lj) 1i)0┽顙i's͗,Z`?A2M?2?2H|=ٱ2t! :AHRS rotation from veh to nav: [[0.521236,-0.847285,-0.102085],[0.851179,0.507492,0.133965],[-0.061699,-0.156720,0.985714]]2H ?:"9Y=FyEHE>Q 5 5 A?Q 9 5)BY=?Q E:y7?Q Il@CI ;i ;- 5yɮ ADNOT Ignoring new targets: 46.27 m.hh*h"h hgff f aBd d d jdZd`eW@MBɢMH)I Ma2iI)UaQQiUU.B CB S IB YBB B B DB \b;B R&E A9 IA IQ Oe >,!z?A2[M?2/?2rx=ٱ2Y% >AHRS rotation from veh to nav: [[0.522145,-0.846320,-0.105391],[0.850692,0.508029,0.135015],[-0.060724,-0.160153,0.985223]]2Hi?@ 8?A?/H?G`Ŀ?i2[M?I2;];0YB@ByF4 IbDNVDNfyVP%VY=ٔV)Q-V>9XYX=ZFyZE^(3E^>`Q 5f 5bK?Q 9f 5bP)bBYdyf?Q Ijl@bCIbg:ib:b=1 5ylɮnr Al DNOT Ignoring new targets: 46.27 m.h h*h"h hg!f!f1f1d9dAdAjdIZdMW@ԡ-Bɢ-2 )) -N5i))5QQiUx9e ?Ye ?=eFymEuEuz>yQ 5 5}z]?Q 9 5})}sBY>?Q E:y?Q Il@}CI} ;i} ;}x7 5yBɮ AEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff\BdddjdZdW@Bɢn) 5i) w  i ,BCB IB,BB =BBDBc;B&E@ 9! I ^A ]#=A؟AIIO?,lƪ?A;ɰ4<,Dz=Dz<E~? E~bE~0E|"E~t;*E~5";VE~4ZE|BE~X9e"?Ye"?=eFye#EiEm>qQ 5} 5uEj?Q 9} 5uć)ukBYyQ Il@u>CIu:iu:u; 5yBɮ* AEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdM@W@颕ڇBɢI) 8i)顙i8@ = ^A C"= A9IAIQOe?8,檾?A6L?6F?6e=ٱ6?0 >AHRS rotation from veh to nav: [[0.524419,-0.843346,-0.117270],[0.849608,0.509214,0.137355],[-0.056122,-0.171666,0.983555]]6H` ?@m/?`{K?ܔ? $ſ Iy?i6L?I6];6CYFByFItE~; E~&E~'E|"E~Dq;*E~;VE~'4ZE|a@a@a@a@iuMb@Mb@Mb@qqqq q9uzG?~jt?ˡE?Yu 7?yu=u'=uAux@ u@)u@qYu\@bDVDNyǍ% =ٔQ->9Y=Fy)EE>Q 5 5v?Q 9 5~)fBY8?Q E:yW?Q Il@mCI:i:C@ 5yBɮ AEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff]BdddjdZd  GX@5ӇBɢ5d)9 =D:i9)=Kﱽ9AiECeGyǎ9YցA)B>BBIBBBBBB+e;B'EBCBCBǔCB =B =CEs5^A  #=Y A I I) O5 >,Gt?A2RL?2H?2_=ٱ2G#3 :AHRS rotation from veh to nav: [[0.524420,-0.842966,-0.119967],[0.849719,0.509122,0.137013],[-0.054420,-0.173790,0.983278]]2H ?`" 0?`J? ?ܫ>ƿw?i2RL?I2*];2CYBByBI DDHHbDNVDNyVp-%V[=ٔVQ-Z>9XYX=ZFyZ,E^#9E^>`Q 5f 5b?Q 9f 5b_x)bdBYdyj[?Q Ijl@bCIb:ib:bC 5ylɮnAlDNOT Ignoring new targets: 46.27 m.hh *h "h  h g f ffddd9jdZd$!X@·Bɢ嘾)A= =i)1iGƪ,W?AXXvmL?vY?vtHU=ٱva4 AHRS rotation from veh to nav: [[0.524044,-0.842867,-0.122286],[0.850100,0.508870,0.135579],[-0.052048,-0.175005,0.983191]]vH ?!N4?`H?Z?fƿLv?ivmL?Iv-];vCYЁByIԙi]Mb@Mb@Mb@YYYY Y9]Mb?)\(?Mb?Y]@?y]G=]=]`A]@ ]@)]@YY]3@bDuVDuk1y}%0=ٔQ->9Y=Fy1EҒ:E>Q 5 5t?Q 9 5o)]BYB?Q E:y?Q Il@CIf;i;G 5yēBɮAEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffiBdddjdZd`=X@}ȇBɢ}#) >i)G顡i q̪,I5?A>AM?>Vk?>TJ=ٱ>5 FAHRS rotation from veh to nav: [[0.523663,-0.842742,-0.124755],[0.850493,0.508659,0.133890],[-0.049377,-0.176217,0.983112]]>H?@`￿>7?F?@P#?`G@Eƿu?i>AM?I>C];>CYNByNIbDVVDVJyb)ݽ%ba=ٔbQ-f>9dYd=fFyf5EjQ:Ej>lQ 5r 5n?Q 9r 5n i)nXBYpyr?Q Ivl@nCIn:in:nJ 5yzɓBɮzjAxDNOT Ignoring new targets: 46.27 m.hh*h!"h! h!g!f!f)f)d)A1A5@AB=>B9B=IB=ՁBB= =B9B9B=Ag;B=(EiddjdZd ,VX@‡Bɢ<<) @i)i>Ӫ,c O?AYByII!)!bD1VD1yEl%EC=ٔEQ-E>9IYI=MFyM9EUEU>YQ 5e 5] ?Q 9e 5]la)]SBYayaQ Iel@] CI]|:i]:]iN 5yqɮuAqDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdoX@颍Bɢ3/) Ai)ƽ顙iKe?`?@+ݥ@ƿ Fx?iB/M?IBR];BCY^By^kIiEMb@Mb@Mb@AAAA A9E~jt?S㥛?~jt?YED?yE$>E9yYy=}Fy}>E};E>Q 5 5?Q 9 5W)JBYG?Q E:y?Q Il@=CIK;i;R 5yɮbADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffoBdddjdZd&X@nManaging dock network, ignoring radio surface power offBɢ9) Bi)̽i˒BByIBBB =BBBmi;B)E9@ @@/@@u/;i^A ԑ bE(N4jE˼P4rE?0E} , E} .E} +Ey "E} c;*E} ;VE} [4ZEy BE} t,"?ABM?B?Bb=ٱB6 JAHRS rotation from veh to nav: [[0.520589,-0.843603,-0.131606],[0.852931,0.506861,0.124899],[-0.038659,-0.177272,0.983402]]BH ?@x7K?48? [?`ˣذƿ x?iBM?IB];BCYR{ByRBIbDZVDZyb;%%rJ=ٔvj"Q-v>9tYt=zFyzBEzg;Ez>|Q 5% 5~r?Q 9% 5~O)~DBY)y-?Q I-l@~eCI~;i~i;~V 5y5ԓBɮ5A5٣E}DNOT Ignoring new targets: 46.27 m.hyh*h"h hgfffdddjdZd X@%Bɢ%)! %dFi!)-fѽ))i-9IYI=MFyMHEM;EM>QQ 5] 5U®?Q 9] 5UyE)U@BYeU@?Q Ee:ye,?Q Iel@UCIU ;iU ;Un[ 5yqɮuAyDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffkBdddjdZdX@Bɢ֕)  Hi ) -ؽ  i BCB@IBzBB =BBB&k;B*E)E9@A @A@I@I@= d;Q ^A .=Ee/ Ee4EaEa"Eeaf;*Ee ;VEaZEaBEeη9hYh=jFyjMEn;En>pQ 5v 5r=ή?Q 9v 5r<)r>BYtyv?Q Ivl@rCIr:irn;r_ 5y|ɮ~A|%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h)g)f)f)f1d1d1d1jd9Zd=X@eBɢe4)i m{Kii)u޽qqiu(=IyIy19@ @@/@@Uv;Y^AԉA= .AIA IQ Oe >Ա b,O]竾?A6:O?6Q?69<ٱ6z< >AHRS rotation from veh to nav: [[0.515534,-0.843815,-0.148998],[0.856728,0.504435,0.107532],[-0.015577,-0.183087,0.982973]]6H@? bÿ Pj?T$?@6?揿ioǿ t?i6:O?I6];6CYf*ByfIiUMb@Mb@Mb@QQQQ Q9UMbX9?MbX?:v?YUA?yU=U9 ?Y ?=FyQE4;E>E0 E;E*E"EJg;*E ;VE(N4ZEa@a@a@a@Q 5 5ٮ?Q 9 54)=BYC?Q E:y?Q Il@CI;i;Ec 5yړBɮzAڣEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff:BdddjdZdY@5Bɢ5Ogԑ) Mi)|xi=i{<D=II@ @@0@R@=J@=@;@=@=BYB]CB]IB]LBB] =BYBYB]Sl;B]S+E^A l;=A zA gAI I O > J,8?A2;P?2?2: <ٱ2? :AHRS rotation from veh to nav: [[0.513969,-0.843702,-0.154929],[0.857768,0.503729,0.102427],[-0.008376,-0.185537,0.982602]]2H`or?`ÿr??8?O' ǿxq?i2;P?I2];2CYBByBIbDJVDJyR%VY=ٔVQ-V>9TYX=ZFyZUEZ5;EZ>\Q 5b 5^⮊?Q 9f 5^.)\Ydyf?Q Ifl@^CI^:i^=:^f 5yjBɮjAnУE}DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@!Y@Bɢ)= ZPi)Siv=i|<OJ=II@ @@0@@;E6 EE'E"El;*EVE'4ZEBEJKu,j?A YByIiMb@Mb@Mb@ 9rh|?Mb?I +?Y;?y=9< AC@ @)Y@bD VD2y%-=ٔQ->9Y=FyZEE>Q 5 5n?Q 9 5%)Y=?Q E:y?Q Il@DCI:i͎<j 5iyqɮu.AqDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff-BdddjdZd3@Y@Bɢ0|) Qi) i =i\}<I=II@ @@@@]u;ԙE/ E'E&E"Eaf;*E";VE4ZEa@a@a@a@ ^A G=I I O% > G  = -9A YE 4A ,]4?A:sP?:n\?:Iٻٱ:;D BAHRS rotation from veh to nav: [[0.511313,-0.843047,-0.166826],[0.859369,0.503072,0.091676],[0.006638,-0.190240,0.981715]]:H \?=Zſ?)?x?<0{?@Yȿ5j?i:sP?I:ڲ];L:CYrByrIbDzVDzNy %l=ٔ /1Q- ?9 Y = Fy ]E<E?Q 5% 5?Q 9% 5\)>BY)y-?Q I-l@eCI:i$:m 5y5Bɮ5A=ѣE]DNOT Ignoring new targets: 46.27 m.haha*ha"ha hagafafifidididqjdqZdu`UY@颥Bɢٿ) $Ti)7顩i=AABBBIBBBBBBl;B+EBCBCBCB =BC35iiuW~AM >I I O > E 5 E *E 'E "E k;*E ;VE '4ZE BE 9hYl=nFynaEn4;Er>pQ 5v 5r?Q 9z 5rD)rABYxyz;?Q Izl@rCIrB:ir:r3q 5|yɮA-DNOT Ignoring new targets: 46.27 m.h)h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE`nY@u~Bɢux붾)q uGViq)}yyi}=i<MX=II)~E=e9@a @i@m2y@@;ԁ iߙ Iߙ ^A gW=IY Ii Ou >A,k?AE22 E2'E2(E0"E2i;*E2";VE2c44ZE0a6@a6@a6@a6@>9Q?>?>bJٱ>HH JAHRS rotation from veh to nav: [[0.510055,-0.841475,-0.178225],[0.859857,0.504151,0.080482],[0.022128,-0.194298,0.980693]]>H@^R?\@ƿ`?"?@{?Ө?ȿa?i>9Q?I>];>CYRŀByRaIiMb@Mb@Mb@ 9S?Q?Zd;O?Y:?y\=j<A v@)3@Y @bDVDβy%%%)=ٔ%ぼQ-%>9IYI=MFyMfEUS9EU>YQ 5e 5]p ?Q 9e 5])]GBYe;?Q Ee:yeV?Q Il@]CI];i]W;]wu 5yBɮ:AȣEDNOT Ignoring new targets: 46.27 m.hh*h"h hgff f BdddjdZdՎY@a颅vBɢ^) !Vi)3r顉iC=iX<xY=II=9@ @@4@ԑBBBIBBB =BBBSm;B+E@ ;Թ ^A AE ؟AIQ Ia Oi !,/?A2AQ?2?2K{ٱ2'K :AHRS rotation from veh to nav: [[0.509841,-0.840127,-0.185066],[0.859738,0.505150,0.075323],[0.030206,-0.197511,0.979835]]2H@P?Q?ǿ?0*?ZH?5?@ Hɿ`Z?i2AQ?I2է];2CYBByB1IbDjVDjkyrC%rM=ٔrѥQ-v>9v"?Yv"?=vFyvjEzW9Ez>|Q 5 5~?Q 9 5~)~NBYy\?Q I l@~CI~l:i~d:~x 5yBɮAEDNOT Ignoring new targets: 46.27 m.hAhA*hA"hI hIgIfIfQfQdQdQdYjdYZd] ^Y@颅oBɢ ) 1Zi)顑iƆ=i!<` Z=IIEU5 EU1EQEQ"EUk;*EUf;VEQZEQBEQa]2EQa]JEU-d(,s?Aɰ2O9Q?2܇?2nٱ25N >AHRS rotation from veh to nav: [[0.509804,-0.838623,-0.191863],[0.859421,0.506486,0.069764],[0.038670,-0.200457,0.978939]]2HOP? ȿ`?`"5? ܱ? ̣?ɿwS?i2O9Q?I2];0YBByF'IQiMMb@Mb@Mb@IIII I9M|?5^?kt?Q?YM2?yM 0=M\=MAMZ@ MQA)MI@IYM(AbDVD:y %(=ٔ~Q->9 ?Y ?=FyoEE>Q 5 5$?Q 9 5)[BY3?Q E:y?Q Il@ CIX:iU:,} 5yɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdd!d!jd!Zd%@vY@UgBɢU)Q YiY)]|YYi] s$=iae0B CB rIB ҀBB B B B m;B ,E ^AU mY=A ؟AI I O >Jf0,?A6Q?61s?6Bٱ6ݪP >AHRS rotation from veh to nav: [[0.510151,-0.837042,-0.197755],[0.858771,0.508429,0.063344],[0.047523,-0.202141,0.978203]]6H'S?` @Pɿ {?@ E?@I7?T?ɿoM?i6Q?I6];4YFByFIbDNVDNyVj(%VB=ٔZQ-Z>9Z"?YZ"?=^Fy^sE^ĺE^>`Q 5f 5b/?Q 9f 5b)bgBYhyjx?Q Ijl@b/CIbF:ib:b؀ 5ylɮn'Al DNOT Ignoring new targets: 46.27 m.h h *h "h  h g fffdddjdZd@XY@_Bɢ&) aZi)k i(=i<W=IIY9@ @@/@@;bEĀ'4jE*4rE 0E5* E5.E5*E1"E5a;*E5;VE5(N4ZE1BE56,`V۬?AFEP?FWi?FvhٱFFRP ZAHRS rotation from veh to nav: [[0.510161,-0.835486,-0.204202],[0.858201,0.510172,0.056702],[0.056804,-0.204173,0.977285]]FH`=S?MG#ʿ bv?US? ?@l?Z"ʿE?iFEP?IFǬ];DYfuByjIbDzVDz1y%F=ٔQ->9!Y!=-Fy-wE5r=E5>9Q 5M 5=:?Q 9U 5=)=uBYQy]r?Q Iel@=TCI=;i=ͫ;=| 5yBɮAɣEDNOT Ignoring new targets: 46.27 m.hh*h"h hgff9f9dAdIdyjdyZd@Y@WBɢ) ?\i) i-=i=<"~W=III)fA9@ @@@B@:@@;@@E]. E]2E](EY"E]ye;*E];VE]c44ZEYam@am@am@am@! ^A &V=A I I O >=,?A(2pP?2G?27ٱ2tU >AHRS rotation from veh to nav: [[0.510749,-0.833487,-0.210794],[0.857199,0.512502,0.050523],[0.065922,-0.206497,0.976224]]2HX?Jʿ,n?if?ީ?@D?{nʿ@:=?i2pP?I2̐];2CYBvByFIi Mb@Mb@Mb@     9 /$?~jt?ˡE?Y &1?y = '= A Q@ A) @ Y AbD%VD%Jy5\;%=>=ٔ=?Q-=>99YA=EFyE|EE&EE>IQ 5] 5ME?Q 9] 5M/)MBY]1?Q E]:y]Œ?Q I]l@MzCIM ;iMm ;M8 5ymBɮm;AB>BBSIBBB =BBDBn;Bs,EE5DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdmZ@PBɢþ) :[i)%!)i-ʧ1=i15Ӄ<=T=I9IAԁ@ @@@@;ԩ ^A D zD ?AE 1 E $E &E "E 2h;*E ;VE 4ZE BE _D,?AʿU5?iJUP?IJ];JCY^nBy^IbDfVDfyn%nL=ٔr⻼Q-r>9pYp=rFyrEvEv>xQ 5~ 5zP?Q 9~ 5z)zBY|y?Q Il@zCIz|:iz:z 5y Bɮ A E5DNOT Ignoring new targets: 46.27 m.h1h1*h9"h9 h9g9f9fAfAdAdAdAjdIZdM@0Z@IBɢPƾ) M[i)t?iՒ5=i]< Q=I I)ԩ@ @@0@@;^AlT= A I! I1 OE >-J,ȱ*?ANJP?N?NͬٱNX fAHRS rotation from veh to nav: [[0.511488,-0.829955,-0.222608],[0.855148,0.517053,0.037138],[0.084277,-0.209358,0.974200]]NH@^?@ j~̿^]?ో??)?Aʿ`,?iNJP?IN]];NClY~qBy~IEM) EM/EIEI"EM`;*EMY;VEIZEIaU@aU@a]@a]@iuMb@Mb@Mb@qqqq q9u@5^I ? ףp= ?/$?Yub0?yuQ8=u,=uSAuh@ u\A)u@qYufAbDVDy H<%1=ٔYQ->9Y=FyE9E>Q 5 5g\?Q 9 5H޿)BY1?Q E:y?Q Il@CI&:iP: 5yɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgff f %Bd d djdZd@|NZ@EABɢEd̽)A EYiA)MbIIiM9=iQU B CBFIBBB =BBB%o;B,E^A dO=A zA hAi A1 IA IQ O] >wQ,D?A2AP?2?2Bٱ2rY :AHRS rotation from veh to nav: [[0.511792,-0.828459,-0.227430],[0.854017,0.519388,0.029843],[0.093401,-0.209503,0.973337]]2H`?`nͿ`T?Ԟ?F??@ʿ%?i2AP?I2];2CYBoByBIbDjVDjܲynt%rk=ٔr׼Q-r?9tYt=vFyvEv Ev?|Q 5~ 5~]e?Q 9 5~ؿ)~BYy֍?Q Il@~CI~:i~:~ǒ 5y ɮA1=DNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hAgAfAfIfIdIdQdQjdQZdU@dZ@颅:Bɢnξ) pYi) 顉iR==iXy<L=II @  @ @ 4@ @<EE/ EE1EE)EA"EEaf;*EEf;VEEFA4ZEABEEηԹ @W,h^?A2UO?2^܃?2tҽٱ2X :AHRS rotation from veh to nav: [[0.511964,-0.827132,-0.231829],[0.852860,0.521668,0.022194],[0.102581,-0.209080,0.972503]]2H b?wͿ@J??幖?B?@"ʿ@?i2UO?I2];2CY\y\bDz VDzf2y ;%I=ٔQ->9 Y = Fy E UE>ԙQ 5 5o?Q 9 5 ҿ)ӎBYy?Q Il@CI\ =i<U 5yeBɮeAimDNOT Ignoring new targets: 46.27 m.hihi*h"h hgfffdddjdZdTZ@1Bɢz)! %>Xi!)%g*))i-A=i15I#<5J=I1I1@ @@3@@4<E]7 E]/EYEY"E]m;*E]Y;VEYZEYam@am@am@am@  g>! G ^A JM= ! = >9A YE yAAI IY Ii B} >B} CB} SIB} BB} =By By B} o;B} ,EB=CB=CB9B9B9C=&Y5O >4^,z?AXvO?vƒ?vHٱv-X AHRS rotation from veh to nav: [[0.512142,-0.825877,-0.235874],[0.851604,0.523989,0.014378],[0.111722,-0.208235,0.971677]]vH`xc?m`"1οV@?@?q? ə?pʿ?ivO?Iv];vCY={By=Ii=Mb@Mb@Mb@9999 99=ʡE?T㥛 ?&1?Y=/?y===P=9=Q@ =A)=@9Y=AbDUVDUk1ye>=%e&=ٔm-Q-m>9iYi=uFyuEucֺEu>yQ 5 5}{?Q 9 5}"ʿ)}BY0?Q E:y\?Q Il@}2CI} ;i} ;} 5yBɮ&AEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff$BdddjdZd`d,?A2O?2?27ٱ2W :AHRS rotation from veh to nav: [[0.512200,-0.824677,-0.239916],[0.850331,0.526206,0.006628],[0.120779,-0.207402,0.970771]]2Hc? cο5? ?t%{?g?)ʿ?i2O?I2my];2CYBByB IDFAbDNVDN:yR,<%Rl=ٔV ؼQ-V?9TYT=ZFyZEE>Q 5% 5j?Q 9% 5SĿ)BY)y-I?Q I-l@RCIB:i: 51y9ɮ=A9eDNOT Ignoring new targets: 46.27 m.haha*ha"hi higififqfqdydydyjdyZdE= + E= E= *E9 "E= b;*E= :VE= (N4ZE9 aM @aM @aM @aM @zk,?A:RO?:?:!ٱ:X BAHRS rotation from veh to nav: [[0.512197,-0.823106,-0.245257],[0.849026,0.528350,-0.000079],[0.129646,-0.208189,0.969458]]:H c?VdϿ9+?>?@@?ʿ?i:RO?I:Ou];:CYJByJIiMb@Mb@Mb@ 99v?I +?A`"?Y4?y9=Y=h@ A A)I@YAbD5VD51yE_r=%EA=ٔM鬼Q-M>9M ?YM ?=MFyMEU׺EU>ԙQ 5 5?Q 9% 5뼿)!BY%6?Q E%:y%Q?Q I%l@yCI:i': 5y)ɮ5A1}DNOT Ignoring new targets: 46.27 m.hyhy*hy"hy hygfffDBdddjdZdZ@Bɢ-&p)-= 5Qi1)5s#11i5!L=i9=<=fFD=IAIA9@ @@@@<B<AB>BBrIBҀBB =BBBo;B-E^A B= A ؟AI I O >q,$cȭ?A>+O?>?>ٱ>JX FAHRS rotation from veh to nav: [[0.512067,-0.821715,-0.250144],[0.847671,0.530472,-0.007327],[0.138715,-0.208288,0.968181]]>Hb? }K]п` ??~@m?@/ʿ`V?i>+O?I>];9b"?Yb"?=fFyfEfɺEf>hQ 5n 5j?Q 9n 5jŶ)j9BYpyrE?Q Irl@jCIj;ijn;j 5yvBɮvAvEDNOT Ignoring new targets: 46.27 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-1Z@]Bɢ]aо)Y emPia)eM%aaie%+O=iim?,y ,x,J⭾?AJO?Jr?JcٱJxY  AHRS rotation from veh to nav: [[0.511760,-0.820332,-0.255259],[0.846316,0.532484,-0.014508],[0.147823,-0.208605,0.966764]]JH`V`?(@*Vп?  ?T@?ʿ?iJO?IJp];JCY=ByE8II]=)];bDVDy$=%9=ٔQ->9Y = FyE%E->QQ 5 5١?Q 9 5ޮ)ZBYy@?Q Il@CI :i:̨ 5yۓBɮAEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd [@5 Bɢ5T)9 =Li9)=(99i=R=iAEB B IB BB B B B $p;B >-EA I I O >+V~,!?AY]ByeOIiMb@Mb@Mb@ 9|?5^?"~j?V-?Y2?yS=m=A@ nA)3@Y\AbDVDky%=%-F=ٔ-Q-->91Y1=5Fy5E=E=>AQ 5E 5E?Q 9M 5E8)EuBYM5?Q EM:yM?Q IMl@ECIE ;iEe ;E2 5yYɮ].AYDNOT Ignoring new targets: 46.27 m.hh*h"h hgfԩfIfMBdIdQdQjdQZdU@w [@颥BɢT'ľ) xIi)+顩i-U=iG<A=II=D ?AzD bEc44jEȭ54rE/E , E (E (E "E c;*E ;VE c44ZE BE t9\Y\=^Fy^Eb2:Eb>dQ 5j 5fδ?Q 9j 5f)fBYhyj?Q Inl@fCIf:if:f 5yrBɮr]ArE-DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE?[@ԩ-Bɢ5))=U= =hHiA)]I.顡iX=i<&E=II=as=@ @@@@6<Em7 Em2EiEi"Emm;*Em;VEiZEia}@a}@a}@a}@^A lB=) A I I O >,';?AA A BBBIB)BB =BBBbp;B\-EfUO?f?f?ٱfJ[ vAHRS rotation from veh to nav: [[0.507561,-0.816347,-0.275607],[0.841408,0.538486,-0.045447],[0.185511,-0.208830,0.960196]]fH`=?ѿ?G;?D@վ?ʿ?ifUO?If];dY րBy vIqi-Mb@Mb@Mb@)))) )9-+?Q?A`"?Y-v>?y-\>-Y=-A-Q@ -A)-@)Y-AbDEVDE:2yU >%U*=ٔUQQ-]>9YYY=]Fy]Ee,:Ee>iQ 5u 5mᾯ?Q 9u 5m)mŏBYuGB?Q E}:y}M?Q I}l@mACImG:im:mٴ 5yɮRADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZdI^[@颍Bɢ׺) Bi)_1顑i[=i><BF=IIԡe= @  @ @ @ R@ =J@ >E 8 E *E )E "E n;*E ;VE FA4ZE BE ۾AHRS rotation from veh to nav: [[0.505838,-0.815655,-0.280774],[0.840280,0.539511,-0.053459],[0.195085,-0.208887,0.958284]]2H/? 4ѿ?`C?^?ѼʿC?i2O?I2C];2CYB؀ByFyIbDNVDN0yV.;%V =ٔVQ-V>9XYX=ZFyZE^:E^>`Q 5f 5bɯ?Q 9f 5b\)bBYdyfy?Q Ijl@bqCIb;ib;bM 5ynדBɮnAnEDNOT Ignoring new targets: 46.27 m.hh*h "h  h g f ffdddjdZd~[@EBɢMK)I MoAiI)U 4QQiU^=iY]/<]1I=IYIamfAmfAU?=I 9@  @@/@@B,By?A@Y~By~IBu>BqBuIBuVBBu =BqBuDBup;Bu-Ei5Mb@Mb@Mb@1111 195T㥛 ?333333?I +?Y5A?y5>594=5A1 5&A)5~@1Y1bDeVDe:yu.y=%u1=ٔ}Q-}>9yYy=FyEE>Q 5 5ӯ?Q 9 5)BY E?Q E:y`?Q Il@CI;i1;T 5yۓBɮAEMDNOT Ignoring new targets: 46.27 m.hIhQ*hQ"hQ hQgQfQfYf]BdYdYdajdaZdez[@ԩ颽نBɢܼ) ^>i)E7i?a=isҋ<II= 9@  @ @ /@ B@ :@ @ I<@ @ E < E 3E (E "E ,r;*E t ;VE c44ZE BE 9)Y1=5Fy5E5;E5>9Q 5E 5=ݯ?Q 9M 5=.{)=EBYIyM?Q IMm@=CI=;i=;= 5yQɮU:AY}DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd0[@EΆBɢE0)EHU= EY;iA)M]:IIiM8c=iQUB9 Y @}A! ^A 3J=IIO>,+?AB.<A,B6>B4B6MIB6BB4B4B4B6Gq;B6-EB!B!B!B% =B% =C%i5Xn\zP?na(?nnٱnE7] ~AHRS rotation from veh to nav: [[0.498846,-0.813252,-0.299621],[0.835392,0.543250,-0.083661],[0.230807,-0.208567,0.950383]]nH?),ӿ?`Mb?@j?`Sʿi?in\zP?Inc];nCYByIi5Mb@Mb@Mb@1111 195Mb?~jt?/$?Y5C?y5>5,=5SA5$@ 5SA)5Q@1Y5fAbDMVDMy]#=%]=ٔ]Q-]>9aYa=eFyeEm*:Em>qQ 5} 5u2诊?Q 9} 5ulq)uvBY}4G?Q E}:y?Q Im@uCIu]:iu:uU 5yɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd`[@ÆBɢޥ) 8i)=ice=iG<vV=II1@9 @9@=/@9@T< E= ' E= 5E= &E9 "E= _;*E= ;VE= 4ZE9 BE= ,pBծ?A6P?6=?6vٱ6]] FAHRS rotation from veh to nav: [[0.497314,-0.812763,-0.303471],[0.834047,0.544192,-0.090670],[0.238840,-0.208018,0.948517]]6H`?(lӿ ?j? *6@N?Qʿ @Z?i6P?I6%];6CYN ByNIbDVVDVܲy^ =%bf=ٔbQ-b>9`Yd=fFyfEf:Ef>hQ 5n 5jt﯊?Q 9r 5jj)jBYpyr&?Q Irm@j#CIj :ij:jo 5yvѓBɮv"AzExDNOT Ignoring new targets: 46.27 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5[@]Bɢe˾)a e5ia)e?iiimg=iqu3ƍy ;,﮾?A2_P?2cL?2,ٱ2^ :AHRS rotation from veh to nav: [[0.495938,-0.811873,-0.308072],[0.832600,0.545345,-0.096836],[0.246624,-0.208476,0.946422]]2Ht? rӿ?vs??ʸ`^?SʿI?i2_P?I2];0YBByBIIFp<)FEn'El"Enso;*En?;VEn'4ZElar@ar@ar@ar@QieMb@Mb@Mb@aaaa a9eT㥛 ?e=e&Aa eA)e@aYeGAbD VD:2y8=%>=ٔQ->9Y=FyE5:E>Q 5 5^?Q 9 5b)BYD?Q E:y?Q Im@LCI ;i" ;2 5yՓBɮAEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd\@颭Bɢ) a3i):B项igi=in<Z=IIa@a @a@e0@aԁ@= _<BM>BMCBMIBMBBIBIBIBM~q;BM-E^A] gW=I I O > =«,?A2P?2W?2ѭٱ2}\ :AHRS rotation from veh to nav: [[0.494628,-0.811564,-0.310979],[0.831050,0.546377,-0.104056],[0.254360,-0.206970,0.944703]]2H?Tӿ?@{?gmG?}ʿ;?i2P?I2];0YB"ByBIbDJVDJJyRc=%R[=ٔVQ-V>9TYX=ZFyZEZRr:EZ>\Q 5b 5^?Q 9f 5^[)^BYdyf?Q Ifm@^pCI^|:i^:^t 5yhɮjAl}DNOT Ignoring new targets: 46.27 m.hyh*h"h hgfffdddjdZd)\@Bɢƾ) 0i)mDik=i<}[=IID@AzDE= EKE+E"Es;*E;VE [4ZEBEA >IY Ii Ou >ȫ,#%?ANWP?Nb?NfهٱN[ VAHRS rotation from veh to nav: [[0.493268,-0.811158,-0.314180],[0.829411,0.547452,-0.111236],[0.262228,-0.205715,0.942824]]NH൑?Կ??@yX?Tʿ+?iNWP?IN];LY^%By^IbDrVDrk1y=Rv<%=2=ٔMQ-U>9YYa=eFymE}?:E}>Q 5 5 ?Q 9 5DS)BYy7?Q IMm@CIGi۸l=i < e]=I IA=箵=E9 EOE'E"Eso;*E3;VE'4ZEa@a@a@a@@ @@/@i@j<ԙ A! A! B5 >B1 B5 IB5 ЁBB5 =B1 B1 B5 q;B5 -E^A) A].AIiIyO>>Ы,C?A2"Q?2m?2ٱ2&\ :AHRS rotation from veh to nav: [[0.491885,-0.810432,-0.318196],[0.827711,0.548641,-0.117844],[0.270080,-0.205408,0.940672]]2H` {?R]Կ@|?`w? + H?Jʿ?i2"Q?I2h\^;2CYB9= ?Y= ?=EFyEEE8:EM>IQ 5U 5Ml?Q 9] 5M K)MIBY];?Q E]:y]Q?Q I]m@MCIM:iM ;M 5ymϓBɮmAmE-DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h1g1f1YfafeBdadadajdiZdm f\@Bɢ徾) *i)SIi1n=ik< A^=I I AAԉbE)jE-64rE-/EF E0EE"E>{;*E;VEZEBE9lYl=rFyrErEr>tQ 5z 5v?Q 9z 5vKB)vBY|y~L?Q I~m@vCIv$:iv:v 5yɮqA5DNOT Ignoring new targets: 46.27 m.h1h9*h9"hA hAgIfQfYfYdadadajdaZdev\@IMBɢU^)}W= (i)9L顑iqo=i@:<[=IIq@ @@/@ED E,EE"Eny;*E;VEZEa@a@a@a@@Xw<ԙ^A u \=BE >BA BE IBE BBE =BA BA BE q;BE -E A= ؟AII IY Oe >^O,L?A2,P?2+?2ٱ2 Z :AHRS rotation from veh to nav: [[0.490438,-0.807532,-0.327663],[0.821505,0.553881,-0.135442],[0.290860,-0.202751,0.935036]]2HUc?MmԿ`I?@e?,Vt? ɿ?i2,P?I2Y];2CYBXByBIiMMb@Mb@Mb@IIII I9MtV?Zd;O?Mb?YM2?yMj=M=M AM@ MA)M@IYM(@bDaVDayue=%u2=ٔuuQ-}>9}"?Y}"?=}Fy}EE>ԑQ 5 5'?Q 9 5:)BYk4?Q E:y?Q Im@CI4;i3; 5yɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd\@~Bɢ¾) $i)N!i%p=i!-ȑ<-2DX=I)I1@ @@/0@@|<E5: E55E5)E1"E5\p;*E5 ;VE5FA4ZE1BE5mt,?ANP?N?NB|ٱN&Z bAHRS rotation from veh to nav: [[0.490814,-0.805936,-0.331011],[0.819018,0.556370,-0.140218],[0.297172,-0.202283,0.933151]]NH~i?@; H/տe5???`fɿ`_?iNP?IN];NCYn[BynIv=v=bDeVDekyuFd<%uK=ٔ}%Q-}>9Y=FyEE>Q 5 50?Q 9 5>4)BYy~?Q Im@>CI/;i; 5yӓBɮAEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdi\@uBɢþ) B#i!)%P!!i%Yq=i)-jW<-R=I)I1@ @@53@@E% 8 E% 7E% 'E! "E% n;*E% ;VE% '4ZE! a= @a= @a= @aE @y X, ?A:nO?:j?:松ٱ:TZ FAHRS rotation from veh to nav: [[0.491244,-0.804333,-0.334257],[0.816424,0.558926,-0.145096],[0.303531,-0.201618,0.931246]]:Hp? @ydտ% ??¿ m?ɿ`?i:nO?I:G];:CYJrByN7Ii-Mb@Mb@Mb@)))) )9-K7A`?A`"?~jt?Y-+?y-Y=-=-A A-b@ - A)-@)Y-3@bDEVDE:2yU=%UM=ٔU爼Q-U>9YYY=]Fy]EeEe>iQ 5u 5m9?Q 9u 5mD.)mBYu+?Q Eu:yu?Q Ium@m_CImBCB IBBBBBB}q;B-EԁUt=Ա@ @@0@@ T< iQ IU AEED EE\EAEA"EEny;*EE ;VEAZEABEEC9XYX=^Fy^E^YE^>`Q 5f 5bE?Q 9f 5b&)bMBYhyM?Q IMm@bCIb1 D,\Z?A2zN?2y(?2ٱ2g [ :AHRS rotation from veh to nav: [[0.492719,-0.800198,-0.341923],[0.810681,0.564913,-0.153848],[0.316265,-0.201387,0.927049]]2H? 8տ??Hÿ=?` ɿ@b?i2zN?I2+];2CYBByBiIEb= Eb<Eb(E`"Ebs;*Eb1;VEbc44ZE`af@af@af@aj@i%Mb@Mb@Mb@!!!! !9%/$?S㥛?I +?Y%1(?y%/<%94=% A%@ %A)%S@!Y%\@ Mh>IbD=VD=G1Iye=%m2=}9yY}AٔmQ->y ?>A9Y= Fy EAE>Q 5% 5{Q?Q 9% 5)BY%(?Q E-:y-?Q I-m@CI:iU: 5yU͓BɮUAUEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffwBdddjdZd]@-SBɢ-)) - i))5:W11i5ms=i9={<=b?=I9IAIB>BBA IBJBB =BBDBq;B-EBuCBuCBqBu =Bu =Cub5-=i 9@  @ @ /@ @ <@ =@ =ԙ ^A|(H=I)I9OU?+,{?A>gM?>f?>ԧٱ>3] JAHRS rotation from veh to nav: [[0.494341,-0.797005,-0.347002],[0.807448,0.568861,-0.156284],[0.321955,-0.202928,0.924751]]>HG?F5ֿ`?`4?Ŀ@?ɿ`?i>gM?I>];>CYNByRIbDZVDZ0yb=%b6=ٔbU]Q-b>EjB Ej+Ej%Eh"Ejw;*Ej=;VEj 4ZEhBEjxQ 5~ 5z[?Q 9~ 5z)zBYy??Q Im@zCIz-:iz:z 5y ɮA-B*** querying acoustic contact ***i) i)=DNOT Ignoring new targets: 46.27 m.h9h9*h9"h9 hAgAfAfAfIdIdIdIjdQZdU 1]@}IBɢS) Ai)=Y顉it=it<4=IIԡ@ @@0@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.@*<^A C;=1 IY Iy O >ʁ ,,?A}L?}yM?}ٱ}<_ AHRS rotation from veh to nav: [[0.496157,-0.793741,-0.351858],[0.804178,0.572896,-0.158396],[0.327303,-0.204367,0.922555]]}H?`Sf@քֿһ?@)U?`NFĿ?@(ʿ@?i}L?I}];}CY܁ByIiMb@Mb@Mb@ 9+?Mb?I +?Y?y<A@ A)@Y=@AAiߩI߭A*DAT read: user:209> BDAT read: Tx time:04:53:19.8288 $Ping request sent.%)=ٔ?Q->9Y=FyEE>Q 5 5Vg?Q 9 51)BY1 ?Q E:y?Q Im@CI:i: 5yɮ A ]DNOT Ignoring new targets: 46.27 m.hYhY*hY"hY hYgYfafafegBdididijdiZdm@P]@EF EGE(E"E>{;*E;VEc44ZEa@a@a@a@}=BɢD)u=  i)B\顁ift=i <)=IIU9@Q @Q@U1@Q@m<AQAU@AB]>BYB] IB]BBYBYBYB]kq;B]-E ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250551^A 3=) A .AI I O >3,%vP=ٔz-nQ-z>9~ ?Y~ ?=~Fy~E~]E>Q 5  5p?Q 9  5)+BYym?Q Im@CI&;ie;D 5yœBɮ%A%EMDNOT Ignoring new targets: 46.27 m.hIhI*hI"hI hIgQfQfQfYdYdYdYjdYZde`ui]@q颽4BɢA) i)]i%u=iQ[<=II9@ @@R4@-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503319@]<@a@aԙ^A=#'=EEI EAEE*EA"EE};*EAVEE(N4ZEABEE.Am>AiIqIO~>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754537Y,c?A2J?2V?2ٱ2C` :AHRS rotation from veh to nav: [[0.500184,-0.787562,-0.359948],[0.797221,0.581095,-0.163608],[0.338015,-0.205124,0.918515]]2H?@3b ׿ւ?S?@Ŀ?`Aʿyd?i2J?I2];2CYJ(ByJ IbDRVDRyZ2>%ZO=ٔZiQ-Z>9\Y\=^Fy^Eb!Eb>dQ 5j 5f&z?Q 9j 5f)f^BYhyj?Q Inm@f-CIf:if1:f 5ypɮr ApDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd`-]@])Bɢek)a e!ia)eg_aiimGu=iiuQ~,2|?AB:>B:CB: IB:BB: =B8B8B:|q;B:-E~I?~x?~uٱ~a  AHRS rotation from veh to nav: [[0.502849,-0.784022,-0.363940],[0.793245,0.585832,-0.166024],[0.343374,-0.205209,0.916506]]~HV?J׿Bb?@"?D@ſ@?FDʿ T?i~I?I~];|YLByC IiMb@Mb@Mb@ 9Cl?Mb?l?Y;?y<=A@ A)@Y@ %4<%p<bD-VD-ky=6>%=4=AٔEMQ-E>9M"?YM"?=MFyM EM(EU>QQ 5e!5UY?Q 9e!5U)UBYe?Q Ee:yeK?Q Imm@UOCIUK;iU;U!5yqɮu Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258620DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd ]@Bɢ,M) i)? aiFu=i><=IIi==ԙ@ @@4@@ Z<@ =@ a=] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511154bEjErE.0Em  Em Em +Ei "Em ;*Em UB;VEm [4ZEi BEm  =a} 2Em  =a} JEm #%^(=ٔb"żQ-b>9`Y`=fFyfEfrEf>hQ 5n!5ju?Q 9n!5j)jՓBYpyr?Q Irm@jrCIj@:ij:j!5yvɓBɮvG AzEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762695jdZd+]@%Bɢ%')%JQ= %Ri!)-bIIiMGt=iQU;-,O?A> E?>}?>ٱ>a JAHRS rotation from veh to nav: [[0.510889,-0.773415,-0.375263],[0.780605,0.600222,-0.174325],[0.360067,-0.203871,0.910378]]>H 3Y?пNؿ@?5?@KPƿ U ? uʿ!?i> E?I>#];>CYNByR IieMb@Mb@Mb@aaaa a9e r?Mb?)\(?Ye#?yaeGa=eAe@ eA)e@aYe@bDVDyv>%;=ٔfQ->9Y=FyE0E> BM<AM<BU>BUCBUy!IBUHBBU =BUBDBUDBUq;BU-EQ 5!5J?Q 9!5)BY3$?Q E:yF?Q Im@CI;iU; !5yɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBddd!jd!Zd% ]@uBɢu)q uӿiy)}pdyyi}N>t=i<A%>ԹI!I1OE?E6,tD۰?A^D?^|?^;oٱ^b rAHRS rotation from veh to nav: [[0.513507,-0.769416,-0.379881],[0.776471,0.605089,-0.175955],[0.365245,-0.204613,0.908147]]^Hn?``Oؿ?\?ƿ*`?0ʿ`?i^D?I^];\YBy!IbDVDy-tJ>%-=ٔ-:0Q-->91Y1=5Fy5E5E=>9Q 5M!5=?Q 9M!5=Z)=^BYIyM?Q IMm@=CI=;i= ;=C!5yYɮ]AYԡDNOT Ignoring new targets: 46.27 m.hh*h"h hg!f!f!f!d)d)d)jd)Zd-.]@]Bɢ])a eÿia)eeaaie`_s=iimi1 ii Im Am BDAT read: Rx Time:04:53:22.4041 u TRx dataTimestamp_ set to:1761540803.800399u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023868מ<, ?AE& E&E&(E$"E&C;*E&ju;VE&c44ZE$a*@a*@a*@a*@f~C?f U{?f¾ٱf_2d nAHRS rotation from veh to nav: [[0.516147,-0.765500,-0.384190],[0.772500,0.609794,-0.177189],[0.369915,-0.205331,0.906092]]fHE? ~@ؿP?n?!ƿ?@LHʿ?if~C?If];dYe*ByeU!IiMb@Mb@Mb@ 9Zd;O?X9v?v/?Y~*?y<xi=MA@ X A)@Yp@bD-VD-k1y=>%=;=ٔ=9AYA=EFyEEM1EM>IQ 5]!5M?Q 9]!5MZ)MBY]M+?Q E]:y]Ɔ?Q Iem@MCIM` ;iM ;M!5ymBɮmAm~EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd^@Bɢ!) i)-gier=i1<SHBuCBu "IBuBBu =BqBuDBuq;Bu-EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2745871@1 @1@54@1q@ G<ԙ ^AU P<I IO >:dD,Yk?A2QrB?2Hz?2Bľٱ2c :AHRS rotation from veh to nav: [[0.518389,-0.762575,-0.386977],[0.769021,0.613634,-0.179054],[0.374004,-0.204773,0.904538]]2H`?g@:ؿћ?`?@@ƿ?6ʿ?i2QrB?VDAT read: 04:53:22.4041 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 484, 0.24, 2.678,-1.912, 2.918,-2.954, PHS=-0.549, 1.087,-0.455, RAW= 327.1, -1.1, CAL= 326.0, -4.0, ROT= 184.0, 4.0 \^Ygot valid direction response: 04:53:22.4041 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 484, 0.24, 2.678,-1.912, 2.918,-2.954, PHS=-0.549, 1.087,-0.455, RAW= 327.1, -1.1, CAL= 326.0, -4.0, ROT= 184.0, 4.0 b8DAT read: $Error in header b*Received a bad headerI2^;2CYj_Byj!IbDrVDrfyzEy>%zC=ٔ~=,Q-~>9|Y|=~Fy#E E> Q 5!5 +?Q 9!5UX#Rx 1: Read direction message, but no range.]bdirection in FSK: [-0.995134,-0.069586,-0.069756]y<>6W#݆,mkб&k۱<<>> <)>GI>D i>"?>辩>毶@>nF>@ >5)>M@I>5=<>eT} ݿ1kgᒿ >*)>$ Di>5=E EE)E"E;*E n;VEFA4ZEBE#=a2E#=aJE9 J,:,?ABnA?B|Dy?B.ƾٱBc ^AHRS rotation from veh to nav: [[0.520647,-0.759740,-0.389514],[0.765792,0.617273,-0.180378],[0.377477,-0.204373,0.903185]]BH$?@Oؿ`^??ǿ(?`(ʿ?iBnA?IB}^;BCYjByj!IIr=)r4<bDxVDxyZ>%I=!ٔ5lQ-=>9IYI=UFyU'EeEe>Q 5=!50ʰ?Q 9E!5޾)!BYIyMDž?Q Ium@CIBCB"IBABB =BCDBDBq;B-EB}CB}CB}șCB} =B} =C}JT7ԡ ^AU 0:D<I I O >Q,6>G?A2ݝ@?2Atx?2Ǿٱ2xb :AHRS rotation from veh to nav: [[0.522378,-0.757795,-0.390983],[0.763111,0.620051,-0.182206],[0.380504,-0.203183,0.902183]]2H@Q??ٿgk?`t?Rǿ@-Z?ʿ?i2ݝ@?I2^;2CYB̓ByB"ItiMb@Mb@Mb@ 9x?v/?Zd;?YK7?yxi=y=@r@  A) @Y@bD-VD-0y5w>%=?=ٔ=DQ-=>9AYA=EFyE+EEEM>QQ 5U!5U԰?Q 9]!5Uؾ)UaBY]8?Q E]:y]?Q I]m@U=CIU:iUU:U!5yœBɮx@E5DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h1g1f9f9f=>Bd9dAdajdaZde i^@=̅BɢET[)A E5iA)E0jAIiM@o=iIUy W,@`?A2K@?2w?2(6ɾٱ2P}` :AHRS rotation from veh to nav: [[0.523603,-0.756923,-0.391034],[0.761043,0.621858,-0.184676],[0.382953,-0.200897,0.901658]]2H@Z?8`ٿwZ?C?tǿO? ɿa?i2K@?I2O^;0YV ByVj"IbD^VD^yfΡ>%fR=ٔj߻Q-j>9hYh=nFyn/EnƻEn>pQ 5v!5rް?Q 9v!5rҾ)rBYxyz?Q Izm@r]CIr:ir:rj"!5y|ɮ~@-DNOT Ignoring new targets: 46.27 m.h)h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=^@Ym…Bɢu(W)q u[iq)u^j顁im=i <<:IIԉ-tY=U9@Y @Y@e/@aB@y:@yԹ@U<@i@iEM  EM EM -EI "EM m;*EM y;VEM t4ZEI aU @aU @aU @aU @ ^A #2; B=M>B=CB=N#IB=ńBB= =B9B=DB=2q;B=j-EAII1O=>:7`,瀱?AJ<}??JSw?JʾٱJZMZ RAHRS rotation from veh to nav: [[0.524423,-0.757627,-0.388564],[0.758907,0.622823,-0.190136],[0.386059,-0.195172,0.901591]]JH`? {> ;ؿH?+?`Vȿ0?eȿ?iJ<}??IJh^;HYZ8ByZ"I \\imMb@Mb@Mb@iiii i9mM?&1?A`"?Ymn2?ym=mY=mI@m@ mA)m@iYm@bDVD1y'>%=ٔһQ->9Y=Fy4E~E>Q 5!5w갊?Q 9!5ʾ)BY4?Q E:y?Q Im@CIe ;i ;'!5yBɮ @vEDNOT Ignoring new targets: 46.27 m.hh*h"h hgf f f .Bd ddjdZd^@EBɢE,)E~H< M=iI)MkIIiMBk=iQU3mf,w?Ab??b>w?b\˾ٱbxgV vAHRS rotation from veh to nav: [[0.523138,-0.759828,-0.385989],[0.759265,0.621234,-0.193867],[0.387095,-0.191648,0.901903]]bH@?P@ ؿK?&?`ȿ`*?ȿb?ib??Ib1^;`YwBy"IbDVDJy-Z>%5O=ٔ5:Q-5>99Y9==Fy=8E=Gd;E=>AQ 5M!5EI?Q 9U!5Eľ)E,BYQyU?Q IUm@ECIED;iEr;Ep*!5y]Bɮe]@aDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff!d!d!d)jd)Zd-ּ^@A]Bɢ]7)Y e#ia)elaaim(j=iiuiA% >Em  Em Em (Ei "Em p;*Em P;VEm c44ZEi a} @a} @a} @a} @AQIiIO??Wn,R&?ARE@?Rx?RA˾ٱRƳT ^AHRS rotation from veh to nav: [[0.521788,-0.761484,-0.384551],[0.760051,0.619673,-0.195775],[0.387376,-0.190125,0.902105]]RH}?@^ {ؿUR?@]?+ɿ`?@Vȿ ?iRE@?IR];RCYbByb*#IiMMb@Mb@Mb@IB]<A]<B] >B]CB]#IB]IBB] =BYB]DB]q;B]?-EIII I9MMb?L7A`?v/?YM@?yM+>Mxi=M~@Mz@ M3A)M@IYM=@bDVD:2y5>%=ٔQ->9Y=Fy>EK;E>Q 5 !5?Q 9 !5)BY C?Q E:y ?Q Im@CIm ;i ;./!5yɮG@EDNOT Ignoring new targets: 46.27 m.hIhI*hI"hIQ hIgQfQfYf]2BdYdYdYjdaZde`}^@颕Bɢ) ci) l顙ig=i<!,;IIfAfA<]9@Y @Y@]/@Yԁ@M<ԩ^A] [R: A I I O >~u,sױ?AD D4=bE-FA4jE-G4rE-0E EE)E"E;*EbC;VEFA4ZEBE:=a2E:=aJE %fU=ٔfWQ-f>9hYh=jFyjBEnp;En>pQ 5v!5rP?Q 9v!5r&)rÖBYtyvc?Q Ivm@rCIry:irI;r2!5yɮ@-DNOT Ignoring new targets: 46.27 m.h)h)*h1"h1 h1g1f1f9f9d9d9dAjdAZdE ^@)UBɢ]܎)Y ]9iY)ezlaaiee=iqu2דBvCBv$IBvÅBBv =BvDDBvwDBvp;Bv,EiMb@Mb@Mb@ 9Gz?7A`?y&1?Yp=?y>`e=@ݬ@ A)@Y@bDVDy">%=ٔ;Q->9 ?Y ?=FyHE%A;E>Q 5!5?Q 9!5)&BYA?Q E:y?Q Im@2CI;i ;8!5yBɮ@nE DNOT Ignoring new targets: 46.27 m.h h *h "h  h gfff#BdddjdZd2 _@}Bɢx)< Ri)'mi#b=i<;;II!9@ @@/@!^A ;I A= ؟AII IY Oe >z,?A D0zD0E6 E6E6%E4"E6p;*E6Q};VE6 4ZE4BE6,=a:2E6,=a:JE6:E6BA?BYy?BʾٱBM NAHRS rotation from veh to nav: [[0.517885,-0.768000,-0.376790],[0.764130,0.613323,-0.199849],[0.384578,-0.184418,0.904483]]BH?uUؿ@s?X?ɿ?ǿ@?iBA?IB];@YRMByV#IbD^VD^0yfZ>%f\=ٔf\;Q-j>9j"?Yj"?=jFyjLEn;En>pQ 5v!5rY?Q 9v!5r;)raBYtyvә?Q Izm@rSCIrB:ir$:rB;!5y|ɮ}e@yDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd48_@msBɢr)  i)6mi`=iY</;IIi9@ @@/@ԙ^A- X; I) IA OU >פ,0?AB\B?By2z?BeɾٱB:L JAHRS rotation from veh to nav: [[0.516692,-0.770188,-0.373952],[0.765942,0.610986,-0.200075],[0.382574,-0.183049,0.905610]]BH ?@a׿?@2? ɿ|?"nǿ?iB\B?IB];BCPYVtByV%$IbDrVDr:yY;>%F=ٔ-*;Q-5>9AYI=UFyUPEc;E>!Q 5!5%&?Q 9!5%)%BYy?Q Im@%{CI%|B CB  %IB .BB  =B B rDB o;B T,E^A% P;) A- >A- >I! I1 O= >K,ǁJ?AYBy%R$III)Mq=@^@ v@)"@YG@bDVDNy (>% ==ٔQ->9Y=FyUEE>!Q 5-!5%{/?Q 9-!5%ҕ)%BY5D?Q E5:y5&?Q I5m@%CI%. ;i% ;%B!5y9ɮ=@9eDNOT Ignoring new targets: 46.27 m.haha*hi"hi higififqfuBdqdydyjdyZd}m_@颽[Bɢd) h=i)1mi,Q\=i1 <WG,f?A:C?:{?:_žٱ:U; BAHRS rotation from veh to nav: [[0.513777,-0.780247,-0.356718],[0.770884,0.602337,-0.207192],[0.376525,-0.168537,0.910947]]:Hp?vֿ?WF?@Eʿ ?ſy&?i:C?I:^;8YJByJ$IbDVVDVyZZB>%^L=ٔ^˅9`Y`=bFybYEbd<Eb>dQ 5j!5f58?Q 9n!5f)f(BYlyn?Q Inm@fCIf;if;f&F!5yrBɮv@veEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd_@OBɢ]) `>i)liY=i<eԙC=GiaIaE} E}E}%Ey"E}.;*E}fW;VE} 4ZEya@a@a@a@9Y8zA^A<II IY Oe > B >B ݍCB z%IB BB * =B EDB oDB n;B +EBCBCB˝CB =B =CD7*,?A:%0D?:|?:ckľٱ:3 FAHRS rotation from veh to nav: [[0.513082,-0.783990,-0.349438],[0.772433,0.599261,-0.210317],[0.374291,-0.162007,0.913050]]:H+k?q0]ֿ Ʒ?%-?ʿ a?@Ŀ@7?i:%0D?I:_;:CYNׅByN$IPfonly read 0 of 1 data item for BIT error. Device response is::TS,00050308414844,35.0, +10.8, .9, 0 af@af af@af af@af af@af bDjVDj1yrv=%rH=ٔvB;Q-v>9tYt=zFyz]Ezx;Ez>|Q 5!5~A?Q 9!5~)~jBQ A +:Y Q E _:y ޘ?Q I m@~CI~:i~c>~ I!5yɮ7@EDNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZdUנ_@ CBɢ 'X) ɓ>i)5{l19i=W=i9E{,?A,rnD?rD|?r¾ٱr - ~AHRS rotation from veh to nav: [[0.512948,-0.786950,-0.342921],[0.773829,0.596824,-0.212109],[0.371583,-0.156561,0.915104]]rH j?@.jտ4? .?`e&˿?@2 ĿH?irnD?Irz_;rCYBy$IbDVDy%>%-<=ٔ-d;Q-->9qYq=uFyuaEu ;E}>yQ 5!5}J?Q 9!5}U)}BQ A :YQ E5:y?Q Im@}CI}a;i}gZ?}K!5yɮ`@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd3_@ 7Bɢ R) >i)Xli@U=iޒ<|,{ܸ?AE EE)E "E";*Evl;VEFA4ZE a@a@a@a@YmByu$IaEaE aEaE aEaE aEaE iEMb@Mb@Mb@AAAA A9En?:v?Mb?YE6?yE=E=E/@E"@ E@)E@AYE@bD]VD]:2ym=%u%=ٔuQ-u>9yYy=}Fy}fE}E}>ԉQ 5!5U?Q 9!5x)BQ AT:Y"8?Q E:y ?Q Im@8CIf;i;O!5yBɮ@fEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffZBdddjdZd@V_@(BɢA/N); >i!)%7k!!i%PdR=i)-ђ<-zB܍CB%IBֆBB, =BBnDB>m;B*E@ @@81@Ա^A }U<AQ IY Iq O} > q,Ҳ?A26D?2j|?2>ٱ2$ :AHRS rotation from veh to nav: [[0.513964,-0.790826,-0.332318],[0.776330,0.593616,-0.211970],[0.364901,-0.149043,0.919039]]2H`dr?rNDտ??!˿`Z?ÿh?i26D?I2^;0YB8ByB%IbDJVDJyvX>%vg=ٔz9xYx=~Fy~jE~&:E~>Q 5 !5]?Q 9 !5r)'BYyQ Im@VCI:i$:R!5yɮV@!MDNOT Ignoring new targets: 46.27 m.hIhI*hI"hI hIgIfQfQfQdQdQdYjdYZd]`_@颍BɢL?A) l ?i)o~k顑iCP=iɒ<A}>I A I I O >,{첾?AJD?JJ{|?JIJٱJ! ZAHRS rotation from veh to nav: [[0.514531,-0.792425,-0.327598],[0.777618,0.592216,-0.211167],[0.361343,-0.146094,0.920917]]JH w?@[\Կ >?n?`˿< ? 3¿&x?iJD?IJmu^;HYfSByj7%IIp)r4<bDzVDzy]#>%]D=ٔ]9aYa=eFyenEm:Em>qQ 5}!5ug?Q 9}!5uHl)uaBYyy}?Q Im@uzCIuf;iu;uV!5yBɮ@]EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd`@Bɢ>) !?i)jiM=i J< B ڍCB /&IB BB ) =B B lDB mk;B )EA .AI I O >,?W?A2'D?2\|?2Hٱ2]| :AHRS rotation from veh to nav: [[0.515675,-0.792977,-0.324448],[0.778552,0.591780,-0.208935],[0.357682,-0.144857,0.922540]]2Hh?`Կ`?@?`ʿC?¿r?i2'D?I2^^;2CDYFnByJX%IiMb@Mb@Mb@ 9tV?ʡE?y&1?Y2?y=`<7@Ȓ@ j@)9|@Y@bD5VD50yE\>%EL=ٔM6 9M ?YM ?=MFyMrEUKEU>Q 5!5q?Q 9!5e)BY3?Q E:y?Q Im@CI:i:4Z!5yBɮd@DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g!f!f)f- Bd)d)d1jd1Zd5(`@eBɢe8)a e4?ii)mYjiiim_7K=iqu%5Ȭ,?$?A2D?2{?2Fٱ2p :AHRS rotation from veh to nav: [[0.517771,-0.792613,-0.321991],[0.778834,0.592445,-0.205976],[0.354021,-0.144129,0.924065]]2H ?]~Կ5?O?@i]ʿG?r¿?i2D?I2M,^;2CYBByB%IbDNVDN:yVk>%V3=ٔV^ 9Z"?YZ"?=ZFyZwE^sE^>`Q 5f!5b|?Q 9f!5b_)bՙBYdyfȍ?Q Ifm@bCIbB:ib:b^!5ylɮnq@lDNOT Ignoring new targets: 46.27 m.hh*h"h h g f f f dddjdZd"`@Bɢf4) K?i)iieH=iIM줒 nManaging dock network, ignoring radio surface power off#ά,P>?ABQ[C?B1{?BE'ٱB NAHRS rotation from veh to nav: [[0.520806,-0.791173,-0.320634],[0.778564,0.594259,-0.201727],[0.350141,-0.144573,0.925473]]BH@r?JQDԿ@?,?3ɿ@h?`_¿@y?iBQ[C?IB5^;@YVByV%I XXi5Mb@Mb@Mb@1111 195E?V-?~jt?Y5&?y5<5<5ƫ@5A@ 5r@)5 z@1Y5p@bDMVDMܲy]8>%]?=Ae@AAe@ABmV>Bm֍CBm&IBm_BBm0 =BiBmiDBmi;Bm2)Eٔ g9Y=Fy{EzϻE>!Q 5-!5%R?Q 9-!5%X)%BY-&?Q E-:y-u?Q I5m@%CI%:i%:%b!59yAɮE@AmDNOT Ignoring new targets: 46.27 m.hihi*hi"hi higqfqfqf}BdydydyjdyZd`0`@颭Bɢ٩*) e?i)ph顱iE=i<".>%R+=ٔV/;Q-V>9TYX=ZFyZE 'E >Q 5!5?Q 9!5R)HBY!y%?Q I%m@ CI:i:f!5y-Bɮ-@5^E]DNOT Ignoring new targets: 46.27 m.hYhY*hY"hY hYgafafafadididijdiZdu?`@额ڄBɢٽ%) ?i)g顡iB=i'c< ެ,9|?AFA?Fy?F'ٱFZ" NAHRS rotation from veh to nav: [[0.527027,-0.787051,-0.320614],[0.777638,0.598792,-0.191646],[0.342816,-0.148319,0.927620]]FHf?`/Կ h?M)?ڇȿ`?`¿ ?iFA?IF?[^;FCYVByV&IAieMb@Mb@Mb@aaaa a9eMb?:v?v/?Ye@?yeT%%=ٔ9Y=FyEE>Q 5!5?Q 9!5%KQ =tI)BYA?Q E:y?Q In@3CI;i;Rj!5yBɮd@UE DNOT Ignoring new targets: 46.27 m.h h*h"h hgfff<Bdd!d!jd!Zd% VO`@U˄BɢUr)Q ]A?iY)]ffYYi]=?=iae+BӍCB&IBBB3 =BFDBfDBh;B(Ei@ @@/@ԙ^AH< AA II IY Om >[,x?AY2ByI&IbDVDy%;l>%-S=ٔ-Q-->9)Y1=5Fy5E5E5>AQ 5M!5E?Q 9M!5E5E)EҚBYIyIQ IUn@EVCIE:iE(:Em!5yYɮ]@YԹDzD@A=DNOT Ignoring new targets: 46.27 m.h9h9*h9"hQ hQgYfYfYfYdadidijdqZdu`|\`@Bɢ~)! %?i!)%e!!i%<=EM EMEM$EI"EM;*EM=T;VEM4ZEIBEM =a]2EM =a]JEMk,R?A>@?>\w?>2ٱ>$ FAHRS rotation from veh to nav: [[0.533718,-0.782904,-0.319697],[0.776244,0.603550,-0.182131],[0.335545,-0.150956,0.929850]]>H6? uԿ@?HP?@Pǿy?RÿU?i>@?I>{N^;>CYN]ByN&IbDVVDVyb^>%bQ=ٔb9dYd=fFyfEjEj>lQ 5r!5nۻ?Q 9r!5n>?)nBYpyr ?Q Ivn@nxCIn;ina;nq!5yzBɮz@zVEDNOT Ignoring new targets: 46.27 m.hh*h"h! h!g!f!f)f)d)d)d)jd1Zd5h`@]Bɢe4)a e?ia)ediiim<:=iiuB΍CB<'IBBB@ =BBcDBg;B'EB]֍CB]֍CB]ȘCB]0 =B]1 =C]N7A) I1 IA OU >ԙ em,Q.ʳ?A2[??2\2w?2]ٱ2X9( :AHRS rotation from veh to nav: [[0.536610,-0.780419,-0.320931],[0.775700,0.605930,-0.176459],[0.332174,-0.154257,0.930519]]2H+?0@#Կ@?c?2ƿTB?ÿ?i2[??I2^;2CYBByB&IimMb@Mb@Mb@iiii i9m r?Zd;O?Ym#?ymmj<=m9@m z@ mƫ@)mxY@iYm@bDVDNyX>%;=ٔ\9Y=FyEbֻE>Q 5!5DZ?Q 9!59)HBY$?Q E:yyz?Q In@CI;i:t!5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgf!f!f%WBd!d)d)jd)Zd- v`@]Bɢ]m)Y e?ia)e=lcaaie.7=iiml,a鳾?AY-By-&I15A=@A=@AbDEVDE02yUV>%U+=ٔUQ-U>9YYY=]Fy]EeEe>iQ 5u!5mձ?Q 9}!5m3)mBYyyyQ I}n@mCImC;im!E;my!5yBɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd `@Bɢ)( ?i) a  i d3=i$ <DIIa9@ @@2@ԉE  E E E "E ;^A Β{ *E 8;VE ZE ae @ae @ae @am @A B >B ͍CB 'IB ]BB ? =B B bDB nf;B D'EI I O% >{,D?A2T=?2d*u?2ٱ2K1 :AHRS rotation from veh to nav: [[0.544540,-0.773591,-0.324089],[0.773966,0.612354,-0.161242],[0.323193,-0.163031,0.932184]]2H l?AԿS?`h?Ŀ 2?`6Ŀs?i2T=?I2>_;2CYBByB9'IPiMb@Mb@Mb@ 9"~?Q?~jt?Y3?yu<D=@j@ @)KW@Ȳ@bDVDy">%F=ٔ9Y=FyE{E>Q 5!5v᱊?Q 9!5-)BYm4?Q E:y9~?Q In@CI':i:|!5yBɮ@MEEDNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hIgIfIfIfUPBdQdQdQjdYZd]`Œ`@颅BɢpȽ) #?i)Oh`顑iȞ0=i<II!9Q@Q @Q@U0@Q! ^A qEu  Eu Eu +Eq "Eu ,;*Eu 6;VEu [4ZEq BEu '=a 2Eu '=a JEu r, !?AZk%z9=ٔ~}9|Y|=FyEwE> Q 5!5 ?Q 9!5 D') BYy}?Q In@ CI ;i ; !5y!ɮ%@!DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddd jd Zd X`@=yBɢ=ƽ)9 =?iA)E^AAiEB6-=IiQU'ԡ a, R%M.=ٔMS9QYQ=UFyUE]IE]>aQ 5m!5e?Q 9m!5e)eBBYm@D?Q Em:yu@?Q Iun@e/CIe@:ie:e!5yBɮ3@NEB>BɍCBC(IB͈BBC =BGDB_DBCe;B&EEDNOT Ignoring new targets: 46.27 m.hAhI*hI"hI hIgIfIfqfuOBdqdydyjdyZd}|`@"cBc*c2c]]]]iɢ ?I>cXI)/)i=i<II )Uܪ&Y 9@  @ @ 0@ ԁ ^AzIIԱO>,A[?ADJ=DJ=njX%=6=ٔ=*9AYA=MFyMEMEM>QQ 5]!5U ?Q 9]!5U)UBYYy]~?Q Ien@UWCIU;iUn;U!5yiɮm)@iDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZd `@"cBc*c2c]]]]iɢI>1W))ig=i%<"I,IIbި!9@ @@/@A^AԹ I I O >,t?A2 %ZU=ٔZO9\Y\=^Fy^EbIEb>dQ 5f!5f?Q 9j!5f)fBYhyj~?Q Ijn@fzCIf:if1:f!5yrBɮr@rOE DNOT Ignoring new targets: 46.27 m.h h *h "h  h gfffddƷ<djdZd`@"cBc*c2c]]]]iɢI>pU))!i%/> =i9=<=fZ=I9IADEy EmE(E"E;*E(;VEc44ZEa@a@a@a@ @  @@/@@-=@-=B>BǍCB(IBGBBG =BB]DB d;B%E^AM 0I I O >! #, ʎ?A2n;?2ys?2ٱ2) :AHRS rotation from veh to nav: [[0.553834,-0.774219,-0.306355],[0.776238,0.613207,-0.146395],[0.301200,-0.156726,0.940593]]2H? f@Qӿ?c?¿F?ĿV?i2n;?I2^;0YRByR(I TT|i5Mb@Mb@Mb@1111 195T㥛 ?~jt?{Gz?Y5A?y5<5#=5`@5R@ 5n@)5C@1Y5pm@bDMVDMky]z>%]@=ٔe n9aYi=mFymEm[sEm>qQ 5!5u&?Q 9!5u: )uBYdA?Q E:yf~?Q In@uCIu-c]T))i$]%V%=ٔV29XYX=ZFyZEZE^>\Q 5b!5^>7?Q 9f!5^x)^7BYdyf}?Q Ifn@^CI^f;i^a;^!5yjBɮn@nFEDNOT Ignoring new targets: 46.27 m.hh*h "h  h g fffddƷ<djdZd`@"c%Bc)*c)2c-]1]1]1]1iQɢQIUH>UQ)Y)YYYi]BA BE u)IBE ƉBBE H =BA BA BE b;BE O%Eԉ ^A} jZX AIIO>3,caϴ?A6n9?68Eq?6Lٱ63: >AHRS rotation from veh to nav: [[0.567590,-0.777981,-0.269419],[0.781196,0.612226,-0.122119],[0.259952,-0.141155,0.955249]]6H)?9@)>ѿ?Z?5C ?`¿f?i6n9?I6^;6CYFByF6)IiMb@Mb@Mb@ 9K7?)\(?I +?YI?yGa=94=s@H@ @)8@Y`@bD-VD-kyB>%=ٔ=Q->9Y=FyE}DE>Q 5!5H?Q 9!5)wBYJ?Q E:y?Q In@CI:i;!5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h h g f ffBddƷ<djdZd``@"c%Bc!*c!2c%]1]1]1]1iIɢQIU?U\I)Q)YYYi]п?`? p -/?!i?i2W8?I2W_;2CYBۉByB)IIF=)F=bDNVDN0yV>%V&=ٔVO=Q-V>9XYX=ZFyZE^ E^>`Q 5f!5b Y?Q 9f!5bB)bBYdyfU?Q Ifn@b0CIb:ib_:bۜ!5ynBɮn@nGEDNOT Ignoring new targets: 46.27 m.hh*h"h h g f f fddƷ<djdZda@"cBc*c2c]]]]i h>ɢQmGIe?uB)`9Y xA)ixBB *IB?BBG =BBBPa;B$EBǍCBɍCBȕCBG =BE =C2j6@ 9@ t@)d3@YR@AAAAbDVDyi>%=ٔQ->9Y=FyEE>Q 5!5j?Q 9!5)BYK?Q E:yH?Q In@fCI:i:!5y Bɮ Ɩ@ >E5DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h9g9f9fEfEBdAdEƷ<dAjdIZdMa@"cUBcQ*cQ2cU]a]a]a]aiyɢID?))顉iԉ \J,`v+?ABy&6?Bm?B5ٱB&  RAHRS rotation from veh to nav: [[0.588705,-0.778454,-0.217797],[0.788786,0.612130,-0.055796],[0.176755,-0.138948,0.974398]]BH?˿=??@`? `D.?iBy&6?IBY_;@Y^`By^3*IbDnVDnyz>%z[=ٔ~%>Q->9Y= Fy E E>Q 5-!5Ew?Q 9-!5) BY)y5?Q I5n@CI?;i"A;!5yEBɮE@ADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZd@#&a@"cBc*c2c]]]]iYɢYIea>e3)e*)aaaim|A A B >B B *IB BB E =B B B `;B $EIy I O >hQ,.E?A 64?6Al?60xٱ6 bAHRS rotation from veh to nav: [[0.596021,-0.778723,-0.195829],[0.790039,0.612306,-0.030317],[0.143516,-0.136643,0.980169]]6H`?`MɿH??} ^? }]?i64?I6k>`;6CYfByjt*IiUMb@Mb@Mb@QQQQ Q9U@5^I ?`"?~jt?YUbP?yU=U%}>=ٔS=Q->9Y=FyE.EE>Q 5!57?Q 9!5ڽ)&BYR?Q E:yƉ?Q In@CI:i:!5yɮo@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBddƷ<djdZd3a@"cBc*c2c]]]]iɢI>*))id\ԡ E  E E 'E "E ;*E pD;VE '4ZE BE E%VY=ٔZ:=Q-Z>9XYX=^Fy^E^.Eb>dQ 5f!5f?Q 9j!5fӽ)f8BYhyj+?Q Ijn@fCIf:if:f!5yrBɮr@r?EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZd@V@a@"cBc*c2c]]]]i ɢI>5")=)999i=V{< ],Uy?AF3?Fj?F"ٱF VAHRS rotation from veh to nav: [[0.606255,-0.781495,-0.147379],[0.791800,0.610448,0.020155],[0.074216,-0.128914,0.988875]]FHpf? S¿mV?Ɉ???@ܤ?iF3?IFv_;FCYfByf*IpbDVD:y%<>%%C=ٔ-]=Q-5>91Y1=5Fy=EEEE>QQ 5U!5U?Q 9!5U˽)UGBYy?Q In@U CIUoE)A)IIIiMXB B *IB BB F =B B ^DB !_;B #E]-9@ @@/@R@ >J@ >@<@@fAa ^A AA zA dAIY Ii O} >92e,\˕?AYBy+IiMb@Mb@Mb@ 9L7A`?y&1?Mb?Y+G?y`=<F@)@ I@)Y8@bDVDy>%1=ٔQ->9Y=FyEE>Q 5!5?Q 9!5ý)SBY;I?Q E:yƇ?Q In@:CI ;i2 ;!5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfff4BddƷ<djdZd\a@A"cMBcI*cI2cM]Q]Q]Y]YiɢI>))i;ij`<&IIbEjET4rEç/Ee EeEe'Ea"Ee;*EeM;VEe'4ZEaBEex=au2Eex=auJEe%zk,"?A21?2Oi?2ȕٱ2S >AHRS rotation from veh to nav: [[0.611852,-0.784744,-0.099064],[0.790960,0.607710,0.071209],[0.004321,-0.121925,0.992530]]2H`K?`=\O?[r?:?`q?|6?i21?I2`;2CYF%ByF&+ILLbDNVDN02yV$>%VY=ٔZ>>Q-Z>9\Y\=^Fy^E^WE^>`Q 5f!5bƺ?Q 9f!5bм)`Yhyj?Q Ijn@b`CIb;ib;b!5ynBɮn @r7EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZdlha@"cBc*c2c]]]]i1ɢ1I=>=%)=)999iE% ;iAM{B ȍCB $+IB $BB A =B B B ]^;B ,#E ^A- &AYIaIqO?s,е?A6u1?6ALi?6u=ٱ6 >AHRS rotation from veh to nav: [[0.611599,-0.789253,-0.055014],[0.788889,0.603088,0.118064],[-0.060004,-0.115608,0.991481]]6H8?A`* >?L?s9?⸮v6?i6u1?I6u%`;6CYF8ByF<+IHiMb@Mb@Mb@ 9K7?rh|?:vYIL?y=Լb@@l'@ 7@) 0@Y3@bD5VD5:yEY=%E=ٔE=Q-E>9IYI=MFyME E>Q 5!5̲?Q 9!5β):BYN?Q E:y?Q In@CIq:i:!5y ɮ@]DNOT Ignoring new targets: 46.27 m.hYhY*hY"hY hYgYfafefe=BdadmƷ<dqjdqZdu ya@"c}Bcy*cy2c}]]]]iɢI ?W)Eٽ)!!!i% r;i)-<-&;I)I19@ @@/@@P<@=@>En EEE"EÏ;*EbC;VEZEBE*A} >Iy I O >Cz, 뵾?A2r|1?2Ri?2Y=ٱ2 :AHRS rotation from veh to nav: [[0.610197,-0.791449,-0.035610],[0.787244,0.600684,0.139378],[-0.088920,-0.113081,0.989599]]2H@?Sl;1?8? #?}ö ˪?i2r|1?I2 _;0YBPByBZ+IbDNVDNfyRh=%VP=ٔVD=Q-V>X9TY\=^Fy^Eb9Eb>hQ 5n!5j4ٲ?Q 9r!5jث)j%BYpyr·?Q Ivn@jCIj B;ijB;j!5y~}Bɮ~ւ@~.E=DNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hAgYfYfefadidƷ<djdZd`9a@"cBc*c2c]]]]iAɢAIE(>e~޾)i)iiiim;iqu"BM ɍCBM 7+IBM 3BBI BI BM _DBM ];BM "Ea ^A Q9IyIO??ς, ?ABݜ1?B>si?B=ٱBNJ JAHRS rotation from veh to nav: [[0.608134,-0.793646,-0.017281],[0.785384,0.598350,0.158584],[-0.115519,-0.110012,0.987194]]BHu?`e!!?%?xL? )?iBݜ1?IB_;BCY^SBy^^+IIb%=)b=xiUMb@Mb@Mb@QQQQ Q9Uy&1?Zd;?ktYU`E?yU=U 0UxA@UV&@ U+@)U6@QYU2@ aep;bDmVDmy}f_<%}=ٔCK=Q->9Y=FyEmq:E>Q 5!5겊?Q 9!5^)BY"H?Q E:y5?Q In@CI:iU:!5yɮ@UDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hY hYgYfYfefeNBdadeƷ<dajdiZd@9a@"cBc*c2c]]]]iɢI ?о))!!)i-{:i)5 ʁ<5w:I1I1=fA=eA% `ٽ)9@ @@@@Y:,}%?A:٪1?::i?:t>ٱ:ܽ BAHRS rotation from veh to nav: [[0.605976,-0.795483,0.000535],[0.782942,0.596541,0.176468],[-0.140696,-0.106517,0.984306]]:H'd?tA? ?`?@?U¿Do?i:٪1?I:_;:CYhyhbDrVDr0ٔz=Q-~>9|Y|=FyE:E> Q 5!5 ?Q 9!5 ) ݝBYy]?Q In@ CI ;i ; !5y%Bɮ%؂@%/EMDNOT Ignoring new targets: 46.27 m.hIhQ*hQ"hQ hQgQfQYf]fadadeƷ<dajdiZdm@a@"cuBcq*cq2cu]y]]]iɢI->jþ)e)顡iti<I:IIԉI9@ @@0@@< IG!9e9aYeǁA ^A Q9A zA gAIY Iq O} >3,??AE*v E*E(E("E*c;*E*5;VE(ZE(a.@a.@a.@a.@V1?Vfi?VL(>ٱV"׽ bAHRS rotation from veh to nav: [[0.602814,-0.797713,0.016423],[0.780926,0.594100,0.192872],[-0.163614,-0.103441,0.981086]]VH@@J? ݆Lѐ?@Y?@? ?KĿ`{`e?iV1?IV#_;VCYfJByfS+IԙbDmVDmܲy=%<ٔ=V=Q- >91Y9==FyEEM}:;EU>AyA}AAB>BȍCB$+IB$BBBB^DB!];B"EB5ȍCB5ȍCB5“CB5A =B5C =C5%6aQ 5 !5e?Q 9 !5e)eBYy?Q In@eECIeI:ie:e !5yɮf@!DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZdWa@"cBc*c2c]]]]iɢI>﷾))9AiEPbiAM]!,vY?Ajf2?jh>ٱj~Ͻ ~AHRS rotation from veh to nav: [[0.599252,-0.799917,0.032111],[0.778839,0.591803,0.207794],[-0.185222,-0.099511,0.977645]]jH-?p? @? ?? YǿyH?ijf2?Ij `;jCYAByG+I ))11iMb@Mb@Mb@ 9RQ?Q?S㥫YB?y=/]B@*@ )I@YQ8@@A@AbDVD 3y.@%J=ٔ~a=Q->9Y=FyE;E>yQ 5!5?Q 9!5)BYtE?Q E:yψ?Q In@jCI))!!!i%<>i)-}<-E1I)I1Emp EmeEiEi"Em;*Em#;VEiZEiBEm @,cs?A:F3?:ik?:>T>ٱ:ʽ FAHRS rotation from veh to nav: [[0.594097,-0.803091,0.045765],[0.777625,0.587951,0.222741],[-0.205789,-0.096741,0.973803]]:H?`n? M?~?Ƃ?JWʿ ĸd)?i:F3?I:E_;8YJ5ByJ9+IbDVVDV\y^%^_=ٔ~ij=Q-~>9Y=FyEu<E > Q 5!5 ?Q 9!5 ) _BYyd?Q In@ CI r;i L ; !5y-xBɮ-3@-&EUDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hQ hQgYfYf]fYdadeƷ<dajdaZdma@"cuBcq*cq2cu]y]y]]iɢI>)u⣽)顡iyi{<]o%IIq@q @q@u/@y@Mu<EeK EeEe$Ea"Ee;*Ee|;;VEe4ZEaam@am@am@am@^AU.Ae>Aa1 BU >BU ɍCBU *IBU BBU ? =BQ BU _DBU \;BU x"EA9 II IY Oe >Y J+,J?A:-K4?:!l?:fi>ٱ:m̽ BAHRS rotation from veh to nav: [[0.588299,-0.806691,0.056149],[0.776431,0.582904,0.239539],[-0.225963,-0.097325,0.969262]]:H`Y?j??&?3?\̿@C긿`1?i:-K4?I:_;:CYJ%ByJ&+Iar@av av@av av@av av@av bDzVDzky%E=ٔZL=Q->9 Y = Fy E <E>Q 5%!5&?Q 9%!5).BQ A%+:Y!Q E%^:y%?Q I-n@CI:i>!5y1ɮ5.@1]DNOT Ignoring new targets: 46.27 m.hYhY*ha"ha hagafafmfididmƷ<dijdqZdua@"cBc*c2c]]]]iAɢAIE(>Ea)I)IIIiMKiqz<׳II)Yz޽9@ @@4@iߑIߕA@} ̇<E P E E )E "E (;*E =;VE FA4ZE BE qv5?>Lm?>j]~>ٱ>˽ FAHRS rotation from veh to nav: [[0.581849,-0.810500,0.067397],[0.775246,0.577770,0.255295],[-0.245857,-0.096294,0.964511]]>H@? @? ?}?V?9xϿ F?i>qv5?I>_;9f ?Yf ?=fFyfEjZ<Ej>lQ 5n!5n5?Q 9r!5nv)nBQ Ar :YpQ Er4:yv?Q Ivn@nCIn ;in9l?n!5yz|Bɮz=@z'EDNOT Ignoring new targets: 46.27 m.hh*h!"h! h!g!f!f-f)d)d-Ʒ<d)jd1Zd5La@"c=Bc9*c92c=]I]I]I]IiɢI(>o挾))i>i x<q IIrŹm9@i @i@u/@q@MMB ȍCB *IB BB = =B B ^DB \;B `"EA I I O >,|cȶ?A@N96?N}n?NŎ>ٱNȽ ZAHRS rotation from veh to nav: [[0.575147,-0.814197,0.079311],[0.773786,0.572922,0.270215],[-0.265447,-0.094043,0.959528]]NHg?@ M?`?``U?`2K?п`:s?iN96?INc_;NCY^Byb*IaEaE aEaE aMaM aMaM iMMb@Mb@Mb@IIII I9MZd;?sh|??v/YM9?yM=MxiMQ@M=@ M-@)MId@IYMQH@bDeVDeyu.%uA=ٔuSD=Q-u>9yYy=}Fy} E4<E>Q 5!5A?Q 9!5Vp)BQ AT:Y;?Q E:y?Q In@ CI;ip;:!5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBddƷ<djdZda@"cBc*c2c]]]]iɢI>_)ы)i޻ixlv<OZIIԱ5 9@ @@h4@@ ҁ<@ @ gA bE-4jE-4rE/E k E E &E "E f;*E r;VE 4ZE BE ٱ6a >AHRS rotation from veh to nav: [[0.563221,-0.819916,0.102571],[0.769879,0.565785,0.295250],[-0.300113,-0.087324,0.949898]]6H?<B?@ڢ? ?_? 5ӿ Ze?i68?I6s_;6CYFByF*IbDNVDN:yVa %Z=ٔZ%=Q-Z>9^"?Y^"?=bFybEb9p<Ef>lQ 5r!5nP?Q 9r!5nKh)nkBYtyv?Q Ivn@n6CInS;inU;n!5y~tBɮO@EEDNOT Ignoring new targets: 46.27 m.hAh*h"h hgfffddƷ<djdZd0b@"c Bc *c2c]]]]iYɢaI? `)Qdq)顩i6Xi4t<üIIfAfAQ@Y @Y@]/@Y@-~<1Y i I A^AU :WE t E E E "E {;*E ?;VE ZE a @a @a @a @A ԑ B ݾ>B ǍCB $*IB TBB A =B B ]DB n\;B 6"EI I9 Oe >,8?Au^9?u'5q?uz>ٱuL AHRS rotation from veh to nav: [[0.558115,-0.822057,0.112824],[0.767759,0.563187,0.305560],[-0.314729,-0.083916,0.945465]]uH?`KN?z?@?K?@$Կ}{?A?iu^9?Iu_;uCYByq*IiMb@Mb@Mb@I 9m??J +Y.?yL=H_@H@ 5@)9|@YfV@bD}VD}:y}1%#=ٔK9Y=FyE!;E>Q 5!5^?Q 9!5Ba)'BY/?Q E:yс?Q In@^CI;i ;!5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBddƷ<djdZdfb@"cBc*c2c] ]]]i)ɢ1I5>5TOP)1)199i=, iAE2Lsٱ2J :AHRS rotation from veh to nav: [[0.554085,-0.823469,0.122020],[0.765280,0.561556,0.314647],[-0.327623,-0.080962,0.941333]]2H`?Y 9TYT=ZFyZEZ|;EZ>\Q 5b!5^`l?Q 9b!5^OZ)^BYdyf%?Q Ifn@^CI^9:i^:^o!5ylɮn`@l1DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZd&b@"c Bc *c 2c ]]]]iQɢYI]=?]:^B)Y)Yaaie?iim$qB ɍCB )IB ߉BB > =B FDB _DB +\;B "E AqIIO?ҭ,yK?A2C>:?2r?2>ٱ2K :AHRS rotation from veh to nav: [[0.550732,-0.824442,0.130345],[0.763060,0.560587,0.321687],[-0.338282,-0.077702,0.937831]]2H?`a'?j?T??`iտC䳿?i2C>:?I2H_;2CYB)ByB)Ii Mb@Mb@Mb@     9 K7?~jt? ףp= Y I,?y < Q8 $n@ bX@ \?@) +@ Y  g@ <<bD%VD%Jy5dG%5=ٔ=9QYQ=]Fye Eԉm!8;E>Q 5 !5{|?Q 9 !5R)BY,?Q E:ytz?Q In@CI" ;i& ;F!5yxBɮ@%EMDNOT Ignoring new targets: 46.27 m.hIhI*hI"hI hIgIfQfUfUȀBdQd]Ʒ<dYjdYZd]@6b@"cmBci*cq2cu]y]y]y]yiɢIF?6))顡i5n$iIp<ޠIIԹ@ @@?0@@i<E b E E (E "E Q;*E =;VE c44ZE BE Qڭ,sHk?A6p^:?64r?6s>ٱ6F BAHRS rotation from veh to nav: [[0.546869,-0.826450,0.133844],[0.758493,0.556753,0.338696],[-0.354433,-0.083703,0.931327]]6H?Gr!? E??3? ֿmo?i6p^:?I69_;6CYFByF)I ||bD%VD%βy=cj%=%=ٔE =Q-E>9IYI=MFyM%EU:E]>aQ 5m!5e+?Q 9u!5e~L)ePBYqy}z?Q I}n@eCIeN;ieO;el!5ylBɮؗ@EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddƷ<djdZd GFb@"cBc*c2c]]]]iɢI>b)%)0I)i.i!%}n<-II)IY@Y @a@e4@a @Ed<@Q@Qy}UG銿9Y|Aԡ^A} }E= v E= E= 'E9 "E= c;*E= C;VE= '4ZE9 aE @aE @aE @aE @A .A I I O >4,?A6&:?6zq?6\>ٱ6< >AHRS rotation from veh to nav: [[0.546109,-0.826943,0.133906],[0.756067,0.555378,0.346291],[-0.360731,-0.087871,0.928521]]6Hy?@Pv#? 1? ?`)?8׿~@r?BF>BFˍCBF(IBFeBBF9 =BDBF`DBF\;BF"EBeɍCBeɍCBeCBe> =Be> =Ce46i6&:?I6"_;6CYfByfj)IbDrVDryz5%zP=ٔz9] ?Y] ?=eFye)Eu Eu>Q 5!5 ?Q 9!5F)BY!y%8z?Q I-n@CI A) )iI7ifm<II!@ @@5@@5^< ^A} ԅ9 A I I O >",m ?A2:9?2q?2>ٱ2ɽE:W E:uE:&E8"E:T;*E:6,;VE:4ZE8BE:$)Ii%Mb@Mb@Mb@!!!! !9%~jt?Mb?{GzY%$?y%<%#%9|@%Cc@ %F@)%@!Y%u@bD= VD=:2yM%U/=ٔUR9YYY=]Fy]-E]E]>ԩaQ 5!5e?Q 9!5epA)e֚BY$?Q E:ys?Q In@eCIe;>N))i@ihl<8II t>i>@ @@R4@@Y<^A U֣9 A ؟AI I O- >D,Uٻ?A>a9?>q?>J>ٱ>X̽ FAHRS rotation from veh to nav: [[0.544665,-0.827481,0.136437],[0.751704,0.553827,0.358074],[-0.371862,-0.092470,0.923671]]>Hm?zv?` ? ??׿@?i>a9?I>!^;>CYNaByN(IIR%=)R<bDZVDZfyb%bU=ٔb~9f"?Yf"?=fFyf1Ej6ߺEj>lQ 5r!5n?Q 9r!5n<)nBYpyrZs?Q Ivn@n5CIn;in;nD!5yxɮz@xDNOT Ignoring new targets: 46.27 m.hh*h"h! h!g!f!f%f)d)d-Ʒ<d)jd1Zd5mb@"c=Bc9*c92c=]I]I]I]IiaɢiIm>m)i)iqqiuֵFiy}_k<}\IyIi߱I߱E EEE"E%;*E-I;VEZEa@a@a@a@B->B-ɍCB-h(IB-BB-; =B)AB-^DB-5\;B-$"E7yy@ @@4@@m[S<ԁԙ ^Au q歼AIIO>,B۷?AJf9?J==q?J'>ٱJpɽ VAHRS rotation from veh to nav: [[0.544259,-0.826831,0.141888],[0.748892,0.555078,0.362008],[-0.378078,-0.090767,0.921313]]JHj?gu`)?`?2?`"+?@n2ؿ< f{?iJf9?IJ@^;JCY^;By^(Ii=Mb@Mb@Mb@9999 99=%C?9qYq=uFyu6Eu6E}>yQ 5"5}輳?Q 9"5}c6)}YBY$?Q E:yl?Q In@}\CI}.;i}:}"5ytBɮ@EDNOT Ignoring new targets: 46.27 m.hAhA*hA"hI hIgIfIfUfUڀBdQdUƷ<dQjdYZd] ~b@ɢF^>IƷ<)N= V@i)i5i!%˷i<%I!I)D=D<E EE)E"E;*EG;VEFA4ZEBEf=a 2Ef=a JEٱJ(ǽ RAHRS rotation from veh to nav: [[0.543788,-0.826276,0.146844],[0.746050,0.556088,0.366299],[-0.384322,-0.089635,0.918837]]JHf?`p? ?y?oq?ؿXg?iJN 9?IJ^;JCYZ ByZ(I \\bDfVDf:yn>%n=ٔrR9pYp=vFyv<Ev.Ev>xQ 5~"5z~̳?Q 9~"5z/)zBYyk?Q In@zCIz:iz:zS"5y jBɮ @EDNOT Ignoring new targets: 46.27 m.hh*h"h hg f ffdddjdZd`܏b@I颉ɢh>) @i);顑i#i6h<żIIE EFE'E"Ev;*E$;VE'4ZEa@a@a@a@B->B)B-'IB-{BB-= =B)B)B-R\;B-3"Ey<HE9@I @I@M/0@IR@U=J@U=ԡ @5 K<@9 @9 ^AAzAbEў4jE!4rE"/E5 E5E5&E1"E5;*E5s;VE54ZE1BE5<=a=2E5<=aEJE5ٱ^4ý fAHRS rotation from veh to nav: [[0.540225,-0.827045,0.155415],[0.742086,0.555284,0.375456],[-0.396818,-0.087499,0.913717]]^HI?&w? ,??w?`weٿ@[f ,=?i^-29?I^+_;^CYnڈBynS(IieMb@Mb@Mb@aaaa a9ey&1?Mb?{GzYe`%?ye9Y=FyBE'x:E>Q 5%"5e޳?Q 9-"5%()BY-w%?Q E-:y-s?Q I-n@CI)Ɵ~= > @i)-+;顱iݞ i2f<W|II%bި@ @@/@1@P ,Y@?A29?2zq?2V>ٱ2m)˽ :AHRS rotation from veh to nav: [[0.537373,-0.828932,0.155248],[0.740861,0.551956,0.382712],[-0.402933,-0.090642,0.910730]]2H )2?@,?"??\~?ٿ Q4@$?i29?I2^;2CYBByB(IbDHVDHyR%RI=ٔV9TYT=ZFyZFEZ;EZ>\Q 5b"5^鳊?Q 9b"5^#)^}BYdyft?Q Ifn@^CI^W:i^:^Y"5ylɮnN@l DNOT Ignoring new targets: 46.27 m.h h*h"h hgfffdET E{E'E"E;*E_/;VE'4ZEa@a@a@a@ddjdZd@b@ɢM>) %@i);i{i!%d<-7gI)I)iA A ?AB>BˍCB['IBBB> =BB`DBX\;BA"EEy<@ @@O0@ԙ@=V<^A= ¼ Am .AIy I O >jy,'[?A> :?>]q?>$>ٱ><ҽ FAHRS rotation from veh to nav: [[0.534844,-0.830772,0.154142],[0.740349,0.548687,0.388362],[-0.407216,-0.093594,0.908524]]>Hp?`??؎?`?ڿ ?i> :?I><_;>CYNzByN'IieMb@Mb@Mb@aaaa a9eK7A`?Mb?Zd;OYe+?ye=ejeO@e@ eh@)e/@aYe̔@bD}VD}ky4 %8=ٔ,9 ?Y ?=FyKE׌;E>Q 5"58?Q 9"5,):BYN+?Q E:y~?Q Io@CI? ;i ;<"5yrBɮ@EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff-BdddjdZd Rb@%wBɢ-5>i) P@i)XL <顉imic<cwIIEX E^EE"EɅ;*E ;VEZEBEٱ2ӽ >AHRS rotation from veh to nav: [[0.532506,-0.832591,0.152409],[0.741911,0.545799,0.389450],[-0.407437,-0.094311,0.908350]]2HJ ?!??`0w? ?sڿ$4?i2:?I2 L_;2CYFVByF'IbDNVDN:yV %V"=ٔV9Q-Z>9Y = Fy PE  ;E >Q 5"5U?Q 9%"5Z)BY!y%R?Q I%o@CI:iI:"5y)ɮ-@1]DNOT Ignoring new targets: 46.27 m.hYhY*hY"hY hYgafafafadadidijdiZdu`b@额vBɢPA>) ?i)u+<顡iSi-fb<)HII |=E> E5E$E"Es;*E ;VE4ZEa@a@a@a@Y@a @a@e[0@aB>B̍CB&IBBB9 =BBaDBp\;BS"E@=#b<9i^A} dԑ A I I O >z%,?A2: ٱ2ӮԽ :AHRS rotation from veh to nav: [[0.530204,-0.834825,0.148157],[0.745637,0.542283,0.387238],[-0.403620,-0.094844,0.909998]]2Hm??B?bZ??ٿG?i2: 9IYI=MFyMTEM!#<EM>qyQ 5"5}?Q 9"5}7)}BY-?Q E:y2?Q Io@}) /?i)o1H<顙i:RiKa<|{nIIԡDzD@AEI EZE(E"E};*E;VEc44ZEBE,i< ^A EG1AYO9YjAA9IIIYOu ?-,^?A((6??6 w?>ٱ̽ AHRS rotation from veh to nav: [[0.525274,-0.839894,0.136622],[0.758394,0.534891,0.372465],[-0.385909,-0.092032,0.917935]]H ?@i|?D?`?u?ؿ m_?i6??I_;CY%By%@'I ))15AbD=VD=yMf,%M!=ٔMiQ-M>9QYQ=UFyUYE]r<E]>aQ 5m"5e?Q 9m"5e6 )eWBYiym?Q Imo@ecCIe:ie:e "5y}kBɮ}@}EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd:b@tBɢ>) {?i)/4d<iRgi`<II9@ @@0@@m< EQ E:E#E"E;*E$ ;VE3ZEa@a@a@a@B<A4=Bܾ>BȍCBn&IBPBBBB]DB\;Bm"EBiBmʍCBiBm; =Bm; =Cm61^AmA I I O- >a 4,!Ӹ?AY~By~&IiMb@Mb@Mb@ 9sh|??ʡE?~jtY)?y=ƫ@|@ v@)@Y @bDVDy%E=ٔQ->9Y=Fy^EE>Q 5"5k&?Q 9"5j)BYf+?Q E:y?Q Io@CI\:in:""5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hg!f!f!f%Bd)d)d)jd)Zd5@b@QesBɢev@>)a e;?ii)mڈzԩEB E+E$E"Ew;*E=;VE4ZEBEٱJʟн VAHRS rotation from veh to nav: [[0.520653,-0.845893,0.115699],[0.774003,0.524850,0.354193],[-0.360333,-0.094860,0.927988]]JH/?s??`? ? ׿H?iJ B?IJk^;JCYbByb&IbDrVDryz|a%zX=ٔ~Q-~>9Y=FyaE=E > Q 5"5 =/?Q 9"5 ) BYy?Q Io@ CI ;i ; %"5y)ɮ-@)UDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hQ hYgYfYfYfadadadajdaZdmc@5rBɢ5>)1 =?i9)=^<99i=iAE_E , E FE 'E "E c;*E v;VE '4ZE a @a @a @a @1 [A,?A;ɰ;B6Ҿ>B6ǍCB6%IB6BB6= =B4B6\DB6\;B6{"EbD?bB{?bQ>ٱbݽ jAHRS rotation from veh to nav: [[0.519350,-0.848587,0.100875],[0.781035,0.519249,0.346935],[-0.346784,-0.101394,0.932449]]bH?`'ҹ?=??/4?1ֿ@?ibD?Ib^;bCYkBy&I = = 4<bDVD02y-;%-G=ٔ-Q-5>95"?Y5"?=5Fy5fE=U<E=>AQ 5M"5E8?Q 9M"5E#)EBYIyU(?Q IUo@ECIE :iE:E)"5y}oBɮ?@EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd`(c@EqBɢE=)A Es?iI)M/\y YG,J ?A 2E?2E|?2" >ٱ2 >AHRS rotation from veh to nav: [[0.519107,-0.850355,0.086168],[0.786930,0.514852,0.340102],[-0.333571,-0.108741,0.936433]]2H?@6@!?.?@y?@9?9Yտ@kֻ`A?i2E?I2F_;2CYF6ByFO&IiEMb@Mb@Mb@AAAA A9E{Gz?y&1?p= ףYEC?yE`=EEM@E@ E+@)Ep@AYE@bD]VD]Jym%mF=ٔu Q-u>9qYq=}Fy}jE}<E}>Q 5"5C?Q 9"58)bBYF?Q E:ya?Q Io@CI7:i*:--"5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd!c@pBɢ=) v?i)Dg<!i%bԹi!-|_<-cYFM,,:?AFF?F}?F0>ٱFkL RAHRS rotation from veh to nav: [[0.518281,-0.852182,0.071906],[0.792916,0.510330,0.332939],[-0.320420,-0.115541,0.940203]]FH•?E`mh?_?T?N?āԿ#?iFF?IFp_;FCYZByZ&IbDbVDbNyj>%jT=ٔnQ-n>9n ?Yr ?=rFyrnEr2<Er>tQ 5z"5vL?Q 9]"5v)v$BYYye?Q Ieo@v CIvu1 eT,kT?A|Y҆By%IiMb@Mb@Mb@ 9)\(?y&1?v/YGA?yxi@(@ @)Z@Y@bDVD0yIa%<=ٔQ->9"?Y"?=FyrEE>Q 5"5\W?Q 9"5r)ߖBYC?Q E:y?Q Io@0CIL:i:U4"5yjBɮz@DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g!f!f)f-RBd)d)d1jd9Zd=6;c@额nBɢ=) ?i)$<顩iz:iڨ_<ӲfZ,yn?AR2H?R?R>ٱR6 ZAHRS rotation from veh to nav: [[0.516846,-0.854886,0.045165],[0.804523,0.503075,0.315687],[-0.292598,-0.126825,0.947788]]RH@?`:[??`1?64?ҿ;`GT?iR2H?IRg`;RCYbByb%IbDjVDjkyrS%r\=ٔvQ-v>9v ?Yz ?=zFyzvEz<Ez>|Q 5"5~`?Q 9 "5~!ݼ)~BY y ?Q I o@~RCI~:i~1:~7"5yɮ@EDNOT Ignoring new targets: 46.27 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZdUGc@y颍lBɢj=) ?i)<顑i6a:iy_<bK E a E /E +E "E ݉;*E Y;VE [4ZE a @a @a @a @a,?ABվ>BB%IB=BB< =BBB\;Bd"EBiH?Bdj?B4>ٱBd JAHRS rotation from veh to nav: [[0.516386,-0.855783,0.031320],[0.809996,0.499974,0.306485],[-0.277944,-0.132895,0.951360]]BH`;?@b@5 ?{?`?@s?ѿq?iBiH?IBA `;@YmByX%IbDVD1y%!%-F=ٔ-Q-->9-"?Y5"?=5Fy5zE5n <E5>9Q 5E"5=j?Q 9M"5=ּ)=mBYIyM?Q IMo@=wCI=:i=:=.;"5yQɮU@YDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd`ETc@kBɢ_;=) ?i)U<i3;iQ`<ٱ2< :AHRS rotation from veh to nav: [[0.515251,-0.856871,0.016958],[0.815724,0.496386,0.296976],[-0.262888,-0.139184,0.954734]]2H |?}k~]?i???'п`@/?i2J?I2?F_;0YBGByB)%IIF=)F=i Mb@Mb@Mb@     9 J +?rh|?v/Y H?y =  r@ ^@ O@) @ Y @bD-VD-yy%=ٔ%Q->9Y=FyE#<E>Q 5"5w?Q 9"5̼)#BYK?Q E:y?Q Io@CI" ;i ;?"5ydBɮ@EiDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZd`ec@miBɢmt=)q ubo?iq)up,A(Ĺ?A2K?2n?2M>ٱ2`[ NAHRS rotation from veh to nav: [[0.514362,-0.857569,0.002537],[0.821137,0.493360,0.286933],[-0.247316,-0.145504,0.957947]]2H@u?4qd?F?4?]?Ͽߟ¿@?i2K?I2P_;2CYRByR$IbDbVDbβyjԩ%jG=ٔjw!Q-n>9n ?Yn ?=nFynEr<Er>tQ 5z"5v?Q 9z"5vLż)vBYxyzΔ?Q I~o@vCIvn;iv;vPC"5yɮ/@-DNOT Ignoring new targets: 46.27 m.h)h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdErc@mgBɢu-=)u2= u9M?iq)uBuɍCBu$IBu݅BBu: =BqBu^DBum\;BuE"E@ @@/@@n< 1 ^A- )<AYaIiIyO>Ax,#⹾?ABK?B?Byo>ٱB. NAHRS rotation from veh to nav: [[0.513548,-0.858005,-0.009793],[0.826176,0.491350,0.275696],[-0.231737,-0.149674,0.961195]]BH`n?`t8p?@Gr??Ϳ`(ÿ?iBK?IB^;BCYRɅByV$Ii-Mb@Mb@Mb@)))) )9-S㥛?i|?5?J +Y-D?y-=-H-@-t@ -@)-b@)Y-G@bDEVDEfyUc%U&=ٔ]VQ-]>9YYY=eFyeEe;Ee>iQ 5u"5m9?Q 9}"5mz)mBY}G?Q E}:y}ʔ?Q I}o@mCIm:im:mG"5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffĀBdddjdZdc@Em EmyEiEi"EmF;*EmQ.;VEiZEiBEm=au2Em=auJEmؒJ@>@<@@) U h>Y ^Ae r=q ؀G  M -9I YM O{AA ؟AI I O >c~,[[?A 2L?29?2_>ٱ24# >AHRS rotation from veh to nav: [[0.513160,-0.857989,-0.022848],[0.830628,0.489740,0.264974],[-0.216155,-0.154953,0.963985]]2Hk?te ?W?V?`˿|ÿ?i2L?I2^;2CYJByJ:$I LLbDVVDV02y^ϱ%^V=ٔ &Q- >9"?Y"?=FyE9;E>!Q 5-"5%?Q 9-"5%m)%BY)y-?Q I5o@%$CI%-:i%:% K"5y=hBɮ=-@=EeDNOT Ignoring new targets: 46.27 m.haha*hi"hi higififqfqdqdqdqjdyZd}gc@颭cBɢ=) +?i)Li<顱i%;ic<0K=IIi@q @q@u4@qԉ@MQ<E EEE"E;*E;J;VEZEa@a@a@a@BE>BABE)$IBEwBBE5 =BABABE_\;BE@"EBǍCBȍCBB< =BCŢP6ԙ^Am = A I I O= >O,G?A2L?2h?2N>ٱ2Z* :AHRS rotation from veh to nav: [[0.513702,-0.857169,-0.037031],[0.834179,0.488899,0.255193],[-0.200639,-0.161983,0.966181]]2H?p?@m?`J?U?ɿ߻Ŀ?i2L?I2s^;2CYJWByJ$ILieMb@Mb@Mb@aaaa a9e rh?ʡE?ktYeCK?ye-=e 0e@e@ e?@)eZ@aYe½@bDVDy"R%;=ٔQ->9Y=FyEtZ;E>Q 5"5 ?Q 9"5)PBY L?Q E :y ?Q Io@OCI;i;N"5y%`Bɮ%@-EmDNOT Ignoring new targets: 46.27 m.hihi*hq"hq hqgqfqfyf}BdydydyjdZdoc@]aBɢecj=) >i) <顉iY;ic d<Cy=II]9@Y @Y@]4@Y@UQ<E EE%E"E;*E`;VE 4ZEBE=a2E=aJE,[0?A6CM?6?6ƫ>>ٱ6^W, BAHRS rotation from veh to nav: [[0.514378,-0.856264,-0.047198],[0.837343,0.489607,0.243192],[-0.185128,-0.164613,0.968829]]6Hu?fL*@?`U? ?Fǿ ſ@?i6CM?I6^;6CYF*ByJ#IHbDRVDR:yZl%^U=ٔ^)Q-^>9`Y`=bFybEb>;Eb>dQ 5j"5fܮ?Q 9n"5f)f(BYlyn?Q Ino@ftCIf&;ifv;f!R"5ypɮv`@tDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd@c@_Bɢga=) >i)o<iI;id<. =IIm_=I)9@ @@4@B@:@@}<@=@= E=  E= E= ,E9 "E= ;*E= r;VE= g4ZE9 aE @aE @aE @aE @B >B ̍CB #IB BB C =B B `DB J\;B C"E^A >=I A.AIIO>(,P?AYM? ?ٱ56 AHRS rotation from veh to nav: [[0.515946,-0.853650,-0.071285],[0.842485,0.490616,0.222518],[-0.154979,-0.174863,0.972319]]H?@Q@?? Af?w{?@Zÿ@aƿ<?iM?In^;YEByE#III)MC=M=M=iMb@Mb@Mb@ 9)\(?Mb?YGA?y=̼@ @ ݬ@)-@Y@bDVDyu %=ٔW\Q->9 ?Y ?=FyE#;E>Q 5"5?Q 9"5)BY%B?Q E%:y%Ԍ?Q I%o@CI:i:W"5y-dBɮ-@5E]DNOT Ignoring new targets: 46.27 m.hYhY*hY"hY hYgYfafafexBdaddjdZd`c@ԉ}\Bɢ9=)O< ɦ>i)χ<顱i ;i f<$=II31=@ @@4@Ա@m< D <D <E  E E 'E "E F;*E ~;VE '4ZE BE "=a 2E "=a JE uz,t&p?A2M?2?2>ٱ2b@ :AHRS rotation from veh to nav: [[0.517419,-0.851319,-0.086796],[0.844022,0.490984,0.215780],[-0.141082,-0.184906,0.972577]]2H?>A8 ;?Hl?? ¿ǿ`Y?i2M?I2TV_;2CYBByBB#IbDJVDJkyR%RD=ٔV Q-V>9V"?YV"?=ZFyZEZ揺E^>\Q 5b"5^ʴ?Q 9b"5^l)^ݔBYdyf?Q Ifo@^CI^:i^:^Z"5yhɮn~@lDNOT Ignoring new targets: 46.27 m.hh*h"h hgf f f d ddjdZdc@EZBɢEf$=)I MND>iI)M6<i\;iSf<S"=II)a5<1=@ @@P1@R@>J@=ԁ@ۣ<@@fAԱ E  E E *E "E ;*E t;VE (N4ZE a @a @a @a @B] >B] CB] 5#IB] BB] & =B] EDB] qDB] [;B] `"E^Ae l"=A.AIIO?V,9?AB5M?B,?B>ٱBI JAHRS rotation from veh to nav: [[0.519292,-0.848621,-0.100889],[0.844944,0.492141,0.209445],[-0.128088,-0.194009,0.972602]]BH ?'`ӹ ?>??/e`Jȿ?iB5M?IB_;BCYRByR#IbDZVDZ:yb:%b=ٔfHμQ-j>9n ?Yr ?=rFyrEz E~>Q 55"5 ڴ?Q 95"52)BY9yEu?Q IMo@CIC;i;\_"5y`BɮH@EQDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdd!d!jd!Zd%c@uVBɢu=)q u=iq)}&i>q@ @@1@@<ԙDu ?AzDu ?AbEc44jE14rEʧ0E}  E} E} &Ey "E} 4;*E} g;VE} 4ZEy BE} =a 2E} =a JE} pr4,"?A6M?6n?6sa=ٱ6P >AHRS rotation from veh to nav: [[0.520703,-0.846299,-0.112458],[0.845869,0.493564,0.202239],[-0.115649,-0.200431,0.972858]]6H?` ʼ`[???/ ɿ!?i6M?I6^;6CYFfByF"I`iMb@Mb@Mb@ 9Cl?S㥫?Y;??y/]=Z@ d@)@Y@bD-VD-1y=%=*=ٔEռQ-E>9M"?YM"?=MFyMEMƺEM>QQ 5]"5U紊?Q 9e"5U)UBYe??Q Ee:ye?Q Ieo@U2CIU ;iU" ;U~c"5yiɮu@q5DNOT Ignoring new targets: 46.27 m.h1h1*h9"h9 h9g9fAfAfE BdAdIdIjdIZdMc@TBɢ<) p=i)<i);ih<B=II!59@9 @9@=0@9@ ?B CB "IB `BB  =B DDB tDB [;B ~"E^A= =A9 zA9 y AiIIO?m,QϺ?ABL?Bi?B}=ٱBM JAHRS rotation from veh to nav: [[0.522101,-0.844061,-0.122356],[0.847864,0.498119,0.181670],[-0.092393,-0.198591,0.975718]]BH ?R@!?,?@? okɿ`9?iBL?IB^;BCYR4ByR"IbDZVDZ02ybI%f%=ٔfAQ-f>9dYh=jFyjEjEj>lQ 5r"5n ?Q 9v"5nb{)nBYtyv?Q Ivo@naCIn;inr;ng"5yzdBɮz@~E EDNOT Ignoring new targets: 46.27 m.hAhI*hI"hI hIgIfIfQfQdQdQdYjdYZd]c@额QBɢ<) di)1<项i;igi<II99@ @@2@@mȬ߹,@j麾?AE E E(E"E;*E";VEc44ZEBE.=a2E.=aJEM?> t?> =ٱ>ǘJ JAHRS rotation from veh to nav: [[0.522334,-0.843450,-0.125538],[0.848840,0.500213,0.171049],[-0.081475,-0.195907,0.977232]]>H?@ )???۴xɿ|E?i>M?I>^;>CYRByRy"IyiMb@Mb@Mb@ 9v?X9v?Q?Y8?y<u<@ @ Ը@)@Y\@ 4<bDVD y%;=ٔ\ͼQ->9Y=FyE;<:E>Q 5 "5 ?Q 9"5t)BY 9?Q E:y_?Q Io@CIV;iU;k"5y)ɮ-@)mDNOT Ignoring new targets: 46.27 m.hqh*h"h hgfffBdddjdZdd@颕NBɢ/<)H< Խi)<顙i4;iOj<=IIԩE9@A @A@E4@A@}<^AA  I! I1 O= >̼,?A2-M?2Fw?2lc=ٱ2}I :AHRS rotation from veh to nav: [[0.522690,-0.842458,-0.130611],[0.849607,0.502094,0.161460],[-0.070444,-0.195362,0.978198]]2H`?`j``/?'?൪? ɿfM?i2-M?I2^^;2CYBByBS"IbDJVDJ:yR}+%Rb=ٔV7Q-V>9TYT=VFyVEZ9EZ>\Q 5b"5^ ?Q 9b"5^"n)^zBY`yfa?Q Ifo@^CI^y:i^:^n"5yj]Bɮj5@nޢE~DNOT Ignoring new targets: 46.27 m.hh*h"h hgff f d d nManaging dock network, ignoring radio surface power offdjdZd@cd@MKBɢM=i<) #i)<iҒBCBs"IBBB =BBvDB\;B"E9@ @@/@@}<I^A"=A>A>IA I O >q Ʈ,?A6M?6v?6&s=ٱ6HKI BAHRS rotation from veh to nav: [[0.523089,-0.841380,-0.135860],[0.850211,0.504050,0.151903],[-0.059328,-0.194969,0.979013]]6H $?`c`4?@.!?q?`F``ȿT?i6M?I6=^;6CY^Byb="IiEMb@Mb@Mb@AAAA A9E7A`?I +?~jt?YE6?yE99qYq=uFy}E}^E}>Q 5"5K?Q 9"5"g)uBY6?Q E:y-?Q Io@CI<:i/:r"5y`Bɮ@ߢEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBdddjdZdd@Q颥HBɢШa<) Ai)\<顱iI? c ͮ,˾6?A"G,8Z9XYZA%M?%s?%nD=ٱ%FJ UAHRS rotation from veh to nav: [[0.523484,-0.840070,-0.142294],[0.850686,0.505918,0.142759],[-0.047939,-0.195779,0.979476]]%Ha?@6¿`8?{0?E?m@Lɿ W?i%M?I%Ph^;%CYmȃBym"IAAbDVDNy%F=ٔDQ->9Y=FyE]E>Q 5"5&?Q 9"5T`)rBYy*?Q Io@CI}f;i_;0v"5y ɮ @ =DNOT Ignoring new targets: 46.27 m.h9h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@t,d@ԱUEBɢUh<)Y ]ziY)]B CB 5"IB BB  =B CDB }DB j\;B "EB]CB]CB]ɠCB] =B] =C]7@% ˷<1 ^Amȿ=A}gAzA}gAI aIO?ծ,8W?A=SM?=Xx?==ٱ=H mAHRS rotation from veh to nav: [[0.523623,-0.839136,-0.147206],[0.851185,0.507963,0.132127],[-0.036097,-0.194484,0.980241]]=H?4¿91Y1=5Fy5E=9E=>AQ 5M"5E6?Q 9M"5EaW)EnBYM:?Q EU:yU܉?Q IUo@E)CIE ;iE~ ;Ez"5y]cBɮ]k@]EDNOT Ignoring new targets: 46.27 m.hh*h"h hg f f f BdddjdZd =d@颅ABɢj<) i)X<顉iOn<=IIfAgA<1@1 @1@5/@1B@=:@=R@=J@=D%=D%=E  E E 'E "E ;*E ߂;VE '4ZE BE -=a 2E -=a JE `9lYp=rFyrErN:Er>tQ 5z"5vD?Q 9~"5vN)vmBY|y~?Q I~o@vXCIv;iv;v%"5y]Bɮ @ ֢E5DNOT Ignoring new targets: 46.27 m.h1h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE4Md@u>BɢuԞ;)}C< }2iy)}#i=!>a9@ @@4@iQIUAB>BCB!IBBB =BB~DB];BV#EE   E -E )E "E ;*E ;VE FA4ZE BE 2=2E 2=JE <:E <ԁ^A "=Ա AA IQ Ia Om >`,?A]VM?^?T<ٱoHy AHRS rotation from veh to nav: [[0.523140,-0.837268,-0.159082],[0.852148,0.511039,0.112617],[-0.012994,-0.194475,0.980821]]H ?\ĿD?@oZ?uԼ?cȿb?i]VM?I%2^;CYBy!IAiMb@Mb@Mb@ 99Y=FyE:E>Q 5"5S?Q 9"5HF)qBY3?Q E:y2?Q Io@CI:ia:Ճ"5yaBɮ@עE%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h) h)g)f)f)f5Bd1d1d1jd1Zd=`_^d@e9BɢmXp;)i mii)mUb,t?A2TgM?2ٞ?2:ٱ2 I :AHRS rotation from veh to nav: [[0.522962,-0.836164,-0.165350],[0.852354,0.512617,0.103523],[-0.001801,-0.195075,0.980787]]2H?/*ſ{F?Zg??y]:ȿb?i2TgM?I2W^;2CYBpByB!IbDNVDN:yR#%R=ٔVWQ-V ?9TYX=ZFyZEZjU:E^ ?\Q 5b"5^\?Q 9f"5^!A)^tBYdyfp<]$=IYIay@y @y@}/@yԑԡ^A A I I O- >b,Q2˻?AE  EAE*E"E;*EӋ;VE(N4ZEB<A4=B">B"CB"!IB"BB" =B B"DB"];B"#EjZM?jܮ?jٱj I vAHRS rotation from veh to nav: [[0.522525,-0.835298,-0.171011],[0.852575,0.514031,0.094278],[0.009155,-0.195062,0.980748]]jH?@úſ`KH?r? "??ȿJb?ijZM?IjI^;hYzjBy~!IbD VD ky%D=ٔ5׼Q-%>9!Y!=%Fy%E-:E->1Q 5="55zh?Q 9="55_:)5{BY9y=L?Q IEo@5CI5;i5;5@"5yIɮMj@IuDNOT Ignoring new targets: 46.27 m.hqhq*hq"hq hygyfyffdddjdZdud@颵3B1ɢUp)Y ]SɾiY)]-Թ ,g廾?A2=M?2ν?2=Xٱ2jH :AHRS rotation from veh to nav: [[0.522056,-0.834567,-0.175942],[0.852684,0.515455,0.085070],[0.019694,-0.194434,0.980718]]2H?Ŵ Gƿ/I?~?ǵ? *?8ȿ` b?i2=M?I2:^;0YBdByB!IID)F=iEMb@Mb@Mb@AAAA A9El?/$?Zd;O?YE7?yE,=Ej9u ?Yu ?=uFy}E}:E}>Q 5"52t?Q 9"5r3)BY7?Q E:y?Q Io@CI:i:"5ydBɮ@آEMDNOT Ignoring new targets: 46.27 m.hIhI*hI"hI hIgQfQfYf]bBdYdYdYjdaZde d@ԑ-0BbEFA4jEFA4rE0E5 E5E5+E1"E5@;*E5с;VE5 [4ZE1BE5p+=aE2E5p+=aMJE5AHRS rotation from veh to nav: [[0.521345,-0.832454,-0.187669],[0.852388,0.518430,0.068303],[0.040434,-0.195576,0.979855]]6Hۮ?v ȿ@F??O|?ų?ɿ Z?i6M?I60^;6CYF`ByF!IbDrVDrkyz%~=ٔ~=%Q-~>9"?Y"?=FyEf:E> Q 5"5 ?Q 9"5 *) BYy?Q Io@ CI ;i ; ^"5y%^Bɮ-@-΢EUDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hQ hQgYfYfYfYdadadajdaZde@d@颕+Bɢ2ٺ) i)<顙i.s<)=IIEu EuEu*Eq"Eu;*EuQ};VEu(N4ZEqa@a@a@a@aBU>BQBU!IBUBBU =BQBQBUn^;BU$E}9<%9@! @!@%/@!y^A ԹA I I O > U,9 ?AY NBy !IiMb@Mb@Mb@ 9Zd;O?S㥫? rh?Yj9Y=FyEE>Q 5"5ǎ?Q 9"5{#)BY5,??A2عM?2Ȃ?2oٱ2rkLH NAHRS rotation from veh to nav: [[0.520996,-0.830018,-0.199084],[0.851552,0.521422,0.054578],[0.058506,-0.197966,0.978461]]2H?{ɿ??|?@? {?@Vɿ@O?i2عM?I2z0^;2CYROByV!I XXXZA ^4<^<bDbVDbNyjY:;%j3=ٔj|"Q-j>9lYl=nFynErўEr>tQ 5z"5v?Q 9z"5v)vBYxyz?Q Izo@vsCIv;ivn;v"5yaBɮAϢE-DNOT Ignoring new targets: 46.27 m.h)h)*h)"h1 h1g1f1f1f9d9d9d9jd9ZdEd@m#Bɢu)q u.Ծiq)u0$EE" EE'E"Ed;*E;VE'4ZEBE;=2E;=JE_<:E_<e9@i @i@m/@i1 ^A q A I I O>,6]?A2M?2?2Bٱ2L :AHRS rotation from veh to nav: [[0.521162,-0.829118,-0.202370],[0.850940,0.523006,0.048643],[0.065510,-0.197555,0.978100]]2H`\? "@ɿ:?w?@? CŰ?}Iɿ L?i2M?I2Q^;2CYBKByB|!IiUMb@Mb@Mb@QQQQ Q9UT㥛 ?A`"?/$?YUA?yUY=U9Y=FyE{E>Q 5"5?Q 9"5)BYA?Q E:yB?Q Io@CI:ij:K"5yɮADNOT Ignoring new targets: 46.27 m.hh*h"h hgfffcBdddjdZd@Md@Bɢx@u) %Ծi!)%h,o|?A8> wM?>?>SҒٱ>K JAHRS rotation from veh to nav: [[0.521416,-0.828211,-0.205409],[0.850291,0.524504,0.043599],[0.071629,-0.197390,0.977705]]>Hp?`Jʿ@5??R?`DV?Dɿ@[I?i> wM?I>2^;>CYjLByj~!IbDrVDrkyzȕ;%z.=ٔ~~UQ-~>9|Y=FyEE> Q 5"5 U?Q 9"5  ) BYy1?Q Io@ CI ];i ; h"5y%_Bɮ%A-ǢEUDNOT Ignoring new targets: 46.27 m.hQhQ*hQ"hQ hQgQfYfYfYdYdadajdaZdeYd@颕Bɢrt)( Yξi) <顙iA;iOw<&=IIgAfAԡyb]:l>i>i@i @i@i@qB>BB!IBBB =BBB`_;By$EB]CB]CB]ǓCB] =B] =C]\5E E$E)E"Eg;*E0;VEFA4ZEBE6=a2E6=aJEJ&,Fa?AYWBy!II<);=a5@a5 a=@a= a=@a= a=@a= 99bDEVDE0yUX"=%U=ٔUQ-]>9YYY=]Fy]EeE>Q 5"5zǵ?Q 9"5 )ДBQ A+:YQ Ec:yQ Io@CI` ;i?V"5yɮAADNOT Ignoring new targets: 46.27 m.hh*h"h hgff f d d d jdZd d@=BɢE)A EiA)E4AHRS rotation from veh to nav: [[0.523643,-0.825229,-0.211649],[0.847732,0.529378,0.033312],[0.084552,-0.196866,0.976778]]2H?FhR˿ ? ?T?6?`2ɿA?i2*L?I2C^;2~CYBQByB!IhbDrVDr:yz %z)=ٔz=ܼQ-~>9~ ?Y~ ?=~Fy~EܻE> Q 5 "5 Dյ?Q 9"5 ) BQ A :YQ E8:yɋ?Q Io@ 1CI 6;i ˃?  "5y%aBɮ%A!MDNOT Ignoring new targets: 46.27 m.hIhQ*hQ"hQ hQgYfYfYfYdadadajdaZde`Ad@颕Bɢp ) i)R<顙i;iy<[e=II@ @@/@BA<B>BCB!IBBB =BB~DB_;B$E1EU EUEU)EQ"EU@;*EU^~;VEUFA4ZEQBEUp+=a]2EUp+=aeJEU6,{ۼ?A}o9L?}?}Bٱ}J AHRS rotation from veh to nav: [[0.524881,-0.824351,-0.212004],[0.846705,0.531163,0.030914],[0.087124,-0.195731,0.976780]]}H@?a"˿5?@J??M?@ ɿA?i}o9L?I}?^;}CY\By!Ia%a% a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%/$?p= ף?~jt?Y%9"?Y"?=FyEGE>Q 5"5㵊?Q 9"5)BQ AT:Y=?Q E:y?Q Io@cCI;iB;"5y]BɮAE%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h)g)f)f)f5Bd1d1d1jd1Zd=e@e Bɢm9)i mѭii)mEhAe >A .AI I O > <,?A2YK?2\?2'nٱ2rI :AHRS rotation from veh to nav: [[0.526694,-0.823187,-0.212032],[0.845387,0.533349,0.029310],[0.088960,-0.194686,0.976823]]2H?W@#˿j ?1?\?@ ƶ?@zȿ"B?i2YK?I2K"^;0YBiByB!I DDHJAbDNVDN0yV=%Vu=ٔVQ-Z?9Z ?YZ ?=ZFyZE^ܻE^?`Q 5f"5b?Q 9f"5b)bBYdyj?Q Ijo@bCIb:ib:b"5ylɮn?@lDNOT Ignoring new targets: 46.27 m.hh *h "h  h g f ffdddjdZd@6 e@-Bɢ5ֺ)Q U圾iQ)]MB >B B !IB BB  =B B B L`;B $EE  E .E E "E ;*E ҆;VE ZE BE .=a 2E .=a JE 39v"?Yv"?=vFyv EvEz>xQ 5~"5z{?Q 9"5z)zBYy`?Q Io@zCIz;iz;z "5y _Bɮ@E=DNOT Ignoring new targets: 46.27 m.h9h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMe@BɢA:) i)`ة<iڇ;i  P{<  c=I IY9@ @@0@ԉ^A#=ԩ A I I O >I,i)?A6kJ?6!?6 ٱ6 I@ BAHRS rotation from veh to nav: [[0.530588,-0.820365,-0.213253],[0.842602,0.537836,0.027445],[0.092180,-0.194249,0.976611]]6H?n@@K˿`?5???`*ȿf@?i6kJ?I6y*^;6CYJvByJ!IiMb@Mb@Mb@ 9MbX9?A`"?Zd;O?YA?yY=j<@@ @)@Y@-@A)bD5VD5ܲyE\<%ED=ٔE-{Q-E>9IYI=MFyM EU˻EU>YQ 5e"5]?Q 9e"5]zۻ)]%BYe[B?Q Ee:ye?Q Imo@]CI]:i]':]÷"5yqɮu@qDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffddDQzDU@AbEG4jE(N4rEJ/Ee EeEe)Ea"Ee,;*Eey;VEeFA4ZEaau@au@au@au@dyjdZd@&e@BɢhG;)  i)+<iIS;i|<P,EC?A2I?2 ր?2,ٱ2>I :AHRS rotation from veh to nav: [[0.532441,-0.818932,-0.214141],[0.841265,0.539959,0.026778],[0.093698,-0.194407,0.976436]]2H ?@4`h˿?XG?k?? Sȿ >?i2I?I2R^;0YBByB!IbDJVDJ:lyr=%rP=ٔr~Q-v>9tYt=vFyvEz}Ez>|Q 5"5~?Q 9"5~Ի)~5BYy l?Q I p@~CI~=:i~:~0"5yaBɮ@E=DNOT Ignoring new targets: 46.27 m.h9h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU1e@}Bɢhy;) ai)<顉i;il|<BCB!IBBB =BBDB`;B%EE EE+E"Eg;*Ew;VE [4ZEBE6=a2E6=aJE1i V,4]?A9u9 ?Y ?=FyE6E>Q 5 "5?Q 9"5:̻)IBYEB?Q E:yw?Q Ip@%CI:i:Q"5y^Bɮ%0@%EMDNOT Ignoring new targets: 46.27 m.hIhI*hI"hI hIgQfQfQfUBdYdYdYjdYZd]@e@颍Bɢ0@;) Qi)6<顑i,d;imq}<SA Թ A ؟AI I O >],v?A2,H?2=?2$ƽٱ2WK :AHRS rotation from veh to nav: [[0.536196,-0.815666,-0.217217],[0.838548,0.544183,0.026491],[0.096598,-0.196351,0.975764]]2H`(?˿`b?i?Y ?`?@"ɿu9?i2,H?I2^;2~CYbByb!I pr;bDvVDvkyx=% f=ٔ#tQ->9"?Y%"?=%Fy%E%6ԻE->9Q 5E"5='?Q 9M"5=%ƻ)=WBYQyU,?Q IUp@=FCI=g;ԙi=g;=Q"5yɮq@%DNOT Ignoring new targets: 46.27 m.h)h)*h)"h) h)g)f)f1fQdQdYdYjdYZd]Le@颭Bɢ;) 0i)<i.;i}<B '>B B "IB ̃BB  =B B B `;B C%E E  E ,E *E "E ;*E K;VE (N4ZE BE -=a 2E -=a JE JH?>j?>{Ƚٱ>J FAHRS rotation from veh to nav: [[0.538157,-0.814397,-0.217128],[0.837158,0.546358,0.025656],[0.097736,-0.195578,0.975806]]>H8?˿?{?E?5?ɿ 9?i>H?I>JJ^;>CY^Byb!IbDjVDjyi=%K=ٔ9Q- >9 Y = Fy EĻE>Q 5E"5u3?Q 9E"5)hBYAyE݌?Q IEp@mCI:it:"5yU_BɮU@UEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdXe@=Bɢ=#<)A E iA)Ezk,&?A2G?2Z?2Yʽٱ2L :AHRS rotation from veh to nav: [[0.539762,-0.812855,-0.218913],[0.835989,0.548131,0.025967],[0.098885,-0.197025,0.975399]]2HE?Y̿l?I?*?`P?@ 8ɿ`w6?i2G?I2-^;2}CYBByB!Ii Mb@Mb@Mb@     9 {Gz?ˡE?~jt?Y C?y = <  z@ )  Y @AAbDVD0yS<% =ٔcQ->9Y=Fy#EE>Q 5"5!B?Q 9"5޵)}BYE?Q E:y?Q Ip@CI ;iC ;F"5yɮc@DNOT Ignoring new targets: 46.27 m.hh*h"h hg f ffBdddjdZdhe@EBɢE4M<)I MiI)M4&r,:̽?AB><A<BB&>BBCBBA"IBBBBB =B@B@BB0a;BBb%EBIBIBMCBM =BM =CMթ5YBy!IbD%VD%βy5I=%5>=ٔ=Q-=>99Y9=EFyE'EEEE>IQ 5U"5MvN?Q 9U"5M")MBYYyYQ I]p@MCIM;iMe;M"5ye]Bɮe@eEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdve@ 额߃Bɢh<) i)<iX;iK~<?Wz,x`뽾?A:,F?:P~?:;Cνٱ:pK BAHRS rotation from veh to nav: [[0.544046,-0.809932,-0.219144],[0.833009,0.552676,0.025399],[0.100544,-0.196367,0.975362]]:H h? @ ̿?@?.?@@?"ɿ@*6?i:,F?I:X$^;:|CYJByJ "IIN4=)N=EE EEEAEA"EE@;*EE;VEAZEAiUMb@Mb@Mb@QQQQ Q9U/$?+η?9Y=Fy,E!E>Q 5"5]?Q 9"5L)BYI?Q E:y?Q Ip@CI6;i;"5y ^Bɮ @E9DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffBd!d!d!jd!Zd- e@颵؃BɢR <) X@i)<项i6;iη~<蟒l,?A2E?2}?2Wͽٱ2$K >AHRS rotation from veh to nav: [[0.544979,-0.809440,-0.218642],[0.832453,0.553492,0.025844],[0.100098,-0.196094,0.975463]]2Hwp?w˿@u? 5?v??ɿ6?i2E?I2SB^;2}CYBÃByF"IbDNVDNNyV<%Vk=ٔZ:Q-Z?9XYX=^Fy^0E^LME^?`Q 5m"5b&h?Q 9m"5bݝ)bBYiym_?Q Imp@b!CIbBCBf"IB BBBBB[a;By%Eq@q @y@}/@yE E#E'E"E;*E;VE'4ZEBE0=a2E0=aJE2ԑ U,-?A@fUE?fv}?f˽ٱfI uAHRS rotation from veh to nav: [[0.545898,-0.809261,-0.217007],[0.831939,0.554264,0.025847],[0.099362,-0.194646,0.975828]]fH`w?w`˿???w?o? -ȿ@9?ifUE?If!^;f|CYӃBy$"IbDVD0y}^=%}1=ٔ:Q->9Y=Fy5EE>Q 5"5u?Q 9"5V)ŕBYy ,)9?AB[E?B1}?BˌɽٱB;fH JAHRS rotation from veh to nav: [[0.546831,-0.809053,-0.215427],[0.831458,0.554964,0.026327],[0.098254,-0.193515,0.976165]]BH@?@˿L? D?u?1'?`ȿ9Y=Fy9E5E>Q 5"5E?Q 9"5C)ҕBYI?Q E:y?Q Ip@uCI~ ;i ; "5y]BɮY@E DNOT Ignoring new targets: 46.27 m.h h *h "h hgfffBddd!jd!Zd%@e@颵ɃBɢ<) B )>B B "IB BB  =B B B a;B %EY E%  E% E% ,E! "E% ;*E% ;VE% g4ZE! BE% 5#=a- 2E% 5#=a- JE% ?i2-9E?I2-^;0Y^ӃByb$"IbDjVDjNy͜%U=9ٔee;Q-m>9iYi=mFym=EuEu>yQ 5"5}R?Q 9"5}冻)}ߕBYy?Q Ip@}CI}|:i}:}{"5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdGe@ăBɢw0<)@  ˚,kGm?AFE?Fh|?F>ýٱFmnD VAHRS rotation from veh to nav: [[0.547781,-0.809694,-0.210549],[0.831202,0.555315,0.026983],[0.095073,-0.189790,0.977211]]FH@l?Fʿ@5?$?]?V?@KȿOE?iFE?IFY^;F}CY^كByb+"IieMb@Mb@Mb@aaaa a9e{Gz?Cl?MbP?YeC?ye;=e:e@e @ e@)e@aYef@ԙE E$E*E"E;*E0;VE(N4ZEa@a@a@a@bDVDy%<%%:=ٔ-;Q-->9)YI=MFyMAEUzEU>YQ 5e"5]a?Q 9e"5]~)]BYeE?Q Ee:yeU?Q Imp@]CI]C:i]:]C"5yqɮuF@uEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffLBdddjdZd`$e@Bɢ<)  Z=i)<i( o:iL~<qvA>A .A I) I9 OE >ȱ,i?A>j E?>|?>imٱ>C FAHRS rotation from veh to nav: [[0.548083,-0.809836,-0.209214],[0.831200,0.555258,0.028195],[0.093334,-0.189352,0.977463]]>H?-@ʿ`1??*ߜ??@<ȿ aG?i>j E?I>=^;9b ?Yf ?=fFyfEEf<Ef>hQ 5z"5j>?Q 9z"5j|x)jBYxyzL?Q Izp@jCIj);ij;j["5yɮ#@-DNOT Ignoring new targets: 46.27 m.h)h)*h)"h1 h1g1f1f1f9d9d9dAjdAZdEe@uBɢu<)q uĉ=iq)} ByB}"IB}(BByByByB}a;B}%EiiImAbEuęT4jEuĔK4rEu0E EE)E"E>;*Eс;VEFA4ZEBE/=a2E/=aJEy ܧ,@?A"4<ɰ BD?Bh|?B/ ٱBDA JAHRS rotation from veh to nav: [[0.548792,-0.810077,-0.206404],[0.830969,0.555564,0.028972],[0.091201,-0.187415,0.978038]]BH?@&rkʿ@L?-?Ъ?X?5ǿL?iBD?IB^;B~CY=܃ByE0"IYi5Mb@Mb@Mb@1111 195K7A?kt?~jtxY5 B?y5 =5Ļ5@5 @ 1)5@1Y5p@bDMVDMy] ;%]'=ٔeY;Q-e>9aYa=eFymIEmjEm>qQ 5}"5u?Q 9}"5uo)uBYLC?Q E:yc?Q Ip@uCIu :iuU:u"5y\Bɮ@EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff4BdddjdZd@%e@Bɢp<) =i) ˢ<i8iimN~kD?>~|?>=ٱ>? FAHRS rotation from veh to nav: [[0.549589,-0.810430,-0.202870],[0.830695,0.555944,0.029511],[0.088868,-0.184743,0.978761]]>H:? `ɿ?K?68? ?`ǿ@R?i>kD?I>k^;>}CYN݃ByLbDVVDV:yb8;%b2=ٔb;Q-b>9dYd=fFyfNEfVEj>lQ 5r"5n?Q 9r"5ng)n BYpyrK?Q Irp@nGCIn:inR:n"5ytɮz@zEDNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g!f!f)f)d)d1d1jd1Zd5e@eBɢeC<)a e=ii)m]B%CB%"IB%-BB% =B!B%DB%b;B%%EE  EE)E"E;*Eik;VEFA4ZEBEP1=a2EP1=aJE ,ݾ?A2cD?2E:|?2>ٱ2"= :AHRS rotation from veh to nav: [[0.550575,-0.810305,-0.200683],[0.830299,0.556448,0.031139],[0.086437,-0.183772,0.979161]]2HN? ɿΑ?k?? ?ԅǿIU?i2cD?I23.^;0Ydyd hhhjAppbDrVDr:2yz %zG=ٔ~/;Q-~>9Y=FyRE'E > Q 5"5 ɶ?Q 9"5 E`) BY!y%)?Q I%p@ oCI +;i ,; ;"5y)ɮ-@)UDNOT Ignoring new targets: 46.27 m.hQhQ*hY"hY hYgYfYfafadadadijdiZdm`e@颥Bɢ<) =i)A<顩i(1i~<O,'?A2 D?2u{?2ٱ2F< >AHRS rotation from veh to nav: [[0.551840,-0.810129,-0.197897],[0.829764,0.557133,0.033087],[0.083450,-0.182467,0.979664]]2H ?`Tɿ`m???\?[ǿhY?i2 D?I2^;0YBByB6"IHi]Mb@Mb@Mb@YYYY Y9]ʡE?~jt?~jtxY]=?y]D=Y]@] @ ]K@)]Ը@YY]@bDuVDuy]<%*=ٔ;Q->9"?Y"?=FyWE'9E>Q 5"5 ض?Q 9"5-X)BY>?Q E:y?Q Ip@CI ;iu ;l"5yɮ@EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff BdddjdZd@Pf@%Bɢ%W<)) ->i))-J<11i57i1=k~<==Bm CBm "IBm #BBm =Bi Bm DBm fb;Bm %EB5CB1B5ɓCB1B5 =C5 56 E=  E= E= 'E9 "E= s;*E= m;VE= '4ZE9 BE= %=a] 2E= %=a] JE= rů,(?AJpC?J G{?JhdٱJ%; RAHRS rotation from veh to nav: [[0.553943,-0.809417,-0.194915],[0.828684,0.558592,0.035451],[0.080183,-0.181161,0.980179]]JH?ȿ ??&?@熴?E0ǿ]?iJpC?IJd>^;HYZكByZ,"IbDbVDby%4=ٔ>;Q->9Y!=%Fy%\E%E%>)Q 55"5-h涊?Q 9="5-P)-)BY9y=?Q I=p@-CI-[:i-:-e"5yE:BɮE@IeB*** querying acoustic contact ***ia iauDNOT Ignoring new targets: 46.27 m.hqhq*hy"hy hygyfyffdddjdZd f@颵Bɢѿ<) R>i) A<i6źi>5~<" DAT read:  BDAT read: Tx time:04:54:19.8287  $Ping request sent. 9yYy=Fy`EwE>ԑQ 5"5?Q 9"5xI)5BY4?Q E:yd?Q Ip@CIc;ib;U"5y6BɮH@EDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff~BdddjdZd@ ,f@-Bɢ-i<)1 5#>i1)5Ձ<11i=0i9=}iu!>A@A @A@E/@A%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251462^AE H< Au .AIy I O >4ӯ,isM?Aɰ4<2"=B?2}z?2Cٱ27 :AHRS rotation from veh to nav: [[0.558122,-0.808085,-0.188412],[0.826515,0.561478,0.040200],[0.073304,-0.178162,0.981267]]2H"? ȿr???`IJ?@ƿf?i2"=B?I2d^;2CYBσByB"IbDNVDN1yVֽ%Vd=ٔV$9Z ?YZ ?=ZFyZdE^XE^>BfI>BfCBf"IBfBBf =BdBfDBfb;Bf5&E`Q 5r#5b?Q 9v#5bC)b>BYtyv ?Q Ivp@bCIb;ibH;bh#5yxɮ~|@|%DNOT Ignoring new targets: 46.27 m.h!h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd56f@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503144-Bɢ-<)1 5>i1)5 9<11i5"i9E}! @Vٯ,o)g?AnѴA?n,y?nkٱn#6 vAHRS rotation from veh to nav: [[0.559970,-0.807560,-0.185149],[0.825543,0.562756,0.042235],[0.070086,-0.176499,0.981803]]nHF? ǿj?`?ݟ?(? ƿ j?inѴA?InA-^;n}CY~By~D"IiMb@Mb@Mb@ 9Gz?y&1|?~jth?Y0?y`;D;@ƫ@ @)Y@bDVDy >%:=ٔ;Q->9Y=FyhE%E>Q 5#5 ?Q 9#5X=)JBY0?Q E:yM|?Q Ip@6CI ;i ;?#5yɮ@DNOT Ignoring new targets: 46.27 m.hh*h"h hgfff~Bd ddjdZdEf@颽Bɢ5 =) S>i)թ<iE)i;}<B;IIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007595@ @@/@E  EE+E"E;*En;VE [4ZEa@a@a@a@9a ^A ;A ؟AI I) O= >/,.ɀ?A(2@?2Bx?2Qٱ2u4 >AHRS rotation from veh to nav: [[0.562586,-0.806428,-0.182130],[0.824059,0.564709,0.045060],[0.066513,-0.175436,0.982241]]2H?A Pǿ ^??@??@tƿn?i2@?I2 ^;2{CYBByFG"I HHHJAbDNVDN!yVi<%Va=^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259183ٔZ|!9b"?Yb"?=bFyblEfEf>hQ 5n#5j~?Q 9n#5j7)jSBYlyr{?Q Irp@jVCIjp:ij:jp #5ytɮvf@vEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd`Pf@~Bɢk=) c>i)s<i_!BBBB =BBDBDBb;BX&E^Avт;A A >uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512294E EE*E"E;*E]t;VE(N4ZEBEM(=a2EM(=aJE\U,?A@2*5@?2 x?2ځٱ2r'5 :AHRS rotation from veh to nav: [[0.565048,-0.805100,-0.180377],[0.822622,0.566540,0.048228],[0.063363,-0.175633,0.982414]]2H? `ǿR?!?@K?8? '{ƿ`o?i2*5@?I2^;0YBByB["IbDJVDJ0yRߢ=%VK=ٔV9XYX=ZFyZpEZFEZ>\`Q 5f#5bt&?Q 9f#5b1)b\BYhyjz?Q Ijp@bzCIb :ib:b #5ylɮn`@p DNOT Ignoring new targets: 46.27 m.h h *h "h  h g f ffdddjdZd@ ]f@mxBɢu#=)q uz>iq)u.Ĭ<i6QiV|<u(GII@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101^Aerg:AII!O=q>A iy I} A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015335E  E E 'E "E ,;*E t;VE '4ZE a @a @a @a @, l?A!5p>?5'Gv?5miٱ5ڧ2 AHRS rotation from veh to nav: [[0.570933,-0.802242,-0.174478],[0.819018,0.571291,0.053250],[0.056959,-0.173303,0.983220]]5H`E? LUƿ f5?H?@C?)?.ƿv?i5p>?I57^;5yCYBym"IiMb@Mb@Mb@ 9kt?Mb~jt?Y 0?yD<@ݬ@ )@Y @ <4<bD%VD%y5Y=%5=ٔ59J99Y9==Fy=uE=YEE>IIQ 5U#5M7?Q 9U#5M**)MjBY]*0?Q E]:y]t?Q I]p@MCIM:iM:M{#5ym3BɮmH@mEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff~BdddjdZdmf@oBɢ&=) >i)-f<iki\v{<ٻIIa@a @a@e0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267462q^A ] ;ԩ A B B B "IB (BB =B CDB B b;B Z&EI I1 O= >,|+п?AB=?Bu?Bm\ٱB'B0H NAHRS rotation from veh to nav: [[0.573509,-0.801238,-0.170603],[0.817437,0.573382,0.055055],[0.053708,-0.171031,0.983801]]BH0Z?@Oſp(?@$Y?)0? ?[ſK{?iB=?IB,^;B{CYVByV"I^=^=bDbVDb:yj=%j}=ٔj$i1)5 a<11i5}i9=AzE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779007! b,j鿾?A.;ɰ,N9Y=Fy}EgE>Q 5#5aQ?Q 9#5)BY3?Q E:yr?Q Ip@CIO;iP; #5yU2BɮU@UEDNOT Ignoring new targets: 46.27 m.hh*h"h hgfff~BdddjdZd`f@%bBɢ%I=)a m>ii)mAOm BDAT read: Rx Time:04:54:22.5226 u TRx dataTimestamp_ set to:1761540864.063054u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287072k,"?A2Q,ٱ2M- >AHRS rotation from veh to nav: [[0.578476,-0.799062,-0.163906],[0.814368,0.577227,0.060110],[0.046580,-0.168252,0.984643]]2H ? ĿM?x?Ʈ?D٧?@Gſ1?i2Q,9Y=FyE4E%>!1Q 5U#5%^?Q 9U#5%0)%BYQyUr?Q IUp@% CI%2;i%;%v#5yaɮe@aDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZd`f@M\BɢMra=)I U>iQ)U\BB"IBFBBBBBb;BAIIQIaOuy>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535035ԑE EE,E"E;*EJ;VEg4ZEBEz)=a2Ez)=aJE%vK=ٔv(9xYx=zFyzEzE~>Q 5 #5l?Q 9 #5D)BY y q?Q I p@1CI-:ig:#5yɮ(@ԙDNOT Ignoring new targets: 46.27 m.hh*h"h hgfffdddjdZdf@ UBɢ r=) e?i)D<i(i%w<%{I!I!5l>i5>5DAT read: 04:54:22.5226 LVL= 25040, 22497, 25010, 21491, AGC= 71, IDX= 116, 0.02, 0.909, 2.224, 1.125, 0.853, PHS= 0.158, 1.417, 0.228, RAW= 327.2, -27.5, CAL= 326.9, -31.1, ROT= 183.1, 31.1 EYgot valid direction response: 04:54:22.5226 LVL= 25040, 22497, 25010, 21491, AGC= 71, IDX= 116, 0.02, 0.909, 2.224, 1.125, 0.853, PHS= 0.158, 1.417, 0.228, RAW= 327.2, -27.5, CAL= 326.9, -31.1, ROT= 183.1, 31.1 MPDAT read: Bearing 51.4, -0.3 (Local) U~Local bearing/azimuth received: Bearing 51.4, -0.3 (Local) eDAT read: Range 11 to 50 : 217.3 m (Round-trip 289.8 ms) speed -0.6 m/s mR#Rx 1: Read range and direction messages.ubdirection in FSK: [-0.855014,-0.046306,-0.516533]}Fpublishing direction and range infoy}F\뿙mjpYLYCaWa S)I!>iB`?xi>3@ M@  )QL@I ?A}DٿGفݿ *)>IdEi ?9@ @@/@^A*:A .AI I O >E  E E )E "E [;*E Os;VE FA4ZE a @a @a @a @ _ ,8?AG(%9=ٔ9 ?Y ?=FyE}E>Q 5 #5k{?Q 9 #5) )BY:?Q E:y~?Q Ip@ZCIu ;i ;"#5y/Bɮ@Eii$?AJi)XCRi)XCji@b[MAg_9$h[R}F\뿙mjpZidEbi ?jRrWGT\l-dd9\Z&z>yzMؿ0G&迳\?2i!#:i*"iv?*iBiEiiiiv%Cij@= addTargetRange:: Added new target pos. range: 217.300003 m, deltaT: 181.022792 s, deltaX: 170.800003 m, approachRate: 0.943528 m/s, rangeRepo size: 4 U Added new target pos. range: 216.160736 m, bearing: 243.289814 deg, lat: 36.779313 deg, lon: -121.859507 deg, deltaT: 181.022792 s, deltaX: 169.891312 m, approachRate: 0.938508 m/s, posRepo size: 4 UFNOT Ignoring new targets: 216.16 m.]Completed rollout at range: 217.30 m. Resuming terminal guidance.]bTransitioning guidance mode to: TERMINAL_GUIDANCE:h]?h]6+@hY*hY"hY hYgafafifmYBdididqjdu)k@Zduq6?颥MBɢ~=) ?i)<顩i^li?]+I6+@I9@ @@/@!^A Β{Y B} E>By B} "IB} jBBy By B} DB} c;B} i&EBECBECBABE =BE =CE}5A I I) O5 >h7,\Q?A2$/;?2s?2ٱ2& :AHRS rotation from veh to nav: [[0.581872,-0.798850,-0.152525],[0.812482,0.579293,0.065520],[0.036016,-0.162048,0.986125]]2Hಞ?-ÿ??Ű?p?ĿV?i2$/;?I2lM^;2zCYBByB#I J49XYX=ZFyZE^]9E^>`Q 5f#5bd?Q 9f#5bf)bBYdyf~?Q Ifp@b{CIb:ib:b%#5ylɮn3@l1Mz zAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqMzEntering Terminal tracking update period 2.000000 s sec at 217.300003 m (mode 1.000000 count ).qMMhh*h"h hgfffd!d!d!jd!Zd% ?E EEE"E;*Ev;VEZEBEa2EaJEԡ dk,ٳk?AV_L;?V"s?V[]ٱV'$ fAHRS rotation from veh to nav: [[0.581579,-0.799818,-0.148516],[0.812838,0.578653,0.066747],[0.032554,-0.159538,0.986655]]VHK?ÿ`?R?R?`ꪠ? kĿ@?iV_L;?IVyc^;TYrByr#IiMb@Mb@Mb@ 9X9v?v/?~jt?Y=?yxi=<x@@ /@)Y@bDVDkyC=%6=ٔe;Q->9"?Y"?=FyE :E >Q 5#5敷?Q 9#5)BY>?Q E:yɃ?Q I%p@CI ;i ;)#5y-.Bɮ-@-EjjE@MEMEMB*** querying acoustic contact ***iI iIhQhQ*hY"hY hYgYfYfafefBdadadajdiZdmP)?ԑ额?Bɢv=) /?i)k<顡iOiL?IIiIIIUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.@ @@0@@@E EE(E"EU;*E&p;VEc44ZEa@a@a@a@^Aet'AIIO> *DAT read: user:211>  BDAT read: Tx time:04:54:25.1287  $Ping request sent. %-[=ٔ591Y1=5Fy=E}];E}>Q 5#55?Q 9#5r)BYy?Q Ip@CI:i:4-#5yɮ@@rjM1Nhh*h"h  h g f f fdd)d1jd1Zdu`?8Bɢa=) A?i)p<i#̻i|?iLII@ @@4@Be9>BeCBe#IBeBBe =BaBeDBeyc;Be&E9}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834E EE)E"E;*EAr;VEFA4ZEBE,=a2E,=aJE?o',.?A 2"AHRS rotation from veh to nav: [[0.577307,-0.804944,-0.137044],[0.816115,0.574162,0.065530],[0.025938,-0.149675,0.988395]]2HMy?`?`_?ư?s?`(ÿ?i2"%VS=ٔZH 9XYX=ZFyZE^<E^>`Q 5f#5b[?Q 9f#5b)bBYhyjt?Q Ijp@bCIb :ib:b0#5yYɮ]@Yzjq1NuurCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1Mu uAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalhh*h"h hgfffdddjdZd໛?1Bɢ3>=) Q?i)%n<i ֻizs?fIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503483U9@Q @Q@U/@Qq^A-tEAIAIiԙO_>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754910E  E E *E "E ;*E @h;VE (N4ZE a @a @a @a @ -,?AJ=?JCu?J2yٱJ!P VAHRS rotation from veh to nav: [[0.573625,-0.808957,-0.128620],[0.818802,0.570654,0.062595],[0.022761,-0.141220,0.989717]]JH"[?@v3?B?4?`N?~¿ «?iJ=?IJF^;J|CY^ބBy^m#I ``i}Mb@Mb@Mb@yyyy y9} rh??Y}L?y}=}}@}@ y)}@yY}@bDVD0y.=%<=ٔ%;Q->9Y=FyE+<E>Q 5#54?Q 9#5)BY#N?Q E:y?Q Ip@CI7:i:R4#5y+Bɮ@Ehh*h"h hgfffBd d d jd Zd @P'@=)Bɢ=\=)A EiZ?iA)EH! BU .>BU CBU Z#IBU τBBU  =BQ BU DBU c;BU &E͎4,?A2??2Tv?2n일ٱ2d :AHRS rotation from veh to nav: [[0.569749,-0.813084,-0.119499],[0.821593,0.566949,0.059617],[0.019277,-0.132146,0.991043]]2Hb;?|}J?@r$??=?(`?i2??I2z^;0YBByB#IbDJVDJ:yR\=%RZ=ٔV"9V ?YZ ?=ZFyZEZP<EZ>\Q 5b#5^ȷ?Q 9f#5^)\Ydyf??Q Ifp@^BCI^;i^;^7#5yhɮj@lphh*h"h hg f f f dddjdZd (@i!I!-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259220U"BɢU=)Q Ue?iQ)]m<Ee EeEaEa"Ee;*Eexv;VEaZEaBEe-=au2Ee-=auJEe.9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511035i :,O?AQYBy#Ii%Mb@Mb@Mb@!!!! !9%%ף%K@%@ %@)%@!Y%@ =<=<bDEVDE1yUE=%U3=ٔUQ-U>9]"?Y]"?=]Fy]EeEe>iQ 5u#5m:ַ?Q 9u#5mٺ)mBYuU?Q Eu~:yug?Q I}p@msCIm ;im:m;#5y)Bɮ@EB*** querying acoustic contact ***i ihh*h"h hgfffBdddjdZd@' @BɢJ=) o?i)<ii?II Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763590E EEE"E;*Es;VEZEa@a@a@a@ԑ9@ @@/@^A=ԩAIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014856A,?AY By#IbDVD:yE߿=%M^=ٔIQ-M>9IYQ=UFyUEQEU>YQ 5e#5]᷊?Q 9m#5]Һ)]BYiyiQ Imp@]CI]:i]$:]>#5yqɮu@yhh*h"h hgfffdddjdZd  @ԹBɢj=)7 |?i)!<iiy?II i >@ @@0@@fA@fA^ANMB,>BB#IBBB =BBBc;B&EAIIOj>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266925bEǷG4jEǷG4rEǺ/E EE'E"E^;*EOs;VE'4ZEBE"=a2E"=aJEs9dYd=fFyfEjT=Ej>lQ 5r#5n췊?Q 9r#5nʺ)nBYpyrғ?Q Ivp@nCIn];inj;n0B#5yz(Bɮz@zwEhh*h"h hg!f!f!f!d!d)d)jd)Zd-`@ Bɢp=) ?i) e<ii ?  I I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518933)@) @)@-0@)A^AM Lym checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770860A I I E  E E ,E "E ;*E r;VE g4ZE a @a @a @a @O >ԡ oM,]:?A2b/O?2݂?2Hٱ21 :AHRS rotation from veh to nav: [[0.517015,-0.855074,-0.039295],[0.855966,0.516693,0.018738],[0.004281,-0.043323,0.999052]]2H`b?`\y`d?`? 0?`q?n.;?i2b/O?I2u:^;0YB ByB#Ii Mb@Mb@Mb@     9  rh?Q? t @ @ @) Ը@ Y @AAbD%VD%y5(%5C=ٔ599Y9==Fy=EEU=EE>IQ 5U#5M?Q 9U#5Mº)MBYUO?Q E]:y]?Q I]p@MCIM" ;iM ;ME#5ye'Bɮe@exEhh*h"h hg)f)f1f5Bd1d9d9jd9Zd=@i颭Bɢh=) p?i)r<顱ii >?IIa@a @a@e4@a^A=0Vԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023487AIIO>A A AAB 5>B CB #IB BB  =B B DB d;B &E T,*T?A6LU?6n?69\Y\=bFybEb|=Eb>dQ 5j#5f?Q 9j#5f)fBYhyn?Q Inp@fCIf:if;fY [,8n?A[? ȉ?h:ٱj&< -AHRS rotation from veh to nav: [[0.474482,-0.880210,0.009864],[0.880263,0.474476,-0.003106],[-0.001946,0.010157,0.999947]]H]? *3?`+?]?riK_@(̈́??i[?I*^;{CY=By=#IiMb@Mb@Mb@ 9oʡ?rh|?~jtxYM?y=Ļ@d@ )@Y @bDVD1y=%7=ٔ;Q->9Y=FyEJf=E>Q 5 #5Q ?Q 9 #5ñ)BY wO?Q E:yK?Q Ip@FCI:i3:#M#5yɮt@!B*** querying acoustic contact ***i ihh*h"h hgfffBdddjdZd@mBɢm6=)i mM?ii)u=qyi}i?IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779588DU=DU<Ee EeEe+Ea "Ee;*Ee%f;VEe [4ZEaa@a@a@a@ TG)Au9yY}AA9@A @A@E4@Aq ^Ae # checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031186ԩ A I I O >b,H?A:b?:rB?:\;ٱ:= FAHRS rotation from veh to nav: [[0.450389,-0.892147,0.034991],[0.892820,0.450240,-0.012456],[-0.004641,0.036851,0.999310]]:H +? w M?@??sޢ?X?i:b?I:8^;:yCY^ By^#I f49Y=Fy E S=E >Q 5#5E?Q 9#5-)BY!y%Ƞ?Q I%p@rCI:i:P#5y-$Bɮ-@-oEhQhQ*hQ"hQ hYgYfYfYfYdadadajdaZdm@颕Bɢr=) ʇ?i)j=顙i'iە@IIB8>BBBB =BBDBd;B&EBCBCB”CB =B =C;6checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282858E EE'E"E>;*E]t;VE'4ZEBE/=a2E/=aJE\pBj,?A2j?2?2;ٱ2lH{= :AHRS rotation from veh to nav: [[0.424459,-0.903545,0.058665],[0.905417,0.424085,-0.019300],[-0.007441,0.061308,0.998091]]2HU*?T ?`,?`6$?UÓz~c?\?i2j?I2|3^;2xCYBByB#IIF4<)F;J=J=bDNVDN:yV%V(=ٔV;Q-V>9XYX=ZFyZE^r=E^>dQ 5n#5f?Q 9r#5f;)fBYtyUy?Q IUp@fCIfAHRS rotation from veh to nav: [[0.397817,-0.914185,0.077507],[0.917407,0.397318,-0.022427],[-0.010293,0.080027,0.996740]]6Hu?A@׳?e[?`m?m@|?@J?i6q?I6]^;4YFByF#IiMb@Mb@Mb@ 9NbX9?J +?MbYE?y=z@Ը@ )@YbD5 VD52yE%E=ٔEo;Q-E>9M ?Y ?=FyEY=E>Q 5#5&?Q 9#5f)BY:G?Q E:y?Q Ip@CI;i;Y#5y ɮ@hh*h"h hgfffBdddjdZd`@B<A<B:>BCB#IBBBBBB d;B&E-ՂBɢ-\=)) -Ɖ?i))-`=11i5+i=@99I9IA@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292581AE EE+E"E;*E&p;VE [4ZEBE)=2E)=JE<:E<^A.ąY I I O >y,?A >x?>i?>KQ<ٱ>Eȿ= FAHRS rotation from veh to nav: [[0.370974,-0.924119,0.091552],[0.928555,0.370488,-0.022881],[-0.012774,0.093499,0.995537]]>H ?bo?๶??@+n2)?@q?i>x?I> ^;>vCY^Byb|#IbDjVDj:rchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542922yz%zQ=ٔzo;Q-z>9|Y|=~Fy~EY=E> Q 5#5 ,?Q 9#5 ) BYy?Q Ip@ CI :i : 0]#5y!ɮ%@%fEhIhI*hI"hI hIgQfQfQfQdQdYdYjdYZdeqI@颍͂Bɢ=) n?i)=顑in0iL@II@ @@/@yԡ^AUiߡIߡchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.803488IY Ii Ou >E  E E (E "E ;*E m;VE c44ZE a @a @a @a @ .,?A2?2:?2|<ٱ2= :AHRS rotation from veh to nav: [[0.344858,-0.933281,0.100302],[0.938528,0.344593,-0.020502],[-0.015430,0.101206,0.994746]]2H &?@o_?@l?` ?@b`? ?i2?I2v1^;2wCTYrڄByrg#I tttvAimMb@Mb@Mb@iiii i9mZd;??ymt=mm @mS@ m@)m@iYibDVD2yF%@=ٔ;Q->9Y=FyEƆ=E>Q 5#53?Q 9#5ل)BY??Q E:yO?Q Iq@)CI ;i ;`#5y"Bɮ@B*** querying acoustic contact ***i ihh*h"h hgfffcBdddjdZd@颭ĂBɢ=) ?i)b=i5iT@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.047479@ @@/@B>>BBz#IBBB =BBBNd;B&E^A #Iq I O >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300913s,Ό¾?A@E" E"E"'E "E"F;*E"&p;VE"'4ZE BE""=a&2E""=a&JE a&:E a*>0?>]x?>[<ٱ>u$= FAHRS rotation from veh to nav: [[0.319196,-0.941947,0.104161],[0.947518,0.319291,-0.016212],[-0.017987,0.103869,0.994428]]>Hm?`n$G?@R?Do?™`0?I>?^;9dYd=fFyfEfړ=Ef>h|Q 5=#5j9?Q 9=#5j})jBYAyEʫ?Q IEq@jNCIjyeԑ F,|3¾?AFQ?F~ˢ?Fb<ٱF= NAHRS rotation from veh to nav: [[0.294465,-0.949961,0.104235],[0.955439,0.294999,-0.010604],[-0.020676,0.102713,0.994496]]FH?@f)? ? D?+fK??iFQ?IF{^;DYVĄByVM#Ii5Mb@Mb@Mb@1111 195tV?~jt?{Gzt?Y52?y5=5ף;15j@ 5@)5@1Y5Q@ԑbDVDy:%:=ٔg;Q->9Y=FyEOp=E>Q 5#5t??Q 9%#5u)BY-2?Q E-:y-?Q I-q@uCIKb;ia;h#5yAɮE@A]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803681hh*h"h hgfff`BdddjdZd X @E EE*E"E;*Eq;VE(N4ZEa@a@a@a@}Bɢk=) ?i)=顩i?i'@IIԹY@Y @Y@]/@Y^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054831I! I1 O= > ),NAM¾?A6(?6?6.<ٱ6vK= BAHRS rotation from veh to nav: [[0.269848,-0.957164,0.104974],[0.962619,0.270807,-0.005279],[-0.023374,0.102475,0.994461]]6H@/E? ߺ??T?؟uv ;??i6(?I6cY^;6yCYFByF;#IJ=HbDRVDRyZ%Z_=ٔZm;Q-Z>9\Y\=^Fy^Ebz=Eb>dQ 5j#5fD?Q 9j#5f2o)fBYhyj?Q Ijq@fCIf:if:fBeCBeH#IBeBBe =BaBeDBed;Be+'E@ @@0@!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.308126E% E%E%)E!"E%;*E%]t;VE%FA4ZE!BE%(=aE2E%(=aEJE%\Qy S,Pg¾?Aɰp;vchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.563517YvByv0#I~@A~@AbDVDJy)%D=ٔQ->9Y=Fy%E%E%>)Q 55#5-pI?Q 95#5-g)-BY1y1Q I=q@-CI-;i-;-n#5yE$BɮEo@Ahihi*hi"hi higqfqfqfqdydydyjdyZd1"@颭Bɢ=) ̂?i)#=iyvHi1@IIyU9@Q @Q@U4@Yԩ^Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.814972 bEjErEȻ0Em  Em Em ,Ei "Em ,;*Em Ar;VEm g4ZEi a @a @a @a @A ؟AI I O >9 ;,¾?A2K?2w?2.[<ٱ21$= :AHRS rotation from veh to nav: [[0.221066,-0.970672,0.094477],[0.974821,0.222829,0.008408],[-0.029214,0.090239,0.995492]]2H K?/?`1??x8?Nꝿ??i2K?I2:b^;2vCYBByB%#Ii Mb@Mb@Mb@     9 q= ףp?y&1?MbpY +?y `<  ݬ@ @ z@) @ Y @bD}VD}yV1%C=ٔOd9"?Y"?=FyE+=E>Q 5#5M?Q 9#5^`)BY+?Q E:y?Q Iq@CI;iX;r#5yBɮq@B*** querying acoustic contact ***i ih h *h "h  hgfff Bdddjd!Zd% #@MBɢM=)Q Uт?iQ)UO'=YYi]jLie\7@aaIaIa9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068511PExceeded connect timeout, disconnecting.9^ABeA>BaBe#IBeBBe =BaBaBed;Be6'Eq A! I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318928E  E E (E "E s;*E Os;VE c44ZE BE %=a 2E %=a JE s9yYy=FyEE>Q 5#5Q?Q 9#5XY)BYyQ Iq@CI;i#;v#5yBɮ5@^Ehh*h"h hgfffdddjdZd#@ Bɢ0=) @?i)6*=iMeQi<@!!I!I!I1)1)9@ @@/@@=@=Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=8.570921^Aԉ A= .AIQ Ia Om >ڱ,>¾?A,VO?V{Ҳ?V L=ٱVO= bAHRS rotation from veh to nav: [[0.172762,-0.981690,0.080241],[0.984298,0.175065,0.022563],[-0.036197,0.075083,0.996520]]VH?j ? _?h? ?w8?~?iVO?IVp^;TYfByf"I GiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.823249E5 E5E1E1"E5;*E5Ar;VE1ZE1aE@aE@aE@aE@9YkAi Mb@Mb@Mb@     9 w/?{Gzt?Y &?y ף;   @ j@ )  Y \@ p<<bD%VD%0y5½%5/=ٔ=x9= ?Y= ?==FyEEE=EE>IQ 5U#5M V?Q 9U#5MQ)MBY]&?Q E]:y]ͳ?Q I]q@M)CIM:iM':M&z#5ԁyɮ@hh!*h!"h! h!g!f!f)f-~Bd)d1d1jd1Zd5$@eBɢet=)i m~?ii)m.=iiimiUiu9C@qyIyIy59@1 @9@=93@9Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074899 ^A9 } nManaging dock network, ignoring radio surface power offAm ؟AIy I O >E,¾?A8F?F?F#=ٱFe*= RAHRS rotation from veh to nav: [[0.148259,-0.986209,0.073555],[0.988138,0.150737,0.029343],[-0.040026,0.068332,0.996859]]FH $? ~Բ? Ԟ?`[K?3 ?P~4~?E?iF?IF\^;F{CYVByZ#IbDrVDryz<%~q=ٔ~(9>B}CB}"IB}~BB} =ByB}DB}d;B}4'EB=CB=CB=CB= =B= =C=5颽}Bɢ=) D?i)1=iOYiG@IIa@a @a@m/@iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.326872E EE)E"E;*Exv;VEFA4ZEBEs4=a 2Es4=aJE.߹,i¾?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578941:6?:.!?:24=ٱ:= BAHRS rotation from veh to nav: [[0.124029,-0.989991,0.067342],[0.991297,0.126639,0.035966],[-0.044134,0.062295,0.997082]]:H_?`M=??5?(j? Ř??i:6?I:6L^;:xCYbByf"IlbDtVDty~8A%UK=ٔ]"9YYY=eFyeEe{q=Ee>iQ 5u#5mS[?Q 9u#5mD)mBYyy}?Q I}q@mgCImL;im;m#5yɮ@hh*h"h hgfffdddjdZd@,J&@-tBɢ-W=)1 5 ?i9)= 5=99i=.]iMDIIIIIQe;>ie)>@ @@0@@mgA@i9E EE+E"E;*E;VE [4ZEa%@a%@a%@a%@%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833725^A#a I I O >,Dþ?A2g`?2K?2XE=ٱ2)v= >AHRS rotation from veh to nav: [[0.099459,-0.992938,0.064664],[0.993871,0.102283,0.041939],[-0.048257,0.060096,0.997025]]2H v?&΍?@?=/?`x? Į??i2g`?I2\^;2vCYBqByB"Ii5Mb@Mb@Mb@1111 1995Mb?MbpMb`?Y5 ?y55;5M@1 1)5@1Y5@MAAMAAbDUVDU:y%>=ٔN!9Y=FyEq=E>Q 5#5]?Q 9#5=)BY ?Q E:yt?Q Iq@CI:i;f#5yɮ@B*** querying acoustic contact ***i ih)h)*h)"h) h)g)f)f1f5~Bd1d9d9jd9Zd='@mjBɢm d=)i mȁ?iq)ux8=qqiu`i}@l?yyII]BB"IB`BBBBBd;B^A5FӅI1 IQ Om > i I  2Acoustic response timeoutE%  E% E% 'E! "E% ;*E% v;VE% '4ZE! BE% )=a5 2E% )=a5 JE% ?z欿c? ?in?In9)Y)=-Fy-E->E5>1Q 5=#55^?Q 9E#557)5zBYAyE?Q IEq@5CI5n;i5;5#5yIɮU@Qhqhq*hy"hy hygyfyffdddjdZd'@ԙ=aBɢ==)=sO E?iA)E*;=AAiEEciMk:IIIIIq 9@  @ @ \0@ e2Acoustic response timeout^AIyIO>! S Ͱ,97þ?Aީ??yx=ٱ1= AHRS rotation from veh to nav: [[0.025523,-0.997577,0.064719],[0.997834,0.029348,0.058869],[-0.060626,0.063076,0.996166]]H"?&`l? B? ? $?S %??iީ?In>^;vCY%pBy%"I))2Acoustic response timeoutiMb@Mb@Mb@ 9S㥛?~jtxMbY$&?yĻ=@ @)S@Y@E EE)E"E;*Ew;VEFA4ZEa@a@a@a@bDVDkyT%==ٔz9Y=FyEj=E >Q 5#5_?Q 9#5/)oBY)&?Q E:y?Q Iq@CI;i ;#5yBɮ@KEhh*h"h hgff f ~Bd d djdZd"(@EVBɢE=)A Ew?iI)MV?=IIiM>giU54QQIQIY9@ @@f1@!I^A% #e 2Acoustic response timeoutI I O >q ԰,4Pþ?AF,?FX?FaԄ=ٱF_؉= NAHRS rotation from veh to nav: [[0.001203,-0.997730,0.067334],[0.997897,0.005562,0.064585],[-0.064813,0.067115,0.995638]]FHS?g9hYl=nFynEAA?AB!B!B%"IB%KBB% =B!B!B%d;B%1'E]=E]>aQ 5m#5e_?Q 9m#5e))efBYiyu?Q Iuq@eCIe:ieF:e؎#5yɮ@hh*h"h hgfffdddjdZd@Ȉ)@MNBɢU=Q)Y ]?iY)]6B=YYier-jie7/iiIiIi-9@) @)@-4@)2Acoustic response timeoutE E E'E"EU;*E5{;VE'4ZEBE.=a2E.=aJEF -ڰ,>jþ?A"2Acoustic response timeoutJn ?J?J忌=ٱJ?R= VAHRS rotation from veh to nav: [[-0.022581,-0.997439,0.067869],[0.997384,-0.017813,0.070060],[-0.068671,0.069273,0.995231]]JHw_?`?`|=n? q߻??iJn ?IJq^;HY^hBy^"IbDfVDfkyn %nJ=ٔr$9pYp=vFyv Evaz=Ez>|Q 5 #5~_?Q 9 #5~#)~[BYy?Q Iq@~ CI~%;i~:;~A#5y!ɮ%R@)hh*h"h hg f ffdd1d9jd9Zd= Y*@颅DBɢ=) ?i)yF=顉Աi mi))IIiI2Acoustic response timeoutE EE*E"E&;*Et;VE(N4ZEa @a @a @a@i@q @q@u2@q 9 ^A A.AII!O->9,þ?A.2Acoustic response timeoutJt?J?J|=ٱJ= RAHRS rotation from veh to nav: [[-0.046302,-0.996672,0.067096],[0.996296,-0.041204,0.075473],[-0.072457,0.070342,0.994888]]JH紧;-??*R?` ?@?iJt?IJX^;JxCYjfByj"IIn=)n=r=r=i]Mb@Mb@Mb@YYYY Y9]jt?Mb`MbpY] ?y]]]d@]@ ]@)]@YY]@bD}VD}k1yٻ%=ٔp;Q->9 ?Y ?=FyE;=E>Q 5#5Z^?Q 9#5)NBY ?Q E:y?Q Iq@5CI:;iE9;ʖ#5yɮo@B*** querying acoustic contact ***i ihihi*hi"hi higifqfqfu~BdqdydyjdyZd}\+@7Bɢ==) ?i)J=i pi"IIaBEH>BECBE"IBE E5 E5E5-E1"E5^;*E5l;VE5t4ZE1BE5"=aE2E5 "=aEJE59Y=FyE7A=E>Q 5#5\?Q 9#5)ABYy?Q Iq@^CI3&;i';G#5yɮ@hh*h"h hgfffdddjdZd \,@E+Bɢl$=) c?i)O=顉isi/IIԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.494625DzDbEuFA4jEuC4rEu 0E EE*E"E;*Ev;VE(N4ZEa@a@a@a@9@ @@ /0@  ^A- v! AYIqIO>Y,þ?Avchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.746451YztByz"IiuMb@Mb@Mb@qqqq q9u#~j?~jthYu%?yuuDuz@u@ uz@)u@qYu׻@bD VD2yM<%*=ٔQ->9Y=FyEE>Q 5#5Z?Q 9#5 )4BY%?Q E:y%?Q Iq@CI3;i1;u#5yBɮ@BEhh*h"h hgfff0BdddjdZd Z-@Bɢ=) A?i)VbT=!i%Gvi%))I)I)BA<BL>BCB"IB-BB =BBDBXd;B 'E9@ @@4@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998554E EE)E"E;*El;VEFA4ZEBE=a2E=aJEa:Ea^A5 A5 gAzA1 A A I I O >rx,þ?A2U?2@?2=ٱ2= :AHRS rotation from veh to nav: [[-0.118015,-0.991231,0.059448],[0.989680,-0.112509,0.088740],[-0.081273,0.069307,0.994279]]2H?6)o?v?]ͼ?Oδ`?"?i2U?I2^;2vCYBsByB"I DDbDJVDJ:2yRd%V]=ٔVGz9XYX=ZFyZEZ;>EZ>\Q 5b#5^HX?Q 9f#5^)^)BYdyfK?Q Ifq@^CI^-:i^$:^#5yhɮn@lhyhy*hy"hy hgfffdddjdZdw.@Bɢ>) [?i)_W=i yi   I I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250547a^A#ԡ Wh> GI gA I  r9 gAY ƊAO > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502432 D =D %=E  E E E "E >;*E À;VE ZE a @a @a @a @,Mfþ?A00NJ?N)6?N=ٱN= VAHRS rotation from veh to nav: [[-0.140818,-0.988542,0.054354],[0.986449,-0.135427,0.092619],[-0.084197,0.066659,0.994217]]NH O¿#<ԫ? ?U@鵷?`??iNJ?INC^;NuCY^vBy^"Ia%@a% a%@a% a-@a- a-@a- bD5VD5kyE&<%EA=ٔE;Q-E>9IYI=MFyM!EU4_=EU>Q 5#5T?Q 9#5q)BQ A+:YQ E:y@?Q Iq@CI:i>ǥ#5yɮ@hh*h"h hgff f d d djdZd2.@E BɢE" >)A E?iA)M \=IIiM{iU QQIQIYԑ @  @ @ @ Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754467^AMI) I9 OE >B I>B B B B =B B DB ed;B 'EBCBCBB =B =Cb5 `,Iľ?AZS?Z??Z=ٱZ \= jAHRS rotation from veh to nav: [[-0.164130,-0.985293,0.047532],[0.982626,-0.159074,0.095610],[-0.086643,0.062399,0.994283]]ZH8ſ@%V?q?\Ŀy??.?@+?iZS?IZh^;ZvCYr|Byr"IbDzVDzܲy<%N=ٔ ;Q- >9 Y =Fy%Et=E>Q 5%#5xQ?Q 9%#5)BQ A- :Y)Q E-V:y-H?Q I-q@CI7:iR?#5y1ɮ=@9UB*** querying acoustic contact ***iQ iQhaha*ha"ha hagifififididqdqjdqZd}/@颥Bɢ>) ?i)_=顩i߾~iv II}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007297E E E*E"EU;*Ez;VE(N4ZEBE.=a2E.=aJEIIO>A % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258749 ,*1ľ?A2b?2N?2Σ=ٱ2`x= :AHRS rotation from veh to nav: [[-0.187520,-0.981323,0.042901],[0.978215,-0.182609,0.098740],[-0.089061,0.060482,0.994188]]2Hȿg@"?@M?_ǿG?`̶?c?i2b?I2^;0)j;bDrVDr0yzo=%zL=ٔzl;Q-~>9|Y|=Fy)Et=E> Q 5#5 \M?Q 9#5 T) BQ A9YQ E.:yW?Q Iq@  CI  ;i ? ש#5y% Bɮ%@-8EhIhI*hI"hI hQgQfQfQfYdYdYdYjdaZde?0@颍Bɢ>) ?i)d=顙iӀiIIY@Y @a@e/@iԱi߁I߁checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510779E EE-E"Em;*E]t;VEt4ZEa@a@a@a@^AII)O5> u,Jľ?Aɰ2s?2^?2+Q=ٱ2 y= :AHRS rotation from veh to nav: [[-0.210844,-0.976698,0.040086],[0.973243,-0.205913,0.101966],[-0.091336,0.060513,0.993980]]2H ʿ A5?@$?^[ʿ`w?a??i2s?I2h^;2wCYBByB#Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762624tauau a}a} a}a} a}a} i}Mb@Mb@Mb@yyyy y9}&1?Mb`?~jthY}0?y};y}@y }@)}@yY}@bDVD2y =%?=ٔ];Q->9Y=Fy.Ef=E>Q 5#5 H?Q 9#5)BQ AT:Y0?Q E:y?Q Iq@/CI] ;i;#5yɮY@hh*h"h  h g f f fBdddjdZd0@EBɢM3>)I M9?iI)M/h=QQiUUi]YYIYIa@ @@0@B}K>ByB}"IB}2BByByB}DB}d;B}0'E9^A#I9IIOU>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014486E E3E'E"E@;*E#;VE'4ZEBEp+=a2Ep+=aJEy9tYt=vFyv2EvT=Ev>xQ 5~#5zB?Q 9#5z$)zBYy?Q Iq@zPCIz;iz;z#5y ɮ@h1h19*h9"h9 hAgAfAfAfAdIdIdIjdIZdU 1@%Bɢ-~>)) ->?i))-ml=11i5σi=I 99I9IA@ @@1@BDAT read: Rx Time:04:54:40.2282  TRx dataTimestamp_ set to:1761540881.706548checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270435iԙ^AuAeAzAdAI I9 O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518517E  E E )E "E ;*E ;VE FA4ZE a @a @a @a @,~ľ?AY=By=#IԙiMb@Mb@Mb@ 9333333?~jth?Y9?yD;@@ @)@Y@bD]VD]yH*<%2=ٔQ->9Y=Fy6EE>Q 5#5;?Q 9%#5ع)ٕBY-9?Q E5:y5?Q I=q@{CI) ӫ?i)Rr=iniH II@ @@c0@-DAT read: 04:54:40.2282 LVL= 30896, 25361, 32754, 32755, AGC= 63, IDX= 440,-0.10, 2.850,-2.386, 2.093,-3.104, PHS=-0.227, 0.763,-1.130, RAW= 358.5, 7.3, CAL= 358.5, 6.8, ROT= 151.5, -6.8 =Ygot valid direction response: 04:54:40.2282 LVL= 30896, 25361, 32754, 32755, AGC= 63, IDX= 440,-0.10, 2.850,-2.386, 2.093,-3.104, PHS=-0.227, 0.763,-1.130, RAW= 358.5, 7.3, CAL= 358.5, 6.8, ROT= 151.5, -6.8 EPDAT read: Bearing 62.7, 33.9 (Local) M~Local bearing/azimuth received: Bearing 62.7, 33.9 (Local) ]DAT read: Range 11 to 50 : 184.0 m (Round-trip 245.4 ms) speed -0.4 m/s eR#Rx 1: Read range and direction messages.u^direction in FSK: [-0.872635,0.473802,0.118404]uFpublishing direction and range infoy3çrgCR?EO?Y8Cxc )?IrhiSC?ףc9@w>c9@ =)%:)@IK f,~ɏ8B? 5)kI%:)@iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Bu N>Bq Bu "IBu 7BBq Bq Bq Bu d;Bu ?'E^A ! A ؟AI I O >$.&,ľ?A2?2?2~=ٱ2Kف= >AHRS rotation from veh to nav: [[-0.281588,-0.958953,0.033436],[0.954639,-0.276465,0.110599],[-0.096815,0.063063,0.993303]]2Hҿ@?`f? ѿ/P?ȸ`$?"?i2?I2&^;2wCYBByB #IbDNVDNJyVz=%V`=ٔV9Z"?YZ"?=ZFyZ:E^ >E^>`Q 5f#5b5?Q 9f#5bҹ)b̕BYdyjN?Q Ijq@bCIba;ib;b#5ylɮn$@liiFľ?AJi7CRi7Cji:@b=!c~ BDAT read: Tx time:04:54:41.5287 $Ping request sent.) ?i)\v=顙iiֻIP@IY@Y @Y@]4@Yԁԡ^A}?΅e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251186A .A I I O >P,,ľ?A2?2?2V=ٱ2I= :AHRS rotation from veh to nav: [[-0.304949,-0.951787,0.033289],[0.947297,-0.299538,0.113600],[-0.098152,0.066177,0.992969]]2HJӿ u: ?@BP?+ӿ? ~ ?@f?i2?I2 ^;2vCYBByB#IbDJVDJ:2yR"%RK=ٔV5[;Q-V>9V ?YV ?=ZFyZ>EZ*{=EZ> Q 5#5 .?Q 9#5 ʹ) BYyu?Q Iq@ CI ;i  ; #5y-!Bɮ-@--EEB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 183.04 m.Rh]gD;Zh]gD;u  ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.179047 m, bearing: 241.222416 deg, approach rate: 0.497260 m/s, LOS rate: 0.171710 deg/s, cmd heading: 241.152232 deg, new cmd heading: 241.222416 deg. HeadingCmd: 4.210125 target range: 183.035141 and range: 184.00 m.hY@h*h"h hgfffdddjdԹZd? ŁBɢ #>) ݰ?i)-*z=)9i=܀i>KIY@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503569E EE'E"E;*EÀ;VE'4ZEa@a@a@a@-9@) @)@-3@)^AM AM >AM >9 A} ؟AI I O >83,4ľ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547476B?6=-?6=ٱ6= BAHRS rotation from veh to nav: [[-0.328879,-0.943826,0.032096],[0.939174,-0.323318,0.115835],[-0.098951,0.068240,0.992750]]6HZ տ3n? ??Կc?T`,x??i6B?I6^;6wCYFByF"IiMb@Mb@Mb@ 9Pn?~jth?QYD?yu@@ @)b@Y@bD5VD5yE7%EA=ٔM:Q-M>9M"?YM"?=MFyMBEU1u=EU>Q 5#5$?Q 9#5¹)BY"D?Q E:y?Q Iq@CIX:i:l#5yBɮ@!jhIMFNOT Ignoring new targets: 183.04 m.RhuO;ZhuO;  ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.396439 m, bearing: 241.301381 deg, approach rate: 0.498850 m/s, LOS rate: 0.180977 deg/s, cmd heading: 241.222419 deg, new cmd heading: 241.301381 deg. HeadingCmd: 4.211504 target range: 183.035141 and range: 184.00 m.hĆ@h*h"h hgfffBdddjdZdq}?-Bɢ-jQ>B}O>B}CB}"IB}h9,xľ?A4ɰ4b4|?b^g?b&=ٱb= zAHRS rotation from veh to nav: [[-0.352413,-0.935401,0.028805],[0.930486,-0.346940,0.117594],[-0.100004,0.068244,0.992644]]bH@ֿ~??B4ֿ?@nx? ?ib4|?Ib^;buCY|By"IbD5VD50yE t%EI=ٔM*;Q-M>9IYI=UFyUFEUg~=EU>YQ 5e#5]?Q 9e#5]>)]BYiym?Q Imq@]CI];i];]#5yqɮu@yjhFNOT Ignoring new targets: 183.04 m.RhY;ZhY;5  ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.588150 m, bearing: 241.374381 deg, approach rate: 0.500100 m/s, LOS rate: 0.190223 deg/s, cmd heading: 241.301376 deg, new cmd heading: 241.374381 deg. =HeadingCmd: 4.212778 target range: 183.035141 and range: 184.00 m.h=φ@h9*h9"h9 h9g9fAfAfAdididijdiZdu@?Bɢ$>)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259856 E?iA)M(=IIiM^iUQYI]φ@Ia9@ @@/@1^Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510655bEyjE}mF4rE}J0E  E E (E "E ;*E x;VE c44ZE a @a @a @a @A .AI I! O5 >iJ@,8ž?A >ٷ?>?>:=ٱ>!Ђ= NAHRS rotation from veh to nav: [[-0.375761,-0.926478,0.021028],[0.921195,-0.370953,0.117448],[-0.101012,0.063504,0.992856]]>H x ؿ @w?mz?@׿?۹ A?z?i>ٷ?I>^;>tCYVuByV"Ii5Mb@Mb@Mb@1111 195E?9e ?Ye ?=eFyeJEmS=Em>qQ 5}#5uj?Q 9}#5u)uBYF?Q E:y?Q Iq@u:CIu ;iui ;u^#5yɮM@jh5FNOT Ignoring new targets: 183.04 m.Rh=W;Zh=W;M  ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.790680 m, bearing: 241.450933 deg, approach rate: 0.499797 m/s, LOS rate: 0.188698 deg/s, cmd heading: 241.374377 deg, new cmd heading: 241.450933 deg. MHeadingCmd: 4.214114 target range: 183.035141 and range: 184.00 m.hMچ@hQ*hQ"hq hqgqfyfyf} BdyddjdZdL?BɢT'>) %?i)Qj=iZQirIچ@I 1q9@ @@/@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762724ԙ^ABu D>Bu CBu "IBu 7BBu =Bq Bu DBu e;Bu a'E AA IQ Ii Ou >tF,ž?A2?2?2=ٱ2Kr= :AHRS rotation from veh to nav: [[-0.398993,-0.916856,0.013368],[0.911277,-0.394861,0.116871],[-0.101876,0.058812,0.993057]]2Hٿ`Vm`?.)?gEٿ@A???i2?I2^;0XY^wBy^"I ``bDjVDj:2yrE6<%rS=ٔr|;Q-r>9tYt=vFyvNEv=Ez>xQ 5#5z?Q 9#5zO)zoBYy?Q Iq@z`CIz;iz;z#5yBɮ2@#Ejh1=FNOT Ignoring new targets: 183.04 m.RhE[;ZhE[;U  ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.979172 m, bearing: 241.525654 deg, approach rate: 0.485550 m/s, LOS rate: 0.192276 deg/s, cmd heading: 241.450930 deg, new cmd heading: 241.525654 deg. UHeadingCmd: 4.215418 target range: 183.035141 and range: 184.00 m.hU@hQ*hY"hY hYgYfYfafadadadijdiZdm@.@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014742颥BɢO.>) ϵ?iE  EEE"Ej;*EQ};VEZEBE}2=a2E}2=aJEL,4ž?A2&?2@2=ٱ2GY= :AHRS rotation from veh to nav: [[-0.421466,-0.906833,0.004486],[0.900987,-0.418177,0.115547],[-0.102906,0.052741,0.993292]]2HJڿ _r?@?hڿ@w? X? ?i2&?I2^;2rCYBoByB"IbDN VDN2yV %VN=ٔV*;Q-V>9Z"?YZ"?=ZFyZREZ6=E^>`Q 5j#5bg?Q 9n#5b)b[BYpyr??Q Irq@bCIb;ib;b;#5y ɮ @ G-hAAm/9mhAYu|AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 183.04 m.Rh.D;Zh.D;  ProNav pure pursuit: ac range: 183.035141 m, nav range: 178.166718 m, bearing: 241.603566 deg, approach rate: 0.413296 m/s, LOS rate: 0.171515 deg/s, cmd heading: 241.525652 deg, new cmd heading: 241.603566 deg. HeadingCmd: 4.216778 target range: 183.035141 and range: 184.00 m.h@h*h"h  h g)fifyfdddjdZd@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520749E EE'E"Em;*EÀ;VE'4ZEa@a @a @a @MBɢMc>)Q Uݶ?iQ)U=QQi]γi]@I@IYY@Y @Y@]/@aԁ ^A} A A >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770605Ա A .AI I O>PhT,||Rž?A2Ҟ?2@2=ٱ2PC= NAHRS rotation from veh to nav: [[-0.466350,-0.884571,-0.007158],[0.878327,-0.463990,0.115126],[-0.105158,0.047402,0.993325]]2H`ݿ@hNKQ}@B?@ݿx?뺿E?Q?i2Ҟ?I2L^;2sCYVQByV"Ii5Mb@Mb@Mb@1111 195(\?X9vV-Y5N?y555=@5K@ 5@)5@1Y5@AQAU@ABU=>BUCBU"IBU-BBU =BQBUDBU"e;BUc'EBCBCBCB =B =C5bDMVDMJyv%'=ٔ;Q->9 ?Y ?=FyWEm=E>Q 5#5?Q 9#5)>BY]N?Q E:ye@Q Iq@CI2 ;i ;#5yɮ@jhFNOT Ignoring new targets: 183.04 m.Rh);Zh);  ProNav pure pursuit: ac range: 183.035141 m, nav range: 178.394989 m, bearing: 241.705235 deg, approach rate: 0.527373 m/s, LOS rate: 0.234584 deg/s, cmd heading: 241.603571 deg, new cmd heading: 241.705235 deg. HeadingCmd: 4.218552 target range: 183.035141 and range: 184.00 m.ha@h*h"h hgfffdddjdZdl @mBɢmP)>)i m?ii)unڋ=qqiuFi}"yyI}a@I9@9 @9@=s0@9iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023476E EE(E"EC;*Ey;VEc44ZEBE '=aE2E '=aEJEZ,"8lž?AB?BX@B=ٱBRL= RAHRS rotation from veh to nav: [[-0.487789,-0.872920,-0.008478],[0.866475,-0.485324,0.116971],[-0.106221,0.049711,0.993099]]BH7߿\)?߿?G1 s?w?iB?IB^;BrCYZ?ByZ"IIb8>)bdf=bDnVDnyz%zU=ٔz6;Q-~>9~"?Y"?=Fy[E 3=E >eBDAT read: Rx Time:04:54:44.1811 mTRx dataTimestamp_ set to:1761540885.736253mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275874Q 5#59䷊?Q 9#5)'BYy@Q Iq@CI) b?i)=iϓi I  @I Y@ @@4@yD5 =D5 <E=  E= E= 'E9 "E= g;*E= ;VE= '4ZE9 aE @aE @aE @aE @- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528715^AM Ա A I I O >]sa,ž?A2?2@2=ٱ2vR= :AHRS rotation from veh to nav: [[-0.508882,-0.860769,-0.010806],[0.854103,-0.506428,0.118481],[-0.107457,0.051063,0.992898]]2H Hj!`T?4T?`S$??i2?I2r^;2tC@Yb+Byb"IiEMb@Mb@Mb@AAAA A9E!rh?ktL7A`堿YElG?yE 0E+E@E@ E@)E@AYE@bDeVDeNym~%mB=ٔuB;Q-u>9qYy=}Fy}_E}8p=E>Q 5#5׷?Q 9#5)BYG?Q E:y@Q Iq@ CI& ;i7 ;#5yɮ@EjhFNOT Ignoring new targets: 183.04 m.Rh"v;Zh"v;  ProNav pure pursuit: ac range: 183.035141 m, nav range: 178.750183 m, bearing: 241.872358 deg, approach rate: 0.454861 m/s, LOS rate: 0.215188 deg/s, cmd heading: 241.786484 deg, new cmd heading: 241.872358 deg. HeadingCmd: 4.221469 target range: 183.035141 and range: 184.00 m.hF@h*h"h hgfffBdddjdZd@@颥yBɢ$(>) ?i)h:=顱ikNi)IF@IԱI@I @I@M2@IDAT read: 04:54:44.1811 LVL= 32752, 28065, 32754, 32755, AGC= 68, IDX= 459, 0.03, 1.451, 1.948, 0.184, 1.595, PHS=-0.042, 0.397,-1.455, RAW= 16.9, 13.1, CAL= 16.2, 15.2, ROT= 133.8, -15.2 Ygot valid direction response: 04:54:44.1811 LVL= 32752, 28065, 32754, 32755, AGC= 68, IDX= 459, 0.03, 1.451, 1.948, 0.184, 1.595, PHS=-0.042, 0.397,-1.455, RAW= 16.9, 13.1, CAL= 16.2, 15.2, ROT= 133.8, -15.2 PDAT read: Bearing 59.9, 50.7 (Local) ~Local bearing/azimuth received: Bearing 59.9, 50.7 (Local) DAT read: Range 11 to 50 : 186.2 m (Round-trip 248.3 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.667930,0.696510,0.262189]Fpublishing direction and range infoyquM_"ETI?;f$?Yu3:Cquumq q)uDIu1,iuC>uq=u>u j>uÐ> uԇ>)ut@Iuԇqqu8\G̿9 \? ufY)u5uiIut@iuԇqq5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.Be2>BeCBes"IBeBBe =BaBeDBaBe]'E^AqAfAzAhA A I I O > *DAT read: user:214> % BDAT read: Tx time:04:54:45.5787 % $Ping request sent.- 9TYT=VFyZcEZM=EZ>\Q 5b#5^˷?Q 9b#5^K)^BYdyf@Q Ifq@^/CI^-:i^:^#5yjBɮj@jElii iž?AJi69CRi69Cjin@bVW^? `@\v/GH@RM_"ETI?;f$?Zit@biԇj>|9F7dc+P*Q@ZR|^ο:Aӹ?2i,&:i1"i[)?*i7BiCiv?i7iYBi9Ci@m addTargetRange:: Added new target pos. range: 186.199997 m, deltaT: 4.033383 s, deltaX: 2.199997 m, approachRate: 0.545447 m/s, rangeRepo size: 2  Added new target pos. range: 185.211807 m, bearing: 255.024508 deg, lat: 36.779325 deg, lon: -121.859601 deg, deltaT: 4.033383 s, deltaX: 2.176666 m, approachRate: 0.539663 m/s, posRepo size: 2 jhFNOT Ignoring new targets: 185.21 m.RhZh ProNav: ac range: 185.211807 m, nav range: 185.763733 m, bearing: 243.450098 deg, approach rate: 0.000000 m/s, LOS rate: 0.215188 deg/s, cmd heading: 241.872353 deg, new cmd heading: 242.125204 deg. Bh<HeadingCmd: 4.225882 target range: 185.211807 and range: 186.20 m.hm:@h*h"h hgfffdddjd`fFg@Zd5?mpBɢm(>)q u?iq)}b=yyi}–iڪIm:@I @ @@/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254789^A5?΅a A .AI I O >m,6̹ž?A2"F?2 @2n=ٱ2 l= :AHRS rotation from veh to nav: [[-0.550476,-0.834753,-0.012807],[0.827586,-0.547641,0.123250],[-0.109897,0.057247,0.992293]]2H`K:{?`FV? :"O?@?i2"F?I2h^;2rCYVByVc"I XX\\bDbVDbN2yj%jG=ٔjL;;Q-n>9n ?Yn ?=nFyrgEry=Er>tQ 5z#5v?Q 9z#5v!)vݔBYxy~@Q I~q@vXCIv;iv;vj#5yɮ3@AEB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 185.21 m.Rh])i;Zh])i;m ProNav: ac range: 185.211807 m, nav range: 185.935638 m, bearing: 243.531996 deg, approach rate: 0.428269 m/s, LOS rate: 0.203844 deg/s, cmd heading: 242.125206 deg, new cmd heading: 242.370671 deg. Bhm <uHeadingCmd: 4.230166 target range: 185.211807 and range: 186.20 m.hu]@hq*hy"hy hygyfyffdddjdZd ?hBɢaE)>E  E E 'E "E ;*E À;VE '4ZE a-@a-@a-@a-@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505441)I U?iQ)e {=aiim+idI]@Iia@a @a@a@aԑ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754992 A I I O- >t,ž?A2>g?23 @2=ٱ2JӀ= :AHRS rotation from veh to nav: [[-0.570436,-0.821248,-0.012434],[0.813731,-0.567142,0.127248],[-0.111554,0.062469,0.991793]]2HA@Gw ?`&@I?ӎ@?ļ?i2>g?I2^;2sCYBByBB"IB<A<B&>BCB;"IBBB =BBDBce;Bv'Ei-Mb@Mb@Mb@)))) )9-S㥛?ˡE ףp= Y-$F?y-'-Q8-@-5@ -@)-@)ԙY)bD VD:2y%%%7=ٔ-9t;Q-->9qYq=uFyulE}[=E}>Q 5#5\?Q 9#5]w)BYF?Q E:yx@Q Iq@CI;i;f#5yɮ@EjhFNOT Ignoring new targets: 185.21 m.Rh &d;Zh &d;= ProNav: ac range: 185.211807 m, nav range: 186.117386 m, bearing: 243.623699 deg, approach rate: 0.395710 m/s, LOS rate: 0.199465 deg/s, cmd heading: 242.370683 deg, new cmd heading: 242.645522 deg. Bh=<EHeadingCmd: 4.234963 target range: 185.211807 and range: 186.20 m.hE҄@hA*hA"hA hIgIfIfqfu\BdqdqdyjdyZd}?^Bɢ >)  q?i ) =iڈiI҄@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007541E  E E E "E ;*E ;VE ZE BE z)=a2E z)=aJE _Ai ! A I I O >a{,ž?A:!?:%= @:Ge=ٱ:= FAHRS rotation from veh to nav: [[-0.590211,-0.807112,-0.014884],[0.799268,-0.586863,0.129469],[-0.113231,0.064518,0.991472]]:H{?r?=?"?i:!?I:^;:tCYJǃByJ"IbDVVDV:yZ6A%^[=ٔ^i;Q-^>fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589779dYd=fFyjoEj2=Ej>lQ 5r#5nV?Q 9r#5n>q)nBYtyv @Q Ivq@nCIn;in;n#5yxɮz@xjh%FNOT Ignoring new targets: 185.21 m.Rh%1n;Zh%1n;5 ProNav: ac range: 185.211807 m, nav range: 186.257339 m, bearing: 243.698098 deg, approach rate: 0.392028 m/s, LOS rate: 0.208245 deg/s, cmd heading: 242.645530 deg, new cmd heading: 242.868558 deg. Bh5<=HeadingCmd: 4.238856 target range: 185.211807 and range: 186.20 m.yh@h*h"h hgfffdddjdZdk?eVBɢe~'>)a ej?ia)mL=iiimwiuKqqIu@Iu9@q @q@u/@qԩE E2E*E"EC;*E;VE(N4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513118^A A9 II IY Oe >],!ƾ?A2@2^@2JS=ٱ2k= :AHRS rotation from veh to nav: [[-0.609648,-0.792439,-0.019199],[0.784337,-0.606564,0.129987],[-0.114652,0.064188,0.991330]]2H`=[H?h`h?Y n?`?i2@I2^;0YBByB!IIF>)F>F=F=iMMb@Mb@Mb@IIII I9M-?Q롿Zd;OYM5>?yM\Mj9yYy=FytEn=E>Q 5#54?Q 9#5j)BY>?Q E:y @Q Iq@CI ;i ;I#5yBɮ'@EjhFNOT Ignoring new targets: 185.21 m.Rhb;Zhb; ProNav: ac range: 185.211807 m, nav range: 186.404816 m, bearing: 243.782034 deg, approach rate: 0.348233 m/s, LOS rate: 0.198039 deg/s, cmd heading: 242.868550 deg, new cmd heading: 243.120157 deg. Bh<HeadingCmd: 4.243247 target range: 185.211807 and range: 186.20 m.hȇ@h*h"h hgfff~Bd d d jd Zd @?=MBɢ=n!>)A E/?iA)Ew=AAiMVޛiMXIQIUȇ@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7629889@ @@0@!B>BCB!IBBB =BB~DBe;B'E^AUQAe ؟AIi Iy O >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905E  E E &E "E ;*E J;VE 4ZE BE !=a 2E !=a JE 2n@>c@>'=ٱ>= fAHRS rotation from veh to nav: [[-0.628626,-0.777363,-0.023165],[0.769004,-0.625759,0.130607],[-0.116025,0.064289,0.991164]]>H(@?@7๷?ͳ8u??i>2n@I>^;>qCYBy!IbDVDy%]%-O=ٔ-e;Q-->95"?Y5"?=5Fy5xE5W=E5>AQ 5E#5E?Q 9M#5Ed)EmBYIyM @Q IMq@ECIE:iE=:E#5yUBɮ]@] EjhFNOT Ignoring new targets: 185.21 m.Rhe;Zhe; ProNav: ac range: 185.211807 m, nav range: 186.536270 m, bearing: 243.861122 deg, approach rate: 0.333731 m/s, LOS rate: 0.200644 deg/s, cmd heading: 243.120146 deg, new cmd heading: 243.357242 deg. Bh <HeadingCmd: 4.247385 target range: 185.211807 and range: 186.20 m.h@h*h"h hgfffdddjdZd9@EDBɢE >)A Ez?iA)M=IIiMQiUJqqIu@Iy @  @ @ 4@ ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267735^A5FӅA5eAzA5gAII Ia O} > E,;ƾ?A2@2@2(l=ٱ2 = :AHRS rotation from veh to nav: [[-0.647059,-0.761899,-0.028710],[0.753314,-0.644670,0.130071],[-0.117609,0.062536,0.991089]]2H@ za$f&?`"(?Y? ?i2@I2^;2tCYNsByR!IbDZVDZkyvc/%vN=ٔv;Q-v>9xYx=zFyz|Ez|=E~>yQ 5#5}s?Q 9#5}B^)}PBYy&@Q Iq@}CI} ;i};}T#5yɮA@MB*** querying acoustic contact ***iIbE -4jE 34rE ַ/E EE+E"E;*E;VE [4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521067 iIjhYeFNOT Ignoring new targets: 185.21 m.RhwM;ZhwM; ProNav: ac range: 185.211807 m, nav range: 186.667374 m, bearing: 243.944593 deg, approach rate: 0.282338 m/s, LOS rate: 0.179632 deg/s, cmd heading: 243.357236 deg, new cmd heading: 243.607470 deg. Bh;HeadingCmd: 4.251752 target range: 185.211807 and range: 186.20 m.h[@h*h"h hgfffdddjdZd#@M:BɢM5 >)Q UT?iQ)U$=QQiU일i]YaIe[@Ia@ @!@!@!)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771045^A Y Ia Iq O >H,*Vƾ?AB>BCB!IBgBB =B B}DBe;B'EYeXBye!I iiqqi-Mb@Mb@Mb@)))) )9-@5^I ?l~jtY-b0?y---@-@ -@)-@)Y-Q@ E9aYa=eFyeEeEm>iQ 5u#5med?Q 9}#5mX)m5BY}0?Q E}:y}@Q I}q@mBCIm ;imT ;m1#5yBɮ@ EjhFNOT Ignoring new targets: 185.21 m.Rhr;Zhr; ProNav: ac range: 185.211807 m, nav range: 186.800354 m, bearing: 244.027390 deg, approach rate: 0.341259 m/s, LOS rate: 0.212325 deg/s, cmd heading: 243.607467 deg, new cmd heading: 243.855679 deg. Bh<HeadingCmd: 4.256084 target range: 185.211807 and range: 186.20 m.h1@h*h"h hgfff~BdddjdZdљ @颕2Bɢ>) ?i)^=顙i۞iI1@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023765EU EU EU%EQ"EU;*EU5{;VEU 4ZEQBEUm"=ae2EUm"=aeJEUFFf, oƾ?A 6I@6 @6g=ٱ6P= >AHRS rotation from veh to nav: [[-0.682567,-0.729938,-0.035959],[0.720868,-0.680547,0.131169],[-0.120217,0.063610,0.990708]]6H` [ @i`Y? (?ƾ H??i6I@I6R^;6rCYF6ByFc!IRBDAT read: Rx Time:04:54:48.2334 VTRx dataTimestamp_ set to:1761540889.768168Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275984bD]VD]fym6%m]=ٔm{;Q-m>9qYq=uFyuE}>E}>Q 5#5V?Q 9#5R)BYy@Q Iq@bCI:i:n#5yɮ@jhFNOT Ignoring new targets: 185.21 m.RhZ;ZhZ; ProNav: ac range: 185.211807 m, nav range: 186.900955 m, bearing: 244.098226 deg, approach rate: 0.271541 m/s, LOS rate: 0.191097 deg/s, cmd heading: 243.855676 deg, new cmd heading: 244.068069 deg. Bh%<HeadingCmd: 4.259791 target range: 185.211807 and range: 186.20 m.h6P@h*h"h hgfffdddjdZd8 @-)Bɢ-8F>)1 5+?i1)5=99i=i=JAAIE6P@IAq-9 =h>9@9 @9@E/@QGt9YӜAԙE EE)E"Es;*EÀ;VEFA4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539916^A A% >A! I I O >N,憎ƾ?A2ݞ@2r@2t~=ٱ2= :AHRS rotation from veh to nav: [[-0.699487,-0.713591,-0.038804],[0.704237,-0.697516,0.132367],[-0.121522,0.065261,0.990441]]2H2b$ޣ? Rc??@?i2ݞ@I2^;2qCYBByB9Y=FyE&n=E>Q 5#5PG?Q 9#5M)BY&?Q E:y@Q Iq@CI:i]:#5yBɮ@EjhFNOT Ignoring new targets: 185.21 m.Rh Q;Zh Q; ProNav: ac range: 185.211807 m, nav range: 186.994308 m, bearing: 244.173874 deg, approach rate: 0.226626 m/s, LOS rate: 0.183553 deg/s, cmd heading: 244.068067 deg, new cmd heading: 244.294897 deg. Bh;%HeadingCmd: 4.263750 target range: 185.211807 and range: 186.20 m.h%p@h!*h!"h! h!g)f)f)f-~Bd1d1d1jd1Zd=`@e Bɢe>)i mz?ii)m=iiim)[ium>yyI}p@IyDAT read: 04:54:48.2334 LVL= 24032, 26481, 31218, 28051, AGC= 66, IDX= 451,-0.13,-0.359,-0.596,-2.073,-0.659, PHS= 0.402, 0.108,-1.457, RAW= 38.5, 11.0, CAL= 36.3, 11.8, ROT= 113.7, -11.8 Ygot valid direction response: 04:54:48.2334 LVL= 24032, 26481, 31218, 28051, AGC= 66, IDX= 451,-0.13,-0.359,-0.596,-2.073,-0.659, PHS= 0.402, 0.108,-1.457, RAW= 38.5, 11.0, CAL= 36.3, 11.8, ROT= 113.7, -11.8  PDAT read: Bearing 64.3, 71.6 (Local)  ~Local bearing/azimuth received: Bearing 64.3, 71.6 (Local) DAT read: Range 11 to 50 : 187.9 m (Round-trip 250.6 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.%^direction in FSK: [-0.393453,0.896312,0.204496]%Fpublishing direction and range infoyC|W.ٿ?rG,?Y;C]qgy m)BI>i/=~,? D>0"? BR>)?IBRa|?3Kf㷁bVO? *)CI?iBRET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.M9@I @I@U/@Q@]@]@]@]B1B5CB5A!IB5BB5 =B1B5|DB5e;B5'EBCBCBŕCB =B =Cv6I9IIOU>! e *DAT read: user:215> m BDAT read: Tx time:04:54:49.5787 m $Ping request sent.m 9)Y)=5Fy5E5y=E5>YQ 5e#5]`8?Q 9e#5]9I)]BYiym@Q Imq@]CI][:i]R:]s#5yqɮ^Aiijƾ?AJi:CRi:Cji@b'aRV @d@0dC@RC|W.ٿ?rG,?Zi?biBRj ]DqPd`hL@ZTֿBHHn?2i-%:i"i?*i ABi5Bi?iixBi4CiU@- addTargetRange:: Added new target pos. range: 187.899994 m, deltaT: 4.031364 s, deltaX: 1.699997 m, approachRate: 0.421693 m/s, rangeRepo size: 3 ] Added new target pos. range: 186.885635 m, bearing: 248.288883 deg, lat: 36.779464 deg, lon: -121.859601 deg, deltaT: 4.031364 s, deltaX: 1.673828 m, approachRate: 0.415201 m/s, posRepo size: 3 jhY]FNOT Ignoring new targets: 186.89 m.RheZha ProNav: ac range: 186.885635 m, nav range: 180.876373 m, bearing: 248.678045 deg, approach rate: 0.000000 m/s, LOS rate: 0.183553 deg/s, cmd heading: 244.294884 deg, new cmd heading: 244.519671 deg. BhHeadingCmd: 4.267673 target range: 186.885635 and range: 187.90 m.hȐ@h*h"h hgfffdddjd|g@Zd(B?]Bɢ]W>)a ex?ia)eO=aaiei&IȐ@I)E9@I @I@M/@IIIOE>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250896Qԁ Ǣ, cƾ?Aɰp;2 @2%@2]=ٱ2|= :AHRS rotation from veh to nav: [[-0.731724,-0.679770,-0.049929],[0.670143,-0.730866,0.129395],[-0.124450,0.061222,0.990335]]2HIjPq?@Ac? ۿ`rX?Ӱ?i2 @I2p^;2pCY~By~!IbD VD :y%K=ٔ%;Q-%>9!Y!=-Fy-E-%p=E->1Q 5M$55(?Q 9U$55Da)5ՓBYaym @Q Imq@5CI5;i5;5$5yuBɮu>AuEjhFNOT Ignoring new targets: 186.89 m.Rh\;Zh\; ProNav: ac range: 186.885635 m, nav range: 180.974625 m, bearing: 248.752794 deg, approach rate: 0.253884 m/s, LOS rate: 0.193048 deg/s, cmd heading: 244.519679 deg, new cmd heading: 244.743803 deg. Bh|<HeadingCmd: 4.271585 target range: 186.885635 and range: 187.90 m.hӰ@h*h"h hg f EM  EMEM,EI"EM;*EMju;VEMg4ZEIam@am@am@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505266ffdddjdZd  %? Bɢxw>) n?i)=i!i!I-Ӱ@I)ԉ@ @@0@AfAzAfAԱA.AII)O5> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754870 B <A B- >B- CB- IB- ӂBB- =B) B- }DB- e;B- 'E⋵,lCƾ?AJ* @J7 @J-`>ٱJn= RAHRS rotation from veh to nav: [[-0.747282,-0.662096,-0.056547],[0.652450,-0.747199,0.126500],[-0.126008,0.057637,0.990353]]JH`/`@? @*1?@!@??iJ* @IJV^;JrCYZ݂ByZ IiMb@Mb@Mb@ 9)\(?MbPX9vYG!?y@@ S@)Z@Y@bDVD!Աy8z%A=ٔir;Q->9 ?Y ?=FyE2e=E>Q 5$5?Q 9$5@)BYy!?Q E:y5@Q Iq@CIG:i7:$5yɮA B*** querying acoustic contact ***i  i jh%FNOT Ignoring new targets: 186.89 m.Rh%1U;Zh%1U;5 ProNav: ac range: 186.885635 m, nav range: 181.064087 m, bearing: 248.831266 deg, approach rate: 0.212596 m/s, LOS rate: 0.186387 deg/s, cmd heading: 244.743792 deg, new cmd heading: 244.979090 deg. Bh=;=HeadingCmd: 4.275692 target range: 186.885635 and range: 187.90 m.h=w҈@hA*hA"hA hAgAfAfIfM~BdIdIdQjdQZdU?颅Bɢ,>) El?i)G=顉i$"izIw҈@II@I @I@M1@Ii!I%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007365EE EEEE*EA"EE;*EEv;VEE(N4ZEABEE+=aU2EE+=aUJEE9 |,+ƾ?A24@2ȡ@2>ٱ2h= :AHRS rotation from veh to nav: [[-0.762272,-0.644323,-0.061560],[0.634555,-0.762675,0.125169],[-0.127600,0.056349,0.990224]]2Hd@KӄFN?g ? /U٬??i24@I2O_;0Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983YrłByr I ttxxbD~VD~y % V=ٔ;Q->9Y=FyE|=E>!Q 5-$5%?Q 9-$5%<Q =5tI)%BY1y5@Q I5r@%CI%:i%u:% $5y=BɮE_AAjhamFNOT Ignoring new targets: 186.89 m.RhmU;ZhmU; ProNav: ac range: 186.885635 m, nav range: 181.139557 m, bearing: 248.902331 deg, approach rate: 0.198448 m/s, LOS rate: 0.186787 deg/s, cmd heading: 244.979078 deg, new cmd heading: 245.192182 deg. Bh0<HeadingCmd: 4.279411 target range: 186.885635 and range: 187.90 m.h@h*h"h hgfffdddjdZd?Bɢ|>) d?i) =iki=I@I]9@Y @Y@]4@aAA؟AIIOC>DU%=DU<Em EmEm&Ei"Em;*Ems;VEm4ZEia@a@a@a@ԡMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513385Թ G±, Ǿ?A2*@2G @2>ٱ2ΈM= :AHRS rotation from veh to nav: [[-0.776693,-0.625971,-0.070054],[0.616442,-0.778258,0.119636],[-0.129409,0.049736,0.990343]]2H@` ﱿ@? ~y?v@w?@?i2*@I2_;2qCYNByR Ii%Mb@Mb@Mb@!!!! !9%+?{Gzt?Zd;OY%?y%ף;%j%@%@ !)%@!Y%@bD=VD=βyM@4%MF=ٔU;Q-U>9U"?YU"?=FyE"`=E>Q 5$5;?Q 9$57)BY?Q E:y@Q Ir@'CIC:in: $5yɮAjh%FNOT Ignoring new targets: 186.89 m.Rh%&U;Zh%&U;5 ProNav: ac range: 186.885635 m, nav range: 181.215652 m, bearing: 248.981993 deg, approach rate: 0.178082 m/s, LOS rate: 0.186350 deg/s, cmd heading: 245.192180 deg, new cmd heading: 245.431064 deg. Bh=;=HeadingCmd: 4.283580 target range: 186.885635 and range: 187.90 m.h=@hA*hA"hA hAgAfAfIfM}BdIdIdQjdQZdU+?颅Bɢ>) d?i);=顉iԑiI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763640 @  @ @=2@B >BCB IBBB =BB|DB`e;Bf'EAYIaIqO[> E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015002Ee  Ee Ee *Ea "Ee g;*Ee w;VEe (N4ZEa BEe 6=au 2Ee 6=au JEe ٱ2|:= :AHRS rotation from veh to nav: [[-0.790676,-0.607355,-0.077145],[0.597990,-0.793147,0.115440],[-0.131300,0.045144,0.990314]]2H7M@to¿"?@uav?q??i2E@I2^;2pCYnByn IbDvVDv1y~*%O=ٔ;Q->9 Y = Fy E  |=E>Q 5$5q綊?Q 9%$5 4)|BY!y%? @Q I%r@ECI;i ;$5y-Bɮ5(A5EjhQ]FNOT Ignoring new targets: 186.89 m.RhevV;ZhevV;u ProNav: ac range: 186.885635 m, nav range: 181.278183 m, bearing: 249.053009 deg, approach rate: 0.165151 m/s, LOS rate: 0.187498 deg/s, cmd heading: 245.431073 deg, new cmd heading: 245.644047 deg. Bhu<}HeadingCmd: 4.287297 target range: 186.885635 and range: 187.90 m.h}1@hy*hy"hy hygfffdddjdZd$@颽Bɢ>) `?i)=ifiDyI1@I9@ @@/@AIIOI>9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266868q α,ک>Ǿ?A 6*@6R !@6,>ٱ6!+= >AHRS rotation from veh to nav: [[-0.804307,-0.588303,-0.083603],[0.579067,-0.807573,0.111833],[-0.133308,0.041536,0.990204]]6H ` g??:@D? ?i6*@I6/_;6oCYFByF IIJG>)J9XY\=^Fy^E^t=Eb>`Q 5f$5bֶ?Q 9j$5bs0)bgBYhyj!@Q Ijr@bdCIb:ib:bu$5ylɮr/Apjh FNOT Ignoring new targets: 186.89 m.Rh W;ZhW; ProNav: ac range: 186.885635 m, nav range: 181.338013 m, bearing: 249.127243 deg, approach rate: 0.151904 m/s, LOS rate: 0.188414 deg/s, cmd heading: 245.644038 deg, new cmd heading: 245.866666 deg. BhN<HeadingCmd: 4.291183 target range: 186.885635 and range: 187.90 m.h_Q@h*h"h hgfffdddjdZd $@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519027E5 E5E5'E1"E5;*E5m;VE5'4ZE1a]@ae@ae@ae@߀Bɢ<>) :e?i)M/=!i%ƺi]YaIe_Q@qI@ @@/@ԙAII O> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770918 B >B CB Z IB ^BB  =B B {DB d;B )'Eyձ,XǾ?A2@2"@2=+ >ٱ26.= >AHRS rotation from veh to nav: [[-0.817663,-0.568988,-0.087635],[0.559526,-0.821260,0.111633],[-0.135489,0.042244,0.989878]]2H L*%5@@o@?G?@W` ?@?i2@I2K^;2rCYBByF IPieMb@Mb@Mb@aaaa a9e7A`?:v?QYe?yeT9Y=FyE$b=E>Q 5$5Ŷ?Q 9$5,)RBY?Q E:y($@Q Ir@CIP ;i ;=$5y BɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 186.89 m.RhL;ZhL;  ProNav: ac range: 186.885635 m, nav range: 181.391129 m, bearing: 249.204821 deg, approach rate: 0.122474 m/s, LOS rate: 0.178825 deg/s, cmd heading: 245.866675 deg, new cmd heading: 246.099338 deg. Bh s;HeadingCmd: 4.295244 target range: 186.885635 and range: 187.90 m.hr@h*h"h hgfff}Bd!d!d!jd!Zd%`r @րBɢa>) `a?i)=i itIr@I@ @@/@BDAT read: Rx Time:04:54:52.2342 TRx dataTimestamp_ set to:1761540893.549230checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025390E5 E5E5,E1"E5;*E52g;VE5g4ZE1BE5-=aE2E5-=aEJE5! yܱ,F_rǾ?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274787:@@:z6$@:pN >ٱ:N5= FAHRS rotation from veh to nav: [[-0.830801,-0.549062,-0.091107],[0.539303,-0.834625,0.112039],[-0.137557,0.043948,0.989518]]:H`R@A?@@?w X?`"?i:@@I:^;8YNByN IbDVVDVy^%^Y=ٔ^m;Q-b>9`Y`=bFybEfP=Ef>hQ 5n$5jO?Q 9n$5j))j@BYlyr%@Q Irr@jCIjY;ij;j$5ytɮvAt|jhFNOT Ignoring new targets: 186.89 m.Rh%*N;Zh%*N;5 ProNav: ac range: 186.885635 m, nav range: 181.432419 m, bearing: 249.272668 deg, approach rate: 0.109719 m/s, LOS rate: 0.180244 deg/s, cmd heading: 246.099338 deg, new cmd heading: 246.302830 deg. Bh5f;=HeadingCmd: 4.298795 target range: 186.885635 and range: 187.90 m.h=@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdMGu @}̀Bɢ}@C>) c?i)=顁i{YiI@IQ@Q @Q@U0@Q)A.AIIOA>QbE:4jEh=4rEW\0EU EUEU(EQ"EU;*EU~;VEUc44ZEQa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545552ԁ Y,i:Ǿ?AY~By~ I   YiMb@Mb@Mb@ 9zG?Mb`?y&1|Y ?y;`K@@ j@)@Y@ ;p;bDVD0yHI=%:=ٔQ->9 ?Y ?=FyEE>Q 5$5?Q 9$5,&),BY ?Q E:yw$@Q Ir@CI;i* ;`$5y BɮHA jh)5FNOT Ignoring new targets: 186.89 m.Rh5BN;Zh5BN;E ProNav: ac range: 186.885635 m, nav range: 181.486130 m, bearing: 249.351945 deg, approach rate: 0.122207 m/s, LOS rate: 0.180324 deg/s, cmd heading: 246.302823 deg, new cmd heading: 246.540584 deg. BhE;MHeadingCmd: 4.302945 target range: 186.885635 and range: 187.90 m.hM@hI*hQ"hQ hQgQfQfYf]}BdYdadajdaZde`@颕ÀBɢ{>) Tn?i);=顙iixI@IDAT read: 04:54:52.2342 LVL= 22080, 24737, 32754, 27699, AGC= 65, IDX= 427, 0.14,-2.150,-2.912, 2.376,-2.610, PHS= 0.562,-0.257,-1.341, RAW= 55.4, 12.5, CAL= 52.0, 15.0, ROT= 98.0, -15.0 Ygot valid direction response: 04:54:52.2342 LVL= 22080, 24737, 32754, 27699, AGC= 65, IDX= 427, 0.14,-2.150,-2.912, 2.376,-2.610, PHS= 0.562,-0.257,-1.341, RAW= 55.4, 12.5, CAL= 52.0, 15.0, ROT= 98.0, -15.0 PDAT read: Bearing 16.9, 76.4 (Local) ~Local bearing/azimuth received: Bearing 16.9, 76.4 (Local) DAT read: Range 11 to 50 : 188.5 m (Round-trip 251.4 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.134431,0.956526,0.258819]Fpublishing direction and range infoyquz5D3`ۛ?V!}?YuuVh? u >)u!?Iu qquXBB: IBEBB =BBBQd;B&EIaIqO}Y>Ա % *DAT read: user:216> - BDAT read: Tx time:04:54:53.6287 - $Ping request sent.- ٱ29N= VAHRS rotation from veh to nav: [[-0.856256,-0.507354,-0.097048],[0.496755,-0.860290,0.114608],[-0.141636,0.049925,0.988659]]2H rf@><%ظ`?@V?#!¿ഏ?@?i2Lu@I2x^;0YeBye IbDuVDuԡyZ ;%K=ٔ'9Y=FyE:=E>Q 5$5?Q 9$5#)BYy'@Q Ir@CI$:i:"$5yɮDAiioǾ?AJiz;CRiz;CjiS@b&!39y) s?i)c=iIiIf҉@I@ @@0@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251078IIO>] Gu fA 9 fAY %A! '@,4Ǿ?AYBy IbD VDf2y%w%%U=ٔ-Q-->9)Y)=-Fy5E5E5>9Q 5E$5=?Q 9E$5=+ )=BYIyIQ IMr@=CI=:i=:==&$5yUBɮUSAUEjhyFNOT Ignoring new targets: 187.48 m.Rh [;Zh [; ProNav: ac range: 187.477554 m, nav range: 181.560287 m, bearing: 249.494694 deg, approach rate: 0.099918 m/s, LOS rate: 0.191510 deg/s, cmd heading: 246.769107 deg, new cmd heading: 246.977924 deg. Bhn<HeadingCmd: 4.310578 target range: 187.477554 and range: 188.50 m.hA@h*h"h hgfffdddjdZd ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504618E E E$E"E;*Ez;VE4ZEa@a@a@a@-Bɢ-v$>)) 5u?i1)5õ=11i5]i=f~9AIEA@IAA@ @@0@I1IAOU>i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754939Bi Bi Bm ( IBm 6BBi Bi Bi Bm c;Bm &EB%CB%CB%˔CB% =B% =C%5ԙ &,SǾ?A2*@2*@2>ٱ2 k= :AHRS rotation from veh to nav: [[-0.879744,-0.464178,-0.102900],[0.452612,-0.883909,0.117673],[-0.145576,0.056948,0.987707]]2H&@ݿW?H?;¿U(? K?i2*@I2@^;2sCY^Byb IIb=)`bDjVDj0yrBm=%rO=ٔv$9tYt=vFyzEz>Ez>|Q 5$5~Up?Q 9$5~k)~BY y *@Q I r@~CI~:i~:~)$5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.48 m.RhH;ZhH; ProNav: ac range: 187.477554 m, nav range: 181.586441 m, bearing: 249.566923 deg, approach rate: 0.063493 m/s, LOS rate: 0.175323 deg/s, cmd heading: 246.977919 deg, new cmd heading: 247.194572 deg. Bh;%HeadingCmd: 4.314359 target range: 187.477554 and range: 188.50 m.h%;@h!*h!"h! h)g)f)f)f1d1dIdIjdQqZd-}@?uBɢ}>)y } P,&Ǿ?A4<ɰ4<&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259105RyP@R F,@R>ٱR.u= ZAHRS rotation from veh to nav: [[-0.890676,-0.441968,-0.106582],[0.430045,-0.895077,0.117892],[-0.147503,0.059169,0.987290]]RHk 6IܿHڅ?x/.?c¿ fK??iRyP@IR:^;RrCYbByb IbDhVDhyr^3=%vJ=ٔv;Q-v>9xYx=zFyzEzc=Ez>|Q 5$5~k^?Q 9 $5~)~BY y ,@Q I r@~7CI~e ;i~/;~:-$5y%Bɮ%A-EjhquFNOT Ignoring new targets: 187.48 m.Rh}V;ZhV; ProNav: ac range: 187.477554 m, nav range: 181.607544 m, bearing: 249.640958 deg, approach rate: 0.053531 m/s, LOS rate: 0.187779 deg/s, cmd heading: 247.194573 deg, new cmd heading: 247.416651 deg. Bh<HeadingCmd: 4.318235 target range: 187.477554 and range: 188.50 m.h.@h*h"h hgfffdddjdZd ?颭Bɢ(>) ?i)2=ii|I.@II)bAi@i @i@i@iIIO (>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510950E EE(E"E@;*En;VEc44ZEa%@a%@a%@a%@1 Q :, Ⱦ?A2!@2-@2Ns>ٱ2n= :AHRS rotation from veh to nav: [[-0.901426,-0.418212,-0.111935],[0.406377,-0.906522,0.114349],[-0.149294,0.057589,0.987114]]2H{ڿ@ŧ`?@:@E?@ÿ]|?p?i2!@I2^;2qCY^By^ Inonly read 0 of 1 data item for BIT error. Device response is::TS00 an@an an@an an@an an@an bDrVDryzB;%zI=ٔ~;Q-~>9|Y=FyEp=E> Q 5$5 6L?Q 9$5 6) ΒBQ A5+:Y1Q E5:y58.@Q I5r@ UCI ^=i > 0$5yEBɮEAEE)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762889jhFNOT Ignoring new targets: 187.48 m.Rh1;Zh1; ProNav: ac range: 187.477554 m, nav range: 181.622849 m, bearing: 249.715432 deg, approach rate: 0.031977 m/s, LOS rate: 0.155591 deg/s, cmd heading: 247.416663 deg, new cmd heading: 247.640064 deg. Bh;HeadingCmd: 4.322134 target range: 187.477554 and range: 188.50 m.hN@h*h"h hgfffdddjdZd@I@=BB >B CB B B  =B B |DB c;B &EɢE+$>)9 E\?iA)E'+=AAiEgiMIIIUN@IQY@ @@@ԁ A ؟AI I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853E%  E% E% )E! "E% R;*E% t;VE% FA4ZE! BE% E3=a- 2E% F3=a- JE% ٱR*"j= ZAHRS rotation from veh to nav: [[-0.911742,-0.393824,-0.116744],[0.382093,-0.917449,0.110869],[-0.150769,0.056477,0.986954]]RH,`j4ٿ⽿6t?@[`a?@hLÿ?@!?iR[!@IR^;RpCYbByb I dd j49z"?Yz"?=zFyzE~=E~>Q 5 $59?Q 9 $5)BQ A  :YQ El:y/@Q Ir@sCIz:iO?i2$5yɮYA!jhIMFNOT Ignoring new targets: 187.48 m.RhU!;ZhU!;m ProNav: ac range: 187.477554 m, nav range: 181.632065 m, bearing: 249.789290 deg, approach rate: 0.028395 m/s, LOS rate: 0.227541 deg/s, cmd heading: 247.640065 deg, new cmd heading: 247.861627 deg. Bhu(<uHeadingCmd: 4.326002 target range: 187.477554 and range: 188.50 m.hn@h*h"h hgfffdddjdZd?@=Bɢ= 03>)9 =?i9)E=AAiE즼iMIIIMn@IQԑ@ @@/@A=.AIAIQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266958OmW>Թ vJ,P8AȾ?A2Un#@2c1@2 >ٱ2b%h= :AHRS rotation from veh to nav: [[-0.921561,-0.368934,-0.120887],[0.357301,-0.927768,0.107624],[-0.151861,0.055989,0.986815]]2Hl}@׿m?E =?`-pÿ??i2Un#@I2 ^;2qCYRByR IbDZVDZ0`yf<%fL=ٔf4;Q-j>9j ?Yj ?=jFyjEn=En>pQ 5v$5r'?Q 9v$5r)rBQ Av9YxQ Ez?:yz1@Q Izr@rCIr:ir?rD4$5y~Bɮ~AEjhFNOT Ignoring new targets: 187.48 m.RhKJ;ZhKJ;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519072 ProNav: ac range: 187.477554 m, nav range: 181.635239 m, bearing: 249.862697 deg, approach rate: 0.007647 m/s, LOS rate: 0.176860 deg/s, cmd heading: 247.861636 deg, new cmd heading: 248.081854 deg. Bh;HeadingCmd: 4.329845 target range: 187.477554 and range: 188.50 m.h@h*h"h hE E"E+E"E;*E;VE [4ZEa@a@a@a@gfffdddjdZd?@颅Bɢ~.->) @?i)=顑iaiI@I@ @@0@AA>A؟AIIO%o>u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804I A A ?AB >B CB : IB EBB  =B B ~DB c;B K&Et,[Ⱦ?A2r1%@2'3@2)>ٱ2;_= :AHRS rotation from veh to nav: [[-0.930906,-0.343033,-0.125469],[0.331745,-0.937780,0.102542],[-0.152838,0.053834,0.986784]]2H?տ_M;?`J6@?`0ÿ?໓?i2r1%@I2؉^;2sCYLyR Iaeae aeae aeae aeae ieMb@Mb@Mb@aaaa a9eX9v?B`"۹~jtYe3?yeνeDe@eh@ e@)e@aYe @bD}VD}Ny;%?=ٔ,;Q->9"?Y"?=FyE=E>Q 5$5]?Q 9$5)BQ AT:Y5?Q E:y)@Q Ir@CIj;i;8$5yBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.48 m.Rhh;Zhh; ProNav: ac range: 187.477554 m, nav range: 181.675720 m, bearing: 249.956213 deg, approach rate: 0.097972 m/s, LOS rate: 0.226272 deg/s, cmd heading: 248.081842 deg, new cmd heading: 248.362324 deg. BhI< HeadingCmd: 4.334740 target range: 187.477554 and range: 188.50 m.h 1@h *h "h  h gfff-Bdd!d!jd!Zd% @U}BɢO`1>) t?i)c=i䧼ifI1@II9@ @@1@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024078E EE)E"Ep;*E=;VEFA4ZEBE)=a2E)=aJEqԡ ?,tȾ?ABDAT read: Rx Time:04:54:56.2849 TRx dataTimestamp_ set to:1761540897.832246checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276068F&@F4@F->ٱF\= ZAHRS rotation from veh to nav: [[-0.939640,-0.316731,-0.129455],[0.305623,-0.947024,0.098696],[-0.153857,0.053174,0.986661]]FH TEԿ@T?ND?ÿ9??iF&@IFp^;FpCYfByf IIj=)j=r=pbDz VDz2y %R=ٔ-;Q->9!Y!=%Fy%E-`=E->9Q 5M$5=?Q 9M$5= )=rBYQyU+@Q IUr@=CI=:;i=e;=m;$5ymBɮmAmEyjhQUFNOT Ignoring new targets: 187.48 m.Rh]Gj;Zh]Gj;m ProNav: ac range: 187.477554 m, nav range: 181.705536 m, bearing: 250.041818 deg, approach rate: 0.071350 m/s, LOS rate: 0.204821 deg/s, cmd heading: 248.362317 deg, new cmd heading: 248.619088 deg. Bhm <HeadingCmd: 4.339221 target range: 187.477554 and range: 188.50 m.hڊ@h*h"h hgfffdddjdZd @tBɢO0>) ?i)a_=i%4ci%))IMڊ@IIԡ9@ @@4@AQIYIqO}z>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526796D=DE E#E-E"E@;*E;VEt4ZEa @a @a @a@ #,ˎȾ?A2B(@2ռ6@2=>ٱ2_= :AHRS rotation from veh to nav: [[-0.947750,-0.290094,-0.132719],[0.279024,-0.955479,0.095947],[-0.154644,0.053902,0.986499]]2HSҿ@?`H?\ÿ?f?i2B(@I2h^;2oCYLyR Ii-Mb@Mb@Mb@)))) )9-$C?MbX9Ŀ9Y=FyE=E>Q 5$5嵊?Q 9$5)TBY>?Q E:y(@Q Ir@CIC:i:"?$5yBɮAEjh!%FNOT Ignoring new targets: 187.48 m.Rh-;Zh-;= ProNav: ac range: 187.477554 m, nav range: 181.753403 m, bearing: 250.138455 deg, approach rate: 0.120384 m/s, LOS rate: 0.242975 deg/s, cmd heading: 248.619077 deg, new cmd heading: 248.908909 deg. Bh=&<EHeadingCmd: 4.344280 target range: 187.477554 and range: 188.50 m.hEW@hA*hI"hI hIgIfIfQfUBdQdQdYjdYZd]g@颍lBɢ5>) ?i)6=顑ii.IW@IDAT read: 04:54:56.2849 LVL= 23056, 32753, 32754, 32755, AGC= 67, IDX= 434,-0.02,-0.551,-1.563,-2.366,-1.163, PHS= 0.714,-0.355,-1.247, RAW= 63.0, 10.5, CAL= 60.5, 13.5, ROT= 89.5, -13.5 Ygot valid direction response: 04:54:56.2849 LVL= 23056, 32753, 32754, 32755, AGC= 67, IDX= 434,-0.02,-0.551,-1.563,-2.366,-1.163, PHS= 0.714,-0.355,-1.247, RAW= 63.0, 10.5, CAL= 60.5, 13.5, ROT= 89.5, -13.5 PDAT read: Bearing 352.9, 75.2 (Local) ~Local bearing/azimuth received: Bearing 352.9, 75.2 (Local) DAT read: Range 11 to 50 : 189.0 m (Round-trip 252.1 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.008485,0.972333,0.233445]Fpublishing direction and range infoy15z=G`?\sY?%E?Y5=C15Z51 5)5CI56?i5µ55L?5f;>5(? 5:Fq>)5?I5:Fq115,!?E e9BCBG IBOBB =BBDBb;B3&EA.AIIOf>1 *DAT read: user:217>  BDAT read: Tx time:04:54:57.6787  $Ping request sent. ٱ6Y= >AHRS rotation from veh to nav: [[-0.955081,-0.262946,-0.136672],[0.252230,-0.963391,0.090868],[-0.155562,0.052314,0.986440]]6Hп|~$? @"C?xÿȪ?`?i6*@I6^;6rCYRByR IbDZVDZNy~桼%~P=ٔ;Q->9 ?Y  ?= Fy E ߗ=E >Q 5%$5ѵ?Q 9%$5)9BY!y%*@Q I%r@%CI";i#;qB$5y1ɮ5'A1iaieyȾ?AJie;CRie;Cjie1nj@be\ ?iaf@Vx^vE@Rez=G`?\sY?%E?Zie?bie:FqjeH KU veJRMJ@Ze4D\mҿ?uAq:)?2ie+:ieX^"ie0񄣊?*ieE BieBie0񄣊?iaiaie3Cie@@ addTargetRange:: Added new target pos. range: 189.000000 m, deltaT: 4.031855 s, deltaX: 0.500000 m, approachRate: 0.124012 m/s, rangeRepo size: 4  Added new target pos. range: 187.994431 m, bearing: 252.062208 deg, lat: 36.779517 deg, lon: -121.859601 deg, deltaT: 4.031855 s, deltaX: 0.516876 m, approachRate: 0.128198 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 187.99 m.RhZh ProNav: ac range: 187.994431 m, nav range: 179.872177 m, bearing: 251.999664 deg, approach rate: 0.000000 m/s, LOS rate: 0.242975 deg/s, cmd heading: 248.908896 deg, new cmd heading: 249.187217 deg. BhHeadingCmd: 4.349137 target range: 187.994431 and range: 189.00 m.h",@h*h"h hgfffdddjdg@Zd`?9额eBɢ87>) ?i)+ =顩iMiI",@I@ @@/@aMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251947A؟AIIOm>ԉԹ Ƙ0,ǀȾ?A2l\,@2R:@2s >ٱ2,Y= :AHRS rotation from veh to nav: [[-0.961662,-0.236054,-0.139588],[0.225509,-0.970323,0.087290],[-0.156051,0.052465,0.986355]]2H@ 7ο~? X?yÿܪ?7?i2l\,@I2ߙ^;0YBByB I DDDFAbDN VDN:2yV%VP=ٔV:Q-V>9Z"?YZ"?=ZFyZEZ/=E^>`Q 5f$5b;?Q 9f$5bJ)bBYdyf{,@Q Ifr@bJCIb:ib:bE$5yjBɮn4AljhFNOT Ignoring new targets: 187.99 m.Rh m;Zh m; ProNav: ac range: 187.994431 m, nav range: 179.910355 m, bearing: 252.090412 deg, approach rate: 0.098170 m/s, LOS rate: 0.233300 deg/s, cmd heading: 249.187212 deg, new cmd heading: 249.459395 deg. Bh <%HeadingCmd: 4.353888 target range: 187.994431 and range: 189.00 m.h% S@h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd5@?e]BɢmK9>)i m?ii)m=qqiu(checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502891bEEG4jEEmF4rEE]0E E!E)E"E;*Ef;VEFA4ZEa @a @a @a @i8I S@I!ԡ@ @@/@AYIaIqOY>] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755876B 6>B CB B B  =B B DB b;B !&E 6,[Ⱦ?A6 &.@6<@6*!>ٱ6K= BAHRS rotation from veh to nav: [[-0.967478,-0.208405,-0.143368],[0.198543,-0.976812,0.080119],[-0.156741,0.049048,0.986421]]6H`@ʿY¿i? B`?`Ŀ??i6 &.@I6^;6oCYFByJ IiMb@Mb@Mb@ 9Zd;?~jtȿS㥛Y9?yD/ݼp@@ )+@Y@bD-VD-0y=۽%=A=ٔE}:Q-E>9AYI=MFyMEM,=EM>QQ 5e$5Uã?Q 9e$5U)UBYe^@?Q Ee:ym]+@Q Imr@UrCIU),;iU+;UI$5yuBɮuAuEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.99 m.Rh;Zh; ProNav: ac range: 187.994431 m, nav range: 179.957581 m, bearing: 252.188431 deg, approach rate: 0.111326 m/s, LOS rate: 0.230999 deg/s, cmd heading: 249.459409 deg, new cmd heading: 249.753385 deg. Bh<HeadingCmd: 4.359019 target range: 187.994431 and range: 189.00 m.h}@h*h"h hgfffBdddjdZdu`?颽TBɢ=2>) ?i)=ihiKI}@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0069329@ @@0@E EE'E"E);*Em;VE'4ZEBE8,=a%2E8,=a%JErI e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259300<,caȾ?AR0/@R=@R!>ٱR>= ^AHRS rotation from veh to nav: [[-0.972520,-0.180745,-0.146752],[0.171576,-0.982462,0.073008],[-0.157374,0.045822,0.986475]]RH@"ǿ¿`4?@Tp?$Ŀ`u?4?iR0/@IRQ^;RmCYfByf IbDnVDnkyv(Խ%vN=ٔz:Q-z>9z ?Yz ?=~Fy~E~=E~>Q 5 $5{?Q 9 $5a)ޑBYy"-@Q Ir@CIH;iA:M$5yBɮtAEjhA QUCMFNOT Ignoring new targets: 187.99 m.Rhj;Zhj;5GMgAa뫿9gAY{A ProNav: ac range: 187.994431 m, nav range: 179.994339 m, bearing: 252.280578 deg, approach rate: 0.093078 m/s, LOS rate: 0.233284 deg/s, cmd heading: 249.753380 deg, new cmd heading: 250.029763 deg. Bh <HeadingCmd: 4.363842 target range: 187.994431 and range: 189.00 m.h@h*h"h hgfffdddjdZd?YmKBɢu:3>)q u܎?iq)=iiI@Im9@i @q@u/@qԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511780A؟AIE EEE"EX;*E;VEZEa @a @a @a @IO->Թ C,ɾ?A61@6S?@6;[">ٱ6C6= >AHRS rotation from veh to nav: [[-0.976807,-0.153279,-0.149514],[0.144639,-0.987206,0.067107],[-0.157888,0.043925,0.986480]]6HA ÿI#ÿ?1 -?5Ŀd}?=?i61@I6M^;6pCLYRoByRo IIV]>)V>Z=Za=i-Mb@Mb@Mb@)))) )9-zG?5^I ˿{GzY- 7?y-X-#-@-;@ -x@)-@)Y-Q@AAbDMVDMܲyU߽%]E=ٔ]!:Q-]>9e"?Ye"?=eFyeEm@=Em>iQ 5u$5mcv?Q 9}$5m)mBY}??Q E}:y} -@Q Ir@mCIm ;imC ;mP$5yɮ.AjhFNOT Ignoring new targets: 187.99 m.Rh~;Zh~; ProNav: ac range: 187.994431 m, nav range: 180.033386 m, bearing: 252.376090 deg, approach rate: 0.094016 m/s, LOS rate: 0.229918 deg/s, cmd heading: 250.029757 deg, new cmd heading: 250.316227 deg. Bh<HeadingCmd: 4.368842 target range: 187.994431 and range: 189.00 m.h͋@h*h"h hgfffBdddjdZd ?DBɢ(6>) ?ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763566)%Q=))i-i51 99I=͋@IAB]:>B]CB]4 IB]@BBYBYBYB]qb;B]&EBCBCBĕCB =B =Cź69@ @@R0@IIOj>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014855E%  E% E% +E! "E% ;*E% xv;VE% [4ZE! BE% (=a5 2E% (=a5 JE% .ٱ2$5= :AHRS rotation from veh to nav: [[-0.980334,-0.126540,-0.151433],[0.118186,-0.990992,0.062986],[-0.158040,0.043851,0.986459]]2H`^t2+bÿ mA?4? :Ŀs??i2l3@I2^;2oCY^^By^Z IbDjVDjfyr %rR=ٔrq9Q-r>9tYt=vFyvEza=Ez>||Q 5$5~`?Q 9 $5~)~BY y .@Q I r@~CI~-;i~B.;~T$5yBɮAEjhFNOT Ignoring new targets: 187.99 m.Rh%'y;Zh%'y;u ProNav: ac range: 187.994431 m, nav range: 180.062820 m, bearing: 252.465768 deg, approach rate: 0.071507 m/s, LOS rate: 0.217827 deg/s, cmd heading: 250.316215 deg, new cmd heading: 250.585203 deg. Bh}~<}HeadingCmd: 4.373537 target range: 187.994431 and range: 189.00 m.h}@h*h"h hgfffdddjdZd~;@)1 5?i1)=k=99i=iM\oI@I)@ @@4@AzAhA-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268049I9IQaO~>ԁ P,?Cɾ?A2((5@2C@2">ٱ2U<= :AHRS rotation from veh to nav: [[-0.983148,-0.099935,-0.153077],[0.091601,-0.993951,0.060577],[-0.158205,0.045534,0.986356]]2H u@V`ÿ@,s?`s?@ĿFP?:?i2((5@I2^;2pCYBBByB7 IbDJVDJ0yR%RN=ٔV9Q-V>9TYT=VFyVEZ=EZ>\Q 5b$5^I?Q 9b$5^/)^{BYdyf0@Q Ifr@^CI^;i^:^W$5yjBɮjwAjEjh|~FNOT Ignoring new targets: 187.99 m.RhU;ZhU; ProNav: ac range: 187.994431 m, nav range: 180.085434 m, bearing: 252.557319 deg, approach rate: 0.060618 m/s, LOS rate: 0.245381 deg/s, cmd heading: 250.585215 deg, new cmd heading: 250.859832 deg. Bhg(<HeadingCmd: 4.378330 target range: 187.994431 and range: 189.00 m.hH@h*h"h! h!g!f!f!f)d)d)d)jd1Zd5 @Ye5Bɢeζ6>)a mA?ii)mD=iiimiuK󿉧qqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518944E EE*E"E;*Eс;VE(N4ZEa@a@a@a@IuH@I@ @@/@IiԉIO >Ա= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771706BM ?>BI BM  IBM BBI BI BM DBM Rb;BM &E W,]ɾ?A2P6@2D@2G#>ٱ2{?= :AHRS rotation from veh to nav: [[-0.985179,-0.073496,-0.154987],[0.065335,-0.996228,0.057113],[-0.158600,0.046141,0.986264]]2HвÿϹ?`=?@LĿ?z?i2P6@I2d}^;2qCYNByR I TTTVAieMb@Mb@Mb@aaaa a9e^I +?nʿS㥫YeX9?yeVe/]e@e`@ e@)e@aYe3@bD}VD}0y6%<=ٔq:Q->9Y=FyE{=E>Q 5$50?Q 9$5N)SBYhA?Q E:y2@Q Ir@0CԹI :i2;O[$5yBɮ}A١EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.99 m.Rh ;Zh ;  ProNav: ac range: 187.994431 m, nav range: 180.100540 m, bearing: 252.658622 deg, approach rate: 0.034691 m/s, LOS rate: 0.232622 deg/s, cmd heading: 250.859844 deg, new cmd heading: 251.163726 deg. Bh <HeadingCmd: 4.383634 target range: 187.994431 and range: 189.00 m.hF@h*h"h hgff!f%iBd!d!d)jd)Zd- @5-Bɢ5+>)9 =v?i9)=D=99iEiE~$󿉧AIIMF@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023672E EE'E"E);*E};VE'4ZEBE8,=a2E8,=aJE9 E BDAT read: Rx Time:04:55:00.3358 M TRx dataTimestamp_ set to:1761540901.864967U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277410:],|wɾ?A68@6zF@6#>ٱ6%F= >AHRS rotation from veh to nav: [[-0.986490,-0.047325,-0.156838],[0.039180,-0.997738,0.054624],[-0.159068,0.047741,0.986113]]6H S:BĿl? x ?`X\Ŀq?9tYt=vFyvEz@=Ez>|Q 5$5~S?Q 9$5~)~0BYy N4@Q I r@~TCI~Y;i~:~^$5yBɮAءEjh9=FNOT Ignoring new targets: 187.99 m.RhE;ZhE;U ProNav: ac range: 187.994431 m, nav range: 180.106827 m, bearing: 252.747786 deg, approach rate: 0.016520 m/s, LOS rate: 0.234293 deg/s, cmd heading: 251.163732 deg, new cmd heading: 251.431212 deg. BhU <HeadingCmd: 4.388302 target range: 187.994431 and range: 189.00 m.hl@h*h"h hgfffdd d jd Zd   @}%Bɢ}*>)y }h?i)+!=顁iלּi򿉧Il@IM9@I @I@M/@IA]>AYIIO$>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526845E E E+E"E*E5{;VE [4ZEa@a@a@a@qԙ 1#d,Zɾ?A6C:@6.9H@6$>ٱ6KM= >AHRS rotation from veh to nav: [[-0.987107,-0.021078,-0.158670],[0.012934,-0.998554,0.052184],[-0.159540,0.049459,0.985952]]6H```LOĿ@e}?'ҷ?@kĿ@R??i6C:@I6^;6oCYRЁByRIi-Mb@Mb@Mb@)))) )9-Cl?#~jĿ)\(Y-/?y-%-Ga-@-@ -@)-G@)Y-p@bDE VDE2yMT:%MD=ٔU :Q-U>9QYY=]Fy]E]>=Ee>aQ 5m$5e?Q 9u$5e)e BYu>5?Q Eu:yuD9@Q Iur@eyCIe ;ie2 ;eMb$5yԒBɮ%AסEjhFNOT Ignoring new targets: 187.99 m.Rhey;Zhey; ProNav: ac range: 187.994431 m, nav range: 180.091461 m, bearing: 252.839025 deg, approach rate: -0.036717 m/s, LOS rate: 0.218038 deg/s, cmd heading: 251.431203 deg, new cmd heading: 251.704942 deg. Bh<HeadingCmd: 4.393080 target range: 187.994431 and range: 189.00 m.h@h*h"h hgfffBdddjdZd\@yBɢ&&>)-DAT read: 04:55:00.3358 LVL= 20976, 32753, 32242, 32755, AGC= 65, IDX= 427,-0.41, 1.179,-0.305,-0.616, 0.546, PHS= 0.735,-0.806,-1.206, RAW= 78.7, 14.3, CAL= 78.5, 19.4, ROT= 71.5, -19.4 =Ygot valid direction response: 04:55:00.3358 LVL= 20976, 32753, 32242, 32755, AGC= 65, IDX= 427,-0.41, 1.179,-0.305,-0.616, 0.546, PHS= 0.735,-0.806,-1.206, RAW= 78.7, 14.3, CAL= 78.5, 19.4, ROT= 71.5, -19.4 =PDAT read: Bearing 350.6, 57.5 (Local) E~Local bearing/azimuth received: Bearing 350.6, 57.5 (Local) MDAT read: Range 11 to 50 : 189.7 m (Round-trip 253.0 ms) speed 0.1 m/s UR#Rx 1: Read range and direction messages.]\direction in FSK: [0.299289,0.894480,0.332161]]Fpublishing direction and range infoy$'?;tA?` B?Y=CQ} )AI(^? -\>)?I-\t2P?{j s俽:? JR8) I?i-\T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Y?i)ї=顩iei񿉧I@IB<>BBIBՁBB =BBDBlb;B&Eԡ9@ @@@I!I1OEQ> *DAT read: user:218>  BDAT read: Tx time:04:55:01.6787  $Ping request sent. ٱBaP= NAHRS rotation from veh to nav: [[-0.987062,0.005010,-0.160264],[-0.012984,-0.998727,0.048749],[-0.159816,0.050199,0.985870]]BH !t? Ŀ^?tĿ?>?iB;@IB^;BpCYrByrwIIv=)v;z=z=bDVD0y=4N%=N=ٔE5:Q-E>9IYI=MFyMEU=EU>Q 5$5봊?Q 9$5)BYy:@Q Ir@CI;iR;e$5yҒBɮ] A֡Ei)i-ɾ?AJi-[])q ulH?iq)u=qqiui}O񿉧yyIỌ@I @ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251116 AQIYIqO}z>) 4q,ɾ?Aɰp;24=@2ǘK@2P$>ٱ2 a= :AHRS rotation from veh to nav: [[-0.986313,0.030718,-0.161995],[-0.039086,-0.998047,0.048724],[-0.160182,0.054389,0.985588]]2H lt? =Ŀ@[?ԀĿث??i24=@I2ƃ^;2nC@Y^sByb8IbDjVDj:yr1%rN=ٔrw:Q-v>9tYt=vFyv Ezg=Ez>|Q 5$5~մ?Q 9$5~()~ŐBY y <@Q I r@~CI~.:i~:~;*E n;VEc44ZEa@a@a@a@jhFNOT Ignoring new targets: 188.70 m.Rhw;Zhw; ProNav: ac range: 188.695724 m, nav range: 178.724075 m, bearing: 250.885727 deg, approach rate: -0.095619 m/s, LOS rate: 0.216539 deg/s, cmd heading: 251.983082 deg, new cmd heading: 252.235610 deg. Bh<HeadingCmd: 4.402342 target range: 188.695724 and range: 189.70 m.hߌ@h!*h!"h! h!g!f!f)f)d)d)d1jd1ZdU 0+?颥Bɢ>)r ;2?i)=顩ioˬiz𿉧Iߌ@IԹ9@ @@/0@AzAeAAU.AIYIqOy checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754861B A <B 6>B CB MIB BB  =B B B b;B 7&E ^w,ɾ?A6)G?@6ٱ6 f= BAHRS rotation from veh to nav: [[-0.984959,0.056108,-0.163427],[-0.064349,-0.996886,0.045576],[-0.160361,0.055407,0.985502]]6HȄ+?@-Ŀ`3y}U?ĿB^?;?i6)G?@I6^~^;6mCY^XBybIliMMb@Mb@Mb@IIII I9M{Gz?ʡEy&1YM#?yMyM`eM;@M@ M@)M9@IYM @bDeVDeyu%uB=ٔu9Q-u>9} ?Y} ?=}Fy}Ex=E>Q 5$5?Q 9$5X)BY+'?Q E:yA@Q Ir@CI4;i;l$5yВBɮ AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 188.70 m.Rhqm;Zhqm; ProNav: ac range: 188.695724 m, nav range: 178.666534 m, bearing: 250.969311 deg, approach rate: -0.142860 m/s, LOS rate: 0.207587 deg/s, cmd heading: 252.235608 deg, new cmd heading: 252.486440 deg. Bhw<HeadingCmd: 4.406720 target range: 188.695724 and range: 189.70 m.h@h*h"h hgfff_~BdddjdZd5?Bɢ>) W(?i)?#=ibi%0𿉧!!I-@I) iqIq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008721E EE-E"E;*Em;VEt4ZEBE5#=a2E5#=aJEra % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258966?},Lɾ?A2@@2dN@2W%>ٱ2 e= :AHRS rotation from veh to nav: [[-0.982862,0.082306,-0.164951],[-0.090208,-0.995079,0.040985],[-0.160766,0.055162,0.985450]]2Hs?@ſ@@?Ŀ<>? Έ?i2@@I2^;2pCYB9ByBI DDHJAbDNVDNyVo"%VX=ٔV:Q-Z>9XYX=ZFyZE^H=E^>`Q 5f$5bz?Q 9f$5b)bBYdyjWC@Q Ijr@bCIbp:ib:b) H?i) N=  i Ci$￉1I5#@I99@ @@4@ԩIIOE>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865DD4=bE]FA4jE]C4rE]ǍH0E EE+E"E;*Ey;VE [4ZEa@a@a@a@ q,ʾ?AYvByvIiMb@Mb@Mb@ 9MbX9?+MbY!?y@@ -@)`AY@bDVDy%7=ٔQ->9Y=FyE E >Q 5-$51?Q 9-$5)_BY5"?Q EE:yEFQ IEr@#CI;i;&t$5yQɮ] AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762950jh!%FNOT Ignoring new targets: 188.70 m.Rh-H;Zh-H;] ProNav: ac range: 188.695724 m, nav range: 178.511047 m, bearing: 251.126768 deg, approach rate: -0.207311 m/s, LOS rate: 0.175372 deg/s, cmd heading: 252.710060 deg, new cmd heading: 252.959014 deg. Bh];eHeadingCmd: 4.414968 target range: 188.695724 and range: 189.70 m.hejG@ha*hi"hi hiBC>BCBIB#BBBBDB c;Bl&Egfff<~BdddjdZd i[@颭Bɢ4>) H?i)62=顱i8i!￉IjG@I 1 +O= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015136 9@  @ @ 0@ A A >E  E E 'E "E C;*E o;VE '4ZE BE '=a 2E '=a JE ,{,ʾ?AJ1D@J^'R@J9&>ٱJ'k= ZAHRS rotation from veh to nav: [[-0.976912,0.132146,-0.167868],[-0.139722,-0.989604,0.034095],[-0.161617,0.056763,0.985220]]JHB)? |ſ e@ժt? ޯĿ@??iJ1D@IJr^;HYfByfIbDvVDvܲy~]%[=ٔH;Q- >9 Y =FyE >E>!Q 55$5%ꀴ?Q 95$5%)%CBY1y5CQ I5r@%@CI%3";i%);%gw$5yE͒BɮEAEԡEjhimFNOT Ignoring new targets: 188.70 m.Rhu^;Zhu^; ProNav: ac range: 188.695724 m, nav range: 178.419083 m, bearing: 251.194303 deg, approach rate: -0.264185 m/s, LOS rate: 0.194105 deg/s, cmd heading: 252.959007 deg, new cmd heading: 253.161714 deg. Bh6<HeadingCmd: 4.418506 target range: 188.695724 and range: 189.70 m.hfd@h*h"h hgfffdddjdZd @Bɢ>) >1i)=顑iViҭIfd@I8Ƽa@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266862IIOuX>GhA5b95hAY=AԑԹ ,.WFʾ?A2E@2S@2E&>ٱ25Mn= :AHRS rotation from veh to nav: [[-0.973114,0.156298,-0.169175],[-0.163678,-0.986042,0.030508],[-0.162045,0.057378,0.985114]]2H#? ſjĿ`m=? Ŀ`?` ?i2E@I2^;2oCYfۀByj}IIn)>)np;bDrVDrkyzǽ%zK=ٔ~A:Q-~>9|Y=FyEmz=E> Q 5$5 1l?Q 9$5 9) $BYy'BQ Ir@ `CI );i ; z$5y%˒Bɮ-~A-ӡEi9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519246jhYeFNOT Ignoring new targets: 188.70 m.RheL;ZheL;u ProNav: ac range: 188.695724 m, nav range: 178.314743 m, bearing: 251.266341 deg, approach rate: -0.259387 m/s, LOS rate: 0.179192 deg/s, cmd heading: 253.161727 deg, new cmd heading: 253.377967 deg. Bh};HeadingCmd: 4.422280 target range: 188.695724 and range: 189.70 m.hQ@h*h"h hgfffdddjdZd`A@E E.E*E"E;*E҆;VE(N4ZEa@a@a@a@Bɢޝ>) v>i)=ii%2IQ@IԑE9@ @@/@5PExceeded connect timeout, disconnecting.IYIiOu>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771354B S>B CB _IB ÀBB =B BDB DB c;B &EBUCBUCBUɔCBU =BU =CUg6 .,2`ʾ?Aɰ;2*FG@2;U@2R'>ٱ2y9Y=Fy#Ea=E>Q 5$5W?Q 9$5)BY4?Q E:yK;Q Ir@CI@:i:~$5yɮAB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 188.70 m.Rh =;Zh =;% ProNav: ac range: 188.695724 m, nav range: 178.182770 m, bearing: 251.336875 deg, approach rate: -0.310281 m/s, LOS rate: 0.165953 deg/s, cmd heading: 253.377970 deg, new cmd heading: 253.589726 deg. Bh%;-HeadingCmd: 4.425976 target range: 188.695724 and range: 189.70 m.h-@h)*h)"h) h)g1f1f9f=}Bd9d9d9jdAZdE< @mBɢmJi >)q u:>iq)}R=yyi}i I@IiiUBDAT read: Rx Time:04:55:04.3344 UTRx dataTimestamp_ set to:1761540905.644326]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024154E EE)E"E;*E~;VEFA4ZEBE&=a2E&=aJEv checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885ם,0zʾ?A6uH@6V@6s'>ٱ6Fb= >AHRS rotation from veh to nav: [[-0.964127,0.203062,-0.170950],[-0.209347,-0.977649,0.019383],[-0.163194,0.054475,0.985089]]6H!?ſ@ʿ@H@ٓ?Ŀ*?@م?i6uH@I6^;6lCYFByF;IbDLVDLyVȽ%V\=ٔVj:Q-V>9Z"?YZ"?=ZFyZ'E^`=E^>`Q 5f$5bD?Q 9f$5b )bBYdyf9Q Ijr@bCIb:ibo:b$5ynɒBɮnAnҡEjh FNOT Ignoring new targets: 188.70 m.Rh :;Zh :; ProNav: ac range: 188.695724 m, nav range: 178.063736 m, bearing: 251.397434 deg, approach rate: -0.320623 m/s, LOS rate: 0.163227 deg/s, cmd heading: 253.589734 deg, new cmd heading: 253.771531 deg. Bh ;%HeadingCmd: 4.429149 target range: 188.695724 and range: 189.70 m.h%@h!*h)"h) h)g)f)f1f1d1d1d1jd9Zd= ; @-Bɢ- >)1 5A>i),=顑iAiQI@IQ@ @@0@yAIIOb>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528903E EE*E"E;*Es;VE(N4ZEa @a @a@a@Թ *,ʾ?A6SJ@6rIX@6$(>ٱ6W= >AHRS rotation from veh to nav: [[-0.958765,0.226971,-0.171036],[-0.232483,-0.972518,0.012645],[-0.163466,0.051887,0.985184]]@6H@4e ?ſͿ?qĿꐪ??i6SJ@I6Ϡ^;6nCYbByb%I hhiMb@Mb@Mb@ 9^I +?/$?QYX?y,=u@ Q@)Y@ p<<bDVD:y6%9=nManaging dock network, ignoring radio surface power offٔ#:Q->9Y=Fy,Eu^=E>Q 5$5/?Q 9$5&)ԏBY?Q E:y35Q Ir@CI;i ;$5yȒBɮADAT read: 04:55:04.3344 LVL= 24736, 32753, 32754, 32755, AGC= 67, IDX= 430,-0.44, 1.099,-0.957,-0.456, 0.400, PHS= 0.801,-1.313,-0.901, RAW= 100.6, 14.4, CAL= 101.6, 17.0, ROT= 48.4, -17.0 Ygot valid direction response: 04:55:04.3344 LVL= 24736, 32753, 32754, 32755, AGC= 67, IDX= 430,-0.44, 1.099,-0.957,-0.456, 0.400, PHS= 0.801,-1.313,-0.901, RAW= 100.6, 14.4, CAL= 101.6, 17.0, ROT= 48.4, -17.0 PDAT read: Bearing 350.8, 37.5 (Local) ~Local bearing/azimuth received: Bearing 350.8, 37.5 (Local) DAT read: Range 11 to 50 : 188.7 m (Round-trip 251.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages. \direction in FSK: [0.634916,0.715123,0.292372]Fpublishing direction and range infoyq}:Q?"cI?兗7?Y? >)@X?I闾9SS:?(lԿ'σH? n)6I@X?i闾-T****** received valid address query ******-R****** received valid ping request ******B5]>B5CB5IB5mBB5 =B1B5DB5c;B5&EMQuerying Benthos address 50 with one ping in standard two-way mode.ii~ʾ?AJi;CRi;Cji@b|@ addTargetRange:: Added new target pos. range: 188.699997 m, deltaT: 4.031034 s, deltaX: -1.000000 m, approachRate: -0.248075 m/s, rangeRepo size: 4  Added new target pos. range: 187.713623 m, bearing: 239.398945 deg, lat: 36.779409 deg, lon: -121.859535 deg, deltaT: 4.031034 s, deltaX: -0.982101 m, approachRate: -0.243635 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 187.71 m.RhZh- ProNav: ac range: 187.713623 m, nav range: 177.553497 m, bearing: 249.317080 deg, approach rate: 0.000000 m/s, LOS rate: 0.163227 deg/s, cmd heading: 253.771526 deg, new cmd heading: 254.026464 deg. Bh)5HeadingCmd: 4.433598 target range: 187.713623 and range: 188.70 m.h5 @h1*h1"h1 h9g9f9f9fE}BdAdAdIjdM`fg@ZdM㧵?BɢӾ>) >i)j=i%i F쿉  I  @I 9@ @@/@A .AI I  O >m *DAT read: user:219> u BDAT read: Tx time:04:55:05.7287 u $Ping request sent.u ٱFPU= RAHRS rotation from veh to nav: [[-0.952948,0.249979,-0.171467],[-0.255074,-0.966889,0.007992],[-0.163792,0.051352,0.985157]]FH~`M?`ſ@ Sп`]?!ĿJ?h?iFMK@IFP^;FqCY^By^IbDfVDf1ly%X=ٔIf:Q->9  ?Y  ?= Fy 0E=E>YQ 5e$5]?Q 9e$5])]BYaye3Q Ier@]CI]w:i],:]$5yqɮuAqjhFNOT Ignoring new targets: 187.71 m.Rh(J;Zh(J;  ProNav: ac range: 187.713623 m, nav range: 177.408188 m, bearing: 249.373400 deg, approach rate: -0.455627 m/s, LOS rate: 0.176738 deg/s, cmd heading: 254.026456 deg, new cmd heading: 254.195552 deg. Bh5;=HeadingCmd: 4.436549 target range: 187.713623 and range: 188.70 m.h=6@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM ?BɢT >) ߻>i)5=ii^쿉  I 6@I 9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253426AIIOj>1a (ѱ,ʾ?A2dXM@2M[@2(>ٱ2"L= :AHRS rotation from veh to nav: [[-0.946618,0.272967,-0.171472],[-0.277378,-0.960759,0.001841],[-0.164240,0.049305,0.985187]]2HJ Kx? ſѿ*^?`ſ`>??i2dXM@I2m^;2mCYBrByBIbDJVDJyR%RQ=ٔV:Q-V>9TYT=ZFyZ3EZu=EZ>\Q 5b$5^ ?Q 9b$5^0)^BYdyf/2Q Ifr@^CI^I:i^:^w$5yjΒBɮjAjڡEjh|FNOT Ignoring new targets: 187.71 m.Rh*;Zh*; ProNav: ac range: 187.713623 m, nav range: 177.259460 m, bearing: 249.428525 deg, approach rate: -0.400701 m/s, LOS rate: 0.148641 deg/s, cmd heading: 254.195544 deg, new cmd heading: 254.361056 deg. Bh;%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502765-HeadingCmd: 4.439438 target range: 187.713623 and range: 188.70 m.h-@h)*h)"h) h)g1f1f1f19d9dAdAjdAZdEX?uBɢu|>)q u'>DzDE EEE"E;*Ex;VEZEa@a@a@a@i)=i%)ަi%뿉))I-@I)@ @@/@yII!O=P>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754684B5 _>B5 CB5 IB5 0BB5 =B1 B1 B5 -d;B5 'E ,|ʾ?AYnpBynIIr=)r;ieMb@Mb@Mb@aaaa a9ex?V-?YeK?yeԙ9Y=Fy8EE>Q 5$5?Q 9$5a)BYz?Q E:y3Q Ir@ DI;i ;C$5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.71 m.Rh&;Zh&;  ProNav: ac range: 187.713623 m, nav range: 177.097229 m, bearing: 249.491687 deg, approach rate: -0.372595 m/s, LOS rate: 0.145197 deg/s, cmd heading: 254.361053 deg, new cmd heading: 254.550713 deg. Bh K;HeadingCmd: 4.442748 target range: 187.713623 and range: 188.70 m.h*@h*h"h hgff!f%}Bd!d!d)jd)Zd- ?5Bɢ5j>)9 =>i9)=S=99iEޥiEs뿉AIIM*@II]t>i]>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007732E EE&E"E1;*Ep;VE4ZEBEJ=a2EJ=aJE-  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258624z%,Uʾ?A4<ɰ4ٱJCz-= VAHRS rotation from veh to nav: [[-0.931780,0.320942,-0.169651],[-0.323342,-0.946178,-0.014054],[-0.165031,0.041760,0.985404]]JH % P? !ſࢱԿGȌſ`a?m?iJzP@IJr^;JnCYbnBybIbDjVDjyr&%rV=ٔvo ;Q-v>9tYt=vFyv<Ez>Ez>|Q 5$5~W泊?Q 9$5~)~BY y 0Q I r@~DI~w:i~:~$5y̒BɮA١Ejh9EFNOT Ignoring new targets: 187.71 m.RhE;ZhE;U ProNav: ac range: 187.713623 m, nav range: 176.946960 m, bearing: 249.544829 deg, approach rate: -0.394439 m/s, LOS rate: 0.139610 deg/s, cmd heading: 254.550714 deg, new cmd heading: 254.710275 deg. BhU;]HeadingCmd: 4.445533 target range: 187.713623 and range: 188.70 m.h]A@hY*ha"ha hagafafifidididijdqZdu;1?颥zBɢѿ >) s>i)'=顩i)i28뿉IA@Iy1@1 @1@5/@1IIO=ԡi9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946E E+E*E"E;*E;VE(N4ZEa@a@a@a@ Ų,<˾?ANR@NX`@N"*>ٱN'= ^AHRS rotation from veh to nav: [[-0.923427,0.344539,-0.169044],[-0.346310,-0.937910,-0.019843],[-0.165385,0.040218,0.985409]]NH`@ ?@9ſ)ֿ \QR+ſg?w?iNR@INE}^;NoCYnmBynIiMb@Mb@Mb@ 9A`"?Mbp?~jtx?Y?y;;A@|@ @)AY@bDVDy/%;=ٔW:Q->9Y=Fy@Eh=E>Q 5$5 ҳ?Q 9$5)lBY?Q E:y1Q Ir@+DI;ia;h$5y ɮ Ajh9=FNOT Ignoring new targets: 187.71 m.RhEM$;ZhEM$;U ProNav: ac range: 187.713623 m, nav range: 176.776596 m, bearing: 249.607548 deg, approach rate: -0.389804 m/s, LOS rate: 0.143644 deg/s, cmd heading: 254.710267 deg, new cmd heading: 254.898606 deg. BhU);]HeadingCmd: 4.448820 target range: 187.713623 and range: 188.70 m.h]\@hY*hY"hY hYgafafafe}BdididijdqZdu b@Ba>BBxIBBBBBBVd;B'E5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.782756}kBɢ}>)y }Ƿ>iy)Y=顁i)*i}꿉I\@II@Q @Q@]/@YIIOI>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.034604E  E E ,E "E ;*E X;VE g4ZE BE '=a 2E '=a JE w7˲, /˾?A$:S@:a@:*>ٱ:f&= BAHRS rotation from veh to nav: [[-0.914480,0.367632,-0.169034],[-0.369001,-0.929108,-0.024411],[-0.166025,0.040050,0.985308]]:HkCI?@ſ׿A5P@ſx?@?i:S@I:^;8YJlByJIbDRVDRyZh%Z`=ٔ^:Q-^>9\Y\=bFybDEbz=Eb>dQ 5j$5f6?Q 9j$5f')fZBYlyn0Q Inr@f9DIf(;ifR;f$5yr˒BɮvAtjh FNOT Ignoring new targets: 187.71 m.Rh[!;Zh[!;- ProNav: ac range: 187.713623 m, nav range: 176.630142 m, bearing: 249.659001 deg, approach rate: -0.401204 m/s, LOS rate: 0.141070 deg/s, cmd heading: 254.898616 deg, new cmd heading: 255.053103 deg. Bh-;-HeadingCmd: 4.451517 target range: 187.713623 and range: 188.70 m.h5r@h1*h1"h1 h1g1f1f9f9dAdAdAjdAZdE@uaBɢu >)q up>iy)}W=yyi}扣i t꿉Ir@I@ @@'0@qIIO=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.286639ԙ Ҳ,TH˾?A2z>U@2 4c@2I+>ٱ2$= :AHRS rotation from veh to nav: [[-0.904925,0.390761,-0.168572],[-0.391652,-0.919645,-0.029341],[-0.166492,0.039470,0.985252]]2H%;?@Ǔſ ٿ m@ Oſo5?@0?i2z>U@I2q^;2mCPYRnByRIbD^VD^02yv;%vG=ٔv:Q-z>9xYx=zFyzHE~x=E~>Q 5 $5}?Q 9 $5)GBY y.Q Ir@HDI$:i:1$5yɒBɮAءEDzDbE!jE%FA4rE%/E E4E(E"E#;*Ef;VEc44ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.542343jhFNOT Ignoring new targets: 187.71 m.Rh;Zh ; ProNav: ac range: 187.713623 m, nav range: 176.461258 m, bearing: 249.715602 deg, approach rate: -0.388484 m/s, LOS rate: 0.130323 deg/s, cmd heading: 255.053115 deg, new cmd heading: 255.223079 deg. Bh;%HeadingCmd: 4.454483 target range: 187.713623 and range: 188.70 m.h% @h!*h)"h) h)g)f)f1f1d1dQdQjdYZd]@@SBɢ]M >) >i)H=iXi꿉I @II@I @I@U 0@QI I1O]U>AAAABg>BCBeIBBB =BBDBd;BX'Eu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.794640! UIز,b˾?A2 V@2d@2B+>ٱ2X.= :AHRS rotation from veh to nav: [[-0.894612,0.414345,-0.167292],[-0.414573,-0.909333,-0.035241],[-0.166726,0.037828,0.985277]]2H`?iſ ^ڿ@B @FWſ,^?d?i2 V@I2^;0YbmBybI|iMb@Mb@Mb@ 9~jt?S㥫Mb`?Y?y/];f@@ @)AY@bD VD2y%?=ٔ:Q->9Y=FyLEs=E>Q 5$5 ?Q 9$5)1BYB?Q E:y 3Q Ir@YDIQ;iu:$5yɮAB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 187.71 m.Rh }5;Zh }5;% ProNav: ac range: 187.713623 m, nav range: 176.295700 m, bearing: 249.779769 deg, approach rate: -0.409009 m/s, LOS rate: 0.158672 deg/s, cmd heading: 255.223078 deg, new cmd heading: 255.415758 deg. Bh%;-HeadingCmd: 4.457846 target range: 187.713623 and range: 188.70 m.h-@h)*h)"h) h)g1f1f1f=_~Bd9d9d9jdAZdE@p @mGBɢmY>)q u>iq)u]=yyi}㡼i}鿉I@I 9@ @@4@AE EE,E"E;*Er;VEg4ZEBE,=a2E,=aiIBDAT read: Rx Time:04:55:08.4093 TRx dataTimestamp_ set to:1761540909.701415checking for new query: numPingsReceived=0, elapsed TxPingTime=3.049328JEQԁ M Ga y 9 Y As޲,4|˾?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2987656̀X@6_vf@6+>ٱ6= >AHRS rotation from veh to nav: [[-0.883733,0.437613,-0.165862],[-0.437165,-0.898438,-0.041185],[-0.167039,0.036112,0.985289]]6H@G`?:ſ`ۿ@8aſJ}? |?i6̀X@I6q^;6kCYbiBybIIf>)fp=f=f=hhbDnVDn:yM6%MP=ٔUXT:Q-U>9U"?YYU"?=]FyePEe]=Ee>iQ 5u$5mq?Q 9u$5mC)mBYyy}j1Q I}r@mhDIm;im; ;m^$5yȒBɮAסEjhFNOT Ignoring new targets: 187.71 m.Rhb(;Zhb(; ProNav: ac range: 187.713623 m, nav range: 176.139297 m, bearing: 249.837529 deg, approach rate: -0.398269 m/s, LOS rate: 0.147213 deg/s, cmd heading: 255.415771 deg, new cmd heading: 255.589205 deg. Bh;HeadingCmd: 4.460873 target range: 187.713623 and range: 188.70 m.hy@h*h"h hgfffdddjdZdN @ ;Bɢ>) i>i)O=i(i%A鿉!)I-y@I)9@ @@4@ԉA.AIIO%M>D<D<E EEE"E;*E n;VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.550677 `,ߋ˾?AB Z@Bh@B[,>ٱBGl= JAHRS rotation from veh to nav: [[-0.872326,0.460317,-0.164789],[-0.459328,-0.887055,-0.046378],[-0.167525,0.035235,0.985238]]BH u?`ſeݿb޾vqſU ??iB Z@IB6^;@YjcByjIieMb@Mb@Mb@aaaa aԩ9e~jt?1ZdMb`?Yaye"۽ae@e@ e@)eAaYe@bDVDky%A=ٔ:Q->9 ?Y ?=FyTEWu=E>Q 5$5r?Q 9$5O)BY ?Q E:yZ5Q Ir@xDI:i:$5y ɮ(Ajh1=FNOT Ignoring new targets: 187.71 m.Rh=2;ZhE2;U ProNav: ac range: 187.713623 m, nav range: 175.981873 m, bearing: 249.903643 deg, approach rate: -0.372211 m/s, LOS rate: 0.156459 deg/s, cmd heading: 255.589203 deg, new cmd heading: 255.787723 deg. BhU;]HeadingCmd: 4.464338 target range: 187.713623 and range: 188.70 m.h]ێ@hY*hY"hY hYgYfafafe~BdaBuh>BqBu_IBuBBqBqBqBu)e;Bu'EB5CB5CB5“CB5 =B5 =C5Lj5ddjdZd%@.Bɢ >) >i)=iaSi迉Iێ@I]DAT read: 04:55:08.4093 LVL= 14576, 23153, 23778, 26755, AGC= 68, IDX= 189,-0.00,-0.852,-2.164,-1.609,-1.708, PHS= 0.958,-0.411, 0.055, RAW= 109.6, -10.0, CAL= 108.9, -10.9, ROT= 41.1, 10.9 mYgot valid direction response: 04:55:08.4093 LVL= 14576, 23153, 23778, 26755, AGC= 68, IDX= 189,-0.00,-0.852,-2.164,-1.609,-1.708, PHS= 0.958,-0.411, 0.055, RAW= 109.6, -10.0, CAL= 108.9, -10.9, ROT= 41.1, 10.9 u8DAT read: $Error in header u*Received a bad headerX#Rx 1: Read direction message, but no range.^direction in FSK: [0.739968,0.645515,-0.189095]y)-"Iѭ?ȃ?oG4ȿ)-8-qZ-\ -h)-DI-}?u?i-nҾ-Ga=-G?-¸2-H? -B)-7?I-B>)-~Z?6ƿv Aƿ -(:)-2>I-7?i-B>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsey@ @@/@A؟AIIOi> E  E E +E "E ;*E =;VE [4ZE BE z)=a  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse2E z)=a JE ٱ2.= :AHRS rotation from veh to nav: [[-0.860055,0.483609,-0.162567],[-0.481802,-0.874673,-0.053044],[-0.167845,0.032705,0.985271]]2H @r? Ŀ ޿`R({ſ@?V?i2[@I2x^;0YNjByRIbDZVDZyr.=%v\=ٔvd:Q-v>9z"?Yz"?=zFyzXEz=Ez>Q 5$5`?Q 9 $5C)BY y 3Q I r@DI:i8:O$5yƒBɮA֡EjhyFNOT Ignoring new targets: 187.71 m.Rh,;Zh,; ProNav: ac range: 187.713623 m, nav range: 175.838730 m, bearing: 249.960810 deg, approach rate: -0.377550 m/s, LOS rate: 0.150904 deg/s, cmd heading: 255.787716 deg, new cmd heading: 255.959355 deg. Bh ;HeadingCmd: 4.467333 target range: 187.713623 and range: 188.70 m.he@h*h"h hgfffdddjdZd@%#Bɢ->)) ->i))-\=)1i5im迉Ie@II@I @I@I@IAET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseAIIOb>iԙ Ym,.˾?A2Jg]@2\k@2,>ٱ2S = :AHRS rotation from veh to nav: [[-0.847591,0.505495,-0.161445],[-0.503416,-0.862187,-0.056617],[-0.167816,0.033286,0.985256]]2H`v@-?>Ŀ@` @zſ ? 8?i2Jg]@I2i^;2mCYR_ByRITT XZ<bDZVDZybX%fL=ٔfQ-f>9dYh=jFyj\Ej=Ej>lQ 5r$5nM?Q 9v$5n)nݎBYtyv2Q Ivr@nDIn1:in:nͯ$5yzŒBɮz0A~աEjh%FNOT Ignoring new targets: 187.71 m.Rh%/;Zh-/;5 ProNav: ac range: 187.713623 m, nav range: 175.680511 m, bearing: 250.021007 deg, approach rate: -0.403779 m/s, LOS rate: 0.153764 deg/s, cmd heading: 255.959345 deg, new cmd heading: 256.140099 deg. Bh= ;DyzDyE EE&E"E*Eik;VE4ZEa@a@a@a@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHeadingCmd: 4.470488 target range: 187.713623 and range: 188.70 m.h=@h*h"h hgfffdddjdZd{J@eBɢe@A>)a e>ii)mW=iiim2Ꞽqiv迉I=@I)@) @)@-/@)ԩA}.AIIOe>BqAqByByB}YIB}BByByByB}e;B}'EM T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse ؗ, ˾?A2_@2*m@2,>ٱ2 = :AHRS rotation from veh to nav: [[-0.834169,0.527689,-0.160331],[-0.525274,-0.848771,-0.060628],[-0.168077,0.033644,0.985200]]2H?Ŀ` !) `ſ9? ?i2_@I2J^;2lCYN`ByRIieMb@Mb@Mb@aaaa a9e"~?ףp= ÿMb`?Ye?yeae9@eO@ eh@)e AaYep@bD}VD}:y;%>=ٔ!:Q->9 ?Y ?=Fy`E)x=E>Q 5$5-9?Q 9$5t )ǎBY2?Q E:y6Q Is@DI:i:$5yɮ$AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.71 m.Rh/;Zh/; ProNav: ac range: 187.713623 m, nav range: 175.528427 m, bearing: 250.087067 deg, approach rate: -0.353818 m/s, LOS rate: 0.153820 deg/s, cmd heading: 256.140099 deg, new cmd heading: 256.338451 deg. Bh!; HeadingCmd: 4.473950 target range: 187.713623 and range: 188.70 m.h *@h *h "h  h g fff<Bdd!d!jd!Zd%@@U BɢU>)Q U>iY)]=YYi]8ie 翉aaIe*@IiE EE(E"E;*Evl;VEc44T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZEBE +=a2E +=aJE) ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapsej,˾?Ab`@bJn@b,>ٱbl= nAHRS rotation from veh to nav: [[-0.820548,0.548912,-0.159367],[-0.546352,-0.835148,-0.063467],[-0.167932,0.034993,0.985177]]bHA`? fĿ@{`@^?@~ſ??ib`@Ibq^;`YvUByvIbD~VD~k1y Rq% R=ٔ =ƹQ- >9"?Y"?=FydE,=E>!Q 5-$5%&?Q 9-$5%\ )%BY)y-z4Q I5s@%DI%;i%);%$5y=ĒBɮ=wA=ԡEjhaeFNOT Ignoring new targets: 187.71 m.Rhm5-;Zhm5-;} ProNav: ac range: 187.713623 m, nav range: 175.386322 m, bearing: 250.145803 deg, approach rate: -0.366073 m/s, LOS rate: 0.151430 deg/s, cmd heading: 256.338448 deg, new cmd heading: 256.514797 deg. Bh};HeadingCmd: 4.477028 target range: 187.713623 and range: 188.70 m.hC@h*h"h hgfffdddjdZd`{@Bɢ>) M>iI)Mpl=IIiUiU,0翉QYI]C@IYi@ @@,0@AQIYIiO}X>ԑE EE'E"E;*EZ;VE'4ZEa@a@a@a@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԹ ,̾?ALJVb@JHLp@J,>ٱJ= ZAHRS rotation from veh to nav: [[-0.806280,0.569887,-0.158560],[-0.567209,-0.820909,-0.066195],[-0.167887,0.036564,0.985128]]JH 9Y=FyiE!x=E>Q 5$5?Q 9$55 )BY?Q E:y6Q Is@DIe:iX:$5yɮMAjhFNOT Ignoring new targets: 187.71 m.Rh/0;Zh/0;Bi>BBSIBBB =BBBe;B'E= ProNav: ac range: 187.713623 m, nav range: 175.239822 m, bearing: 250.210928 deg, approach rate: -0.346210 m/s, LOS rate: 0.154033 deg/s, cmd heading: 256.514803 deg, new cmd heading: 256.710341 deg. Bh=l;EHeadingCmd: 4.480441 target range: 187.713623 and range: 188.70 m.hE_@hA*hA"hA hAgIfIff-BdddjdZd6B@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseM~BɢUDu >)Q UD>iQ)UP=QQi]gi]W濉aaIe_@Ia!@! @!@%0@!Am.AIyIO>! E  E E *E "E d;*E l;VE (N4ZE BE j= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsea 2E j=a JE ٱ:i*= BAHRS rotation from veh to nav: [[-0.791619,0.589861,-0.159386],[-0.587559,-0.806457,-0.066350],[-0.167675,0.041125,0.984984]]:H`T$?`fĿ H ~@K`]vſN??i:c@I:6w^;8YJ3ByJIbDVVDVJyZf%Z[=ٔ^]Q-^>9b ?Yb ?=bFyblEb=Ef>dQ 5j$5fg?Q 9n$5f)fBYlyn4Q Ins@fDIf;if; ;f$5yv’BɮvxAt|jhFNOT Ignoring new targets: 187.71 m.Rh,;Zh%,;- ProNav: ac range: 187.713623 m, nav range: 175.106522 m, bearing: 250.267295 deg, approach rate: -0.356773 m/s, LOS rate: 0.150978 deg/s, cmd heading: 256.710338 deg, new cmd heading: 256.879567 deg. Bh5:;5HeadingCmd: 4.483394 target range: 187.713623 and range: 188.70 m.h5w@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM`̫@}~Bɢ}>)y }h>i)ߤ=顁i9 i_濉Iw@I@ @@4@1Ae؟AIiIyO9>%T****** received valid address query ******%R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseQԁ ,SvK̾?A2e@2>~s@2+>ٱ2<>= :AHRS rotation from veh to nav: [[-0.777074,0.608702,-0.160115],[-0.606820,-0.792080,-0.066178],[-0.167107,0.045736,0.984877]]2H@|z?~Ŀk X@`cſj??i2e@I2l^;2lCYB#ByBIbDJVDJkyR%RK=ٔVỺQ-V>9V"?YV"?=ZFyZpEZy=EZ>\Q 5b$5^?Q 9b$5^)^pBYdyfm3Q Ifs@^DI^:i^I:^i$5yjȒBɮj*AjܡEjh|FNOT Ignoring new targets: 187.71 m.Rh1*;Zh1*; ProNav: ac range: 187.713623 m, nav range: 174.958664 m, bearing: 250.326913 deg, approach rate: -0.368710 m/s, LOS rate: 0.148794 deg/s, cmd heading: 256.879562 deg, new cmd heading: 257.058567 deg. Bh;;HeadingCmd: 4.486518 target range: 187.713623 and range: 188.70 m.h%@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5@3F@aEe EeEe)Ea"Eeغ;*Ee^;VEeFA4ZEaau@au@au@au@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse=~Bɢ=/ >)A E>iA)E?=AAiEI7iM1忉IQIU@II@I @I@M0@IԉIYIOf>ԱAABo>BCB:IBBB =BBB@f;B(E5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse 0,We̾?A2(g@2u@2J+>ٱ2$HF= :AHRS rotation from veh to nav: [[-0.761519,0.628293,-0.159175],[-0.626393,-0.776512,-0.068274],[-0.166497,0.047714,0.984887]]2H\^`?_Ŀh /ezOſn?@1?i2(g@I2ƃ^;2kCYbBybIiMMb@Mb@Mb@IIII I9MB`"?Eȿy&1YM?yMFM`eMEAMrA M@)MAIYMAbDeVDeP)yu缽%}>=ٔ}׻Q-}>9Y=FyuEp=E>Q 5$5ڲ?Q 9$5D)WBYG?Q E:y2Q Is@DI ;iC ;-$5yɮAԱB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.71 m.Rh';Zh'; ProNav: ac range: 187.713623 m, nav range: 174.799332 m, bearing: 250.389981 deg, approach rate: -0.368539 m/s, LOS rate: 0.146010 deg/s, cmd heading: 257.058568 deg, new cmd heading: 257.247943 deg. Bhi;HeadingCmd: 4.489824 target range: 187.713623 and range: 188.70 m.h@h*h"h hgfffpBd d d jd Zd @@颽~Bɢ7@ >) M>i)@=iUi 忉I@II!)%fAEu EuEu(Eq"Eu;*Eu=T;VEuc44ZEqBEu=a2Eu=aJEu9 = T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse,-̾?Ajh@jv@j5*>ٱjQ= vAHRS rotation from veh to nav: [[-0.746025,0.646698,-0.158837],[-0.644927,-0.761071,-0.069579],[-0.165883,0.050530,0.984850]]jHn࿱?TĿ=Zϱ;ſߩ? ?ijh@Ijt^;hYzByzfIbD  VD :2y%P=ٔZкQ-%>9!Y!=%Fy%yE-=E->1Q 5=$55%ɲ?Q 9=$55r)5@BY9y=-1Q IEs@5DI5;i5<;5$5yMǒBɮMvAMۡEjhquFNOT Ignoring new targets: 187.71 m.Rh}$;Zh}$; ProNav: ac range: 187.713623 m, nav range: 174.650467 m, bearing: 250.446205 deg, approach rate: -0.381255 m/s, LOS rate: 0.144116 deg/s, cmd heading: 257.247956 deg, new cmd heading: 257.416769 deg. Bh;HeadingCmd: 4.492770 target range: 187.713623 and range: 188.70 m.hď@h*h"h hgfffdddjdZd@~Bɢ) >) ܓ>i)rB=iYiS,忉Iď@I@ @@/@IQIaOm>ADu=Du=bEƷG4jEmF4rEƮ10E} E}E}+Ey"E};*E};J;VE} [4ZEya@a@a@a@iߑIߑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiԡ &,/5̾?AfLCj@f8x@fz*>ٱff= nAHRS rotation from veh to nav: [[-0.730387,0.664012,-0.160071],[-0.662739,-0.745652,-0.069134],[-0.165263,0.055591,0.984681]]fHS_ ??`5}Ŀ)5aʲY'ſ^v??ifLCj@If^;flCYvByvAIB~>BCBIBbBB =BBDByf;B>(EiMb@Mb@Mb@ 9q= ףp?Kǿ9Y=Fy}Egc=E>Q 5 $5J?Q 9 $5)%BY*?Q E:y.Q Is@DIL;i;d$5yɮ%eA!jhAMFNOT Ignoring new targets: 187.71 m.RhM;ZhM;ae ProNav: ac range: 187.713623 m, nav range: 174.484024 m, bearing: 250.504764 deg, approach rate: -0.383556 m/s, LOS rate: 0.135074 deg/s, cmd heading: 257.416770 deg, new cmd heading: 257.592615 deg. Bhef;mHeadingCmd: 4.495839 target range: 187.713623 and range: 188.70 m.hmݏ@hi*hi"hq hqgqfqfyf}&BdydydjdZd ' @颭~BɢI>) " 1w>i)|=项T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiUti]俉YaIeݏ@Ia @ @@5@ԉIIO?>ԱEu  Eu Eq Eq "Eu ;*Eu bC;VEq ZEq BEu =a 2Eu =a JEu ٱ2)i= :AHRS rotation from veh to nav: [[-0.714440,0.681580,-0.158192],[-0.680082,-0.729589,-0.072036],[-0.164514,0.056118,0.984777]]2H`??Ŀ:Xp`ſ ? K?i2k@I2{^;2mCY^tBybIIf<)fC=bDjVDjJyE*-%MW=ٔMQ-U>9QYQ=UFy}EO}=E>Q 5$5?Q 9$5g)BYyK-Q Is@DI0) ?>i)c=顉iwi%p俉I@IY>i>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsey@y @y@}4@yAzAeAIIOn>) d 3,̾?A0Y~MBy~IbDVDNy%#ý%%M=ٔ%Q-%>9)Y)=-Fy-E5E5>D9zD=AAEE EEEAEA"EE;*EE2;VEAZEAaM@aM@aU@aU@1eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseQ 5]$55Ɣ?Q 9e$55)5BYiyiQ Ims@5,DI5.;i5;52$5yqɮuAjhYeFNOT Ignoring new targets: 187.71 m.Rhes;Zhms; ProNav: ac range: 187.713623 m, nav range: 174.177856 m, bearing: 250.607862 deg, approach rate: -0.376785 m/s, LOS rate: 0.127163 deg/s, cmd heading: 257.745822 deg, new cmd heading: 257.902168 deg. Bh;HeadingCmd: 4.501242 target range: 187.713623 and range: 188.70 m.h- @h*h"h hgfffdddjdZd!@%~Bɢ%>)! -">i))-E=)y)iqi俉I- @I! @ @@4@ԡB<A<B>BCBIB~BB =BADBDBf;B`(EB}CB}CB}ǕCB} =B} =C}N6Am.AIyIO> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse 39,̾?A6n@6|@6J'>ٱ6ww= >AHRS rotation from veh to nav: [[-0.681703,0.714832,-0.155872],[-0.713322,-0.696747,-0.075600],[-0.162644,0.059650,0.984880]]6H`?ÿ@KZĿv? #?i6n@I6M^;6lCYFByFI`iMb@Mb@Mb@ 9K7A`?jtĿ{GzY ?y ף`A/A A@)AYAbD5VD5fyER%EH=ٔMQ-M>9M ?YM ?=MFyUEU =EU>YQ 5e$5]B?Q 9e$5])]ލBYm?Q Em:ym'Q Ims@];DI]:i]:]$5yuBɮuA}ڡEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.71 m.RhC;ZhC; ProNav: ac range: 187.713623 m, nav range: 174.006256 m, bearing: 250.656368 deg, approach rate: -0.451933 m/s, LOS rate: 0.127872 deg/s, cmd heading: 257.902178 deg, new cmd heading: 258.047839 deg. Bh;HeadingCmd: 4.503784 target range: 187.713623 and range: 188.70 m.h@h*h"h hgfff~BdddjdZd "@颥~BɢZ=) =i):r=顩i0wik㿉I@IEU EUsEU%EQ"EU;*EU)+;VEU 4ZEQBEU T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse@,Tt;?A2Jp@2C@~@261&>ٱ2J= :AHRS rotation from veh to nav: [[-0.665220,0.730428,-0.154782],[-0.728953,-0.680211,-0.077080],[-0.161586,0.061553,0.984937]]2H@|I_?ÿS`IծĿꃯ??i2Jp@I2y^;2kCYB~ByBI DDbDJVDJ02yV%VU=ٔV7Q-V>9XYX=ZFyZEZ~u=E^>`Q 5f$5bt?Q 9f$5b")bǍBYhyj&Q Ijs@bIDIb$:ib:b!$5yyɮ}jAyjhFNOT Ignoring new targets: 187.71 m.Rh:Zh: ProNav: ac range: 187.713623 m, nav range: 173.841782 m, bearing: 250.700835 deg, approach rate: -0.403075 m/s, LOS rate: 0.109077 deg/s, cmd heading: 258.047825 deg, new cmd heading: 258.181351 deg. Bh;HeadingCmd: 4.506114 target range: 187.713623 and range: 188.70 m.h2@h*h"h hgf!f!f!d!d)d)jd)Zd-_[#@}~Bɢ}R=)y }t=i) =顁i5[iw㿉I2@IuONqIA@A @A@E/@AAM>AM>DQDU=E] EYE]*EY"E];*EYVE](N4ZEYam@am@am@am@}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseA؟AԙIIO>ԡ SF,׆;?Azq@zK@z$>ٱz\l=  AHRS rotation from veh to nav: [[-0.648124,0.745908,-0.153483],[-0.744448,-0.663034,-0.078632],[-0.160417,0.063297,0.985018]]zHm@z?@Uÿ 75! Ŀ;4?D?izq@Izѝ^;zjCY~ByIBM>BMCBM~IBMx~BBM =BIBMDBMf;BMy(EԩiMb@Mb@Mb@ 9V-?/$:vY ?y1ԼA X@)AYAbD-VD-y=%=2=ٔ=))Q-E>9E"?YE"?=EFyEEMP=EM>QQ 5]$5Umc?Q 9]$5U&)UBY]?Q Ee:ye!Q Ies@UYDIU? ;iUu ;U!$5ymBɮmAm١EjhFNOT Ignoring new targets: 187.71 m.Rh[;Zh[; ProNav: ac range: 187.713623 m, nav range: 173.634155 m, bearing: 250.749499 deg, approach rate: -0.478208 m/s, LOS rate: 0.112217 deg/s, cmd heading: 258.181342 deg, new cmd heading: 258.327508 deg. Bh;HeadingCmd: 4.508666 target range: 187.713623 and range: 188.70 m.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehF@h*h"h hgfff~BdddjdZd`7$@颅~BɢM=) :i)=顉i[iy#㿉IF@I;q @q  @q @u /@q EU  EU EU 'EQ "EU ;*EU 9;VEU '4ZEQ BEU G)pL,V+4;?AF@s@F4@F$#>ٱFM= VAHRS rotation from veh to nav: [[-0.631094,0.760871,-0.150981],[-0.759310,-0.645747,-0.080370],[-0.158647,0.063920,0.985264]]FH1Y?YSÿDL``$NĿ]?H?iF@s@IFg^;FkCYbT~BybhIbDMVDMyU%]\=ٔ]Q-]>9aYa=eFyeEm7|=Em>qQ 5}$5urU?Q 9}$5u))uBYyy}" Q I}s@ufDIuf;iu;ua$5yɮkAjhFNOT Ignoring new targets: 187.71 m.Rh:Zh: ProNav: ac range: 187.713623 m, nav range: 173.462967 m, bearing: 250.787801 deg, approach rate: -0.460555 m/s, LOS rate: 0.103149 deg/s, cmd heading: 258.327508 deg, new cmd heading: 258.442529 deg. Bh;HeadingCmd: 4.510673 target range: 187.713623 and range: 188.70 m.hoW@h*h"h hgfffdddjdZd`$@~Bɢk=)! %=i!)%{=!!i-瑼i-⿉)1I5oW@I19999ADAT read: 2Acoustic response timeouta@a @a@e/@iiA I I O% >ԙ WS,:N;?A2zt@2W@2b >ٱ2= :AHRS rotation from veh to nav: [[-0.613728,0.775354,-0.148877],[-0.773840,-0.628141,-0.081308],[-0.156558,0.065306,0.985507]]2H`@?@gÿ Kд@ Ŀⷰ?F?i2zt@I2W^;2jCYB ~ByB<IIF<)Fp<bDJVDJfyR;%VV=ٔVϵQ-V>9XYX=ZFyZEZ_v=E^>`Q 5b$5bXG?Q 9f$5bI-)b{BYdyfQ Ifs@btDIb:ib:b$5yjBɮnAnءEjhFNOT Ignoring new targets: 187.71 m.Rh Z:Zh Z: ProNav: ac range: 187.713623 m, nav range: 173.284668 m, bearing: 250.825835 deg, approach rate: -0.467473 m/s, LOS rate: 0.099820 deg/s, cmd heading: 258.442528 deg, new cmd heading: 258.556745 deg. E%{ E%E%,E!"E%;*E%3;VE%g4ZE!a5@a5@a5@a5@Bh;i9I9E2Acoustic response timeoutHeadingCmd: 4.512667 target range: 187.713623 and range: 188.70 m.hg@h*h"h hgfffdddjdZd`%@={~Bɢ=C=)A E۽iA)EM=AAiEiM[⿉IQIUg@qIy1@1 @1@54@1ԡAyIIO%n>B}>B}CB}-IB}}BB} =ByB}DB} g;B}(E2Acoustic response timeout Y,g;?Aɰp;2<,v@2@2c>ٱ21= :AHRS rotation from veh to nav: [[-0.596250,0.789171,-0.147293],[-0.787878,-0.610443,-0.081285],[-0.154062,0.067583,0.985747]]2Hy @?@¿K6ϴJÿM?=?i2<,v@I2|^;2iCYB}ByBIiMMb@Mb@Mb@IIII I9MGz?J +S㥛YM?yMȽM/ݼMAMrA M@)MAIYM=AbDeVDe0yu%u>=ٔuQ-}>9yYy=}FyEX=E>Q 5$5{8?Q 9$51)aBY?Q E:yQ Is@DI ;i ;x$5yBɮAEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.71 m.Rh!:Zh!: ProNav: ac range: 187.713623 m, nav range: 173.071182 m, bearing: 250.863077 deg, approach rate: -0.495858 m/s, LOS rate: 0.086609 deg/s, cmd heading: 258.556756 deg, new cmd heading: 258.668621 deg. Bhm;HeadingCmd: 4.514619 target range: 187.713623 and range: 188.70 m.hw@h*h"h hgfff3~BdddjdZdD&@=q~Bɢ=!=)9 EiA)Ei =AAiM#=iU^`⿉QQI]w@IY@ @@4@E5} E5uE5+E1"E5;*E56,;VE5 [4ZE1U2Acoustic response timeoutBE5)  2Acoustic response timeoutj`,߿;?A,2^w@2ʂ@2d>ٱ2= :AHRS rotation from veh to nav: [[-0.578445,0.802618,-0.145625],[-0.801552,-0.592396,-0.081124],[-0.151380,0.069801,0.986008]]2H @ ?@ڣ¿PĴg`ÿ`rޱ?a?i2^w@I2fo^;2jCYB}ByFIbDNVDN:yrr%rT=ٔrQ-r>9v ?Yv ?=vFyvEvvq=Ez>xQ 5$5zr+?Q 9$5z5)zIBYyQ Is@zDIz;iz{:z$5yBɮaAEjhFNOT Ignoring new targets: 187.71 m.Rh:Zh: ProNav: ac range: 187.713623 m, nav range: 172.877579 m, bearing: 250.895081 deg, approach rate: -0.503183 m/s, LOS rate: 0.083274 deg/s, cmd heading: 258.668635 deg, new cmd heading: 258.764756 deg. Bhd;HeadingCmd: 4.516297 target range: 187.713623 and range: 188.70 m.h@h*h"h hgfffdddjdZdob'@-i~Bɢ-=)) -Ii1)5=11i5X䍼i=i)⿉99IE@IA1 @  @ @ /@ A]؟AYIiIyOZ>E= E9E=,E9"E=;*E9VE=g4ZE9aE@aE@aE@aE@]2Acoustic response timeoutԉ ֛f,;?A,B>BBIB[}BBBBDBhg;B(EUy@U@Unu>ٱU2= mAHRS rotation from veh to nav: [[-0.560297,0.815855,-0.143000],[-0.814901,-0.573879,-0.081229],[-0.148336,0.071018,0.986384]]UH @{?M¿8]@s˴¿>.?t?iUy@IU^;UlCYub}By}IiUMb@Mb@Mb@QQQQ Q9UQ?ˡE:vYU?yU什UԼUAU A U@)UfAQYUA m;mbDuVDuk22Acoustic response timeouty^%0=ٔٻQ->9"?Y"?=FyEH=E>Q 5$5 ?Q 9$5:)-BY^?Q E:yQ Is@DIa:i:$5yɮV Ajh FNOT Ignoring new targets: 187.71 m.Rh o:Zho:y ProNav: ac range: 187.713623 m, nav range: 172.630249 m, bearing: 250.930497 deg, approach rate: -0.531745 m/s, LOS rate: 0.076251 deg/s, cmd heading: 258.764749 deg, new cmd heading: 258.871148 deg. BhRQ;HeadingCmd: 4.518154 target range: 187.713623 and range: 188.70 m.h@h*h"h hgfff~BdddjdZdQ(@%^~Bɢ-"=)) -{i))-A=11i5dViΈI@I)@) @)@5/@1A=>A=>AE.AIQIiO}> E= y E= tE= &E9 "E= ;*E= +;VE= 4ZE9 BE= ٱN_= ZAHRS rotation from veh to nav: [[-0.542091,0.828539,-0.140217],[-0.827708,-0.555270,-0.081088],[-0.145042,0.072102,0.986795]]NH Xd?@|`*´¿ ?u?ғ?iN7z@INr^;NiCtYz%}ByzIbD VD :y#.%i=ٔQ->9% ?Y% ?=%Fy%E%e=E->)Q 55$5-?Q 9=$5->)-BY9y=|Q I=s@-DI-;i-;-$5yAɮMJ!AIjhiuFNOT Ignoring new targets: 187.71 m.Rh}إ:Zh}إ: ProNav: ac range: 187.713623 m, nav range: 172.442001 m, bearing: 250.955861 deg, approach rate: -0.537471 m/s, LOS rate: 0.072497 deg/s, cmd heading: 258.871136 deg, new cmd heading: 258.947312 deg. BhG;HeadingCmd: 4.519483 target range: 187.713623 and range: 188.70 m.h@h*h"h hgfffdddjdZd`J(@W~BɢBź=) i)M= i a(i ΈI@I9@ @@/@ BDAT read: Response Not Received *response not receivedTDAT read: user:221>Tx time:04:55:18.1787 1Y >s,R;?A2{@2@2@>ٱ2G= :AHRS rotation from veh to nav: [[-0.523626,0.840947,-0.136471],[-0.840057,-0.536320,-0.081636],[-0.141843,0.071897,0.987275]]2H@@ ?`w )@洿'¿`g??i2{@I2ߎ^;0YB}ByBIbDJVDJyRМ%RR=ٔVQ-V>9V"?YZ"?=ZFyZEZ'l=EZ>\Q 5b$5^?Q 9f$5^iC)^BYdyf Q Ifs@^DI^:i^:^]$5yjBɮj!AnED|zD~?AbET4jEG4rE0Eu EE*E"E;*Ez1;VE(N4ZEa@a@a@a@DAT read: %2Acoustic response timeoutjh)-FNOT Ignoring new targets: 187.71 m.Rh5Ԛ:Zh5Ԛ:9M ProNav: ac range: 187.713623 m, nav range: 172.230820 m, bearing: 250.982562 deg, approach rate: -0.534649 m/s, LOS rate: 0.067682 deg/s, cmd heading: 258.947307 deg, new cmd heading: 259.027508 deg. BhM9;MHeadingCmd: 4.520883 target range: 187.713623 and range: 188.70 m.hU@hQ*hQ"hQ hQgQfYfYfYdadadajdaZdeM)@颕O~Bɢк=) -i)%U=!!i%ىi-Έ))I-@I)-9@) @)@-/@)aI9IyO^>B<A<B>BCBxIB|BB =BBBh;B5)Eԙ2Acoustic response timeoutԹ y,(;?A6d}@6@6]T>ٱ6= BAHRS rotation from veh to nav: [[-0.504931,0.853048,-0.131735],[-0.851968,-0.517042,-0.082567],[-0.138547,0.070543,0.987840]]6Hd( +L?@RC!#"?@c?i6d}@I6 v^;6jCYJ|ByJ|IIN=)N=iMb@Mb@Mb@ 9Q?S㥫:vY(?y/]A A @)AYbD5VD5yES%EA=ٔEQ-M>9IYI=MFyMEUqX=EU>YQ 5e$5]%?Q 9e$5]H)]BYe?Q Ee:ymN Q Ims@]DI]:i]:]$5yqɮu"AqB*** querying acoustic contact ***i iԙjhFNOT Ignoring new targets: 187.71 m.Rh|:Zh|: ProNav: ac range: 187.713623 m, nav range: 171.986404 m, bearing: 251.006822 deg, approach rate: -0.582653 m/s, LOS rate: 0.057914 deg/s, cmd heading: 259.027520 deg, new cmd heading: 259.100403 deg. Bh;HeadingCmd: 4.522155 target range: 187.713623 and range: 188.70 m.h@h*h"h hgfff}BdddjdZd`*@F~Bɢף=)  Fi)=ifiqiΈ~+n<I@I!IEz EEE"E4;*EbC;VEZEBE %CG(hAl9(hAYVAy= b?= &A  2Acoustic response timeout鷀,`ξ?Aɰ4<2O~@2g@22 >ٱ2x= :AHRS rotation from veh to nav: [[-0.485576,0.864819,-0.127690],[-0.863627,-0.497204,-0.083289],[-0.135518,0.069834,0.988311]]2H߿`?)XԢ 0߿fRX?=?i2O~@I2h^;2kCY^|BybeIbDjVDjβyr%rQ=ٔrQ-v>9tYt=vFyvEzbn=Ez>|Q 5e$5~챊?Q 9e$5~M)~ҌBYaym Q Ims@~DI~{:i~8:~|$5yuBɮu#AuߡEjhFNOT Ignoring new targets: 187.71 m.Rhcl:Zhcl: ProNav: ac range: 187.713623 m, nav range: 171.758743 m, bearing: 251.027607 deg, approach rate: -0.565153 m/s, LOS rate: 0.051667 deg/s, cmd heading: 259.100412 deg, new cmd heading: 259.162851 deg. Bh ;HeadingCmd: 4.523245 target range: 187.713623 and range: 188.70 m.hl@h*h"h hgfffdddjdZd@i+@?~Bɢ=) Ⱦi ) =  i 'i=EΈ=?f!D=D<E% E%E%+E!"E%;*E%2;VE% [4ZE!a-@a-@a-@a-@iYIY]2Acoustic response timeoutQԁ 憳,ξ?AB^>B^CB^-IB^S|BB\B\B^DB^h;B^)EB}CB}CB}CB} =B} =C}6!@p@>ٱ= AHRS rotation from veh to nav: [[-0.466631,0.875702,-0.124108],[-0.874490,-0.477812,-0.083449],[-0.132376,0.069591,0.988753]]HFݿ@?ſ@w޿\ б?`ޣ?i!@I~^;Y|By%ZII2Acoustic response timeoutiMb@Mb@Mb@ 9T㥛 ?~jt/$Y!?yA A 1@)bAYAbDVD0yB%.=ܻٔQ-U>9QYQ=UFy]E]g:=E]>aQ 5m%5e߱?Q 9m%5eT)eBYuh!?Q Eu:yuQ Ius@eDIe:ie:e%5y}Bɮ}#A}EjhFNOT Ignoring new targets: 187.71 m.RhR:ZhR: ProNav: ac range: 187.713623 m, nav range: 171.464859 m, bearing: 251.049329 deg, approach rate: -0.622519 m/s, LOS rate: 0.046091 deg/s, cmd heading: 259.162840 deg, new cmd heading: 259.228117 deg. Bh :HeadingCmd: 4.524384 target range: 187.713623 and range: 188.70 m.hǐ@h*h"h hgfff}BdddjdZd[,@ 5~Bɢ P=)  ̾i)M=iig Έ\<gI%ǐ@I!y@ @@\1@IyIO]>ԡE%  E% E% *E! "E% ՘;*E% z1;VE% (N4ZE! BE% ٱ6= BAHRS rotation from veh to nav: [[-0.447102,0.886392,-0.120042],[-0.885067,-0.457814,-0.084037],[-0.129447,0.068673,0.989206]]6H PܿQ]?@xR Lݿ`p?`?i6&ـ@I6j^;6iCYJw|ByJBI LLbDRVDRkyZ%Zv=ٔ^Q-^?9\Y`=bFybEb)=Eb ?dQ 5j%5fUױ?Q 9j%5f?Y)fBYlyn9Q Ins@fDIf;ifn;f~%5ypɮr$Atjh FNOT Ignoring new targets: 187.71 m.RhP9:ZhP9:- ProNav: ac range: 187.713623 m, nav range: 171.270935 m, bearing: 251.062188 deg, approach rate: -0.610144 m/s, LOS rate: 0.040504 deg/s, cmd heading: 259.228109 deg, new cmd heading: 259.266730 deg. Bh-a:-HeadingCmd: 4.525058 target range: 187.713623 and range: 188.70 m.h5G͐@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdEm,@u/~Bɢu憡=)q uTܾiy)}=yyi}iN Έ$W<TIG͐@II)eAԱ9@ @@/@2Acoustic response timeout^A5sA=>A=?IIO> 1 ,!Pξ?A2{@2D@2">ٱ2= :AHRS rotation from veh to nav: [[-0.427679,0.896279,-0.117364],[-0.895045,-0.438051,-0.083702],[-0.126431,0.069248,0.989555]]2H_ۿ`Q?@ @5 ܿxm .@@?p?i2{@I2r^;2gCYBp|ByB>IbDNVDN02yV%VK=ٔVQ-V>9XYX=ZFyZEZ<`=E^>`Q 5f%5b$ͱ?Q 9f%5b_)bBYdyfQ Ifs@b DIb:ib(:b%5ynBɮn2$ADlzDn@AEv EviEv(Et"Ev;*Ev%;VEvc44ZEtaz@az@az@az@nEE2Acoustic response timeoutjhFNOT Ignoring new targets: 187.71 m.Rh:Zh: ProNav: ac range: 187.713623 m, nav range: 171.024445 m, bearing: 251.076689 deg, approach rate: -0.585114 m/s, LOS rate: 0.034473 deg/s, cmd heading: 259.266741 deg, new cmd heading: 259.310308 deg. BhD:HeadingCmd: 4.525819 target range: 187.713623 and range: 188.70 m.hӐ@h*h"h hgff!f!d!d)d)jdQZd]7-@'~Bɢ=) l۾i)=ikia࿉E"O<DIӐ@I%9@! @!@!@!^AQ|9AAB>BBIB{BB =BBBi;B*EAIIO>2Acoustic response timeouti b,pjξ?A 6@@6;@6=ٱ6= >AHRS rotation from veh to nav: [[-0.408141,0.905783,-0.113923],[-0.904511,-0.418118,-0.083883],[-0.123613,0.068809,0.989942]]6Hڿ,?@*qڿYyr??i6@@I6i^;6jCYF[|ByF2IiMb@Mb@Mb@ 9)\(?:v{GzYG!?yTףA= A f@)AY AbD=VD=JyU_C%U@=ٔһQ->9Y=FyE#J=E>Q 5%%5?Q 9-%5ue)zBY-!?Q E-:y5Q I5s@DI~;i; %5yYɮ]$AYB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 187.71 m.Rhh*:Zhh*: ProNav: ac range: 187.713623 m, nav range: 170.748611 m, bearing: 251.093010 deg, approach rate: -0.628453 m/s, LOS rate: 0.037245 deg/s, cmd heading: 259.310318 deg, new cmd heading: 259.359359 deg. Bh}:HeadingCmd: 4.526675 target range: 187.713623 and range: 188.70 m.hڐ@h*h"h) h1g1f1f1f=}Bd9d9d9jd9ZdE T.@i颵~BɢP=) i)-=项iu?iX࿉SH<"4Iڐ@IE~ EsE*E"E;*E)+;VE(N4ZEBE9j ?Yj ?=jFyjEjt=Ej>9Q 5E%5=?Q 9E%5=j)=gBYIyMoQ IMs@=.DI=g:i==:=5%5yQɮU$AQjhyFNOT Ignoring new targets: 187.71 m.Rh,:Zh,: ProNav: ac range: 187.713623 m, nav range: 170.517014 m, bearing: 251.105004 deg, approach rate: -0.632961 m/s, LOS rate: 0.032823 deg/s, cmd heading: 259.359358 deg, new cmd heading: 259.395388 deg. Bh5:HeadingCmd: 4.527304 target range: 187.713623 and range: 188.70 m.hߐ@h*h"h hgfffdddjdZdt/@~Bɢ =)  &i ) :=iF>i࿉hC<%n"I%ߐ@I!)i-!>9@ @@/@Ey EE(E"E;*Ez1;VEc44ZEa @a @a @a @ uBDAT read: Rx Time:04:55:20.8802 uTRx dataTimestamp_ set to:1761540922.311030}2Acoustic response timeout^ACTAeAzA! Ae ؟AIi Iy O >3,6ξ?AB*>B(B*IB*{BB* =B(B(B*Wj;B*]*E 2Acoustic response timeoutYD|By#IiUMb@Mb@Mb@QQQQ Q9U~jt?)\(Mb`?YU?yUGaU;UAU A UA)QQYU AbDmVDmy}W%}%=ٔQ->9"?Y"?=FyEE>Q 5%5鬱?Q 9%5q)TBYH?Q E:yQ Is@ADIK ;i ;k%5yBɮ$AEjhFNOT Ignoring new targets: 187.71 m.Rh:Zh: ProNav: ac range: 187.713623 m, nav range: 170.228806 m, bearing: 251.120962 deg, approach rate: -0.597622 m/s, LOS rate: 0.033147 deg/s, cmd heading: 259.395394 deg, new cmd heading: 259.443350 deg. Bh:HeadingCmd: 4.528141 target range: 187.713623 and range: 188.70 m.h@h*h"h hgfff }Bd d d jd Zd40@!E~BɢE=)A MLiI)MФ=IIiMiUN࿉U<E ~ E pE )E "E ;*E );VE FA4ZE BE a 2E a JE Tx time:04:55:21.9787  R#Rx 1: Read range and direction messages. `direction in FSK: [0.981614,-0.005140,-0.190809] Fpublishing direction and range infoyY ] m#1ai?fw[ak uP@mlȿY] _CY ] ] ]  ] Su)] GI] X94?i] <] 333?] p'@] 6&] '@ ] D)] @I] D>Y Y ] 2c??{yr?Ŀ ] l?)] 9%>I] i] D>Y Y  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Z,ξ?AY~/|By~IbD VD fyu%%{=ٔ!Q-% ?9)Y)=-Fy-E)E- ?i1Q 5%55?Q 9%55?v)5HBYyQ Is@5MDI5j?T~]hQZf-\׿}쿴 bӿ2iB:i"i:U?*iɂ}BiWi ,?iiBil+Ci@ addTargetRange:: Added new target pos. range: 223.000000 m, deltaT: 16.411945 s, deltaX: 34.300003 m, approachRate: 2.089942 m/s, rangeRepo size: 4  Added new target pos. range: 221.884689 m, bearing: 247.437473 deg, lat: 36.779371 deg, lon: -121.859535 deg, deltaT: 16.411945 s, deltaX: 34.171066 m, approachRate: 2.082085 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 221.88 m.RhZh ProNav: ac range: 221.884689 m, nav range: 171.424637 m, bearing: 249.816343 deg, approach rate: 0.000000 m/s, LOS rate: 0.033147 deg/s, cmd heading: 259.443342 deg, new cmd heading: 259.479014 deg. BhHeadingCmd: 4.528763 target range: 221.884689 and range: 223.00 m.h@h*h"h hgfffd d d jd5k@Zd5 ?颅 ~Bɢ`=) i)=顩ii}i࿉ z7<Cp'I@Iԉe9@a @a@e0@aDAT read: 2Acoustic response timeout^A='ԹAiIqIO> B,Hξ?A2uʄ@2>ŋ@2==ٱ2== :AHRS rotation from veh to nav: [[-0.335577,0.938433,-0.082040],[-0.935074,-0.342391,-0.091681],[-0.114126,0.045948,0.992403]]2Hzտ? տjx d7q?@?i2uʄ@I2^;2gCYB2|ByBIbDJVDJyR#<%RR=ٔVQ-V>9TYX=ZFyZEZ;>EZ>Eb EbnE`E`"Eb;*Eb(;VE`ZE`af@aj@aj@aj@hQ 5n%5j?Q 9n%5j{)j:BYpyrfQ Irs@j\DIjQ;ij];j%5ytɮv=%AtjhFNOT Ignoring new targets: 221.88 m.%2Acoustic response timeoutRh-9Zh-9Թ ProNav: ac range: 221.884689 m, nav range: 171.188171 m, bearing: 249.822938 deg, approach rate: -0.661383 m/s, LOS rate: 0.018472 deg/s, cmd heading: 259.479023 deg, new cmd heading: 259.498836 deg. BhJ:HeadingCmd: 4.529109 target range: 221.884689 and range: 223.00 m.hv@h*h"h hgff)f)d1d1djdZd?~BɢZ=) i)7=i |i࿉Y3<Iv@Ii@i @i@ml3@iBM<AM<BU>BUCBUIBU{BBQBQBUDBUA>A .AI) I9 9 OM >!l,ξ?ABSZ@BU@B:=ٱBv= RAHRS rotation from veh to nav: [[-0.319193,0.944949,-0.072017],[-0.941084,-0.325008,-0.093432],[-0.111695,0.037951,0.993018]]BHmԿ`=?o ]@Կ)뷿 Tn??iBSZ@IB^;BiCYXyZIiMb@Mb@Mb@ 9d;O?QMb?Y?yu< AO A A)AY( AbDVD1yv%:=ٔXQ->9 ?Y ?=FyE#=E>Q 5e%5?Q 9e%5)-BYe?Q Ee:yeQ Ims@mDIQ;iz:%5yqɮu?%AqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 221.88 m.Rh9Zh9 ProNav: ac range: 221.884689 m, nav range: 170.935059 m, bearing: 249.829629 deg, approach rate: -0.556867 m/s, LOS rate: 0.014743 deg/s, cmd heading: 259.498831 deg, new cmd heading: 259.518934 deg. Bh!:HeadingCmd: 4.529460 target range: 221.884689 and range: 223.00 m.hV@h*h"h hgfff ~BdddjdZd`?}Bɢ(7=)  gi )  v=  iGziz࿉/<dҽIV@IEw EyE(E"Eؓ;*EQ.;VEc44ZEBE9iԙ  2Acoustic response timeout&T,Ͼ?A2@2|ߌ@2=ٱ2< :AHRS rotation from veh to nav: [[-0.303323,0.950843,-0.062392],[-0.946561,-0.308195,-0.095065],[-0.109621,0.030222,0.993514]]2H`iӿNm?@;Jvӿ 6V@#??i2@I2%^;2jCYB!|ByBIbDJVDJyR;%R^=ٔVQ-V>9TYT=ZFyZEZ;=EZ>\Q 5b%5^p?Q 9b%5^ )^"BYdyf Q Ifs@^zDI^:i^[:^ %5yjBɮj|%AjEjhyFNOT Ignoring new targets: 221.88 m.Rhp]9Zhp]9 ProNav: ac range: 221.884689 m, nav range: 170.721497 m, bearing: 249.834066 deg, approach rate: -0.581678 m/s, LOS rate: 0.012100 deg/s, cmd heading: 259.518939 deg, new cmd heading: 259.532266 deg. Bh:HeadingCmd: 4.529693 target range: 221.884689 and range: 223.00 m.h>@h*h"h hgfffdddjdZd@D\?E}BɢE"=)A EiA)M=IIiMxiUrrqUs,<}@Iy)@) @)@-/@)^AKԡbEeFA4jEe?4rEe?/Eo EtE&E"E7;*E+;VE4ZEa@a@a@a@M2Acoustic response timeoutAQIiIyO}> BE >BA BA BA BA BA BA BE "l;BE E+E~dz,voϾ?AYu$|ByuI}=}p=2Acoustic response timeouti Mb@Mb@Mb@     9 q= ףp?(\µ99Y9=EFyEEEEE>IQ 5U%5MC?Q 9U%5Mp)MBY]H ?Q E]:y]]Q I]s@MDIM:iMH:M$%5yaɮen%AajhFNOT Ignoring new targets: 221.88 m.Rh9Zh9 ProNav: ac range: 221.884689 m, nav range: 170.454681 m, bearing: 249.844354 deg, approach rate: -0.565555 m/s, LOS rate: 0.021840 deg/s, cmd heading: 259.532271 deg, new cmd heading: 259.563182 deg. Bho:-HeadingCmd: 4.530232 target range: 221.884689 and range: 223.00 m.h-@h)*h1"h1 h1g1f1f9f=X~Bd9d9d9jdAZdE?颵}Bɢm=) i);=项ivi`࿉e(<QI@I9@ @!@%4@!) E p E aE )E "E ;*E !;VE FA4ZE BE Olγ,~<Ͼ?AɰY |By IbD%VD%y5Z%5S=ٔ1Q-5>9="?Y="?==Fy=EAEE>Q 5%5y?Q 9%5)BYyQ Is@DI9:i:r(%5ԩy’Bɮ%AEjhFNOT Ignoring new targets: 221.88 m.Rhp9Zhp9 ProNav: ac range: 221.884689 m, nav range: 170.237686 m, bearing: 249.852744 deg, approach rate: -0.546026 m/s, LOS rate: 0.021140 deg/s, cmd heading: 259.563171 deg, new cmd heading: 259.588374 deg. Bh h:HeadingCmd: 4.530672 target range: 221.884689 and range: 223.00 m.hC@h*h"h hgfffdd d jd Zd @=}Bɢ=4=)9 =fi9)E,=AAiEh(uiM`R࿉M]@%)  2Acoustic response timeoutMճ,l>VϾ?A>@>«@>=ٱ>: JAHRS rotation from veh to nav: [[-0.249886,0.967887,-0.027419],[-0.962861,-0.251379,-0.098526],[-0.102255,0.001780,0.994757]]>HBϿ@?`@п9[-?*]? ?i>@I>g^;>hCYR|ByRIE^b E^E^&E\"E^Q;*E^=;VE^4ZE\ab@ab@ab@ab@bDZVDZyj%jQ=ٔnnQ-n>9lYl=rFyrErR>Er>tQ 5z%5vr?Q 9z%5v)vBY|y~iQ I~s@vDIv ;iv] ;v+%5yɮ%A jh)5FNOT Ignoring new targets: 221.88 m.Rh5C9Zh=C9E ProNav: ac range: 221.884689 m, nav range: 170.028046 m, bearing: 249.856799 deg, approach rate: -0.550428 m/s, LOS rate: 0.010659 deg/s, cmd heading: 259.588361 deg, new cmd heading: 259.600540 deg. BhM9MHeadingCmd: 4.530884 target range: 221.884689 and range: 223.00 m.hM@hQ*hQ"hQ hQgYfYfYfadadadajdaZdm`@颕}Bɢ w=) (i)y=顙iWsigK࿉%q#<N'I@I@ @@/@@fA@gAAmAAAm@ABu>Bu CBqBqBu =BqBqBul;Bu+EB=CB=CB=ēCB= =B= =C=ĭ/5Am2Acoustic response timeout^AM ԉA} .AI I O >Թ u۳,pϾ?A2B@2 @2=ٱ2ܻ :AHRS rotation from veh to nav: [[-0.238236,0.971048,-0.017579],[-0.965970,-0.238789,-0.099406],[-0.100726,-0.006701,0.994892]]2H@~ο?`9:οr(ɹr{'?i2B@I2^;2gCYB |ByBI DDiMMb@Mb@Mb@IIII I9MS㥛?&1~jt?YM?yMнM9 ?Y ?=FyE<E>Q 5%5j?Q 9%5)BY?Q E:yiQ Is@DIu ;i ;|/%5yBɮ%AEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 221.88 m.Rh 9Zh 9 ProNav: ac range: 221.884689 m, nav range: 169.804520 m, bearing: 249.863152 deg, approach rate: -0.526304 m/s, LOS rate: 0.014977 deg/s, cmd heading: 259.600546 deg, new cmd heading: 259.619629 deg. Bhu$:HeadingCmd: 4.531217 target range: 221.884689 and range: 223.00 m.h@h*h "h  h gff!f%~Bd!d)d)jd9ZdE@ԑ2Acoustic response timeout%}Bɢ%G=)) -i))-=IIiUriU~@࿉]!<]I]@IYmJ>im>Em^ EmaEm)Ei"Em;*Em!;VEmFA4ZEiBEmm BDAT read: Rx Time:04:55:24.6781 m TRx dataTimestamp_ set to:1761540926.092041u 2Acoustic response timeout ],Ͼ?A2Qu@2p@2=ٱ2zs :AHRS rotation from veh to nav: [[-0.226807,0.973912,-0.007364],[-0.968865,-0.226390,-0.100246],[-0.099298,-0.015602,0.994935]]2HͿ@I*?)~@T̿``k?i2Qu@I2T^;0YR{ByRIbDZVDZ:ybB%fV=ٔfvQ-f>9f"?Yj"?=jFyjEj~<Ej>lQ 5r%5nc?Q 9v%5nӡ)nBYtyv>Q Ivs@nDIn-:in:n2%5yxɮz(&A|jh%FNOT Ignoring new targets: 221.88 m.Rh%Dk9Zh-Dk95 ProNav: ac range: 221.884689 m, nav range: 169.603226 m, bearing: 249.868045 deg, approach rate: -0.528236 m/s, LOS rate: 0.012855 deg/s, cmd heading: 259.619616 deg, new cmd heading: 259.634312 deg. Bh=) :EHeadingCmd: 4.531474 target range: 221.884689 and range: 223.00 m.hE@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU`E @=}BɢE^=)A ELiA)EA=AIiM@qiM8࿉Um I B >B B B B B B DB m;B +EՋ,oأϾ?A MDAT read: 04:55:24.6781 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.21,-1.680,-3.072,-1.413,-2.258, PHS= 0.680,-0.769, 0.801, RAW= 154.0, -9.4, CAL= 154.6, -11.2, ROT= 355.4, 11.2 UYgot valid direction response: 04:55:24.6781 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.21,-1.680,-3.072,-1.413,-2.258, PHS= 0.680,-0.769, 0.801, RAW= 154.0, -9.4, CAL= 154.6, -11.2, ROT= 355.4, 11.2 ]PDAT read: Bearing 29.7, -10.5 (Local) ]~Local bearing/azimuth received: Bearing 29.7, -10.5 (Local) mDAT read: Range 11 to 50 : 221.4 m (Round-trip 295.3 ms) speed 0.7 m/s uTDAT read: user:223>Tx time:04:55:25.7787 uR#Rx 1: Read range and direction messages.}`direction in FSK: [0.977795,-0.078672,-0.194234]}Fpublishing direction and range infoySJ?uO#mVѫȿYf]C )I{.?i/DVM?,@',@ +H)(~@Lj@@e=ٱǼI+H>׭-?Dk?g'h}ſ ?)e(>Ili+H>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. AHRS rotation from veh to nav: [[-0.217075,0.976152,0.002479],[-0.971254,-0.215731,-0.100629],[-0.097694,-0.024252,0.994921]]H˿y%GὙ%`<%9A% A %A)%A!Y%AbDeVDeNy%=ٔFQ->9Y=FyE<E>Q 5%5Z?Q 9 %5)BY >Q E :y ,Q I s@DI;i);7%5y!ɮ%m&A!iiϾ?AJiL\CRiL\Cji@b0sj@ T1B OeERSJ?uO#mVѫȿZilbi+H>jJOOs%i(OZOﲇҿWv}8T[ҿ2i+I:i""iph[?*iSSBiRaiph[?iE iBif1Ci@ addTargetRange:: Added new target pos. range: 221.399994 m, deltaT: 3.784112 s, deltaX: -1.600006 m, approachRate: -0.422822 m/s, rangeRepo size: 4  Added new target pos. range: 220.298935 m, bearing: 252.408107 deg, lat: 36.779322 deg, lon: -121.859609 deg, deltaT: 3.784112 s, deltaX: -1.585754 m, approachRate: -0.419056 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 220.30 m.RhZhU ProNav: ac range: 220.298935 m, nav range: 177.399765 m, bearing: 248.928133 deg, approach rate: 0.000000 m/s, LOS rate: 0.012855 deg/s, cmd heading: 259.634314 deg, new cmd heading: 259.655703 deg. BhQ]HeadingCmd: 4.531847 target range: 220.298935 and range: 221.40 m.h]@hY*hY"hY hagafafafm~Bdididijdm̬k@ԑZdi?}Bɢ=) Bi)u=ioi+࿉h<઼I@I!@ @@/@@>@>DAT read: 2Acoustic response timeoutEs ETE*E"E;*E;VE(N4ZEBE@>h @>#(=ٱ> FAHRS rotation from veh to nav: [[-0.208702,0.977893,0.012984],[-0.973244,-0.206369,-0.101032],[-0.096119,-0.033722,0.994798]]>H öʿ@J?@P? $Kjʿ`AݹF Dc?i>@I>^;>fCYN{ByNIIR=)R=R=R=bDZVDZyb%b[=ٔbQ-b>9f ?Yf ?=fFyfEf6lQ 5r%5n"T?Q 9r%5n=)nBYtyvQ Ivs@nDIn:in:n:%5yxɮz,'A|jh%FNOT Ignoring new targets: 220.30 m.Rh%:T9Zh%:T95 ProNav: ac range: 220.298935 m, nav range: 177.221725 m, bearing: 248.932194 deg, approach rate: -0.507879 m/s, LOS rate: 0.011596 deg/s, cmd heading: 259.655707 deg, new cmd heading: 259.667902 deg. Bh=9=HeadingCmd: 4.532060 target range: 220.298935 and range: 221.40 m.hE@hA*hA"hA hAgAfAfIfIU2Acoustic response timeoutdIdYdYjdYZd]@L?颍}BɢH3=) i)=顑ini$࿉T<YdI@I@ @@}2@^A]A؟AIIO`>)Ee EVE-E"E;*E;VEt4ZEa@a@a@a@ 2Acoustic response timeoutY ,Ͼ?Aɰ6J@6E@6$=ٱ64 >AHRS rotation from veh to nav: [[-0.201580,0.979177,0.024037],[-0.974887,-0.198205,-0.101534],[-0.094655,-0.043901,0.994542]]6HbɿjU?'?@G2^ɿP;!zI?i6J@I6*^;6hCYF}{ByFIbDNVDN02yV%VL=ٔZpQ-Z>9Z"?YZ"?=ZFyZE^L<E^>`Q 5f%5bUM?Q 9f%5bݰ)bBYhyjQ Ijs@bDIbN:ib:b8>%5B<A<B%>B% CB%IB%j{BB% =B!B!B%|m;B%+E9yAɮE(AEEjhFNOT Ignoring new targets: 220.30 m.Rh+9Zh+9 ProNav: ac range: 220.298935 m, nav range: 177.028595 m, bearing: 248.936103 deg, approach rate: -0.463610 m/s, LOS rate: 0.009393 deg/s, cmd heading: 259.667892 deg, new cmd heading: 259.679631 deg. BhI9HeadingCmd: 4.532265 target range: 220.298935 and range: 221.40 m.hP@h*h"h hgfffdddjdZd`h?}Bɢ(=) i)=顩ismi*࿉<O\ IP@I!}2Acoustic response timeoutԉ9@ @@%0@!ԑ^AE bި E ^ E [E (E "E ;*E ;VE c44ZE BE )_,Ͼ?A:@:z@:=ٱ:`d bAHRS rotation from veh to nav: [[-0.195284,0.980069,0.036458],[-0.976311,-0.190735,-0.102160],[-0.093170,-0.055544,0.994100]]:H`ȿ\??=`iȿ/'`ڷ Qp ?i:@I:ɒ^;:kCYje{ByjIQi]Mb@Mb@Mb@YYYY Y9]S?p= ףy]]t<]A]9 A ]A)]^AYY]AbDuVDu1yX%9=ٔ]Q->9 ?Y ?=FyEp<E>Q 5%5=E?Q 9%5⵹)BY]>Q E:y`Q Is@DI ;i ;B%5yɮq(AUB*** querying acoustic contact ***iQ iQjhq}FNOT Ignoring new targets: 220.30 m.Rh}9Zh}9 ProNav: ac range: 220.298935 m, nav range: 176.815948 m, bearing: 248.942925 deg, approach rate: -0.479721 m/s, LOS rate: 0.015409 deg/s, cmd heading: 259.679639 deg, new cmd heading: 259.700130 deg. Bh3):HeadingCmd: 4.532622 target range: 220.298935 and range: 221.40 m.h> @h*h"h hgfff~BdddjdZd ?5}Bɢ==)9 =Xi9)=E =AAiE܈kiu࿉e<{I> @II)fAԁ]9@Y @Y@]4@Y@a@efA^A5jb52Acoustic response timeoutԱA؟AIIO> 1B,о?A2@2ܧ@2u =ٱ2. :AHRS rotation from veh to nav: [[-0.189927,0.980535,0.049778],[-0.977549,-0.184150,-0.102403],[-0.091243,-0.068110,0.993497]]2HOȿ`?|? H@;ǿ7[ o?i2@I2n^;2jCYB3{ByB{I DDHHbDNVDN yVH%VZ=ٔZQ-Z>9Z"?YZ"?=ZFyZ E^:q<E^>`Q 5f%5bo>?Q 9f%5b,)bBYhyjQ Ijs@bDIb:ib:bYE%5ylɮn9)Aljh FNOT Ignoring new targets: 220.30 m.Rh)9Zh%)9M ProNav: ac range: 220.298935 m, nav range: 176.634888 m, bearing: 248.948375 deg, approach rate: -0.508308 m/s, LOS rate: 0.015317 deg/s, cmd heading: 259.700130 deg, new cmd heading: 259.716498 deg. BhM1(:UHeadingCmd: 4.532908 target range: 220.298935 and range: 221.40 m.hU @hQ*hQԹD=D%="h  h g f ffdddjdZd ?m}Bɢm4t=)i m"iiEu EuKEqEq"Eu;*Eu;VEqZEqa}@a}@a}@a}@2Acoustic response timeout)uZ=顙iii ࿉ <B9I @I@ @@/@B>B CB~IB7{BB =B@DBDBm;B,,E^A} 2Acoustic response timeoutA I! I9 9 OM >[l ,+о?A2HӉ@2ΐ@2y=ٱ2N BAHRS rotation from veh to nav: [[-0.185396,0.980667,0.062620],[-0.978583,-0.178449,-0.102626],[-0.089468,-0.080306,0.992747]]2H ǿ a??PhƿEZ綿@莴`?i2HӉ@I2^;2gCYN{ByN^IiMb@Mb@Mb@ 9rh|?y&1y`彙t<Ah A  A)AYAbDVDy}ڽ%9=ٔZQ->9Y=FyE-<E>Q 5%56?Q 9%5)BY1?Q E:ymQ Is@DI%;i ;4I%5yɮ)Ajh)5FNOT Ignoring new targets: 220.30 m.Rh=8Zh=8M ProNav: ac range: 220.298935 m, nav range: 176.412613 m, bearing: 248.951386 deg, approach rate: -0.503323 m/s, LOS rate: 0.006825 deg/s, cmd heading: 259.716495 deg, new cmd heading: 259.725537 deg. BhM9UHeadingCmd: 4.533066 target range: 220.298935 and range: 221.40 m.hU@hQ*hQ"hQ hQgYfYfYf]~~BdadadajdaZdeS@颕}Bɢm=) -i)=顙iEhi࿉c<t;I@I@ @@@E m E bE E "E O;*E 5";VE ZE BE ciԙ *T,Eо?A6@6X@6=ٱ6 BAHRS rotation from veh to nav: [[-0.181447,0.980445,0.076193],[-0.979477,-0.173265,-0.102977],[-0.087762,-0.093314,0.991761]]6H9ǿ`_?@[?W-ƿ@\`wh㷿 ?i6@I62k^;6jCYRzByR;IbDZVDZkyb+%b]=ٔfȗQ-f>9dYd=jFyjEj 4<Ej>lQ 5r%5n0?Q 9r%5n Ĺ)nBYtyvQ Ivs@nDIn(:inA:noL%5yxɮz*Ax%2Acoustic response timeoutjh!-FNOT Ignoring new targets: 220.30 m.Rh-8Zh-8E ProNav: ac range: 220.298935 m, nav range: 176.226395 m, bearing: 248.953634 deg, approach rate: -0.503169 m/s, LOS rate: 0.006081 deg/s, cmd heading: 259.725538 deg, new cmd heading: 259.732290 deg. BhE9EHeadingCmd: 4.533184 target range: 220.298935 and range: 221.40 m.hM@hI*hI"hI hIgIfIfQfQdQdQdYjdYZd]@I@颍}BɢR=) :i)=顑ifi࿉Ƃ<^;I@Ii>i>q1@1 @1@5/@1@==@==ԡ^A]yb9bEjE#E4rE0EY E]E+E"E=;*E;VE [4ZEa%@a%@a%@a%@2Acoustic response timeoutA .AI I O > J~,m_о?ABF>BF CBFLIBFzBBF =BDBFDBFn;BFQ,EY~zBy~$II!>);bDVD1y%ɴ%%D=ٔ%Q-->9- ?Y- ?=-Fy-E5E5>Q 5%5)?Q 9%5>ɹ)ۋBYyQ Is@,DI;i;(P%5yBɮh+AEjhFNOT Ignoring new targets: 220.30 m.Rh8Zh8 ProNav: ac range: 220.298935 m, nav range: 176.011597 m, bearing: 248.956233 deg, approach rate: -0.505173 m/s, LOS rate: 0.006120 deg/s, cmd heading: 259.732287 deg, new cmd heading: 259.740093 deg. Bhg9HeadingCmd: 4.533320 target range: 220.298935 and range: 221.40 m.h@h*h"h hgfffdddjdZdq@5}Bɢ5U=)1 5"Ci1)=}=99i=diE߿EeI E- v E- VE- -E) "E- c;*E- ;VE- t4ZE) BE- qAHRS rotation from veh to nav: [[-0.177116,0.979213,0.098848],[-0.980650,-0.167077,-0.102029],[-0.083393,-0.115007,0.989858]]2H`ƿ@U?`N? }abſ6Y@q?i2R@I2r^; TVC2hC G!9YEczByEIed9aYmAiMb@Mb@Mb@ 9w/?EԸY?yƽ-A A l A)AYAbDVD:y%2=ٔQ->9"?Y"?=FyE} <E>Q 5%5"?Q 9%5#Ϲ)ԋBY- ?Q E:yQ Is@;DIm ;i* ;T%5yɮp,AB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 220.30 m.Rh-Zh-= ProNav: ac range: 220.298935 m, nav range: 175.772186 m, bearing: 248.955649 deg, approach rate: -0.534206 m/s, LOS rate: -0.001304 deg/s, cmd heading: 259.740100 deg, new cmd heading: 259.738347 deg. Bh=,eEHeadingCmd: 4.533289 target range: 220.298935 and range: 221.40 m.hE@hA*hI"hI hIgIfIfQfU~BdQdYdYjdYZd]9F @i颍}BɢDaG=) Ri)=顙isbi߿h<)A >A IA Ii O >V$,о?A,E` EE(E"Ei;*E2;VEc44ZEa@a@a@a@J&@!@=ٱd AHRS rotation from veh to nav: [[-0.175595,0.978529,0.107918],[-0.981106,-0.164897,-0.101196],[-0.081227,-0.123649,0.988996]]HyƿP?@?7e Xſ繿R˴nڥ?iJ&@I!W^;gCY;zByI p<4<bD VD yͽ%Q=ٔQ->9!Y!=%Fy%E-;E->1Q 5=%55c?Q 9=%55JԹ)5͋BY9y=Q I=s@5IDI5:i59:5|W%5}DAT read: 04:55:28.4743 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 119, 0.14, 2.498, 0.985, 2.978, 2.448, PHS= 0.152,-1.418, 0.486, RAW= 159.5, 8.9, CAL= 159.2, 9.4, ROT= 350.8, -9.4 Ygot valid direction response: 04:55:28.4743 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 119, 0.14, 2.498, 0.985, 2.978, 2.448, PHS= 0.152,-1.418, 0.486, RAW= 159.5, 8.9, CAL= 159.2, 9.4, ROT= 350.8, -9.4 PDAT read: Bearing 52.8, -14.9 (Local) ~Local bearing/azimuth received: Bearing 52.8, -14.9 (Local) DAT read: Range 11 to 50 : 218.6 m (Round-trip 291.5 ms) speed 0.4 m/s TDAT read: user:224>Tx time:04:55:29.5787 R#Rx 1: Read range and direction messages.^direction in FSK: [0.973881,-0.157734,0.163326]Fpublishing direction and range infoyIMܴ*?U:0Ŀ$vz?YMZCIIII I)IIM>iMM>M)2@M>M1@ M'>)Mv@IM'IIM; i?(?jSi? MH0?)MIMl$iM'II2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.yɮ -A EiIiMΊо?AJiMYCRiMYCjiM@bMzj@'A뵍TvA@RMܴ*?U:0Ŀ$vz?ZiMl$biM'jM. PӸimd+6@ZMLܱӿE~ ?2iMM:iM"iMG5?*iM%BiMuBiMG5?iMɂ}iMuBiMJCiMY@= addTargetRange:: Added new target pos. range: 218.600006 m, deltaT: 3.787971 s, deltaX: -2.799988 m, approachRate: -0.739179 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 217.522354 m, bearing: 251.980426 deg, lat: 36.779287 deg, lon: -121.859917 deg, deltaT: 3.787971 s, deltaX: -2.776581 m, approachRate: -0.733000 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 217.52 m.RhZh% ProNav: ac range: 217.522354 m, nav range: 202.727722 m, bearing: 250.720436 deg, approach rate: 0.000000 m/s, LOS rate: -0.001304 deg/s, cmd heading: 259.738352 deg, new cmd heading: 259.736728 deg. Bh!-HeadingCmd: 4.533261 target range: 217.522354 and range: 218.60 m.h-z@h)*h)"h) h)g)f1f1f1d1d9d9jd}@3Sk@Zd}c?}BɢVE=) j[i ) .>=  i bN`B=>B= CB= IB=zBB= =B9B9B=on;B=,EB CB CBŔCB =B =C6Աi ߿ 3z<f:uU,,Vо?Aj,@j'@jឡ=ٱjI| AHRS rotation from veh to nav: [[-0.174839,0.977917,0.114495],[-0.981436,-0.163785,-0.099791],[-0.078834,-0.129817,0.988399]]jH aƿK?O?@gĿዹ@~. ڝ?ij,@Ijw^;jfCYzByI !!iMb@Mb@Mb@ 9d;O?ʡEMbY?E\ E`E'E"E;*E'!;VE'4ZEBE9 ?Y ?=Fy$E:E>Q 5%5?Q 9%5۹)‹BYh?Q E:yQ It@\DIL:i:\%5yɮ-Ajh)-FNOT Ignoring new targets: 217.52 m.Rh53Zh53E ProNav: ac range: 217.522354 m, nav range: 202.420990 m, bearing: 250.719508 deg, approach rate: -0.614338 m/s, LOS rate: -0.001861 deg/s, cmd heading: 259.736740 deg, new cmd heading: 259.733953 deg. BhMqMHeadingCmd: 4.533213 target range: 217.522354 and range: 218.60 m.hM@hQ*hQ"hQ hQgQfQfYf]}BdYdYdajdZd@p?!M}BɢM'=)I MhiI)U=QQiU^i]߿]<'Cz\3,о?A2]+@2&&@2}=ٱ2k :AHRS rotation from veh to nav: [[-0.175055,0.977409,0.118438],[-0.981595,-0.163934,-0.097966],[-0.076337,-0.133408,0.988117]]2H5hƿF?Q?`9i`ĿSՊ@?i2]+@I2}\^;2eCYByByBIbDjVDjܲyrR%rj=ٔvaQ-v?9tYt=vFyv'EzY Ez?|Q 5%5~?Q 9%5~)~BY y Q I t@~iDI~6:i~p:~_%5yBɮ /AEjhAEFNOT Ignoring new targets: 217.52 m.RhMsZhMs] ProNav: ac range: 217.522354 m, nav range: 202.216614 m, bearing: 250.718896 deg, approach rate: -0.585397 m/s, LOS rate: -0.001755 deg/s, cmd heading: 259.733953 deg, new cmd heading: 259.732115 deg. Bh]#eHeadingCmd: 4.533181 target range: 217.522354 and range: 218.60 m.he@ha*ha"ha hagifififidqdqdqjdqZd}M?颥}Bɢ<)|i @zi)rJ=顩i[i%࿉b<?B B IB zBB B B DB n;B ,EA I I O >ԙ )9,о?AV2Acoustic response timeoutq$@_@m=ٱ EAHRS rotation from veh to nav: [[-0.175900,0.977058,0.120067],[-0.981632,-0.164942,-0.095876],[-0.073873,-0.134726,0.988125]]H`ƿD? ? iſ [T鲿>?i$@IWM^;hCY]yBy]|Ii-Mb@Mb@Mb@)))) )9-ףp= ? rhMbPY-?y-C--#A) - A)-A)Y-QAbDVDk1y%$=ٔQ->9Y=Fy,EٺE>Q 5%5<?Q 9%5)BY?Q E:yQ It@}DI ;iC ;tc%5yɮ/AjhFNOT Ignoring new targets: 217.52 m.Rh%#Zh%#5 ProNav: ac range: 217.522354 m, nav range: 201.907257 m, bearing: 250.714452 deg, approach rate: -0.622362 m/s, LOS rate: -0.008954 deg/s, cmd heading: 259.732123 deg, new cmd heading: 259.718770 deg. Bh5Ĺ=HeadingCmd: 4.532948 target range: 217.522354 and range: 218.60 m.h= @h9*hA"hA hAgAfAfIfMu}BdIdIdIjdQZdU ?颅}Bɢ =) &i);=顉itYi࿉/<7E E]E)E"Ea;*E;VEFA4ZEBE@,Ѿ?A:@:@:j=ٱ:cj FAHRS rotation from veh to nav: [[-0.177092,0.976727,0.121006],[-0.981599,-0.166362,-0.093744],[-0.071432,-0.135381,0.988215]]:HƿYA?F?AiVKſVI*Tu?i:@I: d^;8YJnyByNeIIR=)RbDVVDVfy^%^{=ٔbQ-b ?9`Y`=bFyb/Ef[nEf ?hQ 5n%5jf?Q 9n%5j)jBYpyrQ Irt@jDIj9:ij:jLf%5ytɮv40At B*** querying acoustic contact ***i  i jhFNOT Ignoring new targets: 217.52 m.Rh%- Zh%- Y] ProNav: ac range: 217.522354 m, nav range: 201.704895 m, bearing: 250.711604 deg, approach rate: -0.621335 m/s, LOS rate: -0.008752 deg/s, cmd heading: 259.718763 deg, new cmd heading: 259.710211 deg. Bh]6eHeadingCmd: 4.532798 target range: 217.522354 and range: 218.60 m.he @hi*hi"hi higifqfqfqdqdydyjdyZd}h?颭}Bɢ<) i)=顱iC*Wi ࿉I<(i߹ I߽ A 2Acoustic response timeout F,Ѿ?A2@2 @2Kύ=ٱ2¸ :AHRS rotation from veh to nav: [[-0.178426,0.976532,0.120618],[-0.981518,-0.168022,-0.091604],[-0.069188,-0.134733,0.988464]]2Hƿ???h`ſYs@I>@~?i2@I2N^;2gCYvUyByvUIbDVDyo%F=ٔ@Q->9"?Y"?=Fy4E%RE%>)Q 55%5-9?Q 95%5-s)-BY1y5Q I5t@-DI-:i-n;-i%5y]Bɮ]0A]EjhFNOT Ignoring new targets: 217.52 m.RhjZhj ProNav: ac range: 217.522354 m, nav range: 201.447647 m, bearing: 250.708073 deg, approach rate: -0.617844 m/s, LOS rate: -0.008492 deg/s, cmd heading: 259.710211 deg, new cmd heading: 259.699604 deg. BhHeadingCmd: 4.532613 target range: 217.522354 and range: 218.60 m.h+ @h*h"h hgfffdԹddjdZd@}Bɢ<) 6i)=i]Ti࿉<BCB}IByBB =BBDBo;B2-E52Acoustic response timeoutS,U9@Q @Q@U4@QA ^Au h%<A} >A} >E U E JE (E "E l;*E ;VE c44ZE BE YN,0<Ѿ?AB @B@B/=ٱBs NAHRS rotation from veh to nav: [[-0.182302,0.975566,0.122625],[-0.981076,-0.172207,-0.088509],[-0.065229,-0.136440,0.988499]]BHUǿ 7?ad?d ƿ `ܲvǡ?iB @IBX-^;@YR6yByRCIi-Mb@Mb@Mb@)))) )9-K7?Zd;y&1|?Y-)?y-y-`;-&'A--A -A)-A)Y-fA AE<bDEVDEy]t%]$=ٔ]EQ-e>9aYa=eFye9Em*Em>qQ 5}%5u?Q 9}%5u)uBYt*?Q E:y Q It@uDIu;iu#;uEn%5yɮ1Ajh1MFNOT Ignoring new targets: 217.52 m.RhUVZhUVe ProNav: ac range: 217.522354 m, nav range: 201.116409 m, bearing: 250.702074 deg, approach rate: -0.646988 m/s, LOS rate: -0.011738 deg/s, cmd heading: 259.699611 deg, new cmd heading: 259.681583 deg. BhemHeadingCmd: 4.532299 target range: 217.522354 and range: 218.60 m.hm@hi*hi"hi higifqfqfu}BdydydyjdyZd} @ԩ}Bɢ<) i);=im]Ri࿉e"V,2\Ѿ?AJ߉@Jaڐ@Je=ٱJ- RAHRS rotation from veh to nav: [[-0.184297,0.974995,0.124177],[-0.980840,-0.174326,-0.086962],[-0.063140,-0.137825,0.988442]]JH@ ǿ (3?@ ʿ? cSPƿ'C );@Q?iJ߉@IJZ ^;HYZ:yByZEI \\\^AbDfVDfyn;%n)=ٔnލQ-n>9pYp=rFyr>Er!Ev>xQ 5~%5zP?Q 9~%5z)zBY|y~IQ I~t@zDIz:iz:z~r%5y Bɮ 0A Ejh1=FNOT Ignoring new targets: 217.52 m.Rh=f]ZhEf] ProNav: ac range: 217.522354 m, nav range: 200.795395 m, bearing: 250.696421 deg, approach rate: -0.685949 m/s, LOS rate: -0.012098 deg/s, cmd heading: 259.681579 deg, new cmd heading: 259.664595 deg. BhHeadingCmd: 4.532002 target range: 217.522354 and range: 218.60 m.h)@h*h"h hgfffdddjdZd@=}Bɢ=V<)9 =iA)Eԓ=AAiE/PB>BCB?IB0yBBBBB6p;Br-Ei &࿉ 5h< ;I )@IAyBDAT read: Rx Time:04:55:32.2156 TRx dataTimestamp_ set to:1761540933.6650012Acoustic response timeout@ @@ 1@ԙ ^A ;A eAzA eAE _ E SE *E "E ;*E N;VE (N4ZE BE k9Y=FyCEE>Q 5%5`尊?Q 9%5/)BYz-?Q E:yQ It@DI\ ;i ;(w%5yɮB1AjhFNOT Ignoring new targets: 217.52 m.RhZh ProNav: ac range: 217.522354 m, nav range: 200.434692 m, bearing: 250.688825 deg, approach rate: -0.676560 m/s, LOS rate: -0.014274 deg/s, cmd heading: 259.664586 deg, new cmd heading: 259.641756 deg. BhHeadingCmd: 4.531603 target range: 217.522354 and range: 218.60 m.h@h!*h!"h! h!g!f!f)f-}Bd)d1d1jd1Zd5 7 @u}Bɢ}Џ<ԩ) i)$=iMi-3࿉5 ;<];I]@Iai@ @@5@DAT read: 04:55:32.2156 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 349,-0.38,-2.765, 2.005,-2.281,-2.790, PHS= 0.127,-1.444, 0.465, RAW= 159.6, 9.7, CAL= 159.4, 10.4, ROT= 350.6, -10.4 Ygot valid direction response: 04:55:32.2156 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 349,-0.38,-2.765, 2.005,-2.281,-2.790, PHS= 0.127,-1.444, 0.465, RAW= 159.6, 9.7, CAL= 159.4, 10.4, ROT= 350.6, -10.4 PDAT read: Bearing 53.5, -14.4 (Local) ~Local bearing/azimuth received: Bearing 53.5, -14.4 (Local) DAT read: Range 11 to 50 : 174.6 m (Round-trip 232.9 ms) speed 0.8 m/s BDAT read: Tx time:04:55:33.2786 $Ping request sent.iԸ{>aF2@-\->/ 2@ 9>)@I9?zR?ƩK?|j?a? H0?)%-I'i95:publishing transmit ping time5Fpublishing direction and range infoynO9 ?CMzĿlE@?Y )Ii )I?zR?ƩK?|j?a? )Ii ^A] ;A I I O >e,PѾ?A8>‰@>[@>+o=ٱ> r FAHRS rotation from veh to nav: [[-0.187826,0.973805,0.128162],[-0.980467,-0.178138,-0.083372],[-0.058358,-0.141318,0.988243]]>H` ȿh)?g?_@:ƿW` ᭿¿?i>‰@I>^;>hCYNyByN.IbDZVDZ:yb8%bS=ٔbJQ-b>9dYd=fFyfGEf)Ej>bEYjE]C4rE]t0Err Er[EpEp"Er;*Er;VEpZEpav@av@av@av@|Q 5~%5~߰?Q 9%5~)~BYy5Q It@~DI~:i~4:~z%5y Bɮd1AEiiim{Ѿ?AJim-CRim-Cjimh@bm/'e@@%J;!b]?@RmnO9 ?CMzĿlE@?Zim'bim9jm>p%aiKW^do9@ZmO2ԿJ&dX~?2im":imO["imLӞ?*imBimBiiiiiiim+HCim@-eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 174.600006 m, deltaT: 3.780345 s, deltaX: -44.000000 m, approachRate: -11.639150 m/s, rangeRepo size: 4jhaeFNOT Ignoring new targets: 217.52 m.RhmwZhmw} ProNav: ac range: 217.522354 m, nav range: 200.170563 m, bearing: 250.683503 deg, approach rate: -0.669077 m/s, LOS rate: -0.013500 deg/s, cmd heading: 259.641746 deg, new cmd heading: 259.625757 deg. Bh=HeadingCmd: 4.531324 target range: 217.522354 and range: 218.60 m.h@h*h"h hgfffdddjd@3e@Zd@?}BɢT<) i)ns=i_hKi<࿉ <ki&;I@IԱ!@! @!@%/@!B>BB IBxBB =BBBp;B-E^AA A I I O >\k,Ѿ?A2F@2@2 e=ٱ23 :AHRS rotation from veh to nav: [[-0.189563,0.973205,0.130148],[-0.980276,-0.180039,-0.081517],[-0.055901,-0.143034,0.988138]]2HCȿ@~$?௨?k^ ǿL޴ N¿Ӟ?i2F@I20^;2gCYBxByB IIF=)F49Y=FyKEnE>Q 5%56ٰ?Q 9%58)BY )?Q E :y Q It@DIF;i`;^~%5y!ɮ%1A)MB*** querying acoustic contact ***iI iIjhYeFNOT Ignoring new targets: 217.52 m.RheZheu ProNav: ac range: 217.522354 m, nav range: 199.883347 m, bearing: 250.677287 deg, approach rate: -0.658457 m/s, LOS rate: -0.014270 deg/s, cmd heading: 259.625763 deg, new cmd heading: 259.607090 deg. Bh}}HeadingCmd: 4.530999 target range: 217.522354 and range: 218.60 m.h}@h*h"h hgfff}Bddd jdZd?颅}Bɢ͙<) i)LS=顉i-IiG࿉<:I@IEa EmE-E"E݉;*E(;VEt4ZEBE e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994425Ia Ou >r,Y3Ѿ?A4<ɰ2D@2 @26TZ=ٱ2.f :AHRS rotation from veh to nav: [[-0.190908,0.972737,0.131672],[-0.980161,-0.181623,-0.079356],[-0.053278,-0.144209,0.988112]]2H oȿ ??z]k?ǿP7G`ru¿?i2D@I2^;2hCYByByB*I J49XYX=ZFyZOE^[nE^>`Q 5f%5bӰ?Q 9f%5bo")`YdyfQ Ijt@bDIb9:ib:b%5ylɮn{1AljhFNOT Ignoring new targets: 217.52 m.Rh (Zh (% ProNav: ac range: 217.522354 m, nav range: 199.639206 m, bearing: 250.672079 deg, approach rate: -0.671144 m/s, LOS rate: -0.014333 deg/s, cmd heading: 259.607103 deg, new cmd heading: 259.591461 deg. Bh%c-HeadingCmd: 4.530725 target range: 217.522354 and range: 218.60 m.h-@h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE8? }Bɢ  "<)  i )=i5!Gi=P࿉=̀<=&N:I=@IA9@ @@/@IE` E`E(E"Ei;*E'!;VEc44ZEa@a@a@a@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.245665^Am ;ԡ A I I B <A <B >B CB IB xBB =B B DB q;B -EBCBCBB =B =CO5O >x,Ѿ?AY~yBy~.IbDVD02y5j<%5B=ٔ=Q-=>9AYA=EFyETEEEM>IQ 5U%5MͰ?Q 9U%5M))MBYYyYQ I]t@M!DIMQ;iM;MH%5yeBɮmR1AiyjhFNOT Ignoring new targets: 217.52 m.RhbZhb ProNav: ac range: 217.522354 m, nav range: 199.360336 m, bearing: 250.666115 deg, approach rate: -0.660215 m/s, LOS rate: -0.014140 deg/s, cmd heading: 259.591448 deg, new cmd heading: 259.573531 deg. BhCHeadingCmd: 4.530413 target range: 217.522354 and range: 218.60 m.h$@h*h"h hgfffdddjdZd'?}BɢP e<) i)ۺ=iEi Z࿉ j;<ޝ:I$@I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4999489@ @@0@Թ^Arg:E ] E TE +E "E ;*E ;VE [4ZE BE  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749766 2,Ѿ?A2ʢ@2@2F=ٱ2p :AHRS rotation from veh to nav: [[-0.191729,0.972063,0.135399],[-0.980248,-0.182842,-0.075389],[-0.048526,-0.147179,0.987919]]2Hȿ$? T? 0^_gǿLsب`¿?i2ʢ@I2.^;2fCYf yByf'I hhhjAiUMb@Mb@Mb@QQQQ Q9Ux&1? rhZd;O?YUA ?yUCUj<=U)AU A UA)U AQYUAbDVDfyѼ%A=ٔP8Q->9Y=FyXE<E>Q 5%5Iǰ?Q 9%5I0)BY!?Q E:yQ It@2DI ;i2 ;%5yBɮ _1A #Ejh)5FNOT Ignoring new targets: 217.52 m.Rh Zh  ProNav: ac range: 217.522354 m, nav range: 199.092972 m, bearing: 250.662397 deg, approach rate: -0.630876 m/s, LOS rate: -0.008786 deg/s, cmd heading: 259.573526 deg, new cmd heading: 259.562355 deg. BhHeadingCmd: 4.530218 target range: 217.522354 and range: 218.60 m.h@h*h"h hgfffR~BdddjdZd?-}Bɢ-D<)) 5Ži1)5wи=11i5a,Ci=>a࿉=<=:I=@IA 9@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0028181^A Y I I O >煴,Ҿ?A2@2t@2==ٱ2N >AHRS rotation from veh to nav: [[-0.191644,0.971815,0.137289],[-0.980373,-0.182953,-0.073467],[-0.046279,-0.148674,0.987803]]2H`̇ȿ? ?6_kǿβ@屧 ÿ?i2@I2&^;2eCYFyByF2IHHDPDRR=EV\ EVXEV)ET"EV;*EV;VEVFA4ZETaZ@aZ@aZ@aZ@bDZVDZN2yb3:=%b]=ٔfƻQ-f>9dYh=jFyj\Eje9Ej>lQ 5r%5n?Q 9v%5n)6)nBYtyv Q Ivt@nADInV:inM:n7%5yxɮz1A|echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253789jhFNOT Ignoring new targets: 217.52 m.RhZh ProNav: ac range: 217.522354 m, nav range: 198.860275 m, bearing: 250.659137 deg, approach rate: -0.604032 m/s, LOS rate: -0.008472 deg/s, cmd heading: 259.562351 deg, new cmd heading: 259.552560 deg. BhHeadingCmd: 4.530047 target range: 217.522354 and range: 218.60 m.h%@h*h"h hgfffdddjdZd@B@1E}BɢM<)I MgiI)M&=QQiUdAi}f࿉}<}_o:I}%@I5PExceeded connect timeout, disconnecting. @  @ @ 1@B>BB IBxBB =BBBq;B$.Ea^Aqԑ- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508265Iy I O] >Թ ,Ϟ2Ҿ?A:J@:@:5=ٱ: RAHRS rotation from veh to nav: [[-0.190989,0.971758,0.138595],[-0.980597,-0.182526,-0.071515],[-0.044198,-0.149564,0.987764]]:H@Trȿ@?z? a]ǿN``$ÿ›?i:J@I:B^;8Y^yBy^!IiMb@Mb@Mb@ 9~jt?/$kt?Y?y 0=,A A)AYAbDVDy|%<=ٔ>Q->9!Y!=%Fy%`E-,:E->1Q 5=%55w?Q 9=%55=)5BY=?Q E=:y=Q IEt@5RDI5 ;i5* ;5%5yIɮM1AImB*** querying acoustic contact ***ii iijhq}FNOT Ignoring new targets: 217.52 m.Rh}@Zh}@ ProNav: ac range: 217.522354 m, nav range: 198.585510 m, bearing: 250.657531 deg, approach rate: -0.636254 m/s, LOS rate: -0.003722 deg/s, cmd heading: 259.552571 deg, new cmd heading: 259.547748 deg. Bh#ԑHeadingCmd: 4.529963 target range: 217.522354 and range: 218.60 m.ht@h*h"h hgfff{~BdddjdZd@}}BɢF<) i)o4=i?ii࿉_<O:It@IEd E[E+E"E:;*E;VE [4ZEBEV- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010684) ,[|LҾ?A2H@2@2,=ٱ26 :AHRS rotation from veh to nav: [[-0.190169,0.971824,0.139259],[-0.980845,-0.181977,-0.069482],[-0.042183,-0.149805,0.987815]]2HqWȿ/? =?cKǿ@ɱ@ ,ÿ/?i2H@I23^;0YByByB0IIF{>)F=J!>J=bDNVDNk2yVO}=%V]=ٔVQ-V>9XYX=ZFyZdE^;E^>`Q 5f%5b?Q 9f%5bB)bBYdyfQ Ift@b`DIb9:ibt:b>%5ylɮn*1AljhFNOT Ignoring new targets: 217.52 m.Rh Zh  ProNav: ac range: 217.522354 m, nav range: 198.366013 m, bearing: 250.656191 deg, approach rate: -0.615702 m/s, LOS rate: -0.003763 deg/s, cmd heading: 259.547735 deg, new cmd heading: 259.543710 deg. BhM%HeadingCmd: 4.529892 target range: 217.522354 and range: 218.60 m.h@h*h"h hgfffdddjdZdK@E|}BɢE?<)I MiI)My=IIiU=iuk࿉}%<};I}@Iy@ @@3@E[ EwE(E"E%;*ED-;VEc44ZEa@a@a@a@BDAT read: Rx Time:04:55:35.9125 TRx dataTimestamp_ set to:1761540937.443386checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266030^A1IIO>- nManaging dock network, ignoring radio surface power offI B >B B IB xBB B B B r;B f.E)$,XWfҾ?A 2'@2@2$=ٱ2A >AHRS rotation from veh to nav: [[-0.189121,0.971947,0.139827],[-0.981128,-0.181199,-0.067486],[-0.040257,-0.149951,0.987873]]2H 5ȿ@1?`?ge`1ǿ@F@`1ÿਜ?i2'@I2X^;0YZyByZ.I bp9pYp=rFyrhEr-;Ev>tQ 5z%5v ?Q 9~%5vH)vBY|y~nQ I~t@vpDIv;ivH;vҖ%5yBɮ  1A "Ejh)5FNOT Ignoring new targets: 217.52 m.Rh5ېZh=ېM ProNav: ac range: 217.522354 m, nav range: 198.114273 m, bearing: 250.654571 deg, approach rate: -0.614312 m/s, LOS rate: -0.003958 deg/s, cmd heading: 259.543719 deg, new cmd heading: 259.538853 deg. BhM-UHeadingCmd: 4.529808 target range: 217.522354 and range: 218.60 m.hU/@hQ*hQ"hQ hQgQfYfYfadadadajdaZdm @颕{}BɢpG<) i)±=顙iW E f E hE 'E "E ";*E ^%;VE '4ZE BE Tx time:04:55:36.9786  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.978632,-0.139280,0.151261] Fpublishing direction and range infoy  "=P?+jni\?Y L,C ) BI E6>i C V> ;0@ Q > r0@ |>) @I | rJ?_$?Gfe? +?) NlI i |  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ,4Ҿ?APY~xBy~ Ii-Mb@Mb@Mb@)))) )9-㥛 ?MbXkt?Y-?y-ʽ)-K/A-h A -A)- A)Y-QAbDVD1y;>%,=ٔQ->9Y=FymE E >1Q 5=%55 ?Q 9=%55O)5BY= ?Q EE:yE@Q IEt@5DI5:i53:5%5yiɮmz1Aiii`|Ҿ?AJiv+CRiv+Cji@bfUd@ED72P9@R"=P?+jni\?Zibi|jj.ZIqAd{r6@ZL<'ӿYl>?2i":iGM"iBs?*i`3\BidBiph[?iidBiDCi@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 172.300003 m, deltaT: 7.559893 s, deltaX: -46.300003 m, approachRate: -6.124426 m/s, rangeRepo size: 4jh%FNOT Ignoring new targets: 217.52 m.Rh-7Zh-7= ProNav: ac range: 217.522354 m, nav range: 197.830566 m, bearing: 250.655193 deg, approach rate: -0.574591 m/s, LOS rate: 0.001262 deg/s, cmd heading: 259.538856 deg, new cmd heading: 259.540725 deg. Bh=]8EHeadingCmd: 4.529840 target range: 217.522354 and range: 218.60 m.hEs@ha*ha"hi higififqfu~Bdqdqdqjd}e@Zd}^?Ey}BɢE^<)I MRiI)M.m=IIiM:iUm࿉U <]I;I]s@IYDAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018358@ @@/@) ^A= yb];E Z E E )E "E ;*E VE FA4ZE a @a @a @a @Q Am .AIy I iߑ Iߑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270042O >M,3Ҿ?A2҉@2i͐@2T=ٱ2[ ZAHRS rotation from veh to nav: [[-0.186094,0.972536,0.139794],[-0.981837,-0.178722,-0.063671],[-0.036938,-0.149104,0.988131]]2Hǿ@?@?@6kYƿL颿ÿŞ?i2҉@I2GD^;0YbxBybI dddfAbDnVDnyrܽ%vT=ٔv^ Q-v>9z ?Yz ?=zFyzqE~=<E~>Q 5%5?Q 9 %5nU)BY y Q I t@DIy:ip:U%5yBɮ1A+EjhAEFNOT Ignoring new targets: 217.52 m.RhMp7ZhMp7e ProNav: ac range: 217.522354 m, nav range: 197.604736 m, bearing: 250.655494 deg, approach rate: -0.616877 m/s, LOS rate: 0.000822 deg/s, cmd heading: 259.540713 deg, new cmd heading: 259.541616 deg. BheY8mHeadingCmd: 4.529856 target range: 217.522354 and range: 218.60 m.hm@hi*hi"h hgfffdddjdZd_\?Mx}BɢM8)Q UiQ)U=QQiU8im࿉<Z;I@IԱB >BCBIBxBB =BBDB3r;By.E@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522416^AeqZ; A I I O >) ,Ҿ?A2@2ߐ@2=ٱ2? :AHRS rotation from veh to nav: [[-0.183918,0.972845,0.140523],[-0.982298,-0.176736,-0.062095],[-0.035573,-0.149455,0.988128]]2H@ǿ!?@?`n@Hƿʯ`6Y!ÿ@?i2@I28\^;2dCYBxByBIi Mb@Mb@Mb@     9 (\?S㥻L7A`?Y z?y /ݽ += ,A  A ) A Y AyybDVDy?=%@=ٔRQ->9Y=FyuEë;E>Q 5%5>?Q 9%5[)ċBYD?Q E:yQ It@DI;i ; %5yɮ1AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 217.52 m.Rh8Zh8 ProNav: ac range: 217.522354 m, nav range: 197.354263 m, bearing: 250.657012 deg, approach rate: -0.589912 m/s, LOS rate: 0.003580 deg/s, cmd heading: 259.541615 deg, new cmd heading: 259.546175 deg. Bh ;9 HeadingCmd: 4.529935 target range: 217.522354 and range: 218.60 m.h ;@h*h"hE_ EbEE"E;*E5";VEZEBEke,-Ҿ?A6@6w@86 =ٱ6 NAHRS rotation from veh to nav: [[-0.182390,0.973218,0.139933],[-0.982642,-0.175519,-0.060072],[-0.033902,-0.148461,0.988337]]6HXǿ@$? S?q`hwƿ[ÿu?i6@I6;^;6bCYRxByVIbD^VD^yf`%fW=ٔf?Q-j>9hYh=jFynyEn;En>pQ 5v%5r?Q 9v%5r a)rʋBYtyvQ Izt@rDIra;ir;r[%5y~Bɮ~,2A|jh!-FNOT Ignoring new targets: 217.52 m.Rh=t8Zh=t8e ProNav: ac range: 217.522354 m, nav range: 197.130157 m, bearing: 250.658278 deg, approach rate: -0.590947 m/s, LOS rate: 0.003342 deg/s, cmd heading: 259.546178 deg, new cmd heading: 259.549979 deg. Bhm9uHeadingCmd: 4.530002 target range: 217.522354 and range: 218.60 m.hu@hy*hy"hy hygfffdddjdZd@?ew}Bɢe-:)a eia)mҩ=iiim^5iRh࿉w<_ AIB<A<B >BBIBxBB =BBBKr;B.E A} ؟AI I O >-,BҾ?A2@2@2X=ٱ2 :AHRS rotation from veh to nav: [[-0.180940,0.973431,0.140329],[-0.982971,-0.174342,-0.058070],[-0.032061,-0.148447,0.988401]]2H )ǿ`Y&?N?t@Pƿ@K@[jMÿ@?i2@I2H^;2dCYBxByBIIF=)F>F=F=bDNVDNNyV ?%VM=ٔVQ-V>9Z"?YZ"?=ZFyZ}EZt;E^>`Q 5f%5b?Q 9f%5bf)bЋBYdyfQ Ijt@bDIbM:ib:bר%5ynBlɮnd2Apjh%FNOT Ignoring new targets: 217.52 m.Rh-`8Zh-`8Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.530175U ProNav: ac range: 217.522354 m, nav range: 196.895004 m, bearing: 250.659509 deg, approach rate: -0.585407 m/s, LOS rate: 0.003068 deg/s, cmd heading: 259.549975 deg, new cmd heading: 259.553672 deg. BhU9HeadingCmd: 4.530066 target range: 217.522354 and range: 218.60 m.hM@h*h"h hgfffdddjdZd ?ɢ 2;)I MkiQ)U짧=QYi]y3i5f࿉y<* :,IӾ?A;ɰ;$Y xByIiMb@Mb@Mb@ 9bX9?MbX?YE?yʽ<~.A A zA) AYA 4<<bDVDN2y%+=ٔQ->9Y=FyEE > Q 5%5 ?Q 9%5 m) ՋBY?Q E:yQ I5t@ DI :;i W; %5y9ɮ=2A9jhaeFNOT Ignoring new targets: 217.52 m.Rhme(7Zhme(7} ProNav: ac range: 217.522354 m, nav range: 196.610703 m, bearing: 250.659782 deg, approach rate: -0.596079 m/s, LOS rate: 0.000575 deg/s, cmd heading: 259.553663 deg, new cmd heading: 259.554486 deg. Bh}7HeadingCmd: 4.530080 target range: 217.522354 and range: 218.60 m.hk@h*h"h hgfff~BdddjdZd@@ɢ>) i)=i2ie࿉{<nǴ,3 Ӿ?A6@6@6<ٱ6< >AHRS rotation from veh to nav: [[-0.177702,0.974017,0.140404],[-0.983688,-0.171764,-0.053436],[-0.027931,-0.147610,0.988651]]6Hƿ%+?@?^z@[ſ[¿?i6@I6^6^;6cCYFuxByFI\bDNVDN yr[%r_=ٔv8Q-v>9tYt=zFyzEz^<Ez>Q 55%5|?Q 95%5ms)ًBY1y5GQ I5t@DIb;i^V;=%5yEBɮE43AE4EjhimFNOT Ignoring new targets: 217.52 m.Rhulx4Zhulx4B >BBIBxBBBBBr;B.EB]CB]CB]CB] =B] =C]5 ProNav: ac range: 217.522354 m, nav range: 196.390823 m, bearing: 250.659787 deg, approach rate: -0.595517 m/s, LOS rate: 0.000013 deg/s, cmd heading: 259.554483 deg, new cmd heading: 259.554498 deg. Bh 5HeadingCmd: 4.530081 target range: 217.522354 and range: 218.60 m.hl@h*h"h hgfffdddjdZd"@ɢ0&.) 0i)=i0ie࿉ < PA 9ʹ,Z :Ӿ?A2$@2h@2@<ٱ2]t :AHRS rotation from veh to nav: [[-0.176319,0.974383,0.139606],[-0.983995,-0.170762,-0.050929],[-0.025785,-0.146352,0.988897]]2Hƿ$.?@?|`ſV`Rg¿` ?i2$@I2 a^;2fCYB_xByBI DDHH!E-e E-cE-(E)"E-;*E-";VE-c44ZE)BE-9 Y = Fy E R;E>Q 5%%5pu?Q 9%%5y)݋BY%?Q E-:y-eQ I-t@DIa:i:%5y1ɮ53A1UB*** querying acoustic contact ***iQ iQjhYeFNOT Ignoring new targets: 217.52 m.RheZhm} ProNav: ac range: 217.522354 m, nav range: 196.129425 m, bearing: 250.659266 deg, approach rate: -0.600394 m/s, LOS rate: -0.001200 deg/s, cmd heading: 259.554510 deg, new cmd heading: 259.552944 deg. Bh}RHeadingCmd: 4.530054 target range: 217.522354 and range: 218.60 m.h3@h*h"h hgfff~BdddjdZd`b@ɢ +) i)z=imE.iuf࿉u'Դ,%TӾ?AY%HxBy%I15@AYbD1VD1ymGq%mR=ٔuQ-u>9qYq=uFy}EE>Q 5%5n?Q 9%5)BYyQ It@DIo;i:%5yBɮ3A3EjhFNOT Ignoring new targets: 217.52 m.RhZh  ProNav: ac range: 217.522354 m, nav range: 195.893402 m, bearing: 250.658794 deg, approach rate: -0.598674 m/s, LOS rate: -0.001199 deg/s, cmd heading: 259.552953 deg, new cmd heading: 259.551535 deg. BhRHeadingCmd: 4.530029 target range: 217.522354 and range: 218.60 m.h@h*h"h hgf!f!f!d!d)d)jd)Zd- @Yɢ]1_)a eia)e:c=aiim*<,imqg࿉uiEj>5~1@>E1@ '>)3@I'ױ??~"? U%? .?)¶I|i'eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse@A]@AA]?ABe>BeCBeIBexBBaBaBaBer;Be.EԹ^A hW<  DAT read: Range 11 to 50 : 170.2 m (Round-trip 227.0 ms) speed 0.7 m/s  TDAT read: user:227>Tx time:04:55:40.6786  X#Rx 2: Read range message, but no direction.yy Y} 3*Cy  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A .AI I1 O= >Jk۴,*oӾ?Ap9@~4@~<ٱQ mAHRS rotation from veh to nav: [[-0.173813,0.974824,0.139665],[-0.984603,-0.169345,-0.043357],[-0.018614,-0.145050,0.989249]]H?ƿ1??`݁@ſ`2`¿?i9@I]Z^;dCY"xByIiUMb@Mb@Mb@QQQQ Q9U1Zd?ʡEQ?YU"?yU-Uu9 ?Y ?=FyE͟;E>Q 5%5f?Q 9%5䇺)BY?Q E:yQ It@DI* ;i ;%5yɮi4AiiRnӾ?AJi`)CRi`)Cji0,@b¥d@ 2F92{;@R5?ӆ@ÿ$vz?Zi|bi'j{JHO*H2c2n9;@ZҿU$$t ?2i:iE"i {?*iZBiBiLӞ?i`3\iuBi(CiJ|@ addTargetRange:: Added new target pos. range: 170.199997 m, deltaT: 11.340320 s, deltaX: -48.400009 m, approachRate: -4.267958 m/s, rangeRepo size: 4  Added new target pos. range: 169.377075 m, bearing: 252.768575 deg, lat: 36.779389 deg, lon: -121.859641 deg, deltaT: 11.340320 s, deltaX: -48.145279 m, approachRate: -4.245496 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 169.38 m.RhZh- ProNav: ac range: 169.377075 m, nav range: 168.603058 m, bearing: 251.538328 deg, approach rate: 0.000000 m/s, LOS rate: -0.001199 deg/s, cmd heading: 259.551532 deg, new cmd heading: 259.549619 deg. Bh)5HeadingCmd: 4.529995 target range: 169.377075 and range: 170.20 m.h5@h1*h1"h9 h9g9f9fAfEV~BdAdAdAjdM`fFe@ZdM K?}x}Bɢ} )y }i)u=顁i"*ih࿉<KA] >ԁ A ؟AI I O >,[ҌӾ?A2n/@28*@28<ٱ2< :AHRS rotation from veh to nav: [[-0.175056,0.974658,0.139273],[-0.984430,-0.170990,-0.040742],[-0.015895,-0.144237,0.989415]]2H@>hƿe0? ?s`ſ*ܤF\v¿J?i2n/@I2h^;2eCYBwByBInchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.049619bDrVDrf?yzWؽ%zt=ٔzQ-~?9~"?Y~"?=~Fy~EtE? Q 5%5 Ga?Q 9%5 ) BYy1Q It@  DI ;i ;  %5y!ɮ%4A!jhIMFNOT Ignoring new targets: 169.38 m.RheZheu ProNav: ac range: 169.377075 m, nav range: 168.397614 m, bearing: 251.537719 deg, approach rate: -0.619805 m/s, LOS rate: -0.001840 deg/s, cmd heading: 259.549620 deg, new cmd heading: 259.547790 deg. Bhu}HeadingCmd: 4.529963 target range: 169.377075 and range: 170.20 m.h}v@hy*hy"hy hygfffdddjdZd`T?颹ɢ) Gi)=ij(ii࿉Q@<(kB >B CB IB [xBB =B B B r;B .Ei E,aӾ?A2!@2@2WY<ٱ2  :AHRS rotation from veh to nav: [[-0.176711,0.974193,0.140431],[-0.984173,-0.172962,-0.038564],[-0.013279,-0.145023,0.989339]]2H@vƿ@,??X~#ƿ62 ¿?i2!@I2zS^;2dCYBwByBxI DF4<bDJVDJyR-)%RN=ٔV׻Q-V>9TYT=ZFyZEZEZ>\Q 5b%5^Z?Q 9b%5^)^BYdyfgQ Ift@^0DI^:i^w:^%5yjBɮj5An=Ejh|FNOT Ignoring new targets: 169.38 m.RhTطZhTط ProNav: ac range: 169.377075 m, nav range: 168.154297 m, bearing: 251.537132 deg, approach rate: -0.612053 m/s, LOS rate: -0.001478 deg/s, cmd heading: 259.547790 deg, new cmd heading: 259.546027 deg. Bh́%HeadingCmd: 4.529933 target range: 169.377075 and range: 170.20 m.h%6@h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5?my}Bɢu4g)q {i)Z=i&i%j࿉%a<%RUE w E oE (E "E ؓ;*E );VE c44ZE BE :9Y=FyEE>Q 5%5@T?Q 9%5)BY ?Q E:yTQ It@BDI;i ;\%5y ɮ 5A -B*** querying acoustic contact ***i) i)jh1=FNOT Ignoring new targets: 169.38 m.RhE*ZhE*M ProNav: ac range: 169.377075 m, nav range: 167.878632 m, bearing: 251.534204 deg, approach rate: -0.626979 m/s, LOS rate: -0.006671 deg/s, cmd heading: 259.546041 deg, new cmd heading: 259.537242 deg. BhU]HeadingCmd: 4.529779 target range: 169.377075 and range: 170.20 m.h]@hY*hY"hY hYgYfafafe}BdadidijdiZdmx?z}Bɢܥ) ⵿i!)%C=!!i%$i-o࿉-<5[E,fOӾ?A:x @:B@:Ę;ٱ:W FAHRS rotation from veh to nav: [[-0.179393,0.973058,0.144835],[-0.983747,-0.176266,-0.034252],[-0.007800,-0.148625,0.988863]]:H [ƿI#??z`ޏƿ@@(ÿä?i:x @I:E^;:bCYJwByJfIbDVVDV:y^@<%^_=ٔ^tQ-b>9`Y`=bFybEfTEf>hQ 5n%5jN?lQ 9n%5jߟ)jBYpyrQ Irt@jPDIj-;ij.;j%5yvBɮzp5AzZh%>5 ProNav: ac range: 169.377075 m, nav range: 167.648026 m, bearing: 251.531949 deg, approach rate: -0.628394 m/s, LOS rate: -0.006154 deg/s, cmd heading: 259.537244 deg, new cmd heading: 259.530469 deg. Bh5%5HeadingCmd: 4.529661 target range: 169.377075 and range: 170.20 m.h=@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM)?Ez EjE'E"E4;*Ek&;VE'4ZEa@a@a@a@]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.309777u{}Bɢ}xl)y }wiy)}8=yi"i|s࿉<ϝ3BBIBxBB =BBB?s;B/E9^AI- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565644i A I I O >vt,`=Ӿ?A9M@@r>;ٱA  AHRS rotation from veh to nav: [[-0.180377,0.972452,0.147655],[-0.983584,-0.177556,-0.032177],[-0.005073,-0.151036,0.988515]]HǿR? _? y`+ƿ~y`t!Uÿ?iM@I6^;YwByXIi=Mb@Mb@Mb@9999 99=J +? rh9Y=FyEE>Q 5%5F?Q 9%50)BY)?Q E:yQ It@eDI);i;%5yɮ5AjhaEU EKE)E"El;*E;VEFA4ZEBEi>ԉ@ @@0@@=@=Թ ^A x/< V,@2Ծ?A2}@2G@2R|;ٱ2@/ jAHRS rotation from veh to nav: [[-0.181317,0.971925,0.149955],[-0.983422,-0.178842,-0.029940],[-0.002281,-0.152898,0.988239]]2Hd5ǿ?1?1x`Oƿ@b)ÿ ?i2}@I2\^;0YvwByvNII~{>)~===bDVDy5q+%5P=ٔ=RQ-=>9AYA=MFyMEUEU>aQ 5u%5e@?Q 9u%5eͮ)eBYqyuQ Iut@evDIe;ie;e\%5yɮ 6AjhFNOT Ignoring new targets: 169.38 m.Rh4Zh4 ProNav: ac range: 169.377075 m, nav range: 167.058044 m, bearing: 251.523235 deg, approach rate: -0.674223 m/s, LOS rate: -0.009879 deg/s, cmd heading: 259.515770 deg, new cmd heading: 259.504280 deg. BhعHeadingCmd: 4.529204 target range: 169.377075 and range: 170.20 m.h=@h*h"h hgfffdddjdZdp@颍~}Bɢc#) i)c=顑iW`iv࿉6<c$BBqIBwBBBBBs;BE/E! A I I) O= >o{ ,#+Ծ?AYwBybD5VD5ym扺%mG=ٔuQ-u>9qYy=}Fy}EE>Q 5%5:?Q 9%5)BYyQ It@DIN:i:%5yɮ6AEEjhFNOT Ignoring new targets: 169.38 m.RhI2ZhI2BDAT read: Rx Time:04:55:43.3064 TRx dataTimestamp_ set to:1761540944.7483242Acoustic response timeout ProNav: ac range: 169.377075 m, nav range: 166.788483 m, bearing: 251.519279 deg, approach rate: -0.662734 m/s, LOS rate: -0.009742 deg/s, cmd heading: 259.504268 deg, new cmd heading: 259.492380 deg. BhչHeadingCmd: 4.528996 target range: 169.377075 and range: 170.20 m.h@h*h"h hgff f d d d jdZd@>@E}BɢE)I MiI)M=IIiMaiUA࿉UA<])c,_EԾ?Aɰ@YrwByv5IiMb@Mb@Mb@ 9MbX?y&1I +?Y*?y`e9<0A A)AYA p;bDVDy%3=ٔQ->9 Y = Fy EE>Q 5%%54?Q 9%%5_)BY%q+?Q E%:y%ZQ I-t@DI:i:%5y1ɮ56A1UB*** querying acoustic contact ***iQ iQjhYeFNOT Ignoring new targets: 169.38 m.RheZhe} ProNav: ac range: 169.377075 m, nav range: 166.484207 m, bearing: 251.512728 deg, approach rate: -0.667050 m/s, LOS rate: -0.014388 deg/s, cmd heading: 259.492383 deg, new cmd heading: 259.472694 deg. Bh}}HeadingCmd: 4.528653 target range: 169.377075 and range: 170.20 m.h@h*h"h hgfff}BdddjdZd @ԩ}Bɢb.) Ji)$=ixi࿉<`- ]BDAT read: Tx time:04:55:44.3786 ]$Ping request sent.]iSM?1@>a1@ V>)%@IV9pe?uy5?p? /?)ITFiV:publishing transmit ping time!@! @!@%4@!YeFpublishing direction and range infoymJ?(E\)`ÿ'ЌCz?Y )Ii )I9pe?uy5?p? )Ii ^AE h%<AI zAM fAE _ E [E E "E ;*E ;VE ZE a @a @a @a @Au .AI I O >, S`Ծ?A2S@2@21ٱ2 H jAHRS rotation from veh to nav: [[-0.183974,0.970647,0.154910],[-0.982914,-0.182593,-0.023226],[0.005741,-0.156536,0.987656]]2H`yǿ@?@?t2_ǿ`ȗ݃w?`] Ŀߚ?i2S@I2 q^;2cCYrwByr<IbD5VD51yE=%Ee=ٔE=Q-E>9 ?Y ?=FyE5E>Q 5%5.?Q 9%5úA A BBB^IBwBBBBBs;B\/EBBBBB =C4)BY)y-Q I-t@DIt;i-;1%5y=Bɮ=e6A=DEiiiPԾ?AJi&CRi&Cji@bҧAfd@_#LC97[8@RmJ?(E\)`ÿ'ЌCz?ZiTFbiVj 8hIogQc7oz<@Z1 |ӿ<Us[Y]T?2iZ:iAK"i~t?*iOBi%Bi~t?iZiBiH%Ciˌ@ addTargetRange:: Added new target pos. range: 167.699997 m, deltaT: 3.527759 s, deltaX: -2.500000 m, approachRate: -0.708665 m/s, rangeRepo size: 4  Added new target pos. range: 166.887466 m, bearing: 251.996087 deg, lat: 36.779406 deg, lon: -121.859637 deg, deltaT: 3.527759 s, deltaX: -2.489609 m, approachRate: -0.705720 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 166.89 m.RhEZhAU ProNav: ac range: 166.887466 m, nav range: 165.284225 m, bearing: 252.095789 deg, approach rate: 0.000000 m/s, LOS rate: -0.014388 deg/s, cmd heading: 259.472685 deg, new cmd heading: 259.455525 deg. BhQ]HeadingCmd: 4.528353 target range: 166.887466 and range: 167.70 m.h]E@hY*hY"hY hygfffdddjd`fd@Zd P?Թ}Bɢ) i) =  i iW࿉<nZ,$czԾ?A2Vۉ@2 ֐@2ٱ2! :AHRS rotation from veh to nav: [[-0.185169,0.970227,0.156112],[-0.982671,-0.184160,-0.021030],[0.008346,-0.157301,0.987515]]2H࠳ǿ@ ?`~? rǿ`و? s"Ŀ๙?i2Vۉ@I2C^;2eCYBswByB-IhiUMb@Mb@Mb@QQQQ Q9Up= ף?S㥫Q?YU%?yU/]U9Y=FyEJE>Q 5%5(?Q 9%5?ʺ)BY%?Q E:yQ It@DI.:iz:%5yɮ6AjhFNOT Ignoring new targets: 166.89 m.Rh.]Zh.] ProNav: ac range: 166.887466 m, nav range: 165.029938 m, bearing: 252.091283 deg, approach rate: -0.680953 m/s, LOS rate: -0.012086 deg/s, cmd heading: 259.455527 deg, new cmd heading: 259.441988 deg. BhHeadingCmd: 4.528117 target range: 166.887466 and range: 167.70 m.hU@h*h"h hgfff ~Bddd jd Zd `H?E5U E5hE5'E1"E5l;*E5^%;VE5'4ZE1BE5Y $,o+Ծ?A$$RӉ@Rΐ@R1ٱR3# ZAHRS rotation from veh to nav: [[-0.186072,0.969761,0.157924],[-0.982476,-0.185416,-0.019009],[0.010847,-0.158694,0.987268]]RH8ǿI?6?qpǿ3w7?PĿ?iRӉ@IRN^;RbCYbwByb@IdfAAbDjVDj1yr=%rU=ٔvpջQ-v>9tYt=vFyzEzEz>|Q 5%5~#?Q 9%5~к)~&BY y Q I t@~DI~:i~:~%5yBɮ6ANE9jhAEFNOT Ignoring new targets: 166.89 m.RhMNZhMN] ProNav: ac range: 166.887466 m, nav range: 164.782059 m, bearing: 252.086951 deg, approach rate: -0.645623 m/s, LOS rate: -0.011300 deg/s, cmd heading: 259.441976 deg, new cmd heading: 259.428960 deg. Bh]+eHeadingCmd: 4.527890 target range: 166.887466 and range: 167.70 m.hey@ha*ha"ha higifififidqdqdqjdqZd}`?颥}Bɢ2) ޾i)( =顩iMi࿉2<z;Iy@IQ@Q @Q@U0@QiEMW EMNEM*EI"EMT;*EM;VEM(N4ZEIaU@aU@aU@aU@^AuH<A}>A}>ԙBBBQIBwBBBBBs;B^/EA ؟AI I O > Q*,R Ծ?ABQΉ@Bɐ@BYٱBY# JAHRS rotation from veh to nav: [[-0.186721,0.969543,0.158500],[-0.982323,-0.186439,-0.016783],[0.013279,-0.158832,0.987216]]BH`xǿ`~?I?@1o@8ǿ/@1?`TĿF?iBQΉ@IB/^;@YRwByR8IbD^VD^yfI%fL=ٔfƻQ-f>9j"?Yj"?=jFyjEjٺEn>pQ 5v%5r?Q 9v%5r!׺)r0BYtyvQ Ivt@rDIrw:ir:r}%5y|ɮ~O6A|ԑjhFNOT Ignoring new targets: 166.89 m.RhDZhD ProNav: ac range: 166.887466 m, nav range: 164.523392 m, bearing: 252.082477 deg, approach rate: -0.620580 m/s, LOS rate: -0.010751 deg/s, cmd heading: 259.428972 deg, new cmd heading: 259.415528 deg. BhHeadingCmd: 4.527655 target range: 166.887466 and range: 167.70 m.h@h*h"h hg f f f dddjdZd?E}BɢE+$)I MiQ)].~=YYi]im8࿉u1,PԾ?A29̉@2ǐ@2|ٱ2I# :AHRS rotation from veh to nav: [[-0.186966,0.969396,0.159109],[-0.982245,-0.187019,-0.014780],[0.015428,-0.159048,0.987150]]2HǿI?@]?`n9ǿ6Eߘ?@[Ŀ ?i29̉@I2[^;2aCY^wByb;Ii}Mb@Mb@Mb@yyyy y9}%C?X9vL7A`?Y}Z$?y}}}+=}`3A}A }-A)yyY}AbDVDy<%>=ٔcQ->9 ?Y ?=FyEdE>Q 5%5?Q 9%5&޺)1@)!Q^Am0;A ؟AI I O >Ee W Ee MEe 'Ea "Ee T;*Ee %;VEe '4ZEa am @am @am @am @ԉ 8,XԾ?AɰBƉ@B{@BMٱB# JAHRS rotation from veh to nav: [[-0.187622,0.969179,0.159655],[-0.982079,-0.188051,-0.012552],[0.017858,-0.159148,0.987093]]BH`ȿ@?o?0mȿI? ^Ŀ@D?iBƉ@IB@^;BbCYRwByREI V9f"?Yf"?=jFyjEjEj>lQ 5r%5n?Q 9r%5nX)nFBYtyv^Q Ivt@nDIn:in:n%5yxɮz5AxB*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 166.89 m.Rh-Zh-= ProNav: ac range: 166.887466 m, nav range: 164.001572 m, bearing: 252.075678 deg, approach rate: -0.645017 m/s, LOS rate: -0.008348 deg/s, cmd heading: 259.404601 deg, new cmd heading: 259.395102 deg. Bh=VEHeadingCmd: 4.527298 target range: 166.887466 and range: 167.70 m.hEߐ@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUp@BABBBBBBBBt;Bl/E1%}Bɢ='7)9 =羿i9)Et=AAiEiM࿉MQ,Ծ?A2aɉ@2+Đ@2"裼ٱ2$ :AHRS rotation from veh to nav: [[-0.187292,0.969004,0.161098],[-0.982100,-0.188058,-0.010618],[0.020007,-0.160203,0.986881]]2H.ǿ ? ܞ?^mHȿ@|?`Ŀ?i2aɉ@I2v3^;0YBwByB@Ii Mb@Mb@Mb@     9 )\(?~jtX9v?Y G!?y  < 2A  A)  Y  AbD}VD}1yݕ%@=ٔQ->9 ?Y ?=FyECJ:E>Q 5%54 ?Q 9%5)RBY"?Q E:y`Q It@DI:i:K%5yBɮ5AMEjhFNOT Ignoring new targets: 166.89 m.Rh4[Zh4[ ProNav: ac range: 166.887466 m, nav range: 163.732605 m, bearing: 252.074407 deg, approach rate: -0.632509 m/s, LOS rate: -0.002994 deg/s, cmd heading: 259.395094 deg, new cmd heading: 259.391274 deg. BhHeadingCmd: 4.527232 target range: 166.887466 and range: 167.70 m.h ߐ@h *h "h  h g f EY E\E+E"E=;*E ;VE [4ZEBEY !E,@վ?A2ʉ@2Ő@2˴ٱ2q/% :AHRS rotation from veh to nav: [[-0.187107,0.968914,0.161854],[-0.982092,-0.188204,-0.008663],[0.022068,-0.160576,0.986777]]2Hǿ X?@?Kmȿὁ@?Ŀ?i2ʉ@I2HL^;0YBwByBAIbDNVDNJyR;%RY=ٔVQ-V>9V"?YZ"?=ZFyZEZ,9E^>\Q 5b%5^J?Q 9f%5^)^]BYdyfZQ Ift@^DI^:i^:^%5yjBɮn5AnVEjh|FNOT Ignoring new targets: 166.89 m.RhW_Zh W_ ProNav: ac range: 166.887466 m, nav range: 163.494553 m, bearing: 252.073263 deg, approach rate: -0.633883 m/s, LOS rate: -0.003051 deg/s, cmd heading: 259.391269 deg, new cmd heading: 259.387832 deg. Bh%HeadingCmd: 4.527172 target range: 166.887466 and range: 167.70 m.h%ސ@h!*h!"h! h!g!f)f)f)d)d1d1jd1Zd5"@e}BɢeS)a eRii)m-Yk=iiim8iu࿉u&(<}̊;I}ސ@Iy9@ @@/@)E%V E%RE%)E!"E%;*E%;VE%FA4ZE!a-@a-@a-@a-@BDAT read: Rx Time:04:55:47.0034 TRx dataTimestamp_ set to:1761540948.528161checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262532a^A)B >BBXIBwBBBBBt;Bn/EA] .AIi Iy ԁ O > GK,'M/վ?A06ȉ@6Ð@6mȼٱ6o& >AHRS rotation from veh to nav: [[-0.187352,0.968594,0.163478],[-0.981988,-0.188827,-0.006613],[0.024464,-0.161772,0.986525]]6H&ǿ??rly+ȿ { ?Ŀ?i6ȉ@I63^;6`CYFwByFOILN@AbDRVDR1yVV=%ZJ=ٔZo»Q-Z>9^ ?Y^ ?=^Fy^Ev$E>!Q 5%%5%?Q 9-%5%)%iBY)y-aQ I-t@%.DI%:i%:%5%5y1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513502ɮ=s5AAjhimFNOT Ignoring new targets: 166.89 m.Rhu[Zhu[ ProNav: ac range: 166.887466 m, nav range: 163.231873 m, bearing: 252.072015 deg, approach rate: -0.630273 m/s, LOS rate: -0.002999 deg/s, cmd heading: 259.387826 deg, new cmd heading: 259.384077 deg. BhHeadingCmd: 4.527106 target range: 166.887466 and range: 167.70 m.hސ@h*h"h hgfffdddjdZd nU @ }Bɢ Z7)   i)>5f=i%A i-3࿉-<-?l;I-ސ@I9ԙ9@ @@@ԹE=T E=TE=(E9"E=;*E=;VE=c44ZE9BE= ] BDAT read: Tx time:04:55:48.0786 e $Ping request sent.e i7x>;0@| > 0@ )>)p{@I)}z?8*?6Ȏ? +?)G ^A 0; ITi) :publishing transmit ping timea  Fpublishing direction and range infoyc, =?ԟ¿G ?Y )Ii )I}z?8*?6Ȏ? )IiA ؟AI I O >.R, (Iվ?ABSˉ@BƐ@B%ڼٱB & JAHRS rotation from veh to nav: [[-0.187030,0.968651,0.163511],[-0.981993,-0.188865,-0.004393],[0.026626,-0.161388,0.986532]]BH ǿ/?`?@}l,ȿkq`C?@]Ŀ ?iBSˉ@IBZ^;@`YfwByfWIa@a a@a a@a a@a bDVDy<%8=ٔ"Q->9"?Y"?=FyE?:E> Q 5%5 ?Q 9%5 ) wBQ A5+:Y1Q E5:y=XQ I=t@ @DI ;i A> G%5yAɮE>5AAi!i%qBվ?AJi%$CRi%$Cji%@b% d@CI$+7 .;@R%c, =?ԟ¿G ?Zi%Tbi%)j%GH4cqakA@Z%{mrҿHW ,?2i%:i%E@"i%_%?*i%:/fBi%Bi%Bs?i%Oi%Bi%!Ci%@ addTargetRange:: Added new target pos. range: 165.500000 m, deltaT: 3.779909 s, deltaX: -2.199997 m, approachRate: -0.582024 m/s, rangeRepo size: 4 % Added new target pos. range: 164.697662 m, bearing: 252.625777 deg, lat: 36.779415 deg, lon: -121.859627 deg, deltaT: 3.779909 s, deltaX: -2.189804 m, approachRate: -0.579327 m/s, posRepo size: 4 jh!-FNOT Ignoring new targets: 164.70 m.Rh-ZhI] ProNav: ac range: 164.697662 m, nav range: 161.797180 m, bearing: 252.277502 deg, approach rate: 0.000000 m/s, LOS rate: -0.002999 deg/s, cmd heading: 259.384084 deg, new cmd heading: 259.380083 deg. BhYeHeadingCmd: 4.527037 target range: 164.697662 and range: 165.50 m.he|ݐ@ha*ha"hi higifffdddjdd@ZdW?}BɢK')  鼿i ) `=i iz࿉<;I|ݐ@I@ @@@^A #2;A bE:4jE:4rE"/Em [ Ei Em 'Ei "Em %;*Ei VEm '4ZEi a @a @a @a @AQ Ia Iq O} >mX,Ycվ?ARg͉@R1Ȑ@R2ٱR,% ZAHRS rotation from veh to nav: [[-0.186770,0.968651,0.163803],[-0.981983,-0.188955,-0.002279],[0.028744,-0.161278,0.986490]]RH`ǿ 1??gl`/ȿӫbn? Ŀ@T?iRg͉@IR%>^;RcCYbwByb<IbDjVDjβyr %rZ=ٔvGQ-v>9tYt=vFyvEx~%1:E~>Q 5 %5?Q 9 %5)BQ A  :Y Q E [:y QQ It@ODI ;iO?n%5yɮ5A=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 164.70 m.AQAU@AB] >BYB]dIB]wBB] =BYBYB]s;B]X/ERhM1Zhu1} ProNav: ac range: 164.697662 m, nav range: 161.559784 m, bearing: 252.276621 deg, approach rate: -0.652988 m/s, LOS rate: -0.002426 deg/s, cmd heading: 259.380095 deg, new cmd heading: 259.377449 deg. BhոHeadingCmd: 4.526990 target range: 164.697662 and range: 165.50 m.hݐ@h*h"h hgfffdddjdZd`:X?}Bɢ2|) ¿i)R\=ia i࿉9<>;Iݐ@I@ @@0@)5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.I^AU0;y A I I O% > h> ^,/}վ?A؀G(hA$:ۮ9:(hAY:A@ɰ@^Ή@^hɐ@^Gٱ^% fAHRS rotation from veh to nav: [[-0.186612,0.968752,0.163387],[-0.981949,-0.189148,-0.000038],[0.030868,-0.160445,0.986562]]^Hǿ@?@?l@6ȿ?tĿ?i^Ή@I^L9^;^bCYnwBynUIQ]only read 0 of 1 data item for altitude. Device response is::BD, 66, +518.24 +6.45, 10.0 bDeVDeEQ EUE*E"E;*E\;VE(N4ZEBEs99YA=EFyEEE:9EE>IQ 5U%5M믊?Q 9]%5M )MBQ A]9YYQ E]1:y]OQ I]t@MaDIM@:iM?M%5yeBɮm-5Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.993913jhFNOT Ignoring new targets: 164.70 m.RhH-ZhH- ProNav: ac range: 164.697662 m, nav range: 161.277542 m, bearing: 252.275564 deg, approach rate: -0.630677 m/s, LOS rate: -0.002367 deg/s, cmd heading: 259.377445 deg, new cmd heading: 259.374267 deg. BhϸHeadingCmd: 4.526935 target range: 164.697662 and range: 165.50 m.hܐ@h*h"h hgfffdddjdZd@D?}Bɢ>) Fi)mV=iiimc iu࿉uE#{e,/վ?A2ԉ@2ΐ@2ٱ2% :AHRS rotation from veh to nav: [[-0.185943,0.968816,0.163770],[-0.982009,-0.188825,0.002072],[0.032932,-0.160439,0.986496]]2Hǿ?@m? l`n+ȿ`? jܠ? @Ŀ`?i2ԉ@I2V^;0YBwByBSIDDbDNVDNܲyv%vb=ٔzQ-z>9xYx=zFyzE:E> Q 5 &5 f寊?Q 9&5 e) BQ A9YQ E:y9Q It@ pDI :i B? &5y%{Bɮ%5A%_EjhIMFNOT Ignoring new targets: 164.70 m.RhU9ZhU9e ProNav: ac range: 164.697662 m, nav range: 161.049103 m, bearing: 252.274653 deg, approach rate: -0.634811 m/s, LOS rate: -0.002535 deg/s, cmd heading: 259.374275 deg, new cmd heading: 259.371538 deg. Bhe޸mHeadingCmd: 4.526887 target range: 164.697662 and range: 165.50 m.hmCܐ@hi*hi"hi higqfqfqfydydydyjdZd?颭}Bɢtp) +iԹ)R=i҄ i_࿉< BaBeqIBewBBaBaBaBet;Bee/EBBBBB =C 5A I I O >Q Vk,ذվ?A2l։@26ѐ@2!ٱ22$ :AHRS rotation from veh to nav: [[-0.185650,0.968883,0.163707],[-0.981986,-0.188903,0.004393],[0.035181,-0.159943,0.986499]]2H cǿ?`\?ml-ȿ5q?@=?yĿf?i2l։@I2+J^;2aCYBwByBWIbDJVDJk1yRQ<%VO=ٔVQ-V>9XYX=ZFyZEZ<:EZ>\Q 5b&5^;߯?Q 9f&5^)^BQ Af9YdQ Ef9yf2Q Ift@^DI^:i^@^&5ypɮr4Atchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751301jhFNOT Ignoring new targets: 164.70 m.Rh/Zh/% ProNav: ac range: 164.697662 m, nav range: 160.799683 m, bearing: 252.273635 deg, approach rate: -0.587902 m/s, LOS rate: -0.002403 deg/s, cmd heading: 259.371543 deg, new cmd heading: 259.368485 deg. Bh%Ӹ-HeadingCmd: 4.526834 target range: 164.697662 and range: 165.50 m.h-ې@h)*h1"h1 h1gqfqfyfydydydjdZd@=?}Bɢ#J) 꾿i)(#M=i>i࿉<i| r,վ?A >މ@>Jِ@>Hٱ>{H% FAHRS rotation from veh to nav: [[-0.184670,0.968906,0.164677],[-0.982107,-0.188226,0.006120],[0.036926,-0.160600,0.986329]]>HEǿF??jmȿy??`Ŀ ?i>މ@I>e^;>`CYNwByNXIa%a% a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%A`"?/$:v?Y%?y%%<%14A! %p!A)%`A!Y%z A9=AAbDEVDEkyM&;%U@=ٔUQ-U>9QYY=]Fy]E];Ee>aQ 5m&5eد?Q 9u&5e)eBQ AuT:Yu?Q Eu:yuQ Iuu@eDIeS;ie;e&5yɮ4AjhFNOT Ignoring new targets: 164.70 m.RhU8ZhU8] ProNav: ac range: 164.697662 m, nav range: 160.543945 m, bearing: 252.274344 deg, approach rate: -0.646085 m/s, LOS rate: 0.001794 deg/s, cmd heading: 259.368483 deg, new cmd heading: 259.370614 deg. Bhe8eHeadingCmd: 4.526871 target range: 164.697662 and range: 165.50 m.he!ܐ@hi*hi"hi higifiqff~BdddjdZd"@}Bɢ^`) ?i)&H=i\i࿉< A >E M E \E )E "E ˀ;*E ;VE FA4ZE a @a @a @a @AY Ia Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505762 x,վ?AZ@Zݐ@ZjٱZ$ fAHRS rotation from veh to nav: [[-0.184119,0.969066,0.164349],[-0.982136,-0.187992,0.008193],[0.038836,-0.159905,0.986368]]ZH7ǿ@?e ?@mȿcǀ?E?@wĿT?iZ@IZD^;ZaCYjwByjaIIr>)r;bDvVDvB<A<B >B B wIB wBB B B B t;B /Ey=%N=ٔ%xQ-%>9!Y!=-Fy-E-:E->1Q 5=&55=ү?Q 9=&55$)5ÌBYAyEQ IEu@5DI5;i5;5@ &5yIɮM4AImB*** querying acoustic contact ***ii iijhq}FNOT Ignoring new targets: 164.70 m.Rh7Zh7 ProNav: ac range: 164.697662 m, nav range: 160.305038 m, bearing: 252.274968 deg, approach rate: -0.600838 m/s, LOS rate: 0.001571 deg/s, cmd heading: 259.370614 deg, new cmd heading: 259.372488 deg. Bh8HeadingCmd: 4.526904 target range: 164.697662 and range: 165.50 m.hfܐ@h*h"h hgfffdddjdZd@}}Bɢ}Xv)y }սiy)ةC=顁ii࿉<ty {~,վ?AJ@J@J6&ٱJ!$ RAHRS rotation from veh to nav: [[-0.183522,0.969066,0.165017],[-0.982173,-0.187710,0.010019],[0.040684,-0.160236,0.986240]]JH }ǿ?D?m ȿ?Ԥ? ĿF?iJ@IJ2^;JbCYZwByZdIi=Mb@Mb@Mb@9999 99=x?|?5^I +?Y=K?y=ҽ=9<=`3A=A 9)99Y9bDUVDUky] )<%]C=ٔeE\ ESE(E"E;*EN;VEc44ZEBE9Y=Fy E U:E >Q 5&5ʯ?Q 9&5*MBDAT read: Rx Time:04:55:50.7002 MTRx dataTimestamp_ set to:1761540952.056203Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010906)ьBYU?Q EU:yUQ IUu@DId ) i)==顩iTiK࿉Y<!,Ҭ־?A4<ɰ4<6@6@6".ٱ6%$ JAHRS rotation from veh to nav: [[-0.183158,0.969206,0.164600],[-0.982164,-0.187642,0.011984],[0.042501,-0.159470,0.986288]]6H qǿ? ?mȿ?¥?iĿએ?i6@I6lI^;4YRwByR^I Zp9hYh=jFyjEnu:En>pQ 5r&5rį?Q 9v&5r0)rތBYtyvQ Ivu@rDIr;ir;ri&5y~tBɮ~4A~hEjh!%FNOT Ignoring new targets: 164.70 m.Rh-`$9Zh-`$9= ProNav: ac range: 164.697662 m, nav range: 159.816238 m, bearing: 252.282039 deg, approach rate: -0.621234 m/s, LOS rate: 0.008982 deg/s, cmd heading: 259.383920 deg, new cmd heading: 259.393757 deg. Bh=@9EHeadingCmd: 4.527275 target range: 164.697662 and range: 165.50 m.hEpߐ@hA*hA"hA hAgIfIfQfQdQdYdYjdYZd]O @颍}Bɢ) ſi)B9=顑i0i࿉U<r# BDAT read: Tx time:04:55:51.7786  $Ping request sent. ixG>Κ1@)BQBQBUIBUxBBQBQBQBUu;BU/E">a1@ +>)%@I+tN?i.8?ʖ 5? P.?)]"ITFi+:publishing transmit ping time Fpublishing direction and range infoyb42.?MNÿ8_X?Y )Ii )ItN?i.8?ʖ 5? )Ii^Ah%<AfAzAhAY A I I O >aD,s3־?A V@VW@VZ4ٱVd5$ jAHRS rotation from veh to nav: [[-0.182693,0.969238,0.164927],[-0.982184,-0.187434,0.013521],[0.044018,-0.159519,0.986213]]VH |bǿ`?U? n ǿ@?~?@kĿ?iV@IV8^;TYrwByrfI ttbD~VD~y<% G=ٔ CrQ- >9Y=FyE:E>!Q 5%&5% ?Q 9-&5%/6)%BY)y-Q I-u@%DI%d:i%|:%&5y9ɮ=b4A9i!i%#־?AJi%O"CRi%O"Cji%@b%c@j.{8 v;@R%b42.?MNÿ8_X?Zi%TFbi%+j%-GdHJb+biB@Z%t1ZUҿl&ԕ>?2i%a:i%@"i%~⟊?*i%@ʙBi%Bi%~⟊?i!i%%Bi%sCi%x@ addTargetRange:: Added new target pos. range: 163.100006 m, deltaT: 3.530035 s, deltaX: -2.399994 m, approachRate: -0.679878 m/s, rangeRepo size: 4  Added new target pos. range: 162.309814 m, bearing: 252.242334 deg, lat: 36.779418 deg, lon: -121.859627 deg, deltaT: 3.530035 s, deltaX: -2.387848 m, approachRate: -0.676437 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 162.31 m.RhZh ProNav: ac range: 162.309814 m, nav range: 159.451309 m, bearing: 252.420853 deg, approach rate: 0.000000 m/s, LOS rate: 0.008982 deg/s, cmd heading: 259.393755 deg, new cmd heading: 259.404950 deg. BhHeadingCmd: 4.527471 target range: 162.309814 and range: 163.10 m.h @h*h"h hgfffdddjd@3cd@ZdV?}}BɢPe) ؾi)[4=顉ieiE࿉<P'(,y@M־?A2@2@28ٱ2ZQ$ :AHRS rotation from veh to nav: [[-0.182531,0.969219,0.165216],[-0.982167,-0.187447,0.014537],[0.045059,-0.159617,0.986150]]2H`,]ǿ?%?m`Fǿ@ō??PnĿ?i2@I2T^;2`CYBwByB]IPi Mb@Mb@Mb@     9 Cl?B`"۹9Y=FyEl9E>Q 5&5ŵ?Q 9&5<)BY?Q E:yQ Iu@DI:i]:&5yɮ4AjhFNOT Ignoring new targets: 162.31 m.Rh9Zh9 ProNav: ac range: 162.309814 m, nav range: 159.194397 m, bearing: 252.424151 deg, approach rate: -0.618709 m/s, LOS rate: 0.007955 deg/s, cmd heading: 259.404957 deg, new cmd heading: 259.414866 deg. Bh9HeadingCmd: 4.527644 target range: 162.309814 and range: 163.10 m.hu@h*h"h h g f f f~BdddjdZd?E}BɢM縁)I M%iI)MXv/=IQiUVsi]࿉]W<]c&EM T EM YEM .EI "EM ;*EM w;VEM ـ4ZEI aU @aU @aU @aU @AY AY Be >Ba Be IBe xBBa Ba Ba Be Vu;Be 0Ehb,l\g־?A >=@>@> =ٱ># RAHRS rotation from veh to nav: [[-0.182832,0.969218,0.164891],[-0.982056,-0.187933,0.015747],[0.046251,-0.159053,0.986186]]>H` gǿ`?(?m-ȿ ?7?`[Ŀ֎?i>=@I>eI^;9pYp=rFyv Ev.WEv>xQ 5~&5z?Q 9~&5zgB)zBYyQ Iu@zDIza;iz;z &5y pBɮ 4A gE-B*** querying acoustic contact ***i) i)jh1EFNOT Ignoring new targets: 162.31 m.RhE9ZhE9U ProNav: ac range: 162.309814 m, nav range: 158.958344 m, bearing: 252.427221 deg, approach rate: -0.611568 m/s, LOS rate: 0.007968 deg/s, cmd heading: 259.414874 deg, new cmd heading: 259.424100 deg. BhU9]HeadingCmd: 4.527805 target range: 162.309814 and range: 163.10 m.h]@ha*ha"ha hagafafifidididijdqZdur?颥}Bɢ∽) ÿi)*=顩ihiO࿉<[AU>IIO>y C;,־?A2@2@2Bٱ2Z# :AHRS rotation from veh to nav: [[-0.183459,0.969126,0.164737],[-0.981886,-0.188729,0.016790],[0.047362,-0.158673,0.986195]]2H {ǿ??kC(ȿm1?`?? cOĿ?i2@I2^;0YBwByB^IIF=)FC=EO EIE)E"E;*E ;VEFA4ZEBEԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4727329Y=FyEKúE>Q 5 &59?Q 9 &5ZI)BY5#?Q E:yEQ Iu@DIq ;i ;&5yrBɮ%4A!jhimFNOT Ignoring new targets: 162.31 m.RhuZh ProNav: ac range: 162.309814 m, nav range: 158.681839 m, bearing: 252.426403 deg, approach rate: -0.629489 m/s, LOS rate: -0.001867 deg/s, cmd heading: 259.424108 deg, new cmd heading: 259.421648 deg. Bh HeadingCmd: 4.527762 target range: 162.309814 and range: 163.10 m.hm@h*h"h hgffifm\~BdqdqdqjdqZd}?}Bɢޮi) M¿iI)Mخ$=IIiMRiU࿉U<]d,њ־?A2 @2ސ@2\Gٱ2# >AHRS rotation from veh to nav: [[-0.183913,0.968968,0.165158],[-0.981734,-0.189404,0.017998],[0.048721,-0.158831,0.986103]]2Huǿ?@#?^jb>ȿ`)n??TĿ'?i2 @I2>_;2bCYZwByZoIbDbVDbyj =%jS=ٔneQ-n>9pYp=rFyrEr㨺Ev>tQ 5z&5vk?Q 9z&5v;O)vBY|y~UQ I~u@vDIv];iv;v"&5yɮ 4A jh)5FNOT Ignoring new targets: 162.31 m.Rh5Zh5M ProNav: ac range: 162.309814 m, nav range: 158.447968 m, bearing: 252.425748 deg, approach rate: -0.642855 m/s, LOS rate: -0.001801 deg/s, cmd heading: 259.421650 deg, new cmd heading: 259.419684 deg. BhM-MHeadingCmd: 4.527728 target range: 162.309814 and range: 163.10 m.hU%@hQ*hQ"hQ hQgQfQfafadadadajdiZdmt?颕}Bɢd) i) =顡iٗiٲ࿉3<Qԁ x,־?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.228628;ɰ;6@6Lܐ@6Lٱ6I# BAHRS rotation from veh to nav: [[-0.184204,0.968911,0.165168],[-0.981614,-0.189901,0.019252],[0.050019,-0.158585,0.986078]]6H@ǿ`Q?5$?biNȿ@Ӷ??`LĿ?i6@I6_;6aCYwByqI 4<bDVDy?<%==ٔ\EQ->9Y=FyE;E>Q 5&5?Q 9&5V)'BYy`Q Iu@ DI:i:%&5ypBɮ3ApEjh FNOT Ignoring new targets: 162.31 m.Rh 6Zh 6 ProNav: ac range: 162.309814 m, nav range: 158.173950 m, bearing: 252.425012 deg, approach rate: -0.635112 m/s, LOS rate: -0.001709 deg/s, cmd heading: 259.419682 deg, new cmd heading: 259.417470 deg. Bh %HeadingCmd: 4.527689 target range: 162.309814 and range: 163.10 m.h%@h!*h)"h) h)g)f)f1f1d1d9d9jd9Zd=?@Qm}BɢuPX)q u iq)}e=yyi}i࿉m<M{;*E;VE [4ZEBE v,U־?A2g@21ې@2Rٱ2b" :AHRS rotation from veh to nav: [[-0.184325,0.968899,0.165103],[-0.981527,-0.190220,0.020497],[0.051265,-0.158275,0.986063]]2Hǿ8?"? h$Yȿ?p??[BĿԍ?i2g@I2`;0YZwByZxIjonly read 0 of 1 data item for BIT error. Device response is::TS,4., 0.0,1492.7, 0 an@an an@an an@an an@an bDrVDrk2yz<%zW=ٔ~VQ-~>9|Y=FyEE> Q 5&5 ?Q 9&5 1\) 2BQ A+:YQ E:yeQ Iu@ 0DI  ;i > (&5y!ɮ%3A)jhIUFNOT Ignoring new targets: 162.31 m.RhUZhUm ProNav: ac range: 162.309814 m, nav range: 157.932373 m, bearing: 252.424375 deg, approach rate: -0.634839 m/s, LOS rate: -0.001677 deg/s, cmd heading: 259.417470 deg, new cmd heading: 259.415555 deg. BhmMuHeadingCmd: 4.527656 target range: 162.309814 and range: 163.10 m.hu@hq*hq"hq hygyfyffdddjdZd c@颵}Bɢ{) bi)Ƽ=i1i3࿉<2 D% ?AzD% ?AE- ] E- :E- (E) "E- ;*E- $ ;VE- c44ZE) a5 @a5 @a5 @a= @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984647B <A <B >B B IB (xBB B B B t;B /EBBBB =BC49 <,c־?A2܉@2א@2_&Xٱ2҃" :AHRS rotation from veh to nav: [[-0.184734,0.968848,0.164948],[-0.981372,-0.190859,0.021948],[0.052746,-0.157821,0.986058]]2H]ǿ??`fgnȿy? ?w3Ŀɍ?i2܉@I2 a;2_CYBxByBIbDJVDJyRW=%RO=ٔVvQ-V>9TYT=ZFyZEZ~EZ>`Q 5f&5b^?Q 9f&5b|b)b>BQ Af :YdQ EfZ:yftQ Iju@b@DIb:ibF?b*&5ynlBɮnY3AoE5B*** querying acoustic contact ***i1 i1jhimFNOT Ignoring new targets: 162.31 m.Rhu?߷Zhu?߷ ProNav: ac range: 162.309814 m, nav range: 157.681961 m, bearing: 252.423755 deg, approach rate: -0.614443 m/s, LOS rate: -0.001525 deg/s, cmd heading: 259.415557 deg, new cmd heading: 259.413693 deg. BhHeadingCmd: 4.527623 target range: 162.309814 and range: 163.10 m.hJ@h*h"h hgfffdddjdZd @颽}BɢE) i)=i(tiB࿉<A,vP׾?A00N"߉@Nِ@N\ٱNl" VAHRS rotation from veh to nav: [[-0.184452,0.968881,0.165066],[-0.981363,-0.190768,0.023129],[0.053898,-0.157724,0.986011]]NHǿ?@ ?Rgkȿ? ?I0Ŀg?iN"߉@INEa;N`CY^wBy^IEnX EnWEn'El"EnɅ;*Enj;VEn'4ZElBEn9Y=Fy#E%:E>Q 5&5 ?Q 9&5i)KBQ AT:Y%?Q E:yiQ Iu@RDIb;iT:.&5yɮg3Ajh  FNOT Ignoring new targets: 162.31 m.Rh 8Zh 8% ProNav: ac range: 162.309814 m, nav range: 157.401596 m, bearing: 252.424616 deg, approach rate: -0.611580 m/s, LOS rate: 0.001882 deg/s, cmd heading: 259.413699 deg, new cmd heading: 259.416288 deg. Bh%[8-HeadingCmd: 4.527668 target range: 162.309814 and range: 163.10 m.h-@h)*h)"h) h1g1f1f1f=F~Bd9d9d9jd9ZdEM @yM}BɢM g)I MݾiI)U =QQiUbi]Ŵ࿉]<}2  BDAT read: Tx time:04:55:55.4786  $Ping request sent. Թ iE !E ?E Ud3@E A>E [2@ E A>)E k@IE AA A E ?|#?? E A5?)E jIE T4iE AA A  :publishing transmit ping time  Fpublishing direction and range infoyA E 2T9=?$BƿOZ_|?YA A A A A A )A IA iA A ^A r;A A A A )A IA A A E ?|#?? A )A IA iA A A A- .AI1 IA OU >s7ǵ,D׾?AYM xByMIbDVDky'<%7=ٔQ->9 ?Y ?=Fy(EE>AQ 5M&5El?Q 9M&5Ep)EYBYIyIQ IUu@EdDIE';iEU;E2&5y]kBɮ],3A]yEiqiu׾?AJiu CRiu Cjiu>@buVc@j&;~x+4@Ru2T9=?$BƿOZ_|?ZiuT4biu AjucDQ0JJLU7qbe,Ӑ@@ZuS>ԿIDY͵,7׾?A6݉@6Oؐ@6Nfٱ6! BAHRS rotation from veh to nav: [[-0.184622,0.968891,0.164819],[-0.981202,-0.191298,0.025459],[0.056197,-0.157021,0.985995]]6H`ǿ@'? ? f w|ȿ ?Ŭ?AĿE?i6݉@I6`;6_CYF xByHbDRVDR:yZ%Zc=ٔZ&ѻQ-Z>9\Y\=^Fy^+EbEb>dQ 5j&5f|z?Q 9j&5fxv)feBYhyjqQ Inu@fsDIf:ifF:f5&5ypɮr.3ApjhFNOT Ignoring new targets: 160.02 m.Rh8Zh8 ProNav: ac range: 160.021332 m, nav range: 156.414795 m, bearing: 252.371939 deg, approach rate: -0.630679 m/s, LOS rate: 0.001800 deg/s, cmd heading: 259.418726 deg, new cmd heading: 259.420671 deg. Bh8HeadingCmd: 4.527745 target range: 160.021332 and range: 160.80 m.hI@h*h"h hgfffdddjdZd T7?M~BɢMr4)I MiQ)U>q=iiG࿉Ү<I'BԵ,nQ׾?AɰVډ@VԐ@V#kٱV]!` jAHRS rotation from veh to nav: [[-0.185029,0.968799,0.164900],[-0.981049,-0.191911,0.026687],[0.057501,-0.156837,0.985949]]VH ǿg?q?dȿS?p?=Ŀ`?iVډ@IV@g`;V`CYv-xByvIiMb@Mb@Mb@ 9Mb?K9"?Y"?=Fy0E|E> Q 5&5 r?Q 9&5 }) tBY$?Q E:ybQ Iu@ DI  ;i e ; 9&5y!ɮ%2A)jhFNOT Ignoring new targets: 160.02 m.RhB8ZhB8 ProNav: ac range: 160.021332 m, nav range: 156.129745 m, bearing: 252.373523 deg, approach rate: -0.653858 m/s, LOS rate: 0.003641 deg/s, cmd heading: 259.420666 deg, new cmd heading: 259.425428 deg. Bh9HeadingCmd: 4.527828 target range: 160.021332 and range: 160.80 m.h@h*h"h hgfff~BdddjdZdrt?~Bɢ㌽) i)n<qiujiu࿉}<}g2lڵ,9k׾?AF>ى@FԐ@F:pٱF" VAHRS rotation from veh to nav: [[-0.185108,0.968664,0.165607],[-0.980968,-0.192187,0.027654],[0.058615,-0.157336,0.985804]]FHǿJ?2?d@ȿuQ??#Ŀഋ?iF>ى@IFA`;F_CY^7xBybI ddbDrVDr02y~<%~\=ٔDQ->9 Y = Fy 4EE>!)Q 55&5-rl?Q 9=&5-)-BY9yEeQ IEu@-DI-J;i-J;-<&5yUgBɮU`2AUxEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 160.02 m.Rh8Zh8 ProNav: ac range: 160.021332 m, nav range: 155.889801 m, bearing: 252.374869 deg, approach rate: -0.642262 m/s, LOS rate: 0.003607 deg/s, cmd heading: 259.425420 deg, new cmd heading: 259.429463 deg. Bhn9HeadingCmd: 4.527898 target range: 160.021332 and range: 160.80 m.h@h*h"h hgfffdddjdZdAn?颕 ~Bɢƅ) i)l<顙iiA࿉<Ν;I@IIU9@Q @Q@U/@QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.q^AQA ԩ I I O% >E% M E% =E! E! "E% ˀ;*E% ;VE! ZE! BE% P9Y=Fy8E'E>Q 5&5"e?Q 9&5֊)BY#?Q E:yQ Iu@DI:ij:@&5yɮ2AjhFNOT Ignoring new targets: 160.02 m.RhlZhl ProNav: ac range: 160.021332 m, nav range: 155.600143 m, bearing: 252.374507 deg, approach rate: -0.643400 m/s, LOS rate: -0.000806 deg/s, cmd heading: 259.429463 deg, new cmd heading: 259.428375 deg. Bh HeadingCmd: 4.527879 target range: 160.021332 and range: 160.80 m.hc@h*h"h! h!g!f!f)f-~Bd)d)d1jd1Zd5?e~Bɢe )a eia)m(,~,em׾?A >ԉ@>nϐ@>2xٱ>" JAHRS rotation from veh to nav: [[-0.185636,0.968423,0.166423],[-0.980740,-0.193073,0.029539],[0.060738,-0.157734,0.985612]]>Hǿ R?`UM? 8b ȿ`c?? ?0Ŀ "?i>ԉ@I>yf_;9 Y = Fy <E*JE>Q 5%&5_?Q 9%&5n)BY!y- Q I-u@DI!;i:C&5y5hBɮ51A5EjhY]FNOT Ignoring new targets: 160.02 m.RheWZheWu ProNav: ac range: 160.021332 m, nav range: 155.377182 m, bearing: 252.374249 deg, approach rate: -0.635707 m/s, LOS rate: -0.000737 deg/s, cmd heading: 259.428370 deg, new cmd heading: 259.427595 deg. Bhu}HeadingCmd: 4.527866 target range: 160.021332 and range: 160.80 m.h}G@hy*hy"h hgfffdddjdZd@]~Bɢ]á)Y eõia)eAe .AIi Iy O >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520348,ZK׾?A:/ԉ@:ΐ@:|ٱ:" FAHRS rotation from veh to nav: [[-0.185680,0.968315,0.167002],[-0.980676,-0.193278,0.030313],[0.061630,-0.158146,0.985490]]:H ]ǿo?`R`?aWȿU ??`#>Ŀ@#?i:/ԉ@I:3_;:^CYJ}xByJIIR%>)R=bDVVDV1y^0<=%bO=ٔbQ-b>9f ?Yf ?=fFyf@EfEj>hQ 5n&5j#Y?Q 9r&5j)jBYpyr Q Iru@jDIj;ij;jRG&5ytɮzS1AxjhFNOT Ignoring new targets: 160.02 m.Rh%UZh%U5 ProNav: ac range: 160.021332 m, nav range: 155.125473 m, bearing: 252.373961 deg, approach rate: -0.636680 m/s, LOS rate: -0.000730 deg/s, cmd heading: 259.427606 deg, new cmd heading: 259.426740 deg. Bh5==HeadingCmd: 4.527851 target range: 160.021332 and range: 160.80 m.h='@h9*h9"h9 h9gAfAfAfAdIdIdIjdIZdM@@~Bɢj) *i)<  i iή1c<9I='@I9@ @@@aEP E@EE"E(;*EM;VEZEBEԹ Ώ,!"׾?AV҉@V͐@V"LٱV# ^AHRS rotation from veh to nav: [[-0.185815,0.968116,0.167999],[-0.980588,-0.193600,0.031070],[0.062604,-0.158964,0.985297]]VH`ǿ`??`ȿП??XĿ?iV҉@IV_R_;TYfxByfIiUMb@Mb@Mb@QQQQ Q9U+?EԸ~jt?YUv?yUƽU=ٔZQ->9"?Y"?=FyDE'E>Q 5&5Q?Q 9&5])BY ?Q E:yQ Iu@DI` ;iv:K&5yɮ1A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024209ԑjhFNOT Ignoring new targets: 160.02 m.Rh98Zh98 ProNav: ac range: 160.021332 m, nav range: 154.859161 m, bearing: 252.376714 deg, approach rate: -0.586165 m/s, LOS rate: 0.006071 deg/s, cmd heading: 259.426731 deg, new cmd heading: 259.435006 deg. BhU9HeadingCmd: 4.527995 target range: 160.021332 and range: 160.80 m.hV@h*h"h hgfff%t~Bd!d!d!jd!Zd-`@颵%~Bɢ7) i)<项isi࿉TM< ;IMV@II@ @@@D@AzD@AbE:4jE?4rE}0EQ EIE*E"E;*E ;VE(N4ZEa @a @a @a @  BDAT read: Rx Time:04:55:58.0940  TRx dataTimestamp_ set to:1761540959.628701 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278331^A% 0;B] >BY B] IB] xBBY BY BY B] t;B] /E I) I9 OM >,w׾?AB4<ɰ@ щ@ ̐@ "ٱ % AHRS rotation from veh to nav: [[-0.185944,0.967777,0.169802],[-0.980506,-0.193932,0.031588],[0.063500,-0.160619,0.984972]] Hǿ?`?N`ȿO,?A?%Ŀ?i щ@I ؇_; Y-xBy-I 5<5<bD=VD=:yM=%MN=ٔU5Q-U>9QYQ=]Fy]HE]弹E]>aQ 5m&5eJ?Q 9m&5e)eύBYqyuQ Iuu@eDIe:ieA:eN&5y}dBɮp0AB*** querying acoustic contact ***i ijhAEFNOT Ignoring new targets: 160.02 m.RhM8ZhM8 ProNav: ac range: 160.021332 m, nav range: 154.612106 m, bearing: 252.379282 deg, approach rate: -0.631528 m/s, LOS rate: 0.006575 deg/s, cmd heading: 259.435009 deg, new cmd heading: 259.442726 deg. Bhg9HeadingCmd: 4.528130 target range: 160.021332 and range: 160.80 m.hp@h*h"h hgfffdddjdZd[ @颥*~Bɢ!) i)8<顩ii࿉8< ;Ip@Ii@i @i@m0@i@u@u@u@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530594! U'i>YG)Au09qYuŤAA zA gAQ Ia I O >E Y E JE )E "E =;*E ;VE FA4ZE BE AHRS rotation from veh to nav: [[-0.185930,0.967773,0.169839],[-0.980459,-0.194045,0.032351],[0.064265,-0.160506,0.984941]]6Hǿ ?L?_vȿH?s? sĿ@?i6щ@I6_;4YFxByJI5DAT read: 04:55:58.0940 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.28,-0.360,-1.800, 0.154,-0.409, PHS= 0.152,-1.346, 0.520, RAW= 160.7, 7.9, CAL= 160.3, 8.1, ROT= 349.7, -8.1 =Ygot valid direction response: 04:55:58.0940 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.28,-0.360,-1.800, 0.154,-0.409, PHS= 0.152,-1.346, 0.520, RAW= 160.7, 7.9, CAL= 160.3, 8.1, ROT= 349.7, -8.1 PDAT read: Bearing 49.6, -8.1 (Local) ~Local bearing/azimuth received: Bearing 49.6, -8.1 (Local) DAT read: Range 11 to 50 : 158.4 m (Round-trip 211.3 ms) speed 0.6er:232> BDAT read: Tx time:04:55:59.1786 $Ping request sent.9IYQ=UF]^direction in FSK: [0.974069,-0.177018,0.140901]]:publishing transmit ping timeyUMEeFpublishing direction and range infoy\7++?"J^‰ƿ:N ?YfC )CI>}I7E}>Q 5&5iI?3@0 >3@ >)0O@IU?X?>k? 5?) IT8i:publishing transmit ping timeFpublishing direction and range infoy>C?Q 9&5o)BY#?Q E:yyQ Iu@DI;i4;_R&5yɮ!0Ai\7++?"J^‰ƿ:N ?Y )Ii )IU?X?>k? )Iiiؾ?AJiCRiCjiNj@qbrq1c@Cc;,56@R\7++?"J^‰ƿ:N ?ZiT8bijI j+ b﹅xB@ZkqտR^P' i?2ii:iO"ii7?*i9ۀBiBi~t?i@ʙiBiCi@ addTargetRange:: Added new target pos. range: 158.399994 m, deltaT: 3.796081 s, deltaX: -2.400009 m, approachRate: -0.632233 m/s, rangeRepo size: 4  Added new target pos. range: 157.632614 m, bearing: 250.273909 deg, lat: 36.779406 deg, lon: -121.859608 deg, deltaT: 3.796081 s, deltaX: -2.388718 m, approachRate: -0.629259 m/s, posRepo size: 4 jhIMFNOT Ignoring new targets: 157.63 m.RhUZhQe ProNav: ac range: 157.632614 m, nav range: 153.657898 m, bearing: 251.788843 deg, approach rate: 0.000000 m/s, LOS rate: 0.006575 deg/s, cmd heading: 259.442714 deg, new cmd heading: 259.451672 deg. BhaHeadingCmd: 4.528286 target range: 157.632614 and range: 158.40 m.h@h*h"h hgfff~Bdddjd c@Zd @F?m1~Bɢm)q uiq)} ,`u ؾ?A2҉@2w͐@2>ٱ2& :AHRS rotation from veh to nav: [[-0.185819,0.967564,0.171148],[-0.980423,-0.194123,0.032984],[0.065138,-0.161669,0.984693]]2H`ǿ@H?0? _ȿ@G?ᬰ? Ŀ?i2҉@I2Ҩ_;0PYjxByjIbDrVDrky%o-=%-_=ٔ-#Q-->9)Y1=5Fy5PE5o9E5>9Q 5E&5=! ,O:ؾ?A2Љ@2ː@2ӆٱ2)& :AHRS rotation from veh to nav: [[-0.186025,0.967505,0.171254],[-0.980340,-0.194436,0.033579],[0.065786,-0.161641,0.984654]]2Hǿ??`^Jȿ@N1?]װ?রĿJ?i2Љ@I2i_;2_CYFxByFIHHbDNVDNyVL=%VS=ٔZTۺQ-Z>9XYX=ZFy^TE^"E^>`Q 5f&5b76?Q 9f&5bB)bBYhyj{Q Iju@bDIbN:ibg:bX&5y9ɮ=/A9jhFNOT Ignoring new targets: 157.63 m.Rhb8Zhb8 ProNav: ac range: 157.632614 m, nav range: 153.182663 m, bearing: 251.791232 deg, approach rate: -0.608720 m/s, LOS rate: 0.003095 deg/s, cmd heading: 259.455090 deg, new cmd heading: 259.458849 deg. Bh9HeadingCmd: 4.528411 target range: 157.632614 and range: 158.40 m.h@h*h"h h!g!f!f!f!d)d)d)jd)Zd5?颽;~Bɢn) i)<iIiq࿉Q<;I@IQ@ @@/@IIEW EMEE"ET;*E%;VEZEBE&qԡ ,+Tؾ?A2҉@2͐@2彇ٱ2Y& :AHRS rotation from veh to nav: [[-0.185784,0.967583,0.171079],[-0.980356,-0.194266,0.034102],[0.066232,-0.161383,0.984667]]2Hǿ p?@?_ȿ u??0Ŀ@d?i2҉@I26_;2^CYZxByZIi=Mb@Mb@Mb@9999 99=Zd;O?MbX:v?Y=j?y=ʽ=<=,A=l A = A)=A9Y=AybDVDβy<%==ٔQ->9Y=FyYEg:E>Q 5&5.?Q 9&5ڼ)BY?Q E:yQ Iu@(DIC ;i ;\&5ycBɮ8/AEjhFNOT Ignoring new targets: 157.63 m.Rhl8Zhl8 ProNav: ac range: 157.632614 m, nav range: 152.916824 m, bearing: 251.793455 deg, approach rate: -0.640720 m/s, LOS rate: 0.005366 deg/s, cmd heading: 259.458860 deg, new cmd heading: 259.465540 deg. Bhk9 HeadingCmd: 4.528528 target range: 157.632614 and range: 158.40 m.h @h *h "h hgfff~BdddjdZdO? B~Bɢ-`~)1 58i1)5<19i=i=࿉EFB B 9IB &yBB B B B t;B /EIi Iy O > N,F nؾ?AFՉ@FА@FňٱF& NAHRS rotation from veh to nav: [[-0.185417,0.967567,0.171568],[-0.980391,-0.194004,0.034570],[0.066733,-0.161794,0.984566]]FHǿ N?`?]_` ȿ@"? r?Ŀ?iFՉ@IF^;F]CYV yByV'IbD^VD^yf(1=%fW=ٔjQ-j>9hYh=nFyn\En?~:En>pQ 5v&5r2(?Q 9v&5r»)r"BYxyzQ Izu@r6DIr:ir:r`&5yYɮ].AaB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 157.63 m.Rh8Zh8 ProNav: ac range: 157.632614 m, nav range: 152.683823 m, bearing: 251.795376 deg, approach rate: -0.588982 m/s, LOS rate: 0.004863 deg/s, cmd heading: 259.465527 deg, new cmd heading: 259.471298 deg. Bh%U9-HeadingCmd: 4.528628 target range: 157.632614 and range: 158.40 m.h-@h)*h)"h) hQgQfQfYfYdadadajdiZd`ܛ?H~Bɢ,) ߧi)6R<i%ui%S࿉%<-;I-@Ii@ @@/@!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)^AM c;AY i I I O >E N E ME )E "E @;*E %;VE FA4ZE BE IiMb@Mb@Mb@ 9Q?EԸI +?Y(?yƽ94<A A)AY3AbDVD:2y-e=%-6=1ٔ5,Q-5>99Y9==Fy=aE= :EE>AQ 5U&5Ep ?Q 9U&5Ezɻ)E1BYU%?Q EU:yUQ IUu@EHDIE ;iEq ;Ec&5yaɮeY.AajhFNOT Ignoring new targets: 157.63 m.Rh8Zh8 ProNav: ac range: 157.632614 m, nav range: 152.407761 m, bearing: 251.797676 deg, approach rate: -0.637276 m/s, LOS rate: 0.005320 deg/s, cmd heading: 259.471291 deg, new cmd heading: 259.478205 deg. Bhi9HeadingCmd: 4.528749 target range: 157.632614 and range: 158.40 m.h@h*h"h hgfff~BdddjdZd@@N~Bɢh*) ȣi)܍<iGi^࿉<;I@I@ @@0@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247640ԑ^A% (;AQ IY Iq O} >Ա (,ؾ?A2މ@2ِ@2 ٱ2 ' :AHRS rotation from veh to nav: [[-0.184326,0.967704,0.171968],[-0.980554,-0.193046,0.035301],[0.067358,-0.162118,0.984470]]2Hǿ@n?@?`ȿ?f>?`DĿƀ?i2މ@I2Wp^;2\CYB6yByFCI HHbDNVDNyVӕ<%Vg=ٔZׄQ-Z>9XYX=ZFy^eE^:E^>`Q 5f&5bX?Q 9f&5bλ)b=BYhyjQ Iju@bVDIb$:ib:bg&5ylɮr>.ApjhFNOT Ignoring new targets: 157.63 m.Rhn8Zhn8 ProNav: ac range: 157.632614 m, nav range: 152.190613 m, bearing: 251.799448 deg, approach rate: -0.579962 m/s, LOS rate: 0.004738 deg/s, cmd heading: 259.478204 deg, new cmd heading: 259.483526 deg. BhP9HeadingCmd: 4.528842 target range: 157.632614 and range: 158.40 m.hF@h*h"h hgff f d d djdZd @MT~BɢM)I UiQ)U؅BBXIBYyBBBBBt;B/E9@ @@2@@p=@=iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.500096^AMq;A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751738 5.,Ėؾ?AY=yByFIbDVD:2yEi<%MA=ٔMQ-M>9IYQ=UFyUiEUEU>aQ 5m&5e ?Q 9m&5eSջ)eLBYiyiQ Imu@egDIe:ie:ej&5ygBɮG.AEjhFNOT Ignoring new targets: 157.63 m.Rh8Zh8  ProNav: ac range: 157.632614 m, nav range: 151.930252 m, bearing: 251.801578 deg, approach rate: -0.629041 m/s, LOS rate: 0.005157 deg/s, cmd heading: 259.483531 deg, new cmd heading: 259.489934 deg. Bh ~b9HeadingCmd: 4.528954 target range: 157.632614 and range: 158.40 m.h0@h*h"h hgff!f!d!d!d)jd)Zd-`I@]Z~Bɢ]B)a eia)ez5,qؾ?AFc@F-@FٱFt' NAHRS rotation from veh to nav: [[-0.183067,0.967880,0.172319],[-0.980758,-0.191897,0.035916],[0.067830,-0.162428,0.984386]]FHnǿ`??]b`ȿ@c?S]?nĿ?iFc@IF2^;F]CYV9Y=FymEK;E>Q 5&5> ?Q 9&5ۻ)YBY!?Q E:yQ Iu@wDIK ;i:Sn&5ycBɮ+.A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255598jhFNOT Ignoring new targets: 157.63 m.RhB6ZhB6 ProNav: ac range: 157.632614 m, nav range: 151.673248 m, bearing: 251.801730 deg, approach rate: -0.599076 m/s, LOS rate: 0.000354 deg/s, cmd heading: 259.489924 deg, new cmd heading: 259.490380 deg. Bhx7HeadingCmd: 4.528962 target range: 157.632614 and range: 158.40 m.hA@h*h"h hgfff~BdddjdZdB] @a~Bɢ甽)! %i!)%hA% >B A <e DAT read: 04:56:01.7909 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.03, 0.039,-1.427, 0.545,-0.059, PHS= 0.201,-1.322, 0.561, RAW= 160.4, 6.5, CAL= 159.7, 6.3, ROT= 350.3, -6.3 u Ygot valid direction response: 04:56:01.7909 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.03, 0.039,-1.427, 0.545,-0.059, PHS= 0.201,-1.322, 0.561, RAW= 160.4, 6.5, CAL= 159.7, 6.3, ROT= 350.3, -6.3 } PDAT read: Bearing 47.4, -6.9 (Local) } ~Local bearing/azimuth received: Bearing 47.4, -6.9 (Local)  DAT read: Range 11 to 50 : 156.1 m (Round-trip 208.2 ms) speed 0.4 m/s  *DAT read: user:233>  BDAT read: Tx time:04:56:02.8786  $Ping request sent. B CB qIB yBB =B B DB u;B /E ^direction in FSK: [0.979751,-0.167472,0.109734] :publishing transmit ping time  Fpublishing direction and range infoy  k;Z?oſ,=?Y C E K E AE +E "E ;*E ;VE [4ZE BE <2E <JE r<:E r<    ) BI M>i L7 ? $+3@ V= b2@  z0=) @I z0Ὡ    }8?=<k;,ؾ?A@@Uٱ& mAHRS rotation from veh to nav: [[-0.182531,0.968048,0.171948],[-0.980824,-0.191435,0.036566],[0.068314,-0.161976,0.984427]]H-]ǿ ??c?bȿ ĸ?@ }? Ŀ`m?i@qI];^CYXyByWII!>)bD-VD-ky=~=%=;=ٔENQ-E>9AYA=FyrEߞ:E>Q 5&5?Q 9&5)gBYyQ Iu@DI|:i;9r&5yɮ-Aii~ؾ?AJiXCRiXCji@b݄.ic@of:L5 1@Rk;Z?oſ,=?Zi4\-biz0j!yIb]abF5d?@ZhԿa\Dk?2i:i#H"i>?*iإBiuBi>?iإii$Ci@] addTargetRange:: Added new target pos. range: 156.100006 m, deltaT: 3.529600 s, deltaX: -2.299988 m, approachRate: -0.651628 m/s, rangeRepo size: 4  Added new target pos. range: 155.345978 m, bearing: 250.799658 deg, lat: 36.779382 deg, lon: -121.859607 deg, deltaT: 3.529600 s, deltaX: -2.286636 m, approachRate: -0.647846 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 155.35 m.RhZh ProNav: ac range: 155.345978 m, nav range: 152.141357 m, bearing: 250.800193 deg, approach rate: 0.000000 m/s, LOS rate: 0.000354 deg/s, cmd heading: 259.490389 deg, new cmd heading: 259.490849 deg. BhHeadingCmd: 4.528970 target range: 155.345978 and range: 156.10 m.hR@h*h"h hgfffdddjd@3c@Zd ?Uh~BɢU0Տ)Q UiQ)}6UXB,5 پ?A2@2@2ٱ2& :AHRS rotation from veh to nav: [[-0.182639,0.968052,0.171809],[-0.980783,-0.191587,0.036882],[0.068620,-0.161771,0.984440]]2H``ǿ`H??b@ȿ7?`? Ŀ?i2@I2\];0YBcyByB^I1iuMb@Mb@Mb@qqqq q9uV-?㥛 Mbp?Yu?yuu;u~.AuA uA)qqYuAbDVDܲy<%K=ٔ&GQ->9 ?Y ?=FyvEOE>Q 5&5?Q 9&5)sBY ?Q E:yQ Iu@DI:i:u&5yɮ-AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 155.35 m.RhZh ProNav: ac range: 155.345978 m, nav range: 151.898605 m, bearing: 250.797024 deg, approach rate: -0.638996 m/s, LOS rate: -0.008356 deg/s, cmd heading: 259.490853 deg, new cmd heading: 259.481329 deg. BhHeadingCmd: 4.528803 target range: 155.345978 and range: 156.10 m.h@h!*h!"h! h!g!f!f)f-~Bd)d1d1jd1Zd5?n~BɢV) zi)MAFfH,$پ?Aɰ;2@2@2qٱ2j' :AHRS rotation from veh to nav: [[-0.182632,0.967950,0.172389],[-0.980791,-0.191585,0.036671],[0.068523,-0.162380,0.984346]]2Hz`ǿr?@?bޅȿ}Ƣ?? Ŀ`?i2@I23T];2[CYBqyByBfI J;J;bDNVDNkyVm=%V\=ٔV9Q-V>9XYX=ZFyZyEZ7E^>Q 5%&5?Q 9-&5)~BY)y-Q I-u@DI:i:y&5y1ɮ5Y-AYԙjhFNOT Ignoring new targets: 155.35 m.RhZh ProNav: ac range: 155.345978 m, nav range: 151.663025 m, bearing: 250.793936 deg, approach rate: -0.602053 m/s, LOS rate: -0.007904 deg/s, cmd heading: 259.481318 deg, new cmd heading: 259.472040 deg. BhHeadingCmd: 4.528641 target range: 155.345978 and range: 156.10 m.h@h*h"h hgff f d d djdZdDJ?Et~BɢE頽)A EsiA)M6ByB}IB}yBB} =ByByB} u;B}/EiU࿉M G (hA NN,>پ?A9(hAY,A6(@6@6[xٱ6۩& >AHRS rotation from veh to nav: [[-0.182966,0.968010,0.171694],[-0.980727,-0.191891,0.036765],[0.068535,-0.161659,0.984464]]6Hqkǿ ??`bȿҢ?`?`;Ŀ?i6(@I6) ];6\CYFpyByDbDRVDRyV%ZI=ٔZQ-Z>9^"?Y^"?=^Fy^}Eb\Eb>dQ 5f&5f?Q 9j&5f)fBYhyjQ Iju@fDIf;if;fw|&5yriBɮr-ArEjh  FNOT Ignoring new targets: 155.35 m.RhZh% ProNav: ac range: 155.345978 m, nav range: 151.421280 m, bearing: 250.790790 deg, approach rate: -0.628242 m/s, LOS rate: -0.008188 deg/s, cmd heading: 259.472029 deg, new cmd heading: 259.462577 deg. Bh%ӳ-HeadingCmd: 4.528476 target range: 155.345978 and range: 156.10 m.h-G@h)*h)"h) h)g1f1ffdddjdZd?-z~Bɢn) Ci)%<顑iRiO࿉R<6Iq fU,ZXپ?A:C@: @:ٱ:B-& BAHRS rotation from veh to nav: [[-0.183312,0.968021,0.171267],[-0.980655,-0.192232,0.036898],[0.068641,-0.161190,0.984534]]:H vǿ ??aȿP?w?@ܡĿL?i:C@I:\;8YJ}yByJnIiMb@Mb@Mb@ 9Pn?p= ףMbPY$?y,A `A)AYpAbD5VD5JyE<%EA=ٔM價Q-M>9IYI=MFyMEUz[EU>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746521aQ 5m&5eq쮊?Q 9u&5e)eBYu$?Q Eu:yuQ Iuu@eDIe:ieu ;e*&5yfBɮ9-AEjhFNOT Ignoring new targets: 155.35 m.Rh_Zh_ ProNav: ac range: 155.345978 m, nav range: 151.149582 m, bearing: 250.785620 deg, approach rate: -0.641071 m/s, LOS rate: -0.012221 deg/s, cmd heading: 259.462576 deg, new cmd heading: 259.447037 deg. Bh2HeadingCmd: 4.528205 target range: 155.345978 and range: 156.10 m.h@h*h"h hgfQfqfu~BdqdydyjdyZd} u?~Bɢ) oi)-<iZ}i2࿉}<UUAqAqB}>ByB}IB}yBB} =ByByB}|u;B}#0EB-CEa E\EE"E݉;*E ;VEZEBE<2E<JE<:E<B)B)B)B)C-4M5Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998302 \,hrپ?A R@Rސ@RٱR+& ^AHRS rotation from veh to nav: [[-0.183731,0.967934,0.171311],[-0.980564,-0.192677,0.037004],[0.068826,-0.161183,0.984522]]RH{ǿP?@? `ȿ>?`?Ŀ3?iR@IRg\;RZCYfyByfIbDnVDnyvD=%vP=ٔvxQ-z>9xYx=~Fy~E~E~>Q 5 &5x殊?Q 9 &5 )BY yQ Iu@DIy:i:&5yɮ,AjhAEFNOT Ignoring new targets: 155.35 m.RhM^ZhM^ ProNav: ac range: 155.345978 m, nav range: 150.898331 m, bearing: 250.780863 deg, approach rate: -0.641500 m/s, LOS rate: -0.012166 deg/s, cmd heading: 259.447031 deg, new cmd heading: 259.432736 deg. BhHeadingCmd: 4.527956 target range: 155.345978 and range: 156.10 m.h@h*h"h hgfffdddjdZdچ@e~BɢeX)i mii)<顑ipi]࿉w<Ÿ i >uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250912@ @@1@A%>A%>AQIYIiO}z> E U E AE 'E "E l;*E ;VE '4ZE a @a @a @a @5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505049A b,Dپ?A2މ@2ؐ@2nٱ2+' :AHRS rotation from veh to nav: [[-0.184410,0.967639,0.172241],[-0.980452,-0.193346,0.036480],[0.068602,-0.162147,0.984379]]2Hšǿ?@ ?`_ ȿ?叱?@8Ŀ?i2މ@I2\;2[CYyByIiMb@Mb@Mb@ 9x&?)\(MbPY7)?yGaj*A\A A)AYAbDVD0y<%>=ٔ:Q->9Y=FyEҺE>Q 5&5 ஊ?Q 9&5= )BY)?Q E:yhQ Iu@DIq ;i ;X&5yɮ,AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 155.35 m.RhrZhr ProNav: ac range: 155.345978 m, nav range: 150.614914 m, bearing: 250.773616 deg, approach rate: -0.658864 m/s, LOS rate: -0.016878 deg/s, cmd heading: 259.432742 deg, new cmd heading: 259.410961 deg. BhV9MHeadingCmd: 4.527575 target range: 155.345978 and range: 156.10 m.hM@hI*hQ"hQ hQgYfYfafep~BdddjdZd,@=~Bɢ=a )A EiA)E;IIiMvi]Է࿉]Uo<][ `Zi,:پ?A20׉@2ѐ@2ٱ2' NAHRS rotation from veh to nav: [[-0.185233,0.967493,0.172180],[-0.980281,-0.194192,0.036584],[0.068831,-0.162008,0.984386]]2H`ǿ? ?v^`Iȿ@*?@瞱?Ŀ?i20׉@I2=];2\CYRyByRIbD^VD^yfx=%fQ=ٔfQ-j>9hYh=jFyjEn En>pQ 5v&5rSڮ?Q 9v&5r)rBYtyzQ Izu@rDIr;ir;rÊ&5y|ɮ~>,A|jh!%FNOT Ignoring new targets: 155.35 m.Rh-jZh-j= ProNav: ac range: 155.345978 m, nav range: 150.356766 m, bearing: 250.767075 deg, approach rate: -0.660477 m/s, LOS rate: -0.016766 deg/s, cmd heading: 259.410967 deg, new cmd heading: 259.391309 deg. Bh=8EHeadingCmd: 4.527232 target range: 155.345978 and range: 156.10 m.hEߐ@hA*hA"hA hAgQfQfQfQdYdYdYjdYZd]a@B>BBIByBBBBBu;BC0E~BɢS)DDR=EL ECE(E"EW;*E;VEc44ZEBE:p,پ?Aɰ4<6ω@6ʐ@6 :ٱ6v& >AHRS rotation from veh to nav: [[-0.186115,0.967383,0.171849],[-0.980109,-0.195061,0.036576],[0.068904,-0.161623,0.984444]]6Hǿ`?#?@ ]ȿ ?ଣ?Ŀ?i6ω@I6t];4YZyByZIbDbVDb yj\"=%jK=ٔj=Q-n>9lYl=nFyrErpEr>tQ 5z&5vTԮ?Q 9z&5v)vŽBYxy~Q I~u@v DIv:iv;vI&5ymBɮ7,AEjh)-FNOT Ignoring new targets: 155.35 m.Rh5Zh5E ProNav: ac range: 155.345978 m, nav range: 150.090668 m, bearing: 250.760401 deg, approach rate: -0.659774 m/s, LOS rate: -0.016576 deg/s, cmd heading: 259.391296 deg, new cmd heading: 259.371239 deg. BhE6MHeadingCmd: 4.526882 target range: 155.345978 and range: 156.10 m.hM8ܐ@hI*hI"hQ hQgQfQfYfYdYdYdajdaZde` ) @颍~Bɢ^) @i)#;顙isfi࿉W<;I8ܐ@I@ @@/@QE N E OE &E "E @;*E 3;VE 4ZE a-@a5@a5@a5@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511518y^AU0;AYzA]fAA ԩ I I O >dv,پ?A2ʼn@2@2Ռٱ22$ :AHRS rotation from veh to nav: [[-0.187306,0.967484,0.169975],[-0.979895,-0.196133,0.036565],[0.068713,-0.159709,0.984770]]2Hǿ??`M[ɿ? 1? UqĿ BDAT read: Tx time:04:56:06.5786 $Ping request sent.ibhb+?bP3@b0 >bUd3@ b>)bK$@Ib``b.{?/?F@6? bPq7?)b6Ibq=ib``E:publishing transmit ping timeMFpublishing direction and range infoy`bw#?9Y=FyE%E%>IQ 5U&5Mo̮?Q 9U&5M:)MюBYU0+?Q E]:y]Q I]u@M" DIM&:iM:MȒ&5yejBɮe+AEi`ib]پ?AJibCRibCjib@bbb@;t;>5@Rbw#?BBIBzBBBBBu;B-0EDzDEU EJE/E"El;*E;VEJ4ZEBEȼ},sپ?A2c@2-@21ٱ2# NAHRS rotation from veh to nav: [[-0.188438,0.967418,0.169099],[-0.979666,-0.197245,0.036731],[0.068888,-0.158739,0.984914]]2Hȿ?@?`lYN?ɿb΢??QĿ`k?i2c@I2M];0YRyByRIbD^VD^yf=%f[=ٔfQ-f>9j ?Yj ?=jFyjEnKEn>pQ 5v&5rƮ?Q 9v&5rt%)r܎BYtyvQ Ivu@r2 DIr:ir;r&5y|ɮ~f+A|jh!%FNOT Ignoring new targets: 152.86 m.Rh-Zh-= ProNav: ac range: 152.859528 m, nav range: 149.344528 m, bearing: 250.369452 deg, approach rate: -0.703447 m/s, LOS rate: -0.017435 deg/s, cmd heading: 259.344632 deg, new cmd heading: 259.326371 deg. Bh=r?EHeadingCmd: 4.526099 target range: 152.859528 and range: 153.60 m.hEՐ@hA*hA"hA hIgIfIfQfQdQdQdYjdYZd]@5 ?颕~Bɢ9) 딿i)xHK;顙i(i4࿉](<;IՐ@IԱE9@I @I@M/@I^Au`;EY EZE*E"E=;*E;VE(N4ZEa@a@a@a@I I O >1 i,kھ?A6@6K@6:ٱ6C$ BAHRS rotation from veh to nav: [[-0.189261,0.967146,0.169732],[-0.979506,-0.198083,0.036483],[0.068905,-0.159349,0.984815]]6H9ȿ?ƹ?@X Zɿح??eĿ ?i6@I6];4YJzByJIiMb@Mb@Mb@ 9'1Z?x&I +?Y"?y794<A A)AY3AbD5VD51yEF=%EC=ٔE+Q-M>9IYI=MFyMEUEU>YQ 5e&5]F?Q 9e&5]*,)]BYe#?Q Em:ymwQ Imu@]C DI]:i]:]&5yqɮu+A B*** querying acoustic contact ***i  i jh9=FNOT Ignoring new targets: 152.86 m.RhEaWZhEaWu ProNav: ac range: 152.859528 m, nav range: 149.078461 m, bearing: 250.364293 deg, approach rate: -0.605898 m/s, LOS rate: -0.011769 deg/s, cmd heading: 259.326382 deg, new cmd heading: 259.310878 deg. Bhu:}HeadingCmd: 4.525829 target range: 152.859528 and range: 153.60 m.h}Ӑ@hy*hy"h hgfff~BdddjdZd j[?e~Bɢe㔽)a eia)m;iiim˴߻iu࿉uA > nManaging dock network, ignoring radio surface power offI I O >BE >BE CBE IBE /zBBE =BA BE DBE Du;BE 0Eԙ E U E gE )E "E l;*E $;VE FA4ZE BE a 2E a JE 9Y=FyEúE>Q 5&5빮?Q 9&52)BYyQ Iu@T DI;iQ;A&5yrBɮ*AEjhFNOT Ignoring new targets: 152.86 m.RhkZhk ProNav: ac range: 152.859528 m, nav range: 148.817596 m, bearing: 250.359278 deg, approach rate: -0.669041 m/s, LOS rate: -0.012884 deg/s, cmd heading: 259.310891 deg, new cmd heading: 259.295821 deg. Bhx HeadingCmd: 4.525566 target range: 152.859528 and range: 153.60 m.hoѐ@h*h"h hgfffdd d jd ZdL?m~Bɢm6)i m5iqy)}K:顁i޻i࿉<e;Ioѐ@I-9@) @)@50@1@==@==ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500718^A#2;IyIO> ᱑,Gھ?A6@6~@6$ٱ6$ BAHRS rotation from veh to nav: [[-0.190194,0.966892,0.170135],[-0.979328,-0.199011,0.036203],[0.068863,-0.159732,0.984756]]6HJXȿ?`?`V1yɿ2?`?@rĿ ?i6@I63 ];6^CYF@zByFIbDRVDRk1yZR<%ZX=ٔZc7Q-Z>9\Y\=bFybEbjEf>dQ 5n&5f ?Q 9r&5f8)fBYtyzQ Izu@fc DIfS;ifJ;f&5y ɮ *A jh15FNOT Ignoring new targets: 152.86 m.Rh=\Zh=\M ProNav: ac range: 152.859528 m, nav range: 148.576675 m, bearing: 250.354662 deg, approach rate: -0.628312 m/s, LOS rate: -0.012057 deg/s, cmd heading: 259.295810 deg, new cmd heading: 259.281940 deg. BhMeeHeadingCmd: 4.525323 target range: 152.859528 and range: 153.60 m.hesϐ@hi*hi"hq hqgyfffdddjdZd?EK EIE(E"E;*E ;VEc44ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754380}~Bɢ}u) i)qy9顁iQ޻iΈ<)W;Isϐ@IM9@I @I@M0@Q) ^A ;I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004601Y ޗ,aھ?A4<ɰ2@2b@2ٱ2K% :AHRS rotation from veh to nav: [[-0.190447,0.966782,0.170477],[-0.979281,-0.199269,0.036070],[0.068842,-0.160076,0.984701]]2H`ȿ?2?DVɿ`w? ?@\}Ŀ ?i2@I2{S];2[CYBdzByBIi Mb@Mb@Mb@     9 {Gz?l~jt?Y #?y  < 'A  A) QA Y =A !%<bD-VD-:y=ԫ=%=B=ٔ=M8Q-E>9AYA=EFyEEM( EM>QQ 5&5UR?Q 9&5U?)UBY %?Q E:yQ Iu@Uu DIU9ԁ ,zھ?A0:L@:@:ٱ:|% FAHRS rotation from veh to nav: [[-0.190602,0.966654,0.171029],[-0.979252,-0.199439,0.035908],[0.068821,-0.160636,0.984611]]:Heȿ`?G?`V;ɿb? @?@Ŀ?i:L@I:`\];:\CYJzByJIbDVVDV 3y^#=%^S=ٔ^1i8Q-b>9`Y`=bFybEf~ֹEf>hQ 5n&5j%?Q 9n&5jE)j&BYp tvCyrQ Izu@j DIj,?ھ?A6@6N@6㌽ٱ6' >AHRS rotation from veh to nav: [[-0.191055,0.966318,0.172417],[-0.979169,-0.199924,0.035462],[0.068738,-0.162050,0.984385]]6H tȿ?@?@[Uɿ!(?Ԙ?Ŀ?i6@I6Ռ];4YFzByF I\i%Mb@Mb@Mb@!!!! !9%S㥛? ףp= Mb?Y%$?y%Q%<%+'A%A %OA)%A!Y%GAbD5VD5:yE#=%MB=ٔMN9Q-M>9IYQ=UFyUEUhEU>YQ 5e&5]Ɵ?Q 9m&5]L)]6BYm&?Q Em:ymQ Imu@] DI]:i]':]Q&5yqɮ})AyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 152.86 m.Rh9Zh9 ProNav: ac range: 152.859528 m, nav range: 147.787231 m, bearing: 250.344432 deg, approach rate: -0.724235 m/s, LOS rate: -0.004651 deg/s, cmd heading: 259.256441 deg, new cmd heading: 259.251187 deg. BhELHeadingCmd: 4.524787 target range: 152.859528 and range: 153.60 m.hː@h*h"h hgfff~BdddQjdQZd]M@颥~Bɢf蚽) i)`$顩iwܻi2Έ*f<tɧ;Iː@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012776q@q @q@}/@y^Aϩ;A A ؟AI I B >B B &IB zBB B B B "u;B BCBCBB =B =CW4O >D D <E } E dE 'E "E ;*E B#;VE '4ZE BE ,:ھ?AY zBy 4IAAAAbD% VD%2y5C=%5K=ٔ=Q-=>9E"?YE"?=EFyEEEEM>IQ 5]&5M?Q 9e&5MSQ =etI)MEBYiyiQ Iuv@M DIMa;iM;Mծ&5yyBɮ(AEjhFNOT Ignoring new targets: 152.86 m.RhZh ProNav: ac range: 152.859528 m, nav range: 147.527161 m, bearing: 250.342759 deg, approach rate: -0.634471 m/s, LOS rate: -0.004088 deg/s, cmd heading: 259.251195 deg, new cmd heading: 259.246168 deg. Bh3 HeadingCmd: 4.524699 target range: 152.859528 and range: 153.60 m.h Vʐ@h *h"h hgff!f!d!d)d)jdZd @~Bɢ]) i)Iimۻi-Έ-?C<5;I5Vʐ@I1I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517580ԁ^A ;ԙ Aq I I O >,Zcھ?A2@2{@2ߞٱ2*a) :AHRS rotation from veh to nav: [[-0.190205,0.966121,0.174446],[-0.979378,-0.199057,0.034568],[0.068121,-0.164274,0.984060]]2H Xȿ w?BT?Wzɿٲ? fp?ſj}?i2@I21];2YCYBzByB9IbDJVDJ0yR<%RT=ٔV:Q-V>9TYT=ZFyZEZG;EZ>\Q 5b&5^ ?Q 9f&5^GY)^TBYdyfQ Ifv@^ DI^:i^(:^2&5yhɮj(Aljh|FNOT Ignoring new targets: 152.86 m.Rh?Zh ? ProNav: ac range: 152.859528 m, nav range: 147.278702 m, bearing: 250.341059 deg, approach rate: -0.658990 m/s, LOS rate: -0.004515 deg/s, cmd heading: 259.246168 deg, new cmd heading: 259.241062 deg. BhKF%HeadingCmd: 4.524610 target range: 152.859528 and range: 153.60 m.h%ɐ@h!*h!"h! h!g)f)yffd d djd9ZdE @EuZ EuYEu*Eq"Eu;*Euw;VEu(N4ZEqa@a@a@a@DAT read: 04:56:09.1843 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.40, 2.140, 0.655, 2.696, 2.094, PHS= 0.147,-1.394, 0.558, RAW= 161.5, 7.8, CAL= 161.1, 7.9, ROT= 348.9, -7.9 Ygot valid direction response: 04:56:09.1843 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.40, 2.140, 0.655, 2.696, 2.094, PHS= 0.147,-1.394, 0.558, RAW= 161.5, 7.8, CAL= 161.1, 7.9, ROT= 348.9, -7.9 PDAT read: Bearing 47.2, -8.4 (Local) ~Local bearing/azimuth received: Bearing 47.2, -8.4 (Local) ~Bɢr)-DAT read: Range 11 to 50 : 151.2 m (Round-trip 201.6 ms) speed 0.7 m/s 5*DAT read: user:235> =BDAT read: Tx time:04:56:10.2786 =$Ping request sent.=in?e4@'g >P3@ 0 >)@I0 5Zw$?)1?f7?[cEU? \9?)D IaFi0 :publishing transmit ping time9Fpublishing direction and range infoy&au?hȿyjȗ?Y )Ii )I5Zw$?)1?f7?[cEU? )Ii9@ @@/@@@@@ A .AI I O >m,KYھ?A2 @2ꪐ@2e֊ٱ2;V( :AHRS rotation from veh to nav: [[-0.189919,0.966369,0.173381],[-0.979460,-0.198673,0.034452],[0.067740,-0.163276,0.984252]]2H HOȿ? U1?W`!nɿ ?eW? ;Ŀ`~?i2 @I2];2[CYBzByBMIi Mb@Mb@Mb@     9 X9v?1ZdZd;O?Y ?y "۽ j<   )  Y bD%VD%Qy=%4=ٔ8\:Q->9 ?Y ?=FyE+:E>Q 5&5?Q 9&5?`)gBYj ?Q E:yQ Iv@ DI ;iz ;,&5ywBɮ(AEiisiھ?AJiyCRiyCji1@b<ߕ4Hb@± 0,!ھ?A;ɰ2@2Ǭ@2Њٱ2' :AHRS rotation from veh to nav: [[-0.189697,0.966517,0.172802],[-0.979504,-0.198432,0.034598],[0.067729,-0.162697,0.984349]]2H@Gȿ`?@`?X4fɿ@ⶡ?V?AĿ?i2@I2r];2YCYR{ByR\I TVbDXVDXyj=%jZ=ٔj7Q-j>9lYl=nFynEr:Er>tQ 5z&5v炮?Q 9z&5ve)vwBYxyzQ Izv@v DIv:iv :vr&5yɮ'Ajh)5FNOT Ignoring new targets: 150.47 m.Rh518Zh518E ProNav: ac range: 150.472717 m, nav range: 145.932526 m, bearing: 250.173058 deg, approach rate: -0.627695 m/s, LOS rate: 0.002431 deg/s, cmd heading: 259.234830 deg, new cmd heading: 259.237536 deg. BhM8MHeadingCmd: 4.524549 target range: 150.472717 and range: 151.20 m.hMɐ@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde?Թ ~Bɢ) |ri)iMڻi=Έ=<=+;I=ɐ@IA9@ @@0@A}؟AIIOd>E ] E ME ,E "E  ;*E %;VE g4ZE a=@a=@a=@a=@9 zŶ,a۾?A2Ƿ@2@2˗ٱ2% :AHRS rotation from veh to nav: [[-0.189006,0.966987,0.170916],[-0.979645,-0.197665,0.034992],[0.067621,-0.160824,0.984664]]2H Y1ȿ@??@@Y Mɿ o?O?ޕĿ ^?i2Ƿ@I2>];2[CYRzByR[IieMb@Mb@Mb@aaaa a9e+?A`"~jt?Ye?yeٽe9"?Y"?=FyE:E>Q 5&5{?Q 9&5l)BY"?Q E:y;Q Iv@ DI:i:.&5yɮ'AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 150.47 m.Rh7Zh7 ProNav: ac range: 150.472717 m, nav range: 145.663879 m, bearing: 250.173781 deg, approach rate: -0.628461 m/s, LOS rate: 0.001695 deg/s, cmd heading: 259.237535 deg, new cmd heading: 259.239708 deg. Bhܔ8HeadingCmd: 4.524587 target range: 150.472717 and range: 151.20 m.hjɐ@h *h "h  h g f ff~Bdddjd!Zd%(A?M~BɢU5)Q UsiQ)]PʻYYi]ٻieΈeiB B CB wIB -{BB =B B B u;B /EE W E _E E "E T;*E ;VE ZE BE &9IYI=MFyUEU+;EU>Q 5&5s?Q 9&5r)BYyQ Iv@ DI9:i1:&5yBɮ'AEjh%FNOT Ignoring new targets: 150.47 m.Rh%7Zh%7= ProNav: ac range: 150.472717 m, nav range: 145.410248 m, bearing: 250.174367 deg, approach rate: -0.616847 m/s, LOS rate: 0.001427 deg/s, cmd heading: 259.239721 deg, new cmd heading: 259.241481 deg. Bh=z8=HeadingCmd: 4.524617 target range: 150.472717 and range: 151.20 m.hEɐ@hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU?q颅~Bɢ+:) [ki)顉itٻiΈ< Ҷ,BJ۾?A@@6ɉ@6hĐ@6kٱ6W& BAHRS rotation from veh to nav: [[-0.186879,0.967339,0.171262],[-0.980092,-0.195487,0.034704],[0.067050,-0.161368,0.984614]]6Hǿq??\`ɿ@ġ?`.*?`Ŀ@?i6ɉ@I6j*];4YJ){ByJuIPRBAbDRVDR:yZ7<%ZT=ٔ^:Q-^>9\Y`=bFybEbOB;Eb>dQ 5j&5fl?Q 9j&5fx)fBYlynQ Inv@f DIfL;if;f&5yrBɮrY'Atjh)5FNOT Ignoring new targets: 150.47 m.Rh5Ӫ7Zh5Ӫ7E ProNav: ac range: 150.472717 m, nav range: 145.173233 m, bearing: 250.174802 deg, approach rate: -0.635215 m/s, LOS rate: 0.001167 deg/s, cmd heading: 259.241469 deg, new cmd heading: 259.242775 deg. BhML8MHeadingCmd: 4.524640 target range: 150.472717 and range: 151.20 m.hMɐ@hQ*hQ"hQ hQgQfQfYfYdYdadajdaZde3?ER EUE(E"E;*E\;VEc44ZEa-@a5@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.972140a5@aU@~Bɢc)) -kiQ)]iaaimٻiΈ<Q ض,d۾?A2Zω@2%ʐ@2ٱ2& :AHRS rotation from veh to nav: [[-0.186195,0.967415,0.171578],[-0.980233,-0.194798,0.034596],[0.066891,-0.161745,0.984563]]2H;ǿ ?B?^ ȿ?? Ŀ ?i2Zω@I2Q.];2YCY^<{By^Ii}Mb@Mb@Mb@yyyy y9}ףp= ?`"Q?Y}?y}}u9Y=FyEQ:E>Q 5&5md?Q 9&5i)BY!?Q E:yQ Iv@ DIq ;i ;&5yɮ 'AjhFNOT Ignoring new targets: 150.47 m.Rh9Zh 9 ProNav: ac range: 150.472717 m, nav range: 144.900650 m, bearing: 250.177954 deg, approach rate: -0.631715 m/s, LOS rate: 0.007320 deg/s, cmd heading: 259.242781 deg, new cmd heading: 259.252256 deg. Bh%9%HeadingCmd: 4.524806 target range: 150.472717 and range: 151.20 m.h%5ː@h)*h)"h) h)g)f1f1f5Bd1d9d9jd9Zd=Z@m~Bɢmܓ)i ufiq)u qqiuVػi}Έ}<}BBIBj{BBBBB9u;B0E@ @@/@E Y E `E *E "E =;*E '!;VE (N4ZE BE ԁ ޶,g~۾?A02x։@2Cѐ@28ٱ2G% >AHRS rotation from veh to nav: [[-0.185344,0.967737,0.170681],[-0.980397,-0.193919,0.034874],[0.066847,-0.160871,0.984709]]2H Wǿ??j_Wȿ@ڡ? ? nĿ?i2x։@I2 ];0Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.726096YV@{ByVIbD^VD^yf<%fY=ٔj8Q-j>9hYh=nFynEn/;En>pQ 5v&5r%]?Q 9v&5r1)rƏBYxyzQ Izv@r) DIr:ir:r&5y|ɮ~&AjhFNOT Ignoring new targets: 150.47 m.Rh18Zh18 ProNav: ac range: 150.472717 m, nav range: 144.664581 m, bearing: 250.180617 deg, approach rate: -0.602640 m/s, LOS rate: 0.006808 deg/s, cmd heading: 259.252261 deg, new cmd heading: 259.260262 deg. Bh9HeadingCmd: 4.524945 target range: 150.472717 and range: 151.20 m.hZ̐@h*h "h  h g f ffd1d1d9jd9Zd=@颥~BɢKR) gi)iػiΈ0<7O ,B۾?Aɰ;62܉@6֐@6Јٱ6^ & >AHRS rotation from veh to nav: [[-0.184659,0.967840,0.170839],[-0.980533,-0.193235,0.034864],[0.066755,-0.161075,0.984682]]6H@ǿ`??``ȿ١?@?Ŀ?i62܉@I60];4`YjS{ByjIi]Mb@Mb@Mb@YYYY Y9]Mb?9Y=FyEQ:E>Q 5&5T?Q 9&5Ջ)֏BY#?Q E:yQ Iv@: DI:i:&5yɮ&AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 150.47 m.Rhw9Zhw9 ProNav: ac range: 150.472717 m, nav range: 144.392960 m, bearing: 250.184202 deg, approach rate: -0.658868 m/s, LOS rate: 0.008714 deg/s, cmd heading: 259.260266 deg, new cmd heading: 259.271042 deg. Bh\9HeadingCmd: 4.525133 target range: 150.472717 and range: 151.20 m.h͐@h*h "h  h g f ffBdddjdZd% @~Bɢ]0) Cci)!iW׻iΈ<Yc&B B IB {BB B B B >u;B 0EI A .AbEuʷG4jEuʷG4rEuʰ/E= M E= b DAT read: 04:56:12.8811 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412, 0.29,-0.302,-1.755, 0.191,-0.388, PHS= 0.187,-1.323, 0.534, RAW= 160.1, 7.1, CAL= 159.6, 7.0, ROT= 350.4, -7.0  Ygot valid direction response: 04:56:12.8811 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412, 0.29,-0.302,-1.755, 0.191,-0.388, PHS= 0.187,-1.323, 0.534, RAW= 160.1, 7.1, CAL= 159.6, 7.0, ROT= 350.4, -7.0  PDAT read: Bearing 47.5, -6.8 (Local)  ~Local bearing/azimuth received: Bearing 47.5, -6.8 (Local)  X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.978647,-0.165526,0.121869]yi m bފQ?{U/ſUM7P2?E= )E9 "E= ˀ;*E= 5";VE= FA4ZE9 BE= Pim Xm 9?m [2@m =m aF2@ m 5=)m E@Im 5i m :vuYH?Gv?+!:? m C3?)m Im +im 5 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI Iq O >Q,%۾?Ap5 @5ߐ@5u舽ٱ5R% mAHRS rotation from veh to nav: [[-0.183601,0.968085,0.170592],[-0.980729,-0.192190,0.035135],[0.066800,-0.160853,0.984715]]5H9ǿ ?? b@ȿ>?? ֖Ŀ`ɂ?i5 @I5+];5ZCYu\{By}I bDVD0y<%A=ٔF߸Q->9 ?Y ?=FyES';E>Q 5&5QL?Q 9%&5e)BY!y%uQ I%v@K DI-;i;&5y-Bɮ5&A5ŢEjhqFNOT Ignoring new targets: 150.47 m.Rh9Zh9 ProNav: ac range: 150.472717 m, nav range: 144.124680 m, bearing: 250.187643 deg, approach rate: -0.623964 m/s, LOS rate: 0.008016 deg/s, cmd heading: 259.271030 deg, new cmd heading: 259.281370 deg. Bh 9HeadingCmd: 4.525313 target range: 150.472717 and range: 151.20 m.h^ϐ@h*h"h hgfffdddjd Zd @6P @]~Bɢ],i)Y ]aiY)e"".aaie)׻imΈm BDAT read: Tx time:04:56:13.9786 $Ping request sent.,)۾?A2@2@2$5ٱ2% :AHRS rotation from veh to nav: [[-0.182787,0.968370,0.169845],[-0.980871,-0.191385,0.035565],[0.066946,-0.160095,0.984829]]2H eǿ ?y?JcKȿ`5?[#?}Ŀ?i2@I2X ];2[CYB[{ByBIbDHVDHyR%R_=ٔVѹQ-V>9TYT=ZFyZEZ;EZ>\Q 5b&5^E?Q 9b&5^)^BYdyf[Q Ifv@^Z DI^p:i^:^&5yhɮj&Al% addTargetRange:: Added new target pos. range: 148.800003 m, deltaT: 3.779165 s, deltaX: -2.399994 m, approachRate: -0.635059 m/s, rangeRepo size: 4 jh)-FNOT Ignoring new targets: 150.47 m.1Rh=#9Zh=#9M ProNav: ac range: 150.472717 m, nav range: 143.892120 m, bearing: 250.190562 deg, approach rate: -0.648131 m/s, LOS rate: 0.008149 deg/s, cmd heading: 259.281357 deg, new cmd heading: 259.290130 deg. BhM9DDR=Eh EE*E"E ;*Ez1;VE(N4ZEa@a@a@a@]HeadingCmd: 4.525466 target range: 150.472717 and range: 148.80 m.h]А@ha*ha"ha hgfffddd jdb@Zd?~Bɢp,) bi)Y:ilֻi࿉<<;5$,W۾?A@@>@>x@>8ٱ>% JAHRS rotation from veh to nav: [[-0.182205,0.968473,0.169886],[-0.980978,-0.190813,0.035660],[0.066953,-0.160157,0.984818]]>H`~Rǿ?`־?,d lȿB? #? Ŀ?i>@I>*];9U"?YU"?=]Fy]E]l:Ee>aQ 5m&5e\=?Q 9m&5e)eBYu(?Q Eu:yuQ Iuv@el DIe:ie:el&5yɮ&AԙjhFNOT Ignoring new targets: 150.47 m.Rh|7Zh|7 ProNav: ac range: 150.472717 m, nav range: 143.613831 m, bearing: 250.189500 deg, approach rate: -0.655228 m/s, LOS rate: -0.002506 deg/s, cmd heading: 259.290127 deg, new cmd heading: 259.286934 deg. Bh.ܸHeadingCmd: 4.525411 target range: 150.472717 and range: 148.80 m.h*А@h*h"h hgfff~BdddjdZdL?~Bɢ,) _i)PDimջi࿉<DBIBMIBM{BBM =BIBMDBMt;BM/EBCBBB =B =C˜5E` ETE(E"Ei;*E;VEc44ZEBE4 ,32ܾ?AB}@BH@B(ٱB&$ JAHRS rotation from veh to nav: [[-0.181749,0.968717,0.168981],[-0.981065,-0.190325,0.035882],[0.066921,-0.159260,0.984966]]BHCǿ?,?d\ȿ _?@!?bĿ ׄ?iB}@IB1];@YRq{ByRIIVR=)Vp>bDZVDZ0yb<%bS=ٔf8Q-f>9dYh=jFyjEj:Ej>lQ 5r&5nQ6?Q 9r&5nK)n BYtyv Q Ivv@n| DIn:in1:n&5yxɮz&A|jh%FNOT Ignoring new targets: 150.47 m.Rh%AZh%A5 ProNav: ac range: 150.472717 m, nav range: 143.360214 m, bearing: 250.188483 deg, approach rate: -0.658499 m/s, LOS rate: -0.002645 deg/s, cmd heading: 259.286931 deg, new cmd heading: 259.283875 deg. Bh=]EHeadingCmd: 4.525357 target range: 150.472717 and range: 148.80 m.hEϐ@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdUX?颅~Bɢ) ^i){`O顉iԻiΈ,<IJy Z6,kܾ?A2@2@2Rٱ2# :AHRS rotation from veh to nav: [[-0.181362,0.968830,0.168746],[-0.981131,-0.189948,0.036074],[0.067003,-0.159020,0.984999]]2H6ǿ?y? me9PȿGx?@'?ZĿ?i2@I2r];2YCYBo{By@i=Mb@Mb@Mb@9999 99=E?(\µMb`Y9y===#A=A =7A)== A9Y=AbDUVDUkyedH%eA=ٔeJQ-m>9m ?Ym ?=mFymEur:Eu>yQ 5&5}$/?Q 9&5}=)}BY(?Q E:yQ Iv@} DI};i}w;}&5yBɮ|&AĢEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 150.47 m.Rh"Zh" ProNav: ac range: 150.472717 m, nav range: 143.082855 m, bearing: 250.184717 deg, approach rate: -0.652786 m/s, LOS rate: -0.008880 deg/s, cmd heading: 259.283871 deg, new cmd heading: 259.272552 deg. BhùHeadingCmd: 4.525160 target range: 150.472717 and range: 148.80 m.hΐ@h*h"h hgfff~BdddjdZd x?%~Bɢ%4)) -_i))-h[))i-AԻi5Έ=K<=RB! B% IB% {BB% =B! B% DB% t;B% /EOE >E X E GE 'E "E Ʌ;*E ;VE '4ZE BE 9tYt=vFyvEz:Ez>|Q 5&5~(?Q 9&5~)~"BYy Q I v@~ DI~ ;i~q:~&5yBɮ&A΢Ejh9=FNOT Ignoring new targets: 150.47 m.RhE~$ZhE~$U ProNav: ac range: 150.472717 m, nav range: 142.829666 m, bearing: 250.181245 deg, approach rate: -0.654335 m/s, LOS rate: -0.008988 deg/s, cmd heading: 259.272560 deg, new cmd heading: 259.262127 deg. BhUdŹ]HeadingCmd: 4.524978 target range: 150.472717 and range: 148.80 m.h]̐@hY*ha"ha hagafafifidididijdqZduD?颥~Bɢ i) K^i)f顩i._ӻi Έ.k<W9 9XYX=ZFyZE^W9E^>`Q 5f&5b!?Q 9f&5b)b-BYdyfQ Ijv@b DIb:ib:b[&5ylɮn&AljhFNOT Ignoring new targets: 150.47 m.Rh j%Zh j% ProNav: ac range: 150.472717 m, nav range: 142.570129 m, bearing: 250.177666 deg, approach rate: -0.654229 m/s, LOS rate: -0.009039 deg/s, cmd heading: 259.262124 deg, new cmd heading: 259.251367 deg. Bhƹ%HeadingCmd: 4.524790 target range: 150.472717 and range: 148.80 m.h%ː@h!*h!"h) h)g)f)f)f1d1d1d1jd1E_ EXE*E"E;*E;VE(N4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264229Zd:@e~BɢmKޑ) [i)Xs顡iһiΈ<O[AHRS rotation from veh to nav: [[-0.181433,0.969124,0.166977],[-0.981086,-0.190027,0.036881],[0.067473,-0.157128,0.985271]]2H 59ǿ?_?eRȿ?@E?@ĿV?i2@I2A];0YF{ByFIi Mb@Mb@Mb@     9 oʡ?Q뱿y&1|?Y -?y \ `;  A  )  A Y zAbD-VD-y=D=%=A=ٔE¾Q-E>9AYA=MFyMEM5jEM>QQ 5]&5U#?Q 9]&5UP)U;BYe-?Q Ee:ye[Q Iev@U DIUT ;iU]:U &5yiɮm&AijhFNOT Ignoring new targets: 150.47 m.RhݛZhݛ- ProNav: ac range: 150.472717 m, nav range: 142.284470 m, bearing: 250.170477 deg, approach rate: -0.675430 m/s, LOS rate: -0.017033 deg/s, cmd heading: 259.251359 deg, new cmd heading: 259.229747 deg. Bh- ;UHeadingCmd: 4.524413 target range: 150.472717 and range: 148.80 m.hUǐ@hQ*hQ"hQ hQgYfYfafe~BdadidijdiZd@AAAAi}~Bɢ΋) lSiB>BBIB{BBBBBt;B/E)3~顱iJһixΈ8<nZԙ /Z ,Bzܾ?A&BDAT read: Rx Time:04:56:16.5781 &TRx dataTimestamp_ set to:1761540978.032105*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023700:C@:@:Wٱ:8J! FAHRS rotation from veh to nav: [[-0.181528,0.969207,0.166388],[-0.981059,-0.190119,0.037110],[0.067601,-0.156500,0.985362]]:H@P<ǿ?6L?dUȿ?@IN?`4Ŀ@?i:C@I:ɺ];8xY]{By]IbDmVDm1yo<%E=ٔYQ->9Y=FyEBxE>Q 5&5?Q 9&5gǼ)IBYy_Q Iv@ DI;i;&5yɮ%AjhFNOT Ignoring new targets: 150.47 m.Rh+Zh+ ProNav: ac range: 150.472717 m, nav range: 142.004257 m, bearing: 250.163409 deg, approach rate: -0.675354 m/s, LOS rate: -0.017067 deg/s, cmd heading: 259.229749 deg, new cmd heading: 259.208505 deg. Bhf; HeadingCmd: 4.524042 target range: 150.472717 and range: 148.80 m.h Đ@h *h"h hgfffddd!jd!Zd%@M~BɢUy) XRi)3顙iݎѻi+Έm<| _9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275368E[ EZE+E"E%;*E;VE [4ZEa@a@a@a@q &,,gܾ?A@J@0ٱ* AHRS rotation from veh to nav: [[-0.182095,0.969214,0.165726],[-0.980933,-0.190702,0.037461],[0.067912,-0.155745,0.985460]]H Nǿ?6?c hȿ.?`b?@tÿ?i@I^];ZCY%{By-IaI58>)59Y=FyE%E%>)Q 55&5-x?Q 95&5-μ)-VBY5+?Q E5:y5Q I=v@- DI- ;i-C ;-[&5yEBɮES%AE͢E]B*** querying acoustic contact ***ia iajhiuFNOT Ignoring new targets: 150.47 m.RhuعZhuع ProNav: ac range: 150.472717 m, nav range: 141.724487 m, bearing: 250.153435 deg, approach rate: -0.663449 m/s, LOS rate: -0.023701 deg/s, cmd heading: 259.208493 deg, new cmd heading: 259.178510 deg. BhHeadingCmd: 4.523519 target range: 150.472717 and range: 148.80 m.h@h*h"h hgfff~BdddjdZd@- @}DAT read: 04:56:16.5781 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.22,-1.331,-2.769,-0.840,-1.380, PHS= 0.151,-1.344, 0.496, RAW= 160.1, 8.3, CAL= 159.8, 8.5, ROT= 350.2, -8.5 Ygot valid direction response: 04:56:16.5781 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.22,-1.331,-2.769,-0.840,-1.380, PHS= 0.151,-1.344, 0.496, RAW= 160.1, 8.3, CAL= 159.8, 8.5, ROT= 350.2, -8.5 PDAT read: Bearing 50.7, -7.4 (Local) ~Local bearing/azimuth received: Bearing 50.7, -7.4 (Local) DAT read: Range 11 to 50 : 146.5 m (Round-trip 195.4 ms) speed 0.6 m/s *DAT read: user:237> BDAT read: Tx time:04:56:17.6786 $Ping request sent.iM1M>IMV>M2@ M>)M@IMIIMɡG3?ψl?da1l? Mm3?)MPIM%/iMII:publishing transmit ping timeFpublishing direction and range infoyIM=/?LEe)ſ%)k?YIIIII I)IIIiIIIII I)IIIIIMɡG3?ψl?da1l? I)IIIiIIIa~Bɢf) CJi)i ѻi<Έs<*]ԉBe >Ba Be IBe +|BBa Ba Ba Be t;Be /EԹ E W E ^E &E "E T;*E  ;VE 4ZE BE &9?`d? bÿ?iJ@IJ.];JWCYn{BynIbDzVDzfy=%^=ٔQ->9 Y = Fy  E =uE>Q 5&5. ?Q 9%&5Լ)bBY!y%*Q I%v@ DI];i;&5y-Bɮ5+%A5֢EiiAܾ?AJiCRiCji\,@bqa@z g 83ƌ5@R=/?LEe)ſ%)k?Zi%/bijGG`WK֭YA@Z z\BBԿE)b3w?2i:i8"iC)؞?*i- BibBiiibBiz Ci @ addTargetRange:: Added new target pos. range: 146.500000 m, deltaT: 3.530910 s, deltaX: -2.300003 m, approachRate: -0.651391 m/s, rangeRepo size: 4  Added new target pos. range: 145.795258 m, bearing: 250.979293 deg, lat: 36.779373 deg, lon: -121.859591 deg, deltaT: 7.310075 s, deltaX: -4.677460 m, approachRate: -0.639865 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 145.80 m.ԙRhZh ProNav: ac range: 145.795258 m, nav range: 141.479950 m, bearing: 250.144720 deg, approach rate: 0.000000 m/s, LOS rate: -0.023701 deg/s, cmd heading: 259.178522 deg, new cmd heading: 259.152127 deg. BhHeadingCmd: 4.523058 target range: 145.795258 and range: 146.50 m.h伐@h*h"h hgfffdddjdPb@Zd ?u~Bɢ}О)y }@iy)}VU顁i;лiKΈ<z_ g3, ܾ?Aɰ4<2@2k@2 ٱ2R :AHRS rotation from veh to nav: [[-0.182915,0.969240,0.164671],[-0.980767,-0.191500,0.037727],[0.068101,-0.154603,0.985627]]2Hiǿ??qbȿP? o?ÿ@A?i2@I2&{];2XCYB{ByBIbDJVDJyRiX<%VP=ٔVӹQ-V>9V"?YZ"?=ZFyZ EZ$EZ>\Q 5b&5^?Q 9f&5^rۼ)^oBYdyf;Q Ifv@^ DI^:i^g:^&5yhɮj%Aljh)5FNOT Ignoring new targets: 145.80 m.Rh=׹Zh=׹U ProNav: ac range: 145.795258 m, nav range: 141.218979 m, bearing: 250.135440 deg, approach rate: -0.661395 m/s, LOS rate: -0.023561 deg/s, cmd heading: 259.152130 deg, new cmd heading: 259.124241 deg. Bh[HeadingCmd: 4.522571 target range: 145.795258 and range: 146.50 m.h縐@h*h"h hgfffE` E\E%E"Ei;*E ;VE 4ZEa5@a5@a5@a5@d9dAdIjdqZd}`?~Bɢ~) ?i )is ѻiU[ΈeI<Z_C9,ܾ?A6@6vߐ@6ٱ6} >AHRS rotation from veh to nav: [[-0.183626,0.969228,0.163949],[-0.980620,-0.192207,0.037968],[0.068312,-0.153800,0.985738]]6H ǿ?I?9AYA=EFyEEMٺEM>QQ 5e&5U?Q 9m&5U)U}BYm-?Q Em:ym5Q Iuv@U DIU#T;iUh;U&5BA<yɮ%H$A!BBB3IB]|BB =BBB>u;B0EjhFNOT Ignoring new targets: 145.80 m.RhZh ProNav: ac range: 145.795258 m, nav range: 140.924667 m, bearing: 250.122080 deg, approach rate: -0.637619 m/s, LOS rate: -0.029005 deg/s, cmd heading: 259.124236 deg, new cmd heading: 259.084072 deg. Bh>HeadingCmd: 4.521870 target range: 145.795258 and range: 146.50 m.h)@h*h"h hgfff~Bd!d!d!jd!Zd-࣌?~Bɢ_&) r3i)ɘiEAѻirΈp<I)@IbE:4jE:4rES)0E^ EbE+E"E;*E5";VE [4ZEBE@,&ݾ?AYN|By )IbDVDy-8=%-H=ٔ-Q-5>91Y1=5Fy=E=E=>AQ 5M'5EJ?Q 9M'5E)EBYIyQQ IUv@E* DIE7;iE;Ee'5yYɮ]#AYjhFNOT Ignoring new targets: 145.80 m.RhZh ProNav: ac range: 145.795258 m, nav range: 140.651230 m, bearing: 250.109617 deg, approach rate: -0.722193 m/s, LOS rate: -0.032981 deg/s, cmd heading: 259.084074 deg, new cmd heading: 259.046612 deg. BhHeadingCmd: 4.521216 target range: 145.795258 and range: 146.50 m.hέ@h*h"h hgfffdddjdZd\?~Bɢ-) J,i)૜i*ѻi2Έ <oiԑ G,ݾ?A6܉@6Qא@6ٱ6! BAHRS rotation from veh to nav: [[-0.184602,0.968617,0.166443],[-0.980445,-0.193247,0.037189],[0.068186,-0.156323,0.985350]]6H ǿ?N?_Oȿg ?`t?eĿ?i6܉@I6f];6WCYJc|ByJ6IiMb@Mb@Mb@ 9v/?l񢿸Q?Yx)?yu<A@ A) AYAbD-VD-1y=1M=%EJ=ٔE9Q-E>9AYI=MFyMEM EM>QQ 5]'5U?Q 9e'5U)UBYe)?Q Ee:yeQ Iev@U; DIU ;iU. ;U'5ymBɮu#AuEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 145.80 m.RhWZhW ProNav: ac range: 145.795258 m, nav range: 140.385468 m, bearing: 250.097722 deg, approach rate: -0.654774 m/s, LOS rate: -0.029363 deg/s, cmd heading: 259.046618 deg, new cmd heading: 259.010864 deg. Bh6=HeadingCmd: 4.520592 target range: 145.795258 and range: 146.50 m.h=@h9*h9"h9 h9g9fAfAfE~BdIdIdIjdIZdM@qT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Bɢ) Z'i)_IiѻiΈ*<bBiBm_IBm|BBm =BiBiBm|u;Bm#0EB1B1B1B1B1C54^AhW<E5 _ E5 \E5 *E1 "E5 ;*E5 ;VE5 (N4ZE1 BE5 k<U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257840aU 2E5 k JM,7ݾ?A2׉@2Ґ@2bٱ22" :AHRS rotation from veh to nav: [[-0.185180,0.968330,0.167467],[-0.980345,-0.193836,0.036765],[0.068061,-0.157367,0.985192]]2H@ǿ?@o?@^ȿ@Ң?xl? $Ŀ`?i2׉@I2<];2VCYf|ByfTIbDrVDrܲyv=%zP=ٔz9Q-z>9|Y|=~Fy~EdúE> Q 5 '5 ?Q 9'5 ) BYyQ Iv@ L DI :i : `'5y%Bɮ%(#A%ߢEjhIMFNOT Ignoring new targets: 145.80 m.RhUZhUe ProNav: ac range: 145.795258 m, nav range: 140.126923 m, bearing: 250.086166 deg, approach rate: -0.657256 m/s, LOS rate: -0.029431 deg/s, cmd heading: 259.010855 deg, new cmd heading: 258.976123 deg. BhemHeadingCmd: 4.519986 target range: 145.795258 and range: 146.50 m.hm@hi*hi"hi higifqfqfqdydydyjdyZd`V@颭Bɢ) i)顱iһiΈz<kc5T,Qݾ?ARՉ@RRА@R튽ٱRq" ZAHRS rotation from veh to nav: [[-0.185445,0.968246,0.167661],[-0.980314,-0.194060,0.036404],[0.067784,-0.157610,0.985172]]RHǿ?u?`^@ȿ@?OZ?,Ŀ ?iRՉ@IRO];RYCYb|Byb^IDn<Dn=Erk EpEr+Ep"Erf;*EpVEr [4ZEpav@av@av@av@bDvVDvN2~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760659y )=% H=ٔ d2:Q- >9Y=Fy"E*+E>!Q 5-'5%n譊?Q 9-'5%m)%BY)y-Q I-v@%] DI%W:i%:% '5y9ɮ="A9jh1=FNOT Ignoring new targets: 145.80 m.RhmZhu1E ProNav: ac range: 145.795258 m, nav range: 139.859100 m, bearing: 250.074178 deg, approach rate: -0.623190 m/s, LOS rate: -0.027947 deg/s, cmd heading: 258.976130 deg, new cmd heading: 258.940098 deg. BhmpHeadingCmd: 4.519357 target range: 145.795258 and range: 146.50 m.h@h*h"h hgfffdddjdZd @=Bɢ=Rn)= MxiI)MxQQiUBӻieΈeZ,Wlݾ?A;ɰAxAz@AYM|ByM{IBm>BiBmIBm}BBm =BiBiBmu;Bm$0EiMb@Mb@Mb@ 9J +?/$Q?Y(?y,GA )rAYA M9Y=Fy'EE>Q 5'5⭊?Q 9'5I)BY)?Q E:yQ Iv@q DI;i; '5yɮ("A!jh9=FNOT Ignoring new targets: 145.80 m.RhEZhEU ProNav: ac range: 145.795258 m, nav range: 139.552582 m, bearing: 250.061387 deg, approach rate: -0.672904 m/s, LOS rate: -0.028143 deg/s, cmd heading: 258.940094 deg, new cmd heading: 258.901636 deg. BhU]HeadingCmd: 4.518686 target range: 145.795258 and range: 146.50 m.h]@hY*hY"hYEn EaE*E"EÏ;*E!;VE(N4ZEBE,b,qݾ?AZI։@Zѐ@ZІٱZ$ bAHRS rotation from veh to nav: [[-0.185362,0.967937,0.169527],[-0.980377,-0.193937,0.035357],[0.067101,-0.159646,0.984891]]ZHǿ`V?` ?>_ȿ [?-?HoĿ`:?iZI։@IZl\;ZWCYj|ByjI llbDvVDv:y~v=%~O=ٔ~:Q->9Y=Fy+E )w9E >Q 5'5ܭ?Q 9'5 )ϐBYyQ Iv@ DI BDAT read: Tx time:04:56:21.3786 $Ping request sent.iK ?2@=aF2@ |=)E@I|ゥB?P/σ?km? 3?)ȽI+i|ゥ :publishing transmit ping time Fpublishing direction and range infoyV?M6h]3ſmu"޽?Y )Ii )IB?P/σ?km? )IiI^AUk<ԁ I I O% >:h,ݾ?A 2ى@2Ԑ@2c؈ٱ2$ >AHRS rotation from veh to nav: [[-0.184941,0.967963,0.169838],[-0.980479,-0.193479,0.035032],[0.066769,-0.160044,0.984849]]2H"ǿ ?>?@`@ȿ@?`? O|Ŀ?i2ى@I2v ];0Y^}BybIiMb@Mb@Mb@ 9Gz?v/ rh?Yp?yxiC<CAO@ A)AYAbDVDyd=%?=ٔTL:Q->9Y=Fy/EP:E>Q 5'5֭?Q 9'5q)ސBY,?Q E:yQ Iv@ DI ;i ;*'5yBɮ!AEii2ݾ?AJiNCRiNCji@b \޿a@8go7_F0@RV?M6h]3ſmu"޽?Zi+bi|j>6~ Ggb`] >=@ZdSԿ=dvBTHx?2ik:i[8"i_*?*i.4hBiǹBi>?i- iYBit Ci"@ addTargetRange:: Added new target pos. range: 144.000000 m, deltaT: 3.780344 s, deltaX: -2.500000 m, approachRate: -0.661316 m/s, rangeRepo size: 4  Added new target pos. range: 143.307800 m, bearing: 250.808921 deg, lat: 36.779382 deg, lon: -121.859600 deg, deltaT: 3.780344 s, deltaX: -2.487457 m, approachRate: -0.657998 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 143.31 m.RhZh ProNav: ac range: 143.307800 m, nav range: 139.455750 m, bearing: 250.544074 deg, approach rate: 0.000000 m/s, LOS rate: -0.026669 deg/s, cmd heading: 258.869579 deg, new cmd heading: 258.836649 deg. BhHeadingCmd: 4.517552 target range: 143.307800 and range: 144.00 m.hɏ@h*h"h hgfffUBdddjdb@Zd?i Bɢl}d) Qi)FiVֻi%H⿉%T<%ۄAu>IIO>mp,>ݾ?AF߉@Fmڐ@F?ڇٱF|& NAHRS rotation from veh to nav: [[-0.184254,0.967860,0.171165],[-0.980641,-0.192770,0.034396],[0.066286,-0.161514,0.984642]]FH@ǿ?@?`iaȿK??Ŀ/?iF߉@IF^n];DYV}ByVI1ae@AbDmVDm:y}/;%)=ٔ:Q->9Y=Fy4E :E>Q 5'5#Э?Q 9'5)BYyQ Iv@ DI:i:b'5yɮ!AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 143.31 m.RhٛZhٛu ProNav: ac range: 143.307800 m, nav range: 139.159973 m, bearing: 250.535944 deg, approach rate: -0.618325 m/s, LOS rate: -0.017032 deg/s, cmd heading: 258.836658 deg, new cmd heading: 258.812216 deg. Bhu;}HeadingCmd: 4.517125 target range: 143.307800 and range: 144.00 m.h}J@hy*hy"hy hygyfffdddjdZd@?Bɢr_) ai) 4  i ׻iC⿉<zW4w,7ݾ?A,Y,}ByIiMb@Mb@Mb@ 9+?(\µ~jt?Y?yD<9@ "A)rAY AbDVDy=%4=ٔQ->9Y=Fy9EE>Q 5'5ȭ?Q 9'5 ")BY?!?Q E:yQ Iv@ DI:i':V'5yBɮ.!AjhFNOT Ignoring new targets: 143.31 m.Rh%>ظZh%>ظ5 ProNav: ac range: 143.307800 m, nav range: 138.876541 m, bearing: 250.533277 deg, approach rate: -0.626658 m/s, LOS rate: -0.005908 deg/s, cmd heading: 258.812205 deg, new cmd heading: 258.804189 deg. Bh5=HeadingCmd: 4.516985 target range: 143.307800 and range: 144.00 m.h=%@h9*h9"hA hAgAfAfIfMjBdddjdZd ?-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248364ԁBɢ Z)  i )  iXٻi⿉E<BeCBeIBe}BBe =BaBaBeWu;Be0E @  @ @ 0@ E a E FE ,E "E ݉;*E v;VE g4ZE BE \)~,eݾ?A2@2@2֞ٱ2ͤ& :AHRS rotation from veh to nav: [[-0.183246,0.968051,0.171168],[-0.980870,-0.191677,0.033961],[0.065685,-0.161671,0.984656]]2HtǿE??Jcȿ`^c?а?ĿN?i2@I2];0YBR}ByBIbDJVDJP)yRN=%RC=ٔV:Q-V>9TYT=VFyZ=EZ!;EZ>\Q 5b'5^?Q 9b'5^()^ BYdyf~Q Ifv@^ DI^:i^|:^"'5ylɮn AljhFNOT Ignoring new targets: 143.31 m.Rh Zh  ProNav: ac range: 143.307800 m, nav range: 138.613892 m, bearing: 250.530682 deg, approach rate: -0.625489 m/s, LOS rate: -0.006192 deg/s, cmd heading: 258.804200 deg, new cmd heading: 258.796401 deg. BhHeadingCmd: 4.516850 target range: 143.307800 and range: 144.00 m.h@h*h"h hgfffdddjdZd? BɢW) ۾i!)%!!!i%!ڻi-I⿉-<-͆ E5 \ E5 \E5 *E1 "E5 ;*E5 ;VE5 (N4ZE1 aE @aE @aE @aE @U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004163E,ys޾?AR@R@RٱRJ' ZAHRS rotation from veh to nav: [[-0.182092,0.968182,0.171654],[-0.981117,-0.190477,0.033570],[0.065199,-0.162300,0.984585]]RHNǿY??`Peaȿ@%0?`ٰ?>Ŀ?iR@IR!];RVCYb^}ByfIbDnVDnNyv\<%vE=ٔv͙:Q-v>9xYx=zFyzAEzB:;E~>Q 5 '5?Q 9 '5/)BY y VQ I v@ DI:it:%'5yɮj AjhAEFNOT Ignoring new targets: 143.31 m.RhMyZhMyu ProNav: ac range: 143.307800 m, nav range: 138.353577 m, bearing: 250.527969 deg, approach rate: -0.626699 m/s, LOS rate: -0.006543 deg/s, cmd heading: 258.796414 deg, new cmd heading: 258.788261 deg. Bhu HeadingCmd: 4.516707 target range: 143.307800 and range: 144.00 m.h ވ@h*h1"h9 h9gAfIfyfyddԙdjdZd@ BɢP) ׾i)iܻi%⿉%W<% BA BE IBE }BBA BA BA BE u;BE /EA I I O >@,g0޾?A=@@„ٱf' -AHRS rotation from veh to nav: [[-0.181325,0.968327,0.171653],[-0.981287,-0.189652,0.033279],[0.064780,-0.162406,0.984595]]H5ǿ@? ?fFȿ ?d?Ŀ΁?i=@I'\;XCY5z}By=IiMb@Mb@Mb@ 9 +?~jtMb?Y?yĽ<1A+@ A)AY AbD%VD%N2y5,x=%50=ٔ=qm:Q-=>99Y9==Fy=FEE}:EE>bE(N4jEK4rE8/EUZ EUNEU'EQ"EU;*EU;VEU'4ZEQBEU om,{.J޾?AY~r}By~IbD VD fy%%_=ٔ%Q-%>9!Y)=-Fy-JE-E->1Q 5='55AE>1 I) I9 OM >Q ř,d޾?A2 @2@2ٱ2' JAHRS rotation from veh to nav: [[-0.179244,0.968712,0.171662],[-0.981735,-0.187434,0.032621],[0.063776,-0.162679,0.984616]]2H`xƿ ?`?`j@ǿ ?@S?@Ŀ?i2 @I2M\;0YN}ByRIIV0>)V%=V=V=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264323i=Mb@Mb@Mb@9999 99=Cl?!rh~jt?Y=d?y=l罙=D<9=@ =A)=EA9Y=Q AbDIVDIyedI=%eF=ٔe;Q-e>9iYi=mFymNEm1;Eu>yQ 5'5}?Q 9'5}A)}FBY?Q E:y%Q Iv@} DI}L:i}@:}0'5yɮ6 AjhFNOT Ignoring new targets: 143.31 m.Rh8Zh8 ProNav: ac range: 143.307800 m, nav range: 137.607544 m, bearing: 250.529862 deg, approach rate: -0.632806 m/s, LOS rate: 0.005323 deg/s, cmd heading: 258.787562 deg, new cmd heading: 258.793961 deg. Bhi9HeadingCmd: 4.516807 target range: 143.307800 and range: 144.00 m.h@h*h"h hgfffhBdddjdZd} @颽BɢxP) ži)}ɼihi⿉i<MB - BDAT read: Tx time:04:56:25.0786 - $Ping request sent.- iRQ?P3@V=$+3@ ^ =)@@I^ ڽ? Z?'G'Լ? 7?)I9i^ ڽI! I1 O= >] :publishing transmit ping time) e Fpublishing direction and range infoyuK?ِƿO4?Y )Ii )I? Z?'G'Լ? )Iiž,)}޾?A0Y~}By~IbDVDy%<%%O=ٔ%Q-%>9)Y)=-Fy-RE-E5>9Q 5E'5=?Q 9E'5=G)=TBYAyAQ IEv@= DI=:i=:=3'5yIɮU AQiiv޾?AJi CRi CjiNj@b6]D:a@ zK9EYj-@RuK?ِƿO4?Zi9bi^ ڽjjCfuQG 6^B`r);@ZS!.տ/qMtc#<2-?2i:i:"ihD?*ilۤBiBihD?iii Ciw@ addTargetRange:: Added new target pos. range: 141.600006 m, deltaT: 3.529372 s, deltaX: -2.399994 m, approachRate: -0.680006 m/s, rangeRepo size: 4 U Added new target pos. range: 140.920807 m, bearing: 250.275341 deg, lat: 36.779374 deg, lon: -121.859600 deg, deltaT: 3.529372 s, deltaX: -2.386993 m, approachRate: -0.676322 m/s, posRepo size: 4 jhQ]FNOT Ignoring new targets: 140.92 m.Rh]ZhYm ProNav: ac range: 140.920807 m, nav range: 137.651932 m, bearing: 250.196688 deg, approach rate: 0.000000 m/s, LOS rate: 0.005323 deg/s, cmd heading: 258.793955 deg, new cmd heading: 258.800475 deg. BhiHeadingCmd: 4.516921 target range: 140.920807 and range: 141.60 m.h@h*h"h hgfffdddjd@3a@Zd ?BɢP) !i)̼!i%i%⿉-e<-qE T E LE E "E ;*E ;VE ZE a @a @a @a @,޾?A2V @2!@2!{ٱ2& :AHRS rotation from veh to nav: [[-0.178816,0.968950,0.170764],[-0.981852,-0.186884,0.032270],[0.063181,-0.161895,0.984783]]2Hqƿ?`?Tkǿ ?,?@Ŀ`X?i2V @I2];0YR}ByRIbDZVDZyv ;%vN=ٔv:Q-z>9xYx=zFyzVE~Y:|E>Q 5 '5D?Q 9'5M)bBYyQ Iv@' DI-:i:n7'5yɮ AjhFNOT Ignoring new targets: 140.92 m.Rh:o8Zh:o8- ProNav: ac range: 140.920807 m, nav range: 137.408066 m, bearing: 250.198108 deg, approach rate: -0.560054 m/s, LOS rate: 0.003268 deg/s, cmd heading: 258.800485 deg, new cmd heading: 258.804754 deg. Bh59EHeadingCmd: 4.516995 target range: 140.920807 and range: 141.60 m.hM9@hI*hQ"hQ hQgYfafyfydddjdZdT?BɢO) %¾i)@μi6i⿉<T@m=Q^A I I) O= >ԁ Be !>Ba Be 3IBe }BBa Ba Ba Be t;Be /Eԫ,,޾?AR@Rv @RٱR' ^AHRS rotation from veh to nav: [[-0.178422,0.969012,0.170826],[-0.981953,-0.186421,0.031862],[0.062720,-0.162058,0.984786]]RH`ƿ`%?@?(lǿ@4P?n?TĿ]?iR@IR/ ];RVCYf}ByfI hhhhiUMb@Mb@Mb@QYQQQ Q9U\(\?:vQ?YU?yUԽUu9Y=FyZEs:E>Q 5 '5?Q 9 '5'T)rBY2?Q E:y.Q Iv@8 DI ;i ;?;'5yؒBɮ%D A%EE=j E=cE=+E9"E=;*E=";VE= [4ZE9BE= ~,u޾?A2L@2 @2:Bٱ2& >AHRS rotation from veh to nav: [[-0.178231,0.969077,0.170656],[-0.982016,-0.186155,0.031484],[0.062279,-0.161976,0.984828]]2HIƿ? ?`l`ǿ@??Ŀ?i2L@I2/];2WCYB}ByFIbDNVDNyV(<%Va=ٔV:Q-Z>9XYX=ZFyZ^E^:E^>`Q 5f'5bb?Q 9f'5bY)bBYdyj(Q Ijv@bG DIb:ib:bi>'5ylɮn( ApjhFNOT Ignoring new targets: 140.92 m.RhyZhy ProNav: ac range: 140.920807 m, nav range: 136.920395 m, bearing: 250.197900 deg, approach rate: -0.591778 m/s, LOS rate: -0.000281 deg/s, cmd heading: 258.804446 deg, new cmd heading: 258.804131 deg. Bh^EHeadingCmd: 4.516984 target range: 140.920807 and range: 141.60 m.h"@h*h"h hgfffdddԹjdZd@?BɢU) $i)94Ӽia5i⿉<9 帷,Q޾?A2@2 @2}ٱ2R& >AHRS rotation from veh to nav: [[-0.178166,0.969150,0.170308],[-0.982049,-0.186023,0.031217],[0.061935,-0.161689,0.984896]]2H ƿ`G?@?l ǿs??9Ŀ E?i2@I29];2VCY@y@iMb@Mb@Mb@ 9S㥛?Zd;Oy&1?Y$?yj`e<bA@ )AY\ AbD-VD-kٔEMU:Q-E>9AYA=EFyMbEMC09EM>QQ 5]'5U6?Q 9]'5Uv`)UBYe&?Q Ee:yeQ Iev@UX DIU;iU;UB'5yiɮiq B*** querying acoustic contact ***i  i jh1=FNOT Ignoring new targets: 140.92 m.Rh=aZh=aM ProNav: ac range: 140.920807 m, nav range: 136.647171 m, bearing: 250.194585 deg, approach rate: -0.639920 m/s, LOS rate: -0.007780 deg/s, cmd heading: 258.804119 deg, new cmd heading: 258.794153 deg. BhMڪ}HeadingCmd: 4.516810 target range: 140.920807 and range: 141.60 m.h}@hy*hy"hy hygfffKBdddjdZd I%?!BɢO) 伾i)ռi IiM⿉Uhie>@ @@/@@@eAB B B 9IB ~BB B B B t;B /EAEeV Ee_Ee+Ea"Ee;*Ee ;VEe [4ZEaBEe^,+޾?A>@> @>C|ٱ>I& FAHRS rotation from veh to nav: [[-0.178188,0.969215,0.169915],[-0.982072,-0.185963,0.030862],[0.061510,-0.161369,0.984975]]>H@ƿ`?ÿ?@"mǿD?0~?`Ŀ ?i>@I>ы];>WCY^}BybIIf]>)f>f=f=bDjVDj:yrPл%r<ٔvY:Q-v>9tYt=zFyzfEzFEz>|Q 5'5~{?Q 9'5~f)~BY y Q I v@~h DI~:i~:~E'5yɮ= Ajh9EFNOT Ignoring new targets: 140.92 m.RhE]ZhE]U ProNav: ac range: 140.920807 m, nav range: 136.392944 m, bearing: 250.191491 deg, approach rate: -0.682825 m/s, LOS rate: -0.008326 deg/s, cmd heading: 258.794146 deg, new cmd heading: 258.784847 deg. BhUֶeHeadingCmd: 4.516648 target range: 140.920807 and range: 141.60 m.hea@ha*ha"ha hagafififididqdqjdqZdu @颥$BɢD^)  i)ؼ顩iF1i⿉sp<D] ?AzDY Ee e Ee VEe )Ea "Ee ;*Ee ;VEe FA4ZEa am @au @au @au @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500114 ŷ,߾?A2@2 @2Fzٱ2% >AHRS rotation from veh to nav: [[-0.178420,0.969273,0.169343],[-0.982051,-0.186117,0.030590],[0.061168,-0.160846,0.985082]]2HuƿG? ?lǿ S?fQ?Ŀ@˅?i2@I2];2UCYB}ByBIbDNVDNyV:2%VN=ٔVb:Q-Z>9Z ?YZ ?=ZFyZjE^E^>`Q 5f'5bt?Q 9f'5b>m)bBYdyfQ Ijv@by DIb :ibg:bI'5ylɮnN AljhFNOT Ignoring new targets: 140.92 m.Rh Zh  ProNav: ac range: 140.920807 m, nav range: 136.136139 m, bearing: 250.188381 deg, approach rate: -0.646815 m/s, LOS rate: -0.007848 deg/s, cmd heading: 258.784857 deg, new cmd heading: 258.775510 deg. BhWHeadingCmd: 4.516485 target range: 140.920807 and range: 141.60 m.h @h*h"h hgfffdddjdZd`@%(Bɢ%{W)Q U$žiQ)]ڼaai'i>#⿉&<nB B B B =B B B u;B /EA ؟AI I O >2!̷,"2߾?A6 @6@6eyٱ6% >AHRS rotation from veh to nav: [[-0.178998,0.969281,0.168681],[-0.981958,-0.186634,0.030427],[0.060974,-0.160191,0.985201]]6H gƿZ?@S?3lǿ@@(?7?"Ŀ`Ć?i6 @I6^;6VCYF}ByFIiUMb@Mb@Mb@QQQQ Q9UuV?+~jt?YUr(?yUUD=ٔ9Q->9"?Y"?=FyoEղE>Q 5'5m?Q 9'5`t)BY)?Q E:yQ Iv@ DI ;i7 ;L'5yBɮ AEjhFNOT Ignoring new targets: 140.92 m.RhZh ProNav: ac range: 140.920807 m, nav range: 135.853012 m, bearing: 250.182234 deg, approach rate: -0.658534 m/s, LOS rate: -0.014327 deg/s, cmd heading: 258.775514 deg, new cmd heading: 258.757034 deg. BhRHeadingCmd: 4.516162 target range: 140.920807 and range: 141.60 m.hg@h*h"h hgfffBddd jd Zd !@E_ EaEE"E;*E!;VEZEBEk@>y^A ፨<ԩ M BDAT read: Rx Time:04:56:27.6687 U TRx dataTimestamp_ set to:1761540989.132068U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269421A I I O- > ӷ,ǽL߾?A2 @2~@2/xٱ2;% :AHRS rotation from veh to nav: [[-0.179160,0.969159,0.169209],[-0.981947,-0.186761,0.029995],[0.060672,-0.160781,0.985124]]2H@ƿZ?@?lǿ?b?uĿ!?i2 @I21];2UC@Y^}BybI ``dd jp9tYx=zFyzsEzܹEz>|Q 5'5~g?Q 9 '5~z)~đBY y Q I v@~ DI~N:i~:~!P'5yɮ Ajh9EFNOT Ignoring new targets: 140.92 m.RhESZhMSU ProNav: ac range: 140.920807 m, nav range: 135.599152 m, bearing: 250.176716 deg, approach rate: -0.658931 m/s, LOS rate: -0.014352 deg/s, cmd heading: 258.757045 deg, new cmd heading: 258.740457 deg. BhHeadingCmd: 4.515873 target range: 140.920807 and range: 141.60 m.h@h*h"h hgff!f!d)d)d)jd1Zd5g @.Bɢ[) ¾i)߼iiL7⿉<7+3ٷ,f߾?A:@:@:(xٱ:% BAHRS rotation from veh to nav: [[-0.179595,0.969073,0.169243],[-0.981876,-0.187171,0.029792],[0.060548,-0.160825,0.985124]]:Hƿ??`k 4ǿ Ӂ?`'?Ŀ"?i:@I:Η];:VCY^}BybI|DAT read: 04:56:27.6687 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.43, 1.370,-0.097, 1.853, 1.293, PHS= 0.179,-1.345, 0.517, RAW= 159.8, 7.6, CAL= 159.3, 7.7, ROT= 350.7, -7.7 %Ygot valid direction response: 04:56:27.6687 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.43, 1.370,-0.097, 1.853, 1.293, PHS= 0.179,-1.345, 0.517, RAW= 159.8, 7.6, CAL= 159.3, 7.7, ROT= 350.7, -7.7 -PDAT read: Bearing 51.4, -6.9 (Local) -~Local bearing/azimuth received: Bearing 51.4, -6.9 (Local) 5DAT read: Range 11 to 50 : 139.5 m (Round-trip 186.0 ms) speed 0.8 m/s =*DAT read: user:240> EBDAT read: Tx time:04:56:28.7786 E$Ping request sent.Eir(rZ?r2@r>r1@ r >)r+@Ir pprݖ'ӊ]?nN?N? r1?)rIr5&ir ppm:publishing transmit ping timeAuFpublishing direction and range infoyprوmK? &ĿL`u&?Yppppp p)pIpippppp p)pIppprݖ'ӊ]?nN?N? p)pIpipppiMb@Mb@Mb@ 9V-?9iYi=FyxE\lE>Q 5 '5_?Q 9 '5/)ӑBY.?Q E:y\Q Iw@ DIoo>@Zr-ȸӿ( h?2ir:ir+"irNJ?*ir%BirBir_*?irlۤirBirdCir @AAAAB>BCB@IB~BB =BBDB!u;B/E addTargetRange:: Added new target pos. range: 139.500000 m, deltaT: 3.786419 s, deltaX: -2.100006 m, approachRate: -0.554615 m/s, rangeRepo size: 4  Added new target pos. range: 138.830185 m, bearing: 251.598577 deg, lat: 36.779385 deg, lon: -121.859606 deg, deltaT: 3.786419 s, deltaX: -2.090622 m, approachRate: -0.552137 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 138.83 m.RhZh ProNav: ac range: 138.830185 m, nav range: 135.390991 m, bearing: 250.732714 deg, approach rate: 0.000000 m/s, LOS rate: -0.014352 deg/s, cmd heading: 258.740461 deg, new cmd heading: 258.717636 deg. Bh!%HeadingCmd: 4.515475 target range: 138.830185 and range: 139.50 m.h-~@h)*h)"h) h)g)f)f1f5~Bd1d1d9jd]pa@Zd]@?颭2BɢtN) i) 顱i /iWD⿉O < ,1_߾?A2@2X@2d]xٱ2]#' :AHRS rotation from veh to nav: [[-0.180018,0.968754,0.170616],[-0.981795,-0.187638,0.029507],[0.060599,-0.162198,0.984896]]2H` ǿ??j`ȿ7?? ĿC?i2@I2G];2UCYB}ByB IbDJVDJyR<%RY=ٔR Q-V>9TYT=VFyV{EZYEZ>\Q 5b'5^Y?Q 9b'5^)^ߑBY`yfiQ Ifw@^ DI^B:i^:^W'5yhɮj> AhzB*** querying acoustic contact ***ix ixjh|FNOT Ignoring new targets: 138.83 m.RhzZh z ProNav: ac range: 138.830185 m, nav range: 135.139832 m, bearing: 250.727138 deg, approach rate: -0.759132 m/s, LOS rate: -0.016882 deg/s, cmd heading: 258.717648 deg, new cmd heading: 258.700892 deg. Bh_9HeadingCmd: 4.515182 target range: 138.830185 and range: 139.50 m.h`|@h*h"h hgfffdddjdZd`w?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.]4Bɢ]/g)Y ]pia)eOaaie3ԩiM⿉ <0Ee [ Ee qEe &Ea "Ee %;*Ee *;VEe 4ZEa am @au @au @au @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743386) x4,C8߾?A^@^\@^xٱ^& ~AHRS rotation from veh to nav: [[-0.180853,0.968613,0.170530],[-0.981632,-0.188484,0.029538],[0.060753,-0.162056,0.984910]]^H`/&ǿ@??i = ȿ??`?@@Ŀ a?i^@I^c];\Y-}By-IIMa=)Mp=]=]=quAAbD VD:2yټ%:=ٔQ->9Y=FyEE> Q 5'5 R?Q 9'5 /) BYyQ Iw@  DI w:i : ['5yBɮ A E jh)-FNOT Ignoring new targets: 138.83 m.Rh5Zh5e ProNav: ac range: 138.830185 m, nav range: 134.837067 m, bearing: 250.720501 deg, approach rate: -0.637161 m/s, LOS rate: -0.014000 deg/s, cmd heading: 258.700901 deg, new cmd heading: 258.680943 deg. BhemHeadingCmd: 4.514834 target range: 138.830185 and range: 139.50 m.hmy@hi*hq"hq hqgqfqfyfydyddjdZdF?颭8BɢW) ¾i)iiiUY⿉3"!<BCBFIB~BB =BBDBPu;B0EBBCBȔCBBCl5i ^A ፨<I9 II O] >Z,߾?AES EQE+E"E;*EA;VE [4ZEBE9Y=FyEE>Q 5'5M?Q 9'5.)BYz/?Q E :y `Q I w@ DI :i:_'5yBɮV A Ejh9EFNOT Ignoring new targets: 138.83 m.RhEZhEU ProNav: ac range: 138.830185 m, nav range: 134.564087 m, bearing: 250.709795 deg, approach rate: -0.733164 m/s, LOS rate: -0.028813 deg/s, cmd heading: 258.680957 deg, new cmd heading: 258.648773 deg. Bh]0]HeadingCmd: 4.514273 target range: 138.830185 and range: 139.50 m.h]t@ha*ha"ha hagafafifm~BdididqjdZd_?%:Bɢ%/`)! %}i!)-5))qi-$ik⿉!<!@m%>ԙ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499454^AM bި<AM eAzAM aAI I O >oD,߾?A>@>@>nzٱ>+% FAHRS rotation from veh to nav: [[-0.182343,0.968617,0.168916],[-0.981335,-0.189961,0.029955],[0.061103,-0.160301,0.985175]]>H@Wǿ??gPȿ? H?Ŀ ?i>@I>s,];>SCLYR}ByRIbDZVDZybS<%b^=ٔf~Q-f>9dYd=fFyfEj Ej>lQ 5r'5nG?Q 9r'5n)nBYtyvzQ Ivw@n DIn:in:nDb'5yxɮzC AxjhFNOT Ignoring new targets: 138.83 m.Rh%Zh%5 ProNav: ac range: 138.830185 m, nav range: 134.313919 m, bearing: 250.700031 deg, approach rate: -0.680610 m/s, LOS rate: -0.026614 deg/s, cmd heading: 258.648773 deg, new cmd heading: 258.619426 deg. Bh5=HeadingCmd: 4.513761 target range: 138.830185 and range: 139.50 m.h=p@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdU`I?}<Bɢ`) i)顁i˹i|⿉O!<}e! E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003540cl,߾?A2E@2@2]{ٱ2% >AHRS rotation from veh to nav: [[-0.183039,0.968363,0.169616],[-0.981196,-0.190692,0.029843],[0.061243,-0.160964,0.985058]]2H`mǿ`??`ehȿ@?D[?zĿ?i2E@I2];0YF}ByF&I LLPRAiMb@Mb@Mb@ 9ʡE?y&1Mbp?Y/?y`弙;9A@ )AYzAbDVD0y =%:=ٔǧQ->9Y=FyEӺE>Q 5'5MB?Q 9'5P)BY/?Q E:yQ Iw@ DI:i:f'5yɮAjhamFNOT Ignoring new targets: 138.83 m.B>BCBYIB;~BB =BBDB{u;B0ERhWZhW ProNav: ac range: 138.830185 m, nav range: 134.014709 m, bearing: 250.685512 deg, approach rate: -0.671185 m/s, LOS rate: -0.032641 deg/s, cmd heading: 258.619430 deg, new cmd heading: 258.575777 deg. Bh5HeadingCmd: 4.512999 target range: 138.830185 and range: 139.50 m.h|j@h*h"h hgfff~BdddjdZd@Ta@)E>BɢETM)i mii)moiiim+iuz⿉uqP"<}w.J,mq?A2@2ݐ@22{ٱ2$3&< :AHRS rotation from veh to nav: [[-0.183928,0.968129,0.169988],[-0.981021,-0.191603,0.029762],[0.061384,-0.161288,0.984997]]2H`ǿ?-?doȿ@y?m?Ŀ?i2@I2#];2TCYB}ByF.IbDNVDNyV<%VP=ٔVջQ-V>9XYX=ZFyZE^E^>`Q 5f'5b==?Q 9f'5b9)bBYdyfQ Ijw@b DIb:ibQ;bi'5ylɮnAl~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 138.83 m.Rh Zh  ProNav: ac range: 138.830185 m, nav range: 133.746933 m, bearing: 250.672568 deg, approach rate: -0.690073 m/s, LOS rate: -0.033425 deg/s, cmd heading: 258.575772 deg, new cmd heading: 258.536861 deg. Bh%%HeadingCmd: 4.512320 target range: 138.830185 and range: 139.50 m.h-d@h)*h)"h) h)g)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511640f)f9fAdAdAdAjdAZdMP6@@Bɢ8Z) @i)eii%⿉%Ш"<-A->EU EQEE"El;*EA;VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763584 I) I9 OE >8,O!?A|Y ~By BIiMb@Mb@Mb@ 9/$?{GzMb?Y,?yף<@  A)Y(AbDVDky=%+=ٔQ->9Y=FyEE> Q 5 '5 7?Q 9'5 y) &BY,?Q E:yNQ Iw@ / DI e:i : m'5y%Bɮ%A%EjhIMFNOT Ignoring new targets: 138.83 m.RhU$ZhU$e ProNav: ac range: 138.830185 m, nav range: 133.428574 m, bearing: 250.655461 deg, approach rate: -0.665571 m/s, LOS rate: -0.035850 deg/s, cmd heading: 258.536867 deg, new cmd heading: 258.485424 deg. BheĺmHeadingCmd: 4.511422 target range: 138.830185 and range: 139.50 m.hm]@hi*hi"hi higqfqfqfu~BdydydyjdyZd@BBɢ;G) i)Bi}i(⿉!#<ѸBCBkIBY~BB =BBBu;B"0E^A . checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267521,;?A2щ@2d̐@2\}ٱ2'& :AHRS rotation from veh to nav: [[-0.185987,0.967591,0.170809],[-0.980606,-0.193729,0.029688],[0.061816,-0.161975,0.984857]]2Hlǿ ??@aȿzf? h?Ŀ@?i2щ@I2;1];2SCYr&~ByrKIv=v=bD~ VD~f2YyU&=%]i=ٔeQ-e>9aYi=mFymEm\ĻEm>qQ 5}'5uL3?Q 9}'5u)u/BYyQ Iw@u> DIu;iu;up'5yɮAjhFNOT Ignoring new targets: 138.83 m.Rhw!Zhw! ProNav: ac range: 138.830185 m, nav range: 133.195145 m, bearing: 250.643078 deg, approach rate: -0.664141 m/s, LOS rate: -0.035291 deg/s, cmd heading: 258.485422 deg, new cmd heading: 258.448210 deg. BhHeadingCmd: 4.510772 target range: 138.830185 and range: 139.50 m.h?X@h*h"h hgfffdddjdZd \ @额DBɢVN) 'i)顡iio⿉x#<@>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519563Ա^A ፨<IQ Ia O} > ,T?A21ʼn@2@2B^~ٱ2P( :AHRS rotation from veh to nav: [[-0.187469,0.967055,0.172219],[-0.980308,-0.195274,0.029400],[0.062062,-0.163316,0.984620]]2Hǿ?I ?^`ȿ? Ư?Ŀ`?i21ʼn@I2Q];0YBR~ByBgIbDJVDJβyRM=%VV=ٔVA)Q-V>9TYX=ZFyZEZhEZ>\Q 5b'5^.?Q 9f'5^½)^:BYdyfQ Ifw@^N DI^F:i^:^t'5yjBɮjAljhYeFNOT Ignoring new targets: 138.83 m.RheZheu ProNav: ac range: 138.830185 m, nav range: 132.941818 m, bearing: 250.629756 deg, approach rate: -0.646186 m/s, LOS rate: -0.034046 deg/s, cmd heading: 258.448211 deg, new cmd heading: 258.408169 deg. Bhu캺HeadingCmd: 4.510073 target range: 138.830185 and range: 139.50 m.hR@h*h"h hgfffdddjdZdy@ԹE=Z E=PE=%E9"E=;*E=;VE= 4ZE9aE@aE@aE@aE@DAT read: 04:56:31.3652 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.02, 2.523, 1.069, 3.044, 2.498, PHS= 0.127,-1.384, 0.502, RAW= 160.8, 8.8, CAL= 160.6, 9.2, ROT= 349.4, -9.2 Ygot valid direction response: 04:56:31.3652 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.02, 2.523, 1.069, 3.044, 2.498, PHS= 0.127,-1.384, 0.502, RAW= 160.8, 8.8, CAL= 160.6, 9.2, ROT= 349.4, -9.2 PDAT read: Bearing 52.1, -8.3 (Local) ~Local bearing/azimuth received: Bearing 52.1, -8.3 (Local) DAT read: Range 11 to 50 : 136.8 m (Round-trip 182.5 ms) speed 0.5 m/s  *DAT read: user:241> BDAT read: Tx time:04:56:32.4786 $Ping request sent.ǿČsv?YC )CIJ >i&?3@nF>Ud3@ l$>)K$@Il$6bs?ɬ?/&:? g6?)Iq=il$]:publishing transmit ping timeeFpublishing direction and range infoy[ ?A.>ǿČsv?Y )Ii颕EBɢ~ =) 2si):顙i^iV⿉#<9 ~(,n?A6@6@6tٱ6( >AHRS rotation from veh to nav: [[-0.188810,0.966667,0.172933],[-0.980029,-0.196674,0.029374],[0.062406,-0.163933,0.984495]]6H*ȿ?"?`e\,ɿ;??Ŀ?i6@I6)Q];6UCYnB~Byn]IBM>BIBMIBM~BBIBIBMDBMu;BM&0Ei=Mb@Mb@Mb@9999 99=K7A`?S㥛Q?Y=+?y=/ݼ=u<=A=`@ 9)=A9Y=3AbDUVDUye%e1=ٔeDQ-e>9iYi=mFymEm$CEu>yQ 5'5}(?Q 9'5}ɽ)}HBY0+?Q E:yQ Iw@}b DI}:i}H:}&x'5yɮAii1Z?AJi"CRi"CjiӢ@bSUւ`@z@8i@5@R[ ?A.>ǿČsv?Ziq=bil$jB-aG%Fܩ^@@ZBKqz0տߋD"u_?2i:iI4"iR?*i<&BiBiiiiCiG@ addTargetRange:: Added new target pos. range: 136.800003 m, deltaT: 3.784082 s, deltaX: -2.699997 m, approachRate: -0.713514 m/s, rangeRepo size: 4  Added new target pos. range: 136.133026 m, bearing: 250.017360 deg, lat: 36.779385 deg, lon: -121.859606 deg, deltaT: 3.784082 s, deltaX: -2.697159 m, approachRate: -0.712764 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 136.13 m.RhZh ProNav: ac range: 136.133026 m, nav range: 132.636871 m, bearing: 250.615012 deg, approach rate: 0.000000 m/s, LOS rate: -0.034046 deg/s, cmd heading: 258.408159 deg, new cmd heading: 258.361874 deg. BhHeadingCmd: 4.509265 target range: 136.133026 and range: 136.80 m.hK@h*h"h hgff!f%~Bd!d)d)jd-a@Zd-7?]GBɢevD)a eria)eaaimjiu㿉u/$ԙ ",?A2@2@2怽ٱ2?( :AHRS rotation from veh to nav: [[-0.190719,0.966325,0.172748],[-0.979628,-0.198632,0.029580],[0.062897,-0.163587,0.984522]]2Hyiȿ#??Y lɿAJ? ?lĿ3?i2@I2&s];2VCYBd~ByBrI DDbDJVDJyR=%Vk=ٔVQ-V?9XYX=ZFyZEZgEZ?\Q 5b'5^t$?Q 9f'5^Ͻ)^SBYdyfRQ Ifw@^q DI^:i^R:^.{'5yhɮjyAlzB*** querying acoustic contact ***ix ixjhFNOT Ignoring new targets: 136.13 m.Rh NZh N%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.5 ProNav: ac range: 136.133026 m, nav range: 132.407028 m, bearing: 250.604052 deg, approach rate: -0.669402 m/s, LOS rate: -0.031978 deg/s, cmd heading: 258.361877 deg, new cmd heading: 258.328938 deg. Bh5HeadingCmd: 4.508690 target range: 136.133026 and range: 136.80 m.h1G@h*h"h hgfffdddjd Zd `c%?q}HBɢ}L>)y tci)D顁ii"㿉v$<2di>M9@I @I@U/@QIIO$>ԡEU^ EU>EU.EQ"EU;*EU?;VEUـ4ZEQae@ae@ae@ae@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996341 0:(,?A @ P@ Rٱ ( MAHRS rotation from veh to nav: [[-0.192082,0.966027,0.172905],[-0.979348,-0.200015,0.029523],[0.063104,-0.163663,0.984496]] H$ȿ?!?`VɿW;?'?Ŀ?i @I 7|]; TCY}~By}IbD VD2y=%6=ٔ Q->9!Y!=-Fy-E}EE>Q 5'5?Q 9'5׽)aBYyQ Iw@ DI;i ;9'5yBɮ2AEjhFNOT Ignoring new targets: 136.13 m.RhZh ProNav: ac range: 136.133026 m, nav range: 132.100952 m, bearing: 250.589584 deg, approach rate: -0.662501 m/s, LOS rate: -0.031387 deg/s, cmd heading: 258.328929 deg, new cmd heading: 258.285426 deg. BhSHeadingCmd: 4.507931 target range: 136.133026 and range: 136.80 m.h@@h*h"h hgfffdddjdZd`.?5IBɢ5.)1 5b7i1)=%99i=|iE;㿉E0$AU>BM>BIBMIBM~BBIBIBIBMu;BM0EA.AIIO>) bEc44jEh=4rE0Ee G Ee JEe ,Ea "Ee &|;*Ee ;VEe g4ZEa BEe 9 ?Y ?=FyEE>Q 5'5S?Q 9'5޽)nBYi'?Q E:yQQ Iw@ DI :i:ł'5yɮAjhFNOT Ignoring new targets: 136.13 m.RhZh ProNav: ac range: 136.133026 m, nav range: 131.838074 m, bearing: 250.577844 deg, approach rate: -0.647468 m/s, LOS rate: -0.028974 deg/s, cmd heading: 258.285434 deg, new cmd heading: 258.250143 deg. BhHeadingCmd: 4.507315 target range: 136.133026 and range: 136.80 m.h;@h*h"h hgfffZBd d d jd Zd@ ?=JBɢ=&)A EiA)E~AAiE23qiMO㿉%<ޝ K5,]6?APYv~ByvIIz8>)z>z=z=bDVD0yE>%Ma=ٔIQ-M>9M"?YU"?=UFyUEQEU>Q 5'5?Q 9'5)zBYyQ Iw@ DIe;i;'5yɮAjhFNOT Ignoring new targets: 136.13 m.RhZh ProNav: ac range: 136.133026 m, nav range: 131.598328 m, bearing: 250.567096 deg, approach rate: -0.647369 m/s, LOS rate: -0.029076 deg/s, cmd heading: 258.250136 deg, new cmd heading: 258.217832 deg. BhHeadingCmd: 4.506752 target range: 136.133026 and range: 136.80 m.hO7@h*h"h hgfffdddjdZd u?EN E;E*E"E@;*E ;VE(N4ZEa%@a-@a-@a-@MKBɢMK)I UJ̽iQ)UQQiUi]1b㿉]\%x;,?ARǁ@R|@R遽ٱR) bAHRS rotation from veh to nav: [[-0.195513,0.965238,0.173466],[-0.978650,-0.203461,0.029109],[0.063391,-0.164071,0.984410]]RH ɿ`:?#4? Q ʿ@Ν? i:?Jſ`H?iRǁ@IR"^;RSCBlAn<Bv>Bv C|BvIBvBBv =BvADBvDBv4u;Bv/EBCBCBB =B =Cc5Y ByIi%Mb@Mb@Mb@!!!! !9%RQ?v/Zd;O?Y%"?y%xi%j<%A%`@ %A)%dA!Y%AbD=VD=:yMO=%U:=ٔU-,Q-U>9YYY=]Fy]E]E]>aQ 5m'5e0?Q 9u'5e)eBYuQ#?Q Eu:yuQ Iuw@e DIe ;ie ;elj'5y} Bɮ\AEjhFNOT Ignoring new targets: 136.13 m.RhZh ProNav: ac range: 136.133026 m, nav range: 131.324905 m, bearing: 250.560029 deg, approach rate: -0.632755 m/s, LOS rate: -0.016388 deg/s, cmd heading: 258.217842 deg, new cmd heading: 258.196598 deg. Bh3HeadingCmd: 4.506381 target range: 136.133026 and range: 136.80 m.hE4@hI*hI"hI hIgIfIfQfUBdQdQdYjdYZd]@ MBɢ x) i)4iiXn㿉%<PB, ?A2w@2ur@2/ٱ2!*>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760281 BAHRS rotation from veh to nav: [[-0.196720,0.964809,0.174483],[-0.978400,-0.204703,0.028822],[0.063525,-0.165045,0.984238]]2H.ɿ?xU? O 3ʿx?@*C?. ſ ~?i2w@I2(^;2UCYFByFIbDbVDbP)hyn=%n[=ٔrۻQ-r>9pYp=vFyvEvXEv>xQ 5~'5z?Q 9~'5z)zBYyQ Iw@z DIz:iz:z '5y Bɮ[A%E-B*** querying acoustic contact ***i) i)jh9=FNOT Ignoring new targets: 136.13 m.RhEaZhEaU ProNav: ac range: 136.133026 m, nav range: 131.088272 m, bearing: 250.554012 deg, approach rate: -0.632332 m/s, LOS rate: -0.016106 deg/s, cmd heading: 258.196587 deg, new cmd heading: 258.178505 deg. BhU0]HeadingCmd: 4.506065 target range: 136.133026 and range: 136.80 m.h]1@hY*hY"hY hYgafafafadiddjdZdz@NBɢ ) Ai!)%{!!i%\diUx㿉]%<]LtH,$?APɰR;9d@_@T ٱC+ AHRS rotation from veh to nav: [[-0.198969,0.964143,0.175612],[-0.977947,-0.206947,0.028163],[0.063495,-0.166135,0.984057]]HwɿB?rz?WK=}ʿ֜?`=A?`Cſ@d}?id@Ig%_;Y%;By%I )))-Aa@a a@a a@a a@a bDVD1yt=%0=ٔU8Q->9Y=FyEE>Q 5'5?Q 9'5)BQ A+:YQ E:yWQ Iw@ DI` ;i>R'5yɮAjh  FNOT Ignoring new targets: 136.13 m.RhZh% ProNav: ac range: 136.133026 m, nav range: 130.795517 m, bearing: 250.546827 deg, approach rate: -0.633300 m/s, LOS rate: -0.015579 deg/s, cmd heading: 258.178501 deg, new cmd heading: 258.156896 deg. Bh%+-HeadingCmd: 4.505688 target range: 136.133026 and range: 136.80 m.h-.@h)*h)"h1 h1g1f1f1f9d9d9d9jd9ZdEF! @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264166-PBɢ5s\)1 5i9)=99i=7iM 㿉M&BaBeIBevBBe =BaBaBet;Be/Eԑ^Ae }U<E  E EE +E "E *E ;VE [4ZE BE  BDAT read: Tx time:04:56:36.1786  $Ping request sent. iE OE !>E ¸2@E >E b2@ E 6&>)E @IE 6&A A E '=?uCL?Ȃ? E v2?)E IE 4\-iE 6&A A  :publishing transmit ping time  Fpublishing direction and range infoyA E nc~ ?-\4~Hſo?YA A A A A A )A IA iA A A A A A )A IA A A E '=?uCL?Ȃ? A )A IA iA A A A I I O >TP,H@?A!a@[@5ٱ;+ AHRS rotation from veh to nav: [[-0.199416,0.964023,0.175763],[-0.977884,-0.207317,0.027604],[0.063049,-0.166372,0.984045]]HzɿF?i? JYʿ@&D?@#?KſL}?i!a@I^;YiByIbDVDβy=%J=ٔ:Q->9Y=FyEE> Q 5'5 ?Q 9'5 u) BQ A :YQ EZ:yeQ Iw@  DI :i {^? '5y!ɮ%2A!iigA >ԡ A .AI I O >#6V, Z?A>X@>S@>‽ٱ>, FAHRS rotation from veh to nav: [[-0.200401,0.963724,0.176284],[-0.977693,-0.208275,0.027161],[0.062891,-0.166908,0.983965]]>H࿦ɿ@?u? CI@ʿ,Л? ?>]ſ`|?i>X@I>^;<EbS EbBEb&E`"Eb;*EbZ;VEb4ZE`af@af@af@af@YjByj*IbDrVDr:yzV=%z]=ٔ~9Q-~>9 ?Y ?=FyE1E > Q 5'5  ?Q 9'5 b) ƒBQ A9YQ E0:yQ Iw@  DI . ;i ? \'5y)ɮ-A)jhQ]FNOT Ignoring new targets: 133.64 m.RheZheu ProNav: ac range: 133.640137 m, nav range: 130.325348 m, bearing: 250.509778 deg, approach rate: -0.667423 m/s, LOS rate: -0.016250 deg/s, cmd heading: 258.137028 deg, new cmd heading: 258.119907 deg. Bhup2y}HeadingCmd: 4.505042 target range: 133.640137 and range: 134.30 m.hN)@h*h"h hgfffdddjdZd@ A AAA B >B CB LIB BB B B DB t;B /EF`\,s?A2{Q@2FL@2Aٱ2+ :AHRS rotation from veh to nav: [[-0.201290,0.963575,0.176082],[-0.977530,-0.209092,0.026741],[0.062585,-0.166743,0.984012]]2Hɿ? ۉ?G`ʿ@b??Wſ }?i2{Q@I2^;2RCYBByB+IIFa=)F9Y=FyE E>Q 5'5﬊?Q 9'5f )ؒBQ AT:Y?Q E:yQ Iw@DI;ip;'5yBɮA$EjhFNOT Ignoring new targets: 133.64 m.Rh~J8Zh~J8 ProNav: ac range: 133.640137 m, nav range: 130.081833 m, bearing: 250.510936 deg, approach rate: -0.580566 m/s, LOS rate: 0.002766 deg/s, cmd heading: 258.119897 deg, new cmd heading: 258.123378 deg. Bh8HeadingCmd: 4.505103 target range: 133.640137 and range: 134.30 m.h)@h*h"h hgfffBdd d jd Zd ?=WBɢ=ܼ)9 Ek=iA)E5AAiE iM7㿉Mc&Y &Hc,Í?A6N@6H@6\y~ٱ6- BAHRS rotation from veh to nav: [[-0.201697,0.963145,0.177959],[-0.977478,-0.209459,0.025762],[0.062087,-0.168755,0.983701]]6H5ɿ ?]? GʿSa?ɯ?Ùſyz?i6N@I6^;6SCYJByJCIbDRVDRܲyZa=%ZX=ٔ^Y:Q-^>9\Y\=bFybEbƍEb>dQ 5j'5f謊?Q 9j'5f)fBYlynQ Inw@fDIf;if;fX'5yr%BɮrIAr-E%B*** querying acoustic contact ***i! i!jh9EFNOT Ignoring new targets: 133.64 m.RhMK8ZhUK8m ProNav: ac range: 133.640137 m, nav range: 129.862228 m, bearing: 250.512008 deg, approach rate: -0.570036 m/s, LOS rate: 0.002785 deg/s, cmd heading: 258.123367 deg, new cmd heading: 258.126586 deg. Bhm8uHeadingCmd: 4.505159 target range: 133.640137 and range: 134.30 m.huC*@hy*hy"hy hgfffdddjdZd.?1颅YBɢǼ) =i)Ŗ顉i i^㿉}&<V wi,ᵧ?A%QK@%F@%>|ٱ%i- AHRS rotation from veh to nav: [[-0.202037,0.963186,0.177355],[-0.977435,-0.209703,0.025402],[0.061659,-0.168220,0.983819]]%H Vɿj??%Gʿ?Ƒ?`?ſ@r{?i%QK@I%}^;%RCYByPIi5Mb@Mb@Mb@1111 1959v?S㥻?Y5?y5/ݽ5<153@ 5rA)11Y5AbDMVDM0y]BD=%]2=ٔet:Q-e>9iYi=uFyuEupBE}>ԉQ 5'5Cଊ?Q 9'5q)BY?Q E:yQ Iw@&Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752439I#;i;`'5yɮAjhFNOT Ignoring new targets: 133.64 m.PExceeded connect timeout, disconnecting.Rh 09Zh 09 ProNav: ac range: 133.640137 m, nav range: 129.591537 m, bearing: 250.516640 deg, approach rate: -0.561150 m/s, LOS rate: 0.009624 deg/s, cmd heading: 258.126591 deg, new cmd heading: 258.140518 deg. BhZ9 HeadingCmd: 4.505402 target range: 133.640137 and range: 134.30 m.hA,@h*h"h hgffAfM BdIdIdQjdQZdU?]Bɢ ) L=i )   i !1ii㿉&<BE>BABExIBEBBABABABEkt;BEt/E Np,;?Aɰ2'J@2D@2zٱ2- :AHRS rotation from veh to nav: [[-0.202182,0.963095,0.177679],[-0.977437,-0.209767,0.024794],[0.061150,-0.168657,0.983776]]2H`ɿ`?.?*Gʿc?O?ſ{?i2'J@I2`^;2SCYBByBbIbDNVDN yR=%R^=ٔV@:Q-V>9XYX=ZFyZEZʹE^>\Q 5b'5^٬?Q 9f'5^)^ BYdyfQ Ifw@^4DI^;i^7;^'5ylɮn~Aljh|FNOT Ignoring new targets: 133.64 m.Rh,H9Zh ,H9 ProNav: ac range: 133.640137 m, nav range: 129.376099 m, bearing: 250.520351 deg, approach rate: -0.634030 m/s, LOS rate: 0.010938 deg/s, cmd heading: 258.140525 deg, new cmd heading: 258.151675 deg. Bh59%HeadingCmd: 4.505597 target range: 133.640137 and range: 134.30 m.h%-@h!*h!"h! h!g!f)f)f)d1d1d1jd1Zd5+ @e_Bɢest) K >i)ii㿉ʦ&<Jԙ v,?AD<DEI EUE+E"E};*E\;VE [4ZEa@a@a@a@>I@>D@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508014>Jyٱ>, NAHRS rotation from veh to nav: [[-0.202228,0.963408,0.175923],[-0.977448,-0.209711,0.024840],[0.060824,-0.166933,0.984090]]>H@ɿI@I>J^;9iYi=mFymEmӸEu>qQ 5'5uѬ?Q 9'5u")uBYyQ Iw@uDDIu;iu:uL'5yɮxAjhFNOT Ignoring new targets: 133.64 m.Rh:9Zh:9 ProNav: ac range: 133.640137 m, nav range: 129.126541 m, bearing: 250.524682 deg, approach rate: -0.586842 m/s, LOS rate: 0.010204 deg/s, cmd heading: 258.151672 deg, new cmd heading: 258.164690 deg. Bh9HeadingCmd: 4.505824 target range: 133.640137 and range: 134.30 m.h/@h*h"h hgfffdddjdZd!@bBɢ{o)! %u >i!)%o!!i%i-㿉-M&<- GB B IB BB =B B B Ht;B a/E9 ^AU LM<A] >A] >I I O >?},??A2F@2A@2Rwٱ2* :AHRS rotation from veh to nav: [[-0.202583,0.963537,0.174804],[-0.977395,-0.209975,0.024684],[0.060488,-0.165852,0.984294]]2H@ɿK?`_?FwʿF?R?:ſU?i2F@I2V^;2RCYBByBgIiMMb@Mb@Mb@IIII I9Msh|??&1X9v?YM ?yMнM9yYy=FyE`^E>Q 5'5ʬ?Q 9'5q(),BY ?Q E:yQ Iw@SDI ;i;'5y#BɮQA,EjhFNOT Ignoring new targets: 133.64 m.Rh)59Zh)59 ProNav: ac range: 133.640137 m, nav range: 128.896347 m, bearing: 250.528872 deg, approach rate: -0.542861 m/s, LOS rate: 0.009899 deg/s, cmd heading: 258.164676 deg, new cmd heading: 258.177269 deg. Bhe9HeadingCmd: 4.506043 target range: 133.640137 and range: 134.30 m.h1@h*h"h hgfffBdddjdZd@ԉbE:4jEA84rE‹S0ED ECE)E"Eny;*E;VEFA4ZEBECi!)%!! 1=CGhAi Iڬ9hAY0Aiby㿉G&<D?`ń,?A2H@2pC@2]uٱ2$+ :AHRS rotation from veh to nav: [[-0.202378,0.963583,0.174790],[-0.977476,-0.209667,0.024097],[0.059867,-0.165976,0.984311]]2Hɿ?_?`{G_ʿ?@?@>ſy?i2H@I2A];2SCYBByBiIF=F=bDNVDN:yR)<%VC=ٔV:Q-V>9Z"?YZ"?=ZFyZE^u:E^>`Q 5f'5biì?Q 9f'5b.)b=BYdyfQ Ijw@bbDIb;ib3;b'5ylɮnAAl~B*** querying acoustic contact ***i| i|jh FNOT Ignoring new targets: 133.64 m.Rh 49Zh49 ProNav: ac range: 133.640137 m, nav range: 128.668945 m, bearing: 250.533001 deg, approach rate: -0.542897 m/s, LOS rate: 0.009876 deg/s, cmd heading: 258.177271 deg, new cmd heading: 258.189681 deg. Bh%9%HeadingCmd: 4.506260 target range: 133.640137 and range: 134.30 m.h%H3@h)*h)"h) h)g)f1f1f1d1d9d9jd9Zd=`E @miBɢ ੼)  A >i ) /i^oiMr㿉&<@ m BDAT read: Tx time:04:56:39.8786 m $Ping request sent.m i  Z? Ud3@ V> 2@ >) |]@I  ~X ?$k?]? K5?) pI K6i   :publishing transmit ping timei  Fpublishing direction and range infoy  l%?vjƿ%)k?Y A .AI I O>ɋ,Lp1?A )Ii )I~X ?$k?]? )IiPBn>BlBnIBn0BBn =BlBnDBn't;BnR/EB CB CBCB =B =C4M@H@/pٱ*2* AHRS rotation from veh to nav: [[-0.201770,0.963900,0.173740],[-0.977669,-0.208855,0.023312],[0.058757,-0.165157,0.984516]]H`ɿD? =? Iʿ@ޗ?U?@#ſ&?iM@I];YUByUnIiMb@Mb@Mb@ 9oʡ?|?5^/$?Y ?yҽ<A@ rA)YAbDVDyT<%=ٔ;Q->9 ?Y ?=FyE:E>Q 5%'5y?Q 9-'55)QBY-?Q E-:y-Q I-w@vDI.:iz:'5y=.Bɮ=xA=6Eiihv.?AJiCRiCji&c@bx`@B7˄u3@Rl%?vjƿ%)k?ZiK6bij> tVYF{/^h~>@Z[l:pտS~,fX?2i:i2"i~?*i.xBiBiR?i.xiBi{BiU@ addTargetRange:: Added new target pos. range: 132.300003 m, deltaT: 3.782157 s, deltaX: -2.000000 m, approachRate: -0.528799 m/s, rangeRepo size: 4  Added new target pos. range: 131.649658 m, bearing: 249.572004 deg, lat: 36.779375 deg, lon: -121.859595 deg, deltaT: 3.782157 s, deltaX: -1.990479 m, approachRate: -0.526281 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 131.65 m.RhZh- ProNav: ac range: 131.649658 m, nav range: 127.740692 m, bearing: 249.971942 deg, approach rate: 0.000000 m/s, LOS rate: 0.009876 deg/s, cmd heading: 258.189675 deg, new cmd heading: 258.207007 deg. Bh)5HeadingCmd: 4.506562 target range: 131.649658 and range: 132.30 m.h55@h1*h1"hQ hQgYfYfYfeBdadadajde`@Zdm͒?E= E:E+E"Es;*E$ ;VE [4ZEBEi)iTi%dh㿉%&<%E,P?AZP@ZK@ZPmٱZ(* bAHRS rotation from veh to nav: [[-0.201406,0.964015,0.173527],[-0.977795,-0.208346,0.022564],[0.057906,-0.165129,0.984571]]ZH@ɿ 5?!6?`Jʿ?٥?@"ſ@?iZP@IZ];ZTCYjByj^IbDrVDryzQ%zR=ٔ~,;Q-~>9"?Y"?=FyEÀ:E> Q 5'5 ?Q 9'5 :) _BYyQ Iw@ DI ;i ; '5y!ɮ-A)jhIUFNOT Ignoring new targets: 131.65 m.RhU9ZhU9m ProNav: ac range: 131.649658 m, nav range: 127.525955 m, bearing: 249.974910 deg, approach rate: -0.579215 m/s, LOS rate: 0.008020 deg/s, cmd heading: 258.206996 deg, new cmd heading: 258.215916 deg. Bhm9mHeadingCmd: 4.506718 target range: 131.649658 and range: 132.30 m.hu7@hq*hq"hq hqgqfqfyfydyddjdZd@?ԙ颵qBɢ갼) =i)b'iViKc㿉_&<HH! ,zj?AmQ@mL@m!iٱm* AHRS rotation from veh to nav: [[-0.201321,0.964076,0.173282],[-0.977866,-0.208103,0.021713],[0.056993,-0.165076,0.984633]]mH ɿ? .?@J@!ʿ@;?@7.?2!ſ?imQ@Imk^;mRCYBy_I AiMb@Mb@Mb@ 9(\?Mb?Yz?y̽< A@ \A)YAbD VD2y_q:%.=ٔ:Q->9Y=FyECY9E>Q 5'5?Q 9'5 B)mBY?Q E:yiQ Iw@DI:i:K'5y,BɮA5EBQBU CBQBQBU =BQBQBUs;BU9/EjhFNOT Ignoring new targets: 131.65 m.Rh>8Zh>8 ProNav: ac range: 131.649658 m, nav range: 127.238937 m, bearing: 249.977546 deg, approach rate: -0.561618 m/s, LOS rate: 0.005170 deg/s, cmd heading: 258.215903 deg, new cmd heading: 258.223830 deg. Bhc9HeadingCmd: 4.506856 target range: 131.649658 and range: 132.30 m.h*8@h*h"h hgfffBdddjd Zd ?!UwBɢ]I) j=i) ;顡iXi^㿉'< GA >AAIQIaOm>,r?A24T@2O@2cٱ2) >AHRS rotation from veh to nav: [[-0.201049,0.964369,0.171962],[-0.978006,-0.207560,0.020570],[0.055530,-0.164045,0.984889]]2H@ɿ`?`?`KOʿ^?en?iĿ`5?i24T@I2?^;2TCYFByFOIbDRVDRN2yZ{%ZL=ٔZo;Q-Z>9\Y\=^Fy^EbB:Eb>dQ 5j'5fA?Q 9j'5fzG)fxBYhyj`Q Ijw@fDIf;ifQ;f'5ypɮr2Apjh FNOT Ignoring new targets: 131.65 m.Rh8Zh8% ProNav: ac range: 131.649658 m, nav range: 127.017151 m, bearing: 249.979564 deg, approach rate: -0.620288 m/s, LOS rate: 0.005653 deg/s, cmd heading: 258.223826 deg, new cmd heading: 258.229889 deg. Bh%Gx9-HeadingCmd: 4.506962 target range: 131.649658 and range: 132.30 m.h-9@h)*h)"h) h1g1f1f1f9d9d9d9jd9ZdE *8?zBɢŸ¼) =i)iiM[㿉% '<%J9,s?A`YvByvIIbD|VD|y-¼%-D=ٔ-Q-->91Y1=5Fy5E5E=>AQ 5M'5E̛?Q 9M'5E{M)EBYIyIQ IMw@EDIE:iE:EA'5yYɮ][AYuB*** querying acoustic contact ***iq iqjhFNOT Ignoring new targets: 131.65 m.Rh8Zh8 ProNav: ac range: 131.649658 m, nav range: 126.772324 m, bearing: 249.981799 deg, approach rate: -0.585153 m/s, LOS rate: 0.005353 deg/s, cmd heading: 258.229891 deg, new cmd heading: 258.236610 deg. Bhk9HeadingCmd: 4.507079 target range: 131.649658 and range: 132.30 m.h9@h*h"h hgfffdddjdZdu? Bɢ~μ) =i)7Tiu i%tW㿉%1'<%-HB= CB=IB= BB9B9B=DB=s;B=/EA I I O >A f,^d?A2R@2M@29Zٱ2' :AHRS rotation from veh to nav: [[-0.201221,0.964592,0.170508],[-0.978097,-0.207319,0.018560],[0.053253,-0.163038,0.985182]]2H ɿ? 1?Loʿ@? C?oĿ`?i2R@I2_;2RCYFByFEIJ>J=E%K E%?E%'E!"E%;*E%;VE%'4ZE!BE%9iYi=mFymEuܿEu>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239698Q 5'5I?Q 9'5S)BY>#?Q E:y^Q Iw@DIEjhamFNOT Ignoring new targets: 131.65 m.Rh1Zh1 ProNav: ac range: 131.649658 m, nav range: 126.509598 m, bearing: 249.981412 deg, approach rate: -0.606077 m/s, LOS rate: -0.000896 deg/s, cmd heading: 258.236612 deg, new cmd heading: 258.235446 deg. BhnHeadingCmd: 4.507059 target range: 131.649658 and range: 132.30 m.h9@h*h"h hgfffBdddjdZd@|@mBɢmԼ)i m,b=ii)u6qqiu8 "i}X㿉}QD'<}FK,5?A:N@:hI@:Uٱ:*' FAHRS rotation from veh to nav: [[-0.201753,0.964645,0.169578],[-0.978045,-0.207650,0.017603],[0.052194,-0.162303,0.985360]]:Hɿ^? ?$LEʿ??`XĿ?i:N@I:F`;:SCYNByN8IbDZVDZ:yb]%bU=ٔb5;Q-b>9dYd=fFyfEj&Ej>hQ 5r'5jY?Q 9r'5jY)jBYpyroQ Irw@jDIj;ij;j1'5yz3BɮzAxjhFNOT Ignoring new targets: 131.65 m.Rh%tZh%t5 ProNav: ac range: 131.649658 m, nav range: 126.267212 m, bearing: 249.981112 deg, approach rate: -0.672295 m/s, LOS rate: -0.000834 deg/s, cmd heading: 258.235437 deg, new cmd heading: 258.234535 deg. Bh5p=HeadingCmd: 4.507043 target range: 131.649658 and range: 132.30 m.h=9@h9*h9"h9 hAgAfAfAfIdIdIdIjdIZdU#O@y颅Bɢ~߼) x M BDAT read: Rx Time:04:56:42.4563 M TRx dataTimestamp_ set to:1761541003.7494008w,3?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.998217Z,N@ZH@Z'PٱZ& bAHRS rotation from veh to nav: [[-0.201820,0.964777,0.168745],[-0.978105,-0.207470,0.016364],[0.050797,-0.161747,0.985524]]ZH9ɿs?m?L^ʿ? ? #Ŀi?iZ,N@IZ`;XYjByj.IBBBxIBBBBBBLs;B.EiuMb@Mb@Mb@qqqq q9uMb?Mb{GztYu ?yuuףuAu@ uEA)uX@qYu3AbDVDy%0=ٔ E;Q->9Y=FyEE>Q 5'5΅?Q 9'5sa)BYY!?Q E:y$Q Iw@DI:i':T'5y ɮ GA jh15FNOT Ignoring new targets: 131.65 m.Rh=KgZh=Kgm ProNav: ac range: 131.649658 m, nav range: 125.969711 m, bearing: 249.975142 deg, approach rate: -0.628358 m/s, LOS rate: -0.012638 deg/s, cmd heading: 258.234535 deg, new cmd heading: 258.216584 deg. Bhm uHeadingCmd: 4.506730 target range: 131.649658 and range: 132.30 m.hu!7@hq*hq"hy hygyfyff/BdddjdZd) @BɢkP)  )E='E9"E=s;*E=?;VE='4ZE9BE=9¸,]l ?A2K@2pF@2/jJٱ2M% :AHRS rotation from veh to nav: [[-0.202136,0.964967,0.167271],[-0.978111,-0.207527,0.015217],[0.049398,-0.160533,0.985793]]2H`ɿ?!i?@L?ʿP*?J?\Ŀ?i2K@I29a;0YBByB"I DDbDNVDNyV{L%Va=ٔZZ|;Q-^>9dYh=nFyn En[Er>tQ 5z'5v?Q 9z'5v#g)vBYxyz.Q Izw@vDIv:iv:vz'5yɮAjh)-FNOT Ignoring new targets: 131.65 m.Rh5fZh5fE ProNav: ac range: 131.649658 m, nav range: 125.743187 m, bearing: 249.970610 deg, approach rate: -0.628956 m/s, LOS rate: -0.012606 deg/s, cmd heading: 258.216586 deg, new cmd heading: 258.202965 deg. BhEl MHeadingCmd: 4.506492 target range: 131.649658 and range: 132.30 m.hM.5@hI*hI"hI hIgQfQfQfQdYdYdYjdYZde. @ԹEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.500262颍BɢFL) 5i)]!i%%i]j㿉e#o'@ @@/@D zD @AE S E 9E (E "E ;*E ;VE c44ZE a @a @a @a @% DAT read: 04:56:42.4563 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 415,-0.42,-1.169,-2.632,-0.667,-1.250, PHS= 0.183,-1.337, 0.539, RAW= 160.3, 7.2, CAL= 159.7, 7.1, ROT= 350.3, -7.1 5 Ygot valid direction response: 04:56:42.4563 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 415,-0.42,-1.169,-2.632,-0.667,-1.250, PHS= 0.183,-1.337, 0.539, RAW= 160.3, 7.2, CAL= 159.7, 7.1, ROT= 350.3, -7.1 5 PDAT read: Bearing 48.5, -7.4 (Local) = ~Local bearing/azimuth received: Bearing 48.5, -7.4 (Local) E DAT read: Range 11 to 50 : 130.2 m (Round-trip 173.6 ms) speed 0.5 m/s M *DAT read: user:244> U BDAT read: Tx time:04:56:43.5786 U $Ping request sent.U I Zd;>i " ? 3@ > b2@ =) @I ܥ7?Ex ?e.? 4?) dWI 4\-i  :publishing transmit ping timeQ  Fpublishing direction and range infoy  k#L?k1AfſA7X?Y ) I i ) I ܥ7?Ex ?e.? ) I i A .AI I O% >Iɸ,R&?AZ)=@Z7@ZBٱZd# bAHRS rotation from veh to nav: [[-0.203884,0.964970,0.165122],[-0.977840,-0.208915,0.013511],[0.047534,-0.158708,0.986181]]ZHʿ?"? xJʿ?@_V?`PĿʎ?iZ)=@IZ%a;ZQCYnByIbD)QVD)yee7%e4=ٔe;Q-e>9m ?Ym ?=FyEE>Q 5'5x?Q 9'5Hn)BYyhQ Iw@DIp:ii;o'5yɮAiQiUO? ?AJiUCRiUCjiUt@bU"Eݘ_@{50@RUk#L?k1AfſA7X?ZiU4\-biUjU$Jb F]c]8}A9@ZUv9pտWwɒoOkCF?2iU[:iUc0"iUK?*iUBiU9BiQiQiQiUBiU[@ addTargetRange:: Added new target pos. range: 130.199997 m, deltaT: 3.777887 s, deltaX: -2.100006 m, approachRate: -0.555868 m/s, rangeRepo size: 4  Added new target pos. range: 129.559601 m, bearing: 249.695145 deg, lat: 36.779375 deg, lon: -121.859595 deg, deltaT: 3.777887 s, deltaX: -2.090057 m, approachRate: -0.553234 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 129.56 m.RhZha ProNav: ac range: 129.559601 m, nav range: 125.458473 m, bearing: 249.965121 deg, approach rate: 0.000000 m/s, LOS rate: -0.012606 deg/s, cmd heading: 258.202953 deg, new cmd heading: 258.185160 deg. Bh]HeadingCmd: 4.506181 target range: 129.559601 and range: 130.20 m.he2@ha*ha"hi hiԡgqfffdddjd`fF`@Zd`1?UBɢUEy)q uiq)}u yyi}&it㿉t'<D-и,]C?A62@6\-@6A?ٱ6a" RAHRS rotation from veh to nav: [[-0.205155,0.964884,0.164042],[-0.977609,-0.210040,0.012821],[0.046827,-0.157739,0.986370]]6HBʿU?U?Hʿ"B?`? 0ĿW?i62@I69"?Y"?=FyE;E>Q 5'5@r?Q 9'5u)BY=*?Q E:yQ Iw@DI:i:a'5y׸,]?APY~TBy~II<)= = =  @AbDE%6 E%5E%&E!"E%l;*E% ;VE%4ZE!a-@a-@a-@a-@VDk1y=׼%=O=ٔEQ-E>9AYA=MFyMEMEM>QQ 5]'5Ul?Q 9]'5U|)UBYayaQ Iew@U,DIU;iU@;U'5ym:Bɮm}AmFEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995698jh5FNOT Ignoring new targets: 129.56 m.Rh=%Zh=%M ProNav: ac range: 129.559601 m, nav range: 124.899071 m, bearing: 249.942454 deg, approach rate: -0.636715 m/s, LOS rate: -0.025916 deg/s, cmd heading: 258.148830 deg, new cmd heading: 258.117018 deg. BhMIUHeadingCmd: 4.504992 target range: 129.559601 and range: 130.20 m.hU(@h*h"h hgfffdddjdZd s?颕Bɢ ) Ji)顙i'iٛ㿉ox'<_/B B FIB BB B B DB r;B .EB CB CBB =B =C+4A .AI I O >:ݸ,}w?A2@2@2 ><ٱ2 >AHRS rotation from veh to nav: [[-0.208457,0.964432,0.162533],[-0.976952,-0.213138,0.011716],[0.045941,-0.156345,0.986634]]2Hʿ?`?0CH˿?ࢅ?@Ŀ?i2@I2a;0YBYByF I|iMMb@Mb@Mb@IIII I9Md;O?9 ?Y ?=FyE"E>Q 5'5Cf?Q 9'5)ƓBY4?Q E:yOQ Iw@?DIm ;i ;k'5yɮiAjhFNOT Ignoring new targets: 129.56 m.Rh Zh  ProNav: ac range: 129.559601 m, nav range: 124.609718 m, bearing: 249.930401 deg, approach rate: -0.730836 m/s, LOS rate: -0.030513 deg/s, cmd heading: 258.117029 deg, new cmd heading: 258.080787 deg. BhHeadingCmd: 4.504359 target range: 129.559601 and range: 130.20 m.h#@h*h"h hgfff~Bdddjd Zd `?=Bɢ=X )9 =i9)=7AAiEv(iM㿉M2k'E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751828",W?AN^@N*@N#<ٱNKN! VAHRS rotation from veh to nav: [[-0.210792,0.963860,0.162911],[-0.976452,-0.215443,0.011224],[0.045916,-0.156709,0.986577]]NH>ʿ`?F??@˿?X? Ŀ ?iN^@INTa;LY^lBy^IbDfVDf1yn F=%nU=ٔr]8Q-r>9r"?Yr"?=vFyv Ev ̻Ev>xQ 5~'5zY`?Q 9~'5zъ)zϓBYyQ Iw@zPDIz ;iz ;z'5y ɮ A jh1=FNOT Ignoring new targets: 129.56 m.Rh=NZh=NM ProNav: ac range: 129.559601 m, nav range: 124.339874 m, bearing: 249.919409 deg, approach rate: -0.703032 m/s, LOS rate: -0.028699 deg/s, cmd heading: 258.080774 deg, new cmd heading: 258.047727 deg. BhMUHeadingCmd: 4.503782 target range: 129.559601 and range: 130.20 m.hU@hQ*hY"hY hYgYfafafadadidijdiZdmn?yBɢ")! %Hi!)%!!i%)i-{㿉-GP'<5;I5@IQ@ @@/@@fA@fAԩE=B E==E=*E9"E=w;*E=;VE=(N4ZE9aE@aE@aM@aM@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004146^A;A I I O > M,a4?A2@2R@2:ٱ2* :AHRS rotation from veh to nav: [[-0.212683,0.963519,0.162472],[-0.976055,-0.217259,0.010727],[0.045634,-0.156300,0.986655]]2H@49˿%?@?;%˿?O]?Ŀ ?i2@I2&a;2QCYB^ByB IHH HJbDz VDz:2y7%%F=ٔ5!3:Q-5>91Y9==Fy=$EEEE>IQ 5]'5MY?Q 9e'5MD)MؓBYayeQ Imw@McDIMP;iM];Mg'5yuABɮ}A}PEjhFNOT Ignoring new targets: 129.56 m. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257700Rh%Zh- ProNav: ac range: 129.559601 m, nav range: 124.047508 m, bearing: 249.907710 deg, approach rate: -0.669858 m/s, LOS rate: -0.026868 deg/s, cmd heading: 258.047716 deg, new cmd heading: 258.012535 deg. BhHeadingCmd: 4.503168 target range: 129.559601 and range: 130.20 m.h@h*h"h hgfffdddjdZdC^@Bɢ% )! %΅i!)% IIiM)iU㿉U%'BB@IBBBBBDBr;B.E@ @@/@1^A 0;EU 9 EU 2EU +EQ "EU so;*EU ;VEU [4ZEQ BEU L,r?A2w݈@2C؏@2<ٱ2f >AHRS rotation from veh to nav: [[-0.215308,0.962998,0.162103],[-0.975468,-0.219886,0.010632],[0.045883,-0.155837,0.986716]]2H@8˿?Ϳ?7`9%̿kƅ?~?zÿ`.?i2w݈@I2`;0YBByF IiMb@Mb@Mb@ 9I +?/${Gzt?Y94?yף;nA@ zA)+@YAbD-VD-:y==%=E=ٔ=Q-=>9AYA=EFyE(EEֻEM>QQ 5]'5US?Q 9]'5U)UBY]O4?Q E]:y]Q I]w@UuDIU:iU:U'5yɮ A%B*** querying acoustic contact ***i! i!jh15FNOT Ignoring new targets: 129.56 m.Rh=Zh=m ProNav: ac range: 129.559601 m, nav range: 123.760674 m, bearing: 249.893707 deg, approach rate: -0.699433 m/s, LOS rate: -0.034224 deg/s, cmd heading: 258.012527 deg, new cmd heading: 257.970422 deg. Bhm滺uHeadingCmd: 4.502433 target range: 129.559601 and range: 130.20 m.hu@hq*hq"hq hqgyfyfyf}u~BdddjdZd`La@Bɢ6/) %|i!)%DC!!i%h}*i-㿉-_&<-v;I-@I1@ @@/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759775a^A;A .AI I) O5 >ԉ n,+?AEr? ErLEr&Ep"Ert;*Er;VEr4ZEpav@av@av@av@Y~By3IEBDAT read: Rx Time:04:56:46.1525 ETRx dataTimestamp_ set to:1761541007.528073Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012389bDVDk1y]P=%]I=ٔeQ-e>9e ?Ye ?=mFym,EmEm>qQ 5}'5u N?Q 9}'5u렾)uBYyQ Iw@uDIu<;iu;u'5y>BɮzAOEjhFNOT Ignoring new targets: 129.56 m.Rh%Zh% ProNav: ac range: 129.559601 m, nav range: 123.476486 m, bearing: 249.879770 deg, approach rate: -0.736653 m/s, LOS rate: -0.036211 deg/s, cmd heading: 257.970426 deg, new cmd heading: 257.928517 deg. BhƺHeadingCmd: 4.501702 target range: 129.559601 and range: 130.20 m.qh @h*h"h hgfffdddjdZd m@Bɢ) i)OiM+i%俉%M&<%Ф;I% @I)@ @@/@@=@=ԡ^Avт;AzAfA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265866Bi Am p<Bq Bu CBu LIBu BBu =Bq Bq Bu r;Bu .EA I I O% > ɘ,y?A2@2Ա@2=ٱ2! :AHRS rotation from veh to nav: [[-0.219880,0.961740,0.163432],[-0.974436,-0.224452,0.009822],[0.046129,-0.157094,0.986506]]2H%̿?T?.Ժ̿?,?Ŀt?i2@I2`;0YBByBCIIF>)F=iMMb@Mb@Mb@IIII I9M7A`?~jtxy&1?YM6?yMĻM`e9yYy=Fy0E<E>Q 5'5H?Q 9'5W)BY6?Q E:y#Q Iw@DI ;i ;'5yɮAjhFNOT Ignoring new targets: 129.56 m.Rh;Zh; ProNav: ac range: 129.559601 m, nav range: 123.189041 m, bearing: 249.863105 deg, approach rate: -0.705808 m/s, LOS rate: -0.041016 deg/s, cmd heading: 257.928516 deg, new cmd heading: 257.878403 deg. Bh0HeadingCmd: 4.500827 target range: 129.559601 and range: 130.20 m.h@h*h"h hgfff~BdddjdZd @5Bɢ) ؀i>ED E9E(E"Eny;*E ;VEc44ZEBEC BDAT read: Tx time:04:56:47.2785 $Ping request sent.iU{QUb2@U=Ug1@ Q)U@IQQQU׋%q?~HD?)l(Tٿ? UK91?)UtIU"iQQQ:publishing transmit ping timeFpublishing direction and range infoyQU\Z?iĿA7X?YQQQQQ Q)QIQiQQQQQ Q)QIQQQU׋%q?~HD?)l(Tٿ? Q)QIQiQQQ) ^AM ϩ;A} ؟AI I O >i I Q ,?A2[@2'@2$=ٱ2R" :AHRS rotation from veh to nav: [[-0.221982,0.961154,0.164036],[-0.973958,-0.226536,0.009357],[0.046153,-0.157687,0.986410]]2Hi̿`?@?*̿)? ^?`/Ŀ?i2[@I2`;0YBByBVIbDLVDLyRH=%VX=ٔVQ-V>9Z"?YZ"?=ZFyZ4EZEZ>`Q 5b'5bxC?Q 9f'5b=)bBYdyfiQ Ifw@bDIb$:ib:bg'5yhɮnApiyi} ?AJi}BRi}Bji}1@b} _@\!j.3V/@R}\Z?iĿA7X?Zi}"biyj} pLF&s]+S8@Z}WFֿb]*iM?2i}:i}0"i}C󼝊?*i}Bi}Bi}~?iyiyi}Bi}HO@- addTargetRange:: Added new target pos. range: 127.400002 m, deltaT: 3.528149 s, deltaX: -2.799995 m, approachRate: -0.793616 m/s, rangeRepo size: 4  Added new target pos. range: 126.773277 m, bearing: 249.226659 deg, lat: 36.779367 deg, lon: -121.859595 deg, deltaT: 3.528149 s, deltaX: -2.786324 m, approachRate: -0.789741 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 126.77 m.RhZh ProNav: ac range: 126.773277 m, nav range: 123.252434 m, bearing: 249.433038 deg, approach rate: 0.000000 m/s, LOS rate: -0.041016 deg/s, cmd heading: 257.878409 deg, new cmd heading: 257.831292 deg. BhHeadingCmd: 4.500005 target range: 126.773277 and range: 127.40 m.h @h*h"h hgfffdddjd_@Zd@]2?]Bɢesvۼ)a e 8=ia)e]iiim4-iB?俉;&<KD:I @I1A@I @I@M1@IYDzDEA E:E&E"Ev;*E$ ;VE4ZEa @a @a @a @^A}q:ԉ A .AI I O >Y ,L,?A0J@J@Jʡ=ٱJy" ZAHRS rotation from veh to nav: [[-0.224286,0.960520,0.164613],[-0.973424,-0.228836,0.008965],[0.046280,-0.158227,0.986318]]JH g̿@? ?I&{JͿ>\?`?@Ŀ?iJ@IJ`;JPCY By eIbD5VD5kyuTZ=%>=ٔǙQ->9 ?Y ?=Fy8EbE>Q 5 '5_=?Q 9'5N)BY!y-Q I-w@DI B CBxIBBB =BBDBwr;B|.EE ProNav: ac range: 126.773277 m, nav range: 122.939827 m, bearing: 249.414389 deg, approach rate: -0.636127 m/s, LOS rate: -0.038045 deg/s, cmd heading: 257.831281 deg, new cmd heading: 257.775193 deg. BhMкMHeadingCmd: 4.499026 target range: 126.773277 and range: 127.40 m.hM@hQ*hQ"hQ hQgQfQfYfYdYdYdajdZdz?Bɢ Ҽ) =i)ci .i]U_俉e%A% > AM ؟AIQ Ii Ou >%,2I?A>끈@>|@>l=ٱ>h# FAHRS rotation from veh to nav: [[-0.226192,0.960035,0.164831],[-0.972985,-0.230710,0.008543],[0.046230,-0.158446,0.986285]]>H̿ ?/?"@Ϳ*?v?GĿ ?i>끈@I>h`;>QCYN&ByNI PPTVAi%Mb@Mb@Mb@!!!! !9%m?X9v:v?Y%.?y%%<%A! !)!!Y%zAbD=VD=:2yMV>%U;=ٔUg8Q-U>9]"?Y]"?=]Fy]=E]E]>aQ 5m'5e6?Q 9u'5e)eBYu.?Q Eu:yuHQ Iuw@eDIe ;ie& ;e'5yyɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 126.77 m.RhZh ProNav: ac range: 126.773277 m, nav range: 122.652985 m, bearing: 249.402033 deg, approach rate: -0.773627 m/s, LOS rate: -0.033402 deg/s, cmd heading: 257.775192 deg, new cmd heading: 257.738037 deg. BhcMHeadingCmd: 4.498377 target range: 126.773277 and range: 127.40 m.hM@hI*hI"hI hIgIfQfQfU8BdYdYdYjdYZd] ?Bɢ ) >i)pi/i-t俉-s%<-zͺI-@I1iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@4@! ^A] [RSA I I O >D D 4<E 7 E =E 'E "E m;*E ;VE '4ZE a @a @a @a @U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485846wN, b?A 6p@6k@6*:=ٱ6@$# >AHRS rotation from veh to nav: [[-0.228213,0.959551,0.164866],[-0.972515,-0.232697,0.008147],[0.046182,-0.158476,0.986282]]6H6Ϳ?@V?@Ϳ??HĿ?i6p@I6`;6PCYF3ByFIbDRVDRyV=%ZU=ٔZ9Q-Z>9\Y\=^Fy^AEbyEb>dQ 5j'5f1?Q 9j'5f;ž)f BYhyjQ Inx@fDIf;if;fR'5ypɮrApjhFNOT Ignoring new targets: 126.77 m.RhZh ProNav: ac range: 126.773277 m, nav range: 122.393059 m, bearing: 249.391041 deg, approach rate: -0.651135 m/s, LOS rate: -0.027595 deg/s, cmd heading: 257.738035 deg, new cmd heading: 257.704989 deg. BhHeadingCmd: 4.497800 target range: 126.773277 and range: 127.40 m.h@h*h"h hgfffddd)jd)Zd- .U?BɢA)I M8>iI)M9IIiUo1ie俉m%B CBIB:BB =BBDBr;B.E^A% ԙ Aq Iy I O >t,b|?A@Y~NB  yIm+GhAڬ9hAY0Ai]Mb@Mb@Mb@YYYY Y9]+? ףp= L7A`?Y]?y]Q8]+=]AY ]A)]X@YY]AbDuVDuβyT=%1=ٔQ->9Y=FyEEE>Q 5(5*?Q 9(5{̾)0BYa ?Q E:yQ Ix@DI:i:](5bEMc44jEM64rEM’0E9 E/E(E"Eso;*EY;VEc44ZEBEi)iM=3iޖ俉$<?0I#@I@ @@/@@=@= ^A% "5A) zA- dA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241922A I I O >%,V?A2ta@2@\@2 x8ٱ2Q2$8 >AHRS rotation from veh to nav: [[-0.230059,0.958983,0.165605],[-0.972135,-0.234333,0.006480],[0.045021,-0.159500,0.986171]]2HrͿ?2?`Ϳފz?` ?`jĿ?i2ta@I2>`;2NCYFkByFIIH)J=bDNVDNyV3>%Ve=ٔZT;Q-Z>9\Y\=^Fy^IE^լE^>`Q 5f(5b$?Q 9j(5bҾ)b=BYhyjQ Inx@bDIb]$;ib%;b|(5yrFBɮrAraEjhFNOT Ignoring new targets: 126.77 m.RhsZhs ProNav: ac range: 126.773277 m, nav range: 121.883553 m, bearing: 249.375344 deg, approach rate: -0.600862 m/s, LOS rate: -0.018300 deg/s, cmd heading: 257.678094 deg, new cmd heading: 257.657798 deg. BhHHeadingCmd: 4.496977 target range: 126.773277 and range: 127.40 m.h<@h*h"h hgfffdddjdZd@%@颭Bɢh ) s>i)顱i? 5iy俉-$<wI<@IIfA)ԡy@y @y@}/@yE]. E])E]&EY"E]ye;*E]0;VE]4ZEYam@am@am@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494006^Ae 7 Ia Iy O >+,?AZ[@ZV@ZU5ٱZ3M$x=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748410 EAHRS rotation from veh to nav: [[-0.230719,0.958836,0.165534],[-0.972013,-0.234858,0.005611],[0.044257,-0.159607,0.986188]]ZH2Ϳɮ?60?@οDv?Ѩ?mĿڎ?iZ[@IZj{`;ZPCYuBy}IbDVDN2BU>BU CBUIBUwBBU =BQBUDBUr;BU.EB CB CBB =B =Cv5y>% 8=ٔ:Q->9Y=FyNEE>!Q 5-(5%F?Q 95(5%پ)%MBY1y5Q I5x@%DI%;i%;% (5y9ɮ=AAjhamFNOT Ignoring new targets: 126.77 m.RhmqZhuq} ProNav: ac range: 126.773277 m, nav range: 121.585030 m, bearing: 249.366323 deg, approach rate: -0.643769 m/s, LOS rate: -0.019501 deg/s, cmd heading: 257.657794 deg, new cmd heading: 257.630666 deg. Bh"VHeadingCmd: 4.496503 target range: 126.773277 and range: 127.40 m.h[@h*h"h hgfffdddjdZd`F@ 颅Bɢ<) ~>i):顑i,Z7i俉 #<I[@Ia@a @a@e/@a9E}5 E}'E}*Ey"E}k;*E}";VE}(N4ZEyBE}_2,7?A2\@2W@2V0ٱ20$ :AHRS rotation from veh to nav: [[-0.230622,0.958872,0.165464],[-0.972087,-0.234578,0.004507],[0.043136,-0.159806,0.986205]]2H Ϳ?-?Vοur??`tĿ?i2\@I2_;2NCYBByB,Ii Mb@Mb@Mb@     9 i|?5? rh ףp= ?Y ?y C Q8= A ~@ ) A@ Y GAbD%VD%JQy =%Q=ٔIO;Q->9Y=FyQEפ9E>Q 5(5?Q 9(5޾)\BY&?Q E:y`Q Ix@#DI ;iX ; (5yɮgAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 126.77 m.Rh%WԸZh-WԸE ProNav: ac range: 126.773277 m, nav range: 121.383049 m, bearing: 249.364251 deg, approach rate: -0.564485 m/s, LOS rate: -0.005801 deg/s, cmd heading: 257.630665 deg, new cmd heading: 257.624437 deg. BhM~]HeadingCmd: 4.496395 target range: 126.773277 and range: 127.40 m.h]w@hY*hY"hY hYgafafifm(BdqdqdyjdyZd} ټ @iɢm)i m>ii)uqqiusP9i}俉}k@#<}?GiI}w@IMBDAT read: Rx Time:04:56:49.8491 UTRx dataTimestamp_ set to:1761541011.309051]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252207ԁY@Y @Y@]0@Y@efA@ehAԩ^Ay A >A ?I I O > E B E .E E "E w;*E ;VE ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5019238,&?A2rg@2>b@2I*ٱ2# :AHRS rotation from veh to nav: [[-0.229382,0.959382,0.164226],[-0.972447,-0.233100,0.003474],[0.041614,-0.158904,0.986417]]2H`\ͿA?]?@H7Ϳul?uN? VĿ?i2rg@I2پ_;2QCYBByBFI DDDFAbDNVDN1yV=%V\=ٔZs;Q-Z>9XYX=ZFy^UE^ d;E^>`Q 5f(5b?Q 9f(5b)bkBYhyj8Q Ijx@b1DIb:ib1:b(5yYɮ]AYjhFNOT Ignoring new targets: 126.77 m.RhظZhظԹ ProNav: ac range: 126.773277 m, nav range: 121.171738 m, bearing: 249.361953 deg, approach rate: -0.544048 m/s, LOS rate: -0.005927 deg/s, cmd heading: 257.624436 deg, new cmd heading: 257.617530 deg. Bh'HeadingCmd: 4.496274 target range: 126.773277 and range: 127.40 m.hz@h*h"h hgfffdddjdZd@ @eBɢe@:)i m>ii)mhiiiu;i俉~"<iIz@I>i>y@y @y@}0@DAT read: 04:56:49.8491 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.49,-0.739,-2.231,-0.282,-0.883, PHS= 0.245,-1.303, 0.557, RAW= 159.0, 5.9, CAL= 158.2, 5.5, ROT= 351.8, -5.5 5Ygot valid direction response: 04:56:49.8491 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.49,-0.739,-2.231,-0.282,-0.883, PHS= 0.245,-1.303, 0.557, RAW= 159.0, 5.9, CAL= 158.2, 5.5, ROT= 351.8, -5.5 BYAYB}>ByB}LIB}BByByByB} s;B}.EMPDAT read: Bearing 46.7, -6.5 (Local) ~Local bearing/azimuth received: Bearing 46.7, -6.5 (Local) - DAT read: Range 11 to 50 : 124.8 m (Round-trip 166.5 ms) speed 0.4 m/s 5 *DAT read: user:246> = BDAT read: Tx time:04:56:50.9785 = $Ping request sent.= imȦm?mΚ1@mB=m 0@ m =)mp{@Im Ľiim+?~ȑ ?;3%? mL.?)m ѽImTim Ľii :publishing transmit ping time9  Fpublishing direction and range infoyim?VQ(,¿aVX?Yiiiii i)iIiiiiiii i)iIiiim+?~ȑ ?;3%? i)iIiiiii^AE yb]I I I O >u>,j?AYnByn[IiMb@Mb@Mb@ 9!rh?1ZdJ +?Yl?y"۽H=Ah@ A)X@YAbDVD1yٗ=%8=ٔQ->9Y=FyZEE>Q 5(5 ?Q 9(5)BY ?Q E:yBQ Ix@@DIK ;i:(5y CBɮ A `Eii?AJi]BRi]BjiS@bb17^@|i1Z'@R?VQ(,¿aVX?ZiTbi Ľj/E,̴\[:63@ZX,ֿ@eii))顡i>i俉m"<yIa@IAe9@a @a@e5@aq^A 7I I O5 >ԙ E,C?A2~@2y@2ٱ2# :AHRS rotation from veh to nav: [[-0.226623,0.960079,0.163985],[-0.973212,-0.229907,0.001078],[0.038736,-0.159348,0.986462]]2HͿ? s?$mͿ8Q?1գ?eĿ`?i2~@I2f_;2OCY@y@bDNVDN:2yV]:%V`=ٔVz9XYX=ZFyZ]EZ<E^>`Q 5b(5b?Q 9f(5bE)bBYdyfQ Ifx@bLDIbt:ib:b(5yhɮnAljhFNOT Ignoring new targets: 124.18 m.Rhs9Zhs9 ProNav: ac range: 124.182602 m, nav range: 121.671730 m, bearing: 249.455346 deg, approach rate: -0.522987 m/s, LOS rate: 0.013321 deg/s, cmd heading: 257.609846 deg, new cmd heading: 257.624740 deg. BhG:HeadingCmd: 4.496400 target range: 124.182602 and range: 124.80 m.h@h*h"h hgfffdddjdZd>?Bɢ;) O>i)eix@id俉""<$7I@Iq9@ @@/@@=@=Em+ Em%Em)Ei"Emb;*Em;VEmFA4ZEiau@au@au@au@ԡ^Ayb]II)O5> K,*2?A2ߍ@2@2ٱ2a$ :AHRS rotation from veh to nav: [[-0.224856,0.960467,0.164141],[-0.973680,-0.227920,-0.000175],[0.037243,-0.159860,0.986437]]2H̿%??b(y,Ϳ& ~?JvĿ ?i2ߍ@I2\^;0YR̀ByVlIIZ<)ZC=Z=Z=bDbVDbyfW=%fH=ٔjyo;Q-j>9hYl=nFynbEnb;Er>pQ 5v(5r?Q 9v(5r)rBY|y Q I x@rZDIrԵ;ir;r(5yMFBɮUA]iEB>B CBIBBB =BBDBhs;B.Ejh)5FNOT Ignoring new targets: 124.18 m.Rh5V9Zh=V9E ProNav: ac range: 124.182602 m, nav range: 121.453178 m, bearing: 249.460723 deg, approach rate: -0.476157 m/s, LOS rate: 0.011736 deg/s, cmd heading: 257.624736 deg, new cmd heading: 257.640897 deg. BhM:uHeadingCmd: 4.496682 target range: 124.182602 and range: 124.80 m.hu@hq*hq"hq hqgqfyfyfydyddjdZdlX?Bɢ8a;) G>i)P޼i}Bi#俉!<:I@IIQ@ @@@Eu3 EuEu,Eq"Euj;*Eu:VEug4ZEqBEuR,L?A2礈@2@2ٱ2$ :AHRS rotation from veh to nav: [[-0.222131,0.961244,0.163304],[-0.974366,-0.224965,-0.001169],[0.035614,-0.159378,0.986575]]2Hn̿ ? (?.̿&S9Y=FyfE?;E>Q 5(5?Q 9(5)BY^?Q E:y=Q Ix@iDIx;iYv;x(5yɮ 2A EB*** querying acoustic contact ***iA iAjhQ]FNOT Ignoring new targets: 124.18 m.Rh]:Zh]:u ProNav: ac range: 124.182602 m, nav range: 121.229729 m, bearing: 249.473600 deg, approach rate: -0.591029 m/s, LOS rate: 0.034123 deg/s, cmd heading: 257.640910 deg, new cmd heading: 257.679613 deg. BhuX:}HeadingCmd: 4.497358 target range: 124.182602 and range: 124.80 m.h}[@hy*hy"hy hygyfff`Bddd jd Zd q?!}Bɢ}<)y ?i)ڼ顡iDDi俉!<7;I[@I%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.@ @@/@Qy ^A yb:E} - E} (E} 'Ey "E} d;*E} ;VE} '4ZEy a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702481A I I! O5 >Y,e?ALb2@b@by ٱb 2# jAHRS rotation from veh to nav: [[-0.218898,0.962184,0.162131],[-0.975166,-0.221465,-0.002295],[0.033698,-0.158607,0.986767]]bH̿ 5??4X̿db@? 9MĿ?ib2@Ib^;bOCYr߀ByrIbDzVDzk1y~%W=ٔ9;Q- >9 Y = Fy jE@<E>Q 5%(5o뫊?Q 9%(5Y)BY!y%Q I-x@uDI:i:!(5y5CBɮ5#A1jhYeFNOT Ignoring new targets: 124.18 m.Rhe~:Zhe~:u ProNav: ac range: 124.182602 m, nav range: 121.036415 m, bearing: 249.484471 deg, approach rate: -0.521891 m/s, LOS rate: 0.029396 deg/s, cmd heading: 257.679623 deg, new cmd heading: 257.712289 deg. Bh}d:}HeadingCmd: 4.497928 target range: 124.182602 and range: 124.80 m.h@h*h"h hgfffdddjdZd A?Bɢ%;<) ?i)}׼i>FiQ俉#i!<~;I@I@ @@/@@@fAԱ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957832AAB>BCBIBBB =BBBs;B /E^A]: Ii Iy O > /_,u?A2و@2ԏ@2`Xٱ2E# :AHRS rotation from veh to nav: [[-0.215841,0.962928,0.161809],[-0.975910,-0.218144,-0.003614],[0.031817,-0.158691,0.986815]]2H`˿`N?`)?:"˿mWJ? OĿ?i2و@I2^;2NCYBրByBwI DDDFAliMb@Mb@Mb@ 9Cl?333333ÿS㥛?Yd>y/<A zA)X@YA !!bD-VD-ܲy='%=G=ٔEٕ;Q-E>9AYA=MFyMnEM;EM>QQ 5(5U⫊?Q 9(5U/)UΔBY?Q E:yQ Ix@UDIUi)gsԼiIij俉,L!<#s;I:@II@I @I@I@I9^Am#2;M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458252IQ Ii i O} >f, ?AY~πBy~oIbD VD ky%%L=ٔ%Q-%>9)Y)=-Fy-rE-E->91Q 5E(55ګ?Q 9E(55)5ܔBYAyIQ IMx@5DI5+;i5,;5((5yQɮUAQjhy}FNOT Ignoring new targets: 124.18 m.Rh ):Zh ): ProNav: ac range: 124.182602 m, nav range: 120.626915 m, bearing: 249.512981 deg, approach rate: -0.528873 m/s, LOS rate: 0.036946 deg/s, cmd heading: 257.755657 deg, new cmd heading: 257.797975 deg. Bh:HeadingCmd: 4.499424 target range: 124.182602 and range: 124.80 m.hG@h*h"h hgfffdddjdZd|@Bɢ <) }>i) Ѽi!KiOR俉u}.! $Al,f?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.964562YBy%]IbD5VD5:yM%UH=ٔYQ-e>9iYq=}Fy}vEE>B>BBBBBBBs;B.E !Q 5=(5%ѫ?Q 9E(5% )%BYQyQ Ix@%DI%ii)uDμqqiu'AMi}7俉}!<}Y;I}@I!G)]9aYeA@ @@X0@QbEFA4jEDz>4rE.0E]0 E]1E]'EY"E]Jg;*E]f;VE]'4ZEYBE]ԉ (s,@?A2#@2d@2Eۼٱ23 :AHRS rotation from veh to nav: [[-0.207094,0.965646,0.156971],[-0.977954,-0.208729,-0.006179],[0.026798,-0.154791,0.987584]]2H ʿ??`fK`ʿVOy`p? -ÿ`I?i2#@I2Ϙ^;2LCYRByRXIiMb@Mb@Mb@ 9J +?jtĿMb?Y?y <A dA)A@YAbDVDfy%?=ٔA9 Y = Fy {E <E>Q 5%(5ȫ?Q 9%(5+)BY%?Q E%:y%Q I-x@DI:iq:,0(5y5BBɮ5(A5qEMB*** querying acoustic contact ***iQ iQԑjhFNOT Ignoring new targets: 124.18 m.Rh(:Zh(: ProNav: ac range: 124.182602 m, nav range: 120.186440 m, bearing: 249.542375 deg, approach rate: -0.579106 m/s, LOS rate: 0.036846 deg/s, cmd heading: 257.844067 deg, new cmd heading: 257.886328 deg. BhL:HeadingCmd: 4.500966 target range: 124.182602 and range: 124.80 m.h@h*h"h hgff f 8Bd d djdZd` @颥Bɢ;) Z>i)p˼checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466449顩iim>Nim俉u!i>@ @@4@^A ;I! I1 OA D] %=D] <Ee 1 Ee /Ea Ea "Ee 2h;*Ee Y;VEa ZEa am @au @au @au @ DAT read: 04:56:53.5467 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 413, 0.47,-2.225, 2.599,-1.789,-2.303, PHS= 0.179,-1.336, 0.470, RAW= 158.6, 8.2, CAL= 158.2, 8.5, ROT= 351.8, -8.5  Ygot valid direction response: 04:56:53.5467 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 413, 0.47,-2.225, 2.599,-1.789,-2.303, PHS= 0.179,-1.336, 0.470, RAW= 158.6, 8.2, CAL= 158.2, 8.5, ROT= 351.8, -8.5  PDAT read: Bearing 50.2, -7.4 (Local)  ~Local bearing/azimuth received: Bearing 50.2, -7.4 (Local)  DAT read: Range 11 to 50 : 123.0 m (Round-trip 164.1 ms) speed 0.4 m/s  *DAT read: user:247>  BDAT read: Tx time:04:56:54.6785  $Ping request sent. V¿%)k?Y B ) >I K7>9 i  ף> m(1@ C> >) I  & ?;Y?"IR? ,?) /I i  M :publishing transmit ping time M Fpublishing direction and range infoy  U;/S?A>V¿%)k?Y ) Sy,\?A2'6@20@2μٱ2y :AHRS rotation from veh to nav: [[-0.204886,0.966195,0.156491],[-0.978461,-0.206303,-0.007308],[0.025223,-0.154618,0.987652]]2H9ʿ`??O%hʿI}@,ԙ?ÿٚ?i2'6@I2^;Ii )I& ?;Y?"IR? )Ii2NCYBy9IbDVDy}7%B=ٔu;Q->9Y=FyE;E>Q 5(5o?Q 9(5)BY!y%Q I%x@DISV¿%)k?Zibijioо2Cf3޹r\eݎ7@ZPLԿC*e?2i:i"i,'?*itBiBiiiBiBij@  addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 3.777561 s, deltaX: -1.800003 m, approachRate: -0.476499 m/s, rangeRepo size: 4  Added new target pos. range: 122.388191 m, bearing: 251.354894 deg, lat: 36.779365 deg, lon: -121.859610 deg, deltaT: 3.777561 s, deltaX: -1.794411 m, approachRate: -0.475018 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 122.39 m.RhZh ProNav: ac range: 122.388191 m, nav range: 120.308060 m, bearing: 249.620114 deg, approach rate: 0.000000 m/s, LOS rate: 0.036846 deg/s, cmd heading: 257.886332 deg, new cmd heading: 257.938299 deg. BhHeadingCmd: 4.501873 target range: 122.388191 and range: 123.00 m.hW@h*h"h hgff!f!d1Idydyjd}^@Zd} ?Bɢd) ܾ>i)PȼiU{PimBA<B>BBIu6!<=YAA.AI)I9OE?㳂,U ?A2_E@2+@@2oüٱ2D >AHRS rotation from veh to nav: [[-0.203074,0.966882,0.154593],[-0.978871,-0.204325,-0.007927],[0.023923,-0.152937,0.987946]]2HWɿ? ?`R Q'ʿ@ <4?`mÿA?i2_E@I2?^;0ԱYBy%I i}Mb@Mb@Mb@yyyy y9}X9v?MbY}?y}}}nAy }A)}+@yY}AbDVDy;%<ٔ:Q->9 ?Y ?=FyE5;E>Q 5(5򱫊?Q 9(5 ) BYM?Q E:yQ Ix@DI: ;i ;9(5yɮsAjhFNOT Ignoring new targets: 122.39 m.Rh 9Zh 9 ProNav: ac range: 122.388191 m, nav range: 119.916801 m, bearing: 249.632262 deg, approach rate: -0.648895 m/s, LOS rate: 0.020212 deg/s, cmd heading: 257.938296 deg, new cmd heading: 257.974858 deg. Bh]:%HeadingCmd: 4.502511 target range: 122.388191 and range: 123.00 m.h%@h!*h!"h! h!g)f)ffBdddjdZd ?%Bɢ%>)a e>ii)m%żiiimQiu'㿉uFi!9u"?Yu"?=uFyuE}W;E}>Q 5(54?Q 9(5|%)BYyQ Ix@ԩDI;i0;=(5y-BɮApEjhFNOT Ignoring new targets: 122.39 m.Rh9Zh9 ProNav: ac range: 122.388191 m, nav range: 119.691689 m, bearing: 249.639153 deg, approach rate: -0.579310 m/s, LOS rate: 0.017768 deg/s, cmd heading: 257.974852 deg, new cmd heading: 257.995564 deg. BhC:HeadingCmd: 4.502872 target range: 122.388191 and range: 123.00 m.h@h*h"h hgf f f d ddjdZdJ?BɢXG) >i)Qüi_RiN㿉!< t,,>G?A29M@2H@2ɟٱ2<< :AHRS rotation from veh to nav: [[-0.202147,0.967306,0.153152],[-0.979118,-0.203054,-0.009862],[0.021559,-0.151947,0.988154]]2H`ɿ,?x? T ɿK2?`rÿ ?i29M@I2U^;0YFbByFIi}Mb@Mb@Mb@yyyy y9}}?5^I?bX9ȶ{GztY}M"?y}E}ף} A}h@ }@)}A@yY}\@bDVD:2yԩ%@=ٔ:Q->9Y=FyE;6E>Q 5(5?Q 9(50,)BY#?Q E:yQ Ix@DI ;i ;@(5yɮWAjhFNOT Ignoring new targets: 122.39 m.Rh ԐZh Ԑ ProNav: ac range: 122.388191 m, nav range: 119.421043 m, bearing: 249.637509 deg, approach rate: -0.649730 m/s, LOS rate: -0.003957 deg/s, cmd heading: 257.995561 deg, new cmd heading: 257.990616 deg. Bh-HeadingCmd: 4.502786 target range: 122.388191 and range: 123.00 m.h@h*h"h hgfff}BdddjdZdJ?eBɢe\)a eo>ii)m0iiim|Siu!㿉uɻ!ۗ,`?A>E@>?@>νٱ> U JAHRS rotation from veh to nav: [[-0.203123,0.967092,0.153212],[-0.978918,-0.204000,-0.010138],[0.021451,-0.152041,0.988141]]>Hɿ`k?o?LSʿÄ`K?vÿڞ?i>E@I>L^;Z=Z=bDbVDbyf %jZ=ٔj.9Q-j>9hYl=nFynEn.Er>pQ 5v(5r?Q 9z(5r2)rBYxyzQ Izx@rDIr:ir:rC(5y,BɮAzEB*** querying acoustic contact ***i! i!jh)-FNOT Ignoring new targets: 122.39 m.Rh5ǃZh5ǃE ProNav: ac range: 122.388191 m, nav range: 119.181801 m, bearing: 249.636163 deg, approach rate: -0.638890 m/s, LOS rate: -0.003600 deg/s, cmd heading: 257.990616 deg, new cmd heading: 257.986571 deg. BhE#MHeadingCmd: 4.502715 target range: 122.388191 and range: 123.00 m.hM>@hI*hQ"hQ hQgQfQfYfYdYdYdajdaZde@?颕Bɢ/) I^>i)顙iGGTit㿉!<lb@IE7 E5E(E"Em;*E ;VEc44ZEa@a@a@a@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@A^A=u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258753A A @AB B B IB BB B B B yr;B i.Eԩ ,z?Az ;@z5@zD@ٱz=X AHRS rotation from veh to nav: [[-0.204319,0.966838,0.153223],[-0.978668,-0.205191,-0.010267],[0.021513,-0.152053,0.988138]]zH@'ʿ W?@Ӝ??QCʿ ? vvÿԞ?iz ;@IzP!^;xYIByIiMb@Mb@Mb@ 9Gz?Mb{GztY0?y AQ@ A@)@Y@bDVDܲy%;=ٔQ->9Y=FyE7E>Q 5(5=?Q 9(59)BYg1?Q E:y@Q Ix@DI ;i2 ;G(5yɮAjh!-FNOT Ignoring new targets: 122.39 m.iRhخZhخ ProNav: ac range: 122.388191 m, nav range: 118.879272 m, bearing: 249.627833 deg, approach rate: -0.692196 m/s, LOS rate: -0.019108 deg/s, cmd heading: 257.986572 deg, new cmd heading: 257.961519 deg. BhQHeadingCmd: 4.502278 target range: 122.388191 and range: 123.00 m.h@h*h"h hgfff~BdddjdZd`h@eBɢm&X=)i m9>ii)m+qqiucTiu㿉}!<}X ,?A>-@>(@>ٱ>  JAHRS rotation from veh to nav: [[-0.205890,0.966551,0.152934],[-0.978338,-0.206752,-0.010422],[0.021547,-0.151767,0.988181]]>H@Zʿ? [? N vʿWN?mÿ.?i>-@I>Z^;>OCYRDByVIbD^VD^yfҼ%f]=ٔfQ-f>9j ?Yj ?=jFyjEjlEn>pQ 5v(5r܍?Q 9v(5r+@)r!BYtyvuQ Ivx@r'DIrw:ir:r K(5y~)Bɮ~"A~yEjh!%FNOT Ignoring new targets: 122.39 m.Rh-Zh-Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760501M ProNav: ac range: 122.388191 m, nav range: 118.623474 m, bearing: 249.620956 deg, approach rate: -0.691824 m/s, LOS rate: -0.018640 deg/s, cmd heading: 257.961519 deg, new cmd heading: 257.940843 deg. BhMLUHeadingCmd: 4.501917 target range: 122.388191 and range: 123.00 m.hU@hQ*hQ"hQ hQgQfQfYfYdadadajdaZde7@颕Bɢ(j,) ->i)5顙iaUi俉 "<QG BDAT read: Rx Time:04:56:57.2439  TRx dataTimestamp_ set to:1761541018.621000% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018212) EM 6 EM 6EM 'EI "EM l;*EM  ;VEM '4ZEI aU @aU @aU @aU @A I I O >Y W ,Ϊ?AZC@Z@ZٱZP ~AHRS rotation from veh to nav: [[-0.207994,0.965986,0.153654],[-0.977887,-0.208861,-0.010663],[0.021792,-0.152474,0.988067]]ZHʿ`[?`?@J`ʿօP? Fÿ ??iZC@IZa}^;ZLCY 0ByI bD%VD%βy5ƽ%5C=ٔ==Q-=>99Y9==Fy=EEEE>IQ 5U(5M?Q 9U(5MyG)M%BYYy]Q I]x@M:DIMt:iM:MN(5yaɮeAijhFNOT Ignoring new targets: 122.39 m.RhZh ProNav: ac range: 122.388191 m, nav range: 118.332993 m, bearing: 249.613414 deg, approach rate: -0.691652 m/s, LOS rate: -0.018003 deg/s, cmd heading: 257.940837 deg, new cmd heading: 257.918154 deg. BhEHeadingCmd: 4.501521 target range: 122.388191 and range: 123.00 m.hv @h*h"h hgfffdddjdZd > @Bɢ׏m) >i)Xi5Ui 俉!"<-/i>!@ @@/@i9I9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265424Be>BeCBeIBe]BBe =BaBeDBeEr;BeL.EQ^A/CE 5 E 4E %E "E k;*E ;VE 4ZE BE ,b?AR#Rx 1: Read range and direction messages.0R^direction in FSK: [0.979567,-0.158655,0.123601]RFpublishing direction and range infoy)-tX?NĿA7X?Y-B)))) ))-DI-M>i-7-V ?-2@->-1@ -=)-v@I-))-]wh?N?p? -1?)-I-l$i-))bT****** received valid address query ******bR****** received valid ping request ******bQuerying Benthos address 50 with one ping in standard two-way mode.u@u@u5ֵٱu> AHRS rotation from veh to nav: [[-0.210407,0.965271,0.154856],[-0.977362,-0.211293,-0.010904],[0.022195,-0.153645,0.987877]]uHʿ`? S?F ˿T@L?ÿ௜?iu@Iu8^;uMCY3ByIiUMb@Mb@Mb@QQQQ Q9U+?ˡE~jtx?YU??yU'U;U+ AU;@ԑ UX@)U@QYU(@bDVDky3=<%(=ٔSWQ->9"?Y"?=FyEۤE>Q 5-(5t~?Q 9-(5P),BY5 @?Q E5:y5Q I5x@QDI;i;S(5y=(Bɮ=A=Ei)i-?AJi-BRi-Bji-@b-]Ӱu]@ m[Gź<4@Z-64hտ4Q_,4D?2i-:i-#"i-s?*i-KRBi-Bi)i-?ǵi-Bi-Bi-n@ addTargetRange:: Added new target pos. range: 120.900002 m, deltaT: 3.528006 s, deltaX: -2.099998 m, approachRate: -0.595237 m/s, rangeRepo size: 4  Added new target pos. range: 120.296967 m, bearing: 249.816396 deg, lat: 36.779365 deg, lon: -121.859614 deg, deltaT: 3.528006 s, deltaX: -2.091225 m, approachRate: -0.592750 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 120.30 m.RhZh ProNav: ac range: 120.296967 m, nav range: 118.280083 m, bearing: 249.653635 deg, approach rate: 0.000000 m/s, LOS rate: -0.018003 deg/s, cmd heading: 257.918161 deg, new cmd heading: 257.890569 deg. BhHeadingCmd: 4.501040 target range: 120.296967 and range: 120.90 m.h@h*h"h hgfff~Bdddjd9^@Zdm?EBɢEwy)I M>iI)M 6IIiMTFViU\俉U"<]ގb,]?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250202b@b@bpٱb- jAHRS rotation from veh to nav: [[-0.212928,0.964735,0.154750],[-0.976803,-0.213872,-0.010718],[0.022757,-0.153443,0.987895]]bH:A˿@??A+`˿@J@M?ÿ֜?ib@Ib^;bOCYv7ByvIbD~VD~fy <% O=ٔ Q->9 ?Y ?=FyE.ٻE>!Q 5-(5%w?Q 9-(5%:X)%2BY1y5LQ I5x@%dDI%y:i%N:%jV(5y9ɮ=AA]B*** querying acoustic contact ***iY iYjhimFNOT Ignoring new targets: 120.30 m.Rhu Zhu y ProNav: ac range: 120.296967 m, nav range: 117.988754 m, bearing: 249.641203 deg, approach rate: -0.787061 m/s, LOS rate: -0.033670 deg/s, cmd heading: 257.890567 deg, new cmd heading: 257.853179 deg. Bh۸HeadingCmd: 4.500387 target range: 120.296967 and range: 120.90 m.h,@h*h"h hgfffdddjdZd@f?MBɢU\aS)a e& >ia)m:kiiim߼Vi}2俉 !<L;I,@I)@) @1@5/@1ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502136BA<B >B B IB NBB  =B B B  i i TG fA % ۯ9% fAY% A`Z,{?A:׈@:ҏ@:ٱ:͸ BAHRS rotation from veh to nav: [[-0.216155,0.963708,0.156665],[-0.976079,-0.217134,-0.011043],[0.023375,-0.155304,0.987590]]:H˿? ? < ˿@ҝ?ÿV?i:׈@I:^;:MCYN6ByNIIRC=)Rp9QYY=]Fy]E]Ee>aQ 5m(5eq?Q 9u(5e6`)e8BYu@?Q Eu:yu8Q Iux@exDԹIe:ie)ZhM>} ProNav: ac range: 120.296967 m, nav range: 117.678810 m, bearing: 249.623051 deg, approach rate: -0.710422 m/s, LOS rate: -0.041716 deg/s, cmd heading: 257.853192 deg, new cmd heading: 257.798592 deg. Bh} HeadingCmd: 4.499434 target range: 120.296967 and range: 120.90 m.h^@h*h"h hgfff~BdddjdZd?bE]€'4jE]-4rE]/E7 E,EE"Em;*E;VEZEBEi)u顱iHWiQ俉!<s;I^@Ie9@a @a@e 0@a^AM ; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006758A Ay I I O >dƹ,U?AYECByEIbDUVDU:2ye1=%mI=ٔmQ-m>9qYq=uFyuEuE}>yQ 5(5}k?Q 9(5}h)}?BYyQ Ix@}DI}:i}:}](5y$BɮAjhFNOT Ignoring new targets: 120.30 m.RhSZhS ProNav: ac range: 120.296967 m, nav range: 117.375793 m, bearing: 249.605211 deg, approach rate: -0.783220 m/s, LOS rate: -0.046231 deg/s, cmd heading: 257.798605 deg, new cmd heading: 257.744948 deg. BhHeadingCmd: 4.498498 target range: 120.296967 and range: 120.90 m.h@h*h"h hgfffdddjdZd`I?%Bɢ-g7)) ->i))-11i5%Wi=p俉=y!<=;I=@IA9@ @@5@ADzDAAE= E7E.E"Es;*E ;VEـ4ZEa @a @a @a @Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258272^Aϩ;A>AqAE ؟AII IY Om >ԙ d̹,Y05?A:ا@:@:'ʼٱ:Ė# BAHRS rotation from veh to nav: [[-0.221854,0.961774,0.160533],[-0.974766,-0.222936,-0.011475],[0.024752,-0.159027,0.986964]]:H`e̿?T?G1'̿4@X?[Ŀ 5?i:ا@I:^;:NCJَCJCs@iJD;IHHNC N3kANĻN1$FLRCRlkAIRt)RXBFiP)TIV~jAVzV\F TV3CZ~jAZiZFFXiZ&CZjA)^ \I\ ^ C)^|{A`boF`Y`YfMByjIbDrVDrk1yz.H=%zR=ٔzhQ-~>9~"?Y~"?=~FyE Q 5(5 e?Q 9(5 xo) EBYyQ Ix@ DI D;i ; a(5y!ɮ%A!jhIMFNOT Ignoring new targets: 120.30 m.RhUB@ZhUB@e ProNav: ac range: 120.296967 m, nav range: 117.086090 m, bearing: 249.588901 deg, approach rate: -0.744530 m/s, LOS rate: -0.042021 deg/s, cmd heading: 257.744947 deg, new cmd heading: 257.695895 deg. BhmmHeadingCmd: 4.497642 target range: 120.296967 and range: 120.90 m.hm@hi*hq"hq hqgqfqB>BBIBSBB =BBBr;Bk.EBMCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510251BMCBIBM =BM =CMΥ5ffdddjdZd5 J?q颅Bɢ-) {1>i)Y顉iXi俉!<;;I@I}9@ @@4@ԡ^A0;E : E ;E *E "E \p;*E ;VE (N4ZE BE l ӹ,O?AR@@R @RhͼٱR5 & ZAHRS rotation from veh to nav: [[-0.224183,0.960840,0.162876],[-0.974224,-0.225257,-0.012091],[0.025072,-0.161388,0.986573]]RH ̿`3? ?,5̿ˆj?@\Ŀ?iR@@IR^;RLCYUVBy]I aaiMb@Mb@Mb@ 9^I +?Q- >9Y=FyEE>!Q 5-(5%i_?Q 9-(5%w)%OBY-9?Q E-:y5qQ I5x@%DI%. ;i% ;%d(5y=#Bɮ=bA=EjhaeFNOT Ignoring new targets: 120.30 m.Rhmq4Zhmq4} ProNav: ac range: 120.296967 m, nav range: 116.769730 m, bearing: 249.571584 deg, approach rate: -0.718557 m/s, LOS rate: -0.039438 deg/s, cmd heading: 257.695907 deg, new cmd heading: 257.643816 deg. Bh}غHeadingCmd: 4.496733 target range: 120.296967 and range: 120.90 m.h<@h*h"h hgfff(BdddjdZdఛ@eBɢed) B>i)顡i Yi{俉4!<:I<@II)eAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015032%9@! @!@%Y4@!) ^AE j:Aq I I O >D =D 4=E 8 E E &E "E n;*E :VE 4ZE a @a @a @a @] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266071nٹ,h?A Rㅈ@R@R^ͼٱRB' vAHRS rotation from veh to nav: [[-0.225891,0.960249,0.163996],[-0.973830,-0.226925,-0.012651],[0.025067,-0.162562,0.986380]]RH̿\??) Ϳ@艿`+?Ŀl?iRㅈ@IRu^;RKCYnByIbD VD 1y%=%%H=ٔ-aC7Q-->91Y1=5Fy=E=TE=>IQ 5U(5MLY?Q 9](5M))MYBYYy]Q Iex@MDIMk8;iM9;Mph(5yqɮuAqB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 120.30 m.Rh.Zh. ProNav: ac range: 120.296967 m, nav range: 116.474747 m, bearing: 249.555603 deg, approach rate: -0.703971 m/s, LOS rate: -0.038235 deg/s, cmd heading: 257.643806 deg, new cmd heading: 257.595741 deg. BhѺHeadingCmd: 4.495894 target range: 120.296967 and range: 120.90 m.h]ޏ@h*h"h hgf!f!f!d)d1d1jd9Zd=@IBɢڻ) ^q>i)>i+Zi俉 < :I]ޏ@I q@ @@02@AqAuAAB}>B}CB}IB}mBByByB}DB}r;B}.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518157Ա ^A q:A dAzA fA A I I O > ,J_?A6=|@6 w@6˼ٱ6_u' JAHRS rotation from veh to nav: [[-0.227039,0.959958,0.164117],[-0.973569,-0.228017,-0.013108],[0.024839,-0.162756,0.986354]]6HͿ ??y'/ͿJ؊ Lo? ,Ŀ5?i6=|@I6^;4YVByVIi5Mb@Mb@Mb@1111 195ʡE?~jtX9v?Y5-2?y55<5X A5@ 5n@)5@1Y5@bDMVDM0y]=%]K=ٔ]3:Q-]>9aYa=eFyeEm@Em>qQ 5}(5uR?Q 9}(5u3)udBY}2?Q E}:y\Q Ix@uDIu0;iuT:uk(5yɮAjhFNOT Ignoring new targets: 120.30 m.Rh0Zh0Eh E6E)E"E ;*E ;VEFA4ZEBExi)i%[i-俉- <-88I-ُ@I1@ @@/@^A% 9I  BDAT read: Rx Time:04:57:00.9400  TRx dataTimestamp_ set to:1761541022.396190 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023303Aq Iy I O >0,(?A2q@2k@2˼ٱ2j( >AHRS rotation from veh to nav: [[-0.228372,0.959429,0.165354],[-0.973256,-0.229324,-0.013572],[0.024898,-0.164031,0.986141]]2HJ;Ϳळ? O*?$|ZͿˋ~?@Ŀ`w?i2q@I2h^;2LCYFByF(IIJ;>)J<bDRVDR:yZ'=%ZV=ٔZ#Q-Z>9\Y\=^Fy^Eb+kEb>dQ 5j(5fL?Q 9j(5f錿)fnBYhyjQ Ijx@fDIf :if0;fDo(5yrBɮrGArEjh FNOT Ignoring new targets: 120.30 m.RhZh ProNav: ac range: 120.296967 m, nav range: 115.932999 m, bearing: 249.534021 deg, approach rate: -0.692958 m/s, LOS rate: -0.027506 deg/s, cmd heading: 257.562335 deg, new cmd heading: 257.530844 deg. BhHeadingCmd: 4.494761 target range: 120.296967 and range: 120.90 m.hՏ@h*h"h hgfffdddjdZdkN @5Bɢ54:)q u>iq)}yyi}]i俉hB < IՏ@I1i5>Q@ @@/@E 9 E 8E *E "E so;*E  ;VE (N4ZE a@a@a@a@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274540y^A?BI9ԩ I I O% >WZ,?AB4B4B6!IB6BB6 =B4B4B6r;B6.E@J~g@JJb@JYʼٱJ+ ) VAHRS rotation from veh to nav: [[-0.229505,0.959127,0.165540],[-0.972994,-0.230404,-0.014016],[0.024698,-0.164287,0.986103]]JHj`Ϳ@*?m0?"}Ϳ8 J?@Wſ(?iJ~g@IJ _;HzDAT read: 04:57:00.9400 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.43,-0.633,-2.141,-0.136,-0.689, PHS= 0.159,-1.407, 0.510, RAW= 159.9, 8.4, CAL= 159.6, 8.7, ROT= 350.4, -8.7 ~Ygot valid direction response: 04:57:00.9400 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.43,-0.633,-2.141,-0.136,-0.689, PHS= 0.159,-1.407, 0.510, RAW= 159.9, 8.4, CAL= 159.6, 8.7, ROT= 350.4, -8.7 PDAT read: Bearing 51.6, -9.7 (Local) ~Local bearing/azimuth received: Bearing 51.6, -9.7 (Local) DAT read: Range 11 to 50 : 118.0 m (Round-trip 157.4 ms) speed 0.2 m/s *DAT read: user:249> BDAT read: Tx time:04:57:02.0285 %$Ping request sent.%ibb\?b)2@bQ >baF2@ b|>)bE@Ib|``bح])I?ݎN?@L? bG2?)b Ib+ib|``m:publishing transmit ping time!mFpublishing direction and range infoy`b4VW0?Iſni\?Y````` `)`I`i```y}4<%>=ٔ9Q->9Y=FyEI1E>`` `)`I```bح])I?ݎN?@L? `)`I`i```Q 5(5E?Q 9(5z)zBYyQ Ix@DIgi)i^i忉<)VxI4Ϗ@I@ @@/@@@ED E3EE"Eny;*Et ;VEZEBEBA >1 I I O >,?A2b@2]@2|Ƽٱ2;6) :AHRS rotation from veh to nav: [[-0.230068,0.958985,0.165579],[-0.972873,-0.230879,-0.014601],[0.024227,-0.164447,0.986088]]2HrͿ ?1?@!sͿ捿Θ?` ſ` ?i2b@I23^;0YFByFGIiMMb@Mb@Mb@IIII I9MPn?T㥛 /$?YM$?yMM,=MAM$@ MX@)M+@IYM@bDeVDeyu=%u5=ٔu:Q-u>9yYy=}Fy}EkE>Q 5(5<>?Q 9(5)BY<%?Q E:yQ Ix@DI; ;i;v(5yɮnAjhFNOT Ignoring new targets: 117.41 m.RhyZhy ProNav: ac range: 117.409866 m, nav range: 115.431587 m, bearing: 249.402458 deg, approach rate: -0.756650 m/s, LOS rate: -0.015461 deg/s, cmd heading: 257.489717 deg, new cmd heading: 257.471972 deg. Bh)HeadingCmd: 4.493733 target range: 117.409866 and range: 118.00 m.h̏@h*h"h hgfffBdddjdZd;?ԉBɢp;)) -Ʒ>i))5p11i5_i= 忉=a|<=I=̏@IA@ @@/@Թ^A qIi Iy O >E  E 0E E "E *E ;VE ZE a @a @a @a @ 0,?AR^@RY@R¼ٱR}t) ^AHRS rotation from veh to nav: [[-0.230546,0.958851,0.165693],[-0.972772,-0.231268,-0.015187],[0.023757,-0.164683,0.986061]]RHͿ?l5? 2Ϳ S?Rſ΍?iR^@IR^;RJCYfǀByfdI hhbDrVDr0yz=%zR=ٔzg:Q-~>9|Y|=~Fy~EoE> Q 5(5 7?Q 9(5 ) BYyQ Ix@ DI 1:i : ]z(5y!ɮ%A!EB*** querying acoustic contact ***iA iAjhIUFNOT Ignoring new targets: 117.41 m.RhUmZh]me ProNav: ac range: 117.409866 m, nav range: 115.182068 m, bearing: 249.397406 deg, approach rate: -0.640726 m/s, LOS rate: -0.013000 deg/s, cmd heading: 257.471958 deg, new cmd heading: 257.456770 deg. BhmuHeadingCmd: 4.493468 target range: 117.409866 and range: 118.00 m.hu~ʏ@hq*hq"hq hqgqfyfyfydyddjdZdA?-Bɢ5|m;)1 5}>i1)5P19i=ai=u忉E&<I~ʏ@IY@Y @Y@]~0@YB>BCBYIBBB =BBDBr;B.EUT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode. ^AΒ{I I) 9 OE >,?AE2C E2CE2.E0"E2x;*E2;VE2ـ4ZE0BE2z9Y=FyE[:E>Q 5(5/?Q 9 (5i)BY N?Q E :y Q I x@/DI:i:&~(5yBɮ-AEjhAEFNOT Ignoring new targets: 117.41 m.RhM7ZhM7] ProNav: ac range: 117.409866 m, nav range: 114.919151 m, bearing: 249.398158 deg, approach rate: -0.607536 m/s, LOS rate: 0.001741 deg/s, cmd heading: 257.456768 deg, new cmd heading: 257.459028 deg. Bh]8eHeadingCmd: 4.493508 target range: 117.409866 and range: 118.00 m.heʏ@ha*ha"ha hagifififm%BdqdqdqjdqZd}y?QUBɢ]jI<)Y ]|>ia)eeiiimGciu(忉}m<}*sIʏ@IA@A @A@E2@I@M=@M=yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500208^A NJκA fAzA bAԩ I I O >9,"?A2h@2c@2A嶼ٱ2T( :AHRS rotation from veh to nav: [[-0.229370,0.959264,0.164929],[-0.973083,-0.229880,-0.016252],[0.022324,-0.164217,0.986172]]2H[ͿJ?d?#lͿ@B+ܖ?ſ?i2h@I2T^;0@YFByFIbDRVDRyVN=%Za=ٔZE:Q-Z>9XY\=^Fy^E^;Eb>`Q 5f(5b)?Q 9j(5b׭)bBYhyjQ Ijx@b=DIbB:ib:bT(5ypɮrApjhFNOT Ignoring new targets: 117.41 m.Rht7Zht7 ProNav: ac range: 117.409866 m, nav range: 114.698112 m, bearing: 249.398711 deg, approach rate: -0.581582 m/s, LOS rate: 0.001458 deg/s, cmd heading: 257.459036 deg, new cmd heading: 257.460698 deg. Bh8HeadingCmd: 4.493537 target range: 117.409866 and range: 118.00 m.hˏ@h*h"h hgfffdddjdZd@3?-Bɢ-ЉS<)) ->i))5Xs11iU ei]3忉]ft<]?I]ˏ@IaE}7 E}!E}*Ey"E}m;*E}:VE}(N4ZEya@a@a@a@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7524989@ @@3@^AΒ{IqIO> B B B IB BB =B B B r;B o.Ei߁ I߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004438c,p[)J>lbDrVDryM;=%MA=ٔM:Q-M>9QYQ=UFyUE]"`;E]>aQ 5m(5e`!?Q 9m(5e+)eBYiymQ Imx@eNDIe:iae(5y}Bɮ4AE؀G]hA9hAYAjhFNOT Ignoring new targets: 117.41 m.Rhc7Zhc7 ProNav: ac range: 117.409866 m, nav range: 114.440811 m, bearing: 249.399189 deg, approach rate: -0.540092 m/s, LOS rate: 0.001007 deg/s, cmd heading: 257.460702 deg, new cmd heading: 257.462141 deg. Bh08 -HeadingCmd: 4.493562 target range: 117.409866 and range: 118.00 m.h-Cˏ@h)*h)"h) h1g1f1f1f9d9d9d9jd9ZdEu@Bɢ5<) >i)$i"gi^忉<^:ICˏ@II)}9@y @y@}4@bE(N4jEƙT4rE^0E> E0E,E"Es;*E;VEg4ZEBE,W?A\YzByzIonly read 0 of 1 data item for BIT error. Device response is::TS,000503084523 +10.8, 0.0,1492.9, 0 a@a% a%@a% a%@a% a%@a% bD-VD-y=W<%=A=ٔEQ-E>9E ?YE ?=EFyMEMEM>QQ 5](5U?Q 9](5U})UΕBQ Ae+:YaQ Ee:yaQ Iex@U^DIU:iU>U(5yiɮmAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508233jhFNOT Ignoring new targets: 117.41 m.Rh7Zh7 ProNav: ac range: 117.409866 m, nav range: 114.183662 m, bearing: 249.399670 deg, approach rate: -0.721355 m/s, LOS rate: 0.001351 deg/s, cmd heading: 257.462150 deg, new cmd heading: 257.463595 deg. BhIm8HeadingCmd: 4.493587 target range: 117.409866 and range: 118.00 m.hxˏ@h*h"h hgfffdddjdZd7E@Bɢ<) >i)ٝihi忉2<in':Ixˏ@I9@ @@/@ ^A9AA>E? E.E'E"Et;*E;VE'4ZEa @a @a @a @M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7607489 A ؟AI1 II Oe >,SYq?A:ꍈ@:@:ٱ:# FAHRS rotation from veh to nav: [[-0.224964,0.961205,0.159615],[-0.974168,-0.225194,-0.016886],[0.019713,-0.159291,0.987035]]:H̿ 0?Fn?a,$̿@J`/?cĿ ʕ?i:ꍈ@I:];8YNByPbDZVDZybN%bS=ٔb ;Q-b>9f"?Yf"?=fFyfEf<Ej>hQ 5r(5j?Q 9r(5jE)jڕBQ Ar :YpQ Erd:yr2Q Ivx@jmDIj ;ijO?j?(5yxɮzAx B*** querying acoustic contact ***i ijh!%FNOT Ignoring new targets: 117.41 m.Rh-6Zh-6= ProNav: ac range: 117.409866 m, nav range: 113.948860 m, bearing: 249.399774 deg, approach rate: -0.607250 m/s, LOS rate: 0.000270 deg/s, cmd heading: 257.463598 deg, new cmd heading: 257.463911 deg. Bh=t=7EHeadingCmd: 4.493593 target range: 117.409866 and range: 118.00 m.hEˏ@hA*hI"hI hIgIfIfQfQdQdQdQjdYZd]5S@颅Bɢ2V<) |>i)ʚ顑iji`忉y<'e;Iˏ@I9@ @@/@B>BBIBBBBBBPr;BL.EBBBB =B =C*5IBDAT read: Rx Time:04:57:04.5869 TRx dataTimestamp_ set to:1761541025.924406checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013486^A}rg:ԉA I I O >ԡ E 7 E E )E "E m;*E VE FA4ZE BE 9yYy=}Fy}E;E>Q 5(5F ?Q 9(5ƿ)BQ AT:Y?Q E:yPQ Ix@~DIM;i;O(5yBɮAEjh)-FNOT Ignoring new targets: 117.41 m.Rh59Zh59 ProNav: ac range: 117.409866 m, nav range: 113.683701 m, bearing: 249.409753 deg, approach rate: -0.561786 m/s, LOS rate: 0.021193 deg/s, cmd heading: 257.463899 deg, new cmd heading: 257.493908 deg. Bhh: HeadingCmd: 4.494116 target range: 117.409866 and range: 118.00 m.h Ϗ@h *h "h  h g fffPBdddԙjdZd @颅BɢD<) ?i)+a顉ili7忉j<;IϏ@I>i@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524439 ^A _;!A9IIIYOe>),5~?ADHzDJ@AEN5 EN4EN*EL"ENk;*EN ;VEN(N4ZELaR@aR@aV@aV@%DAT read: 04:57:04.5869 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.29, 0.469,-1.088, 0.960, 0.442, PHS= 0.129,-1.485, 0.474, RAW= 159.5, 9.8, CAL= 159.4, 10.5, ROT= 350.6, -10.5 UYgot valid direction response: 04:57:04.5869 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.29, 0.469,-1.088, 0.960, 0.442, PHS= 0.129,-1.485, 0.474, RAW= 159.5, 9.8, CAL= 159.4, 10.5, ROT= 350.6, -10.5 ]PDAT read: Bearing 52.9, -10.0 (Local) ]~Local bearing/azimuth received: Bearing 52.9, -10.0 (Local) eDAT read: Range 11 to 50 : 115.6 m (Round-trip 154.2 ms) speed 0.4 m/s m*DAT read: user:250> BDAT read: Tx time:04:57:05.6785 $Ping request sent.Ŀm~S?Yz3Bxxxx x)zDIz>iz{z!>z)2@z%/>z/ 2@ zf;>)z@Izf;xxzOhMV?j$?Fd׆? zxv0?)zh.Iz'izf;xx}:publishing transmit ping timeFpublishing direction and range infoyxzwV ?`I>Ŀm~S?Yx@V@ٱN* xxxx x)xIxixxxxx x 5AHRS rotation from veh to nav: [[-0.219306,0.963147,0.155735],[-0.975502,-0.219295,-0.017468],[0.017328,-0.155751,0.987644]]H:̿?#?`P7̿㑿d? ÿ`Ț?i@I];MC)xIxxxzOhMV?j$?Fd׆? x)xIxixxxY}ByIbDVDy<%=ٔ&;Q->9Y=FyEK;E>Q 5%(5?Q 9%(5Ϳ)BY)y-Q I-x@DI%Ŀm~S?Ziz'bizf;jzk~C8<5JZn39@Zz߼UտA(wod?2izQ:iz"izs(?*iz 铛Biz Bizs?ixixizwBizml@ addTargetRange:: Added new target pos. range: 115.599998 m, deltaT: 3.779828 s, deltaX: -2.400002 m, approachRate: -0.634950 m/s, rangeRepo size: 4  Added new target pos. range: 115.022209 m, bearing: 249.653836 deg, lat: 36.779367 deg, lon: -121.859614 deg, deltaT: 3.779828 s, deltaX: -2.387657 m, approachRate: -0.631684 m/s, posRepo size: 4 jh9=FNOT Ignoring new targets: 115.02 m.RhEZhAU ProNav: ac range: 115.022209 m, nav range: 113.232437 m, bearing: 249.636882 deg, approach rate: 0.000000 m/s, LOS rate: 0.021193 deg/s, cmd heading: 257.493897 deg, new cmd heading: 257.527692 deg. BhQ}HeadingCmd: 4.494706 target range: 115.022209 and range: 115.60 m.h}ԏ@hy*hy"hy hygfffdddjd`f\@ZdH?]BɢeQd<)a e?ia)e?9aiim/ni俉M<f!;Iԏ@IB>BCBIBBB =BBDBr;B+.Ea@i @i@i@iA ^A= ϩ;ԉ AyIIO>31,/6?A>̈@>Ə@>ٱ>} FAHRS rotation from veh to nav: [[-0.217575,0.963732,0.154538],[-0.975892,-0.217588,-0.017039],[0.017204,-0.154520,0.987840]]>H{˿`?`? :˿`r? Oÿ`b?i>̈@I>N];>JCYRByRIxi-Mb@Mb@Mb@)))) )9-ˡE?K7A:v?Y-?y- -<)-h@ -n@)-X@)Y-\@bDEVDEk2E]@ E]2E](EY"E]u;*E];VE]c44ZEYBE] 9yYy=}Fy}E;E>Q 5(5 ?Q 9(5ҿ)BY ?Q E:yQ Ix@DIP ;iu ;M(5yBɮAEjhQuFNOT Ignoring new targets: 115.02 m.Rhu9Zhu9 ProNav: ac range: 115.022209 m, nav range: 113.013664 m, bearing: 249.646797 deg, approach rate: -0.557606 m/s, LOS rate: 0.025322 deg/s, cmd heading: 257.527693 deg, new cmd heading: 257.557498 deg. Bh:HeadingCmd: 4.495226 target range: 115.022209 and range: 115.60 m.h؏@h*h"h hgfffVBdddjdZd`s?]Bɢ]<)a >i)F.顉i"pi俉?<8,?AYByI!%=bD-VD-:y=%EN=ٔEQ-E>9M ?YM ?=MFyMEMEM>YQQ 5e(5U:慠?Q 9e(5U׿)UBYiyiQ Imx@UDIU1;iU:Uę(5yu BɮuAuEjhFNOT Ignoring new targets: 115.02 m.Rh9Zh9 ProNav: ac range: 115.022209 m, nav range: 112.799034 m, bearing: 249.656562 deg, approach rate: -0.565184 m/s, LOS rate: 0.025763 deg/s, cmd heading: 257.557500 deg, new cmd heading: 257.586851 deg. Bhr:HeadingCmd: 4.495739 target range: 115.022209 and range: 115.60 m.hݏ@h*h"h hgfffdddjdZd+?Bɢ)<) ,>i ) U  i 0Vri俉s/<;Iݏ@I9@ @@0@Dm=Dm<EuC Eu5Eu-Eq"Eux;*Eu ;ԁVEut4ZEqa@a@a@a@Ա^A<A% ؟AI1 IA OM > B} <Ay B >B B B B B B B q;B .EKD>,?A>*@>@>(ٱ> FAHRS rotation from veh to nav: [[-0.214229,0.964645,0.153509],[-0.976638,-0.214249,-0.016612],[0.016864,-0.153482,0.988008]]>Hk˿`?@1?@@l˿`D?Jÿ?i>*@I>K];9f"?Yf"?=fFyfEj<Ej>lQ 5r(5n窊?Q 9r(5nܿ)nBYtyvQ Ivx@nDIn;in:n'(5yxɮxxB*** querying acoustic contact ***i ijh%FNOT Ignoring new targets: 115.02 m.Rh%p9Zh-p9= ProNav: ac range: 115.022209 m, nav range: 112.588806 m, bearing: 249.665802 deg, approach rate: -0.542118 m/s, LOS rate: 0.023872 deg/s, cmd heading: 257.586842 deg, new cmd heading: 257.614614 deg. Bh=:EHeadingCmd: 4.496223 target range: 115.022209 and range: 115.60 m.hE@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU?ԹBɢG<) >i) 3)  i ti+俉1<:|&9 G.E,Ϻ?A2$@2@2؇ٱ2p :AHRS rotation from veh to nav: [[-0.212325,0.965336,0.151806],[-0.977058,-0.212353,-0.016217],[0.016582,-0.151766,0.988277]]2Hx-˿? ]n?Dd.˿@#?@mÿ?i2$@I2_];2LCYZByZIi=Mb@Mb@Mb@9999 99=#~j?x&/$?Y=?y=7 =<= A=$@ =X@)=+@9Y=@bDUVDU1ye ;%e<ٔmK.:Q-m>9iYi=mFyuEuS;Eu>yQ 5(5}!ߪ?Q 9(5}Y)}#BYQ ?Q E:yQ Ix@}DI}A;i}:}ߠ(5yɮAjhFNOT Ignoring new targets: 115.02 m.Rhe9Zhe9 ProNav: ac range: 115.022209 m, nav range: 112.361130 m, bearing: 249.677651 deg, approach rate: -0.535219 m/s, LOS rate: 0.027910 deg/s, cmd heading: 257.614627 deg, new cmd heading: 257.650246 deg. Bh<:HeadingCmd: 4.496845 target range: 115.022209 and range: 115.60 m.h(@h*h"h hgfffi) …  i uiʦ俉{<<F4 XK,/?AV@V@V0ٱVƘ bAHRS rotation from veh to nav: [[-0.211652,0.965414,0.152249],[-0.977212,-0.211607,-0.016686],[0.016108,-0.152311,0.988201]]VH@j˿`?@|?RE`˿2@~?~ÿ@X?iV@IV|];VJCYjByjI ppbDvVDvk1y~%~Q=ٔ:Q->9Y=Fy E :E >Q 5(5Vת?Q 9(5P)-BY!y%Q I%x@DI;i;H(5y)ɮ-*A)jhQFNOT Ignoring new targets: 115.02 m.Rh9Zh9 ProNav: ac range: 115.022209 m, nav range: 112.152092 m, bearing: 249.688493 deg, approach rate: -0.536256 m/s, LOS rate: 0.027864 deg/s, cmd heading: 257.650254 deg, new cmd heading: 257.682839 deg. Bh:HeadingCmd: 4.497414 target range: 115.022209 and range: 115.60 m.h@h*h"h hgfffdddjdZd @G @ԱBɢkq<) K>i)тi'wi%%俉%G<-ž3B-CB-IB-BB- =B)B)B-q;B--Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252061^A *:< I I O >1 >R,jI?A:x@:D@:ʒٱ: BAHRS rotation from veh to nav: [[-0.211214,0.965437,0.152708],[-0.977308,-0.211159,-0.016765],[0.016061,-0.152784,0.988129]]:H ˿`?? FF˿**r?@mÿ?i:x@I:p];:HCEEB EE>EE*EA"EEw;*EE?;VEE(N4ZEABEE99YA=EFyE EEf:EM>IQ 5U(5M/Ϊ?Q 9](5M)M8BY] ?Q E]:y]Q I]y@MDIM:iMj:M(5ymBɮmuAmEjhFNOT Ignoring new targets: 115.02 m.RhA9ZhA9 ProNav: ac range: 115.022209 m, nav range: 111.877136 m, bearing: 249.695673 deg, approach rate: -0.539602 m/s, LOS rate: 0.014125 deg/s, cmd heading: 257.682847 deg, new cmd heading: 257.704440 deg. Bh:HeadingCmd: 4.497791 target range: 115.022209 and range: 115.60 m.h@h*h"h hgfffBdddjdZd ^@Bɢ3<) r>i)QiCyiЇ俉V<uf4hX,Dc?A 6Q@6@6z[ٱ6u >AHRS rotation from veh to nav: [[-0.210516,0.965277,0.154671],[-0.977455,-0.210470,-0.016861],[0.016278,-0.154733,0.987822]]6H`.ʿ?A?OGʿC??`Lÿ@=?i6Q@I6e];6JC D)F$lAF#FgFDHJ9lAiJ#IJOFHILiNQlA NNCmF)LP RlAR 0R@FPTV lAIV)VRFiT)XIZkAZvZ1ZF XXZlA\i\\i\b"A)` `I`Y`YfˀByjiIbDEVDEyM %U=ٔU8Q-U?9QYY=]Fy] E};E}?Q 5(5Ȫ?Q 9(5 )>BYyQ Iy@DI:i:v(5yBɮAEjhFNOT Ignoring new targets: 115.02 m.Rh{9Zh{9 ProNav: ac range: 115.022209 m, nav range: 111.708557 m, bearing: 249.700021 deg, approach rate: -0.533021 m/s, LOS rate: 0.013769 deg/s, cmd heading: 257.704431 deg, new cmd heading: 257.717495 deg. Bh2:%HeadingCmd: 4.498019 target range: 115.022209 and range: 115.60 m.h%@h!*h!"h! h!g)f)f)f)d1dQdQjdYZd]`@颥 Bɢ:e<) ;>i)V={顩i%ziW俉a<< PExceeded connect timeout, disconnecting. B% >B% CB% IB% BB! B! B! B% Zq;B% -E] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255693ܘ^,9}?A2 @2~@2䆼ٱ2^ >AHRS rotation from veh to nav: [[-0.210231,0.965141,0.155902],[-0.977513,-0.210197,-0.016894],[0.016465,-0.155948,0.987628]]2Hʿo??GʿLQܐ?ÿ ?i2 @I2'];2ICH 99Y5ʀBy=hIGAA)U9QYUAbDMVDM:2ym%m9=ٔuݹQ-u>9qYq=}Fy}E}-:E}>Q 5(5?Q 9(5)GBYyQ Iy@DIm};ik;O(5yɮAMB*** querying acoustic contact ***iQ iQjhFNOT Ignoring new targets: 115.02 m.Rh _9Zh_9E ProNav: ac range: 115.022209 m, nav range: 111.470840 m, bearing: 249.706131 deg, approach rate: -0.474749 m/s, LOS rate: 0.012229 deg/s, cmd heading: 257.717490 deg, new cmd heading: 257.735860 deg. BhEI:MHeadingCmd: 4.498339 target range: 115.022209 and range: 115.60 m.hMe@hI*hI"hI hIgIfQfqfqdydydyjdyZd} @  Bɢ e<)  >iQ)UtQQiU7|i]u俉]Gu<]wt: BDAT read: Tx time:04:57:09.3285 $Ping request sent.IQ=iB`E>|0@Q> 0@  j>)p{@I j ^? J??\9? A)?)NQITi jM :publishing transmit ping timeM Fpublishing direction and range infoy;I A.AIIO>f,y?A2 @2r@2$ٱ2B! NAHRS rotation from veh to nav: [[-0.209878,0.965026,0.157086],[-0.977586,-0.209853,-0.016939],[0.016618,-0.157120,0.987440]]2H@Kʿ ~?c?cHsʿXN?Ŀ?i2 @I2^;2JCYIyIԉiMMb@Mb@Mb@IIII I9Moʡ?~jty&1|?YM ?yMĽM`;II MA@)M+@IYM@bDeVDe1yu:%u'=ٔ}Q-}>9} ?Y} ?=}Fy}EA:E>Q 5(5/?Q 9(5t)OBY1?Q E:yQ Iy@DIv:i:(5yɮAiIiML?AJiMBRiMBjiM@bMfSP[@k'}|/A㩯9@RM;@ӿW%X?2iM:iMY"iM?*iMK(2BiMBiMs(?iMK(2iMBiMnBiM@ addTargetRange:: Added new target pos. range: 113.900002 m, deltaT: 3.528504 s, deltaX: -1.699997 m, approachRate: -0.481790 m/s, rangeRepo size: 4   Added new target pos. range: 113.329086 m, bearing: 251.842001 deg, lat: 36.779371 deg, lon: -121.859610 deg, deltaT: 3.528504 s, deltaX: -1.693123 m, approachRate: -0.479842 m/s, posRepo size: 4 jh  FNOT Ignoring new targets: 113.33 m.RhZh% ProNav: ac range: 113.329086 m, nav range: 110.716583 m, bearing: 249.841428 deg, approach rate: 0.000000 m/s, LOS rate: 0.012229 deg/s, cmd heading: 257.735850 deg, new cmd heading: 257.751530 deg. Bh!-HeadingCmd: 4.498613 target range: 113.329086 and range: 113.90 m.h-@h)*h)"h1 h1g1f1f9f=Bd9d9dAjdEy\@ZdE@X?u Bɢu=26<)q uI>iq)} pyyi}P}il俉<o;yl,4?A6a @6.@6ډٱ6<" >AHRS rotation from veh to nav: [[-0.209909,0.964912,0.157745],[-0.977576,-0.209905,-0.016876],[0.016827,-0.157750,0.987336]]6HOʿ?@0?MH-ʿH(;?`)1ĿA?i6a @I6Y^;6ICYFByJDIbDRVDRNyZ1,%Zm=ٔZVQ-Z?9^"?Y^"?=^Fy^EbsŸEb?dQ 5j(5f,?Q 9j(5f&)fUBYhyjQ Ijy@f DIf:if=:f(5rnManaging dock network, ignoring radio surface power offytɮvAtjhFNOT Ignoring new targets: 113.33 m.Rh(9Zh(9- ProNav: ac range: 113.329086 m, nav range: 110.524368 m, bearing: 249.844242 deg, approach rate: -0.563200 m/s, LOS rate: 0.008260 deg/s, cmd heading: 257.751532 deg, new cmd heading: 257.759989 deg. Bh-d95HeadingCmd: 4.498761 target range: 113.329086 and range: 113.90 m.h5@h1*h1"h9 h9g9f9fAfAdAdAdIjdIZdM3?uBɢc<) @>i)li~i h俉 < o8E - E NE )E "E d;*E ;VE FA4ZE BE =AHRS rotation from veh to nav: [[-0.209791,0.964823,0.158445],[-0.977599,-0.209796,-0.016890],[0.016946,-0.158439,0.987223]]6Hrʿ?@G?`~Hʿ@K1Z? GĿ`U?i6^ @I6^;4YFByJFIiUMb@Mb@Mb@QQQQ Q9UI +?#~jMbP?YU9?yU㥽U:U AU$@ Q)U@QYQbDmVDmy}>;%}>=ٔ}`Q-}>9Y=FyE9E>Q 5(5?Q 9(5Z )ZBY?Q E:yQ Iy@0DI ;iG ;U(5yBɮAEjhFNOT Ignoring new targets: 113.33 m.RhZh ProNav: ac range: 113.329086 m, nav range: 110.273376 m, bearing: 249.843807 deg, approach rate: -0.585688 m/s, LOS rate: -0.001018 deg/s, cmd heading: 257.760001 deg, new cmd heading: 257.758692 deg. Bh2HeadingCmd: 4.498738 target range: 113.329086 and range: 113.90 m.h@h*h"h hgfffBdddjdZd ?5Bɢ=;)9 =>i9)=$LhAAiEiEh俉M z,?A2z @2F@2G ٱ2# >AHRS rotation from veh to nav: [[-0.210135,0.964617,0.159242],[-0.977521,-0.210165,-0.016846],[0.017217,-0.159202,0.987096]]2H`ʿ#? b?G`ʿ(@O?`ĿJ?i2z @I2ơ^;0YFByF/IbDRVDRܲyZZ%ZX=ٔZ;Q-^>9\Y\=^Fy^!EbsEb>dQ 5j(5f?Q 9j(5f)f^BYlynQ Iny@f>DIf;if; ;f(5ypɮr6Apjh  FNOT Ignoring new targets: 113.33 m.RhKZhK% ProNav: ac range: 113.329086 m, nav range: 110.051697 m, bearing: 249.843460 deg, approach rate: -0.584290 m/s, LOS rate: -0.000917 deg/s, cmd heading: 257.758690 deg, new cmd heading: 257.757646 deg. Bh%'!-HeadingCmd: 4.498720 target range: 113.329086 and range: 113.90 m.h-@h)*h)"h1 h1g1f1f9f9dAdAdAjdAZdM>?颍BD=DE, EE-E"Ec;*E:VEt4ZEa@a@a@a@ɢ5;)1 5>i1)=d9AiE̥iM^i俉uB1B5fIB5ȀBB1B1B1B5p;B5{-E^Aa) A I I O >V怺,?AN@N@NPٱN5 % VAHRS rotation from veh to nav: [[-0.210657,0.964288,0.160540],[-0.977401,-0.210722,-0.016814],[0.017616,-0.160454,0.986886]]NHʿq?? Fʿ 7 ?Ŀ`?iN@IN^;NJCY%By-)IbDmVDm02yb%/=ٔ`Q->9Y=Fy&EДE>Q 5(5?Q 9(5)dBYyQ Iy@ODIF;i;(5yBɮUAEB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 113.33 m.Rh5!`Zh5!`E ProNav: ac range: 113.329086 m, nav range: 109.776405 m, bearing: 249.843099 deg, approach rate: -0.583358 m/s, LOS rate: -0.000765 deg/s, cmd heading: 257.757652 deg, new cmd heading: 257.756568 deg. BhEzMHeadingCmd: 4.498701 target range: 113.329086 and range: 113.90 m.hM[@hI*hI"hIQ hIgQfQfYfYdYdYdajdaZde@Ec?UBɢU@;)Q U>iY)]`YYi]Giej俉e@=,]?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.226760:-@:@:ٱ:*% BAHRS rotation from veh to nav: [[-0.211122,0.964099,0.161059],[-0.977294,-0.211237,-0.016607],[0.018011,-0.160908,0.986805]]:H˿?`?`E@ ˿_~q?Ŀ@?i:-@I:XK_;:ICYNByNIIR=)R=V=V=^only read 0 of 1 data item for BIT error. Device response is::TS-612, +0, +4,A a^@a^ a^@a^ a^@a^ a^@a^ bDbVDbyjY%je=ٔnQ-n>9lYl=nFyr)EvٱEv>xQ 5z(5z?Q 9~(5z)ziBQ A~+:Y|Q E~:y~Q Iy@z]DIz ;iz^>zA(5y ɮ A jh15FNOT Ignoring new targets: 113.33 m.Rh={7Zh={7M ProNav: ac range: 113.329086 m, nav range: 109.570747 m, bearing: 249.842879 deg, approach rate: -0.584957 m/s, LOS rate: -0.000627 deg/s, cmd heading: 257.756559 deg, new cmd heading: 257.755898 deg. BhM-ܷUHeadingCmd: 4.498689 target range: 113.329086 and range: 113.90 m.hUC@hQ*hQ"hQ hYgYfYfafadadadijdiZdm`@UBɢUh;)Q U2r>iy)}A^yyi}7ρi`j俉~<1)Z,?8?A6@6@6cٱ6& >AHRS rotation from veh to nav: [[-0.212129,0.963774,0.161681],[-0.977065,-0.212317,-0.016318],[0.018601,-0.161435,0.986708]]6H '˿9`Y`=bFyb-Ef*Ef>hQ 5n(5j?Q 9n(5jq )jnBQ An :YlQ Ern:yrQ Iry@jkDIj%;ij4@?j(5yvBɮvAvEjhFNOT Ignoring new targets: 113.33 m.RhZh- ProNav: ac range: 113.329086 m, nav range: 109.339127 m, bearing: 249.842755 deg, approach rate: -0.584125 m/s, LOS rate: -0.000314 deg/s, cmd heading: 257.755903 deg, new cmd heading: 257.755529 deg. Bh-\5HeadingCmd: 4.498682 target range: 113.329086 and range: 113.90 m.h55@h1*h9"h9 h9g9f9fAfAdAdAdIjdIZdMv@B>BBLIBBBBBB~p;Bc-E5Bɢ5;)9 =(e>i9)='[99iEYiEj俉E BDAT read: Rx Time:04:57:11.8816  TRx dataTimestamp_ set to:1761541033.233554 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986512E + E &E 'E "E b;*E ;VE '4ZE BE @>@>'@ٱ>% FAHRS rotation from veh to nav: [[-0.213059,0.963634,0.161295],[-0.976856,-0.213298,-0.016037],[0.018950,-0.160979,0.986776]]>HE˿?O?fBWM˿kg?@Ŀ ?i>@I>ZT_;9 ?Y ?=Fy2EE>Q 5(5?Q 9(5S')rBQ AT:Y!?Q E:y%Q Iy@}DIb;i ;L(5yɮAjhFNOT Ignoring new targets: 113.33 m.RhԹZhԹ ProNav: ac range: 113.329086 m, nav range: 109.067230 m, bearing: 249.832755 deg, approach rate: -0.630625 m/s, LOS rate: -0.023252 deg/s, cmd heading: 257.755521 deg, new cmd heading: 257.725445 deg. BhQHeadingCmd: 4.498158 target range: 113.329086 and range: 113.90 m.h @h *h "h  h g f ffjBdddjdZd @ @MBɢM/-;)I Mj>iQ)UpXQQi]i]{俉epRl,k?Aɰ;VV@V"@V[ٱVԈ% AHRS rotation from veh to nav: [[-0.213961,0.963432,0.161306],[-0.976651,-0.214250,-0.015808],[0.019330,-0.160922,0.986778]]VHc˿o? ?@l˿0"˓?Ŀ@?iVV@IV _;TaEU1 EU/EU%EQ"EU2h;*EUY;VEU 4ZEQam@am@am@am@DAT read: 04:57:11.8816 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.13, 0.253,-1.248, 0.728, 0.194, PHS= 0.161,-1.397, 0.490, RAW= 159.4, 8.6, CAL= 159.1, 9.0, ROT= 350.9, -9.0 Ygot valid direction response: 04:57:11.8816 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.13, 0.253,-1.248, 0.728, 0.194, PHS= 0.161,-1.397, 0.490, RAW= 159.4, 8.6, CAL= 159.1, 9.0, ROT= 350.9, -9.0 PDAT read: Bearing 51.7, -9.5 (Local) ~Local bearing/azimuth received: Bearing 51.7, -9.5 (Local) -DAT read: Range 11 to 50 : 111.7 m (Round-trip 149.0 ms) speed 0.4 m/s *DAT read: user:252> BDAT read: Tx time:04:57:12.9785 $Ping request sent.iвH>/ 2@`>g1@ | >)@I| 6{s?hv?= ]`? 0?)lI"i| :publishing transmit ping timeFpublishing direction and range infoyELN5?Mÿp ?Y )Ii )I6{s?hv?= ]`? )IiԙYuByu#IbDVDNAA@AB>BB:IBBBBBBKp;BK-EԱy<%=ٔ"Q->9"?Y"?=Fy8EƺE>Q 5(5u?Q 9(5"1)xBYyDQ Iy@DI:iF:(5y!ɮ-YA-Eii2o?AJiHBRiHBji֫@b 1 [@!Y\1m5;b1@RELN5?Mÿp ?Zi"bi| jEFmBY6 6@ZoKM#_տ_|wc?2i:it"i[H?*iBiBiiiBi\Bii@5  addTargetRange:: Added new target pos. range: 111.699997 m, deltaT: 3.529639 s, deltaX: -2.200005 m, approachRate: -0.623294 m/s, rangeRepo size: 4 E  Added new target pos. range: 111.141273 m, bearing: 250.080386 deg, lat: 36.779371 deg, lon: -121.859610 deg, deltaT: 3.529639 s, deltaX: -2.187813 m, approachRate: -0.619840 m/s, posRepo size: 4 jhA m FNOT Ignoring new targets: 111.14 m.Rhm Zh   ProNav: ac range: 111.141273 m, nav range: 108.679810 m, bearing: 249.818610 deg, approach rate: 0.000000 m/s, LOS rate: -0.023252 deg/s, cmd heading: 257.725440 deg, new cmd heading: 257.680649 deg. Bh  HeadingCmd: 4.497376 target range: 111.141273 and range: 111.70 m.h @h *h "h  h g f f f d d d jd [@Zd f? Bɢ% 8)! % ~r>i) )- R) ) i- dăi5 e俉5 +<5 Pi  9@  @ @ 4@ @% =@% =!^AEXAHRS rotation from veh to nav: [[-0.216977,0.962842,0.160802],[-0.975968,-0.217374,-0.015336],[0.020188,-0.160265,0.986868]]6H@˿ ?&? !; ˿qh)?Ŀ`k?i6Ј@I6s^;6GCDF"s@iDIDDH HHHHLLIL)LiL)PIRVjARLP PTTTiTTiTX)X XIX \)\\\\Y\Ydyf"IiMb@Mb@Mb@ 9NbX9?+~jtx?Y%?y;A A )@Y@bD VD N2yK%D=ٔQ-%>9!Y!=%Fy%<E-E->1Q 5=(55Lz?Q 9=(557)5}BY=%?Q EE:yE|Q IEy@5DI5:i5z:5E(5yaɮe^AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 111.14 m.RhhZhhm ProNav: ac range: 111.141273 m, nav range: 108.413033 m, bearing: 249.807944 deg, approach rate: -0.658278 m/s, LOS rate: -0.026382 deg/s, cmd heading: 257.680662 deg, new cmd heading: 257.648587 deg. BhmؐuHeadingCmd: 4.496816 target range: 111.141273 and range: 111.70 m.hu@hq*hq"hq hqgyfyfyfydddjdZds?uBɢ}PQR;) 4o>i)O顡iji俉<B;I@I=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.a@a @a@m4@iA^A} @,?AD8zD:AAZƈ@Zk@ZٱZ$jchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.944183 rAHRS rotation from veh to nav: [[-0.218212,0.962594,0.160612],[-0.975688,-0.218628,-0.015299],[0.020388,-0.160045,0.986899]]ZH _˿?@?8˿@T?]|Ŀ`?iZƈ@IZs@^;Ev. Ev)Ev"Et"Evye;*Ev0;VEv(3ZEtaz@az@az@az@ZKCԡYBy+IbDVDky-K=%-==ٔ5Q-5>95 ?Y5 ?==Fy=@E=A@E=>AQ 5M(5Es?Q 9M(5E>)EBYQyUQ IUy@EDIE[:iER:E (5yYɮ]$AajhFNOT Ignoring new targets: 111.14 m.RhZh ProNav: ac range: 111.141273 m, nav range: 108.134193 m, bearing: 249.796929 deg, approach rate: -0.677570 m/s, LOS rate: -0.026835 deg/s, cmd heading: 257.648587 deg, new cmd heading: 257.615457 deg. BhUHeadingCmd: 4.496238 target range: 111.141273 and range: 111.70 m.h.@h*h"h hgfffdddjd9Zd=U_?Bɢ;) |>i)khLii俉<,;I.@IԱ9@ @@/@B>BCB@IBBB =BBDB'p;B:-Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.195587 Ge (hA ^A ; 9 (hAY A A ؟AI I O- >6ѱ,9"?Y"?=FyEEE>1Q 5E(55Xm?Q 9E(55 F)5BYIyMQ I]y@5DI5;i5;5(5y}Bɮ}A}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.447840jhFNOT Ignoring new targets: 111.14 m.bE:4jEą04rEU0E 5 E *E %E "E k;*E ;VE  4ZE BE i ) H  iʅi俉Tc<r;Iy܏@I!)9@ @@@@@bAQ^A [R;y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700004A I I) O= >m,)Z?A2淈@2@2!ٱ2# :AHRS rotation from veh to nav: [[-0.219967,0.962331,0.159791],[-0.975303,-0.220306,-0.015815],[0.019984,-0.159324,0.987024]]2H'̿j? t?5`2̿`1v?dĿ?i2淈@I2v^;2GCYBByF4IiMb@Mb@Mb@ 9?A`"Zd;O?Y ?yYj<@ +@)Y3@qbDVD1y<%O=ٔd:Q->9Y=FyIElE>Q 5(5Ng?Q 9(5&L)BY ?Q E:yiQ Iy@DIu:i:4(5yɮAjh FNOT Ignoring new targets: 111.14 m.RhZh- ProNav: ac range: 111.141273 m, nav range: 107.612869 m, bearing: 249.779112 deg, approach rate: -0.656176 m/s, LOS rate: -0.018645 deg/s, cmd heading: 257.582526 deg, new cmd heading: 257.561857 deg. Bh-L5HeadingCmd: 4.495302 target range: 111.141273 and range: 111.70 m.h5ُ@h1*h1"h1 h1g9f9f9f=tBdAdAdAjdAZdE`9?qɢuk;)y }>iy)}Eyyi}miY俉G<.;Iُ@IA@A @A@E/@AԙE1 E+E(E"E2h;*E=;VEc44ZEa@a@a@a@i!I%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953704^A#2;A I I O > B <A p<B >B B LIB BB B B B p;B 5-EBBBBB =CˮB5,tb?AF>@F @FIٱF$ NAHRS rotation from veh to nav: [[-0.220523,0.962197,0.159834],[-0.975183,-0.220805,-0.016218],[0.019687,-0.159444,0.987011]]FH`:̿ Q?ru?@4UC̿ x(?hĿ`?iF>@IF$^;FICY^BybFIbDjVDj2yr5=%rW=ٔrM:Q-r>9tYt=vFyvMEvLĺEz>xQ 5(5zca?Q 9(5zR)zBYy{Q Iy@zDIz;iz3;z(5yɮNAƣEjh1=FNOT Ignoring new targets: 111.14 m.RhEZhEU ProNav: ac range: 111.141273 m, nav range: 107.375725 m, bearing: 249.772429 deg, approach rate: -0.625435 m/s, LOS rate: -0.017663 deg/s, cmd heading: 257.561844 deg, new cmd heading: 257.541752 deg. BhUAechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.203854eHeadingCmd: 4.494952 target range: 111.141273 and range: 111.70 m.he֏@hi*hi"hi higififqfqdqԹdqdjdZdO@]Bɢe<)a e">ia)eBiiim(im俉%<U;I֏@I-9@) @)@)@)^A5;E9 E-E'E"Eso;*EK;VE'4ZEBEI ?ź,<?Aɰp;2ȭ@2@2ٱ2'$ :AHRS rotation from veh to nav: [[-0.221173,0.961981,0.160237],[-0.975041,-0.221396,-0.016690],[0.019421,-0.159929,0.986938]]2HhO̿`??`3@V̿?xĿ?i2ȭ@I2Gg^;2JCYrByrNIimMb@Mb@Mb@iiii i9mx&1? rhZd;O?YmA ?ymCimX Am@ mn@)m+@iYmp@bDVDFy<%?=ٔ#:Q->9Y=FyQEw̺E>Q 5(5/Z?Q 9(5X)BYN!?Q E:yQ Iy@DI: ;i ;?(5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 111.14 m.Rh1Zh1  ProNav: ac range: 111.141273 m, nav range: 107.107468 m, bearing: 249.768287 deg, approach rate: -0.627352 m/s, LOS rate: -0.009712 deg/s, cmd heading: 257.541763 deg, new cmd heading: 257.529304 deg. Bh KչHeadingCmd: 4.494734 target range: 111.141273 and range: 111.70 m.Qhԏ@hq*hy"hy hygyfyffBdddjdZd@@uBɢu} <)y }8>iy)}K=yyii俉<6;Iԏ@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.708423a@a @a@a@aԉԩ^A ;E ) E %E E "E `;*E ;VE ZE a @a @a @a @ A .AI I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959612O- >c˺,1?AN׭@N@N6ٱN;_% ~AHRS rotation from veh to nav: [[-0.221169,0.961872,0.160895],[-0.975056,-0.221262,-0.017568],[0.018702,-0.160767,0.986815]]NHGO̿?2?3RR̿@^&?`Ŀ?iN׭@IN8_;NHCYǀBydIbDVDky=%C=ٔ:Q->9  ?Y  ?= Fy UE7E>Q 5%(5"S?Q 9%(5\_)BY!y%Q I-y@ DI:i:(5y1ɮ5A9jhy}FNOT Ignoring new targets: 111.14 m.Rh1Zh1 ProNav: ac range: 111.141273 m, nav range: 106.844780 m, bearing: 249.764202 deg, approach rate: -0.623450 m/s, LOS rate: -0.009719 deg/s, cmd heading: 257.529305 deg, new cmd heading: 257.517020 deg. BhoչHeadingCmd: 4.494520 target range: 111.141273 and range: 111.70 m.hӏ@h*h"h hgfffdddjdԱZd@ɢk/F<) >i)9ii俉<Dz;Iӏ@I@ @@71@Bm>BiBm_IBmÀBBm =BiBiBm[p;BmW-E}BDAT read: Rx Time:04:57:15.5283 TRx dataTimestamp_ set to:1761541037.012129checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212716^A; A ؟AI) I9 OE >9 aҺ,bJ?A@u@eٱ.M& -AHRS rotation from veh to nav: [[-0.221432,0.961692,0.161608],[-0.975010,-0.221391,-0.018495],[0.017992,-0.161665,0.986682]]H@W̿`-??G3`V̿ d@tl?`mĿ?i@I_;YEʀByEhIE}8 E}*EyEy"E}n;*E};VEyZEyBE}۾9-"?Y-"?=-Fy-ZE5iE5>9Q 5E(5=mK?Q 9E(5=f)=BYE?Q EE:yEQ IMy@=DI=:i=L:=(5yUBɮUJAQjhFNOT Ignoring new targets: 111.14 m.Rh%zZh%zU ProNav: ac range: 111.141273 m, nav range: 106.572548 m, bearing: 249.762638 deg, approach rate: -0.595403 m/s, LOS rate: -0.003428 deg/s, cmd heading: 257.517010 deg, new cmd heading: 257.512308 deg. BhUuHeadingCmd: 4.494438 target range: 111.141273 and range: 111.70 m.huoҏ@hq*hq"hq hqgyfyfyf}BdddjdZdF @ɢ0<) >i)9p4i/i 俉  < N;I oҏ@II@ @@0@i  DAT read: 04:57:15.5283 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 400,-0.23, 0.717,-0.754, 1.196, 0.688, PHS= 0.131,-1.397, 0.464, RAW= 159.7, 9.4, CAL= 159.5, 10.0, ROT= 350.5, -10.0  Ygot valid direction response: 04:57:15.5283 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 400,-0.23, 0.717,-0.754, 1.196, 0.688, PHS= 0.131,-1.397, 0.464, RAW= 159.7, 9.4, CAL= 159.5, 10.0, ROT= 350.5, -10.0 ^A ;e PDAT read: Bearing 51.8, -10.1 (Local) m ~Local bearing/azimuth received: Bearing 51.8, -10.1 (Local) } DAT read: Range 11 to 50 : 109.2 m (Round-trip 145.7 ms) speed 0.6 m/s  *DAT read: user:253>  BDAT read: Tx time:04:57:16.6285  $Ping request sent. ԡ i h> b2@ '> )2@ ¸2>) @I ¸2 BN?Fβi&?cDDp? E21?) .j'I )i ¸2  :publishing transmit ping time  Fpublishing direction and range infoy  _?eĿٖNs:?Y ) I i ) I BN?Fβi&?cDDp? ) I i AQ IY Ii O} >Xٺ,2g?Ab@bݣ@bٱb& zAHRS rotation from veh to nav: [[-0.221744,0.961577,0.161864],[-0.974954,-0.221556,-0.019443],[0.017166,-0.162121,0.986622]]bHb̿9YYY=]Fy]^E]YEe>aQ 5(5eD?Q 9(5ek)eÖBYyQ Iy@e,DIe;ie;e(5yɮAIiiy"a?AJiOBRiOBjikK@b2,JabZ@`M-1])2@R_?eĿٖNs:?Zi)bi¸2jеMB4`]CX9MJ7@Z=dտ1CB_֍o?2i:iR"i?*iCBihBiiCiiBir@ addTargetRange:: Added new target pos. range: 109.199997 m, deltaT: 3.780266 s, deltaX: -2.500000 m, approachRate: -0.661329 m/s, rangeRepo size: 4  Added new target pos. range: 108.655411 m, bearing: 249.406018 deg, lat: 36.779371 deg, lon: -121.859605 deg, deltaT: 3.780266 s, deltaX: -2.485863 m, approachRate: -0.657589 m/s, posRepo size: 4 jh5FNOT Ignoring new targets: 108.66 m.Rh=Zh9} ProNav: ac range: 108.655411 m, nav range: 105.939812 m, bearing: 249.682106 deg, approach rate: 0.000000 m/s, LOS rate: -0.003428 deg/s, cmd heading: 257.512311 deg, new cmd heading: 257.508302 deg. BhHeadingCmd: 4.494368 target range: 108.655411 and range: 109.20 m.hя@h*h"h hgfffdddjdL[@Zd?EeC Ee%Ee)Ea"Eex;*Ee;VEeFA4ZEaam@am@am@am@uBɢu"7]<) >i)/顙i@yi俉<̤;Iя@IyQ@Q @Q@U4@QԡA9 A9 BE >BA BE IBE ܀BBA BA BA BE p;BE p-E^A ; A .AI I! O- >,т?A2է@2@29ٱ2]i' :AHRS rotation from veh to nav: [[-0.221894,0.961475,0.162259],[-0.974935,-0.221542,-0.020490],[0.016246,-0.162739,0.986535]]2Hg̿ h??2`[̿u ע?@Ŀ?i2է@I2s`;0YZЀByZoIbDbVDbJyjr%nB=ٔn;Q-n>9r ?Yr ?=rFyrbEr;Er>tQ 5z(5vx=?Q 9~(5vOr)vΖBY|y~Q I~y@v<DIv;iv];v(5yBɮ #A ϣEjh)5FNOT Ignoring new targets: 108.66 m.Rh=Zh=M ProNav: ac range: 108.655411 m, nav range: 105.682808 m, bearing: 249.680470 deg, approach rate: -0.662844 m/s, LOS rate: -0.004228 deg/s, cmd heading: 257.508295 deg, new cmd heading: 257.503378 deg. BhM9UHeadingCmd: 4.494282 target range: 108.655411 and range: 109.20 m.hU(я@hQ*hQ"hQ hQgYfYfYfYdadadajdaZde K?频ɢT<) ñ>i)e+顙i1i俉i<ɣ;I(я@I)@) @)@-/@) E* E6E,E"Ea;*E ;VEg4ZEBEQ a,؜?AYByIiMb@Mb@Mb@ 9Cl? ףp= :v?Yd?yQ< A @)@Yz@bDVDNy=%==ٔQ->9Y=FyfEE>Q 5(55?Q 9(5x)ٖBY;?Q E:yrQ Iy@MDI;il;~(5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 108.66 m.Rhe<8Zhe<8- ProNav: ac range: 108.655411 m, nav range: 105.418724 m, bearing: 249.681580 deg, approach rate: -0.611162 m/s, LOS rate: 0.002574 deg/s, cmd heading: 257.503377 deg, new cmd heading: 257.506713 deg. Bh-85HeadingCmd: 4.494340 target range: 108.655411 and range: 109.20 m.1h=я@h9*h9"h9 h9g9fAfAfEBdAdIdIjdIZdM?}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.QɢU~<)Y ]$>iY)];6&YYieEie俉m=Թ },w?A6@6Ӟ@6|pٱ65( BAHRS rotation from veh to nav: [[-0.222353,0.961249,0.162972],[-0.974856,-0.221716,-0.022321],[0.014678,-0.163837,0.986378]]6H@ v̿?E?2@.a̿BۖS?Ŀh?i6@I6`;6ICYJByJI LLbDVVDVk1yZP;%^\=ٔ^Z;Q-b>9b"?Yb"?=bFybjEfޣEf>hQ 5n(5j.?Q 9n(5jg~)jBYlyn~Q Iry@j\DIj;ij";j(5yvBɮviAvΣEjhFNOT Ignoring new targets: 108.66 m.RhG8ZhG8- ProNav: ac range: 108.655411 m, nav range: 105.191063 m, bearing: 249.682587 deg, approach rate: -0.613277 m/s, LOS rate: 0.002719 deg/s, cmd heading: 257.506710 deg, new cmd heading: 257.509739 deg. Bh-85HeadingCmd: 4.494393 target range: 108.655411 and range: 109.20 m.h5ҏ@h1*h1"h1 h1g9f9f9fAdAdAdAjdAZdM?qɢu(<)y }<>iy)}!yi㌼i%俉<H;Iҏ@Iԑ9@ @@/@@=@B->B)B-IB-BB)B)B)B)B)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470881^A፨;Aa Iq I O > d,c?AE:< E:2E:(E8"E:,r;*E:;VE:c44ZE8BE:9Y=FyoEL:E>Q 5(5}%?Q 9(5)BY?Q E:y%Q Iy@oDI:iv:(5yɮAjhFNOT Ignoring new targets: 108.66 m.Rh 8Zh 8 ProNav: ac range: 108.655411 m, nav range: 104.890762 m, bearing: 249.686039 deg, approach rate: -0.598673 m/s, LOS rate: 0.006901 deg/s, cmd heading: 257.509743 deg, new cmd heading: 257.520128 deg. Bh9-HeadingCmd: 4.494574 target range: 108.655411 and range: 109.20 m.h-ӏ@h)*h)"h) h)g1f1f1f52Bd9d9d9jdZdK?)ɢ-^D}<)) 5>i1)511i5卼i]8俉e,?An@n@nXTٱn( AHRS rotation from veh to nav: [[-0.221681,0.961473,0.162567],[-0.975033,-0.220775,-0.023849],[0.012960,-0.163795,0.986409]]nH@`̿ b??x3 _B̿`k튊?@;Ŀ@?in@Inu_;nHCY-By-IbD=VD=yM+=%M\=ٔU;Q-U>9QYQ=UFyUsE]W:E]>aQ 5m)5e?Q 9m)5e))eBYqyuQ Iuy@e}DIe:ie:eW)5yyɮ}AyjhFNOT Ignoring new targets: 108.66 m.Rh!8Zh!8 ProNav: ac range: 108.655411 m, nav range: 104.669830 m, bearing: 249.688551 deg, approach rate: -0.599769 m/s, LOS rate: 0.006834 deg/s, cmd heading: 257.520125 deg, new cmd heading: 257.527677 deg. Bh9HeadingCmd: 4.494706 target range: 108.655411 and range: 109.20 m.hԏ@h*h"h hgfffdddjdZd@ɢ୺<) >i)E%6 E%6E%&E!"E%l;*E% ;VE%4ZE!a-@a5@a5@a5@1i5zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.227078i=俉<W?;Iԏ@I9@ @@/@)B<A<B>BBIBBBBBBKp;BL-EY^A A E C 8G hA 5 c95 hAY5 9A] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480175y ? AA I I O >ԁ ,?A2杻@2@2bKٱ2'( :AHRS rotation from veh to nav: [[-0.221894,0.961393,0.162749],[-0.974991,-0.220893,-0.024455],[0.012439,-0.164106,0.986364]]2H@g̿`?`?@!36F̿ @y?iſL?i2杻@I2^;0YFByFIIJ?>)J;bDRVDR0yVA=%VW=ٔZ]:Q-Z>9XY\=^Fy^wE^Eb>`Q 5f)5b?Q 9j)5b)bBYhyj Q Ijy@bDIb8:ib:b)5ynBɮrHArأEjh FNOT Ignoring new targets: 108.66 m.Rh @8Zh@8% ProNav: ac range: 108.655411 m, nav range: 104.441666 m, bearing: 249.691180 deg, approach rate: -0.599137 m/s, LOS rate: 0.006919 deg/s, cmd heading: 257.527665 deg, new cmd heading: 257.535570 deg. Bh%9-HeadingCmd: 4.494843 target range: 108.655411 and range: 109.20 m.h-Տ@h)*h)"h) h)g)f1f1f1d1d9dAjdAZdE`@BɢM<) >i)=099i=iEb俉EA>A I I [JI O > ּ,:t ?A2@@2 @29Y=Fy{E':E>Q 5)5?Q 9)5) BY?Q E:yKQ Iy@DI ;i ; )5yBɮgAףE%B*** querying acoustic contact ***i! i!jh)5FNOT Ignoring new targets: 108.66 m.Rh=O8Zh=O8M ProNav: ac range: 108.655411 m, nav range: 104.185486 m, bearing: 249.693230 deg, approach rate: -0.580023 m/s, LOS rate: 0.004653 deg/s, cmd heading: 257.535561 deg, new cmd heading: 257.541727 deg. BhM_L9UHeadingCmd: 4.494951 target range: 108.655411 and range: 109.20 m.hU֏@hQ*hY"hY hYgYfYfafeBBdadadijdiZdm f@Yɢ] <)Y ]=>iY)e aaie(im俉k<-Θ;I֏@IA@A @A@Em0@ADQzDU@AE]1 E]4E](EY"E]2h;*E] ;VE]c44ZEYae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234814) ^A ;A I I O >Q  ,GX:?AYByIbD-VD-y=<=%=T=ٔEQ-E>9AYI=MFyMEMEM>QQ 5])5U ?Q 9])5U)UBYayaQ Iey@UDIU9:iU:U )5yiɮmAqByByB}IB}BB} =ByByB}:p;B}C-EBUCBUCBQBU =BU =CU4jh9=FNOT Ignoring new targets: 108.66 m.RhE8ZhE8 ProNav: ac range: 108.655411 m, nav range: 103.961525 m, bearing: 249.695031 deg, approach rate: -0.551592 m/s, LOS rate: 0.004444 deg/s, cmd heading: 257.541736 deg, new cmd heading: 257.547149 deg. Bh1C9HeadingCmd: 4.495046 target range: 108.655411 and range: 109.20 m.hj׏@h1*h"hI hQgQfYffddDAT read: 04:57:19.1753 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.19, 1.376,-0.124, 1.832, 1.324, PHS= 0.154,-1.403, 0.464, RAW= 158.9, 9.1, CAL= 158.7, 9.6, ROT= 351.3, -9.6 Ygot valid direction response: 04:57:19.1753 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.19, 1.376,-0.124, 1.832, 1.324, PHS= 0.154,-1.403, 0.464, RAW= 158.9, 9.1, CAL= 158.7, 9.6, ROT= 351.3, -9.6 PDAT read: Bearing 51.5, -9.5 (Local) ~Local bearing/azimuth received: Bearing 51.5, -9.5 (Local) DAT read: Range 11 to 50 : 107.0 m (Round-trip 142.7 ms) speed 0.4 m/s *DAT read: user:254> BDAT read: Tx time:04:57:20.2785 $Ping request sent.i5155~1@5">5E1@ 5+>)53@I5+115j ?-7?fr=? 5-?)5"I5|i5+11:publishing transmit ping timeFpublishing direction and range infoy15 4WW0?+68ÿ8_X?Y11111 1)1I1i11111 1)1I1115j ?-7?fr=? 1)1I1i111d9jdEZ@ZdE?颍 Bɢ<) >i)&?顑ii俉9<;Ij׏@Iaq@q @q@u?0@qԉ E} 5 E} *Ey Ey "E} k;*E} ;VEy ZEy BE} ,VX?Aɰp<2i@26@2D2ٱ2' >AHRS rotation from veh to nav: [[-0.221603,0.961789,0.160791],[-0.975076,-0.220396,-0.025533],[0.010880,-0.162441,0.986658]]2H`~]̿ ?ʔ? 3`5̿I%wH?Ŀ@?i2i@I2];2GCYFByJIi]Mb@Mb@Mb@YYYY Y9]d;O?|?5^ rh?Y]?y]ҽ]C<]nA]$@ ]A@)]A@YYYbDuVDu:y,ȼ%+=ٔ:Q->ԑ9Y=FyEY+8E>Q 5)5?Q 9)5_)BY?Q E:yAQ Iy@DI ;i ;)5yɮOAiiimJ$C?AJimBRimBjim붋@bm&Y@2d,/2kP1@Rm 4WW0?+68ÿ8_X?Zim|bim+jmLj:rAXNSX4w:5@ZmRIտi{~)e!?2imD:im "imW?*imCBimvBim[H?imK(2imhBimBimN@5 addTargetRange:: Added new target pos. range: 107.000000 m, deltaT: 3.531361 s, deltaX: -2.199997 m, approachRate: -0.622988 m/s, rangeRepo size: 4 E Added new target pos. range: 106.465584 m, bearing: 250.157882 deg, lat: 36.779374 deg, lon: -121.859610 deg, deltaT: 3.531361 s, deltaX: -2.189827 m, approachRate: -0.620108 m/s, posRepo size: 4 jhAMFNOT Ignoring new targets: 106.47 m.RhMZhQ] ProNav: ac range: 106.465584 m, nav range: 103.946175 m, bearing: 249.978741 deg, approach rate: 0.000000 m/s, LOS rate: 0.004444 deg/s, cmd heading: 257.547145 deg, new cmd heading: 257.553371 deg. BhaeHeadingCmd: 4.495154 target range: 106.465584 and range: 107.00 m.heN؏@hi*hi"hi higifqfqfuEBdqdydyjdyZd}Mc?IɢMO<)I M:>iI)Uy3QQiUi]3俉]<]>;I]N؏@IYm]>im>@ @@4@@@@ @ A I I O > ,r?AD=D%=E. E/E)E"Eye;*EY;VEFA4ZEa@a@a@a@iPIP^ު@^@^*ٱ^X!& jAHRS rotation from veh to nav: [[-0.221550,0.961968,0.159791],[-0.975093,-0.220295,-0.025753],[0.010428,-0.161517,0.986815]]^H[̿ q? t?32̿_[? Ŀ?i^ު@I^];\YrByrIbD~VD~0y K<% S=ٔ x:Q- >9Y=FyE9E>!Q 5-)5%?Q 9-)5%)%%BY)y)Q I-y@%DI%:i%:%r)5y9ɮ=BA9jhaeFNOT Ignoring new targets: 106.47 m.Rhm9Zhm9} ProNav: ac range: 106.465584 m, nav range: 103.718880 m, bearing: 249.984104 deg, approach rate: -0.603122 m/s, LOS rate: 0.014261 deg/s, cmd heading: 257.553374 deg, new cmd heading: 257.569498 deg. Bh}:HeadingCmd: 4.495436 target range: 106.465584 and range: 107.00 m.hڏ@h*h"h hgfffdddjdZd@;'?}!Bɢ<)iڼ 0>i)顉i_i俉<j;Iڏ@IM9@I @I@M3@I!B>BBIBBBBBBJp;BJ-EA.AIIOb>Yy ",n?A2)@2@27$ٱ2)& :AHRS rotation from veh to nav: [[-0.221635,0.961958,0.159731],[-0.975078,-0.220313,-0.026163],[0.010023,-0.161549,0.986814]]2H^̿]?r? 3:3̿ʚᆄ?Ŀ?i2)@I2?];2ECYb BybIbDrVDrk1y<%C=ٔ{:Q->9 ?Y ?=FyEuSE>Q 5)5q?Q 9)5)-BY!y-CQ I-y@DI+;i;6)5yIɮMAYaEM: EM.EM*EI"EM\p;*EM;VEM(N4ZEIBEMli)i`i俉><{;I3ݏ@Iԁu9@q @q@u4@yA>A>ԹA ؟AI I O > ),ԥ?A2ȥ@2@2#ٱ2+% :AHRS rotation from veh to nav: [[-0.222156,0.961879,0.159483],[-0.974960,-0.220827,-0.026235],[0.009983,-0.161318,0.986852]]2H`o̿ ?i?@2D̿rݚq?ĿJ?i2ȥ@I2>];2GCYF ByFIiMb@Mb@Mb@ 99v?MbX rh?Y?yʽ@ +@)Yp@bD-VD-ܲy=I<%=O=ٔE98Q-E>9E"?YM"?=MFyMEMEM>QQ 5)5UD驊?Q 9)5U)U5BY1?Q E:ytQ Iy@UDIUi!)%|ջ!!i%>i-俉U B >B CB IB BB B B B ip;B Y-E9 '//,毿?A27@2@2F ٱ2*% :AHRS rotation from veh to nav: [[-0.222105,0.961897,0.159450],[-0.974973,-0.220752,-0.026378],[0.009826,-0.161318,0.986854]]2H@m̿?`h? 2A̿?ĿN?i27@I2@%];0checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998384Y ByIbDVD1y+%1=ٔ9Q->9Y=FyE 8E >Q 5)5੊?Q 9%)56)>BY!y%rQ I%y@DI:iF:)5y1ɮ5A1jhY]FNOT Ignoring new targets: 106.47 m.Rhei9Zhei9u ProNav: ac range: 106.465584 m, nav range: 102.967369 m, bearing: 250.000269 deg, approach rate: -0.622418 m/s, LOS rate: 0.012732 deg/s, cmd heading: 257.601431 deg, new cmd heading: 257.618120 deg. Bhu :}HeadingCmd: 4.496284 target range: 106.465584 and range: 107.00 m.h}@hy*hy"hy hygfffdddjdZd@颽#BɢD<) !>i)bȻid3i+俉H<JJ;I@I9+wEe 3 Ee 1Ee 'Ea "Ee j;*Ee f;VEe '4ZEa BEe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502547 FAHRS rotation from veh to nav: [[-0.221979,0.961905,0.159572],[-0.975001,-0.220636,-0.026316],[0.009893,-0.161425,0.986835]]6H i̿?l?53=̿@B?`Ŀ(?i6E@I6E ];6EC L)NlAN+LLLR1lAiRTIPPIPiRMlA V 0T)TVYC VlATZ@FXXXI^94)\i\)\I^kA^y^1ZF ````i``YdYjByjIiMb@Mb@Mb@ 9i|?5?Mb/$?Y?y< A-@ 3@)3@Y@bDVD:2y}<%%=ٔ%Q-%>)9)YI=MFyMEU}9EU>YQ 5e)5]ש?Q 9e)5])]IBYe?Q Ee:yeQ Iey@]DI];i];]@$)5yɮAjhFNOT Ignoring new targets: 106.47 m.Rh529Zh529 ProNav: ac range: 106.465584 m, nav range: 102.660904 m, bearing: 250.005520 deg, approach rate: -0.566626 m/s, LOS rate: 0.009738 deg/s, cmd heading: 257.618124 deg, new cmd heading: 257.633924 deg. Bh9HeadingCmd: 4.496560 target range: 106.465584 and range: 107.00 m.h@h*h"h hg!f!fAfMGBdIdIdIjdIZdU @额$Bɢ2ǰ<) >i)B]i\Wi"俉G<KB;I@IY-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754470ԁ .ۼԱ m 9@i  @i @u ?0@q " JFailed to parse device response: .93 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006364^Ayb]; A.AIIO ?B,L ?A:ᨈ@:@:!ٱ:% JAHRS rotation from veh to nav: [[-0.221788,0.962020,0.159147],[-0.975045,-0.220456,-0.026201],[0.009879,-0.160986,0.986907]]:Hc̿@?^?`3`7̿@cԚ;?2Ŀ`?i:ᨈ@I:F];:GCY ByIbD=VD=kyeX%e=ٔm 7Q-u>9} ?Y} ?=}Fy}EY9E>Q 5)5K̩?Q 9)5 )VBYyQ Iy@%DIz;i;|))5yB)ɮmAmߣEjh%FNOT Ignoring new targets: 106.47 m.Rh5,9Zh=,9E%5 E%6E%*E!"E%k;*E% ;VE%(N4ZE!aM@aM@aM@aM@BDAT read: Rx Time:04:57:22.8226 TRx dataTimestamp_ set to:1761541044.331353checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266705 ProNav: ac range: 106.465584 m, nav range: 102.316307 m, bearing: 250.011429 deg, approach rate: -0.548843 m/s, LOS rate: 0.009443 deg/s, cmd heading: 257.633916 deg, new cmd heading: 257.651703 deg. Bhb9HeadingCmd: 4.496871 target range: 106.465584 and range: 107.00 m.h]@h*h"h hgfffddd!jd!Zd%] @Y&Bɢ <) !>i)ii 俉UAHRS rotation from veh to nav: [[-0.221328,0.962208,0.158647],[-0.975149,-0.220016,-0.026016],[0.009872,-0.160463,0.986993]]6H }T̿ i?N?l4x)̿7? Ŀq?i6@I6 ];6CCE, E*E'E"Ec;*E;VE'4ZEYuByuIi߱IߵADAT read: 04:57:22.8226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.26, 2.691, 1.161,-3.099, 2.667, PHS= 0.126,-1.461, 0.473, RAW= 159.7, 9.7, CAL= 159.6, 10.4, ROT= 350.4, -10.4 Ygot valid direction response: 04:57:22.8226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.26, 2.691, 1.161,-3.099, 2.667, PHS= 0.126,-1.461, 0.473, RAW= 159.7, 9.7, CAL= 159.6, 10.4, ROT= 350.4, -10.4 PDAT read: Bearing 52.7, -10.5 (Local) ~Local bearing/azimuth received: Bearing 52.7, -10.5 (Local) DAT read: Range 11 to 50 : 105.0 m (Round-trip 140.0 ms) speed 0.4 m/s *DAT read: user:255>  BDAT read: Tx time:04:57:23.9285 $Ping request sent.i ->b2@-\->aF2@ 9>)E@I97KF?{$?:? R1?)c-I+i9=:publishing transmit ping time=Fpublishing direction and range infoymcٔ?Շ(ĿlE@?Y )Ii )I7KF?{$?:? )IiiMb@Mb@Mb@ 9kt?ktZd;O?Y ?y j< AC@ @)I@Y@Ieu?bDmVDmNy%ؒ<%%<ٔ-,7Q--w>9-"?Y-"?=5Fy5E5@+:E5w>yQ 5)5}̿?Q 9)5}I)}fBY?Q E:yQ Iy@}?DI}&;i};}/)5yBɮAEiiP95?AJiBRiBji8I@b}tTY@E$b#1Dw2@B%>B!B%IB%#BB% =B!B%DB%p;B%m-ERmcٔ?Շ(ĿlE@?Zi+bi9ji( A+hWLFOM]6@ZeֿsGrA9!}f?2i :i"i읊?*iVjƥBiͭBiiiͭBiBi@ addTargetRange:: Added new target pos. range: 105.000000 m, deltaT: 3.782533 s, deltaX: -2.000000 m, approachRate: -0.528746 m/s, rangeRepo size: 4  Added new target pos. range: 104.475029 m, bearing: 249.390639 deg, lat: 36.779374 deg, lon: -121.859610 deg, deltaT: 3.782533 s, deltaX: -1.990555 m, approachRate: -0.526249 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 104.48 m.Rh5Zh9}Gu9YA ProNav: ac range: 104.475029 m, nav range: 101.902573 m, bearing: 250.015532 deg, approach rate: 0.000000 m/s, LOS rate: 0.009443 deg/s, cmd heading: 257.651702 deg, new cmd heading: 257.672014 deg. BhHeadingCmd: 4.497225 target range: 104.475029 and range: 105.00 m.hD@h*h"h! hagafififmEBdidqdqjdu@Z@ZduZ?A M )BɢM {<)Q U x>iQ )U Q Q i] i} \俉 'B< @;I D@I x>i > @  @ @ /@ i ^AE2;ԙE. E)E*E"Eye;*E0;VE(N4ZEBE9Y=FyET:E>Q 5)5?Q 9)5)oBYn?Q E:yQ Iy@PDI: ;i ;3)5yɮA}B*** querying acoustic contact ***iy iyjhFNOT Ignoring new targets: 104.48 m.RhM9ZhM9 ProNav: ac range: 104.475029 m, nav range: 101.636185 m, bearing: 250.019179 deg, approach rate: -0.594433 m/s, LOS rate: 0.008158 deg/s, cmd heading: 257.672001 deg, new cmd heading: 257.682969 deg. Bh*95HeadingCmd: 4.497416 target range: 104.475029 and range: 105.00 m.h5@h1*h1"h1 h1g1f9f9f=7Bd9dAdAjdAZdE`-?AU*Bɢei<)i m>ii)mriiimiu俉u <}X;I}@Iy]9@Y @Y@Y@YT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.q^A qZ;Թ A I I) O= >* \,W{r?A2\@2)@2> ٱ2%# >AHRS rotation from veh to nav: [[-0.219829,0.962810,0.157075],[-0.975502,-0.218355,-0.026796],[0.008499,-0.159117,0.987223]]2H@W#̿V??O7@ ˿]p`g?@]ĿU?i2\@I2w];2ECYFBHyFIbDRVDRyZ%^K=ٔ^;Q-^>9`Y`=bFybEb;Eb>dQ 5j)5fs?Q 9n)5f)fxBYlynQ Iny@f_DIfp:if:fZ7)5yrܒBɮrAtbE:4jEh=4rE x/Ez9 Ez+ExEx"Ezso;*Ez=;VExZExa@a@a@a@jh)-FNOT Ignoring new targets: 104.48 m.Rh5O9Zh5O9E ProNav: ac range: 104.475029 m, nav range: 101.402550 m, bearing: 250.022275 deg, approach rate: -0.601794 m/s, LOS rate: 0.007995 deg/s, cmd heading: 257.682957 deg, new cmd heading: 257.692268 deg. BhE9MHeadingCmd: 4.497579 target range: 104.475029 and range: 105.00 m.hM*@hI*hQ"hQ hQgQfQfYfYdYdYdYjdaZde'?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996290M+BɢM~<)Q U>iQ)UYpQQiUݛi]Ž俉]nb,:?A4<ɰ495 ?Y5 ?==Fy=EE:EE>IQ 5U)5M?Q 9U)5M)MBYyQ Iy@MoDIM"i)%Z顙ii]俉I<;I@IE50 E5*IE5'E1"E5Jg;*E5;VE5'4ZE1BE5] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752144i,.?ANLj@N@NІۻٱN" VAHRS rotation from veh to nav: [[-0.218204,0.963379,0.155849],[-0.975880,-0.216495,-0.028069],[0.006699,-0.158214,0.987382]]NH˿@?`? i:˿p{?]@Ŀ`?iNLj@IN!^;NCCYbBybI ddhjAiUMb@Mb@Mb@QQQQ Q9Ux?RQQ?YUK?yU½Uu9"?Y"?=FyEt;E>Q 5)5H?Q 9)5)BYI?Q E:yQ Iey@DIa=ia=>)5yqɮuAyjhY]FNOT Ignoring new targets: 104.48 m.Rhep 9Zhep 9u ProNav: ac range: 104.475029 m, nav range: 100.908081 m, bearing: 250.028957 deg, approach rate: -0.530016 m/s, LOS rate: 0.007510 deg/s, cmd heading: 257.701699 deg, new cmd heading: 257.712356 deg. Bhu9ԙHeadingCmd: 4.497929 target range: 104.475029 and range: 105.00 m.h @h*h"h hgfff+BdddjdZd ȳ?%.Bɢ%<)) -1>i))-i>))i5Ei]H俉]<]';I] @Ia 9@  @ @ /@E=) E=E=&E9"E=`;*E=:VE=4ZE9aE@aE@aE@aE@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004560^A 2; B >B B IB BB B B B p;B o-EBCBCBB =B =C˾4I I O >L^p,?A2҈@2̏@2ٱ2# :AHRS rotation from veh to nav: [[-0.216888,0.963652,0.155995],[-0.976180,-0.215020,-0.028963],[0.005631,-0.158561,0.987333]]2H˿9Y=FyEK;E>Q 5)5W?Q 9)5)BYyQ Iy@DIL ;i<:vB)5yڒBɮAEjh)5FNOT Ignoring new targets: 104.48 m.Rh5J19Zh5J19E ProNav: ac range: 104.475029 m, nav range: 100.648903 m, bearing: 250.032436 deg, approach rate: -0.719903 m/s, LOS rate: 0.009688 deg/s, cmd heading: 257.712354 deg, new cmd heading: 257.722817 deg. BhE9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256293mHeadingCmd: 4.498112 target range: 104.475029 and range: 105.00 m.hm@hi*hi"hi higqfqfqfqdydydyjdyZd`t@颵/Bɢ<) >i)*项i3iK}俉2o<s;I@IAY@a @a@e0@aiE 7 E )E E "E m;*E 0;VE ZE BE Dv,7U?AyYmBymIi Mb@Mb@Mb@     9 V-?MbX~jt?Y ?y ʽ D< X A $@ A@) A@ Y p@bD%VD%1y5S%57=ٔ5Q-5>99Y9==Fy=EEEE>IQ 5U)5M̐?Q 9U)5M)MBYU?Q EU:yUQ I]y@MDIM ;iMP ;M`F)5yaɮeAa}B*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 104.48 m.Rh#9Zh#9 ProNav: ac range: 104.475029 m, nav range: 100.371330 m, bearing: 250.036439 deg, approach rate: -0.619087 m/s, LOS rate: 0.008953 deg/s, cmd heading: 257.722818 deg, new cmd heading: 257.734859 deg. Bh9HeadingCmd: 4.498322 target range: 104.475029 and range: 105.00 m.hA@h*h"h hgfff:BdddjdZd`;@1BɢX<) >i)%i^ifv俉O<F-;IA@I I)fAԩuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760705@ @@4@^A &t;I) I9 OM > j|,s0?AE&. E&"E&)E$"E&ye;*E&;VE&FA4ZE$a*@a*@a*@a*@bBDAT read: Rx Time:04:57:26.4698 fTRx dataTimestamp_ set to:1761541047.856217fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013307r@r@r Oٱr m# zAHRS rotation from veh to nav: [[-0.213235,0.964521,0.155658],[-0.976999,-0.210816,-0.032082],[0.001872,-0.158919,0.987290]]rHDK˿ \??Cʿ`m`^?rWĿ?ir@IrR];rDCAEs@iEIAAI IIIIQUhkAIQ)QiQ)YI}zjA}z}\F yŁŁŁiŁŁiƉƉ)Ɖ ƉIƉ lj)Ǖ{AƑƑƑYYyIIR>)<bDVDk2y~:%b=ٔ)9Y=FyE%)<E>Q 5 )5?Q 9 )5T)BYykQ I5y@DI;im;I)5y=גBɮEAEEjhFNOT Ignoring new targets: 104.48 m.Rhi 9Zhi 9 ProNav: ac range: 104.475029 m, nav range: 100.146309 m, bearing: 250.039212 deg, approach rate: -0.607841 m/s, LOS rate: 0.007508 deg/s, cmd heading: 257.734866 deg, new cmd heading: 257.743205 deg. Bh9HeadingCmd: 4.498467 target range: 104.475029 and range: 105.00 m.hr@h*h"h hgfffdddjdZd"@M2BɢuE<)q u>iq)}(Gyyi}Diq俉mI<a , ?AF@F@FYٱFb{$ NAHRS rotation from veh to nav: [[-0.211919,0.964695,0.156376],[-0.977287,-0.209245,-0.033564],[0.000342,-0.159937,0.987127]]FH) ˿`? !?E`ʿ@C/5k6?`xĿ?iF@IF^;FFCY=By=IbDMVDMyN%O=ٔp};Q->9Y=FyE\;E>Q 5%)5W?Q 9-)5w9)BYIyU=Q I]y@DI/? =BDAT read: Tx time:04:57:27.5785 =$Ping request sent.=iT㵿>¸2@| >2@ '>)@I' hgfffdddjdY@Zd@Ȯ?wtx3?$T?x U? 2?)[ I%/i':publishing transmit ping time9Fpublishing direction and range infoyG?9~ſ$vz?Y )Ii )Iwtx3?$T?x U? )IiE3BɢM><)I MK>iI)MѺIQiUA͠iUl俉][K<]x,)?A;ɰp;2@2@2ܾu:ٱ2u$ NAHRS rotation from veh to nav: [[-0.210831,0.964974,0.156124],[-0.977522,-0.207972,-0.034619],[-0.000937,-0.159913,0.987131]]2H@ʿ?`?`GОʿ@۷N xĿ?i2@I2k^;2ECYMByMI)iMb@Mb@Mb@ 9Zd;O?MbX{Gz?Yj?y#< A@ @)X@Y@ p<p;bDVDk2yx<%4=ٔ9;Q->9Y=FyE9#;E>Q 5)5z?Q 9)54 Q =tI)BYz?Q E:y9Q Iz@DI;if;P)5yɮAiin?AJiBRiBji1o@bE`yYX@2f11I0@RG?9~ſ$vz?Zi%/bi'j /{A6]W.nK)3@ZŭhEտcJFy6% ?2i:i "iDZ?*ikBiJBi?iiBiBi-k@= addTargetRange:: Added new target pos. range: 102.900002 m, deltaT: 3.529243 s, deltaX: -2.099998 m, approachRate: -0.595028 m/s, rangeRepo size: 4 M Added new target pos. range: 102.385483 m, bearing: 249.656241 deg, lat: 36.779366 deg, lon: -121.859614 deg, deltaT: 3.529243 s, deltaX: -2.089546 m, approachRate: -0.592066 m/s, posRepo size: 4 jhIMFNOT Ignoring new targets: 102.39 m.RhUZhQe ProNav: ac range: 102.385483 m, nav range: 100.324295 m, bearing: 249.628153 deg, approach rate: 0.000000 m/s, LOS rate: 0.005996 deg/s, cmd heading: 257.751914 deg, new cmd heading: 257.758373 deg. BhimHeadingCmd: 4.498732 target range: 102.385483 and range: 102.90 m.hm@hq*hq"hq hqgqfqfyf}BdyddjdZd@?M4BɢMZM<)Q U>iQ)U-Ba Be IBe BBe =Ba Ba Be q;Be -EԱ A I I O >n,D?A2v @2C@2%;ٱ2# :AHRS rotation from veh to nav: [[-0.209809,0.965366,0.155073],[-0.977739,-0.206743,-0.035830],[-0.002529,-0.159139,0.987253]]2H`ʿ@H?@q?`I vʿKX`d ^Ŀ?i2v @I2J^;2DCY-ހBy-I 11bDEVDENy]%]Z=ٔ]͊;Q-e>9aYa=eFyeEm:6;Em>qQ 5})5ur?Q 9})5u)uBYyyQ Iz@uDIu:iuR:u9T)5yڒBɮAEjhFNOT Ignoring new targets: 102.39 m.Rh%8Zh%8 ProNav: ac range: 102.385483 m, nav range: 100.092140 m, bearing: 249.629731 deg, approach rate: -0.625920 m/s, LOS rate: 0.004266 deg/s, cmd heading: 257.758362 deg, new cmd heading: 257.763109 deg. Bh`;9HeadingCmd: 4.498815 target range: 102.385483 and range: 102.90 m.hK@h*h"h hgfffdddjdZd? 5Bɢ<)! %s>i!)%!!i%x䡼i->f俉5d_<527ԙ ?,g^?A p)r lAr94rMFptvkAivvIvcSFtIzsCiz-z@ zT9 ?qY ?=}Fy}E}E}>Q 5)5j?Q 9)5)BY$?Q E:y Q Iz@DIh;i; X)5y֒BɮAB*** querying acoustic contact ***i ijh  FNOT Ignoring new targets: 102.39 m.Rh5NַZhMNַ] ProNav: ac range: 102.385483 m, nav range: 99.810905 m, bearing: 249.629080 deg, approach rate: -0.630081 m/s, LOS rate: -0.001464 deg/s, cmd heading: 257.763116 deg, new cmd heading: 257.761156 deg. Bh]eHeadingCmd: 4.498781 target range: 102.385483 and range: 102.90 m.he@ha*hi"hi higififqfuBdqdqdyjdyZd} ?6Bɢ( <) {>i)PAPi=riag俉p<*5o,Zx?A2r @2?@2;ٱ2x >AHRS rotation from veh to nav: [[-0.209809,0.965932,0.151510],[-0.977728,-0.206441,-0.037807],[-0.005241,-0.156067,0.987733]]2Hʿ? d?Ilʿ@y[`xuÿ@?i2r @I2M_;0YiymIy}@AbDVD1y%O=ٔ;Q->9"?Y"?=FyEE>Q 5)5c?Q 9)5)BYyQ Iz@DI;iT;X[)5yɮAjhFNOT Ignoring new targets: 102.39 m.Rhl۷Zhl۷ ProNav: ac range: 102.385483 m, nav range: 99.568588 m, bearing: 249.628529 deg, approach rate: -0.657194 m/s, LOS rate: -0.001499 deg/s, cmd heading: 257.761149 deg, new cmd heading: 257.759491 deg. Bh HeadingCmd: 4.498752 target range: 102.385483 and range: 102.90 m.h @h *h "h  hgfffdddjdZd%k?U7BɢU]<)Q ]Y>iY)];YYi]]⢼ieTh俉e~BBIBBB =BBBq;B-E h> %9@! @!@%0@!8G9YAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.717301^Aa! A I I O >>Q,?A6W @6$@6%;ٱ6t >AHRS rotation from veh to nav: [[-0.210058,0.965931,0.151173],[-0.977666,-0.206460,-0.039299],[-0.006749,-0.156052,0.987726]]6H0ʿ?@Y?` IEmʿ`{ÿ@s?i6W @I6?W`;4Y-ـBy-zII5>)5>bDEVDEܲyP %L=ٔgv;Q->9Y=FyE(E>Q 5)5N\?Q 9)51&)BYyQ Iz@DI;i2;^)5yɮAjhFNOT Ignoring new targets: 102.39 m.Rh ǷZh Ƿ ProNav: ac range: 102.385483 m, nav range: 99.310867 m, bearing: 249.627977 deg, approach rate: -0.636054 m/s, LOS rate: -0.001365 deg/s, cmd heading: 257.759482 deg, new cmd heading: 257.757822 deg. Bho%HeadingCmd: 4.498723 target range: 102.385483 and range: 102.90 m.h%@h!*h!"h! h)g1f1fAfAdIEu2 EuEu)Eq"Eui;*Eu:VEuFA4ZEqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.971745BEu(iy)}]yyi}KiGi俉<2 㪻, ?AYM܀ByM~IiMb@Mb@Mb@ 9%C?V-9Y=FyEE > Q 5)5 T?Q 9)5 _-) BY^%?Q E:yQ Iz@ %DI L:i : b)5y!ɮ-A)jhQUFNOT Ignoring new targets: 102.39 m.Rh]䀹Zh䀹 ProNav: ac range: 102.385483 m, nav range: 99.023766 m, bearing: 249.621777 deg, approach rate: -0.650339 m/s, LOS rate: -0.014086 deg/s, cmd heading: 257.757816 deg, new cmd heading: 257.739160 deg. BhHeadingCmd: 4.498397 target range: 102.385483 and range: 102.90 m.h@h*h"h hg!f!f!f%Bd)d)d)jd)Zd5,@颽8Bɢ6<) ģ>i)סiis俉$<8BBIBBBBBBq;B-EQ ^A *:<A I I O >~,O]?Aɰ4< Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.725504JN@J@J<ٱJ% RAHRS rotation from veh to nav: [[-0.211251,0.965958,0.149325],[-0.977386,-0.207285,-0.041822],[-0.009445,-0.154783,0.987903]]JHG ˿!? ?FSʿi Xÿ?iJN@IJb;JFCYZByZI b49pYp=rFyrEv[Ev>xQ 5~)5z|N?Q 9~)5zC3)zBYyQ Iz@z4DIz];iz;ze)5y ɮ A Ejh15FNOT Ignoring new targets: 102.39 m.Rh=xZh=xM ProNav: ac range: 102.385483 m, nav range: 98.788055 m, bearing: 249.616831 deg, approach rate: -0.646600 m/s, LOS rate: -0.013598 deg/s, cmd heading: 257.739155 deg, new cmd heading: 257.724284 deg. BhMPUHeadingCmd: 4.498137 target range: 102.385483 and range: 102.90 m.hU@hQ*hQ"hQ hYgYfYfafadadadajdiZdmf@频ɢ<) J>i)ch9顡iiu|俉ڥ<(뷻,8?APY~By~I iMb@Mb@Mb@ 9w/?Zd;9Y=FyEE>Q 5)5VG?Q 9)5g:)BY'?Q E:yQ Iz@FDI:i':i)5yɮAB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 102.39 m.Rh-qZh-q= ProNav: ac range: 102.385483 m, nav range: 98.504036 m, bearing: 249.608089 deg, approach rate: -0.652954 m/s, LOS rate: -0.020157 deg/s, cmd heading: 257.724293 deg, new cmd heading: 257.697990 deg. BhEU]EHeadingCmd: 4.497678 target range: 102.385483 and range: 102.90 m.hE@hI*hI"hI hIgIfIfQfUBdQdYdYjdYZd] @颍9Bɢ<) >i)|:顑ioi俉X< 1D D 4=E 0 E E 'E "E Jg;*E j:VE '4ZE a @a @a @a @E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481550,?Amc@m0@mC<ٱm< AHRS rotation from veh to nav: [[-0.213740,0.965375,0.149555],[-0.976817,-0.209332,-0.044808],[-0.011950,-0.155665,0.987738]]mH[˿Y?@$?Bfʿ@ y ÿ?imc@Im?c;mECY׀By xIbD%VD%fymL%m@=ٔm*;Q-u>B}>ByB}IB}BB} =ByByB}p;B}-EBIBIBIBM =BICMyI49 ?Y ?=FyE»E>Q 5)55@?Q 9)5vA)—BYy'Q Iz@XDI+ ;i'!;zm)5yɮAjhFNOT Ignoring new targets: 102.39 m.Rh Zh  ProNav: ac range: 102.385483 m, nav range: 98.223007 m, bearing: 249.599804 deg, approach rate: -0.654394 m/s, LOS rate: -0.019348 deg/s, cmd heading: 257.697983 deg, new cmd heading: 257.673057 deg. BhsT HeadingCmd: 4.497243 target range: 102.385483 and range: 102.90 m.h k@h*h"h hgfffddd!jd!Zd% P @QɢU<)Q U؝>iQ)]I:YYi]ie俉ecg1@X8>g1@ +H>)@I+Hnll?͌U6?O? 9.?)7I"i+HT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A*:<ԡ A= ؟AIA IY Oe >Ļ,?A2@2[ޏ@2U~W<ٱ2 :AHRS rotation from veh to nav: [[-0.214790,0.965189,0.149250],[-0.976572,-0.210190,-0.046129],[-0.013152,-0.155661,0.987723]]2H>~˿?@?@@ʿ6ÿ@m?i2@I2r'd;2BCYFހByFIbDNVDNyV1=%Vl=ٔVbc;Q-V?9Z"?YZ"?=ZFyZE^NE^?`Q 5f)5b:?Q 9f)5bG)bėBYdyfKQ Ijz@bfDIb:ib:bvp)5ylɮnAljhFNOT Ignoring new targets: 102.39 m.Rh $Zh $ ProNav: ac range: 102.385483 m, nav range: 97.999474 m, bearing: 249.593320 deg, approach rate: -0.654662 m/s, LOS rate: -0.019031 deg/s, cmd heading: 257.673067 deg, new cmd heading: 257.653572 deg. BhP%HeadingCmd: 4.496903 target range: 102.385483 and range: 102.90 m.h%@h!*h!"h! h)g)f)f)f1d1d1d1jd1Zd=`@E, EEE"Ec;*E:VEZEBEtiA)M:Iqiu5i俉x<} ˻,.?A6ֈ@6fя@6Ln<ٱ6! BAHRS rotation from veh to nav: [[-0.216330,0.964641,0.150564],[-0.976212,-0.211421,-0.048076],[-0.014544,-0.157382,0.987431]]6H˿ V? E? =˿ v=ɍ%Ŀ?i6ֈ@I6d;6CCYHyHINa=)N=ieMb@Mb@Mb@aaaa a9eMbX?Zd;I +?Ye*?yae94=ٔqT;Q->9Y=FyEBqE>Q 5)593?Q 9)5IN)ƗBY|+?Q E:y+Q Iz@yDIX;i;7t)5yɮAjhFNOT Ignoring new targets: 102.39 m.Rh[Zh[ ProNav: ac range: 102.385483 m, nav range: 97.712227 m, bearing: 249.584785 deg, approach rate: -0.668695 m/s, LOS rate: -0.019929 deg/s, cmd heading: 257.653559 deg, new cmd heading: 257.627878 deg. BhZ HeadingCmd: 4.496455 target range: 102.385483 and range: 102.90 m.h @h *h "h  h gfff!BdddjdZd%`@IɢM<)Q U>iQ)U:QQi]8i]俉]eq һ,cH?A:a҈@:.͏@:<ٱ:e+" FAHRS rotation from veh to nav: [[-0.216829,0.964530,0.150555],[-0.976081,-0.211698,-0.049504],[-0.015876,-0.157688,0.987361]]:H ˿n?aE?` < ˿X A/Ŀw?i:a҈@I:yd;:GCRT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseYNByVIbD\VD\yf?<%fX=ٔfwf;Q-j>9hYh=jFyjEnOEn>pQ 5v)5r,?Q 9v)5rT)rȗBYtyzi):顑iui|俉 <Iߏ@IY1@1 @1@52@1ԁ^AUΒ;E& E E(E"E8^;*E:VEc44ZEBE &*ػ,>b?A4<ɰ;2ˈ@2UƏ@2Q<ٱ2^"" :AHRS rotation from veh to nav: [[-0.217640,0.964401,0.150211],[-0.975879,-0.212313,-0.050829],[-0.017128,-0.157650,0.987346]]2H˿_?:?@f:-˿L -ĿW?i2ˈ@I23Zd;2CCYFByFIi Mb@Mb@Mb@     9 /$?X9vy&1?Y 1(?y } `e< X A ;@ @) A Y bD%VD%k1y5<%5D=ٔ=TD;Q-=>9AYA=EFyEEEEM>IQ 5U)5M%?Q 9])5M[)M˗BY(?Q E:yQ Iz@MDIMiq)u:qqiuki}俉}y<m;Ik܏@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)@ @@0@ ^A H;E - E E 'E "E d;*E :VE '4ZE a @a @a @a @ia Ia m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse9 AQ Ia Iq O} >i޻,s|?A2R@2@2˜<ٱ2\# :AHRS rotation from veh to nav: [[-0.218969,0.963982,0.150969],[-0.975554,-0.213336,-0.052754],[-0.018646,-0.158830,0.987130]]2H@0̿@?R? 7N˿@TĿ`?i2R@I2e;2BCYFByFI HHbDNVDN02yVh=%VQ=ٔ^{};Q-^>9\Y\=bFyb EbhdEb>dQ 5)5f ?Q 9)5f b)f͗BYyQ Iz@fDIf$BBIBBBBBB q;B-EQɢUS<)Y ]߿>iY)]0 ;YYi]ie俉eb<;I_ُ@I}9@y @y@}4@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A;9 A I I O >K,6?A2;@2@2"<ٱ2γ# >AHRS rotation from veh to nav: [[-0.219927,0.963766,0.150953],[-0.975312,-0.214067,-0.054236],[-0.019957,-0.159154,0.987052]]2H &̿@,?iR?5f˿@ī`o'_Ŀ@?i2;@I2e;2DCY^By^IbDjVDjyr,;%rH=ٔrqR;Q-r>9tYt=vFyv EvEz>xQ 5)5z?Q 9)5zh)zЗBYyQ Iz@zDIz;iz ;z+)5y ɮAjh1=FNOT Ignoring new targets: 102.39 m.RhE ZhE U ProNav: ac range: 102.385483 m, nav range: 96.655540 m, bearing: 249.555233 deg, approach rate: -0.679356 m/s, LOS rate: -0.018364 deg/s, cmd heading: 257.560833 deg, new cmd heading: 257.539015 deg. BhUIUHeadingCmd: 4.494904 target range: 102.385483 and range: 102.90 m.Ee> Ee(Ee(Ea"Ees;*Ee;VEec44ZEaBEei);i*ii俉F<~;I@֏@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIY9@ @@/@y^A5; T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse A! I1 IA OU >u,?A2@2p@2t<ٱ2$ :AHRS rotation from veh to nav: [[-0.221063,0.963396,0.151652],[-0.975027,-0.214927,-0.055936],[-0.021294,-0.160230,0.986850]]2H@K̿$?`Vi?k3`˿ ΕlĿ`F?i2@I2f;2CC@Y^BybIi}Mb@Mb@Mb@yyyy y9}x&1? rh~jt?Y}A ?y}C}<}A}Q@ }@)}AyY}@AAbDVDfyBw=%>=ٔL;Q->9Y=Fy E2E>Q 5)5?Q 9)5o)ӗBYE!?Q E:yQ Iz@DI7:i:)5yɮnAjhFNOT Ignoring new targets: 102.39 m.Rh {[Zh {[ ProNav: ac range: 102.385483 m, nav range: 96.385056 m, bearing: 249.550093 deg, approach rate: -0.629266 m/s, LOS rate: -0.011993 deg/s, cmd heading: 257.539004 deg, new cmd heading: 257.523539 deg. Bh%HeadingCmd: 4.494634 target range: 102.385483 and range: 102.90 m.h% ԏ@h!*h!"h! h!g)f)f)f-jBd1d1d1jd1Zd=@aɢe|<)i m>ii)m$4;iiimiԩiD俉<Rh;I ԏ@II)eAEm- EmEm)Ei"Emd;*Em:VEmFA4ZEia}@a}@a}@a}@ T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@@@@@@}GBU>BQBUIBUBBQq9Y\ABQBQBUq;BU-E I I O >],?A2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapse6@6W@6Vݻ<ٱ6.% BAHRS rotation from veh to nav: [[-0.221662,0.963268,0.151596],[-0.974854,-0.215250,-0.057681],[-0.022931,-0.160570,0.986758]]6H i_̿?g?2 R˿M#{`Ŀ?i6@I6Vg;4YJByJIIN%=)N<bDVVDVyZ=%^[=ٔ^;Q-^>9`Y`=bFyb EfCںEf>hQ 5j)5j| ?Q 9n)5jful)j֗BYpyrQ Irz@jDIj,;ij-;j0)5yvגBɮvAzEjhFNOT Ignoring new targets: 102.39 m.Rh%4XZh%4X ProNav: ac range: 102.385483 m, nav range: 96.150009 m, bearing: 249.545687 deg, approach rate: -0.628665 m/s, LOS rate: -0.011814 deg/s, cmd heading: 257.523540 deg, new cmd heading: 257.510289 deg. Bh HeadingCmd: 4.494402 target range: 102.385483 and range: 102.90 m.h%ҏ@h!*h!"h! h!g!f)f)f)d)d1d1jdqZduy@ɢv<) o>i)I;iDi俉<];I%ҏ@I9@ @@/@9IAIYOew>E}, E}E}(Ey"E}c;*E}:VE}c44ZEyBE}t9YYY=]Fy] E]Ee>aQ 5m)5e?Q 9u)5e{)eڗBYuE?Q Eu:yuQ Iuz@eDIe ;ie2 ;e)5yɮ*AB*** querying acoustic contact ***i ijh)-FNOT Ignoring new targets: 102.39 m.RhUǸZhUǸe ProNav: ac range: 102.385483 m, nav range: 95.888145 m, bearing: 249.543292 deg, approach rate: -0.595441 m/s, LOS rate: -0.005460 deg/s, cmd heading: 257.510289 deg, new cmd heading: 257.503086 deg. BheomHeadingCmd: 4.494277 target range: 102.385483 and range: 102.90 m.hmя@hi*h"h hgfff}BdddjdZd`#@ɢ4=) >i)`;i֦i%俉%e<%n;I%я@uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseIqi9@ @@/@IIO<>ԑbE c44jE 64rE (/E  E #E *E "E X;*E ;VE (N4ZE a @a @a @a @Թ  T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapsem,¤?A;ɰ4<:;@:@:<ٱ:V& FAHRS rotation from veh to nav: [[-0.223110,0.962929,0.151624],[-0.974448,-0.216174,-0.060994],[-0.025956,-0.161358,0.986554]]:Hێ̿`P? mh?.@˿:;dĿڑ?i:;@I:g;:@CY^By^I dfbDjVDjfyrnl%rR=ٔrY;Q-r>9tYt=vFyv Ez غEz>|Q 5)5~H?Q 9)5~ځ)~ޗBYyQ I z@~DI~ ;i~:~J)5yɮAAjh9=FNOT Ignoring new targets: 102.39 m.RhE ѸZhE ѸU ProNav: ac range: 102.385483 m, nav range: 95.647575 m, bearing: 249.541169 deg, approach rate: -0.645386 m/s, LOS rate: -0.005711 deg/s, cmd heading: 257.503077 deg, new cmd heading: 257.496690 deg. BhUz]HeadingCmd: 4.494165 target range: 102.385483 and range: 102.90 m.h]3Џ@hY*hY"ha hagafafafidididijdiZdu`@ԙ颡ɢ =) >i))t;顩iI iBAp<B>BBIBBB =BBBp;B-Ed<r;I3Џ@I@ @@_0@IQIaOm>}T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ?,?A2@2L@2%<ٱ2& :AHRS rotation from veh to nav: [[-0.223544,0.962794,0.151838],[-0.974303,-0.216315,-0.062783],[-0.027602,-0.161971,0.986409]]2H̿`6?oo?`}-4˿CyĿ`?i2@I2 g;2DCYNByRI TTbDZVDZ yf=%fL=ٔjk;Q-j>9hYl=nFyn EnEr>pQ 5v)5r@?Q 9z)5r)rBYxyzQ Izz@r DIr:ir_:r͓)5y|ɮAjh!-FNOT Ignoring new targets: 102.39 m.Rh-øZh5øEE. EE"EE(EA"EEye;*EE;VEEc44ZEABEEi));i_1iP忉p<vha;IGϏ@I!@ @@/0@I T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A [R;I I O >y ,=a1?A2|@2I@2(<ٱ2_i' :AHRS rotation from veh to nav: [[-0.223772,0.962691,0.152157],[-0.974201,-0.216235,-0.064617],[-0.029304,-0.162691,0.986242]]2H̿]?y? ,˿@`@ Ŀ K?i2|@I2ag;2ACY^By^IiEMb@Mb@Mb@AAAA A9EʡE?ˡEy&1?YE-?yE什E`9qYq=uFyu E}E}>Q 5)5?Q 9)5)BY?Q E:yQ Iz@DIv:ij:)5yԒBɮ AQjhamFNOT Ignoring new targets: 102.39 m.Rh7Zh7 ProNav: ac range: 102.385483 m, nav range: 95.154526 m, bearing: 249.539229 deg, approach rate: -0.550034 m/s, LOS rate: 0.000453 deg/s, cmd heading: 257.490236 deg, new cmd heading: 257.490841 deg. Bh 7HeadingCmd: 4.494063 target range: 102.385483 and range: 102.90 m.h]Ϗ@h*h"h hgfffBdddjdZd !@颍;Bɢ#: =) '>i)撒;顑iQi忉e;<T;I]Ϗ@IDIzDM?AE]1 E]E]%EY"E]2h;*E]:VE] 4ZEYae@am@am@am@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsea@a @a@e4@aԉB>BBIB BB =BBBp;B-EBBBBBC74Ա^A yb];A .A I I O >ҫ,&4K?A&T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapse:@:掏@:p<ٱ:R& RAHRS rotation from veh to nav: [[-0.224166,0.962813,0.150798],[-0.974068,-0.216483,-0.065780],[-0.030688,-0.161633,0.986374]]:H w̿^?ZM?+˿ ְleĿ`_?i:@I:pg;8YbBybIpr@AbDtVDty Nټ% Q=ٔ g;Q->9 ?Y ?=Fy$ E%E->1Q 5)55L稊?Q 9)55)5BYyQ Iz@5+DI5/i)%;!!i%ki-忉-<-K;;IUyϏ@IQ9@ @@4@@a=@=E]& E]E](EY"E]8^;*E]:VE]c44ZEYBE]9 ,,=e?A2Ώ@2@2=ٱ2& :AHRS rotation from veh to nav: [[-0.224665,0.962696,0.150804],[-0.973904,-0.216722,-0.067405],[-0.032208,-0.162012,0.986263]]2H̿g?M?7*˿mA}̼Ŀw?i2Ώ@I2f;2DCYFByFIIJ<)HiMMb@Mb@Mb@IIII I9MʡE?+η~jt?YIyMvM9yYy=Fy( EE>Q 5)5ߨ?Q 9)5)BY:?Q E:yQ Iz@:DIh;i;)5yɮ(AB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 102.39 m.Rh9Zh9 ProNav: ac range: 102.385483 m, nav range: 94.687164 m, bearing: 249.542693 deg, approach rate: -0.620507 m/s, LOS rate: 0.008306 deg/s, cmd heading: 257.491602 deg, new cmd heading: 257.501261 deg. Bhj9HeadingCmd: 4.494245 target range: 102.385483 and range: 102.90 m.hЏ@h*h"h hgfffBdddjdZd `"@颱ɢ/=) >i);项iOi俉<;IЏ@I]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseM9@I @Q@U/@Q9^A}2;i Di Di Eu * Eu /Eu *Eq "Eu a;*Eu Y;VEu (N4ZEq a} @a} @a} @a} @I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,~?A 6ݍ@6@6=< =ٱ6g.' >AHRS rotation from veh to nav: [[-0.224885,0.962633,0.150879],[-0.973801,-0.216677,-0.069013],[-0.033742,-0.162446,0.986140]]6H@̿?P?`)˿`ڪF@Ŀ v?i6ݍ@I6lze;6ECYHyHbDnVDnyv%vT=ٔv:;Q-z>9xYx=zFyz, E~ E~>Q 5 )5ب?Q 9 )5)BY yQ Iz@IDIp:i:)5yɮ*AjhAEFNOT Ignoring new targets: 102.39 m.RhM9ZhM9Be>BaBeIBeBBaBaBaBep;Be-E} ProNav: ac range: 102.385483 m, nav range: 94.463638 m, bearing: 249.545719 deg, approach rate: -0.579416 m/s, LOS rate: 0.007863 deg/s, cmd heading: 257.501274 deg, new cmd heading: 257.510374 deg. Bh}9HeadingCmd: 4.494404 target range: 102.385483 and range: 102.90 m.h(ҏ@h*h"h hgfffdddjdZd Y#@i);i i俉}<;I(ҏ@Iqq@q @y@}/@ymT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseԙ^A] ;IyIO> %,Ř?A4<ɰ6h@65@6x=ٱ6qJ( >AHRS rotation from veh to nav: [[-0.224810,0.962533,0.151627],[-0.973771,-0.216323,-0.070535],[-0.035092,-0.163507,0.985918]]6H ̿?h? )@z˿@@ Ŀ?i6h@I6d;6ACYFByFIPbDRVDRyZg%ZN=ٔ^^;Q-^>9\Y`=bFyb0 Eb.9Eb>dQ 5j)5fѨ?Q 9j)5f)fBYlynQ Inz@fWDIfL;if;fk)5ypɮrAAtE%/ E% E!E!"E%af;*E%:VE!ZE!BE%ηi) U;11i5~iMs俉R<z:I~ӏ@I@ @@/@@gA@gA 2Acoustic response timeout^A ?B:) I I O >:,,Z?A6ُ@6@6=ٱ6 & BAHRS rotation from veh to nav: [[-0.224628,0.962948,0.149243],[-0.973766,-0.216108,-0.071256],[-0.036363,-0.161334,0.986230]]6H ̿x?g?)`o˿@= #Ŀ1?i6ُ@I6[:d;6CCYJByJI LL|i%Mb@Mb@Mb@!!!! !9%Q?Cl绿~jt?Y%\?y%;߽!%A%@ %I@)%A!Y%AbD=VD=1yM"%MA=ٔUD;Q-U>9QYQ=UFy]4 E]9E]>aQ 5m)5eɨ?Q 9m)5eg)eBYu-?Q Eu:yuxQ Iuz@egDIe+;ie;e)5y}ՒBɮrAEjhFNOT Ignoring new targets: 102.39 m.Rh9Zh9 ProNav: ac range: 102.385483 m, nav range: 93.992531 m, bearing: 249.556555 deg, approach rate: -0.597856 m/s, LOS rate: 0.019200 deg/s, cmd heading: 257.519715 deg, new cmd heading: 257.542966 deg. BhR:HeadingCmd: 4.494973 target range: 102.385483 and range: 102.90 m.h֏@h*h"h hgfffBdddjdZd$@颭>Bɢ=) >i)Y;ihi&俉<}:I֏@IE1 E59E5(E1"E1*E5 ;VE5c44ZE1aE@aE@aE@aE@I9@ @@0@2Acoustic response timeoutB]>B]CB]IB] BBYBYB]DB].q;B]-Eq^A;II O >ԩ 2,?A2Acoustic response timeoutZ@Z@Z=ٱZ% fAHRS rotation from veh to nav: [[-0.224392,0.963071,0.148805],[-0.973764,-0.215661,-0.072626],[-0.037853,-0.161198,0.986196]]ZHݸ̿y? ?@)@˚˿`oa"Ŀ?iZ@IZc;ZACYrByrIbD~VD~fypq% N=ٔ v;Q- >9Y=Fy8 E:E>!Q 5%)5%?Q 9-)5%ۯ)%BY)y-qQ I-z@%uDI%:i%:%)5y9ɮ=A9jhaeFNOT Ignoring new targets: 102.39 m.Rhm9Zhm9= ProNav: ac range: 102.385483 m, nav range: 93.766983 m, bearing: 249.563784 deg, approach rate: -0.570153 m/s, LOS rate: 0.018318 deg/s, cmd heading: 257.542965 deg, new cmd heading: 257.564704 deg. Bh=#I:EHeadingCmd: 4.495352 target range: 102.385483 and range: 102.90 m.hEُ@hA*hA"hA hIgIfIfQfQdQdQdQjdYZd]%@颁ɢ.=) >i)F;顑i^Bi俉(<:Iُ@I @  @ @ `0@ E=+ E=iE=)E9"E=b;*E=%;VE=FA4ZE9BE=y #$9,?W?A:^@:+@:=ٱ:% FAHRS rotation from veh to nav: [[-0.224544,0.963112,0.148309],[-0.973681,-0.215650,-0.073756],[-0.039052,-0.160967,0.986187]]:Hٽ̿ ??`e(m˿ᲿĿ׎?i:^@I:c;:CCYNByRIi%Mb@Mb@Mb@!!!! !9%X9v?)\(y&1?Y%?y%GὙ%`e<%XA%@ %@)!!Y!99bDEVDE0yM%UF=ٔU>;Q-U>9YYY=]Fy]< Ee ԹEe>iQ 5u)5mڹ?Q 9u)5m)mBYuj?Q Eu:yu]Q Iuz@mDIm ;imq ;m/)5yؒBɮbA$EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 102.39 m.Rh9Zh9 ProNav: ac range: 102.385483 m, nav range: 93.524902 m, bearing: 249.571491 deg, approach rate: -0.585901 m/s, LOS rate: 0.018700 deg/s, cmd heading: 257.564712 deg, new cmd heading: 257.587892 deg. BhWM:HeadingCmd: 4.495757 target range: 102.385483 and range: 102.90 m.h=ݏ@h*hQ"h hYgYfYfafeBdadadajdiZdm`0&@?Bɢ<) G>i)eM;iix俉%<%S:I%=ݏ@=2Acoustic response timeoutII%9@! @!@-}1@)@5=@5=ԁԱ^Ai EM , EM EI EI "EM c;*EM :VEI ZEI aU @aU @aU @aU @ 2Acoustic response timeoutA ؟A I I O > @,2?A27@2@24$=ٱ2$ :AHRS rotation from veh to nav: [[-0.224551,0.963278,0.147215],[-0.973634,-0.215558,-0.074646],[-0.040171,-0.160095,0.986284]]2H ̿@,?? (`d˿[@~Ŀ?i27@I2b;2?C DDYjڀByn|IvGB%>B!B%IB%BB% =B!B!B%q;B%-EYs9Y]AI}<)};bDVD:yf%E=ٔ0;Q->9"?Y"?=FyA E5E>Q 5)5?Q 9)5)BYy_Q Iz@DI-:iF:ڳ)5yɮAjhaeFNOT Ignoring new targets: 102.39 m.Rhm9Zhm9 ProNav: ac range: 102.385483 m, nav range: 93.278648 m, bearing: 249.579381 deg, approach rate: -0.576678 m/s, LOS rate: 0.018525 deg/s, cmd heading: 257.587880 deg, new cmd heading: 257.611612 deg. BhjK:HeadingCmd: 4.496171 target range: 102.385483 and range: 102.90 m.h@h*h"h hgffԱfdddjdZd _x'@%@Bɢ%9<)-ou -K>i))m͂;iqiuiu俉}G<},7:I}@Iye9@a @a@e4@aM2Acoustic response timeout) ^Am Β{:A .AI I O >Q 8F,P?A2Z@2(@25(=ٱ2Z# :AHRS rotation from veh to nav: [[-0.224169,0.963602,0.145666],[-0.973678,-0.215128,-0.075311],[-0.041233,-0.158714,0.986463]]2H@̿?0?^(Q˿G@~PĿ@?i2Z@I2HBb;2ACYFـByF{IbDNVDN:yV%V\=ٔZ ;;Q-Z>9Z ?Y^ ?=^Fy^D E^N:E^>`Q 5f)5b[?Q 9f)5b)bBYhyjTQ Ijz@bDIb:ibX ;b)5yrԒBɮrAr#EE E$E(E"E&U;*E;VEc44ZEBEi1)5;11i5 \iU俉Uf_L,3?A;ɰp;06z@6H@6V-=ٱ6/0# >AHRS rotation from veh to nav: [[-0.224382,0.963615,0.145255],[-0.973583,-0.215195,-0.076342],[-0.042307,-0.158548,0.986444]]6H ̿?`?' ˿ .5JKĿ?i6z@I6a;4YMрByMpIiMb@Mb@Mb@ 9-?EԸMb?Y??yƽ<A@ I@)IAY\A p<<bDVD:2y % *=ٔ^;Q->9Y=FyI EE>!Q 5-)5%P?Q 95)5%)%BY5P?Q E5:y5Q I5z@%DI%\ ;i% ;%E)5y9ɮEAAjhamFNOT Ignoring new targets: 102.39 m.RhuO9ZhuO9 ProNav: ac range: 102.385483 m, nav range: 92.778557 m, bearing: 249.591698 deg, approach rate: -0.595415 m/s, LOS rate: 0.011360 deg/s, cmd heading: 257.632413 deg, new cmd heading: 257.648672 deg. Bhz9HeadingCmd: 4.496818 target range: 102.385483 and range: 102.90 m.h@ԉh*h"h hgfffBdddjdZdU#)@CBɢWH<) ֍>i)} ;iHۥi俉<9I@bEjEA84rE5/E) EEE"E`;*E&:VEZEa%@a%@a%@a%@BDAT read: Response Not Received *response not received*DAT read: user:258> BDAT read: Tx time:04:57:40.0299 $Ping request sent.BBxIB׀BBBBBp;B-E!A ^A "9e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250476A I I) O= >oS,/O?A2p@2>@2sD/=ٱ2z >AHRS rotation from veh to nav: [[-0.224976,0.963826,0.142914],[-0.973425,-0.215889,-0.076394],[-0.042777,-0.156303,0.986782]]2H̿? J?K&@@˿@楿Ŀณ?i2p@I2a;2@C@Fr@iFD;IDDD DHHHHJlkAIL)LiN)LIN~jANhR\F PPPPiPTiTT)T TIT X)Z|{AXX\Y\YbBybRI ddbDnVDnyv%va=ٔvѩ:Q-v>9qYq=uFyuM E}mԺE}>Q 5)5*?Q 9)5D)YyQ Iz@DI;i ;)5y֒BɮAjhFNOT Ignoring new targets: 102.39 m.RhQ9ZhQ9 ProNav: ac range: 102.385483 m, nav range: 92.554306 m, bearing: 249.596085 deg, approach rate: -0.584705 m/s, LOS rate: 0.011466 deg/s, cmd heading: 257.648669 deg, new cmd heading: 257.661861 deg. Bh9%HeadingCmd: 4.497048 target range: 102.385483 and range: 102.90 m.h%@h!*h!"h! h!g!fIfIfIdQdQdQjdQZdU@])@颥DBɢM<)! %|h>i))-;))i-4\i5(俉5b<5)ZI5@I9aE=1 E=.E=+E9"E=2h;*E=;VE= [4ZE9BE=_IiMb@Mb@Mb@ 9zG?(\µ:v?Y ?yT<XA )Y3AAAbDVDye% =ٔQ->9Y=FyS EE>Q 5)5ߏ?Q 9)5)Y?Q E:yQ Iz@DI":i3:)5yגBɮ~A,EB*** querying acoustic contact ***i i!jh)-FNOT Ignoring new targets: 102.39 m.Rh5q8Zh5q8E ProNav: ac range: 102.385483 m, nav range: 92.212128 m, bearing: 249.597964 deg, approach rate: -0.599304 m/s, LOS rate: 0.003303 deg/s, cmd heading: 257.661865 deg, new cmd heading: 257.667522 deg. BhE9MHeadingCmd: 4.497147 target range: 102.385483 and range: 102.90 m.hM@hI*hQ"hQ hQgQfQfYf]tBdYdadajdaZde@ +@颕FBɢL<) B>i);顙i}i俉T<I@IDqDu<E}- E}!E}*Ey"E}d;*E}:VE}(N4ZEya@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005773I nManaging dock network, ignoring radio surface power offe AIAIBU>BQBUSIBUBBQBQBUDBUq;BU-EB%CB%CB!B% =B% =C%4 @  @ @ 4@ y ԩ ^AE Β{ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258163IYIqO}?FHd,?A(:5@:z@:@I:=ٱ:3 BAHRS rotation from veh to nav: [[-0.226521,0.963693,0.141364],[-0.972945,-0.217104,-0.079024],[-0.045464,-0.155440,0.986799]]:H`̿?`5?\"@˿:G`sÿړ?i:5@I:J`;:BCYBy'IbDVD:y%=ٔ;Q- >9 Y = Fy X EME>Q 5%)5?Q 9%)55)Y)y-Q I-z@DI ;iS;)5y1ɮ5A1jhY]FNOT Ignoring new targets: 102.39 m.Rhm8Zhm8} ProNav: ac range: 102.385483 m, nav range: 91.905243 m, bearing: 249.599977 deg, approach rate: -0.597390 m/s, LOS rate: 0.003932 deg/s, cmd heading: 257.667520 deg, new cmd heading: 257.673580 deg. Bh},9ԁHeadingCmd: 4.497252 target range: 102.385483 and range: 102.90 m.h~@h*h"h hgfffdddjdZd-,@HBɢT<) >i)z<i‰ir俉<tI~@IE]" E] EYEY"E]Z;*E]:VEYZEYBE]`;4 L)LN'PPPR lAiR'IPPIVَCiVs@ VT)TXX ^ lA^#\\\blAIb)bcFi`)`IflAf'd ddfvAdihhYhYnByrIimMb@Mb@Mb@iiii i9m~jt?MbX99Y=Fy\ E<E>Q 5)5U~?Q 9)5,)BY?Q E:y~Q Iz@DI;i ;)5yɮ_AjhFNOT Ignoring new targets: 102.39 m.Rh>Zh> ProNav: ac range: 102.385483 m, nav range: 91.622833 m, bearing: 249.599780 deg, approach rate: -0.587634 m/s, LOS rate: -0.000410 deg/s, cmd heading: 257.673586 deg, new cmd heading: 257.672994 deg. Bh%HeadingCmd: 4.497242 target range: 102.385483 and range: 102.90 m.hh@h*h"h hgfffhBdddjdZd -@MJBɢMn<)Q U>iQ)U9 r,|D?AZu@Zp@ZR>=ٱZ3 jAHRS rotation from veh to nav: [[-0.227605,0.963497,0.140961],[-0.972645,-0.218046,-0.080109],[-0.046449,-0.155339,0.986769]]ZH@,"Ϳ?` ?`˿"ȧ"ÿ?iZu@IZt_;Z@C=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265740YUBy] I e49Y=Fy` E%E>Q 5)5 w?Q 9)5M)BYyQ Iz@DIR:i:)5yɮAjhFNOT Ignoring new targets: 102.39 m.RhͶZhͶ ProNav: ac range: 102.385483 m, nav range: 91.374367 m, bearing: 249.599645 deg, approach rate: -0.645155 m/s, LOS rate: -0.000352 deg/s, cmd heading: 257.672985 deg, new cmd heading: 257.672578 deg. Bh1wHeadingCmd: 4.497235 target range: 102.385483 and range: 102.90 m.hY@h*h"h hg!f!f!f!d)d)d)jd)Zd:-@]LBɢ]_z<)Y ]@=iY)eԙ y,?A%9n@%i@% ?=ٱ%; =AHRS rotation from veh to nav: [[-0.228526,0.963328,0.140625],[-0.972421,-0.218951,-0.080364],[-0.046627,-0.155112,0.986796]]%HU@Ϳ?@? ̿}ߧ`ÿ Փ?i%9n@I%^;%ACqYqByIi%Mb@Mb@Mb@!!!! !9%X9v?9QYY=]Fy]e E]E]>aQ 5m)5eo?Q 9u)5e)eBYu ?Q Eu:yuQ Iuz@e DIe;ie:;eb)5y}ؒBɮ8A4EjhFNOT Ignoring new targets: 102.39 m.Rh:Zh: ProNav: ac range: 102.385483 m, nav range: 91.109695 m, bearing: 249.597436 deg, approach rate: -0.620930 m/s, LOS rate: -0.005197 deg/s, cmd heading: 257.672575 deg, new cmd heading: 257.665929 deg. BhEdmHeadingCmd: 4.497119 target range: 102.385483 and range: 102.90 m.hmf@hi*hi"hi higqfqfyfMBdddjdZd .@=MBɢ=(S<)9 E=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769886ia)eV E] . E] E] )EY "E] ye;*E] :VE] FA4ZEY am @am @am @am @ BDAT read: Rx Time:04:57:42.5581  TRx dataTimestamp_ set to:1761541063.988164 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022836>,V?AY-iBy-IbDE VDE2yM9%U\=ٔUQ-U>9QYY=]Fy]h EeEe>aQ 5m)5ei?Q 9u)5e)eBYqyqQ Iuz@e.DIe:ieb;e)5yɮ}ABBBIBrBBBBDBp;B-EB*** querying acoustic contact ***i ijh!-FNOT Ignoring new targets: 102.39 m.Rh5IZh5IE ProNav: ac range: 102.385483 m, nav range: 90.879211 m, bearing: 249.595502 deg, approach rate: -0.595246 m/s, LOS rate: -0.005008 deg/s, cmd heading: 257.665936 deg, new cmd heading: 257.660119 deg. BhE[MHeadingCmd: 4.497017 target range: 102.385483 and range: 102.90 m.hM@hI*hI"hI hIgQfQfYfYdYdYdYjdaZde}n/@颭OBɢD<) pN=i)x<ii&俉$<؋aI@I@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274075A^A~Iq I O >a *, ?Avl@vPg@v1@=ٱv AHRS rotation from veh to nav: [[-0.228726,0.963561,0.138688],[-0.972362,-0.219271,-0.080205],[-0.046872,-0.153200,0.987083]]vHFͿ}??@@̿Tÿ.?ivl@Iv*^;v?CYbByI!%@AbD-VD-y=a%=K=ٔ= :Q-=>9AYA=EFyEl EEEEM>IQ 5)5Ma?Q 9)5M)MBYyQ Iz@M>DIMc'0@@X>A`0@ s>)U@Is?;!?+? |j(?)XI0 isT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!@! @%@%0@!@-=@-=a^Ayb]ԑA] ؟AIa Iq  *DAT read: user:259>  BDAT read: Tx time:04:57:43.8284  $Ping request sent. Ա Q,m3?ABh@Bc@B@=ٱBe) JAHRS rotation from veh to nav: [[-0.229151,0.963668,0.137234],[-0.972262,-0.219811,-0.079934],[-0.046864,-0.151744,0.987308]]BHTͿ_??`"̿@v[lÿ@?iBh@IB^;BBCYb_ByfIIj=)j=j=j=i}Mb@Mb@Mb@yyyy y9}NbX9?i|?5~jtx?Y}%?y}q};y}$@ }@)}vAyY}QAbDVDܲym%D=ٔѣQ->9"?Y"?=Fyq E:E>Q 5)5Z?Q 9)5)BYS&?Q E:yQ Iz@PDI;ii:)5yɮAiiё?AJiBRiBji;@b$EV@?(HKD5@R i?lT#?Zi0 bisj?IW=grhU47[.3@Zu KԿ5W1e $/?2iF:i"i C?*i$BiBiiCivBiմBiGg@- addTargetRange:: Added new target pos. range: 93.000000 m, deltaT: 16.132409 s, deltaX: -9.900002 m, approachRate: -0.613672 m/s, rangeRepo size: 4 = Added new target pos. range: 92.534912 m, bearing: 251.087644 deg, lat: 36.779366 deg, lon: -121.859615 deg, deltaT: 16.132409 s, deltaX: -9.850571 m, approachRate: -0.610608 m/s, posRepo size: 4 jhAEDNOT Ignoring new targets: 92.53 m.RhMZhI] ProNav: ac range: 92.534912 m, nav range: 90.416588 m, bearing: 249.600877 deg, approach rate: 0.000000 m/s, LOS rate: -0.005203 deg/s, cmd heading: 257.653915 deg, new cmd heading: 257.647508 deg. BhYeHeadingCmd: 4.496797 target range: 92.534912 and range: 93.00 m.he@ha*ha"ha hagifififmPBdqdqdqjdu@W@Zd}@A?ԑ颭RBɢ&<) @BBIBXBBBBDBq;B-E^AIAy I I O  :,M?A6na@6<\@6?=ٱ6 BAHRS rotation from veh to nav: [[-0.230042,0.963496,0.136957],[-0.972054,-0.220717,-0.079973],[-0.046824,-0.151527,0.987343]]6HrͿ?ч?` u@̿`y@\;eÿ`Q?i6na@I6];6@CYJFByJIbDVVDV:y^%^Z=ٔ^l߸Q-b>9`Y`=bFybt EfS Ef>hQ 5n)5jNT?Q 9n)5j )jBYlyn"Q Irz@j_DIj;ijQ;j )5ytɮvAtjhDNOT Ignoring new targets: 92.53 m.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502740Rh↹Zh↹ ProNav: ac range: 92.534912 m, nav range: 90.173851 m, bearing: 249.595452 deg, approach rate: -0.657713 m/s, LOS rate: -0.014741 deg/s, cmd heading: 257.647494 deg, new cmd heading: 257.631174 deg. Bh!HeadingCmd: 4.496512 target range: 92.534912 and range: 93.00 m.hn@h*h"h hgfffdddjdZd@?=SBɢ=;)A EϼiA)E>I]n@Ia@ @@4@^AyE= E=!E=)E9"E=V;*E=:VE=FA4ZE9BE=|?f,lg?A YLByIiMb@Mb@Mb@ 9V-?MbQ?Y?yu<A;@ QA)YAbD9VD9yUQ<%U'=ٔ]Q-]>i9iYi=uFyuy EuE}>Q 5)5K?Q 9)5#)BY?Q E:y}Q Iz@sDI};il0;Z)5yْBɮeA=EjhDNOT Ignoring new targets: 92.53 m.RhL1ZhL1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006500 ProNav: ac range: 92.534912 m, nav range: 89.870277 m, bearing: 249.590675 deg, approach rate: -0.613633 m/s, LOS rate: -0.009688 deg/s, cmd heading: 257.631184 deg, new cmd heading: 257.616806 deg. BhԹHeadingCmd: 4.496262 target range: 92.534912 and range: 93.00 m.h`@h*h"h hgfffLBdddjdZd`v?TBɢ`T;) =Ѓi9)=,?A2+\@2V@2@=ٱ2t :AHRS rotation from veh to nav: [[-0.230664,0.963337,0.137022],[-0.971897,-0.221296,-0.080270],[-0.047005,-0.151687,0.987310]]2H eͿ?`?nS̿ {jÿ ?i2+\@I2:r];0YF>ByFI HHbDN VDN2yZ%Z]=ٔZ9Q-Z>9\Y\=^Fy^} E^Eb>`Q 5j)5bE?Q 9j)5b)`YhynQ Inz@bDIb";ib#;b)5ypɮrApB*** querying acoustic contact ***i ijh DNOT Ignoring new targets: 92.53 m.Rh.Zh.% ProNav: ac range: 92.534912 m, nav range: 89.643806 m, bearing: 249.587183 deg, approach rate: -0.618089 m/s, LOS rate: -0.009555 deg/s, cmd heading: 257.616813 deg, new cmd heading: 257.606310 deg. Bh-ѹ5HeadingCmd: 4.496078 target range: 92.534912 and range: 93.00 m.h5ߏ@h1*h1"h1 h1g1f9f9f9d9dAdAjdAZdE@{?)颍UBɢ;) P5i)7<顑iКi俉ǧ<јIߏ@I]9@Y @Y@]4@YQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510664^AԁIy I O >ԩ ?,g?AE2  E2E2)E0"E2X;*E2:VE2FA4ZE0BE2 9AYA=EFyE EE?EE>IQ 5U)5M>?Q 9U)5M3)MBYYy]Q I]z@MDIM;iM;M:)5yaɮmAijhDNOT Ignoring new targets: 92.53 m.Rh-Zh- ProNav: ac range: 92.534912 m, nav range: 89.385277 m, bearing: 249.583220 deg, approach rate: -0.617945 m/s, LOS rate: -0.009499 deg/s, cmd heading: 257.606322 deg, new cmd heading: 257.594399 deg. BhйHeadingCmd: 4.495871 target range: 92.534912 and range: 93.00 m.h,ޏ@h*h"h hgfffdddjdZd`P@VBɢS;) 0i)<iίi俉;<xI ,ޏ@I ԑ9@ @@/@^AI9IIOU>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014623 i,B?A2X@2S@2B?=ٱ2 :AHRS rotation from veh to nav: [[-0.231064,0.963126,0.137835],[-0.971815,-0.221662,-0.080265],[-0.046752,-0.152497,0.987198]]2H`Ϳ?? k_̿@>@刺@ÿ@?i2X@I2];2=CYB>ByFIiEMb@Mb@Mb@AAAA A9EQ?Zd;Q?YE(?yEyAEAA E@)E AAYEAY]AAbDeVDeym%uG=ٔuݥ9Q-u>9yYy=}Fy} E}E>Q 5)57?Q 9)5{#)BY?Q E:yQ Iz@DI ;i7 ;)5yɮAjhDNOT Ignoring new targets: 92.53 m.RhKZhK ProNav: ac range: 92.534912 m, nav range: 89.133148 m, bearing: 249.578648 deg, approach rate: -0.612757 m/s, LOS rate: -0.011143 deg/s, cmd heading: 257.594410 deg, new cmd heading: 257.580656 deg. BhHeadingCmd: 4.495631 target range: 92.534912 and range: 93.00 m.h5܏@h*h"h hgfffXBdddjdZdߛ@-WBɢ5;)5 5Ii1)=L<99i=iE俉EI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518581Q,!?A29X@2S@2n?=ٱ2  >AHRS rotation from veh to nav: [[-0.231135,0.963083,0.138012],[-0.971799,-0.221722,-0.080284],[-0.046719,-0.152676,0.987171]]2H@ՕͿ?a?@ca̿w맿@ÿ@?i29X@I2?];2ACYv;ByvIIz0>)z4<bDVDyW%P=ٔʯQ->9Y=%Fy% E%AE%>)Q 55)5-B1?Q 95)5-x))-BY1y=Q I=z@-DI- #;i-L$;-@)5yIɮMAIjhiuDNOT Ignoring new targets: 92.53 m.Rh}nLZh}nL ProNav: ac range: 92.534912 m, nav range: 88.892685 m, bearing: 249.574274 deg, approach rate: -0.612397 m/s, LOS rate: -0.011170 deg/s, cmd heading: 257.580668 deg, new cmd heading: 257.567509 deg. BhPHeadingCmd: 4.495401 target range: 92.534912 and range: 93.00 m.hSڏ@h*h"h hgfffdddjdZd@d@XBɢ,;) ki)J<iti俉[<JISڏ@IYu9@q @q@u0@qyE+ E"E'E"Eb;*E;VE'4ZEBEԩ i, ?ACY-7By-IiMb@Mb@Mb@ 9Cl?L7A`尿Mb?Yd?y+<A~@ A) AYfAbDVDy]%<=ٔIjQ->9Y=Fy EE> Q 5)5 )?Q 9)5 0) BY\?Q E:y%Q I{@ DI :i :  )5y!ɮ-A-EEjhQUDNOT Ignoring new targets: 92.53 m.Rh]WZh]WBDAT read: Rx Time:04:57:46.3533 TRx dataTimestamp_ set to:1761541067.772301checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023863 ProNav: ac range: 92.534912 m, nav range: 88.627449 m, bearing: 249.570861 deg, approach rate: -0.611116 m/s, LOS rate: -0.007887 deg/s, cmd heading: 257.567499 deg, new cmd heading: 257.557230 deg. Bh6HeadingCmd: 4.495222 target range: 92.534912 and range: 93.00 m.h؏@h*h"h hgfffjBdddjd!ZdEi @uYBɢuxs;)q uxiy)}Jc,?A2W@2R@25==ٱ2 :AHRS rotation from veh to nav: [[-0.231179,0.963259,0.136708],[-0.971815,-0.221958,-0.079440],[-0.046177,-0.151220,0.987421]]2HHͿ?? "i̿ (V-[ÿ?i2W@I2/];2?CYB2ByFI Jp9XYX=ZFyZ E^ʊ9E^>`Q 5f)5b#?Q 9f)5b5)`Ydyf$Q Ij{@bDIbB:ib:b1)5yllɮr5Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 92.53 m.RhZh% ProNav: ac range: 92.534912 m, nav range: 88.407455 m, bearing: 249.568010 deg, approach rate: -0.609188 m/s, LOS rate: -0.007914 deg/s, cmd heading: 257.557227 deg, new cmd heading: 257.548653 deg. Bh%̭-HeadingCmd: 4.495072 target range: 92.534912 and range: 93.00 m.h-׏@h)*h)"h) h1g1f1f1f9d9d9d9jdAZdE @ZBɢ:;) i)d<9i=&iM俉z <JI׏@I DAT read: 04:57:46.3533 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 401, 0.30,-0.405,-1.936, 0.065,-0.410, PHS= 0.107,-1.481, 0.431, RAW= 159.1, 10.7, CAL= 159.2, 11.7, ROT= 350.8, -11.7 Ygot valid direction response: 04:57:46.3533 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 401, 0.30,-0.405,-1.936, 0.065,-0.410, PHS= 0.107,-1.481, 0.431, RAW= 159.1, 10.7, CAL= 159.2, 11.7, ROT= 350.8, -11.7 PDAT read: Bearing 53.7, -13.5 (Local) ~Local bearing/azimuth received: Bearing 53.7, -13.5 (Local) DAT read: Range 11 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.966626,-0.156559,0.202787]Fpublishing direction and range infoy7lT?Q# Ŀ ?Y3B )CI"=ih>g1@t;?>1@ Q>)v@IQ f?CZq?Ω? ӽ.?)f>Il$iQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.5(I@ @@/@@fA@gAa E , E E E "E c;*E j:VE ZE BE tA >e *DAT read: user:260> m BDAT read: Tx time:04:57:47.6284 m $Ping request sent.u 9 ?Y ?=Fy% E-VE->1Q 5m)55?Q 9m)55W>)5BYqyu0Q I}{@5DI5BBIB%BBBBBq;B-E^AYA ؟AI!IAOU?Ҽ,bL?AbU@bP@b9=ٱb4 jAHRS rotation from veh to nav: [[-0.231442,0.963225,0.136497],[-0.971792,-0.222365,-0.078580],[-0.045338,-0.150834,0.987519]]bHͿ ?x?@qv̿@6Nÿ`?ibU@Ib2];`Yv-ByvIiuMb@Mb@Mb@qqqq q9uQ?p= ףI +?Yu(?yuu99"?Y"?=Fy E/9E>Q 5*5?Q 9*5F)BY%?Q E:yQ I{@DI;i;*5yɮ\AjhDNOT Ignoring new targets: 90.15 m.Rh5Zh5 ProNav: ac range: 90.147049 m, nav range: 87.907585 m, bearing: 249.576946 deg, approach rate: -0.653273 m/s, LOS rate: -0.009891 deg/s, cmd heading: 257.534059 deg, new cmd heading: 257.518677 deg. Bh7ٹHeadingCmd: 4.494549 target range: 90.147049 and range: 90.60 m.hXӏ@h*h!"h h!g)f)f)f-pBd1d1d1jd1Zd=?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753152 ]Bɢ ;) i)2;ik쑼i 俉%^H <%oˈI%Xӏ@I!))11Qa@i @q@u4@yԉ@@=E ( E $E &E "E `;*E ;VE 4ZE BE RQڼ,l?Ar[@rV@r9=ٱr[ ~AHRS rotation from veh to nav: [[-0.230725,0.963307,0.137132],[-0.971962,-0.221606,-0.078622],[-0.045348,-0.151427,0.987428]]rHfͿi??O]̿@ 7aÿ?ir[@Ir"];r=CY)ByIiMb@Mb@Mb@ 9K?ˡE:v?Y^?y什<A@ )/ AYAbDVDyU%=ٔp7Q->9Y=Fy EԹ:E> Q 5*5 ?Q 9*5 N) BY?Q E:y%Q I%{@ DI *;i ); *5y-ؒBɮ-uA)jhQUDNOT Ignoring new targets: 90.15 m.Rh]7Zh]7m ProNav: ac range: 90.147049 m, nav range: 87.590927 m, bearing: 249.577684 deg, approach rate: -0.608672 m/s, LOS rate: 0.001425 deg/s, cmd heading: 257.518677 deg, new cmd heading: 257.520901 deg. BhmZz8uHeadingCmd: 4.494587 target range: 90.147049 and range: 90.60 m.yhuӏ@hy*hy"hy hgfffBdddjdZd +?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257331_BɢxN:) $ؽi);QQiUxi]俉] <]lI]ӏ@IaImeA)maA9@ @@/@ԩE * E E ,E "E a;*E :VE g4ZE a @a @a @a @^A vт  h> ֐CU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509741 G gA Bu >Bq Bu IBu BBu =Bq Bq Bu p;Bu -E 챿9 gAY AA I I O% >g,we?A RQ`@R[@RW+9=ٱRT ZAHRS rotation from veh to nav: [[-0.230191,0.963355,0.137690],[-0.972096,-0.221059,-0.078506],[-0.045192,-0.151919,0.987359]]RHvͿ?П? hK̿@f#rÿ`r?iRQ`@IR`];R?CYb.BybIbDnVDnyv<%va=ٔvQ-v>9xYx=zFyz E~:E~>Q 5 *5?Q 9 *5T)BY y Q I {@DI:i: *5yɮUANE=B*** querying acoustic contact ***i9 i9jhAMDNOT Ignoring new targets: 90.15 m.RhM7ZhM7] ProNav: ac range: 90.147049 m, nav range: 87.369690 m, bearing: 249.578119 deg, approach rate: -0.609194 m/s, LOS rate: 0.001200 deg/s, cmd heading: 257.520890 deg, new cmd heading: 257.522198 deg. BheR8eHeadingCmd: 4.494610 target range: 90.147049 and range: 90.60 m.heӏ@hi*hi"hi higififqfqdqdydyjdyZd}@?颭`Bɢ#9) ʽi)w(;顱ifii俉n <&RIӏ@II9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761666q^Aԡ A I! I9 OE >1,2?A2d@2_@2M6=ٱ2S :AHRS rotation from veh to nav: [[-0.229677,0.963505,0.137499],[-0.972246,-0.220667,-0.077739],[-0.044560,-0.151538,0.987447]]2H fͿ ?@?@`>̿泿`Ц`eÿ)?i2d@I2^];2=CEF" EFEF(ED"EFZ;*EFx:VEFc44ZEDBEF9hYh=jFyj En:En>pQ 5v*5r\?Q 9v*5rY)rBYtyzQ Iz{@r/DIr:ir:rM*5y|ɮ~A|jh!%DNOT Ignoring new targets: 90.15 m.Rh-ߒ7Zh-ߒ7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013358M ProNav: ac range: 90.147049 m, nav range: 87.126503 m, bearing: 249.578518 deg, approach rate: -0.609707 m/s, LOS rate: 0.001003 deg/s, cmd heading: 257.522201 deg, new cmd heading: 257.523402 deg. BhM>08UHeadingCmd: 4.494631 target range: 90.147049 and range: 90.60 m.hUԏ@hQ*hQ"hQ hQgYfYfYfadadadajdaZdm /@bBɢ5.)1 =i9)=l;99i=r)iEW俉E X, ?A2Mi@2d@294=ٱ2r :AHRS rotation from veh to nav: [[-0.229135,0.963526,0.138256],[-0.972393,-0.220136,-0.077414],[-0.044155,-0.152178,0.987366]]2HNTͿ`4?a?h-̿gѳ@ zÿ`?i2Mi@I2bn];2ACYF'ByFI HHliMb@Mb@Mb@ 9d;O?ʡE?Y?y-<SA A)E AYAbDmVDmy}s=%?=ٔxQ->9Y=Fy EH:E>Q 5*5?Q 9*5#`)BY?Q E:yQ I{@?DIG;i:*5yɮAjhDNOT Ignoring new targets: 90.15 m.Rh8Zh8 ProNav: ac range: 90.147049 m, nav range: 86.875671 m, bearing: 249.581038 deg, approach rate: -0.587313 m/s, LOS rate: 0.005917 deg/s, cmd heading: 257.523403 deg, new cmd heading: 257.530985 deg. Bh9HeadingCmd: 4.494763 target range: 90.147049 and range: 90.60 m.hՏ@h*h"h hgfffBd d d jd Zd@=dBɢE 2)A EPiA)E;IIiMiM俉U bE--4jE-34rE-I"0E! EE*E"EY;*Ej:VE(N4ZEa@a@a@a@)@) @)@-0@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518955BM>BIBIBIBM =BIBIBMp;BMy-E9^AUFKa A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769209O,`?A2p@2\k@2]1=ٱ2& :AHRS rotation from veh to nav: [[-0.228282,0.963345,0.140901],[-0.972627,-0.219201,-0.077122],[-0.043409,-0.154650,0.987015]]2HU8Ϳ?` ?`̿D9@ÿࠕ?i2p@I2؀];2>CYF$ByFIbDNVDNy~%S=ٔ\Q->9 Y = Fy  E ;E>Q 5*5꧊?Q 9%*5e)BY!y%Q I%{@MDI;i~ ;k*5y)ɮ5A5ME9jhYeDNOT Ignoring new targets: 90.15 m.Rhe8Zhe8u ProNav: ac range: 90.147049 m, nav range: 86.647736 m, bearing: 249.583183 deg, approach rate: -0.586963 m/s, LOS rate: 0.005538 deg/s, cmd heading: 257.530971 deg, new cmd heading: 257.537423 deg. Bhu ,-?Aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273177mHu@mp@m0=ٱm AHRS rotation from veh to nav: [[-0.227725,0.963476,0.140911],[-0.972777,-0.218724,-0.076577],[-0.042960,-0.154514,0.987056]]mH&Ϳ?a ? #˿``ÿ?imHu@Im؇];m@CY5By5II==)=<imMb@Mb@Mb@iiii i9m> ףp=?MbX~jt?Ym?ymʽm9 ?Y ?=Fy E]:E>Q 5*5[৊?Q 9*5m)BY;?Q E:yeQ I{@bDI%;i ;C*5yɮ!AjhDNOT Ignoring new targets: 90.15 m.RhP9ZhP9  ProNav: ac range: 90.147049 m, nav range: 86.326912 m, bearing: 249.591041 deg, approach rate: -0.579229 m/s, LOS rate: 0.014241 deg/s, cmd heading: 257.537419 deg, new cmd heading: 257.561083 deg. Bh `: HeadingCmd: 4.495289 target range: 90.147049 and range: 90.60 m.hhُ@h*h"h hgfffBd!d!d!jd!Zd%@J! @hBɢ`#) T(i)";ii俉 <Ihُ@I@ @@/@@=@=E  E E 'E "E X;*E A:VE '4ZE a @a @a @a @ia Ie A DAT read: 04:57:50.1501 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.07,-2.759, 2.007,-2.321,-2.774, PHS= 0.117,-1.457, 0.410, RAW= 158.4, 10.7, CAL= 158.4, 11.7, ROT= 351.6, -11.7  Ygot valid direction response: 04:57:50.1501 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.07,-2.759, 2.007,-2.321,-2.774, PHS= 0.117,-1.457, 0.410, RAW= 158.4, 10.7, CAL= 158.4, 11.7, ROT= 351.6, -11.7  PDAT read: Bearing 53.7, -12.5 (Local)  ~Local bearing/azimuth received: Bearing 53.7, -12.5 (Local)  DAT read: Range 11 to 50 : 88.2 m (Round-trip 117.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.968718,-0.143048,0.202787] Fpublishing direction and range infoya e +??dO¿ ?Ye fBa a a a a )e EIe =ie ~e >e ;0@a e ;0@ a )e ^@Ia a a e 8P(?1u?cn? e ߆+?)e X? BE >BA BE IBE BBE =BA BA BE p;BE -EB B B B B =C 4Ie T ia a a e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.^A NJκIA ؟AII)O=>E, ?AFB|@Fw@F'/=ٱFwt NAHRS rotation from veh to nav: [[-0.226898,0.963592,0.141445],[-0.972980,-0.217901,-0.076351],[-0.042750,-0.154947,0.986997]]FH Ϳ?`?`"`1˿J㥿Pÿ{?iFB|@IF];F?CYZByZIbDfVDf0yn;%nn=ٔnQ Q-n?9r"?Yr"?=rFyr EvG";Ev?xQ 5~*5z٧?Q 9~*5z]r)zBY|y~HQ I~{@zoDIz ;iz ;zE*5y ɮ A WEii?AJiBRiBji@b- ~Y@U@Sz)oL1@R+??dO¿ ?ZiT bij V BDAT read: Tx time:04:57:51.3784 $Ping request sent. b ,-^'?A2O@2@2,=ٱ2Z :AHRS rotation from veh to nav: [[-0.225829,0.963755,0.142045],[-0.973253,-0.216889,-0.075754],[-0.042200,-0.155353,0.986957]]2H̿?.?$˿@d6@ÿ@'?i2O@I2V^;2@CY^By^IbDjVDjyr0%rK=ٔvcQ-v>9v ?Yv ?=vFyv Ez*4;Ez>|Q 5*5~vҧ?Q 9*5~x)~ BY y #Q I {@~}DI~p:i~g:~!*5yɮJAB*** querying acoustic contact ***i ijh-DNOT Ignoring new targets: 87.76 m.RhEOq9ZhEOq9 ProNav: ac range: 87.760040 m, nav range: 86.161781 m, bearing: 249.667148 deg, approach rate: -0.545322 m/s, LOS rate: 0.013185 deg/s, cmd heading: 257.575941 deg, new cmd heading: 257.592814 deg. Bh:ԹHeadingCmd: 4.495843 target range: 87.760040 and range: 88.20 m.hݏ@h*h"h hgfffddd!jdZd`i?%lBɢ%Ŕ)) -;i))-h;))i-|i5俉55 <=]2I=ݏ@I9 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502301@ @@0@ ^A vтA E  E E 'E "E V;*E :VE '4ZE a @a @a @a @Am ؟AIy I O >,YC?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753672Bn>BlBnxIBnBBlBlBlBnq;Bn-E~@~@~u&=ٱ~  AHRS rotation from veh to nav: [[-0.224105,0.964364,0.140635],[-0.973718,-0.215551,-0.073564],[-0.040628,-0.153425,0.987325]]~H{̿?V? (@,˿ղ@<ͤoÿ*?i~@I~'^;~?CYEByEqI IIiMb@Mb@Mb@ 97A`?MbI +?Y?y9< A)\ AY AbD%VD%yUQ%$=ٔNQ->9"?Y"?=Fy Ecj;E>Q 5*5>ɧ?Q 9*5K) BY?Q E:yRQ I{@DI ;i ;$&*5yגBɮAVEjheDNOT Ignoring new targets: 87.76 m.Rhmh+9Zhmh+9} ProNav: ac range: 87.760040 m, nav range: 85.864632 m, bearing: 249.671540 deg, approach rate: -0.631540 m/s, LOS rate: 0.009366 deg/s, cmd heading: 257.592825 deg, new cmd heading: 257.606046 deg. Bh}9HeadingCmd: 4.496074 target range: 87.760040 and range: 88.20 m.hߏ@h*h"h hgff9f=BdAdIdIjdIZdU`U?nBɢF)  Yi ) b;  izi俉Uy<]0:I]ߏ@IYImfA)mfA@ @@ 2@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005663)^A Β{Q AA IQ Ia O} > ,>!`?A2@2ߘ@2$=ٱ2@+ :AHRS rotation from veh to nav: [[-0.222904,0.964574,0.141107],[-0.974011,-0.214398,-0.073053],[-0.040212,-0.153724,0.987295]]2H`"̿??@+ gq˿@:ÿ@?i2@I2^;29\Y\=^Fy^ E^T;Eb>dQ 5f*5f7§?Q 9j*5fڄ)fBYhyj)Q Ij{@fDIfg:if_:fy)*5ylɮrApjh DNOT Ignoring new targets: 87.76 m.Rh'9Zh'9- ProNav: ac range: 87.760040 m, nav range: 85.637474 m, bearing: 249.674727 deg, approach rate: -0.594871 m/s, LOS rate: 0.008368 deg/s, cmd heading: 257.606049 deg, new cmd heading: 257.615635 deg. Bh-ȷ95HeadingCmd: 4.496241 target range: 87.760040 and range: 88.20 m.h55@h1*h1"h1 h1g1f9f9f9d9EI EM EM&EI"EI*EM:VEM4ZEIBEM|ԉ ,dy?A2@2`@2"=ٱ2ft :AHRS rotation from veh to nav: [[-0.221779,0.964764,0.141578],[-0.974289,-0.213339,-0.072436],[-0.039680,-0.154003,0.987273]]2HAc̿X?`:?`-N˿) P`\ÿ@?i2@I2_;2=CYFByF]IiEMb@Mb@Mb@AAAA A9EGz?Zd;OI +?YE?yEjAESAE@ E3A)ErAAYE= AbDeVDeym%m@=ٔuDQ-u>y9qYy=Fy EY2;E>Q 5*5?Q 9*5ъ)BY?Q E:yXQ I{@DI ;i6;2-*5yɮ.AjhDNOT Ignoring new targets: 87.76 m.Rh59Zh=9E ProNav: ac range: 87.760040 m, nav range: 85.393524 m, bearing: 249.678405 deg, approach rate: -0.573137 m/s, LOS rate: 0.008666 deg/s, cmd heading: 257.615638 deg, new cmd heading: 257.626704 deg. BhMQ9MHeadingCmd: 4.496434 target range: 87.760040 and range: 88.20 m.hM@hQ*hQ"hQ hQgQfYfYf]BdYdadajdaZde?5rBɢ5H.)1 =i9)=Y;99i=iEC俉E}]$,?A:@:@:: =ٱ:ўBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013468 JAHRS rotation from veh to nav: [[-0.220700,0.964957,0.141951],[-0.974560,-0.212347,-0.071712],[-0.039057,-0.154166,0.987273]]:H@?̿@?p+?/,.˿[9@ÿ༗?i:@I:`;:9!Y)=-Fy- E-*;E5>1Q 5=*55?Q 9E*55?)5BYAyE3Q IE{@5DI5:i5:541*5yU֒BɮUaAU_Ejhy}DNOT Ignoring new targets: 87.76 m.Rh9Zh9 ProNav: ac range: 87.760040 m, nav range: 85.130898 m, bearing: 249.682190 deg, approach rate: -0.572632 m/s, LOS rate: 0.008279 deg/s, cmd heading: 257.626703 deg, new cmd heading: 257.638094 deg. Bhε9HeadingCmd: 4.496633 target range: 87.760040 and range: 88.20 m.hk@h*h"h hgfffdddjdZd`h@uBɢĽH) Ȋi)!;i i俉 I< a;;I k@I @ @@@E}* E}!E}%Ey"E}a;*E}:VE} 4ZEyBE}*+,V׮?A\ɰ^;@@=ٱ" %AHRS rotation from veh to nav: [[-0.219941,0.965106,0.142114],[-0.974762,-0.211713,-0.070822],[-0.038263,-0.154104,0.987313]]H '̿%?0?@1l˿a!7`ÿ@?i@I`;?CIQUr@iQIQQY YYYYaehkAIa)aie)iIimni ʼnőőőiőőiƑƙ)ƙ ƙIƙ ǝC)ǙƙơơYYByQIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517591i-Mb@Mb@Mb@)))) )9-Cl?kt~jt?Y-?y- -<)) -IA)-A)Y- AbDVD:y|0%*=ٔغQ->9Y=Fy E{:E>Q 5*5D?Q 9*5)BY?Q E:yQ I{@DIe ;i ;i5*5y ɮ vA -B*** querying acoustic contact ***i) i)jh1y}DNOT Ignoring new targets: 87.76 m.Rh38Zh38 ProNav: ac range: 87.760040 m, nav range: 84.856949 m, bearing: 249.684162 deg, approach rate: -0.568372 m/s, LOS rate: 0.004104 deg/s, cmd heading: 257.638096 deg, new cmd heading: 257.644030 deg. Bh=49HeadingCmd: 4.496737 target range: 87.760040 and range: 88.20 m.hD@h*h"h hgfffBdddjdZd@额xBɢ3>) i)֘;顩i*^iY俉E<f\;ID@I9@ @@/@Ա :G hA E  E 0E 'E "E X;*E ;VE '4ZE a @a @a @a @ 9 hAY Aiߙ Iߙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769914B% >B% CB% SIB% BB% =B! B! B% p;B% -E ^A _;I1 IA OU >ϑ2, ?AUˆ@U@U=ٱUU mAHRS rotation from veh to nav: [[-0.218552,0.965420,0.142123],[-0.975095,-0.210426,-0.070072],[-0.037742,-0.153898,0.987366]]UH~˿?1?3>ʿ9Rÿ?iUˆ@IU``;U>CԩYBy:IbDVDy ׽% n=ٔ ƺQ-?9Y=Fy E-;E?!Q 5-*5%e?Q 9-*5%ɜ)%BY)y-Q I5{@%DI%a;i%;%k8*5y9ɮ= A9jhaeDNOT Ignoring new targets: 87.76 m.Rhm=8Zhm=8} ProNav: ac range: 87.760040 m, nav range: 84.661217 m, bearing: 249.685391 deg, approach rate: -0.569693 m/s, LOS rate: 0.003586 deg/s, cmd heading: 257.644025 deg, new cmd heading: 257.647720 deg. Bh}|9HeadingCmd: 4.496801 target range: 87.760040 and range: 88.20 m.h@h*h"h hgfffdddjdZdr @zBɢN)  i) ;i*b~i@俉<h;I@I}9@ @@/@ BDAT read: Rx Time:04:57:53.8973  TRx dataTimestamp_ set to:1761541075.333369checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024227^A"5;IA Ii O >1 E ! E E (E "E Y;*E :VE c44ZE BE լ9yY=Fy EE>Q 5*5?Q 9*5)BYyQ I{@DI:f;in;Y<*5yɮlAjh!5DNOT Ignoring new targets: 87.76 m.IRher8Zher8 ProNav: ac range: 87.760040 m, nav range: 84.405235 m, bearing: 249.687007 deg, approach rate: -0.524081 m/s, LOS rate: 0.003319 deg/s, cmd heading: 257.647713 deg, new cmd heading: 257.652576 deg. Bh%9=HeadingCmd: 4.496886 target range: 87.760040 and range: 88.20 m.h=}@hY*ha"ha higqfqffdddjdZd@ @EDAT read: 04:57:53.8973 LVL= 32752, 32753, 32562, 32755, AGC= 67, IDX= 420, 0.11,-2.743, 2.005,-2.269,-2.779, PHS= 0.137,-1.454, 0.465, RAW= 159.2, 9.6, CAL= 159.1, 10.3, ROT= 350.9, -10.3 MYgot valid direction response: 04:57:53.8973 LVL= 32752, 32753, 32562, 32755, AGC= 67, IDX= 420, 0.11,-2.743, 2.005,-2.269,-2.779, PHS= 0.137,-1.454, 0.465, RAW= 159.2, 9.6, CAL= 159.1, 10.3, ROT= 350.9, -10.3 UPDAT read: Bearing 52.3, -12.6 (Local) U~Local bearing/azimuth received: Bearing 52.3, -12.6 (Local) eDAT read: Range 11 to 50 : 86.1 m (Round-trip 114.8 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.qu^direction in FSK: [0.971502,-0.155610,0.178802]uFpublishing direction and range infoyg? kÿ?Y3B2 )CII >i{>1@+>g1@ X8>)@IX8#s?\)? b? /?)f+I"iX8T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.~Bɢx) i)8;i@ziw俉 0< ;I }@I  @  @ @ /@ ԡ bE΀'4jEΨ,4rE١/E% E3E'E"EO];*Et ;VE'4ZEa%@a%@a%@a%@^A-ϩ;A->A->II*DAT read: user:262> BDAT read: Tx time:04:57:55.1784 $Ping request sent.B B:IBBB B B Bp;B-ETT i)im 0mMFiqulAiu,IqqIyi}ds@ yy)y܁ ݅kA܅O܅x:F܁݉ݍkAIݍt)݉i݉)ޑIޕkAݕhݑ ޑޙޙޙiޙޙYYBy%IiMMb@Mb@Mb@IIII I9M +?3333339Y=Fy EE>Q 5*5ܓ?Q 9*5)!BY?Q E:yQ I{@DI;i* ;@*5yɮAiiw?AJiWBRiWBji@b;VT@󜐩*`/ߢ.@Rg? kÿ?Zi"biX8j< & <*+SnUh,@ZAݲտK,RB\3?2iٞ:i"i6?*i(=Bi֛Bi6?ieXiBiBi@ addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 3.779755 s, deltaX: -2.099998 m, approachRate: -0.555591 m/s, rangeRepo size: 4 % Added new target pos. range: 85.670685 m, bearing: 250.016035 deg, lat: 36.779368 deg, lon: -121.859624 deg, deltaT: 3.779755 s, deltaX: -2.089355 m, approachRate: -0.552775 m/s, posRepo size: 4 jh)-DNOT Ignoring new targets: 85.67 m.Rh5Zh1E ProNav: ac range: 85.670685 m, nav range: 84.295250 m, bearing: 249.962415 deg, approach rate: 0.000000 m/s, LOS rate: 0.003319 deg/s, cmd heading: 257.652576 deg, new cmd heading: 257.657509 deg. BhAMHeadingCmd: 4.496972 target range: 85.670685 and range: 86.10 m.hM2@hI*hI"hI hIgQfffBdddjd`fU@Zd? Bɢ _)) 5~i1)5d;11i5!wi=俉=ۨ<=(;I=2@IA@ @@/@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2516969^A yb];i A I! I9 OE >$ H,"?A2و@2ԏ@2=ٱ2 >AHRS rotation from veh to nav: [[-0.215827,0.965709,0.144307],[-0.975790,-0.207960,-0.067723],[-0.035391,-0.155430,0.987213]]2H ;˿?x?9@rʿNV !ÿ@??i2و@I2_H`;2;CE! E E,E"EY;*E:VEg4ZEBEa%2Ea%JEa%:Ea%Y-YBqy IiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502946bDVD0y`%W=ٔʻQ->9Y=Fy E\;E>Q 5*5?Q 9*5z)"BY y SQ I {@DI;iH;LD*5yՒBɮAAgEjh9EDNOT Ignoring new targets: 85.67 m.RhMZhM] ProNav: ac range: 85.670685 m, nav range: 84.069458 m, bearing: 249.960608 deg, approach rate: -0.600929 m/s, LOS rate: -0.004823 deg/s, cmd heading: 257.657521 deg, new cmd heading: 257.652085 deg. Bh]SeHeadingCmd: 4.496877 target range: 85.670685 and range: 86.10 m.hek@ha*ha"ha hagifififidqdqdqjdqZd}?颥Bɢ/ؼ) վi);顩i=ti俉<;Ik@Iԙ@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755609^A ; A .AI I O >DN,w;?A>߈@>`ڏ@> =ٱ> FAHRS rotation from veh to nav: [[-0.215155,0.965816,0.144596],[-0.975968,-0.207407,-0.066857],[-0.034582,-0.155506,0.987229]]>H /˿??@ ;@Lʿÿ@b?i>߈@I>`;>@CY=TBy=IM=M=iMb@Mb@Mb@ 97A`?Q{Gz?Y?yu#<A) `A) AY\ A15@AbD=VD=ܲyE]%ME=ٔMQ-M>9U ?YU ?=UFyU E]:E]>aQ 5m*5e%?Q 9m*5e)aYmT?Q Em:ymZQ Im{@e DIe:ier;eG*5yyɮ}XAyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 85.67 m.RhZh ProNav: ac range: 85.670685 m, nav range: 83.824127 m, bearing: 249.954737 deg, approach rate: -0.590119 m/s, LOS rate: -0.014162 deg/s, cmd heading: 257.652084 deg, new cmd heading: 257.634421 deg. BhHeadingCmd: 4.496569 target range: 85.670685 and range: 86.10 m.h@h*h"h hgfff|BdddjdZd? Bɢ μ) 6۾i)A;icpiܯ俉<%%;I%@I!E5  E1E5)E1"E5X;*E1VE5FA4ZE1aU@aU@aU@aU@@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008142B->B)B-IB-vBB)B)B)B-p;B-s-EBCBBB =BC4Yy^A 0;A fAzA bAA] ؟AIa Iq O >ԙ J-U,U?Aɰ4<&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946:@:ݏ@:=ٱ:i- FAHRS rotation from veh to nav: [[-0.214770,0.965974,0.144109],[-0.976093,-0.207246,-0.065518],[-0.033422,-0.154735,0.987391]]:H }˿B?@)r?&< ʿ Ű@`Zÿ?i:@I:>`;:;CY^:By^IbDjVDjNyrG%rd=ٔr2TQ-r>9v"?Yv"?=vFyv Eve:Ez>xQ 5*5z?Q 9*5z)xYyMQ I{@z.DIz;iz7;z K*5yɮAjh1=DNOT Ignoring new targets: 85.67 m.RhEZhEU ProNav: ac range: 85.670685 m, nav range: 83.612717 m, bearing: 249.949596 deg, approach rate: -0.591696 m/s, LOS rate: -0.014426 deg/s, cmd heading: 257.634408 deg, new cmd heading: 257.618945 deg. BhUf]HeadingCmd: 4.496299 target range: 85.670685 and range: 86.10 m.h]@hY*hY"hY hYgafafafadididijdiZdu?qBɢ) :i)#z;imi 俉-<5< LW[,Oo?A2H@2@2j=ٱ2+ >AHRS rotation from veh to nav: [[-0.214131,0.966084,0.144327],[-0.976262,-0.206737,-0.064595],[-0.032567,-0.154733,0.987419]]2H h˿@(?Py?=@[vʿS Kÿ?i2H@I2J`;2=CYV=ByVIbDVD1yMp;%UD=ٔ]Q-e>9iYq=uFyu E:E>Q 5*5{?Q 9*54)Yy8Q I{@>DI;i;N*5yɮAjh DNOT Ignoring new targets: 85.67 m.Rh54xZh54xE ProNav: ac range: 85.670685 m, nav range: 83.361244 m, bearing: 249.943332 deg, approach rate: -0.542853 m/s, LOS rate: -0.013562 deg/s, cmd heading: 257.618944 deg, new cmd heading: 257.600096 deg. BhEEHeadingCmd: 4.495970 target range: 85.670685 and range: 86.10 m.hMޏ@hIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762943*hI"hY hYgafafafadiddjdZd9@BɢXۼ) 'i)և_;ieROjimz俉mnAHRS rotation from veh to nav: [[-0.213015,0.966147,0.145552],[-0.976568,-0.205860,-0.062743],[-0.030655,-0.155507,0.987359]]6H@D˿?`s? @Yʿdÿ r?i6@I6Pa;69Y=Fy Ev;E>Q 5*5Kr?Q 9*5)#BY?Q E:yQ I{@SDI ;i;S*5yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266919jhDNOT Ignoring new targets: 85.67 m.Rh Zh   ProNav: ac range: 85.670685 m, nav range: 83.027786 m, bearing: 249.936004 deg, approach rate: -0.644452 m/s, LOS rate: -0.014221 deg/s, cmd heading: 257.600093 deg, new cmd heading: 257.578018 deg. Bh 'HeadingCmd: 4.495584 target range: 85.670685 and range: 86.10 m.hۏ@h*h"h hgfffBd!d!d!jd!Zd%l?@]Bɢ])Y ]]iY)e?;aaie~fi俉<$j,h?AJW@J%@J\<ٱJ{ ZAHRS rotation from veh to nav: [[-0.212116,0.966235,0.146275],[-0.976789,-0.205060,-0.061911],[-0.029825,-0.156012,0.987305]]JH &˿f?&?A`k?ʿg7ÿ?iJW@IJa;J:CYfByfIbDnVDnN2yv%zO=ٔz' Q-z>9|Y|=~Fy~ E~;E~>Q 5*5 l?Q 9*5{)$BYyQ I{@bDI1:it: W*5y%ӒBɮ%wA%pEjhDNOT Ignoring new targets: 85.67 m.RhsZhs ProNav: ac range: 85.670685 m, nav range: 82.790222 m, bearing: 249.930591 deg, approach rate: -0.582322 m/s, LOS rate: -0.013306 deg/s, cmd heading: 257.578018 deg, new cmd heading: 257.561733 deg. BhHeadingCmd: 4.495300 target range: 85.670685 and range: 86.10 m.hُ@h*h"h1 h1g9fffdddjdZd ݺ@Bɢ )1 5Ni1)=;99i=BbiEl俉EBa Be IBe BBa Ba Ba Be p;Be -E^A]h%<ԡAIIO ?(s,'g?A2@2P@2<ٱ2" :AHRS rotation from veh to nav: [[-0.212224,0.966099,0.147016],[-0.976808,-0.205343,-0.060675],[-0.028429,-0.156483,0.987271]]2H%*˿H?j?BHʿ@Ŀ`?i2@I2;a;2>CYB~ByFIIJG>)Jp=Qi]Mb@Mb@Mb@YYYY Y9]\(\?)\({Gz?Y]?y]Ga]#<]AY ] A)]AYYYbDuVDuy;%=ٔ!Q->9Y=Fy!E?<E>Q 5*5uc?Q 9*5)Y?Q E:yQ I{@xDI:iH:[*5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 85.67 m.Rh%ŹZh%Ź ProNav: ac range: 85.670685 m, nav range: 82.446892 m, bearing: 249.918793 deg, approach rate: -0.624356 m/s, LOS rate: -0.021545 deg/s, cmd heading: 257.561734 deg, new cmd heading: 257.526193 deg. BhlHeadingCmd: 4.494680 target range: 85.670685 and range: 86.10 m.hkԏ@h*h"h hgff f lBdddjdZd@ @EBɢEb)A E iI)U:QQiU^i]俉]<]3: 5 DAT read: 04:57:57.6945 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.07,-1.845, 2.966,-1.357,-1.840, PHS= 0.098,-1.432, 0.440, RAW= 159.9, 10.4, CAL= 159.9, 11.3, ROT= 350.1, -11.3 = Ygot valid direction response: 04:57:57.6945 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.07,-1.845, 2.966,-1.357,-1.840, PHS= 0.098,-1.432, 0.440, RAW= 159.9, 10.4, CAL= 159.9, 11.3, ROT= 350.1, -11.3 E PDAT read: Bearing 53.0, -12.9 (Local) E ~Local bearing/azimuth received: Bearing 53.0, -12.9 (Local)  DAT read: Range 11 to 50 : 84.0 m (Round-trip 112.0 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.966013,-0.168596,0.195946] Fpublishing direction and range infoy   c?bfſ>x_?Y B  ) DI 9=i K G> )2@ 9> )2@ I>) a@I I (1Ǐ'?ߞgk.?Ho! ? ,2?) g9I 40i I  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.+z, 1?AEa@E/@E<ٱE(# AHRS rotation from veh to nav: [[-0.212489,0.965662,0.149485],[-0.976805,-0.205770,-0.059245],[-0.026451,-0.158606,0.986988]]EH 2˿?P"?`AVʿ@]U6MĿf?iEa@IEWb;E9Y=Fy!EE>Q 5*5\?Q 9*5)%BYyQ I{@DI:i:_*5y ɮ))i1i5kb?AJi5)BRi5)Bji5@b5~c/T@^.,A+`0@R5 c?bfſ>x_?Zi540bi5Ij5MaP<= }BDAT read: Tx time:04:57:58.9284 $Ping request sent.B B IB ~BB B B B >q;B -Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.247644iA.AI I!O->b, ?A6@6b@6<ٱ6r# NAHRS rotation from veh to nav: [[-0.212712,0.965463,0.150445],[-0.976798,-0.206187,-0.057901],[-0.024882,-0.159270,0.986921]]6H ):˿?A?AWdʿ8zbĿ ܔ?i6@I6Sb;6>CY^~By^IiMb@Mb@Mb@ 9x&1?&1y&1|?YA ?yP`;"A  A)AY AbDVDky%<ٔYQ->9 ?Y ?=Fy !E#E> Q 5*5 U?Q 9*5 W) Y ?Q E:yQ I{@ DI e:i : c*5y!ɮ-dA)jhQUDNOT Ignoring new targets: 83.58 m.Rh]Zh]im ProNav: ac range: 83.581123 m, nav range: 81.882118 m, bearing: 249.897560 deg, approach rate: -0.663412 m/s, LOS rate: -0.026946 deg/s, cmd heading: 257.495646 deg, new cmd heading: 257.459894 deg. BhuuHeadingCmd: 4.493523 target range: 83.581123 and range: 84.00 m.huʏ@hy*hy"hy hygyfyffkBddd jd Zd |?uBɢ}Α*)y }Piy)}-Y:yyi?Wi忉!< \Cl,!#?A:@:S@:<ٱ:% FAHRS rotation from veh to nav: [[-0.213445,0.964967,0.152575],[-0.976689,-0.207127,-0.056360],[-0.022783,-0.161048,0.986684]]:H`.R˿ ?`? A"ʿC۬T:Ŀ`?i:@I:98b;:;CYN~ByNI PPTVAbDZVDZܲyb%ba=ٔfQ-f>9f"?Yf"?=jFyj!EjIEj>lQ 5r*5nO?Q 9r*5n)lYtyvQ Iv{@nDIn :in:n'g*5yxɮzAzoEjh%DNOT Ignoring new targets: 83.58 m.Rh%Zh%5 ProNav: ac range: 83.581123 m, nav range: 81.654068 m, bearing: 249.888383 deg, approach rate: -0.627384 m/s, LOS rate: -0.025317 deg/s, cmd heading: 257.459883 deg, new cmd heading: 257.432275 deg. Bh5EE EEEE*EA"EEO;*EEj:VEE(N4ZEABEE7Q T,=?A2@2R@2b5<ٱ2& :AHRS rotation from veh to nav: [[-0.214051,0.964624,0.153890],[-0.976599,-0.207959,-0.054841],[-0.020898,-0.162028,0.986565]]2Hf˿3? ?L@gʿ FfSĿ?i2@I2 b;29AYA=EFyE!EMԾEM>QQ 5]*5U}I?Q 9]*5U)U'BY]!?Q Ee:yeQ Ie{@UDIU ;iU:Uj*5ymВBɮm\AmxEjhIMDNOT Ignoring new targets: 83.58 m.RhU{ZhU{e ProNav: ac range: 83.581123 m, nav range: 81.389427 m, bearing: 249.877639 deg, approach rate: -0.602316 m/s, LOS rate: -0.024532 deg/s, cmd heading: 257.432289 deg, new cmd heading: 257.399952 deg. BhemHeadingCmd: 4.492476 target range: 83.581123 and range: 84.00 m.hm^@hi*hi"hi higqfqfqfuBdydydyjdyZd?颭Bɢ_$) i)Q顱i Pi5忉V<I^@I)A@A @I@M3@I@U=@U=bEc44jEA84rE+/Eu! Eu+Eu)Eq"EuY;*Eu=;VEuFA4ZEqa@a@a@a@BBBIB~BBBBB`q;B-E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256377Y^Am(A<AqzAudAԉ A I I O >확,R~W?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5078164>@>ݏ@>y<ٱ>܌& FAHRS rotation from veh to nav: [[-0.214868,0.964397,0.154174],[-0.976463,-0.209107,-0.052854],[-0.018734,-0.161902,0.986629]]>Hʀ˿W??@0?ʿ.5Ŀw?i>@I>Jc;>;CYb~BybIbDjVDjP)yrػ%rP=ٔvQ-v>9tYt=zFyz!Ez+ Ez>|Q 5*5~kC?Q 9*5~)~)BY y Q I {@~DI~:i~:~?n*5yɮgA5B*** querying acoustic contact ***i1 i1jhAEDNOT Ignoring new targets: 83.58 m.RhMZhM] ProNav: ac range: 83.581123 m, nav range: 81.141594 m, bearing: 249.867661 deg, approach rate: -0.664406 m/s, LOS rate: -0.026833 deg/s, cmd heading: 257.399941 deg, new cmd heading: 257.369914 deg. Bh]QeHeadingCmd: 4.491952 target range: 83.581123 and range: 84.00 m.he@ha*ha"ha hagifififidqdqdqjdqZduj?颥BɢN6) i)M顩iBMiG忉Xn<+6:hě,Zq?A6'ڈ@6ԏ@66c<ٱ6*& >AHRS rotation from veh to nav: [[-0.215899,0.964087,0.154675],[-0.976274,-0.210441,-0.051031],[-0.016648,-0.162022,0.986647]]6H˿? `?`=ʿ@ 3 $Ŀ ?i6'ڈ@I6Yd;4\Yb~BybIIf=)ft>f=f=bDnVDnNyvq;%vJ=ٔvQ-v>9xYx=zFyz!Ez)E~>Q 5 *5&=?Q 9 *5s)+BY y Q I {@DI:i:q*5yɮ\AjhAEDNOT Ignoring new targets: 83.58 m.RhMZhM] ProNav: ac range: 83.581123 m, nav range: 80.886261 m, bearing: 249.857506 deg, approach rate: -0.631851 m/s, LOS rate: -0.025208 deg/s, cmd heading: 257.369915 deg, new cmd heading: 257.339356 deg. Bh]eeHeadingCmd: 4.491419 target range: 83.581123 and range: 84.00 m.he@ha*ha"ha hagifififidqdydjdZd@Bɢ0) i)iXJiX忉$<3T;*Em :VEm 4ZEi au @au @au @au @A I I O >A A AAB >B B IB ~BB B B B zq;B -EBBCBBB =C|4% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263818,-A?AYu~ByuIiMb@Mb@Mb@ 9RQ?i|?5 rh?Y"?yqC<KA`@ / A)YAbDVDky%r>;%%8=ٔ%Q-->9)Y1=5Fy5!!E=E=>9Q 5E*5=5?Q 9M*5=)=/BYMQ#?Q EM:yMQ IU{@=DI= ;i= ;=u*5yYɮ]WAYjhDNOT Ignoring new targets: 83.58 m.Rh¹Zh¹u ProNav: ac range: 83.581123 m, nav range: 80.602455 m, bearing: 249.848050 deg, approach rate: -0.636959 m/s, LOS rate: -0.021299 deg/s, cmd heading: 257.339343 deg, new cmd heading: 257.310874 deg. Bhui}HeadingCmd: 4.490922 target range: 83.581123 and range: 84.00 m.h}@hy*hy"h hgfffBdddjdZd~s@%Bɢ%F%)! %Pi))-ʍغ))i-Fi5h忉5<5`;Ae ?ԙ A I I O >,^0?A2ψ@2ʏ@2yJ<ٱ2& :AHRS rotation from veh to nav: [[-0.217145,0.963628,0.155786],[-0.976061,-0.212324,-0.047150],[-0.012358,-0.162295,0.986665]]2Hf˿ ??;n-˿$@OĿ`’?i2ψ@I2e;29hYh=jFyj%!Ej$\En>lQ 5r*5n/?Q 9v*5n )n2BYtyv:Q Iv{@xnDIn%-;ind.;nx*5y~ђBɮ~oA|jh!-DNOT Ignoring new targets: 83.58 m.Rh-Zh-= ProNav: ac range: 83.581123 m, nav range: 80.363098 m, bearing: 249.840238 deg, approach rate: -0.636106 m/s, LOS rate: -0.020822 deg/s, cmd heading: 257.310875 deg, new cmd heading: 257.287370 deg. Bh=dEHeadingCmd: 4.490512 target range: 83.581123 and range: 84.00 m.hEF@hA*hI"hI hIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767869gYfYfYfYdadadajdaZde6@eBɢmR:B)i uiq)u qqiuXCiSv忉E<->,c?A2Ɉ@2ď@2G'<ٱ2' :AHRS rotation from veh to nav: [[-0.217851,0.963238,0.157208],[-0.975929,-0.213309,-0.045413],[-0.010210,-0.163317,0.986521]]2H ˿? e?:M˿`i@脿 Ŀ ?i2Ɉ@I2(kf;2:CYB~ByFI HHHJAYi]Mb@Mb@Mb@YYYY Y9]T㥛 ?X9v:v?Y]!?y]}]9 ?Y ?=Fy)!EܺE>Q 5*5(?Q 9*5X)9BY!?Q E:yQ I{@DI:i:|*5yΒBɮAEjhDNOT Ignoring new targets: 83.58 m.RhZh ProNav: ac range: 83.581123 m, nav range: 80.093651 m, bearing: 249.832130 deg, approach rate: -0.632037 m/s, LOS rate: -0.019083 deg/s, cmd heading: 257.287379 deg, new cmd heading: 257.262974 deg. BhQHeadingCmd: 4.490086 target range: 83.581123 and range: 84.00 m.hɮ@h*h"h  h g f ffdddjdZdz @Bɢ2) i)ZN*iH@iF忉<d\+BBBBBBBBuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272683ԉ@ @@0@Ա^A $< A ؟AI M DAT read: 04:58:01.4411 LVL= 32752, 32753, 31906, 32755, AGC= 69, IDX= 404, 0.11,-1.852, 2.935,-1.326,-1.883, PHS= 0.133,-1.420, 0.513, RAW= 160.7, 8.8, CAL= 160.4, 9.2, ROT= 349.6, -9.2 U Ygot valid direction response: 04:58:01.4411 LVL= 32752, 32753, 31906, 32755, AGC= 69, IDX= 404, 0.11,-1.852, 2.935,-1.326,-1.883, PHS= 0.133,-1.420, 0.513, RAW= 160.7, 8.8, CAL= 160.4, 9.2, ROT= 349.6, -9.2 ] PDAT read: Bearing 50.5, -12.2 (Local) ] ~Local bearing/azimuth received: Bearing 50.5, -12.2 (Local) m DAT read: Range 11 to 50 : 81.3 m (Round-trip 108.5 ms) speed 0.1 m/s m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.970919,-0.178197,0.159881]} Fpublishing direction and range infoy  Y?bs{'ƿČsv?Y B    |  ) EI '1>i µ S? 3@ nF> $+3@  l$>) @@I l$   6?0h?,m$?  :5?) I 9i l$   T****** received valid address query ****** R****** received valid ping request ******I O >*^,g?AQuerying Benthos address 50 with one ping in standard two-way mode.Ieƈ@3@<ٱzt' ]AHRS rotation from veh to nav: [[-0.218276,0.963156,0.157117],[-0.975853,-0.214073,-0.043403],[-0.008169,-0.162797,0.986626]]H y˿,?j?/:f˿8кĿ p?ieƈ@ITf;9}"?Y}"?=}Fy}.!EyE>Q 5*5!?Q 9*5)@BYyQ I{@"DIp:i:;*5yɮAiiYO?AJiʡBRiʡBji%݊@bN弁S@ĎV˙,~jW)@RY?bs{'ƿČsv?Zi9bil$jJ<$rćRjy,@ZmwֿcLA R ?2i>:i"i8(?*i[Bi]Biی ?iHi՟Bi;Bi=v@ addTargetRange:: Added new target pos. range: 81.300003 m, deltaT: 3.780086 s, deltaX: -2.699997 m, approachRate: -0.714269 m/s, rangeRepo size: 4  Added new target pos. range: 80.895012 m, bearing: 248.634755 deg, lat: 36.779368 deg, lon: -121.859621 deg, deltaT: 3.780086 s, deltaX: -2.686111 m, approachRate: -0.710595 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 80.90 m.RhZhq ProNav: ac range: 80.895012 m, nav range: 79.615990 m, bearing: 249.705516 deg, approach rate: 0.000000 m/s, LOS rate: -0.019083 deg/s, cmd heading: 257.262982 deg, new cmd heading: 257.235626 deg. BhHeadingCmd: 4.489609 target range: 80.895012 and range: 81.30 m.hએ@h*h"h hgfffdddjd@3ST@Zd`\?Bɢn&)! %Mi!)%/P!!i%=i-忉-x %BDAT read: Tx time:04:58:02.7284 %$Ping request sent.% , ?A@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251321Y ~By IiMb@Mb@Mb@ 9~jt?i|?5Q?Y?yq\=b A  A)AԡYAbDVDNy=<%(=ٔQ->9 ?Y ?=Fy3!EE>Q 5*5!?Q 9*5")JBY?Q E:y@Q I{@4DI ;iX ;ل*5yɮA B*** querying acoustic contact ***i  i jh%DNOT Ignoring new targets: 80.90 m.Rh%̹Zh%̹5 ProNav: ac range: 80.895012 m, nav range: 79.322708 m, bearing: 249.695330 deg, approach rate: -0.642515 m/s, LOS rate: -0.022399 deg/s, cmd heading: 257.235634 deg, new cmd heading: 257.204962 deg. Bh5u=HeadingCmd: 4.489073 target range: 80.895012 and range: 81.30 m.h=}@hA*hA"hA hAgAfAfIfMBdIdIdQjdQZdUd?颅Bɢ 4) qi)zq顉i:ix忉<4BIBMIBM~BBM =BIBMDBM`q;BM-EiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501087 ^A 8<A I I) 1 O= >=|Ľ,?A2Ɉ@2}ď@2A;ٱ2l[& :AHRS rotation from veh to nav: [[-0.217891,0.963226,0.157222],[-0.975969,-0.214556,-0.038091],[-0.002957,-0.161744,0.986828]]2H@˿??";v˿@9hĿ ?i2Ɉ@I20e;28CYF~ByFIIJR=)Jp;N=N=bDRVDRyz*%zo=ٔzyQ-z?9|Y|=~Fy~6!E:E?)Q 55*5-?Q 95*5--()-QBY1y56Q I5{@-BDI-:i-:-߇*5yAɮeAajhDNOT Ignoring new targets: 80.90 m.RhZh ProNav: ac range: 80.895012 m, nav range: 79.111755 m, bearing: 249.687911 deg, approach rate: -0.596648 m/s, LOS rate: -0.021039 deg/s, cmd heading: 257.204953 deg, new cmd heading: 257.182636 deg. BhgHeadingCmd: 4.488684 target range: 80.895012 and range: 81.30 m.hL@h*h"h hgfffdddjdZd? Bɢ H) i)ˆi8i;忉% <%@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004771^ʽ,},?A4bˈ@bƏ@bH:ٱb' AHRS rotation from veh to nav: [[-0.217631,0.963029,0.158784],[-0.976030,-0.214504,-0.036786],[-0.001366,-0.162984,0.986628]]bH@W˿!?@S?`;t˿բHcVĿ`t?ibˈ@Ib- e;b;CY=~By=IbDUVDU1y|<%C=ٔTxQ->9"?Y"?=Fy:!Em&:E>Q 5*5F?Q 9*5.)ZBYy+Q I{@RDIt:i4:*5yϒBɮAEjh15DNOT Ignoring new targets: 80.90 m.Rh=ǹZh=ǹM ProNav: ac range: 80.895012 m, nav range: 78.855835 m, bearing: 249.678793 deg, approach rate: -0.611072 m/s, LOS rate: -0.021842 deg/s, cmd heading: 257.182632 deg, new cmd heading: 257.155189 deg. BhMoUHeadingCmd: 4.488205 target range: 80.895012 and range: 81.30 m.hU`@hQ*hY"hY hYgYfYfafadadadajdiZdmL ?颕Bɢ:) i)^@顡i5i忉X0 <IAm >  G1 I u 춿9y Y} XAI I O >ѽ,VF?A6Έ@6ɏ@6lF8ٱ6H) >AHRS rotation from veh to nav: [[-0.217270,0.962836,0.160438],[-0.976111,-0.214307,-0.035759],[-0.000047,-0.164375,0.986398]]6H@˿?:? N<ln˿ O@; ſ?i6Έ@I6-d;69CYJ~ByJI\E%  E% E%&E!"E%D;*E%:VE%4ZE!a-@a-@a-@a-@B=>B= CB=IB=~BB9B9B9B=vq;B=-EiUMb@Mb@Mb@QQQQ Q9UZd;?lMb?YU?yUU=UKAU@ U\ A)UAQYU3AbDmVDm:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508769yO=%K=ٔ%LQ-%>9)Y1==Fy=?!E]a:E]>iQ 5*5m7?Q 9*5m5)mdBY;?Q E:yvQ I{@mcDIm;im;mB*5y˒BɮAEjhIuDNOT Ignoring new targets: 80.90 m.Rhu7Zhu7 ProNav: ac range: 80.895012 m, nav range: 78.598221 m, bearing: 249.674391 deg, approach rate: -0.585553 m/s, LOS rate: -0.010039 deg/s, cmd heading: 257.155202 deg, new cmd heading: 257.141952 deg. BhvܹHeadingCmd: 4.487974 target range: 80.895012 and range: 81.30 m.h{@h*h"h hgfffĀBdddjdZd 8?BɢP/) i)G֩i73i}忉%[ <%5Q׽,`?A:?ш@: ̏@:<ٱ:_( FAHRS rotation from veh to nav: [[-0.216990,0.963010,0.159771],[-0.976173,-0.214274,-0.034250],[0.001252,-0.163397,0.986560]]:H@W˿@? ds?<@Tm˿7 GT?@-Ŀ?i:?ш@I:/}c;:8CYN~ByNI PPTVAbDZVDZyb[<%bT=ٔf1iQ-f>9dYd=jFyjB!EjP:Ej>lQ 5r*5nE?Q 9r*5ni:)nlBYtyvoQ Iv{@nqDIn:inZ:ne*5xy|ɮ~A|jh!%DNOT Ignoring new targets: 80.90 m.Rh-KZh-K= ProNav: ac range: 80.895012 m, nav range: 78.381332 m, bearing: 249.670630 deg, approach rate: -0.640679 m/s, LOS rate: -0.011140 deg/s, cmd heading: 257.141951 deg, new cmd heading: 257.130637 deg. Bh=EHeadingCmd: 4.487776 target range: 80.895012 and range: 81.30 m.hEݛ@hA*hI"hI hIgIfIfQfQdQdQdYjdYZd]@TA@颍BɢY) i)D顑i!21i忉Ky <WT;*E :VE c44ZE BE "y eݽ,Yjz?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267335YԈ@Ϗ@OٱJ( AHRS rotation from veh to nav: [[-0.216566,0.963029,0.160235],[-0.976265,-0.214029,-0.033135],[0.002385,-0.163607,0.986523]]Hn˿@!??@=Oe˿@ c? Ŀ?iԈ@Ib;:CY~ByIiMb@Mb@Mb@ 9gfffff?ʡE~jt?Y3?y<"A  A)AYAbDVD0y%/=ٔQ->9Y=FyG!E>s:E>Q 5*5?Q 9*5!A)uBY?Q E:yQ I{@DI:i]:|*5yɮA B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 80.90 m.RhjZhj- ProNav: ac range: 80.895012 m, nav range: 78.110107 m, bearing: 249.668267 deg, approach rate: -0.579390 m/s, LOS rate: -0.005066 deg/s, cmd heading: 257.130640 deg, new cmd heading: 257.123526 deg. Bh5^5HeadingCmd: 4.487652 target range: 80.895012 and range: 81.30 m.h5ٚ@h9*h9"h9 h9g9f9fAfEҀBdAdIdIjdIZdM@@}Bɢ}9) ,i)Dǻ顁i.i忉 <_ ,k-?A2%ۈ@2Տ@2'cٱ2+&) :AHRS rotation from veh to nav: [[-0.215810,0.963021,0.161299],[-0.976429,-0.213431,-0.032141],[0.003473,-0.164433,0.986382]]2Hय़˿? r?>Q˿t Atl? ( ſ q?i2%ۈ@I2 c;28CYZ~ByZIbDfVDf:2yn<%no=ٔnPQ-r?9pYp=rFyrK!Ev;Ev?xQ 5~*5z?Q 9~*5zF)z|BY|yQ I{@zDIzU;iz;zw*5y ɮ A jh15DNOT Ignoring new targets: 80.90 m.Rh=ǸZh=ǸM ProNav: ac range: 80.895012 m, nav range: 77.912338 m, bearing: 249.666414 deg, approach rate: -0.580513 m/s, LOS rate: -0.005451 deg/s, cmd heading: 257.123537 deg, new cmd heading: 257.117965 deg. BhMnoUHeadingCmd: 4.487555 target range: 80.895012 and range: 81.30 m.hU @hQ*hQ"hQ hYgYfYfYfadadadajdaZdmL@颕BɢOU) i)@Cջ顙iyd,i6忉 <=kE-  E- E- )E) "E- ,K;*E- :VE- FA4ZE) a5 @a5 @a5 @a5 @ BDAT read: Rx Time:04:58:05.2382  TRx dataTimestamp_ set to:1761541086.673040 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0237099 2,?Aɰ;^q@^?@^;ٱ^*( jAHRS rotation from veh to nav: [[-0.214462,0.963448,0.160540],[-0.976722,-0.212281,-0.030822],[0.004384,-0.163413,0.986548]]^H`~s˿??OA,˿ ܏q?Ŀ ͑?i^q@I^cc;^:CYr~ByvIxz=bD~VD~y % G=ٔ XQ->9YQ=UFyUO!E]W;E]>aQ 5m*5e(?Q 9m*5e L)eBYiyuQ Iu{@eDIe;iez ;e *5y}͒Bɮ}A}EjhDNOT Ignoring new targets: 80.90 m.RhڸZhڸ ProNav: ac range: 80.895012 m, nav range: 77.669655 m, bearing: 249.663894 deg, approach rate: -0.573524 m/s, LOS rate: -0.005974 deg/s, cmd heading: 257.117963 deg, new cmd heading: 257.110380 deg. Bh2HeadingCmd: 4.487422 target range: 80.895012 and range: 81.30 m.h@h*h "h  h g f fQfQdQdQdYjdYZd]95 @颭BɢLE) i) i)i忉 <Wԙ t,\?A2y@2G@2Oٱ2' :AHRS rotation from veh to nav: [[-0.213146,0.963739,0.160549],[-0.977006,-0.211151,-0.029585],[0.005388,-0.163163,0.986584]]2HZH˿`?݌?@C@˿`Kv?Ŀ`?i2y@I24d;27CBPBPBPBPBR =BPBPBRq;BR .EB} CByByB} =B} =C}_5Er  Er Er*Ep"ErX;*Er:VEr(N4ZEpBEr )2@9>¸2@ %K>)z@I%KMZ?Z)5?5o)? 2?)kT:I2i%KT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9Cl?/$9QYQ=UFyUT!E]/;E]>aQ 5*5e䦊?Q 9*5eS)eBY?Q E:yQ I|@eDIel;ie:e*5yɒBɮAEiiC;?AJiBRiBjir@bOHrS@B*!j='/@R)Ia?~yſg4L?Zi2bi%Kj:ݪm=Q}a1@Zr#տ437{.?2i:i$"ih?*iנBiZBi6?iiiBԡi y@ addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.780024 s, deltaX: -2.100006 m, approachRate: -0.555554 m/s, rangeRepo size: 4 % Added new target pos. range: 78.806282 m, bearing: 249.682247 deg, lat: 36.779368 deg, lon: -121.859621 deg, deltaT: 3.780024 s, deltaX: -2.088730 m, approachRate: -0.552571 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 78.81 m.RheZhau ProNav: ac range: 78.806282 m, nav range: 77.354439 m, bearing: 249.725133 deg, approach rate: 0.000000 m/s, LOS rate: -0.005974 deg/s, cmd heading: 257.110368 deg, new cmd heading: 257.100707 deg. BhqHeadingCmd: 4.487254 target range: 78.806282 and range: 79.20 m.h@h*h"h hgfffȀBdddjdS@ZdL?]Bɢer38)a e ia)e{aiimz&im忉u?w <7 e BDAT read: Tx time:04:58:06.5284 e $Ping request sent.m 9 ?Y ?=FyY!E;E>Q 5*5@ܦ?Q 9*5BZ)BYyQ I|@DIZ:i:*5yɮrAjh%DNOT Ignoring new targets: 78.81 m.Rh%#7Zh%#7= ProNav: ac range: 78.806282 m, nav range: 77.062805 m, bearing: 249.725376 deg, approach rate: -0.617136 m/s, LOS rate: 0.000516 deg/s, cmd heading: 257.100697 deg, new cmd heading: 257.101428 deg. Bh=]7=HeadingCmd: 4.487267 target range: 78.806282 and range: 79.20 m.hE@hA*hA"hA hAgAfAfIfIdIdQdQjdQZdU ?颅BɢX) *i)}顉i%Q$i忉B <H ,^?Alnr@inIllp ppppptIv)tit)tIv9jAzmz\F xxxxi||i||)| |I  C)Y Y~ByIIBiAm<Bu>BqBuIBu~BBu =BqBqBur;Bu6.EE  EEE"EF;*E:VEZEBEa9iYi=uFyu]!EuEu>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753893Q 5*5yզ?Q 9*5d`)BYk?Q E:yQ I|@DIb;i:*5yɮA5B*** querying acoustic contact ***i1 i1jhamDNOT Ignoring new targets: 78.81 m.Rhm,Zhm, ProNav: ac range: 78.806282 m, nav range: 76.816223 m, bearing: 249.721394 deg, approach rate: -0.582811 m/s, LOS rate: -0.009443 deg/s, cmd heading: 257.101434 deg, new cmd heading: 257.089449 deg. Bh_ϹHeadingCmd: 4.487057 target range: 78.806282 and range: 79.20 m.h@h*h"h hgfffBdddjdZd?-Bɢ5Tc)1 51i1)5tYYi]!ie忉eQ! ,8!?A2 @2a@2ٱ2b) :AHRS rotation from veh to nav: [[-0.210145,0.964010,0.162863],[-0.977628,-0.208746,-0.025857],[0.009071,-0.164653,0.986310]]2H ʿ*?`?H`-ʿ:z@?`[ſُ?i2 @I2*e;27C Ym~BymIbD}VD}yv%M=ٔλQ->9Y=Fya!EԠ;E>Q 5*5=Ϧ?Q 9*5f)BYyUQ I|@DI(;i*;*5yʒBɮAjhDNOT Ignoring new targets: 78.81 m.RhEZhE ProNav: ac range: 78.806282 m, nav range: 76.588165 m, bearing: 249.717353 deg, approach rate: -0.607285 m/s, LOS rate: -0.010792 deg/s, cmd heading: 257.089441 deg, new cmd heading: 257.077283 deg. Bh HeadingCmd: 4.486845 target range: 78.806282 and range: 79.20 m.h <@h *h "h  h g fffdddjdZd`!?MBɢMݾ|)Q U5iQ)U QQiUi]y忉]Tt <]`~',^;?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511331ԁ鰱ɰ4<D@ @H(ٱϦ) AHRS rotation from veh to nav: [[-0.209225,0.964121,0.163388],[-0.977814,-0.208027,-0.024601],[0.010271,-0.164910,0.986255]]Hʿ`???Jʿ0  ?ſg?iD@I/e;6CԡYMs~ByU{I]=]>iMb@Mb@Mb@ 9On?L7A`尿MbPY?y+ AA A)YAbDVD1yG% =ٔ :Q- >9"?Y"?=Fyg!E :E>Q 5%*5Ʀ?Q 9-*5Kn)BY-?Q E-:y-Q I-|@DIz:i:Ʊ*5y9ɮ=A9jhaeDNOT Ignoring new targets: 78.81 m.RhmfZhmfB>BBIB~BB =BBBEr;BU.E ProNav: ac range: 78.806282 m, nav range: 76.258934 m, bearing: 249.708909 deg, approach rate: -0.599857 m/s, LOS rate: -0.015453 deg/s, cmd heading: 257.077283 deg, new cmd heading: 257.051839 deg. Bh)-HeadingCmd: 4.486401 target range: 78.806282 and range: 79.20 m.h-@hY*ha"ha hagafififBdddjdZd @%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762579EBɢEkX)A E=iA)Ml)QQiUdim忉u @J @JPYٱJy' VAHRS rotation from veh to nav: [[-0.209101,0.964354,0.162167],[-0.977804,-0.208438,-0.021284],[0.013276,-0.163018,0.986534]]JHʿ ??+Jʿ q˕0?Ŀ`?iJ>@IJ9d;J8C X)ZlA^v\\\^kAi^TIbTSF`I`ib3s@ ``)`d fkAf94dhhjlAIj94)hih)lInlAn94nKF lpppippYpYza~ByzpIbDVDy6%S=ٔQ->9Y=%Fy%k!E%?9E%>)Q 55*5-Z?Q 95*5-t)-BY9y=Q I=|@-DI- :i-$:-)*5yEƒBɮEAEjh  DNOT Ignoring new targets: 78.81 m.RhnZhnE ProNav: ac range: 78.806282 m, nav range: 76.026756 m, bearing: 249.702896 deg, approach rate: -0.569726 m/s, LOS rate: -0.014800 deg/s, cmd heading: 257.051847 deg, new cmd heading: 257.033753 deg. BhE"MHeadingCmd: 4.486085 target range: 78.806282 and range: 79.20 m.hM@hI*hI"hQ hQgQfQfQfYdYdYdYjdYZd@p@Bɢ) Ci)Ͱ2iCi_濉m <&T;*E:VEZEa@a@a@a@^AZ< A) I1 II OU >i,Bx?AR @R@R2xٱR֓' ZAHRS rotation from veh to nav: [[-0.209744,0.964170,0.162431],[-0.977639,-0.209379,-0.019562],[0.015148,-0.162902,0.986526]]RHʿz? ?`Hʿ ?Ŀ?iR @IRc;R:C|Y]\~By]mIbDmVDm0y}]%}E=ٔǓQ->9Y=Fyo!EѺE>Q 5*5?Q 9*5Mz)BYyQ I|@DIT;ia;ɸ*5yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516811jhDNOT Ignoring new targets: 78.81 m.RhfZhfE ProNav: ac range: 78.806282 m, nav range: 75.778267 m, bearing: 249.696546 deg, approach rate: -0.594192 m/s, LOS rate: -0.015234 deg/s, cmd heading: 257.033761 deg, new cmd heading: 257.014648 deg. BhEG'}HeadingCmd: 4.485752 target range: 78.806282 and range: 79.20 m.hG@h*h"h hgfff1ddAdjdZd@ }EG9Y֬A-Bɢ-Os)1 5iEi1)5?11i5"i]N濉]b o%,͖?A2@2t@2ٱ2;' :AHRS rotation from veh to nav: [[-0.210592,0.963922,0.162806],[-0.977425,-0.210524,-0.017871],[0.017049,-0.162894,0.986496]]2Hʿr??GpʿL=u?Ŀ`?i2@I2:c;29CYnS~ByngI pptvAiMb@Mb@Mb@ 9Mb?i|?5~jth?Y#?yqD;A@ rA) AYAbDVDk1y%'=ٔ~Q->9Y=Fyt!E&E>Q 5*5汦?Q 9*5')BY#?Q E:yQ I|@)DI:i:*5y ɮ A -B*** querying acoustic contact ***i) i)jh1=DNOT Ignoring new targets: 78.81 m.Rh=Zh=IU ProNav: ac range: 78.806282 m, nav range: 75.465912 m, bearing: 249.684263 deg, approach rate: -0.669749 m/s, LOS rate: -0.026445 deg/s, cmd heading: 257.014636 deg, new cmd heading: 256.977636 deg. BhU1]HeadingCmd: 4.485106 target range: 78.806282 and range: 79.20 m.h]@hY*hY"ha hagafafifmgBdididqjdqZdu @颥Bɢ ) H BDAT read: Rx Time:04:58:09.0351 TRx dataTimestamp_ set to:1761541090.456275checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026116i)EHAIiMiMy'濉UQ +,?A2&@2@2,ٱ2p'' :AHRS rotation from veh to nav: [[-0.211956,0.963623,0.162806],[-0.977093,-0.212204,-0.016069],[0.019063,-0.162483,0.986527]]2H `!˿@??YD@)˿t@Q? =Ŀ?i2&@I2 Gb;27CYZ5~ByZUIbDfVDf0yj%n]=ٔnoQ-n>9pYp=rFyrx!EvxEv>xQ 5z*5z﫦?Q 9~*5z)zBY|y~Q I~|@z8DIz;iz&;zJ*5y ȒBɮ oA Ejh15DNOT Ignoring new targets: 78.81 m.Rh=Zh=M ProNav: ac range: 78.806282 m, nav range: 75.229790 m, bearing: 249.675166 deg, approach rate: -0.639386 m/s, LOS rate: -0.024710 deg/s, cmd heading: 256.977644 deg, new cmd heading: 256.950269 deg. BhMUHeadingCmd: 4.484628 target range: 78.806282 and range: 79.20 m.hU@hQ*hQ"hQ hQgYfYfYfadadadajdaZdm @颕Bɢ㓽) SPi)(R顙ii 7濉| <-3@-K6>-3@ - D>)-g@I- D))-p}9 2, |?ABBBIB~BB =BBBr;B.E~y@~G@~ZȬٱ~X&  AHRS rotation from veh to nav: [[-0.213459,0.963320,0.162635],[-0.976724,-0.214025,-0.014240],[0.021090,-0.161889,0.986584]]~HR˿@?5?`SA,e˿)@?ŸĿ?i~y@I~a;|bEYjEYrE]b/E E EE"EO;*E:VEZEBE7 BDAT read: Tx time:04:58:10.3784 $Ping request sent.9QYQ=UFyU}!EUcQEU>YQ 5*5];?Q 9*5])]BY7(?Q E:yeQ I|@]MDI](;i];]*5yĒBɮ>AEiYi]?AJi] BRi] Bji]iߊ@b]۠opR@8h,>!W3-@R]pHOi?UnǿP@ml?Zi]tBbi] Dj]uG ;aQMQf`B2@Z]Ŝu0Zֿ Um쿟q_]?2i]j:i]j"i]dM?*i][dtBi]Bi]ی ?i][i]Bi]ڔBi]Q@M addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.785513 s, deltaX: -2.299995 m, approachRate: -0.607578 m/s, rangeRepo size: 4 ] Added new target pos. range: 76.517776 m, bearing: 248.650606 deg, lat: 36.779368 deg, lon: -121.859615 deg, deltaT: 3.785513 s, deltaX: -2.288506 m, approachRate: -0.604543 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 76.52 m.RhZh ProNav: ac range: 76.517776 m, nav range: 74.425941 m, bearing: 249.448740 deg, approach rate: 0.000000 m/s, LOS rate: -0.024710 deg/s, cmd heading: 256.950269 deg, new cmd heading: 256.913143 deg. BhHeadingCmd: 4.483980 target range: 76.517776 and range: 76.90 m.h|@h*h"h hgfffdBdddjd9S@Zd ?UBɢ]:)y }Piy)`顁i+i[L濉< @ >- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250770a ^A R5<ԑ A .AI IO >Ԇ9,0?A2X@2&܏@2ٱ2k& >AHRS rotation from veh to nav: [[-0.215014,0.962919,0.162960],[-0.976334,-0.215916,-0.012366],[0.023278,-0.161762,0.986555]]2H˿;?`?>$˿9 ?Y ?=Fy!E(E>1Q 5E*55?Q 9M*55)5˜BYQyUQ IU|@5]DI5f;i5;5*5yaɮmAiԱjhDNOT Ignoring new targets: 76.52 m.Rh Zh  ProNav: ac range: 76.517776 m, nav range: 74.170700 m, bearing: 249.435826 deg, approach rate: -0.671778 m/s, LOS rate: -0.034105 deg/s, cmd heading: 256.913140 deg, new cmd heading: 256.874265 deg. Bh?HeadingCmd: 4.483302 target range: 76.517776 and range: 76.90 m.h 5w@h *h "h hgfffdddjdZd%`q?EM EM EM+EI"EMW;*EM:VEM [4ZEIa]@a]@a]@a]@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503593UBɢU=)Y ]NiY)]kaai ib濉m<9)Y1=5Fy5!E5E5>9Q 5E*5=$v?Q 9E*5=)=BYM1?Q EM:yM0Q IM|@=DI= ;i= ;=f*5yQɮ]AYjhyDNOT Ignoring new targets: 76.52 m.Rh.Zh. ProNav: ac range: 76.517776 m, nav range: 72.603264 m, bearing: 249.370403 deg, approach rate: -0.595714 m/s, LOS rate: -0.014555 deg/s, cmd heading: 256.696049 deg, new cmd heading: 256.677297 deg. BhHeadingCmd: 4.479864 target range: 76.517776 and range: 76.90 m.h [@h*h"h hgfffBdddjdZd`-i @m€Bɢu)q }i;iy)}w'顁AAB>BCBIB~BB =BBB3s;B.EiMi]<濉]<E EE(E"EmR;*E:VEc44ZEBEf,7ޜ?A2@2z@2ٱ2K) :AHRS rotation from veh to nav: [[-0.223710,0.960054,0.168080],[-0.974035,-0.226373,-0.003397],[0.034788,-0.164476,0.985767]]2H̿@¸?`?J+̿Vk@ϡ? ſ@h?i2@I2`;25CYF~ByFIbDN VDN2yV=%Vg=ٔVQ-Z>9XYX=ZFyZ!E^E^>`Q 5f*5bgp?Q 9f*5b%)bBYdyj1Q Ij|@bDIb :ib$:b*5ylɮnAl~B*** querying acoustic contact ***i|%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274829) i|jhDNOT Ignoring new targets: 76.52 m.Rh)|Zh)| ProNav: ac range: 76.517776 m, nav range: 72.392708 m, bearing: 249.365251 deg, approach rate: -0.561510 m/s, LOS rate: -0.013779 deg/s, cmd heading: 256.677307 deg, new cmd heading: 256.661807 deg. BhLHeadingCmd: 4.479594 target range: 76.517776 and range: 76.90 m.hX@h*h"h hgfffddd!jd!Zd%`az @yɢ"䎽) q8i)顁i9i濉=<qlG3@+>$+3@ X8>)@@IX8J?Yal|?U usY? ~4?)+I9iX8 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԩ Ay I I O > m,?A2@2’@2 ٱ2., >AHRS rotation from veh to nav: [[-0.223670,0.959552,0.170970],[-0.974014,-0.226465,-0.003234],[0.035615,-0.167250,0.985271]]2H:̿`?U?@+̿~j$9Y!=%Fy%!E%B8E%>)Q 55*5-i?Q 95*5-S)-$BYYy](Q I]|@-DI-;i-u;-%*5yeŒBɮe1AmEyi i j?AJi BRi Bji Ċ@b X}Q@ SK*8Z0y*@R  $?y.?#ƿ?Zi 9bi X8j yt!Ř`:P8@[1@Z eֿ4myq?2i :i "i 7i㺝?*i f>~Bi Bi dM?i נi Bi ڐBi @ addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.779875 s, deltaX: -2.500000 m, approachRate: -0.661398 m/s, rangeRepo size: 4 % Added new target pos. range: 74.029823 m, bearing: 248.465221 deg, lat: 36.779359 deg, lon: -121.859614 deg, deltaT: 3.779875 s, deltaX: -2.487953 m, approachRate: -0.658210 m/s, posRepo size: 4 jh!-DNOT Ignoring new targets: 74.03 m.Rh-Zh1e ProNav: ac range: 74.029823 m, nav range: 72.426918 m, bearing: 248.659855 deg, approach rate: 0.000000 m/s, LOS rate: -0.013779 deg/s, cmd heading: 256.661816 deg, new cmd heading: 256.644720 deg. BhaeHeadingCmd: 4.479295 target range: 74.029823 and range: 74.40 m.hmcV@hi*hi"hi higififfdddjdR@Zd?ÀBɢ[ )1 5>2i1)511i=Êi=濉E3 =BDAT read: Tx time:04:58:14.0784 E$Ping request sent.Ea7t,>?AYv~ByvI xxbD~VD~y%>=%%?=ٔ%Q-%>9- ?Y- ?=-Fy-!E5E5>9Q 5E*5=b?Q 9E*5=)=4BYAyAQ IE|@=DI=F:i=:=*5yQɮUAQqjhyDNOT Ignoring new targets: 74.03 m.RhùZhù ProNav: ac range: 74.029823 m, nav range: 72.176102 m, bearing: 248.651174 deg, approach rate: -0.616261 m/s, LOS rate: -0.021404 deg/s, cmd heading: 256.644713 deg, new cmd heading: 256.618579 deg. BhkHeadingCmd: 4.478839 target range: 74.029823 and range: 74.40 m.hR@h*h"h hgfffdddjdZd`?ɢ) P-i)СilCi濉e<sw ^z, ?A>@>@>ٱ>. JAHRS rotation from veh to nav: [[-0.222972,0.959239,0.173623],[-0.974118,-0.226031,-0.002213],[0.037122,-0.169622,0.984810]]>H\̿?C9?+̿b ?-ſ?i>@I>`;9xY|=~Fy~!E,:E> Q 5*5 h\?Q 9*5 t) CBY!y% Q I%|@ DI >;i C; P*5EE EE EE(EA"EE>T;*EE:VEEc44ZEAaU@aU@aU@aU@y5Bɮ] AeEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753286jhQ]DNOT Ignoring new targets: 74.03 m.Rh]Zh] ProNav: ac range: 74.029823 m, nav range: 71.940208 m, bearing: 248.642786 deg, approach rate: -0.547531 m/s, LOS rate: -0.019534 deg/s, cmd heading: 256.618567 deg, new cmd heading: 256.593320 deg. BhVHeadingCmd: 4.478398 target range: 74.029823 and range: 74.40 m.h O@h*h"h hgfffddd)jd)Zd-a?Yɢ]L)Y e2ia)eaaieimD翉mY F,Z?A~&@~@~{ٱ~/  AHRS rotation from veh to nav: [[-0.222084,0.959276,0.174551],[-0.974298,-0.225256,-0.001680],[0.037707,-0.170438,0.984647]]~H`@m̿c?W?@s-1̿8[QN?ſ9?i~&@I~`;~8CY~ByI1a@a a@a a@a a@a bDVDy&c=%/=ٔQ->9BIAIBU>BQBUIBUBBU =BQBQBUs;BU /EY=Fy!E:E>Q 5*5T?Q 9*5)VBQ A+:YQ E:yQ I|@DI;i>*5yɮAjhDNOT Ignoring new targets: 74.03 m.Rh'ֹZh'ֹ ProNav: ac range: 74.029823 m, nav range: 71.651146 m, bearing: 248.632206 deg, approach rate: -0.636892 m/s, LOS rate: -0.023404 deg/s, cmd heading: 256.593323 deg, new cmd heading: 256.561457 deg. Bh~HeadingCmd: 4.477842 target range: 74.029823 and range: 74.40 m.h|J@h*h"h hgff f d d d jdZd ?=ĀBɢ=AbEÙT4jErO4rEn/EM EM EM*EI"EMV;*EM:VEM(N4ZEIBEMԉ^A vт<A zA bAԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509417AM ؟AIQ Ia Ou >,T!?A2׬@2@2.ٱ2x0 :AHRS rotation from veh to nav: [[-0.221165,0.959303,0.175568],[-0.974487,-0.224442,-0.001218],[0.038236,-0.171358,0.984467]]2H O̿ ?x?.̿Sଓ? ſ ?i2׬@I26a;26CYF~ByFIIJ>)J>bDVD:2y <%V=ٔQ->9"?Y"?=Fy!E%*;E%>)Q 55*5-N?Q 95*5-)-dBQ A5 :Y1Q E5h:y5Q I=|@-DI-u ;i-Y?-*5yEĒBɮEAEEeB*** querying acoustic contact ***ia iajhiquDNOT Ignoring new targets: 74.03 m.Rh}̹Zh}̹ ProNav: ac range: 74.029823 m, nav range: 71.437210 m, bearing: 248.624147 deg, approach rate: -0.592694 m/s, LOS rate: -0.022394 deg/s, cmd heading: 256.561467 deg, new cmd heading: 256.537217 deg. BhuHeadingCmd: 4.477419 target range: 74.029823 and range: 74.40 m.hG@h*h"h hgfffdddjdZdze?ɢ$D) (i)i{iZ#翉<<ky c%,2U;?A2@2@2Bٱ20 :AHRS rotation from veh to nav: [[-0.220223,0.959485,0.175757],[-0.974685,-0.223584,-0.000697],[0.038628,-0.171461,0.984433]]2HB0̿?3?0c̿Fǣ?@oſz?i2@I2(`;27CYF~ByFIbDNVDNk1yVL#<%ZQ=ٔZQ-Z>9XY\=^Fy^!E^!;Eb>`Q 5f*5bH?Q 9j*5b)bsBQ Aj9YhQ Ej<:yjQ Ij|@b-DIb:ib?b*5ypɮryApjh  DNOT Ignoring new targets: 74.03 m.RhҹZhҹ ProNav: ac range: 74.029823 m, nav range: 71.205765 m, bearing: 248.615193 deg, approach rate: -0.593559 m/s, LOS rate: -0.023038 deg/s, cmd heading: 256.537206 deg, new cmd heading: 256.510256 deg. Bh|HeadingCmd: 4.476949 target range: 74.029823 and range: 74.40 m.h*C@h*h"h hgfffddd jd Zd @k@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017279ɢ⇽)) -'ii)u4qqiuY~i}2翉}ˡ<}) ,/U?AY~ByIaa aa aa aa iMb@Mb@Mb@ 9K7A`?EԸQ?Y ?yƽu<x!A )E AYA bDVDy%9=ٔ1Q-u>9qYy=}Fy}!EE>Q 5*5c@?Q 9*5)BQ AT:YB ?Q E:yGQ I|@=DI,;i*;*5yɮAjhDNOT Ignoring new targets: 74.03 m.Rh39Zh39 ProNav: ac range: 74.029823 m, nav range: 70.952164 m, bearing: 248.619098 deg, approach rate: -0.548703 m/s, LOS rate: 0.008480 deg/s, cmd heading: 256.510268 deg, new cmd heading: 256.522026 deg. Bh=9HeadingCmd: 4.477154 target range: 74.029823 and range: 74.40 m.hD@h*h"h hgfffȀBdddjdZd@΂@1ɢ5Ip)9 =)i9)=ϸ99i=EiE ,翉EA >A9 II Ia Ou >Թ EY  E] E] &EY "EY *E] :VE] 4ZEY am @am @am @am @B,\:o?A2E@2@2%"ٱ2\0 :AHRS rotation from veh to nav: [[-0.218959,0.959769,0.175787],[-0.974925,-0.222532,0.000632],[0.039725,-0.171241,0.984428]]2H̿m?@1?@2{̿D?V?`9ſ o?i2E@I2_;25CYF~ByFI HHbDNVDNyV$,%V]=ٔZBQ-Z>9XYX=^Fy^!E^q;E^?vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773157`Q 5u*5b<:?Q 9u*5b)bBYyy}Q I}|@bJDIb| ",?AR8ƈ@R@R:$ٱR/ bAHRS rotation from veh to nav: [[-0.218127,0.960050,0.175285],[-0.975091,-0.221801,0.001405],[0.040227,-0.170612,0.984517]]RH˿?o?3c̿0W??`ſ@)?iR8ƈ@IR_;R7CYr~ByrIiMb@Mb@Mb@ 9/$?&19Y=Fy!E+:E>Q 5*51?Q 9*5D D <E EE*E"EL;*E4:VE(N4ZEBEݡI  DAT read: 04:58:16.5789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407, 0.48,-2.761, 2.065,-2.256,-2.783, PHS= 0.125,-1.390, 0.483, RAW= 160.4, 9.1, CAL= 160.2, 9.6, ROT= 349.8, -9.6  Ygot valid direction response: 04:58:16.5789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407, 0.48,-2.761, 2.065,-2.256,-2.783, PHS= 0.125,-1.390, 0.483, RAW= 160.4, 9.1, CAL= 160.2, 9.6, ROT= 349.8, -9.6  PDAT read: Bearing 51.6, -9.1 (Local)  ~Local bearing/azimuth received: Bearing 51.6, -9.1 (Local)  DAT read: Range 11 to 50 : 72.2 m (Round-trip 96.3 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.970413,-0.174605,0.166769] Fpublishing direction and range infoy  Cy ?XtYƿ8_X?Y fB ) BI >i 뱿 K> $+3@ "> 2@ +>) |]@I + -@?xY5w?50J? a4?) #I K6i + - T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.I,vâ?A 6ʈ@6ŏ@6&ٱ6. >AHRS rotation from veh to nav: [[-0.217587,0.960283,0.174677],[-0.975190,-0.221361,0.002180],[0.040760,-0.169869,0.984623]]6H˿ࣺ?[?4 U̿a?ޤ?@Eſ?i6ʈ@I6_;63CYF~ByJIRAAPbDRVDR:yZ<%Z^=ٔ^EQ-^>9`Y`=bFyb!Ebh:Ef?dQ 5j+5fI+?Q 9j+5f)fBYly}WQ I}|@fgDIfѹ*DAT read: user:268> %BDAT read: Tx time:04:58:17.8284 %$Ping request sent.-9)Y1=5Fy5!E59E5>9Q 5E+5=#?Q 9M+5=)=BYIyMUQ IM|@=wDI=:i=:=m+5yQɮ]AYuB*** querying acoustic contact ***iq iqjhDNOT Ignoring new targets: 71.84 m.Rh4/9Zh4/9 ProNav: ac range: 71.840736 m, nav range: 69.795601 m, bearing: 248.549138 deg, approach rate: -0.635154 m/s, LOS rate: 0.009573 deg/s, cmd heading: 256.554227 deg, new cmd heading: 256.565088 deg. Bh>9HeadingCmd: 4.477906 target range: 71.840736 and range: 72.20 m.hK@h*h"h hgfffdddjdZd?ɢ) /i)~ʼi-ֻih翉8<[B>BBBB =BBB&s;B.EE5  E5 E5 'E1 "E5 Q;*E5 :VE5 '4ZE1 BE5 ȥ9Y=Fy!E9E>Q 5+5?Q 9+5 )BY?Q E:yQ I|@DIn:iX);+5yɮAjhDNOT Ignoring new targets: 71.84 m.Rhq8Zhq8 ProNav: ac range: 71.840736 m, nav range: 69.552086 m, bearing: 248.550509 deg, approach rate: -0.583734 m/s, LOS rate: 0.003299 deg/s, cmd heading: 256.565101 deg, new cmd heading: 256.569230 deg. Bh9 HeadingCmd: 4.477978 target range: 71.840736 and range: 72.20 m.h K@h *h "h  h gfffBdddjd!Zd%2?IɢUPJ) 1i);ϼiһi 翉<sԡ E=  E= E= &E9 "E= ,K;*E= :VE= 4ZE9 aE @aM @aM @aM @+,є?A:ˆ@:ν@:}0ٱ:( BAHRS rotation from veh to nav: [[-0.218485,0.961061,0.169193],[-0.974888,-0.222624,0.005657],[0.043103,-0.163709,0.985567]]:H`M˿?` ?@H2~̿L+w?`?gĿ É?i:ˆ@I:x_;:6CYJ~ByNI R49hYh=jFyj!EnٺEn>pQ 5v+5r?Q 9v+5r)rBYtyvQ Iv|@rDIr :ir9:rj +5y|ɮ~bA|jh!%DNOT Ignoring new targets: 71.84 m.Rh-8Zh-8= ProNav: ac range: 71.840736 m, nav range: 69.328545 m, bearing: 248.551911 deg, approach rate: -0.584877 m/s, LOS rate: 0.003680 deg/s, cmd heading: 256.569226 deg, new cmd heading: 256.573445 deg. Bh=!9EHeadingCmd: 4.478051 target range: 71.840736 and range: 72.20 m.hE2L@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdUw?YÀBɢ }:)  M6i ) wӼ igϻi翉'B<@9aYa=eFye!EmEm>qQ 5u+5u ?Q 9}+5u)ușBY}C?Q E}:y}Q I}|@uDIu:iu:u^+5yɮ_AŤEjhDNOT Ignoring new targets: 71.84 m.RhSZhSE EE)E"EL;*E:VEFA4ZEBEUȾ,$?A6@6o@6:ٱ6@( VAHRS rotation from veh to nav: [[-0.220051,0.960656,0.169462],[-0.974422,-0.224589,0.007848],[0.045598,-0.163401,0.985505]]6H`*̿?? w. S̿? X?PĿB?i6@I6^;4Y~~By~IbD VD ky_}<%a=ٔ%MQ-%>9!Y!=%Fy-!E-IE->1Q 5=+55{?Q 9=+55)5љBYAyEHQ IE|@5DI5(:i5b:5+5yIɮMHAQjhq}DNOT Ignoring new targets: 71.84 m.Rh}iZh}i ProNav: ac range: 71.840736 m, nav range: 68.822823 m, bearing: 248.539361 deg, approach rate: -0.619821 m/s, LOS rate: -0.015017 deg/s, cmd heading: 256.552014 deg, new cmd heading: 256.535647 deg. Bh$HeadingCmd: 4.477392 target range: 71.840736 and range: 72.20 m.hF@h*h"h hgfffdddjdZdv@)颙ɢ) $4i)nݼiȻi%@$翉-<-qԱ ξ,=?A2(@2@2@ٱ2' :AHRS rotation from veh to nav: [[-0.221281,0.960428,0.169152],[-0.974075,-0.226040,0.009164],[0.047037,-0.162739,0.985547]]2HR̿ӻ?Ȧ?@+ ̿Ă?6?Ŀ?i2(@I2{^;23CYE~ByEI]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266829ԑbDVDܲy; <%3=ٔNQ->9Y=Fy!E3E>!Q 5-+5%6?Q 9-+5%")%ޙBY)y5sQ I5|@%DI%p;i%;%+5y9ɮ=8A9]B*** querying acoustic contact ***iY iYjhamDNOT Ignoring new targets: 71.84 m.Rhu"Zhu" ProNav: ac range: 71.840736 m, nav range: 68.534164 m, bearing: 248.532656 deg, approach rate: -0.619061 m/s, LOS rate: -0.014440 deg/s, cmd heading: 256.535649 deg, new cmd heading: 256.515450 deg. BhHeadingCmd: 4.477039 target range: 71.840736 and range: 72.20 m.hC@h*h"h hgfffdddjdZdg~@€Bɢ<|) 2i)iRŻi/翉X<SByByByByByB}DB}hr;B}c.E bE-4jE*4rE0E / E E $E "E af;*E g:VE 4ZE BE η9 վ,'W?A6{@6J@6%Fٱ6-& BAHRS rotation from veh to nav: [[-0.222653,0.960159,0.168879],[-0.973688,-0.227640,0.010516],[0.048541,-0.162094,0.985581]]6H`̿@?՝?t(R#Ϳ?`dڨ?`Ŀ`?i6{@I6^;65CDFr@iHIHHH HHLLPRlkAIP)PiP)TIV~jAVVV\F TXXXiXXiX\)\ \I\ `)````Y`Yj~ByjIi]Mb@Mb@Mb@YYYY Y9]MbX9?kt9Y=Fy!EE>Q 5+5?Q 9+5L()BYY#?Q E:yfQ I|@DI:i3:+5yɮAjhDNOT Ignoring new targets: 71.84 m.RhHZhH ProNav: ac range: 71.840736 m, nav range: 68.309410 m, bearing: 248.528794 deg, approach rate: -0.635873 m/s, LOS rate: -0.010963 deg/s, cmd heading: 256.515459 deg, new cmd heading: 256.503834 deg. BhmuHeadingCmd: 4.476836 target range: 71.840736 and range: 72.20 m.hu>B@hq*hq"hq hygyfyfyfxBdddjdZdG@!ɢ%)i m!/ii)m&#iiim»iur6翉uB@Iymchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771170@ @@/@9q ^AA I I O >E% $ E% E% (E! "E% g\;*E% :VE% c44ZE! a- @a- @a- @a- @۾,q?A bBDAT read: Rx Time:04:58:20.3259 fTRx dataTimestamp_ set to:1761541101.800195fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023802Y~ByIbD VD2y=%F=ٔQ->9Y=Fy!EE>Q 5+5壘?Q 9+5.)BYyQ I|@DI9:i:Q+5yƒBɮAjh!%DNOT Ignoring new targets: 71.84 m.Rh-IZh-I= ProNav: ac range: 71.840736 m, nav range: 68.046951 m, bearing: 248.524251 deg, approach rate: -0.635080 m/s, LOS rate: -0.011034 deg/s, cmd heading: 256.503820 deg, new cmd heading: 256.490140 deg. Bh=REHeadingCmd: 4.476597 target range: 71.840736 and range: 72.20 m.hEI@@hA*hA"hI hIgIfIfQfQdYdYdYjdYZdeܡ @ Bɢ (})I M*iQ)U(,QQiUտi]E>翉]\<]8Iq I O > ,?AHj@j~@j'Rٱjc( rAHRS rotation from veh to nav: [[-0.225893,0.959039,0.170930],[-0.972795,-0.231337,0.012365],[0.051401,-0.163487,0.985206]]jH ̿q? ? #!@sͿR?,Q?`#Ŀ͆?ij@Ij^;j2CA A ?AB>BBIBBBBBBAr;BN.EBBCBB =B =Cϩ4E EE*E"EL;*E>:VE(N4ZEBEiB`?3@`>Ud3@ >)K$@IOtL?괵?l5? 6?)3Iq=iMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Y~ByI iMb@Mb@Mb@ 9RQ?T㥛 {Gz?Y"?yף< )vAYG AbD%VD%y5p=%5 =ٔ=Q-=>99aYa=eFye!EmEm>qQ 5}+5u楊?Q 9}+5u8)u BYp#?Q E:y%Q I|@uDIu;iu;uv"+5yĒBɮvAΤEii?AJiMBRiMBjih@beP@QP)50%@R"E+A?U6%Cǿj?Ziq=bij^9WJ^O ܔ)0@Zi׿쿪BV?2iz:i"iz?*i@BiɟBii[dtiiBi^Ċ@] addTargetRange:: Added new target pos. range: 70.000000 m, deltaT: 3.782503 s, deltaX: -2.199997 m, approachRate: -0.581625 m/s, rangeRepo size: 4 m Added new target pos. range: 69.651169 m, bearing: 247.820016 deg, lat: 36.779359 deg, lon: -121.859610 deg, deltaT: 3.782503 s, deltaX: -2.189568 m, approachRate: -0.578867 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 69.65 m.RhuZhq ProNav: ac range: 69.651169 m, nav range: 67.536598 m, bearing: 248.461476 deg, approach rate: 0.000000 m/s, LOS rate: -0.011034 deg/s, cmd heading: 256.490132 deg, new cmd heading: 256.470099 deg. BhHeadingCmd: 4.476248 target range: 69.651169 and range: 70.00 m.hl=@h*h"h hgfffBdddjdQ@Zd6S?- Bɢ5 [)9 = %i9 )= H9 9 i= ~iE I翉E 8 u BDAT read: Tx time:04:58:21.6284 } $Ping request sent.} AHRS rotation from veh to nav: [[-0.228502,0.957986,0.173347],[-0.972063,-0.234323,0.013614],[0.053661,-0.165393,0.984767]]6H`?Ϳ ӧ? :0?$JͿ?}y?+ſ5?i6m@I6eT^;64C D)FlAF#DDHJ lAiJ#IHHILiNs@ LL)LP RkAR½PPTVkAIVƽ)TiTE" EEE"EZ;*E:VEZEa@a@a@a@)IIMkAMDI QQQQiQQYYYeByeIbDVDye=%Y=ٔ»Q->9Y=Fy!EE>Q 5+5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250779ߥ?Q 9+5>)BYy{Q I|@DIn;i;%+5y!ɮ%A!jhDNOT Ignoring new targets: 69.65 m.RhZh ProNav: ac range: 69.651169 m, nav range: 67.297829 m, bearing: 248.450831 deg, approach rate: -0.633198 m/s, LOS rate: -0.028331 deg/s, cmd heading: 256.470106 deg, new cmd heading: 256.438057 deg. BhHeadingCmd: 4.475688 target range: 69.651169 and range: 70.00 m.h8@h*h"h hgfffdddjdZd? Bɢ  ) :i)<iogi\翉%[<%!^Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5027542,\9?Ab@]@R_ٱ, AHRS rotation from veh to nav: [[-0.229791,0.957346,0.175169],[-0.971713,-0.235762,0.013785],[0.054495,-0.167047,0.984442]]HiͿ`?k?Er-οR;??aſ?ib@I{o^;1CBU>BQBUIBU9BBU =BQBQBU r;BU3.EYByIai}Mb@Mb@Mb@yyyy y9}rh|?Q뱿Q?Y}?y}\}9Y=Fy!E<E>Q 5+5ץ?Q 9+5E)'BY?Q E:yAQ I|@ DI ;iG ;)+5yɮAB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 69.65 m.Rh Zh  ProNav: ac range: 69.651169 m, nav range: 67.015160 m, bearing: 248.441483 deg, approach rate: -0.630700 m/s, LOS rate: -0.020945 deg/s, cmd heading: 256.438059 deg, new cmd heading: 256.409898 deg. BheD!zD%@AE-( E- E-)E)"E-`;*E-:VE-FA4ZE)BE-RVX,?A2]@2W@2bٱ2, :AHRS rotation from veh to nav: [[-0.230459,0.957065,0.175829],[-0.971506,-0.236578,0.014378],[0.055358,-0.167506,0.984316]]2HͿE?@?3HοWr?W? pſ?i2]@I2/^;25CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006764PY%/By%IbD5VD5:yE;=%E{=ٔM3.Q-M ?9IYQ=UFyU!EU EU ?YQ 5e+5]/ҥ?Q 9e+5]J)]4BYiymWQ Im|@]-DI]:i]:],+5yqɮugAyjhDNOT Ignoring new targets: 69.65 m.RhXZhX ProNav: ac range: 69.651169 m, nav range: 66.817070 m, bearing: 248.435001 deg, approach rate: -0.610489 m/s, LOS rate: -0.020036 deg/s, cmd heading: 256.409891 deg, new cmd heading: 256.390387 deg. Bh\HeadingCmd: 4.474856 target range: 69.651169 and range: 70.00 m.h2@h*h"h hgfffdddjdZdO?Bɢf) i) Y  i cķiUw翉N<TRi%>@ @@O0@@fA@fA^AhW<IQIiO}7>E= E=E=,E9"E=CJ;*E=:VE=g4ZE9aM@aM@aM@aM@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258752! ,?A2cX@22S@2yeٱ2, :AHRS rotation from veh to nav: [[-0.231005,0.956894,0.176040],[-0.971339,-0.237232,0.014894],[0.056014,-0.167554,0.984270]]2H`Ϳ?{?5]ο?֭?irſ$?i2cX@I2];23CY^DBy^IbDfVDff?yr3T=%rQ=ٔvۺQ-v>9tYt=zFyz!EzEz>|Q 5 +5}˥?Q 9 +5O)CBY y jQ I|@<DI*:i:0+5yǒBɮ,AͤEjhAEDNOT Ignoring new targets: 69.65 m.RhMIZhMI] ProNav: ac range: 69.651169 m, nav range: 66.578125 m, bearing: 248.427249 deg, approach rate: -0.608475 m/s, LOS rate: -0.019812 deg/s, cmd heading: 256.390384 deg, new cmd heading: 256.367045 deg. Bh]YeHeadingCmd: 4.474449 target range: 69.651169 and range: 70.00 m.he.@ha*ha"hi higifififqdqdqdyjdyZd}?Bɢ\h)  i)Ui-\i翉<PEM  EI EM 'EI "EM mR;*EI VEM '4ZEI BEM 9Y=Fy"E7.E>Q 5+5å?Q 9+5]V)SBY?Q E:yQ I|@MDIz:iL:3+5yƒBɮAפEjhDNOT Ignoring new targets: 69.65 m.RhZh ProNav: ac range: 69.651169 m, nav range: 66.318390 m, bearing: 248.421272 deg, approach rate: -0.612617 m/s, LOS rate: -0.014153 deg/s, cmd heading: 256.367052 deg, new cmd heading: 256.349051 deg. BhgHeadingCmd: 4.474135 target range: 69.651169 and range: 70.00 m.h,@h*h"h h g f f fBdddjdZd @Bɢm) i)pi=i翉j<pQ! ,0?A2W@2rR@2?hٱ2n. :AHRS rotation from veh to nav: [[-0.231085,0.956529,0.177910],[-0.971284,-0.237448,0.015047],[0.056637,-0.169323,0.983932]]2H4Ϳ??`@dοЎ?`?`dſ^|?i2W@I2i^;0YFnByFIbDNVDNyVLp=%VZ=ٔVFQ-Z>9XYX=ZFyZ"E^6:E^>`Q 5f+5bW?Q 9f+5b \)bbBYdyfQ Ij|@b[DIb:ib:b7+5ylɮrzApE  EE%E"EX;*EO:VE 4ZEa @a @a @a@jh!%DNOT Ignoring new targets: 69.65 m.Rh-PZh-P= ProNav: ac range: 69.651169 m, nav range: 66.088364 m, bearing: 248.415890 deg, approach rate: -0.606550 m/s, LOS rate: -0.014241 deg/s, cmd heading: 256.349048 deg, new cmd heading: 256.332846 deg. Bh=`EHeadingCmd: 4.473852 target range: 69.651169 and range: 70.00 m.hE)@hA*hA"hA hAgIfIfIfIdQdQdQjdQZdU@@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833MBɢMC)Q U=iq)uqyi}賻i}:翉r<Y9 a,#J?A%Y@S@iٱ9/ AHRS rotation from veh to nav: [[-0.230903,0.956439,0.178629],[-0.971313,-0.237322,0.015138],[0.056871,-0.170009,0.983800]]H>Ϳ%?P?` `ο?2?ſ`J{?i%Y@IK^;5CBBB3IBBBBBDBq;B.EY5By5&IiMb@Mb@Mb@ 95^I ?MbX9?Y?yʡ<@ )vAYbDVD02y-FV=%-(=ٔ5Q-5>95 ?Y5 ?=5Fy5 "E= 9E=>AQ 5M+5E˴?Q 9M+5E2c)EtBYU?Q EU:yUQ IU|@EnDIE;iEU:ER;+5yYɮ]AY}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 69.65 m.RhK:ZhK: ProNav: ac range: 69.651169 m, nav range: 65.798447 m, bearing: 248.410986 deg, approach rate: -0.599084 m/s, LOS rate: -0.010179 deg/s, cmd heading: 256.332847 deg, new cmd heading: 256.318068 deg. Bh߹HeadingCmd: 4.473594 target range: 69.651169 and range: 70.00 m.h'@h*h"h hgfffBdddjdZd&@Bɢ?) i)X|iiEE EEEE&EA"EEL;*EE:VEE4ZEABEEݡf,6e?A68Y@6T@67Hjٱ6e/ >AHRS rotation from veh to nav: [[-0.230891,0.956347,0.179136],[-0.971299,-0.237369,0.015314],[0.057167,-0.170459,0.983705]]6HԍͿ e?`?@bο\?D?ſz?i68Y@I6];64CYFByFBIbDRVDR:yV>%Zo=ٔZ^cQ-Z?9Z"?Y^"?=^Fy^"E^7Eb?`Q 5f+5bͮ?Q 9j+5b5h)bBYhyjQ Ij|@b{DIb:ib$:bN>+5ynɒBɮrsAr֤Ejh DNOT Ignoring new targets: 69.65 m.Rh ;Zh; ProNav: ac range: 69.651169 m, nav range: 65.595078 m, bearing: 248.407513 deg, approach rate: -0.596719 m/s, LOS rate: -0.010220 deg/s, cmd heading: 256.318066 deg, new cmd heading: 256.307617 deg. BhoHeadingCmd: 4.473412 target range: 69.651169 and range: 70.00 m.h1&@h*h"h hgfffdddjdZd @颥Bɢ) ܾi)Miki翉F<a:,?A6\@6V@6cjٱ6// >AHRS rotation from veh to nav: [[-0.230560,0.956389,0.179337],[-0.971376,-0.237051,0.015350],[0.057193,-0.170664,0.983668]]6HͿ`??Wοo?`aH?@Uſ 5z?i6\@I6];63CYFByF=IN=N=LN@AbDRVDRܲyZܚ%ZF=ٔ^Q-^>9\Y\=^Fy^"EbX:Eb>dQ 5j+5f?Q 9j+5f@n)fBYlynQ In|@fDIdif:fA+5ypɮrApjh DNOT Ignoring new targets: 69.65 m.Rh\?Zh\?% ProNav: ac range: 69.651169 m, nav range: 65.350021 m, bearing: 248.403225 deg, approach rate: -0.595256 m/s, LOS rate: -0.010456 deg/s, cmd heading: 256.307630 deg, new cmd heading: 256.294716 deg. Bh%-HeadingCmd: 4.473186 target range: 69.651169 and range: 70.00 m.h-X$@h)*h1"h1 h1g1f1f9f9d9d9d9jdAZdE @Bɢ) ߾i) 5  i i 翉n<HWi$+3@'>3@ ;0>)0O@I;0b ?lw?=)? r4?)n'IT8@ @@/@i;0T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1A9A=AABe>BaBe_IBeBBaBaBaBeq;Be .E^Azl U BDAT read: Tx time:04:58:25.4284 ] $Ping request sent.] ԁ &,?Aɰ6Z@6U@6Ŝkٱ6 @0 >AHRS rotation from veh to nav: [[-0.230689,0.956286,0.179724],[-0.971328,-0.237237,0.015533],[0.057491,-0.170987,0.983594]]6H4Ϳ@?`0?]οϏ?`po?ſ y?i6Z@I6~];64CYNByROIi]Mb@Mb@Mb@YYYY Y9]+?#~j~jt?Y]v?y]㥽]D<]"AY Y)]AYY] AbDuVDuJyb=%?=ٔ6Q->9Y=Fy"EE>Q 5+5?Q 9+5t)BY?Q E:yQ I|@DI:iH:E+5yɮAߤEii _?AJiBRiBjig@bNv8nLP@FiK'2*!'@R?t}3ƿ!?ZiT8bi;0ja#J8)*NFe&1@Z }5׿r5Q?2iVq:iT"i2Ġ?*i §Bi1Bi7i㺝?i@i1BiBi @ addTargetRange:: Added new target pos. range: 67.599998 m, deltaT: 3.778045 s, deltaX: -2.400002 m, approachRate: -0.635250 m/s, rangeRepo size: 4  Added new target pos. range: 67.263641 m, bearing: 248.070033 deg, lat: 36.779359 deg, lon: -121.859609 deg, deltaT: 3.778045 s, deltaX: -2.387527 m, approachRate: -0.631948 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 67.26 m.RhZh!- ProNav: ac range: 67.263641 m, nav range: 65.013969 m, bearing: 248.354871 deg, approach rate: 0.000000 m/s, LOS rate: -0.010456 deg/s, cmd heading: 256.294707 deg, new cmd heading: 256.281160 deg. Bh1=HeadingCmd: 4.472950 target range: 67.263641 and range: 67.60 m.h=h"@h9*h9"h9 h9g9fAfAfEƀBdAdIdIjdM`fP@ZdMP?q颅Bɢx2{) Ͼi) 顉iLi ʵ翉z<XiA>I! I1 OE > kA,,Ig?AE6 E6E6'E4"E6[I;*E6:VE6'4ZE4a:@a:@a:@a:@J3X@JS@JmٱJ0 RAHRS rotation from veh to nav: [[-0.231000,0.956221,0.179670],[-0.971222,-0.237635,0.016023],[0.058017,-0.170798,0.983597]]JHjͿ[?@k?@jοNh?o?`ſ`y?iJ3X@IJ!V];HY^BybVIbDjVDjyw<% S=ٔ +Q- >9Y=Fy"E]E>iIA%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503284)Q 55+5-?Q 95+5-z)-BY9y=Q I=}@-DI-D;i-r;- I+5yAɮEAIjhiuDNOT Ignoring new targets: 67.26 m.Rhu?Zh}? ProNav: ac range: 67.263641 m, nav range: 64.771912 m, bearing: 248.350842 deg, approach rate: -0.627649 m/s, LOS rate: -0.010487 deg/s, cmd heading: 256.281156 deg, new cmd heading: 256.269023 deg. BhOHeadingCmd: 4.472738 target range: 67.263641 and range: 67.60 m.h @h*h"h hgfffdddjdZd?MBɢU{)q uȾiq)} yyi}Vi翉<Z h0@ ^A-jZX<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7550139 I) I9 OM >Y 33,o?ABtBtBv~IBv BBv =BtBtBvq;Bv.EBBBBBC5U@O@GLpٱh0 AHRS rotation from veh to nav: [[-0.231368,0.956110,0.179785],[-0.971098,-0.238107,0.016551],[0.058633,-0.170760,0.983567]]H@wͿs? 5?;`Kzο?? uſ`y?iU@I|];5CYByfI  iMb@Mb@Mb@ 9On?ktMb?Y?y <A )Y A 4<bDVDy7b=%1=ٔQ->9Y=Fy"E[E>Q 5+5"?Q 9+5E] EYE]*EY"E]N;*EYVE](N4ZEYBE]n checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946R9,?A((0VU@VP@V/rٱVC. ^AHRS rotation from veh to nav: [[-0.231248,0.956385,0.178472],[-0.971098,-0.238046,0.017365],[0.059093,-0.169299,0.983792]]VHͿ ?/? =Nxο+ȑ?_A?ſ8{?iVU@IVS];V3CYfByfuIbDrVDr:yzW=%zn=ٔzүQ-z?9|Y|=Fy#"E 9E ?Q 5-+5͉?Q 9-+5)ĚBY1y5Q I=}@DI;iȕ;P+5yM̒BɮM:AUޤEjhDNOT Ignoring new targets: 67.26 m.RhډZhډ= ProNav: ac range: 67.263641 m, nav range: 64.289352 m, bearing: 248.347995 deg, approach rate: -0.631582 m/s, LOS rate: -0.003766 deg/s, cmd heading: 256.264162 deg, new cmd heading: 256.260456 deg. Bh=l%EHeadingCmd: 4.472589 target range: 67.263641 and range: 67.60 m.hEr@hA*hA"hA hAgIfIfIfIdQdQdqjdqZd}i?1ɢ5u)1 =ڭi9)=KI 99iEiM翉m:@,?A`Y~By~IbD VD :2yd=%%G=ٔ%Q-%>9!Y)=-Fy-'"E-E->1Q 5u+55Z?Q 9u+55)5ҚBYqyyQ I}}@5DI5JE  E E )E "E L;*E :VE FA4ZE BE ݡAHRS rotation from veh to nav: [[-0.231257,0.956682,0.176861],[-0.971053,-0.238149,0.018488],[0.059806,-0.167466,0.984062]]2HәͿ`#?e?@{οe?@㞮?oſo}?i2U@I2X];25CYnBynIIr=)r>v=v=imMb@Mb@Mb@iiii i9mQ?ˡE~jt?Ym?ym什m9Y=Fy+"E>E>Q 5+5z?Q 9+5)BYM?Q E:yQ I}@DI2 ;i ;OW+5yɮAEjhDNOT Ignoring new targets: 67.26 m.RhZh  ProNav: ac range: 67.263641 m, nav range: 63.799225 m, bearing: 248.343991 deg, approach rate: -0.596860 m/s, LOS rate: -0.006189 deg/s, cmd heading: 256.256048 deg, new cmd heading: 256.248384 deg. Bh 뇹HeadingCmd: 4.472378 target range: 67.263641 and range: 67.60 m.h@h*h"h hgfffBdddjdZd ^@颭Bɢib) Zi)S顱iîi翉k<jwL,4?A;ɰE E'E'E"EV;*E";VE'4ZEa&@a&@a&@a&@BP@BpK@BwٱB%q* JAHRS rotation from veh to nav: [[-0.231865,0.956880,0.174986],[-0.970871,-0.238813,0.019456],[0.060406,-0.165377,0.984379]]BHͿ ž?e?`_kο:?~?`+ſ?iBP@IBV];B1CYR%ByRIbD^ VD^2yfː=%fX=ٔfϺQ-f>9hYh=jFyj/"En{ۺEn>pQ 5v+5r.t?Q 9v+5r)rBYtyvQ Iv}@~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519002rDIrd;irOe;rZ+5yɮ;A qjhDNOT Ignoring new targets: 67.26 m.RhƸZhƸ ProNav: ac range: 67.263641 m, nav range: 63.576698 m, bearing: 248.341827 deg, approach rate: -0.555823 m/s, LOS rate: -0.005423 deg/s, cmd heading: 256.248371 deg, new cmd heading: 256.241857 deg. Bh4n-HeadingCmd: 4.472264 target range: 67.263641 and range: 67.60 m.h-@h)*h)"h) h)g1f1f1f1d9d9d9jd9Zd= `@ɢy_) 3i)4iIiD翉'<bzS,N?ABJ>BHBJIBJ?BBHBHBHBJr;BJ5.EY*ByIi5Mb@Mb@Mb@1111 195(\?333333{Gz?Y5z?y55ף<5 A5@ 5 A)5IA1Y5 AEM EMEIEI"EMO;*EM:VEIZEIBEM79yY=Fy4"EE>Q 5+5k?Q 9+5)BY?Q E:yQ I}@ DI:ij:^+5yϒBɮ,AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 67.26 m.Rh[Zh[ ProNav: ac range: 67.263641 m, nav range: 63.291191 m, bearing: 248.336206 deg, approach rate: -0.607071 m/s, LOS rate: -0.012006 deg/s, cmd heading: 256.241869 deg, new cmd heading: 256.224929 deg. BhHeadingCmd: 4.471969 target range: 67.263641 and range: 67.60 m.h^@h*h"h hgf BDAT read: Rx Time:04:58:27.9196  TRx dataTimestamp_ set to:1761541109.360307checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024160ff}BdddjdZd)V @ɢ7V) i)<iOi 翉 <g$Z,j?AJYM@J(H@JhH{ٱJ]* VAHRS rotation from veh to nav: [[-0.232241,0.956679,0.175581],[-0.970724,-0.239350,0.020158],[0.061310,-0.165759,0.984259]]JH Ϳ ?`qy?,@ο??d?7ſ ?iJYM@IJB];J2CY^6By^I`bA fp9tYt=vFyz8"EzEz>|Q 5+5~e?Q 9 +5~))~ BY yQ I}@~DI~7;i~xL;~a+5y!ɮ%A!1jhiuDNOT Ignoring new targets: 67.26 m.RhuLZh}L ProNav: ac range: 67.263641 m, nav range: 63.086433 m, bearing: 248.332216 deg, approach rate: -0.572749 m/s, LOS rate: -0.011197 deg/s, cmd heading: 256.224930 deg, new cmd heading: 256.212921 deg. BhHeadingCmd: 4.471759 target range: 67.263641 and range: 67.60 m.h@h*h"h hgfffdddjdZd`= @BɢXY)A MuiI)UYYii翉<<WjdT;*Ee:VEeFA4ZEaam@am@am@au@y@y @y@}/@yUDAT read: 04:58:27.9196 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.32, 2.978, 1.520,-2.784, 2.950, PHS= 0.130,-1.385, 0.505, RAW= 160.8, 8.7, CAL= 160.5, 9.1, ROT= 349.5, -9.1 ]Ygot valid direction response: 04:58:27.9196 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.32, 2.978, 1.520,-2.784, 2.950, PHS= 0.130,-1.385, 0.505, RAW= 160.8, 8.7, CAL= 160.5, 9.1, ROT= 349.5, -9.1 ePDAT read: Bearing 50.1, -8.2 (Local) e~Local bearing/azimuth received: Bearing 50.1, -8.2 (Local) uDAT read: Range 11 to 50 : 65.3 m (Round-trip 87.1 ms) speed 0.5 m/s uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.970879,-0.179942,0.158158]Fpublishing direction and range infoy7߽q?Wǿ@\~>?YB )DI>iGG?3@|>G3@ ">)2@I"Re?78?mP[? tK6?)JuIt;i"T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑ^AY Aa zAa Թ A I I O > - i>) a,DR?A.G44 BDAT read: Tx time:04:58:29.1784 $Ping request sent.9Y)=-Fy-<"E5E5>AQ 5u+5E]?Q 9u+5E)EBYqyqQ Iu}@E)DIEx;iE1;E*f+5yɮAiQiU Mw?AJiUBRiUBjiUE@bUO@ 3YC+b'Py$@RU7߽q?Wǿ@\~>?ZiUt;biU"jUcQ8~M] !/@ZUD-㴫׿I-, \?2iUh:iU@"iU't?*iUHBiUBiU2Ġ?iU §iUBiUW{BiU@ addTargetRange:: Added new target pos. range: 65.300003 m, deltaT: 3.780146 s, deltaX: -2.299995 m, approachRate: -0.608441 m/s, rangeRepo size: 4  Added new target pos. range: 64.974998 m, bearing: 247.574395 deg, lat: 36.779356 deg, lon: -121.859608 deg, deltaT: 3.780146 s, deltaX: -2.288643 m, approachRate: -0.605438 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 64.97 m.RhZh ProNav: ac range: 64.974998 m, nav range: 62.835899 m, bearing: 248.032179 deg, approach rate: 0.000000 m/s, LOS rate: -0.011197 deg/s, cmd heading: 256.212909 deg, new cmd heading: 256.196773 deg. Bh HeadingCmd: 4.471477 target range: 64.974998 and range: 65.30 m.h W@h *h "h  h g fffdddjd@3SP@Zd?IɢMQ)I MmiQ)UQQiUJTi] 翉]<]tNiBBIBXBBBBBNr;BT.E)@) @1@5/@1Eu9 EuEu+Eq"Euso;*Euj:VEu [4ZEqBEuKg,?A2E@2@@2Mٱ2%V) :AHRS rotation from veh to nav: [[-0.233108,0.956682,0.174412],[-0.970454,-0.240345,0.021293],[0.062289,-0.164295,0.984442]]2HzͿ@$? "S?` ο͕?f?@ſ?i2E@I2Z];0YF6ByFIi Mb@Mb@Mb@     9 bX9?ʡE9= ?Y= ?=EFyE@"EE+EE?IQ 5U+5MW?Q 9U+5M)M'BY]?Q E]:y]&Q I]}@M6DIM:iM<:M0i+5yeВBɮmAmEjh DNOT Ignoring new targets: 64.97 m.RhlaZhlaE ProNav: ac range: 64.974998 m, nav range: 62.632305 m, bearing: 248.027831 deg, approach rate: -0.574941 m/s, LOS rate: -0.012318 deg/s, cmd heading: 256.196762 deg, new cmd heading: 256.183677 deg. BhEAMHeadingCmd: 4.471249 target range: 64.974998 and range: 65.30 m.hMx@hI*hQ"hQ hQgQfQfYfu߀BdqdQdYjdYZd]s'?颩ɢX) si)ji}Ki翉5<iW^jm,tE?A:D@:|?@:oٱ:8) FAHRS rotation from veh to nav: [[-0.233249,0.956651,0.174395],[-0.970396,-0.240548,0.021659],[0.062671,-0.164180,0.984437]]:H@Ϳ?R?z Gο-?2 ?ſ?i:D@I:]J];:3CYNKByNIV=V=VAATbDZVDZ0yb#=%bS=ٔfQ-f>9dYd=fFyjD"Ej{̹Ej>lQ 5r+5nP?Q 9r+5n)n4BYtyv,Q Iv}@nDDIn:in:nl+5yxɮz*Axjh%DNOT Ignoring new targets: 64.97 m.Rh%pZh%p5 ProNav: ac range: 64.974998 m, nav range: 62.404888 m, bearing: 248.022975 deg, approach rate: -0.613872 m/s, LOS rate: -0.013156 deg/s, cmd heading: 256.183675 deg, new cmd heading: 256.169054 deg. Bh5vHeadingCmd: 4.470994 target range: 64.974998 and range: 65.30 m.ha@h*h"h hgfffdddjdZdp/?ɢ%P)! %Ii!)%j%))i-:ai-Q5TA>ԱI I O >Be >Ba Be IBe gBBa Ba Ba Be dr;Be _.E 'Ut,,?A|ɰ~;]D@]>@]'ٱ] ( uAHRS rotation from veh to nav: [[-0.233310,0.956667,0.174228],[-0.970358,-0.240664,0.022047],[0.063022,-0.163919,0.984459]]]H Ϳ?M?, ο@|?3"?OĿ@?i]D@I]^];]2CYybEjEB4rEn/EE  EEEE*EA"EEE;*EE:VEE(N4ZEABEE9Y=FyH"EE>Q 5+5H?Q 9+5,)DBY?ԩQ E:yZQ I}@UDI6;i5;p+5yԒBɮCAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258940B*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 64.97 m.Rhd Zhd   ProNav: ac range: 64.974998 m, nav range: 62.137867 m, bearing: 248.019500 deg, approach rate: -0.574369 m/s, LOS rate: -0.007507 deg/s, cmd heading: 256.169059 deg, new cmd heading: 256.158589 deg. Bh ޤHeadingCmd: 4.470811 target range: 64.974998 and range: 65.30 m.h@h*h"h hgff!f%ڀBd!d!d)jd)Zd-Y_?Yɢ]|J)eJ eJia)eaaim{im翉m~1 {z,]?A6A@6;@6ٱ6( FAHRS rotation from veh to nav: [[-0.233674,0.956619,0.174000],[-0.970253,-0.241064,0.022317],[0.063294,-0.163609,0.984493]]6H Ϳ?E?@O `-οVږ?@ 4?`"Ŀ?i6A@I64];61CYVLByVIbD`VD`yn ;%n<ٔrLQ-r>9tYt=vFyvL"EzqEz>YQ 5m+5]EB?Q 9m+5]P)]QBYqyugQ Iu}@]cDI]";i];]s+5yɮ<AjhDNOT Ignoring new targets: 64.97 m.RhZh5 ProNav: ac range: 64.974998 m, nav range: 61.928276 m, bearing: 248.016829 deg, approach rate: -0.567999 m/s, LOS rate: -0.007263 deg/s, cmd heading: 256.158595 deg, new cmd heading: 256.150555 deg. Bh5=HeadingCmd: 4.470671 target range: 64.974998 and range: 65.30 m.h=@h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUOa?颁ɢxuO) Hi)w顉i7i}迉uc,?A 2@@2;@29ٱ2$R) >AHRS rotation from veh to nav: [[-0.233678,0.956491,0.174700],[-0.970235,-0.241126,0.022393],[0.063544,-0.164267,0.984367]]2H`,Ϳ`?\?+ ;οH?`hD?ſ@?i2@@I2F];22CYFUByJI LLbDRVDR:yZ,=%ZM=ٔZ$Q-^>9\Y\=bFybP"EbΪEb>dQ 5j+5f};?Q 9j+5f)f^BYlynfQ In}@fqDIf;if ;f#w+5ypɮvAtjh DNOT Ignoring new targets: 64.97 m.Rh Zh - ProNav: ac range: 64.974998 m, nav range: 61.705658 m, bearing: 248.013967 deg, approach rate: -0.591854 m/s, LOS rate: -0.007636 deg/s, cmd heading: 256.150563 deg, new cmd heading: 256.141947 deg. Bh--HeadingCmd: 4.470520 target range: 64.974998 and range: 65.30 m.h5@h1*h1"h1 h1g1f1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014956fIfIdIdIdIjdQZdU (@9ɢE6(J)A M7iI)Mb IIiUi}h迉<sbBBIB|BBBBBQr;BW.EBBBBBCR"4ԡEU EU EU(EQ"EUCJ;*EU:VEUc44ZEQBEU J,?ALYYByIiMb@Mb@Mb@ 99!Y!=%Fy%T"E%E->)Q 55+5-,3?Q 9=+5-)-nBY=c?Q E=:y=Q I=}@-DI- ;i-C ;-{+5yIɮMAIjhiuDNOT Ignoring new targets: 64.97 m.Rh}E8Zh}E8 ProNav: ac range: 64.974998 m, nav range: 61.445210 m, bearing: 248.015171 deg, approach rate: -0.579741 m/s, LOS rate: 0.002691 deg/s, cmd heading: 256.141957 deg, new cmd heading: 256.145584 deg. Bhj8HeadingCmd: 4.470584 target range: 64.974998 and range: 65.30 m.h@h*h"h hgfffހBdddjdZd@BɢXF) n0i)ji`iS迉<[aV?, ;?AB)A@B;@BߚٱB01, JAHRS rotation from veh to nav: [[-0.233642,0.955977,0.177536],[-0.970200,-0.241272,0.022366],[0.064216,-0.167020,0.983860]]BHͿ]?? ο.?vp?`ſ {?iB)A@IB.];B/CYVZByVIbD^VD^:2yf= <%fI=ٔjٺQ-j>9hYh=jFynX"En8En>pQ 5v+5r+?Q 9v+5r)r|BYxyzQ Iz}@rDIr;ir;r~+5y~ؒBɮ~A~Ejh!-DNOT Ignoring new targets: 64.97 m.Rh-?8Zh-?8= ProNav: ac range: 64.974998 m, nav range: 61.215702 m, bearing: 248.016205 deg, approach rate: -0.579481 m/s, LOS rate: 0.002621 deg/s, cmd heading: 256.145590 deg, new cmd heading: 256.148704 deg. Bh=<8HeadingCmd: 4.470638 target range: 64.974998 and range: 65.30 m.hx@h*h"h hgfffdddjdZd\ @aɢeF)i m-ii)m:iiiuiu迉uB CB IB BB =B B B -r;B F.EA ؟AI I9 Om >,~U?A9"?Y"?=Fy]"EpE>Q 5+5#?Q 9+5)BY?Q E:y&Q I}@DIT ;i ;S+5yɮAB*** querying acoustic contact ***i ijh)-DNOT Ignoring new targets: 64.97 m.Rh58Zh58E ProNav: ac range: 64.974998 m, nav range: 60.960976 m, bearing: 248.018030 deg, approach rate: -0.584637 m/s, LOS rate: 0.004207 deg/s, cmd heading: 256.148705 deg, new cmd heading: 256.154203 deg. BhE89HeadingCmd: 4.470734 target range: 64.974998 and range: 65.30 m.hA@h*h"h hgfffBdddjdZd @MBɢUIm P>im Rm \?m G3@m V>m [2@ m >)m k@Im i i m {?2?j(a? m X4?)m ׋Im T4im i i M T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.1 ^AM LM<AyIIO?D,Hv?A2C@2>@2*nٱ2, :AHRS rotation from veh to nav: [[-0.233327,0.955919,0.178262],[-0.970249,-0.241048,0.022647],[0.064618,-0.167674,0.983722]]2H@Ϳ@?I?`G @ο@0?`ъ?Zvſz?i2C@I2N];24CXY^YBy^IbDfEn) EnEn'El"En`;*EnO:VEn'4ZElar@ar@ar@ar@VDfܲyz%z(=ٔ~߹Q-~>9|Y|=Fyb"E<:E> Q 5+5 ?Q 9+5 ) BYyQ I}@ DI ;i ; +5y!ɮ%A!iIiM:i?AJiM%{B}*DAT read: user:272> }BDAT read: Tx time:04:58:32.9799 $Ping request sent.ڳ8c?2iMa:iM("iM j?*iMaBiM)BiM j?iM@iMBiMsBiMwc@E addTargetRange:: Added new target pos. range: 63.099998 m, deltaT: 3.780123 s, deltaX: -2.200005 m, approachRate: -0.581993 m/s, rangeRepo size: 4 u Added new target pos. range: 62.786587 m, bearing: 247.825742 deg, lat: 36.779354 deg, lon: -121.859609 deg, deltaT: 3.780123 s, deltaX: -2.188412 m, approachRate: -0.578926 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 62.79 m.RhZh ProNav: ac range: 62.786587 m, nav range: 60.881523 m, bearing: 247.783705 deg, approach rate: 0.000000 m/s, LOS rate: 0.004207 deg/s, cmd heading: 256.154196 deg, new cmd heading: 256.160693 deg. BhHeadingCmd: 4.470848 target range: 62.786587 and range: 63.10 m.h/@h*h"h hgfffdddjďO@Zdp?uBɢu:D)q }2iy)}yyi}6ûi翉3i<Xrcԣ,?AA0A2@AB4B4B6!IB6BB4B4B4B6r;B6?.EJ:D@J ?@JڄٱJ- VAHRS rotation from veh to nav: [[-0.233270,0.955794,0.179007],[-0.970249,-0.241045,0.022677],[0.064823,-0.168392,0.983586]]JHͿܕ??G ο8?E?@ݍſy?iJ:D@IJ0V];J1CE E E)E"EN;*E:VEFA4ZEBEn9 ?Y ?=Fyg"Ei8E>Q 5+5?Q 9+5)BYH?Q E:yQ I}@DI:iP:d+5yےBɮAjhDNOT Ignoring new targets: 62.79 m.Rh8Zh8 ProNav: ac range: 62.786587 m, nav range: 60.554272 m, bearing: 247.785721 deg, approach rate: -0.626319 m/s, LOS rate: 0.003881 deg/s, cmd heading: 256.160699 deg, new cmd heading: 256.166781 deg. Bhq*9HeadingCmd: 4.470954 target range: 62.786587 and range: 63.10 m.h@h*h "h  h g f ffBdddjdZd?IɢMdB)I M4%iI)U6QQiUŻi]3翉]ܖ<]wbܪ,C?A^==@^ 8@^mٱ^+, fAHRS rotation from veh to nav: [[-0.234093,0.955830,0.177732],[-0.970032,-0.241873,0.023138],[0.065104,-0.166989,0.983807]]^HͿ)?`?` `ο_??_ſX{?i^==@I^\;\ iD;I 7kA%hkAI%t)!i!)!I%IjA%K) ))))i)1i11)1 9I9 =C)9999YAYM_ByMIbDeVDeN2yuY%uz=ٔuaQ-}?9yYy=}Fy}k"E+E?Q 5+5 ?Q 9+5m)BYyQ I}@DI;i;>+5yɮAjhDNOT Ignoring new targets: 62.79 m.Rh̙8Zh̙8 ProNav: ac range: 62.786587 m, nav range: 60.361076 m, bearing: 247.787090 deg, approach rate: -0.591454 m/s, LOS rate: 0.004202 deg/s, cmd heading: 256.166791 deg, new cmd heading: 256.170909 deg. Bh89HeadingCmd: 4.471026 target range: 62.786587 and range: 63.10 m.h@h*h"h hgfffdddjdZd@(!?BɢM) *i)Ϋiƻi翉-б<-;Ti=>@ @@/0@EM! EMEM&EI"EMY;*EM]:VEM4ZEIa]@a]@a]@a]@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006830^Azlű,.p?A 00R<@R7@RTٱRD+ nAHRS rotation from veh to nav: [[-0.234131,0.955979,0.176880],[-0.970026,-0.241882,0.023299],[0.065057,-0.166123,0.983957]]RHͿa??s ο@ۗ??Cſ|?iR<@IRg];R0C=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259467Y\ByIbDVDy;%E=ٔ8Q->9Y=Fyo"EE>Q 5+5F?Q 9+5)ÛBYyQ I}@DIp:ig:+5yޒBɮAEjhDNOT Ignoring new targets: 62.79 m.Rh8Zh8 ProNav: ac range: 62.786587 m, nav range: 60.101646 m, bearing: 247.788958 deg, approach rate: -0.591960 m/s, LOS rate: 0.004283 deg/s, cmd heading: 256.170917 deg, new cmd heading: 256.176547 deg. Bh<9HeadingCmd: 4.471124 target range: 62.786587 and range: 63.10 m.hs@h*h"h hgfffdd d jdZd\'?=BɢE37J)AA M1iI)MaHIIiMȻiU翉U<]TBCB'IBBB =BBB/r;BD.E@ @@0@yEM EMEM'EI"EMV;*EM:VEM'4ZEIBEM|",>?A2<@26@2ٱ21* :AHRS rotation from veh to nav: [[-0.234231,0.956146,0.175843],[-0.970012,-0.241929,0.023389],[0.064905,-0.165092,0.984140]]2H HͿ@? ?V ο2?? !ſ~?i2<@I22\;21C)m>u=up=ԩUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763143iMb@Mb@Mb@ 91Zd?I +y&1|?Y"?y9`;h@ / A)zAYAbDMVDM0yU0<%]=ٔ]9Q-]>9aYa=eFyet"EmOTEm>qQ 5%+5u?Q 9-+5u )uқBY-?Q E-:y-oQ I5}@uDIu(r龿,?A2w9@2F4@2Wٱ2) >AHRS rotation from veh to nav: [[-0.234542,0.956140,0.175462],[-0.969935,-0.242232,0.023465],[0.064938,-0.164683,0.984207]]2Hzο@?@u? vϿ@6?˟?Sſ~?i2w9@I2>];2/C @)FlAFDDHJkAiJtIHHIHiL LL)LL NlAN 0PPPRlAIR 0)PiT)TIVkAV 0X XXZ vAXiXXY\Yb^BybIbDnVDnfyrT%v=ٔvSQ-v?9xYx=zFyzw"Ez䆺E~?|Q 5+5~?Q 9 +5~)~ܛBY y zQ I }@~ DI~;i~;~%+5yɮAjh9EDNOT Ignoring new targets: 62.79 m.RhEx޸ZhMx޸] ProNav: ac range: 62.786587 m, nav range: 59.608620 m, bearing: 247.784404 deg, approach rate: -0.666781 m/s, LOS rate: -0.006078 deg/s, cmd heading: 256.168021 deg, new cmd heading: 256.162820 deg. Bh]{eHeadingCmd: 4.470885 target range: 62.786587 and range: 63.10 m.he}@ha*ha"ha hagafffdddjdZd +@=BɢEʯTa)i m2ii)mzriiim˻iuw翉u BA<B >B B B B =B B DB r;B +.E Wſ,)Z?AD%4=D%<bE -4jE ^+4rE /E- E-E)E)"E-L;*E-:VE)ZE)BE-ݡ3=%%=ٔQ->9Y=Fy|"EE>Q 5+5褊?Q 9+5-)BY?Q E:y\Q I}@ DI@:iQ:v+5yBɮnAEjhDNOT Ignoring new targets: 62.79 m.Rh ͌Zh ͌ ProNav: ac range: 62.786587 m, nav range: 59.307888 m, bearing: 247.776842 deg, approach rate: -0.608806 m/s, LOS rate: -0.015387 deg/s, cmd heading: 256.162830 deg, new cmd heading: 256.140027 deg. Bh(%HeadingCmd: 4.470487 target range: 62.786587 and range: 63.10 m.h%:@h!*h)"h) h)g)f)f1f5Bd1d1d1jd9Zd=@mBɢmԹD)i m,ii)u qqiu λi}迉2<WXt̿,>4?A:)@:$@:ٱ:s( FAHRS rotation from veh to nav: [[-0.236369,0.955822,0.174739],[-0.969474,-0.244057,0.023585],[0.065189,-0.163830,0.984332]]:HZAο ?]?C=Ͽ&?9?`eĿ`?i:)@I:Iv];:-CY]oByeIbDqVDqy=%`=ٔp4Q->9"?Y"?=Fy"EVE>Q 5+5M⤊?Q 9+5 )BYyQ I}@& DI:iI:+5yɮ<AjhDNOT Ignoring new targets: 62.79 m.RhyZhy ProNav: ac range: 62.786587 m, nav range: 59.085541 m, bearing: 247.771615 deg, approach rate: -0.608915 m/s, LOS rate: -0.014368 deg/s, cmd heading: 256.140017 deg, new cmd heading: 256.124277 deg. BhHeadingCmd: 4.470212 target range: 62.786587 and range: 63.10 m.h @h*h"h hgff f d ddjdZd2 @)EBɢMG)I MXiI)UzQQiUϻi]迉]!E<]`? checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282926Ա YWӿ,N?AVj!@V9@VѝٱV%' nAHRS rotation from veh to nav: [[-0.237385,0.955861,0.173144],[-0.969225,-0.245019,0.023824],[0.065196,-0.162160,0.984608]]VH`bο@i?)?\Ͽ^e??Ŀ?iVj!@IV];V0CYzsByzIbD%VD%Ny53<%5P=ٔ=昷Q-]>9YYa=eFye"Ee-Ee>iQ 5u+5m ۤ?Q 9u+5m)mBYyQ I}@m5 DImt;imu;m+5yBɮ-A EB>BB-IBBBBBBq;B.EBBԙBBBCv5jh!]DNOT Ignoring new targets: 62.79 m.RhmaZha ProNav: ac range: 62.786587 m, nav range: 58.843987 m, bearing: 247.766151 deg, approach rate: -0.543444 m/s, LOS rate: -0.012342 deg/s, cmd heading: 256.124280 deg, new cmd heading: 256.107822 deg. BhHeadingCmd: 4.469925 target range: 62.786587 and range: 63.10 m.h @h*h"h hgff fddd!jdIZdU` @颵Bɢ@)  i) ijһi迉X<e72@-\->b2@ X8>)@IX89?4?6z? 1?),I4\-iX8-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@^A << A I5*DAT read: user:273> =BDAT read: Tx time:04:58:36.7784 =$Ping request sent.=%ڿ,Il?A:@:Q@:ƅٱ:eh& FAHRS rotation from veh to nav: [[-0.238319,0.955746,0.172495],[-0.968991,-0.245937,0.023910],[0.065274,-0.161448,0.984720]]:H<οw?@S? zϿ{?@Ե?UĿӂ?i:@I:];:/CYVByVIxiMb@Mb@Mb@ 9+?~jtMb?Yv?y<A$@  A)YAbDVDyV=%=ٔQ->9Y=Fy"EE>Q 5+5Ѥ?Q 9+5s)BY?Q E:yQ I}@J DIU:i:+5y)ɮ-A)ii [?AJicrBRicrBji$@bfITIbM@kH3<$so%@Rk?aWx8ſ?Zi4\-biX8j=>ü5w#μKEx 0@ZPPKֿ C=b쿜ti?2iX:i"iP֩?*iyBi BiiiijBi_@ addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 3.787687 s, deltaX: -2.199997 m, approachRate: -0.580829 m/s, rangeRepo size: 4  Added new target pos. range: 60.596741 m, bearing: 248.152151 deg, lat: 36.779354 deg, lon: -121.859609 deg, deltaT: 3.787687 s, deltaX: -2.189846 m, approachRate: -0.578149 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 60.60 m.RhZh ProNav: ac range: 60.596741 m, nav range: 58.524628 m, bearing: 247.756812 deg, approach rate: 0.000000 m/s, LOS rate: -0.012342 deg/s, cmd heading: 256.107833 deg, new cmd heading: 256.089918 deg. Bh HeadingCmd: 4.469612 target range: 60.596741 and range: 60.90 m.h @h *h "h  hgfffBd9d9d9jdE@3sN@ZdECV? Bɢ *};) i)w11i5(fԻi=+#迉=e=,jg?AR@R @R.ٱRp' ZAHRS rotation from veh to nav: [[-0.239330,0.955272,0.173714],[-0.968732,-0.246988,0.023568],[0.065420,-0.162641,0.984514]]RH_ο??9IYI=MFyM"EU'EU>YQ 5e+5]ʤ?Q 9e+5])]#BYiym Q Im}@]Z DI]:i]1:]5+5yuBɮuAu EB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 60.60 m.Rh:Zh: ProNav: ac range: 60.596741 m, nav range: 58.270088 m, bearing: 247.749545 deg, approach rate: -0.644913 m/s, LOS rate: -0.018494 deg/s, cmd heading: 256.089911 deg, new cmd heading: 256.068013 deg. BhKHeadingCmd: 4.469230 target range: 60.596741 and range: 60.90 m.h@h*h"h hgfffdddjdZd? ɢ M9)  i )ei=Nֻi/迉j<ɷ&BB@IBBB =BBDBq;B$.E^Ax/<E, EE)E"Ec;*E:VEFA4ZEBEt< checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756704a2EteX,?A B@BQ@B.ʆٱB' JAHRS rotation from veh to nav: [[-0.240558,0.954948,0.173799],[-0.968404,-0.248259,0.023688],[0.065768,-0.162609,0.984496]]BHο`? ??*ϿA?(ְ? aĿ`?iB@IBq];@YRByV0Ii-Mb@Mb@Mb@)))) )9-Gz?~jt9aYa=eFye"Ee8OEm>iQ 5u+5m¤?Q 9}+5m%)m1BY}?Q E}:y}AHRS rotation from veh to nav: [[-0.241465,0.954743,0.173665],[-0.968168,-0.249174,0.023713],[0.065913,-0.162411,0.984519]]6HTο B?:?@<@Ͽ@H?߰?Ŀ.?i6@I6v];6-CYFByF1IP LN<bDVVDVk1yZ<%^U=ٔ^dƹQ-b>9`Y`=bFyb"Ef? Ef>hQ 5n+5j?Q 9]+5j+)j?BYYy][Q I]}@jy DIjēB- >B) B- YIB- BB- =B) B) B- *r;B- A.EA k,?AJ @J@JٱJHG' nAHRS rotation from veh to nav: [[-0.242266,0.954560,0.173556],[-0.967968,-0.249961,0.023604],[0.065914,-0.162279,0.984541]]JHϿ‹?@7?Ͽ@+?߰?Ŀ@\?iJ @IJc];J.CY5By=6I aamAmAbDVD:2y;<%:=ٔ]`Q-]>9iYiDzDE, EE)E"Ec;*E:VEFA4ZEBEa2EaJETDchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762793Q 5+5?Q 9+52)PBYyvQ I}@ DI;ii;,+5yBɮAEjhImDNOT Ignoring new targets: 60.60 m.RhuZhu ProNav: ac range: 60.596741 m, nav range: 57.497322 m, bearing: 247.729007 deg, approach rate: -0.632006 m/s, LOS rate: -0.016501 deg/s, cmd heading: 256.028712 deg, new cmd heading: 256.006109 deg. Bh25HeadingCmd: 4.468150 target range: 60.596741 and range: 60.90 m.h@h*h"h hgfffdddjdZdf]@)1ɢ5Y,)1 5Ui9)=U99i=޻iES迉E_ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015042ԩ 2,?A2@2@2ӆٱ2( >AHRS rotation from veh to nav: [[-0.243221,0.954028,0.175142],[-0.967738,-0.250918,0.022892],[0.065786,-0.163924,0.984277]]2H!Ͽ e?@k? пp? Xװ?`tĿ2?i2@I2>Y];2-CY^BybRIiEMb@Mb@Mb@AAAA A9ECl?#~jI +?YEd?yE㥽E99qԹYq=Fy"E*E>Q 5+5?Q 9 +5^8)_BY ?Q E :y Q I }@ DI:i<:y+5yBɮWAjh9EDNOT Ignoring new targets: 60.60 m.RhM>ZhM>] ProNav: ac range: 60.596741 m, nav range: 57.267628 m, bearing: 247.725165 deg, approach rate: -0.621101 m/s, LOS rate: -0.010431 deg/s, cmd heading: 256.006118 deg, new cmd heading: 255.994546 deg. Bh]eHeadingCmd: 4.467947 target range: 60.596741 and range: 60.90 m.hem@ha*ha"ha hagafififmBdqdqdqjdqZd}B@颭Bɢ(!) @i)\顱iiY迉U<|< h> C G hA = ʱ9= hAYE A9 ,hx ?AB@B@BٱB+* JAHRS rotation from veh to nav: [[-0.244299,0.953549,0.176246],[-0.967472,-0.251991,0.022317],[0.065693,-0.165061,0.984093]]BH,EϿx?=? п>ږ?<Ѱ? ſ}?iB@IBYo];B0CYRByRVIXZ@AbD^VD^kyfQ<%fU=ٔf_9Q-f>9hYh=jFyj"EnEEn>pQ 5v+5r?Q 9v+5r=)rmBYtyvQ Iz}@r DIr:irg:r+5y|ɮ~<A|B*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 60.60 m.Rh-{0Zh-{0=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518834M ProNav: ac range: 60.596741 m, nav range: 57.043743 m, bearing: 247.721626 deg, approach rate: -0.607623 m/s, LOS rate: -0.009643 deg/s, cmd heading: 255.994534 deg, new cmd heading: 255.983874 deg. BhMӹUHeadingCmd: 4.467762 target range: 60.596741 and range: 60.90 m.hU@hQ*hQ"hQ hYgYfYfYfadadadajdaZdm8@频ɢ ]) Yi)}_顡i4i_迉FD<C;I@Ii@i @i@m/@iBAB>BCBxIB׀BB =BBDBXr;BT.E9^AΒ;I)ԑIE EE(E"EV;*E:VEc44ZE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772943BEԙ 6,W$?A2@2܎@2[ٱ2* >AHRS rotation from veh to nav: [[-0.244864,0.953350,0.176538],[-0.967339,-0.252531,0.022001],[0.065556,-0.165385,0.984048]]2H WϿׁ?Ϙ?@p@v)п?MȰ? W+ſQ}?i2@I2]];0Y^ҀBy^rIi=Mb@Mb@Mb@9999 99=A`"?9Y=Fy"EE>Q 5+5?Q 9+5D)}BYC?Q E:y_Q I}@ DI~;ii;+5y ɮ A jhDNOT Ignoring new targets: 60.60 m.Rh*Zh* ProNav: ac range: 60.596741 m, nav range: 56.762707 m, bearing: 247.713952 deg, approach rate: -0.582143 m/s, LOS rate: -0.015974 deg/s, cmd heading: 255.983879 deg, new cmd heading: 255.960744 deg. Bhf/HeadingCmd: 4.467358 target range: 60.596741 and range: 60.90 m.h@h*h"h hgfff€BdddjdZd`{ @ɢ:) "=i)R7i i  m迉 ,< ;I @IUBDAT read: Rx Time:04:58:39.2606 ]TRx dataTimestamp_ set to:1761541120.709590echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025588ԙ@ @@/@@@gA^A ; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274659 A1 I9 II O] >,:>?Azqڇ@z@Վ@z ^ٱzO, AHRS rotation from veh to nav: [[-0.245767,0.952704,0.178755],[-0.967109,-0.253472,0.021258],[0.065562,-0.167651,0.983664]]zHJuϿ|?o?8пĕ?Ȱ?@uſ,z?izqڇ@Iz];z.CY߀ByIbD-VD-N2y=k=%=e=ٔ=eQ-=>9AYA=EFyE"EM-EM>QQ 5]+5Ub?Q 9]+5UI)UBYYy]zQ I]}@U DIU:iUg:U+5yiɮmAijhDNOT Ignoring new targets: 60.60 m.RhZh ProNav: ac range: 60.596741 m, nav range: 56.551270 m, bearing: 247.708305 deg, approach rate: -0.621999 m/s, LOS rate: -0.016674 deg/s, cmd heading: 255.960738 deg, new cmd heading: 255.943734 deg. Bh7HeadingCmd: 4.467061 target range: 60.596741 and range: 60.90 m.h*@h*h"h hgfffdddjdZd@ @5Bɢ5 )9 =ą=i9)=99i=ciEv迉EYiMAM\?M3@MQ >M$+3@ M|>)M@@IM|IIMt?7 ?Gr? M 5?)M+IM9iM|IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^Ar;! B >B B IB BB B B B ;r;B F.EA I I1 O= >,uX?Aɰ4<0J3؇@Jӎ@JF텽ٱJv- RAHRS rotation from veh to nav: [[-0.246035,0.952539,0.179267],[-0.967056,-0.253710,0.020855],[0.065347,-0.168230,0.983579]]JH ~Ͽ2{?7?<п"[??@ſ{y?iJ3؇@IJ{];J-CYrByrI bDVD:y =%%==ٔ-=:Q-5>9YYa=eFym"EE E E&E"EL;*E:VE4*DAT read: user:274> BDAT read: Tx time:04:58:40.5284 $Ping request sent. Q 55+5 *?Q 95+5 P) BY9y=Q I=}@  DI ;i ; +5yE BɮEAEEԉii˅M?AJihBRihBji ؉@b|KL@)q$૽2!@R)WJ?mU/ƿni\?Zi9bi|jE,w?A2xׇ@2GҎ@2FVٱ2- :AHRS rotation from veh to nav: [[-0.246126,0.952488,0.179413],[-0.967052,-0.253752,0.020508],[0.065060,-0.168454,0.983560]]2H`Ͽz??@z=п?@ŧ? ſRy?i2xׇ@I2S]];2/CYFByFI HHNANAiMb@Mb@Mb@ 9n?zGế?Y?y ׽<A!@ A)@YAbD5VD5ܲyEh[=%E/=ٔM!:Q-M>9M ?YM ?=UFyU"EU|TEU>YQ 5e+5]G?Q 9e+5]V)]BYm?Q Em:ymQ Im}@] DI]u ;i] ;]+5yqɮuAyjh9]DNOT Ignoring new targets: 58.21 m.bhYePowering the camera and arming the capture device at range: 58.50 m.2haRhm@9Zhm@9} ProNav: ac range: 58.208458 m, nav range: 55.929287 m, bearing: 247.671823 deg, approach rate: -0.596778 m/s, LOS rate: 0.017404 deg/s, cmd heading: 255.919538 deg, new cmd heading: 255.942253 deg. Bh}?:HeadingCmd: 4.467035 target range: 58.208458 and range: 58.50 m.h@h*h"h h2hgfffBdddjdZd?bE}:4jE}FA4rE}OJ0E EE.E"EUS;*E:VEـ4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497811ɢS) d=i)=Z99i=iEw迉E9"$,X?A:9ׇ@:Ҏ@:?ٱ:f- FAHRS rotation from veh to nav: [[-0.246164,0.952468,0.179464],[-0.967078,-0.253698,0.019948],[0.064530,-0.168646,0.983562]]:H`IϿz? ?@M@<пNm??-ſWy?i:9ׇ@I:;_;8YNByRIbDZ VDZ:2A`AbAABf>BfCBfIBfBBdBdBdBfr;Bf1.EBBBB =BC5yv=%vR=ٔz:Q-z>9xYx=~Fy~"E~E~>Q 5 +5e}?Q 9 +5\)BYyQ I}@ DI:i:$+5yɮA!=B*** querying acoustic contact ***i9 i9jhIMDNOT Ignoring new targets: 58.21 m.bhIUPowering the camera and arming the capture device at range: 58.50 m.2hQRhUI9ZhUI9e ProNav: ac range: 58.208458 m, nav range: 55.699036 m, bearing: 247.678567 deg, approach rate: -0.621624 m/s, LOS rate: 0.018282 deg/s, cmd heading: 255.942242 deg, new cmd heading: 255.962557 deg. BhmH:mHeadingCmd: 4.467390 target range: 58.208458 and range: 58.50 m.hm@hq*hq"hq hq2hqgqfyfyfydddjdԡZdw?Bɢ.)  >i)i6il迉<_;Iu@Iq 5@  @ @ /@D=D<E/ EE)E"Eaf;*E&:VEFA45checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003479ZEBEη! M*,4?A@2&ه@2ӎ@2Kٱ2X. :AHRS rotation from veh to nav: [[-0.245944,0.952467,0.179773],[-0.967165,-0.253407,0.019434],[0.064066,-0.169090,0.983516]]2H{Ͽ z?? 7пu?f?ſx?i2&ه@I2~`;0Yb BybIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256896iMb@Mb@Mb@ 99v?S㥻I +?Y?y/ݽ9<A )`@YAAAbDVDk1y<%;=ٔ:Q->9Y=Fy"E :E> Q 5+5 yt?Q 9u+5 b) ͜BYu?Q Eu:y}oQ I}}@  !DI gi)|h项iWvi[迉<{C;I@Ii!2@ @@0@QE1 EE&E"E2h;*E :VE4ZEa@a@a@a@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506112^AA AM >AM >ԁ Aq Iy I O >X1,?A2ۇ@2Վ@2tiٱ2O#- :AHRS rotation from veh to nav: [[-0.245721,0.952756,0.178540],[-0.967250,-0.253087,0.019363],[0.063635,-0.167935,0.983742]]2H@sϿ |?c?@2пӓ?\J?~ſz?i2ۇ@I2)`;2.CYBByBIIFY>)F>bDNVDNyV=%V\=ٔZ0:Q-Z>9)Y1=5Fy5"E= :E=>IQ 5]+5Ml?Q 9]+5M!h)MݜBYayejQ Im}@M!DIMl;iM;M[+5y} Bɮ}AEjhDNOT Ignoring new targets: 58.21 m.bhPowering the camera and arming the capture device at range: 58.50 m.2hRh9Zh9 ProNav: ac range: 58.208458 m, nav range: 55.214390 m, bearing: 247.696246 deg, approach rate: -0.600421 m/s, LOS rate: 0.022039 deg/s, cmd heading: 255.990736 deg, new cmd heading: 256.015828 deg. Bhq:HeadingCmd: 4.468319 target range: 58.208458 and range: 58.50 m.hx@h *h"h h2hgf!f)f)d)d1d1jd9Zd=@2? €Bɢ ׼) )>i)xiKiM迉<%D͸;I%x@IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7578139EPExceeded connect timeout, disconnecting.}p0@y @y@}<1@yByByB}IB}.BB} =ByByB}q;B}!.Ea^A ԙ E  E E *E "E mR;*E A:VE (N4ZE i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012831BE U7,C?AB߇@Bَ@B9ٱB+ bAHRS rotation from veh to nav: [[-0.245252,0.953104,0.177322],[-0.967397,-0.252527,0.019336],[0.063208,-0.166799,0.983963]]BHldϿ?? h)п@̓?c.?`Yſ|?iB߇@IBA_;B0CYz%ByzIiMb@Mb@Mb@ 9㥛 ?|?5^Q?Y?yҽu<@ )Y\AbDVD y~=%2=ٔt:Q->9"?Y"?=Fy"E:E> Q 5+5c?Q 9+5cn)BY?Q E%:y%vQ I%}@)!DI:i:7+5y)ɮ-:A)jhQ]DNOT Ignoring new targets: 58.21 m.bhY]Powering the camera and arming the capture device at range: 58.50 m.2hYRheH9ZheH9u ProNav: ac range: 58.208458 m, nav range: 54.954124 m, bearing: 247.703822 deg, approach rate: -0.598958 m/s, LOS rate: 0.017516 deg/s, cmd heading: 256.015817 deg, new cmd heading: 256.038651 deg. BhuW@:}HeadingCmd: 4.468718 target range: 58.208458 and range: 58.50 m.h}@hy*hy"hy hy2hgfffBdddjdZdX@=ÀBɢE˼)I MD>iI)M4IIiMiU}@迉Uc<]>;I]@IY-@ @@4@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262346q^AE ;Aq Iy I ԑ O >(=, ?A;ɰZe@Z4@ZoٱZ) fAHRS rotation from veh to nav: [[-0.243931,0.953967,0.174483],[-0.967776,-0.251048,0.019605],[0.062506,-0.164078,0.984465]]ZH "9Ͽ@?sU?*пF?a?`ſ?iZe@IZwA^;Z1CYn)BynI ttbDzVDzk1y<%\=ٔ:Q->9 Y = Fy "Er;E>Q 5%+5:\?Q 9%+5s)BY!y%MQ I%}@7!DIL;i:t+5y5Bɮ5DA5#EjhY]DNOT Ignoring new targets: 58.21 m.bhYePowering the camera and arming the capture device at range: 58.50 m.2haRheٗ9Zhmٗ9} ProNav: ac range: 58.208458 m, nav range: 54.735718 m, bearing: 247.709949 deg, approach rate: -0.589151 m/s, LOS rate: 0.016595 deg/s, cmd heading: 256.038657 deg, new cmd heading: 256.057112 deg. Bh}86:HeadingCmd: 4.469040 target range: 58.208458 and range: 58.50 m.h`@h*h"h h2hgfffdddjdZd`P@ĀBɢ) DI>i)iݟi5迉N<;I`@IE EE)E"E*E:VEFA4ZEa-@a-@a-@a-@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513634y+@ @@/@ԡ^AAdAzAeAA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766310I I) O= > nManaging dock network, ignoring radio surface power off B A B% >B% CB% IB% GBB% =B! B! B% q;B% '.ED,?AYf+ByfIbDrVDr0yzS<%zK=ٔzQ-~>9|Y|=~Fy"EE> Q 5+5 'T?Q 9+5 Yy) BYyQ I}@ F!DI :i ; +5y!ɮ%/A!EB*** querying acoustic contact ***iA iAjhIUDNOT Ignoring new targets: 58.21 m.bhQUPowering the camera and arming the capture device at range: 58.50 m.2hQRh]9Zh]9m ProNav: ac range: 58.208458 m, nav range: 54.498726 m, bearing: 247.716653 deg, approach rate: -0.588576 m/s, LOS rate: 0.016723 deg/s, cmd heading: 256.057126 deg, new cmd heading: 256.077326 deg. Bhm7:uHeadingCmd: 4.469392 target range: 58.208458 and range: 58.50 m.huC@hq*hq"h h2hgfffdddjdZd`qC @=ŀBɢ=|ü)9 =(L>i9)EbAAiEiM_*迉MI3T;*E= :VE=t4ZE9BDAT read: Rx Time:04:58:43.0074 TRx dataTimestamp_ set to:1761541124.492089checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023798BE="Y {J,-?AV@VR@V@~ٱVÍ'^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269859 fAHRS rotation from veh to nav: [[-0.243216,0.954440,0.172887],[-0.967990,-0.250221,0.019606],[0.061972,-0.162584,0.984747]]VH`!ϿƊ?@(!?п{?Һ? Ŀ@ ?iV@IV{];V0CYn9ByrIimMb@Mb@Mb@iiii i9m +?:v?Ym?ym̽mT9 ?Y ?=Fy"E":E>Q 5+5tK?Q 9 +5)BY ?Q E :y xQ I}@W!DI. ;i ;+5yBɮA"EjhAEDNOT Ignoring new targets: 58.21 m.bhAMPowering the camera and arming the capture device at range: 58.50 m.2hIRhMl9ZhUl9] ProNav: ac range: 58.208458 m, nav range: 54.239418 m, bearing: 247.722272 deg, approach rate: -0.594211 m/s, LOS rate: 0.012938 deg/s, cmd heading: 256.077316 deg, new cmd heading: 256.094254 deg. Bhe:mHeadingCmd: 4.469688 target range: 58.208458 and range: 58.50 m.hm@hi*hi"hi hi2higqfqfqfuBdydydyjdyZd} @颭ƀBɢ"赼)~ d>i)c.顱ixi 迉<;I@I)&@ @@/@QEA EE EE(EA"EA*EE:VEEc44ZEAaM@aM@aM@aM@DAT read: 04:58:43.0074 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 412,-0.08,-2.354, 2.486,-1.876,-2.435, PHS= 0.183,-1.317, 0.515, RAW= 159.8, 7.4, CAL= 159.3, 7.4, ROT= 350.7, -7.4 Ygot valid direction response: 04:58:43.0074 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 412,-0.08,-2.354, 2.486,-1.876,-2.435, PHS= 0.183,-1.317, 0.515, RAW= 159.8, 7.4, CAL= 159.3, 7.4, ROT= 350.7, -7.4 PDAT read: Bearing 48.9, -6.6 (Local) ~Local bearing/azimuth received: Bearing 48.9, -6.6 (Local) DAT read: Range 11 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.978636,-0.160257,0.128796]Fpublishing direction and range infoyimUP?PĿOZ_|?Ym`Biiii i)m;ImZd;>imu^A;m ?m2@m A>m1@ m A>)m+@Im AiimZUgsb?`(|O?{]n? m1?)mIm5&im Aii T****** received valid address query ****** R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode. e G} gAAy I I O > -9 gAY A Q,G?A$&@`f@5@|ٱks$ UAHRS rotation from veh to nav: [[-0.242525,0.955150,0.169913],[-0.968181,-0.249431,0.020221],[0.061696,-0.159602,0.985252]]H Ͽ`?`?WZϿԴ?@?mĿ@.?if@I];.CY8ByI@AbDVDy>Ի%M=ٔ5:Q->91Y1=5Fy5"E=:E=>AQ 5M+5ECC?Q 9M+5E)E$BYIyUeQ Iu}@Ef!DIE;iE;Ea+5yyɮ}Ayii!u??AJi_BRi_Bjik@b E@G\K@fU!\4@RUP?PĿOZ_|?Zi5&bi Aj 1y4&z2MI&%'@Z. ׿  lW>?2iiJ:iݤ"iz?*iVBiBiz?iyi)BiXBi{O@  addTargetRange:: Added new target pos. range: 56.200001 m, deltaT: 3.780233 s, deltaX: -2.299999 m, approachRate: -0.608428 m/s, rangeRepo size: 4 = Added new target pos. range: 55.919971 m, bearing: 247.841343 deg, lat: 36.779352 deg, lon: -121.859609 deg, deltaT: 3.780233 s, deltaX: -2.288486 m, approachRate: -0.605382 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 55.92 m.bhAEPowering the camera and arming the capture device at range: 56.20 m.2hARhMZhi} ProNav: ac range: 55.919971 m, nav range: 54.180145 m, bearing: 247.643954 deg, approach rate: 0.000000 m/s, LOS rate: 0.012938 deg/s, cmd heading: 256.094255 deg, new cmd heading: 256.110857 deg. BhyHeadingCmd: 4.469978 target range: 55.919971 and range: 56.20 m.h @h*h"h h2hgfffdddjdL@Zdp?*DAT read: user:275> BDAT read: Tx time:04:58:44.3283 $Ping request sent.i1)5a11i=: i=1迉=BCBIBVBBBBDBq;B.E]#@Y @Y@]/@Y@eeA@efAA ^A 0;A >A >E] - E] *E] )EY "E] d;*E] ; checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253048VE] FA4ZEY BE] =MX,b?ABybIiMMb@Mb@Mb@IIII I9MK? ףp= y&1|?YM^?yMQM`;MAAM@ M3A)M@IYMAbDVDN2y"=%C=ٔQ->9Y=Fy"EE>Q 5+5\;?Q 9+5)0BY?Q E:y Q I}@v!DI:i:+5yɮAjhDNOT Ignoring new targets: 55.92 m.bhPowering the camera and arming the capture device at range: 56.20 m.2hRhm6Zhm6  ProNav: ac range: 55.919971 m, nav range: 53.933765 m, bearing: 247.644032 deg, approach rate: -0.632161 m/s, LOS rate: 0.000202 deg/s, cmd heading: 256.110866 deg, new cmd heading: 256.111102 deg. Bh=7HeadingCmd: 4.469982 target range: 55.919971 and range: 56.20 m.h @h*h"h h2hgf!f!f%Bd!d)d)jd)Zd- ?]ɀBɢ]צ)Y eZj>ia)e(aaie; im 迉m= s^,|?A2@2^@2œyٱ2=! :AHRS rotation from veh to nav: [[-0.240981,0.956288,0.165655],[-0.968618,-0.247686,0.020772],[0.060894,-0.155451,0.985965]]2Hxο?24?@`0Ͽ&E?-?`ÿ@?i2@I2^;2/CYFBByFIbDNVDN0yV<%V[=ٔZ ;Q-Z>9XYX=^Fy^"Eb،;Eb>dQ 5j+5f4?Q 9j+5fQ =jtI)f;BYhyjQ Ij~@f!DIf':lif@:f1+5yrBɮvAv+EjhDNOT Ignoring new targets: 55.92 m.bhPowering the camera and arming the capture device at range: 56.20 m.Ee, Ee0Ee&Ea"Eec;*Ee;VEe4ZEaam@am@am@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548102hRh_Zh_ ProNav: ac range: 55.919971 m, nav range: 53.707031 m, bearing: 247.643748 deg, approach rate: -0.605737 m/s, LOS rate: -0.000763 deg/s, cmd heading: 256.111112 deg, new cmd heading: 256.110254 deg. BhHeadingCmd: 4.469967 target range: 55.919971 and range: 56.20 m.h @h*h"h h2hgfffdddjdZdP?EˀBɢEէ)I MNo>iI)MIIiMY i迉<s U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761a A! A% @AB- >B) B- 'IB- fBB- =B) B) B- q;B- .Ele,ƿ?Aɰ;2r @2A@2yٱ2 >AHRS rotation from veh to nav: [[-0.240050,0.956905,0.163427],[-0.968856,-0.246699,0.021374],[0.060770,-0.153206,0.986324]]2H@ο?)?@@ԓϿ#?I?`Aÿ ?i2r @I2];2-CYFKByFI N49`Y`=bFyb"EbD;Ef>dQ 5j+5f2,?Q 9n+5f)fGBYlynQ In~@f!DIf;if* ;f+5yvBɮvAtB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 55.92 m.bh!%Powering the camera and arming the capture device at range: 56.20 m.2h!Rh-fƷZh-fƷ= ProNav: ac range: 55.919971 m, nav range: 53.458767 m, bearing: 247.643197 deg, approach rate: -0.607603 m/s, LOS rate: -0.001355 deg/s, cmd heading: 256.110265 deg, new cmd heading: 256.108604 deg. Bh=nEHeadingCmd: 4.469938 target range: 55.919971 and range: 56.20 m.hE @hA*hA"hI hI2hIgIfIfQfQdQdQdYjdYZd]@?̀Bɢ)  }>i )   i 8iUz迉U<]~Pqԡ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736hk,ѕ?A>@>P@>ٔxٱ>6 FAHRS rotation from veh to nav: [[-0.238981,0.957591,0.160960],[-0.969128,-0.245568,0.022061],[0.060652,-0.150719,0.986714]]>Hο?S?@ nϿ ?@ ?Jÿ*?i>@I>];>+CYRNByR Ii5Mb@Mb@Mb@1111 195On?MbX99aYa=eFye"Em*;Em>qԹQ 5+5ur$?Q 9+5uK)uSBY?Q E:yvQ I~@u!DIu)hi!)%d5!!i%iM!迉UA mr,0?A2@2@2uٱ2 :AHRS rotation from veh to nav: [[-0.237648,0.958026,0.160342],[-0.969498,-0.244132,0.021739],[0.059971,-0.150285,0.986822]]2H@Akο`&?? !?ϿB?@?@<ÿ ?i2@I2~^;2-CYZUByZIbDfVDf1yn=%nU=ٔr:Q-r>9pYp=vFyv"Evcl;Ev>xQ 5~+5zv?Q 9~+5z)z^BYyIQ I~@z!DIz;iz3;z+5y ɮ 4A jh1=DNOT Ignoring new targets: 55.92 m.bh9EPowering the camera and arming the capture device at range: 56.20 m.2hARhE~ZhE~U ProNav: ac range: 55.919971 m, nav range: 52.974918 m, bearing: 247.632446 deg, approach rate: -0.623969 m/s, LOS rate: -0.014479 deg/s, cmd heading: 256.092178 deg, new cmd heading: 256.076186 deg. Bh]]HeadingCmd: 4.469373 target range: 55.919971 and range: 56.20 m.he@ha*ha"ha ha2hagafififididqdqjdqZduF@颥πBɢ欉) Q>i)Yu顩iPi+迉7<@BCB:IBuBB =BBDBq;B-EBBBBB =Cĕ<5a5O@1 @9@=/@=ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270371^A% r;D1 zD5 ?AEe + Ee Ee (Ea "Ee b;*Ee :VEe c44ZEa BEe Wy,/?A2/@2*@2yqٱ2S FAHRS rotation from veh to nav: [[-0.235754,0.958821,0.158376],[-0.970025,-0.242055,0.021468],[0.058920,-0.148567,0.987145]]2H1-ο?E?q ο?*?@Bÿ ?i2/@I2x a;2/C1YVByIiMb@Mb@Mb@ 9zG?T㥛 I +?Y ?y94< A@ A)@Y@BAbDVDNye;%=ٔ:Q->9"?Y"?=Fy"Eh;E> Q 5+5 8?Q 9+5 ) nBY?Q E:yQ I~@ !DI  ;i  ; +5y!ɮ-(A)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518582jhDNOT Ignoring new targets: 55.92 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]@Rh]i Zh]i m ProNav: ac range: 55.919971 m, nav range: 52.647522 m, bearing: 247.614924 deg, approach rate: -0.569893 m/s, LOS rate: -0.030690 deg/s, cmd heading: 256.076196 deg, new cmd heading: 256.023303 deg. Bhm~HeadingCmd: 4.468450 target range: 55.919971 and range: 56.20 m.h@h*h"h hgfffBdddjdZd r@рBɢS) >i!)%T1!!i%zi-CI迉-2<-fd,V?A2c<@227@2 lٱ2 :AHRS rotation from veh to nav: [[-0.234302,0.959442,0.156760],[-0.970456,-0.240383,0.020754],[0.057595,-0.147266,0.987419]]2HͿ??@ ο@?}?@¿?i2c<@I2L`;0BCBjAi@IB/F@IF&CiFpUA DD)DJ3C JQx@J#9Y=Fy "E o;E >1Q 5=,55D ?Q 9E,552)5zBYAyEQ IE~@5!DI5:i5:5U,5yM#BɮMIAqu3EjhDNOT Ignoring new targets: 55.92 m.bhRhZh ProNav: ac range: 55.919971 m, nav range: 52.400356 m, bearing: 247.601149 deg, approach rate: -0.607030 m/s, LOS rate: -0.033991 deg/s, cmd heading: 256.023303 deg, new cmd heading: 255.981782 deg. BhHeadingCmd: 4.467725 target range: 55.919971 and range: 56.20 m.h@h*h"h hgfff d d)d1jd1Zd5 @}ҀBɢ背) |>i)T顁iia迉f<QBBGIBBB =BBBq;B-E^AM `<Ay I I O > ,?AFIG@FB@FfٱF:4bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274804 fAHRS rotation from veh to nav: [[-0.233030,0.960175,0.154143],[-0.970849,-0.238849,0.020109],[0.056125,-0.144963,0.987844]]FHͿ? ?0ο? x? '¿j?iFIG@IF<`;F-CEE. EE*EE)EA"EEye;*EE;VEEFA4ZEABEE9Y=Fy"E;E>Q 5,5@?Q 9,5)BYE?Q E:yQ I~@!DIH@;iX);0,5yyɮ}AyB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 55.92 m.bhRhkGZhkG ProNav: ac range: 55.919971 m, nav range: 52.065216 m, bearing: 247.576515 deg, approach rate: -0.589177 m/s, LOS rate: -0.043586 deg/s, cmd heading: 255.981775 deg, new cmd heading: 255.907396 deg. BhMHeadingCmd: 4.466427 target range: 55.919971 and range: 56.20 m.h@h*h "h  h g f fQfQdQdQdYjdYZd] >7@DAT read: 04:58:46.8045 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 415, 0.49,-0.181,-1.628, 0.337,-0.227, PHS= 0.148,-1.356, 0.520, RAW= 160.8, 8.0, CAL= 160.4, 8.2, ROT= 349.6, -8.2 Ygot valid direction response: 04:58:46.8045 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 415, 0.49,-0.181,-1.628, 0.337,-0.227, PHS= 0.148,-1.356, 0.520, RAW= 160.8, 8.0, CAL= 160.4, 8.2, ROT= 349.6, -8.2 PDAT read: Bearing 51.2, -8.2 (Local) ~Local bearing/azimuth received: Bearing 51.2, -8.2 (Local) DAT read: Range 11 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.973516,-0.178673,0.142629]Fpublishing direction and range infoyqu` '?1ƿx0A?YuXBqqqq q)uAIuP>iuhu?u3@u5>u$+3@ uC>)u@@IuCqquM?~S?VN? uvC6?)ueIu9iuCqqT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.) = ԀBɢ= )A E >iA )E A A i i 迉 F< Z 5BDAT read: Tx time:04:58:48.0783 5$Ping request sent.59Y= Fy "E M;E>Q 5,5?Q 9,59)BY!y%cQ I%~@!DI-:i: ,5y)ɮ5 A1iiR`1?AJiVBRiVBji.(@b :"['J@zN3#*'r@R` '?1ƿx0A?Zi9biCj[@+4b<؈0HWI!'@Zh֤ؿ9Q`~&?2iA:iZ"io/Y?*iCBiBiiaiBivOBiRG@ addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.779980 s, deltaX: -2.200001 m, approachRate: -0.582014 m/s, rangeRepo size: 4 - Added new target pos. range: 53.730484 m, bearing: 247.369075 deg, lat: 36.779352 deg, lon: -121.859610 deg, deltaT: 3.779980 s, deltaX: -2.189487 m, approachRate: -0.579233 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 53.73 m.bh1Rh5Zh9m ProNav: ac range: 53.730484 m, nav range: 51.866085 m, bearing: 247.586870 deg, approach rate: 0.000000 m/s, LOS rate: -0.043586 deg/s, cmd heading: 255.907408 deg, new cmd heading: 255.849987 deg. BhiuHeadingCmd: 4.465425 target range: 53.730484 and range: 54.00 m.hu@hq*hq"hq hqgqfyfyfydyddԡjdK@Zd-?ՀBɢl) ˛>i)Syi}Mid迉r*<o,QK`?AB]@BpX@B YٱBÒL RAHRS rotation from veh to nav: [[-0.230419,0.960716,0.154698],[-0.971638,-0.235835,0.017372],[0.053173,-0.146308,0.987809]]BH\~Ϳ0?%?@/οɑ? z9?`5¿!?nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505776iB]@IB+^;B*CE-! E-E-(E)"E-Y;*E-x:VE-c44ZE)BE-լ9Y=Fy#E;;E>Q 5,5[?Q 9,5!)BY?Q E:yiy)顁il i5迉=<=m!,?A6%v@6p@6(Lٱ6M >AHRS rotation from veh to nav: [[-0.227549,0.961420,0.154574],[-0.972491,-0.232492,0.014443],[0.049823,-0.147035,0.987876]]6HV Ϳ??IͿ:?`]? ¿?i6%v@I6];6,C checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008363EU) EU%EU&EQ"EU`;*EU;VEU4ZEQae@ae@ae@ae@aYmBymKI}=}=bDVD2yNw=%>=ٔ)9Y=Fy#E;E>Q 5,5r?Q 9,5W)BYyQ I~@!"DI:ik:,5y%Bɮ AjhDNOT Ignoring new targets: 53.73 m.bhRhO0ZhO0 ProNav: ac range: 53.730484 m, nav range: 51.338631 m, bearing: 247.554273 deg, approach rate: -0.599921 m/s, LOS rate: -0.038536 deg/s, cmd heading: 255.799764 deg, new cmd heading: 255.751681 deg. Bh ӺHeadingCmd: 4.463709 target range: 53.730484 and range: 54.00 m.h֎@h*h"h hgfffdd!d!jd!Zd%? ]h>]֐CG׀B-(hAAm> 9m(hAYu^Aɢr)) +>i) 顉iEZ"i迉 <x5A >A9 A9 BA BA BE lIBE BBA BA BA BE cq;BE -E A .AI I O >',Й?A@YByQIbD-VD-k2y=<%=Q=ٔEQ-E>9E ?YE ?=MFyM #EMEM>QQ 5],5U裊?Q 9],5U)UBYayaQ Ie~@U/"DIU;iU;UG,5ym+Bɮm! Ami) i|$iME迉U" checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765854P,?A2@2S@2#=ٱ2p  :AHRS rotation from veh to nav: [[-0.224812,0.962223,0.153580],[-0.973302,-0.229238,0.011509],[0.046281,-0.146892,0.988069]]2H`̿?~?K%WͿ"??Z¿`C?i2@I2];0YBByF]IieMb@Mb@Mb@aaaa a9eV-?3333339Y=Fy #E8;E>Q 5,50ᣊ?Q 9,5)BY?Q E:y5Q I~@>"DI:i\:,5yɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 53.73 m.bhRhxZhx ProNav: ac range: 53.730484 m, nav range: 50.872078 m, bearing: 247.528938 deg, approach rate: -0.568466 m/s, LOS rate: -0.025296 deg/s, cmd heading: 255.706792 deg, new cmd heading: 255.675319 deg. Bhኺ HeadingCmd: 4.462376 target range: 53.730484 and range: 54.00 m.h ˎ@h *h "h  hgfffʀBd!d!d!jd!Zd%e@QɢU )Y ]>iY)]a YYiek&ieH鿉e3I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017821E}. EyE},Ey"E}ye;*EyVE}g4ZEya@a@a@a@q^A <I I O >ԙ 8,?A2̗@2@26ٱ2>B :AHRS rotation from veh to nav: [[-0.223607,0.962394,0.154265],[-0.973657,-0.227806,0.009866],[0.044638,-0.147995,0.987980]]2H@*̿@??1((Ϳ4?@ڦ?¿?i2̗@I2N];0YZByZaI \\`bAbDfVDf:ynq<%nV=ٔr;Q-r>9pYp=rFyr#EvTW;Ev>xQ 5~,5zڣ?Q 9~,5zI)zʝBYy Q I~@zL"DIz;iz];z:,5y ɮ  A jh15DNOT Ignoring new targets: 53.73 m.bh1Rh=Zh=M ProNav: ac range: 53.730484 m, nav range: 50.654449 m, bearing: 247.518884 deg, approach rate: -0.571873 m/s, LOS rate: -0.026532 deg/s, cmd heading: 255.675318 deg, new cmd heading: 255.645028 deg. BhMUHeadingCmd: 4.461847 target range: 53.730484 and range: 54.00 m.hUtǎ@hQ*hQ"hQ hYgYfYfafadadadajdiZdmG@额ـBɢ) P>i)= 顡iE(i!鿉<NYBBIBBBBBBJq;B-Eԡ^A<I9IQO]>M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521824D zD AAE ( E E (E "E `;*E 4:VE c44ZE BE R9Y=Fy#E-;E>Q 5,5>ӣ?Q 9,5)֝BY?Q E:yaQ I~@]"DIn:i@:",5yɮ Ajh9EDNOT Ignoring new targets: 53.73 m.bhARhEZhE ProNav: ac range: 53.730484 m, nav range: 50.398914 m, bearing: 247.510021 deg, approach rate: -0.581623 m/s, LOS rate: -0.020276 deg/s, cmd heading: 255.645019 deg, new cmd heading: 255.618295 deg. Bh ^HeadingCmd: 4.461381 target range: 53.730484 and range: 54.00 m.hÎ@h*h"h hgffAfEBdIdIdIjdQZdU`@ڀBɢPz) >i)i0*i0鿉ج<6=IÎ@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774883q@q @q@u0@q! ^A <I I! O= >J,6?A>%@>@>U)ٱ>, FAHRS rotation from veh to nav: [[-0.220625,0.962454,0.158134],[-0.974483,-0.224380,0.006075],[0.041329,-0.152758,0.987399]]>Hp=̿m?=?@.̿Dx?)?@ÿŘ?i>%@I>];>.CYLyN}IbDZVDZNy^u;%b_=ٔb;Q-b>9dYd=fFyf#Ef_;Ef>hQ 5n,5j̣?Q 9r,5j)jBYpyr6Q Ir~@jj"DIj;ij ;jA%,5yv-Bɮz Az;EBDAT read: Rx Time:04:58:50.5515  TRx dataTimestamp_ set to:1761541132.052280 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027072jh)5DNOT Ignoring new targets: 53.73 m.bh1Rh5=¹Zh5=¹bEc44jEc44rE/EE; EEEE'EA"EEDq;*EE:VEE'4ZEAaU@aU@aU@aU@e ProNav: ac range: 53.730484 m, nav range: 50.186066 m, bearing: 247.502248 deg, approach rate: -0.578838 m/s, LOS rate: -0.021227 deg/s, cmd heading: 255.618300 deg, new cmd heading: 255.594883 deg. BheimHeadingCmd: 4.460972 target range: 53.730484 and range: 54.00 m.hmI@hi*hi"hi higqfqfqfqdydydyjdZd^ @颩ɢ@:κ) >i)ۇ顱iUP:,i]E>鿉]wU<]F =I]I@IaQO@ @@4@y^AP<IYIiO}>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277819Ա B A B >B B IB BB =B B B q;B -EBCBCBB =B =Ce4Yu,?A2k@2;@2 "ٱ2 :AHRS rotation from veh to nav: [[-0.219655,0.962755,0.157656],[-0.974771,-0.223159,0.004657],[0.039666,-0.152655,0.987483]]2H`̿?@.?R1{̿s?@$O?4ÿ@v?i2k@I2];2,C@Y^Byb|IIf,>)f9Y=Fy#E ;E>!Q 5-,5%ţ?Q 9-,5%)%BY)y-Q I-~@%z"DI%p:i%:%(,5y9ɮ= A9jhaeDNOT Ignoring new targets: 53.73 m.bhaRhm͹Zhm͹} ProNav: ac range: 53.730484 m, nav range: 49.944923 m, bearing: 247.493078 deg, approach rate: -0.586500 m/s, LOS rate: -0.022411 deg/s, cmd heading: 255.594886 deg, new cmd heading: 255.567243 deg. Bh}vHeadingCmd: 4.460490 target range: 53.730484 and range: 54.00 m.hU@h*h"h hgfffdddjdZdd @ۀBɢ0) >i)v.i&.iN鿉 < =IU@IN@ @@/@ԹEU% EUEU&EQ"EUO];*EU:VEU4ZEQBEUivף?D5@ >J4@  >)Q@I XNj?~YB?d-?   *DAT read: user:277>  BDAT read: Tx time:04:58:51.9283  $Ping request sent. 9Y=Fy"#ED;E>Q 5,5?Q 9,5)BY%?Q E:yQ I~@"DIU:i:,,5y4Bɮ AEEiAiEĔ#?AJiE*NBRiE*NBjiE@bEBlII@[$un@RE5?xɿ /?ZiE4QObiE jE38vhAG);C$@ZEo5#.ؿ)R)?2iE::iE"iEmTl=?*iE1BiEBiEo/Y?iEViEBiEHBiE@ addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 3.784451 s, deltaX: -2.200001 m, approachRate: -0.581326 m/s, rangeRepo size: 4  Added new target pos. range: 51.541580 m, bearing: 246.990950 deg, lat: 36.779349 deg, lon: -121.859615 deg, deltaT: 3.784451 s, deltaX: -2.188904 m, approachRate: -0.578394 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 51.54 m.bhRhZh5 ProNav: ac range: 51.541580 m, nav range: 50.228035 m, bearing: 247.254924 deg, approach rate: 0.000000 m/s, LOS rate: -0.022411 deg/s, cmd heading: 255.567237 deg, new cmd heading: 255.536565 deg. Bh15HeadingCmd: 4.459954 target range: 51.541580 and range: 51.80 m.h=@h9*h9"h9 h9g9f9fAfEBdAdAdIjdM`fI@ZdM=B?}܀Bɢ}tF)y }>i)>顁i 0i_鿉 !<y=I@I M@ @@ @ @ >@>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2510049E]- E] E]*EY"E]d;*E]:VE](N4ZEYae@am@am@am@^A=i A I! I9 OE >,N?A2҈@2͏@2Xٱ2! :AHRS rotation from veh to nav: [[-0.216671,0.962823,0.161323],[-0.975568,-0.219696,0.000932],[0.036339,-0.157179,0.986901]]2H`˿r?7?7̿hN??sĿ?i2҈@I2];2*CY@yDbDNVDNyV#%Vm=ٔV;Q-Z?9XYX=ZFyZ%#E^:;E^?`Q 5f,5b?Q 9f,5b)bBYdyjlQ Ij~@b"DIb;ib;b/,5ylɮn Al~B*** querying acoustic contact ***i| i|jh DNOT Ignoring new targets: 51.54 m.bh Rh ӹZhӹ ProNav: ac range: 51.541580 m, nav range: 50.030468 m, bearing: 247.247054 deg, approach rate: -0.578361 m/s, LOS rate: -0.023131 deg/s, cmd heading: 255.536556 deg, new cmd heading: 255.512851 deg. Bh%}%HeadingCmd: 4.459540 target range: 51.541580 and range: 51.80 m.h%@h)*h))"h1 h1g1f1f9f9d9d9d9jdAZdE`D?m݀Bɢu{9)q u>iq)u`yyi}1i}2m鿉!<=I@Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503002BBBIBЁBB =BBBq;B-EO@ @@/@Yԁ^AP =A % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755353I) II Ee  Ee Ee )Ea "Ee V;*Ee O:VEe FA4ZEa BEe Թ ׶,h?A^9و@^ ԏ@^ٱ^# fAHRS rotation from veh to nav: [[-0.215906,0.962705,0.163044],[-0.975782,-0.218744,-0.000555],[0.035131,-0.159215,0.986619]]^Hˢ˿@{??`9˿-B@?`)aĿ@a?i^9و@I^];\YnBynI pptvAimMb@Mb@Mb@ԉiiii i9mHzG?ktQ?Ym= ?yimu9Y=Fy*#E:E>Q 5 ,5?Q 9,5) BY ?Q E:ycQ I~@"DIh;i ];3,5y!ɮ- A)jhimDNOT Ignoring new targets: 51.54 m.bhiRhu%Zh}% ProNav: ac range: 51.541580 m, nav range: 49.788525 m, bearing: 247.239432 deg, approach rate: -0.539083 m/s, LOS rate: -0.017064 deg/s, cmd heading: 255.512842 deg, new cmd heading: 255.489866 deg. Bh`;HeadingCmd: 4.459139 target range: 51.541580 and range: 51.80 m.hE@h*h"h hgfffBdddjdZdɽ?颅ހBɢv;) >i)顉iܯ3iUz鿉&"<=IE@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007599N@ @@/@^A '=9 A) I1 IA OU >u,l?Aɰnchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259093E E#E'E"E&U;*E;VE'4ZEa%@a%@a%@a%@Y-ÁBy-IbD9VD9yM<%MT=ٔUQ-U>9QYQ=]Fy]-#E]E]>aQ 5m,5eY?Q 9m,5e )eBYqyqQ Iu~@e"DIe ;ie;e7,5y}5Bɮ} A}DEjhDNOT Ignoring new targets: 51.54 m.bhRhEZhE ProNav: ac range: 51.541580 m, nav range: 49.579330 m, bearing: 247.232782 deg, approach rate: -0.552109 m/s, LOS rate: -0.017624 deg/s, cmd heading: 255.489865 deg, new cmd heading: 255.469831 deg. BhAHeadingCmd: 4.458790 target range: 51.541580 and range: 51.80 m.hh@h*h"h hgfffdddjdZd ?  ߀Bɢ o)  >i)Hi.5im̅鿉uH#B B IB ߁BB B B B B -Eԑ A ؟AI I O >,[?A2R@2"@2nٱ2l& :AHRS rotation from veh to nav: [[-0.214008,0.962783,0.165074],[-0.976297,-0.216407,-0.003528],[0.032327,-0.161916,0.986275]]2Hd˿?!!?=9˿l?৹Ŀ?i2R@I2D];2)CYBʁByFIbDNVDNN2yV=%VV=ٔV;Q-V>9Z"?YZ"?=ZFyZ1#EZ;E^>!Q 5%,5%أ?Q 9-,5%Q )% BY)y-Q I-~@%"DI%:i%(:%:,5y1ɮ=X A9jhaeDNOT Ignoring new targets: 51.54 m.bhaRhmיּZhmיּ} ProNav: ac range: 51.541580 m, nav range: 49.364632 m, bearing: 247.225365 deg, approach rate: -0.544679 m/s, LOS rate: -0.018899 deg/s, cmd heading: 255.469839 deg, new cmd heading: 255.447490 deg. Bh}OHeadingCmd: 4.458400 target range: 51.541580 and range: 51.80 m.h6@h*h"h hgfffdddjdZd`E?Bɢ`);) >i)i/7i鿉̾$<ԡ'=I6@IqQ@Q @Q@U0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763587E5 E55E5(E1"E5W;*E5 ;VE5c44ZE1BE5D checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014879 ,7?A2@2@2ٱ2? ( :AHRS rotation from veh to nav: [[-0.213251,0.962765,0.166156],[-0.976502,-0.215455,-0.004856],[0.031124,-0.163287,0.986088]]2H K˿? D?@?` ˿ sޟ?Ŀ?i2@I2?];2,CYBÁByBIIF=)F>J=J=iMb@Mb@Mb@ 9J +?/$Mb?Y?y< A@ )YbD-VD-y=%A=ٔ4;Q->9Y=Fy6#E :E>Q 5,5?Q 9,5)*BYr ?Q E:yQ I~@"DI:i::>,5yiq)u[qqiu8i}鿉}W%<}}N+=Ik@I)@) @)@-5@)9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266915EE& EE EE+EA"EE8^;*EE:VEE [4ZEAaM@aM@aM@aM@GhAe9ehAYeA^A"=i I I O >,I?A >g@>7@>uٱ>)) FAHRS rotation from veh to nav: [[-0.212345,0.962824,0.166972],[-0.976735,-0.214362,-0.006059],[0.029959,-0.164374,0.985943]]>H .˿@t? T_?jA:p˿zxu?@3 ſ،?i>g@I>];>*CYNǁByRIbDZVDZ1ybã<%bR=ٔb L;Q-f>9dYd=fFyf:#Ej#;Ej>lQ 5r,5n햣?Q 9r,5n)n2BYpyvQ Iv~@n"DInL ;in":nA,5yxɮz AxB*** querying acoustic contact ***i ijh%DNOT Ignoring new targets: 51.54 m.bh!Rh-ŹZh-Ź5 ProNav: ac range: 51.541580 m, nav range: 48.934364 m, bearing: 247.208502 deg, approach rate: -0.537724 m/s, LOS rate: -0.021597 deg/s, cmd heading: 255.420962 deg, new cmd heading: 255.396681 deg. Bh='mEHeadingCmd: 4.457513 target range: 51.541580 and range: 51.80 m.hE@hA*hA"hA hAgAfIfIfIdIdQdQjdQZdU#@颅Bɢ:) >i)`顉i?q:i鿉k&<u)0=I@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519343B=>B9B=IB=BB= =B9B9B=p;B=-EQ@Q @Q@U3@Yԁԙ^Au$=IQ Ia Om >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770878EM  EM EM )EI "EM US;*EM :VEM FA4ZEI BEM Y9yYy=Fy>#Er:E>Q 5,5?Q 9,5")i)i-,?A2$@2@2ٱ2+ :AHRS rotation from veh to nav: [[-0.211435,0.962778,0.168383],[-0.976993,-0.213109,-0.008281],[0.027911,-0.166260,0.985687]]2HP˿??C@&G˿@?`Gſ`?i2$@I2];2+CYB́ByBI DDHJAbDNVDNyVP=%Vm=ٔZ#@;Q-Z?9XYX=ZFy^B#E^C:bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274966E  EE'E"EX;*E]:VE'4ZEa @a @a @a @E=?AQ 5M,5E!?Q 9M,5E!)ECBYIyM2Q IM~@E"DIE:iE:EH,5yYɮ] AYjhDNOT Ignoring new targets: 51.54 m.bhRhJZhJ ProNav: ac range: 51.541580 m, nav range: 48.485863 m, bearing: 247.180485 deg, approach rate: -0.540020 m/s, LOS rate: -0.034160 deg/s, cmd heading: 255.349600 deg, new cmd heading: 255.312227 deg. BhHeadingCmd: 4.456039 target range: 51.541580 and range: 51.80 m.hߗ@h*h"h hg!f!f)f)d1d1dYjdYZde @Bɢh;) >i)i?=i鿉<)<t8=Iߗ@I1L@ @@/@QDAT read: 04:58:54.3985 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 417, 0.19, 3.021, 1.663,-2.749, 3.039, PHS= 0.084,-1.331, 0.451, RAW= 161.2, 9.8, CAL= 161.2, 10.5, ROT= 348.8, -10.5 Ygot valid direction response: 04:58:54.3985 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 417, 0.19, 3.021, 1.663,-2.749, 3.039, PHS= 0.084,-1.331, 0.451, RAW= 161.2, 9.8, CAL= 161.2, 10.5, ROT= 348.8, -10.5 PDAT read: Bearing 55.6, -11.3 (Local) ~Local bearing/azimuth received: Bearing 55.6, -11.3 (Local) DAT read: Range 11 to 50 : 49.5 m (Round-trip 66.1 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.964529,-0.190982,0.182236] Fpublishing direction and range infoy k?rȿm~S?YFBB5 >B1 B1 B1 B5 =B1 B1 B5 p;B5 |-E^Ae .= )I1=i5^y>4@%/>4@ f;>)@If;?J*?1? gI8?)a/I4+Hif; T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I1 IA OU >ԁ ,?Aɰ2@2V@2ټٱ2z, :AHRS rotation from veh to nav: [[-0.210920,0.962713,0.169397],[-0.977142,-0.212364,-0.009757],[0.026581,-0.167583,0.985500]]2H lʿ? Ѯ?D.˿r8?^sſ@6?i2@I2];0YNсByNIbDZVDZ:yry<%rF=ٔvS;Q-v>9tYt=zFyzF#Ezt:Ez>|Q 5,5~?Q 9,5~`&)~LBY y Q I ~@~#DI~ :i~[:~!L,5yɮ_ Aii?AJiEBRiEBjiUƊ@bi)~顡iR=?i &鿉 b*<<=I@I*DAT read: user:278> BDAT read: Tx time:04:58:55.6783 $Ping request sent.  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249557c; ,7?AY~ȁBy~IiMb@Mb@Mb@ 9Zd;O?)\(Mb?Y~ ?yGa< A@ )@Y@bDVD y|1%?=ٔQ->9Y=FԹyJ#EE>Q 5,5}?Q 9,57,)RBY9 ?Q E:yQ I~@#DI ;i ;O,5yɮ AjhDNOT Ignoring new targets: 49.25 m.bhRhZh ProNav: ac range: 49.253181 m, nav range: 48.045223 m, bearing: 247.145903 deg, approach rate: -0.526644 m/s, LOS rate: -0.055878 deg/s, cmd heading: 255.271627 deg, new cmd heading: 255.197713 deg. BheHeadingCmd: 4.454041 target range: 49.253181 and range: 49.50 m.h@h*h"h hgfffBdddjdZd ?-Bɢ-:)) ->i))511i5\@i=i!꿉=S+<=xA=I=@IA@ @@/@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501719bEjEƭ54rE/E( E E(E"E`;*E:VEc44ZEa-@a-@a-@a-@^A C;=A= .AA II IY Om >",YQ?A2@2[@2?ɼٱ2- :AHRS rotation from veh to nav: [[-0.210571,0.962665,0.170105],[-0.977270,-0.211665,-0.011885],[0.024564,-0.168741,0.985354]]2Hʿ`'?@?E˿@OW:'?Nſ?i2@I2^;0YBʁByBIIF=)F4=J=J=bDNVDNyVJQ<%V\=ٔZ;Q-Z>9Z ?YZ ?=ZFy^N#E^Y:E^>`Q 5f,5bx?Q 9f,5bB1)bXBYhyjQ Ij~@b$#DIbR:ib:bS,5y]EBɮ] A]VE}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 49.25 m.bhRh߄Zh߄ ProNav: ac range: 49.253181 m, nav range: 47.844624 m, bearing: 247.124428 deg, approach rate: -0.540302 m/s, LOS rate: -0.058084 deg/s, cmd heading: 255.197724 deg, new cmd heading: 255.133029 deg. BhsHeadingCmd: 4.452911 target range: 49.253181 and range: 49.50 m.h@~@h*h"h hgfffdddjdZd ?=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753623颅BɢНO;) =>i)*顉i)BilF꿉,<F=I@~@IB>BBIBBB =BBBq;B-EBBBBBC4-O@) @)@-0@)A^AQy checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005700D) zD- @AE5  E5 E1 E1 "E5 &U;*E5 :VE1 ZE1 BE5 ԡ 0Q,Ek?A<<=@=@=ٱ=a. ]AHRS rotation from veh to nav: [[-0.210991,0.962432,0.170899],[-0.977205,-0.211889,-0.013185],[0.023522,-0.169785,0.985200]]=H˿??? CE+˿?ſ†?i=@I=C_;=-CYqyqiMb@Mb@Mb@ 9B`"?~jt{Gzt?Y?yף; A 3@)Y(@bD5VD5yEy%E3=ٔE;Q-E>9IYI=MFyMS#EUsEU>YQ 5e,5]r?Q 9e,5]7)]^BYe/?Q Ee:yeQ Im~@i]4#DI](4;i]_3;]W,5yyɮ} AyjhDNOT Ignoring new targets: 49.25 m.bhRh%Zh-5 ProNav: ac range: 49.253181 m, nav range: 47.591175 m, bearing: 247.087304 deg, approach rate: -0.574488 m/s, LOS rate: -0.084597 deg/s, cmd heading: 255.133028 deg, new cmd heading: 255.021063 deg. Bh=;h=HeadingCmd: 4.450957 target range: 49.253181 and range: 49.50 m.h=>n@hA*hA"hA hAgafififmBdidqdqjdqZdu 7?Bɢ@H:) >i)iCis꿉0C.<L=I>n@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258462ԙM@ @@.0@^A -B=I I O >4!,I?A2@@2@2Yٱ26/ :AHRS rotation from veh to nav: [[-0.211212,0.962346,0.171112],[-0.977181,-0.211926,-0.014300],[0.022502,-0.170228,0.985148]]2H@ ˿ ?@?E` ˿(I ? ſT?i2@@I2f_;2,CYFǁByFIVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509600Er EpEr)Ep"ErL;*EpVErFA4ZEpav@av@av@av@bDLVDLy]%V=ٔ.;Q->9Y=FyV#EE>Q 5,5m?Q 9,5&=)cBYyQ I~@B#DIn;i1h;yZ,5yFBɮ AUEjhDNOT Ignoring new targets: 49.25 m.bhRhZh ProNav: ac range: 49.253181 m, nav range: 47.378029 m, bearing: 247.055828 deg, approach rate: -0.533486 m/s, LOS rate: -0.079136 deg/s, cmd heading: 255.021068 deg, new cmd heading: 254.926216 deg. Bh=YHeadingCmd: 4.449302 target range: 49.253181 and range: 49.50 m.h`@h*h"h hgfffdddjdZd 7J?Bɢe;) W>i)iDi꿉/<16Q=I`@I O@ @@4@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761387B>BBBBBBBjq;B-E^A4|E=) IQ Ia Om >Q ]a',?A2@2@2ٱ2A1 :AHRS rotation from veh to nav: [[-0.211630,0.961955,0.172790],[-0.977116,-0.212112,-0.015885],[0.021371,-0.172197,0.984831]]2H@˿U??@D`}&˿ D*? ƿ?i2@I2~_;2*CYFˁByFI HHbDNVDNyV<%V[=ٔZF;Q-Z>9XYX=^Fy^Z#E^Eb>`Q 5f,5bi?Q 9j,5bfB)bgBYhyjQ Ij~@bO#DIb:ib ;b],5ypɮr Apjh DNOT Ignoring new targets: 49.25 m.bh RhźZhź ProNav: ac range: 49.253181 m, nav range: 47.171890 m, bearing: 247.025211 deg, approach rate: -0.579445 m/s, LOS rate: -0.086439 deg/s, cmd heading: 254.926210 deg, new cmd heading: 254.833958 deg. BhImHeadingCmd: 4.447691 target range: 49.253181 and range: 49.50 m.h}S@h*h"h hgfffdddjdZdA@-Bɢ-p&;)  E>i )fi%Fiu꿉0<=U=I}S@I!)iߩI߭Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013752E# EE*E"E[;*E:VE(N4ZEBEgԁ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265497U-, ?Aɰ; 6(@6@6'ٱ61 BAHRS rotation from veh to nav: [[-0.211948,0.961869,0.172876],[-0.977063,-0.212296,-0.016690],[0.020647,-0.172448,0.984802]]6H!˿? ?`D`,˿$?@ƿ?i6(@I6I_;6-CYHyJIiMb@Mb@Mb@ 9Gz?J +Mb?Y?yH<rA )@Yz@bD5VD5yEG%E?=ٔM:Q-M>9IYQ=UFyU_#EUEEU>YQ 5e,5]'c?Q 9m,5]|H)]mBYm2?Q Em:ymQ Im~@]^#DI]:i]H:]sa,5yɮ AjhYeDNOT Ignoring new targets: 49.25 m.bhaRheZhe} ProNav: ac range: 49.253181 m, nav range: 46.931366 m, bearing: 246.994408 deg, approach rate: -0.533096 m/s, LOS rate: -0.068623 deg/s, cmd heading: 254.833948 deg, new cmd heading: 254.741063 deg. Bh}a<}HeadingCmd: 4.446070 target range: 49.253181 and range: 49.50 m.h5F@h*h"h hgfffBdddjdZd@^@Bɢ`;) >i)ZݼipGi&뿉 @2<Y=I5F@Iq@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517366ԡE EEE"EO;*E :VEZEa=@a=@a=@a=@^AQO=I1 IA OM > q4,?A6@6@6ْٱ6A2 BAHRS rotation from veh to nav: [[-0.212464,0.961652,0.173449],[-0.976962,-0.212695,-0.017474],[0.020088,-0.173166,0.984688]]6H2˿ ?3?FC 9˿ 䑿?N*ƿ?i6@I6ѓ_;6*CYJʁByHbDRVDRβyZ%ZV=ٔ^U:Q-^>`9`Y`=bFybb#EfnEf>hQ 5n,5j]?Q 9n,5jM)jsBYlyrQ Ir~@jl#DIj;ij3;jd,5ytɮv At B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 49.25 m.bhRh%Zh%5 ProNav: ac range: 49.253181 m, nav range: 46.716240 m, bearing: 246.966721 deg, approach rate: -0.600912 m/s, LOS rate: -0.077694 deg/s, cmd heading: 254.741058 deg, new cmd heading: 254.657614 deg. Bh5HU5HeadingCmd: 4.444614 target range: 49.253181 and range: 49.50 m.h=G:@h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdMi@}Bɢ}p;)y >i)ڼ顁iHiOV뿉3<.]=IG:@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769946B>BBBBBBBq;B-E@ @@@^A5cU=IIO> BDAT read: Rx Time:04:58:58.1459  TRx dataTimestamp_ set to:1761541139.612170 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022594A EE  EE EA EA "EE P;*EE :VEA ZEA BEE )49yYy=}Fy}g#E^úE>Q 5,5~W?Q 9,5T)yBY"?Q E:ydQ I~@}#DIK ;i ;h,5yNBɮ A_EjhDNOT Ignoring new targets: 49.25 m.bhRhºZhº ProNav: ac range: 49.253181 m, nav range: 46.450024 m, bearing: 246.927730 deg, approach rate: -0.578371 m/s, LOS rate: -0.085196 deg/s, cmd heading: 254.657620 deg, new cmd heading: 254.539977 deg. BhimHeadingCmd: 4.442561 target range: 49.253181 and range: 49.50 m.hmu)@hi*hi"hi higqfqfqfuBdydydyjdyZd}` @Bɢpə:) ;>i)q׼iZIi뿉@5<b=Iu)@I!I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274256N@ @@@y^A &V=ԙ A ؟A ѐCI I a IQ y 9 Y aAO >AA,3?ABDAT read: 04:58:58.1459 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 423, 0.24,-0.281,-1.685, 0.284,-0.286, PHS= 0.107,-1.353, 0.526, RAW= 162.3, 8.5, CAL= 162.0, 8.8, ROT= 348.0, -8.8 JYgot valid direction response: 04:58:58.1459 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 423, 0.24,-0.281,-1.685, 0.284,-0.286, PHS= 0.107,-1.353, 0.526, RAW= 162.3, 8.5, CAL= 162.0, 8.8, ROT= 348.0, -8.8 !-PDAT read: Bearing 53.8, -12.5 (Local) -~Local bearing/azimuth received: Bearing 53.8, -12.5 (Local) 5DAT read: Range 11 to 50 : 47.6 m (Round-trip 63.5 ms) speed 0.5 m/s ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.966633,-0.205464,0.152986]eFpublishing direction and range infoy7c¨?%yLʿ8C ?Yf>B )=I"=i/?uJ5@>4@ nF>) \@InFE}' E}!EyEy"E} _;*E}:VEyZEya@a@a@a@Ϻxl?($E1I?OY? 9"?Y"?=Fyk#EӺE>Q 5,5Q?Q 9,5Z)~BYyzQ I~@#DIo:iv%<l,5y9ɮ= A9iir?AJis=BRis=Bji1"@bZW)F@nMvv# 5C@R7c¨?%yLʿ8C ?ZiTwVbinFjkm1"dcE4e#@Z> \^d6?2i+:i"imo?*iBi:Bimo?iiBit8Bi@IU addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 3.778393 s, deltaX: -1.900002 m, approachRate: -0.502860 m/s, rangeRepo size: 4 e Added new target pos. range: 47.362858 m, bearing: 247.327188 deg, lat: 36.779351 deg, lon: -121.859615 deg, deltaT: 3.778393 s, deltaX: -1.890324 m, approachRate: -0.500298 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 47.36 m.bhRhZh ProNav: ac range: 47.362858 m, nav range: 46.114227 m, bearing: 247.200174 deg, approach rate: 0.000000 m/s, LOS rate: -0.085196 deg/s, cmd heading: 254.539977 deg, new cmd heading: 254.424671 deg. BhHeadingCmd: 4.440548 target range: 47.362858 and range: 47.60 m.h@h*h"h hgfffdddjdG@Zd@(?mBɢmF;)i m>iq)uԼqqiu>Ki}뿉}V6<}f=I}@I%M@! @!@!@)q*DAT read: user:279> BDAT read: Tx time:04:58:59.4783 $Ping request sent.BBIBBBBBBq;B .Eԡ ^A 5[=A1 I9 II O] > ^H,e#?A2(@2ݏ@2B4ٱ2a\58 >AHRS rotation from veh to nav: [[-0.214820,0.960683,0.175897],[-0.976486,-0.214607,-0.020463],[0.018090,-0.176157,0.984196]]2H6˿@?˃?`?;x˿9F? Oƿ`~?i2(@I2pa;0YFՁByFIbDRVDR:2yZǺ;%ZY=ٔ^:Q-^>9\Y\=^Fybo#Ebn6Eb>dQ 5=,5fL?Q 9=,5fb`)fBY9yEQ IE~@f#DIfxi)կѼiffLih쿉,)8<Ah=I @I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250763E- E- E-)E)"E-,K;*E-:VE-FA4ZE)BE-LN,L<?A2׈@2tҏ@2'$ٱ2t~6 :AHRS rotation from veh to nav: [[-0.216194,0.960205,0.176825],[-0.976192,-0.215848,-0.021426],[0.017594,-0.177247,0.984009]]2H?˿?`5?<˿`H? ƿ}?i2׈@I2a;2+ClYEЁByMI IIiMb@Mb@Mb@ 9d;O?:vI +?YyT94<A@ )@Y(@bDVDy % *=ٔ:Q->9 ?Y ?=Fyt#E@E>!Q 5-,5%E?Q 9-,5%fg)%BY5[?Q E5:y5Q I5~@%#DI%6;i%;%s,5y9ɮ= A9jhamDNOT Ignoring new targets: 47.36 m.bhiIRhॺZhॺ ProNav: ac range: 47.362858 m, nav range: 45.622547 m, bearing: 247.136468 deg, approach rate: -0.596407 m/s, LOS rate: -0.072510 deg/s, cmd heading: 254.333978 deg, new cmd heading: 254.232534 deg. Bh GHeadingCmd: 4.437195 target range: 47.362858 and range: 47.60 m.h@h*h"h hgfffBdddjdZd%` ?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754608E= E=E=,E9"E=O;*E=:VE=g4ZE9aE@aE@aE@aE@颅BɢU:) >i)aͼ顉iMikI쿉>:<2j=I@IyUN@Q @Q@U/@Qԡ ^A} S^= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006067B B B B B B B B q;B .E A؟AIIO>V,Ҫ[?Aɰ4<2ʈ@2Wŏ@2vٱ2Q7 :AHRS rotation from veh to nav: [[-0.217758,0.959728,0.177495],[-0.975850,-0.217310,-0.022198],[0.017268,-0.178042,0.983871]]2H{˿?@$?*:@˿ ?@ƿ{?i2ʈ@I2zb;2*CBC@i@I@@IDiFtUA DD)DJfC JCs@JHHLLIL)LiL)RCIRtkAPP PPVjATiTTiTV9jA)Z ZT8FIXYXYb؁BybIbDjVDjNyr=%rG=ٔrP:Q-v>9v"?Yv"?=vFyvx#E[qE>Q 5,5??Q 9,5m)BYyQ I~@#DI:i:w,5yɮ A B*** querying acoustic contact ***i  i jhDNOT Ignoring new targets: 47.36 m.bhRh%ߞZh%ߞI] ProNav: ac range: 47.362858 m, nav range: 45.370380 m, bearing: 247.106143 deg, approach rate: -0.574304 m/s, LOS rate: -0.069449 deg/s, cmd heading: 254.232536 deg, new cmd heading: 254.141055 deg. Bh]>eHeadingCmd: 4.435598 target range: 47.362858 and range: 47.60 m.hel@ha*ha"ha hagfffdddjdZd %h?Bɢ%;)) ->i))-e˼))i5Ni5}쿉5;<=j=I=l@I9yO@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258676E EE&E"EV;*E:VE4ZEBE\,qu?A2@2l@2 ٱ27 :AHRS rotation from veh to nav: [[-0.219180,0.959393,0.177553],[-0.975543,-0.218586,-0.023145],[0.016605,-0.178284,0.983839]]2H̿@Y??`7˿`T?ƿ{?i2@I29c;0Y5By5Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509576i-Mb@Mb@Mb@)))) )9-&1?Q뱿~jt?Y-?y-\-<- A-@ -@)-@)Y-@bDEVDEfyU8=%U6=ٔU:Q-]>9YYY=]Fy]}#Ee`Ee>iQ 5u,5ma8?Q 9u,5ms)mBYu?Q E}:y}Q I}~@m#DIm. ;im ;mx{,5yWBɮ AgEjhDNOT Ignoring new targets: 47.36 m.ԱbhRhITZhIT ProNav: ac range: 47.362858 m, nav range: 45.128662 m, bearing: 247.086703 deg, approach rate: -0.573880 m/s, LOS rate: -0.046399 deg/s, cmd heading: 254.141066 deg, new cmd heading: 254.082436 deg. BheHeadingCmd: 4.434575 target range: 47.362858 and range: 47.60 m.he @ha*hi"hi higfffBdddjdZd8b?-Bɢ-8;)) ->i))5Ǽ11i5DPi=E쿉=B=<=?i=I= @IAN@ @!@%|0@! checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761792! bEɷG4jEC4rEɖ/E  E E (E "E W;*E :VE c44ZE a @a @a @a @^AA 9 Aq Iy I O >#c, ?A>@>]@>4ٱ>r8 FAHRS rotation from veh to nav: [[-0.220261,0.959029,0.178182],[-0.975313,-0.219490,-0.024277],[0.015827,-0.179130,0.983698]]>H@1̿@]??5`B̿"ܘ 4?ƿ`tz?i>@I> d;>+CYByI = =bDVDky-<%-9=ٔ-:Q-->91Y1=5Fy5#E5y$E=>9Q 5M,5=b1?Q 9M,5=y)=BYQyU>Q IU~@=#DI=0;i=1;=Q,5yYɮ]t AajhDNOT Ignoring new targets: 47.36 m.bhRhJZhJ ProNav: ac range: 47.362858 m, nav range: 44.878365 m, bearing: 247.066691 deg, approach rate: -0.551761 m/s, LOS rate: -0.044363 deg/s, cmd heading: 254.082436 deg, new cmd heading: 254.022063 deg. Bh HeadingCmd: 4.433521 target range: 47.362858 and range: 47.60 m.h hߍ@h *h "h  h g fffddd%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013558A)A-AAB1B1B5IB5BB1B1B1B5 r;B5+.EBBBB =B =Cúd4jdZdU/@kmJTimed out from 2025-10-27T04:49:02.3Z5mjmfCompleted lineCaptureHoming:MicromodemComms:CheckInq5mjmAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInjmVCompleted lineCaptureHoming:MicromodemComms颕BɢX\<) >i)`ļ顙iǟQi쿉7><دi=Ihߍ@IUP@Q @Q@U5@Q! ^Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266000EU  EU EU *EQ "EU M;*EU :VEU (N4ZEQ BEU Bj,?ADDb@bҤ@b99Y9=EFye#EwTE>Q 5,5d*?Q 9,50)BYykQ I~@#DI i9)=59AiERiE쿉M}@AHRS rotation from veh to nav: [[-0.225885,0.957736,0.178095],[-0.974051,-0.224708,-0.027025],[0.014136,-0.179579,0.983642]]6H̿ť?`?m+9̿`?nƿy?i6T@I6f;6*CY%By%I)-AAB>BBIBBBBBBq;B$.EBDAT read: Rx Time:04:59:01.9430 TRx dataTimestamp_ set to:1761541143.392871checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023252iMb@Mb@Mb@ 9I +?+Q?Y9?yu<rA I@)Y(@ ;bDVDNy<%=ٔ:Q->9Y=Fy#E%'E%>)Q 55,5-?Q 95,5- )-BY5?Q E=:y=Q I=~@-$DI- ;i- ;-,5yAɮE AAjhiuDNOT Ignoring new targets: 47.36 m.bhqRhu(!Zh5(!E ProNav: ac range: 47.362858 m, nav range: 44.270187 m, bearing: 247.025847 deg, approach rate: -0.593549 m/s, LOS rate: -0.035224 deg/s, cmd heading: 253.962580 deg, new cmd heading: 253.898672 deg. BhEdMHeadingCmd: 4.431368 target range: 47.362858 and range: 47.60 m.hM͍@hI*hI"hI hIgQfQfYf]!BdYdYdYjdaZde @颭Bɢ6;) ?i)ͻi>TiZB<]=I͍@Ii@ @@/@ԙ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274159^A E  E E 'E "E L;*E :VE '4ZE BE ݡw{,?Ay,z@t@z!Zٱe9 AHRS rotation from veh to nav: [[-0.227333,0.957350,0.178326],[-0.973726,-0.225971,-0.028186],[0.013313,-0.180049,0.983568]]H>Ϳ?`f?(̿ܜC? ǿby?i,z@IRf;&CYByIieMb@Mb@Mb@aaaa a9en?x&?YeV?ye7e9Y=Fy#ERE>Q 5,5?Q 9,5r)žBY?Q E:yQ I~@$DI ;i ;,5yɮ AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 47.36 m.bhRhMZhM ProNav: ac range: 47.362858 m, nav range: 44.012878 m, bearing: 247.005212 deg, approach rate: -0.557123 m/s, LOS rate: -0.044939 deg/s, cmd heading: 253.898677 deg, new cmd heading: 253.836411 deg. Bh HeadingCmd: 4.430281 target range: 47.362858 and range: 47.60 m.h č@h *h "h  hgfff9BdddjdZd%(@DAT read: 04:59:01.9430 LVL= 32752, 32753, 29410, 32755, AGC= 64, IDX= 409, 0.35, 1.675, 0.193, 2.260, 1.643, PHS= 0.134,-1.405, 0.573, RAW= 162.2, 7.8, CAL= 161.8, 7.9, ROT= 348.2, -7.9 Ygot valid direction response: 04:59:01.9430 LVL= 32752, 32753, 29410, 32755, AGC= 64, IDX= 409, 0.35, 1.675, 0.193, 2.260, 1.643, PHS= 0.134,-1.405, 0.573, RAW= 162.2, 7.8, CAL= 161.8, 7.9, ROT= 348.2, -7.9 ԡPDAT read: Bearing 51.9, -12.7 (Local) ~Local bearing/azimuth received: Bearing 51.9, -12.7 (Local) DAT read: Range 11 to 50 : 45.4 m (Round-trip 60.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.969577,-0.202555,0.137445]Fpublishing direction and range infoyimJ?1Sɿyjȗ?Ym5Biiimr i)m@ImL7 >im ׳m!?m-5@m'g >m{4@ m0 >)mx@Im0 iim^k|?̢K?:Ld? m 5 BDAT read: Tx time:04:59:03.2283 5 $Ping request sent.= l,\?Aɰ;Bm@Bh@B!PٱBRW: JAHRS rotation from veh to nav: [[-0.228795,0.956871,0.179028],[-0.973392,-0.227273,-0.029250],[0.012700,-0.180956,0.983409]]BH`)IͿ?a?`&GͿ @6?)ǿ`x?iBm@IB1f;B*CYRByRIbD^VD^:2yb%fV=ٔf:Q-f>9dYh=jFyj#EjEn>lQ 5r,5n?Q 9v,5n)nʞBYtyvQ Iv~@n"$DIn :in$:n,5yzaBɮ~ A~pEiyi}]O?AJi}4BRi}4Bji}@b}jd.PE@YL"[@R}J?1Sɿyjȗ?Zi}4Rbi}0 j}>1\2^DN @Z}YeٿkGt?^2?2i}":i}Q"i}6B?*i}3Bi}Bi}o/Y?i}1i}Bi}=0Bi}Љ@M addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 3.779081 s, deltaX: -2.199997 m, approachRate: -0.582151 m/s, rangeRepo size: 4 ] Added new target pos. range: 45.173618 m, bearing: 246.556166 deg, lat: 36.779349 deg, lon: -121.859617 deg, deltaT: 3.779081 s, deltaX: -2.189240 m, approachRate: -0.579305 m/s, posRepo size: 4 jhY]DNOT Ignoring new targets: 45.17 m.bhYRheZhau ProNav: ac range: 45.173618 m, nav range: 44.060192 m, bearing: 246.759219 deg, approach rate: 0.000000 m/s, LOS rate: -0.044939 deg/s, cmd heading: 253.836413 deg, new cmd heading: 253.784431 deg. Bhq}HeadingCmd: 4.429374 target range: 45.173618 and range: 45.40 m.h}n@hy*h"h hgfffdddjd@3F@ZdS?颽Bɢ<) m?i)"洼i_WiIwE<\=In@Ia@i @i@m1@iB%<A%<B!B!B%IB%BB!B!B!B%r;B%&.Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248649^A5[=A A .AI I O >,_((?A Nb@N\@NCٱNO: VAHRS rotation from veh to nav: [[-0.230209,0.956626,0.178520],[-0.973068,-0.228538,-0.030155],[0.011952,-0.180654,0.983474]]NH}wͿ ?? _# @ͿJz?`ǿx?iNb@INoe;Lbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500502YfByfIn=n=lnAAbDrVDryz& =%zH=ٔ~:Q-~>9~ ?Y~ ?=Fy#EhE> Q 5,5 & ?Q 9,5 f) ԞBYyQ I~@ 1$DI Q;i ; y,5y!ɮ% A%oED=<D9EE EEEE*EA"EEN;*EEg:VEE(N4ZEABEEnA> A I! I1 OE >ay,A?A2Y@2T@29ٱ2f; :AHRS rotation from veh to nav: [[-0.231165,0.956241,0.179346],[-0.972848,-0.229338,-0.031147],[0.011346,-0.181676,0.983293]]2H`ԖͿ? ?!ZͿ@!埿9qYq=}Fy}#E}sE}>Q 5,5?Q 9,5)ޞBY ?Q E:yQ I~@?$DI@:ij:",5yɮ A!jh1=(hAy5u95(hAY5AmDNOT Ignoring new targets: 45.17 m.bhqRhWZhW ProNav: ac range: 45.173618 m, nav range: 43.600761 m, bearing: 246.735335 deg, approach rate: -0.542602 m/s, LOS rate: -0.011782 deg/s, cmd heading: 253.727457 deg, new cmd heading: 253.712382 deg. Bh`HeadingCmd: 4.428116 target range: 45.173618 and range: 45.40 m.h!@h*h"h hchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004996gfff3BdddjdZd`>?EBEU EUEU$EQ"EUUS;*EU:VEU4ZEQa]@a]@a]@a]@ɢePa<)i m?ii)m?iiiuiMZiur}yH<})X=I}!@Iy%P@! @!@%4@!Am؟AIyIO>! B) B) B-  IB- BB) B) B) B- q;B- .E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256442D,X\?AFS@FN@FR+ٱFT)< RAHRS rotation from veh to nav: [[-0.231904,0.955917,0.180122],[-0.972683,-0.229871,-0.032375],[0.010457,-0.182709,0.983111]]FH`Ϳޖ?9? 7 glͿ@`;j? cǿu?iFS@IFId;F)CYZ ByZIbDbVDbyjq;%jR=ٔn;Q-n>l9r"?Yr"?=rFyr#EvEv>xQ 5~,5z?Q 9~,5zB)zBY|yQ I@zM$DIz;izj;z,5y ɮ  A jh15DNOT Ignoring new targets: 45.17 m.bh1Rh= [Zh= [M ProNav: ac range: 45.173618 m, nav range: 43.385876 m, bearing: 246.730835 deg, approach rate: -0.568740 m/s, LOS rate: -0.011969 deg/s, cmd heading: 253.712376 deg, new cmd heading: 253.698810 deg. BhMlUHeadingCmd: 4.427879 target range: 45.173618 and range: 45.40 m.hU0@hQ*hQ"hQ hYgYfYfafadadadajdiZdmn?5Bɢ5<)9 =+?i9)=AW99i=[iEzE-Ii ͜,u?A2M@2H@2gٱ2X< :AHRS rotation from veh to nav: [[-0.232591,0.955757,0.180082],[-0.972527,-0.230390,-0.033342],[0.009622,-0.182889,0.983086]]2HͿ? ?`g}ͿDy?@hǿqu?i2M@I2c;2(CY^BybIdfAYiMb@Mb@Mb@ 9?/$S㥛?Yf?y/< )3@Yz@ p<<bDVDk1y=%?=ٔ}:Q->9Y=Fy#E׺E>Q 5,5?Q 9,5̪)BYH?Q E:yQ I@\$DI;i-;F,5yɮe AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 45.17 m.bhRh흹Zh흹- ProNav: ac range: 45.173618 m, nav range: 43.159115 m, bearing: 246.723480 deg, approach rate: -0.529312 m/s, LOS rate: -0.017259 deg/s, cmd heading: 253.698798 deg, new cmd heading: 253.676617 deg. Bh-=5HeadingCmd: 4.427492 target range: 45.173618 and range: 45.40 m.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760537h5@hA*hA"hA hAgAfAfIfMBBdIdIdQjdQZdU E(@}Bɢ}><)  ?i) b顁i]i\ K<V=I@Iԉ!@! @!@)@)AqIyIO~> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012420Em  Em Em ,Ei "Em US;*Em :VEm g4ZEi au @au @au @au @ ,?A6I@6vD@6E ٱ6< >AHRS rotation from veh to nav: [[-0.233109,0.955568,0.180417],[-0.972413,-0.230691,-0.034567],[0.008589,-0.183497,0.982983]]6HͿ`??`KͿҲ?|ǿ t?i6I@I6c;6%CYFByJ IbDRVDRyZd<%Z\=ٔZB6;Q-^>9\Y\=^Fyb#Eb+Eb>dQ 5j,5f?Q 9j,5f)fBYhynQ In@fh$DIf:if" ;f,5ypɮrP Apjh  DNOT Ignoring new targets: 45.17 m.bhRh֜Zh֜% ProNav: ac range: 45.173618 m, nav range: 42.962242 m, bearing: 246.717154 deg, approach rate: -0.531012 m/s, LOS rate: -0.017140 deg/s, cmd heading: 253.676614 deg, new cmd heading: 253.657550 deg. Bh-4<-HeadingCmd: 4.427159 target range: 45.173618 and range: 45.40 m.h-J@h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE @uBɢu}<)q uH ?iq)}Aayyi}m^iC$L<WV=IJ@I1N@ @@/@AA@AB>BB IB'BBBBBq;B.EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264473a^AUDa=ԑA I I O >Թ ߩ,#j?AɰRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516480E%  E% E%'E!"E%G;*E%:VE%'4ZE!BE%)9Y=Fy#EܹE>Q 5,5袊?Q 9,5()BYyQ I@y$DI[:i1:,5y-kBɮ5 A=xEjhamDNOT Ignoring new targets: 45.17 m.bhqRhZh ProNav: ac range: 45.173618 m, nav range: 42.693794 m, bearing: 246.708481 deg, approach rate: -0.464133 m/s, LOS rate: -0.015091 deg/s, cmd heading: 253.657544 deg, new cmd heading: 253.631359 deg. Bh%HeadingCmd: 4.426702 target range: 45.173618 and range: 45.40 m.h@h*h"h hgfffdddjdZdB@Bɢg5<) T?i)/>i _i:5,N<X=I@I 9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769970 P@  @ @ /@ 9 ^A ewV=iA.AIIO?,?ABDAT read: Rx Time:04:59:05.6901 TRx dataTimestamp_ set to:1761541147.172175checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021541>|9@>L4@>«ٱ>>bEFA4jE?4rEh0EN ENEN)EL"EN>T;*EN :VENFA4ZELaR@aR@aR@aV@ VAHRS rotation from veh to nav: [[-0.235032,0.954973,0.181072],[-0.971973,-0.231919,-0.038485],[0.005242,-0.185043,0.982717]]>H ο"?_-?hͿYOxu?zǿjr?i>|9@I>c;>(CYbByb IIfR>)f=iUMb@Mb@Mb@QQQQ Q9U?ʡE~jt?YQyU-U9u ?Yu ?=uFy}#E}4rE}>ԡQ 5,5ߢ?Q 9,5\)BY_?Q E:y Q I@$DI :i:#,5yɮu Ajh)-DNOT Ignoring new targets: 45.17 m.bh)Rh5sZh5se ProNav: ac range: 45.173618 m, nav range: 42.438671 m, bearing: 246.702963 deg, approach rate: -0.612461 m/s, LOS rate: -0.013325 deg/s, cmd heading: 253.631370 deg, new cmd heading: 253.614718 deg. BheRmHeadingCmd: 4.426412 target range: 45.173618 and range: 45.40 m.hm*@hi*hi"hi higqfqfqfu^BdydydjdZd* @-Bɢ-<)1 5 ?i1)5x11i5*ai}Ū}IxO<;R=I*@I N@ @@@B5>B1B5 IB5,BB1B1B1B5q;B5.EBBBBBCƏd4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272409^A5 gW=) A ؟AI I O >,*?AYByIbD=VD=:y}u%N=ٔQ->9"?Y"?=Fy#EE>Q 5,5;٢?Q 9,5o)BYyQ I@$DI:i:,5yɮ AjhDNOT Ignoring new targets: 45.17 m.bhRhZZhZ ProNav: ac range: 45.173618 m, nav range: 42.230206 m, bearing: 246.698405 deg, approach rate: -0.542180 m/s, LOS rate: -0.011913 deg/s, cmd heading: 253.614705 deg, new cmd heading: 253.600963 deg. BhHeadingCmd: 4.426172 target range: 45.173618 and range: 45.40 m.h3@h*h"h hgfffd d d jdZd:%@=Bɢ=O<)A E?iA)EB`AAIiEYbiUU2Pimm\?m3@mQ >m$+3@ m|>)m@@Im|iimS?Y.S%Ц?b? ma5?)mIm9im|iiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EEE"E&U;*E:VEZEBE 5 BDAT read: Tx time:04:59:07.0283 5 $Ping request sent.5 9?,M?An/@n*@nVٱn? zAHRS rotation from veh to nav: [[-0.236169,0.954602,0.181547],[-0.971707,-0.232639,-0.040810],[0.003277,-0.186049,0.982535]]nH:ο?`9 ?Y ?=Fy#E:E>Q 5,5FҢ?Q 9,5) BYv?Q E:y"Q I@$DI ;i ;&,5yɮ Aiie9?AJi+BRi+Bji0[@b.`D@ׯ@vY+@R)WJ?mU/ƿni\?Zi9bi|jI00ʯC&Kz3@Z:׿fy8?2i\:i"i?*i]BiBimo?ii:Bi'Bi<@= addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.779909 s, deltaX: -2.200001 m, approachRate: -0.582025 m/s, rangeRepo size: 4 M Added new target pos. range: 42.984646 m, bearing: 247.725818 deg, lat: 36.779351 deg, lon: -121.859618 deg, deltaT: 3.779909 s, deltaX: -2.188972 m, approachRate: -0.579107 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 42.98 m.ԱbhQRhZh ProNav: ac range: 42.984646 m, nav range: 41.997505 m, bearing: 247.075703 deg, approach rate: 0.000000 m/s, LOS rate: -0.011913 deg/s, cmd heading: 253.600962 deg, new cmd heading: 253.586158 deg. Bh HeadingCmd: 4.425913 target range: 42.984646 and range: 43.20 m.h @h *h "h hgfffJBdddjd%E@Zd%`B?Bɢsr<) {?i)i~ci  R<Q=I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250694O@ @@/@E$ EE%E"Eg\;*E:VE 4ZEa @a @a @a@ ^A A1 9 IA IQ Oe >-,?AB <A <"JFailed to parse device response: .03 :*@:e%@:;v ٱ:Î? BAHRS rotation from veh to nav: [[-0.236803,0.954500,0.181259],[-0.971555,-0.233114,-0.041703],[0.002448,-0.185978,0.982551]]:HOοC?}3?Ϳ Zd?@#ǿ`q?i:*@I:a;:(CYNByNIbDVVDV:y^;%^[=ٔbv;Q-b>9`Y`=bFyf#Ef亝jchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501790En>pQ 5v,5rˢ?Q 9v,5r)r'BYtyv7Q Iz@r$DIr;ir;rn,5y~jBɮ~ A~wEB*** querying acoustic contact ***i ijh!-DNOT Ignoring new targets: 42.98 m.bh)Rh-޸Zh5޸= ProNav: ac range: 42.984646 m, nav range: 41.799389 m, bearing: 247.073457 deg, approach rate: -0.533530 m/s, LOS rate: -0.006079 deg/s, cmd heading: 253.586155 deg, new cmd heading: 253.579383 deg. BhEEHeadingCmd: 4.425795 target range: 42.984646 and range: 43.20 m.hE@hI*hI"h hgfffdddjdZd`h?e Bɢma<)i m>ii)mҐqqiuddi}})S<}Q6P=I}@IyN@ @@%0@!1^AE;O=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754176E  E E *E "E O;*E :VE (N4ZE i Aq I I O >pR,3?Ar&@r!@rbٱrs> %AHRS rotation from veh to nav: [[-0.237231,0.954614,0.180090],[-0.971451,-0.233488,-0.042020],[0.001936,-0.184917,0.982752]]rH@]ο3?1 ?!Ϳ _?@_ǿr?ir&@IrZa;pY]By]IbDVDy=%0=ٔ:Q->9Y=Fy#E_yE>Q 5,5 Ģ?Q 9,5r)/BYyGQ I@$DI|:it:w,5ytBɮl AEjhDNOT Ignoring new targets: 42.98 m.bhRhѸZhѸ  ProNav: ac range: 42.984646 m, nav range: 41.555336 m, bearing: 247.070829 deg, approach rate: -0.528609 m/s, LOS rate: -0.005726 deg/s, cmd heading: 253.579379 deg, new cmd heading: 253.571448 deg. Bh {HeadingCmd: 4.425657 target range: 42.984646 and range: 43.20 m.h@h*h"h hgfff!d!d!d!jd!Zd-t?i颵 Bɢv<) T>i),9项ieechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005790iQT<O=I@IO@ @@k1@@=@=ԙ ^A `T=iߙ Iߙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258655E  E E )E "E L;*E :VE FA4ZE A5 ؟AI9 II O] >t=,M?A2@2@2ٱ2> :AHRS rotation from veh to nav: [[-0.238080,0.954516,0.179490],[-0.971245,-0.234221,-0.042711],[0.001272,-0.184498,0.982832]]2H`eyοe? ?oͿ`Eޥ@tT?ǿ@\s?i2@I2)sa;2'CYBByFIJ=LJ=iMb@Mb@Mb@ 9w/?~jt:v?Y?yT<A @)I@Y@A@AbDVDܲy Ė% 5=ٔ :Q- >9"?Y"?=Fy#EEE>!Q 5-,5%?Q 9-,5%R)%5BY-Y?Q E-:y-HQ I5@%$DI%a:i%:%j,5y9ɮ= A9jhaeDNOT Ignoring new targets: 42.98 m.bhaRhm=Zhm=} ProNav: ac range: 42.984646 m, nav range: 41.315075 m, bearing: 247.063010 deg, approach rate: -0.531646 m/s, LOS rate: -0.017402 deg/s, cmd heading: 253.571456 deg, new cmd heading: 253.547863 deg. Bh}?HeadingCmd: 4.425245 target range: 42.984646 and range: 43.20 m.h@h*h"h hgfff.BdddjdZd?BɢUY<) >i)i;fi|U<`zN=I@IR>i>B%>B!B% IB%'BB% =B!B!B%r;B%h.EN@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509812 A ^A ;O=A I I! O5 >,$Ei?A(YzByzIbDVDy=n<%=p=ٔ=Q-=?9AYA=EFyE#EMEM?QQ 5],5U?Q 9],5U)U:BYYyYQ I]@U$DIU:iUt:Uc,5yiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761735ɮm AqjhDNOT Ignoring new targets: 42.98 m.bhRhZh ProNav: ac range: 42.984646 m, nav range: 41.134087 m, bearing: 247.057059 deg, approach rate: -0.529430 m/s, LOS rate: -0.017482 deg/s, cmd heading: 253.547851 deg, new cmd heading: 253.529921 deg. Bh?HeadingCmd: 4.424932 target range: 42.984646 and range: 43.20 m.h @h*h"h hgfDzD?AE EE&E"E>T;*E4:VE4ZEBE"i) i3gi ? $W< -P=I  @I O@ @@4@Թ% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013650 ^A 0M=A I I! O5 >,?A2 @2@2§$8ٱ2< >AHRS rotation from veh to nav: [[-0.240187,0.954271,0.177978],[-0.970726,-0.236109,-0.044077],[-0.000039,-0.183355,0.983047]]2Hvοc??1 8οC@ ,xǿu?i2 @I2Fx`;0YFByFI\iMb@Mb@Mb@ 9Q?p= ףMb`?Y\?y;rA@ @)`@Yz@ imːCEGhAE먿9EhAYEAbD5VD5y}aG%}8=ٔA;Q->9Y=Fy#EE>Q 5,5?Q 9,5)=BYR?Q E:yQ I@$DIG;i;S,5yɮ< A jhiuDNOT Ignoring new targets: 42.98 m.bhqRhu Zhu  ProNav: ac range: 42.984646 m, nav range: 40.880299 m, bearing: 247.041074 deg, approach rate: -0.555029 m/s, LOS rate: -0.035176 deg/s, cmd heading: 253.529928 deg, new cmd heading: 253.481675 deg. Bh HeadingCmd: 4.424090 target range: 42.984646 and range: 43.20 m.h%@h*h"h hgfffBdddjdZd@uBɢuS<)q u>iq)u#yyi}gi|dX<EgK=I%@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265832IE @ E E *E "E u;*E A:VE (N4ZE a@a@a@a@9@A @A@E/@A@I@IA ^A ׿Q=AA AE AABM >BI BM IBM BBM =BI BI BM r;BM .EI9 IQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521714Oe >,?A28@2@2.":ٱ2< >AHRS rotation from veh to nav: [[-0.241351,0.954049,0.177594],[-0.970438,-0.237158,-0.044795],[-0.000619,-0.183155,0.983084]]2Hο?f? 0[οZ樂EDqǿ@lu?i28@I2g`;2(CYJByJILL PRp;bDRVDRyZ %^k=ٔ^:Q-^?9`Y`=bFyb#EbeEb?dQ 5j,5fܩ?Q 9n,5f)f?BYlynQ In@f$DIf:if:fO,5 ypɮG AB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 42.98 m.bhRhZh  ProNav: ac range: 42.984646 m, nav range: 40.688148 m, bearing: 247.029165 deg, approach rate: -0.537044 m/s, LOS rate: -0.033444 deg/s, cmd heading: 253.481680 deg, new cmd heading: 253.445782 deg. Bh HeadingCmd: 4.423463 target range: 42.984646 and range: 43.20 m.h@h*h"h hgfffdAdAdAjdAZdM@颵Bɢ@2w<) >i)kihxhia  sY< 5J=I @I 9J@ @@@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774088D=DE  E E E "E N;*E 4:VE ZE BE n,Ŷ?Ay@@t~:ٱ< AHRS rotation from veh to nav: [[-0.242823,0.953657,0.177692],[-0.970070,-0.238531,-0.045463],[-0.000971,-0.183414,0.983035]]H`Ͽ@\?@?` 0οF NOzǿu?i@I~e`;&CYByIiMb@Mb@Mb@ 9d;O?Zd;O~jth?Y?yj<D;@ )I@YbDVDy%-=ٔC:Q->9Y=Fy#EQE>Q 5,5?Q 9,5)BBBDAT read: Rx Time:04:59:09.4876 TRx dataTimestamp_ set to:1761541150.956296checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026918Y4?Q E:yGQ I%@ %DIA;i;r,5y)ɮ-s A)jhQUDNOT Ignoring new targets: 42.98 m.bhQRh]0Zh]0m ProNav: ac range: 42.984646 m, nav range: 40.413109 m, bearing: 246.998328 deg, approach rate: -0.608713 m/s, LOS rate: -0.068712 deg/s, cmd heading: 253.445780 deg, new cmd heading: 253.352641 deg. Bhm<uHeadingCmd: 4.421838 target range: 42.984646 and range: 43.20 m.hu@hy*hy"hy hygyfyffBdddjdZd^ @颽Bɢ<<) G>i) }顁iii@1Z<#K=I@IԡP@ @@@^A] G= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277896I I O > EU  EU EU (EQ "EU &U;*EU :VEU c44ZEQ a] @a] @a] @a] @,?AJ=@J @Jƀ:ٱJ2< RAHRS rotation from veh to nav: [[-0.244308,0.953373,0.177180],[-0.969697,-0.239929,-0.046074],[-0.001415,-0.183067,0.983099]]JH@EϿ? ֭? ο@0Wnǿu?iJ=@IJK`;J(CYZЁBy^IbDfVDf0yr%rr=ٔr:Q-r?9tYt=vFyv#EvߔEz?xQ 5,5z=?Q 9,5z)zDBYyyQ I@z%DIz;izP;zd,5y ~Bɮl AEjhI]DNOT Ignoring new targets: 42.98 m.bhYRhuהZhuה ProNav: ac range: 42.984646 m, nav range: 40.217266 m, bearing: 246.976545 deg, approach rate: -0.582126 m/s, LOS rate: -0.065064 deg/s, cmd heading: 253.352644 deg, new cmd heading: 253.286976 deg. Bh2HeadingCmd: 4.420691 target range: 42.984646 and range: 43.20 m.hNv@hq*hy"hy hygfffdddjdZd`t @uBɢu^'<)q u>iq)}L yyyi}Zii3fP[<3I=INv@IBBBIBBBBBBr;B.E L@  @ @ /@@=@=MDAT read: 04:59:09.4876 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 418, 0.12, 1.190,-0.276, 1.693, 1.164, PHS= 0.128,-1.395, 0.485, RAW= 160.3, 9.1, CAL= 160.1, 9.6, ROT= 349.9, -9.6 UYgot valid direction response: 04:59:09.4876 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 418, 0.12, 1.190,-0.276, 1.693, 1.164, PHS= 0.128,-1.395, 0.485, RAW= 160.3, 9.1, CAL= 160.1, 9.6, ROT= 349.9, -9.6 ePDAT read: Bearing 51.9, -11.7 (Local) e~Local bearing/azimuth received: Bearing 51.9, -11.7 (Local) mDAT read: Range 11 to 50 : 41.4 m (Round-trip 55.2 ms) speed 0.4 m/s uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.970716,-0.172911,0.166769]}Fpublishing direction and range infoy!%=m?B7W !ƿ8_X?Y%%B!!!% !)%>I%o>i%\%Q>%3@%">%[2@ %+>)%k@I%+!!%K<2?Ȕo? k 5? %E4?)%(V"I%T4i%+!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9^AQO=Iq I O >a ,n?Aɰ2ڇ@2PՎ@2Y:ٱ2< :AHRS rotation from veh to nav: [[-0.246289,0.952860,0.177201],[-0.969195,-0.241861,-0.046515],[-0.001464,-0.183198,0.983075]]2HgϿ}?`?OοЧ*WsǿYu?i2ڇ@I2"g`;2'CYfցByjI*DAT read: user:282> BDAT read: Tx time:04:59:10.7783 $Ping request sent.9Y=Fy#EE>Q 5,5ޕ?Q 9,5Z)FBYyQ I@(%DI:i:},5y ɮ5> A1iQiUAf?AJiU$BRiU$BjiUD@bU˓\C@j}:;]z@RU=m?B7W !ƿ8_X?ZiUT4biU+jU|Ĥ.U B4@ZU,{J׿(U'3/?2iUh:iUv"iUNΝ?*iU7BiU֑BiUNΝ?iU3iUBiU BiUy"@ addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.783988 s, deltaX: -1.799999 m, approachRate: -0.475688 m/s, rangeRepo size: 4  Added new target pos. range: 41.193485 m, bearing: 247.570307 deg, lat: 36.779353 deg, lon: -121.859620 deg, deltaT: 3.783988 s, deltaX: -1.791161 m, approachRate: -0.473353 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 41.19 m.bhRhZh- ProNav: ac range: 41.193485 m, nav range: 40.001488 m, bearing: 247.329151 deg, approach rate: 0.000000 m/s, LOS rate: -0.065064 deg/s, cmd heading: 253.286965 deg, new cmd heading: 253.192610 deg. BhIUHeadingCmd: 4.419044 target range: 41.193485 and range: 41.40 m.hUh@hQ*hQ"hQ hQgQfYfYfYdYdadajde@3D@Zdm=?颵Bɢm<) m>i)?s项iii*-]<H=Ih@II)iN@ @@0@ԑ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249912^A% LM=I I O >Թ ,K?A>Zȇ@>*Î@>.:ٱ>.= FAHRS rotation from veh to nav: [[-0.248436,0.952234,0.177568],[-0.968647,-0.243936,-0.047092],[-0.001527,-0.183700,0.982981]]>HϿ x??`( O9Ͽ pY {ǿt?i>Zȇ@I>-=`;9Y=Fy#EĻE>Q 5,5?Q 9,5)GBYz?Q E:yQ I@6%DI2`;iz_;,5ԑyɮ AjhDNOT Ignoring new targets: 41.19 m.bhRhZh ProNav: ac range: 41.193485 m, nav range: 39.784424 m, bearing: 247.297576 deg, approach rate: -0.575759 m/s, LOS rate: -0.084209 deg/s, cmd heading: 253.192599 deg, new cmd heading: 253.097358 deg. Bh*gHeadingCmd: 4.417382 target range: 41.193485 and range: 41.40 m.h2[@h *h "h  h g fffBdddjdZd?MBɢMa.<)Q Uخ>iQ)UoQQiUjji]]5^<]CG=Ie2[@Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502496bEqjEu:4rEu/E  E  E E "E Q;*E :VE ZE a@a@a@a@O@! @!@%5@!^AM G=I I O >B <A <B B B IB BB B B B r;B s.E E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753849v0,t'?AY ׁBy IbD%VD%0yeg=%eN=ٔmQ-m>9iYi=uFyu#EuEu>yQ 5,5}Ɗ?Q 9,5})}IBYyQ I@}E%DI}d:i}:}!,5y}Bɮ5 AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 41.19 m.bhRh#׺Zh#׺ ProNav: ac range: 41.193485 m, nav range: 39.551102 m, bearing: 247.263248 deg, approach rate: -0.635459 m/s, LOS rate: -0.094045 deg/s, cmd heading: 253.097359 deg, new cmd heading: 252.993767 deg. BhHeadingCmd: 4.415574 target range: 41.193485 and range: 41.40 m.hbL@h*h"h hgfffdddjdZd`8?%Bɢ-"E<)) -ڸ>i))-:VE 4ZEBEZ ,y8?A%@%ԝ@%":ٱ%Q/< mAHRS rotation from veh to nav: [[-0.252848,0.951285,0.176420],[-0.967505,-0.248318,-0.047673],[-0.001542,-0.182741,0.983160]]%H.п p?? Ͽh]DY`dǿ v?i%@I%cz`;%%CYρByIAbDVDβy}%}:=ٔ8Q->9 ?Y ?=Fy#E)E>Q 5,5B?Q 9,5U )JBYyhQ I@V%DIN:i,5yɮq AjhDNOT Ignoring new targets: 41.19 m.bhRhaºZhaºchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257912 ProNav: ac range: 41.193485 m, nav range: 39.290340 m, bearing: 247.226153 deg, approach rate: -0.593354 m/s, LOS rate: -0.084970 deg/s, cmd heading: 252.993759 deg, new cmd heading: 252.881734 deg. BhAiHeadingCmd: 4.413619 target range: 41.193485 and range: 41.40 m.h^<@h*h "h  h g fffdddjdZd9G?MBIɢUv;<)Q U>iQ)]tYfYYi]VkieM￉e`iu>@ @@/@y^A dO=Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510458E%  E% E% (E! "E% F;*E% :VE% c44ZE! a- @a- @a- @a5 @A= ؟AIA IY Oe >AB,Q?A2@2ⅎ@2uw:ٱ2< :AHRS rotation from veh to nav: [[-0.255675,0.950557,0.176272],[-0.966762,-0.251149,-0.047909],[-0.001270,-0.182662,0.983175]]2H \пj??`п@Tvaǿ@+v?i2@I2 Ra;0@YbہBybIiMb@Mb@Mb@ 9jt?:vy&1|?Y ?yԼ`;A@ @)I@Y@bDVDk2y=%Y=ٔ=Q->9"?Y"?=Fy#EE>Q 5,5i~?Q 9,5K)LBY ?Q E:yQ I@e%DI ;iX ;E,5yBɮe AEjh DNOT Ignoring new targets: 41.19 m.bh RhdԺZhdԺ% ProNav: ac range: 41.193485 m, nav range: 39.054489 m, bearing: 247.191334 deg, approach rate: -0.625118 m/s, LOS rate: -0.092844 deg/s, cmd heading: 252.881743 deg, new cmd heading: 252.776656 deg. Bh%~-HeadingCmd: 4.411785 target range: 41.193485 and range: 41.40 m.h-X-@h)*h)"h) h)g)f1f1f5Bd9d9d9jd9ZdE`I?m!Bɢm#M<)q up>iq)uXaqqi}ki} ￉a<ӠA=IX-@IԹB>BBIBBBBBB%r;B7.EBQBQBQBQBQCUĭ4@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761756^Ag@= A I I O >hl,k?A2x@2s@2:ٱ2$?< >AHRS rotation from veh to nav: [[-0.257833,0.949982,0.176229],[-0.966188,-0.253216,-0.048597],[-0.001542,-0.182801,0.983149]]2HUп @f??4пᨿ`CY@fǿ`u?i2x@I2Mb;2(CYN߁ByNIbD^VD^1yjٟ<%nY=pٔr<:Q-v>9tYx=zFyz#E~RE~>Q 5,5|x?Q 9,5I)NBYycQ I@u%DIK;i1M;,5y)ɮ-G A1iaIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021E  EE'E"EG;*E>:VE'4ZEBE)i))-%\QQiUGsli]￉]b<]@=I]c@Ia @ @@@@@=A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265862^A- &t@=i AY Ia Iq O >T!,?AFq^@FAY@F:ٱF`= ZAHRS rotation from veh to nav: [[-0.260938,0.948961,0.177156],[-0.965355,-0.256240,-0.049312],[-0.001401,-0.183886,0.982947]]FH4п]?`?/;fп`l?V`ǿ`Lt?iFq^@IFDc;D9YByI==iuMb@Mb@Mb@qqqq q9uS? rh~jt?Yu/?yuC u9Y=Fy#EջE>Q 5,5p?Q 9,5)TBY?Q E:yQ I@%DI:i:,5yɮ AjhDNOT Ignoring new targets: 41.19 m.bhRh Zh  ProNav: ac range: 41.193485 m, nav range: 38.515846 m, bearing: 247.118013 deg, approach rate: -0.649450 m/s, LOS rate: -0.083949 deg/s, cmd heading: 252.672057 deg, new cmd heading: 252.555170 deg. BhtfHeadingCmd: 4.407919 target range: 41.193485 and range: 41.40 m.h @h*h"h hg!f!f!f%"Bd)d)d)jd)Zd5@]$Bɢ]M<)a e>iauchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517855q)eHWqyi}~mi}𿉧Oc<:==I @IE EE)E"E>T;*E:VEFA4ZEa@a@a@a@@ @@/@ԑ PExceeded connect timeout, disconnecting.^AA A A B B B IB BB B B B r;B /.E % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769767IA IQ O] >ӂ',速?A2F@2@@2O:ٱ2}= :AHRS rotation from veh to nav: [[-0.263804,0.948176,0.177117],[-0.964575,-0.259054,-0.049855],[-0.001388,-0.183995,0.982926]]2H*пtW?@ū? Vп `V#ǿ!t?i2F@I2"d;2'C@BjAi@I@@IDiD DD)DH Js@HHHLLIL)LiL)PIPPP PRfCPTiTTiTViA)V+ Z88FIXYXYbBybIbDnVDn:yvBp=%v=ٔvV"Q-v ?91Y1=5Fy5#E=E= ?AQ 5M,5Ekk?Q 9M,5E#)EXBYIyMwQ IU@E%DIE\ ;iE;E,5y]Bɮ] A]EԑB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 41.19 m.bhRhZh ProNav: ac range: 41.193485 m, nav range: 38.316959 m, bearing: 247.093058 deg, approach rate: -0.592587 m/s, LOS rate: -0.074738 deg/s, cmd heading: 252.555178 deg, new cmd heading: 252.479926 deg. Bh+MHeadingCmd: 4.406606 target range: 41.193485 and range: 41.40 m.h@h*h"h hg!f!f!f!d)d)dIjdIZdM@\@额%Bɢ<) d>i)}R顱imi3𿉧Sd<O7=I@IMJ@I @I@M/0@QuBDAT read: Rx Time:04:59:13.2346 }TRx dataTimestamp_ set to:1761541154.736260}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022974^AUC;=E EE*E"EUS;*E:VE(N4ZEBEY i-,I?A>B/@>*@>:ٱ>> RAHRS rotation from veh to nav: [[-0.266494,0.947242,0.178083],[-0.963836,-0.261615,-0.050783],[-0.001515,-0.185176,0.982704]]>H;ѿO?h?KпB@}Xֳǿ@Pr?i>B/@I>Pd;>&CYByIbD VD2yMc=%M6=ٔ]9Q-e>9iYq=Fy$EɻE>Q 5,5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273860d?Q 9,5*)^BYyQ I@%DIc;id;,5yɮ' AjhDNOT Ignoring new targets: 41.19 m.bhRh/Zh/- ProNav: ac range: 41.193485 m, nav range: 38.039543 m, bearing: 247.058967 deg, approach rate: -0.625699 m/s, LOS rate: -0.077453 deg/s, cmd heading: 252.479937 deg, new cmd heading: 252.376916 deg. Bh5T5HeadingCmd: 4.404808 target range: 41.193485 and range: 41.40 m.h50@h9*h9"h9 h9g9f9fAfAdAdAdIjdIZdM wX @}&Bɢ}V<)y }:>iy)hL顁inin𿉧e<35=I0@I)MN@Q @Q@]0@Y@ufA@q؀G!e9aYeAQ^A ·3=Ii Iy i߁ I߁  DAT read: 04:59:13.2346 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403, 0.24, 1.932, 0.481, 2.483, 1.933, PHS= 0.100,-1.407, 0.506, RAW= 161.6, 9.2, CAL= 161.4, 9.8, ROT= 348.6, -9.8  Ygot valid direction response: 04:59:13.2346 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403, 0.24, 1.932, 0.481, 2.483, 1.933, PHS= 0.100,-1.407, 0.506, RAW= 161.6, 9.2, CAL= 161.4, 9.8, ROT= 348.6, -9.8  PDAT read: Bearing 50.7, -13.2 (Local)  ~Local bearing/azimuth received: Bearing 50.7, -13.2 (Local)  DAT read: Range 11 to 50 : 39.1 m (Round-trip 52.2 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.965967,-0.194773,0.170209] Fpublishing direction and range infoy  |3?s,Qȿrl?Y fB ) AI =i  7? J4@ l$> I4@ %/>) @I %/ B ?Pe?.~? 9?) K$I Ki %/ O- >- T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.y E  E E )E "E X;*E :VE FA4ZE a @a @a @a @Ґ4,c&?AZ%@Z@Z!:ٱZ$> vAHRS rotation from veh to nav: [[-0.269094,0.946495,0.178147],[-0.963112,-0.264132,-0.051468],[-0.001660,-0.185425,0.982657]]ZH@8ѿI?@? пY@1[ ǿq?iZ%@IZd;XY}By}IAYimMb@Mb@Mb@iiii i9m$C?Zd;O rh?Ym?ymj9Y=Fy$E ջE >1Q 5=,55]?Q 9=,551)5gBY=?Q E=:y=1Q IE@5%DI5L:i5:5S,5yMBUnManaging dock network, ignoring radio surface power offɮM AmEii2W?AJiBRiBjiՈ@b%]B@ Oy|@R|3?s,Qȿrl?ZiKbi%/j)0{Ui[DA!xEf@ZbŬ{h~ڿџg8҉?2i" :i׀"iy?*idBiÑBimo?iiBiBiˉ@ addTargetRange:: Added new target pos. range: 39.099998 m, deltaT: 3.780331 s, deltaX: -2.300003 m, approachRate: -0.608413 m/s, rangeRepo size: 4 B1B1B5IB5BB5 =B1B1B5!r;B56.Em Added new target pos. range: 38.905041 m, bearing: 244.997476 deg, lat: 36.779351 deg, lon: -121.859620 deg, deltaT: 3.780331 s, deltaX: -2.288445 m, approachRate: -0.605356 m/s, posRepo size: 4 jhimDNOT Ignoring new targets: 38.91 m.bhiRhuZhq ProNav: ac range: 38.905041 m, nav range: 37.875858 m, bearing: 246.723060 deg, approach rate: 0.000000 m/s, LOS rate: -0.077453 deg/s, cmd heading: 252.376911 deg, new cmd heading: 252.276429 deg. BhHeadingCmd: 4.403054 target range: 38.905041 and range: 39.10 m.h@h*h"h hgfffSBdddjďC@Zd@?5'Bɢ5=<)1 5>i1)5E99i=oie%𿉧eg BDAT read: Tx time:04:59:14.5783 $Ping request sent. e:,h?AFS@F#@F[;ٱF? VAHRS rotation from veh to nav: [[-0.271071,0.945875,0.178443],[-0.962557,-0.265971,-0.052376],[-0.002081,-0.185959,0.982555]]FH :YѿD?5?D ѿ Ѫ_ aǿq?iFS@IF`e;DEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250263DQzDUAAE] E] E](EY"E]US;*E]:VE]c44ZEYBEYae2EYamJE]A9YYY=eFye $EeȡEe>iQ 5u,5mV?Q 9u,5m87)moBYyy}sQ I}@m%DIm1:im(:m,5yɮ AqIAggregate::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.bhRhMZhM ProNav: ac range: 38.905041 m, nav range: 37.627941 m, bearing: 246.697624 deg, approach rate: -0.623464 m/s, LOS rate: -0.064390 deg/s, cmd heading: 252.276425 deg, new cmd heading: 252.199611 deg. Bh0HeadingCmd: 4.401713 target range: 38.905041 and range: 39.10 m.hڌ@h*h"h hgfffdddjdZd?-)Bɢ-OF<)) ->i))-?11i5tpi=𿉧=xg<=80=I=ڌ@I9L@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502333 ^AE .=I I O >9 A, ?AZ@Z@Z;ٱZ`&? jAHRS rotation from veh to nav: [[-0.273468,0.945291,0.177879],[-0.961878,-0.268296,-0.052985],[-0.002362,-0.185587,0.982625]]ZH~ѿ?? ?+ѿ@ ;Yc`Qǿq?iZ@IZd;X p)r lArC pptv lAiv+IvTSFtIxizr@ xx)x| ~kA~||lAI)i) I kA '  iYY%'By% IiMb@Mb@Mb@ 9V-?㥛 kt?Yh?y 0=A@ I@)QAY@bDVDNy]=%`=ٔI:Q->9Y=Fy $E*E>Q 5,5O?Q 9,5'<)yBY?Q E:yQ I@%DI6-;i\,;,5yBɮQ Ai^@I1JjhDNOT Ignoring new targets: 38.91 m.bhRhZh ProNav: ac range: 38.905041 m, nav range: 37.425369 m, bearing: 246.692052 deg, approach rate: -0.549021 m/s, LOS rate: -0.015183 deg/s, cmd heading: 252.199599 deg, new cmd heading: 252.182793 deg. Bh& HeadingCmd: 4.401420 target range: 38.905041 and range: 39.10 m.ho،@h*h"h hgfffBd!d!d!jd!Zd%'?颕*Bɢ$<) >i)9顙i-qi𿉧 h<8(=Io،@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754969Ee EeEe$Ea"EesH;*Ee:VEe4ZEaau@au@au@au@y@y @@/@@@=9a ^A 4=B! A% <B5 >B1 B5 IB5 BB5 =B1 B1 B5 r;B5 ..EI I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006372O >SG,1 ?A 2@2b@2*]@;ٱ2$@ >AHRS rotation from veh to nav: [[-0.274917,0.944619,0.179210],[-0.961464,-0.269529,-0.054242],[-0.002935,-0.187216,0.982314]]2H<ѿP:?@^?@O@?ѿū hǿo?i2@I2d;2'CYU/ByU IbDeVDekyu+=%uQ=ٔu:Q-}>9yYy=Fy$E:|E>Q 5,5rH?Q 9,5A)BYyQ I@%DI;i;q,5yɮ Ai1JqJB*** querying acoustic contact ***i ixjhDNOT Ignoring new targets: 38.91 m.bhRhLZhL ProNav: ac range: 38.905041 m, nav range: 37.201496 m, bearing: 246.686286 deg, approach rate: -0.595933 m/s, LOS rate: -0.015442 deg/s, cmd heading: 252.182797 deg, new cmd heading: 252.165394 deg. Bh)HeadingCmd: 4.401116 target range: 38.905041 and range: 39.10 m.hՌ@h*h"h hgfffdddjd Zd -g?=+Bɢ=<)9 E?iA)E#3AAiEriM𿉧MiiYq P@  @ @ /@ԡiYIY]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258541^Ae#'=D}=D}R=E  EE)E"EG;*EVEFA4ZEBE)M,: ?ATY]1Bye" II}=)}p;bDVDy;%C=ٔQ->9Y =Fy$EE%>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512145!Q 5%,5%@?Q 9-,5%G)%BY)y)Q I5@%%DI%;i%;%m,5y9ɮ= A9jQqJUUCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLqI]]Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLjhamDNOT Ignoring new targets: 38.91 m.bhiRhuzZhuz ProNav: ac range: 38.905041 m, nav range: 36.940922 m, bearing: 246.679486 deg, approach rate: -0.571735 m/s, LOS rate: -0.015024 deg/s, cmd heading: 252.165393 deg, new cmd heading: 252.144851 deg. Bh$HeadingCmd: 4.400758 target range: 38.905041 and range: 39.10 m.hӌ@h*h"h hgfffdddjdZd ? -BɢDܺ<) ?i)?,iti%e𿉧%j<%V'=I%ӌ@I)O@ @@/@1^A $=II IY m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762331i O} >bE :4jE 14rE 0E  E E E "E CJ;*E :VE ZE a @a @a @a @nT,kT ?AJi׆@J9ҍ@JQ;ٱJA VAHRS rotation from veh to nav: [[-0.276811,0.944028,0.179405],[-0.960914,-0.271062,-0.056308],[-0.004526,-0.187979,0.982163]]JHFѿ{5??οYѿ]Ԭ5rȿ@m?iJi׆@IJc;J&CY^?By^3 I9iMMb@Mb@Mb@IIII I9Msh|??zGế ףp= ?YM ?yM ׽MQ8=MAM-@ M3@)MhAIYMAbDe VDe2yu>=%uR=ٔ}';Q-}>9yYy=Fy$E#E>Q 5-58?Q 9-5L)BY ?Q E:yQ I@%DIe ;i ;-5yɮ AjhDNOT Ignoring new targets: 38.91 m.bhRhu9:Zhu9: ProNav: ac range: 38.905041 m, nav range: 36.748287 m, bearing: 246.693682 deg, approach rate: -0.547721 m/s, LOS rate: 0.040574 deg/s, cmd heading: 252.144848 deg, new cmd heading: 252.187658 deg. Bh:HeadingCmd: 4.401505 target range: 38.905041 and range: 39.10 m.h!ٌ@h*h"h hgfffBdddjdZd`Z@U.BɢU3<)Y ]H?iY)]%j%YYi]1uie𿉧epFk [,In ?A>ֆ@>э@>;ٱ>O@ JAHRS rotation from veh to nav: [[-0.276870,0.944230,0.178247],[-0.960892,-0.271026,-0.056837],[-0.005357,-0.187013,0.982343]]>H;ѿ"7??}Xѿuǿ`Zo?i>ֆ@I>c;>%CYRCByR7 ITVA XXbD\VD\yfՓ<%jU=ٔj.;Q-j>9hYl=nFyn$Er)Er>tQ 5z-5v31?Q 9z-5vuQ)vBYxyzQ Iz@v &DIv:iv1:v-5yBɮ AE%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266438jh1=DNOT Ignoring new targets: 38.91 m.bh9RhEo;:ZhEo;:U ProNav: ac range: 38.905041 m, nav range: 36.538670 m, bearing: 246.709352 deg, approach rate: -0.544897 m/s, LOS rate: 0.040967 deg/s, cmd heading: 252.187660 deg, new cmd heading: 252.234939 deg. BhU:]HeadingCmd: 4.402330 target range: 38.905041 and range: 39.10 m.h]ߌ@hY*hY"hY hYgafafafadididijdiZdmB=@Թ0Bɢ~<) D ?i)%!!i%[vi-ۿ𿉧-k<-:=I-ߌ@I1D1zD5@AE= E=E='E9"E=mR;*E=j:VE='4ZE9BE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5186009 a,p# ?A6׆@6}ҍ@6u;ٱ68? BAHRS rotation from veh to nav: [[-0.276778,0.944546,0.176714],[-0.960914,-0.270863,-0.057249],[-0.006209,-0.185652,0.982596]]6Hѿ9??ο UѿO@nyrǿ mq?i6׆@I6Mb;4YJ>ByJ2 IiUMb@Mb@Mb@QQQQ Q9UX9v?!rhˡE?YU>yUl罙U'=UnAUZ@ Uv@)UAQYUAbDmVDmܲy} %}@=ٔ;Q->9Y=Fy"$Eh9E>Q 5-5(?Q 9-5yV)BY?Q E:yQ I@&DI ;iP ; -5yBɮ AEjhDNOT Ignoring new targets: 38.91 m.bhRhl:Zhl: ProNav: ac range: 38.905041 m, nav range: 36.323574 m, bearing: 246.736335 deg, approach rate: -0.507206 m/s, LOS rate: 0.064006 deg/s, cmd heading: 252.234952 deg, new cmd heading: 252.316382 deg. Bh/;HeadingCmd: 4.403752 target range: 38.905041 and range: 39.10 m.h@h*h"h hgfff؁Bddd jd Zd š@=2BɢE~E<)A E&?iA)EAIiMywiMF𿉧UܻlA A @AB >B B : IB EBB B B B q;B .EBBBBBCն4ԙ  BDAT read: Rx Time:04:59:17.0313  TRx dataTimestamp_ set to:1761541158.516172 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023402h,m ?AZDن@Zԍ@Z ;ٱZ@ ~AHRS rotation from veh to nav: [[-0.276589,0.944529,0.177099],[-0.960959,-0.270405,-0.058640],[-0.007499,-0.186404,0.982444]]ZH ѿ`9? 0?@-QNѿ  Ѷ~`ǿ`/p?iZDن@IZ:9aYi=mFym&$Em;9Em>qQ 5}-5u ?Q 9-5u2[)uBYyQ I@u'&DIu;iu~ ;u -5yɮ AB*** querying acoustic contact ***i ijh9EDNOT Ignoring new targets: 38.91 m.bhIRhM:ZhM:y ProNav: ac range: 38.905041 m, nav range: 36.121265 m, bearing: 246.761907 deg, approach rate: -0.484604 m/s, LOS rate: 0.061598 deg/s, cmd heading: 252.316395 deg, new cmd heading: 252.393541 deg. Bh);HeadingCmd: 4.405098 target range: 38.905041 and range: 39.10 m.h@h *h "h  h g f)f1f1d1d9d9jd9Zd=- @颍4BɢZ<)) -T?i))-?11i5ɉxi5)e𿉧=m<==I=@I9ԡP@ @@4@@=@==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274289EU EUEU'EQ"EU1A;*EUL:VEU'4ZEQBEUhn,mo ?AR݆@R؍@R<ٱRK@ ZAHRS rotation from veh to nav: [[-0.276059,0.944635,0.177358],[-0.961100,-0.269607,-0.059990],[-0.008852,-0.187019,0.982316]]RHѿt:??U=Aѿ` >ǿ"o?iR݆@IRLa;R&CYb4Byb% Ij=j=nAAlbDvVDvy%{Z%%J=ٔ57Z;Q-=>9AYA=MFyU*$E]Ӯ:Ee>yQ 5-5}z?Q 9-5}`)}̟BYyQ I@}5&DI};i}Z;}-5yɮ= AԑDAT read: 04:59:17.0313 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 402, 0.23,-1.399,-2.877,-0.892,-1.407, PHS= 0.110,-1.425, 0.471, RAW= 160.3, 9.7, CAL= 160.2, 10.4, ROT= 349.8, -10.4 -Ygot valid direction response: 04:59:17.0313 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 402, 0.23,-1.399,-2.877,-0.892,-1.407, PHS= 0.110,-1.425, 0.471, RAW= 160.3, 9.7, CAL= 160.2, 10.4, ROT= 349.8, -10.4 5PDAT read: Bearing 50.5, -12.3 (Local) 5~Local bearing/azimuth received: Bearing 50.5, -12.3 (Local) =DAT read: Range 11 to 50 : 36.7 m (Round-trip 49.0 ms) speed 0.4 m/s ER#Rx 1: Read range and direction messages.^direction in FSK: [0.968027,-0.174176,0.180519]Fpublishing direction and range infoyY]M[x(?{.qbKƿlE@?Y]BYYYY Y)YI]G=i]ff]&>]3@]-\->]2@ ]9>)]|]@I]9YY]H` ?Hi?}~3? ]L04?jhDNOT Ignoring new targets: 38.91 m.bhRh:Zh: ProNav: ac range: 38.905041 m, nav range: 35.911850 m, bearing: 246.788462 deg, approach rate: -0.464576 m/s, LOS rate: 0.059254 deg/s, cmd heading: 252.393549 deg, new cmd heading: 252.473678 deg. Bh";)]-I]K6i]9YYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode. HeadingCmd: 4.406497 target range: 38.905041 and range: 39.10 m.h @h *h "h  h gfffdddjdYB@Zd% ?E6BɢE|<)I MV>iI)U]ԹQiryiT7𿉧U[n<j=I@IO@ @@4@ *DAT read: user:284>  BDAT read: Tx time:04:59:18.3782  $Ping request sent. A > A .AI I O >+v,* ?A2X@2(ݍ@2!<ٱ2>A :AHRS rotation from veh to nav: [[-0.275518,0.944766,0.177500],[-0.961245,-0.268872,-0.060952],[-0.009861,-0.187414,0.982231]]2H ѿ;?P?`35ѿ&5@21ǿpn?i2X@I2`;2%CYB,ByF I1ieMb@Mb@Mb@aaaa a9eCl?`"y&1?Yed>yee`9 ?Y ?=Fy/$E:E>Q 5-5?Q 9-5e)ןBY?Q E:yQ I@D&DI;i;-5yBɮo Aii.W ?AJiBRiBji]@b&A@zP q(j?^@RM[x(?{.qbKƿlE@?ZiK6bi9j<((-hU@hjE@ZPHٌٿ{>zgN?2i:iAi"iRB?*i%BiϐBiRB?ii֑BiBii@- addTargetRange:: Added new target pos. range: 36.700001 m, deltaT: 3.781249 s, deltaX: -2.399998 m, approachRate: -0.634710 m/s, rangeRepo size: 4 = Added new target pos. range: 36.517120 m, bearing: 245.952815 deg, lat: 36.779346 deg, lon: -121.859620 deg, deltaT: 3.781249 s, deltaX: -2.387920 m, approachRate: -0.631516 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 36.52 m.bhARhEZhAU ProNav: ac range: 36.517120 m, nav range: 35.892265 m, bearing: 246.035519 deg, approach rate: 0.000000 m/s, LOS rate: 0.059254 deg/s, cmd heading: 252.473681 deg, new cmd heading: 252.548177 deg. BhY]HeadingCmd: 4.407797 target range: 36.517120 and range: 36.70 m.h] @ha*ha"ha hagafafifmƁBdidqdqjdqZdu?颥8Bɢ<) %>i!)%))i-[Czi5 𿉧5n<5A=I5 @I1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250875aL@ @@/@ԉ^A =Ա A1 IA iQ IQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503114Ia Om >P|, ?AE& E&E&(E$"E&a?;*E&:VE&c44ZE$BE&c@>3ݍ@>-<ٱ>@ vAHRS rotation from veh to nav: [[-0.275511,0.944821,0.177219],[-0.961240,-0.268739,-0.061629],[-0.010603,-0.187329,0.982240]]>H ѿ;??`y3ѿ Ӎض`iǿn?i>c@I>Ϛ_;9)Y1=5Fy52$E5d7E5>9Q 5E-5=?Q 9M-5=j)=BYIyIQ IM@=P&DI=F:i=:='-5yQɮUy AYjhDNOT Ignoring new targets: 36.52 m.bhRh:Zh:ԙ ProNav: ac range: 36.517120 m, nav range: 35.698196 m, bearing: 246.063012 deg, approach rate: -0.508009 m/s, LOS rate: 0.072359 deg/s, cmd heading: 252.548184 deg, new cmd heading: 252.631112 deg. BhF;HeadingCmd: 4.409245 target range: 36.517120 and range: 36.70 m.h@h*h"h hgfffdddjdZd@?:Bɢ<) >i)viziJ￉&o<c =I@IP@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756847^A5W= ѐC G (hA 9 (hAY *Ayu ?} (AI I O > ~8,, ?A2P@2 @2|6<ٱ2@ :AHRS rotation from veh to nav: [[-0.274814,0.945195,0.176306],[-0.961433,-0.268012,-0.061776],[-0.011138,-0.186484,0.982395]]2Hѿ@ ??`5?'ѿ cφǿ`o?i2P@I2_;2&CY^BybIdfAiMb@Mb@Mb@ 9Zd;O?!rhQ?Yj>yl罙u< 3@)hAYA p<<bDVDylE%B=ٔg:Q->9Y=Fy7$E:E>Q 5-5X?Q 9-5n)BY?Q E:y+Q I@^&DI` ;i ;-5yɮ Ajh DNOT Ignoring new targets: 36.52 m.bhchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006872Rh%T:Zh%T:5 ProNav: ac range: 36.517120 m, nav range: 35.485928 m, bearing: 246.089304 deg, approach rate: -0.502839 m/s, LOS rate: 0.062654 deg/s, cmd heading: 252.631103 deg, new cmd heading: 252.710449 deg. Bh5+;=HeadingCmd: 4.410629 target range: 36.517120 and range: 36.70 m.h=#@h9*hA"hA hAgAfAfIfMBdIdIdIjdQZdU`bA?颅i)M顉i:{i￉3p<T;=I#@IE]  E]E])EY"E]C;*E]:VE]FA4ZEYam@am@am@am@MO@I @I@M/@I)ByAyBBB. IB;BBBBBq;B.EQ^AC = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258771I I O >y d,e' ?AYByIbDVDܲye.%eO=ٔmQ-m>9iYi=uFyu;$EuEu>yQ 5-5}]?Q 9-5}s)}BYyQ I@}k&DI}B:i}F:}I-5yBɮn AEB*** querying acoustic contact ***i ijhDNOT Ignoring new targets: 36.52 m.bhRh9:Zh9: ProNav: ac range: 36.517120 m, nav range: 35.286995 m, bearing: 246.114232 deg, approach rate: -0.503769 m/s, LOS rate: 0.063482 deg/s, cmd heading: 252.710442 deg, new cmd heading: 252.785647 deg. BhD.;HeadingCmd: 4.411942 target range: 36.517120 and range: 36.70 m.h.@h*h"h hgfffdddjdZdދ?%?Bɢ-6<)) ->i))511i5{i=￉=-p<=F=I=.@IAQ@ @@0@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885yE] E]E](EY"E]<;*E]Z:VE]c44ZEYBE]“ mM,DA ?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765377E@@oD<ٱ!< AHRS rotation from veh to nav: [[-0.273290,0.946336,0.172513],[-0.961857,-0.266603,-0.061270],[-0.011989,-0.182677,0.983100]]H}ѿ`bH?? ѿ^@ٍ`aǿu?iE@I ^;"CYByIiMb@Mb@Mb@ 9v/?ʡEYx ?y-AZ@ `@)AYpAbDVDNy52%50=ٔ=:Q-=>9AYI=MFyM?$EM^;EM>QQ 5]-5Ue?Q 9]-5Uy)UBYeC ?Q Ee:yeZQ Ie@U{&DIUG ;iU ;UY#-5ymBɮu AuEjhDNOT Ignoring new targets: 36.52 m.bhRh9Zh9 ProNav: ac range: 36.517120 m, nav range: 35.034267 m, bearing: 246.121613 deg, approach rate: -0.544418 m/s, LOS rate: 0.016015 deg/s, cmd heading: 252.785656 deg, new cmd heading: 252.807960 deg. Bh/:HeadingCmd: 4.412331 target range: 36.517120 and range: 36.70 m.h1@h*h"h hgffAfE{BdIdQdYjdZd+@BBɢ )_<) >i)'ݻie{i'x￉q<P =I1@I@ @@/@@@=5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014776! Em  Em Em 'Ei "Em sH;*Em :VEm '4ZEi au @au @au @au @^A 9=I! I1 OE >t,@[ ?A ɰ B@BP@BJ<ٱBCa9 JAHRS rotation from veh to nav: [[-0.273144,0.946855,0.169876],[-0.961894,-0.266559,-0.060887],[-0.012369,-0.180034,0.983583]]BH2{ѿL? ?Lѿ, U@[ ǿ@y?iB@IB_;B$CYŔByRIZ=Z=XZBAbD^VD^yf]%f|=ٔf:Q-j ?9hYh=jFyjB$En9En ?pQ 5v-5r)硊?Q 9v-5r})rBYtyzYQ Iz@r&DIr:ir:r+&-5y|ɮ~A|B!B!B% IB%BB!B!B!B%q;B%-EjhAEDNOT Ignoring new targets: 36.52 m.bhARhM9ZhM9] ProNav: ac range: 36.517120 m, nav range: 34.858585 m, bearing: 246.126786 deg, approach rate: -0.537525 m/s, LOS rate: 0.015907 deg/s, cmd heading: 252.807950 deg, new cmd heading: 252.823547 deg. Bh].:eHeadingCmd: 4.412603 target range: 36.517120 and range: 36.70 m.he 4@ha*hi"hi higififqfqdqdqdqjdyZd} @颭CBɢPw<) g>i)+׻顱i{i]:o￉]r<]} =I] 4@IaiQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267558 P@  @ @ 5@ y^AuG=I I9 O] >ԩ M DDAT read: Rx Time:04:59:20.5540 M TRx dataTimestamp_ set to:1761541161.792709] PDAT read: Bearing 52.2, -11.2 (Local) ] ~Local bearing/azimuth received: Bearing 52.2, -11.2 (Local) m DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.4  DAT read: 04:59:20.5540 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 154, 0.42, 2.817, 1.325,-3.016, 2.816, PHS= 0.103,-1.446, 0.407, RAW= 158.8, 10.9, CAL= 158.9, 12.0, ROT= 351.1, -12.0  Ygot valid direction response: 04:59:20.5540 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 154, 0.42, 2.817, 1.325,-3.016, 2.816, PHS= 0.103,-1.446, 0.407, RAW= 158.8, 10.9, CAL= 158.9, 12.0, ROT= 351.1, -12.0  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.966371,-0.151330,0.207912] Fpublishing direction and range infoyI M ޔN?^ÿhٜ?YM BI I I I I )I IM =iM M Nb>M a1@M B>M 5~1@ M PwV>)M [@IM PwVI I M z}?0qZ? ȡ*? M Z-?)M BIM iM PwVI I ,t ?AE EE(E"EC;*E:VEc44ZEBE>)e<bDu VDu2y-%==ٔ:Q->9Y=FyG$EE>Q 5-5ޡ?Q 9-5q)BYy\Q I@&DI:it:)-5yɮ5Aiyi}r ?AJi}M BRi}M Bji}yB@b}Ay@@k:k@R}ޔN?^ÿhٜ?Zi}bi}PwVj}j2I)\@g?/oF @Z} %׿Cڦ}?2i}::i}O"i}?v?*i}~nBi}Bi}NΝ?i}%i}ÑBi}Bi}g@ addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 2.771763 s, deltaX: -1.700001 m, approachRate: -0.613328 m/s, rangeRepo size: 4  Added new target pos. range: 34.825565 m, bearing: 247.552970 deg, lat: 36.779353 deg, lon: -121.859618 deg, deltaT: 2.771763 s, deltaX: -1.691555 m, approachRate: -0.610281 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.83 m.bhRhZh ProNav: ac range: 34.825565 m, nav range: 34.202454 m, bearing: 247.216770 deg, approach rate: 0.000000 m/s, LOS rate: 0.015907 deg/s, cmd heading: 252.823550 deg, new cmd heading: 252.844973 deg. BhHeadingCmd: 4.412977 target range: 34.825565 and range: 35.00 m.h7@h*h!"h! h!g!f!f)f)d)dIdQjdUA@ZdU QL?额FBɢe<) Vn>i)hл顡ԩiT{ib￉Ar<A=I7@IA@A @A@E4@Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=2.773590^A- @o=I I O > b,َ ?AB@BZ@B~P<ٱB3 NAHRS rotation from veh to nav: [[-0.273843,0.947609,0.164463],[-0.961690,-0.267524,-0.059859],[-0.012725,-0.174554,0.984565]]BHआѿ@R? ?* ѿҥ Wƿ@?iB@IB]d_;B"CYVByVIhi=Mb@Mb@Mb@9999 99=Q?A`"MbPY=\?y=Y==A=C@ =v@)=hA9Y=zAbDMVDMk1y]qI%eO=ٔe9Q-e>9aYi=mFymK$Em̺Em>yQ 5}-5}ء?Q 9-5}ֈ)}BY?Q E:yQ I@}&DI}:i}:}g--5yɮAjhDNOT Ignoring new targets: 34.83 m.bhRhZh ProNav: ac range: 34.825565 m, nav range: 33.982376 m, bearing: 247.206743 deg, approach rate: -0.586428 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.844970 deg, new cmd heading: 252.814694 deg. BhHeadingCmd: 4.412449 target range: 34.825565 and range: 35.00 m.h2@h*h"h hgffDDAT read: Rx Time:04:59:21.0539 TRx dataTimestamp_ set to:1761541162.296873 PDAT read: Bearing 51.7, -11.2 (Local) ~Local bearing/azimuth received: Bearing 51.7, -11.2 (Local) -DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.6 DAT read: 04:59:21.0539 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.09, 0.988,-0.519, 1.447, 0.975, PHS= 0.115,-1.449, 0.428, RAW= 158.9, 10.4, CAL= 159.0, 11.3, ROT= 351.0, -11.3 Ygot valid direction response: 04:59:21.0539 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.09, 0.988,-0.519, 1.447, 0.975, PHS= 0.115,-1.449, 0.428, RAW= 158.9, 10.4, CAL= 159.0, 11.3, ROT= 351.0, -11.3 R#Rx 2: Read range and direction messages.^direction in FSK: [0.968542,-0.153402,0.195946]Fpublishing direction and range infof)BdddjdZdJ!?bEc44jE­54rE.E- E-E-)E)"E-<;*E-:VE-FA4ZE)a=@a=@a=@a=@yAO K?|ÿ>x_?Y3 B]IBɢ] <)a eU>ia )=I=ix">5~1@9>Κ1@ I>) @IIEc܏~y?yC?L&?  .?)>:It iIchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.084891)^Q˻顙i[{iLt￉Os<I2@I=O@9 @9@=4@AB>BBIBBBBBBq;B-E1 checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274743Y ^A} G=A ؟AI I O >, ?A2D߆@2ڍ@2J<ٱ22 :AHRS rotation from veh to nav: [[-0.275872,0.947289,0.162907],[-0.961115,-0.269683,-0.059399],[-0.012335,-0.172959,0.984852]]2H@ѿ0P?"? u`}Bѿi`B@#ƿ?i2D߆@I2]W_;2$CYFByFoIHHJA Z9"?Y%"?=-Fy-O$EE>Q 55-5iС?Q 9=-5)YAyEQ Im@&DIށx_?Zit biIj\La[*{@*4?6d@Z[ؿ/a7a&p?2i:iR"i5Vy?*iDBiBi5Vy?iiBiBiN@ addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.504164 s, deltaX: -0.200001 m, approachRate: -0.396698 m/s, rangeRepo size: 4 % Added new target pos. range: 34.626637 m, bearing: 247.103910 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.504164 s, deltaX: -0.198929 m, approachRate: -0.394572 m/s, posRepo size: 4 jh!UDNOT Ignoring new targets: 34.63 m.bhYRhZh ProNav: ac range: 34.626637 m, nav range: 33.775146 m, bearing: 247.034230 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.814698 deg, new cmd heading: 252.777005 deg. BhHeadingCmd: 4.411791 target range: 34.626637 and range: 34.80 m.hd-@h*h"h hgfffdddjd`ffA@Zd?mDDAT read: Rx Time:04:59:21.5536 mTRx dataTimestamp_ set to:1761541162.800746}PDAT read: Bearing 52.3, -11.4 (Local) }~Local bearing/azimuth received: Bearing 52.3, -11.4 (Local) DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 DAT read: 04:59:21.5536 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.13, 1.215,-0.280, 1.670, 1.215, PHS= 0.102,-1.450, 0.411, RAW= 158.9, 10.9, CAL= 159.0, 11.9, ROT= 351.0, -11.9 Ygot valid direction response: 04:59:21.5536 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.13, 1.215,-0.280, 1.670, 1.215, PHS= 0.102,-1.450, 0.411, RAW= 158.9, 10.9, CAL= 159.0, 11.9, ROT= 351.0, -11.9 R#Rx 3: Read range and direction messages.^direction in FSK: [0.966462,-0.153072,0.206204]Fpublishing direction and range infoyimA?>ƌÿFa5d?Ym Biiii i)m<Im`=immn>imB>i mȭT>)iImȭTiim/t?G#0?K`? mx-?)mBIiimȭTiichecking for new query: numPingsReceived=3, elapsed TxPingTime=3.542605LBɢw;) h(>i)yƻiziۉ￉s<2`=Id-@I E EE*E"ECJ;*E:VE(N4ZEBE, ?Avlֆ@v<э@vU1H<ٱvu2 AHRS rotation from veh to nav: [[-0.276909,0.946921,0.163283],[-0.960818,-0.270699,-0.059582],[-0.012218,-0.173384,0.984778]]vH@ѿ-M?v? @#Sѿ}`t1ƿ N?ivlֆ@Iv6_;v&CY%By%hI ))iMb@Mb@Mb@ 9Zd;?L7A`堿y&1|Y?y+`Ap@ `@)YAbDVDNy5%5(=ٔ={zQ-E>9IYQ=]Fy]T$EeEm>!Q 5e-5%Dȡ?Q 9-5%*)%BY?Q E:y&Q I@%&DI%ƌÿFa5d?ZiIbiMȭTjM?)\ g>0@ZM?ؿGA>y0 E?2iMK:iMO"iM`?*iMRuBiMBiIiMRuiMϐBiMBiMZ@ addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.503873 s, deltaX: -0.399998 m, approachRate: -0.793846 m/s, rangeRepo size: 4  Added new target pos. range: 34.228630 m, bearing: 247.156224 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.503873 s, deltaX: -0.398006 m, approachRate: -0.789894 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.23 m.bhRhZh ProNav: ac range: 34.228630 m, nav range: 33.450840 m, bearing: 246.978594 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.776996 deg, new cmd heading: 252.736739 deg. BhHeadingCmd: 4.411088 target range: 34.228630 and range: 34.40 m.h'@h*h"h hg!f!f!f-$Bd)d)d)jd-@33A@Zd5`9?额NBɢPa;) >i)顡iXYziޠ￉ˌt< =I'@I %DDAT read: Rx Time:04:59:22.0535 -TRx dataTimestamp_ set to:1761541163.3048235PDAT read: Bearing 51.4, -11.3 (Local) =~Local bearing/azimuth received: Bearing 51.4, -11.3 (Local) MDAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.8 }DAT read: 04:59:22.0535 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.37, 2.631, 1.121, 3.095, 2.615, PHS= 0.118,-1.448, 0.436, RAW= 159.1, 10.2, CAL= 159.0, 11.1, ROT= 351.0, -11.1 Ygot valid direction response: 04:59:22.0535 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.37, 2.631, 1.121, 3.095, 2.615, PHS= 0.118,-1.448, 0.436, RAW= 159.1, 10.2, CAL= 159.0, 11.1, ROT= 351.0, -11.1 R#Rx 4: Read range and direction messages.^direction in FSK: [0.969211,-0.153508,0.192522]Fpublishing direction and range infoy)-c?{y%ÿM?Y-B)))) ))-=I-=i-X-d;>-g1@E]  E] E](EY"E]G;*E]:VE]c44ZEYae@ae@ae@ae@mO@i @i@m4@i-K6>) -aF>))I-aF))-G?cr??nY? -ԑ.?)-M7I)i-aF))checking for new query: numPingsReceived=4, elapsed TxPingTime=4.088103) B% >B! B% IB% ƁBB! B! B! B% q;B% .EBBBB =B =C4^A Vb, ?AJ@Jk@J4<ٱJQ;/ RAHRS rotation from veh to nav: [[-0.281814,0.945977,0.160336],[-0.959406,-0.275919,-0.058384],[-0.010990,-0.170280,0.985334]]JH> ҿ@rE? ?@tѿ䭿ſ܇?iJ@IJ^;J$CY^By^aIbDfVDf:ynռ%nE=ٔnBQ-r>ԁ9Y=FyX$EUAE>Q 5-5J?Q 9-5J)BYyQ I@&DI+;i;9-5yɮAii8 ?AJiBRiBjiHʼn@b\k}@@#Ъ/A$B54@Rc?{y%ÿM?ZibiaFj8s4_* >W3@ZB|~ؿZO쿿C?2i:iR"iU"j?*iJBiBiiJiBiBi@ addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.504077 s, deltaX: -0.200001 m, approachRate: -0.396766 m/s, rangeRepo size: 4  Added new target pos. range: 34.029621 m, bearing: 246.677371 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.504077 s, deltaX: -0.199009 m, approachRate: -0.394799 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 34.03 m.bhRhZh ProNav: ac range: 34.029621 m, nav range: 33.232033 m, bearing: 246.973430 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.736752 deg, new cmd heading: 252.705427 deg. BhHeadingCmd: 4.410542 target range: 34.029621 and range: 34.20 m.h(#@h*h"h hgf!f!f!d!d)d)jd-A@Zd-a?Ա]QBɢeJC;)a e>ia)eνiiiyiɲ￉u<Ua1@t;?>5~1@ Q>)[@IQ'z{R?I\? 7jU? e`-?)>IiQ5checking for new query: numPingsReceived=5, elapsed TxPingTime=4.556701E EE)E"EsH;*Eg:VEFA4ZEBE%0, ?A8B@Bȑ@B'<ٱB. NAHRS rotation from veh to nav: [[-0.284350,0.945263,0.160070],[-0.958666,-0.278559,-0.058006],[-0.010242,-0.169948,0.985400]]BH2ҿ??@0}?@d ѿſ e?iB@IBՁ^;B&CYbByfYIv=v=@Achecking for new query: numPingsReceived=5, elapsed TxPingTime=4.788796bDVDk1y;ռ%=ٔAQ->9Y=Fy]$E<E>IQ 5]-5M?Q 9]-5Mˣ)MBYy$Q I@M&DIM z7@ZUimzؿH쿠ʦ?2iUW:iUO"iU0s?*iU~JBiUBiQiURuiUBiUBiUS@E addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.504088 s, deltaX: -0.400002 m, approachRate: -0.793515 m/s, rangeRepo size: 4 U Added new target pos. range: 33.631611 m, bearing: 246.725867 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.504088 s, deltaX: -0.398010 m, approachRate: -0.789565 m/s, posRepo size: 4 jhQ]DNOT Ignoring new targets: 33.63 m.bhYRhyZh ProNav: ac range: 33.631611 m, nav range: 32.901546 m, bearing: 246.922464 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.705415 deg, new cmd heading: 252.664777 deg. BhHeadingCmd: 4.409832 target range: 33.631611 and range: 33.80 m.hY@h*h"h hgfffdddjd`f@@Zd$?=SBɢE:)A E=iA)EUAIiMOyiU￉Uu- 5~1@- X8>) - +H>)) I- +HEa  Ee Ee *Ea "Ea *Ee :VEe (N4ZEa am @am @au @au @ ) ) - Ο?V6?Zf? - -?)- 8I) i- +H) )  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.098701^A ~E<A >A >1 BAB)B)B-rIB-BB)B)B)B-.r;B->.EAI!I1OE>,l ?A2䈆@2@2"<ٱ2. :AHRS rotation from veh to nav: [[-0.285998,0.944785,0.159958],[-0.958179,-0.280239,-0.057962],[-0.009935,-0.169845,0.985421]]2HMҿ ;?}y?f nѿ2X{ſ?i2䈆@I2o5^;0YFByFNIi]Mb@Mb@Mb@YYYY Y9]'1Z?~jtMbp?Y]"?y]];]+AY ]I@)YYY]AbDuVDuy%2=ٔ0Q->checking for new query: numPingsReceived=6, elapsed TxPingTime=5.2909219Y=Fyb$E|yE>Q 5-5-?Q 9-5)Y"?Q E:yQ I@&DIT ;i ;aA-5yɮKAiqiu ?AJiuBRiuBjiu3@bu !Qx@ZuH^ؿ쿬30p?2iu:iuXP"iu9g?*iumBiufBiu0s?iumiuBiuBiu Љ@ addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.503807 s, deltaX: -0.200001 m, approachRate: -0.396979 m/s, rangeRepo size: 4 % Added new target pos. range: 33.432579 m, bearing: 246.536920 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.503807 s, deltaX: -0.199032 m, approachRate: -0.395056 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 33.43 m.bh)Rh)Zh)= ProNav: ac range: 33.432579 m, nav range: 32.651352 m, bearing: 246.753201 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.664789 deg, new cmd heading: 252.629922 deg. Bh9EHeadingCmd: 4.409224 target range: 33.432579 and range: 33.60 m.hE]@hA*hA"hI hIgIfIfQfUBdQdQdYjd]@@Zde`Q?mUBɢuS~:)q u=iq)uqyi}xi}￉~u<+IU =iU ^U t>U g1@^A U 1@ U PwV>)U v@IU PwVQ Q U lDa?,?,": ?Avt@vo@v<ٱv-. ~AHRS rotation from veh to nav: [[-0.288340,0.944102,0.159785],[-0.957483,-0.282668,-0.057662],[-0.009273,-0.169618,0.985466]]vH*tҿ6? s?ೣ@:ҿ ſ?ivt@Iv9.^;v#CY5By5UIbDeVDeyu$<%uL=ٔ}غQ-}>y9 ?Y ?=Fyf$EĻE>Q 5-5K?Q 9-5Y)BYy"Q I@ 'DI;i6;D-5yBɮtA EiiGT4 ?AJi#BRi#Bji@b6?@'f/y@Rs?ځĿhٜ?Zil$biPwVj<im ffm >m )2@m -\->m / 2@ m 9>)m @Im 9i i m fX\X?5 D?&? m f0?)m |-Im 'im 9i i  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.066475A1 I9 IQ E  E E +E "E *E :VE [4ZE a @a @a @a @O >@,UW ?AH}gg@}7b@}e<ٱ}j0 AHRS rotation from veh to nav: [[-0.289915,0.943372,0.161243],[-0.957012,-0.284218,-0.057857],[-0.008752,-0.171085,0.985217]]}Hҿ0? ?@؟ 0ҿd`쁿`ſ?i}gg@I}L^;}%CYBy^I  Aonly read 2 of 4 data items for bottom velocity. Device response is::BS, +634, +10,A a@a a@a a@a a@a p< 4<bDVDk1y%V<%E"=ٔE/Q-E>9IYI=MFyMk$EU5WEU>YBiBiBm`IBmBBiBiBiBmpr;Bm_.EQ 5-5]ɡ?Q 9-5]L)YQ A+:YQ E:yWQ I@] 'DI];i]?]{H-5yɮ;Ai1i5T ?AJi5BRi5Bji56@b5(e?@pSo ?JP@R5nO9 ?CMzĿlE@?Zi5'bi59j59Q&eo*NGc?=xC;w@Z5zJ;ٿ L^щ2?2i5:i5{S"i5G?*i5@Bi5uBi59g?i5~Ji5Bi5$Bi5ޙ@e addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.503751 s, deltaX: -0.299999 m, approachRate: -0.595531 m/s, rangeRepo size: 4 u Added new target pos. range: 32.736065 m, bearing: 245.680860 deg, lat: 36.779350 deg, lon: -121.859617 deg, deltaT: 0.503751 s, deltaX: -0.298512 m, approachRate: -0.592578 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 32.74 m.bhRhZh ProNav: ac range: 32.736065 m, nav range: 32.035652 m, bearing: 246.373724 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.596105 deg, new cmd heading: 252.554992 deg. BhHeadingCmd: 4.407916 target range: 32.736065 and range: 32.90 m.h @h*h"h hgfffdddjd@3s@@Zd@*?]ZBɢ]l:)Y e=ia)eVaaiebwim𿉧m_xvI =i  > 1@ t;?> 1@ BR>) +@I BR   #$@W?SƇu?!k?O> ,u ?A *p/?) m?I 5&i BR checking for new query: numPingsReceived=9, elapsed TxPingTime=6.573185E^ E^E^*E\"E^B;*E^:VE^(N4ZE\BE^v9"?Y"?=Fyp$EE>Q 5--5䙡?Q 9--5)Q A- :Y)Q E-Z:y)Q I-@3'DIS;ix?$K-5y9ɮ=A9i i 2t ?AJi BRi Bji h@b kN:y$?@#(f^@R z?5A?ĿrG,?Zi 5&bi BRj H)-uW< =%ja@Z ,*.V:]ٿ*KuT +?2i :i mL"i ;e?*i ~Bi ʏBi ;e?i @i ʏBi GAi 퀉@% addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503385 s, deltaX: -0.500000 m, approachRate: -0.993276 m/s, rangeRepo size: 4 5 Added new target pos. range: 32.238556 m, bearing: 246.028854 deg, lat: 36.779350 deg, lon: -121.859616 deg, deltaT: 0.503385 s, deltaX: -0.497509 m, approachRate: -0.988327 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 32.24 m.bh1Rh9ZhYm ProNav: ac range: 32.238556 m, nav range: 31.659922 m, bearing: 246.199275 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.554987 deg, new cmd heading: 252.517820 deg. BhiuHeadingCmd: 4.407268 target range: 32.238556 and range: 32.40 m.huV@hq*hq"hq hygfffdddjd@33@@Zd@{?\Bɢ';) %=i!)%g!!i%(wi-𿉧-tv<-1(f,qs ?A>K@>pF@>K<ٱ>.z/ FAHRS rotation from veh to nav: [[-0.293160,0.942463,0.160689],[-0.956029,-0.287552,-0.057642],[-0.008120,-0.170521,0.985321]]>H#ҿ(?q?ɗ@gҿP``ſ྇?i>K@I>D^;>$CYRByRnIxa-a- a-=DDAT read: Rx Time:04:59:25.0522 ETRx dataTimestamp_ set to:1761541166.328753MPDAT read: Bearing 53.3, -11.7 (Local) M~Local bearing/azimuth received: Bearing 53.3, -11.7 (Local) ]DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.5 DAT read: 04:59:25.0522 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.27,-2.504, 2.329,-2.064,-2.480, PHS= 0.078,-1.430, 0.372, RAW= 158.8, 11.7, CAL= 159.0, 13.0, ROT= 351.0, -13.0 Ygot valid direction response: 04:59:25.0522 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.27,-2.504, 2.329,-2.064,-2.480, PHS= 0.078,-1.430, 0.372, RAW= 158.8, 11.7, CAL= 159.0, 13.0, ROT= 351.0, -13.0 T#Rx 10: Read range and direction messages.^direction in FSK: [0.962374,-0.152425,0.224951]Fpublishing direction and range infoyAEh?.ÿ:/2?YE3BAAAA A)AIEw=iE= Ev>Ea1@EQ>EΚ1@ EVh>)E @IEVhAAE6jkp?Ü?k|>?a- aa aa iMb@Mb@Mb@ 9-?L7A`堿?Y5?y+<A@ @)AYAbDVD: Er-?)EPIEt iEVhAA5checking for new query: numPingsReceived=10, elapsed TxPingTime=7.086829y=<%=@=ٔEºQ-E>9AE EEE"Ey>;*EZ:VEZEa@a@a@a@YI=Fyt$EVE>Q 5-5&?Q 9-5n)BQ AT:Y?Q E:yQ I@E'DI;iY;N-5y)ɮ-A)iAiEJ ?AJiEBRiEBjiE@bEDz>@;J]9@REh?.ÿ:/2?ZiEt biEVhjEN벏 )r*<@ZE>Eؿ68FtcE䢲?2iE:iE\H"iEr?*iEBiE BiAiEliAiEAiE t@ addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503973 s, deltaX: -0.100002 m, approachRate: -0.198428 m/s, rangeRepo size: 4 !M Added new target pos. range: 32.139050 m, bearing: 246.337358 deg, lat: 36.779350 deg, lon: -121.859615 deg, deltaT: 0.503973 s, deltaX: -0.099506 m, approachRate: -0.197444 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 32.14 m.bhQRhQZhQ ProNav: ac range: 32.139050 m, nav range: 31.320642 m, bearing: 246.109210 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.517831 deg, new cmd heading: 252.481613 deg. BhHeadingCmd: 4.406635 target range: 32.139050 and range: 32.30 m.h(@h*h"h hgfff9Bdddjd`f&@@Zdݔ?5]Bɢ5/T;)1 5n>iy)}̩yyi}Ewi2𿉧 w<ݼ[,f ?A2h=@288@2;<ٱ2z/ :AHRS rotation from veh to nav: [[-0.294820,0.941951,0.160655],[-0.955520,-0.289225,-0.057703],[-0.007888,-0.170521,0.985322]]2H@Sҿu$?@Z?``ҿ<p'ſ‡?i2h=@I2 &^;0YFByFIbDN VDN:2yb=%fI=ٔjQ-j>9lYl=nFynx$EnÎEr>pQ 5v-5r3?Q 9]-5rx)rBYaye7Q Ie@rT'DIr}i)  i x>wij𿉧ĿFa5d?YA )?IQ=iȶ>)2@B>aF2@ ȭT>)E@IȭTjj\ݚA?x Յ?IBwKR? ;h0?)V BI+iȭTEW EE'E"ET;*EVE'4ZEBE&A>A I I O >e checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810826C, ?Aj0@j*@j<ٱj/  AHRS rotation from veh to nav: [[-0.296370,0.941410,0.160971],[-0.955039,-0.290687,-0.058327],[-0.008118,-0.171020,0.985234]]jHҿ` ??ҿ ݭſ ?ij0@Ij%^;j"CaY%By%II-<)-=iMb@Mb@Mb@ 99v?J + rh?Y?yHC =XA v@)AY=AbDVDβy<%=ٔ9Q->9Y=Fy~$EaEE>Q 5 -5?Q 9 -5,)BY?Q E:yQ I@h'DI@:i:&W-5yēBɮ%JA%ĥEiiO] ?AJiVARiVAji' @ba)?n>@-kU%4@Rꗹ?~U>ĿFa5d?Zi+biȭTjk)_e;J*@ZȤUOڿCZ\O?2i:iM"i'}eI?*i@BiЏBid?iiЏBiAic@m addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.505067 s, deltaX: -0.599998 m, approachRate: -1.187958 m/s, rangeRepo size: 4  Added new target pos. range: 31.542074 m, bearing: 245.361564 deg, lat: 36.779350 deg, lon: -121.859614 deg, deltaT: 0.505067 s, deltaX: -0.596975 m, approachRate: -1.181973 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 31.54 m.bhRhZh ProNav: ac range: 31.542074 m, nav range: 30.711411 m, bearing: 245.996289 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 252.383795 deg, new cmd heading: 252.247643 deg. BhHeadingCmd: 4.402552 target range: 31.542074 and range: 31.70 m.i߹I߹DDAT read: Rx Time:04:59:26.0517 TRx dataTimestamp_ set to:1761541167.337125PDAT read: Bearing 51.3, -11.9 (Local) ~Local bearing/azimuth received: Bearing 51.3, -11.9 (Local) DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.5  DAT read: 04:59:26.0517 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 499, 0.40,-2.118, 2.694,-1.649,-2.124, PHS= 0.108,-1.420, 0.431, RAW= 159.4, 10.3, CAL= 159.4, 11.2, ROT= 350.6, -11.2 ԉYgot valid direction response: 04:59:26.0517 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 499, 0.40,-2.118, 2.694,-1.649,-2.124, PHS= 0.108,-1.420, 0.431, RAW= 159.4, 10.3, CAL= 159.4, 11.2, ROT= 350.6, -11.2 T#Rx 12: Read range and direction messages.^direction in FSK: [0.967783,-0.160215,0.194234]Fpublishing direction and range infoy5,?FĿmVѫ?YA )>I/=iµ>/ 2@X8>/ 2@ +H>)@I+H{'S?ʆ0?X?  0?)<8I'i+Hchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.100007bE}ƷG4jE}?4rE}ַ/E  EEE"EG;*E:VEZEa@a@a@a@h @h *h)"h) h)g1f1f1f5iBd9d9d9jd=?@Zd=? aBɢ M;) 3>i)iwi𿉧%%w<%X9Y=Fy$EE>Q 5-5y?Q 9-5) BYyQ I@z'DI9:i:C[-5yɮAiiu ?AJiARiAji@bEQU>@#{(6Z@R5,?FĿmVѫ?Zi'bi+HjSby)H{>d;?>8q@Z8iA1ڿrTP?2i:iK"iG?*iwҸBiBi'}eI?iiʏBiAi&@U addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.503305 s, deltaX: -0.200001 m, approachRate: -0.397375 m/s, rangeRepo size: 4 e Added new target pos. range: 31.343048 m, bearing: 245.434350 deg, lat: 36.779347 deg, lon: -121.859614 deg, deltaT: 0.503305 s, deltaX: -0.199026 m, approachRate: -0.395438 m/s, posRepo size: 4 jhamDNOT Ignoring new targets: 31.34 m.bhiRhiZhi} ProNav: ac range: 31.343048 m, nav range: 30.570400 m, bearing: 245.417490 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 252.247656 deg, new cmd heading: 252.126433 deg. BhyHeadingCmd: 4.400436 target range: 31.343048 and range: 31.50 m.h`Ќ@h*h"h hgfffdddjdZd?mbBɢm5<)i mY>ii)u"1qqiuEwi}𿉧}w<DDAT read: Rx Time:04:59:26.5514 TRx dataTimestamp_ set to:1761541167.840796PDAT read: Bearing 51.7, -12.5 (Local) ~Local bearing/azimuth received: Bearing 51.7, -12.5 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 DAT read: 04:59:26.5514 LVL= 32752, 32753, 32578, 32755, AGC= 60, IDX= 496, 0.47, 1.071,-0.403, 1.560, 1.083, PHS= 0.091,-1.441, 0.433, RAW= 159.9, 10.6, CAL= 159.9, 11.6, ROT= 350.1, -11.6 Ygot valid direction response: 04:59:26.5514 LVL= 32752, 32753, 32578, 32755, AGC= 60, IDX= 496, 0.47, 1.071,-0.403, 1.560, 1.083, PHS= 0.091,-1.441, 0.433, RAW= 159.9, 10.6, CAL= 159.9, 11.6, ROT= 350.1, -11.6 T#Rx 13: Read range and direction messages.^direction in FSK: [0.964989,-0.168417,0.201078]Fpublishing direction and range infoyh 0?1mowſo?YAB )<I5^=ir->)2@q=>)2@ 4QO>)a@I4QOrm checking for new query: numPingsReceived=13, elapsed TxPingTime=8.820897x,() ?A`*@0%@<ٱHj0 %AHRS rotation from veh to nav: [[-0.297037,0.941170,0.161145],[-0.954826,-0.291226,-0.059107],[-0.008700,-0.171423,0.985159]]H@ӿ?i?@tҿUCс@0ſ`l?i`*@I];!CY-݁By5IIy}AiMb@Mb@Mb@ 9oʡ?333333ˡE?Y ?y'=A@ QA)AY3A <<bDVD1ye=%+=ٔ:Q->9Y=Fy$E3E>Q 5 -5o?Q 9 -5C)BY?Q E:yQ I@'DI<:i/:n_-5y“Bɮ%+A%åEii ?AJi[ARi[AjiF҈@bF'=@v~榋0@Rh 0?1mowſo?Zi40bi4QOjV#I{)"^s;5$@Zqi)u'yyi}y>wiGD񿉧Hx<JQiVο`?+@B=;*@ B=)@IBҽ?$e?bT}? ?)+ѽIQ+iBҽ=checking for new query: numPingsReceived=14, elapsed TxPingTime=9.092684q@q @y@y@yE EE'E"E<;*E:VE'4ZEa@a@a@a@ԙ B A <B B B IB BB B B B r;B .EBBBBBCˁ3^A *<A zA fA I I O >m,! ?AYUByUIbDeVDeNyp=%=ٔQ- ?9Y=Fy$EE ?Q 5-5i?Q 9-5) BYyQ I@'DI8;i ;6b-5yœBɮA=checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323584ii- ?AJiRijidd@bxPG_>@׏[uڤx @R 7u?~rSzBP?ZiQ+biBҽj1 #ޭwtE=g@Z#bkWԿJ ,2ꉹ?2i+:i"iP*?*ikBiBiiioBiAiU@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.505706 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 31.044552 m, bearing: 251.371175 deg, lat: 36.779347 deg, lon: -121.859614 deg, deltaT: 0.505706 s, deltaX: 0.000008 m, approachRate: 0.000015 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 31.04 m.bhIRhQZhQ ProNav: ac range: 31.044552 m, nav range: 30.128542 m, bearing: 245.411784 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 252.003408 deg, new cmd heading: 251.912884 deg. BhHeadingCmd: 4.396709 target range: 31.044552 and range: 31.20 m.hر@h*h"h hgfffdddjdZdy?-eBɢ-9t<)) 5>i1)511i5wi= x񿉧]1x b2@ A> 2@  BR>) @I BR   bJ/?uV? A?  Qi1?) {@I %/i BR   checking for new query: numPingsReceived=15, elapsed TxPingTime=9.596420^A c<I I E  E E (E "E F;*E :VE c44ZE BE a&,X; ?A}*@}%@} <ٱ}-0 AHRS rotation from veh to nav: [[-0.296971,0.941278,0.160636],[-0.954837,-0.291013,-0.059977],[-0.009708,-0.171193,0.985190]]}Hӿ? ?ҿ P ჿſ?i}*@I}r];}"CIYByI5=5=Uchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.828150bD]VD]:y<%=ٔb:Q->9Y=Fy$E8E>Q 5=-5H_?Q 9E-5).BYIyUQ IU@'DI;i;g-5ԁyɮAi9i=s6 ?AJi=,ARi=,Aji=@b=ӧ=@42lL@R=܎o?t0SſrG,?Zi=%/bi=BRj=Hp()۳;( @Z=v4PDڿ-EP쿰|=?2i=:i=@I"i=T;?*i=B Bi=xBi=G?i=B i9i=Ai= @=  addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.505332 s, deltaX: -0.400002 m, approachRate: -0.791562 m/s, rangeRepo size: 4 ԡ   Added new target pos. range: 30.646544 m, bearing: 245.114775 deg, lat: 36.779347 deg, lon: -121.859614 deg, deltaT: 0.505332 s, deltaX: -0.398008 m, approachRate: -0.787618 m/s, posRepo size: 4 jh  DNOT Ignoring new targets: 30.65 m.bh Rh Zh   ProNav: ac range: 30.646544 m, nav range: 29.829811 m, bearing: 245.371061 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.912895 deg, new cmd heading: 251.759211 deg. Bh  HeadingCmd: 4.394027 target range: 30.646544 and range: 30.80 m.h ߛ@h *h "h  h g f f f d da da jde >@Zdm @? hBɢ 8<) l>i ) 賀  i wi 񿉧 Ly< i S F> 2@ "> aF2@  -\->) E@I -\-   :F?&7?,RY?  1?) #I +i -\-  } checking for new query: numPingsReceived=16, elapsed TxPingTime=10.095676%N@! @!@%p0E5 E5E5%E1"E5I@;*E5#:VE5 4ZE1a=@a=@aE@aE@@ABaBaBeIBe߁BBaBaBaBer;Be.E^AUo=<AU>AU?)Achecking for new query: numPingsReceived=16, elapsed TxPingTime=10.332340IIO/?t,g ?AB;@B6@B:<ٱB|0 NAHRS rotation from veh to nav: [[-0.294990,0.941916,0.160548],[-0.955432,-0.288769,-0.061331],[-0.011407,-0.171485,0.985121]]BH ҿ@,$?`ٌ?2{ҿf\`9ſ?iB;@IB\];@ T)TV+TTXXiXIXXI\i^r@ \\)\` blAb+``df lAIf)did)dIjlAj+h hhn vAlillYlYrByrI1iMb@Mb@Mb@ 9S㥛?K/$?Y?y^,=A@ v@)AYAbDVD0y5<%5=ٔE=8;Q-E>9qYq=}Fy}$E];E>Q 5-5LS?Q 9-5m)>BYQ?Q E:yQ I@'DI:i:[l-5yғBɮAͥEiaieÜV ?AJieARieAjieވ@be~=@p|J t@Re[?s ſRV?Zie+bie-\-je Sa()B ;}9@ZeAڿ?쿏>Vo?2ien:ieCI"ieN/?*iedBieBieT;?iewҸieBie Aie@U addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.501484 s, deltaX: -0.299999 m, approachRate: -0.598223 m/s, rangeRepo size: 4 a Added new target pos. range: 30.348061 m, bearing: 245.063526 deg, lat: 36.779346 deg, lon: -121.859615 deg, deltaT: 0.501484 s, deltaX: -0.298483 m, approachRate: -0.595199 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 30.35 m.bhRhZh ProNav: ac range: 30.348061 m, nav range: 29.630510 m, bearing: 245.183984 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.759216 deg, new cmd heading: 251.620045 deg. BhHeadingCmd: 4.391598 target range: 30.348061 and range: 30.50 m.h@h*h"h hgfffׁBdddjd>@Zd%?mjBɢmVa<)q u>iq)uSnqqiuwi򿉧z< =I@I=DDAT read: Rx Time:04:59:28.5506 ETRx dataTimestamp_ set to:1761541169.856885MPDAT read: Bearing 50.5, -12.6 (Local) M~Local bearing/azimuth received: Bearing 50.5, -12.6 (Local) ]DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 DAT read: 04:59:28.5506 LVL= 32752, 32753, 30050, 32755, AGC= 58, IDX= 504, 0.15,-1.931, 2.868,-1.434,-1.942, PHS= 0.113,-1.428, 0.464, RAW= 160.0, 9.8, CAL= 160.0, 10.5, ROT= 350.0, -10.5 Ygot valid direction response: 04:59:28.5506 LVL= 32752, 32753, 30050, 32755, AGC= 58, IDX= 504, 0.15,-1.931, 2.868,-1.434,-1.942, PHS= 0.113,-1.428, 0.464, RAW= 160.0, 9.8, CAL= 160.0, 10.5, ROT= 350.0, -10.5 ԉT#Rx 17: Read range and direction messages.^direction in FSK: [0.968317,-0.170740,0.182236]Fpublishing direction and range infoyAEt?ſm~S?YEAAAAEbu A)E:IEl=iEȶEh>E¸2@E%/>E¸2@ Ef;>)Ez@IEf;AAEb9V )$?Y"1I? YV!,8 ?A \bːCnchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.842404]GH9Y%hA%EB@%=@%ED<ٱ%/ MAHRS rotation from veh to nav: [[-0.294240,0.942282,0.159774],[-0.955656,-0.287978,-0.061560],[-0.011996,-0.170803,0.985232]]%Hҿ,'? {s?@ =nҿۄBſ?i%EB@I%b];!YeBymI only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 93.11, 73.06, 82.91 a @a  a @a  a @a  a @a  bDVDy%<%%=ٔ-[:Q-->9- ?Y- ?=5Fy5$E5:E5>9Q 5E-5=*I?Q 9E-5=)=KBQ AM+:YIQ EM:yMQ IM@='DI=q:i=T?=p-5yUГBɮUnA]̥Eiyi}4v ?AJi}ARi}Aji}@b}<@/c c@R}t?ſm~S?Zi}2bi}f;j}Il(C7}}:׹|@Z}lUx/ڿ=en"K:?2i}:i}G"i}a1?*i}6Bi}ǍBi}$'8?i}B i}ǍBi}Ai}@ addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503567 s, deltaX: -0.500000 m, approachRate: -0.992917 m/s, rangeRepo size: 4  Added new target pos. range: 29.850552 m, bearing: 244.847842 deg, lat: 36.779345 deg, lon: -121.859614 deg, deltaT: 0.503567 s, deltaX: -0.497509 m, approachRate: -0.987970 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.85 m.bhRhZh ProNav: ac range: 29.850552 m, nav range: 29.312012 m, bearing: 245.073777 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.620044 deg, new cmd heading: 251.488392 deg. Bh=HeadingCmd: 4.389300 target range: 29.850552 and range: 30.00 m.h=&u@h9*h9"h9 h9g9fAfAfAdAdIdIjdM>@ZdM?颽lBɢHs<) >i)Zixij򿉧?z<=I&u@IeDDAT read: Rx Time:04:59:29.0505 eTRx dataTimestamp_ set to:1761541170.362264uPDAT read: Bearing 51.0, -13.0 (Local) }~Local bearing/azimuth received: Bearing 51.0, -13.0 (Local) DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.4 DAT read: 04:59:29.0505 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.38, 0.513,-0.957, 1.021, 0.521, PHS= 0.094,-1.433, 0.455, RAW= 160.4, 10.2, CAL= 160.4, 11.1, ROT= 349.6, -11.1 Ygot valid direction response: 04:59:29.0505 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.38, 0.513,-0.957, 1.021, 0.521, PHS= 0.094,-1.433, 0.455, RAW= 160.4, 10.2, CAL= 160.4, 11.1, ROT= 349.6, -11.1 T#Rx 18: Read range and direction messages.^direction in FSK: [0.965171,-0.177142,0.192522]Fpublishing direction and range infoyaeمeU?zƿM?Ye3Aaaae a)e=Ie=iele>e$+3@eK6>e$+3@ eaF>)e@@IeaFaaeN?kf?El? erf4?)ei6Ie9ieaFaa! - M@)  @) @- 4@) E  E E &E "E E;*E :VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=18, elapsed TxPingTime=11.109695Q A A AAB B B IB BB B B B s;B .E^Am G=Au gAzAq ԁA؟AIIO?D), ?Achecking for new query: numPingsReceived=18, elapsed TxPingTime=11.339784((fP@fJ@fR<ٱfl/0 rAHRS rotation from veh to nav: [[-0.292622,0.942746,0.160006],[-0.956142,-0.286221,-0.062215],[-0.012856,-0.171194,0.985153]]fHRҿ*?{?@qQҿگ`T@ſ`?ifP@Ifv\];f%CY}By}IbDVDyK@%J=ٔ( ;Q->9"?Y"?=Fy$E;E>Q 5-5HA?Q 9-5)VBQ A :YQ E:yQ I@'DIU:il?Zr-5yɮAi i U/ ?AJi ARi Aji 8@b y<@蚦<hl3@R مeU?zƿM?Zi 9bi aFj  Ͻ(靭M:~|&@Z H$ڿ;j%J쿖4Y?2i m:i EG"i '?*i ´Bi ZBi a1?i i i Ai ˈ@  addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.505379 s, deltaX: -0.100000 m, approachRate: -0.197872 m/s, rangeRepo size: 4  Added new target pos. range: 29.751083 m, bearing: 244.662625 deg, lat: 36.779344 deg, lon: -121.859614 deg, deltaT: 0.505379 s, deltaX: -0.099468 m, approachRate: -0.196819 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.75 m.bhRh!ZhAU ProNav: ac range: 29.751083 m, nav range: 29.134745 m, bearing: 244.930789 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.488385 deg, new cmd heading: 251.369784 deg. BhQ]HeadingCmd: 4.387230 target range: 29.751083 and range: 29.90 m.h]1d@hY*hY"hY hagafffdddjd`f=@Zd|A?oBɢH{<) P>i)%ޕI!!i%-xi-򿉧-{<-U=I-1d@I1O@ @@4@DDAT read: Rx Time:04:59:29.5503 TRx dataTimestamp_ set to:1761541170.864868PDAT read: Bearing 51.0, -12.4 (Local) ~Local bearing/azimuth received: Bearing 51.0, -12.4 (Local) DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 %DAT read: 04:59:29.5503 LVL= 32752, 32753, 32338, 32755, AGC= 62, IDX= 501,-0.11,-1.904, 2.912,-1.420,-1.907, PHS= 0.105,-1.419, 0.443, RAW= 159.8, 10.2, CAL= 159.8, 11.0, ROT= 350.2, -11.0 -Ygot valid direction response: 04:59:29.5503 LVL= 32752, 32753, 32338, 32755, AGC= 62, IDX= 501,-0.11,-1.904, 2.912,-1.420,-1.907, PHS= 0.105,-1.419, 0.443, RAW= 159.8, 10.2, CAL= 159.8, 11.0, ROT= 350.2, -11.0 5T#Rx 19: Read range and direction messages.=^direction in FSK: [0.967303,-0.167082,0.190809]=Fpublishing direction and range infoyH%?rbſP@ml?YAR~ )>I= =iˡ>2@2@  D>)@I Dj72?E*?&? 1?)m5I%/i D]checking for new query: numPingsReceived=19, elapsed TxPingTime=11.607729E  E E *E "E =;*E :VE (N4ZE BE a 2E a JE 4Y}0, ?AB"\@BV@B0]<ٱBb1 VAHRS rotation from veh to nav: [[-0.291216,0.943058,0.160733],[-0.956562,-0.284670,-0.062871],[-0.013535,-0.172060,0.984993]]BHHҿ-??' 8ҿWnƿ?iB"\@IBf];B$CYy  bDVD:y%+%%H=ٔ-@:Q-->9)Y)=5Fy5$E]h;E]>aQ 5m-5eE9?Q 9m-5e )e`BQ Am9YiQ EuU:yuQ Iu@e'DIeh;iei?eEt-5yyɮ}AiiimY ?AJimARimAjim&@bmCT}<@CBVIz@RmH%?rbſP@ml?Zim%/bim Djmqx(n=8Y4:p8a~@Zm_0c&ڿ8$!x2$Ya?2im:im@"im&>.C?*imMBimBiiiiimBimVAchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.842904ԙim̈@ addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.502604 s, deltaX: -0.299999 m, approachRate: -0.596890 m/s, rangeRepo size: 4  Added new target pos. range: 29.452578 m, bearing: 245.333578 deg, lat: 36.779344 deg, lon: -121.859614 deg, deltaT: 0.502604 s, deltaX: -0.298506 m, approachRate: -0.593918 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.45 m.bhRh Zh  ProNav: ac range: 29.452578 m, nav range: 28.917391 m, bearing: 244.937356 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.369785 deg, new cmd heading: 251.270117 deg. Bh%HeadingCmd: 4.385491 target range: 29.452578 and range: 29.60 m.h%U@h!*h!"hA hIgQfQfYfadaddjd=@Zd*?-qBɢ5e<)a m>ii)u3;yiMYxi򿉧D|<t'=IU@IA5N@1 @1@54@1M DDAT read: Rx Time:04:59:30.0502 M TRx dataTimestamp_ set to:1761541171.368678U PDAT read: Bearing 51.9, -13.2 (Local) ] ~Local bearing/azimuth received: Bearing 51.9, -13.2 (Local) m DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.4  DAT read: 04:59:30.0502 LVL= 32752, 32753, 31410, 32755, AGC= 64, IDX= 500, 0.27, 1.632, 0.170, 2.136, 1.661, PHS= 0.073,-1.445, 0.432, RAW= 160.4, 10.9, CAL= 160.5, 12.0, ROT= 349.5, -12.0  Ygot valid direction response: 04:59:30.0502 LVL= 32752, 32753, 31410, 32755, AGC= 64, IDX= 500, 0.27, 1.632, 0.170, 2.136, 1.661, PHS= 0.073,-1.445, 0.432, RAW= 160.4, 10.9, CAL= 160.5, 12.0, ROT= 349.5, -12.0  T#Rx 20: Read range and direction messages. ^direction in FSK: [0.961768,-0.178253,0.207912] Fpublishing direction and range infoyI M ?0Sƿhٜ?YM 3AI I I M z I )M @IM =iM M />M $+3@M B>M G3@ M PwV>)M 2@IM PwVI I M t„?JW[?H4? M $j4?)M BIM t;iM PwVI I  checking for new query: numPingsReceived=20, elapsed TxPingTime=12.110489E  E E +E "E 2;*E :VE [4ZE a @a @a @a @^A 3=! AAIIIYBiBiBmIBmBBm =BiBiBm@s;Bm.EO>07, ?ABg@Bb@Bj<ٱB0 VAHRS rotation from veh to nav: [[-0.289835,0.943529,0.160465],[-0.956969,-0.283188,-0.063361],[-0.014341,-0.171925,0.985006]]BHੌҿc1? ?}ҿr8`^ƿ*?XiBg@IB;];B CYbBybIj=j=a}a} a}a} a}a} a}a iMb@Mb@Mb@ 9bX9?S㥛L7A`?YE>y$+=A A)AY(A@AAAbDVD1yA%&=ٔ:Q->9Y=Fy$EA;E>Q 5-5.?Q 9-5 )lBQ AT:Y>Q E:yeQ I@'DI;iW;x-5yΓBɮA˥EiAiEl ?AJiEARiEAjiELj@bExΞ"<@d}#T@RE?0Sƿhٜ?ZiEt;biEPwVjEvj2(P3nK9$gʣ@ZE3 gxڿr*B쿑n^?2iE:iEA"iEu!3?*iE}BiEBiAiE´iAiEAiEpɈ@u addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.503810 s, deltaX: -0.200001 m, approachRate: -0.396977 m/s, rangeRepo size: 4  Added new target pos. range: 29.253605 m, bearing: 244.904484 deg, lat: 36.779344 deg, lon: -121.859613 deg, deltaT: 0.503810 s, deltaX: -0.198973 m, approachRate: -0.394936 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 29.25 m.bhRhZh ProNav: ac range: 29.253605 m, nav range: 28.597374 m, bearing: 244.915937 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.270119 deg, new cmd heading: 251.149626 deg. BhAMHeadingCmd: 4.383388 target range: 29.253605 and range: 29.40 m.hMD@hI*hI"hI hIgQfQfQfUBdYdYdYjd]`ff=@Zd]a?mchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.346912sBɢڣc<) >i)"`+i7Rxi,}<\3=ID@IO@ @@2@^A $=A >A >9  DDAT read: Rx Time:04:59:30.5500 % TRx dataTimestamp_ set to:1761541171.872672- PDAT read: Bearing 48.9, -12.3 (Local) - ~Local bearing/azimuth received: Bearing 48.9, -12.3 (Local) E DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 e DAT read: 04:59:30.5500 LVL= 32144, 32689, 27634, 32755, AGC= 63, IDX= 498,-0.04,-1.673, 3.138,-1.169,-1.713, PHS= 0.142,-1.387, 0.500, RAW= 160.3, 8.6, CAL= 160.0, 9.0, ROT= 350.0, -9.0 m Ygot valid direction response: 04:59:30.5500 LVL= 32144, 32689, 27634, 32755, AGC= 63, IDX= 498,-0.04,-1.673, 3.138,-1.169,-1.713, PHS= 0.142,-1.387, 0.500, RAW= 160.3, 8.6, CAL= 160.0, 9.0, ROT= 350.0, -9.0 u T#Rx 21: Read range and direction messages.} ^direction in FSK: [0.972683,-0.171510,0.156434]} Fpublishing direction and range infoy! % Rt8 ?[d ſp ?Y% A! % }% % k ! )% ?I% sh>i% 7% ?% 3@% `>% ¸2@ % | >)% z@I% | ! ! % F31$"?^Hu?'3? % 4?)% !3I% 2i% | ! !  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.618779Eu  Eu Eu )Eq "Eu 8;*Eu :VEu FA4ZEq BEu ׏9>, ?Aɰ=ٔQ->9Y=Fy$EE >Q 5-5:%?Q 9-5`)wBY!y!Q I%@ (DI:i1:U|-5ymۓBɮmAmեEii ?AJiARiAji@b7*<@8 G#I@RRt8 ?[d ſp ?Zi2bi| j=Y>(kE69F k@Z ڿN ?:O?2i:iA"iX'?*iUٷBiBiiiiAiЈ@ addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503994 s, deltaX: -0.299999 m, approachRate: -0.595244 m/s, rangeRepo size: 4 - Added new target pos. range: 28.955099 m, bearing: 244.862227 deg, lat: 36.779344 deg, lon: -121.859613 deg, deltaT: 0.503994 s, deltaX: -0.298506 m, approachRate: -0.592280 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 28.96 m.bh1Rh1Zh1m ProNav: ac range: 28.955099 m, nav range: 28.382616 m, bearing: 244.962504 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.149635 deg, new cmd heading: 251.035655 deg. BhiuHeadingCmd: 4.381399 target range: 28.955099 and range: 29.10 m.huk4@hq*hq"hq hqgqfqfyfydydydԡjd=@Zd?vBɢv.P<) 0e>i)i:xi%m󿉧%~<%v9=I-k4@I)checking for new query: numPingsReceived=21, elapsed TxPingTime=12.850973M@ @@/@^A ·3= A I I) O5 >E,D ?AxY~ځBy~II%=)mDDAT read: Rx Time:04:59:31.0499 mTRx dataTimestamp_ set to:1761541172.378365}PDAT read: Bearing 52.7, -12.2 (Local) }~Local bearing/azimuth received: Bearing 52.7, -12.2 (Local) DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 DAT read: 04:59:31.0499 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496, 0.42, 0.425,-1.041, 0.887, 0.448, PHS= 0.079,-1.444, 0.395, RAW= 159.2, 11.4, CAL= 159.4, 12.7, ROT= 350.6, -12.7 Ygot valid direction response: 04:59:31.0499 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496, 0.42, 0.425,-1.041, 0.887, 0.448, PHS= 0.079,-1.444, 0.395, RAW= 159.2, 11.4, CAL= 159.4, 12.7, ROT= 350.6, -12.7 T#Rx 22: Read range and direction messages.bE:4jEŠ94rEJ0E  EE*E"EC;*Ed:VE(N4ZEa@a@a@a@^direction in FSK: [0.962435,-0.159330,0.219846]Fpublishing direction and range infoyim4D?udĿF#?YmfAimmm i)iImʡ=imԸmq=>m1@m%K>m/ 2@ mb>)m@Imbiim}ɹMK?e?jD? mZ/?)moyKIm'imbii%checking for new query: numPingsReceived=22, elapsed TxPingTime=13.162006i=Mb@Mb@Mb@9999 99=Gz?Zd;~jt?Y=p>y==<=A=@ =A)99Y=A!bDVDymnm%u)=ٔqQ-u>9yYy=}Fy$EE>Q 5-5?Q 9-5)BY?Q E:yQ I@(DI;i:-5yɮ Aiiim"7 ?AJim@ARim@Ajim)u@bm Y;@~ǎoCc7y>3@Rm4D?udĿF#?Zim'bimbjm5}&!9Na@ZmCV7ٿ|y9u?2imBYAYBaBaBeIBeBBe =BaBaBeDs;Be.E:im4"im`c?*imjBim Bimu!3?iiimZBimAim܈@ addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.505693 s, deltaX: -0.300001 m, approachRate: -0.593248 m/s, rangeRepo size: 4  Added new target pos. range: 28.656591 m, bearing: 246.116999 deg, lat: 36.779345 deg, lon: -121.859613 deg, deltaT: 0.505693 s, deltaX: -0.298508 m, approachRate: -0.590294 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.66 m.bhRhZh ProNav: ac range: 28.656591 m, nav range: 28.126301 m, bearing: 245.052631 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.035653 deg, new cmd heading: 250.910510 deg. BhHeadingCmd: 4.379214 target range: 28.656591 and range: 28.80 m.h"@h*h"h hgfffBdddjd<@ZdI?uxBɢu"#<)q uB>iq)}yyi}qwiR󿉧[<@=I"@IQmO@i @q@q@q checking for new query: numPingsReceived=22, elapsed TxPingTime=13.355405y ^Am l;=ԩ A.AIIO>tL,\>4 ?A6#@6@6h<ٱ6C5 >AHRS rotation from veh to nav: [[-0.285127,0.944340,0.164088],[-0.958357,-0.278036,-0.065168],[-0.015918,-0.175836,0.984291]]6H?ҿ8?? ݪ@XѿۮĹƿ O?i6#@I6+];6!CYJÁByJIll pr4<bDpVDpyzv%z]=ٔ~;Q-~>9~ ?Y~ ?=Fy$E[<E> Q 5-5  ?Q 9-5 >) BYyQ I@ $(DI 7;i e; Ã-5y!ɮ%A)EB*** querying acoustic contact ***iA iAjhQUDNOT Ignoring new targets: 28.66 m.bhQRh]2:Zh]2:m ProNav: ac range: 28.656591 m, nav range: 27.940798 m, bearing: 245.084440 deg, approach rate: -0.537386 m/s, LOS rate: 0.092759 deg/s, cmd heading: 250.910496 deg, new cmd heading: 251.006555 deg. Bhm~;uHeadingCmd: 4.380891 target range: 28.656591 and range: 28.80 m.huB0@hq*hq"hy hygyfyfyfdddjdZd 6?颵zBɢ$q<) P>i) 项iwie~󿉧^<L=IB0@I  DDAT read: Rx Time:04:59:31.5497 TRx dataTimestamp_ set to:1761541172.883601PDAT read: Bearing 51.9, -12.2 (Local) %~Local bearing/azimuth received: Bearing 51.9, -12.2 (Local) DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4  DAT read: 04:59:31.5497 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.00,-1.516,-2.978,-1.051,-1.506, PHS= 0.092,-1.427, 0.411, RAW= 159.3, 10.9, CAL= 159.4, 12.0, ROT= 350.6, -12.0 Ygot valid direction response: 04:59:31.5497 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.00,-1.516,-2.978,-1.051,-1.506, PHS= 0.092,-1.427, 0.411, RAW= 159.3, 10.9, CAL= 159.4, 12.0, ROT= 350.6, -12.0 T#Rx 23: Read range and direction messages.EM EM EM)EI"EM9;*EM:VEMFA4ZEIBEMh1@B> PwV>)IPwVqgM?k[@?m#? 5/?)IBIiPwVchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.6761129^A==i checking for new query: numPingsReceived=23, elapsed TxPingTime=13.858719A ؟AI I O >ԙ ;\S,N ?ALL @ t@ 0<ٱ 6 %AHRS rotation from veh to nav: [[-0.284366,0.944275,0.165771],[-0.958582,-0.277160,-0.065594],[-0.015994,-0.177558,0.983980]] H3ҿ7?7?@ѿʰ@`6ƿ|?i @I ]; YeByeIiMb@Mb@Mb@ 9x&1?!rh rh?YA?yl罙C<A hA)YzAbDVD:y6y%:=ٔ39Q->9"?Y"?=Fy$E%9:E%>)Q 55-5- ?Q 95-5-t)-BY5?Q E5:y5Q I=@-3(DI- ;i-:--5yEٓBɮEAEԥEiiAiE8 ?AJiEARiEAjiE<@bE+];@n  >z@RE]c?,c֋rĿhٜ?ZiAbiEPwVjE-.C?iEMiE BiEAiE$@ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.505236 s, deltaX: -0.299999 m, approachRate: -0.593780 m/s, rangeRepo size: 4  Added new target pos. range: 28.358082 m, bearing: 246.397279 deg, lat: 36.779346 deg, lon: -121.859614 deg, deltaT: 0.505236 s, deltaX: -0.298510 m, approachRate: -0.590832 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 28.36 m.bhRhZh ProNav: ac range: 28.358082 m, nav range: 27.723677 m, bearing: 245.556222 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.006556 deg, new cmd heading: 251.130237 deg. BhMHeadingCmd: 4.383049 target range: 28.358082 and range: 28.50 m.hMA@hI*hI"hQ hQgQfQfYf]BdYdYdYjde<@ZdeE?}BɢO;)  =i)ivi7󿉧L<%$F=IA@IDDAT read: Rx Time:04:59:32.0496 TRx dataTimestamp_ set to:1761541173.386022%PDAT read: Bearing 51.5, -11.9 (Local) -~Local bearing/azimuth received: Bearing 51.5, -11.9 (Local) EDAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.3 }DAT read: 04:59:32.0496 LVL= 32752, 32753, 29554, 32755, AGC= 62, IDX= 510,-0.37,-2.027, 2.791,-1.568,-2.028, PHS= 0.103,-1.419, 0.417, RAW= 159.2, 10.6, CAL= 159.2, 11.6, ROT= 350.8, -11.6 Ygot valid direction response: 04:59:32.0496 LVL= 32752, 32753, 29554, 32755, AGC= 62, IDX= 510,-0.37,-2.027, 2.791,-1.568,-2.028, PHS= 0.103,-1.419, 0.417, RAW= 159.2, 10.6, CAL= 159.2, 11.6, ROT= 350.8, -11.6 T#Rx 24: Read range and direction messages.^direction in FSK: [0.966974,-0.156616,0.201078]Fpublishing direction and range infoyRF s?I=iˡ>1@q=>1@ 4QO>)v@I4QO@W`?D0MQu?8n/? s%/?)},=Il$i4QOchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.165232B>BBIBBB =BBBr;B.EBBBBBCȐ4^A JM= A .AI I) O5 >qvY,ug ?ABchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.362912Fӗ@F@Fˎ<ٱF87 bAHRS rotation from veh to nav: [[-0.284228,0.944135,0.166806],[-0.958624,-0.276962,-0.065812],[-0.015937,-0.178610,0.983791]]FH0ҿY6?Y? ѿٰ Qƿ6{?iFӗ@IF-];DYzByzlI ||bD VD 02yu%uX=ٔuQ-u>9} ?Y} ?=}Fy}$ET9E>Q 5-5?Q 9-5#)BYyQ I@?(DI~;ik;-5yBɮAiaieX ?AJieARieAjie@beUSES;@'p򕖊@ReRF s?5¸2@5K6>5¸2@ 5 D>)5z@I5 D1151"?Fǹ`,ւ ?A2͗@2@2<ٱ2 v8 :AHRS rotation from veh to nav: [[-0.284231,0.944040,0.167336],[-0.958625,-0.276941,-0.065897],[-0.015867,-0.179143,0.983695]]2H0ҿ@5?@Gk?` hѿް V?%ƿ@nz?i2͗@I2^];0YZByZcIb=b=`b@AbDfVDf1yn %nJ=ٔr5Q-r>9r"?Yr"?=rFyr$EvEv>xQ 5~-5z?Q 9~-5z()zBY|yQ I@zM(DIz;iz!;zv-5yɮA!iix ?AJiARiAji(2@bϙO;@@Rb*?W@RXfR?؆ſP@ml?Zi2bi DjcX&qVR8a @Z_1ٿP]{?2i:i4"i=1QB?*i͸BiBii͸iBiAis@ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.502648 s, deltaX: -0.299999 m, approachRate: -0.596838 m/s, rangeRepo size: 4  Added new target pos. range: 27.960037 m, bearing: 245.648344 deg, lat: 36.779350 deg, lon: -121.859615 deg, deltaT: 0.502648 s, deltaX: -0.298506 m, approachRate: -0.593866 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.96 m.bhRhZh ProNav: ac range: 27.960037 m, nav range: 27.219498 m, bearing: 246.398765 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.243318 deg, new cmd heading: 251.351182 deg. BhHeadingCmd: 4.386906 target range: 27.960037 and range: 28.10 m.ha@h*h"h hgfffdddjd<@Zd ?checking for new query: numPingsReceived=25, elapsed TxPingTime=14.866798BɢQ:) =i)i%quimJ򿉧m a1@ A> 5~1@ ȭT>) [@I ȭT ^y?]r?<ر ? -?) )AI i ȭT M checking for new query: numPingsReceived=26, elapsed TxPingTime=15.141038E  E E E "E /;*E :VE ZE a @a @a @a @i A I I O >5g,:> ?Aɰp;%ԏ@%@%~<ٱ%\7AQAQB]>BYB]IB]ˁBBYBYBYB]zr;B]d.E }AHRS rotation from veh to nav: [[-0.285166,0.943895,0.166562],[-0.958353,-0.277979,-0.065477],[-0.015503,-0.178297,0.983855]]%H'@ҿ`c4?Q?Ӫ jѿ!ðlƿ{?i%ԏ@I%/];!Y~ByFIԉiMb@Mb@Mb@ 9x&?y&1|?Y7 ?y̽`;A@ A)IAYAbD5VD5y޶%=ٔe6Q->9Y=Fy$EE>Q 5-5?Q 9-5/)BY ?Q E=:y=Q I=@_(DI;i;-5yMBɮMAMӥEi9i=j ?AJi9Ri9ji=ۉ@b= ;@,?TVw@R=5n?pO`ÿFa5d?Zi=bi=ȭTj=] \_|% Е9J@ 9@Z=d ؿ ܤ{@o(?2i=:i=+"i=d`e?*i=ABi=Bi=`c?i=ai=Bi=Ai=쪉@- addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.508458 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ]checking for new query: numPingsReceived=26, elapsed TxPingTime=15.374854m Added new target pos. range: 27.960045 m, bearing: 246.832915 deg, lat: 36.779350 deg, lon: -121.859616 deg, deltaT: 0.508458 s, deltaX: 0.000008 m, approachRate: 0.000015 m/s, posRepo size: 4 jhiuDNOT Ignoring new targets: 27.96 m.bhqRhyZhy ProNav: ac range: 27.960045 m, nav range: 26.993372 m, bearing: 246.492992 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.351180 deg, new cmd heading: 251.502360 deg. BhHeadingCmd: 4.389544 target range: 27.960045 and range: 28.10 m.h&w@Աh*h"h hgfffBdddjdZdl?-Bɢ5O:)1 5ui1)5E19i=`ti=b򿉧E Κ1@ I> 1@  f_>) v@I f_   =P"a?)KvK?mŦ?  !Y.?) iII l$i f_   checking for new query: numPingsReceived=27, elapsed TxPingTime=15.647858EM EMEM'EI"EM2;*EM-:VEM'4ZEIBEM$9Y=Fy$E/E>!Q 5--5%䠊?1Q 9U-5%5)%BYYy]Q I]@%p(DI%;i%@;%0-5y+BɮDAݥEiaie ?AJieARieAjie|@beOGgww:@xy%RsҢ@Re (U?qÿK?Ziel$bief_Gjeĺb:%}8[:4@liAZe#cFؿ"Jx쿒*0s?2ieo|9liAYfA:ie)"ie}f?*iep\BieЍBied?iep\iaieAie:@= addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.503815 s, deltaX: -0.500000 m, approachRate: -0.992428 m/s, rangeRepo size: 4 m Added new target pos. range: 27.462536 m, bearing: 246.622829 deg, lat: 36.779350 deg, lon: -121.859616 deg, deltaT: 0.503815 s, deltaX: -0.497509 m, approachRate: -0.987484 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 27.46 m.bhqRhyZhychecking for new query: numPingsReceived=27, elapsed TxPingTime=15.878887 ProNav: ac range: 27.462536 m, nav range: 26.761984 m, bearing: 246.565073 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.502373 deg, new cmd heading: 251.641568 deg. BhHeadingCmd: 4.391974 target range: 27.462536 and range: 27.60 m.h @h*h"h hgfffdddjd;@Zd?a%Bɢ-K)5 ]TiY)eEiiiuri8򿉧$<Yt$=I @I!ԙ N@  @ @ /@ Թ = DDAT read: Rx Time:04:59:34.0490 E TRx dataTimestamp_ set to:1761541175.404720M PDAT read: Bearing 51.7, -12.1 (Local) M ~Local bearing/azimuth received: Bearing 51.7, -12.1 (Local) e DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4  DAT read: 04:59:34.0490 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.31, 1.029,-0.470, 1.500, 1.040, PHS= 0.091,-1.465, 0.416, RAW= 159.3, 11.0, CAL= 159.4, 12.1, ROT= 350.6, -12.1  Ygot valid direction response: 04:59:34.0490 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.31, 1.029,-0.470, 1.500, 1.040, PHS= 0.091,-1.465, 0.416, RAW= 159.3, 11.0, CAL= 159.4, 12.1, ROT= 350.6, -12.1  T#Rx 28: Read range and direction messages. ^direction in FSK: [0.964654,-0.159697,0.209619] Fpublishing direction and range infoyA E Ucq?lVpĿ9h?YE AA A A A A )E =IE 5^=iE E >E 1@E D>E / 2@ E @X>)E @IE @XEu  Eu Eu &Eq "Eu /;*Eu *:VEu 4ZEq a} @a} @a} @a} @A A E $dN?f\?FB/p? E /?)E DIE 'iE @XA A  checking for new query: numPingsReceived=28, elapsed TxPingTime=16.186464^Am S,= B>BCBlIBBB =BBB&r;B;.EAIIO?x, ?AF#~@Fx@Frk<ٱF7 zAHRS rotation from veh to nav: [[-0.287240,0.943188,0.167004],[-0.957751,-0.280193,-0.064847],[-0.014370,-0.178574,0.983822]]FH@"bҿ@.?_`?`@ѿә`m@ƿ@w{?iF#~@IF3.];F C1YENByE IiMb@Mb@Mb@ 9x?Mby&1|YK?y`A zA)AYA -4<-;bD5VD50yEq%E=ٔMбQ-M>9IYI=UFyU$EU3EU>YQ 5-5]٠?Q 9-5]=)]BY0?Q E:y6Q I@](DI] \?3!ÿAzUmD?Y A ) >I =i C> m(1@ aF> a1@ [>) %@I [ ?z ͥ?LB? ,?) FI TFi [ U checking for new query: numPingsReceived=29, elapsed TxPingTime=16.654533i E  E E ,E "E m+;*E :VE g4ZE BE ߄,B`?AYM;ByUIbD}VD}kyi%3=ٔQ->9Y=Fy$EE>Q 5-5Ѡ?Q 9-57D)BYyQ I@(DI,q;i\;-5yɮAiic( ?AJiARiAji@bD!:@K(.,@R->?3!ÿAzUmD?ZiTFbi[j=1$i$D8'T@ZQ~~ؿ~tlSw?2i%:i%"iYh?*i2BiEBid`e?iieBiAisΉ@ addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503995 s, deltaX: -0.299999 m, approachRate: -0.595243 m/s, rangeRepo size: 4  Added new target pos. range: 27.064529 m, bearing: 246.884893 deg, lat: 36.779350 deg, lon: -121.859618 deg, deltaT: 0.503995 s, deltaX: -0.298506 m, approachRate: -0.592279 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 27.06 m.bhRhZh ProNav: ac range: 27.064529 m, nav range: 26.314634 m, bearing: 246.741476 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.785853 deg, new cmd heading: 251.915302 deg. BhHeadingCmd: 4.396751 target range: 27.064529 and range: 27.20 m.h0@h*h"h hgfffd!ddQjdU@33;@Zd]@d?颅Bɢ^V) %i)顉i}oiv񿉧W<^=I0@checking for new query: numPingsReceived=29, elapsed TxPingTime=16.886835I1@ @@/@Y } DDAT read: Rx Time:04:59:35.0486 } TRx dataTimestamp_ set to:1761541176.412806 PDAT read: Bearing 50.7, -11.3 (Local)  ~Local bearing/azimuth received: Bearing 50.7, -11.3 (Local)  DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4  DAT read: 04:59:35.0486 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.08,-2.585, 2.199,-2.136,-2.605, PHS= 0.122,-1.434, 0.425, RAW= 158.7, 10.3, CAL= 158.7, 11.2, ROT= 351.3, -11.2  Ygot valid direction response: 04:59:35.0486 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.08,-2.585, 2.199,-2.136,-2.605, PHS= 0.122,-1.434, 0.425, RAW= 158.7, 10.3, CAL= 158.7, 11.2, ROT= 351.3, -11.2  T#Rx 30: Read range and direction messages. ^direction in FSK: [0.969668,-0.148380,0.194234] Fpublishing direction and range info^A l=ԉ E  E E &E "E (;*E :VE 4ZE a @a @a @a @yy } |? J ¿mVѫ?Y} 3Ay y y y y )} ;I} #=i} P} >} E1@} X8>} E1@ } +H>)} 3@I} +Hy y } !Ǭ>??Ի? } -?)} w7I} |i} +Hy y  checking for new query: numPingsReceived=30, elapsed TxPingTime=17.188330A9IAIQOe>‡," ?AB<A><B@B@BB.IBBkBB@B@B@BBr;BB+.EIYU/ByUIe=e=iMb@Mb@Mb@ 9V-?I +Y|?y94&A )AYGAbD5VD5:ye8%e=ٔaQ-e>9iYi=mFym$EqEu>yQ 5-5}7Ǡ?Q 9-5}TL)}BY?Q E:yDi)%k&!!i%Tmime"񿉧mvW g1@ t;?> 1@ BR>) v@I BR ]3Vf? q?'^2? .?) ?I l$i BR  checking for new query: numPingsReceived=31, elapsed TxPingTime=17.680593E  E E *E "E );*E :VE (N4ZE BE NAHRS rotation from veh to nav: [[-0.296314,0.940725,0.165029],[-0.955032,-0.289924,-0.062112],[-0.010584,-0.176013,0.984331]]2Hҿ`k??@ҿͯ@`ƿ?i20@I2_];0YF(ByFIbDPVDPyVƼ^checking for new query: numPingsReceived=31, elapsed TxPingTime=17.894875%V=ٔbQ-b>9`Y`=bFyb$EfHEn>| Q 5--5 ?Q 95-5 T) BY9yEtQ IE@ (DI ;i ; -5ye;BɮeA-EiiǼ:?AJi%ARi%AjiI@b6a9@q+v앹|@R?=8GĿrG,?Zil$biBRj(\%y"b7Ȥg@Z˥MٿL7h|Jr?2i:i("i6G?*iBiBi`?iiEBiIAi´@ addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504966 s, deltaX: -0.500000 m, approachRate: -0.990166 m/s, rangeRepo size: 4 !e Added new target pos. range: 26.268486 m, bearing: 245.813456 deg, lat: 36.779350 deg, lon: -121.859618 deg, deltaT: 0.504966 s, deltaX: -0.497509 m, approachRate: -0.985233 m/s, posRepo size: 4 jhauDNOT Ignoring new targets: 26.27 m.bhqRhZh ProNav: ac range: 26.268486 m, nav range: 25.661081 m, bearing: 246.561785 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.062640 deg, new cmd heading: 252.230278 deg. Bh%HeadingCmd: 4.402249 target range: 26.268486 and range: 26.40 m.h%9ߌ@h!*h!"h! h!g)f)f)f)d1d1dQjd]`ff:@Zd]`=?颥Bɢt) Wi)6顩i\ki𿉧<jUua1@u%K>uΚ1@ ub>)u @Iubqqu3=p?tVI?E{^? up-?)uNLIut iubqqchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.163303bE%c44jE%A84rE%a0E  E E )E "E W;*E 8:VE FA4ZE a @a @a @a @ 3y N@  @ @ /@ B B B IB GBB B B B 8r;B D.Eԩ ^AUG==checking for new query: numPingsReceived=32, elapsed TxPingTime=18.402596IQIO?-,;n?AN|@NL@N <ٱN9J3 VAHRS rotation from veh to nav: [[-0.301683,0.939283,0.163511],[-0.953369,-0.295646,-0.060666],[-0.008642,-0.174188,0.984675]]NH`Nӿ@?@? ҿലKƿ t?iN|@INS];N"CY^)By\fAfAi}Mb@Mb@Mb@yyyy y9}NbX9?:vMbp?Y}%?y}Լ};yy y)}3AyYybDVDβy*8:%=ٔ>NQ->9Y=Fy$E"E>Q 5-5[?Q 9-5^)BY%?Q E:y6Q I@(DI ;iX ;-5yɮAiiZ?AJiZARiZAjiK@b.|969@r C볏 :@Rc0?fIÿF#?Zit bibjc$47 C8%@ZHkzٿFG`8 ?2i :i&"idC?*ix BirBiX{|P?ix iiAix@- addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503193 s, deltaX: -0.100000 m, approachRate: -0.198732 m/s, rangeRepo size: 4 = Added new target pos. range: 26.168982 m, bearing: 245.825659 deg, lat: 36.779348 deg, lon: -121.859618 deg, deltaT: 0.503193 s, deltaX: -0.099504 m, approachRate: -0.197746 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 26.17 m.bhARhAZhAU ProNav: ac range: 26.168982 m, nav range: 25.375240 m, bearing: 246.142542 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.230280 deg, new cmd heading: 252.381984 deg. BhY]HeadingCmd: 4.404897 target range: 26.168982 and range: 26.30 m.h]@ha*ha"ha hagafafifm8BdidqdqjduL:@Zdu?颥Bɢ%臼)! -[i))-.D))i-Sii5k𿉧5<5ZIj=iV>Κ1@aF>1@ [>)v@I[V6.d?|J ?ʣw? j.?)nDFIl$i[checking for new query: numPingsReceived=33, elapsed TxPingTime=18.675047D zD @AE EE(E"EC#;*EVEc44ZEBE{ԑ ,?AY~(By|bDVDky-6[%5S=]checking for new query: numPingsReceived=33, elapsed TxPingTime=18.905321ٔmQ-u>9yY=Fy$EE>Q 5-5?Q 9-5e)YyQ I@(DI1@Q>/ 2@ Vh>)@IVh9/L?eɚX?<_? .?)чPI'iVhu checking for new query: numPingsReceived=34, elapsed TxPingTime=19.171120E- 0 E- E- &E) "E- Jg;*E- :VE- 4ZE) a5 @a5 @a5 @a5 @^A A zA gA I! I1 O= > -,J?AA A@AB>BBIB.BB =BBDBr;By.EB5CB5CB1B5 =B5 =C535Y=2By=IiMb@Mb@Mb@ 9L7A`?y&1I +?Y+'?y`e94<A )AYAbDVDy8=%6=ٔQ->9Y=Fy$EE>Q 5-5L?Q 9-5*l)BY:'?Q E:yQ I@(DIX ;i;9-5yɮ:AiAiEr?AJiEARiEAjiE@bEIt8@Mhd3GP m@RE4?^Ŀ:/2?ZiE'biEVhjE&}$$=6F-r@ZE(tٿ!UB 7\?2iE:iE$"iE:>?*iEqBiEBiEdC?iEqiAiEZAiE,@5 addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504066 s, deltaX: -0.099998 m, approachRate: -0.198384 m/s, rangeRepo size: 4 E Added new target pos. range: 25.572044 m, bearing: 245.485714 deg, lat: 36.779346 deg, lon: -121.859617 deg, deltaT: 0.504066 s, deltaX: -0.099428 m, approachRate: -0.197252 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 25.57 m.bhIRhIZhI] ProNav: ac range: 25.572044 m, nav range: 24.794268 m, bearing: 245.610685 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.510017 deg, new cmd heading: 252.614976 deg. BhYeHeadingCmd: 4.408963 target range: 25.572044 and range: 25.70 m.hm:@hi*hi"hi higqfqfqf}A % PDAT read: Bearing 50.9, -11.2 (Local) % ~Local bearing/azimuth received: Bearing 50.9, -11.2 (Local) 5 DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 T,?A 2DAT read: 04:59:37.5475 LVL= 32752, 32753, 30242, 32755, AGC= 62, IDX= 504,-0.24,-2.096, 2.708,-1.655,-2.101, PHS= 0.107,-1.429, 0.402, RAW= 158.6, 10.8, CAL= 158.7, 11.9, ROT= 351.3, -11.9 :Ygot valid direction response: 04:59:37.5475 LVL= 32752, 32753, 30242, 32755, AGC= 62, IDX= 504,-0.24,-2.096, 2.708,-1.655,-2.101, PHS= 0.107,-1.429, 0.402, RAW= 158.6, 10.8, CAL= 158.7, 11.9, ROT= 351.3, -11.9 :T#Rx 35: Read range and direction messages.>^direction in FSK: [0.967250,-0.148010,0.206204]>Fpublishing direction and range infoBÅ@Bb@B>;ٱB0 NAHRS rotation from veh to nav: [[-0.309003,0.937170,0.161956],[-0.951048,-0.303589,-0.057808],[-0.005008,-0.171891,0.985103]]BHӿK??nnӿ` t ƿ`?iBÅ@IBh];@yIM?"¿Fa5d?YMAIIIM"v I)M>IM"=iMy鶿M>Mm(1@MA>ME1@ MȭT>)M3@IMȭTIIMٴ?a V9)Y1=5Fy5$E5E5>Q 5-5ʛ?Q 9-5 r)BYyQ I@ )DI:i:d-5yKBɮAEiIiMܛ?AJiMARiMAjiM@bMH@8@N 9@RM?"¿Fa5d?ZiM|biMȭTjMy)E$=6$=%p@ZMOxbٿ aa쿴,?2iM:iM)""iM3E?*iMBiMrBiIiMiIiMAiM@M addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.502516 s, deltaX: -0.500000 m, approachRate: -0.994993 m/s, rangeRepo size: 4  Added new target pos. range: 25.074533 m, bearing: 245.498902 deg, lat: 36.779346 deg, lon: -121.859616 deg, deltaT: 0.502516 s, deltaX: -0.497511 m, approachRate: -0.990040 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 25.07 m.bhRhZh ProNav: ac range: 25.074533 m, nav range: 24.481144 m, bearing: 245.476862 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.614984 deg, new cmd heading: 252.719126 deg. BhHeadingCmd: 4.410781 target range: 25.074533 and range: 25.20 m.h%@h*h"h hgfffdddjd@339@Zd ?mBɢmI}q) \Di)f顑iei￉R<ou;I%@IeN@a @a@e/@aԙDDAT read: Rx Time:04:59:38.0473 TRx dataTimestamp_ set to:1761541179.190309PDAT read: Bearing 50.9, -11.3 (Local) ~Local bearing/azimuth received: Bearing 50.9, -11.3 (Local) ]checking for new query: numPingsReceived=35, elapsed TxPingTime=19.929611^A u< I I! O- >U=,?A2@2@2|;ٱ21. :AHRS rotation from veh to nav: [[-0.310147,0.937194,0.159613],[-0.950681,-0.305061,-0.056070],[-0.003857,-0.169131,0.985586]]2Hrӿ ~?`3n?k ӿA@oſ?i2@I2)<];2CLYPyRIiMb@Mb@Mb@ 9Mb?Mb/$?Y#?y<&A$@ )IAYAbD%VD%02yU:%U8=ٔ]Y*Q-]>9YYY=]Fy]$Ee1Ee>iQ 5-5m?Q 9-5mx)mBY]#?Q E:y Q I@m)DImS;im;m.-5yɮAB*** querying acoustic contact ***i iDAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 %DAT read: 04:59:38.0473 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.46, 0.547,-0.932, 0.992, 0.546, PHS= 0.103,-1.432, 0.402, RAW= 158.7, 10.9, CAL= 158.8, 12.0, ROT= 351.2, -12.0 5Ygot valid direction response: 04:59:38.0473 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.46, 0.547,-0.932, 0.992, 0.546, PHS= 0.103,-1.432, 0.402, RAW= 158.7, 10.9, CAL= 158.8, 12.0, ROT= 351.2, -12.0 5T#Rx 36: Read range and direction messages.=^direction in FSK: [0.966633,-0.149642,0.207912]=Fpublishing direction and range infoyU4?C݉!{'ÿhٜ?Y3A )=I=iKE1@B>a1@ PwV>)%@IPwVЂ?~Xx?-?,? -?)̋BITFiPwV]checking for new query: numPingsReceived=36, elapsed TxPingTime=20.179646u addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.508096 s, deltaX: -0.300001 m, approachRate: -0.590442 m/s, rangeRepo size: 4 jhy}DNOT Ignoring new targets: 25.07 m.bhyRheZhe ProNav: ac range: 25.074533 m, nav range: 24.205217 m, bearing: 245.431879 deg, approach rate: -0.624072 m/s, LOS rate: -0.102899 deg/s, cmd heading: 252.719130 deg, new cmd heading: 252.582644 deg. Bh<HeadingCmd: 4.408399 target range: 25.074533 and range: 24.90 m.h@h*h"h hgfffYBdddjd`f8@Zd-?E EE)E"E0;*En:VEFA4ZEa%@a%@a-@a-@颅Bɢm) JGi)U=q顩iYdi￉(<KH;I@IB->B)B)B)B)B)B)B-r;B-.E@ @@/@^A[R;A?A>A! IQ Iq ԉ  DDAT read: Rx Time:04:59:38.5470  TRx dataTimestamp_ set to:1761541179.695394 checking for new query: numPingsReceived=36, elapsed TxPingTime=20.424616O >:g, ?A4<ɰ2@2頻@2OD;ٱ2C, :AHRS rotation from veh to nav: [[-0.311147,0.937101,0.158204],[-0.950357,-0.306279,-0.054904],[-0.002995,-0.167434,0.985879]]2Hӿ? @?`Si ӿ@R@hxnſQ?i2@I2,];2!CYNNByN IbDZVDZ2yr^=%re=ٔrgQ-r>9tYt=vFyv$EzxQ 5U-5Yz׌?Q 9]-5zt~)zBYaye0Q Ie@z-)DIz(I=iף>G3@¸2>$+3@ A>)@@IA>{+?Xmuv?)-? M4?)oT2I9iAuchecking for new query: numPingsReceived=37, elapsed TxPingTime=20.685345EE EEEE'EA"EE1;*EEI:VEE'4ZEABEE[ I I G hA  `9 hAY nA\,u ?A2쬅@2@2;ٱ2) :AHRS rotation from veh to nav: [[-0.311634,0.937292,0.156104],[-0.950200,-0.307059,-0.053241],[-0.001969,-0.164922,0.986305]]2HӿK?5? hڦӿfB!` &ſΏ?i2쬅@I2^'];0YRUByRIIf<)fp<bDzVDz:2y =%%E=ٔ-^!Q-5>eDDAT read: Rx Time:04:59:39.0468 uTRx dataTimestamp_ set to:1761541180.200435ԡPDAT read: Bearing 50.0, -12.5 (Local) ~Local bearing/azimuth received: Bearing 50.0, -12.5 (Local) 5DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.5 9E ?YE ?=MFyM%EeZ#Rx 38: Read range message, but no direction.yiYmfAimchecking for new query: numPingsReceived=38, elapsed TxPingTime=20.960350uEu>yQ 5-5}*?Q 9-5})}BYyDQ I@}@)DI}:i}:}I-5yɮAiiim ?AJimnARimnAjimH@bm4b\W\7@%c&w@Rm-ݲ?ךxƿ0i?Zim9bimAjm#E.%xW?58Ys@ZmWܿA;!X'?2im:imv)"imK?*im81BimBim:>?imޭimBimAimC@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.760951 s, deltaX: -0.600000 m, approachRate: -0.788488 m/s, rangeRepo size: 4 ] Added new target pos. range: 24.179186 m, bearing: 243.369160 deg, lat: 36.779346 deg, lon: -121.859616 deg, deltaT: 1.269047 s, deltaX: -0.895348 m, approachRate: -0.705528 m/s, posRepo size: 4 jhaDNOT Ignoring new targets: 24.18 m.bhRhZh ProNav: ac range: 24.179186 m, nav range: 23.699448 m, bearing: 245.201456 deg, approach rate: 0.000000 m/s, LOS rate: -0.107969 deg/s, cmd heading: 252.470184 deg, new cmd heading: 252.317628 deg. BhHeadingCmd: 4.403773 target range: 24.179186 and range: 24.30 m.h@h*h"h h!g!f!f)f)d)d)d1jd5L8@Zd5}?BɢP) i)QiMbi𿉧< 3@ X8> 3@  +H>) 0O@I +H  oԛ?@[?RYN?  c4?) ((8I T8i +H] checking for new query: numPingsReceived=39, elapsed TxPingTime=21.187904E ( E E &E "E `;*E VE 4ZE a @a @a @a @! B >B CB IB =BB =B B B r;B .E^A 8eP3@ef;>eP3@ eM>)e@IeMaaeUV?Csd`c?D=? e7?)e:IeaFieMaa=checking for new query: numPingsReceived=40, elapsed TxPingTime=21.4929339YlBy0IiMb@Mb@Mb@ 9Cl?i|?5 rh?Y;?yqC =@ A)AYAbDVDy=%<ٔ\Q-x>9Y=Fy%En:E>Q 5-5;v?Q 9-5)àBY. ?Q E:yTQ I@[)DIX:i:9-5yɮAiaie1$-?AJie@ARie@Ajiei@be OI66@~40`W @Rez^?d%ȿi?ZieaFbieMje +%'a!4H?@Zee|ܿ#)/&-r?2ie٤:ie])"iewY^direction in FSK: [0.964885,-0.182317,0.189095]BFpublishing direction and range infoy8V?^#~)VǿoG4?YAbu ):Ij=iu>3@J4>3@ B>)@IBD$?=?fhl? 5?)wQ4It;?iBMchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.094631iIIipUA ) r@Iɹ)ɹiɹ)I ii)1Ⱦ  8FIYchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.182796Y sBy 8IE EE&E"E4;*E:VE4ZEa@a@a@a%@ieMb@Mb@Mb@aaaa a9eV-?/$ ףp= ?Ye ?yeeQ8=eAe;@ eA)aaYeAbD}VD}ܲy<% =ٔQ->9Y=Fy%EE>Q 5-5i?Q 9-5)ՠBY?Q E:yrQ I@q)DI:i:-5yZBɮ9AEiiTM?AJiARiAjiƇ@bJ6@'2pĨX@R8V?^#~)VǿoG4?Zit;?biBj $/e4aܰ*E@ZEܿjii?2iS:i&"i(?*i&BiBiK?i&i-BiAi@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.502964 s, deltaX: -0.199999 m, approachRate: -0.397640 m/s, rangeRepo size: 4  Added new target pos. range: 23.582390 m, bearing: 243.106603 deg, lat: 36.779340 deg, lon: -121.859613 deg, deltaT: 0.502964 s, deltaX: -0.199007 m, approachRate: -0.395669 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 23.58 m.bhRhZh ProNav: ac range: 23.582390 m, nav range: 22.968893 m, bearing: 243.416222 deg, approach rate: 0.000000 m/s, LOS rate: -0.107969 deg/s, cmd heading: 252.100670 deg, new cmd heading: 251.907526 deg. BhB>BBIB[BBBBDBr;B.EHeadingCmd: 4.396616 target range: 23.582390 and range: 23.70 m.h@h*h "h  h g f ffBdddjd@37@Zdc?!Bɢ )  Ži ) Q i `i {񿉧 Ѓ<= 9Y=Fy%E.<E> Q 5-5 ja?Q 9-5 V) BYy7Q I@ )DI I:i : -5y!ɮEAIeB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505547 s, deltaX: -0.400002 m, approachRate: -0.791225 m/s, rangeRepo size: 4 jhDNOT Ignoring new targets: 23.58 m.bhRhιZhι ProNav: ac range: 23.582390 m, nav range: 22.738707 m, bearing: 243.407069 deg, approach rate: -0.563040 m/s, LOS rate: -0.022615 deg/s, cmd heading: 251.907513 deg, new cmd heading: 251.879776 deg. BhRxHeadingCmd: 4.396132 target range: 23.582390 and range: 23.30 m.h@h DAT read: 04:59:40.5461 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.07,-1.398,-2.861,-0.945,-1.371, PHS= 0.076,-1.444, 0.382, RAW= 159.0, 11.6, CAL= 159.2, 13.0, ROT= 350.8, -13.0 Ygot valid direction response: 04:59:40.5461 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.07,-1.398,-2.861,-0.945,-1.371, PHS= 0.076,-1.444, 0.382, RAW= 159.0, 11.6, CAL= 159.2, 13.0, ROT= 350.8, -13.0 Z#Rx 43: Read direction message, but no range.^direction in FSK: [0.961836,-0.155784,0.224951]y2L\?vO~ÿ:/2? );I㥛=iԸ>Κ1@4QO>1@ Vh>)v@IVh=[??]? A.?)OIl$iVh=checking for new query: numPingsReceived=43, elapsed TxPingTime=22.696627a*h"ha hagifififidqdqdqjduL7@Zd}}?DzD?AE EE'E"E9;*E:VE'4ZEBEa2EaJE"/,n?AT&@@^ٱ AHRS rotation from veh to nav: [[-0.304408,0.941271,0.146095],[-0.952542,-0.300825,-0.046568],[0.000116,-0.153337,0.988174]]Hl{ӿ ?=?8{`@ӿ@קU?ÿ?i&@I1];!CYMByMdIiMb@Mb@Mb@ 9Fx?1Zd{Gz?Y ?y"۽#=Q@ A)AYAbDVDyK=%=%DAT read: 04:59:41.0460 LVL= 32752, 32753, 30338, 32755, AGC= 60, IDX= 505, 0.21,-1.284,-2.758,-0.742,-1.273, PHS= 0.091,-1.440, 0.486, RAW= 161.2, 9.8, CAL= 161.1, 10.6, ROT= 348.9, -10.6 -Ygot valid direction response: 04:59:41.0460 LVL= 32752, 32753, 30338, 32755, AGC= 60, IDX= 505, 0.21,-1.284,-2.758,-0.742,-1.273, PHS= 0.091,-1.440, 0.486, RAW= 161.2, 9.8, CAL= 161.1, 10.6, ROT= 348.9, -10.6 -Z#Rx 45: Read direction message, but no range.5^direction in FSK: [0.964547,-0.189237,0.183951]ya)?k.8ȿ =η?v )<I5^=iQ>4@%/>P3@ q=>)@Iq= a?'FF?? 8?)ɓ/IaFiq=Uchecking for new query: numPingsReceived=45, elapsed TxPingTime=23.200436ٔUQ-U>9YYY=]Fy]%Ee;Ee>iQ 5u-5mkU?Q 9u-5m\)mBYu?Q Eu:yuQ I}@bE-4jE-4rE/E% E%E%)E!"E%1;*E%V:VE%FA4ZE!a5@a5@a5@a5@m)DIm =im =m-5yyɮ}Aiiߍ?AJiARiAjiH@b!{+6@?@f?7`@Ra)?k.8ȿ =η?ZiaFbiq=jZvs$f4A( d@Z鎔xܿe.g+?2i:i#"iq'?*itBiIBi(?itiBiAiu@5 addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.502945 s, deltaX: -0.199999 m, approachRate: -0.397656 m/s, rangeRepo size: 4 E Added new target pos. range: 22.985659 m, bearing: 242.928525 deg, lat: 36.779339 deg, lon: -121.859612 deg, deltaT: 1.008492 s, deltaX: -0.596731 m, approachRate: -0.591706 m/s, posRepo size: 4 jhIMDNOT Ignoring new targets: 22.99 m.bhIRhuZhq ProNav: ac range: 22.985659 m, nav range: 22.446053 m, bearing: 243.041661 deg, approach rate: 0.000000 m/s, LOS rate: -0.022615 deg/s, cmd heading: 251.879782 deg, new cmd heading: 251.840328 deg. BhHeadingCmd: 4.395443 target range: 22.985659 and range: 23.10 m.hx@h*h"h hgfffρBdddjd7@Zd;?B>B CB@IBzBB =BBBr;B.E5 BɢM =ɻ)Q U iQ )] b Y Y i] E_ie 񿉧m i >) E L@A  @A @E 0@A Y  DDAT read: Rx Time:04:59:41.5458  TRx dataTimestamp_ set to:1761541182.720534 PDAT read: Bearing 51.6, -12.3 (Local) ~Local bearing/azimuth received: Bearing 51.6, -12.3 (Local) -DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4 =Z#Rx 46: Read range message, but no direction.y Y A Echecking for new query: numPingsReceived=46, elapsed TxPingTime=23.461222^Ae፨<IIO?,?A9aYa=eFye%EmgP<E>Q 5-5L?Q 9-5)BYyQ I@)DIn;iVo;Z-5yXBɮ+AE  addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503744 s, deltaX: -0.400000 m, approachRate: -0.794053 m/s, rangeRepo size: 4 jh DNOT Ignoring new targets: 22.99 m.bhRh9Zh9% ProNav: ac range: 22.985659 m, nav range: 22.224636 m, bearing: 243.049847 deg, approach rate: -0.622495 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.840331 deg, new cmd heading: 251.865134 deg. Bh%;:MHeadingCmd: 4.395876 target range: 22.985659 and range: 22.70 m.hM@hI*hQ"hQ hQgQfQfYfYdYdYdYjde@36@Zde@@?ԩBɢ) )i) it_i\񿉧(<e2@eaF>e$+3@ e[>)e@@Ie[aed~?oEH?9ݘר? e3?)eFIe9ie[checking for new query: numPingsReceived=47, elapsed TxPingTime=23.705832O@ @@3@E EE'E"E9;*E:VE'4ZEBEh,ߌ?AlvDDAT read: Rx Time:04:59:42.0457 ~TRx dataTimestamp_ set to:1761541183.226828%PDAT read: Bearing 49.4, -13.0 (Local) %~Local bearing/azimuth received: Bearing 49.4, -13.0 (Local) 5DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 =Z#Rx 48: Read range message, but no direction.yxYzAxEchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.963423^)@/$@߳tٱt  AHRS rotation from veh to nav: [[-0.297165,0.943746,0.145039],[-0.954826,-0.293865,-0.044173],[0.000933,-0.151614,0.988439]]Hӿ +3??`ҿ@{N?`hÿK?i^)@I:];CYByrIbDVD:y =% ?=ٔӹQ->9Y=Fy %E;E>!Q 5M-5%C?Q 9M-5%)%BYQyUfQ IU@%)DI%);i%:% -5yYɮ]AYixizZ?AJizARizAjizq@bzc5@#pa6Av@Rzlv?$4wƿAzUmD?Ziz9biz[jz_p"ej`3 Q"U@Zz<ڿ{7SLb*}?2iz:iz"iz)?*iz(?^uȿ:ujr?qqqu"z q)qIu=iuµu?ue4@u'>uI4@ uJ4>)u@IuJ4qun??0? uy9?)uO(IuK N@  @ @ D0@ iuJ45 checking for new query: numPingsReceived=49, elapsed TxPingTime=24.223387E  E E )E "E V;*E g:VE FA4ZE a @a @a @a @Y B% >B! B% `IB% BB! B! B% DB% r;B% .EB CB CBʔCB =B =C25^A q<ԉ A=؟AIaIO?,5?A&DDAT read: Rx Time:04:59:42.5455 .TRx dataTimestamp_ set to:1761541183.729553:PDAT read: Bearing 50.3, -12.6 (Local) >~Local bearing/azimuth received: Bearing 50.3, -12.6 (Local) FDAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 FZ#Rx 50: Read range message, but no direction.y(Y*A(Jchecking for new query: numPingsReceived=50, elapsed TxPingTime=24.464647^;\ɰ^;~7@~2@~Γٱ~Eo  AHRS rotation from veh to nav: [[-0.295478,0.944314,0.144787],[-0.955349,-0.292243,-0.043614],[0.001128,-0.151209,0.988501]]~Hҿ7? c?7ҿ@TyR?Zÿ͡?i~7@I~`];~CYByjI=iMb@Mb@Mb@ 9E?S㥛Q?Y?y$\=Ah@ A)`AYAAAAbDVD02y%=ٔ궹Q->9"?Y"?=Fy%%E%O;E%>)Q 55-5-6?Q 95-5-͵)-BY5 ?Q E=:y=Q I=@-)DI-":i)--5yEjBɮEwAMEi(i*?AJi*ARi*Aji*;@b*íQ5@߉q1*h\@R*>(?^uȿ:ujr?Zi*Kbi*J4j*F&lm#>dG3iā@Z*1dbܿ3ʶ3E.?2i*=:i*"i*`?*i*'wBi*Bi(i(i*Bi*sAi*Ň@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.502725 s, deltaX: -0.299999 m, approachRate: -0.596746 m/s, rangeRepo size: 4  Added new target pos. range: 22.090454 m, bearing: 243.061039 deg, lat: 36.779339 deg, lon: -121.859612 deg, deltaT: 0.502725 s, deltaX: -0.298365 m, approachRate: -0.593495 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 22.09 m.bhRhZh ProNav: ac range: 22.090454 m, nav range: 21.681324 m, bearing: 243.094898 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.896120 deg, new cmd heading: 251.933639 deg. Bh%HeadingCmd: 4.397071 target range: 22.090454 and range: 22.20 m.h-ϴ@h)*h)"h) h)g)f)f1f5ԁBd1d1d9jd=@336@Zd=@Ĕ?颍Bɢ9λ) i)u顑i_i.l񿉧I< IE=i𧶿 >3@¸2>3@ B>)g@IB)?{ﵤ?R¯I? '6?)I93ItBiBechecking for new query: numPingsReceived=51, elapsed TxPingTime=24.720161E EE*E"EC;*E:VE(N4ZEBE?',~ ?ADDAT read: Rx Time:04:59:43.0453 TRx dataTimestamp_ set to:1761541184.233139 PDAT read: Bearing 49.2, -12.7 (Local)  ~Local bearing/azimuth received: Bearing 49.2, -12.7 (Local) DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 EDAT read: 04:59:43.0453 LVL= 32752, 32753, 30834, 32755, AGC= 60, IDX= 497, 0.04,-2.362, 2.458,-1.819,-2.368, PHS= 0.107,-1.413, 0.505, RAW= 161.3, 9.2, CAL= 161.1, 9.7, ROT= 348.9, -9.7 YmBymhIYgot valid direction response: 04:59:43.0453 LVL= 32752, 32753, 30834, 32755, AGC= 60, IDX= 497, 0.04,-2.362, 2.458,-1.819,-2.368, PHS= 0.107,-1.413, 0.505, RAW= 161.3, 9.2, CAL= 161.1, 9.7, ROT= 348.9, -9.7 T#Rx 52: Read range and direction messages.^direction in FSK: [0.967264,-0.189770,0.168489]Fpublishing direction and range infoyyƻ?f _JȿRV?Y3Arx )<I"=i/ݴG?,4@l$>P3@ -\->)@I-\-=h?P?|p(0Fi? F8?)i#IaFi-\-checking for new query: numPingsReceived=52, elapsed TxPingTime=25.015602bD}VD}:y%8=ٔQ->9Y=Fy*%EE>Q 5%-5w,?Q 9%-5:)$BY!y!Q I%@)DIu;iW;-5y5hBɮ5qA5Eii?AJiUARiUAji @bO\5@^fg(e _ @Ryƻ?f _JȿRV?ZiaFbi-\-jH㌆4#`3I C@ZaFK2ܿ.?쿔j!?2i:i"iX?*iSPBi)Bi`?iiIBi}AiUχ@ addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503586 s, deltaX: -0.300001 m, approachRate: -0.595730 m/s, rangeRepo size: 4 u Added new target pos. range: 21.791933 m, bearing: 243.297485 deg, lat: 36.779339 deg, lon: -121.859612 deg, deltaT: 0.503586 s, deltaX: -0.298521 m, approachRate: -0.592791 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 21.79 m.bhRh1Zh1E ProNav: ac range: 21.791933 m, nav range: 21.436426 m, bearing: 243.166686 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.933631 deg, new cmd heading: 251.966968 deg. BhAEHeadingCmd: 4.397653 target range: 21.791933 and range: 21.90 m.hm@hi*hi"hi higifqfqfqdqdydyjd}`f5@Zd}?Bɢwٻ) i)i4^i!Y񿉧<MB! B% yIB% BB% =B! B! B% r;B% .Ei ^A )<ԡAI!IIOm ? ,T-?AjDDAT read: Rx Time:04:59:43.5449 jTRx dataTimestamp_ set to:1761541184.734625nPDAT read: Bearing 49.3, -13.0 (Local) r~Local bearing/azimuth received: Bearing 49.3, -13.0 (Local) zDAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 DAT read: 04:59:43.5449 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.46, 1.605, 0.134, 2.163, 1.607, PHS= 0.100,-1.429, 0.512, RAW= 161.6, 9.3, CAL= 161.4, 9.8, ROT= 348.6, -9.8 Ygot valid direction response: 04:59:43.5449 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.46, 1.605, 0.134, 2.163, 1.607, PHS= 0.100,-1.429, 0.512, RAW= 161.6, 9.3, CAL= 161.4, 9.8, ROT= 348.6, -9.8 %T#Rx 53: Read range and direction messages.-^direction in FSK: [0.965967,-0.194773,0.170209]-Fpublishing direction and range infoyhj|3?s,Qȿrl?YjfAhhhj h)j@Ij=ijy鶿jo?jJ4@j6&>jI4@ j%/>)j@Ij%/hhjG$?5K-?52? j9?)j%IjKij%/hhMchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.476816T@hO@ٱm %AHRS rotation from veh to nav: [[-0.292123,0.944570,0.149837],[-0.956380,-0.288707,-0.044558],[0.001171,-0.156317,0.987706]]H#ҿ9?-?,zҿ CЦ/S?4ĿI?QiT@I9];CYBybII=)%=iMMb@Mb@Mb@IIII I9MK?M¿Q?YM^>yMnM9Y=Fy0%E;E>Q 5-5h?Q 9-5)3BY?Q E:yQ I@)DI;i;-5yɮA ihij/?AJijARijAjijއ@bjVl@y4@пHFaU @Rj|3?s,Qȿrl?ZijKybij%/jje,"27@ZjǍx3ܿc؀쿧Z񑗏?2ije:ijo"ij=B` ?*ijpBij BijX?ijSPijBijAij@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.501486 s, deltaX: -0.600000 m, approachRate: -1.196445 m/s, rangeRepo size: 4  Added new target pos. range: 21.194967 m, bearing: 243.274793 deg, lat: 36.779340 deg, lon: -121.859612 deg, deltaT: 0.501486 s, deltaX: -0.596966 m, approachRate: -1.190394 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 21.19 m.bhRhZh ProNav: ac range: 21.194967 m, nav range: 21.081627 m, bearing: 243.377756 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.966963 deg, new cmd heading: 252.005161 deg. Bh HeadingCmd: 4.398320 target range: 21.194967 and range: 21.30 m.h  @h *h "h  h g ffQfUBdYdYdYjd]L5@Zd]G?颭Bɢ4) Mi)_i%B^iHC񿉧.<DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 bDAT read: 04:59:44.0449 LVL= 32752, 32753, 27570, 32755, AGC= 58, IDX= 510,-0.13, 2.168, 0.703, 2.678, 2.143, PHS= 0.126,-1.395, 0.490, RAW= 160.5, 9.0, CAL= 160.3, 9.5, ROT= 349.7, -9.5 fYgot valid direction response: 04:59:44.0449 LVL= 32752, 32753, 27570, 32755, AGC= 58, IDX= 510,-0.13, 2.168, 0.703, 2.678, 2.143, PHS= 0.126,-1.395, 0.490, RAW= 160.5, 9.0, CAL= 160.3, 9.5, ROT= 349.7, -9.5 jT#Rx 54: Read range and direction messages.n^direction in FSK: [0.970392,-0.176350,0.165048]nFpublishing direction and range infoy,.`r ?+; ƿG ?Y,,,,.k ,).:I.%>i.\.H>.G3@.| >.3@ .)>).0O@I.),,." ?܄?m:? .4?).|!I.T8i.),,=checking for new query: numPingsReceived=54, elapsed TxPingTime=25.991711h@b@ ٱv$ AHRS rotation from veh to nav: [[-0.289847,0.944689,0.153465],[-0.957072,-0.286271,-0.045398],[0.001046,-0.160035,0.987111]]Hٌҿ`:?@?`V@ERҿg>_!Q?|Ŀ@i?ih@IG];CY5By5UIbDMVDMyU=%]6=ٔ]9Q-]>a9aY=Fy4%E;E>Q 5-59?Q 9-5)@BYyQ I@)DIu;iS;-5yɮAi,i.9'O?AJi,Ri,ji.@b.7gB4@'اU E @R.`r ?+; ƿG ?Zi.T8bi.)j.Z=!"=2SJ@Z.&`6 ۿJXX쿂P?2i./:i.I"i.m"?*i.cTdBi.Bi.=B` ?i,i.)Bi.zAi.6@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.502144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 21.194967 m, bearing: 244.497171 deg, lat: 36.779341 deg, lon: -121.859612 deg, deltaT: 0.502144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhyDNOT Ignoring new targets: 21.19 m.bhRhZh= ProNav: ac range: 21.194967 m, nav range: 20.809780 m, bearing: 243.704364 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.005157 deg, new cmd heading: 252.036369 deg. Bh9}HeadingCmd: 4.398864 target range: 21.194967 and range: 21.30 m.h}Ì@hy*h"h hԡgfffdddjdZd?BɢP) B B IB BB B B B s;B .E ^A u<AII)OU?#,^n?A2DDAT read: Rx Time:04:59:44.5446 2TRx dataTimestamp_ set to:1761541185.740852:PDAT read: Bearing 50.5, -12.8 (Local) :~Local bearing/azimuth received: Bearing 50.5, -12.8 (Local) BDAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 VDAT read: 04:59:44.5446 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.19, 2.075, 0.612, 2.614, 2.095, PHS= 0.082,-1.438, 0.475, RAW= 161.2, 10.1, CAL= 161.2, 11.0, ROT= 348.8, -11.0 ZYgot valid direction response: 04:59:44.5446 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.19, 2.075, 0.612, 2.614, 2.095, PHS= 0.082,-1.438, 0.475, RAW= 161.2, 10.1, CAL= 161.2, 11.0, ROT= 348.8, -11.0  T#Rx 55: Read range and direction messages.^direction in FSK: [0.962932,-0.190666,0.190809]Fpublishing direction and range infoy02ԴW?7|gȿP@ml?Y23A0002 0)2?I2=i2b233>24@2J4>24@ 2 D>)2@I2 D002Y?q\?Q`[n? 2&8?)2Oa4t@To@.ٱ'I24+Hi2 D00checking for new query: numPingsReceived=55, elapsed TxPingTime=26.514606 AHRS rotation from veh to nav: [[-0.288394,0.944732,0.155917],[-0.957511,-0.284755,-0.045686],[0.001237,-0.162468,0.986713]]H` uҿ?;?`?`l9ҿ !dET?Ŀ@'?it@Ine];CYByOI IIiuMb@Mb@Mb@qqqq q9uZd;O?K7y&1?Yuj>yuI u`9Y=Fy:%EC5;E>Q 5-5?Q 9-5)NBY%/?Q E%:y%Q I%@*DI;iu;g-5y-gBɮ-A5Ei0i2jo?AJi2`ARi2`Aji2A@b2Su*4@ v%z@R2ԴW?7|gȿP@ml?Zi24+Hbi2 Dj2܍h:!@1:28W1V@Z2߰eۿ'= 쿐6St7?2i2ё:i2q"i2Q?*i2SLBi2Bi0i2'wi0i2#Ai2#@ addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504083 s, deltaX: -0.400000 m, approachRate: -0.793519 m/s, rangeRepo size: 4   Added new target pos. range: 20.796944 m, bearing: 243.967679 deg, lat: 36.779341 deg, lon: -121.859612 deg, deltaT: 0.504083 s, deltaX: -0.398024 m, approachRate: -0.789599 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 20.80 m.bhRh9Zh9M ProNav: ac range: 20.796944 m, nav range: 20.517406 m, bearing: 243.757662 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.036357 deg, new cmd heading: 252.074055 deg. BhIUHeadingCmd: 4.399522 target range: 20.796944 and range: 20.90 m.hUȌ@hQ*hQ"hQ hQgqfyfyf}ׁBdyddjd`f4@Zd`ˀ?Bɢ))  i)߹i#]i񿉧,Ӆ<=IȌ@IK@ @@/@checking for new query: numPingsReceived=55, elapsed TxPingTime=26.719074E-  E- E- 'E) "E- );*E- *:VE- '4ZE) BE- N",V?Aey@es@e ٱe>'i }AHRS rotation from veh to nav: [[-0.287857,0.944775,0.156649],[-0.957672,-0.284220,-0.045635],[0.001408,-0.163155,0.986599]]eH@lҿ ;? ?`@0ҿ]@W?`DĿ8?iey@IeF];aDDAT read: Rx Time:04:59:45.0446 TRx dataTimestamp_ set to:1761541186.244759PDAT read: Bearing 49.6, -12.0 (Local) ~Local bearing/azimuth received: Bearing 49.6, -12.0 (Local) DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 DAT read: 04:59:45.0446 LVL= 32752, 32753, 29682, 32755, AGC= 60, IDX= 507,-0.30, 1.668, 0.207, 2.188, 1.659, PHS= 0.111,-1.407, 0.485, RAW= 160.7, 9.4, CAL= 160.6, 10.0, ROT= 349.4, -10.0 Ygot valid direction response: 04:59:45.0446 LVL= 32752, 32753, 29682, 32755, AGC= 60, IDX= 507,-0.30, 1.668, 0.207, 2.188, 1.659, PHS= 0.111,-1.407, 0.485, RAW= 160.7, 9.4, CAL= 160.6, 10.0, ROT= 349.4, -10.0  T#Rx 56: Read range and direction messages.^direction in FSK: [0.968002,-0.181157,0.173648]Fpublishing direction and range infoy]?m8%0ǿٖNs:?Ys )<IS=iQ>3@'>Ud3@ ¸2>)K$@I¸2YMuByM:IbD]VD]y̛%@=ٔԹQ->9Y=Fy>%E2:E>#g?їȫ?ng? 6?)ª'Iq=i¸2checking for new query: numPingsReceived=56, elapsed TxPingTime=27.010969Q 5-5@?Q 9-5)YBYy Q I @*DIn;i8;$-5yyBɮ!AEii"?AJiRiji݄@bE4S!4@ޛ0b#0! @R]?m8%0ǿٖNs:?Ziq=bi¸2jOӓ!W_2s/@Z\?x$ ۿ+wXE??2i:i "i|?*iBiމBi|?iSPi BiAi;l@e addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503907 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 20.796944 m, bearing: 244.436329 deg, lat: 36.779342 deg, lon: -121.859612 deg, deltaT: 0.503907 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhqԙ DNOT Ignoring new targets: 20.80 m.bh RhZh ProNav: ac range: 20.796944 m, nav range: 20.240005 m, bearing: 244.264045 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.074060 deg, new cmd heading: 252.105669 deg. BhHeadingCmd: 4.400074 target range: 20.796944 and range: 20.90 m.hh͌@h*h"h  h g1f9fIfdddjdZd}t?颥BɢqM) @i)*顩i{a\i 񿉧",<Ih͌@IM checking for new query: numPingsReceived=56, elapsed TxPingTime=27.223299} L@  @ @ /@ E]  E] E] )EY "E] =-;*E] ;:VE] FA4ZEY am @am @am @am @u nManaging dock network, ignoring radio surface power off A A AAB >B B rIB BB B B B 5s;B .E^A @o=1AI I9Oe ?)+,Ү?AFDDAT read: Rx Time:04:59:45.5443 FTRx dataTimestamp_ set to:1761541186.748849JPDAT read: Bearing 50.3, -12.3 (Local) N~Local bearing/azimuth received: Bearing 50.3, -12.3 (Local) VDAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 fDAT read: 04:59:45.5443 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.07, 1.863, 0.399, 2.391, 1.870, PHS= 0.095,-1.426, 0.477, RAW= 160.9, 9.8, CAL= 160.9, 10.6, ROT= 349.1, -10.6 nYgot valid direction response: 04:59:45.5443 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.07, 1.863, 0.399, 2.391, 1.870, PHS= 0.095,-1.426, 0.477, RAW= 160.9, 9.8, CAL= 160.9, 10.6, ROT= 349.1, -10.6 nT#Rx 57: Read range and direction messages.r^direction in FSK: [0.965202,-0.185868,0.183951]rFpublishing direction and range infoyDF3_IF\=iF+FX9>F3@F%/>F3@ Fq=>)Fg@IFq=|DDFk?24?og? F\6?)F>/IFtBiFq=DD checking for new query: numPingsReceived=57, elapsed TxPingTime=27.491741@|@)ZٱYR) AHRS rotation from veh to nav: [[-0.286845,0.944826,0.158190],[-0.957975,-0.283215,-0.045526],[0.001788,-0.164600,0.986359]]H[ҿ@9Y=FyD%E:E%>AQ 5M-5EX?Q 9M-5EN)EeBYMY ?Q EU:yUQ IU@E(*DIE:iEa:E-5yɮAiDiF$?AJiFdARiFdAjiFs@bF $ʗ3@Zh0/h @RF3_ "6&>"3@ ";0>)"@I";0 "h9?ڙU?qwE'? "B6?)"&I"t;?i";0 checking for new query: numPingsReceived=58, elapsed TxPingTime=28.015495 @~@38 ٱ) %AHRS rotation from veh to nav: [[-0.286578,0.944812,0.158753],[-0.958055,-0.282980,-0.045316],[0.002109,-0.165081,0.986278]]H@KWҿ@;?R?@bYҿ 3Ga?@`!ſ?i @Ik];CY]JBy]IbDmVDmy%F=ٔDLQ->9Y=FyI%Eu1:E>Q 5.5矊?Q 9.5c)mBYyQ I@7*DI9:i:/.5yMwBɮUiAQi i"4?AJi"ARi"Aji"E@b"i3@܁  @R"#'Y?Tiǿ!?Zi"t;?bi";0j"!A1ڨKAN@Z"v# ۿpZDC?2i"Ž:i""i"?*i"Bi"qBi i"i"މBi"+Ai"@ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.515995 s, deltaX: -0.100000 m, approachRate: -0.193801 m/s, rangeRepo size: 4 u Added new target pos. range: 20.199808 m, bearing: 244.418174 deg, lat: 36.779342 deg, lon: -121.859613 deg, deltaT: 0.515995 s, deltaX: -0.099506 m, approachRate: -0.192844 m/s, posRepo size: 4 jhquDNOT Ignoring new targets: 20.20 m.bhqRhyZhy ProNav: ac range: 20.199808 m, nav range: 19.771200 m, bearing: 244.497177 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.147307 deg, new cmd heading: 252.176370 deg. BhHeadingCmd: 4.401308 target range: 20.199808 and range: 20.30 m.h׌@h*h"h hgfffdddjdL4@Zd?颅Bɢ졼) `i)jikZi%[𿉧-cچ<5+G=IU׌@IQ1checking for new query: numPingsReceived=58, elapsed TxPingTime=28.242977@ @@0@bE5c44jE534rE5b/E EE(E"E+$;*E8:VEc44ZEa@a@a@a@B >B B YIB BB B B DB s;B /EY ^A ԉ A!IIIqO>Z5;,?A2@2׀@2tٱ2Q_* :AHRS rotation from veh to nav: [[-0.286346,0.944783,0.159344],[-0.958123,-0.282766,-0.045195],[0.002358,-0.165612,0.986188]]2H}Sҿ`;?_e?ҿ#` Qc?2ſ`ڎ?i2@I2l];0YFBByFI DDAT read: Rx Time:04:59:46.5440 TRx dataTimestamp_ set to:1761541187.768765PDAT read: Bearing 47.9, -11.5 (Local) ~Local bearing/azimuth received: Bearing 47.9, -11.5 (Local) -DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 UDAT read: 04:59:46.5440 LVL= 32752, 32753, 27538, 32755, AGC= 59, IDX= 501,-0.05, 0.692,-0.780, 1.218, 0.643, PHS= 0.150,-1.379, 0.530, RAW= 160.8, 8.0, CAL= 160.4, 8.2, ROT= 349.6, -8.2 ]Ygot valid direction response: 04:59:46.5440 LVL= 32752, 32753, 27538, 32755, AGC= 59, IDX= 501,-0.05, 0.692,-0.780, 1.218, 0.643, PHS= 0.150,-1.379, 0.530, RAW= 160.8, 8.0, CAL= 160.4, 8.2, ROT= 349.6, -8.2 ]T#Rx 59: Read range and direction messages.e^direction in FSK: [0.973516,-0.178673,0.142629]mFpublishing direction and range infoy  ` '?1ƿx0A?Y A    k ) I >i  ? 3@ 5> $+3@ C>) @@I C   Y?I?|:@s? v6?) I 9i C  checking for new query: numPingsReceived=59, elapsed TxPingTime=28.514902iMb@Mb@Mb@ 9uV?A`":v?Yr?yٽT<=A IA)AYAbDVD1y"%&=ٔQ->9 Y = Fy N%EQ:E>Q 5%.5ݟ?Q 9%.5)uBY-( ?Q E-:y-CQ I-@G*DI:i:h.5y1ɮAi i r3?AJi 5ARi 5Aji @b žu_3@bFr c1@R ` '?1ƿx0A?Zi 9bi Cj : 15~x @Z ؄n0ۿo쿙E?2i {:i G"i FN?*i yaBi !Bi |?i i i Ai f@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503921 s, deltaX: -0.299999 m, approachRate: -0.595330 m/s, rangeRepo size: 4  Added new target pos. range: 19.901106 m, bearing: 244.449169 deg, lat: 36.779342 deg, lon: -121.859613 deg, deltaT: 0.503921 s, deltaX: -0.298702 m, approachRate: -0.592756 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.90 m.bhRhZhU ProNav: ac range: 19.901106 m, nav range: 19.509054 m, bearing: 244.523993 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.176376 deg, new cmd heading: 252.211468 deg. BhQ]HeadingCmd: 4.401920 target range: 19.901106 and range: 20.00 m.h]܌@hY*hY"hY hYgafafafeBdddjd4@Zd@?BɢE)! %si!)%ʮIIIiMHYiUJ𿉧U&B, ?Aq@u@lA:ٱ, AHRS rotation from veh to nav: [[-0.286156,0.944557,0.161020],[-0.958179,-0.282584,-0.045164],[0.002842,-0.167209,0.985917]]H bPҿ9?`J?f ҿ@+Hg? gſ`?i@In];Y0ByI  =a=@AbDVDNy-%58=ٔ5Q-5>95 ?Y= ?==Fy=R%E=^9E=>AQ 5M.5Enԟ?Q 9U.5E)E|BYQyU?Q IU@EW*DIE7;iET;EF .5yYɮ]1Aa}B*** querying acoustic contact ***iy iyjhDNOT Ignoring new targets: 19.90 m.bhRhՐ:ZhՐ: ProNav: ac range: 19.901106 m, nav range: 19.268984 m, bearing: 244.549195 deg, approach rate: -0.595665 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.211456 deg, new cmd heading: 252.288005 deg. Bh-;HeadingCmd: 4.403256 target range: 19.901106 and range: 20.00 m.hz@h*h"h hgfffdddjdZdٖ?DDAT read: Rx Time:04:59:47.0438 TRx dataTimestamp_ set to:1761541188.272594PDAT read: Bearing 49.4, -12.2 (Local) %~Local bearing/azimuth received: Bearing 49.4, -12.2 (Local) 5DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4 UDAT read: 04:59:47.0438 LVL= 32752, 32753, 28322, 32755, AGC= 59, IDX= 499, 0.24, 2.904, 1.424,-2.838, 2.896, PHS= 0.111,-1.427, 0.505, RAW= 161.1, 9.2, CAL= 161.0, 9.8, ROT= 349.0, -9.8 ]Ygot valid direction response: 04:59:47.0438 LVL= 32752, 32753, 28322, 32755, AGC= 59, IDX= 499, 0.24, 2.904, 1.424,-2.838, 2.896, PHS= 0.111,-1.427, 0.505, RAW= 161.1, 9.2, CAL= 161.0, 9.8, ROT= 349.0, -9.8 eT#Rx 60: Read range and direction messages.m^direction in FSK: [0.967303,-0.188025,0.170209]mFpublishing direction and range infoyQ%? ^d2ȿrl?YAn )IS=i𧶿G?P3@l$>3@ %/>)@I%/KR,?e2?{/ }? 7?)$IDi%/checking for new query: numPingsReceived=60, elapsed TxPingTime=29.014538Bɢ ̼) Ri)@i!Xi𿉧e<+=I%z@I!ԙK@ @@@^A  checking for new query: numPingsReceived=60, elapsed TxPingTime=29.250898 E  E E %E "E 9;*E :VE 4ZE a @a @a @a @A ؟AI I O% >WH,j$?AB>B CB4IBpBB =BBBt;B9/EB} CB} CB}CB} =B} =C}74<ɰ<5`@51@5Ldٱ58, MAHRS rotation from veh to nav: [[-0.286538,0.944325,0.161698],[-0.958063,-0.283038,-0.044780],[0.003479,-0.167748,0.985824]]5HVҿ7??s Lҿul?xſ@ދ?i5`@I5b];5 CY}(By}IiMb@Mb@Mb@ 9m?~jt~jtx?Y?y;~@ )IAYbD%VD%k1yk%6=ٔȵQ->9"?Y"?=%Fy-W%E5w_E5>qQ 5.5u6˟?Q 9.5u)uBY?Q E:y&Q I@uh*DIu;iu;ul.5yBɮAEiAiE.r?AJiEќARiEќAjiEY@bE'p{#2@V$f| ` 0 @REQ%? ^d2ȿrl?ZiEDbiE%/jE3 i)E1d@ZEk{נJWۿJH7QN2 %*?2iE.:iE"iE1 ?*iEҶBiEBiE?iEiEqBiExAiEȏ@m addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503829 s, deltaX: -0.299999 m, approachRate: -0.595439 m/s, rangeRepo size: 4  Added new target pos. range: 19.602417 m, bearing: 244.134536 deg, lat: 36.779342 deg, lon: -121.859613 deg, deltaT: 0.503829 s, deltaX: -0.298689 m, approachRate: -0.592838 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 19.60 m.bhRhZh ProNav: ac range: 19.602417 m, nav range: 19.059002 m, bearing: 244.512692 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.288009 deg, new cmd heading: 252.382366 deg. BhHeadingCmd: 4.404903 target range: 19.602417 and range: 19.70 m.h@h*h"h hgfffBdddjd@33@%DDAT read: Rx Time:04:59:47.5436 -TRx dataTimestamp_ set to:1761541188.7769665PDAT read: Bearing 53.4, -12.5 (Local) 5~Local bearing/azimuth received: Bearing 53.4, -12.5 (Local) EDAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 DAT read: 04:59:47.5436 LVL= 32752, 32753, 27922, 32755, AGC= 58, IDX= 497,-0.24,-1.337,-2.771,-0.838,-1.270, PHS= 0.035,-1.456, 0.388, RAW= 160.4, 12.2, CAL= 160.7, 13.7, ROT= 349.3, -13.7 Ygot valid direction response: 04:59:47.5436 LVL= 32752, 32753, 27922, 32755, AGC= 58, IDX= 497,-0.24,-1.337,-2.771,-0.838,-1.270, PHS= 0.035,-1.456, 0.388, RAW= 160.4, 12.2, CAL= 160.7, 13.7, ROT= 349.3, -13.7 T#Rx 61: Read range and direction messages.Zd?^direction in FSK: [0.954657,-0.180384,0.236838]Fpublishing direction and range infoy!%r?Kǿ4ӋHP?Y%3A!!!%m !)%:I%)\=i%5^%>%$+3@%^ Z>%3@ %Gt>)%@I%Gt!!%yll`?!E?5? %}u4?)%-HYI%t;?i%Gt!!Uchecking for new query: numPingsReceived=61, elapsed TxPingTime=29.542475颕BɢJƼ) i)(顙i Vik𿉧 <AHRS rotation from veh to nav: [[-0.286544,0.944268,0.162020],[-0.958059,-0.283105,-0.044432],[0.003913,-0.167956,0.985787]]2HVҿq7? ?k@eҿ@̿p?ſ?i2Q@I2];2CYFByFIbDNVDNyV%V>=ٔZQ-Z>9Z ?Y^ ?=^Fy^[%E^둷E^>`Q 5f.5b^ß?Q 9f.5b)bBYhyhQ Ij@bv*DIb;ib<;b.5ylɮnApiiй1?AJinARinAjiv@bR=m2@qa Dk$I@Rr?Kǿ4ӋHP?Zit;?biGtjhOiȿ?iw,@=+@ Ϣ=Y@Y @Y@]/@Y)@IϢxO8?,F[X?D0? @?)IӇiϢchecking for new query: numPingsReceived=62, elapsed TxPingTime=30.047564)^A /W, a?A2|@2w@2ٱ2 ,>checking for new query: numPingsReceived=62, elapsed TxPingTime=30.258768 BAHRS rotation from veh to nav: [[-0.287401,0.944102,0.161467],[-0.957799,-0.284095,-0.043705],[0.004611,-0.167214,0.985910]]2H dҿ 6??K.ҿp`r?Egſ?i2|@I2!l];2CY\y\Ib<)bpB!B%IB%LBB!B!B!B%)t;B%C/EEm EmEm+Ei"Em/;*Em:VEm [4ZEiBEmʈ<2Emʈ<JEm<:Em9E"?YE"?=MFyM`%EMEM>QQ 5].5U?Q 9].5UG)UBYex?Q E:yQ I@U*DIU;iU;UR.5yɮAiaie R?AJie֘ARie֘Ajie@beUؼ2@UiC\@Re8!ɲ?DװrjƹI?ZieӇbieϢje҈n8KBw1Pwz{@ZeAYFԿB:&^U'?2ie:ie)"ieSHw?*ie6IBie6BiaieyaieBiemAieŋ@ addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504941 s, deltaX: -0.199999 m, approachRate: -0.396084 m/s, rangeRepo size: 4 M Added new target pos. range: 19.104824 m, bearing: 250.707576 deg, lat: 36.779342 deg, lon: -121.859614 deg, deltaT: 0.504941 s, deltaX: -0.199078 m, approachRate: -0.394259 m/s, posRepo size: 4 jhIUDNOT Ignoring new targets: 19.10 m.bhQRhQZhY ProNav: ac range: 19.104824 m, nav range: 18.553385 m, bearing: 244.484617 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.455567 deg, new cmd heading: 252.552846 deg. BhHeadingCmd: 4.407879 target range: 19.104824 and range: 19.20 m.hX @h*h"h h gf9fIfMiBdddjd@333@Zd{?颽ÁBɢ") Ыi)+Իi)Si 𿉧M=[2@=k]>=G3@ =5z>)=2@I=5z99=R?} ?}Z? ='3?)=3]I=t;i=5z99checking for new query: numPingsReceived=63, elapsed TxPingTime=30.534000@ @@/@ ^A )<A].AIaIqO?f`,)?A@&checking for new query: numPingsReceived=63, elapsed TxPingTime=30.762865>o@>j@><˻ٱ>ߧ+ FAHRS rotation from veh to nav: [[-0.288935,0.943628,0.161499],[-0.957329,-0.285881,-0.042355],[0.006202,-0.166845,0.985964]]>H}ҿ@42?`?oKҿ gy?@0[ſ?i>o@I>M`];>CYNByNIbDZVDZ0yb}ν%b==ٔfpQ-f>9j ?Yj ?=nFynd%ErctEr>xD zD Q 5.5z?Q 9.5z)zBYy%Q I%@z*DIz;izX;z.5y1ɮ57A1EE EEEE(EA"EE';*EE-:VEEc44ZEABEE<2EE<JEEL&<:EEM&<i1i5rPr?AJi5ARi5Aji5@b5Uv1@Xv I/3@R5?zhe"ƿ79K?Zi5t;bi55zj5@0{T0͢@Z5<ٿŮ]R?2i5:i5"i55?*i5X+Bi5@Bi5eϹ/?i1i1i5cAi5)@Թ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504253 s, deltaX: -0.400002 m, approachRate: -0.793256 m/s, rangeRepo size: 4  Added new target pos. range: 18.706806 m, bearing: 245.197610 deg, lat: 36.779344 deg, lon: -121.859614 deg, deltaT: 0.504253 s, deltaX: -0.398018 m, approachRate: -0.789322 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.71 m.bh RhZh1eGyj}9YrfA ProNav: ac range: 18.706806 m, nav range: 18.173653 m, bearing: 245.242737 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.552856 deg, new cmd heading: 252.640334 deg. BhHeadingCmd: 4.409406 target range: 18.706806 and range: 18.80 m.h@h*h"h hgfffdddjd2@Zd  :?MāBɢM)Q UþiQ)U[QQiUARi]￉D<2@[> Ϣv>)IϢvL2&?F%1?Y:W.? 3?)[IiϢvchecking for new query: numPingsReceived=64, elapsed TxPingTime=31.033541N@ @@@ I ^Ae <Aq zAu hAA؟AIIO>g,j?A2h@2c@2ٱ2)t+8 >AHRS rotation from veh to nav: [[-0.289764,0.943376,0.161492],[-0.957073,-0.286828,-0.041726],[0.006957,-0.166650,0.985992]]2H@}ҿ"0??`Wd[ҿ)]~|?Tſ@>?i2h@I2%g];2CYFByJI^checking for new query: numPingsReceived=64, elapsed TxPingTime=31.266811iUMb@Mb@Mb@QQQQ Q9U-?ˡEB1B5IB5.BB5 =B1B5DB5 t;B53/EEM EMEM)EI"EM;*EM:VEMFA4ZEIBEMm<2EMm<JEM <:EM <bDVDkyu;%u=ٔu-Q-}>9}"?Y}"?=}Fy}j%EкE>Q 5.5?Q 9.5 )BY?Q E:yQ I@*DI:ie:.5yBɮ"AiiC?AJiRiji@b˻u1@|2-| DM]G@RvP?!ƿiC?ZibiϢvj+_P1U0hyM@Z~ٿ=l9Rn]?2i:i"iV5{(?*ifBi(BiiҶi(BiAi@] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504017 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 18.706753 m, bearing: 245.107939 deg, lat: 36.779344 deg, lon: -121.859614 deg, deltaT: 0.504017 s, deltaX: -0.000053 m, approachRate: -0.000106 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 18.71 m.bhRhZh ProNav: ac range: 18.706753 m, nav range: 17.875711 m, bearing: 245.219421 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.640337 deg, new cmd heading: 252.738138 deg. BhHeadingCmd: 4.411113 target range: 18.706753 and range: 18.80 m.h'@h*h"h hgfffSBd!d!d!jd!Zd%@.?uŁBɢuW)q } ľiy)}>_yiPi￉|_<[2@Q>$+3@  j>)@@I jgr?90?uN ? I@3?)QI9i j- checking for new query: numPingsReceived=65, elapsed TxPingTime=31.543655 ^AM 7<) AyIIO>3o,ÿ?AYzByzI ||==bD VD y=d%=:=ٔEQ-E>9AYA=MFyMn%EMEM>QQ 5].5U)?Q 9].5U)UBYayaQ Ie@U*DIU=:iU:U".5ymB}checking for new query: numPingsReceived=65, elapsed TxPingTime=31.770943ɮmA}Eiqiu?AJiuDARiuDAjiu@1buVfw1@߼Bx 15b@Ru/?/Nƿ+#?Ziu9biu jju$"!9`0y@Zuoq ڿf 3o8?2iu:iu"iue (?*iurBiuBiqiufiqiuAiuR@E EE+E"E&;*EE:VE [4ZEBE<2E<JE<:E< addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.506629 s, deltaX: -0.299999 m, approachRate: -0.592148 m/s, rangeRepo size: 4 5 Added new target pos. range: 18.408241 m, bearing: 245.084926 deg, lat: 36.779344 deg, lon: -121.859615 deg, deltaT: 0.506629 s, deltaX: -0.298512 m, approachRate: -0.589211 m/s, posRepo size: 4 jh15DNOT Ignoring new targets: 18.41 m.bh1Rh9Zh9m ProNav: ac range: 18.408241 m, nav range: 17.699987 m, bearing: 245.292802 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.738146 deg, new cmd heading: 252.824950 deg. BhiuHeadingCmd: 4.412628 target range: 18.408241 and range: 18.50 m.hu?4@hq*hq"hy hygyfyffdddjd2@Zdo?uƁBɢu)y }f˾i) i&Oion￉(w< - P3@- %K>- ,4@ - d>)- 6@I- d) ) - ۑt?t|(f?ZpLAb? - y7?)- lLI- Ii- d) ) % checking for new query: numPingsReceived=66, elapsed TxPingTime=32.055058^A <Ա AA IQ Ia Om >v,?A ɰ JVS@J'N@JrٱJ0+ nAHRS rotation from veh to nav: [[-0.292258,0.942570,0.161702],[-0.956298,-0.289614,-0.040223],[0.008918,-0.166391,0.986019]]JHYҿ)?લ?@ҿ%`C?OLſx?iJVS@IJW];JCYByIqbDVDkyu<%u*=ٔ}Q->9Y=Fys%E E>Q 5.5??Q 9.5)BYyQ I@*DI;i;&.5yɮAiAiE/?AJiEARiEAjiEC@bER୙i1@7ܹ %\ #@REӿ?+']2uȿ@|[?echecking for new query: numPingsReceived=66, elapsed TxPingTime=32.274891ZiEIbiEdjE1j~Q5" N/?"@ZEbI6ۿuR?2iE|:iE"iE ?*iEZBiEoBiEV5{(?iEZiEBiEAiE҈@  addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.499897 s, deltaX: -0.200001 m, approachRate: -0.400084 m/s, rangeRepo size: 4 M Added new target pos. range: 18.209232 m, bearing: 243.979617 deg, lat: 36.779344 deg, lon: -121.859615 deg, deltaT: 0.499897 s, deltaX: -0.199009 m, approachRate: -0.398100 m/s, posRepo size: 4 jhI}DNOT Ignoring new targets: 18.21 m.bhyRhyZhy ProNav: ac range: 18.209232 m, nav range: 17.443504 m, bearing: 244.976452 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.824944 deg, new cmd heading: 252.915417 deg. BhE EE)E"E2;*En:VEFA4ZEa@a@a@a@ԩB>BBIBBB =BBBs;B*/EHeadingCmd: 4.414207 target range: 18.209232 and range: 18.30 m.h/A@h*h"h hgfffdddjd L2@Zd `?}ǁBɢ};) ľi)!顁i.Mi:￉I}<dB q׍k?0;=ɿ'$?Y 3A    k  ) I 0=i  A> I4@ I> J4@  z0a>) Q@I z0a   u[?S|v?.[?  9?) II 4QOi z0a  e checking for new query: numPingsReceived=67, elapsed TxPingTime=32.569187A I I O>},^?AZE@Z@@ZtL!ٱZO* fAHRS rotation from veh to nav: [[-0.293839,0.942181,0.161099],[-0.955804,-0.291356,-0.039369],[0.009845,-0.165547,0.986153]]ZHCҿ`Y&?@?ҿ!( y)?@0ſ@?iZE@IZa];ZCYUByUIi-Mb@Mb@Mb@)))) )9-Q?S㥛9yYy=}Fy}x%E}^_E}>Q 5.5덟?Q 9.5Z!)BYT?Q E:yQ I@*DI:iH:,+.5yBɮAEii@?AJi}ARi}AjiA@b321@4M B@Rq׍k?0;=ɿ'$?Zi4QObiz0aj$uت.勫mO@ZX"ΏۿqH뿣s?2iv:is"i?*iizBi(Bie (?ifii$Aiz@U addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504113 s, deltaX: -0.400000 m, approachRate: -0.793472 m/s, rangeRepo size: 4  Added new target pos. range: 17.811140 m, bearing: 243.536822 deg, lat: 36.779344 deg, lon: -121.859615 deg, deltaT: 0.504113 s, deltaX: -0.398092 m, approachRate: -0.789689 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.81 m.bhRhZhchecking for new query: numPingsReceived=67, elapsed TxPingTime=32.780228 ProNav: ac range: 17.811140 m, nav range: 17.143038 m, bearing: 244.853255 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.915430 deg, new cmd heading: 253.006200 deg. Bh-HeadingCmd: 4.415791 target range: 17.811140 and range: 17.90 m.h-)N@h)*h)"h) h)g1f1f9f=MBdAdAdAjdE`f1@ZdM@+?E EE(E"E%;*EE:VEc44ZEBE~} 4@y } I4@ } b>)} @I} by y } XY?(uc[?BK(? } '8?)} JI} Ki} by y  checking for new query: numPingsReceived=68, elapsed TxPingTime=33.047615AAIIIYOm> ,?AF8@F3@F.ٱFu)  AHRS rotation from veh to nav: [[-0.295358,0.941810,0.160493],[-0.955327,-0.293020,-0.038598],[0.010676,-0.164724,0.986282]]FH$ҿ`N#?` ? ҿã``݅?`ſ@?iF8@IFr0];DY=By=IIE<)ER=IMAbDUVDU!ye =%eJ=ٔeQ-m>ԙ9Y=Fy|%Eo}E>Q 5.5?Q 9.5')BYyQ I@*DI:i:..5yɮ|A)ii?AJiARiAji @b϶C0@7 k9@R8?tg{^ȿF#?ZiKbibj! 힛P.L!@ZI#topۿ뿭6?2ir:iH"iJ ?*iIgBiBiJ ?iioBi-Ai|-@  addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503930 s, deltaX: -0.299999 m, approachRate: -0.595319 m/s, rangeRepo size: 4  Added new target pos. range: 17.512630 m, bearing: 243.647816 deg, lat: 36.779341 deg, lon: -121.859615 deg, deltaT: 0.503930 s, deltaX: -0.298510 m, approachRate: -0.592363 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 17.51 m.bhRhZhԹ ProNav: ac range: 17.512630 m, nav range: 17.022415 m, bearing: 243.825192 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 253.006189 deg, new cmd heading: 253.092801 deg. BhHeadingCmd: 4.417303 target range: 17.512630 and range: 17.60 m.hZ@h*h "h  h g f ffdd1d9jd=1@Zd=Y?checking for new query: numPingsReceived=68, elapsed TxPingTime=33.284443ɁBɢ) `¾i) iJi@c<ݔLBBIBBBBBBt;B} 4@} %K>} D5@ } d>)} M@I} dy y } Z?Kpơ? C? } #;?)} nKI} @Xi} dy y  checking for new query: numPingsReceived=69, elapsed TxPingTime=33.555519AAYIaIyO>*, 6?ATV@*)@#@DٱU' AHRS rotation from veh to nav: [[-0.297167,0.941517,0.158861],[-0.954750,-0.295097,-0.037024],[0.012021,-0.162674,0.986607]]H`ӿ ?U?O@ҿW? ĿH?i*)@I6];YByIimMb@Mb@Mb@iiii i9m-?y&1/$?Ym5?ym`弙m9Y=Fy%EeE>Q 5.5j}?Q 9.5/)BYv?Q E:yQ I@ +DI;i;:3.5yɮAiyi}3?AJi}ARi}Aji}e@b}R+}<90@10 A(@R}|KX?v7*ʿ@|[?Zi}@Xbi}dj}U+4-t}~@Z}2ܿvkG?2i}i:i}"i}y?*i}+-Bi} Bi} ?i}izi}(Bi}܄Ai}@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504925 s, deltaX: -0.500000 m, approachRate: -0.990246 m/s, rangeRepo size: 4 - Added new target pos. range: 17.015039 m, bearing: 242.824400 deg, lat: 36.779341 deg, lon: -121.859614 deg, deltaT: 0.504925 s, deltaX: -0.497591 m, approachRate: -0.985475 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 17.02 m.bh1Rh1Zh1E ProNav: ac range: 17.015039 m, nav range: 16.607861 m, bearing: 243.457353 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 253.092796 deg, new cmd heading: 253.184890 deg. BhIMHeadingCmd: 4.418910 target range: 17.015039 and range: 17.10 m.hMg@hQ*hQ"hQ hQgQfQfYf]~BdYdadajde1@Zde@?颕ʁBɢ5d) 5i)顡iIiE<3A,ʨP?AY #By IbDVDy-ą=%-r=ٔ5Q-5?91Y9==Fy=%E=E=?AQ 5M.5Ew?Q 9M.5E 5)EBYQyQQ IU@E+DIE;iEz ;Eq6.5y]Bɮ]4Ae E}B*** querying acoustic contact ***iy iyjhDDAT read: Rx Time:04:59:52.0419 TRx dataTimestamp_ set to:1761541193.312869PDAT read: Bearing 52.1, -9.2 (Local) ~Local bearing/azimuth received: Bearing 52.1, -9.2 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.5 DAT read: 04:59:52.0419 LVL= 32752, 32753, 26242, 32755, AGC= 55, IDX= 512,-0.06, 2.095, 0.455, 2.532, 2.065, PHS= 0.133,-1.564, 0.423, RAW= 157.8, 10.9, CAL= 157.8, 11.9, ROT= 352.2, -11.9 Ygot valid direction response: 04:59:52.0419 LVL= 32752, 32753, 26242, 32755, AGC= 55, IDX= 512,-0.06, 2.095, 0.455, 2.532, 2.065, PHS= 0.133,-1.564, 0.423, RAW= 157.8, 10.9, CAL= 157.8, 11.9, ROT= 352.2, -11.9 T#Rx 70: Read range and direction messages.^direction in FSK: [0.969456,-0.132799,0.206204]Fpublishing direction and range infoy$?ZFa5d?YAf )7I'1>i'1ȿu>C0@B>C0@ ȭT>)@IȭT DNOT Ignoring new targets: 17.02 m.bh RhZh% ProNav: ac range: 17.015039 m, nav range: 16.400978 m, bearing: 243.368485 deg, approach rate: -0.621077 m/s, LOS rate: -0.270151 deg/s, cmd heading: 253.184895 deg, new cmd heading: 252.914933 deg. Bh%f9-HeadingCmd: 4.414198 target range: 17.015039 and range: 17.10 m.QxjG?")??NOX? O(?)AIg iȭT=checking for new query: numPingsReceived=70, elapsed TxPingTime=34.059547h=A@h9*h9"hA hAgAfAfIfIdIdIdQjdU1@ZdU翗?yɢ+ ) _i)E}AAiE׮HiM:￉M:U checking for new query: numPingsReceived=70, elapsed TxPingTime=34.291943Y E  E E $E "E 1;*E g:VE 4ZE a @a @a @a @Be >Be CBe IBe BBa Ba Ba Be t;Be 9/EBE CBE CBABE =BE =CE4,qj?A- @-@-"Pٱ- E% AHRS rotation from veh to nav: [[-0.298226,0.941474,0.157122],[-0.954411,-0.296322,-0.035960],[0.012703,-0.160683,0.986924]]-H!ӿ ?`?ҿ^i*?FĿ ?i- @I-\;];-CY $By I =iMb@Mb@Mb@ 9rh|? ףp= ~jt?Y?yQ8< A)YAbDVDk2yx;%3=ٔúQ->9Y=Fy%EE>Q 5.5o?Q 9.5;)BYs?Q E:yXQ I@,+DI7 ;i ;n:.5yBɮAEIii T?AJiRARiRAji߉@boڞf0@=ڏdOہ @R$?ZFa5d?Zig biȭTj`EZG 58.鶀 @Z1xw}nؿSyP[?2iq:i"iN?*iZzRBi*BiiiBiAiއ@  addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503198 s, deltaX: -0.100000 m, approachRate: -0.198730 m/s, rangeRepo size: 4  Added new target pos. range: 16.915470 m, bearing: 246.861524 deg, lat: 36.779341 deg, lon: -121.859614 deg, deltaT: 0.503198 s, deltaX: -0.099569 m, approachRate: -0.197873 m/s, posRepo size: 4 jh!%DNOT Ignoring new targets: 16.92 m.bh!RhMZhI] ProNav: ac range: 16.915470 m, nav range: 16.123928 m, bearing: 243.274270 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 252.914938 deg, new cmd heading: 252.525897 deg. BhYeHeadingCmd: 4.407408 target range: 16.915470 and range: 17.00 m.he} @ha*ha"ha hgfffBdddjdZd?DDAT read: Rx Time:04:59:52.5416 TRx dataTimestamp_ set to:1761541193.816856PDAT read: Bearing 51.9, -13.5 (Local) ~Local bearing/azimuth received: Bearing 51.9, -13.5 (Local) DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 DAT read: 04:59:52.5416 LVL= 32752, 32753, 26498, 32755, AGC= 55, IDX= 509,-0.06,-1.510,-2.915,-0.950,-1.446, PHS= 0.038,-1.424, 0.452, RAW= 162.1, 10.9, CAL= 162.2, 12.2, ROT= 347.8, -12.2 Ygot valid direction response: 04:59:52.5416 LVL= 32752, 32753, 26498, 32755, AGC= 55, IDX= 509,-0.06,-1.510,-2.915,-0.950,-1.446, PHS= 0.038,-1.424, 0.452, RAW= 162.1, 10.9, CAL= 162.2, 12.2, ROT= 347.8, -12.2 T#Rx 71: Read range and direction messages. ^direction in FSK: [0.955342,-0.206553,0.211325] Fpublishing direction and range infoy](?zc@Ppʿ\ ?YAg )I=iEl>D5@-5@ ^ Z>)?@I^ Zw`M?Y)+?񈫩PO? A6,1?Aɰ2"@2@2Rٱ2$ :AHRS rotation from veh to nav: [[-0.297885,0.941766,0.156017],[-0.954515,-0.296055,-0.035387],[0.012863,-0.159461,0.987120]]2Hӿ"?Z?c ҿ5@(X?;iĿ}?i2"@I2%];2CQY2ByI p<4<bDVD1yr=%'=ٔQ- >9 Y = Fy %Es?:E>Q 5U.5f?Q 9U.5+C)ǡBYYy]NQ I]@?+DI .5yiɮmAiii^Gt?AJiWARiWAjit@bL1̘^/@ 1! m @R](?zc@Ppʿ\ ?Zit Zbi^ ZjDT*mL^'.,n_@Z@g|ܿ5DvV¼>?2iqa:ic"i?*iZǵBiBi?iIgi Bi|}Ai@ addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503987 s, deltaX: -0.500000 m, approachRate: -0.992089 m/s, rangeRepo size: 4  Added new target pos. range: 16.417957 m, bearing: 242.532738 deg, lat: 36.779340 deg, lon: -121.859614 deg, deltaT: 0.503987 s, deltaX: -0.497513 m, approachRate: -0.987154 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.42 m.bhRhZh ProNav: ac range: 16.417957 m, nav range: 15.842915 m, bearing: 242.982223 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 252.525891 deg, new cmd heading: 252.140771 deg. BhHeadingCmd: 4.400687 target range: 16.417957 and range: 16.50 m.hmҌ@h*h"h hgfffdddjd0@Zdd?)ɢ5MR)1 5i1)=.# 99i=FiE𿉧Edm5@mf;>m5@^A'< m4QO>)mr@Im4QOiim& ?d]l?\"uL? mi??)m'o;Imfim4QOii}checking for new query: numPingsReceived=72, elapsed TxPingTime=35.116566ԩI I O > ',T?AiߩI߭Achecking for new query: numPingsReceived=72, elapsed TxPingTime=35.300243%@q @Uٱf# AHRS rotation from veh to nav: [[-0.297576,0.941880,0.155916],[-0.954609,-0.295785,-0.035111],[0.013048,-0.159287,0.987146]]H@{ ӿ#?`?`($ҿ ?cĿ`?i%@I;];Ci!I!!I)i-tUA ))))1 5r@11119I9)9i9)9I9aa aiiiiiiiim(jA)u$ƾ u7FIqYqE EE+E"E2;*E-:VE [4ZEa@a@a@a@ԡAA@AB>BBIB)BB =BBDBCt;BJ/EY@ByIiMb@Mb@Mb@ 99!Y!=%Fy%%E%O:E->)Q 5].5-]?Q 9].5-H)-ҡBY]?Q E]:y]@Q I]@-N+DI- ;i-;-BB.5yiɮm;Aiii9?AJiARiAji@b>)/@x BZ]@ @R%?w'4 ˿o?Zifbi4QOj 70k2+w] @Zmh{\ݿt0SjVu?2i^:i"i 眊?*ilZBiEBiy?iiBiyAi@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.505118 s, deltaX: -0.100000 m, approachRate: -0.197974 m/s, rangeRepo size: 4  Added new target pos. range: 16.318333 m, bearing: 241.752046 deg, lat: 36.779340 deg, lon: -121.859614 deg, deltaT: 0.505118 s, deltaX: -0.099625 m, approachRate: -0.197230 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 16.32 m.bhRhZh  ProNav: ac range: 16.318333 m, nav range: 15.617330 m, bearing: 242.860839 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 252.140777 deg, new cmd heading: 251.762467 deg. Bh HeadingCmd: 4.394084 target range: 16.318333 and range: 16.40 m.hV@h*h"h hgfff%BdAdAdAjdM`ff0@ZdM@~?频ɢ"O) i)u$项i Ei񿉧Ц<4e 8/6@a e 8/6@ a )e پ@Ia a a e 1?L?4RwϗA? e @?)e ;Ie 4 jia a a  checking for new query: numPingsReceived=73, elapsed TxPingTime=35.594162! ^A ;<I!I1O=>,?AR9,@R '@R2UٱRl# nAHRS rotation from veh to nav: [[-0.296807,0.942149,0.155757],[-0.954848,-0.295033,-0.034930],[0.013044,-0.159091,0.987178]]RH@ҿ&? ?`ҿP⡿?]Ŀ?iR9,@IR"];RCYuQByuIAbDVDJyU=%R=ٔ!7Q->9Y=Fy%E;E>Q 5.5;V?Q 9.5YN)ݡBY!y%&Q I%@]+DI;i;E.5y1ɮ=A9iiʴ?AJi"}Achecking for new query: numPingsReceived=73, elapsed TxPingTime=35.804222Ri"}Aji@bǛ߅Q0.@5[ z"s @Rdb؇? GZ:k̿o?Zi4 jbij5M -@* +:M+@Z+rݿ /GQū?2iW:ih"i?*iZ^BiBi?iZǵiEBivAid@- addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.502895 s, deltaX: -0.500000 m, approachRate: -0.994243 m/s, rangeRepo size: 4 = Added new target pos. range: 15.820822 m, bearing: 241.595881 deg, lat: 36.779339 deg, lon: -121.859614 deg, deltaT: 0.502895 s, deltaX: -0.497511 m, approachRate: -0.989294 m/s, posRepo size: 4 jh9EDNOT Ignoring new targets: 15.82 m.bhARhaZhau ProNav: ac range: 15.820822 m, nav range: 15.416745 m, bearing: 242.421975 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 251.762467 deg, new cmd heading: 251.478829 deg. Bhq}HeadingCmd: 4.389133 target range: 15.820822 and range: 15.90 m.h}s@hy*hE EE(E"E';*EVEc44ZEBE DDAT read: Rx Time:04:59:54.0411  TRx dataTimestamp_ set to:1761541195.328680 PDAT read: Bearing 50.8, -14.7 (Local)  ~Local bearing/azimuth received: Bearing 50.8, -14.7 (Local) ԙ  DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.5  DAT read: 04:59:54.0411 LVL= 32752, 32753, 25442, 32755, AGC= 53, IDX= 503, 0.07,-1.509,-2.906,-0.885,-1.443, PHS= 0.036,-1.419, 0.513, RAW= 163.7, 10.0, CAL= 163.7, 10.9, ROT= 346.3, -10.9  Ygot valid direction response: 04:59:54.0411 LVL= 32752, 32753, 25442, 32755, AGC= 53, IDX= 503, 0.07,-1.509,-2.906,-0.885,-1.443, PHS= 0.036,-1.419, 0.513, RAW= 163.7, 10.0, CAL= 163.7, 10.9, ROT= 346.3, -10.9  T#Rx 74: Read range and direction messages. ^direction in FSK: [0.954021,-0.232565,0.189095] Fpublishing direction and range infoy  ,^i8W?$0q{ͿoG4?Y yA bc ) 5I t=i ˡ S? 6@ ¸2> 6@ B>) i@I B ^? u?)_/*>? JC?) 2I Tti B  checking for new query: numPingsReceived=74, elapsed TxPingTime=36.071400,?A@6R5@6#0@6JSٱ6" >AHRS rotation from veh to nav: [[-0.295747,0.942627,0.154879],[-0.955179,-0.293994,-0.034637],[0.012883,-0.158181,0.987326]]6H`ҿ*? ?Ԑҿ `yb?D?Ŀ-?i6R5@I6d];6CY=ZBy=IbDMVDMyy%7=%N=ٔ<9Q->9Y=Fy%E7;E>Q 5%.5>N?Q 9%.5T)BY!y%Q I%@l+DIF:i:CI.5y5BɮEAM(Eii ?AJi[xARi[xAjit@b-@/ RKI{@R,^i8W?$0q{ͿoG4?ZiTtbiBj*OK^*OIHG @Zq6޿w7.#n+-?2iR:i}"i؟䜊?*i-֮BiBi?ii*BitAi@ addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503811 s, deltaX: -0.299999 m, approachRate: -0.595460 m/s, rangeRepo size: 4   Added new target pos. range: 15.522317 m, bearing: 240.936411 deg, lat: 36.779337 deg, lon: -121.859614 deg, deltaT: 0.503811 s, deltaX: -0.298505 m, approachRate: -0.592494 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 15.52 m.bhRhZh- ProNav: ac range: 15.522317 m, nav range: 15.254801 m, bearing: 241.840439 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 251.478823 deg, new cmd heading: 251.156731 deg. Bh)UHeadingCmd: 4.383512 target range: 15.522317 and range: 15.60 m.hUE@hQ*hQ"hQ hQgQfYfafadddjd@33/@Zd m?ɢ%hռ)I UbiQ)]*YaieMDi}(󿉧H<ԩ%=IE@II))-fAchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.308094BBBIBGBB =BBB\t;BU/EE EE'E"E[";*E:VE'4ZEBEz<2Ez<JEG<:EH<@ @@-0@^A < IA IQ Oe >,ܠ?A6XD@6)?@6HNٱ6# >AHRS rotation from veh to nav: [[-0.293996,0.943028,0.155774],[-0.955723,-0.292192,-0.034878],[0.012624,-0.159131,0.987177]]6H ҿ`H-?c?@IGҿ@ۡډ? d^Ŀ?i6XD@I6];6CYJfByJ'IiMb@Mb@Mb@ 9/$?MbX{Gz?Y ?yʽ#=SA@ A)`AYzAbD5VD5kEDDAT read: Rx Time:04:59:54.5408 MTRx dataTimestamp_ set to:1761541195.832639UPDAT read: Bearing 51.1, -15.1 (Local) U~Local bearing/azimuth received: Bearing 51.1, -15.1 (Local) eDAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.8 DAT read: 04:59:54.5408 LVL= 32752, 32753, 23314, 32755, AGC= 53, IDX= 500, 0.15,-2.404, 2.482,-1.764,-2.326, PHS= 0.023,-1.430, 0.518, RAW= 164.1, 10.2, CAL= 164.1, 11.2, ROT= 345.9, -11.2 Ygot valid direction response: 04:59:54.5408 LVL= 32752, 32753, 23314, 32755, AGC= 53, IDX= 500, 0.15,-2.404, 2.482,-1.764,-2.326, PHS= 0.023,-1.430, 0.518, RAW= 164.1, 10.2, CAL= 164.1, 11.2, ROT= 345.9, -11.2 T#Rx 75: Read range and direction messages.^direction in FSK: [0.951401,-0.238976,0.194234]Fpublishing direction and range infoyIMD{Jq?|οmVѫ?YM3sAIIIM[ I)IIMjM-M7@ M+H>)M/@IM+HIIMw3ҙ?HJt?Ĕ? MxBE?)Mr5IMt{iM+HIIchecking for new query: numPingsReceived=75, elapsed TxPingTime=36.574909y^=%F=ٔ3$:Q->9Y=Fy%E5;E>Q 5.5E?Q 9.55Y)BY?Q E:y<Q I@z+DIMAE?9checking for new query: numPingsReceived=75, elapsed TxPingTime=36.810894I1 IA OU >E  E E &E "E 8;*E :VE 4ZE a @a @a @a @Y , ?AYgBy)IbDVDfy ;%I=ٔQ->9Y=Fy%EE>Q 5.5t=?Q 9.5^)BYyQ I@+DI9:i:HP.5yɮA%B*** querying acoustic contact ***i! i!)jh1=DNOT Ignoring new targets: 15.12 m.bh9Rh=`ϺZhE`ϺU ProNav: ac range: 15.124274 m, nav range: 14.692493 m, bearing: 241.189363 deg, approach rate: -0.600725 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.820584 deg, new cmd heading: 250.718906 deg. BhUx]HeadingCmd: 4.375870 target range: 15.124274 and range: 15.20 m.h]!@hY*hY"hY hYgYfafafadadidijdiZdu(]?Yɢ]\(̼)Y ]JJiY)e=/idCi" ?< B=I !@I UDDAT read: Rx Time:04:59:55.0407 UTRx dataTimestamp_ set to:1761541196.337347]PDAT read: Bearing 51.3, -15.5 (Local) e~Local bearing/azimuth received: Bearing 51.3, -15.5 (Local) uDAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5 DAT read: 04:59:55.0407 LVL= 32752, 32753, 23826, 32755, AGC= 53, IDX= 499, 0.28,-1.141,-2.534,-0.488,-1.053, PHS= 0.015,-1.436, 0.521, RAW= 164.4, 10.3, CAL= 164.4, 11.3, ROT= 345.6, -11.3 Ygot valid direction response: 04:59:55.0407 LVL= 32752, 32753, 23826, 32755, AGC= 53, IDX= 499, 0.28,-1.141,-2.534,-0.488,-1.053, PHS= 0.015,-1.436, 0.521, RAW= 164.4, 10.3, CAL= 164.4, 11.3, ROT= 345.6, -11.3 T#Rx 76: Read range and direction messages.^direction in FSK: [0.949807,-0.243869,0.195946]Fpublishing direction and range infoyQU28H]d?H/p7Ͽ>x_?YUpAQQQU] Q)QIUuU7@ UI>)U@IUIQQUv ^}?Z ?8? UzF?)U+67IUiUIQQMchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.095497Yy@y @y@}p4@y@@ԁ^A C"=Թ I I O > checking for new query: numPingsReceived=76, elapsed TxPingTime=37.3148046$,W&?AB4B4B6'IB6fBB6 =B4B4B6lt;B6]/EEB EBEB'E@"EBC#;*EB:VEB'4ZE@BEB{9Y= Fy%E3<E>1Q 5U.554?Q 9].55+d)5BYe` ?Q Ee:yeQ Im@5+DI5;i5;5+T.5yɮ\Aii?AJinARinAjih@b{,Z,@ OS {Uye@R28H]d?H/p7Ͽ>x_?ZibiIj1%^Bx>;)/V3) @ZǛPi޿W4т B-1dC?2iI:i"i}|zޜ?*iBiBi 眊?iiBifAi@ addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504708 s, deltaX: -0.200000 m, approachRate: -0.396268 m/s, rangeRepo size: 4  Added new target pos. range: 14.925263 m, bearing: 240.659159 deg, lat: 36.779337 deg, lon: -121.859611 deg, deltaT: 0.504708 s, deltaX: -0.199011 m, approachRate: -0.394309 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 14.93 m.bhRhZh ProNav: ac range: 14.925263 m, nav range: 14.423224 m, bearing: 241.014616 deg, approach rate: 0.000000 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.718896 deg, new cmd heading: 250.587547 deg. Bh%HeadingCmd: 4.373578 target range: 14.925263 and range: 15.00 m.h%Y@h!*h!"h! h)g)f)f)f5Bd1d1d1jd5.@Zd=@K?9ɢ=!ҹ)A E&?iA)Ef=2AAiE`BiMnMi>mDDAT read: Rx Time:04:59:55.5405 mTRx dataTimestamp_ set to:1761541196.841804PDAT read: Bearing 50.7, -15.6 (Local) ~Local bearing/azimuth received: Bearing 50.7, -15.6 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.5 DAT read: 04:59:55.5405 LVL= 32752, 32753, 24050, 32755, AGC= 53, IDX= 497,-0.49, 2.473, 1.095, 3.135, 2.552, PHS= 0.023,-1.412, 0.539, RAW= 164.8, 9.8, CAL= 164.7, 10.6, ROT= 345.3, -10.6 Ygot valid direction response: 04:59:55.5405 LVL= 32752, 32753, 24050, 32755, AGC= 53, IDX= 497,-0.49, 2.473, 1.095, 3.135, 2.552, PHS= 0.023,-1.412, 0.539, RAW= 164.8, 9.8, CAL= 164.7, 10.6, ROT= 345.3, -10.6 T#Rx 77: Read range and direction messages.^direction in FSK: [0.950762,-0.249428,0.183951]Fpublishing direction and range infoyim;Ll?3~?Ͽ =η?Ym3kAiiN@ @@4@im] i)iImjm7@ mq=>)m@Imq=iim@kb?a7?vJ? m$H?)m .ImJ\imq=iichecking for new query: numPingsReceived=77, elapsed TxPingTime=37.606907 ^A &t@=Iy I O >/,@?A2k@2f@2-Cٱ21) :AHRS rotation from veh to nav: [[-0.289401,0.943597,0.160847],[-0.957134,-0.287359,-0.036334],[0.011936,-0.164467,0.986310]]2Hҿ1? ?֠dҿ@]q? C ſڏ?i2k@I2];0YBuByB;IbDNVDN1yV^J=%Vp=ٔVk/9Q-V?9XYX=ZFyZ%E^;E^?`Q 5f.5b"-?Q 9f.5bih)bBYdyfQ If@b+DIb:ib:bW.5ynBɮnAn'EiQiU5?AJiUjARiUjAjiUC=@bU-t(+@k/ qݓ_@RU;Ll?3~?Ͽ =η?ZiUJ\biUq=jU E(#:(|2Y[ @ZU2m޿1`9[ +0dL?2iUE:iU"iU]ܜ?*iUBiULBiU؟䜊?iU-֮iUBiUwcAiUs}@ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504457 s, deltaX: -0.300000 m, approachRate: -0.594699 m/s, rangeRepo size: 4 5 Added new target pos. range: 14.626759 m, bearing: 240.354542 deg, lat: 36.779336 deg, lon: -121.859611 deg, deltaT: 0.504457 s, deltaX: -0.298505 m, approachRate: -0.591735 m/s, posRepo size: 4 jh1=DNOT Ignoring new targets: 14.63 m.bh9Rh9ZhAuchecking for new query: numPingsReceived=77, elapsed TxPingTime=37.819057} ProNav: ac range: 14.626759 m, nav range: 14.216590 m, bearing: 240.803484 deg, approach rate: 0.000000 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.587538 deg, new cmd heading: 250.499052 deg. BhyHeadingCmd: 4.372033 target range: 14.626759 and range: 14.70 m.h@hԩ*h"h hgfffdddjd`ff-@Zd@D?EM EMEIEI"EM+$;*EM*:VEIZEIaU@aU@a]@a]@颭́BɢjǼ) .i)4顱iaAio<ͣ`=I@IeP@i @i@m/@q^A}dO=AgAzAII Om> - DDAT read: Rx Time:04:59:56.0404 - TRx dataTimestamp_ set to:1761541197.3446965 PDAT read: Bearing 55.7, -14.1 (Local) = ~Local bearing/azimuth received: Bearing 55.7, -14.1 (Local) M DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 m DAT read: 04:59:56.0404 LVL= 32752, 32753, 24850, 32755, AGC= 54, IDX= 512,-0.33,-0.577,-2.041, 0.000,-0.453, PHS=-0.022,-1.544, 0.409, RAW= 162.1, 13.0, CAL= 162.6, 15.0, ROT= 347.4, -15.0 u Ygot valid direction response: 04:59:56.0404 LVL= 32752, 32753, 24850, 32755, AGC= 54, IDX= 512,-0.33,-0.577,-2.041, 0.000,-0.453, PHS=-0.022,-1.544, 0.409, RAW= 162.1, 13.0, CAL= 162.6, 15.0, ROT= 347.4, -15.0 } T#Rx 78: Read range and direction messages.} ^direction in FSK: [0.942663,-0.210710,0.258819] Fpublishing direction and range infoy) - }L*?}PwʿV!}?Y- iA) ) ) - a ) )- 6I- X9i- ˡſ- sh>- D5@- Vh>- >5@ - >)- W@I- ) ) - ]!?\?3P? - 69Y=Fy%EE=>AQ 5M.5EU$?Q 9M.5Em)E&BYIyQQ IU@E+DIEy:iE[:EZ.5yYɮ]&AYiaieV?AJieohARieohAjieӇ@bet|c+@})ȥV@Re}L*?}PwʿV!}?Ziet0abie jez6YxA(c]@Ze8(ۿ ^qIB-CB-@IB-zBB)9B)B)B-Rt;B-O/EbEƀ'4jE*4rE 0Ee EeEaEa"Ee);*Ee:VEaZEaBEeN<,nt?A YboByf3IvDDAT read: Rx Time:04:59:56.5401 vTRx dataTimestamp_ set to:1761541197.848805zPDAT read: Bearing 50.4, -16.3 (Local) ~~Local bearing/azimuth received: Bearing 50.4, -16.3 (Local)  DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 -DAT read: 04:59:56.5401 LVL= 32752, 32753, 23826, 32755, AGC= 56, IDX= 509,-0.19,-0.932,-2.312,-0.231,-0.843, PHS= 0.014,-1.424, 0.568, RAW= 165.6, 9.5, CAL= 165.5, 10.3, ROT= 344.5, -10.3 =Ygot valid direction response: 04:59:56.5401 LVL= 32752, 32753, 23826, 32755, AGC= 56, IDX= 509,-0.19,-0.932,-2.312,-0.231,-0.843, PHS= 0.014,-1.424, 0.568, RAW= 165.6, 9.5, CAL= 165.5, 10.3, ROT= 344.5, -10.3 =T#Rx 79: Read range and direction messages.E^direction in FSK: [0.948102,-0.262932,0.178802]EFpublishing direction and range infoytvV?fп?YvaAtttv] t)v8IvB`ev8@ vX8>)vg@IvX8ttvaIB?ঔ?a? vK?)va)IvjivX8ttchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.594906iMb@Mb@Mb@ 9}?5^I?T㥛 Q?YM?y<jA@ IA)vAYA@AbDVD:y2%;=ٔQ->9 Y = Fy %EE>Q 5.5??Q 9.56s)3BYt?Q E:yQ I@+DI;i;^.5yeɔBɮmAim0EitivRv?AJivy`ARivy`Ajiv ą@bv* m*@Q^̂ ʫՏ@RvV?fп?ZivjbivX8jv( Fk'_ @Zvz9)߿E-d?2iv3<:iv"ivAҜ?*ivBivBiv}|zޜ?ivitiv[AivCE@E addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504109 s, deltaX: -0.500000 m, approachRate: -0.991849 m/s, rangeRepo size: 4 u Added new target pos. range: 14.029736 m, bearing: 239.506726 deg, lat: 36.779336 deg, lon: -121.859610 deg, deltaT: 0.504109 s, deltaX: -0.497521 m, approachRate: -0.986932 m/s, posRepo size: 4 jhq}DNOT Ignoring new targets: 14.03 m.bhyRhyZh ProNav: ac range: 14.029736 m, nav range: 13.741155 m, bearing: 240.410513 deg, approach rate: 0.000000 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.388970 deg, new cmd heading: 250.259537 deg. BhHeadingCmd: 4.367853 target range: 14.029736 and range: 14.10 m.hsŋ@h*h"h hgfffBdddjd@33,@Zd?M΁BɢMs)I U=iQ)UD9QQiU)@i])]،<V=n=Isŋ@Iԙ}P@y @y@}/@checking for new query: numPingsReceived=79, elapsed TxPingTime=38.826637Eu  Eu Eu &Eq "Eu %.;*Eu :VEu 4ZEq a} @a} @a} @a} @ ^Ae Jc= A II!O5>V,1?A2m@2>@2:ٱ2. >AHRS rotation from veh to nav: [[-0.285813,0.943791,0.166041],[-0.958218,-0.283530,-0.037811],[0.011392,-0.169910,0.985394]]2HJҿ3?@?Z%ҿ[T?@ſ`X?i2m@I2،];2CYFdByF%IbDN VDN2yV$V%VB=ٔZP:Q-Z>9XY\=^Fy^%E^<E^>`Q 5f.5b?Q 9f.5bw)b?BYhyjQ Ij@b+DIbh;ib;b1b.5ylɮr.Ap~B*** querying acoustic contact ***i| i|jh  DNOT Ignoring new targets: 14.03 m.bh Rh9Zh9% ProNav: ac range: 14.029736 m, nav range: 13.535054 m, bearing: 240.413570 deg, approach rate: -0.571706 m/s, LOS rate: 0.008608 deg/s, cmd heading: 250.259525 deg, new cmd heading: 250.268834 deg. Bh% 9-HeadingCmd: 4.368015 target range: 14.029736 and range: 14.10 m.h-Ƌ@h)*h)"h hgfffdddjdZd?DDAT read: Rx Time:04:59:57.0400 TRx dataTimestamp_ set to:1761541198.352734%PDAT read: Bearing 50.7, -16.2 (Local) -~Local bearing/azimuth received: Bearing 50.7, -16.2 (Local) 5DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 M%DAT read: 04:59:57.0400 LVL= 32752,311, 2.407, 1.800, PHS= 0.012,-1.444, 0.563, RAW= 165.4, 9.7, CAL= 165.3, 10.6, ROT= 344.7, -10.6 Uaunknown deviceResponse_: 04:59:57.0400 LVL= 32752,311, 2.407, 1.800, PHS= 0.012,-1.444, 0.563, RAW= 165.4, 9.7, CAL= 165.3, 10.6, ROT= 344.7, -10.6 UZ#Rx 80: Read range message, but no direction.yY`A]checking for new query: numPingsReceived=80, elapsed TxPingTime=39.088215颡ɢؼ) %tUi!)-;))i-?i5J$5N<5{=I5Ƌ@I9%K@! @!@%/@!I^A Xh=A >A > checking for new query: numPingsReceived=80, elapsed TxPingTime=39.334015A9 A= AABA BA BE MIBE BBA BA BA BE t;BE 5/EBCBCBB =B =CA5E  E E 'E "E );*E a:VE '4ZE BE a 2E a JE ,ڬ?A%@%Ѕ@%<ٱ%#l1 5AHRS rotation from veh to nav: [[-0.285746,0.943385,0.168448],[-0.958236,-0.283387,-0.038405],[0.011505,-0.172387,0.984962]]%HIҿ40?@?@ߩ@#ҿΩ!?ƿ`τ?i%@I%ז];%CYEgByM)I QQU=U=iMb@Mb@Mb@ 9E?Pn{Gz?Y?yף<A `A)AY AbDVD0yf<%2=ٔ;Q->9 Y = Fy %E9E>Q 5%.55?Q 9%.5})JBY% ?Q E:yQ I@+DIrYYi]>iee[!k8@ )@Ie4?k?DkRA? JJ?),*IZiUchecking for new query: numPingsReceived=81, elapsed TxPingTime=39.633369A^A | u=i I I O >,?Achecking for new query: numPingsReceived=81, elapsed TxPingTime=39.834835:@:{@:7>ٱ:^3 BAHRS rotation from veh to nav: [[-0.286135,0.942869,0.170662],[-0.958119,-0.283696,-0.039045],[0.011602,-0.174687,0.984556]]:H Pҿ+?A? @(ҿ‡?"\ƿ{?i:@I:i];:CY^UBybI f;fbDjVDjD|D~p=E EE&E"E&;*E:VE4ZEa @a@a@a@y%S=ٔǂQ->9Y=Fy%EE>Q 5.5p?Q 9.5Z)SBYyQ I@+DI:i[:i.5yɮAiiRֶ?AJiZARiZAji+@b{M)@{؁ I@RMe?FSgп?ZiZbij>}zUV;Hn'*aLPH @ZBjk޿bP뿢@Ĭ?2i+8:i"iӜ?*iSBiBi]ܜ?iiLBiRAiV@M addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504097 s, deltaX: -0.300000 m, approachRate: -0.595124 m/s, rangeRepo size: 4 YU Added new target pos. range: 13.631720 m, bearing: 240.232662 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 1.008026 s, deltaX: -0.398016 m, approachRate: -0.394847 m/s, posRepo size: 4 jhYeDNOT Ignoring new targets: 13.63 m.bhiRhZh ProNav: ac range: 13.631720 m, nav range: 13.173215 m, bearing: 240.533015 deg, approach rate: 0.000000 m/s, LOS rate: 0.010171 deg/s, cmd heading: 250.283485 deg, new cmd heading: 250.294948 deg. BhHeadingCmd: 4.368471 target range: 13.631720 and range: 13.70 m.hʋ@h *h "h  h g f ffdddjd`ff+@ZdY?颍ЁBɢD) 6ui)=.B顑i>i\9<5w=Iʋ@IԁEO@A @A@Ep0@ADDAT read: Rx Time:04:59:58.0396 TRx dataTimestamp_ set to:1761541199.361000PDAT read: Bearing 50.1, -15.7 (Local) ~Local bearing/azimuth received: Bearing 50.1, -15.7 (Local) DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 %DAT read: 04:59:58.0396 LVL= 32752, 32753, 23058, 32755, AGC= 55, IDX= 504,-0.11,-1.860, 3.041,-1.185,-1.787, PHS= 0.028,-1.410, 0.557, RAW= 165.1, 9.4, CAL= 164.9, 10.1, ROT= 345.1, -10.1 5Ygot valid direction response: 04:59:58.0396 LVL= 32752, 32753, 23058, 32755, AGC= 55, IDX= 504,-0.11,-1.860, 3.041,-1.185,-1.787, PHS= 0.028,-1.410, 0.557, RAW= 165.1, 9.4, CAL= 164.9, 10.1, ROT= 345.1, -10.1 5T#Rx 82: Read range and direction messages.=^direction in FSK: [0.951400,-0.253148,0.175367]=Fpublishing direction and range infoyO&q?Cճf3п:ujr?YfVAZ )7IB`18@ J4>)~@IJ4'L?Z_Y?r? UI?)'I%iJ4]checking for new query: numPingsReceived=82, elapsed TxPingTime=40.103321ԩ^AE Hu= I! I1 O= >,C?A2k@2<@2:ٱ2K5 :AHRS rotation from veh to nav: [[-0.286282,0.942588,0.171962],[-0.958078,-0.283748,-0.039676],[0.011395,-0.176111,0.984304]]2HpRҿ )? ?@(ҿ@qPzV?@ϊƿk?i2k@I2I];2CYRVByPbDnVDnk1yv^;%vW=ٔvO:Q-v>9Y=Fy%E%ιE->YQ 5e.5]?Q 9m.5],)]]BYiymQ I@]+DI]r;i]E<]m.5yɮAi)i-?AJi-TUARi-TUAji-D@b-,^)@ly 3Se@R-O&q?Cճf3п:ujr?Zi-%bi-J4j-$AӤ%&?LR@Z-tfJ޿ȟh%Y0?2i-4:i-&echecking for new query: numPingsReceived=82, elapsed TxPingTime=40.341274"i-MUٜ?*i-Bi-kBi-MUٜ?i-i-BBBBBBBBB%t;B9/Ei-OAi-D@E- E-E-)E)"E-/;*E-:VE-FA4ZE)BE-ʈ !k8@  %K>) @I %K   >_6?YbO?WR?  I?q ) 1u8I Zi %K   checking for new query: numPingsReceived=83, elapsed TxPingTime=40.642895^A w=A zA IQ Ia Ou >;i,q?AYEByII<)p<AiMb@Mb@Mb@ 9E?"~jy&1?YyS㽙`e< Ah@ A)AYA)bD5VD5yEM%E)=ٔEQ-E>9IYI=MFyM%EUEU>YQ 5e.5]}랊?Q 9e.5])]gBYe ?Q Ee:ymQ Im@] ,DI] ;i] ;]&q.5yuŔBɮuAqiiW?AJi_MARi_MAji1I@brDK(@8 I BK@RvH I?DWпg4L?ZiZbi%Kj&rխ=d%,] @Z|;޿3p?2i,:i1"i朊?*i`BiBiiiBiKAi@@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503690 s, deltaX: -0.500000 m, approachRate: -0.992674 m/s, rangeRepo size: 4  Added new target pos. range: 12.835717 m, bearing: 240.437997 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.503690 s, deltaX: -0.497498 m, approachRate: -0.987706 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.84 m.bhRhZh ProNav: ac range: 12.835717 m, nav range: 12.728203 m, bearing: 240.377577 deg, approach rate: 0.000000 m/s, LOS rate: 0.010171 deg/s, cmd heading: 250.309440 deg, new cmd heading: 250.321206 deg. BhHeadingCmd: 4.368929 target range: 12.835717 and range: 12.90 m.hE΋@h*h"h hgfffŁBdddjd)@Zd=?颍ҁBɢi) Li)HI顑i[ <Echecking for new query: numPingsReceived=83, elapsed TxPingTime=40.842949YiV]Ћ<]$v=I]E΋@Ia ѐCE% E%E%*E!"E%3;*E%:VE%(N4ZE!a5@a5@a5@a5@]Gy9YchA@ @!@%5@Iԉ^A Ա I I! O5 >K,6?A2 {@2u@2Aٱ2N8 :AHRS rotation from veh to nav: [[-0.287610,0.941664,0.174787],[-0.957675,-0.285004,-0.040387],[0.011784,-0.179005,0.983778]]2H`2hҿ"?@m_?F@=ҿ u"? ƿ {?i2 {@I2fO];2CYF5ByFIJAAHVDDAT read: Rx Time:04:59:59.0393 VTRx dataTimestamp_ set to:1761541200.368728^PDAT read: Bearing 49.6, -15.5 (Local) ^~Local bearing/azimuth received: Bearing 49.6, -15.5 (Local) fDAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 vDAT read: 04:59:59.0393 LVL= 32752, 32753, 21170, 32755, AGC= 55, IDX= 501,-0.35,-1.872, 3.013,-1.192,-1.806, PHS= 0.036,-1.419, 0.570, RAW= 165.0, 9.2, CAL= 164.8, 9.8, ROT= 345.2, -9.8 zYgot valid direction response: 04:59:59.0393 LVL= 32752, 32753, 21170, 32755, AGC= 55, IDX= 501,-0.35,-1.872, 3.013,-1.192,-1.806, PHS= 0.036,-1.419, 0.570, RAW= 165.0, 9.2, CAL= 164.8, 9.8, ROT= 345.2, -9.8 ~T#Rx 84: Read range and direction messages.%^direction in FSK: [0.952715,-0.251718,0.170209]%Fpublishing direction and range infoyTV|?&пrl?YTTTTVR T)V7IVt=iVˡV?VN8@Vl$>VX8@ V%/>)V@IV%/TTV\S? 8Z?+r),_? V5I?)V#IV AiV%/TTechecking for new query: numPingsReceived=84, elapsed TxPingTime=41.119057bDmVDm:y%V=ٔ˃Q->9Y=Fy%EiE>Q 5.5&㞊?Q 9.5)oBY y Q I @,DI:i=:t.5yؔBɮ%A%8EiTiV=?AJiTRiTjiVD@ԑbV X#u(@ScA {cz@RV|?&пrl?ZiV AbiV%/jVBukw%Vim@ZV޿A+S?2iV.:iV"iVj6ڜ?*iV{ BiVBiTiV{ iVBiVGHAiV<@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.835717 m, bearing: 240.408580 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.504038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.84 m.bhRhZh- ProNav: ac range: 12.835717 m, nav range: 12.517552 m, bearing: 240.350524 deg, approach rate: 0.000000 m/s, LOS rate: 0.010171 deg/s, cmd heading: 250.321215 deg, new cmd heading: 250.333457 deg. Bh)uHeadingCmd: 4.369143 target range: 12.835717 and range: 12.90 m.huЋ@hq*hq"hq hqgqfyfyfydyddjdZd۷?5ӁBɢ5F )1 5i1)=M99i=:iEYE4BB4IBpBBBBB.t;B=/EE5  E5 E1 E1 "E5 9;*E5 :VE1 ZE1 BE5  1v ,0?Afp@7k@IIٱ9 AHRS rotation from veh to nav: [[-0.288853,0.941061,0.175976],[-0.957295,-0.286267,-0.040476],[0.012285,-0.180152,0.983562]]H@|ҿ,?`_?`(1RҿO )?`;ǿ Wy?ifp@Iq];CY-*By-IieMb@Mb@Mb@aaaa a9em?/$Ye?yeeeAe~@ evA)e AaYep AbDVDfyZR%;=ٔQ->9Y=Fy%EDE>Q 5.5dڞ?Q 9.5)tBY4?Q E:yQ I @',DI;il;Yx.5yɮtAUB*** querying acoustic contact ***iQ iQjhaeDNOT Ignoring new targets: 12.84 m.bhaRhuoZhuo ProNav: ac range: 12.835717 m, nav range: 12.274501 m, bearing: 240.262866 deg, approach rate: -0.569206 m/s, LOS rate: -0.209352 deg/s, cmd heading: 250.333455 deg, new cmd heading: 250.065276 deg. BhHeadingCmd: 4.364462 target range: 12.835717 and range: 12.90 m.h@h*h"hDDAT read: Rx Time:04:59:59.5390 TRx dataTimestamp_ set to:1761541200.872881PDAT read: Bearing 50.9, -15.7 (Local) ~Local bearing/azimuth received: Bearing 50.9, -15.7 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 DAT read: 04:59:59.5390 LVL= 32752, 32753, 24082, 32755, AGC= 55, IDX= 498,-0.06,-2.268, 2.623,-1.598,-2.177, PHS= 0.011,-1.438, 0.534, RAW= 164.8, 10.1, CAL= 164.8, 11.1, ROT= 345.2, -11.1 Ygot valid direction response: 04:59:59.5390 LVL= 32752, 32753, 24082, 32755, AGC= 55, IDX= 498,-0.06,-2.268, 2.623,-1.598,-2.177, PHS= 0.011,-1.438, 0.534, RAW= 164.8, 10.1, CAL= 164.8, 11.1, ROT= 345.2, -11.1  T#Rx 85: Read range and direction messages.^direction in FSK: [0.948737,-0.250667,0.192522]Fpublishing direction and range infoyp \?ѝ пM?YHA^ )IX94 aF>)IaFE ?KSW?v>5?{? NH?)>4IiaFUchecking for new query: numPingsReceived=85, elapsed TxPingTime=41.619064 hIgQfYfYf]BdYdadajde)@Zd@Ś?ɢݚ) ĩi)%Qi9iEE#A >e checking for new query: numPingsReceived=85, elapsed TxPingTime=41.850849EM  EM EM &EI "EM 3;*EM I:VEM 4ZEI a] @a] @a] @a] @y A .AI IA O >!,aL?A%]@%X@%kTٱ%?< 5AHRS rotation from veh to nav: [[-0.291001,0.939903,0.178608],[-0.956635,-0.288394,-0.040978],[0.012994,-0.182787,0.983067]]%Hҿ??@ uҿ @\?eǿ@Hu?i%]@I% U];!YEByEIbD]VD]yml%mJ=ٔmQ-m>9u ?Yu ?=uFyu%E}E}>Q 5.5CҞ?Q 9.5)xBYyQ I@5,DIU;i;{.5yɮAiiH7?AJiGARiGAjiCP@bYi'@6 RD(@Rp \?ѝ пM?ZibiaFj9*r$b"@ZX5޿o^|X?2i':i"iޜ?*iBi@Bij6ڜ?iikBi@Ai-@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504153 s, deltaX: -0.400000 m, approachRate: -0.793409 m/s, rangeRepo size: 4  Added new target pos. range: 12.437716 m, bearing: 240.487433 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.504153 s, deltaX: -0.398001 m, approachRate: -0.789444 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 12.44 m.bhRhZh  ProNav: ac range: 12.437716 m, nav range: 12.043923 m, bearing: 240.244590 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 250.065274 deg, new cmd heading: 249.816830 deg. Bh%HeadingCmd: 4.360126 target range: 12.437716 and range: 12.50 m.h%'@h!*h!"h! h!g)f)f1f1d1d1d1jd9Zd=R?ԁBɢ") %i ) iV  i -L8i&<͚=I'@IM@ @@/@@@9DDAT read: Rx Time:05:00:00.0389 TRx dataTimestamp_ set to:1761541201.377316PDAT read: Bearing 50.8, -15.8 (Local) ~Local bearing/azimuth received: Bearing 50.8, -15.8 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 DAT read: 05:00:00.0389 LVL= 32752, 32753, 22770, 32755, AGC= 55, IDX= 497, 0.31, 0.443,-0.967, 1.125, 0.538, PHS= 0.007,-1.460, 0.543, RAW= 165.0, 10.1, CAL= 164.9, 11.2, ROT= 345.1, -11.2 Ygot valid direction response: 05:00:00.0389 LVL= 32752, 32753, 22770, 32755, AGC= 55, IDX= 497, 0.31, 0.443,-0.967, 1.125, 0.538, PHS= 0.007,-1.460, 0.543, RAW= 165.0, 10.1, CAL= 164.9, 11.2, ROT= 345.1, -11.2 T#Rx 86: Read range and direction messages.^direction in FSK: [0.947972,-0.252236,0.194234]Fpublishing direction and range infoyU?%$пmVѫ?YX )IB`;iHế  ?N8@18@ +H>)~@I+H\8 H?W8C?S? H?)Â5I%i+Hchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.139408i^AE |=Au ؟AIy ԑ I O >b$,GXf?ABBBIB[BBBBB t;B,/Eechecking for new query: numPingsReceived=86, elapsed TxPingTime=42.357445E EE)E"E9;*E-:VEFA4ZEBEh9M"?YM"?=MFyM%EUCfEU>YQ 5e.5]Ǟ?Q 9e.5])]}BYeO?Q Em:ymQ Im@]J,DI] ;i] ;]w.5yu֔BɮuAu7Eii%X?AJiRijiI8@bɔ'@  AqS@RU?%$пmVѫ?Zi%bi+HjڟG9M"$oy@ZT(2޿<0ӈ]= ?2ia':iʾ"i6ќ?*i ޷BiPBiiiPBi;AiT@E addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504435 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 12.437711 m, bearing: 240.319745 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.504435 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 jhQUDNOT Ignoring new targets: 12.44 m.bhQRhyZhy ProNav: ac range: 12.437711 m, nav range: 11.729137 m, bearing: 240.075248 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 249.816819 deg, new cmd heading: 249.476969 deg. BhHeadingCmd: 4.354195 target range: 12.437711 and range: 12.50 m.hU@h*h"h hgfffBdddjdZdo?ՁBɢ0) i)I]i6i*ϓ<=IU@IQYDDAT read: Rx Time:05:00:00.5387 TRx dataTimestamp_ set to:1761541201.880918PDAT read: Bearing 49.6, -15.4 (Local) ~Local bearing/azimuth received: Bearing 49.6, -15.4 (Local) DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 DAT read: 05:00:00.5387 LVL= 32752, 32753, 20946, 32755, AGC= 52, IDX= 511,-0.16, 2.852, 1.455,-2.761, 2.922, PHS= 0.031,-1.422, 0.556, RAW= 164.8, 9.4, CAL= 164.7, 10.2, ROT= 345.3, -10.2 Ygot valid direction response: 05:00:00.5387 LVL= 32752, 32753, 20946, 32755, AGC= 52, IDX= 511,-0.16, 2.852, 1.455,-2.761, 2.922, PHS= 0.031,-1.422, 0.556, RAW= 164.8, 9.4, CAL= 164.7, 10.2, ROT= 345.3, -10.2 T#Rx 87: Read range and direction messages. ^direction in FSK: [0.951981,-0.249748,0.177085] Fpublishing direction and range info yl!v?A4Ͽki?Y3CAQ )4I7@ K6>)@IK6R4a?zB?&? b]H?)(IJ\iK6E checking for new query: numPingsReceived=87, elapsed TxPingTime=42.628948 @  @ @ /@ 9 ^A-t0=A1zA5hAiEchecking for new query: numPingsReceived=87, elapsed TxPingTime=42.858829A.AIIO ?xC",x~?AE6 E4E6'E4"E6<;*E4VE6'4ZE4aF@aJ@aJ@aJ@!<@6@tnٱ= 5AHRS rotation from veh to nav: [[-0.294946,0.938349,0.180301],[-0.955403,-0.292488,-0.040691],[0.014554,-0.184262,0.982769]]Heҿ??`ҿpդ U΍?ǿr?i!<@IX];YmBymIbD}VD}:yǤ%/=ٔ&Q->9 ?Y ?=Fy%EmE>Q 5.51?Q 9.5u)BYyQ I@[,DI;ie;.5yДBɮ{AiYi]`x?AJi]:BARi]:BAji]&@b]n*'@11&@2@R]l!v?A4Ͽki?Zi]J\bi]K6j]bav0{$0@Z]=P޿r8z?2i]#:i]"i]Ϝ?*i]$ָBi]BiYi]i]@Bi]7Ai] @E addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503602 s, deltaX: -0.300000 m, approachRate: -0.595709 m/s, rangeRepo size: 4 U Added new target pos. range: 12.139205 m, bearing: 240.198824 deg, lat: 36.779335 deg, lon: -121.859612 deg, deltaT: 0.503602 s, deltaX: -0.298506 m, approachRate: -0.592741 m/s, posRepo size: 4 jhQ]DNOT Ignoring new targets: 12.14 m.bhYRhYZhau ProNav: ac range: 12.139205 m, nav range: 11.478285 m, bearing: 239.999744 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 249.476976 deg, new cmd heading: 249.190952 deg. Bhq}HeadingCmd: 4.349203 target range: 12.139205 and range: 12.20 m.h},@hy*hy"hy hygyfffdddjd`ff(@Zd ?颹ɢq,) [Ծi)ci8+5iǭ<[=I,@IN@ @@/@=DDAT read: Rx Time:05:00:01.0386 =TRx dataTimestamp_ set to:1761541202.384743EPDAT read: Bearing 49.9, -15.5 (Local) M~Local bearing/azimuth received: Bearing 49.9, -15.5 (Local) ]DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 DAT read: 05:00:01.0386 LVL= 32752, 32753, 22290, 32755, AGC= 51, IDX= 510, 0.19,-1.659,-3.058,-0.983,-1.577, PHS= 0.020,-1.436, 0.551, RAW= 164.9, 9.7, CAL= 164.8, 10.6, ROT= 345.2, -10.6 Ygot valid direction response: 05:00:01.0386 LVL= 32752, 32753, 22290, 32755, AGC= 51, IDX= 510, 0.19,-1.659,-3.058,-0.983,-1.577, PHS= 0.020,-1.436, 0.551, RAW= 164.9, 9.7, CAL= 164.8, 10.6, ROT= 345.2, -10.6 T#Rx 88: Read range and direction messages.^direction in FSK: [0.950325,-0.251087,0.183951]Fpublishing direction and range infoy9=(i?]Nп =η?Y=@A999=W 9)=3I= ף=X8@ =q=>)=@I=q=99=XN„Q?fH?? =H?)=.I= Ai=q=99checking for new query: numPingsReceived=88, elapsed TxPingTime=43.127361)^A z= AM ؟AIY Iq O >Z(,ţ?AJ&@J!@J1{ٱJL> VAHRS rotation from veh to nav: [[-0.297410,0.937498,0.180680],[-0.954626,-0.295043,-0.040476],[0.015363,-0.184520,0.982709]]JH ӿ ? ?@Lҿ7uv?VǿYr?iJ&@IJ~];JCY^BybIdfAbDjVDjfyzӼ%~i=ٔ<Q- >9 "?Y "?= Fy %EE>Q 5%.5?Q 9%.5)BY!y-Q I-@i,DIr;i:.5y5ٔBɮ5A5AEi1i5?AJi5 ?ARi5 ?Aji5L@b5 S&@Peɶ)B@R5(i?]Nп =η?Zi5 Abi5q=j5,t' F$Buͧn@Z5)߿03ih ?2i5 :i5;"i5 <Ϝ?*i5ˇBi5†Bi56ќ?i5 ޷ychecking for new query: numPingsReceived=88, elapsed TxPingTime=43.365215BBBIB=BB =BBBs;B /EbE-4jE14rE–/EU EUEU(EQ"EUI@;*EU&:VEUc44ZEQBEU -M7@  A>) /@I A   uO?hLN?Qy#?  E?) B0I t{i A   checking for new query: numPingsReceived=89, elapsed TxPingTime=43.639797 ^A =)AIIO?:1,(?AR @R@R'ٱR{> jAHRS rotation from veh to nav: [[-0.300424,0.936430,0.181231],[-0.953666,-0.298166,-0.040239],[0.016356,-0.184923,0.982617]]RH %:ӿ;?2?m&ӿ7?ǿ@q?iR @IR-b];PYrByrIiMb@Mb@Mb@ 9S?L7A`堿~jtxY?y+Ļ Achecking for new query: numPingsReceived=89, elapsed TxPingTime=43.866924Q@ `A)AYAbDVDy%=ٔQ->9Y=Fy%EE> Q 5.5 ?Q 9.5 Ÿ) BY?Q E:y9Q I@ ~,DI :i 3: w.5y%ՔBɮ%A-@EiiO?AJiD:ARiD:Aji]@brb.&@?pIAJQs@RWu|?#+cο0i?Zit{biAj[U.B#f`2@Z[|޿A;K:?2iX:is"iٜ?*ioBiBiiˇi†Bi3Ai@iE EE*E"Ea?;*E:VE(N4ZEa%@a-@a-@a-@U addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504497 s, deltaX: -0.300000 m, approachRate: -0.594652 m/s, rangeRepo size: 4  Added new target pos. range: 11.641696 m, bearing: 240.581776 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.504497 s, deltaX: -0.298506 m, approachRate: -0.591690 m/s, posRepo size: 4 jh =DNOT Ignoring new targets: 11.64 m.bhARhIZhI} ProNav: ac range: 11.641696 m, nav range: 11.244534 m, bearing: 239.854008 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 248.888350 deg, new cmd heading: 248.619557 deg. BhyHeadingCmd: 4.339230 target range: 11.641696 and range: 11.70 m.hڊ@h*h"h hgffftBdddjd`ff'@Zd"?ցBɢ /)  Eܾi ) p it1i5=Җ<==I=ڊ@I9ԑM@ @@/@ DDAT read: Rx Time:05:00:02.0382  TRx dataTimestamp_ set to:1761541203.393194 PDAT read: Bearing 50.0, -15.3 (Local)  ~Local bearing/azimuth received: Bearing 50.0, -15.3 (Local)  DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4  DAT read: 05:00:02.0382 LVL= 32752, 32753, 22930, 32755, AGC= 51, IDX= 506,-0.01, 1.565, 0.161, 2.231, 1.649, PHS= 0.018,-1.443, 0.538, RAW= 164.7, 10.0, CAL= 164.6, 11.0, ROT= 345.4, -11.0  Ygot valid direction response: 05:00:02.0382 LVL= 32752, 32753, 22930, 32755, AGC= 51, IDX= 506,-0.01, 1.565, 0.161, 2.231, 1.649, PHS= 0.018,-1.443, 0.538, RAW= 164.7, 10.0, CAL= 164.6, 11.0, ROT= 345.4, -11.0  T#Rx 90: Read range and direction messages. ^direction in FSK: [0.949930,-0.247438,0.190809] Fpublishing direction and range infoy  de?iϿP@ml?Y f6A Y ) 3I t '7@ D>) b@I D *0j?h'?^݅8? GG?) 22I wi D e checking for new query: numPingsReceived=90, elapsed TxPingTime=44.147926^A H= A I I O >7,DŽ?AB@B@BcٱBPS? ZAHRS rotation from veh to nav: [[-0.303227,0.935353,0.182121],[-0.952764,-0.301031,-0.040268],[0.017160,-0.185729,0.982451]]BHhӿ@i?@O?@ }DӿS?`ǿ=p?iB@IBUT];@YrByrIbDMVDMJy<%F=ٔQ->9Y=Fy%E8E> Q 5.5|?Q 9.5)BYyQ I@,DI- R8@ q=>) M@I q= ʇa\(?zp?nL? J?) .I ڸi q= ] checking for new query: numPingsReceived=91, elapsed TxPingTime=44.639137^A =aAIIO?n@,(?AZ:@Z @ZjeٱZA nAHRS rotation from veh to nav: [[-0.310961,0.932339,0.184518],[-0.950224,-0.308955,-0.040277],[0.019456,-0.187858,0.982003]]ZHӿ?M?`;h@ӿ$Z? ȿl?iZ:@IZ[];ZCY~By~I ==iMb@Mb@Mb@ 9Mb?V-Mb`?Y#?y;A )`AY 4<bD VDf2y;% =ٔ IQ- >9Y=Fy%E {E>!Q 5%.5%l?Q 9-.5%VQ =-tI)%BY-=#?Q E-:y50Q I5@%,DI%;i%l;%Ĕ.5y9ɮ="A9ii c?AJi/ARi/AjiV@bN$@>D}uTf@RvV?Gп =η?Ziڸbiq=j_%/7g!"@Z ^as hO?2i:i"i˜?*iµBi]BiϜ?iiBi*Ai@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503481 s, deltaX: -0.400000 m, approachRate: -0.794468 m/s, rangeRepo size: 4  Added new target pos. range: 10.945172 m, bearing: 238.742541 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.503481 s, deltaX: -0.398019 m, approachRate: -0.790534 m/s, posRepo size: 4 jhDNOT Ignoring new targets: 10.95 m.bhԩRhZh ProNav: ac range: 10.945172 m, nav range: 10.678940 m, bearing: 239.293517 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 248.348656 deg, new cmd heading: 248.025140 deg. BhHeadingCmd: 4.328856 target range: 10.945172 and range: 11.00 m.h@h*h"h hgfffkBchecking for new query: numPingsReceived=91, elapsed TxPingTime=44.874882dddjd&@ZdL0?E EE*E"E9;*E:VE(N4ZEa@a%@a%@a%@IɢUi+) xi).~i.iy'@<C=I@Iq N@  @ @ 4@  ] DDAT read: Rx Time:05:00:03.0379 e TRx dataTimestamp_ set to:1761541204.400733m PDAT read: Bearing 48.9, -16.2 (Local) u ~Local bearing/azimuth received: Bearing 48.9, -16.2 (Local)  DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 ) 5 DAT read: 05:00:03.0379 LVL= 32752, 32753, 22626, 32755, AGC= 49, IDX= 502, 0.40, 2.712, 1.319,-2.861, 2.805, PHS= 0.010,-1.441, 0.573, RAW= 165.7, 9.6, CAL= 165.6, 10.4, ROT= 344.4, -10.4 E Ygot valid direction response: 05:00:03.0379 LVL= 32752, 32753, 22626, 32755, AGC= 49, IDX= 502, 0.40, 2.712, 1.319,-2.861, 2.805, PHS= 0.010,-1.441, 0.573, RAW= 165.7, 9.6, CAL= 165.6, 10.4, ROT= 344.4, -10.4 E T#Rx 92: Read range and direction messages.M ^direction in FSK: [0.947339,-0.264502,0.180519]M Fpublishing direction and range infoya e KP?rпlE@?Ya a a a e bX a )a Ie #e 8@ e 9>)e hY@Ie 9a a e ?I/? F? e (EL?)e *Ie *gie 9a a } checking for new query: numPingsReceived=92, elapsed TxPingTime=45.163033^A ~=AIIO>G,!?A@ @ z@ Pٱ a}C uAHRS rotation from veh to nav: [[-0.314963,0.930632,0.186342],[-0.948889,-0.312945,-0.040938],[0.020217,-0.189712,0.981632]] H@Y(Կ? ?K]HԿ?xHȿi?i @I x]; YByIbDVDfy?=%*=ٔϺQ->9Y=Fy%E E>Q 5%.5?Q 9%.5)BY)yMQ IM@,DIy;i;.5yQɮ]AYii?AJiRiji5@bҼ$@?(@9?RKP?rпlE@?Zi*gbi9jױf>^J[K"o>@Z"X:Y]CfZ꿆ݍp?2i8:i"iຜ?*iDBiaBi <Ϝ?i_iBi+&Ailz@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.945172 m, bearing: 238.185997 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhAMDNOT Ignoring new targets: 10.95 m.bhIRhIZhau ProNav: ac range: 10.945172 m, nav range: 10.385515 m, bearing: 238.991809 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 248.025151 deg, new cmd heading: 247.711465 deg. Bhq}HeadingCmd: 4.323380 target range: 10.945172 and range: 11.00 m.h}"Y@hy*hy"h hgfffdddjdԩZd?Echecking for new query: numPingsReceived=92, elapsed TxPingTime=45.381008BU<AU<BqBqBuIBuBBqBqBqBu s;Bu.EE} E}E}(Ey"E}2;*E}d:VE}c44ZEyBE}$ 9@ | >) @I | }?V?sgk? 1O?) =I Ði | u checking for new query: numPingsReceived=93, elapsed TxPingTime=45.6504101 ^AM ȁ=AM >AM ?AyIIO?rP,zA?AX-m@-h@-1Iٱ-Z8E =AHRS rotation from veh to nav: [[-0.318884,0.928954,0.188034],[-0.947558,-0.316895,-0.041375],[0.021151,-0.191366,0.981291]]-H hԿ?|?dRHԿ/@?`~ȿf?i-m@I-c];-CYmByuII}<)}9aYa=eFye%EmEm>qQ 5u.5u^?Q 9}.5u)uBY}"?Q E}:y}Q I@u,DIu* ;iu ;u.5yٔBɮAIEii9?AJi)'ARi)'Ajil@b?,#@Spf&?RoZY?ךdѿp ?ZiÐbi| j'C!f!@Zj 4:@ >) !@I  ?!;?̘? jR?) I ;i  - checking for new query: numPingsReceived=94, elapsed TxPingTime=46.186726a IIO%>W,_?AYByIbD VD:2y<%:=ٔQ->9Y=Fy&EE>Q 5.5?Q 9.5)BYy!Q I%@,DIs;i#;~.5yIɮMAIiii3Z?AJi%ARi%Aji@bP6#@i??RdX9͍a?kN!:ҿ) ?Zi;bijz.mtjG+ {@@ZV\\rYj (?2i:i"iVe ?*iVBiCBiຜ?ii]BiAiz@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504719 s, deltaX: -0.100000 m, approachRate: -0.198131 m/s, rangeRepo size: 4 - Added new target pos. range: 10.348162 m, bearing: 236.345782 deg, lat: 36.779332 deg, lon: -121.859615 deg, deltaT: 0.504719 s, deltaX: -0.099502 m, approachRate: -0.197143 m/s, posRepo size: 4 jh)5DNOT Ignoring new targets: 10.35 m.bh1Rh1Zh9m ProNav: ac range: 10.348162 m, nav range: 9.929600 m, bearing: 237.203599 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 247.390080 deg, new cmd heading: 247.096744 deg. BhiuHeadingCmd: 4.312652 target range: 10.348162 and range: 10.40 m.hu>@hy*h"h hgfffdddjd$@Zd@H?!ɢ%-)! % ;i!)-H؈))i-*i5r:5 G<5\c=I5>@I9A5checking for new query: numPingsReceived=94, elapsed TxPingTime=46.388535ԡBqBqBuIBuBBu =BqBqBur;Bu.E@  @ E EE&E"E1;*E:VE4ZEBE[@Q^A =  DDAT read: Rx Time:05:00:04.5373  TRx dataTimestamp_ set to:1761541205.915417 PDAT read: Bearing 46.0, -17.9 (Local)  ~Local bearing/azimuth received: Bearing 46.0, -17.9 (Local)  DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.5 = DAT read: 05:00:04.5373 LVL= 32752, 32753, 20034, 32755, AGC= 51, IDX= 496,-0.40,-2.654, 2.265,-1.854,-2.556, PHS= 0.004,-1.418, 0.658, RAW= 167.9, 8.3, CAL= 167.6, 8.6, ROT= 342.4, -8.6 M Ygot valid direction response: 05:00:04.5373 LVL= 32752, 32753, 20034, 32755, AGC= 51, IDX= 496,-0.40,-2.654, 2.265,-1.854,-2.556, PHS= 0.004,-1.418, 0.658, RAW= 167.9, 8.3, CAL= 167.6, 8.6, ROT= 342.4, -8.6 M T#Rx 95: Read range and direction messages.U ^direction in FSK: [0.942473,-0.298970,0.149535]U Fpublishing direction and range infoy   (?CiSS"ӿS&r#?Y fA   BN ) 3I o;i  r(? ͋;@ V> 6;@ `>) t;@I `  Xj6?O(?82j? 6V?) I jFi ` u checking for new query: numPingsReceived=95, elapsed TxPingTime=46.659325I I O >X^,,|?Ab#@b@bkٱb F AHRS rotation from veh to nav: [[-0.327398,0.925651,0.189685],[-0.944615,-0.325449,-0.042242],[0.022632,-0.193010,0.980936]]bHԿ ? G?@J:)Կ,?ȿc?ib#@Ibw];bCY-By-Iqonly read 0 of 1 data item for BIT error. Device response is::TS,00050308482429,35.0, +10.91493.1, 0 a@a a@a a@a a@a bDVDfy =%2=ٔnSQ->9iYi=mFym&EuޝEu>yQ 5.5}@w?Q 9.5})}BQ A+:YQ E:y:Q I@},DI}R1}ˤ.5yɮA)ii1z?AJiARiAji{R@b:e"@vS˦~?R (?CiSS"ӿS&r#?ZijFbi`jagH~ 8@ZsMfvzss̓{[?2i:i"i靖?*igBiBiM?i֨iBiAi @ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.506049 s, deltaX: -0.500000 m, approachRate: -0.988047 m/s, rangeRepo size: 4 E Added new target pos. range: 9.850656 m, bearing: 235.131476 deg, lat: 36.779331 deg, lon: -121.859614 deg, deltaT: 0.506049 s, deltaX: -0.497506 m, approachRate: -0.983119 m/s, posRepo size: 4 jhAMBNOT Ignoring new targets: 9.85 m.bhIM6Short final. Range: 9.90 m.MVTransitioning guidance mode to: SHORT_FINAL:hM@@RhQZhQ ProNav: ac range: 9.850656 m, nav range: 9.629608 m, bearing: 236.436568 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 247.096737 deg, new cmd heading: 246.792899 deg. Bh|HeadingCmd: 4.307349 target range: 9.850656 and range: 9.90 m.hՉ@h*h"h hgfffdԙddjd#@Zd ? ɢ %)  i)i)i=5=gBe,?A2@2[@2Iٱ2.I >AHRS rotation from veh to nav: [[-0.331469,0.923680,0.192209],[-0.943177,-0.329460,-0.043280],[0.023348,-0.195633,0.980399]]2H6տȎ?N?. տ(? ɿn_?i2@I2#t];2CYF%ByFIbDNVDNyVx=%Vb=ٔZQ-Z>9XY\=^Fy^ &E^JE^?`Q 5f.5bp?Q 9f.5b)bBQ Aj :YhQ Ejb:yjQ Ij@b,DIb ;ibCQ?b˦.5ylɮrAp~B*** querying acoustic contact ***i| i|jh bh zIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh|Zh|% ProNav: ac range: 9.850656 m, nav range: 9.420485 m, bearing: 236.171640 deg, approach rate: -0.682899 m/s, LOS rate: -0.884332 deg/s, cmd heading: 246.792903 deg, new cmd heading: 245.980534 deg. Bh%-|HeadingCmd: 4.293170 target range: 9.850656 and range: 9.90 m.h5a@h1*h1"h1 h1g1f1f9f9d9d9dAjdAZdE@P?uԁBɢu:)y }%iy)}Tyyi}ǻ(i=Ia@I EDDAT read: Rx Time:05:00:05.0372 MTRx dataTimestamp_ set to:1761541206.418779UPDAT read: Bearing 45.9, -19.2 (Local) U~Local bearing/azimuth received: Bearing 45.9, -19.2 (Local) eDAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.5 DAT read: 05:00:05.0372 LVL= 32752, 32753, 25234, 32755, AGC= 52, IDX= 511,-0.35,-1.284,-2.616,-0.439,-1.148, PHS=-0.033,-1.423, 0.666, RAW= 169.2, 8.6, CAL= 168.9, 9.1, ROT= 341.1, -9.1 Ygot valid direction response: 05:00:05.0372 LVL= 32752, 32753, 25234, 32755, AGC= 52, IDX= 511,-0.35,-1.284,-2.616,-0.439,-1.148, PHS=-0.033,-1.423, 0.666, RAW= 169.2, 8.6, CAL= 168.9, 9.1, ROT= 341.1, -9.1 T#Rx 96: Read range and direction messages.^direction in FSK: [0.934178,-0.319840,0.158158]Fpublishing direction and range infoyAE?jOBDxԿ@\~>?YEAAAAEb A)E4IE+iE$E~*?E<@E`>E<@ E">)E@IE"AAE&U?@=?1? E>[?)EIEZ䨾iE"AAchecking for new query: numPingsReceived=96, elapsed TxPingTime=47.168926@ @@/@^AMR=II1O=/>! checking for new query: numPingsReceived=96, elapsed TxPingTime=47.398064A! A% @ABE >BE CBE IBE BBA BA BA BE r;BE .EQ E  E E +E "E 9;*E :VE [4ZE BE hAHRS rotation from veh to nav: [[-0.334965,0.922200,0.193249],[-0.941930,-0.332922,-0.043948],[0.023808,-0.196748,0.980165]]6Hpտੂ?@c?I$Nտ@U,a? /ɿ]?i6@I6 ];6CYR.ByRIa-a- a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-|?5^?X9v9aYa=eFye&EepEe>iQ 5u.5mg?Q 9}.5m)mBQ A}T:Y}?Q E}:y}aQ I}@m-DIm;im;m.5yԔBɮ1AHEiiF͚?AJiARiAjiDj@bq$b7"@+ywXp{?R?jOBDxԿ@\~>?ZiZ䨾bi"jw$?=5pp n@ZDa Sy[#/k?2i:i$"iM5?*iCBi݅Bi靖?iCiiiAi\Q@1} addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503362 s, deltaX: -0.099999 m, approachRate: -0.198663 m/s, rangeRepo size: 4  Added new target pos. range: 9.751177 m, bearing: 233.507325 deg, lat: 36.779330 deg, lon: -121.859614 deg, deltaT: 0.503362 s, deltaX: -0.099479 m, approachRate: -0.197629 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.75 m. 9.85 m.RhZhuo ProNav: ac range: 9.850656 m, nav range: 9.179534 m, bearing: 235.936180 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 245.980520 deg, new cmd heading: 245.710229 deg. Bh|HeadingCmd: 4.288453 target range: 9.850656 and range: 9.80 m.h;@h*h"h hgfffÁBdddjd#@Zd^J?iɢu)q uiq)uɏyyi}'i}<ۚ=I;@IUDDAT read: Rx Time:05:00:05.5369 UTRx dataTimestamp_ set to:1761541206.921058a]PDAT read: Bearing 45.1, -19.6 (Local) e~Local bearing/azimuth received: Bearing 45.1, -19.6 (Local) uDAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.5 DAT read: 05:00:05.5369 LVL= 32752, 32753, 22610, 32755, AGC= 53, IDX= 508,-0.26,-2.461, 2.488,-1.589,-2.324, PHS=-0.034,-1.426, 0.691, RAW= 169.7, 8.3, CAL= 169.4, 8.6, ROT= 340.6, -8.6 Ygot valid direction response: 05:00:05.5369 LVL= 32752, 32753, 22610, 32755, AGC= 53, IDX= 508,-0.26,-2.461, 2.488,-1.589,-2.324, PHS=-0.034,-1.426, 0.691, RAW= 169.7, 8.3, CAL= 169.4, 8.6, ROT= 340.6, -8.6 T#Rx 97: Read range and direction messages.^direction in FSK: [0.932617,-0.328426,0.149535]Fpublishing direction and range infoyQU$?*տS&r#?YUAQQQURX Q)U5IUC iU+U`0?U=@UV>U8=@ U`>)U:@IU`QQUgI`|? qp%?%z? U^?)US[IU*\iU`QQchecking for new query: numPingsReceived=97, elapsed TxPingTime=47.664143I@ @@/@ԑ^AE X=AM ?AM >I I O >Թ zNr,?AbDDAT read: Rx Time:05:00:06.0367 fTRx dataTimestamp_ set to:1761541207.176003rchecking for new query: numPingsReceived=97, elapsed TxPingTime=47.905479zs„@zD@zXżٱzTK AHRS rotation from veh to nav: [[-0.338602,0.920671,0.194198],[-0.940621,-0.336487,-0.044812],[0.024088,-0.197840,0.979938]]zH@տ#v?w?տ@@u?Rɿ[?izs„@Iz];zCE] E]E](EY"E]1;*E]V:VE]c44ZEYae@ae@ae@ae@ԑYAByII=)p<bDVDyő=%=ٔQ->9Y=Fy&EE>Q 5.5D]?Q 9.5)ϢBYyQ I@!-DI;iH;.5yޔBɮAQEii?AJiARiAjiX@bMpB!@H,P]Ry#?R$?*տS&r#?Zi*\bi`jåjZwcԠs~2R@ZHT⿸gY~I?2i:ir"i ?*i}%BiBiVe ?i֨iBiAi-@E addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.502279 s, deltaX: -0.500000 m, approachRate: -0.995463 m/s, rangeRepo size: 4 U Added new target pos. range: 9.253668 m, bearing: 232.703556 deg, lat: 36.779330 deg, lon: -121.859614 deg, deltaT: 1.005641 s, deltaX: -0.596988 m, approachRate: -0.593639 m/s, posRepo size: 4 jhQbhQ]zIgnoring new targets. Set target to previous: 9.25 m. 9.85 m.RhYZhYm ProNav: ac range: 9.850656 m, nav range: 8.886447 m, bearing: 235.639658 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 245.710236 deg, new cmd heading: 245.387953 deg. Bhqu|HeadingCmd: 4.282828 target range: 9.850656 and range: 9.30 m.hu @hq*hy"hy hygyfyffdddjd"@Zd@U?颽ӁBɢu) i)) i'i~=I @I=O@9 @9@9@9]PDAT read: Bearing 44.5, -20.7 (Local) e~Local bearing/azimuth received: Bearing 44.5, -20.7 (Local) uDAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 DAT read: 05:00:06.0367 LVL= 32752, 32753, 26098, 32755, AGC= 52, IDX= 506,-0.18,-2.910, 2.057,-1.993,-2.752, PHS=-0.055,-1.429, 0.716, RAW= 170.8, 8.2, CAL= 170.5, 8.5, ROT= 339.5, -8.5 Ygot valid direction response: 05:00:06.0367 LVL= 32752, 32753, 26098, 32755, AGC= 52, IDX= 506,-0.18,-2.910, 2.057,-1.993,-2.752, PHS=-0.055,-1.429, 0.716, RAW= 170.8, 8.2, CAL= 170.5, 8.5, ROT= 339.5, -8.5 T#Rx 98: Read range and direction messages.^direction in FSK: [0.926384,-0.346361,0.147809]Fpublishing direction and range infoyQU 3?+0*ֿ%)k?YUAQQQUe Q)U4IUGaiUy鶿UK7?U>@UC>UIs>@ U>)Uќ@IUQQU"sޘ?*?(`G? UUb?)UoIU0iUQQchecking for new query: numPingsReceived=98, elapsed TxPingTime=48.165127^A] = A I I O >R(y,h?AJP@J!@Jv"żٱJN RAHRS rotation from veh to nav: [[-0.344696,0.918072,0.195776],[-0.938406,-0.342352,-0.046796],[0.024062,-0.199848,0.979531]]JHֿ`?0?k@տಣ?ɿ@RX?iJP@IJ׊];JCZCXi~uI||Ii ) r@     I )i)1I119 9999i99iAE$jA)E ¾ E7FIAYAԑYPBy IbDVD02y=%h=ٔ8Q->BqBqBuIBu8BBqBqBqBu.s;Bu.E DDAT read: Rx Time:05:00:06.5364 TRx dataTimestamp_ set to:1761541207.700557MPDAT read: Bearing 43.7, -21.0 (Local) U~Local bearing/azimuth received: Bearing 43.7, -21.0 (Local) DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.5 Z#Rx 99: Read range message, but no direction.yY Achecking for new query: numPingsReceived=99, elapsed TxPingTime=48.452099bE:4jE?4rEn/E EEE"E0;*E:VEZEBEQ 5.5S?Q 9.5)ݢBYy%Q I%@1-DI;i>;.5y)ɮ-mA)ii?AJiARiAji%@b=x@0apɠh>?2ix:i"iP#?*i\Bi[BiP#?igiBi Ai9@ addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.779499 s, deltaX: -0.700000 m, approachRate: -0.898012 m/s, rangeRepo size: 4  Added new target pos. range: 8.557165 m, bearing: 231.237189 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 1.785140 s, deltaX: -1.293490 m, approachRate: -0.724588 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 8.56 m. 9.85 m.Rh!Zh!M ProNav: ac range: 9.850656 m, nav range: 8.629580 m, bearing: 235.374053 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 245.387960 deg, new cmd heading: 245.092619 deg. BhIu|HeadingCmd: 4.277673 target range: 9.850656 and range: 8.60 m.h}@hy*hy"hy hygyfyffdddjd@33!@Zd?ҁBɢ7 ) 'i)in&i OZ ӟ< ; =I-@I1@ @@@^A 6= DAT read: 05:00:06.5364 LVL= 32752, 32753, 25714, 32755, AGC= 52, IDX= 503,-0.09, 2.670, 1.352,-2.675, 2.827, PHS=-0.056,-1.430, 0.737, RAW= 171.2, 7.9, CAL= 170.8, 8.1, ROT= 339.2, -8.1  Ygot valid direction response: 05:00:06.5364 LVL= 32752, 32753, 25714, 32755, AGC= 52, IDX= 503,-0.09, 2.670, 1.352,-2.675, 2.827, PHS=-0.056,-1.430, 0.737, RAW= 171.2, 7.9, CAL= 170.8, 8.1, ROT= 339.2, -8.1  \#Rx 100: Read direction message, but no range. ^direction in FSK: [0.925500,-0.351564,0.140901]y  XPK?XDֿ:N ? rd ) I B`ei =  >@ >) q@I  [[ʁ?e8?Y(q? bd?) I ޹i  checking for new query: numPingsReceived=100, elapsed TxPingTime=48.689098 A I I O > ,P5?AMw@Mr@M}üٱMܷO AHRS rotation from veh to nav: [[-0.347154,0.916871,0.197056],[-0.937503,-0.344650,-0.048000],[0.023906,-0.201404,0.979216]]MH7ֿW? !9?ֿnz?ɿU?iMw@IM];IY%ZBy%IiMMb@Mb@Mb@IIII I9MB`"?I +/$?YM?yM9M,=M9AM;@ MvA)M`AIYIbD VD:2y(=%1=ٔ9Q->9Y=Fy&EqE>Q 5.5K?Q 9.5)BY?Q E:yQ I@?-DI;i;'.5yٔBɮA jhQbhQUzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh]Zh] ProNav: ac range: 9.850656 m, nav range: 8.425472 m, bearing: 235.219475 deg, approach rate: -0.579842 m/s, LOS rate: -0.449773 deg/s, cmd heading: 245.092623 deg, new cmd heading: 244.617667 deg. BhV|HeadingCmd: 4.269384 target range: 9.850656 and range: 8.60 m.h˞@h*h"h hgfffBdddjdZd b?)-DDAT read: Rx Time:05:00:07.0363 5TRx dataTimestamp_ set to:1761541208.205398]PDAT read: Bearing 45.0, -22.0 (Local) e~Local bearing/azimuth received: Bearing 45.0, -22.0 (Local) DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 сBɢ) oi)ѕi%i =I˞@I\#Rx 101: Read range message, but no direction.E- E-E-'E)"E-9;*E-:VE-'4ZE)a5@a5@a5@a5@y)Y-fA)]checking for new query: numPingsReceived=101, elapsed TxPingTime=48.970512QP@ @@/@y ^A =A fAzA  DAT read: 05:00:07.0363 LVL= 32752, 32753, 25314, 32755, AGC= 50, IDX= 502, 0.01,-1.671,-2.972,-0.712,-1.465, PHS=-0.104,-1.462, 0.710, RAW= 171.8, 9.1, CAL= 171.6, 9.8, ROT= 338.4, -9.8  Ygot valid direction response: 05:00:07.0363 LVL= 32752, 32753, 25314, 32755, AGC= 50, IDX= 502, 0.01,-1.671,-2.972,-0.712,-1.465, PHS=-0.104,-1.462, 0.710, RAW= 171.8, 9.1, CAL= 171.6, 9.8, ROT= 338.4, -9.8  \#Rx 102: Read direction message, but no range. ^direction in FSK: [0.916209,-0.362753,0.170209]y  FsſQ?yPW7׿rl? b ) 2I Խi " 5? ?@ "> ֭?@ %/>) @I %/ ('?N .?Bʷ ? Qg?) !I i %/checking for new query: numPingsReceived=102, elapsed TxPingTime=49.188370ԩAaIiIyO?҇, ?ANa@N\@NȌüٱN1Q nAHRS rotation from veh to nav: [[-0.349679,0.915596,0.198514],[-0.936566,-0.347026,-0.049171],[0.023869,-0.203116,0.978864]]NH`#aֿL?h?@X`5ֿ,q?`ɿ R?iNa@IN:];NCY`By I bDVD1yO<%4=ٔѪ8Q->9Y=Fy!&E»E>Q 5 .5zA?Q 9 .5q)BYyEQ I@O-DI7 ;i ;.5yɮAIi)i->% ?AJi-ARi-Aji-K@b-&c@$Q'mATq ?R-FsſQ?yPW7׿rl?Zi-bi-%/j-:޿e%*@Z-j"Keɲ(ey@?2i-:i-|"i-򱍜?*i- @Bi-Bi- ?i-}%i-Bi-Ai-i|@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504841 s, deltaX: -0.200001 m, approachRate: -0.396166 m/s, rangeRepo size: 4   Added new target pos. range: 8.358161 m, bearing: 230.122380 deg, lat: 36.779327 deg, lon: -121.859612 deg, deltaT: 2.289981 s, deltaX: -1.492495 m, approachRate: -0.651750 m/s, posRepo size: 4 jh bhzIgnoring new targets. Set target to previous: 8.36 m. 9.85 m.RhZhuoM ProNav: ac range: 9.850656 m, nav range: 8.173950 m, bearing: 235.022788 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 244.617679 deg, new cmd heading: 244.328413 deg. BhMU|HeadingCmd: 4.264335 target range: 9.850656 and range: 8.40 m.hUou@hQ*hQ"hQ hQgYfYfYfYdaddjd @Zd [?ɢ6 ) hbi)iW%i4H<t=Iou@IBM>BIBMIBMVByBIBIBMDBMZs;BM.EB%CB%CB!B!B!C%#4 DDAT read: Rx Time:05:00:07.5360 TRx dataTimestamp_ set to:1761541208.711352MPDAT read: Bearing 44.7, -22.3 (Local) m~Local bearing/azimuth received: Bearing 44.7, -22.3 (Local) DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 E EE&E"E<;*E:VE4ZEBE“&,>?AɰF~I@FOD@F¼ٱFS RAHRS rotation from veh to nav: [[-0.352456,0.914101,0.200486],[-0.935527,-0.349602,-0.050680],[0.023764,-0.205423,0.978385]]FHֿ P@??_ֿ@U?JKʿN?iF~I@IF];FCYZkByZ.IhiEMb@Mb@Mb@AAAA A9E/$?!rh/$?YE1?yEl罙AEAEQ@ E A)EAAYE AbD]VD]0yuLE=%u6=ٔuu9Q-}>9Y=Fy%&E׻E>Q 5.56?Q 9.5 ) BY ?Q E:yQ I@^-DIO;i<; .5yɮnAiiimˆ-?AJim@Rim@jimG@bmJV@@g,a?RmgA?fڅ׿rl?Zim:þbiijm]('"&kQb@Zmli㿫H翟:xo?2imX:im"im^ ?*imBimBiiim @imBimY@im@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.505954 s, deltaX: -0.400000 m, approachRate: -0.790585 m/s, rangeRepo size: 4  Added new target pos. range: 7.960166 m, bearing: 229.683495 deg, lat: 36.779327 deg, lon: -121.859609 deg, deltaT: 2.795935 s, deltaX: -1.890489 m, approachRate: -0.676156 m/s, posRepo size: 4 jhbh  zIgnoring new targets. Set target to previous: 7.96 m. 9.85 m.RhZh% ProNav: ac range: 9.850656 m, nav range: 7.930039 m, bearing: 234.916514 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 244.328407 deg, new cmd heading: 244.037444 deg. BhAM|HeadingCmd: 4.259257 target range: 9.850656 and range: 8.00 m.hMK@hI*hI"hI hIgIfQfQfU BdQdYdYjd] @Zd]l?ЁBɢ-l) 0Ki)ۛis$i % t<%w,=I%K@I!P@ @@/@UDDAT read: Rx Time:05:00:08.0359 ]TRx dataTimestamp_ set to:1761541209.216828PDAT read: Bearing 43.9, -23.1 (Local) ~Local bearing/azimuth received: Bearing 43.9, -23.1 (Local) 1DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 D!D%R=E- E-E-(E)"E-sH;*E-:VE-c44ZE)a=@a=@a=@a=@DAT read: 05:00:08.0359 LVL= 32752, 32753, 25858, 32755, AGC= 48, IDX= 498, 0.45,-2.103, 2.889,-1.085,-1.874, PHS=-0.127,-1.475, 0.745, RAW= 172.9, 8.9, CAL= 172.7, 9.6, ROT= 337.3, -9.6 Ygot valid direction response: 05:00:08.0359 LVL= 32752, 32753, 25858, 32755, AGC= 48, IDX= 498, 0.45,-2.103, 2.889,-1.085,-1.874, PHS=-0.127,-1.475, 0.745, RAW= 172.9, 8.9, CAL= 172.7, 9.6, ROT= 337.3, -9.6 V#Rx 104: Read range and direction messages.^direction in FSK: [0.909619,-0.380502,0.166769]Fpublishing direction and range infoyY]h?PK%Zؿ8_X?Y]@YYY]e Y)]0I]J i]̼]R>?]!A@]>]b@@ ]+>)]Db@I]+YY]8C ?V;?Wp? ][l?)] I]jʾi]+YY checking for new query: numPingsReceived=104, elapsed TxPingTime=49.999264^A  =Y AM .AIQ Ia Om >ܕ,X?A>R7@>#2@>ٱ>U FAHRS rotation from veh to nav: [[-0.354535,0.912962,0.202002],[-0.934755,-0.351415,-0.052350],[0.023193,-0.207383,0.977985]]>H೰ֿ6?6?`}ֿͪ`Ͽ?@ʿK?i>R7@I>&];>CY^oBy^3IbDjVDjy<%P=ٔ:Q->9  ?Y  ?= Fy )&E E>QQ 5].5U9-?Q 9e.5U)UBYayeQ Ie@Ul-DIUg:iUI:U.5ymݔBɮmAYEiiimM?AJim[@Rim[@jim@bmCk!=@[tW?Rmh?PK%Zؿ8_X?Zimjʾbim+jm5ڌ/+N[~U@Zm8v#[=5WV?2im!:im"imE%?*imnɥBimBiiim\imBim@im@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.505476 s, deltaX: -0.200000 m, approachRate: -0.395666 m/s, rangeRepo size: 4 Uchecking for new query: numPingsReceived=104, elapsed TxPingTime=50.186844] Added new target pos. range: 7.761163 m, bearing: 228.744267 deg, lat: 36.779327 deg, lon: -121.859607 deg, deltaT: 3.301411 s, deltaX: -2.089493 m, approachRate: -0.632909 m/s, posRepo size: 4 jhYbhYezIgnoring new targets. Set target to previous: 7.76 m. 9.85 m.RhaZha ProNav: ac range: 9.850656 m, nav range: 7.715862 m, bearing: 234.820791 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 244.037441 deg, new cmd heading: 243.796228 deg. Bh|HeadingCmd: 4.255047 target range: 9.850656 and range: 7.80 m.hX)@h*h"h hgff)f)d)d1d1jd5@33@Zd5 g?aɢ%DŽ)! %Ai!)%Iԙ))i-h$i55<==I=X)@IIQO@ @@0@@!@%fAiBA BA BE :IBE uBBE =BA BE DBE cs;BE .E- DDAT read: Rx Time:05:00:08.5357 5 TRx dataTimestamp_ set to:1761541209.717260U PDAT read: Bearing 42.5, -23.9 (Local) ^A $ӿ=A >A >ԡ  ~Local bearing/azimuth received: Bearing 42.5, -23.9 (Local) E5  E5 E5 )E1 "E5 77;*E5 :VE5 FA4ZE1 BE5 s,:t?Ac )1IC ijxI? \B@Q >WB@ nF>)Jӻ@InFuvy?9"?Y"?=Fy.&E E>!Q 5M.5%F!?Q 9M.5%7)%0BYU ?Q EU:yU Q IU@%|-DI%;i%P:%.5yYɮ]oAYiim?AJi@Ri@jic~@bj,L@ݶuRD?R@۩?ؽkٿ8C ?Zi ӾbinFjl0iHK?Z4YPӸ:{LJ=?2iC:i"i~`5?*iθ*Bi8Bi򱍜?iiBi|@i.@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.500432 s, deltaX: -0.300000 m, approachRate: -0.599482 m/s, rangeRepo size: 4  Added new target pos. range: 7.462656 m, bearing: 227.484906 deg, lat: 36.779327 deg, lon: -121.859607 deg, deltaT: 3.801843 s, deltaX: -2.388000 m, approachRate: -0.628116 m/s, posRepo size: 4 jhbh%zIgnoring new targets. Set target to previous: 7.46 m. 9.85 m.Rh!Zh)5 ProNav: ac range: 9.850656 m, nav range: 7.463575 m, bearing: 234.787351 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 243.796226 deg, new cmd heading: 243.490517 deg. Bh9=|HeadingCmd: 4.249711 target range: 9.850656 and range: 7.50 m.h]@ha*ha"ha hagafafifm7Bdididqjdu@Zdu cC?checking for new query: numPingsReceived=105, elapsed TxPingTime=50.691044ɢq) LAi)Mi#ir$7<?=I@IF@ @@.0@ i> C! U Gu hA ^A] \=U _9} hAY} LkAu DDAT read: Rx Time:05:00:09.0356 } TRx dataTimestamp_ set to:1761541210.224212 PDAT read: Bearing 46.2, -23.3 (Local)  ~Local bearing/azimuth received: Bearing 46.2, -23.3 (Local)  DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4  DAT read: 05:00:09.0356 LVL= 32752, 32753, 28274, 32755, AGC= 50, IDX= 511, 0.05,-1.327,-2.610,-0.338,-1.048, PHS=-0.177,-1.516, 0.666, RAW= 172.5, 10.8, CAL= 172.5, 12.5, ROT= 337.5, -12.5  Ygot valid direction response: 05:00:09.0356 LVL= 32752, 32753, 28274, 32755, AGC= 50, IDX= 511, 0.05,-1.327,-2.610,-0.338,-1.048, PHS=-0.177,-1.516, 0.666, RAW= 172.5, 10.8, CAL= 172.5, 12.5, ROT= 337.5, -12.5  V#Rx 106: Read range and direction messages. ^direction in FSK: [0.901980,-0.373612,0.216440] Fpublishing direction and range infoyy } c?GvC׿K?Y} @y y y } rn y )} 2I} }?5i} J ¿} ~*?} 2@@} A>} 2@@ } f_>)} ~@I} f_y y } ,RyE ?N?Sև? } j?)} ?@I} ɾi} f_y y  checking for new query: numPingsReceived=106, elapsed TxPingTime=50.971249I DI zDM AAEU  EU EU (EQ "EU D;*EU d:VEU c44ZEQ ae @ae @ae @ae @Iq I O >,?Ar@rp @ribٱrT5\ AHRS rotation from veh to nav: [[-0.359177,0.909984,0.207174],[-0.932989,-0.355551,-0.055813],[0.022872,-0.213338,0.976711]]rHֿ`?? Xֿ`@k?`N˿6A?ir@Ir];rCY-lBy-0IbD}VD}y=fC%=<=ٔE+a9Q-E>9AYA=MFyM2&EmxʻEm>qQ 5}.5u?Q 9}.5u)u@BYy Q I@u-DIu:iu:u}.5yɮAiiim}Y?AJim@Rim@jimP@bmYqϐ@P[?Rmc?GvC׿K?Zimɾbimf_jmGs<mٔ:;H~\@Zm7[|e!)@Ȳu?2imԩ:im"imӖ?*im_ABimBiiiiimBim@imgJ@} addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.506952 s, deltaX: -0.100000 m, approachRate: -0.197257 m/s, rangeRepo size: 4  Added new target pos. range: 7.363153 m, bearing: 229.339166 deg, lat: 36.779327 deg, lon: -121.859607 deg, deltaT: 4.308795 s, deltaX: -2.487502 m, approachRate: -0.577308 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 7.36 m. 9.85 m.RhZh ProNav: ac range: 9.850656 m, nav range: 7.246667 m, bearing: 234.760497 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 243.490507 deg, new cmd heading: 243.217860 deg. Bh|HeadingCmd: 4.244953 target range: 9.850656 and range: 7.40 m.hև@h*h"h hgfffd!d!d!jd%@Zd%?uρBɢu)q }&Fiy)W顡i6`#igrΩ<=Iև@I]checking for new query: numPingsReceived=106, elapsed TxPingTime=51.194962eK@a @a@e0@aA ^A} 7=y I I O >u,ޫ?AAABBBSIBBBBBBB=DDAT read: Rx Time:05:00:09.5353 MTRx dataTimestamp_ set to:1761541210.725748mPDAT read: Bearing 44.8, -23.4 (Local) u~Local bearing/azimuth received: Bearing 44.8, -23.4 (Local) DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 E= E=E=&E9"E=a?;*E=:VE=4ZE9BE==A@ =M>)=S@I=M99=Y"?/4?jH? =WCl?)=d5I=˾i=M99checking for new query: numPingsReceived=107, elapsed TxPingTime=51.569313Y5jBy5,IiuMb@Mb@Mb@qqqq q9ux&1?i|?5~jt?Yu?yuu9Y=Fy8&EE>Q 5.53 ?Q 9.5n")PBY%?Q E%:y% Q I-@-DI;i;~.5y5ؔBɮ5oA1i9i=r?AJi=@Ri=@ji=@b=@FUxfW?R=@L?ĝ`Mؿi?Zi=˾bi=Mj=> Df4G@Z=n-(<1?2i=:i=!"i=t?*i= BBi={Bi=^ ?i=nɥi=Bi=@i=G+@ addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.501536 s, deltaX: -0.500000 m, approachRate: -0.996937 m/s, rangeRepo size: 4  Added new target pos. range: 6.865639 m, bearing: 228.829973 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 4.810331 s, deltaX: -2.985016 m, approachRate: -0.620543 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 6.87 m. 9.85 m.Rh9Zh9M ProNav: ac range: 9.850656 m, nav range: 6.950575 m, bearing: 234.685510 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 243.217873 deg, new cmd heading: 242.862860 deg. BhIU|HeadingCmd: 4.238757 target range: 9.850656 and range: 6.90 m.hU壇@hQ*hQ"hY hYgyfyffBdddjd@Zd`?checking for new query: numPingsReceived=107, elapsed TxPingTime=51.698837颹 ɢ () 4Ki ) i "i  < r*=I 壇@I O@  @ @ 0@ @ >@ >) Y^AA=A gAzA gAiiIi}DDAT read: Rx Time:05:00:10.0352 }TRx dataTimestamp_ set to:1761541211.225025PDAT read: Bearing 43.8, -23.5 (Local) ~Local bearing/azimuth received: Bearing 43.8, -23.5 (Local) DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 IIO ?嚳,?ADAT read: 05:00:10.0352 LVL= 32752, 32753, 28274, 32755, AGC= 50, IDX= 507,-0.03, 1.858, 0.584, 2.878, 2.120, PHS=-0.161,-1.491, 0.714, RAW= 173.2, 9.8, CAL= 173.1, 10.9, ROT= 336.9, -10.9 &Ygot valid direction response: 05:00:10.0352 LVL= 32752, 32753, 28274, 32755, AGC= 50, IDX= 507,-0.03, 1.858, 0.584, 2.878, 2.120, PHS=-0.161,-1.491, 0.714, RAW= 173.2, 9.8, CAL= 173.1, 10.9, ROT= 336.9, -10.9 &V#Rx 108: Read range and direction messages.*^direction in FSK: [0.903227,-0.385259,0.189095]F@F@*Fpublishing direction and range infoy15 Ձ;?UؿoG4?Y5@1115rn 1)1F"ٱFmy_ VAHRS rotation from veh to nav: [[-0.368028,0.905923,0.209426],[-0.929540,-0.363939,-0.059189],[0.022597,-0.216453,0.976031]]FHō׿Q?w?ʾJ׿@N#?˿`;?iF@IFS];DI5/$E^: E^E^'E\"E^\p;*E^:VE^'4ZE\ab@ab@ab@ab@i5پ56?5\wA@5%/>5ZA@ 5B>)5)@I5B115e1$?)W@?.&d? 5m?)5.I5zlξi5B11rchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.992069YvaByv"IbDVD0Աy2%T=ٔ::Q->9Y=Fy<&E3̼E>Q 5.5?Q 9.5&)[BYy Q I@-DI:ik:.5y!ɮ%A!i1i5f?AJi5@Ri5@ji5~@b5'r@%j)Sx?R5 Ձ;?UؿoG4?Zi5zlξbi5Bj5m^{-;7?Z5'~|T׉y6Mڎt?2i5ٙ:i5"i5 ?*i5.Bi5HBi5 ?i5.i5{Bi5Q@i5~@5 addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.499277 s, deltaX: -0.100000 m, approachRate: -0.200289 m/s, rangeRepo size: 4 E Added new target pos. range: 6.766138 m, bearing: 227.909769 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 5.309608 s, deltaX: -3.084518 m, approachRate: -0.580931 m/s, posRepo size: 4 jhabhamzIgnoring new targets. Set target to previous: 6.77 m. 9.85 m.RhiZhi} ProNav: ac range: 9.850656 m, nav range: 6.753591 m, bearing: 234.647421 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 242.862867 deg, new cmd heading: 242.610839 deg. Bhy|HeadingCmd: 4.234358 target range: 9.850656 and range: 6.80 m.h@h*h"h hgfffdddjd@33@Zd }?)ɢ-.)) -n\i))5蟼11i5g'"i==\<==I=@IaN@ @@,0@^A6[=I1IIUchecking for new query: numPingsReceived=108, elapsed TxPingTime=52.202812O]v> 1 ,?A4<ɰ4<6@6͙@6(ٻٱ6#]` >AHRS rotation from veh to nav: [[-0.371857,0.904205,0.210086],[-0.928007,-0.367689,-0.060072],[0.022929,-0.217299,0.975836]]6H@׿>? ?:6׿ z? v˿ :?i6@I6H];6CYN_ByRIbDZVDZy }'% W=ٔ{cQ->9)Y)=5Fy5@&EE.EM>aB>BB`IBBB =BBDBEs;B.EQ 5.5e\?Q 9.5e+)efBDDAT read: Rx Time:05:00:10.5348 TRx dataTimestamp_ set to:1761541211.729948PDAT read: Bearing 46.2, -23.4 (Local) ~Local bearing/azimuth received: Bearing 46.2, -23.4 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 =DAT read: 05:00:10.5348 LVL= 32752, 32753, 31138, 32755, AGC= 50, IDX= 504, 0.32, 2.227, 0.958,-3.075, 2.525, PHS=-0.196,-1.522, 0.639, RAW= 172.5, 11.4, CAL= 172.6, 13.4, ROT= 337.4, -13.4 EYgot valid direction response: 05:00:10.5348 LVL= 32752, 32753, 31138, 32755, AGC= 50, IDX= 504, 0.32, 2.227, 0.958,-3.075, 2.525, PHS=-0.196,-1.522, 0.639, RAW= 172.5, 11.4, CAL= 172.6, 13.4, ROT= 337.4, -13.4 EV#Rx 109: Read range and direction messages.YIyM Q IM@e-DIe=ie~=e;.5yYɮ]AYm^direction in FSK: [0.898077,-0.373833,0.231748]uFpublishing direction and range infoyU16L ?X׿] A?Yf@yE EE(E"EI@;*E:VEc44ZEBE@@ |o>)p@I|o,?ɝ?d u[? j?Rii@jiz@bOR{V)@)sˣ?RU16L ?X׿] A?Ziɾbi|ojg-ͽKej~3/@ZOq㿮gq t?)5LIɾi|o=checking for new query: numPingsReceived=109, elapsed TxPingTime=52.536526I2i$:iv"iٽU?*iLBikBiӖ?i BikBi@i ~~@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504923 s, deltaX: -0.600000 m, approachRate: -1.188301 m/s, rangeRepo size: 4 e Added new target pos. range: 6.169149 m, bearing: 228.716448 deg, lat: 36.779328 deg, lon: -121.859606 deg, deltaT: 5.814531 s, deltaX: -3.681507 m, approachRate: -0.633156 m/s, posRepo size: 4 jhibhimzIgnoring new targets. Set target to previous: 6.17 m. 9.85 m.RhqZhq ProNav: ac range: 9.850656 m, nav range: 6.552144 m, bearing: 234.613260 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 242.610833 deg, new cmd heading: 242.298172 deg. Bh|HeadingCmd: 4.228901 target range: 9.850656 and range: 6.20 m.h(S@h*h"h hgfffd1d9d9jd=@Zd=@?颩ɢ) `i)ɡIQiUs!iUfy]6<]O=I](S@IYim checking for new query: numPingsReceived=109, elapsed TxPingTime=52.706825 P@  @ @ /@ @ @ gAԡ ^A:=A?A>I IO->,x?A2ix@2:s@2aӾٱ2њ` NAHRS rotation from veh to nav: [[-0.376220,0.902384,0.210146],[-0.926238,-0.372001,-0.060820],[0.023292,-0.217527,0.975776]]2HؿT??`׿#ٗ?˿@9?i2ix@I2];2CYZVByZII^4=)^;DDAT read: Rx Time:05:00:11.0348 TRx dataTimestamp_ set to:1761541212.232533PDAT read: Bearing 45.0, -23.4 (Local) ~Local bearing/azimuth received: Bearing 45.0, -23.4 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 \#Rx 110: Read range message, but no direction.yYchecking for new query: numPingsReceived=110, elapsed TxPingTime=52.964451)iMb@Mb@Mb@ 9sh|??:v9qYq=uFyuF&E}E}>Q 5.5F睊?Q 9.5y2)tBY ?Q E:yQ I@-DI:i:.5yܔBɮ-AaE]B*** querying acoustic contact ***ia iau addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502585 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhqbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhBZhB ProNav: ac range: 9.850656 m, nav range: 6.220159 m, bearing: 234.463700 deg, approach rate: -0.697358 m/s, LOS rate: -0.330929 deg/s, cmd heading: 242.298174 deg, new cmd heading: 241.825558 deg. Bhc|HeadingCmd: 4.220652 target range: 9.850656 and range: 6.20 m.h@h*h"h hgfffBdddjdZd@N?QYɢeU)a eria)eiiim im=I@IMN@I @I@I@I@U@U@U@Uԁ  DAT read: 05:00:11.0348 LVL= 32752, 32753, 32098, 32755, AGC= 50, IDX= 504,-0.14, 2.198, 0.937,-3.099, 2.485, PHS=-0.185,-1.503, 0.655, RAW= 172.7, 11.0, CAL= 172.7, 12.8, ROT= 337.3, -12.8  Ygot valid direction response: 05:00:11.0348 LVL= 32752, 32753, 32098, 32755, AGC= 50, IDX= 504,-0.14, 2.198, 0.937,-3.099, 2.485, PHS=-0.185,-1.503, 0.655, RAW= 172.7, 11.0, CAL= 172.7, 12.8, ROT= 337.3, -12.8  \#Rx 111: Read direction message, but no range. ^direction in FSK: [0.899612,-0.376316,0.221548]y  uʟ?MRŐؿ@|[? b} ) I p=i Nb '? b@@ D> b@@ d>) Db@I d r)?̟{"|?UB[? ck?) ]DI jʾi d checking for new query: numPingsReceived=111, elapsed TxPingTime=53.220333ԩ AaIiIO>hY,6'?ABcR@B5M@BٱB` JAHRS rotation from veh to nav: [[-0.380514,0.900603,0.210055],[-0.924479,-0.376196,-0.061763],[0.023397,-0.217693,0.975737]]BHVZؿ ??Uؿu`?_˿@<9?iBcR@IBt];BCYRFByRIbD^VD^yf6%fe=ٔfQ-j>9hYh=jFyjJ&En|TEn>pQ 5v.5rޝ?Q 9v.5r6)r|BYxyz: Q Iz@r-DIr;ir;r.5y|ɮ~A|jh!bh!-zIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.Rh5WZh5WE ProNav: ac range: 9.850656 m, nav range: 6.029111 m, bearing: 234.378589 deg, approach rate: -0.568158 m/s, LOS rate: -0.261132 deg/s, cmd heading: 241.825552 deg, new cmd heading: 241.562131 deg. BhE63IU|HeadingCmd: 4.216054 target range: 9.850656 and range: 6.20 m.hU@hQ*hQ"hQ hQgYfYfYfYdadadajdaZdeBBYIBBB =BBBs;B.E颅ЁBɢ,%") i);*E1:VEFA4ZEBESZA@ k]>))@Ik]-4&6W?&&?N2 ? %Zm?)?Izlξik]]checking for new query: numPingsReceived=112, elapsed TxPingTime=53.547787-M@) @)@-0@)ԩIA IY Oe > } checking for new query: numPingsReceived=112, elapsed TxPingTime=53.7149059;,f@?A Y}GByyԹiMb@Mb@Mb@ 9|?5^?bX9ȶMbP?Y?yE:KA$@  A)AY AbDVD:2y-:%-6=ٔ5Q-5>9Y=FyN&EE>Q 5.5 ӝ?Q 9.5<)BY?Q E:yQ I@-DIX ;i:.5yɮAii;/?AJiܻ@Riܻ@jiL~@b\r2@ S A<ፊ+?R`e?nyؿh`r|?Zizlξbik]j$YgQm2W}?Z½T]\c;!?2in:i&q"i?*iBiBii.ii@i'}@ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.505449 s, deltaX: -0.300000 m, approachRate: -0.593531 m/s, rangeRepo size: 4  Added new target pos. range: 5.870624 m, bearing: 227.467104 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 6.822565 s, deltaX: -3.980032 m, approachRate: -0.583363 m/s, posRepo size: 4 jh bh zIgnoring new targets. Set target to previous: 5.87 m. 9.85 m.RhZhuo% ProNav: ac range: 9.850656 m, nav range: 5.764901 m, bearing: 234.164696 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 241.562126 deg, new cmd heading: 241.272524 deg. Bh%-|HeadingCmd: 4.211000 target range: 9.850656 and range: 5.90 m.h-@h)*h)"h1 h1g1f1f9f=Bd9d9d9jdE@ZdE&?iɢuWT)q u{iq)uyyi}i}I<9=I@IO@ @@%4@!AUfAzAQDDAT read: Rx Time:05:00:12.0344 TRx dataTimestamp_ set to:1761541213.241795PDAT read: Bearing 42.3, -24.3 (Local) ~Local bearing/azimuth received: Bearing 42.3, -24.3 (Local) DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.4 =DAT read: 05:00:12.0344 LVL= 32752, 32753, 25954, 32755, AGC= 50, IDX= 501,-0.25, 1.746, 0.486, 2.811, 2.036, PHS=-0.188,-1.505, 0.731, RAW= 174.1, 9.9, CAL= 174.0, 11.2, ROT= 336.0, -11.2 EYgot valid direction response: 05:00:12.0344 LVL= 32752, 32753, 25954, 32755, AGC= 50, IDX= 501,-0.25, 1.746, 0.486, 2.811, 2.036, PHS=-0.188,-1.505, 0.731, RAW= 174.1, 9.9, CAL= 174.0, 11.2, ROT= 336.0, -11.2 MV#Rx 113: Read range and direction messages.U^direction in FSK: [0.896147,-0.398990,0.194234]UFpublishing direction and range infoy \B@ +H>)f@I+HE=*x?ْ脋?eϒ)? q?)z 1IJw־i+Hmchecking for new query: numPingsReceived=113, elapsed TxPingTime=53.985134IyIO~>E EE+E"E:;*E;:VE [4ZEa@a@a@a@9 le,Z?AN@N@N ȼٱNa ZAHRS rotation from veh to nav: [[-0.391833,0.895640,0.210467],[-0.919710,-0.387400,-0.063675],[0.024505,-0.218519,0.975525]]NHٿ??Cn@+ؿM?@j˿`7?iN@INW];LY~BBy~I bDVDk2y%j%%]=ٔ%EDQ-%>9)Y)=-Fy-R&E5 E5>9Q 5E.5=ɝ?Q 9E.5=[A)=BYAyEQ IM@=-DI=:i=:=.5yU֔BɮUAQiiyO?AJi}@Ri}@jij|@b ӢT@l+2v??RAqB >B CB .IB kBB =B B DB r;B .EBiBiBiBm =Bm =Cm4 DDAT read: Rx Time:05:00:12.5342  TRx dataTimestamp_ set to:1761541213.744780 PDAT read: Bearing 43.8, -24.4 (Local)  ~Local bearing/azimuth received: Bearing 43.8, -24.4 (Local)  DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 5 DAT read: 05:00:12.5342 LVL= 32752, 32753, 25730, 32755, AGC= 50, IDX= 498, 0.05, 2.974, 1.713,-2.256,-2.987, PHS=-0.220,-1.538, 0.688, RAW= 173.9, 11.0, CAL= 173.9, 12.9, ROT= 336.1, -12.9 = Ygot valid direction response: 05:00:12.5342 LVL= 32752, 32753, 25730, 32755, AGC= 50, IDX= 498, 0.05, 2.974, 1.713,-2.256,-2.987, PHS=-0.220,-1.538, 0.688, RAW= 173.9, 11.0, CAL= 173.9, 12.9, ROT= 336.1, -12.9 E V#Rx 114: Read range and direction messages.M ^direction in FSK: [0.891179,-0.394916,0.223250]M Fpublishing direction and range infoy  s?INFٿNu?Y ̬@ d ) I Gai /Ŀ 0? ?B@ D> ?B@ f>) @I f $%}?fQb?༦Z? p?) TWEI վi f m checking for new query: numPingsReceived=114, elapsed TxPingTime=54.486721E  E E E "E B;*E :VE ZE BE v9YYY=}Fy}W&EeE>Q 5.5?Q 9.55H)BY~?Q E:yQ I@ .DI;i;.5yɮAiizo?AJi@Ri@ji|@blN'@!R<+6S1?Rs?INFٿNu?Ziվbifjt0a 4 " ?Z(!iMz忦 %?2ih:ic"i;?*ieƧBiĄBi;?iiBi@iz{@U addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.502985 s, deltaX: -0.300000 m, approachRate: -0.596439 m/s, rangeRepo size: 4  Added new target pos. range: 5.373089 m, bearing: 225.681943 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 7.829363 s, deltaX: -4.477567 m, approachRate: -0.571894 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 5.37 m. 9.85 m.RhZh ProNav: ac range: 9.850656 m, nav range: 5.260949 m, bearing: 233.614106 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 241.046009 deg, new cmd heading: 240.735738 deg. Bh|HeadingCmd: 4.201631 target range: 9.850656 and range: 5.40 m.hs@h*h"h hgfffBdddjd@Zd);?=checking for new query: numPingsReceived=114, elapsed TxPingTime=54.722843}сBɢ}a)y }ُiy)顁ipi/8Go<ԑ=Is@I-O@) @)@-a4@)Թ^Au L=A >A ? I I1 OE > w,?A;ɰp;VDDAT read: Rx Time:05:00:13.0341 VTRx dataTimestamp_ set to:1761541214.248686^PDAT read: Bearing 41.7, -25.9 (Local) ^~Local bearing/azimuth received: Bearing 41.7, -25.9 (Local) fDAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 -DAT read: 05:00:13.0341 LVL= 32752, 32753, 25746, 32755, AGC= 50, IDX= 497, 0.42,-2.165, 2.868,-1.011,-1.821, PHS=-0.242,-1.549, 0.766, RAW= 175.7, 10.2, CAL= 175.6, 11.7, ROT= 334.4, -11.7 5Ygot valid direction response: 05:00:13.0341 LVL= 32752, 32753, 25746, 32755, AGC= 50, IDX= 497, 0.42,-2.165, 2.868,-1.011,-1.821, PHS=-0.242,-1.549, 0.766, RAW= 175.7, 10.2, CAL= 175.6, 11.7, ROT= 334.4, -11.7 ]V#Rx 115: Read range and direction messages.e^direction in FSK: [0.883095,-0.423108,0.202787]eFpublishing direction and range infoyTVZPB?i4ۿ ?YV@TTTVd T)TIVwiVEƿVD?V?BD@VK6>V%D@ VQ>)Vú@IVQTTY};By}IE EE)E"E=;*E:VEFA4ZEa@a@a@a@V9)Y)=-Fy-[&E5EU>YQ 5e.5]o?Q 9e.5]_M)]BYayaQ Im@].DI]:i]:].5yɮAiTiVy?AJiV@RiV@jiVy@bVR&٠@+7 ԿxsT?RVZPB?i4ۿ ?ZiVbiVQjV&z h"(= O;c?ZVkHP@  Q N,l?A^>@^9@^f޼ٱ^2b jAHRS rotation from veh to nav: [[-0.411353,0.886815,0.210590],[-0.911072,-0.406927,-0.066022],[0.027145,-0.219021,0.975342]]^HSڿ `?`?' ڿ氿˛?̿@6?i^>@I^];^CYv>ByvII~=)~<AAbD-VD-0y]_<%eX=ٔmQ-}>9Y=Fy_&EE>Q 5.5t?Q 9.5R)BYqy}Q I}@'.DIE@ 4QO>)w@I4QO-|HeadingCmd: 4.178894 target range: 9.850656 and range: 5.30 m.h5@h1*h9"h9 ?tRv?Ui? ??)N:4I:Fi4QO hgfffdddjd@33@Zd`o?checking for new query: numPingsReceived=116, elapsed TxPingTime=55.511009E EE&E"EO6;*E:VE4ZEY颵ӁBɢE$$)A MiI)MIIiMi =I@IE M@I  @I @M /@I ԁ e checking for new query: numPingsReceived=116, elapsed TxPingTime=55.730778 ^A ew=A gAzA EG!AAIIy 胿9YoAI!OU?=,$?A@켈@fٱ_%b %AHRS rotation from veh to nav: [[-0.425158,0.880403,0.210075],[-0.904671,-0.420648,-0.068015],[0.028487,-0.218966,0.975317]]H5ۿB,?@?  ڿhi +?̿5?i@I];CY5CBy=IDDAT read: Rx Time:05:00:14.0336 TRx dataTimestamp_ set to:1761541215.256785PDAT read: Bearing 38.9, -28.5 (Local) ~Local bearing/azimuth received: Bearing 38.9, -28.5 (Local) DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 DAT read: 05:00:14.0336 LVL= 32752, 32753, 26162, 32755, AGC= 48, IDX= 509, 0.11, 2.701, 1.483,-2.254, 3.103, PHS=-0.300,-1.575, 0.882, RAW= 178.7, 9.4, CAL= 178.6, 10.5, ROT= 331.4, -10.5 Ygot valid direction response: 05:00:14.0336 LVL= 32752, 32753, 26162, 32755, AGC= 48, IDX= 509, 0.11, 2.701, 1.483,-2.254, 3.103, PHS=-0.300,-1.575, 0.882, RAW= 178.7, 9.4, CAL= 178.6, 10.5, ROT= 331.4, -10.5 V#Rx 117: Read range and direction messages.^direction in FSK: [0.863281,-0.470676,0.182236]Fpublishing direction and range infoya?'^޿m~S?Y@2f )Iiɿa?G@'>G@ f;>)@If;\Za?? ?ov*? >?)g'Izif;=checking for new query: numPingsReceived=117, elapsed TxPingTime=55.999901iUMb@Mb@Mb@QQQQ Q9US?MbI +?YU/?yU@U949E EE)E"Ey>;*EL:VEFA4ZEY=EFyEe&EeǼEe>yQ 5.5}?Q 9.5}[)}BY?Q E:y,Q I@}@.DI};i};}.5yɮAii*o?AJiH@RiH@jiJt@b!Y@"ۇs?Ra?'^޿m~S?Zizbif;jX LS6\V?Z;l翙?p fV?2i*:iT"i}=?*iݿBiBi?iiBi@iw@} addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 1.008099 s, deltaX: -0.800000 m, approachRate: -0.793573 m/s, rangeRepo size: 4  Added new target pos. range: 4.477574 m, bearing: 218.701377 deg, lat: 36.779327 deg, lon: -121.859608 deg, deltaT: 9.341368 s, deltaX: -5.373082 m, approachRate: -0.575192 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 4.48 m. 9.85 m.RhZhuo ProNav: ac range: 9.850656 m, nav range: 4.421535 m, bearing: 232.268785 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 239.432992 deg, new cmd heading: 239.054177 deg. Bh  |HeadingCmd: 4.172283 target range: 9.850656 and range: 4.50 m.h W@h *h"h hg9f9f9fE݁BdAdAdAjdM@ZdMн?额ԁBɢ) Si)顡iii<=IW@ImO@i @i@m2@iae checking for new query: numPingsReceived=117, elapsed TxPingTime=56.234997ԑ ^A l=A IIOu>N,S<?A @}@ÀٱQc AHRS rotation from veh to nav: [[-0.432132,0.876755,0.211099],[-0.901332,-0.427523,-0.069456],[0.029354,-0.220285,0.974994]]H ۿ_?K?\ۿDZ`?H2̿`&3?i@I8];YDByIB>BB'IBfBB =BBBr;B.EbDVDNy;%2=ٔ`Q->9 Y = Fy i&E ݒE>Q 5%.5?Q 9%.5a)BY!y%Q I%@Q.DIp:i:.5y5ՔBɮ5A5hEjhYbhYezIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RheZheu ProNav: ac range: 9.850656 m, nav range: 4.160280 m, bearing: 231.758585 deg, approach rate: -0.630354 m/s, LOS rate: -1.308294 deg/s, cmd heading: 239.054189 deg, new cmd heading: 237.427932 deg. Bhuw`}|HeadingCmd: 4.143899 target range: 9.850656 and range: 4.50 m.h}Қ@hy*hy"h hgfffdDDAT read: Rx Time:05:00:14.5334 TRx dataTimestamp_ set to:1761541215.760819PDAT read: Bearing 37.1, -30.0 (Local) ~Local bearing/azimuth received: Bearing 37.1, -30.0 (Local) DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 DAT read: 05:00:14.5334 LVL= 31088, 29153, 21698, 32755, AGC= 48, IDX= 506, 0.46, 0.966,-0.230, 2.405, 1.402, PHS=-0.334,-1.587, 0.959, RAW= 180.5, 8.8, CAL= 180.3, 9.6, ROT= 329.7, -9.6 Ygot valid direction response: 05:00:14.5334 LVL= 31088, 29153, 21698, 32755, AGC= 48, IDX= 506, 0.46, 0.966,-0.230, 2.405, 1.402, PHS=-0.334,-1.587, 0.959, RAW= 180.5, 8.8, CAL= 180.3, 9.6, ROT= 329.7, -9.6 V#Rx 118: Read range and direction messages.^direction in FSK: [0.851305,-0.497462,0.166769]Fpublishing direction and range infoy>=?Vlk߿8_X?Yf@pyqT )I i"˿u?՞I@nF>eI@ +>)#@I+= ?f?A/ \? 3?)VIai+Echecking for new query: numPingsReceived=118, elapsed TxPingTime=56.509144iddijdu@Zdu?E EE&E"E<;*E:VE4ZEBE“ M checking for new query: numPingsReceived=118, elapsed TxPingTime=56.7389494,?A2]B@2/=@29ٱ2Md :AHRS rotation from veh to nav: [[-0.439190,0.873123,0.211587],[-0.897885,-0.434524,-0.070652],[0.030252,-0.221010,0.974802]]2Hܿ`?@D? y =ۿ:`Q? J̿1?i2]B@I2];2CLYRMByV I XXXXi5Mb@Mb@Mb@1111 195X9v?MbZd;O?Y5?y15j<5KA5@ 1)5IA1Y5 AbDVDyx+=%P=ٔQ->9Y=Fym&E E>Q 5.5x?Q 9.5/g)BY?Q E:yQ I@`.DI*:iv:.5yɮDAiiB?AJi@Ri@jiJ0q@b90v @-a4xOM?R>=?Vlk߿8_X?Ziabi+jOcri xܸHV# ?Zk$V迧6~O?2i:iN"i^,?A:U@:'@:ٱ:>d FAHRS rotation from veh to nav: [[-0.445971,0.869784,0.211153],[-0.894524,-0.441199,-0.071909],[0.030615,-0.220951,0.974804]]:HɊܿE? ?@<ܿhpY?H̿1?i:U@I:];:CYbYBybIbDjVDjkyv2=%vW=ٔzchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.2440349)Y)=-Fy5q&E5JE5>AQ 5M.5EN{?Q 9M.5El)EȣBYQyU\Q IU@Eo.DIEZ;iEm;E.5yiɮmAi addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503539 s, deltaX: -0.100000 m, approachRate: -0.198594 m/s, rangeRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhuռZhuռ ProNav: ac range: 9.850656 m, nav range: 3.684655 m, bearing: 230.694755 deg, approach rate: -0.605955 m/s, LOS rate: -1.494543 deg/s, cmd heading: 237.179029 deg, new cmd heading: 235.430598 deg. Bh6|HeadingCmd: 4.109039 target range: 9.850656 and range: 4.10 m.h@}@h*h"h hgfffdddjd`ff@Zd ?颵ցBɢ!) Dzi)ʶ项ili # >I@}@I)PExceeded connect timeout, disconnecting.@ @@/@Y^A}=B>BB:IBuBB =BBBr;B.EDDAT read: Rx Time:05:00:15.5332 TRx dataTimestamp_ set to:1761541216.768685PDAT read: Bearing 45.4, -33.2 (Local) ~Local bearing/azimuth received: Bearing 45.4, -33.2 (Local) DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 DAT read: 05:00:15.5332 LVL= 24400, 21793, 19426, 31667, AGC= 47, IDX= 503, 0.25,-0.041,-1.134, 1.453, 0.632, PHS=-0.571,-1.721, 0.777, RAW= 182.6, 13.9, CAL= 182.6, 17.9, ROT= 327.4, -17.9  Ygot valid direction response: 05:00:15.5332 LVL= 24400, 21793, 19426, 31667, AGC= 47, IDX= 503, 0.25,-0.041,-1.134, 1.453, 0.632, PHS=-0.571,-1.721, 0.777, RAW= 182.6, 13.9, CAL= 182.6, 17.9, ROT= 327.4, -17.9  V#Rx 120: Read range and direction messages. ^direction in FSK: [0.801673,-0.512692,0.307357] Fpublishing direction and range infoypM?Ho guY?Y3s@P_!UK {)/I-iIܿyF?WK@Ulx>WK@ >)ڶ@IYk`?E?*=\? ?)lJxIi- T****** received valid address query ******- R****** received valid ping request ******5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E  E E )E "E y>;*E V:VE FA4ZE BE Sԉ ,8?AYY_ByIiMb@Mb@Mb@ 9Zd;?x&~jt?Y?y7=b A@ `A)YbD5VD51yE<%E*=ٔEQ-M>9iYi=mFymv&EuEu>yQ 5/5}n?Q 9/5}s)}٣BY?Q E:y1Q I@}.DI}(pia)e:aaie'imB m>ImO@IqԱq@y @y@/@  DDAT read: Rx Time:05:00:16.0333  TRx dataTimestamp_ set to:1761541217.272632 PDAT read: Bearing 54.4, -34.7 (Local)  ~Local bearing/azimuth received: Bearing 54.4, -34.7 (Local)  DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4  DAT read: 05:00:16.0333 LVL= 23776, 22705, 21282, 32595, AGC= 45, IDX= 504,-0.08,-1.805,-2.743,-0.360,-0.970, PHS=-0.733,-1.728, 0.566, RAW= 184.4, 18.6, CAL= 184.0, 25.8, ROT= 326.0, -25.8  Ygot valid direction response: 05:00:16.0333 LVL= 23776, 22705, 21282, 32595, AGC= 45, IDX= 504,-0.08,-1.805,-2.743,-0.360,-0.970, PHS=-0.733,-1.728, 0.566, RAW= 184.4, 18.6, CAL= 184.0, 25.8, ROT= 326.0, -25.8  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.746398,-0.503452,0.435231] Fpublishing direction and range infoy  j4u~?5HF2T?Y y@ \ X "S S) -I ;i /ݿ `? M@ 6> M@ >) @I 澩 (A, V?A F@F@FٱFf rAHRS rotation from veh to nav: [[-0.458645,0.862819,0.212576],[-0.888054,-0.453578,-0.075010],[0.031700,-0.223182,0.974261]]FHnZݿ6?`5?jlݿ3:?`<̿%-?iF@IF];FCYdBy&II%<)%<bD-VD-Ny<%M=ٔ2Q->9Y=Fyz&EE>Q 5/5c?Q 9/5Xx)BYy Q I@.DI :i:+/5yڔBɮAiQiUrQ?AJiU[x@RiU[x@jiUfo@bU߄+@Z>BPZ?RUj4u~?5HF2T?ZiUbiUjU-6c= eD]b@ZU,6,Pݿ?2iU:iU)"iUЃ?*iUBiUBiQiQiQiUyK@iUn@ addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503947 s, deltaX: 0.100000 m, approachRate: 0.198434 m/s, rangeRepo size: 4  Added new target pos. range: 3.880556 m, bearing: 214.323136 deg, lat: 36.779326 deg, lon: -121.859607 deg, deltaT: 11.357215 s, deltaX: -5.970100 m, approachRate: -0.525666 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.88 m. 9.85 m.RhZh ProNav: ac range: 9.850656 m, nav range: 3.161647 m, bearing: 229.527725 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 235.112569 deg, new cmd heading: 234.873829 deg. Bh|HeadingCmd: 4.099322 target range: 9.850656 and range: 3.90 m.h-@h*h"h hgfffd!d!d)jd-@33@Zd-`r?A}؁Bɢ}'K)y }giy)} iij >I-@Ia@a @a@e/@a}2Acoustic response timeout@=@=^AU=qIIOd>ԡ  nManaging dock network, ignoring radio surface power offB- >B) B- SIB- BB) B) B) B- r;B- w.Ef,o?A2S@2`N@2¡ٱ22g :AHRS rotation from veh to nav: [[-0.465147,0.859202,0.213098],[-0.884650,-0.459908,-0.076669],[0.032131,-0.224180,0.974018]]2H ݿ ~?F?@O#oݿ~s?`̿'+?i2S@I2];0PYRuByR;IvDDAT read: Rx Time:05:00:16.5330 vTRx dataTimestamp_ set to:1761541217.776779zPDAT read: Bearing 63.0, -38.3 (Local) ~~Local bearing/azimuth received: Bearing 63.0, -38.3 (Local)  DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 -DAT read: 05:00:16.5330 LVL= 29552, 27633, 22850, 32755, AGC= 47, IDX= 501, 0.46, 2.553, 1.906,-2.252,-2.716, PHS=-0.912,-1.615, 0.420, RAW= 190.1, 22.6, CAL= 188.8, 32.9, ROT= 321.2, -32.9 5Ygot valid direction response: 05:00:16.5330 LVL= 29552, 27633, 22850, 32755, AGC= 47, IDX= 501, 0.46, 2.553, 1.906,-2.252,-2.716, PHS=-0.912,-1.615, 0.420, RAW= 190.1, 22.6, CAL= 188.8, 32.9, ROT= 321.2, -32.9 =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.654348,-0.526109,0.543174]EFpublishing direction and range infoytvyzVuj?k`#@ca?Yv`@tvpsvkvBY v)v/IvxiivRοv= >vXT@v>vBR@ v?)vUd@IvttvVgK??"G:y? v:?)vɾIv-\-ivtt2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.bEFA4jE<4rE/E EEE"E=;*E:VEZEBE9Y=Fy&EE>Q 5/5W?Q 9/5~)BYy Q I @.DII@II ) N@ @@@2Acoustic response timeout! ^A  >A >A >Q I I O>.#,KV?AF@F@FٱF~]j NAHRS rotation from veh to nav: [[-0.471989,0.854990,0.214983],[-0.881001,-0.466446,-0.079151],[0.032605,-0.226759,0.973405]]FH5޿\??)1@ݿ 7C?nͿ`"&?iF@IF];FCYZByrLIimMb@Mb@Mb@iiii i9m5^I ?Q뱿L7A`?Ym?ym\m+=m"Am$@ m/ A)mAiYm AbDVDy=%;=ٔ(Q->9Y=Fy&EpE>Q 5/5K?Q 9/5)BYY?Q E:y Q I@.DI;il;/5yԔBɮApEB*** querying acoustic contact ***i ijhbhzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.RhZh  ProNav: ac range: 9.850656 m, nav range: 2.650413 m, bearing: 228.190857 deg, approach rate: -0.724893 m/s, LOS rate: -2.138567 deg/s, cmd heading: 234.561318 deg, new cmd heading: 232.325978 deg. Bh u|HeadingCmd: 4.054853 target range: 9.850656 and range: 3.50 m.h\@h*h"h hgfffABdd!d!jd!Zd%E ?UDDAT read: Rx Time:05:00:17.0329 ]TRx dataTimestamp_ set to:1761541218.284871ePDAT read: Bearing 75.8, -45.6 (Local) im~Local bearing/azimuth received: Bearing 75.8, -45.6 (Local) }DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4 DAT read: 05:00:17.0329 LVL= 32752, 32753, 31426, 32755, AGC= 48, IDX= 500,-0.08, 2.523, 2.396,-2.022,-2.361, PHS=-1.297,-1.481, 0.295, RAW= 204.6, 27.4, CAL= 201.0, 40.4, ROT= 309.0, -40.4 Ygot valid direction response: 05:00:17.0329 LVL= 32752, 32753, 31426, 32755, AGC= 48, IDX= 500,-0.08, 2.523, 2.396,-2.022,-2.361, PHS=-1.297,-1.481, 0.295, RAW= 204.6, 27.4, CAL= 201.0, 40.4, ROT= 309.0, -40.4 R#Rx 1: Read range and direction messages.^direction in FSK: [0.479252,-0.591826,0.648120]Fpublishing direction and range infoyY]\?<=f?Y]3S@Y]]]z Y)]0I]i]h]= >]Xd@]G>]`@ ]J4?)]@I]J4YY]~g?oaF?+{? ]b?)]I]ci]J4YY2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Em EmEiEi"EmC;*EmV:VEiZEiau@au@au@au@ځBɢfC) ,-i)iiLi >I\@IԡO@ @@L0@^A*>AIIO> 2Acoustic response timeout S),?A2@2[Ԇ@2Y<ٱ2b4n :AHRS rotation from veh to nav: [[-0.478261,0.850812,0.217680],[-0.877606,-0.472262,-0.082316],[0.032767,-0.230406,0.972543]]2H՛޿9? ? Y9޿@Ơ?`}Ϳ@?i2@I2p];0YNByNKIbDZVDZyfB%fY=ٔfQ-f>9hYh=jFyj&Ej뚼En>Q 5 /5@?Q 9 /5)BY y  Q I @.DI:i:/5y9ɮ=A9iiT;?AJi%R@Ri%R@ji;b]@bWL-?!gq"l@R\?<=f?ZicbiJ4jIv]inL_V@Z⿂^ȿn01zR ?2is#:i"i?*i9M^BiBiЃ?iiBi@iՕe@ addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.508092 s, deltaX: -0.200000 m, approachRate: -0.393630 m/s, rangeRepo size: 4  Added new target pos. range: 3.283552 m, bearing: 198.193008 deg, lat: 36.779326 deg, lon: -121.859606 deg, deltaT: 12.369454 s, deltaX: -6.567103 m, approachRate: -0.530913 m/s, posRepo size: 4 jhbhzIgnoring new targets. Set target to previous: 3.28 m. 9.85 m.RhZhuoB >B CB lIB BB  =B B B jr;B \.EM ProNav: ac range: 9.850656 m, nav range: 2.425320 m, bearing: 227.501025 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 232.325989 deg, new cmd heading: 232.038331 deg. BhUU|HeadingCmd: 4.049833 target range: 9.850656 and range: 3.30 m.hU;@hY*hY"hY hYgYfYfafadddjd`ff @Zdg?܁BɢJ) j2i)(シiT.i ?  >I;@ImDDAT read: Rx Time:05:00:17.5326 uTRx dataTimestamp_ set to:1761541218.788807}PDAT read: Bearing 62.7, -64.7 (Local) }~Local bearing/azimuth received: Bearing 62.7, -64.7 (Local) DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 DAT read: 05:00:17.5326 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.23,-1.661,-1.348, 0.665,-0.037, PHS=-1.522,-1.266, 0.658, RAW= 216.2, 20.0, CAL= 218.0, 26.1, ROT= 292.0, -26.1 Ygot valid direction response: 05:00:17.5326 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.23,-1.661,-1.348, 0.665,-0.037, PHS=-1.522,-1.266, 0.658, RAW= 216.2, 20.0, CAL= 218.0, 26.1, ROT= 292.0, -26.1 R#Rx 1: Read range and direction messages.^direction in FSK: [0.336407,-0.832637,0.439939]Fpublishing direction and range infoyim/%5?[~=w*'?Ym9@iiim i)m3Im¿imJ mr(?mjq@m¸>m"s@ mZ;>)me@ImZ;龩iimA 9չՃ5?\D?! m?)m Im闿imZ;龩iiE2Acoustic response timeoutMQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E EE+E"E/;*E:VE [4ZEBEʈԁ % 2Acoustic response timeoutA1 I9 II OU >.0,H?Aɰ49Y=Fy&E&pE>Q 5 /52?Q 9 /5b)&BY?Q E:yQ I@.DI':is"i{w?*i WBi7BiiNYĠii @i.]@E addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503936 s, deltaX: -0.400000 m, approachRate: -0.793751 m/s, rangeRepo size: 4 U Added new target pos. range: 2.885557 m, bearing: 175.073660 deg, lat: 36.779326 deg, lon: -121.859605 deg, deltaT: 12.873390 s, deltaX: -6.965098 m, approachRate: -0.541046 m/s, posRepo size: 4 jhQbhQUBIntercept lockout. Range: 2.90 m.UbTransitioning guidance mode to: INTERCEPT_LOCKOUT:h]@hYhY*hY"hY hYgyfffCBdddjd@33@Zd ?݁Bɢ#) Ri)iC$i > < >IIy}i>i}!>@ @@K3@uDDAT read: Rx Time:05:00:18.0328 }TRx dataTimestamp_ set to:1761541219.292391DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3 X#Rx 1: Read range message, but no direction.yqYuL@q2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^A 2 >DD<E EE(E"E<;*E:VEc44ZEa@a@a@ԡa@A9 IA IY Oe > c6,?AY~By~[IbD VD yx%%h=ٔ%Q-%>9)Y)=-Fy-&E-E5>1Q 5U/55(?Q 9]/55)52BYYyYQ I]@5.DI5;i5l;5n/5yeٔBɮmKAmyE addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503584 s, deltaX: 0.300000 m, approachRate: 0.595730 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjd @Zd-]?颅ށBɢ) &iԹ)ȿ项iki?2<>I2Acoustic response timeoutI@ @@/@^Ae<>IYIiO}z>B >B B IB BB B B DB 7r;B D.EBCBCBBBC!5)  DDAT read: Rx Time:05:00:18.5325  TRx dataTimestamp_ set to:1761541219.796334 DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.3  X#Rx 1: Read range message, but no direction.y Y ,@  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E  E E %E "E I@;*E d:VE 4ZE BE 9Y=Fy&EE>Q 5/5+?Q 9/5*)ABY?Q E:yrQ I@.DI;:i:/5yɮA addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503943 s, deltaX: -0.500000 m, approachRate: -0.992176 m/s, rangeRepo size: 4 jhbhhh*h"h hgfff?Bdddijdu@Zdu[[?2Acoustic response timeout-Bɢ-)1 5Xi1)511i59i]@]mIaIa@ @@\4@ q } ؀G 9 Y {Aym Ճ?m oA^A5 >J>ԙ  4DAT read: Rx Ti:19.0325  Runknown deviceResponse_: Rx Ti:19.0325  DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.2  X#Rx 1: Read range message, but no direction.y Y  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.I1IADzD@AE EE'E"EO6;*EVE'4ZEa@a@a@a@O> 1E,a?A$$v}@vЅ@vzٱvJzx AHRS rotation from veh to nav: [[-0.505846,0.832876,0.224580],[-0.862005,-0.497910,-0.095040],[0.032665,-0.241665,0.969810]]vH/? ?`߿T@l?ο?iv}@Iv];vC!YEByMdIbD]VD]y];% =ٔ8Q->9Y=Fy&E E>Q 5/5 ?Q 9/5)PBYyQ I@/DI:i :-"/5yӔBɮAxEB*** querying acoustic contact ***i i addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503078 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffdddjdZd ??eBɢe)a mii)u&¼qqi}i}?<3}>II}2Acoustic response timeoutQQ@Q @Q@U4@Y^A-z>IIO>ԁ B A 4=1VK,/?AB>BBIBBB =BBDB0r;B?.EB9}@Bn@BٱB} NAHRS rotation from veh to nav: [[-0.513528,0.827643,0.226487],[-0.857458,-0.504952,-0.098938],[0.032480,-0.245011,0.968976]]BHn |??Kp(@T3?\Ͽ`?iB9}@IBd];BCRCPiPITTITiVpUA TT)XX XXXX\\I\)\i\)`I``` `dfjAdiddihjjA)j j7FIhYhYrByr`IbDzVDzNy%=ٔ (:Q- ?9 Y = Fy &EE?Q 5%/5l?Q 9%/5J)YBY!y-Q I-@ /DI[:i:$/5y1ɮ5A1Yjhabhahaha*ha"ha hagifififididqdqjdqZduik?颥Bɢ") i) ¼顱iDDAT read: Rx Time:05:00:19.5324 TRx dataTimestamp_ set to:1761541220.804661PDAT read: Bearing 88.3, -40.3 (Local) ~Local bearing/azimuth received: Bearing 88.3, -40.3 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1 -DAT read: 05:00:19.5324 LVL= 28240, 18161, 21490, 28147, AGC= 44, IDX= 510, 0.07, 1.855, 1.770,-2.893,-2.561, PHS=-1.765,-1.907,-0.376, RAW= 205.2, 44.3, CAL= 202.6, 53.8, ROT= 307.4, -53.8 5Ygot valid direction response: 05:00:19.5324 LVL= 28240, 18161, 21490, 28147, AGC= 44, IDX= 510, 0.07, 1.855, 1.770,-2.893,-2.561, PHS=-1.765,-1.907,-0.376, RAW= 205.2, 44.3, CAL= 202.6, 53.8, ROT= 307.4, -53.8 5R#Rx 1: Read range and direction messages.=^direction in FSK: [0.358719,-0.469186,0.806960]=Fpublishing direction and range infoy^ѝB?K*$޿f1n?Yf&@PnFS m),Ii5e@.E?oNb@ vap?)>@Ivap`ƽ?3?i A\? ON?)FIkivap]2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E EE)E"E9;*E-:VEFA4ZEBEhIQ Ia Om > 2Acoustic response timeout >R,iI?Arx|@r:@rٱr9 5AHRS rotation from veh to nav: [[-0.521552,0.822389,0.227287],[-0.852603,-0.512468,-0.102203],[0.032427,-0.247090,0.968450]]rHQ??H`"f) ףp=?+{Gz?Y?y#<#A  A)3AY AbDVDky%Eѻ%-,=ٔ-8Q-->91Y1=5Fy5&E=E=>AQ 5M/5E?Q 9M/5Eަ)EdBYMM?Q EM:yUQ IU@E/DIE ;iE ;E(/5yYɮ]AYii3?AJi%@Ri%@jiKH`@by)d?k9H@R^ѝB?K*$޿f1n?Zikbivapj73(s{ؿ;*E :VE  [4ZE a@a@a@a@EN@A @A@E/@A^A3=IyIO~>ԑԹ hX,RFc?Aɰ"2Acoustic response timeout6Q{@6z@6uٱ6 BAHRS rotation from veh to nav: [[-0.530164,0.816610,0.228198],[-0.847257,-0.520653,-0.105240],[0.032872,-0.249137,0.967910]]6H !?5?@0Ԡ?Ͽ?i6Q{@I68];6CYbByb[IbDj VDj2y $%t=ٔAQ-?9Y=Fy&E%E%?)Q 5-/5-霊?Q 95/5-Ȫ)-mBY1y5}Q I5@-+/DI-d:i-:-+/5yE͔BɮEAAi)i-S?AJi)Ri)ji-?|A@b-UT?m?1c*@R-7rz(m?R@^߿=,W?Zi-?bi-#j-$l:^+o%?,@Z-`Kҿ@ҡ?x6B?2i-q=:i-A"i-?*i-iBi-Bi-?i)i-FBi-|?i-/@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.587053 m, bearing: 173.217081 deg, lat: 36.779329 deg, lon: -121.859605 deg, deltaT: 0.505682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjdZd R ?Bɢ) -i)Użi%i@<=IIԑO@ @@/0@BBCBIBBBBBBr;B2.E^Av=*DAT read: user:285> BDAT read: Tx time:05:00:20.9280 $Ping request sent.E  E E *E "E 4;*E :VE (N4ZE BE 9Y=Fy%&E%JE%>)Q 55/5-(ۜ?Q 95/5-n)-xBY=?Q E=:y=Q I=@-=/DI-:i-U:-//5Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251049yEהBɮUCAUEjhybhyhyhy*hy"h hgfffBBdddjdZd`c?Bɢ) 3i) gƼinni? <=II}N@y @y@}00@y^Auz=AIIO>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502890E  E E (E "E ;;*E :VE c44ZE a% @a% @a% @a% @|e,A?AJz@JC@JJ ٱJ RAHRS rotation from veh to nav: [[-0.546994,0.805605,0.227590],[-0.836460,-0.536891,-0.109919],[0.033640,-0.250495,0.967533]]JH@?!? H6.#@49?п ?iJz@IJ^;JCYZBy^MIbDfVDfynp%nm=ٔr]Q-r?9tYt=vFyv&EvEv?xQ 5~/5zМ?Q 9/5zj)zBYyQ I@zI/DIz;iz ;z2/5y ɮ Ajh1bh9h9h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM@…?Bɢ\6") Ki)q|Ǽi+i @ H< =I I11@ @@4@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755360Y^A=ԁ I I! O- >AY A] AABa Ba Be IBe BBa Ba Ba Be q;Be &.Ek,Nհ?ADJ2y@J@JP] ٱJUĀ RAHRS rotation from veh to nav: [[-0.555399,0.800510,0.225200],[-0.830888,-0.545276,-0.110902],[0.034018,-0.248711,0.967980]]JH`ǝ?@[?r dj?Ͽ?iJ2y@IJe];JCYnByn\IbDzVDzk1yg=%J=ٔuQ- >9 Y = Fy &E̼E>Q 5%/5Ü?Q 9%/5/)BY!y%NQ I-@X/DI;i:U6/5y5єBɮ5 A5EUB*** querying acoustic contact ***iQ iQjhYbhahaha*ha"ha hagafififidididqjdqZduT?颥BɢD)  8i)ȼ顩i^i?<=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007067IbE]:4jE]:4rE]0E EE'E"E9;*Ed:VE'4ZEBEu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258879 r,d?AlYrByrkIimMb@Mb@Mb@iiii i9ml?㥛 9Y=Fy&EE>Q 5/5"?Q 9/5;)BY?Q E:ycQ I@h/DI;iS;:/5yɮAjhbhhh*h"h hgfffPBd!d!d!jd!Zd-?BɢV%) d#i)ɼii@<=II O@ @@/@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512061E EE*E"E8;*E:VE(N4ZEa@a@a@a@1^A2=I I! O- >a x,i?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7630536x@6Q@6bٱ6}<} BAHRS rotation from veh to nav: [[-0.571418,0.790594,0.220096],[-0.819923,-0.561348,-0.112314],[0.034755,-0.244640,0.968991]]6H IL?@,? <sˡ? ^PϿ?i6x@I6];6CYJByJcI LLR=R=bDVVDVy^%^Y=ٔb<Q-b>9`Y`=fFyf&Ef%SEf>hQ 5n/5j?Q 9n/5j)jBYpyrQ Ir@jw/DIja;ij;jQ=/5yv̔BɮvAzEjhbhhh*h9"h hgfffdddjdZd @EBɢE%8)A Ex5iI)MʼIIiMiU?uB)B)B)B)B)B)B-r;B-..EIIIYOm5>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014901E EEE"E:;*E:VEZEBE19Y=Fy&EE>Q 5/5P?Q 9/59)BY?Q E:y Q I@/DIq ;i ;^A/5yɮ7Ajhbhhh*h"h hgfff4BdddjdZd`@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267006Bɢls) i)̼iPi@Y<|r=II}J@y @y@y@y ^A] =Am ?Am ?I I O > DDAT read: Rx Time:05:00:23.0601  TRx dataTimestamp_ set to:1761541224.332716 PDAT read: Bearing 154.5, -50.8 (Local)  ~Local bearing/azimuth received: Bearing 154.5, -50.8 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.3 % DAT read: 05:00:23.0601 LVL= 22864, 23985, 18450, 27603, AGC= 49, IDX= 250, 0.43,-2.455,-0.704,-0.701,-0.268, PHS=-2.085,-0.391,-0.477, RAW= 272.6, 32.3, CAL= 275.5, 40.7, ROT= 234.5, -40.7 5 Ygot valid direction response: 05:00:23.0601 LVL= 22864, 23985, 18450, 27603, AGC= 49, IDX= 250, 0.43,-2.455,-0.704,-0.701,-0.268, PHS=-2.085,-0.391,-0.477, RAW= 272.6, 32.3, CAL= 275.5, 40.7, ROT= 234.5, -40.7 a m R#Rx 1: Read range and direction messages.u `direction in FSK: [-0.440251,-0.617209,0.652098]u Fpublishing direction and range infoy  e-ܿ,h-?Y 3@ PY ] H k) 1I pi '1Ⱦ X9 ?@ ZQ? Dޙ@ o5?) 2@I o5 an-&?OC5? o*@) w<I Q/ i o5  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.541715E  E E 'E "E I@;*E d:VE '4ZE a @a @a @a @uɅ,E?AB{w@B@BٱB%u JAHRS rotation from veh to nav: [[-0.586638,0.781405,0.212750],[-0.809075,-0.576978,-0.111778],[0.035408,-0.237704,0.970692]]BHD?d;?@vy`!?mο?iB{w@IB^;BCY=By=~IbDMVDMy=%V=ٔQ->9Y=Fy&E E>Q 5/5?Q 9/5)BYy%Q I%@/DI8:i:D/5y-ƔBɮ-A)1ii8K?AJiw@Riw@ji?b+Tl?Re-ܿ,h-?ZiQ/ bio5j2ȿ&i?Cī?ZD;yuյ-9%$v?Rbs?2iN?:iG"iQ}?*iGBi+BiiGiiż?iF? addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 3.022373 s, deltaX: -0.300000 m, approachRate: -0.099260 m/s, rangeRepo size: 4   Added new target pos. range: 2.288540 m, bearing: 97.597477 deg, lat: 36.779329 deg, lon: -121.859607 deg, deltaT: 3.022373 s, deltaX: -0.298513 m, approachRate: -0.098768 m/s, posRepo size: 4 jhTStarting intercept timer at range: 2.30 m.bhhh*h"h hgff!f!d!d!d!jd-`ff@Zd-@*?颕Bɢg) i) ͼ顙ii?<UT=IIaK@ @@/@Mchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.771685^A}=ԉAIIO>B! A% <B- >B) B- IB- ˁBB) B) B) B- Dr;B- H.EBBBBBC~4Թ , 2?ABv@B@r@BRٱB{r JAHRS rotation from veh to nav: [[-0.593562,0.777049,0.209473],[-0.804006,-0.584019,-0.111788],[0.035472,-0.234771,0.971403]]BH v`?@?jH_)?@ ο`?iBv@IB];BCY~By~IIV>)4<bDVDy'<%%W=ٔ%/Q-%>9)Y)=-Fy-&E-&E5>1Q 5E/55?Q 9M/55C)5ĤBYaye0Q Im@5/DI5;i5y;5H/5y}ДBɮ}A}EDDAT read: Rx Time:05:00:23.5601 TRx dataTimestamp_ set to:1761541224.836815PDAT read: Bearing 184.6, -50.5 (Local) ~Local bearing/azimuth received: Bearing 184.6, -50.5 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.4 DAT read: 05:00:23.5601 LVL= 32752, 20257, 16978, 23795, AGC= 46, IDX= 507,-0.00,-1.032, 1.382, 0.869, 0.976, PHS=-1.906, 0.450,-0.151, RAW= 284.2, 15.0, CAL= 282.8, 22.2, ROT= 227.2, -22.2 Ygot valid direction response: 05:00:23.5601 LVL= 32752, 20257, 16978, 23795, AGC= 46, IDX= 507,-0.00,-1.032, 1.382, 0.869, 0.976, PHS=-1.906, 0.450,-0.151, RAW= 284.2, 15.0, CAL= 282.8, 22.2, ROT= 227.2, -22.2 =R#Rx 2: Read range and direction messages.E`direction in FSK: [-0.629075,-0.679339,0.377841]EFpublishing direction and range infoywMa!$g|.?Y!ORB \).Iiff>,@ >@ a>)}@Iaƾta]? S+?5? wl7@) IViaƾechecking for new query: numPingsReceived=2, elapsed TxPingTime=3.0476685B*** querying acoustic contact ***ia iaԑ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504099 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jhbhhh*h"h hgfffE EEE"Eg5;*E:VEZEBE},M?A@@uu@u@uٱul AHRS rotation from veh to nav: [[-0.605708,0.769329,0.203102],[-0.794894,-0.596454,-0.111297],[0.035517,-0.228858,0.972812]]uH@a X?9Y=Fy&EE>Q 5/5x2 '???2iM?:iM"iM(c?*iM󚔕BiMBiMQ}?iIiM7BiM?iMq?jh RStopped intercept timer at range: 2.30 m.bh h h *h "h  h g fffDBdddjdZd ?MBɢM)I UiQ)UVμQQiUi]?]N<]l=IYIa5DDAT read: Rx Time:05:00:24.0603 5TRx dataTimestamp_ set to:1761541225.341585EPDAT read: Bearing 220.7, -50.6 (Local) M~Local bearing/azimuth received: Bearing 220.7, -50.6 (Local) eDAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.4 DAT read: 05:00:24.0603 LVL= 28080, 13473, 13298, 26563, AGC= 45, IDX= 510,-0.20, 2.934,-0.903,-1.278,-1.635, PHS=-1.613, 0.777, 0.313, RAW= 280.6, 4.8, CAL= 278.8, -0.6, ROT= 231.2, 0.6 Ygot valid direction response: 05:00:24.0603 LVL= 28080, 13473, 13298, 26563, AGC= 45, IDX= 510,-0.20, 2.934,-0.903,-1.278,-1.635, PHS=-1.613, 0.777, 0.313, RAW= 280.6, 4.8, CAL= 278.8, -0.6, ROT= 231.2, 0.6 R#Rx 3: Read range and direction messages.bdirection in FSK: [-0.626570,-0.779295,-0.010472]Fpublishing direction and range infoy15j 俅eY/;rY5f&@15m5453 5g)5-I5vοi5yF?5A>5t@5=5@ 5+)5^ @I5+<115us&Z#k checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779068 C,wf?AY~By~IbD VD yn=%f=ٔ%Q-%>9!Y)=-Fy-&E-E->1Q 5m/55c?Q 9u/55)5BYqyqQ Iu@5/DI5 /,.ŀ?A9YYa=eFye&EaEe>qQ 5}/5uT?Q 9}/5uv)uBYC?Q E:yQ I@u/DIu;iu:uS/5checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283122yɮsA addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502726 s, deltaX: 0.100000 m, approachRate: 0.198916 m/s, rangeRepo size: 4 jhRStopped intercept timer at range: 2.70 m.bhhh*h"h hgfff;Bdddjd@Zd ?BɢK0 ) 8 i)%м!!i%i-?-q<-s9 =I)I1ԡN@ @@4@^A=A .AII!O5> M DDAT read: Rx Time:05:00:25.0606 M TRx dataTimestamp_ set to:1761541226.348691U PDAT read: Bearing 165.2, -69.7 (Local) ] ~Local bearing/azimuth received: Bearing 165.2, -69.7 (Local) m DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.5  DAT read: 05:00:25.0606 LVL= 27120, 13905, 12114, 21907, AGC= 45, IDX= 512, 0.49, 2.102,-2.646,-2.124,-2.391, PHS=-1.688,-0.210, 0.224, RAW= 257.5, 18.8, CAL= 259.9, 24.7, ROT= 250.1, -24.7  Ygot valid direction response: 05:00:25.0606 LVL= 27120, 13905, 12114, 21907, AGC= 45, IDX= 512, 0.49, 2.102,-2.646,-2.124,-2.391, PHS=-1.688,-0.210, 0.224, RAW= 257.5, 18.8, CAL= 259.9, 24.7, ROT= 250.1, -24.7  R#Rx 5: Read range and direction messages. `direction in FSK: [-0.309238,-0.854259,0.417867] Fpublishing direction and range infoyI M oӿBJVwU?YM @@I M iM Q6M R/ M U)I IM bؿiM = WM B`e>M Џ@M >M '@ M >)M @IM ܾI I M iw)~T6[5Ͱv?ԥKv? M @E]  E] E] &EY "E] B;*E] :VE] 4ZEY ae @ae @ae @ae @)M 56IM ۄiM ܾI I  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.594751U,u?Aɰb?u@bq@b ٱba nAHRS rotation from veh to nav: [[-0.616769,0.763316,0.192212],[-0.786394,-0.608186,-0.108136],[0.034359,-0.217849,0.975377]]lbH`m?@g?`$*Cvήw? }˿J6?ib?u@Ib];`Y]By]IbDmVDmy%a =%%N=ٔ%?;Q-%>9- ?Y- ?=-Fy-&E5=E5>YQ 5e/5]E?Q 9e/5])]BYayeQ Im@]/DI]:i]:]V/5yĔBɮ AiiP?AJi ?@Ri ?@ji@b P4 ifX(?RoӿBJVwU?Ziۄbiܾj-2=j"@Ȏܛ?Z(̬bؿE8 ?3s^?2i @:i"i+曊?*iguBi=Bi(c?iiid@iQ׵? addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504380 s, deltaX: 0.300000 m, approachRate: 0.594790 m/s, rangeRepo size: 4  Added new target pos. range: 2.985048 m, bearing: 117.968690 deg, lat: 36.779323 deg, lon: -121.859607 deg, deltaT: 1.007106 s, deltaX: 0.398008 m, approachRate: 0.395199 m/s, posRepo size: 4 jhbhhh*h"h hgfffdddjd@Zd5? UBɢUO )Q UiY)])ѼYYi]Kie@eǬ,ę?A2t@2l@27 ٱ2\>DDAT read: Rx Time:05:00:25.5607 >TRx dataTimestamp_ set to:1761541226.852779BPDAT read: Bearing 65.2, -84.0 (Local) F~Local bearing/azimuth received: Bearing 65.2, -84.0 (Local) NDAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.5 TbDAT read: 05:00:25.5607 LVL= 25696, 15969, 11154, 18019, AGC= 48, IDX= 514,-0.43,-3.029,-1.942,-0.410,-1.206, PHS=-1.721,-0.691, 0.752, RAW= 234.5, 15.3, CAL= 237.4, 17.5, ROT= 272.6, -17.5 fYgot valid direction response: 05:00:25.5607 LVL= 25696, 15969, 11154, 18019, AGC= 48, IDX= 514,-0.43,-3.029,-1.942,-0.410,-1.206, PHS=-1.721,-0.691, 0.752, RAW= 234.5, 15.3, CAL= 237.4, 17.5, ROT= 272.6, -17.5 jR#Rx 6: Read range and direction messages.j^direction in FSK: [0.043264,-0.952735,0.300706]nFpublishing direction and range infoy<>&?>_r|->?Y>L@<>`d>a>>+ >cF)>0I>Iܿi>`0>@?>2@>ܸ>>Ԗ@ zAHRS rotation from veh to nav: [[-0.618972,0.762461,0.188488],[-0.784685,-0.610660,-0.106604],[0.033821,-0.213888,0.976272]]2H@f? ^ ?"gJ`P?`˿=?i2t@I2 ];2CYЁB >a>)>?@I>a<<>idcٿp?YŐ? >f?)>WI>@ÿi>a<<checking for new query: numPingsReceived=6, elapsed TxPingTime=5.059709yIbD-VD-Ny==%=P=ٔ=:Q-E>9E"?YE"?=EFyM&EMEM>QQ 5]/5U 8?Q 9]/5U)UBYYy]Q Ie@U/DIUN:iU:E EE)E"E<;*E:VEFA4ZEBE“?AJi>K@Ri>K@ji>D @b>?}FDYP?R>&?>_r|->?Zi>@ÿbi>aj>?F?,&ui?Z>PZI濳Yb_?)8?2i>7?:i> "i>z(}?*i>SͼBi>Bi>aM3?i<i>Bi>@i>? addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504088 s, deltaX: 0.200000 m, approachRate: 0.396756 m/s, rangeRepo size: 4  Added new target pos. range: 3.184052 m, bearing: 143.479116 deg, lat: 36.779317 deg, lon: -121.859607 deg, deltaT: 0.504088 s, deltaX: 0.199005 m, approachRate: 0.394782 m/s, posRepo size: 4 jhbhhh*h"h hgfffd9d9d9jdE @ZdE`aO?颵BɢU) ׽i)WҼ顙ii?~<^,&r?AJt@J]@JٱJO3Y VAHRS rotation from veh to nav: [[-0.620417,0.762106,0.185141],[-0.783573,-0.612310,-0.105310],[0.033107,-0.210407,0.977053]]JHt@,c?@?` X?ʿD?iJt@IJF^;JCY\y\Ib=)b<`bA iMMb@Mb@Mb@IIII I9Md;O?y&1+?YM?yM`彙M=M9AI MvA)MAIYMAe@Ae@AbDeVDeβyu:%uG=ٔ}:Q-}>9yYy=Fy&E^E>Q 5%/5+(?Q 9%/5j)"BY-?Q E-:y-{Q I-@0DI ;i ;]/5y5Bɮ5oA=EUB*** querying acoustic contact ***iQ iQjhabhihihi*hi"hi higifqfqfu6BdqdydyjdyZd} ?颭BɢL ) Xi)Ӽ顱ii@Nj<Q|@ ,m>)uU@I,mrhz`\տQ ? ǖ2)h{GI<E EE'E"E;;*EVE'4ZEa@a@a@a@i,mchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.583253a^Ae<ԑ A I I O >5 checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794838%й,(?A@2et@2Z@2>ٱ2S >AHRS rotation from veh to nav: [[-0.620733,0.762929,0.180639],[-0.783358,-0.613006,-0.102831],[0.032280,-0.205335,0.978159]]2H i?*?CS?jHʿM?i2et@I2];2CY^ׁBy^IbDfVDfkynn=%nV=ٔr ;Q-r>9pYt=vFyv&EvĂEv>xQ 5~/5z?Q 9~/5z&)z1BYyQ I@z0DIz8;iz;z`/5y ȔBɮ A Eiic?AJi@e@Ri@e@jiC?bs] yӳ^?R}$?%\ǿgz}"Er?Zi<bi,mjT!)?` @0=?ԁZ*Ds?s]d?p/ ?2ih@@:iN?"i?*iBiBiiiBi=@in? addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.505643 s, deltaX: 0.400000 m, approachRate: 0.791072 m/s, rangeRepo size: 4  Added new target pos. range: 3.582058 m, bearing: 59.651099 deg, lat: 36.779317 deg, lon: -121.859605 deg, deltaT: 0.505643 s, deltaX: 0.398006 m, approachRate: 0.787129 m/s, posRepo size: 4 jhbhhh*h"h hgff f d ddjd @Zd?  Bɢ ؟)) 5ѽi1)5Ӽ11i5i=?=O<=P;*E:VEZEBESd, ?ARt@RY@RXٱR!N ZAHRS rotation from veh to nav: [[-0.620883,0.763934,0.175808],[-0.783273,-0.613569,-0.100078],[0.031417,-0.199842,0.979324]]RHF &r?@݀?`\@?pɿV?iRt@IRH^;RCYfځByfIiUMb@Mb@Mb@QQQQ Q9Ugfffff?rh|V-?YU3?yUU9Y=Fy&EZϹE>Q 5/5| ?Q 9/5p)@BY?Q E:yQ I@"0DI=;i<;d/5y”Bɮ>Achecking for new query: numPingsReceived=8, elapsed TxPingTime=6.299082- addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.501785 s, deltaX: 0.200000 m, approachRate: 0.398577 m/s, rangeRepo size: 4 jh)bh--5XTarget missed at range: 3.80 m. Rolling out.2h55NTransitioning guidance mode to: ROLLOUT:h5@h1h1*h9"h9 h=2h9g9f9fAfE;BdAdAdIjdM`ff@ZdM?}B}X)} }Ͻiy)WԼ顁]xii@,<?A2t@2%Y@2:ٱ2G :AHRS rotation from veh to nav: [[-0.620900,0.765108,0.170563],[-0.783300,-0.614007,-0.097145],[0.030400,-0.193920,0.980546]]2H`j{??`޸L!?]ȿ`?i2t@I2y_;2CYB߁ByBIJ=Jp= J;JbDNVDNβyV<%V]=ٔZ4;Q-Z>9XYX=ZFy^&E^\7E>)Q 55/5-?Q 95/5-@)-NBY9y=Q I=@-10DI-e;i-r;- h/5yAɮEAIKuuAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1L}Entering Midcourse tracking update period 60.000000 s sec at 3.800000 m (mode 5.000000 count ).1LqLJ Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJResuming normal ranging with 1.000000 count pings 3.800000 m (mode 5.000000 count ).J1K addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504678 s, deltaX: 0.600000 m, approachRate: 1.188877 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 3.58 m.hh*h"h h2hgff f 1:  t Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyq: t @Uninitialize Buoyancy Component.ddjd@Zd?9:) B9i9)>ii?K,E8?A ^?)ZƼ@I^[~{<]?3CPq?Hβ? ad?),I ľi^checking for new query: numPingsReceived=10, elapsed TxPingTime=7.079719ɰE> E>E>)E<"E>=;*E>:VE>FA4ZE<BE>}.}.9Y=Fy zE >Q 5/5ꛊ?Q 9/5)_BYy'Q I@B0DI:iw: l/5y-Bɮ-qAUEBjeN@qLeLeje?1KmqKmii7?AJi@Ri@jitx@b@: M @RMh0?'XjϿ3hqg?Zi ľbi^jj͏X+}&:ݪ]q @Z0TАۿd#Q2ٿGjߔ?2iܿ:i^"iDK?*i7*Bi Bi+曊?iguiBi$F@ir??m addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504504 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 4.378070 m, bearing: 222.430021 deg, lat: 36.779309 deg, lon: -121.859609 deg, deltaT: 1.510967 s, deltaX: 0.796011 m, approachRate: 0.526823 m/s, posRepo size: 4 -BNOT Ignoring new targets: 4.38 m.h)h1*h1"h1 h92hagififqfyddjdZd?Ze?Ze?ZeQ@Zeu@d5) .i9)顥nii@Np,R?A2t@2-H@2rٱ2>9 :AHRS rotation from veh to nav: [[-0.622525,0.766152,0.159604],[-0.782017,-0.616858,-0.089083],[0.030202,-0.180269,0.983153]]2H @Q?`m?H@M@*ζ%?ǿ@u?i2t@I2QNa;2CYjByjIieMb@Mb@Mb@aaaa a9egfffff?Dly&1?YayeO e`9Y=FyㇻE>Q 5/5zۛ?Q 9/5)lBY?Q E:yQ I@Q0DI:i3:o/5yɮtAJjLL"jqKKBNOT Ignoring new targets: 4.38 m.hh*h"h h2hgfff+BddjdZd+2?Z-?Z-?Z-E@Z-]7t@iqIq}DDAT read: Rx Time:05:00:28.0618 TRx dataTimestamp_ set to:1761541229.372410DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.5 Z#Rx 11: Read range message, but no direction.yyY}@ychecking for new query: numPingsReceived=11, elapsed TxPingTime=7.562496r) i9)ii?w=,&o?A2t@2B>@2ٱ2{+ :AHRS rotation from veh to nav: [[-0.623475,0.767550,0.148815],[-0.781267,-0.618932,-0.080901],[0.030011,-0.166704,0.985550]]2H ď?b ?#J굴`G?Vſ`?i2t@I2w`;2CY@yFIHHNAANBAbDRVDR0yV:%ZD=ٔZ9Q-Z>9\Y\=^Fy\^>Eb>`Q 5f/5BlBlBlBlBn =BlBlBnr;Bn.EBBBBBCs4bI˛?Q 9~/5b)b{BY|y~Q I~@b`0DIb;ibb;b+s/5yBɮ CA ERj!L%%tCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseK%%Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*j)K-5Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRJ5 5Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRM addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503021 s, deltaX: 0.400000 m, approachRate: 0.795196 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 4.38 m.hh*h"h h2hgfffddjd@33@Zdu?Z9Z9Z9Z=t@u)q }i}(9)y}yiyi@ԙ  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.318870,K?A@ Fh>FCvEG(hAMs9M(hAYMAԁYByIi}Mb@Mb@Mb@yyyy y9}Q?p= ףZd;O?Y}\?y}}j<}A}@ }A)}AyY}pAbDVD1y<%/=ٔQ->9Y=FyE>Q 5/5?Q 9/5 )BYJ?Q E:yQ I@q0DIP;iX ;@w/5yɮA  addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.508862 s, deltaX: 0.500000 m, approachRate: 0.982585 m/s, rangeRepo size: 4  BNOT Ignoring new targets: 4.38 m.hh*h"h h2hgfffBdd!jd%@33@Zd%k?ZEJ?ZEJ?ZE=@ZEvt@Y)Y ]#i]9)YeY"aiaie?i-,~s?A2t@2A@2Rٱ2 :AHRS rotation from veh to nav: [[-0.623202,0.770784,0.132329],[-0.781573,-0.619809,-0.070571],[0.027624,-0.147405,0.988690]]2HD D?(?ydI?@)¿ Z?i2t@I2a[_;2CYFByFIHbDRVDRkyV^%ZV=ٔZ;Q-Z>9\Y\=^Fy\^#:Eb>`Q 5f/5bi?Q 9j/5b )bBYhyjQ Ij@b0DIb;ib;bz/5ynBɮrArEchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.823066 addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503054 s, deltaX: -0.200000 m, approachRate: -0.397572 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 4.38 m.hh*h"h h2hgfffddjd`ff@Zd &?ZZZZ6gt@eR)i mp\im:9)imU0iiqiu@y}GBBIBBBBBBr;B.E^AoM<IIO>E DDAT read: Rx Time:05:00:29.5621 M TRx dataTimestamp_ set to:1761541230.888691U PDAT read: Bearing 192.3, -25.6 (Local) U ~Local bearing/azimuth received: Bearing 192.3, -25.6 (Local) e DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.5  DAT read: 05:00:29.5621 LVL= 23536, 25937, 32754, 32739, AGC= 58, IDX= 511, 0.23, 1.437,-2.513, 2.410, 2.895, PHS=-1.356, 0.920,-0.529, RAW= 308.9, 9.7, CAL= 306.9, 11.5, ROT= 203.1, -11.5  Ygot valid direction response: 05:00:29.5621 LVL= 23536, 25937, 32754, 32739, AGC= 58, IDX= 511, 0.23, 1.437,-2.513, 2.410, 2.895, PHS=-1.356, 0.920,-0.529, RAW= 308.9, 9.7, CAL= 306.9, 11.5, ROT= 203.1, -11.5  T#Rx 14: Read range and direction messages. `direction in FSK: [-0.901356,-0.384461,0.199368] Fpublishing direction and range infoyA E a쿭@ؿi?YE @A E [E QeE  E )E :IE hiE k?E lE @E -\->E g@ E M>)E ib@IE MA A E _D&(￸ÿ,v? E ? E=  E= E= )E9 "E= 8;*E= :VE= FA4ZE9 BE= ׏9Y!=%Fy!-s:E->QQ 5]/5U(?Q 9]/5U=)UBYYy]Q I]@U0DIU:iU:U~/5ymBɮmBAmEiiP?AJi@Ri@jis?bj0t5J8mRw?Ra쿭@ؿi?ZiLB/biMj.j?yޝ@&$?ZT?Tؓ'?k?9 ?2i@:iP?"i:?*iCv?BiVBiiiir~@ij? addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504365 s, deltaX: 0.200000 m, approachRate: 0.396539 m/s, rangeRepo size: 4  Added new target pos. range: 5.273583 m, bearing: 72.716981 deg, lat: 36.779309 deg, lon: -121.859609 deg, deltaT: 2.019302 s, deltaX: 0.895513 m, approachRate: 0.443477 m/s, posRepo size: 4 BNOT Ignoring new targets: 5.27 m.hh*h"h h2hgf f f ddjd@33@Zd%?iZyZyZyZ}dt@׼) 9ir9)顕=ii?#e DDAT read: Rx Time:05:00:30.0624 m TRx dataTimestamp_ set to:1761541231.393084u PDAT read: Bearing 190.9, -16.6 (Local) u ~Local bearing/azimuth received: Bearing 190.9, -16.6 (Local)  DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.5  DAT read: 05:00:30.0624 LVL= 16864, 22241, 20338, 32755, AGC= 62, IDX= 2,-0.08,-2.852,-0.738,-2.235,-1.592, PHS=-1.159, 0.899,-0.687, RAW= 317.4, 10.2, CAL= 315.9, 11.8, ROT= 194.1, -11.8  Ygot valid direction response: 05:00:30.0624 LVL= 16864, 22241, 20338, 32755, AGC= 62, IDX= 2,-0.08,-2.852,-0.738,-2.235,-1.592, PHS=-1.159, 0.899,-0.687, RAW= 317.4, 10.2, CAL= 315.9, 11.8, ROT= 194.1, -11.8  T#Rx 15: Read range and direction messages. `direction in FSK: [-0.949376,-0.238467,0.204496] Fpublishing direction and range infoya e Y4.IaYȦοrG,?Ye f@a e Ae Ve rO e )e >Ie Zie $f?e ;/e E@e K6>e n@ e BR>)e X@Ie BRa a e +O !׫ҿZ>? e 5)e 5Ie O9ie BRa a  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.595627oF,Q?AD,D.=E2 E2E2&E0"E2<;*E2:VE24ZE0a:@a:@a:@a:@| yt@ H@ kͼٱ }~ ]AHRS rotation from veh to nav: [[-0.622625,0.773696,0.117188],[-0.782118,-0.620086,-0.061515],[0.025073,-0.129956,0.991203]] H@?` ?`~ ?a?i yt@I ^; CYByIi5Mb@Mb@Mb@1111 195MbX?K7A{Gz?Y5 ?y5 5ף<5A5@ 5A)11Y5AbDuVDuβy%7=ٔ;;Q->9Y=Fy'L:E>Q 5/5+?Q 9/5:)BY?Q E:yQ I@0DI6;i;/5yBɮ1AE)iiJ(?AJi}@Ri}@ji?b`ᶲdȣ_`ߜ?RY4.IaYȦοrG,?ZiO9biBRjO2=@o@2- ?Zq?G?4XLu?2iP@:iI@"iBV?*iPiGBiOBi:?iiVBi@i{? addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504393 s, deltaX: 0.400000 m, approachRate: 0.793032 m/s, rangeRepo size: 4  Added new target pos. range: 5.671589 m, bearing: 63.872003 deg, lat: 36.779315 deg, lon: -121.859605 deg, deltaT: 0.504393 s, deltaX: 0.398006 m, approachRate: 0.789079 m/s, posRepo size: 4 BNOT Ignoring new targets: 5.67 m.hh*h"h h2hgff f āBd d jd @Zd@?ZU?ZU?ZUX@ZU7t@kͼ) أ=i9)額.'ii@|Xp,*?A2)t@2fH@2üٱ2ɛ :AHRS rotation from veh to nav: [[-0.622610,0.774671,0.110641],[-0.782167,-0.620384,-0.057776],[0.023883,-0.122512,0.992180]]2Hl@?S? /ɔ t?\`?i2)t@I2?^;2CYFByFIbDNVDNk2yV|z%V=ٔV[{;Q-V?9XYX=ZFyX^9E^?`Q 5f/5b}?Q 9f/5b)bBYdyfQ If@b0DIb:ib:bR/5ynBɮn3AlBNOT Ignoring new targets: 5.67 m.hh*h "h  h 2h g f ffddjdZdH?Z9Z9Z9Z=1t@Mü)Q U =iU9)QU?QiQԙi?IIDDAT read: Rx Time:05:00:30.5625 TRx dataTimestamp_ set to:1761541231.897762PDAT read: Bearing 187.3, -11.7 (Local) ~Local bearing/azimuth received: Bearing 187.3, -11.7 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 DAT read: 05:00:30.5625 LVL= 24816, 22769, 28658, 32755, AGC= 58, IDX= 499,-0.36, 2.567,-1.738, 2.998,-2.515, PHS=-1.100, 0.821,-0.814, RAW= 322.1, 12.1, CAL= 321.1, 14.8, ROT= 188.9, -14.8 Ygot valid direction response: 05:00:30.5625 LVL= 24816, 22769, 28658, 32755, AGC= 58, IDX= 499,-0.36, 2.567,-1.738, 2.998,-2.515, PHS=-1.100, 0.821,-0.814, RAW= 322.1, 12.1, CAL= 321.1, 14.8, ROT= 188.9, -14.8 T#Rx 16: Read range and direction messages. `direction in FSK: [-0.955183,-0.149577,0.255446] Fpublishing direction and range infoybnbې{@Z%ÿl39Y?Y̼@`Xo ):Ǐi-R?NbP@@X> V@  A>)S@I Ar 41cw׿&? h0)YI?i AUchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.110575U/@Y @Y@]4@YE EE'E"E:;*EVE'4ZEBE1- checking for new query: numPingsReceived=16, elapsed TxPingTime=10.334941! ;a, -?A t@ J@ ٱ  AHRS rotation from veh to nav: [[-0.622409,0.775606,0.105083],[-0.782360,-0.620425,-0.054641],[0.022817,-0.116221,0.992961]] H@?? <]?V?i t@I v^; CY5By5IiMb@Mb@Mb@ 9%C?V-9Y=Fy":E>Q 5 /5n?Q 9 /5)BY ?Q E :y YQ I@0DIe ;i::/5yBɮAEiit?AJiۻ@Riۻ@ji!˂?bxnĴumn?Rbnbې{@Z%ÿl39Y?Zi?bi AjE@Tf@E (i?ZˆS+?to?gp?2i2@:i=@"ih?*iw`Bi܄BiBV?iw`ii@iR? addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504678 s, deltaX: 0.200000 m, approachRate: 0.396293 m/s, rangeRepo size: 4  Added new target pos. range: 5.870589 m, bearing: 58.546204 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.504678 s, deltaX: 0.199000 m, approachRate: 0.394312 m/s, posRepo size: 4 BNOT Ignoring new targets: 5.87 m.h9h9*h9"h9 h92hAgAfAfAfMBdIdIjdM@ZdMn?Z?Z?Z@Zyt@) T=i9)Pii@7`IЂic??5^@B>@ b>)N@IbGeH_Gdۿ`0? 2,)=BIzCib-checking for new query: numPingsReceived=17, elapsed TxPingTime=10.642494I^A }U<I I O >i ,'?A2t@2'F@2Nٱ2S :AHRS rotation from veh to nav: [[-0.622854,0.775816,0.100807],[-0.782033,-0.621019,-0.052534],[0.021846,-0.111556,0.993518]]2H@k|?}ι?@jb媿 ^?鎼`?i2t@I2|^;2CY`y`rchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.838831bDjVDjβyz%z]=ٔ~+;Q-U>9YYY=]FyYe=Ee>iQ 5u/5mPa?Q 9u/5mK)mǥBYqyufQ I}@m0DImY;im;m/5yBɮAiiø?AJii@Rii@jiu?bfk9&5?R"'+ĵF#?ZizCbibj542 @u@ff?ZO?oԣ?3tWt?2i,@:i]@"iP7?*iLGBi{Biii{Bi@it?? addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504140 s, deltaX: 0.300000 m, approachRate: 0.595072 m/s, rangeRepo size: 4  Added new target pos. range: 6.169094 m, bearing: 54.977830 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.504140 s, deltaX: 0.298504 m, approachRate: 0.592106 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.17 m.hh*h"h h2hgfffddjd@ZdR?ZAZAZAZE[t@YN)! %=i-9)Q]ϳYiYi?i@ aF>)bJ@IaF8뿦=Q޿}nCsa? y() 1ISFGiaF checking for new query: numPingsReceived=18, elapsed TxPingTime=11.107632bE-4jE j,A?AB5t@BG@B֬ٱB JAHRS rotation from veh to nav: [[-0.622695,0.776155,0.099166],[-0.782180,-0.620866,-0.052144],[0.021097,-0.110035,0.993704]]BHC? b?`#@`v?`@+k?iB5t@IBh^;BCY=ByEIbDVD2yT%==ٔ!:Q- >9Y9==Fy9M:EU>ԹQ 5/5R?Q 9/5(#)ѥBYydQ I@0DIc DDAT read: Rx Time:05:00:32.0628  TRx dataTimestamp_ set to:1761541233.408733 PDAT read: Bearing 190.4, -1.5 (Local)  ~Local bearing/azimuth received: Bearing 190.4, -1.5 (Local)  DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4  DAT read: 05:00:32.0628 LVL= 29232, 26833, 32754, 32755, AGC= 62, IDX= 505,-0.13, 2.626,-1.803, 2.724,-2.685, PHS=-0.870, 0.927,-0.918, RAW= 331.3, 9.5, CAL= 330.8, 10.5, ROT= 179.2, -10.5  Ygot valid direction response: 05:00:32.0628 LVL= 29232, 26833, 32754, 32755, AGC= 62, IDX= 505,-0.13, 2.626,-1.803, 2.724,-2.685, PHS=-0.870, 0.927,-0.918, RAW= 331.3, 9.5, CAL= 330.8, 10.5, ROT= 179.2, -10.5  T#Rx 19: Read range and direction messages. ^direction in FSK: [-0.983159,0.013728,0.182236] Fpublishing direction and range infoy  21 vQ^{?m~S?Y @ 0r h ) >I R^i Om? k g@ )> @ f;>) +H@I f; i^fwY\? E&) )I +H@i f;  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.6108599 ,[?AE& E&E&)E$"E&1A;*E&:VE&FA4ZE$a*@a*@a*@a*@:t@:KF@:-ٱ:؎۽  AHRS rotation from veh to nav: [[-0.622855,0.776356,0.096554],[-0.782062,-0.621150,-0.050520],[0.020753,-0.106978,0.994045]]:Hm?Ʒ? u@ݩa@?b 7?i:t@I:9v^;:CY}By}I ==iMb@Mb@Mb@ 9e;O?B`"۹~jt?Y>yν< A;@ zA)hAYfAbD=VD=NyE%<<%M5=ٔMJ:Q-m>9qYq=uFyq}`E}>yQ 5/5}\D?Q 9/5}&)}ۥBYp>Q E:yQ I@}0DI};i}>;}:/5yBɮAii(Z?AJi@Ri@jiY]?bSqGq?wG?R21 vQ^{?m~S?Zi+H@bif;j5?.(@@Wu EF?ZA?s͇{ ?"~6c?2i@:i@"i–?*i8YBiBi2F?iLGiOBi@iIq?m addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504050 s, deltaX: 0.300000 m, approachRate: 0.595179 m/s, rangeRepo size: 4 } Added new target pos. range: 6.268588 m, bearing: 49.541036 deg, lat: 36.779326 deg, lon: -121.859603 deg, deltaT: 0.504050 s, deltaX: 0.298504 m, approachRate: 0.592212 m/s, posRepo size: 4 }BNOT Ignoring new targets: 6.27 m.hh*h"h h2hgfffBddjd@33@Zd`y?Zp>Zp>Zf@Zu@M-)I M>iM9)QUO5QiQi]?Y],qu?Aɰ4<2t@2D@2ٱ2ҁս :AHRS rotation from veh to nav: [[-0.623073,0.776510,0.093875],[-0.781904,-0.621457,-0.049176],[0.020153,-0.104042,0.994369]]2H7*?2? [-?@y`?i2t@I2x^;2C@YMԁByMIeDDAT read: Rx Time:05:00:32.5628 eTRx dataTimestamp_ set to:1761541233.912739mPDAT read: Bearing 195.6, 0.9 (Local) u~Local bearing/azimuth received: Bearing 195.6, 0.9 (Local) DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 DAT read: 05:00:32.5628 LVL= 32416, 28945, 32754, 32755, AGC= 62, IDX= 506,-0.50, 0.728, 2.657, 0.746, 1.602, PHS=-0.772, 1.101,-0.900, RAW= 333.3, 5.9, CAL= 332.6, 4.9, ROT= 177.4, -4.9 Ygot valid direction response: 05:00:32.5628 LVL= 32416, 28945, 32754, 32755, AGC= 62, IDX= 506,-0.50, 0.728, 2.657, 0.746, 1.602, PHS=-0.772, 1.101,-0.900, RAW= 333.3, 5.9, CAL= 332.6, 4.9, ROT= 177.4, -4.9 T#Rx 20: Read range and direction messages.^direction in FSK: [-0.995320,0.045197,0.085417]Fpublishing direction and range infoyae%$?b$ݵ?Yaae~eqa a)aIeˡEie?efffe[&@eB=eF¹@ e%=)e_(F@Ie%aaeɝ1ܙvg~? e#)eUԽIe_(F@ie%aachecking for new query: numPingsReceived=20, elapsed TxPingTime=12.114805E] E]E]&EY"E]a?;*E]:VE]4ZEYBE]9Y=Fyg E>Q 5/5{6?Q 9/5Y*)BYyQ I@0DIZ8$,>?AB̡t@BK@B5ٱBн jAHRS rotation from veh to nav: [[-0.622349,0.777325,0.091908],[-0.782489,-0.620816,-0.047931],[0.019800,-0.101747,0.994613]]BH@H`?`M?`' z@fF? ?iB̡t@IB a;BCprjAir`eIppI i tUA  )  nr@I)i)I!! !!EjAIiIIiIMiA)M U7FIQYQY]́By]IiEMb@Mb@Mb@AAAA A9E?:v~jt?YEf>yEԽE9qYq=uFyquA';E}>yQ 5/5}o+?Q 9/5}-)}BY>Q E:yQ I@}0DI}<;i}r;}C/5yBɮAEBNOT Ignoring new targets: 6.27 m.hh*h"h hgfff{BddjdZd`?Z>Z>ZB@Z^t@ 5)  #>i9)2ii%?!%I;*E}:VEyZEya@a@a@a@T#Rx 21: Read range and direction messages.^direction in FSK: [-0.990364,0.065780,0.121869]Fpublishing direction and range infoyX￀ְ?UM7P2?Y3@Vt )?IJ BiG?kU@w>m@ 5=):D@I5q7 6)|o{ ,? m")I:D@i5checking for new query: numPingsReceived=21, elapsed TxPingTime=12.647380I^A}]<IIO>q - checking for new query: numPingsReceived=21, elapsed TxPingTime=12.854913>*,?A,2't@2eT@2$ٱ2u˽ :AHRS rotation from veh to nav: [[-0.621524,0.778235,0.089760],[-0.783154,-0.620082,-0.046559],[0.019425,-0.099233,0.994875]]2H N?? ֧@.?@Zg@?i2't@I2d`;2CY%ˁBy%IIC=)<11bD}VD}kyG %I=ٔo:Q->9Y=Fy(;E>Q 5/5?Q 9/5=0)BYyQ I@ 1DI;i-;ڞ/5yBɮAEiib?AJi%@Ri%@AqAqBu>BqBuIBuBBqBqBqBu s;Bu.EԉBABABABE =BE =CE4jilR?b\Y9?D?RX￀ְ?UM7P2?Zi:D@bi5j@O^D'@z?ZNsq?&U?hSq?2i:@:ih@"iq?*iKBi Biٔ?i8YiBi@ieZ? addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.505009 s, deltaX: 0.300000 m, approachRate: 0.594048 m/s, rangeRepo size: 4   Added new target pos. range: 6.567077 m, bearing: 47.095623 deg, lat: 36.779328 deg, lon: -121.859609 deg, deltaT: 0.505009 s, deltaX: 0.298503 m, approachRate: 0.591084 m/s, posRepo size: 4  BNOT Ignoring new targets: 6.57 m.h h)*h)"h) h)g)f)f1f1d1d1jd=`ff@Zd=?ZYZYZYZ]mt@u$)q uN >iu 9)qu 3qiyi}@? U!))mIzC@i Ľ=checking for new query: numPingsReceived=22, elapsed TxPingTime=13.127902E EE(E"EB;*E#:VEc44ZEBEv%1,?A`r\t@rZ@rSԝٱrɽ -AHRS rotation from veh to nav: [[-0.620990,0.778745,0.089035],[-0.783581,-0.619577,-0.046098],[0.019265,-0.098392,0.994961]]rH 'z?ʶ?`@ *`:?`<0?ir\t@Ir `;pYuρByuIchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.359812rG-liAAu˿9uliAYuAiMMb@Mb@Mb@IIII I9MS? ףp= Mb?YM/>yMQM9Y=Fy:E>Q 5/5?Q 9/53)BY>Q E:yKQ I@1DIS;i;7/5yɮAii?AJi@Ri@ji[M?b YR+(?iq?R&A /(5?aVX?ZizC@bi Ľjj@ynt@rS?Z #? ?@fRV?2i@:i̕@"i&P?*i1 BiBiq?iFv[i Bi@ikDT?u addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503007 s, deltaX: 0.200000 m, approachRate: 0.397609 m/s, rangeRepo size: 4  Added new target pos. range: 6.766077 m, bearing: 46.095017 deg, lat: 36.779328 deg, lon: -121.859611 deg, deltaT: 0.503007 s, deltaX: 0.198999 m, approachRate: 0.395620 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.77 m.hh*h"h hgfffBddjd@33@Zd bJ?Z->Z->Z-A}@Z-u@}Sԝ)y }\>i}9)顅V3ii?8,5?Ab%t@bdb@bO9ٱb:jʽ zAHRS rotation from veh to nav: [[-0.620190,0.779368,0.089168],[-0.784220,-0.618751,-0.046324],[0.019069,-0.098657,0.994939]]bH`?Ӷ?T `Ʒ@܆?A?ib%t@Ib_;bCYÁByIbD=VD=yE%M=ٔMv$:Q-m?9qYq=uFyq}%T;E} ?yQ 5/5}?Q 9/5}S6)}BYy:Q I@} 1DI};i}K;}/5yBɮ AEiYi]2?AJi]@@Ri]@@ji]5F?b]”Io\Dt?/?R]aȟ)?5;?Zi]ZA@bi]|٠j]yv@oVz@ 1P?Z]7?QKY?]YA?2i]@:i]@"i]{?*i]LOBi]qBi]–?i]Ki]Bi]@i]XP?m addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504232 s, deltaX: 0.400000 m, approachRate: 0.793285 m/s, rangeRepo size: 4 } Added new target pos. range: 7.164081 m, bearing: 44.361670 deg, lat: 36.779328 deg, lon: -121.859612 deg, deltaT: 0.504232 s, deltaX: 0.398004 m, approachRate: 0.789327 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.16 m.hh*h"h hgfffddjd@Zdy?ZZZZu@-O9)) -,=i-9))541i1i=@9=BBIBځBBBBBs;B.E! ^A <I I O >= DDAT read: Rx Time:05:00:34.5634 = TRx dataTimestamp_ set to:1761541235.928677E PDAT read: Bearing 196.2, 6.7 (Local) M ~Local bearing/azimuth received: Bearing 196.2, 6.7 (Local) 35>,?ADAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4 Er ErEr(Ep"ErUS;*Er:VErc44ZEpBErY9Y=Fy79E>Q 5/5?Q 9%/59) BY!y%9Q I%@-1DI_:iV:/5qyɮAiqiuro?AJiu?@Riu?@jiuA?bus-WQ.óR?"$O?RuC&bV_:?ᢔ?Ziu?@biudju/m@yGs@V?ZurFR? C?,3]4?2iu@:iu@"iut?*iuøBiuBiu&P?iuLOiuBiu@iueM?] addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 7.164060 m, bearing: 43.198999 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 0.503690 s, deltaX: -0.000021 m, approachRate: -0.000041 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.16 m.hh*h"h hgfffddjdZd?ZiZiZiZmu@}y)y }=i}I9)顭$4ii?丢?)UqIU iUplNQQchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.669059^AR5<II O%?G,Ҍ?Aɰ;t@*R@ ٱM UAHRS rotation from veh to nav: [[-0.621733,0.778515,0.085804],[-0.782979,-0.620562,-0.042976],[0.019790,-0.093903,0.995385]]H= ?F? *` C? 1?it@I];CYeByeI!iMb@Mb@Mb@ 9'1Z?ˡE{Gzt?Y>y什ף; A~@ )QAYAbDEVDE1yM%U =ٔU͛Q-U>9YYY=]FyY}fE>Q 5/5Ꚋ?Q 9/55>)BY>Q E:yQ I@=1DI@:i3:/5yBɮAii?AJi+@Ri+@jiw@b $}@#Hgb*@RRd?C ƿ?Zi biplNj e: O, Zl*@ZCJC|߿YO8gU_ܿ~T/?2i`Y:iq"iZs?*iۋBi7Bii1 iBi@iK?5 addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504066 s, deltaX: 0.500000 m, approachRate: 0.991934 m/s, rangeRepo size: 4 e Added new target pos. range: 7.661564 m, bearing: 221.951280 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 0.504066 s, deltaX: 0.497504 m, approachRate: 0.986982 m/s, posRepo size: 4 eBNOT Ignoring new targets: 7.66 m.haha*hi"hi higififqfuhBdqdqjd@Zd#?Z>Z>Zy4@Z w@ ) .>i9)0W4!i!QiU@Y]ABM,^H9?A2t@2N@2ٱ2O :AHRS rotation from veh to nav: [[-0.622068,0.778224,0.086019],[-0.782705,-0.620919,-0.042803],[0.020101,-0.093953,0.995374]]2H5?O? 7꥿AlEDDAT read: Rx Time:05:00:35.5638 MTRx dataTimestamp_ set to:1761541236.936697UPDAT read: Bearing 197.6, 8.5 (Local) U~Local bearing/azimuth received: Bearing 197.6, 8.5 (Local) mDAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4 DAT read: 05:00:35.5638 LVL= 20192, 13745, 15698, 19171, AGC= 65, IDX= 2,-0.26,-0.640, 1.120,-0.898, 0.012, PHS=-0.551, 1.152,-0.954, RAW= 340.4, 3.7, CAL= 339.9, 1.3, ROT= 170.1, -1.3 Ygot valid direction response: 05:00:35.5638 LVL= 20192, 13745, 15698, 19171, AGC= 65, IDX= 2,-0.26,-0.640, 1.120,-0.898, 0.012, PHS=-0.551, 1.152,-0.954, RAW= 340.4, 3.7, CAL= 339.9, 1.3, ROT= 170.1, -1.3 T#Rx 26: Read range and direction messages.^direction in FSK: [-0.984856,0.171885,0.022687]Fpublishing direction and range infoyIM. @;@IM޹IIMC%F S迖ZVlww? M)MӃIM>@iM޹IIchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.138947iIiM;?AJiMZ@RiMZ@jiMl9?bM~9F-'^X?辱M?RM. @;@biM޹jM4A-};@ s([M@uZM?ޯ 8??^2iM@:iM۹@"iM ˜?*iMXBBiMBiMt?iMøiMqBiM@iM@?E] E]E](EY"E]8;*E];:VE]c44ZEYBE]׏iU9))-@}4)i)i5?15{checking for new query: numPingsReceived=26, elapsed TxPingTime=15.375184 T,%S?A2dt@2B@29ٱ2J :AHRS rotation from veh to nav: [[-0.623264,0.777293,0.085776],[-0.781738,-0.622190,-0.042029],[0.020700,-0.093249,0.995428]]2H ?c?`@ʄc2?+߷?i2dt@I2S:];2CYLyPi]Mb@Mb@Mb@YYYY Y9]{Gz?i|?5MbPY]>y]q]]/ A]h@ Y)YYY]AbDqVDqٔQ->9Y=FyxiE>Q 5/5՚?Q 9/5*D)BY>Q E:yQ I@S1DI :i:z/5yɮBNOT Ignoring new targets: 7.76 m.hh*h"h hgfffPBddjdZd 'L?Z>Z>Z@Zez@-9)) -L>i-f9)1541i1i=@9=ÆM9@I @I@M3@I]DDAT read: Rx Time:05:00:36.0640 eTRx dataTimestamp_ set to:1761541237.441823mPDAT read: Bearing 198.5, 8.8 (Local) m~Local bearing/azimuth received: Bearing 198.5, 8.8 (Local) }DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4 DAT read: 05:00:36.0640 LVL= 28400, 17633, 22386, 29459, AGC= 63, IDX= 500, 0.13, 1.637,-2.870, 1.367, 2.271, PHS=-0.531, 1.188,-0.948, RAW= 340.6, 3.0, CAL= 340.1, 0.2, ROT= 169.9, -0.2 Ygot valid direction response: 05:00:36.0640 LVL= 28400, 17633, 22386, 29459, AGC= 63, IDX= 500, 0.13, 1.637,-2.870, 1.367, 2.271, PHS=-0.531, 1.188,-0.948, RAW= 340.6, 3.0, CAL= 340.1, 0.2, ROT= 169.9, -0.2 T#Rx 27: Read range and direction messages.^direction in FSK: [-0.984497,0.175366,0.003491]Fpublishing direction and range infoyY]x:¦>Kar?QC1ml?Y]AY]n]D]rW ]s)]?I]i]b?]!r@=@]:@]PwV=]@ ]d;)]=@I]dYY]ٜOB\nӪ? ])]'VI]=@i]dYYchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.648341Em EmEm)Ei"Emy>;*EmV:VEmFA4ZEia}@a}@a}@a}@^A'<II O >I  checking for new query: numPingsReceived=27, elapsed TxPingTime=15.879603Z,Vm?A@PP?jt@/@ٱw AHRS rotation from veh to nav: [[-0.624981,0.776007,0.084926],[-0.780352,-0.623997,-0.040966],[0.021204,-0.091875,0.995545]]H@ ?෽?`@o??i?jt@IOG];CYByIbDVDNy <% <ٔ Q- >9Y=Fy7E>!Q 5-/5%Tʚ?Q 9-/5%G)%BY)y-*Q I5@%_1DI% ;i%;%*/5y=Bɮ=A=EiiF\?AJiARiAji58?bRb@ *?^Rt Μ?Rx:¦>Kar?QC1ml?Zi=@bidjDczN;@2<@ob/IѿZF ?Mr?\{(2i@:i@"iLȜ?*iBi8Bi{?iXBiBi@i1?? addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.505126 s, deltaX: 0.300000 m, approachRate: 0.593912 m/s, rangeRepo size: 4  Added new target pos. range: 8.059563 m, bearing: 41.227778 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.505126 s, deltaX: 0.298502 m, approachRate: 0.590946 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.06 m.hh*h"h hgfffddjd@33 @Zdk?B>BBIBƁBB =BBB(s;B.EZqZqZqZuy@) c>iS9)額4ii?/o a,ۆ?A25Bt@2@2ٱ2U :AHRS rotation from veh to nav: [[-0.626877,0.774574,0.084020],[-0.778812,-0.625997,-0.039742],[0.021813,-0.090349,0.995671]]2H`aO?`[? *Y>V?#!?i25Bt@I2];2CYbBybIlbDjVDj:y z% ]=ٔ ׺Q->9YYa=mFyiuѻE>Q 5/5?Q 9%/5J)BY1yUSQ Iu@j1DIoi9)Q4ii@Ng,5?AE EE)E"E>T;*E>:VEFA4ZEa@a@a@a@t@a@>/ٱ -AHRS rotation from veh to nav: [[-0.628726,0.773153,0.083295],[-0.777305,-0.627930,-0.038730],[0.022360,-0.089096,0.995772]]H @?R?@@bԣj?`϶`]?it@Ie];CY]ȁByeIm=m=ԙiMb@Mb@Mb@ 9~jt?:vMb`?Y>yT; A hA)@YpAbDVDyD8=%.=ٔ%Q->9Y=FyTE>Q 5/5Ⳛ?Q 9/5[N) BYB>Q E:yQ I@v1DI;ih;/5y!ɮ%A)iaie?AJieARieAjie52?be&!c ᪙i(2?]n#ʿRe!^A;?{JZiep<@bie+<jeD h@J-%e@F׺ ZeS/?\ ,|z?8N2ie)@:ie@"ie;Ϝ?*ie[BieBie ˜?ieC1ie8BielAie 6? addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503926 s, deltaX: 0.099999 m, approachRate: 0.198441 m/s, rangeRepo size: 4  Added new target pos. range: 8.358088 m, bearing: 39.885419 deg, lat: 36.779334 deg, lon: -121.859617 deg, deltaT: 0.503926 s, deltaX: 0.099501 m, approachRate: 0.197451 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.36 m.hh*h "h  h g fff\Bddjd @Zd *?Z]B>Z]B>Z]3@Z]ez@>/)  W>iy9)顕4ii?5/BBIBˁBBBBB:s;B.E^A 0:D<I ! I! O- >&n,-Һ?A4<ɰ4<2s@2@2aٱ2h\ :AHRS rotation from veh to nav: [[-0.630863,0.771532,0.082154],[-0.775560,-0.630152,-0.037613],[0.022749,-0.087444,0.995910]]2H0d? ?c`4*`BK?b}?i2s@I2ɞ];0YF́ByFIbDNVDNfyVI<%Vx=ٔZ Q-Z?9XYX=^Fy\^B E^?`Q 5f/5bB?Q 9f/5bP)b"BYhyjQ Ij@b1DIb:ib:bd/5ynBɮnArE PDAT read: Bearing 200.0, 9.6 (Local)  ~Local bearing/azimuth received: Bearing 200.0, 9.6 (Local) DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4 DAT read: 05:00:37.5643 LVL= 31632, 21361, 28450, 32755, AGC= 64, IDX= 503,-0.29,-2.907,-1.141, 3.082,-2.347, PHS=-0.458, 1.250,-0.898, RAW= 341.2, 1.1, CAL= 340.7, -1.8, ROT= 169.3, 1.8 Ygot valid direction response: 05:00:37.5643 LVL= 31632, 21361, 28450, 32755, AGC= 64, IDX= 503,-0.29,-2.907,-1.141, 3.082,-2.347, PHS=-0.458, 1.250,-0.898, RAW= 341.2, 1.1, CAL= 340.7, -1.8, ROT= 169.3, 1.8 T#Rx 30: Read range and direction messages.`direction in FSK: [-0.982128,0.185575,-0.031411]Fpublishing direction and range infoy]Mm?IzY A{qS"o )I~i?Te⏾@nF<dH@ )$=@I={7(c? E):2I$=@i=checking for new query: numPingsReceived=30, elapsed TxPingTime=17.161297!- addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.502799 s, deltaX: 0.200001 m, approachRate: 0.397775 m/s, rangeRepo size: 4 5BNOT Ignoring new targets: 8.36 m.h1h1*hQ"hY hYgYfafafadidijdm@33!@Zd\t?E5 E5E1E1"E5[I;*E5:VE1ZE1BE5i9)顥5ii@(ԙ t,\?A2ټs@2>ـ@2xٱ2 :AHRS rotation from veh to nav: [[-0.633175,0.769749,0.081091],[-0.773659,-0.632554,-0.036435],[0.023249,-0.085807,0.996041]]2H B ȡ?d´?@=Η?j`?i2ټs@I2G];2CYBρByBIi Mb@Mb@Mb@     9 )\(?~jty&1|?Y G>y D `;  A Q@ zA) v@ Y AbD%VD%ky5Z<%5B=ٔ5Q-=>9Y=FyE>Q 5/5?Q 9/5T)'BY>Q E:yFQ I@1DI:iH:1/5yɮoAi1i5z?AJi5ARi5Aji5J3?b5B Kbh?Q3ѿR5]Mm?IzZi5$=@bi5=j5T]e@(s@.Z5Sc?U]K?6\2i5;@:i5@"i5vMŜ?*i5Bi5Bi1i1i5Bi5 Ai5N7?BNOT Ignoring new targets: 8.36 m.hh!*h!"h! h!g!f!f)f-TBd)d)jd1Zd5[?Z]>Z]>Z]@Z]Rz@mx)i mu>im29q)q}5yiyi?z;IIDAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 EDAT read: 05:00:38.0645 LVL= 27376, 17793, 26978, 32755, AGC= 64, IDX= 505, 0.14,-0.386, 1.381,-0.712, 0.149, PHS=-0.432, 1.277,-0.905, RAW= 341.9, 0.6, CAL= 341.4, -2.3, ROT= 168.6, 2.3 MYgot valid direction response: 05:00:38.0645 LVL= 27376, 17793, 26978, 32755, AGC= 64, IDX= 505, 0.14,-0.386, 1.381,-0.712, 0.149, PHS=-0.432, 1.277,-0.905, RAW= 341.9, 0.6, CAL= 341.4, -2.3, ROT= 168.6, 2.3 UT#Rx 31: Read range and direction messages.U`direction in FSK: [-0.979481,0.197498,-0.040132]]Fpublishing direction and range infoy  k W֜G?.='Y fA  j E bi ) I /ݾi t? g @ +< y@ l$) S<@I l$=   -ٔ1]C}م? /E) .I S<@i l$=  uchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.655920}9@y @y@}/0@ԡE E EE"EL;*E:VEZEa@a@a@a@^AΒ;IIO> DDAT read: Rx Time:05:00:38.5646  TRx dataTimestamp_ set to:1761541239.712106  PDAT read: Bearing 200.3, 9.4 (Local)  ~Local bearing/azimuth received: Bearing 200.3, 9.4 (Local) = DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 M Z#Rx 32: Read range message, but no direction.P{,?A-qs@y Y A =checking for new query: numPingsReceived=32, elapsed TxPingTime=17.955227-€@-&¼ٱ-Ю AHRS rotation from veh to nav: [[-0.635310,0.768015,0.080832],[-0.771893,-0.634735,-0.035948],[0.023698,-0.085232,0.996079]]-H`vT?a?`YOg@HD?ѵ?i-qs@I-];-CYہByI!%AbDuVDuk1y}Y=%7=ٔQ->9YBBBIBՁBBBBBgs;B.EBQBQBQBQBQCU†5=Fy7ͻE>Q 5/5𓚊?Q 9/5X),BY y tQ I@1DI<;i;/5yɮAi i %?AJi HARi HAji (/?b %ߥ!bBL?JN*׿R k W֜G?.='Zi S<@bi l$=j U4 w@콤@ip=Z ?'^{:?4s$|2i %@:i @"i 流ٜ?*i 6Bi lBi ;Ϝ?i [i Bi Ai mg3? addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.760661 s, deltaX: 0.400000 m, approachRate: 0.525858 m/s, rangeRepo size: 4  Added new target pos. range: 8.955122 m, bearing: 39.358638 deg, lat: 36.779334 deg, lon: -121.859619 deg, deltaT: 1.263460 s, deltaX: 0.597034 m, approachRate: 0.472539 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.96 m.hh*h"h hgff f d d jd"@Zd?ZQZQZQZUz@&¼)  >i9)額%5ii@ {;IIY@Y @Y@]0@Y@e=@e==DAT read: 05:00:38.5646 LVL= 32752, 23921, 32754, 32755, AGC= 64, IDX= 506,-0.18, 2.087,-2.430, 1.801, 2.631, PHS=-0.442, 1.267,-0.874, RAW= 341.0, 0.5, CAL= 340.5, -2.4, ROT= 169.5, 2.4 EYgot valid direction response: 05:00:38.5646 LVL= 32752, 23921, 32754, 32755, AGC= 64, IDX= 506,-0.18, 2.087,-2.430, 1.801, 2.631, PHS=-0.442, 1.267,-0.874, RAW= 341.0, 0.5, CAL= 340.5, -2.4, ROT= 169.5, 2.4 EZ#Rx 33: Read direction message, but no range.U`direction in FSK: [-0.982392,0.182076,-0.041876]y7oe1BN? ۷pq] )IMi-?w_Is@5<+@ +)TU=@I+=%#&R ԐG? 2D)ITU=@i+=mchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.157730E EE'E"E,K;*E1:VE'4ZEBEL~,[a?A6es@6@6TƼٱ6 >AHRS rotation from veh to nav: [[-0.637266,0.766441,0.080375],[-0.770265,-0.636750,-0.035239],[0.024171,-0.084367,0.996142]]6H`{d?x?A`` ,?@ `d?i6es@I63];6CYFByFIbDRVDRkyZ=%Zn=ٔZ.Q-Z?9\Y\=^Fy\bEb?hQ 5v/5j?Q 9z/5jZ)j0BYxyzQ Iz@j1DIjew;ijU;j/5 h> CyBɮUA%E؀G9DDAT read: Rx Time:05:00:39.0649 TRx dataTimestamp_ set to:1761541240.217751PDAT read: Bearing 200.3, 9.9 (Local) ~Local bearing/azimuth received: Bearing 200.3, 9.9 (Local) QDAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.4 3N9Y3?bm6"m!+?ܴk\UٿR7oe1BN? ۷pZiTU=@bi+=j|@EVvH@brZ'*/d?r=?ʡ2iD@:i@"i<꜊?*ix)BieBijϜ?iiBiWAi3?] addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.505645 s, deltaX: 0.500000 m, approachRate: 0.988836 m/s, rangeRepo size: 4  Added new target pos. range: 9.452628 m, bearing: 40.116900 deg, lat: 36.779334 deg, lon: -121.859619 deg, deltaT: 0.505645 s, deltaX: 0.497506 m, approachRate: 0.983904 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.45 m.hh*h"h hgfffddjd#@Zddp?ZZZZz@5TƼ)1 5N>i59)9=859i9iE?ae:IaIiyԩ  ;9M DAT read: 05:00:39.0649 LVL= 31728, 21217, 30706, 32755, AGC= 64, IDX= 508, 0.26,-1.319, 0.435,-1.622,-0.794, PHS=-0.424, 1.273,-0.872, RAW= 341.4, 0.2, CAL= 341.0, -2.7, ROT= 169.0, 2.7 U Ygot valid direction response: 05:00:39.0649 LVL= 31728, 21217, 30706, 32755, AGC= 64, IDX= 508, 0.26,-1.319, 0.435,-1.622,-0.794, PHS=-0.424, 1.273,-0.872, RAW= 341.4, 0.2, CAL= 341.0, -2.7, ROT= 169.0, 2.7 U Z#Rx 35: Read direction message, but no range.] `direction in FSK: [-0.980537,0.190597,-0.047106]y) - "g`oJ}e?P7V) - {- R- w ) )) I- پi- ?- d;_- y@- d;- Is@ - A)- Z<@I- A=) - T @s^a+gp? - )- I- Z<@i- A= checking for new query: numPingsReceived=35, elapsed TxPingTime=18.661655 @  @ @ /@ E  E E E "E a?;*E :VE ZE a% @a% @a% @a% @ ^Ar;II!O=?,~s*?A2;s@2@2 `ȼٱ2Ū :AHRS rotation from veh to nav: [[-0.639229,0.764883,0.079621],[-0.768627,-0.638765,-0.034518],[0.024457,-0.083264,0.996227]]2H@t y?b?pL] ?P ?i2;s@I2*];2CYBByFI DDimMb@Mb@Mb@DDAT read: Rx Time:05:00:39.5649 TRx dataTimestamp_ set to:1761541240.720471PDAT read: Bearing 200.8, 9.0 (Local) ~Local bearing/azimuth received: Bearing 200.8, 9.0 (Local)  DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.4 eZ#Rx 36: Read range message, but no direction.yY}checking for new query: numPingsReceived=36, elapsed TxPingTime=18.930462iiii i9mDl?)\(Zd;O?YmO>ymGamj91Y1=5Fy1=E=>AQ 5M/5E{?Q 9M/5E?_)EQ Em;yuWQ Iu@E1DIE;iE);EX/5yyɮ} Ayii2.?AJiRijiq0?b[J"/?R vܿR"g`oJ}e?P7VZiZ<@biA=j@GPi@[u. ?Z[)1?mrF?X672i@:i@"i9?*iBiRBi流ٜ?iilBiAi/1?m addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.502720 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 9.452628 m, bearing: 39.490174 deg, lat: 36.779335 deg, lon: -121.859619 deg, deltaT: 0.502720 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }BNOT Ignoring new targets: 9.45 m.hyh*hBBBIBBB =BBBs;B/E"h hgff f Bd d jd Zd?ZU>ZU>ZU;@ZUx@ `ȼ) R8>i9)顽hF5ii@(=-IIm DAT read: 05:00:39.5649 LVL= 29936, 20593, 30706, 32755, AGC= 65, IDX= 509,-0.09, 2.105,-2.394, 1.841, 2.637, PHS=-0.429, 1.297,-0.839, RAW= 340.4, -0.3, CAL= 340.0, -3.2, ROT= 170.0, 3.2 u Ygot valid direction response: 05:00:39.5649 LVL= 29936, 20593, 30706, 32755, AGC= 65, IDX= 509,-0.09, 2.105,-2.394, 1.841, 2.637, PHS=-0.429, 1.297,-0.839, RAW= 340.4, -0.3, CAL= 340.0, -3.2, ROT= 170.0, 3.2 } Z#Rx 37: Read direction message, but no range. `direction in FSK: [-0.983272,0.173378,-0.055822]yI M :v0)<1?ᢔI M tM qPI I )M AIM ۾iM ?M VM @M M N@ M d)M N=@IM d=I M ^/\,gO*dcu M )M >;IM N=@iM d= checking for new query: numPingsReceived=37, elapsed TxPingTime=19.166332Թ  89E  E E (E "E 0;*E V:VE c44ZE BE y<E A A)YAbDVDfy58=%5=ٔ5 HQ-=>99Y9==Fy9EEE>IQ 5M/5Ml?Q 9U/5Mc)MJBYU>Q EU;yUQ I]@M1DIM ;iM ;M/5yeBɮehAeEiTiVxN?AJiVARiVAjiVx3?bVC)_#*8?SzS?AkZ>RV:v0)<1?ᢔZiVN=@biVd=jV4@qwY@"MZVT]O?8?X2iV@:iV{@"iVi✊?*iVǒRBiV)BiV9?iTiVeBiVlAiV)?0? addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.505661 s, deltaX: 0.400000 m, approachRate: 0.791043 m/s, rangeRepo size: 4  Added new target pos. range: 9.850644 m, bearing: 40.259404 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 0.505661 s, deltaX: 0.398016 m, approachRate: 0.787120 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.85 m.hh*h"h hgfffBddjd#@Zd@?Z>Z>Z@Z%s@-̼) .>iU9)!%mS5!i!i-?)-$"I)I19@ @@@UDAT read: 05:00:40.0652 LVL= 28624, 17217, 27026, 32755, AGC= 64, IDX= 511, 0.40,-1.896,-0.139,-2.155,-1.369, PHS=-0.425, 1.275,-0.830, RAW= 340.4, -0.2, CAL= 340.0, -3.1, ROT= 170.0, 3.1 eYgot valid direction response: 05:00:40.0652 LVL= 28624, 17217, 27026, 32755, AGC= 64, IDX= 511, 0.40,-1.896,-0.139,-2.155,-1.369, PHS=-0.425, 1.275,-0.830, RAW= 340.4, -0.2, CAL= 340.0, -3.1, ROT= 170.0, 3.1 mZ#Rx 39: Read direction message, but no range.}`direction in FSK: [-0.983367,0.173394,-0.054079]y!%&iMw|p1?ʾ7!%o%AC%i !)%@I%پi%33?%zT!%d! %k])!I%k]=!%"@Z迂Z*&TW4 Om %<)%o;I!i%k]=checking for new query: numPingsReceived=39, elapsed TxPingTime=19.677277 E  E E 'E "E B;*E :VE '4ZE a @a @a @a @^A I I O >) C,%M=ٔMQ-M"?9QYQ=UFyQ]E]#?aQ 5m/5ed?Q 9m/5ed)ePBYiyiQ Im@e1DIe|:ie1:e /5yɮ-ABNOT Ignoring new targets: 9.85 m.hh*h"h hgfff d d jd Zd ૫?Z1Z1Z1Z1A)A E|>iE9)IMIiIiU@QUE4iIQIYYDDAT read: Rx Time:05:00:40.5652 TRx dataTimestamp_ set to:1761541241.728132PDAT read: Bearing 207.7, 10.2 (Local) ~Local bearing/azimuth received: Bearing 207.7, 10.2 (Local)  DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4 Z#Rx 40: Read range message, but no direction.yY]checking for new query: numPingsReceived=40, elapsed TxPingTime=19.935875@ @@1@^Ae"5IqIO:>BBBIB BBBBB0t;BA E Y3翓{)P E FC)E F>IE 8=@iE X8> checking for new query: numPingsReceived=41, elapsed TxPingTime=20.1798440,ˀ?AE* E*E**E("E*1A;*E*Z:VE*(N4ZE(BE*9Y=FymE>Q 55/5Z?Q 95/5Vg)ZBY1y5Q I5@1DI$j1NQk@@:i\@"iEŜ?*icBi{BiiiRBiAi0? addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.502000 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 9.850658 m, bearing: 40.107309 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 0.502000 s, deltaX: 0.000014 m, approachRate: 0.000028 m/s, posRepo size: 4 %BNOT Ignoring new targets: 9.85 m.h!h!*h!"h! h)g)f)f)f1d1d1jd1Zd5[?ZZZZ% s@Ge̼) u>iu9)܃3ii?6II9@ @@\2@DDAT read: Rx Time:05:00:41.0654 TRx dataTimestamp_ set to:1761541242.235137PDAT read: Bearing 200.9, 8.9 (Local) %~Local bearing/azimuth received: Bearing 200.9, 8.9 (Local) }DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4  Z#Rx 42: Read range message, but no direction.yY3#Achecking for new query: numPingsReceived=42, elapsed TxPingTime=20.463541 ^A vтI I O >U,%?A:r@:_@:Bʼٱ: BAHRS rotation from veh to nav: [[-0.644556,0.760742,0.076279],[-0.764159,-0.644225,-0.032167],[0.024670,-0.079023,0.996567]]:H 4@X? ?`s~9x@ C?:?i:r@I:k,^;:CY^8By^+ IimMb@Mb@Mb@iiii i9mjt?Qkt?YmĠ>ymm 0=m Ai mzA)iiYmAbDVD:2y=%O=ٔ48:Q->9Y=FyE>Q 5/5dP?Q 9/5 i)gBY>Q E;y((Q I@1DI ;i ;3/5yɮA=DAT read: 05:00:41.0654 LVL= 18832, 15521, 16322, 20339, AGC= 68, IDX= 1, 0.40,-2.865,-1.100,-3.119,-2.353, PHS=-0.410, 1.298,-0.810, RAW= 340.3, -0.8, CAL= 339.8, -3.7, ROT= 170.2, 3.7 EYgot valid direction response: 05:00:41.0654 LVL= 18832, 15521, 16322, 20339, AGC= 68, IDX= 1, 0.40,-2.865,-1.100,-3.119,-2.353, PHS=-0.410, 1.298,-0.810, RAW= 340.3, -0.8, CAL= 339.8, -3.7, ROT= 170.2, 3.7 MZ#Rx 43: Read direction message, but no range.]`direction in FSK: [-0.983354,0.169855,-0.064532]ybPw;"^ͽ?P0I<? sO)DIѾi$?)\O3@dǽ@  A)>@I A=(I h g )h@i A=checking for new query: numPingsReceived=43, elapsed TxPingTime=20.683842DzDE EE,E"E=;*E:VEg4ZEa%@a%@a%@a%@i i | ?AJi b"ARi b"Aji J4?b ‹IU#z?NWR bPw;"^ͽ?P0Zi >@bi A=j 5"^@Om`%@@Z B?wa?.922i .@:i 7@"i ؜?*i Bi &Bi i i )Bi "Ai 2? addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.507005 s, deltaX: 0.300000 m, approachRate: 0.591711 m/s, rangeRepo size: 4  Added new target pos. range: 10.149163 m, bearing: 40.350830 deg, lat: 36.779336 deg, lon: -121.859617 deg, deltaT: 0.507005 s, deltaX: 0.298505 m, approachRate: 0.588761 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.15 m.hh*h"h hgff f ҁBd djd`ff$@Zd?)Z>Z>Zva@Zi@Bʼ) L>i9)3ii@|sII]9@Y @Y@e4@aY DDAT read: Rx Time:05:00:41.5654  TRx dataTimestamp_ set to:1761541242.736587 PDAT read: Bearing 200.8, 9.1 (Local)  ~Local bearing/azimuth received: Bearing 200.8, 9.1 (Local) 5 DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 M Z#Rx 44: Read range message, but no direction.y Y ] checking for new query: numPingsReceived=44, elapsed TxPingTime=20.940893^Ae 3Iq ԁ I O >,m?AAABBB! IB1BBBBB)t;B8/EBmr@BY@BǼٱB! JAHRS rotation from veh to nav: [[-0.645142,0.760357,0.075162],[-0.763674,-0.644825,-0.031679],[0.024379,-0.077836,0.996668]]BH@`T?@=?@pg68@?`?iBmr@IBf^;BCYrCByr7 IbDzVDzβyS=%T=ٔF:Q- >9 Y = Fy E>Q 5%/5F?Q 9%/5j)rBY!y%7(Q I-@1DIR:ik:/5y5Bɮ5BA5EYm addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.501450 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 10.15 m.hihq*hq"hq hqgqfffddjdZd%mm?ZaZaZaZei@Ǽ) &a>i9)+4ii?˻II  ))I1)1ԉ=DAT read: 05:00:41.5654 LVL= 32752, 23473, 32754, 32755, AGC= 65, IDX= 498,-0.15, 1.529,-2.988, 1.263, 2.038, PHS=-0.407, 1.303,-0.819, RAW= 340.5, -0.8, CAL= 340.1, -3.7, ROT= 169.9, 3.7 MYgot valid direction response: 05:00:41.5654 LVL= 32752, 23473, 32754, 32755, AGC= 65, IDX= 498,-0.15, 1.529,-2.988, 1.263, 2.038, PHS=-0.407, 1.303,-0.819, RAW= 340.5, -0.8, CAL= 340.1, -3.7, ROT= 169.9, 3.7 MZ#Rx 45: Read direction message, but no range.]`direction in FSK: [-0.982451,0.175001,-0.064532]y  36H=pCFpf?P0   [  ) AI Nbоi Ȧ? Q +@  @ ) =@I   IiPcdÚ ) d k,`Y?AFDDAT read: Rx Time:05:00:42.0656 NTRx dataTimestamp_ set to:1761541243.242327bPDAT read: Bearing 200.7, 10.5 (Local) ~~Local bearing/azimuth received: Bearing 200.7, 10.5 (Local) }DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.3 DAT read: 05:00:42.0656 LVL= 29536, 19345, 31282, 32755, AGC= 65, IDX= 500, 0.06,-1.000, 0.721,-1.313,-0.523, PHS=-0.374, 1.290,-0.834, RAW= 341.9, -0.9, CAL= 341.4, -3.8, ROT= 168.6, 3.8 Ygot valid direction response: 05:00:42.0656 LVL= 29536, 19345, 31282, 32755, AGC= 65, IDX= 500, 0.06,-1.000, 0.721,-1.313,-0.523, PHS=-0.374, 1.290,-0.834, RAW= 341.9, -0.9, CAL= 341.4, -3.8, ROT= 168.6, 3.8 ԱeT#Rx 46: Read range and direction messages.m`direction in FSK: [-0.978116,0.197223,-0.066274]mFpublishing direction and range infoyHJkL￿LE>?{SYJ(AHJ`sJKJ2z H)HIJ|iJ?JUJ@JJy@ Jԇ)JS<@IJԇ=HHJCN4o[忄 JH)Jfuy\=@ A)AYA 4<bD VD y=<%==ٔEQ-E>9AYA=EFyIMEM>QQ 5}/5U9?Q 9}/5Uql)UBY}~>Q E%;y/Q I@U1DIU;iU;UO/5yɮAiHiJI?AJiJ)'ARiJ)'AjiJ,?bJ|p#p$#m8{@?к2(RJkL￿LE>?{SZiJS<@biJԇ=jJ346 @{+2@4ZJ8?It?2iJ@:iJA"iJ䜊?*iJBiJBiHiJiJ&BiJ%AiJ\-?] addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.505740 s, deltaX: 0.300000 m, approachRate: 0.593191 m/s, rangeRepo size: 4 m Added new target pos. range: 10.447657 m, bearing: 38.708656 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 1.007190 s, deltaX: 0.298493 m, approachRate: 0.296363 m/s, posRepo size: 4 mDNOT Ignoring new targets: 10.45 m.hihi*h"h hgfffBddjd%@Zdq?Z~>Z~>Z@ZPb@) ^>i9)U4ii%@!%,WɻI)IQchecking for new query: numPingsReceived=46, elapsed TxPingTime=21.676130! 9@  @ @ 4@ E5  E5 E5 )E1 "E5 C;*E5 :VE5 FA4ZE1 aE @aE @aE @aE @1 ^A- #2I1 II O] >t,d?A2wr@2m@2[ٱ2x :AHRS rotation from veh to nav: [[-0.643300,0.762306,0.071103],[-0.765279,-0.642987,-0.030251],[0.022658,-0.073874,0.997010]]2H d?3?*} Z@3?l鲿?i2wr@I2t_;2CYDyDbDNVDNyVgC%Z=ٔZ;Q-Z?9\Y\=^Fy\^ <E^?dQ 5j/5fq2?Q 9j/5f`m)fBYhyj/Q In@f1DIf:if(:f/5ypɮrAp uDNOT Ignoring new targets: 10.45 m.hqhy*h"h hg ffAfAdIdQDDAT read: Rx Time:05:00:42.5657 TRx dataTimestamp_ set to:1761541243.744336PDAT read: Bearing 201.0, 11.8 (Local) ~Local bearing/azimuth received: Bearing 201.0, 11.8 (Local) DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 Z#Rx 47: Read range message, but no direction.yY3+Achecking for new query: numPingsReceived=47, elapsed TxPingTime=21.943905jdQZd5 h>?ZqZqZqZurb@[) |>i>9)額u4ii?}tII1BBBG IBOBB =BBB=t;BA/E@ @@/@Y^A I I E DAT read: 05:00:42.5657 LVL= 27488, 19825, 32594, 32755, AGC= 65, IDX= 500, 0.35,-2.468,-0.776,-2.831,-2.033, PHS=-0.334, 1.301,-0.842, RAW= 343.1, -1.3, CAL= 342.7, -4.3, ROT= 167.3, 4.3 U Ygot valid direction response: 05:00:42.5657 LVL= 27488, 19825, 32594, 32755, AGC= 65, IDX= 500, 0.35,-2.468,-0.776,-2.831,-2.033, PHS=-0.334, 1.301,-0.842, RAW= 343.1, -1.3, CAL= 342.7, -4.3, ROT= 167.3, 4.3 ] Z#Rx 48: Read direction message, but no range.e `direction in FSK: [-0.972789,0.219227,-0.074979]y  O}!￯?]1 `k qM R ) I i +? PW @ ޹ Yf@ `) ;:@I `= ԉ 8t3Zej?S E) 栺E-  E- E- 'E) "E- y>;*E- :VE- '4ZE) BE- S9Y==Fy9=;E=>AQ 5M/5E0(?Q 9M/5En)EBYQyU/Q IU@E1DIE:iE:E{/5yyBɮAii3?AJiX*ARiX*Ajiv(?bB<$}@p=sRO}!￯?]1Zi;:@bi`=j @[@q{6=Z(?G(r?K:2i@:iA"i|霊?*iBiBii✊?iiBi^)Aio+? addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.502009 s, deltaX: 0.200000 m, approachRate: 0.398399 m/s, rangeRepo size: 4 E Added new target pos. range: 10.646658 m, bearing: 37.704254 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 0.502009 s, deltaX: 0.199001 m, approachRate: 0.396410 m/s, posRepo size: 4 EDNOT Ignoring new targets: 10.65 m.hIhI*hI"hI hIgIfIfqfqdqdyjd}`ff%@Zd}}?ZZZZAb@)A E>iE$9)AE4IiIi@ƝIIԱDDAT read: Rx Time:05:00:43.0659 TRx dataTimestamp_ set to:1761541244.255535PDAT read: Bearing 201.3, 12.3 (Local) ~Local bearing/azimuth received: Bearing 201.3, 12.3 (Local) -DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3 =Z#Rx 49: Read range message, but no direction.yY0AUchecking for new query: numPingsReceived=49, elapsed TxPingTime=22.456146m9@q @q@u/@y^A _ I I! O- > ,~?AF:s@FN@FٱFVs VAHRS rotation from veh to nav: [[-0.639318,0.765891,0.068441],[-0.768651,-0.638990,-0.029445],[0.021181,-0.071432,0.997221]]FH Ju-?U?ʘr&`u?_I ;?iF:s@IF1_;DYfNByfF IlnAMDAT read: 05:00:43.0659 LVL= 25136, 14577, 28194, 30707, AGC= 65, IDX= 503,-0.38,-2.494,-0.785,-2.886,-2.072, PHS=-0.320, 1.332,-0.858, RAW= 343.6, -1.6, CAL= 343.2, -4.5, ROT= 166.8, 4.5 ]Ygot valid direction response: 05:00:43.0659 LVL= 25136, 14577, 28194, 30707, AGC= 65, IDX= 503,-0.38,-2.494,-0.785,-2.886,-2.072, PHS=-0.320, 1.332,-0.858, RAW= 343.6, -1.6, CAL= 343.2, -4.5, ROT= 166.8, 4.5 ]Z#Rx 50: Read direction message, but no range.e`direction in FSK: [-0.970578,0.227647,-0.078459]y!%Uᅩh#?5;!%0b%8%"n %w)!I% ףi%~?%[%@%%֭@ %|٠)%AQ:@I%|٠=!%g&|2j濝 1 %R)%y(<@ )QAYAbDVDky_h<%'=ٔ:Q->9Y=FyH;E>Q 5/5?Q 9/5o)BY>Q E4;y6Q I@2DI :i:/5yIɮUAQiiZ?AJi/ARi/Aji&?by ?%~[@\;DzRUᅩh#?5;ZiAQ:@bi|٠=j]>H!@AT*e@sM&ZvC?K5J?Yt2i(@:iA A"i?*ib^7BiBi䜊?ib^7iBi+Aiδ)?M addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.511199 s, deltaX: 0.300000 m, approachRate: 0.586856 m/s, rangeRepo size: 4 ] Added new target pos. range: 10.945163 m, bearing: 37.366591 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 0.511199 s, deltaX: 0.298505 m, approachRate: 0.583931 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.95 m.hh*h"h hgfffBddjd&@Zdz?Z>Z>Z@Zp0[@) B>i9)額4ii?O9II9M9@Q @Q@Q@YDDAT read: Rx Time:05:00:43.5659 TRx dataTimestamp_ set to:1761541244.757285PDAT read: Bearing 201.3, 13.6 (Local) ~Local bearing/azimuth received: Bearing 201.3, 13.6 (Local)  DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3 = DAT read: 05:00:43.5659 LVL= 25200, 17217, 29858, 32755, AGC= 65, IDX= 503,-0.26, 2.557,-2.073, 2.120, 2.940, PHS=-0.281, 1.315,-0.865, RAW= 345.0, -1.7, CAL= 344.6, -4.7, ROT= 165.4, 4.7 E Ygot valid direction response: 05:00:43.5659 LVL= 25200, 17217, 29858, 32755, AGC= 65, IDX= 503,-0.26, 2.557,-2.073, 2.120, 2.940, PHS=-0.281, 1.315,-0.865, RAW= 345.0, -1.7, CAL= 344.6, -4.7, ROT= 165.4, 4.7 U T#Rx 51: Read range and direction messages.] `direction in FSK: [-0.964455,0.251222,-0.081939]] Fpublishing direction and range infoy620?YpbACt )I;ߏiQ?p]2@v@ )8@I=r}H>RI )PYja,:8?A2es@2@2ٱ2)M NAHRS rotation from veh to nav: [[-0.637313,0.767593,0.068073],[-0.770331,-0.636953,-0.029690],[0.020569,-0.071360,0.997239]]2Hd?@3m?`a&g`?D`?i2es@I2x%_;0Yz:Byz- IbDVDkyM%Mu=ٔUS:Q-U?9QYQ=]FyY]<E] ?aQ 5/5e?Q 9/5ezp)eBYy6Q I@e 2DIe;ieb;e/5yBɮAE ii\w0?AJiRijik!?bHsx%twP@#ֲR620?Zi8@bi=jL8Q!@oY@xVZeO?D:P?֖AC2i@:io A"i?*iBi9Bi|霊?iii-Ai}(?] addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.501750 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.945170 m, bearing: 36.127844 deg, lat: 36.779337 deg, lon: -121.859619 deg, deltaT: 0.501750 s, deltaX: 0.000008 m, approachRate: 0.000015 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.95 m.hh*h"h hgfffddjdZd`c?ZZZZ[[@]) >i|9)額ii@͹%;II checking for new query: numPingsReceived=51, elapsed TxPingTime=23.195831E EE(E"EB;*E:VEc44ZEBEvԑ  DDAT read: Rx Time:05:00:44.0661  TRx dataTimestamp_ set to:1761541245.264713 PDAT read: Bearing 201.1, 14.9 (Local) gD,Q?AE~Local bearing/azimuth received: Bearing 201.1, 14.9 (Local) 6DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.2 ~DAT read: 05:00:44.0661 LVL= 23904, 20881, 30066, 32755, AGC= 65, IDX= 505,-0.36,-1.387, 0.225,-1.875,-1.029, PHS=-0.256, 1.299,-0.890, RAW= 346.3, -1.6, CAL= 345.9, -4.6, ROT= 164.1, 4.6 Ygot valid direction response: 05:00:44.0661 LVL= 23904, 20881, 30066, 32755, AGC= 65, IDX= 505,-0.36,-1.387, 0.225,-1.875,-1.029, PHS=-0.256, 1.299,-0.890, RAW= 346.3, -1.6, CAL= 345.9, -4.6, ROT= 164.1, 4.6  T#Rx 52: Read range and direction messages.`direction in FSK: [-0.958643,0.273077,-0.080199]Fpublishing direction and range infoy 5 lz?zꇴY4A`]Qru )IoiE? ci@/@ l)-M7@Il=aͪ(J1$i:a J)4y'D< A@ zA)AY=A )-<bD5VD5J2y=%E$=ٔEQ-E>9IYI=MFyIUEU>QQ 5]/5U ?Q 9e/5Uaq)UBYE>Q E?;y 9Q I@U2DIU;iU;U/5yBɮAEiiP?AJi3ARi3Aji?bBr%%@;R 5 lz?zꇴZi-M7@bil=j^UbT"@k޵=5@"c$pZx]?c.$?m32i@:iA"i ?*iދBiBi?iiBi0Ai5J#?] addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.507428 s, deltaX: 0.300000 m, approachRate: 0.591217 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 11.243675 m, bearing: 34.819039 deg, lat: 36.779338 deg, lon: -121.859620 deg, deltaT: 0.507428 s, deltaX: 0.298505 m, approachRate: 0.588270 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.24 m.hh*h"h hgfffBddjd&@Zd`$&?Z]E>Z]E>Z]ִ@Z]uY@) #>i9)顥:3ii? ;IIchecking for new query: numPingsReceived=52, elapsed TxPingTime=23.699043E EE*E"Ey>;*E :VE(N4ZEa @a @a @a @9@ @@/@ ^A "5;I) IQ O} > ,Mn?A%Ss@%׀@%gٱ%I 5AHRS rotation from veh to nav: [[-0.633350,0.771000,0.066533],[-0.773630,-0.632934,-0.029857],[0.019091,-0.070382,0.997337]]%HgD?M? @Ғ? 0?EDDAT read: Rx Time:05:00:44.5661 MTRx dataTimestamp_ set to:1761541245.764787UPDAT read: Bearing 201.2, 18.3 (Local) U~Local bearing/azimuth received: Bearing 201.2, 18.3 (Local) eDAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.3 DAT read: 05:00:44.5661 LVL= 21952, 18641, 32018, 32755, AGC= 66, IDX= 504, 0.43, 0.498, 1.982,-0.100, 0.771, PHS=-0.171, 1.255,-0.915, RAW= 349.7, -1.8, CAL= 349.3, -4.8, ROT= 160.7, 4.8 Ygot valid direction response: 05:00:44.5661 LVL= 21952, 18641, 32018, 32755, AGC= 66, IDX= 504, 0.43, 0.498, 1.982,-0.100, 0.771, PHS=-0.171, 1.255,-0.915, RAW= 349.7, -1.8, CAL= 349.3, -4.8, ROT= 160.7, 4.8 T#Rx 53: Read range and direction messages.%`direction in FSK: [-0.940491,0.329355,-0.083678]%Fpublishing direction and range infoyAE-){QhX_(?U]kYAAEUEHE} A)EBIE/iEף?Eq=jE0O@EE@ E)E3@IE=AAE,C);俲`%f迾f E)E=IE3@iE=AAEchecking for new query: numPingsReceived=53, elapsed TxPingTime=23.984039i%Ss@I%^;%CY]&By] Ie=ea=bDmVDmy}%}T=ٔz;Q->9Y=FyZ<Bu>BqBuG IBuOBBqBqBqBuGu;Bu/EE>Q 5/5?Q 9/5)r)BYy8Q I@2DIt:i(:/5y ɮ A iAiEEp?AJiARiAjiE ?bE: -&%]# @$hRE-){QhX_(?U]kZiE3@biE=jE|B"@?u@#iZEHB?Ip0?{fJ.忿2iE@:iEA"iE?*iEhBiE~BiE?iEiE9BiE1AiE$>? addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.500074 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.243663 m, bearing: 31.717139 deg, lat: 36.779338 deg, lon: -121.859621 deg, deltaT: 0.500074 s, deltaX: -0.000012 m, approachRate: -0.000025 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.24 m.hh*h"h hgfffdd!jd!Zd%@?ZiZiZiZmehY@}g) P>i9)顥_3ii@;IIU9@Q @Q@]90@YQchecking for new query: numPingsReceived=53, elapsed TxPingTime=24.203186E  E E (E "E g5;*E -:VE c44ZE BE },v?A4<ɰ;2as@2@2Iٱ2f >AHRS rotation from veh to nav: [[-0.631701,0.772439,0.065522],[-0.774991,-0.631279,-0.029579],[0.018515,-0.069464,0.997413]]2H6 ѷ?ư?`p3@I ?hȱ?i2as@I2^;2CYF$ByF IbDRVDRk1yVd%Zp=ٔZ:Q-Z?9XY\=^Fy\^;Eb?`Q 5f05bL?Q 9f05br)bBYhyj8Q Ij@b!2DIb:ib:bV05ylɮr(Ap DNOT Ignoring new targets: 11.24 m.h h*h"h hgfffddjdZd~N?yZZZZY@ I)  r>i9)Y3ii?DAT read: 05:00:45.0662 LVL= 19184, 19249, 30514, 32051, AGC= 65, IDX= 505, 0.29, 0.597, 2.004, 0.014, 0.883, PHS=-0.184, 1.166,-0.913, RAW= 350.2, -0.8, CAL= 349.8, -3.8, ROT= 160.2, 3.8 Ygot valid direction response: 05:00:45.0662 LVL= 19184, 19249, 30514, 32051, AGC= 65, IDX= 505, 0.29, 0.597, 2.004, 0.014, 0.883, PHS=-0.184, 1.166,-0.913, RAW= 350.2, -0.8, CAL= 349.8, -3.8, ROT= 160.2, 3.8 =T#Rx 54: Read range and direction messages.E`direction in FSK: [-0.938812,0.337993,-0.066274]EFpublishing direction and range infoy}"߿ ϋj?{SYf6AJ1K2w 3})AIjy 1 `  A  A) @ Y pA!%AAbD-VD-:y=}%=4=ٔ=:Q-=>9AYA=EFyAEz;EM>IQ 5U05Ma?Q 9]05Mt)MBY]>Q E]=;y]/Q I]@M)2DIM%;iM\ ;MN05ymBɮmlAiii~?AJi}5ARi}5Aji% ?bA̎VL%(qګ@bR}"߿ ϋj?{SZi2@biԇ=j7 C#@X|@ c[1Z"Fc+?$?*l2i@:iA"iKa?*i7Bi_Bi ?iދii7Aiqm?5 addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.508576 s, deltaX: 0.099999 m, approachRate: 0.196626 m/s, rangeRepo size: 4 E Added new target pos. range: 11.343163 m, bearing: 31.366490 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.508576 s, deltaX: 0.099501 m, approachRate: 0.195646 m/s, posRepo size: 4 MDNOT Ignoring new targets: 11.34 m.hIhi*hi"hi hqgqfqfqf}Bdydyjd}&@Zd ?Z>Z>Z|A@ZGb@)  W>i9)%4ii%@yQ J7,I?A2 t@2@2ٱ2x :AHRS rotation from veh to nav: [[-0.629509,0.774462,0.062662],[-0.776798,-0.629107,-0.028438],[0.017396,-0.066578,0.997630]]2H`$e? ? !`VБ?: ?i2 t@I2^;2Cchecking for new query: numPingsReceived=55, elapsed TxPingTime=25.210974)YEByEIbD]VD]ye%m8=ٔmy:Q-m>9qYq=uFyqu";E}>yQ 505}噊?Q 905}Cu)}BYy/Q I@}12DI}O;i}:;}- 05yɮAE EE(E"EC;*E:VEc44ZEBE>imo9)im-R4iiiiu?qu)E DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.1 %,r?A*DAT read: 05:00:46.0664 LVL= 23120, 15857, 28594, 31411, AGC= 66, IDX= 507, 0.03,-0.571, 0.931,-1.034,-0.173, PHS=-0.296, 1.149,-0.906, RAW= 346.8, 0.6, CAL= 346.3, -2.4, ROT= 163.7, 2.4 0.Ygot valid direction response: 05:00:46.0664 LVL= 23120, 15857, 28594, 31411, AGC= 66, IDX= 507, 0.03,-0.571, 0.931,-1.034,-0.173, PHS=-0.296, 1.149,-0.906, RAW= 346.8, 0.6, CAL= 346.3, -2.4, ROT= 163.7, 2.4 nT#Rx 56: Read range and direction messages.r`direction in FSK: [-0.958963,0.280421,-0.041876]vFpublishing direction and range infoylӯi? ۷pY3;APZ=o z)IPio?g@+<i@ +)6@I+=i9{ )S翕3? )8'I6@i+=checking for new query: numPingsReceived=56, elapsed TxPingTime=25.571392 jAiuIIi )! %Mr@!!!!!I)))i)))I-pkA)1 1QQYiYYiY]ZjA)] e7FIaYaYmBymIԉiMb@Mb@Mb@ 9x&?RQMbY7>y½@ zA)YbDVDyM%M?=ٔUQ-U>9YYa=eFyaE>Q 505ܙ?Q 905v)BYϑ>Q E:;y&Q I@92DIIn;iAl;05yɮ &A ii?AJiD:ARiD:Aji?bd S&? v @E93߿Rlӯi? ۷pZi6@bi+=j;+ #@_b@ZeZ_D.?^ M:?#U2i;@:ihA"i>L?*i;{Bi2Biii_Biw8Ai3? addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.509502 s, deltaX: 0.300000 m, approachRate: 0.588811 m/s, rangeRepo size: 4  Added new target pos. range: 11.641644 m, bearing: 34.847870 deg, lat: 36.779341 deg, lon: -121.859626 deg, deltaT: 0.509502 s, deltaX: 0.298504 m, approachRate: 0.585874 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.64 m.hh*hchecking for new query: numPingsReceived=56, elapsed TxPingTime=25.715059"h hgfffBdd9jd=`ff'@Zd=Os?Z}ϑ>Z}ϑ>Z}/)@Z}Pl@)  W>i9D%=DE EE)E"Ea?;*Ed:VEFA4ZEa@a@a@a@)4ii@^',?A28t@2@2֑ٱ2e >AHRS rotation from veh to nav: [[-0.628835,0.774998,0.062810],[-0.777352,-0.628399,-0.028947],[0.017036,-0.067028,0.997606]]2Hi?X? @,`r?`(b?i28t@I2_^;2CNDDAT read: Rx Time:05:00:46.5664 RTRx dataTimestamp_ set to:1761541247.780779VPDAT read: Bearing 199.0, 12.9 (Local) V~Local bearing/azimuth received: Bearing 199.0, 12.9 (Local) ^DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.3 5PExceeded connect timeout, disconnecting.UDAT read: 05:00:46.5664 LVL= 21024, 19729, 32354, 32755, AGC= 65, IDX= 507,-0.06, 2.658,-2.067, 2.281, 3.109, PHS=-0.349, 1.152,-0.871, RAW= 344.4, 0.8, CAL= 343.9, -2.2, ROT= 166.1, 2.2 ]Ygot valid direction response: 05:00:46.5664 LVL= 21024, 19729, 32354, 32755, AGC= 65, IDX= 507,-0.06, 2.658,-2.067, 2.281, 3.109, PHS=-0.349, 1.152,-0.871, RAW= 344.4, 0.8, CAL= 343.9, -2.2, ROT= 166.1, 2.2 ]T#Rx 57: Read range and direction messages.e`direction in FSK: [-0.970001,0.240051,-0.038388]mFpublishing direction and range infoYByI ;4<bDVDfB>BBIBBBBBBKu;B/EyB%V=ٔz:Q->9Y=Fy;E>Q 505ՙ?Q 905jx)BYy &Q I@@2DI:i:?05yɮAyLNt? ᅩSw?.YLLN RNMNb~ N)NAIN!iNt?N^NhY@Nd>z"@ӗ#@DjZN''e?P dV?TB'2iN@:iNA"iN>ߜ?*iNaBiN@BiN쪭?iLiNBiNT8AiN? addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.498488 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 11.641610 m, bearing: 37.287958 deg, lat: 36.779340 deg, lon: -121.859626 deg, deltaT: 0.498488 s, deltaX: -0.000034 m, approachRate: -0.000069 m/s, posRepo size: 4 %DNOT Ignoring new targets: 11.64 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd*?ZZZZUl@֑) '>ii9)ii?F5|,o ?A6t@6@6.ٱ6뜉@ BAHRS rotation from veh to nav: [[-0.628758,0.775062,0.062789],[-0.777418,-0.628309,-0.029138],[0.016867,-0.067134,0.997601]]6HO?@?  G֝E?/Y?i6t@I6^;6CYׁByI bDVDyl%N=ٔT9Q->9Y=Fyw9E>Q 505̙?Q 905y)BYy&Q I@G2DI;i!;05y%}Bɮ%0A%EDNOT Ignoring new targets: 11.64 m.hh*h"h hgffDDAT read: Rx Time:05:00:47.0666 TRx dataTimestamp_ set to:1761541248.284778PDAT read: Bearing 199.0, 11.9 (Local) ~Local bearing/azimuth received: Bearing 199.0, 11.9 (Local) DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 DAT read: 05:00:47.0666 LVL= 21296, 17137, 28578, 31859, AGC= 64, IDX= 509,-0.16,-2.737,-1.147,-3.077,-2.262, PHS=-0.373, 1.160,-0.859, RAW= 343.3, 0.8, CAL= 342.9, -2.1, ROT= 167.1, 2.1 =Ygot valid direction response: 05:00:47.0666 LVL= 21296, 17137, 28578, 31859, AGC= 64, IDX= 509,-0.16,-2.737,-1.147,-3.077,-2.262, PHS=-0.373, 1.160,-0.859, RAW= 343.3, 0.8, CAL= 342.9, -2.1, ROT= 167.1, 2.1 ET#Rx 58: Read range and direction messages.Im`direction in FSK: [-0.974107,0.223100,-0.036644]uFpublishing direction and range infoy-+,V?(א¢Y@A0SBo s|)@Ifddjd(@Zd ?iz?m[!@@ Q ) :@IQ =(FSZL 忨k? ¨)}dI :@iQ =checking for new query: numPingsReceived=58, elapsed TxPingTime=26.534548Z Z Z Z l@%.)! %>i%9))-3)i)i5@154E=  E= E= 'E9 "E= 77;*E= r:VE= '4ZE9 aM @aM @aM @aM @n,0L$ ?A2t@2@2Nsٱ2UN :AHRS rotation from veh to nav: [[-0.629199,0.774743,0.062298],[-0.777060,-0.628769,-0.028747],[0.016900,-0.066497,0.997643]]2Hf"??o3N??i2t@I2Z^;0ÝByIyiMb@Mb@Mb@ 9ymvA@ hA)v@YAbDVD:y^%V=ٔ4Q->9Y=FyƺE>Q 5 05ř?Q 9 05{)BY >Q E4;yQ I@N2DIa:i< 05yɮAii9 ?AJi ?ARi ?Aji *?b]1 C'ӡO@}ܿR-+,V?(א¢Zi :@biQ =j-LP"@@+sP$ZG.?P?D;^2i@:iA"iTٜ?*iչBi.Bi>L?i;{i.Bi>Ai? addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503999 s, deltaX: 0.300000 m, approachRate: 0.595240 m/s, rangeRepo size: 4  Added new target pos. range: 11.940113 m, bearing: 38.253461 deg, lat: 36.779339 deg, lon: -121.859622 deg, deltaT: 0.503999 s, deltaX: 0.298503 m, approachRate: 0.592269 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.94 m.hh*h"h hgfffRBd d jd Zd hs?Z5>Z5>Z5ڳ@Z5u@ENs)A Eu>iEW9)IM@3IiIiU?QU`,BBIBBBBBBEu;B/E^AM *:<IQ Ii Ou > ,4> ?AVs@V@V<ٱV빇 jAHRS rotation from veh to nav: [[-0.630182,0.773960,0.062103],[-0.776261,-0.629764,-0.028573],[0.016996,-0.066215,0.997661]]VHt*F?@˯?!'?Bcg? o?iVs@IV]^;TYvÁByvI|~@AbDVDky6E%-Y=ٔ5[Q-=>99Y9==Fy9EYEE>IQ 5U05Mc?Q 9U05M})MBYQy]Q I]@MU2DIMn;iMz;M_05yaɮeAaii|2 ?AJiRiji.?bR>V'V@1ؿRtl8 Fᅦ]d?IzZi͋;@bi=jiZs"@3zd]@KQ,ڞZe`?5>?@릯2i@:iCA"i]B˜?*i$BiIBi>ߜ?iai2Bi-?Ai&? addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504093 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.940093 m, bearing: 38.961338 deg, lat: 36.779336 deg, lon: -121.859618 deg, deltaT: 0.504093 s, deltaX: -0.000020 m, approachRate: -0.000040 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.94 m.hh*h"h hgfffddjdZd B?ZZZZX u@checking for new query: numPingsReceived=59, elapsed TxPingTime=27.227028<) .c>i9)顝T4ii@_ DDAT read: Rx Time:05:00:48.0666  TRx dataTimestamp_ set to:1761541249.296560 PDAT read: Bearing 198.2, 10.7 (Local)  ~Local bearing/azimuth received: Bearing 198.2, 10.7 (Local) M DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 a  DAT read: 05:00:48.0666 LVL= 23424, 18593, 29810, 32435, AGC= 65, IDX= 510,-0.37, 1.985,-2.674, 1.682, 2.510, PHS=-0.423, 1.145,-0.871, RAW= 342.2, 1.7, CAL= 341.7, -1.2, ROT= 168.3, 1.2  Ygot valid direction response: 05:00:48.0666 LVL= 23424, 18593, 29810, 32435, AGC= 65, IDX= 510,-0.37, 1.985,-2.674, 1.682, 2.510, PHS=-0.423, 1.145,-0.871, RAW= 342.2, 1.7, CAL= 341.7, -1.2, ROT= 168.3, 1.2  T#Rx 60: Read range and direction messages. `direction in FSK: [-0.979008,0.202743,-0.020942] Fpublishing direction and range infoy  TˉZz?_2qY [ H rt ~) AI uؾi \? ^ @ < _׾@ ) /;@I < !%)2~忽#h? ) iMI /;@i < E checking for new query: numPingsReceived=60, elapsed TxPingTime=27.560562̹,X ?A2s@2Y@2gٱ2,戽 :AHRS rotation from veh to nav: [[-0.631255,0.773032,0.062750],[-0.775380,-0.630841,-0.028721],[0.017382,-0.066785,0.997616]]2H>3?]?@/@%ȋ? @x?i2s@I2^;2CYEByEIIM<)M<1imMb@Mb@Mb@iiii i9m%C?~jty&1|YmZ>ymm`mIAm@ mA)mQAiYmzAbDVDyk%1=ٔ\Q->9Y=FyEE>1Q 5=055C?Q 9=055s)1YE>Q EE$;yEQ IM@5_2DI5;i5;5q05yqɮuAqi!i%R ?AJi!Ri!ji%Y/?b%l?1`'J9]@NUhпR%TˉZz?_2qZi%/;@bi%<j%Vhc&x"@tdM,@,Z%8ށԿ? 63C7?|䎳W2i%g@:i%A"i%Bs?*i%6Bi%Bi%Tٜ?i%6i%@Bi%BAi%(+?] addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.507689 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.940093 m, bearing: 39.245491 deg, lat: 36.779335 deg, lon: -121.859615 deg, deltaT: 0.507689 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.94 m.hh*h"h hgfff3BddjdZd <?Z >Z >Z J@Z ?z@g)-checking for new query: numPingsReceived=60, elapsed TxPingTime=27.731016 >>iE9)AEO_4AiAiM?IMTԹ ?,Mq ?A2s@2@2ٱ2\ :AHRS rotation from veh to nav: [[-0.632458,0.772049,0.062749],[-0.774391,-0.632072,-0.028351],[0.017774,-0.066523,0.997627]]2H=?S?9@@93??i2s@I24^;2 CFDDAT read: Rx Time:05:00:48.5666 JTRx dataTimestamp_ set to:1761541249.796766NPDAT read: Bearing 197.6, 10.4 (Local) N~Local bearing/azimuth received: Bearing 197.6, 10.4 (Local) VDAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.3 jDAT read: 05:00:48.5666 LVL= 24720, 21713, 32754, 32755, AGC= 65, IDX= 510,-0.42, 0.769, 2.390, 0.481, 1.311, PHS=-0.440, 1.124,-0.874, RAW= 341.9, 2.1, CAL= 341.4, -0.8, ROT= 168.6, 0.8 nYgot valid direction response: 05:00:48.5666 LVL= 24720, 21713, 32754, 32755, AGC= 65, IDX= 510,-0.42, 0.769, 2.390, 0.481, 1.311, PHS=-0.440, 1.124,-0.874, RAW= 341.9, 2.1, CAL= 341.4, -0.8, ROT= 168.6, 0.8 rT#Rx 61: Read range and direction messages.v`direction in FSK: [-0.980176,0.197638,-0.013962]vFpublishing direction and range infoyDFJ~U]ᅦ 2L?4YDDF`FTF F)DIFGiF;ߏ?Fw_F@FQ =Fy@ Fd)FS<@IFd9)Y)=-Fy)BYBYB]IB]ЁBBYBYBYB][u;B]/EBBBB =B =C@4}*E}>Q 505ȭ?Q 905)YyQ I@ԑg2DI$ir9)顕+4ii@;II]9@Y @Y@e4@a=checking for new query: numPingsReceived=61, elapsed TxPingTime=28.235134E  E E ,E "E 1A;*E :VE g4ZE BE a 2E  i> ! ",9 ?ATG,Pj9hYjA=Ns@=yӀ@=hٱ=_ MAHRS rotation from veh to nav: [[-0.633787,0.770943,0.062927],[-0.773295,-0.633419,-0.028190],[0.018126,-0.066527,0.997620]]=H`G??վD@ݜ`??i=Ns@I=^;=CY]By]IbDmVDm1y}$%U=ٔ{qQ->9Y=FytE>Q 505q?Q 905)BYyQ I@n2DIn ;i!; &05yɮADNOT Ignoring new targets: 11.94 m.hh*h"h hgfffddjdZd@v?ZZZZ[ z@h) >i~9)4ii?#;IIDDAT read: Rx Time:05:00:49.0667 TRx dataTimestamp_ set to:1761541250.300905DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.6 Z#Rx 62: Read range message, but no direction.yYDAchecking for new query: numPingsReceived=62, elapsed TxPingTime=28.49222219I)gAq@q @q@uV4@q@}hA@yI E checking for new query: numPingsReceived=62, elapsed TxPingTime=28.738934E!  E% E% 'E! "E! *E% >:VE% '4ZE! a- @a- @a- @a- @y ^A ;I I O >:),F ?A2s@2Ā@2ٱ2^ :AHRS rotation from veh to nav: [[-0.635180,0.769781,0.063115],[-0.772143,-0.634832,-0.028011],[0.018505,-0.066526,0.997613]]2HdS@ ?Q(?`d@P ? r?i2s@I2#^;2CYFByFI PPieMb@Mb@Mb@aaaa a9e-?Mbp?Ye5>ye̼e;eAe@ a)e`@aYeAbD}VD}y·<%A=ٔAjQ->9Y=FyċE>Q 505?Q 905c)BY>Q E+;yQ I@w2DI;i ;)05yɮA addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504139 s, deltaX: 0.300000 m, approachRate: 0.595074 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.94 m.hh*h"h hgfff"Bddjd (@Zd c?Z->Z->Z-z@Z-n|@=)9 E>iE9)AE4AiAiM@IUI;IQIQm)959@1 @9@=/@9%DDAT read: Rx Time:05:00:49.5667 %TRx dataTimestamp_ set to:1761541250.805215-PDAT read: Bearing 200.3, 6.3 (Local) 5~Local bearing/azimuth received: Bearing 200.3, 6.3 (Local) EDAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4 mDAT read: 05:00:49.5667 LVL= 27184, 24177, 32754, 32755, AGC= 66, IDX= 512,-0.36,-2.179,-0.565,-2.301,-1.658, PHS=-0.420, 1.138,-0.687, RAW= 337.8, -0.4, CAL= 337.2, -3.3, ROT= 172.8, 3.3 uYgot valid direction response: 05:00:49.5667 LVL= 27184, 24177, 32754, 32755, AGC= 66, IDX= 512,-0.36,-2.179,-0.565,-2.301,-1.658, PHS=-0.420, 1.138,-0.687, RAW= 337.8, -0.4, CAL= 337.2, -3.3, ROT= 172.8, 3.3 }T#Rx 63: Read range and direction messages.`direction in FSK: [-0.990470,0.125125,-0.057564]Fpublishing direction and range infoy!%IILᅧc?`8.yY!!%0j%q^! !)%BI%= ׾i%?%;/%@%%S@ %k)%A@I%k=!!%ڼk5JV) 1^Kz %O)%\;I%A@i%k=!!checking for new query: numPingsReceived=63, elapsed TxPingTime=29.008623B>BCBIBƁBB =BBDBLu;B/E! ^A] ;Ii Iy O >~0,Ps ?Aɰ0:(xs@:涀@:dٱ:. BAHRS rotation from veh to nav: [[-0.636473,0.768709,0.063150],[-0.771071,-0.636139,-0.027875],[0.018744,-0.066435,0.997615]]:H]C?*?@@[`S1?u?i:(xs@I:^;: CYJɁByNIbD^VD^Nyf/=%fY=ٔfi&Q-f>9hYh=jFyhnEn>pQ 5v05r痙?Q 9v05r)rBYtyvQ Iv@r~2DIrp:ir:r -05y|ɮ~tA|iYi] ?AJi]CARi]CAji]PLB?b]u)ˆb>(L}]c?[|;R]IILᅧc?`8.yZi]A@bi]k=j]_cU !@o: @$<Z]% иw"?F*?2i]FA:i] A"i].?*i]۬Bi]qBi]Bs?i]չiYi]FAi]y0?M addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504310 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 12.238483 m, bearing: 43.486175 deg, lat: 36.779332 deg, lon: -121.859615 deg, deltaT: 1.008449 s, deltaX: 0.298398 m, approachRate: 0.295898 m/s, posRepo size: 4 eDNOT Ignoring new targets: 12.24 m.haha*ha"ha hagifififidqdqjdqZdul?checking for new query: numPingsReceived=63, elapsed TxPingTime=29.243042ZZZZZS|@5d)9 =>i=9)9=59i9iE?AE6;IAIIE] E]E]+EY"E]N;*E]:VE] [4ZEYBE]n6,6 ?A2\s@2-@2'ٱ2ꕅ NAHRS rotation from veh to nav: [[-0.637760,0.767709,0.062331],[-0.769999,-0.637477,-0.026929],[0.019061,-0.065169,0.997692]]2Hh?@?ԣ5f \@??i2\s@I2u^;2CYʁByIi]Mb@Mb@Mb@YYYY Y9]Q?~jtQ?Y](>y]]u<]`AY ]A)]@YY]AbDVD:y;%%=ٔ{&Q->9Y=Fy\E>Q 505?Q 905\)BY>Q E ,;y Q I @2DI%;i;d105yqBɮ7AEAii ?AJiHARiHAjiqY/?checking for new query: numPingsReceived=64, elapsed TxPingTime=29.747084b!(:Z>Zr@Zy@') >i9)5ii@{:I I I5=)5;>yE 9ԡ 9@  @ @ /@ ] DDAT read: Rx Time:05:00:50.5670 e TRx dataTimestamp_ set to:1761541251.812796} PDAT read: Bearing 197.0, 10.2 (Local) } ~Local bearing/azimuth received: Bearing 197.0, 10.2 (Local)  DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3  DAT read: 05:00:50.5670 LVL= 31088, 21025, 32754, 32755, AGC= 67, IDX= 498,-0.13, 0.190, 1.833,-0.099, 0.752, PHS=-0.461, 1.126,-0.896, RAW= 341.8, 2.5, CAL= 341.3, -0.3, ROT= 168.7, 0.3  Ygot valid direction response: 05:00:50.5670 LVL= 31088, 21025, 32754, 32755, AGC= 67, IDX= 498,-0.13, 0.190, 1.833,-0.099, 0.752, PHS=-0.461, 1.126,-0.896, RAW= 341.8, 2.5, CAL= 341.3, -0.3, ROT= 168.7, 0.3  T#Rx 65: Read range and direction messages. `direction in FSK: [-0.980601,0.195943,-0.005236] Fpublishing direction and range infoyY ] a^?sNruYY Y ] py] !R]  ] )] CI] 1i] ?] B`e] @] ¸2=] -@ ] )] p<@I] ;Y Y ] (& Nu^? ] 2a)] Z5I] p<@i] ;Y Y ] checking for new query: numPingsReceived=65, elapsed TxPingTime=30.032625 B >B B IB ˁBB B B B 1u;B /E^A52;IAIQOe?j>,x ?AHYցByII!)%<bD=VD=02yJ=%-=ٔQ->9Y=FyE>Q 505ą?Q 905)ŦBYyQ I@2DI ;i. ;y505yɮAii ?AJiRiji.?b4]e(L^@ͰRa^?sNruZip<@bi;jq#@Gv@4&oݿZN?U]+?3-1HȢ2i@:iA"ir ?*iiBiBir ?iRniBiIAid0?- addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.501158 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 12.536948 m, bearing: 39.103119 deg, lat: 36.779332 deg, lon: -121.859616 deg, deltaT: 0.501158 s, deltaX: -0.000034 m, approachRate: -0.000069 m/s, posRepo size: 4 =DNOT Ignoring new targets: 12.54 m.h9h9*h9"h9 hAgAfAfIfIdIdIjdQZdU??ZqZqZqZq) >iv9)額$5ii?:IIchecking for new query: numPingsReceived=65, elapsed TxPingTime=30.250998E EE*E"E*EZ:VE(N4ZEBE ] DDAT read: Rx Time:05:00:51.0672 ] TRx dataTimestamp_ set to:1761541252.316720m PDAT read: Bearing 197.4, 10.5 (Local) m ~Local bearing/azimuth received: Bearing 197.4, 10.5 (Local) } DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4  DAT read: 05:00:51.0672 LVL= 23936, 19505, 31170, 32755, AGC= 66, IDX= 500,-0.02, 1.690,-2.968, 1.397, 2.227, PHS=-0.435, 1.133,-0.874, RAW= 342.0, 1.9, CAL= 341.5, -0.9, ROT= 168.5, 0.9  Ygot valid direction response: 05:00:51.0672 LVL= 23936, 19505, 31170, 32755, AGC= 66, IDX= 500,-0.02, 1.690,-2.968, 1.397, 2.227, PHS=-0.435, 1.133,-0.874, RAW= 342.0, 1.9, CAL= 341.5, -0.9, ROT= 168.5, 0.9  T#Rx 66: Read range and direction messages. `direction in FSK: [-0.979804,0.199343,-0.015707] Fpublishing direction and range infoyY ] Z֕?y&Y] fNAY ] ]] 1L] y Y )] BI] R޾i] %?] w_] C@] =] ƺ@ ] )] `7<@I] y9<A QA)QAYAbD VD2y-ɍ=%-=ٔ5/*Q-5>91Y1==Fy9=E=>AQ 5M05E{?Q 9M05Ea)EͦBYUz>Q EU5;yUQ IU@E2DIE&:iE.:E:05y]{BɮAEii$E!?AJi]MARi]MAji(p-?b۶0')霛"x@ ܱ^ɿRZ֕?y&Zi`7<@bi<jv#@} @iuZ)?(Q ?B„ A2iA:iA"i[5Ŝ?*iBiBiiOiBiLAi~0?  addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503924 s, deltaX: 0.299999 m, approachRate: 0.595326 m/s, rangeRepo size: 4 E Added new target pos. range: 12.835446 m, bearing: 38.817466 deg, lat: 36.779332 deg, lon: -121.859616 deg, deltaT: 0.503924 s, deltaX: 0.298498 m, approachRate: 0.592348 m/s, posRepo size: 4 EDNOT Ignoring new targets: 12.84 m.hAhA*hA"hI hIgIfIfIfUdBdQdQjdU)@Zd]@p?checking for new query: numPingsReceived=66, elapsed TxPingTime=30.755064Zz>Zz>Z@ZNs@螼) >i9)w85ii@  VgI I  =gA=gAYE E E&E"ECJ;*E:VE4ZEa@a@a@a@ԁ } 9 5 9@1  @1 @5 4@1 @= gA@9 Ա uDDAT read: Rx Time:05:00:51.5672 }TRx dataTimestamp_ set to:1761541252.820652PDAT read: Bearing 197.3, 10.5 (Local) ~Local bearing/azimuth received: Bearing 197.3, 10.5 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 DAT read: 05:00:51.5672 LVL= 25328, 20465, 32674, 32755, AGC= 66, IDX= 500, 0.10, 1.760,-2.901, 1.467, 2.298, PHS=-0.436, 1.129,-0.875, RAW= 342.0, 2.0, CAL= 341.5, -0.9, ROT= 168.5, 0.9 Ygot valid direction response: 05:00:51.5672 LVL= 25328, 20465, 32674, 32755, AGC= 66, IDX= 500, 0.10, 1.760,-2.901, 1.467, 2.298, PHS=-0.436, 1.129,-0.875, RAW= 342.0, 2.0, CAL= 341.5, -0.9, ROT= 168.5, 0.9 T#Rx 67: Read range and direction messages.`direction in FSK: [-0.979804,0.199343,-0.015707]Fpublishing direction and range infoyquZ֕?y&YqqubuOu q)qIud;߾iu?u`qu5=q q)qIqqqu&{n5h>} ? u )ueIqiqqqchecking for new query: numPingsReceived=67, elapsed TxPingTime=31.022642B>BCBIB߁BB =BBBt;B/E^A:I!I9OE?M,o:!?AZ90s@Z@ZmٱZ bAHRS rotation from veh to nav: [[-0.639848,0.766106,0.060632],[-0.768263,-0.639623,-0.025594],[0.019174,-0.062958,0.997832]]ZHy ?`, ?@wq5>?@`=?iZ90s@IZ];ZCYByI bDVDfy=%0=ٔ#9Q->9!YA=MFyIMﯺEM>YQ 505]r?Q 905])]զBYyQ I@]2DI]w;i];]>05yɮAii4!?AJiRijiE-?b) H&):x@-bNɿRZ֕?y&Zibij@ O#@F  @Q+NZ)^ ?}aۈF?x5ԭ2i|A:iA"iN缜?*i\BiŀBiN缜?iiBi NAi.?= addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503932 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.835322 m, bearing: 38.780347 deg, lat: 36.779332 deg, lon: -121.859617 deg, deltaT: 0.503932 s, deltaX: -0.000124 m, approachRate: -0.000246 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.84 m.hh*h"h hgfffddjdZdӂ?ZZZZBs@m)Q ]_>i]9)Y]M5YiYie?aeIiIichecking for new query: numPingsReceived=67, elapsed TxPingTime=31.259272bE=-4jE=64rE=).0E E E'E"EM;*E:VE'4ZEBE q {) AI Gi n? J b ) I $ΞP2 ej^iV? &) a I i - checking for new query: numPingsReceived=68, elapsed TxPingTime=31.531179y^A?BɹIIO?V,|[!?AB.s@BI@BtiٱB퀽 EAHRS rotation from veh to nav: [[-0.639909,0.766063,0.060534],[-0.768213,-0.639681,-0.025625],[0.019092,-0.062900,0.997837]]BH"z?@H? 4Cx c=?=@H?iB.s@IB.];B CYByIieMb@Mb@Mb@aaaa a9e|?5^?MbX:v?Yeҍ>yeʽe9Q->9Y=FyJE>!Q 5-05%{f?Q 9-05%ٕ)%BY-2>Q E53;y5&Q I5@%2DI%;i%;%"C05y]uBɮ]pA]E}checking for new query: numPingsReceived=68, elapsed TxPingTime=31.763037iQiULT!?AJiUPARiUPAjiU}@-?bUʊ)S@ܺ4ʿRUZ֕?y&ZiQbiQjUvT-M$@|@N @S6֑ZUxx?kgX?S2iUwA:iUh"A"iU> ֽ?*iU`BiU΀BiU> ֽ?iUiiUŀBiUkPAiUg-? addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504012 s, deltaX: 0.200001 m, approachRate: 0.396817 m/s, rangeRepo size: 4  Added new target pos. range: 13.034320 m, bearing: 38.775792 deg, lat: 36.779332 deg, lon: -121.859618 deg, deltaT: 0.504012 s, deltaX: 0.198997 m, approachRate: 0.394827 m/s, posRepo size: 4 %DNOT Ignoring new targets: 13.03 m.h!h!*h!"h! h!g!f)f)f-Bd1d1jd5@33*@Zd=`f?DU=DU<E] E]E])EY"E]US;*E]j:VE]FA4ZEYae@ae@ae@ae@Z2>Z2>Z@Zk@ti) >i9)[`5ii@II I &?) V?I  -9 9@  @ @ S3@ @ =@ == DDAT read: Rx Time:05:00:52.5674 = TRx dataTimestamp_ set to:1761541253.829579M PDAT read: Bearing 197.2, 10.7 (Local) U ~Local bearing/azimuth received: Bearing 197.2, 10.7 (Local) e DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.0  DAT read: 05:00:52.5674 LVL= 28112, 20065, 32754, 32755, AGC= 67, IDX= 502,-0.44,-0.687, 0.938,-0.990,-0.152, PHS=-0.433, 1.135,-0.882, RAW= 342.2, 2.0, CAL= 341.8, -0.9, ROT= 168.2, 0.9  Ygot valid direction response: 05:00:52.5674 LVL= 28112, 20065, 32754, 32755, AGC= 67, IDX= 502,-0.44,-0.687, 0.938,-0.990,-0.152, PHS=-0.433, 1.135,-0.882, RAW= 342.2, 2.0, CAL= 341.8, -0.9, ROT= 168.2, 0.9  T#Rx 69: Read range and direction messages. `direction in FSK: [-0.978747,0.204471,-0.015707] Fpublishing direction and range infoy9 = X;dQK3I,?y&Y= 3SA9 = m= aN=  = )= CI= -ݾi= G?= a= @9 = @ 9 )= ;@I9 9 9 = ];D}? = F)= I= ;@i9 9 9 % checking for new query: numPingsReceived=69, elapsed TxPingTime=32.046425B >B B IB BB B B B t;B /E^ArgIIO?^,|!?AZ6s@Z@ZٱZ6[ jAHRS rotation from veh to nav: [[-0.639555,0.766362,0.060490],[-0.768516,-0.639302,-0.025989],[0.018754,-0.063109,0.997830]]ZH99YA=EFyAMύ:EM>YQ 5e05]T]?Q 9e05])]BYaye&Q Ie@]2DI]w:i] ;]F05yqɮuAqiiu!?AJi$RARi$RAji,?b8:k唵)Z{@'gʿRX;dQK3I,?y&Zi;@bij0$@=U @$L,Zr?`?v+2iA:iD$A"iZ~?*i:BiۀBii`i΀BiSRAi,? addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504915 s, deltaX: 0.099999 m, approachRate: 0.198052 m/s, rangeRepo size: 4 U Added new target pos. range: 13.133789 m, bearing: 38.503196 deg, lat: 36.779332 deg, lon: -121.859618 deg, deltaT: 0.504915 s, deltaX: 0.099469 m, approachRate: 0.197002 m/s, posRepo size: 4 UDNOT Ignoring new targets: 13.13 m.hYhY*hY"hY hYgYfYfafaddjd`ff*@Zd8c?ZZZZk@) &>i9)s5 i i ?'IAchecking for new query: numPingsReceived=69, elapsed TxPingTime=32.267063IAE- EEE"Ed;*E&:VEZEBE=f,w!?AxCs@@eٱr AHRS rotation from veh to nav: [[-0.638951,0.766891,0.060154],[-0.769033,-0.638662,-0.026441],[0.018141,-0.063155,0.997839]]H@Jr`? ̮?`oG?@*K?iCs@Im];CY.By II<)yuu9Y=Fy:E>Q 505Q EQ;y[0Q I@2DIR;i;K05yɮ4AiiI!?AJiVARiVAji<-?b釻 O*|{@w.ӿRtcV[ɇ:?NGY;Zi<@bi޹<jG$@t\ ` @&lZ ?sb?^`/2ieA:iR'A"iyÜ?*i~BiBiZ~?iiŀBiTAi} ,?% addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503059 s, deltaX: 0.300000 m, approachRate: 0.596352 m/s, rangeRepo size: 4 5 Added new target pos. range: 13.432284 m, bearing: 38.772337 deg, lat: 36.779332 deg, lon: -121.859618 deg, deltaT: 0.503059 s, deltaX: 0.298495 m, approachRate: 0.593360 m/s, posRepo size: 4 5DNOT Ignoring new targets: 13.43 m.Echecking for new query: numPingsReceived=70, elapsed TxPingTime=32.771091h9hA*hI"hI hIgIfIfQfUÁBdQdQjdU+@ZdL?E  E E'E"EG;*E:VE'4ZEa%@a%@a%@a-@Z->Z->Z-$@Z-a@ee)a e W>ie9)ae5aiiim@qu:III ;9q m 9@q  @q @u 0@q  DDAT read: Rx Time:05:00:53.5676  TRx dataTimestamp_ set to:1761541254.837480 PDAT read: Bearing 197.2, 10.7 (Local)  ~Local bearing/azimuth received: Bearing 197.2, 10.7 (Local) 5 DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 U DAT read: 05:00:53.5676 LVL= 26224, 18753, 31794, 32755, AGC= 66, IDX= 504,-0.05,-1.678,-0.054,-1.977,-1.147, PHS=-0.430, 1.138,-0.874, RAW= 342.1, 1.8, CAL= 341.7, -1.1, ROT= 168.3, 1.1 ] Ygot valid direction response: 05:00:53.5676 LVL= 26224, 18753, 31794, 32755, AGC= 66, IDX= 504,-0.05,-1.678,-0.054,-1.977,-1.147, PHS=-0.430, 1.138,-0.874, RAW= 342.1, 1.8, CAL= 341.7, -1.1, ROT= 168.3, 1.1 e T#Rx 71: Read range and direction messages.m `direction in FSK: [-0.979042,0.202750,-0.019197]m Fpublishing direction and range infoy  @PT¬?]~Y pf AI 2| ) I (ܾi ? w_ = _׾@ nF) /;@I nF< SQ翠+8sbg? f) BI /;@i nF<  checking for new query: numPingsReceived=71, elapsed TxPingTime=33.050678B) B) B-  IB- 'BB) B) B) B- t;B- x/EBCBCBB =B =CČ5ԡ ^AጹII O5??n,M!?A";ɰ HRHs@R?@RٱR ZAHRS rotation from veh to nav: [[-0.638707,0.767119,0.059846],[-0.769242,-0.638408,-0.026485],[0.017889,-0.062952,0.997856]]RHIp`=??@mQ? p?iRHs@IRc];R CYb;Byf/ IbDnVDnN2yvo=%v8=ٔz:Q-z>9xYx=~Fy|~=:E~>Q 5 05I?Q 9 05)BYyU0Q I@2DI;i;O05yoBɮAEiIiMF!?AJiIRiIjiM,?bM*<8M*\@""пRM@PT¬?]~ZiM/;@biMnF<jM#jO$@S92 @z?ZMw}Y?Ů`? ֽ?iIiM΀BiM5VAiM1+? addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504842 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.432330 m, bearing: 38.678936 deg, lat: 36.779332 deg, lon: -121.859618 deg, deltaT: 0.504842 s, deltaX: 0.000046 m, approachRate: 0.000091 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.43 m.hh*h"h hgff)f)d)d1jd1Zd5 ?ZqZqZqZua@mchecking for new query: numPingsReceived=71, elapsed TxPingTime=33.274818Թ) q>i9)  5 i i?5=:IIEE EEEAEA"EEM;*EE#:VEAZEABEE?  }.) I `7<@i    checking for new query: numPingsReceived=72, elapsed TxPingTime=33.543037I ^A9IIO>$w,!?AqbSs@@ٱYX %AHRS rotation from veh to nav: [[-0.638219,0.767573,0.059220],[-0.769661,-0.637895,-0.026697],[0.017284,-0.062618,0.997888]]HJl@?#R? i@tV ??ibSs@I~];Y5RBy=K IE=E=i]Mb@Mb@Mb@YYYY Y9]|?5^?M¿:v?Y]M>y]n]9iYi=mFyiuO:Eu>ԙE EE+E"E,K;*EL:VE [4ZEa@a@a@a@yQ 505}=?Q 905})} BY}>Q EV;y8Q I@}2DI}=i}:} U05yɮAii:!?AJi[ARi[Aji)-?bv*cوV@SпRJXZ y?]~Zi`7<@bij锔W%@:!@lWZNVv?f@?8fި2i A:i*A"iǼ?*i|BiBiZ~?ij1iۀBi.YAi_+? addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503232 s, deltaX: 0.300000 m, approachRate: 0.596147 m/s, rangeRepo size: 4 u Added new target pos. range: 13.730826 m, bearing: 38.915388 deg, lat: 36.779332 deg, lon: -121.859617 deg, deltaT: 0.503232 s, deltaX: 0.298496 m, approachRate: 0.593158 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.73 m.hh*hA "hA  hA gA fI fI fM BdQ dQ jdU +@ZdU ?Z }>Z }>Z 6F@Z 2Z@ ) L>i 9) J5 i i @ l:I I  DDAT read: Rx Time:05:00:54.5678  TRx dataTimestamp_ set to:1761541255.845538 PDAT read: Bearing 197.0, 10.5 (Local)  ~Local bearing/azimuth received: Bearing 197.0, 10.5 (Local)  DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3   DAT read: 05:00:54.5678 LVL= 24400, 18993, 32754, 32755, AGC= 66, IDX= 506,-0.02, 0.400, 2.039, 0.109, 0.940, PHS=-0.438, 1.144,-0.875, RAW= 341.9, 1.9, CAL= 341.4, -1.0, ROT= 168.6, 1.0 % Ygot valid direction response: 05:00:54.5678 LVL= 24400, 18993, 32754, 32755, AGC= 66, IDX= 506,-0.02, 0.400, 2.039, 0.109, 0.940, PHS=-0.438, 1.144,-0.875, RAW= 341.9, 1.9, CAL= 341.4, -1.0, ROT= 168.6, 1.0 % T#Rx 73: Read range and direction messages.- `direction in FSK: [-0.980122,0.197627,-0.017452]- Fpublishing direction and range infoy  u7(]ᅵ*K?W7) ߑY P_ 1J  ) BI Ai n? ` @ = y@ 5) S<@I 5< B3翞eXun? J) qI S<@i 5<B >B B : IB EBB B B B t;B l/E  checking for new query: numPingsReceived=73, elapsed TxPingTime=34.074818 @  @ @ /@ !Q^AIIO?K΀,Aa"?A$$J`ls@J@JٱJ~ RAHRS rotation from veh to nav: [[-0.637054,0.768618,0.058213],[-0.770644,-0.636700,-0.026850],[0.016427,-0.061966,0.997943]]JHb?έ?@_~0Ґ? @&?iJ`ls@IJf^;JCYZQBy^H IbDfVDfyn%n*=ٔn:Q-r>9pYp=rFypv#U;Ev>xQ 5~05z+4?Q 9~05z)zBY|y~8Q I@z2DIz:iz1:z$Y05y ɮ A i1i5K!?AJi1Ri1ji5.?b5q*Z l@W^eοR5u7(]ᅵ*K?W7) ߑZi5S<@bi55<j5RbRJ%@hL!@< mZ5!4 ?Zx(?Fc2?n2i5f A:i5R*A"i5x7?*i5^Bi5Bi1i5~i5Bi5q[Ai5^+?Uchecking for new query: numPingsReceived=73, elapsed TxPingTime=34.283138 addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504826 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.730836 m, bearing: 39.096290 deg, lat: 36.779332 deg, lon: -121.859616 deg, deltaT: 0.504826 s, deltaX: 0.000010 m, approachRate: 0.000019 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.73 m.hh*h"h hgfffddjdZd`dt?E5 E5E5)E1"E5B;*E5:VE5FA4ZE1BE5vi9)顽F5ii?U*;II@ @@.0@^Arg:IIO> DDAT read: Rx Time:05:00:55.0680  TRx dataTimestamp_ set to:1761541256.348612 PDAT read: Bearing 196.9, 9.9 (Local)  ~Local bearing/azimuth received: Bearing 196.9, 9.9 (Local) - DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 M DAT read: 05:00:55.0680 LVL= 22640, 20753, 32754, 32755, AGC= 65, IDX= 508,-0.02, 1.564,-3.068, 1.295, 2.119, PHS=-0.453, 1.142,-0.868, RAW= 341.3, 2.0, CAL= 340.8, -0.9, ROT= 169.2, 0.9 U Ygot valid direction response: 05:00:55.0680 LVL= 22640, 20753, 32754, 32755, AGC= 65, IDX= 508,-0.02, 1.564,-3.068, 1.295, 2.119, PHS=-0.453, 1.142,-0.868, RAW= 341.3, 2.0, CAL= 340.8, -0.9, ROT= 169.2, 0.9 ] T#Rx 74: Read range and direction messages.e `direction in FSK: [-0.982166,0.187358,-0.015707]e Fpublishing direction and range infoy  m│:cZ?y&Y aA pX Q ) AI i -? ?5^ -@ 5= V@ ) <@I < eolKH志$wr? ) I <@i < } checking for new query: numPingsReceived=74, elapsed TxPingTime=34.550579ԁ r,P8"?A,ys@˷@ٱk{ AHRS rotation from veh to nav: [[-0.636420,0.769193,0.057555],[-0.771177,-0.636057,-0.026789],[0.016003,-0.061434,0.997983]]H]:?@w?`{Z@nc?Rty?iys@I^;CYZByT IiMb@Mb@Mb@ 9NbX9?/$ÿyt< A A)YbDVDNy #=% ,=ٔ i:Q- >9Y=Fyn:E>Q 5e05*?Q 9m05)BYm|>Q EmV;ym`;Q Im@2DIC&>r0@c;4̿R=m│:cZ?y&Zi=<@bi=<j= |pP%@ě!@IBZ=cuސ? p?rnh2i=\A:i=t,A"i= ݶ?*i=۰Bi=&Bi=c"?i=|i=Bi=^Ai=ֱ,?= addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503074 s, deltaX: 0.300000 m, approachRate: 0.596334 m/s, rangeRepo size: 4 M Added new target pos. range: 14.029333 m, bearing: 39.736870 deg, lat: 36.779332 deg, lon: -121.859615 deg, deltaT: 0.503074 s, deltaX: 0.298497 m, approachRate: 0.593346 m/s, posRepo size: 4 UDNOT Ignoring new targets: 14.03 m.hQhQ*hQ"hQ hQgYiaIaechecking for new query: numPingsReceived=74, elapsed TxPingTime=34.787300fyfyfBddjd@33,@Zd`?Z |>Z |>Z @Z :V@E=  E=E=,E9"E=E;*E=:VE=g4ZE9aM@aM@aM@aM@) L>i79)額r5ii@GP;IIԱ9@ @@/@ ^A 0;I  DDAT read: Rx Time:05:00:55.5679  TRx dataTimestamp_ set to:1761541256.852832- PDAT read: Bearing 196.9, 9.8 (Local) - ~Local bearing/azimuth received: Bearing 196.9, 9.8 (Local) ] DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0  DAT read: 05:00:55.5679 LVL= 23328, 21761, 32482, 32755, AGC= 65, IDX= 508,-0.08, 0.405, 2.062, 0.137, 0.963, PHS=-0.456, 1.144,-0.870, RAW= 341.2, 2.0, CAL= 340.7, -0.9, ROT= 169.3, 0.9  Ygot valid direction response: 05:00:55.5679 LVL= 23328, 21761, 32482, 32755, AGC= 65, IDX= 508,-0.08, 0.405, 2.062, 0.137, 0.963, PHS=-0.456, 1.144,-0.870, RAW= 341.2, 2.0, CAL= 340.7, -0.9, ROT= 169.3, 0.9  T#Rx 75: Read range and direction messages. `direction in FSK: [-0.982492,0.185644,-0.015707] Fpublishing direction and range infoy  9p￴{ +?y&Y `A  [ U ~  ) I xi n? R^ ⏾@  dH@  ) $=@I    Rz s`beߡ?  ) I $=@i    checking for new query: numPingsReceived=75, elapsed TxPingTime=35.060501I O >$a,8"?AB>BCBS IBYBB =BBBFt;B?/E(bEs@b@b|ٱbTy ~AHRS rotation from veh to nav: [[-0.635563,0.769952,0.056870],[-0.771895,-0.635182,-0.026864],[0.015438,-0.060971,0.998020]]bH@Vr? ?@]iS@K -?7?ibEs@Ib^;bCY ^BymY IIu=)uR=y}A }p<}<bDVDyz<%W=ٔ7:Q->9Y=Fya@;E>)Q 5505-"?Q 9505-)- BY9y=N;Q I=@-2DI- :i-:-`05yɮZAii͔6"?AJi^ARi^AjiF2?abF$9_+@c|1̿R9p￴{ +?y&Zi$=@bij9|Z%@AgM!@ mfZ)]?:!?MV/l2iA:i*A"igPt?*i@Bi1Bi ݶ?i^iBi^Ai*,? addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504220 s, deltaX: -0.100000 m, approachRate: -0.198327 m/s, rangeRepo size: 4  Added new target pos. range: 13.929875 m, bearing: 39.900422 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.504220 s, deltaX: -0.099458 m, approachRate: -0.197251 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.93 m.hh*h"h hgfffdd!jd%,@Zd% \?ZaZaZaZeV@u|) rS>i9)顝5ii?Շ;II59@1 @1@51@1ԉchecking for new query: numPingsReceived=75, elapsed TxPingTime=35.291786E EE%E"EI@;*E:VE 4ZEBE#B,]Q"?Aɰ2ݠs@2@ˀ@2wٱ2 y :AHRS rotation from veh to nav: [[-0.634595,0.770767,0.056638],[-0.772697,-0.634201,-0.026993],[0.015115,-0.060894,0.998030]]2HN??@@_K"@i?@- ?i2ݠs@I2x^;0YFgByFd IPbDRVDR yZK=%Z`=ٔZh:Q-Z>9\Y\=^Fy`ba;Eb>dQ 5j05f?Q 9j05f)f%BYhyj9;Q In@f2DIf:if$:fc05ypɮrAp DNOT Ignoring new targets: 13.93 m.h h*h"h hgfffddjdZdQ+?ZZZZV@w) f>i9)}5ii%@!%>;I!I)eDDAT read: Rx Time:05:00:56.0680 mTRx dataTimestamp_ set to:1761541257.357256uPDAT read: Bearing 196.5, 9.9 (Local) u~Local bearing/azimuth received: Bearing 196.5, 9.9 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.2 DAT read: 05:00:56.0680 LVL= 24976, 17313, 29586, 32755, AGC= 65, IDX= 6,-0.312, 1.349,-0.586, 0.256, PHS=-0.466, 1.137,-0.886, RAW= 341.3, 2.3, CAL= 340.8, -0.5, ROT= 169.2, 0.5 !unknown deviceResponse_: 05:00:56.0680 LVL= 24976, 17313, 29586, 32755, AGC= 65, IDX= 6,-0.312, 1.349,-0.586, 0.256, PHS=-0.466, 1.137,-0.886, RAW= 341.3, 2.3, CAL= 340.8, -0.5, ROT= 169.2, 0.5 Z#Rx 76: Read range message, but no direction.yaYeaAachecking for new query: numPingsReceived=76, elapsed TxPingTime=35.564785@ @@/@^Avт;IIO> checking for new query: numPingsReceived=76, elapsed TxPingTime=35.794994A E  E E 'E "E N;*E :VE '4ZE a @a @a @a @l,k"?Afs@fـ@fѺsٱf{ AHRS rotation from veh to nav: [[-0.633238,0.771859,0.056953],[-0.773814,-0.632819,-0.027421],[0.014876,-0.061435,0.998000]]!fH|C?(? @`Jw?@gt@?ifs@If^;dYmcByu_ IiMb@Mb@Mb@ 9/$?7A`¿ rh?Y,>yC< A@ A)hAYfAbDVDy %-=ٔp:Q->9Y=Fys;E>Q 505?Q 905),BY@e>Q Em;y7>Q I@2DI!;iX;g05yɮ2A5 addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504424 s, deltaX: 0.100000 m, approachRate: 0.198247 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 13.93 m.h1h9*h9"h9 h9g9f9fAfEBdAdAjdM@33,@ZdM?Zm@e>Zm@e>Zm3@ZmS@}Ѻs) >i9)顅5ii?{;II I)IUY>iQuDDAT read: Rx Time:05:00:56.5680 }TRx dataTimestamp_ set to:1761541257.861640PDAT read: Bearing 196.6, 9.7 (Local) ~Local bearing/azimuth received: Bearing 196.6, 9.7 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.3 DAT read: 05:00:56.5680 LVL= 26016, 19265, 32690, 32755, AGC= 65, IDX= 509,-0.30,-2.315,-0.647,-2.584,-1.746, PHS=-0.468, 1.144,-0.883, RAW= 341.2, 2.3, CAL= 340.7, -0.6, ROT= 169.3, 0.6 Ygot valid direction response: 05:00:56.5680 LVL= 26016, 19265, 32690, 32755, AGC= 65, IDX= 509,-0.30,-2.315,-0.647,-2.584,-1.746, PHS=-0.468, 1.144,-0.883, RAW= 341.2, 2.3, CAL= 340.7, -0.6, ROT= 169.3, 0.6 T#Rx 77: Read range and direction messages.`direction in FSK: [-0.982559,0.185656,-0.010472]Fpublishing direction and range infoyqu?huq4ߕ?/;rYqqueuAKu q)qIuiquJ bqul$=q u+)qIu+BABE` IBEdBBABABABEs;BE /Eq^A ϩ;I I O >ԡ sT,"?A2ds@2@2lٱ2} :AHRS rotation from veh to nav: [[-0.631931,0.772928,0.056961],[-0.774890,-0.631483,-0.027848],[0.014446,-0.061737,0.997988]]2H8 Ի?*?@5@+?񛯿@?i2ds@I2ع];2 Ci`I`bchecking for new query: numPingsReceived=77, elapsed TxPingTime=36.299072Yf]ByfX I hhbDpVDpyz%zn=ٔzk:Q-z?9|Y|=~Fy|;E? Q 505 { ?Q 905 ^) 1BYy>Q I@ 2DI :i ; j05y%cBɮ%-A%Eii%w"?AJix`ARix`Aji>i3?b[1ȑ+B$S@u ¿R?huq4ߕ?/;rZibi+<jzYn%@fC"@H᫣5Z^~p&q?&? l|2iA:it+A"i{?*iBiZBix7?i@i&BidAi-?u addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504384 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 y Added new target pos. range: 14.029424 m, bearing: 40.154294 deg, lat: 36.779331 deg, lon: -121.859612 deg, deltaT: 1.008808 s, deltaX: 0.099548 m, approachRate: 0.098679 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.03 m.hh*h"h hbE%:4jE%94rE%(0E  EE(E"ED;*EL:VEc44ZEBEКi9)ٵ5ii @  xlYgot valid direction response: 05:00:57.0682 LVL= 26416, 19409, 32402, 32755, AGC= 65, IDX= 510, 0.30, 1.411, 3.082, 1.143, 1.992, PHS=-0.479, 1.135,-0.894, RAW= 341.2, 2.6, CAL= 340.7, -0.3, ROT= 169.3, 0.3  T#Rx 78: Read range and direction messages. `direction in FSK: [-0.982599,0.185664,-0.005236] Fpublishing direction and range infoy83tq?sNruYffA0gK~ )I}?iG?/d9= )I;`$%T cK[.? {)9Ii; checking for new query: numPingsReceived=78, elapsed TxPingTime=36.591362 ,"?AHHYuVByuP IiMb@Mb@Mb@ 9ʡE?ny&1|?Y-2>yV`;@ hA)Y=AbDVDym(%m4=ٔmQ-m>9qYq=uFyq}E}>Q 505+?Q 905)5BY)d>Q En;yW;Q I@2DI":i:n05yɮeAiiIe"?AJi?eARi?eAjiSU3?b|T ?(,i=x H@`u ؊4R83tq?sNruZibi;jǒb%@<7v"@Tl?zQܿZ )us?<,?Zc22iA:i-/A"i)Ȟ?*i~BitBigPt?i۰i1BijdAi/? addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503917 s, deltaX: 0.299999 m, approachRate: 0.595335 m/s, rangeRepo size: 4  Added new target pos. range: 14.327921 m, bearing: 40.136880 deg, lat: 36.779330 deg, lon: -121.859611 deg, deltaT: 0.503917 s, deltaX: 0.298497 m, approachRate: 0.592354 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.33 m.hh*h"h hgf f f Bd djd,@Zd}9?Z5)d>Z5)d>Z5~@Z5V@I)I M#>iM9)QUP5QiQi]?Y]~;IYIachecking for new query: numPingsReceived=78, elapsed TxPingTime=36.811852E  EE)E"EE;*E:VEFA4ZEa@a@a@a@9@ @@/@!^A= <IA IQ Oe >Q  DDAT read: Rx Time:05:00:57.5681  TRx dataTimestamp_ set to:1761541258.876629 PDAT read: Bearing 196.3, 10.0 (Local)  ~Local bearing/azimuth received: Bearing 196.3, 10.0 (Local)  DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.2  DAT read: 05:00:57.5681 LVL= 28256, 19825, 31906, 32755, AGC= 65, IDX= 510, 0.03,-0.151, 1.520,-0.436, 0.423, PHS=-0.472, 1.142,-0.903, RAW= 341.5, 2.5, CAL= 341.0, -0.4, ROT= 169.0, 0.4  Ygot valid direction response: 05:00:57.5681 LVL= 28256, 19825, 31906, 32755, AGC= 65, IDX= 510, 0.03,-0.151, 1.520,-0.436, 0.423, PHS=-0.472, 1.142,-0.903, RAW= 341.5, 2.5, CAL= 341.0, -0.4, ROT= 169.0, 0.4  T#Rx 79: Read range and direction messages. `direction in FSK: [-0.981603,0.190804,-0.006981] Fpublishing direction and range infoy  B) B) B) B- =B) B) B- s;B- .E,G"?A2s@2@2-jٱ2z :AHRS rotation from veh to nav: [[-0.630508,0.774120,0.056549],[-0.776051,-0.630070,-0.027516],[0.014329,-0.061234,0.998021]]2H`- ??h@)C-X?@Z?i2s@I2)^;0i;Bchecking for new query: numPingsReceived=79, elapsed TxPingTime=37.098541Y~NBy~E IbDVDye6%e^=ٔe:9Q-e>9iYi=mFyiu;Eu>qQ 505ut?Q 905ud)u9BYy9;Q I@u3DIu:iu:ur05yɮAii"?A9JicARicAji}2?bv!+Ob"`@ᲥpmRiU9)Y]#5YiYie@ae~Թ ?,#"?A6t@6D@6Zjٱ6,y BAHRS rotation from veh to nav: [[-0.629683,0.774810,0.056280],[-0.776720,-0.629256,-0.027247],[0.014303,-0.060870,0.998043]]6H]&`??Ь?@"替K?d*@?i6t@I6y^;6CYJJByJ@ IIR<)RbDVVDV0y^c%^V=ٔb8Q-b>9`Y`=fFydf5;Ef>hQ 5n05jt?Q 9n05j)jie9)im5iiiiu?qu'+U@>+ ?B@ | ?)'E@I| /m,.CN޿ \? ")~d I'E@i| checking for new query: numPingsReceived=80, elapsed TxPingTime=37.616547^Auh%<IIO>- checking for new query: numPingsReceived=80, elapsed TxPingTime=37.818920D 4=D a=E  E E *E "E =;*E >:VE (N4ZE a @a @a @a @ e,"?A]Pt@]@]5lٱ]=x }AHRS rotation from veh to nav: [[-0.628951,0.775414,0.056151],[-0.777311,-0.628542,-0.026895],[0.014438,-0.060562,0.998060]]]H@^ 1? ӿ?c@㑍? `?i]Pt@I]^;] CYFBy< IiEMb@Mb@Mb@AAAA A9EˡE?v/~jth?YE'>yEx齙ED;E AE@ A)EQAAYEAbD]VD]Nym%u1=ٔu噹Q-u>9yYy=}Fyy};E}>Q 505?Q 905)?BYL>Q E;y6Q I@ 3DI6;i ;}y05y]BɮAEiij"?AJinhARinhAjilI?bI6v'f!ZEL>ZE@ZEt@[@U5l)Q UL>i]z9)Y]5YiYie@W3BBM IBTBBBBBs;B.EBCBBB =BC5Ygot valid direction response: 05:00:58.5683 LVL= 26288, 18001, 31122, 32755, AGC= 64, IDX= 511, 0.40,-0.033, 1.644,-0.330, 0.537, PHS=-0.468, 1.152,-0.911, RAW= 341.8, 2.4, CAL= 341.3, -0.4, ROT= 168.7, 0.4 T#Rx 81: Read range and direction messages. `direction in FSK: [-0.980591,0.195941,-0.006981] Fpublishing direction and range infoyٺ` ̄-ך?a|YfQFy )Iit?L7i@+=-@ )p<@I;7>eDmKB?ӥ? g).Ip<@i;-checking for new query: numPingsReceived=81, elapsed TxPingTime=38.0930981@1 @1@50@1A ^A9 II IY Oe >A,I#?A2-t@2@2Loٱ2Ajx >AHRS rotation from veh to nav: [[-0.627939,0.776221,0.056333],[-0.778125,-0.627542,-0.026707],[0.014621,-0.060605,0.998055]]2H@?׬?`f@X??i2-t@I2Ў^;0rchecking for new query: numPingsReceived=81, elapsed TxPingTime=38.322750E EE'E"Ey>;*E:VE'4ZEBESAsGliA!QUs9UliAYUܖAY9By+ IbDVDkyj%5=ٔ:ԹQ->9Y=Fyn<;E>Q 5 05瘊?Q 9 058)BBY y6Q I@3DI;i;p}05yɮ"Aii"?AJiRiji1?b s},GJ@PpRٺ` ̄-ך?a|Zip<@bi;jTyT*L&@'9o "@]i3޿ZIdn?;v|?|2iA:ia2A"iZ9?*i6BiBBi{?iN9iiPgAi0?u addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503476 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.526981 m, bearing: 39.836576 deg, lat: 36.779328 deg, lon: -121.859611 deg, deltaT: 0.503476 s, deltaX: 0.000002 m, approachRate: 0.000004 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.53 m.hh*h"h hg f f f ddjdZd?ZQZQZQZUU[@Lo) D2>i9)页 5ii?GE{,n #?A;t@@Ksٱ˞w AHRS rotation from veh to nav: [[-0.627258,0.776771,0.056349],[-0.778670,-0.626879,-0.026359],[0.014849,-0.060411,0.998063]]H~@N?٬?`e@ )i?&"?i;t@I3q^;C))i)I))I)i1 11)19 =-r@9999AIA)AiA)AIAII IIIIiIQiQUEjA)] ]7FIYYYYe)Bye I iiimMb@Mb@Mb@iiii i9mbX9?RQMb`YmE6>ym½mim@ mA)iiYibDVD:y%`=ٔ#Q->9Y=Fy;E>Q 505☊?Q 905)CBYN>Q E;yM/Q I@3DIq:i:05yɮA5 addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503364 s, deltaX: 0.099999 m, approachRate: 0.198662 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 14.53 m.h9h9*h9"h9 h9gAfAfafeBdidijdm`ff-@Zdm 5&?ZN>ZN>Z_@Z2b@Ks) L>i 9)5ichecking for new query: numPingsReceived=82, elapsed TxPingTime=38.827068i@5JPԙ  DDAT read: Rx Time:05:00:59.5684  TRx dataTimestamp_ set to:1761541260.892652 PDAT read: Bearing 189.4, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 189.4, 3.8 (Local)  DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.3 B A <B B B . IB ;BB B B DB Ys;B .E DAT read: 05:00:59.5684 LVL= 26752, 22769, 32754, 32755, AGC= 64, IDX= 513,-0.09, 2.284,-2.600, 2.262, 2.950, PHS=-0.564, 0.779,-0.732, RAW= 335.8, 7.3, CAL= 335.4, 7.0, ROT= 174.6, -7.0  Ygot valid direction response: 05:00:59.5684 LVL= 26752, 22769, 32754, 32755, AGC= 64, IDX= 513,-0.09, 2.284,-2.600, 2.262, 2.950, PHS=-0.564, 0.779,-0.732, RAW= 335.8, 7.3, CAL= 335.4, 7.0, ROT= 174.6, -7.0 k,2:#?AT#Rx 83: Read range and direction messages.^direction in FSK: [-0.988141,0.093407,0.121869]Fpublishing direction and range infoy(Kڞk?UM7P2?YhX )INbilG?Zd;͋@w>R@ 5=)C@I5֢N%i +.? !)BIC@i5&checking for new query: numPingsReceived=83, elapsed TxPingTime=39.111523-kFt@-@-wٱ-0vԁ AHRS rotation from veh to nav: [[-0.626755,0.777182,0.056269],[-0.779070,-0.626403,-0.025887],[0.015128,-0.060062,0.998080]]-H_?BϬ?#} - S?y`E?i-kFt@I->^;-CYBy IbDVDNye%e@=ٔe+Q-e>9Y=Fy:E>Q 505?ۘ?Q 905)DBYAyMC/Q IM@3DIi9)5ii?WL,YkT#?A>bPt@>#@>ٱ>`u FAHRS rotation from veh to nav: [[-0.626276,0.777556,0.056435],[-0.779445,-0.625958,-0.025350],[0.015615,-0.059864,0.998084]]>Ht ??@6Y?@uN?i>bPt@I>{^;> CY= By=IbDIVDIy]3%er=ٔeüQ-e?9aYi=mFyim:Em?qQ 5}05u֘?Q 9}05u)uFBYy9/Q I@u"3DIu?;iu* ;uK05yɮADNOT Ignoring new targets: 14.63 m.hh*h"h hgfffddjdZd ?eDDAT read: Rx Time:05:01:00.0684 eTRx dataTimestamp_ set to:1761541261.396799mPDAT read: Bearing 196.5, 10.9 (Local) u~Local bearing/azimuth received: Bearing 196.5, 10.9 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 DAT read: 05:01:00.0684 LVL= 29680, 21985, 24130, 30483, AGC= 68, IDX= 2,-0.41,-1.700,-0.032,-2.026,-1.144, PHS=-0.455, 1.156,-0.926, RAW= 342.5, 2.4, CAL= 342.0, -0.5, ROT= 168.0, 0.5 Ygot valid direction response: 05:01:00.0684 LVL= 29680, 21985, 24130, 30483, AGC= 68, IDX= 2,-0.41,-1.700,-0.032,-2.026,-1.144, PHS=-0.455, 1.156,-0.926, RAW= 342.5, 2.4, CAL= 342.0, -0.5, ROT= 168.0, 0.5 T#Rx 84: Read range and direction messages.`direction in FSK: [-0.978110,0.207904,-0.008727]Fpublishing direction and range infoyaeLᅪJ?B7߁YaaeseUeB^ ew)eDIeie?eVmeI@e+=eC@ e5)ef;@Ie5i 9)v5ii@B` 9@  @ @ /@ @@@@)  checking for new query: numPingsReceived=84, elapsed TxPingTime=39.834972E  E E *E "E E;*E :VE (N4ZE a @a @a @a @I I O= >i ,hn#?A~]t@~)@~(ٱ~u  AHRS rotation from veh to nav: [[-0.625628,0.778044,0.056890],[-0.779954,-0.625337,-0.024990],[0.016132,-0.060006,0.998068]]~H%? ? c ? +?i~]t@I~p^;~ CY%By%II-<))iMb@Mb@Mb@ 9E?MbX9MbpYF>yʡvA hA)AYpAbDVD1y 0%==ٔ2Q->9Y=Fyc:E>!Q 5-05%rϘ?Q 9505%)!Y5V>Q E5};y5(Q I5@%'3DI%K ;i% ;%05y=WBɮEAEEiiim(eY#?AJiiRiijim/?bm[ ٜ,eS@cwVRmLᅪJ?B7߁Zimf;@bim5<jm% I&@"@!p MZmMbV'?OrEB?xo좿2im(A:im4A"im4Pr?*imj*BimBim4Pr?imN9im`BimjAimW0? addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.626513 m, bearing: 39.310502 deg, lat: 36.779326 deg, lon: -121.859611 deg, deltaT: 0.504147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.63 m.hh*h"h hgfffBddjdZd~?ZV>ZV>Z鯼@Zvi@()  W>i.9)5ii?[kBaBe IBe'BBaBaBaBe2s;Be.E}~Local bearing/azimuth received: Bearing 196.0, 11.6 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.2 DAT read: 05:01:00.5684 LVL= 28512, 21825, 32754, 32755, AGC= 65, IDX= 497, 0.20,-1.172, 0.466,-1.525,-0.622, PHS=-0.449, 1.132,-0.947, RAW= 343.3, 2.8, CAL= 342.8, -0.1, ROT= 167.2, 0.1 Ygot valid direction response: 05:01:00.5684 LVL= 28512, 21825, 32754, 32755, AGC= 65, IDX= 497, 0.20,-1.172, 0.466,-1.525,-0.622, PHS=-0.449, 1.132,-0.947, RAW= 343.3, 2.8, CAL= 342.8, -0.1, ROT= 167.2, 0.1 T#Rx 85: Read range and direction messages.`direction in FSK: [-0.975148,0.221548,-0.001745]Fpublishing direction and range infoyIM :Ji4~,[?n p\YIIM`oMAUM M)MAIMTiM`?MnrM!@M+H=Mt@ M@ @@@I)M:@IM:IIMdF }C忏2cb? M&)M7-KIM:@iM:II checking for new query: numPingsReceived=85, elapsed TxPingTime=40.112202I1OEQ>Ա W,d#?Aɰ4<:at@:+@:.Qٱ:u BAHRS rotation from veh to nav: [[-0.625431,0.778178,0.057235],[-0.780100,-0.625178,-0.024442],[0.016762,-0.059936,0.998061]]:H  ?M?`tn )?@򯮿?i:at@I:L;^;: CRchecking for new query: numPingsReceived=85, elapsed TxPingTime=40.338848YVByVI\bDbVDbk1yj 9%ja=ٔnWQ-n>9pYp=rFypr0:Er>tQ 5z05vɘ?Q 9z05v)vGBY|y~(Q I~@v,3DIv;iv";v=05yɮA iiy#?AJiRiji`,?b0M,C3h @1 $R :Ji4~,[?n p\Zi:@bi:EE EEEE)EA"EE77;*EE :VEEFA4ZEABEEF>i9)5ii@Rm]DDAT read: Rx Time:05:01:01.0685 eTRx dataTimestamp_ set to:1761541262.404813mPDAT read: Bearing 196.4, 11.7 (Local) m~Local bearing/azimuth received: Bearing 196.4, 11.7 (Local) }DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.2 DAT read: 05:01:01.0685 LVL= 26192, 19953, 29938, 32755, AGC= 65, IDX= 499, 0.00,-0.841, 0.809,-1.201,-0.298, PHS=-0.441, 1.152,-0.947, RAW= 343.4, 2.5, CAL= 342.9, -0.4, ROT= 167.1, 0.4 Ygot valid direction response: 05:01:01.0685 LVL= 26192, 19953, 29938, 32755, AGC= 65, IDX= 499, 0.00,-0.841, 0.809,-1.201,-0.298, PHS=-0.441, 1.152,-0.947, RAW= 343.4, 2.5, CAL= 342.9, -0.4, ROT= 167.1, 0.4 T#Rx 86: Read range and direction messages.`direction in FSK: [-0.974737,0.223245,-0.006981]Fpublishing direction and range infoyY][ 1ᅡtG?a|Y]fnAY]Pf]M]t Y)YI]i]t?Y]nʿ@]¸2=]@ ])] :@I];YY]g>翺oe&1~? ])]"4I] :@i];YY= checking for new query: numPingsReceived=86, elapsed TxPingTime=40.620258I 2,sc#?A Eht@.@ٱAu 5AHRS rotation from veh to nav: [[-0.625121,0.778396,0.057654],[-0.780334,-0.624905,-0.023926],[0.017405,-0.059946,0.998050]]H?ڄ?`8ґ? @`?iEht@I*^; CYMByMIiMb@Mb@Mb@ 9S?Q{GztY/]>yuףA )QAYAbDVDܲy_%8=ٔAQ->9Y=Fye:E > Q 505  Ø?Q 905 9) HBYe>Q El;y&!Q I@ 33DI :i : 05y!ɮ-A)iyi}u#?AJi}5mARi}5mAji} +?b}n,ȄNz @L"R}[ 1ᅡtG?a|Zi} :@bi};j}w255'@PWqk"@*!Z}$ ?HSa?2i}_A:i}9A"i} @㔜?*i} Bi}݀Bi}?iyi}Bi}tmAi}.?u addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503833 s, deltaX: 0.200000 m, approachRate: 0.396957 m/s, rangeRepo size: 4  Added new target pos. range: 14.825532 m, bearing: 38.441430 deg, lat: 36.779327 deg, lon: -121.859612 deg, deltaT: 0.503833 s, deltaX: 0.198999 m, approachRate: 0.394971 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.83 m.hh*h"h hgfffBddjd=-@Zd] ?Z}e>Z}e>Z}Bd@Z} p@) k>i-9)顕5checking for new query: numPingsReceived=86, elapsed TxPingTime=40.843044ii?ցrԱ U DDAT read: Rx Time:05:01:01.5685 ] TRx dataTimestamp_ set to:1761541262.908677e PDAT read: Bearing 196.5, 11.7 (Local) e ~Local bearing/azimuth received: Bearing 196.5, 11.7 (Local) } DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.3  DAT read: 05:01:01.5685 LVL= 28608, 20401, 32754, 32755, AGC= 65, IDX= 499,-0.17, 3.025,-1.602, 2.661,-2.717, PHS=-0.440, 1.160,-0.949, RAW= 343.4, 2.4, CAL= 342.9, -0.5, ROT= 167.1, 0.5  Ygot valid direction response: 05:01:01.5685 LVL= 28608, 20401, 32754, 32755, AGC= 65, IDX= 499,-0.17, 3.025,-1.602, 2.661,-2.717, PHS=-0.440, 1.160,-0.949, RAW= 343.4, 2.4, CAL= 342.9, -0.5, ROT= 167.1, 0.5  T#Rx 87: Read range and direction messages. `direction in FSK: [-0.974724,0.223242,-0.008727] Fpublishing direction and range infoyY ] ܕ0￰-?B7߁YY Y ] o] O]  Y )Y I] Gi] z?] rY ] +=Y ] 5)Y I] 5B B IB BB B B B 9s;B .ET,#?AԙYByI bDVDy{N%K=ٔQ->9Y = Fy  E >QQ 5]05U?Q 9]05U)QYayaQ Ie@U93DIUV:iUM:U05yiɮmMAiii'#?AJiRijiI+?bG,Ҵ&8z @9aRܕ0￰-?B7߁Zibi5<j/a^4'@ب63l"@0,xZ7| ?t?D$>2iaA:i9A"i'r?*iԋ[BiŀBii iBi{mAiG,?% addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503864 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 14.825544 m, bearing: 38.446893 deg, lat: 36.779327 deg, lon: -121.859613 deg, deltaT: 0.503864 s, deltaX: 0.000012 m, approachRate: 0.000025 m/s, posRepo size: 4 =DNOT Ignoring new targets: 14.83 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZd?ZZZZ) V>i9)5ii@q o<,0#?A2kt@20@2ޙٱ2Cs :AHRS rotation from veh to nav: [[-0.624936,0.778507,0.058150],[-0.780450,-0.624812,-0.022545],[0.018782,-0.059472,0.998053]]2Hy?ŭ?@ru;?-s` ?i2kt@I2O^;0YNByRIbDZVDZ1yv@%v^=ٔvtQ-v>9xYx=zFyxz:E~>Q 5 057?Q 9 05)IBY y #!Q I @>3DI:i:ژ05yɮ_ADNOT Ignoring new targets: 14.83 m.hh*h"h hgfffdd%DDAT read: Rx Time:05:01:02.0687 %TRx dataTimestamp_ set to:1761541263.4128225PDAT read: Bearing 196.3, 11.7 (Local) 5~Local bearing/azimuth received: Bearing 196.3, 11.7 (Local) EDAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 mDAT read: 05:01:02.0687 LVL= 26992, 23137, 32754, 32755, AGC= 63, IDX= 501,-0.36,-2.356,-0.704,-2.716,-1.807, PHS=-0.447, 1.149,-0.953, RAW= 343.3, 2.7, CAL= 342.8, -0.2, ROT= 167.2, 0.2 uYgot valid direction response: 05:01:02.0687 LVL= 26992, 23137, 32754, 32755, AGC= 63, IDX= 501,-0.36,-2.356,-0.704,-2.716,-1.807, PHS=-0.447, 1.149,-0.953, RAW= 343.3, 2.7, CAL= 342.8, -0.2, ROT= 167.2, 0.2 uT#Rx 88: Read range and direction messages.}`direction in FSK: [-0.975143,0.221547,-0.003491]}Fpublishing direction and range infoy!%'k_4@l[?QC1mlY%3sA!%pi%aZ! !)%?I%/i%o?%s%!@%A=%t@ %d)%:@I%d;!!jd`ff.@Zd EH?%5VV1@eK忛Vl? %)%%?I%:@i%d;!!checking for new query: numPingsReceived=88, elapsed TxPingTime=41.619190ZZZZp@%ޙ)! -NR>i-(9))-6IiIi]?ae.u checking for new query: numPingsReceived=88, elapsed TxPingTime=41.854675Em  Em Em 'Ei "Em I@;*Em :VEm '4ZEi au @au @au @au @ԁ Li,#?AJft@J'.@JٱJq RAHRS rotation from veh to nav: [[-0.625172,0.778310,0.058251],[-0.780242,-0.625101,-0.021688],[0.019533,-0.059009,0.998066]]JH@i`?@ӭ?``[5g?]6(?iJft@IJ3X^;J CYByIiMb@Mb@Mb@ 9!rh?J +Mb`Ylg>yH`A@ A)@YzAbDVDyl$%>=ٔQ->9Y=FyT?E>Q 505?Q 905)JBYl>Q Ee;ypQ I@D3DI ;i ;05yɮAiIiMk#?AJiMqARiMqAjiMd,?bM=ϵ-| Z6 @/oRM'k_4@l[?QC1mlZiM:@biMd;jMKZ'@"@!>;ZM?$? :2iMA:iM2=A"iM_+?*iMBiMπBiM'r?iIiM݀BiMqpAiMBr,?5 addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504145 s, deltaX: 0.300000 m, approachRate: 0.595067 m/s, rangeRepo size: 4 E Added new target pos. range: 15.124045 m, bearing: 38.523044 deg, lat: 36.779327 deg, lon: -121.859613 deg, deltaT: 0.504145 s, deltaX: 0.298501 m, approachRate: 0.592094 m/s, posRepo size: 4 EDNOT Ignoring new targets: 15.12 m.hIhI*hI"hIQ hQgQfQfYf]XBdYdYjdaZde3g?Zl>Zl>Z:@Zt@) >>iH9)6ii%@!%~oBCBIBBB =BBBs;B.EYgot valid direction response: 05:01:02.5687 LVL= 27808, 23489, 32754, 32755, AGC= 63, IDX= 500, 0.39,-2.019,-0.393,-2.408,-1.488, PHS=-0.429, 1.140,-0.964, RAW= 344.1, 2.7, CAL= 343.7, -0.2, ROT= 166.3, 0.2 T#Rx 89: Read range and direction messages.`direction in FSK: [-0.971543,0.236837,-0.003491]Fpublishing direction and range infoy)- )ZP?QC1mlY))-l-[) )))I-۾i-?-v-.@)-S@ ))-F9@I)))-mZ)RDWt-'? -?)-KAI-F9@i)))checking for new query: numPingsReceived=89, elapsed TxPingTime=42.128750ԩ^Azl<IIO> yN, $?A2bt@2+@2ٱ2p :AHRS rotation from veh to nav: [[-0.625378,0.778120,0.058581],[-0.780056,-0.625362,-0.020884],[0.020384,-0.058757,0.998064]]2H[?Q?7 bߔ?X`$?i2bt@I2<^;2CBchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.355003YRByRIIV<)V<bDZVDZ:yvV<%vX=ٔvQ-v>9xYx=zFyx~@E% E%E%/E!"E%L;*E%:VE%J4ZE!BE%ݡQ 5 05?Q 905)KBY!y-uQ I-@J3DIDi 9) 6ii?@lI ~,#$?A 4<ɰ [t@(@Yٱعs -AHRS rotation from veh to nav: [[-0.625664,0.777807,0.059679],[-0.779803,-0.625685,-0.020646],[0.021282,-0.059455,0.998004]]Ho@?/?$`-$ʕ?p`?i[t@I ^; CY=ByEIi]Mb@Mb@Mb@YYYY Y9]? ףp= ~jtx?Y]ff>y]Q8];Y]@ ]hA)YYY]AbDuVDuchecking for new query: numPingsReceived=90, elapsed TxPingTime=42.859005y<%&=ٔQ->9Y=FyJE>Q 505?Q 905)NBY k>Q Eg;yUQ I@Q3DI:iH:705yɮ0Aiaie$?AJievARievAjiey(?betXd- @ĿReSXz?/;rZie9@bie+<je%`(@I'y"@\CZezIJ?Ȱ)XF? J22ieA:ieCA"ie (ۦ?*ie'BieBie_+?ieԋ[ieǀBietAie.*?E5 E5E5&E1"E5O;*E51:VE54ZE1aE@aE@aE@aE@M addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503823 s, deltaX: 0.300000 m, approachRate: 0.595448 m/s, rangeRepo size: 4  Added new target pos. range: 15.422585 m, bearing: 37.706602 deg, lat: 36.779328 deg, lon: -121.859614 deg, deltaT: 0.503823 s, deltaX: 0.298502 m, approachRate: 0.592474 m/s, posRepo size: 4  DNOT Ignoring new targets: 15.42 m.hh9*h9"h9 hAgIfIfyfkBddjd/@Zd?1Z k>Z k>Zʾ@Zu@Y) >i9)+6ii@9gB B IB BB =B B B ,t;B 9/EBiBiBiBm =Bm =Cm 5 T#Rx 91: Read range and direction messages. `direction in FSK: [-0.971128,0.238532,-0.003491] Fpublishing direction and range infoy9 = k{ᅤA8?QC1mlY9 9 = m= 1\9 9 )9 I= "۾i= J ?= w= K@= A== @ = d)= 9@I= d;9 9 = 0a=ꎉ OdIfL? = F)= vBI= 9@i= d;9 9  checking for new query: numPingsReceived=91, elapsed TxPingTime=43.132648ԉ ^A m<I I) O- >,I?$?AB*Wt@Bf&@BZٱBZv nAHRS rotation from veh to nav: [[-0.625876,0.777556,0.060706],[-0.779608,-0.625936,-0.020400],[0.022136,-0.060094,0.997947]]BH .@?`?` 㔿Ǫ?Į/?iB*Wt@IBq^;B CYtytbD~VD~ٔMQ-U>9QYQ=UFyQ]\SE]>aQ 5m05ej?Q 905eE)eQBYyYQ I@eV3DIe%ůBiBi?i'iŀBivAi-)?ԁ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503921 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.422666 m, bearing: 37.469220 deg, lat: 36.779329 deg, lon: -121.859614 deg, deltaT: 0.503921 s, deltaX: 0.000080 m, approachRate: 0.000159 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.42 m.hh*h"h hg f f f ddjdZdX?ZQZQZQZU1u@mZ)i iim9)qu6qiqi}?y}'c) ,#Y$?A2Qt@2#@2Իٱ2)*w :AHRS rotation from veh to nav: [[-0.626118,0.777311,0.061347],[-0.779391,-0.626221,-0.019928],[0.022927,-0.060290,0.997918]]2H) ?@h? gz?dޮ?i2Qt@I2N];2 CYfByfI hhbDnVDnyv<%v<ٔzQ-z>9|Y|=~Fy|~YE>Q 5 05?Q 9 05ɱ)SBYy^Q I@\3D%DDAT read: Rx Time:05:01:04.0689 -TRx dataTimestamp_ set to:1761541265.4287925PDAT read: Bearing 196.9, 12.3 (Local) 5~Local bearing/azimuth received: Bearing 196.9, 12.3 (Local) EDAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.4 mDAT read: 05:01:04.0689 LVL= 27184, 20433, 32754, 32755, AGC= 64, IDX= 503, 0.06,-3.016,-1.380, 2.876,-2.503, PHS=-0.412, 1.167,-0.949, RAW= 344.1, 2.1, CAL= 343.7, -0.9, ROT= 166.3, 0.9 uYgot valid direction response: 05:01:04.0689 LVL= 27184, 20433, 32754, 32755, AGC= 64, IDX= 503, 0.06,-3.016,-1.380, 2.876,-2.503, PHS=-0.412, 1.167,-0.949, RAW= 344.1, 2.1, CAL= 343.7, -0.9, ROT= 166.3, 0.9 uT#Rx 92: Read range and direction messages.}`direction in FSK: [-0.971429,0.236809,-0.015707]}Fpublishing direction and range infoy!%k=k|O?y&Y!!%0j%O! !)!I%Ҿi%B`?%r%.@%Q =%S@ %)%F9@I%ůi%Bi%vAi% q(? addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.422666 m, bearing: 37.587594 deg, lat: 36.779329 deg, lon: -121.859615 deg, deltaT: 0.504154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.42 m.hh*h"h hgff!f!d!d!jd!Zd-` ְ?ZZZZu@Ի) >iW9)26ii@&_$",r$?A 2Ht@2@2!¼ٱ2^v >AHRS rotation from veh to nav: [[-0.626570,0.776913,0.061769],[-0.779005,-0.626720,-0.019328],[0.023695,-0.060229,0.997903]]2H `y?@*? ʓC?@K֮?i2Ht@I2];2 CYRByRIi]Mb@Mb@Mb@YYYY Y9]%C?A`"I +?Y]Zd>y]Y]94<]A]@ ]A)]QAYY]AbDuVDu02yL=%A=ٔRQ->9Y=Fy:E>Q 5055?Q 905Y)XBYj>Q Eg;yQ I@b3DI :i:s05yɮADNOT Ignoring new targets: 15.42 m.hh*h"h hgfffBddjdZd?Zj>Zj>ZW@Z}s@-!¼)) -u>i-29)1561i1i=?9=V  checking for new query: numPingsReceived=93, elapsed TxPingTime=44.370888`#,Ռ$?AE EE(E"Ey>;*E:VEc44ZEBES9Y=Fy E>Q 505z?Q 905)\BYyQ I@i3DIR:i=:Q05yTBɮVAEiYi]-{$?AJiYRiYji]Ht(?b]Yh -]d @b|9ѿR] pwu_?W7) ߑZi]w9@bi]5<j]I,,l+^(@rݐ"@M*-Z](EG?eA?HA(12i]A:i]BA"i]1?*i]εHBi]WBiYi]H|i]Bi]yAi]p(?- addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503958 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 15.422660 m, bearing: 37.702017 deg, lat: 36.779329 deg, lon: -121.859616 deg, deltaT: 0.503958 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 EDNOT Ignoring new targets: 15.42 m.hAhA*hA"hA hIgIfIfIfIdQdQjdQZdU i?ZqZqZqZuls@ Ǽ)  ->i 9)  P6 ii@EINB+濂r鹢? =C)=I=AQ:@i=d<99checking for new query: numPingsReceived=94, elapsed TxPingTime=44.644966^A hW<I I O >y b8),*$?AQYByII=)p<i-Mb@Mb@Mb@)))) )9-MbX?l{Gz?Y-J>y--ף<-`A) -hA)-v@)Y-AbDE VDE:2yU<%UP=ٔ]Q-]>9YYY=eFyaeEe>checking for new query: numPingsReceived=94, elapsed TxPingTime=44.891407EE EEEE*EA"EE2;*EE1:VEE(N4ZEAam@am@am@am@Q 505񄘊?Q 9055)cBYjY>Q E%z;y%&Q I-@n3DIůimrBimf{Aim2H(? addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503933 s, deltaX: 0.300000 m, approachRate: 0.595318 m/s, rangeRepo size: 4 E Added new target pos. range: 15.721164 m, bearing: 37.991454 deg, lat: 36.779329 deg, lon: -121.859615 deg, deltaT: 0.503933 s, deltaX: 0.298504 m, approachRate: 0.592348 m/s, posRepo size: 4 EDNOT Ignoring new targets: 15.72 m.hAhA*hI"hI hIgIfIfQfUBdQdjd/@ZdIJ?ZjY>ZjY>Z@Z?k@) >i9)#6ii ?  bKBa Be IBe BBe =Ba Ba Be t;Be /E DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2  DAT read: 05:01:05.5691 LVL= 27792, 23265, 32754, 32755, AGC= 65, IDX= 505,-0.10, 1.437, 3.083, 1.058, 1.962, PHS=-0.423, 1.167,-0.948, RAW= 343.8, 2.2, CAL= 343.3, -0.8, ROT= 166.7, 0.8  Ygot valid direction response: 05:01:05.5691 LVL= 27792, 23265, 32754, 32755, AGC= 65, IDX= 505,-0.10, 1.437, 3.083, 1.058, 1.962, PHS=-0.423, 1.167,-0.948, RAW= 343.8, 2.2, CAL= 343.3, -0.8, ROT= 166.7, 0.8  T#Rx 95: Read range and direction messages. `direction in FSK: [-0.973084,0.230027,-0.013962] Fpublishing direction and range infoyI M #o|̈q?4YI I M lM ZI I )M AIM uؾiI M !rM @M nF=^A 0:D<I I O >M !@ I )M 4:@II I I M Gܤu翑B 濙|X? M %)M IM 4:@iI I I  checking for new query: numPingsReceived=95, elapsed TxPingTime=45.187763J0,v$?A2.t@2@2dμٱ2t :AHRS rotation from veh to nav: [[-0.627787,0.775894,0.062223],[-0.777978,-0.628037,-0.017898],[0.025192,-0.059644,0.997902]]2H`@ ? ۯ?`1  S˙??i2.t@I2^v];2 CYb!Byf IbDnVDnk1yv=%ve=ٔzQ-z>9xYx=zFyx~ E~>Q 5 05?Q 9 05)gBYy&Q I@s3DI:i:޸05y9ɮ=A9ii3$?AJi{ARi{Aji")?bE֝.?.5 @٩̿R#o|̈q?4Zi4:@bijJo7(@{D#@ Un>Zu^;?(i9)%'6!i!i-@)-A9 E6,"O$?A2=-t@2p@2ʵмٱ2{Xu :AHRS rotation from veh to nav: [[-0.627819,0.775841,0.062555],[-0.777942,-0.628084,-0.017807],[0.025475,-0.059844,0.997883]]2H@??B@;@?ѣ?i2=-t@I2N];2 CY^0Byb IbDjVDj02yr=%rK=ٔrG8Q-r>9tYt=vFytvEz>x]DDAT read: Rx Time:05:01:06.0693 eTRx dataTimestamp_ set to:1761541267.455180mPDAT read: Bearing 196.6, 11.8 (Local) u~Local bearing/azimuth received: Bearing 196.6, 11.8 (Local) DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.2 DAT read: 05:01:06.0693 LVL= 27856, 23249, 32754, 32755, AGC= 65, IDX= 507,-0.13, 2.798,-1.842, 2.427,-2.954, PHS=-0.429, 1.157,-0.947, RAW= 343.7, 2.3, CAL= 343.2, -0.6, ROT= 166.8, 0.6 Q 505zy?Q 905zB)zmBYy&Q I@zx3DIz*=iz`=za055Ygot valid direction response: 05:01:06.0693 LVL= 27856, 23249, 32754, 32755, AGC= 65, IDX= 507,-0.13, 2.798,-1.842, 2.427,-2.954, PHS=-0.429, 1.157,-0.947, RAW= 343.7, 2.3, CAL= 343.2, -0.6, ROT= 166.8, 0.6 =T#Rx 96: Read range and direction messages.E`direction in FSK: [-0.973526,0.228338,-0.010472]EFpublishing direction and range infoyY]'Uը/:?/;rY]̀AY]l]ZY Y)YI]۾i]?]nr]S@]l$=]֭@ ]+)]AQ:@I]+i@9),6ii?dBԙ p<,.$?A2)t@2@2 Ѽٱ2t :AHRS rotation from veh to nav: [[-0.627979,0.775715,0.062523],[-0.777810,-0.628251,-0.017673],[0.025570,-0.059729,0.997887]]2Hg@?@?@&/?۔?i2)t@I2!C];0Y~?By~2 I iMb@Mb@Mb@ 9I +?RQ?Y94>y½<vA@ A)@YAbDVDβy=%8=ٔbQ->9Y!=%Fy!%E%>)Q 5505-"s?Q 9505-*)-uBY=eN>Q E=;y=U/Q I=@-~3DI- ;i- ;-B05yAɮEAIq}DNOT Ignoring new targets: 16.02 m.hyhy*hy"hy hygyfyffāBddjdZd`BZ?ZeN>ZeN>Z*9@Zb@ Ѽ)! %u>i%)9)!%06!i!iM@amq? DDAT read: Rx Time:05:01:07.0695 - TRx dataTimestamp_ set to:1761541268.212657= PDAT read: Bearing 196.6, 11.6 (Local) E ~Local bearing/azimuth received: Bearing 196.6, 11.6 (Local) bE:4jEˏB4rEsq0Em  Em Em *Ei "Em 3;*Em :VEm (N4ZEi BEm checking for new query: numPingsReceived=97, elapsed TxPingTime=46.405308tv@&t@*@4Ѽٱs AHRS rotation from veh to nav: [[-0.628128,0.775606,0.062371],[-0.777689,-0.628406,-0.017519],[0.025606,-0.059510,0.997899]]H ?? 8? x?i&t@I ];CYCBy8 IbDVDy-D<%-C=ٔ-Q-->9QYQ=UFyQ]WE]>aQ 5m05el?Q 9m05e)e}BYiymY/Q Im@e3DIe;ie2;e05yNBɮ[Aii*$?AJiRiji.+?bI=/b,cd @R74Kl[?B7߁Zi:@bi5<jG팤)@EZQ#@w;Z?{M>7?x*2iA:iHA"iEk?*i\BiÀBiaܭ?ibWi}BiAi)?- addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.500557 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 I] Added new target pos. range: 16.019751 m, bearing: 38.312522 deg, lat: 36.779328 deg, lon: -121.859615 deg, deltaT: 0.500557 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 eDNOT Ignoring new targets: 16.02 m.haha*ha"ha hagifffddjdZd@$?ZZZZMb@4Ѽ) ~>i 9)46ii?<BI,(%?A@n0t@n6@nϼٱnTt vAHRS rotation from veh to nav: [[-0.627654,0.776000,0.062244],[-0.778082,-0.627911,-0.017790],[0.025279,-0.059597,0.997902]]nH ?oޯ? 7?| ?in0t@In];n CYIBy@ IiMb@Mb@Mb@ 9ףp= ?V-:v?Y>y< )YuDDAT read: Rx Time:05:01:07.5695 TRx dataTimestamp_ set to:1761541268.716681PDAT read: Bearing 196.5, 11.6 (Local) ~Local bearing/azimuth received: Bearing 196.5, 11.6 (Local) E EEE"E8;*Er:VEZEaM@aM@aM@aM@}DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.2 ԡbDEVDEyY<%3=ٔ<:Q->9Y=Fy̯:E> Q 505 pe?Q 905 ) BYH>Q E;y8Q I@ 3DI @:i : 05yaɮe(AiDAT read: 05:01:07.5695 LVL= 27936, 23713, 32754, 32755, AGC= 64, IDX= 509,-0.37, 1.046, 2.703, 0.681, 1.586, PHS=-0.437, 1.162,-0.949, RAW= 343.4, 2.4, CAL= 342.9, -0.5, ROT= 167.1, 0.5 Ygot valid direction response: 05:01:07.5695 LVL= 27936, 23713, 32754, 32755, AGC= 64, IDX= 509,-0.37, 1.046, 2.703, 0.681, 1.586, PHS=-0.437, 1.162,-0.949, RAW= 343.4, 2.4, CAL= 342.9, -0.5, ROT= 167.1, 0.5 T#Rx 99: Read range and direction messages.`direction in FSK: [-0.974724,0.223242,-0.008727]Fpublishing direction and range infoyyi)i-r%?AJi-ARi-Aji-*?b-pz/e4$ @K9:¿R-ܕ0￰-?B7߁Zi- :@bi)j-M)@i9.$@ޫp\Z-Cky?[?⧿2i-u!A:i-LA"i-.?*i-M0}ܕ0￰-?B7߁Bi-ĀBi-磗?i-e~i-Bi-AAi-b)?u addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.760944 s, deltaX: 0.299999 m, approachRate: 0.394246 m/s, rangeRepo size: 4 Yyyy}\y y)yI}w߾i}j?}ry}+=y }5)yI}5ZeH>Ze@ZeCSY@ϼ) u>i9)顽-96ii@eFii@i @i@m/@i@u=@u=B >B B 4 IB @BB B B B jt;B X/E checking for new query: numPingsReceived=99, elapsed TxPingTime=47.151428 ^AU /C<IY Iq O} >2P,B%?A>>t@>*@>;eͼٱ>u FAHRS rotation from veh to nav: [[-0.626997,0.776520,0.062388],[-0.778618,-0.627236,-0.018109],[0.025070,-0.059931,0.997888]]>H`[??X? qQ`2 ?`E?i>>t@I>F\;> CYNKByNB IIP)R=XbD^VD^ybK<%f=ٔf.:Q-f?9hYh=jFyhj6;En?lQ 5r05n`?Q 9r05n)nBYtyv8Q Iv@n3DInQ;in;n05yzBɮ~ A|%DNOT Ignoring new targets: 16.32 m.h!h!*h!"h! h)g)f)f1f1d1d1jd1Zd=z?ZYZYZYZ]DbY@m;eͼ)i uy>iu~9)qu?<6qiqi}?y}R9 uV,V\%?A";ɰ";ZDAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 vDAT read: 05:01:08.0696 LVL= 28624, 21073, 32754, 32755, AGC= 66, IDX= 509, 0.28,-1.873,-0.250,-2.263,-1.349, PHS=-0.422, 1.144,-0.958, RAW= 344.2, 2.5, CAL= 343.7, -0.4, ROT= 166.3, 0.4 zYgot valid direction response: 05:01:08.0696 LVL= 28624, 21073, 32754, 32755, AGC= 66, IDX= 509, 0.28,-1.873,-0.250,-2.263,-1.349, PHS=-0.422, 1.144,-0.958, RAW= 344.2, 2.5, CAL= 343.7, -0.4, ROT= 166.3, 0.4 ~V#Rx 100: Read range and direction messages.`direction in FSK: [-0.971525,0.236832,-0.006981]Fpublishing direction and range infoyLNx?P?a|YNALNoNQRL L)NBINbؾiNn?N}?uN<@N¸2=NS@ N)NF9@IN;LLNޗR濢DGI{E? N)N"4INF9@iN;LLchecking for new query: numPingsReceived=100, elapsed TxPingTime=47.671883!5It@5@5ʼٱ5]u EAHRS rotation from veh to nav: [[-0.626485,0.776947,0.062204],[-0.779040,-0.626706,-0.018313],[0.024756,-0.059932,0.997895]]5H`* ? 5ٯ? @Y?@l`?i5It@I5\;5 CYm\BymV IbD}VD}:2y=%/=ٔ0:Q->9Y=Fy:E>Q 505cY?Q 905)BYy8Q I@3DIk:i:05yɮ* AiLiN<]%?AJiNWARiNWAjiN'?bN//:&@{4WRNx?P?a|ZiNF9@biN;jN HL*@Ɋ~#@3dZN)Y?xTy? g7%2iNA:iNPA"iNi?*iNf̴BiNBiN.?iN\iNÀBiN‚AiN-$(? addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.751412 s, deltaX: 0.100000 m, approachRate: 0.133083 m/s, rangeRepo size: 4 % Added new target pos. range: 16.417753 m, bearing: 37.530506 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 1.007955 s, deltaX: 0.099499 m, approachRate: 0.098713 m/s, posRepo size: 4 -DNOT Ignoring new targets: 16.42 m.h)h)*h)"h) h)g1f1f1f1d99dYjde0@Zde;?ZZZZmY@ʼ) >>i9)顕A6ii@:Zߟ],1%y%?A2tSt@2$@2Ǽٱ2*#t >AHRS rotation from veh to nav: [[-0.626020,0.777364,0.061679],[-0.779426,-0.626226,-0.018333],[0.024374,-0.059551,0.997928]]2H`[*?]?@ Œ^?s}?i2tSt@I26];2 CYFZByFT Ii]Mb@Mb@Mb@YYYY Y9]Mb?HzG/$?Y]>y]= ]9Y=FyR:E>Q 505 S?Q 905»)BY?>Q E;yCQ I@3DIi;i};E05yɮ: ABBBM IBTBB =BBB}t;Ba/EBCBCBB =B =C4DAT read: 05:01:08.5695 LVL= 26352, 20401, 32658, 32755, AGC= 66, IDX= 509, 0.09,-3.028,-1.398, 2.858,-2.507, PHS=-0.418, 1.154,-0.962, RAW= 344.3, 2.4, CAL= 343.8, -0.5, ROT= 166.2, 0.5 Ygot valid direction response: 05:01:08.5695 LVL= 26352, 20401, 32658, 32755, AGC= 66, IDX= 509, 0.09,-3.028,-1.398, 2.858,-2.507, PHS=-0.418, 1.154,-0.962, RAW= 344.3, 2.4, CAL= 343.8, -0.5, ROT= 166.2, 0.5 \#Rx 102: Read direction message, but no range.`direction in FSK: [-0.971097,0.238525,-0.008727]yim߈~:qǗ?B7߁imfmOm i)iIm־imF?mEvmK@m+=m@ m5)m9@Im5Z?>Z@Z?|N@Ǽ)  W>i9)D6ii?jb% C G i) I) E DDAT read: Rx Time:05:01:09.0697 U TRx dataTimestamp_ set to:1761541270.229506m PDAT read: Bearing 196.3, 12.1 (Local) E  E E +E "E ;;*E V:VE [4ZE BE a 2E a JE )d,.%?APsat@+@,:ļٱr AHRS rotation from veh to nav: [[-0.625361,0.777935,0.061167],[-0.779968,-0.625549,-0.018397],[0.023951,-0.059213,0.997958]]H@?IQ?~֒?`0QE?isat@I)i]; CYTByM I bDVDNy%H=ٔЇ:Q->9Y=Fy;E>Q 505L?Q 905)BYyCQ I@3DIy:i:05yܓBɮC AEii:%?AJiARiAji'?bn""0p>m>@¿R߈~:qǗ?B7߁Zi9@bi5<jqT*@ C$y7$@n&O5+Z̓Z?Tw?օM2i!A:iRA"i)?*i-BìBiQ?if̴iĀBi7Ai$p&? addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.505268 s, deltaX: 0.300001 m, approachRate: 0.593747 m/s, rangeRepo size: 4  Added new target pos. range: 16.616730 m, bearing: 37.518972 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 0.761413 s, deltaX: 0.198977 m, approachRate: 0.261325 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.62 m.hh*h"h hgfffddjd@30@Zd@[?Z1Z1Z1Z5N@E,:ļ)A EK>iMl9)IMH6IiIiU@QUn}j,8%?A<>@rDDAT read: Rx Time:05:01:09.5697 zTRx dataTimestamp_ set to:1761541270.732349 D!zD%AAEE EEEE(EA"EEg5;*EE:VEEc44ZEAae@ae@ae@ae@uPDAT read: Bearing 195.4, 12.3 (Local) }~Local bearing/azimuth received: Bearing 195.4, 12.3 (Local) -DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2 DAT read: 05:01:09.5697 LVL= 28880, 26209, 32754, 32755, AGC= 66, IDX= 511,-0.47, 2.901,-1.755, 2.510,-2.835, PHS=-0.444, 1.125,-0.982, RAW= 344.2, 3.2, CAL= 343.7, 0.5, ROT= 166.3, -0.5 rt@'4@ٱq AHRS rotation from veh to nav: [[-0.624547,0.778621,0.060753],[-0.780632,-0.624716,-0.018501],[0.023548,-0.058981,0.997981]]H Iv??``?2v?Ygot valid direction response: 05:01:09.5697 LVL= 28880, 26209, 32754, 32755, AGC= 66, IDX= 511,-0.47, 2.901,-1.755, 2.510,-2.835, PHS=-0.444, 1.125,-0.982, RAW= 344.2, 3.2, CAL= 343.7, 0.5, ROT= 166.3, -0.5 V#Rx 105: Read range and direction messages.^direction in FSK: [-0.971512,0.236829,0.008727]Fpublishing direction and range infoirt@I.]; Cytv ikP?B7߁?Yttvpvaft t)tIvSiv?vZd{v<@vd=vS@Y]SBy]K I v5<)vF9@Iv5ttv$NCH濾Qɰ? v)veIvF9@iv5tt}checking for new query: numPingsReceived=105, elapsed TxPingTime=49.003670)iMb@Mb@Mb@ 9rh|?7A`¿y&1?Y=y`e< zA)AYAbDVD1y帻%=ٔWE:Q->9Y=Fy;E>Q 505"D?Q 905)BYD>Q E;yGQ I@3DI*:iv:05yɮO Aitivޮ%?AJitRitjiv(?bvo$0sd{@?Rv ikP?B7߁?ZivF9@biv5jvExO*@C!H$@&(8ݿZv {U?νl?IϜ2ivA"A:iv{RA"ivc?*ivCBivcBiv.?iv-iv̀BivAiv_'? addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.502843 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.616730 m, bearing: 37.627334 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 0.502843 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.62 m.hh*h"h hgfffBddjdZd@[?YZeD>ZeD>Ze@ZeJ@) L>i9)K6ii?AAAABBBZ IB^BB =BBBt;B/E5{r,%?A2t@2A=@2ٱ2Bq :AHRS rotation from veh to nav: [[-0.623684,0.779325,0.060583],[-0.781332,-0.623834,-0.018734],[0.023194,-0.059020,0.997987]]2H`8;??r/$?7@?i2t@I27];2 CYBKByBB IbDZVDZ󡲝DDAT read: Rx Time:05:01:10.0699 TRx dataTimestamp_ set to:1761541271.236609EE EEEE'EA"EE:;*EE:VEE'4ZEABEE19iYi=mFyiu6;Eu>yQ 505}=?Q 905} )}BYy~GQ I@}3DI}O;i};}05yɮ Aii$%?AJiRARiRAjid?bl% e0Wz7?3>?REJNaL2Rh\? `?ZiBH@bijq2%@]*@]?Z|, ?/'a?*y?2iRA:i)A"i"뺛?*izLaBiBiiCiBiAir '?e addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504260 s, deltaX: 0.299999 m, approachRate: 0.594930 m/s, rangeRepo size: 4 u Added new target pos. range: 16.915272 m, bearing: 51.201896 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 0.504260 s, deltaX: 0.298542 m, approachRate: 0.592040 m/s, posRepo size: 4 uDNOT Ignoring new targets: 16.92 m.hh*h"h hgfffddjd1@Zd?Z)Z)Z)Z-J@=)A E=>iES9)AEN6AiAiM@IU3\x,%?AYJByA II%<)%<bD-VD-:2y]}%]s=ٔeQ-e?9aYa=mFyiuEu?Q 505[8?Q 905)BYyQ I@3DI6Gi[9)顭Q6ii?`B B S IB YBB B B B u;B /EI! O- >}~,%?A2DAT read: 05:01:10.5698 LVL= 27712, 20465, 32754, 32755, AGC= 63, IDX= 512, 0.01,-0.370, 1.293,-0.450, 0.134, PHS=-0.401, 1.204,-0.628, RAW= 336.5, -2.0, CAL= 335.9, -5.0, ROT= 174.1, 5.0 6Ygot valid direction response: 05:01:10.5698 LVL= 27712, 20465, 32754, 32755, AGC= 63, IDX= 512, 0.01,-0.370, 1.293,-0.450, 0.134, PHS=-0.401, 1.204,-0.628, RAW= 336.5, -2.0, CAL= 335.9, -5.0, ROT= 174.1, 5.0 :\#Rx 108: Read direction message, but no range.>`direction in FSK: [-0.990918,0.102401,-0.087156]y "\!8 o6?O "@l"O )"?I"O;i"?" "@"5"@ "¸)"xB@I"¸= "uDzWvM "C )"s=I"xB@i"¸=Jchecking for new query: numPingsReceived=108, elapsed TxPingTime=50.184467HdɰdȲt@5T@͛ٱ ,s AHRS rotation from veh to nav: [[-0.621503,0.781081,0.060383],[-0.783091,-0.621606,-0.019362],[0.022411,-0.059318,0.997987]]H@[@?`z?@@2ӓ?@^`?iȲt@I]; CYCBy8 Ii%Mb@Mb@Mb@!!!! !9%Q?M¿{Gzt?Y%=y%n%ף;%A%@ %A)!!Y%GAbD]VD]ye%e.=ٔm:Q->9Y=Fy;E>ԩQ 5050?Q 905%)BY:?>Q E;yGGQ I@3DIw9;i8;05yɮ AiIiMt%?AJiMARiMAjiMUM?bMJW0bhygc?k+ORM\!8 o6?OZiMxB@biM¸=jMD`}'@M '@ڬ ZM4:?1?0_Ձ2iM>A:iM8A"iM ?*iM|5BiM|BiMc?iIiIiM[AiM|&? addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504877 s, deltaX: -0.200001 m, approachRate: -0.396138 m/s, rangeRepo size: 4 - Added new target pos. range: 16.716280 m, bearing: 45.955780 deg, lat: 36.779328 deg, lon: -121.859612 deg, deltaT: 0.504877 s, deltaX: -0.198992 m, approachRate: -0.394139 m/s, posRepo size: 4 -DNOT Ignoring new targets: 16.72 m.h)h)*h1"h1 h1g1f1f9f=ҁBd9d9jd=0@ZdEm?Ze:?>Ze:?>ZeH#@ZeJ@u͛)y }Ha>i} 9)y}U6yii@51 م,&?A2t@2;[@2ٱ2q :AHRS rotation from veh to nav: [[-0.620835,0.781642,0.060000],[-0.783628,-0.620931,-0.019305],[0.022166,-0.059002,0.998012]]2H`5?C?@z@ ē ?@5@?i2t@I2Q];2 CYn6Byn' IbDvVDv0|y%%%x=ٔ%B:Q-%?9)Y)=-Fy)5A-;E5 ?1Q 5e055+?Q 9e0551)5BYaye9GQ Ie@53DI5:i5R:505ymؓBɮu AuEiQiU&?AJiUARiUAjiU=G#?bU%Um0Τ@ZRζRU½ 1 ?sNruZiU18@biU;jUP+@[~Wږ>$@>JZU:\?랴} ? ~2iU!A:iUZA"iUcŪ?*iU3BiUȀBiQiQiÙBiUAiU%? addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503794 s, deltaX: 0.300001 m, approachRate: 0.595484 m/s, rangeRepo size: 4  Added new target pos. range: 17.014788 m, bearing: 36.543577 deg, lat: 36.779328 deg, lon: -121.859612 deg, deltaT: 0.503794 s, deltaX: 0.298508 m, approachRate: 0.592519 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.01 m.hh *h "h  h g)f)f1f1d1d9jd=1@Zd=V%?Uchecking for new query: numPingsReceived=109, elapsed TxPingTime=50.679054ZyZyZyZ}J@) JF>i9)顽X6ii? % DDAT read: Rx Time:05:01:11.5700 - TRx dataTimestamp_ set to:1761541272.748342M PDAT read: Bearing 196.2, 14.3 (Local) U ~Local bearing/azimuth received: Bearing 196.2, 14.3 (Local) Ee  Ee Ea Ea "Ee 77;*Ee :VEa ZEa am @am @am @am @} DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1  DAT read: 05:01:11.5700 LVL= 30336, 22881, 32754, 32755, AGC= 64, IDX= 497, 0.07, 2.829,-1.873, 2.362,-2.970, PHS=-0.382, 1.142,-0.996, RAW= 346.2, 2.5, CAL= 345.7, -0.4, ROT= 164.3, 0.4  Ygot valid direction response: 05:01:11.5700 LVL= 30336, 22881, 32754, 32755, AGC= 64, IDX= 497, 0.07, 2.829,-1.873, 2.362,-2.970, PHS=-0.382, 1.142,-0.996, RAW= 346.2, 2.5, CAL= 345.7, -0.4, ROT= 164.3, 0.4  V#Rx 110: Read range and direction messages. `direction in FSK: [-0.962668,0.270594,-0.006981] Fpublishing direction and range infoy) - o @-!9hQ?a|Y) ) - v- aY-  - )- @I- þi- -?- ~- Z@- ¸2=- H@ - )- ^7@I- ;) ) - :BQA!-}duSmzb? - v)- q"3I- ^7@i- ;) )  checking for new query: numPingsReceived=110, elapsed TxPingTime=50.956955,`2&?A>t@>Lb@>rٱ>p FAHRS rotation from veh to nav: [[-0.620162,0.782205,0.059613],[-0.784167,-0.620252,-0.019225],[0.021937,-0.058669,0.998036]]>H^`?? @ ï v? ?i>t@I>2G^;> CY=&By= I AAM=M=ԙiMb@Mb@Mb@ 9L7A`?Zd;Mb`Y+>y`A@ )QAYA5@A1bD=VD=yM}%M,=ٔ9Q->9Y=Fy:E>Q 505$?Q 905)BY8>Q E;y?Q I@3DI;i;05yɮ AiYi]/&?AJiYRiYji]U ?b]ה>-a0ڿ7j@Ir֫hR]o @-!9hQ?a|Zi]^7@bi];j]f)+@ sY#@R7{Z]IU7?C?w_2i]A:i] \A"i]^d?*i]|rµBi]BiYiYi]ȀBi]\Ai]$?E addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.014788 m, bearing: 35.998118 deg, lat: 36.779328 deg, lon: -121.859612 deg, deltaT: 0.503062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.01 m.hh*h"h hgfffBd d jdZd`5?BBB: IBEBBBBBt;B/EZ8>Z8>Z:0@ZS@r) k>i9)$\6ii@ˢK,.:L&?A``ut@ui@uٱu4oDDAT read: Rx Time:05:01:12.0700 TRx dataTimestamp_ set to:1761541273.252930bEjE<4rE١/E EE(E"E3;*E:VEc44ZEBE?k୿?iut@Iu$G^;u CYByIbD5VD5!yE}%E<=ٔE:Q->9Y=Fy: ;E>Q 505"?Q 905ݼ)BYy?Q I@3DI6,iM9)QUZ_6QiQi]?@m PwV=m @ m :)m 7@Im 亩i m ݺ13:05 ,e&?A2:t@2oo@2vٱ2n :AHRS rotation from veh to nav: [[-0.618908,0.783232,0.059171],[-0.785165,-0.618992,-0.019107],[0.021661,-0.058285,0.998065]]2H` <?K? `ɐ`a.?}׭&?i2:t@I2];2 CYBByFIbDNVDNP)3yVֽ%V=ٔV_9Q-Z?9XYX=ZFyX^";E^!?`Q 5f05b?Q 9f05b)bBYdyf?Q Ij@b3DIb;ib;bT05ylɮnAlDNOT Ignoring new targets: 17.01 m.hh*h "h  h g fffddjdZdrP?Z!Z!Z!Z%S@v)) -)>i59)Y]aiai@&B >B B  IB ,BB =B B B t;B /E.,K&?A&checking for new query: numPingsReceived=113, elapsed TxPingTime=52.191143:t@:s@:%ٱ:6o FAHRS rotation from veh to nav: [[-0.618490,0.783559,0.059212],[-0.785495,-0.618571,-0.019149],[0.021623,-0.058354,0.998062]]:H`?@Q?"@V ś`A$? ୿@?i:t@I:r];:CYNByNIIR=)R;TVAzonly read 2 of 4 data items for water velocity. Device response is::WS,-3276,-32768,V az@az az@az az@az az@az bD~VD~y ֻ% E=ٔC8Q->9Y=FyI:E>!Q 5-05%?Q 9-05%`)%BQ A5+:Y1Q E5o;y5>Q I5@%3DI%a:i%h>%D05yɮAi1i5EJp&?AJi1Ri1ji5?b5`՝T0ſt@PޱhR5VpTuU?a|Zi56@bi1j5c0+@ w#@RZ50@ ? ?>!2i5A:i5\]A"i5#?*i5ŝBi5Bi5#?i53i5Bi5ZAi5D>"? addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.501603 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 17.014839 m, bearing: 35.520535 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 1.006191 s, deltaX: 0.000051 m, approachRate: 0.000051 m/s, posRepo size: 4 %DNOT Ignoring new targets: 17.01 m.h)h)*h)"h) h)Qg)fQfYfYdYdYjdYZde@n?%) >i9))3ii?,&?Aɰ:t@:_t@:RѲٱ:+o< FAHRS rotation from veh to nav: [[-0.618432,0.783597,0.059313],[-0.785535,-0.618527,-0.018964],[0.021827,-0.058320,0.998059]]:H 2`9?:^?`# `5kY?@ܭ ?i:t@I:A];: CY^By^IbDhVDhy%%I=ٔ-UQ-->91Y1=5Fy9E39EE>QQ 5e05U ?Q 9e05U)UBQ Am :YiQ EmA;ym>Q Im@U3DIUMV;iUT?U05yBɮ AEi)i-io&?AJi-ARi-Aji- ?b-g80Nnr@î?R-)qm?QC1ml?Zi-i7@bi-dj-9+@HQ8$@8_%eZ-|D?)yC?o2i-!A:i-^A"i-Y?*i-%Bi-ӀBi-Y?i-%i)i-Ai- ?% addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.502267 s, deltaX: 0.199999 m, approachRate: 0.398192 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.213840 m, bearing: 35.994068 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 0.502267 s, deltaX: 0.199001 m, approachRate: 0.396206 m/s, posRepo size: 4 5DNOT Ignoring new targets: 17.21 m.h1h9*h9"h9 h9g9f9fAfAdAdAjdML1@Uchecking for new query: numPingsReceived=114, elapsed TxPingTime=52.695026ZdM"?ԩRѲ) (>i9)3ii@II@ @@/@^A <I ) IQ O > DDAT read: Rx Time:05:01:13.5701  TRx dataTimestamp_ set to:1761541274.760693 PDAT read: Bearing 195.0, 15.6 (Local)  ~Local bearing/azimuth received: Bearing 195.0, 15.6 (Local) - DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 M DAT read: 05:01:13.5701 LVL= 28144, 25825, 32754, 32755, AGC= 64, IDX= 498, 0.35, 2.559,-2.192, 2.049, 3.037, PHS=-0.376, 1.099,-1.032, RAW= 347.5, 3.3, CAL= 347.0, 0.5, ROT= 163.0, -0.5 U Ygot valid direction response: 05:01:13.5701 LVL= 28144, 25825, 32754, 32755, AGC= 64, IDX= 498, 0.35, 2.559,-2.192, 2.049, 3.037, PHS=-0.376, 1.099,-1.032, RAW= 347.5, 3.3, CAL= 347.0, 0.5, ROT= 163.0, -0.5 Ee  Ee Ee +Ea "Ee 9;*Ee ;:VEe [4ZEa am @am @am @am @u V#Rx 115: Read range and direction messages.} ^direction in FSK: [-0.956268,0.292360,0.008727]} Fpublishing direction and range infoy  #j 1E?B7߁?Y m d ) @I i ?  @ k= &@ 5<) 6@I 5 ;XGe5? ) MslI 6@i 5  checking for new query: numPingsReceived=115, elapsed TxPingTime=52.965549@,Me&?Ajt@jq@j婳ٱjm|  AHRS rotation from veh to nav: [[-0.618697,0.783412,0.058993],[-0.785324,-0.618805,-0.018605],[0.021930,-0.057840,0.998085]]jH\? c4?_! AE t? 4O?ijt@Ijm];hYByIa%)am amam amam amam imMb@Mb@Mb@iiii i9m/$?x&MbYm,>ym7mmAi mhA)m`@iYmzAbDVD:y-]5%-=ٔ5IQ-5>91Y1=5Fy9=+&E=>AIAM?ABQBQBUIBU BBQBQBQBUt;BU/EBBBBBCŶ4Q 505x?Q 905)Q AT:Yc9>Q E;y'Q I@3DI;i;a05yɮAi9i=2&?AJi9Ri9ji=O?b==v0)m!@uP:?R=#j 1E?B7߁?Zi=6@bi=5j={ kE,@>֞#@x)BZ=(~7G?i8ǦZc9>Z(@Z}j@E婳)I M>>iM9)IM4IiQQiu?y}Ia,k&?ADDAT read: Rx Time:05:01:14.0703 TRx dataTimestamp_ set to:1761541275.264728@DAT read: Bearing 195.5,Local) ^unknown deviceResponse_: Bearing 195.5,Local) &DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 6DAT read: 05:01:14.0703 LVL= 30416, 26609, 32754, 32755, AGC= 63, IDX= 500, 0.05,-3.102,-1.574, 2.698,-2.628, PHS=-0.372, 1.099,-1.002, RAW= 347.0, 3.0, CAL= 346.5, 0.0, ROT= 163.5, -0.0 EP ERER,EP"EP*ER:VERg4ZEPBER=bD VDf2yD%E=ٔQ->9Y=FyE>Q 5m05#?Q 9m05)YiyiQ Im@3DIcim9)imd4iiqi@RW)f,&?Amtt@m ^@mٱmRci AHRS rotation from veh to nav: [[-0.620556,0.781952,0.058834],[-0.783828,-0.620733,-0.017433],[0.022888,-0.056934,0.998116]]mH?o?@ ڑo?@k&?imtt@Imb];iYفByIDDAT read: Rx Time:05:01:14.5702 TRx dataTimestamp_ set to:1761541275.768696PDAT read: Bearing 196.3, 15.3 (Local) ~Local bearing/azimuth received: Bearing 196.3, 15.3 (Local) DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 DAT read: 05:01:14.5702 LVL= 27760, 23633, 32754, 32755, AGC= 64, IDX= 500,-0.19, 0.259, 1.826,-0.249, 0.716, PHS=-0.355, 1.155,-1.009, RAW= 347.1, 2.2, CAL= 346.7, -0.8, ROT= 163.3, 0.8 Ygot valid direction response: 05:01:14.5702 LVL= 27760, 23633, 32754, 32755, AGC= 64, IDX= 500,-0.19, 0.259, 1.826,-0.249, 0.716, PHS=-0.355, 1.155,-1.009, RAW= 347.1, 2.2, CAL= 346.7, -0.8, ROT= 163.3, 0.8 E EEE"E<;*E:VEZEa @a @a @a @V#Rx 117: Read range and direction messages.`direction in FSK: [-0.957729,0.287332,-0.013962]%Fpublishing direction and range infoyu3撷Χc?4Y3AplQ\ )@Iµi ד?&r@nF=B@ d)ih6@Id<*ݜ忠kLLpc)? =i)z^Iih6@id<Echecking for new query: numPingsReceived=117, elapsed TxPingTime=53.974777iMb@Mb@Mb@ 9Fx?J +{GztYK>yHף@ )@YAbDVD1yP%A=ٔQ-u>9yYy=}Fyy}FE}>Q 515%?Q 915b)YQ>Q E;yQ I@3DI'ZQ>ZV@Z8s@) >i9)4ii?voi> 9@  @ @ /@ BI Q BI BM IBM BBI BI BI BM Uu;BM /E] checking for new query: numPingsReceived=117, elapsed TxPingTime=54.207134ԉ ^A] oE<Ii Iy O >,'?A2Ct@2sY@2üٱ2Ŗj :AHRS rotation from veh to nav: [[-0.620993,0.781581,0.059148],[-0.783477,-0.621173,-0.017529],[0.023041,-0.057226,0.998095]]2H- ?H?> `?`Le?i2Ct@I2<];2CYBځByBI HJbDNVDNyV;%Vs=ٔV%Q-Z?9XYX=ZFy\^E^ ?`Q 5f15b?Q 9f15bp)b§BYdyjQ Ij@b3DIb<;ib7;b15ylɮnAlEDNOT Ignoring new targets: 17.31 m.hAhA*hI"hI hIgififqfqdqdyjdyZd}?ZZZZP/s@ü) s>iG9)4ii@LM`direction in FSK: [-0.954755,0.297373,-0.003491]MFpublishing direction and range infoynHZ.F)?QC1mlY̌A`mf Q)BIi?5?!?@+H= @ d)ּ5@Id;`JV~z忹ԪE翾&R\? )JIּ5@id;mchecking for new query: numPingsReceived=118, elapsed TxPingTime=54.489071ԁԩ 5 checking for new query: numPingsReceived=118, elapsed TxPingTime=54.710960 ,^!'?A2;t@2O@2%ٱ20k :AHRS rotation from veh to nav: [[-0.621898,0.780838,0.059459],[-0.782749,-0.622094,-0.017417],[0.023389,-0.057372,0.998079]]2H`?Xq?`G 1 ՑU?_C?i2;t@I2]];2 CYnBynIIr<)ptvAbDz VDz2y-=%-C=ٔ-/ZQ-5>91Y1=5Fy1=5E=>AQ 5M15E ?Q 9M15E)AYIyMQ IU@E3DIE|:iER:E1 15yYɮ]vAYiiOv'?AJiARiAji?b|Q0%l@_B]LRnHZ.F)?QC1mlZiּ5@bid;jv ,@Q#@SZ!l?^.?2iA:i_gA"i?*iBibBi8?ibii7Ai? addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504150 s, deltaX: 0.200001 m, approachRate: 0.396709 m/s, rangeRepo size: 4  Added new target pos. range: 17.512344 m, bearing: 34.257826 deg, lat: 36.779330 deg, lon: -121.859617 deg, deltaT: 0.504150 s, deltaX: 0.199005 m, approachRate: 0.394734 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.51 m.hh*h"h hgfffddjd1@Zd?ZZZZ=s@ %)  1>i 9)4qiqi}?y}27@k=@ +<)K6@I+Yo忮O׼rӮ(n­? P)S7nIK6@i+m checking for new query: numPingsReceived=119, elapsed TxPingTime=55.022358 6,Ԟ;'?A$ɰ&p;Rt@RD@R¼ٱROEk bAHRS rotation from veh to nav: [[-0.622975,0.779962,0.059677],[-0.781881,-0.623190,-0.017225],[0.023756,-0.057391,0.998069]]RHh s? ?+ +j``S?fb.?iRt@IR];RCYr؁ByvIBBBIBBBBBBu;B/EiMb@Mb@Mb@ 9Zd;O?yt`;A@ )v@YzAbDVDyVD% ==ٔ ^Q- >9Y=FyQE>Q 5%15뗊?Q 9-153)ŧBY-@>Q E-;y-Q I-@3DI ;i? ; 15y=Bɮ=A9ii1'?AJiRiji?bv30q>@9F+y?RДY(2=?/;r?ZiK6@bi+jQq7,@^:s#@4z.Zz8Q?u=.?nܢ2i3A:iofA"i?*i|BiՀBiiiiΌAi? addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.507360 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.512327 m, bearing: 34.639693 deg, lat: 36.779330 deg, lon: -121.859617 deg, deltaT: 0.507360 s, deltaX: -0.000017 m, approachRate: -0.000034 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.51 m.hh*h"hchecking for new query: numPingsReceived=119, elapsed TxPingTime=55.214844 h)g)f)f1f5MBd1d1jd9Zd=Lk?Z}@>Z}@>Z}@Z}Nv@¼) >>i19)页4ii@ DDAT read: Rx Time:05:01:16.0705  TRx dataTimestamp_ set to:1761541277.283586 PDAT read: Bearing 195.4, 15.0 (Local)  ~Local bearing/azimuth received: Bearing 195.4, 15.0 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 E  E E +E "E 1;*E VE [4ZE BE [9Y=FyOE>Q 5%15痊?Q 9%15|)ȧBY!y%Q I%@3DI(:iw:}15y)ɮ5gAQiiF&R'?AJi|ARi|Aji?bOK1?:W@ (XԟR/]m#Zp?n p\Zi6@bi:j}be-@(cw$@d 8ZZZv(?^]b?^fqi2i#A:ihA"iD鱜?*iSBijBiD鱜?ibijBiʍAiOY? addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503380 s, deltaX: 0.299999 m, approachRate: 0.595970 m/s, rangeRepo size: 4 Q Added new target pos. range: 17.810831 m, bearing: 35.101808 deg, lat: 36.779331 deg, lon: -121.859617 deg, deltaT: 0.503380 s, deltaX: 0.298504 m, approachRate: 0.592999 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.81 m.hh*h"h hgfffddjd`f1@Zd1"?Z1Z1Z1Z5o:v@m:ļ)i m>im9)im5qiqiu?y}XɀI, Yo'?A@EXct@E~,@EoǼٱEokiYI]AeDDAT read: Rx Time:05:01:16.5704 eTRx dataTimestamp_ set to:1761541277.785055uPDAT read: Bearing 195.4, 15.0 (Local) u~Local bearing/azimuth received: Bearing 195.4, 15.0 (Local) DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.2 DAT read: 05:01:16.5704 LVL= 26528, 23697, 32754, 32755, AGC= 65, IDX= 502,-0.30,-0.716, 0.850,-1.207,-0.232, PHS=-0.382, 1.127,-1.019, RAW= 346.8, 2.9, CAL= 346.3, -0.1, ROT= 163.7, 0.1 E EE)E"E4;*E:VEFA4ZEa@a@a@a@Ygot valid direction response: 05:01:16.5704 LVL= 26528, 23697, 32754, 32755, AGC= 65, IDX= 502,-0.30,-0.716, 0.850,-1.207,-0.232, PHS=-0.382, 1.127,-1.019, RAW= 346.8, 2.9, CAL= 346.3, -0.1, ROT= 163.7, 0.1 R#Rx 1: Read range and direction messages.u`direction in FSK: [-0.959804,0.280666,-0.001745]uFpublishing direction and range infoyae/]m#Zp?n p\YeAaege\a a)aIeþieA?enaaa a)aIaaaecS oKT읗? e)eOIaia AHRS rotation from veh to nav: [[-0.625264,0.778101,0.060024],[-0.780033,-0.625508,-0.016968],[0.024343,-0.057430,0.998053]]EH*4?@v?`@)`@?g@ ?iEXct@IE^;AYByIaa2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. ==ԩiuMb@Mb@Mb@qqqq q9uGz? rhy&1?Yup=>yuC u`e9Y=Fyc]E>Q 515$ᗊ?Q 915)ͧBY%A>Q E;y%Q I@3DI;it;15y ɮ %A iaieW>r'?AJieARieAjief?beդf02ڸ@yRe/]m#Zp?n p\Ziabiaje9բ,@CG<0$@C%;Zeq0?< mz=W?8h2ie!A:iefA"ieצŸ?*ieɕBietBie?ieɕiaieAiep? addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.501469 s, deltaX: -0.199999 m, approachRate: -0.398826 m/s, rangeRepo size: 4 % Added new target pos. range: 17.611830 m, bearing: 35.004241 deg, lat: 36.779330 deg, lon: -121.859617 deg, deltaT: 0.501469 s, deltaX: -0.199001 m, approachRate: -0.396837 m/s, posRepo size: 4 -DNOT Ignoring new targets: 17.61 m.h)h)*h)"h) h1g1fYfafe^Bdadijdm@31@Zdm@]?Z%A>Z%A>Z>@Zv@5oǼ)1 5>>iU9)QU#5QiQi]@Y]E k,ҋ'?A 9Ot@ n"@ ~ȼٱ k uAHRS rotation from veh to nav: [[-0.626219,0.777324,0.060138],[-0.779261,-0.626470,-0.016926],[0.024518,-0.057463,0.998047]] H ?pʮ? U*?k@?i 9Ot@I i];  CYByIbDVDJy%:=%]c=ٔ]Q-]>9aYa=eFyamu[Em>qQ 5u15uܗ?Q 9}15uF)uѧBYyy}9Q I}@u3DIud:iu:u15yɮ ADNOT Ignoring new targets: 17.61 m.hh*h"h hgfffddjdZdmn?ZZZZv@~ȼ) >i9)  245 i i?H[ 2Acoustic response timeout,'?A2>AHRS rotation from veh to nav: [[-0.627121,0.776601,0.060082],[-0.778534,-0.627375,-0.016895],[0.024574,-0.057371,0.998050]]2H`_`?î? sL )? _?i2>ia9)H5ii@PKԩ Be >Ba Be IBe BBa Ba Ba Be u;Be /E} PExceeded connect timeout, disconnecting.--,'?A06u(t@6 @6ɼٱ6j >AHRS rotation from veh to nav: [[-0.628060,0.775849,0.060002],[-0.777775,-0.628317,-0.016839],[0.024636,-0.057244,0.998056]]6H`@??@,9>2:?O?i6u(t@I6];4YByII =) 4<  A2Acoustic response timeoutiMb@Mb@Mb@ 9+?S㥫~jt?Y>y/]<IA@ QA)QAYQAbDVDy6=%6=ٔ}Q->9Y=Fy0E>Q 515fӗ?Q 9 15o)ܧBY *>Q E ;y $Q I @4DI:i:15yYɮ]A AYii'?AJiRiji _?b 01ӂ\@=O4?RVpTuU?a|?Zi6@bij9į]h-@fZ]*>Z]e@Z] =m@ԑɼ) \>i9)顝Z5ii?>t<g,M'?AɰBt@B @B\ȼٱB2k JAHRS rotation from veh to nav: [[-0.628627,0.775388,0.060022],[-0.777320,-0.628874,-0.017046],[0.024530,-0.057372,0.998051]]BH?@?ht`F?_ ?iBt@IB];BCYfByf IlbDVDk1yeϺ=%eU=ٔe9Q-m>9qYq=}FyyLE>Q 515Η?Q 915U)BYy$Q I@4DIiv9 )AMLo5IiIi]@Y]63} DDAT read: Rx Time:05:01:18.5708  TRx dataTimestamp_ set to:1761541279.804016 PDAT read: Bearing 194.8, 14.8 (Local)  ~Local bearing/azimuth received: Bearing 194.8, 14.8 (Local) E  E E (E "E /;*E :VE c44ZE a @a @a @a @ DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0  DAT read: 05:01:18.5708 LVL= 29216, 23153, 32754, 32755, AGC= 65, IDX= 505,-0.05,-0.639, 0.927,-1.117,-0.147, PHS=-0.390, 1.118,-1.014, RAW= 346.5, 3.0, CAL= 346.1, 0.1, ROT= 163.9, -0.1  Ygot valid direction response: 05:01:18.5708 LVL= 29216, 23153, 32754, 32755, AGC= 65, IDX= 505,-0.05,-0.639, 0.927,-1.117,-0.147, PHS=-0.390, 1.118,-1.014, RAW= 346.5, 3.0, CAL= 346.1, 0.1, ROT= 163.9, -0.1  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.960778,0.277314,0.001745] Fpublishing direction and range infoyy } 9Kǰ@T?n p\?Yy y } r} qZy y )} AIy i} ?} ʁ,C'?A@PwV=xL@ :)7@I亩&qi1 ȹ ;? F)YI7@i亩62Acoustic response timeout:Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Dut@u@u3Ǽٱu l AHRS rotation from veh to nav: [[-0.628946,0.775110,0.060253],[-0.777066,-0.629178,-0.017438],[0.024394,-0.057788,0.998031]]uHT @?}ٮ?9" ;ۑ?f@?iut@IuR];uCY By IiuMb@Mb@Mb@qqqq q9u/$?{GzS㥛?Yu1>yuףu/9YYY=eFyaeHNEe>Q 515ȗ?Q 915)BYQ!>Q E;yN2Q I@ 4DI:i:'15yɮE Aiiu'?AJiRiji[ ?bc/ M~1'@2@}E?R9Kǰ@T?n p\?Zi7@bijH--@eUfp$@(Z57?4tN?X5AP2i&A:inA"i?*iBiBi?iiiAi~?BM>BIBMIBMBBM =BIBIBMt;BM/EB B ōenManaging dock network, ignoring radio surface power offB B =B =C b4 addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.506558 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.208858 m, bearing: 34.923670 deg, lat: 36.779331 deg, lon: -121.859617 deg, deltaT: 0.506558 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.21 m.hh*h"h hgfffBddjdZdI?Z=Q!>Z=Q!>Z=@Z=z_@U3Ǽ)Q U>>iU.9)QU{5YiYi}?Q/ 5 EG^A} x/<I  1 I ] b9Y Y] AO} >j,(?Ay.[h?.SAV`t@V@VpżٱV2n bAHRS rotation from veh to nav: [[-0.629068,0.775007,0.060311],[-0.776977,-0.629276,-0.017875],[0.024099,-0.058104,0.998020]]VHS!??@#Me?ؿ?iV`t@IV];V CYj0Byj IbDrVDrk1yzھ=%zu=ٔ~Ig:Q-~?9Y=FyyE? Q 515 ė?Q 915%DDAT read: Rx Time:05:01:19.0708 -TRx dataTimestamp_ set to:1761541280.3048605PDAT read: Bearing 195.1, 14.5 (Local) =~Local bearing/azimuth received: Bearing 195.1, 14.5 (Local) MDAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2 mDAT read: 05:01:19.0708 LVL= 29712, 25441, 32754, 32755, AGC= 65, IDX= 506,-0.18,-1.556, 0.020,-2.024,-1.063, PHS=-0.391, 1.128,-1.005, RAW= 346.2, 2.8, CAL= 345.8, -0.1, ROT= 164.2, 0.1 E EE,E"Eg5;*Ed:VEg4ZEBEa2EaJE)i9)顭5ii@r-- ,6*(?A2t@2O@2Ҁüٱ2m >AHRS rotation from veh to nav: [[-0.629280,0.774850,0.060118],[-0.776812,-0.629474,-0.018042],[0.023863,-0.058054,0.998028]]2H#@?Ǯ?`@$y@o?K?i2t@I2w];2CYF7ByF) IbDRVDRyZ\=%ZQ=ٔZo:Q-Z>9\Y\=^Fy\b3Eb>dQ 5j15fÿ?Q 9r15f)fBYtyvS2Q Iz@f4DIf;ifL;f9.15yɮ ADNOT Ignoring new targets: 18.21 m.hh*h"h hgfffddjdZd s?QZZZZ[_@ҀüuDDAT read: Rx Time:05:01:19.5708 }TRx dataTimestamp_ set to:1761541280.813136PDAT read: Bearing 195.4, 15.2 (Local) DzD?AE EE)E"E/;*EVEFA4ZEa@a@a@a@~Local bearing/azimuth received: Bearing 195.4, 15.2 (Local) )! -x>i-9)1=59i9i?)B1 B5 ! IB5 1BB1 B1 B1 B5 t;B5 q/E^A9 II IY Om > 2Acoustic response timeout,D(?A@B t@B@BTٱB9iYi=mFyim>Em>qQ 5}15u?Q 915u*)uBY_>Q E;yEQ I@u4DIu;iu;u115yɮ Aiil 4(?AJiRiji?b VK w1 GM@VĿR/nf!!?B7߁Zi36@bi5<jMHM-@W8$@[Z\FNSN?/'?{DT2iL%A:ioA"iF𧜊?*imBiBij v?iiBiAiO?} addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.508276 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.208874 m, bearing: 34.611725 deg, lat: 36.779330 deg, lon: -121.859616 deg, deltaT: 0.508276 s, deltaX: 0.000019 m, approachRate: 0.000038 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.21 m.hh*h"h hgfffԁBddjdZdI?Z_>Z_>ZD@Z(YL@T) u>i9)%!i!i%@)-%eB@ e;)eih6@Ieaaeyw&@1j3,C? eoj)e:bIeih6@ieaau 2Acoustic response timeout} Querying Benthos address 50 with 120 pings in terminal homing one-way mode. @,h^(?A6 t@6@6ٱ6@j >AHRS rotation from veh to nav: [[-0.629447,0.774801,0.058985],[-0.776701,-0.629608,-0.018157],[0.023069,-0.057243,0.998094]]6Hm$,?P3? %`?@N@b?i6 t@I6~7];6 CYbGByb= IfAdbDjlVDj1yv#%vR=ٔvѐ:Q-z>9xYx=zFyx~a9E~>Q 5 15?Q 9 15>Q = tI)BY yEQ I@4DI:iv:Y515yɮ AiiT(?AJiARiAjiI)?bSJ1;]i@m?RdX_[ d?sNru?Ziih6@bij3.@fh%@nZ[Nm?/>e?H0o92i{(A:i-wA"i˜?*ir]FBiBi?iii=Ai?m addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.499602 s, deltaX: 0.500000 m, approachRate: 1.000797 m/s, rangeRepo size: 4 } Added new target pos. range: 18.706383 m, bearing: 34.279275 deg, lat: 36.779331 deg, lon: -121.859616 deg, deltaT: 0.499602 s, deltaX: 0.497509 m, approachRate: 0.995811 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.71 m.hh*h"h hgfffddjd2@Zd@W[?ZZZZ`[L@) Hf>i9)=\3ii?' DDAT read: Rx Time:05:01:20.5709  TRx dataTimestamp_ set to:1761541281.820785 PDAT read: Bearing 195.4, 15.0 (Local) D D =E  E E )E "E U,;*E :VE FA4ZE a @a @a @a @ ~Local bearing/azimuth received: Bearing 195.4, 15.0 (Local) % DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 M DAT read: 05:01:20.5709 LVL= 30416, 21489, 32754, 32755, AGC= 67, IDX= 508,-0.03,-0.042, 1.536,-0.537, 0.431, PHS=-0.371, 1.150,-1.012, RAW= 346.8, 2.5, CAL= 346.3, -0.5, ROT= 163.7, 0.5 U Ygot valid direction response: 05:01:20.5709 LVL= 30416, 21489, 32754, 32755, AGC= 67, IDX= 508,-0.03,-0.042, 1.536,-0.537, 0.431, PHS=-0.371, 1.150,-1.012, RAW= 346.8, 2.5, CAL= 346.3, -0.5, ROT= 163.7, 0.5 U R#Rx 1: Read range and direction messages.a e `direction in FSK: [-0.959769,0.280656,-0.008727]e Fpublishing direction and range infoy  zl RE?B7߁Y ̔A v S ) CI i 33? 7 @ ¸2= i@ 5) 6@I 5< Gbʉ9d@K翰n? .) S/I 6@i 5<  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.j,cEx(?AJt@J@JVٱJ3i AHRS rotation from veh to nav: [[-0.629271,0.774982,0.058488],[-0.776854,-0.629417,-0.018198],[0.022710,-0.056888,0.998122]]JH "?1?/$gA? | ?iJt@IJJL];JCYLByC IAimMb@Mb@Mb@iiii i9m~jt?S㥛I +?Ym=ym$m99iYi=mFyim9Eu>qQ 5}15u?Q 9}15u$)uBY'>Q E;yF@Q I@u!4DIuP ;iu ;u915yBɮ AEiit(?AJiARiAji .?b_I1 @|7ĿRzl RE?B7߁Zi6@bi5<jz!c.@I%@kJhZR3E?J"%6?xީO˧2i(A:isA"i?*iKxBiBi?ihiBiԓAi? addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.508047 s, deltaX: -0.199999 m, approachRate: -0.393662 m/s, rangeRepo size: 4  Added new target pos. range: 18.507418 m, bearing: 34.731055 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.508047 s, deltaX: -0.198965 m, approachRate: -0.391627 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.51 m.hh*h"h hgfffցBdd jd 2@Zd ^?Z5'>Z5'>Z5@Z5F@EV)A Ek>iM9)IM3IiIiU@QU*Թ ZZ$,A(?A2t@2@2`Hٱ2@h :AHRS rotation from veh to nav: [[-0.628988,0.775235,0.058179],[-0.777093,-0.629118,-0.018355],[0.022372,-0.056755,0.998137]]2H @?ɭ?!@˒? ?i2t@I22B];2CYBUByFN IbDNVDN0yVx=%V=ٔV:Q-Z?9XYX=ZFyX^C:E^?`Q 5f15bת?Q 9f15b)bBYdyfF@Q Ij@b$4DIb;ib;bZ<15ylɮn} AlDDAT read: Rx Time:05:01:21.0711 TRx dataTimestamp_ set to:1761541282.320812%PDAT read: Bearing 194.4, 15.0 (Local) -~Local bearing/azimuth received: Bearing 194.4, 15.0 (Local) =DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 ]DAT read: 05:01:21.0711 LVL= 28432, 25441, 32754, 32755, AGC= 67, IDX= 510,-0.40, 1.784,-2.932, 1.293, 2.277, PHS=-0.391, 1.119,-1.028, RAW= 346.8, 3.2, CAL= 346.3, 0.3, ROT= 163.7, -0.3 Eu EuEqEq"Eug5;*Eu :VEqZEqBEu}i`9)j44iiE?AM0 {*,(?A~$t@~6 @~?᳼ٱ~4i UAHRS rotation from veh to nav: [[-0.628273,0.775825,0.058040],[-0.777683,-0.628378,-0.018709],[0.021956,-0.056891,0.998139]]~H@?a?^({? @?i~$t@I~R];~ CYWByP I =p=bDVDNy <%6=ٔr:Q-%>9!Y!=%Fy!-`;E->1Q 5155ä?Q 9155)5BYy-F@Q I@5(4DI5[i}9)顅v4ii@m=5@I]YY]kBs/ܯSŒت? ])].VI]>5@i]YY2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9@ @@/@I B B B S IB YBB B B B t;B /E^A x/<I I! O- > 2Acoustic response timeoutmd1,(?A2M2t@2@2tNٱ2=i :AHRS rotation from veh to nav: [[-0.627637,0.776358,0.057788],[-0.778208,-0.627719,-0.019005],[0.021520,-0.056900,0.998148]]2H?m?` Ev_ ?!?i2M2t@I2=];0YNcByN_ IiuMb@Mb@Mb@qqqq q9uK?/$ÿ rh?Yu^=yuuC9Y=FyU ;E>Q 515 ?Q 915)"BY7>Q E;y@@Q I@-4DIh;i7:C15yɮ Aii(?AJiRiji?b61HF0/?`@Rq_ #A~t{#?Zi>5@bijdD/@)3$@+bzZg314?`}?92i&A:ixA"ih?*i^BiBi ?iiBiWAi? addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.508352 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 18.706451 m, bearing: 33.729732 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.508352 s, deltaX: 0.000031 m, approachRate: 0.000060 m/s, posRepo size: 4 5DNOT Ignoring new targets: 18.71 m.h1h1*h1"h9 h9g9f9fAfEBdAdAjdAZdMv?Z7>Z7>Zp@Z@@tN) L>i*9)4ii ?  &WH@ E)E07@IE;AAEmZmbƜ I/;A? EJ")Eы5IE07@iE;AA2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^AM *:<IQ Ii Ou >ԩ C7,(?A6u@t@6 @6Rٱ656i >AHRS rotation from veh to nav: [[-0.626971,0.776918,0.057495],[-0.778758,-0.627026,-0.019329],[0.021034,-0.056893,0.998159]]<6H%?o?ʓ? !`?i6u@t@I66];4Y^ZBy^T IbDhVDhynC%rW=ٔrէ:Q-r>9tYt=vFytv$;Ez>xQ 5~15zr?Q 915z)z'BYy@@Q I@z14DIz;iz;zF15y ɮX Aiqiu| (?AJiqRiqjiuD?bu2T(:1 џ@+7cRRuB v@7?a|Ziu07@biu;juQ,T.@- %@ߺTZu, ?Uwm?O42iu\,A:iuZtA"iu@we?*iu&BiuBiqiuKxiqiuĕAiuБ?e addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.499601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 18.706451 m, bearing: 35.198414 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.499601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 18.71 m.hyhy*hy"hy hygyfffddjdZdӺ?ZZZZ9@@R) ::>i9) 4ii@HS iQ IQ u DDAT read: Rx Time:05:01:22.5711 } TRx dataTimestamp_ set to:1761541283.837654 PDAT read: Bearing 194.9, 15.9 (Local) E  E E +E "E 3;*E g:VE [4ZE a @a @a @a @ ~Local bearing/azimuth received: Bearing 194.9, 15.9 (Local)  DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.3  DAT read: 05:01:22.5711 LVL= 27360, 24609, 32754, 32755, AGC= 64, IDX= 509, 0.43,-0.151, 1.378,-0.666, 0.308, PHS=-0.358, 1.115,-1.018, RAW= 347.6, 2.8, CAL= 347.1, -0.2, ROT= 162.9, 0.2  Ygot valid direction response: 05:01:22.5711 LVL= 27360, 24609, 32754, 32755, AGC= 64, IDX= 509, 0.43,-0.151, 1.378,-0.666, 0.308, PHS=-0.358, 1.115,-1.018, RAW= 347.6, 2.8, CAL= 347.1, -0.2, ROT= 162.9, 0.2  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.955787,0.294039,-0.003491] Fpublishing direction and range infoyq u Ε;f"?QC1mlYq q u ju !`q q )q Iu Kiu R?u Mu "@u +H=u r@ u d)u 5@Iu d;q q u q!m6,;? u s)u xGIu 5@iu d;q q  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.=,(?ABQt@B#@B驼ٱB:4j JAHRS rotation from veh to nav: [[-0.626159,0.777571,0.057519],[-0.779419,-0.626194,-0.019649],[0.020740,-0.057135,0.998151]]BH ?1s? @9Y=FyZ ;E>Q 515}?Q 915c).BYF>Q E;y:F@Q I@74DIP:in:IK15yɮs A ii (?AJiRijiԔ?b*1l@b~XRΕ;f"?QC1mlZi5@bid;jڟ6a.@;`&$@$UZD3{ v?aT?H爤2i'A:iwA"iy?*ihBiրBi?iiրBiAi*? addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.508889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.706438 m, bearing: 34.149485 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.508889 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.71 m.hh*h"h hgfffBddjdZd8F?ZEF>ZEF>ZE@ZE:F@U驼)Q ]k>i]19)Y]4YiYi?OaD,e)?Aɰ4<2#]t@2c)@2ȣٱ2i :AHRS rotation from veh to nav: [[-0.625614,0.778027,0.057283],[-0.779864,-0.625637,-0.019763],[0.020462,-0.057037,0.998162]]2H?6T?`7< ? 3 ?i2#]t@I2{J];0YFRByFJ IbDNVDNP)yVg%V=ٔZk:Q-Z?9XYX=ZFyX^F;E^?`Q 5f15b?Q 9f15bR)b3BYdyjEF@Q Ij@b;4DIb:ib:bM15ynBɮnw AnE*DAT read: user:286>  DAT read: 120   BDAT read: Tx time:05:01:23.5278 $Ping request sent.b>ie.9)ae4aiaim@imjchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248967 OJ,(F-)?AJnt@JL2@J8ٱJ2i ZAHRS rotation from veh to nav: [[-0.624771,0.778722,0.057033],[-0.780551,-0.624772,-0.020017],[0.020045,-0.057024,0.998172]]JHJ?{3?@E! m@?62?iJnt@IJ#];JCYfHByf> IbDrVDr1yz3%zF=ٔzy:Q-z>9|Y|=~Fy|d,;E> Q 515 ҅?Q 915 ;) 9BYyXF@Q I@ @4DI q ;i ~ ; Q15y!ɮ% A!MDNOT Ignoring new targets: 18.71 m.hIhQ*hQ"hQ hQgQfQfYfYdYdajdaZde`AE?ZZZZXF@ԙ8) O>iX9)顥44ii?`yBm >Bi Bm Z IBm ^BBi Bi Bi Bm u;Bm /EB5CB5CB1B1B1C5l4  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752909Q,G)?A2wt@26@2'ٱ2Xuh :AHRS rotation from veh to nav: [[-0.624358,0.779082,0.056643],[-0.780887,-0.624352,-0.019988],[0.019793,-0.056711,0.998194]]2H`9Y=Fy:E>Q 515S?Q 915)=BYb;>Q E;yE@Q I@E4DI ;i ;LU15yɮE ADNOT Ignoring new targets: 18.71 m.hh*h"h hgfffBddjdZd n?Z-b;>Z-b;>Z-Z@Z-E@=')A Eu>iE9)AE5AiAiM@IMp6Qy W,`)?A2t@2,;@2Ӳٱ2~g :AHRS rotation from veh to nav: [[-0.623930,0.779445,0.056360],[-0.781234,-0.623920,-0.019948],[0.019615,-0.056477,0.998211]]2H=`6?`0۬?&@^m?ꬿX?i2t@I2>];2CYF9XYX=ZFyX^:E^>`Q 5f15by?Q 9f15b)b@BYdyfE@Q Ij@bI4DIb:ib:bX15ylɮn# AlDNOT Ignoring new targets: 18.71 m.h h *h "h  h g f ffddjdZd&i?ZZZZE@Ӳ) ,~>i89)R5ii?VRԩ= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797E  E E $E "E 2;*E -:VE 4ZE a @a @a @a @ ^,vz)?AN t@NV>@N/ٱNf ^AHRS rotation from veh to nav: [[-0.623628,0.779693,0.056271],[-0.781474,-0.623625,-0.019773],[0.019675,-0.056305,0.998220]]NH??@Ϭ?j? %?@ Ԭ`j?iN t@IN7];NCYn:Byr, IimMb@Mb@Mb@iiii i9mS㥻?DlMbp?Ym/=ymO m;mAm@ i)m@iYmAbDVDy=%6=ٔ Q->9Y=Fya:E > Q 515 r?Q 915 ) CBY}3>Q E;y{H@Q I@ N4DI j:i : \15y)ɮ-8 A)UDNOT Ignoring new targets: 18.71 m.hQhQ*hQ"hQ hQgYfYfYfeBdadajdaZdm.L@Z}3>Z}3>Z @Z{H@/ԡ) >i 9)顭05ii@! &d,֭)?A6t@6XE@6xٱ6/g BAHRS rotation from veh to nav: [[-0.622960,0.780224,0.056308],[-0.782008,-0.622952,-0.019853],[0.019587,-0.056401,0.998216]]6H@J?kԬ?68jT?ିb?i6t@I64l];6CYJ3ByJ$ IbDRVDR:yZ%Zb=ٔ^~9Q-^>9`Y`=bFy`b;Ef>dQ 5j15fm?Q 9j15f)fFBYlrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013058ynH@Q Iv@fR4DIfi;ifj;f_15yzBɮzK AxDNOT Ignoring new targets: 18.71 m.h!h!*h!"h! h!g!f!f)f)d)d)jd1Zd5l1@ZQZQZQZUH@ex)i m,s>im?9)im>5iiiiu?q}kڋi>E EE)E"EU,;*E:VEFA4ZEBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264943i k,)?A :t@:H@:aɠٱ: g FAHRS rotation from veh to nav: [[-0.622648,0.780473,0.056314],[-0.782256,-0.622643,-0.019779],[0.019626,-0.056367,0.998217]]:H?` լ?=@A? 'ܬ@e?i:t@I:`];: CYN*ByN IbDZVDZNyzF'%~F=ٔ~ĸQ-~>9Y=Fy A}:E >Q 515g?Q 915)IBYyH@Q I@W4DI+;iH;@c15y)ɮ- A)UDNOT Ignoring new targets: 18.71 m.hQhQ*hY"hY hYgYfYfafadadajdaZdm{@ZZZZ%H@aɠ) a>i9)顥 M5ii@A A AAB B B 4 IB @BB B B B u;B /E  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.772937^r,e)?A2t@2I@2졼ٱ2]f :AHRS rotation from veh to nav: [[-0.622550,0.780554,0.056272],[-0.782330,-0.622556,-0.019561],[0.019765,-0.056201,0.998224]]2H L?Ϭ?,=?@`Ƭ s?i2t@I2 9];2 CLY^Byb IiMb@Mb@Mb@ 9V-?q= ףpMb`?Y=y뽙;`A )YAAbDVDk1y`%==ٔ粒Q->9Y=Fy 9E>Q 515a?Q 9151)KBYF'>Q E;yAQ I@\4DI ;i ;g15y ɮ  A iaieI)?AJie՘ARie՘AjieSܿZe6.s:T?Jx?k{2ie3A:ievA"ieAv?*ie+bBie8Biey?ietieBieAie? addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 3.026235 s, deltaX: 0.400002 m, approachRate: 0.132178 m/s, rangeRepo size: 4  Added new target pos. range: 19.104465 m, bearing: 36.074971 deg, lat: 36.779330 deg, lon: -121.859614 deg, deltaT: 3.026235 s, deltaX: 0.398027 m, approachRate: 0.131526 m/s, posRepo size: 4  DNOT Ignoring new targets: 19.10 m.h h)*h)"h1 h1g1f1f9f=Bd9d9jd=@333@ZdE%?ZF'>ZF'>ZV@ZĝP@졼) >i9)^5ii%?!%b2*x,>)?A6žt@62J@6ٱ6f >AHRS rotation from veh to nav: [[-0.622492,0.780595,0.056346],[-0.782371,-0.622512,-0.019348],[0.019973,-0.056128,0.998224]]6Ht@? j٬?/ `@ϓs?@s?i6žt@I6E];6CYJByJIbDRVDRNyZ2h%Z_=ٔZQ-^>9\Y\=^Fy`bJ9Eb>dQ 5j15f\?Q 9j15f`)fMBYhyjAQ In@f_4DIf:if:f;j15ypɮrG Ap|B*** querying acoustic contact ***i  i  addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.505079 s, deltaX: 0.199999 m, approachRate: 0.395975 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 19.10 m.h!h!*h!"h! h!g)f)f)f)d1d1jd5`ff3@Zd5bF?ZQZQZQZUP@m)i mj>im{9)quk5qiqi}@y}ݎQ] DDAT read: Rx Time:05:01:26.6827 ԁ  TRx dataTimestamp_ set to:1761541287.874534 PDAT read: Bearing 193.7, 14.1 (Local) E  E E E "E );*E :VE ZE a @a @a @a @% ~Local bearing/azimuth received: Bearing 193.7, 14.1 (Local) X~,+)?A^DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.1 =DAT read: 05:01:26.6827 LVL= 26960, 23313, 32754, 32755, AGC= 67, IDX= 500,-0.12, 0.586, 2.170, 0.138, 1.104, PHS=-0.416, 1.111,-1.010, RAW= 345.8, 3.4, CAL= 345.3, 0.6, ROT= 164.7, -0.6 EYgot valid direction response: 05:01:26.6827 LVL= 26960, 23313, 32754, 32755, AGC= 67, IDX= 500,-0.12, 0.586, 2.170, 0.138, 1.104, PHS=-0.416, 1.111,-1.010, RAW= 345.8, 3.4, CAL= 345.3, 0.6, ROT= 164.7, -0.6 ER#Rx 4: Read range and direction messages.M^direction in FSK: [-0.964505,0.263859,0.010472]QYU By]IFpublishing direction and range infoy?80?/;r?YAPi[ )CIԾi?5?G!@s=@ +<)7@I+2vJ^O: ? q))mpI7@i+checking for new query: numPingsReceived=4, elapsed TxPingTime=3.659628BBB IB'BBBBB)v;B:0EiMb@Mb@Mb@ 9X9v?+η{Gzt?Y=yvף;A@ QA)YQA p<p;bDVDy=/%]=ٔeQ-e>9aYi=mFyimEm>qԁQ 515uV?Q 915u)uPBY>Q E;y8Q I@ue4DIuZE>ZEKx@ZEzY@q)y }\>i}9)y}5yiyi?,*?ADDAT read: Rx Time:05:01:27.1828 TRx dataTimestamp_ set to:1761541288.374385PDAT read: Bearing 193.9, 14.7 (Local) "~Local bearing/azimuth received: Bearing 193.9, 14.7 (Local) *DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.0 :DAT read: 05:01:27.1828 LVL= 25120, 25185, 32754, 32755, AGC= 65, IDX= 501, 0.42,-2.950,-1.388, 2.867,-2.450, PHS=-0.398, 1.107,-1.010, RAW= 346.3, 3.2, CAL= 345.9, 0.4, ROT= 164.1, -0.4 >Ygot valid direction response: 05:01:27.1828 LVL= 25120, 25185, 32754, 32755, AGC= 65, IDX= 501, 0.42,-2.950,-1.388, 2.867,-2.450, PHS=-0.398, 1.107,-1.010, RAW= 346.3, 3.2, CAL= 345.9, 0.4, ROT= 164.1, -0.4 BR#Rx 5: Read range and direction messages.F^direction in FSK: [-0.961718,0.273952,0.006981]FFpublishing direction and range infoy{do?a|?Y3AbEMc44jEM14rEM$Z0E^ E^E^'E\"E^=-;*E^:VE^'4ZE\BE^pe<3F`Ԭ? T)AfI-M7@i仩t@$E@sٱ"cdchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.097157 AHRS rotation from veh to nav: [[-0.622969,0.780217,0.056304],[-0.781979,-0.623022,-0.018764],[0.020439,-0.055718,0.998237]]H\?Ӭ?@6?@@?it@I)\;CYByIbDEVDEܲy᩼%D=ٔᓺQ->9Y=FyúE>Q 5E15P?Q 9E15X)SBYIyM8Q IM@i4DI:i:mr15yQɮU AQii*?AJimARimAji?b0h52b~%'@cC??R{do?a|?Zi-M7@bijG}e/@hUp&@X#DZP iw1?mrx?F1[h2i3A:i-{A"i{?*i;BiBi{?i;iBi^Ai?  addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.499851 s, deltaX: 0.199999 m, approachRate: 0.400117 m/s, rangeRepo size: 4 = Added new target pos. range: 19.303463 m, bearing: 35.553405 deg, lat: 36.779325 deg, lon: -121.859607 deg, deltaT: 0.499851 s, deltaX: 0.199003 m, approachRate: 0.398125 m/s, posRepo size: 4 EDNOT Ignoring new targets: 19.30 m.hAhA*hA"hA hAgAfIfIfIdIdQjdU`ff3@ZdU ?ZZZZ,pY@s) >i9)5ii@ʋ,t1*?AYz ByzII=)p; A QbDVD1yC<%z=ٔQ-?9Y=FyE?Q 515L?Q 915)UBY y Q I@l4DI;i2;Zu15y5Bɮ5{ A=EMDDAT read: Rx Time:05:01:27.6828 UTRx dataTimestamp_ set to:1761541288.880749]PDAT read: Bearing 193.1, 14.1 (Local) ]~Local bearing/azimuth received: Bearing 193.1, 14.1 (Local) uDAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.0 E EE&E"E /;*E:VE4ZEa@a@a@a@%DNOT Ignoring new targets: 19.30 m.h)h)*h1"h1 h1eDAT read: 05:01:27.6828 LVL= 26144, 25377, 32754, 32755, AGC= 66, IDX= 501, 0.04, 1.787,-2.929, 1.344, 2.312, PHS=-0.423, 1.087,-1.012, RAW= 345.8, 3.8, CAL= 345.4, 1.3, ROT= 164.6, -1.3 ԁgfYgot valid direction response: 05:01:27.6828 LVL= 26144, 25377, 32754, 32755, AGC= 66, IDX= 501, 0.04, 1.787,-2.929, 1.344, 2.312, PHS=-0.423, 1.087,-1.012, RAW= 345.8, 3.8, CAL= 345.4, 1.3, ROT= 164.6, -1.3 R#Rx 6: Read range and direction messages.ffd-^direction in FSK: [-0.963847,0.265488,0.022687]d9jd9ZdEA?}Fpublishing direction and range infoyIMP>?NGY;?YIIM fM!cI I)MBIMuؾiM"?M7M!@Mԇ=Mb@ M޹<)M'7@IM޹IIM5DoԻ°? M)Mq.IM'7@iM޹IIchecking for new query: numPingsReceived=6, elapsed TxPingTime=4.626506ZZZZQ)Q U>iU9)Y]5YiYie?aedzђ,oK*?A2t@2@@2-ٱ2]d :AHRS rotation from veh to nav: [[-0.623371,0.779874,0.056621],[-0.781647,-0.623447,-0.018472],[0.020894,-0.055772,0.998225]]2H?]? A@GA꒿@Oe?&@u?i2t@I2\;0YBByFIiMMb@Mb@Mb@IIII I9M rh?ʡEy&1|?YMC >yMM`;M`AI MzA)IIYMGAaaibDmVDmy}7Ƽ%}G=ٔڑQ->9Y=Fy{E>Q 515G?Q 915N)XBY2 >Q E;yu0Q I@p4DI:i:x15yɮ AiAiE1^8*?AJiARiAjiE ?bE%o2̒@ۊF?REP>?NGY;?ZiE'7@biE޹jE׎H=/@L&@XبQcοZEΛ ? A!h?:02iEp5A:iEyA"iE{k?*iE;T BiEBiEAv?iE+biE$BiE*AiEn? addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.506364 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 19.303463 m, bearing: 35.979550 deg, lat: 36.779325 deg, lon: -121.859607 deg, deltaT: 0.506364 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.30 m.hh*h"h hgfffBd!d!jd!Zd-@?Z2 >Z2 >Z@Za@-) Ha>ir9)՘5ii%@!%ʆ ,e*?A2Nt@2>@2ٱ2ze :AHRS rotation from veh to nav: [[-0.623550,0.779717,0.056805],[-0.781500,-0.623634,-0.018409],[0.021071,-0.055872,0.998216]]2H`q?{? @ْ?=a?i2Nt@I2P];0YRByRIbDZ VDZ2yv%vU=ٔvQ-v>9xYx=zFyxzE~>Q 515C?Q 9 15)[BY y y0Q I @t4DI|:i:8|15yɮ Aechecking for new query: numPingsReceived=7, elapsed TxPingTime=5.293015iAiE nX*?AJiE9ARiE9AjiE.%?bER= 2x L@Î?REɿ`D︡F?_2q?ZiE8@biEjEwbY/@_U'@%пZE3@q?kJ*>?.%l2iE:A:iExA"iEpK]?*iE<>BiEyBiE{k?iEB `iE8BiEњAiENn ? addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.500968 s, deltaX: 0.100000 m, approachRate: 0.199614 m/s, rangeRepo size: 4 - Added new target pos. range: 19.402966 m, bearing: 36.969690 deg, lat: 36.779323 deg, lon: -121.859607 deg, deltaT: 0.500968 s, deltaX: 0.099503 m, approachRate: 0.198621 m/s, posRepo size: 4 5DNOT Ignoring new targets: 19.40 m.h1h1*h1"h9 h9g9f9fAfAdAdAjdE3@ZdM`:?ZiZiZiZm/a@})y }U>i9)顅j5ii?Ą) AI P׾i h? % @ s= @  dAHRS rotation from veh to nav: [[-0.623819,0.779488,0.057005],[-0.781281,-0.623909,-0.018389],[0.021232,-0.056008,0.998205]]2H@R?/?@@Ԓ@˽?J?i2t@I2];2CYfByfI hhj=j=BaBaBeIBe BBaBaBaBe3v;Be?0EB!B!B!B!B!C%3iMb@Mb@Mb@ 9HzG?p= ףyt<A )AYpA1bDUVDUβye <%e5=ٔeRQ-e>9iYi=mFyiGE>Q 515=?Q 915)_BY>Q E;y1,Q I@x4DI:i:515yBɮ AEiIiMx*?AJiIRiIjiM"!?bMI2jX@J/ڌV?RM r/CyI?4?ZiMX8@biMdjMN9Q/@{Z&@E>]ڿZM;J-?:?g%2iM.7A:iMzA"iMze?*iM8ًBiM-BiMq.i?iM;T iM-BiM3AiM ? addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.402958 m, bearing: 36.170176 deg, lat: 36.779323 deg, lon: -121.859606 deg, deltaT: 0.503141 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.40 m.hh*h"h hgfffBddjdZd h?mchecking for new query: numPingsReceived=8, elapsed TxPingTime=5.797046Zu>Zu>Zu곺@Zue@)  W>i9)顭5ii@f%Թ % DDAT read: Rx Time:05:01:29.1829 % TRx dataTimestamp_ set to:1761541290.3886745 PDAT read: Bearing 193.3, 13.1 (Local) 5 ~Local bearing/azimuth received: Bearing 193.3, 13.1 (Local) M DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 ,J*?A"DAT read: 05:01:29.1829 LVL= 25712, 26913, 32754, 32755, AGC= 66, IDX= 503,-0.04, 0.420, 2.032, 0.009, 0.969, PHS=-0.447, 1.108,-1.004, RAW= 344.7, 3.7, CAL= 344.3, 1.2, ROT= 165.7, -1.2 &Ygot valid direction response: 05:01:29.1829 LVL= 25712, 26913, 32754, 32755, AGC= 66, IDX= 503,-0.04, 0.420, 2.032, 0.009, 0.969, PHS=-0.447, 1.108,-1.004, RAW= 344.7, 3.7, CAL= 344.3, 1.2, ROT= 165.7, -1.2 &R#Rx 9: Read range and direction messages.*^direction in FSK: [-0.968803,0.246945,0.020942].Fpublishing direction and range infoyQUu4o˞s?_2q?YQQE6 E6E6*E4"E6);*E6:VE6(N4ZE4BE6NJE6":E6"9Y=FyçE>!Q 5-15%$9?Q 9-15%e)%bBYIyM:,Q IU@%|4DI% ;i%;%15yYɮ] AYiQiU *?AJiQRiQjiUf%?bUѫ#22-a9u*@0X4?RUu4o˞s?_2q?ZiU9@biUjUA7.@)\'@({пZUԒ6?yC?&&ڲ2iU:A:iUwA"iUR?*iUc(BiUBiUze?iU8ًiUyBiUAiUu!?  addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.402958 m, bearing: 37.018715 deg, lat: 36.779323 deg, lon: -121.859606 deg, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 19.40 m.h!h!*h!"h! h!gIfIfQfQdQdQjdQZd]O?ZZZZe@Si) h>i9)(5ii?~ i1,%$*?AY}ByIbDVDy=%[=ٔQ->9 Y=FyE>Q 5%154?Q 9%15)eBY)y)Q I-@4DI-:ig:!15y1ɮ5 A9eDNOT Ignoring new targets: 19.40 m.haha*ha"ha hagifififididqjdqZdu`f?DDAT read: Rx Time:05:01:29.6829 TRx dataTimestamp_ set to:1761541290.896587 PDAT read: Bearing 192.8, 13.1 (Local)  ~Local bearing/azimuth received: Bearing 192.8, 13.1 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.0 EDAT read: 05:01:29.6829 LVL= 24480, 26337, 32754, 32755, AGC= 65, IDX= 503,-0.44, 0.109, 1.711,-0.301, 0.663, PHS=-0.452, 1.094,-1.008, RAW= 344.8, 3.9, CAL= 344.4, 1.6, ROT= 165.6, -1.6 QE} E}E}&Ey"E}g5;*E}8:VE}4ZEya@a@a@a@Ygot valid direction response: 05:01:29.6829 LVL= 24480, 26337, 32754, 32755, AGC= 65, IDX= 503,-0.44, 0.109, 1.711,-0.301, 0.663, PHS=-0.452, 1.094,-1.008, RAW= 344.8, 3.9, CAL= 344.4, 1.6, ROT= 165.6, -1.6 T#Rx 10: Read range and direction messages.^direction in FSK: [-0.968206,0.248593,0.027922]Fpublishing direction and range infoyNE^z?|p}?Y_f )AIli1?Z9Z9Z9Z9%@'g=hY@ <)8@I伩1N,d 4?ƛ}濼0̈́? )zBI8@i伩)   u>il9)ӵ5Echecking for new query: numPingsReceived=10, elapsed TxPingTime=6.623722iQi@;, *?A:mt@:1@:ٱ:c|f@ FAHRS rotation from veh to nav: [[-0.624797,0.778675,0.057386],[-0.780488,-0.624903,-0.018308],[0.021605,-0.056228,0.998184]]:HW@?@a?3K?ɬ?i:mt@I:)];:CYR ByRIIV%=)VC=TVAi-Mb@Mb@Mb@)))) )9-HzG?y&1y&1?Y)y-`e-`e<-A-@ -A)-QA)Y-AbDEVDE:2yU,%UU=ٔ]XQ-]>9YYY=eFyaeEe>iQ 5u15m0?Q 9u15m)miBY}X>Q E};y}(Q I}@m4DIm ;im ;mu15yɮ Ai)i-a*?AJi)Ri)ji-$?b-92bD1K@*V?R-NE^z?|p}?Zi-8@bi-j-[(k /@sF'@ CrZ-D4{?1?t`|2i-6:A:i-dxA"i-M?*i-XBi-ŁBi-pK]?i-Xi-Bi-tAi-+#?U addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.507913 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.402943 m, bearing: 36.857738 deg, lat: 36.779322 deg, lon: -121.859605 deg, deltaT: 0.507913 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.40 m.hh*h"h hgfffBddjdZd#?ZX>ZX>Zz@Z i@-)Q Uu>i]9)Ye+5aiii?Աt C,*?Aɰ;2mgt@2.@2Yٱ2!f :AHRS rotation from veh to nav: [[-0.625109,0.778418,0.057487],[-0.780237,-0.625215,-0.018333],[0.021671,-0.056313,0.998178]]2H?n?@Œ@0?`լ?i2mgt@I20L];2CYbBybIhj@AlbDj VDj:2yvB<%vQ=ٔz0Q-z>9xYx=~Fy|~ E~>Q 5 15,?Q 9 15w)mBYy(Q I@4DI:i:15yBɮW A!Echecking for new query: numPingsReceived=11, elapsed TxPingTime=7.309088i!i%1|*?AJi%ARi%Aji%i!?b%3@:"?R%;.?6?Iz?Zi%18@bi%j%FH0/@9J:'@t_JZ%, ? .?0_Jq2i%9A:i%~A"i%&i?*i%.Bi%Bi!i!i!i%Ai%#?} addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.501618 s, deltaX: 0.299999 m, approachRate: 0.598063 m/s, rangeRepo size: 4  Added new target pos. range: 19.701448 m, bearing: 36.126072 deg, lat: 36.779322 deg, lon: -121.859605 deg, deltaT: 0.501618 s, deltaX: 0.298506 m, approachRate: 0.595086 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.70 m.hh*h"h hgfffddjd3@ZdJ?ZZZZ|i@Y) ڀ>i9)5ii@ `pDDAT read: Rx Time:05:01:30.6830 TRx dataTimestamp_ set to:1761541291.900650 PDAT read: Bearing 194.5, 13.4 (Local)  ~Local bearing/azimuth received: Bearing 194.5, 13.4 (Local)  DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.0 D %=D R= DAT read: 05:01:30.6830 LVL= 23952, 23089, 32754, 32755, AGC= 66, IDX= 504,-0.10,-1.290, 0.336,-1.719,-0.769, PHS=-0.419, 1.150,-0.993, RAW= 345.0, 2.8, CAL= 344.5, -0.2, ROT= 165.5, 0.2 Em  Em Em 'Ei "Em /;*Em :VEm '4ZEi a @a @a @a @ԡ  Ygot valid direction response: 05:01:30.6830 LVL= 23952, 23089, 32754, 32755, AGC= 66, IDX= 504,-0.10,-1.290, 0.336,-1.719,-0.769, PHS=-0.419, 1.150,-0.993, RAW= 345.0, 2.8, CAL= 344.5, -0.2, ROT= 165.5, 0.2  T#Rx 12: Read range and direction messages. `direction in FSK: [-0.968142,0.250378,-0.003491] Fpublishing direction and range infoy^})p]y3?QC1mlYA]1Z )BI+־i33??5~2@+H=g@ d)8@Id;,L7EW{y? )uPEI8@id; checking for new query: numPingsReceived=12, elapsed TxPingTime=7.653018,,+?AYnBynIBBBIBBBBBBu;B0EYi%Mb@Mb@Mb@!!!! !9%:v?V-~jt?Y%=y%m%<%IA! !)%@!Y%zAbDVDy!t%0=ٔQ->9Y=FyE>Q 515j(?Q 915)sBY=Q E;y/Q I@4DIq:ia:15yɮ^ Ai!i%@*?AJi%МARi%МAji%3$?b%Ƭ):2O8@4R%^})p]y3?QC1mlZi%8@bi%d;j%6?Q[/@1=z'@=0Z%BN?KI7*?/22i%;A:i%zA"i%ѰQ?*i%;Bi%Bi%R?i!i!i%Ai%#? addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.502445 s, deltaX: -0.099998 m, approachRate: -0.199024 m/s, rangeRepo size: 4  Added new target pos. range: 19.601942 m, bearing: 36.823310 deg, lat: 36.779321 deg, lon: -121.859605 deg, deltaT: 0.502445 s, deltaX: -0.099506 m, approachRate: -0.198044 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.60 m.hh*h"h hgfffBddjd@33@Zd;?ZE=ZE=Mchecking for new query: numPingsReceived=12, elapsed TxPingTime=7.813044ZEWȸ@ZE8b@q)q u>>i}9)y}5yiyԁi?q DDAT read: Rx Time:05:01:31.1832  TRx dataTimestamp_ set to:1761541292.404873 PDAT read: Bearing 191.8, 13.2 (Local)  ~Local bearing/azimuth received: Bearing 191.8, 13.2 (Local) = DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2 V,+?AVDAT read: 05:01:31.1832 LVL= 27936, 28273, 32754, 32755, AGC= 66, IDX= 505, 0.37, 2.546,-2.157, 2.138, 3.109, PHS=-0.461, 1.062,-1.015, RAW= 344.9, 4.5, CAL= 344.6, 2.5, ROT= 165.4, -2.5 ^Ygot valid direction response: 05:01:31.1832 LVL= 27936, 28273, 32754, 32755, AGC= 66, IDX= 505, 0.37, 2.546,-2.157, 2.138, 3.109, PHS=-0.461, 1.062,-1.015, RAW= 344.9, 4.5, CAL= 344.6, 2.5, ROT= 165.4, -2.5 bT#Rx 13: Read range and direction messages.f^direction in FSK: [-0.966788,0.251829,0.043619]fFpublishing direction and range infoy15brk?GU?Y5A15 m5qn1 1)1I51i5?5끿5@E~ E~E~,E|"E~1;*E~:VE~g4ZE|BE~[9Y=FyJE>Q 515g$?Q 915)xBYy/Q I@4DI:i:15yɮ Ai1i5p+?AJi54ARi54Aji5&#?b5MFP=32 @ff?R5brk?GU?Zi58@bi5¸2j5d/@@g'@Bg4`?Z5l>}쪷?Y] ?iUp9)QU5YiYi@.]o,s4+?ALLt@ @ٱ-e AHRS rotation from veh to nav: [[-0.626397,0.777398,0.057260],[-0.779197,-0.626519,-0.018028],[0.021860,-0.055909,0.998197]]H`r q?)Q?@/`r ulb?9?iLLt@ID];CY!By I 4<4<bDVDfy;%n=ٔTQ-?9Y=FyvE?Q 515I!?Q 915)|BYy0Q I@4DI;ij;15yɮ ADNOT Ignoring new targets: 19.90 m.hh*h"h hgf!f!f!d!d)jd)Zd- ?ZqZqZqZu+b@) >iu9)額15ii?Zm checking for new query: numPingsReceived=14, elapsed TxPingTime=8.821115ԙ _g,FN+?A6Ft@6F@6dٱ6e BAHRS rotation from veh to nav: [[-0.626652,0.777192,0.057261],[-0.778990,-0.626778,-0.017972],[0.021922,-0.055868,0.998197]]6H` `?^Q?`} Egr? ƚ;?i6Ft@I6\;4Y^.Byb IiEMb@Mb@Mb@AAAA A9ECl?9qYq=}Fyy}ZE}>Q 5151?Q 915Y)BY>Q E;y4Q I@4DIa:i':"15yɮj AiiG:+?AJiRiji!?b=-83Bo@1X:?R}ڶ^؏?W7) ߑ?ZiN8@bi5j0@MMy'@T0׿Z??YY2i;A:iA"ig?*iBiuBig?iii-Aim!? addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.505718 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 q Added new target pos. range: 19.900469 m, bearing: 36.151264 deg, lat: 36.779323 deg, lon: -121.859605 deg, deltaT: 0.505718 s, deltaX: 0.000021 m, approachRate: 0.000041 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.90 m.hh*h"h hgff f Bd1d9jdAZdE?ZE>ZE>ZEa@ZEp.]@}d)y }>i}s9)y}5ii@f[Vʹ? )νIq:@i|٠checking for new query: numPingsReceived=15, elapsed TxPingTime=9.115092^A I I O > ۑ,p#h+?A2Gt@2@2IJٱ2e :AHRS rotation from veh to nav: [[-0.626616,0.777213,0.057375],[-0.779023,-0.626732,-0.018192],[0.021820,-0.056096,0.998187]]2H< ?O`? / Π@X?%?i2Gt@I2];2CYN0ByR! IIV<)V=bDZVDZ3yvZ$<%vS=ٔvf9Q-v>9xYx=zFyxz9E~>Q 515+?Q 9 15)BY y 4Q I @4DI:i:15y%checking for new query: numPingsReceived=15, elapsed TxPingTime=9.325166ɮZ A)i i HZ+?AJi ARi Aji C)?b 6cm39LT@1\?R nq2y?5;?Zi q:@bi |٠j /@I(@iGb?Z a=y2?ݛ?&p"Φ?2i DA:i {A"i WH?*i l`Bi Bi i ;i Bi ΟAi !? addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504160 s, deltaX: 0.100000 m, approachRate: 0.198350 m/s, rangeRepo size: 4  Added new target pos. range: 19.999971 m, bearing: 37.977393 deg, lat: 36.779323 deg, lon: -121.859604 deg, deltaT: 0.504160 s, deltaX: 0.099503 m, approachRate: 0.197363 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.00 m.hh*h"h hgff1f1d9d9jd=4@ZdE`?ZZZZ/]@IJ) >i9)顽5ii?WPvb )AIyi?ʁ~@Q =M@ =)R8@I`j&ۊ兎֗濉? {)tIR8@i5 checking for new query: numPingsReceived=16, elapsed TxPingTime=9.679171Y (|,+?ABPBPBR IBR,BBR =BPBPBRpu;BR/ErlEt@r@r#ٱr9f AHRS rotation from veh to nav: [[-0.626725,0.777112,0.057558],[-0.778935,-0.626835,-0.018366],[0.021807,-0.056344,0.998173]]rH!?1x? sΒ`T?٬?irlEt@Ir];pY-7By-) IiMb@Mb@Mb@ 9bX9ȶ?MbX9~jt?YE=yʡ<@ A)AYGAAAbD VD :2yN<%+=ٔ7Q-%>9!Y!=%Fy!)M\EM>QQ 5]15Ux?Q 9]15U)UBY]=Q E];ye>Q Ie@U4DIUX:iU:U15yɮ# Ai i z+?AJi Ri ji Ť"?b cӯU3+QJ@D$8?R  YKH;?B3?Zi R8@bi j qi9)O5ii @  &U DDAT read: Rx Time:05:01:33.1833  TRx dataTimestamp_ set to:1761541294.421812 PDAT read: Bearing 191.7, 13.0 (Local)  ~Local bearing/azimuth received: Bearing 191.7, 13.0 (Local)  DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.0 ,ޛ+?ADAT read: 05:01:33.1833 LVL= 32752, 28273, 32754, 32755, AGC= 67, IDX= 507,-0.09,-0.770, 0.833,-1.178,-0.198, PHS=-0.470, 1.076,-1.024, RAW= 344.7, 4.5, CAL= 344.4, 2.5, ROT= 165.6, -2.5 Ygot valid direction response: 05:01:33.1833 LVL= 32752, 28273, 32754, 32755, AGC= 67, IDX= 507,-0.09,-0.770, 0.833,-1.178,-0.198, PHS=-0.470, 1.076,-1.024, RAW= 344.7, 4.5, CAL= 344.4, 2.5, ROT= 165.6, -2.5 T#Rx 17: Read range and direction messages.^direction in FSK: [-0.967661,0.248453,0.043619]Fpublishing direction and range infoyH2n^N?GU?Yqn )CIףi^?oM@|٠=hY@ ¸2=)8@I¸2Ţ濟UouT#$? ):I8@i¸2,E> E>E>*E<"E>1;*E>r:VE>(N4ZE<BE>[[**By2 IbDVDy=%]=ٔ6Q->9!Y!=%Fy!%E->)Q 5U15-?Q 9]15-5)-BYYy]>Q I]@-4DI-;i-:-15yaɮm Aiii+?AJiRiji#?bkXlZ34 P@A$$?RH2n^N?GU?Zi8@bi¸2j&3: 0@jT)'@Ӹ?Zq/C?e?Lb"??2i?A:i]A"i Y?*ie6BiBiidiuBiqAiư"?U addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503838 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 19.999994 m, bearing: 36.649064 deg, lat: 36.779322 deg, lon: -121.859603 deg, deltaT: 0.503838 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ԉDNOT Ignoring new targets: 20.00 m.hh*h"h hgfffddjdZd?ZZZZG T@Ȥ) o>i9)P6i!iE?IMO",µ+?Al~[=t@~@~̲ٱ~\h  AHRS rotation from veh to nav: [[-0.627108,0.776788,0.057757],[-0.778627,-0.627214,-0.018540],[0.021824,-0.056597,0.998159]]~HDr?G?@`" "Y?O ?i~[=t@I~?];~CY%FBy%; IbD5VD50yE8$=%EY=ٔESQ-E>9IYI=MFyIUލEU>YQ 5e15]1 ?Q 9e15]h)]BYaye>Q Ie@]4DI]B:i]:]615yuBɮu AuEDNOT Ignoring new targets: 20.00 m.hh*h"h hgfffddjdZdӜ?ZZZZT@=̲)9 =|~>i=B9)AE6AiADDAT read: Rx Time:05:01:33.6833 TRx dataTimestamp_ set to:1761541294.925903PDAT read: Bearing 194.0, 13.8 (Local) ~Local bearing/azimuth received: Bearing 194.0, 13.8 (Local) DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 DAT read: 05:01:33.6833 LVL= 26496, 23713, 32754, 32755, AGC= 66, IDX= 506, 0.44,-1.079, 0.516,-1.517,-0.563, PHS=-0.414, 1.124,-0.998, RAW= 345.4, 3.1, CAL= 345.0, 0.2, ROT= 165.0, -0.2  Ygot valid direction response: 05:01:33.6833 LVL= 26496, 23713, 32754, 32755, AGC= 66, IDX= 506, 0.44,-1.079, 0.516,-1.517,-0.563, PHS=-0.414, 1.124,-0.998, RAW= 345.4, 3.1, CAL= 345.0, 0.2, ROT= 165.0, -0.2  T#Rx 18: Read range and direction messages.^direction in FSK: [-0.965920,0.258818,0.003491]Fpublishing direction and range infoy8%8ӊw?QC1ml?Yg\ )BIӾi;ߏ?|b@k]=2@ d;)N8@Id2Bj濺u{濨h ek? mK) v[IN8@id=checking for new query: numPingsReceived=18, elapsed TxPingTime=10.606255im@im>OE checking for new query: numPingsReceived=18, elapsed TxPingTime=10.836858I P9 Y A,K+?A21t@2@2mٱ2f :AHRS rotation from veh to nav: [[-0.627660,0.776360,0.057513],[-0.778181,-0.627772,-0.018358],[0.021853,-0.056278,0.998176]]2H?`Or? O̒`?@jЬ?i21t@I2\;0YNLByRB Ii-Mb@Mb@Mb@)))) )9-ˡE?MbX/$?Y-=y-ʽ-<-`A) -A)))Y-AbDEVDEfyU<%UJ=ٔGQ->9Y=FyܺE>Q 5515?Q 9]15n)BYea>Q Ee;ymHQ Im@4DI]x'}@ )E߱?R8%8ӊw?QC1ml?ZiN8@bidjc%0@W-͑'@1`ZLlD?hlLF ?|~"{2iZUa>ZU@ZUJ@DDAT read: Rx Time:05:01:34.1833 TRx dataTimestamp_ set to:1761541295.431516PDAT read: Bearing 191.0, 12.5 (Local) ~Local bearing/azimuth received: Bearing 191.0, 12.5 (Local) DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.0 DAT read: 05:01:34.1833 LVL= 32752, 26753, 32754, 32755, AGC= 68, IDX= 508,-0.04, 0.191, 1.793,-0.191, 0.784, PHS=-0.491, 1.054,-1.019, RAW= 344.2, 4.9, CAL= 343.8, 3.2, ROT= 166.2, -3.2 Ygot valid direction response: 05:01:34.1833 LVL= 32752, 26753, 32754, 32755, AGC= 68, IDX= 508,-0.04, 0.191, 1.793,-0.191, 0.784, PHS=-0.491, 1.054,-1.019, RAW= 344.2, 4.9, CAL= 343.8, 3.2, ROT= 166.2, -3.2 T#Rx 19: Read range and direction messages.%^direction in FSK: [-0.969620,0.238162,0.055822]-Fpublishing direction and range infoy; 's|?ᢔ?YfAh )DIZdiy?n<@%=@ d=)9@EE EEEE(EA"EEU,;*EE:VEEc44ZEABEEi9)額6ii?D},p+?A>)t@>@>ٱ>d FAHRS rotation from veh to nav: [[-0.628037,0.776085,0.057102],[-0.777880,-0.628149,-0.018210],[0.021736,-0.055855,0.998202]]>H?)t@I>];>CYNKByNA I^checking for new query: numPingsReceived=19, elapsed TxPingTime=11.340943bD^VD^yf%fN=ٔj9Q-j>9hYh=nFylnjEn>pQ 5v15r?Q 9v15rs)rBYxyzHQ Iz@r4DIr@;ir];r715y|ɮ~i A|ii+?AJiARiAji%?b>JF ە35M4>@ug ?9R; 's|?ᢔ?Zi9@bidjzJ#0@|5b(@`G!?Zڰـ?cgP?jݨڕ?2iCA:iɀA"ik+Q?*iyBi'Bi Y?ie6iBiAi"? addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.505613 s, deltaX: 0.199999 m, approachRate: 0.395557 m/s, rangeRepo size: 4  Added new target pos. range: 20.199020 m, bearing: 37.140209 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.505613 s, deltaX: 0.199005 m, approachRate: 0.393592 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.20 m.hh*h"h hgfffddjdL4@Zdf?ZZZZ:J@) J>if9)顽 6ii@r>E]  E] E] )EY "E] /;*E] :VE] FA4ZEY ae @ae @ae @ae @Թ t,,?ABBBG IBOBBBBBKu;B/EY~QBy~I II<)C=  Aԙi%Mb@Mb@Mb@!!!! !9%#~j?Cl绿~jt?Y%=y%;߽%<%A%@ !)%hA!Y!bD]VD]βye<%m3=ٔmQ-m>9Y=FyE>Q 515h?Q 915c)BYj >Q E;yF@Q I@4DIh;i6;;15yɮ7 Aiid+?AJiRiji#?b^mN3)r@)ʘ?RyTh?B7߁?Zi8@bi5jR10@~(@ zZR+?yo?oB:ܚ2i@A:iA"i^#T?*i/BiABiii Bi\Ai_?"?m addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.502956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.199034 m, bearing: 36.673252 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.502956 s, deltaX: 0.000013 m, approachRate: 0.000027 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.20 m.hh*h"h hgfffBddjdZd?checking for new query: numPingsReceived=20, elapsed TxPingTime=11.845088Zj >Zj >ZB?@ZF@!)! %L>iE9)IM 6IiIiU?QU?  DDAT read: Rx Time:05:01:35.1834  TRx dataTimestamp_ set to:1761541296.436643 PDAT read: Bearing 190.8, 12.5 (Local)  ~Local bearing/azimuth received: Bearing 190.8, 12.5 (Local)  DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1  DAT read: 05:01:35.1834 LVL= 30800, 31841, 32754, 32755, AGC= 67, IDX= 509, 0.07, 0.652, 2.245, 0.270, 1.247, PHS=-0.493, 1.043,-1.021, RAW= 344.3, 5.1, CAL= 343.9, 3.5, ROT= 166.1, -3.5  Ygot valid direction response: 05:01:35.1834 LVL= 30800, 31841, 32754, 32755, AGC= 67, IDX= 509, 0.07, 0.652, 2.245, 0.270, 1.247, PHS=-0.493, 1.043,-1.021, RAW= 344.3, 5.1, CAL= 343.9, 3.5, ROT= 166.1, -3.5  T#Rx 21: Read range and direction messages. ^direction in FSK: [-0.968906,0.239780,0.061049] Fpublishing direction and range infoy  bGᅧHٿ?.xA?Y 3A Px a| ) CI ji ? ! K@ K= @ 5z=) 9@I 5z  ׋$]=pxܶ? U) $I 9@i 5z  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.1130796,a,?AE EE/E"E+$;*E|:VEJ4ZEBE4})t@>@>ٱ>c vAHRS rotation from veh to nav: [[-0.628045,0.776113,0.056635],[-0.777885,-0.628138,-0.018376],[0.021313,-0.055597,0.998226]]>H@`?A?o`9ђҕ?@(w@w?i>)t@I>F\;>CY}SBy}K IbDVDy}&<%U=ٔ:Q->9Y=FyE>Q 515?Q 915V)BYyF@Q I@4DI:ig:15yɮ' Aii,?AJicARicAji9o%?bgت3ڇ{w@D?RbGᅧHٿ?.xA?Zi9@bi5zjd&30@mp(@6+?Zˉ?Z`CC?.B?2iCA:iA"im:P?*i|BikBi^#T?i/iBiڡAis#? addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.502171 s, deltaX: 0.100000 m, approachRate: 0.199136 m/s, rangeRepo size: 4  Added new target pos. range: 20.298538 m, bearing: 37.026159 deg, lat: 36.779321 deg, lon: -121.859601 deg, deltaT: 0.502171 s, deltaX: 0.099504 m, approachRate: 0.198149 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.30 m.hh*h"h hgfffd d jd `ff4@Zd-?ZqZqZqZuGF@) P>i@9)額&6ii@II!e9@a @a@e0@achecking for new query: numPingsReceived=21, elapsed TxPingTime=12.349047Q^A *:<I I O >ԁ ; ,7,?A6/t@6[@6>ٱ6d BAHRS rotation from veh to nav: [[-0.627797,0.776315,0.056622],[-0.778093,-0.627870,-0.018713],[0.021024,-0.055804,0.998220]]6H  ?`?@#`a)@[?@hk?i6/t@I64];6CYJWByJP IbDRVDRkyZ<%Z]=ٔ^L:Q-^>9`Y`=bFy`bse:Ef>dQ 5j15f?Q 9j15fI)fBYlynF@Q In@f4DIf;if;fŻ15yxɮ~ A]DNOT Ignoring new targets: 20.30 m.haha*ha"ha hagafifqfqdydyjdyZd?ZZZZF@>) 2Y>i9)V6iEDDAT read: Rx Time:05:01:35.6834 ETRx dataTimestamp_ set to:1761541296.940714MPDAT read: Bearing 194.0, 12.6 (Local) U~Local bearing/azimuth received: Bearing 194.0, 12.6 (Local) eDAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 DAT read: 05:01:35.6834 LVL= 25792, 22961, 32754, 32755, AGC= 64, IDX= 509,-0.21,-2.937,-1.308, 2.946,-2.396, PHS=-0.439, 1.134,-0.985, RAW= 344.4, 3.1, CAL= 343.9, 0.2, ROT= 166.1, -0.2 Ygot valid direction response: 05:01:35.6834 LVL= 25792, 22961, 32754, 32755, AGC= 64, IDX= 509,-0.21,-2.937,-1.308, 2.946,-2.396, PHS=-0.439, 1.134,-0.985, RAW= 344.4, 3.1, CAL= 343.9, 0.2, ROT= 166.1, -0.2 T#Rx 22: Read range and direction messages.^direction in FSK: [-0.970711,0.240226,0.003491]Fpublishing direction and range infoyAE_m/-;/?QC1ml?YAAEdEYA A)E@IEiE&?E(|EhY@Ek]=A Ed;)AIEdAAEpFJX ?Ա Eπ)E+,\IAiEdAAchecking for new query: numPingsReceived=22, elapsed TxPingTime=12.617473E EE&E"E%.;*Ea:VE4ZEa@a@a@a@i ?DB9B=S IB=YBB9B9B9B=lu;B=/E^A -B<I ) I) O= > checking for new query: numPingsReceived=22, elapsed TxPingTime=12.852887m",\WQ,?A$6D7t@6s@6ٱ6If BAHRS rotation from veh to nav: [[-0.627412,0.776618,0.056726],[-0.778412,-0.627461,-0.019166],[0.020708,-0.056181,0.998206]]6H ?( ?)@V@4?ì`M?i6D7t@I6\;6CYJZByJT I LLR>R=iMb@Mb@Mb@ 9x&?K7A{Gz?Y7=y ף<A zA)AYbDVD:2y`<%-=ٔ-:Q->9Y=Fyg:E> Q 5515 S?Q 9515 ) BY5t>Q E5;y5<@Q I=@ 4DI ;i ; 15yAɮE AAqiqiu4<,?AJiqRiqjiu=^&?bu1h:3P_wG@v:#?Ru_m/-;/?QC1ml?Ziqbiudjuk(O'0@a$M(@AG!ZvZu2%-w?M`BwZ?8(֞2iumDA:iu:A"iuB?*iu2 Biu!Biuk+Q?iuyiuABiuAiu $?- addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 20.298555 m, bearing: 37.235122 deg, lat: 36.779321 deg, lon: -121.859600 deg, deltaT: 0.504071 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 mDNOT Ignoring new targets: 20.30 m.hqhq*hq"hq hygyfyffBddjdZd ?Zt>Zt>ZT@Z'<@5)1 5L>i59)1561i9i=@9UDDAT read: Rx Time:05:01:36.1836 UTRx dataTimestamp_ set to:1761541297.444797]PDAT read: Bearing 192.6, 13.2 (Local) e~Local bearing/azimuth received: Bearing 192.6, 13.2 (Local) uDAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.0 DAT read: 05:01:36.1836 LVL= 30176, 26321, 32754, 32755, AGC= 65, IDX= 510, 0.18, 0.533, 2.137, 0.112, 1.083, PHS=-0.449, 1.099,-1.015, RAW= 345.0, 3.9, CAL= 344.6, 1.5, ROT= 165.4, -1.5 Ygot valid direction response: 05:01:36.1836 LVL= 30176, 26321, 32754, 32755, AGC= 65, IDX= 510, 0.18, 0.533, 2.137, 0.112, 1.083, PHS=-0.449, 1.099,-1.015, RAW= 345.0, 3.9, CAL= 344.6, 1.5, ROT= 165.4, -1.5 T#Rx 23: Read range and direction messages.^direction in FSK: [-0.967378,0.251983,0.026177]Fpublishing direction and range infoyQUvvve} ?P!Κ?YUAQUuUfQ Q)UAIUTiU?U끿U2@U'g=Uv@ UPw<)U8@IUPwּQQE E E)E"E=;*E:VEFA4ZEBEN,:k,?A2>t@2'@2 ٱ2elg :AHRS rotation from veh to nav: [[-0.627064,0.776895,0.056791],[-0.778699,-0.627094,-0.019512],[0.020454,-0.056458,0.998195]]2HS??&`?謿7?i2>t@I2];2CYFQByFI I LRchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.357039XNbD=VD=fyUP%f=ٔ8:Q->9Y=Fy/:E>Q 515햊?Q 915)BYy<@Q I@4DIR:i: 15yBɮ AEiyi}w\,?AJi}ƤARi}ƤAji}z#?b}#!3?a@i`@?R}vvve} ?P!Κ?Zi}8@bi}Pwּj} %0@߼?(@ȴn. ĿZ}',5?GX?Gn%2i}DA:i}tA"i}$C`?*i}vwBi}Biyi}|i}Bi}ZAi}'#?} addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504083 s, deltaX: 0.300001 m, approachRate: 0.595142 m/s, rangeRepo size: 4  Added new target pos. range: 20.597065 m, bearing: 36.497450 deg, lat: 36.779321 deg, lon: -121.859600 deg, deltaT: 0.504083 s, deltaX: 0.298510 m, approachRate: 0.592183 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.60 m.hh*h"h hgfffddjd@34@ZdM?ZZZZ<@ ) ::>i/9)6ii?QU checking for new query: numPingsReceived=24, elapsed TxPingTime=13.635658! B5 >'7!,,?ABaBeZ IBe^BBe =BaBaBecu;Be/E:Ft@:?@:uٱ:g BAHRS rotation from veh to nav: [[-0.626678,0.777215,0.056669],[-0.779017,-0.626693,-0.019708],[0.020196,-0.056497,0.998198]]:H ??@ p.@_?*=?i:Ft@I:\;:CYrPByrH I|imMb@Mb@Mb@iiii i9mA`"? rh{Gz?YmY=ymC iim@ mA)mhAiYibDVDy"y%4=ٔ:Q->9Y=Fy~:E>Q 515疊?Q 915.)ŨBY>Q E;yx5@Q I@4DI":in:15yɮ A ii|,?AJiARiAjit&?b 73/G}@%R?R;kL Yо?y&?Zi9@bijO0@=((@:u ֿZjw?r[Ya^?&=鑿2iFA:iA"iF?*i܎BiBim:P?ivwiBiأAi#?checking for new query: numPingsReceived=24, elapsed TxPingTime=13.861055 addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504726 s, deltaX: -0.100000 m, approachRate: -0.198128 m/s, rangeRepo size: 4 !- Added new target pos. range: 20.497534 m, bearing: 37.255007 deg, lat: 36.779320 deg, lon: -121.859599 deg, deltaT: 0.504726 s, deltaX: -0.099531 m, approachRate: -0.197198 m/s, posRepo size: 4 -DNOT Ignoring new targets: 20.50 m.h)h1*h1"h1 h1g1f1f9f=Bd9d9jdE4@Zde~?Z>Z>Z @Z4x5@u) L>i9)顽6ii@We DDAT read: Rx Time:05:01:37.1836 m TRx dataTimestamp_ set to:1761541298.452716u PDAT read: Bearing 192.5, 13.1 (Local) u ~Local bearing/azimuth received: Bearing 192.5, 13.1 (Local)  DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2  DAT read: 05:01:37.1836 LVL= 28336, 24545, 32754, 32755, AGC= 67, IDX= 510, 0.13,-0.859, 0.754,-1.274,-0.300, PHS=-0.456, 1.100,-1.018, RAW= 344.8, 4.0, CAL= 344.4, 1.7, ROT= 165.6, -1.7 bEjEmF4rET0E  E E E "E %.;*E S:VE ZE BE 99Y=FyEV:E>Q 515㖊?Q 915)ʨBYy}5@Q I@4DI;i;#15yɮ AiiM,?AJiƤARiƤAji4 $?bn3 ez@.X㜍?RR0$xy? `?Zi8@bijb ǁ0@;;(@d(5ZVB?P#? gm2iEA:iA"i(wR?*i"BiBii2 iBi+Ai\z#? addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503193 s, deltaX: 0.100000 m, approachRate: 0.198732 m/s, rangeRepo size: 4  Added new target pos. range: 20.597036 m, bearing: 36.733261 deg, lat: 36.779320 deg, lon: -121.859599 deg, deltaT: 0.503193 s, deltaX: 0.099503 m, approachRate: 0.197742 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.60 m.hh*h"h hgfffddjd@34@Zd̿?ZAZAZAZEm}5@um|)q uB2>i}9)y} 6yiyi?[ =-,CƸ,?AZX`t@Z*@ZHٱZ{b jAHRS rotation from veh to nav: [[-0.625475,0.778283,0.055296],[-0.780002,-0.625474,-0.019458],[0.019443,-0.055302,0.998280]]ZH?O? 쓿?}P?iZX`t@IZ)];ZCYzBByz6 I@AbDVD2y5ﲻ%5O=ٔ=:Q-=>9AYA=MFyIMR;EU>QQ 5]15U%ߖ?Q 9e15UR)UШBYaye5@Q Ie@U4DIU;iU~ ;U15yiɮu AqDNOT Ignoring new targets: 20.60 m.hh*h"h hgfffddjdZd`K?%DDAT read: Rx Time:05:01:37.6835 %TRx dataTimestamp_ set to:1761541298.956581-PDAT read: Bearing 192.9, 12.2 (Local) 5~Local bearing/azimuth received: Bearing 192.9, 12.2 (Local) EDAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.0 eDAT read: 05:01:37.6835 LVL= 24096, 25521, 32754, 32755, AGC= 66, IDX= 510,-0.35,-3.020,-1.381, 2.879,-2.450, PHS=-0.468, 1.114,-0.998, RAW= 344.0, 3.7, CAL= 343.5, 1.3, ROT= 166.5, -1.3 mYgot valid direction response: 05:01:37.6835 LVL= 24096, 25521, 32754, 32755, AGC= 66, IDX= 510,-0.35,-3.020,-1.381, 2.879,-2.450, PHS=-0.468, 1.114,-0.998, RAW= 344.0, 3.7, CAL= 343.5, 1.3, ROT= 166.5, -1.3 uT#Rx 26: Read range and direction messages.}^direction in FSK: [-0.972120,0.233385,0.022687]}Fpublishing direction and range infoy!%66kM?NGY;?Y%̤A!% ^%c! !)%BI%i%?%|%7 @% A=%ؿ@ %޹<)%w9@I%޹!!%'IT)|XU? %)%I%w9@i%޹!!checking for new query: numPingsReceived=26, elapsed TxPingTime=14.632478DzDE EE)E"E3;*E:VEFA4ZEa@a@a@a@ZZZZ5@H) % 0>i%9)!%#6!i!i-@IM\n1 checking for new query: numPingsReceived=26, elapsed TxPingTime=14.868951Y q4,,?AVtt@V5@VٱV6c rAHRS rotation from veh to nav: [[-0.624513,0.779060,0.055221],[-0.780780,-0.624494,-0.019725],[0.019118,-0.055434,0.998279]]VH``?E?&`2?@a?iVtt@IV];VCY*By I9iMb@Mb@Mb@ 9?@5^I ¿y&1?YL=yb`e< hA)@YAbDVD02y|ͽ%3=ٔD::Q->9Y=Fy 2;E>Q 515ٖ?Q 915)ըBY>Q E;y3@Q I@4DIy;i%;15yɮJ AiQiU8,?AJiUARiUAjiU(?bUCe3'"@j?RU66kM?NGY;?ZiUw9@biU޹jUO,W20@,2iUHA:iUA"iU.?*iU݃XBiÚBiUF?iU"iÚBiUjAiUx#?M addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503865 s, deltaX: -0.100000 m, approachRate: -0.198467 m/s, rangeRepo size: 4 ] Added new target pos. range: 20.497524 m, bearing: 37.795177 deg, lat: 36.779319 deg, lon: -121.859598 deg, deltaT: 0.503865 s, deltaX: -0.099512 m, approachRate: -0.197498 m/s, posRepo size: 4 eDNOT Ignoring new targets: 20.50 m.hah*h"h hgfffBddjd4@Zd ?Z>Z>Z@Z3@-DDAT read: Rx Time:05:01:38.1837 5TRx dataTimestamp_ set to:1761541299.460896=PDAT read: Bearing 193.5, 12.8 (Local) E~Local bearing/azimuth received: Bearing 193.5, 12.8 (Local) UDAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 uDAT read: 05:01:38.1837 LVL= 23088, 22193, 32754, 32755, AGC= 65, IDX= 511, 0.08,-0.851, 0.781,-1.261,-0.303, PHS=-0.446, 1.130,-1.002, RAW= 344.6, 3.4, CAL= 344.1, 0.7, ROT= 165.9, -0.7 ԁYgot valid direction response: 05:01:38.1837 LVL= 23088, 22193, 32754, 32755, AGC= 65, IDX= 511, 0.08,-0.851, 0.781,-1.261,-0.303, PHS=-0.446, 1.130,-1.002, RAW= 344.6, 3.4, CAL= 344.1, 0.7, ROT= 165.9, -0.7 T#Rx 27: Read range and direction messages.^direction in FSK: [-0.969800,0.243597,0.012217]Fpublishing direction and range infoy15/1/.?I:?Y53A150Z5V1 1)5AI5Zi5ף?5A5v@5s=5.@ 5+H<)5O9@I5+H115DF激;yi激C ? 5J)5>#pI5O9@i5+H11checking for new query: numPingsReceived=27, elapsed TxPingTime=15.138105E EE,E"E9;*E:VEg4ZEBEhi-79)151i1i}?y}}ԩ :, ,?AFchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.373115b:t@bn@@b%皼ٱbLjd %AHRS rotation from veh to nav: [[-0.623437,0.779910,0.055368],[-0.781645,-0.623403,-0.020014],[0.018908,-0.055756,0.998265]]bH3?9iYi=mFyiu|;Eu>yQ 515}Ֆ?Q 915}G)}٨BYy3@Q I@}4DI}|:i}1:}15yɮg AiaieR,?AJie^ARie^Ajieŭ&?be]K+4ZnC@lB?Re/1/.?I:?ZieO9@bie+HjeBg׉0@Q63)@a @ڿZer?Xhc?<RB22ieIA:ieNA"ie"1G?*ieZ^ׇBieUBie"1G?ie܎iaie Aie| $? addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504315 s, deltaX: 0.299999 m, approachRate: 0.594865 m/s, rangeRepo size: 4  Added new target pos. range: 20.796032 m, bearing: 37.304652 deg, lat: 36.779320 deg, lon: -121.859597 deg, deltaT: 0.504315 s, deltaX: 0.298508 m, approachRate: 0.591907 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.80 m.hh*h"h hgfffdd jd `f4@Zd D?Z)Z)ԱZ)Z-63@%皼) rd>i9)Q3ii@ =DDAT read: Rx Time:05:01:38.6836 =TRx dataTimestamp_ set to:1761541299.964722MPDAT read: Bearing 193.5, 12.1 (Local) M~Local bearing/azimuth received: Bearing 193.5, 12.1 (Local) ]DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.1 DAT read: 05:01:38.6836 LVL= 23792, 22513, 32754, 32755, AGC= 64, IDX= 511,-0.41, 3.097,-1.534, 2.710,-2.622, PHS=-0.462, 1.132,-0.995, RAW= 343.9, 3.4, CAL= 343.5, 0.8, ROT= 166.5, -0.8 Ygot valid direction response: 05:01:38.6836 LVL= 23792, 22513, 32754, 32755, AGC= 64, IDX= 511,-0.41, 3.097,-1.534, 2.710,-2.622, PHS=-0.462, 1.132,-0.995, RAW= 343.9, 3.4, CAL= 343.5, 0.8, ROT= 166.5, -0.8 T#Rx 28: Read range and direction messages.^direction in FSK: [-0.972275,0.233423,0.013962]Fpublishing direction and range infoy9=GHϾf?4?Y=A9=\=W9 9)=@I=Di=`?=R~=@9=ؿ@E EE$E"EM;*E:VE4ZEa@a@a@a@ =d<)=w9@I=d99=ƕW)@M? =)=;uI=w9@i=d99% checking for new query: numPingsReceived=28, elapsed TxPingTime=15.654968B B B 4 IB @BB B B B tu;B /EBBBB9 χA,]k-?AJܞt@J?J@J+uٱJ e RAHRS rotation from veh to nav: [[-0.622502,0.780656,0.055379],[-0.782394,-0.622458,-0.020162],[0.018732,-0.055879,0.998262]]JH"?Z?^ `,`@[.??iJܞt@IJ]];JCYzByzIBCŽ4iMb@Mb@Mb@ 9+?X9vY=yvA A)AYA 5p<5<bD5VD5yE^%E<=ٔM9Q-M>9QYQ=UFyQU4;EU>YQ 5e15]7Ж?Q 9e15])]ۨBY}>Q E;yA@Q I@]4DI];i];]v15yɮ+ Aiaie,?AJieƤARieƤAjie*)?beMM41;@8g?ReGHϾf?4?Ziew9@biedjeA<0@[V)@GϣֿZe"B9??!δ2ieJA:ieA"ieW(?*ieمBieXBieF?ie݃XieBie`Aie%?  addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503826 s, deltaX: -0.199999 m, approachRate: -0.396960 m/s, rangeRepo size: 4 = Added new target pos. range: 20.597006 m, bearing: 37.967691 deg, lat: 36.779319 deg, lon: -121.859595 deg, deltaT: 0.503826 s, deltaX: -0.199026 m, approachRate: -0.395029 m/s, posRepo size: 4 EDNOT Ignoring new targets: 20.60 m.hA qqchecking for new query: numPingsReceived=28, elapsed TxPingTime=15.879035hA*h"hG hgf =s99Y= Aff]Bdadajde@34@Zde@?Z>Z>Zè@ZA@+u) R8>iX9)ii?i>9@ @@]0@a ^A I! E DDAT read: Rx Time:05:01:39.1837 E TRx dataTimestamp_ set to:1761541300.468782M PDAT read: Bearing 183.3, 12.7 (Local) U ~Local bearing/azimuth received: Bearing 183.3, 12.7 (Local) e DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 I E  E 7E 'E "E C;*E ;VE '4ZE BE  DAT read: 05:01:39.1837 LVL= 23168, 25249, 32754, 32755, AGC= 64, IDX= 512, 0.01,-2.512,-0.852,-2.944,-1.752, PHS=-0.658, 0.945,-1.236, RAW= 344.8, 9.7, CAL= 344.9, 10.7, ROT= 165.1, -10.7  Ygot valid direction response: 05:01:39.1837 LVL= 23168, 25249, 32754, 32755, AGC= 64, IDX= 512, 0.01,-2.512,-0.852,-2.944,-1.752, PHS=-0.658, 0.945,-1.236, RAW= 344.8, 9.7, CAL= 344.9, 10.7, ROT= 165.1, -10.7 5 T#Rx 29: Read range and direction messages.ױG,F -?AZ^direction in FSK: [-0.949574,0.252662,0.185667]^Fpublishing direction and range infoyquLb`+? &K{?Yu3AquZubq q)qIur(iuq?u?5u@u-\->u@ ut;?>)u!k8@Iut;?qqucsR_Q7E;T=? u)u-Iu!k8@iut;?qqzchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.191837Mt@MFS@MјٱMQe }AHRS rotation from veh to nav: [[-0.621641,0.781344,0.055356],[-0.783080,-0.621594,-0.020164],[0.018654,-0.055883,0.998263]]MH {@? W?@ 쥔??iMt@IMܜ];MCYByIbDVDܲyG\%P=ٔwO9Q->9Y=Fy7;E> Q 515 e˖?Q 915 ) ݨBYy B@Q I@ 4DI $:i : 15y%Bɮ%b A%Eiqiu-?AJiu^ARiu^Ajiu{!?buoQ3Fw@nj@RuLb`+? &K{?Ziu!k8@biut;?juDQN0@IY=(@ @Zu}p?|B?Q ЈD?2iuAA:iu„A"iuCA?*iu &BiufBiuCA?iqiúBiuZAiu%?M addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504060 s, deltaX: 0.199999 m, approachRate: 0.396776 m/s, rangeRepo size: 4 ] Added new target pos. range: 20.796009 m, bearing: 36.141848 deg, lat: 36.779319 deg, lon: -121.859595 deg, deltaT: 0.504060 s, deltaX: 0.199003 m, approachRate: 0.394801 m/s, posRepo size: 4 aeDNOT Ignoring new targets: 20.80 m.hh*h"h hgfffddjd`f4@Zdvh?Z Z Z Z & B@=ј)A E">iEI9)AEx 3AiIiM@IUe0 (M,:-?AJt@JZ@JΪٱJd VAHRS rotation from veh to nav: [[-0.620919,0.781930,0.055184],[-0.783654,-0.620876,-0.019985],[0.018635,-0.055654,0.998276]]JH?@ A?`8@w`?~?iJt@IJ];JCXY~By~II<)=bD VD yu%%Y=ٔ%O8Q-%>9!Y)=-Fy)- ;E->1Q 5=155Ɩ?Q 9=155)5ިBYAyEB@Q IE@54DI51:i5(:5015yIɮM AQDDAT read: Rx Time:05:01:39.6837 TRx dataTimestamp_ set to:1761541300.972577 PDAT read: Bearing 193.6, 12.7 (Local)  ~Local bearing/azimuth received: Bearing 193.6, 12.7 (Local) DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 EDAT read: 05:01:39.6837 LVL= 23472, 23969, 32754, 32755, AGC= 64, IDX= 511, 0.47,-2.064,-0.432,-2.472,-1.516, PHS=-0.447, 1.129,-1.000, RAW= 344.5, 3.4, CAL= 344.1, 0.7, ROT= 165.9, -0.7 MYgot valid direction response: 05:01:39.6837 LVL= 23472, 23969, 32754, 32755, AGC= 64, IDX= 511, 0.47,-2.064,-0.432,-2.472,-1.516, PHS=-0.447, 1.129,-1.000, RAW= 344.5, 3.4, CAL= 344.1, 0.7, ROT= 165.9, -0.7 MT#Rx 30: Read range and direction messages.U^direction in FSK: [-0.969800,0.243597,0.012217]UFpublishing direction and range infoy/1/.?I:?Y[] )I/i?g@s=.@ +H<)O9@I+Hz2|fpXpcV$Gk? V\)fpIO9@i+Huchecking for new query: numPingsReceived=30, elapsed TxPingTime=16.648571 addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503795 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E EE)E"E;*ES:VEFA4ZEa@a@a@a@DNOT Ignoring new targets: 20.80 m.hh*h"h hgfffddjdZdR?ZZZZ;B@=Ϊ)9 =>i=9)9=3AiAie?im checking for new query: numPingsReceived=30, elapsed TxPingTime=16.884996! FT,S-?A4ɰ6;|}t@}J`@}ٱ}{ib AHRS rotation from veh to nav: [[-0.620394,0.782361,0.054971],[-0.784065,-0.620370,-0.019565],[0.018795,-0.055238,0.998296]]}HD ?@%?`@??7H ?i}t@I}V^;}CYByIiUMb@Mb@Mb@QQQQ Q9U&1?i|?5MbYU=yUUUAQ UzA)UhAQYUAimAAbD}VD}1yЧ%4=ٔ-Q-->91Y1=5Fy1=S:E=>iQ 5}15m?Q 9}15m)iY>Q E;yYFQ I@m4DIm;im7;mZ15yɮ` Ai)i->>-?AJi)Ri)ji-'?b-7x*4kC@B?R-/1/.?I:?Zi-O9@bi-+Hj-[F}0@!NT)@bٿ!Z-d!:_?ҰB%}?n2i-JA:i-A"i- .?*i-%Bi-Bi-.?i-Z^ׇi-XBi-Ai-&?=DNOT Ignoring new targets: 20.80 m.h9h9*h9"hA hAgAfAfIfMBdIdQjdQZdU?Z>Z>Z#@ZK@) B>i9)U3ii@e Z,m-?A6checking for new query: numPingsReceived=31, elapsed TxPingTime=17.389303ft@fRe@f䛼ٱfTa rAHRS rotation from veh to nav: [[-0.619910,0.782749,0.054920],[-0.784442,-0.619905,-0.019184],[0.019029,-0.054975,0.998306]]fHL@G ??&C O|?%` ?ift@If0^;dYz܁ByzIbDVDya/%h=ٔ-Q->9!Y!=%Fy!%$:E%?)Q 5515-/?Q 9=15-))Y9y=OFQ IE@-4DI-#;i-$;-<15yIɮM AIiAiE<^-?AJiE)ARiE)AjiEd?bEApI4hՏ@p2REUjrv ?ᢔZiE36@biEd=jELn 0@zL*9$(@hvEzZE? {J|?'0;涿2iE!AA:iEA"iEP?*iE\plBiE>|BiECA?iAiEUBiEǧAiED$? addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504244 s, deltaX: 0.100000 m, approachRate: 0.198317 m/s, rangeRepo size: 4  Added new target pos. range: 20.895496 m, bearing: 35.450353 deg, lat: 36.779319 deg, lon: -121.859594 deg, deltaT: 1.008039 s, deltaX: 0.099487 m, approachRate: 0.098694 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.90 m.hh*hԱ"h hgfffddjd5@Zd?ZZZZK@䛼) 3>i9)%4ii ?  E'-@ >)R;@I}(zY{E保1'? '')3sIR;@ichecking for new query: numPingsReceived=32, elapsed TxPingTime=17.656740ԑE EE(E"E(;*E|:VEc44ZEa@a@a@a@^A I I O >By By B} IB} BB} =Թ By By B} u;B} /Ea,Y-?Amt@mh@m|ٱm` }AHRS rotation from veh to nav: [[-0.619575,0.783007,0.055015],[-0.784699,-0.619591,-0.018827],[0.019345,-0.054834,0.998308]]mH@e?*?`A PG/ϓ? B#?imt@Im];mCYʁByI ==ԁiMb@Mb@Mb@ 9J +?/$~jtxY=yĻ`A )QAYpAbD VDf2yE%E+=ٔM-Q-M>9IYI=UFyQUg:EU>echecking for new query: numPingsReceived=32, elapsed TxPingTime=17.893072YQ 5u15]?Q 9u15]9)]ߨBYuP>Q Eu;yuZP>Zb@ZdU@|)  W>i9)a4ii@/ Ag,z-?APt@i@>ٱ` AHRS rotation from veh to nav: [[-0.619455,0.783084,0.055273],[-0.784783,-0.619495,-0.018485],[0.019766,-0.054827,0.998300]]H?L?`풿`=?Q@?iPt@I];CYByI p;bDVD0y ݣ% b=ٔ Q->91Y1==Fy9=9E=>AQ 5M15E,?Q 9M15Ev)AYIyU) h9>i9)Z4ii?f$n,HS-?A YByIbD5VD5y=ݕ%EX=ٔEQ-E>9IYI=MFyIMEM>QQ 5e15U.?Q 9e15U)QYayaQ Ie@U4DIU;iU< ;U15yuBɮuAqDNOT Ignoring new targets: 20.90 m.hh*h"h hgfffddjdZd@?eDDAT read: Rx Time:05:01:41.6838 eTRx dataTimestamp_ set to:1761541303.004760uPDAT read: Bearing 158.6, 11.9 (Local) E} E}E}*Ey"E} /;*E}n:VE}(N4ZEya@a@a@a@u~Local bearing/azimuth received: Bearing 158.6, 11.9 (Local) DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 DAT read: 05:01:41.6838 LVL= 25648, 24561, 32754, 32755, AGC= 63, IDX= 512, 0.34, 1.727, 2.633, 1.442, 2.577, PHS=-0.748, 0.101,-1.179, RAW= 349.3, 29.8, CAL= 348.3, 34.8, ROT= 161.7, -34.8 Ygot valid direction response: 05:01:41.6838 LVL= 25648, 24561, 32754, 32755, AGC= 63, IDX= 512, 0.34, 1.727, 2.633, 1.442, 2.577, PHS=-0.748, 0.101,-1.179, RAW= 349.3, 29.8, CAL= 348.3, 34.8, ROT= 161.7, -34.8 T#Rx 34: Read range and direction messages.^direction in FSK: [-0.779620,0.257835,0.570714]Fpublishing direction and range infoyae>ǧu\? IC?Yaae0de_a a)aIe|?ie=ey閿e@e%?e@ e|?)e4@Ie|aae N?⿛6V#~S+? e)e6Ie4@ie|aachecking for new query: numPingsReceived=34, elapsed TxPingTime=18.683681qZZZZ) T2>i9)4ii-@156;u,>-?AP%t@%Qd@%#ٱ%6a =AHRS rotation from veh to nav: [[-0.619981,0.782597,0.056265],[-0.784334,-0.620087,-0.017663],[0.021067,-0.055081,0.998260]]%H`` ?`ά?`D``1{?3@?i%t@I%3Y];%CYMByMII4=);iUMb@Mb@Mb@QQQQ Q9UX9v?)\(y&1|YU=yUGaU`QU@ UA)Uv@QYUAbD}VD}ky%6=ٔ=Q->9Y=FyȺE>Q 515?Q 915t)ިBY >Q E;y-*Q I@4DI;i;15yɮAiiM-?AJi)ARi)AjiB ?bePVaJ0<߇@4{'@R>ǧu\? IC?Zi4@bi|j^Ig-@Js"@&@Z0?|A?C@?2iA:ioA"i}?*i{Bi7Bi .?i\pliipAiBs ? addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.520134 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.895496 m, bearing: 31.615800 deg, lat: 36.779317 deg, lon: -121.859600 deg, deltaT: 0.520134 s, deltaX: -0.000015 m, approachRate: -0.000029 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.90 m.hh*h"h hgfff*BddjdZd,&?Z  >Z  >Z 䳻@Z !g@%#)! %>i%-9))-4)i)i5?15s8{,-?AYnBynvItt|checking for new query: numPingsReceived=35, elapsed TxPingTime=19.432150bDzVDzJy-T%-e=ٔ-Q-5>91Y1=5Fy9=E=>AQ 5M15E?Q 9M15E )AYIyQQ IU@E4DIE:iE1:E15yYɮ]0AYii3-?AJiARiAji&?bY;#{p41@黰X~?R60=?I:?Zi9@bi+Hj9rQ>0@a)@v~uݿZ݌S.n?= Zi?Ȁg\(X2iLA:iA"i+?*iPxBiBi+?iiBiAiݑ ? addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.505445 s, deltaX: 0.200001 m, approachRate: 0.395692 m/s, rangeRepo size: 4  Added new target pos. range: 21.094503 m, bearing: 37.355221 deg, lat: 36.779317 deg, lon: -121.859600 deg, deltaT: 0.505445 s, deltaX: 0.199007 m, approachRate: 0.393726 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.09 m.hh*h"h hgfffddjd@335@Zd@9C?ZZZZ )  8w>iY9)~4ii@qi->9@ @@/@@=@=)Q^A፨<DD4=E EE+E"E*E]:VE [4ZEa@a@a@a@IIDDAT read: Rx Time:05:01:42.6839 TRx dataTimestamp_ set to:1761541304.024828PDAT read: Bearing 192.9, 13.4 (Local) ~Local bearing/azimuth received: Bearing 192.9, 13.4 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.0  DAT read: 05:01:42.6839 LVL= 24288, 23953, 32754, 32755, AGC= 64, IDX= 497, 0.43, 3.115,-1.566, 2.680,-2.624, PHS=-0.442, 1.103,-1.023, RAW= 345.3, 3.8, CAL= 344.9, 1.4, ROT= 165.1, -1.4 m Ygot valid direction response: 05:01:42.6839 LVL= 24288, 23953, 32754, 32755, AGC= 64, IDX= 497, 0.43, 3.115,-1.566, 2.680,-2.624, PHS=-0.442, 1.103,-1.023, RAW= 345.3, 3.8, CAL= 344.9, 1.4, ROT= 165.1, -1.4 m T#Rx 36: Read range and direction messages.u ^direction in FSK: [-0.966088,0.257056,0.024432]u Fpublishing direction and range infoyh0e@s?{J?Y^] )@IMi/?񂿩@O >ԇ=@ +<)!k8@I+ȼ~&4r濪:ޘ=1-? m)I!k8@i+ȼ checking for new query: numPingsReceived=36, elapsed TxPingTime=19.711241ԁ B B B IB BB =B B B -v;B =0E$,.?Aѻt@X@RSٱr:bQ UAHRS rotation from veh to nav: [[-0.621072,0.781668,0.057139],[-0.783434,-0.621248,-0.016786],[0.022377,-0.055190,0.998225]]Hl?`PA?C:0?@Au?iѻt@I5U];CYmBym}IiMb@Mb@Mb@ 9M?/$Yn>y,A )@YAbDVDky<%2=ٔ:Q->9Y=FyGE > Q 515 @?Q 915 ) ߨBY>Q E;y!Q I@ 4DI 3:i ]: 15yAɮMAIiiȖ.?AJiRiji#?b&a4 |!A@Zj~?Rh0e@s?{J?Zi!k8@bi+ȼj0@:а=-)@eοZiO?W9?6a2iiIA:ifA"i:{4?*iBi0Biii0BiAi}y$? addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.514623 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 21.094498 m, bearing: 36.641005 deg, lat: 36.779317 deg, lon: -121.859595 deg, deltaT: 0.514623 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4  DNOT Ignoring new targets: 21.09 m.h h *h "h  hgfff+B%checking for new query: numPingsReceived=36, elapsed TxPingTime=19.937038dd9jd9ZdEK?yZ>Z>Z@Z mp@RS) >i9) 5ii?"E  E E 'E "E );*E a:VE '4ZE BE N9Y=FyqZE>ԹQ 515?Q 915)BYy!Q I@4DI';iz; 15yɮ%Aii!.?AJiARiAjiP$?bFDс4mGr]@O?N?Rb~yBe!?y&?Zi8@bij,W0@ޮ8q)@ ۿZOG?KB5?&y۔2iKA:iA"i)2?*iԤFBiʀBi)2?iiʀBiAi#?m addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503918 s, deltaX: 0.099998 m, approachRate: 0.198442 m/s, rangeRepo size: 4  Added new target pos. range: 21.193998 m, bearing: 36.896847 deg, lat: 36.779317 deg, lon: -121.859595 deg, deltaT: 0.503918 s, deltaX: 0.099501 m, approachRate: 0.197454 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.19 m.hh*h"h hgfffddjdL5@Zdo?ZZZZYp@M)i mx>iuB9)qu5qiqi@QA s,<.?A6ot@6 D@6aӿٱ6"_ BAHRS rotation from veh to nav: [[-0.623034,0.780096,0.057267],[-0.781844,-0.623275,-0.015740],[0.023414,-0.054581,0.998235]]6H ? R?`@@>?@?i6ot@I61];4YJByJI PRp<bDVVDVy^I=%^J=ٔ^Q-b>9`Y`=bFy`fhEf>hQ 5n25j?Q 9n25j)jBYpyr!Q Ir@j4DIj;ij;j]25ytɮvAtDNOT Ignoring new targets: 21.19 m.hh*h"h hgf!f!f!d!d)jd)Zd-/3?ZIZIZIZMWCp@eaӿ)a e2>ie9)aeq5iiiim?qu5cqG 9 Y AM checking for new query: numPingsReceived=38, elapsed TxPingTime=20.944956ԡ `,aV.?A^~t@^&:@^Cżٱ^(?` jAHRS rotation from veh to nav: [[-0.623967,0.779313,0.057759],[-0.781080,-0.624242,-0.015370],[0.024077,-0.054705,0.998212]]^H"?? Ezħ? ;Z?i^~t@I^];^CYrByrIiMb@Mb@Mb@ 9ʡE?li9Y=Fy*E>Q 525̖?Q 925)BY=Q E;y"Q I@4DIa:i:h25yɮAiiuB.?AJiRijiN&?b+b$d44(G@l?R-w3L ,?P!Κ?ZiO9@biPwּjE=0@')@7};̿ZP0bz?K[?&h]2iMA:iA"i $?*i)eBiBBi+?iԤFi0BiAi\f%? addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504424 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 21.193991 m, bearing: 37.221362 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.504424 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.19 m.hh*h"h hgfffIBdd!jd!Zd%@??ZE=ZE=ZEB@ZEJo@]Cż)Y ] W>i]09)Ye-5aiaim@img̀I ,,N^p.?A2Hkt@2u0@2vɼٱ2a :AHRS rotation from veh to nav: [[-0.624883,0.778546,0.058205],[-0.780331,-0.625183,-0.015155],[0.024590,-0.054889,0.998190]]2H ? ͭ?x^ ,.?`h`+?i2Hkt@I28];2CY^By^II`)b=dfAchecking for new query: numPingsReceived=39, elapsed TxPingTime=21.448992bDjVDjJyK=<%[=ٔ"Q->9Y=Fy%YE%>)Q 5-25-Ó?Q 9525-8)-BY1y5"Q I=@-5DI-n;i-z;- 25yAɮEAAiikb.?AJiARiAji($?b44X]@X?Rl9A-T?Xޡ?Zi8@bi5jIt31@.a)@ NEZ?Z.?#"_e2i#NA:iA"iXmi=?*iZBiBi)2?i)eiiAix%? addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504644 s, deltaX: 0.300001 m, approachRate: 0.594481 m/s, rangeRepo size: 4  Added new target pos. range: 21.492500 m, bearing: 36.830264 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.504644 s, deltaX: 0.298510 m, approachRate: 0.591525 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.49 m.hh*h"h hgfff ddjd5@Zd%g?1ZZZZ"7o@vɼ) v[>i9) ;5ii?qB >B B IB BB B B B v;B f0E#q,>.?A,}:_t@}n*@}j˼ٱ}8b AHRS rotation from veh to nav: [[-0.625454,0.778062,0.058547],[-0.779867,-0.625760,-0.015229],[0.024787,-0.055184,0.998168]]}H@??`8@d0a?A?i}:_t@I}^;}CYÁByIiMb@Mb@Mb@ 9Cl?A`"y&1?Y;=yY`<`A hA)YA@AbDVD:y5P\=%5,=ٔ5LڹQ-5>99Y9==Fy9=˺EE>iQ 5m25ml?Q 9u25m)mBYu=Q Eu;yu),Q Iu@m5DImz:im :m 25yBɮ&AԁEii.?AJi$ARi$Aji'?bI4/y#@.N2?Rv-tesr?Xޡ?Zi9@bijFMT0@T:*@N!6ZzI[?eT?཯pb2iPA:iA"i|#?*iөBiBiiiBBi`Ai$? checking for new query: numPingsReceived=40, elapsed TxPingTime=21.9529505 addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.502896 s, deltaX: -0.100000 m, approachRate: -0.198849 m/s, rangeRepo size: 4 e Added new target pos. range: 21.393028 m, bearing: 37.586320 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.502896 s, deltaX: -0.099472 m, approachRate: -0.197798 m/s, posRepo size: 4 eDNOT Ignoring new targets: 21.39 m.haha*hi"hi higififqfuCBdqdqjdu5@Zd}`z?Ze=Ze=ZeV@Zee@j˼) >i9)!%L5!i)i=@AM?i^,.?AYTt@$@̼ٱHc AHRS rotation from veh to nav: [[-0.625968,0.777623,0.058882],[-0.779448,-0.626282,-0.015253],[0.025016,-0.055443,0.998148]]H I? %?< <ɝ?c?iYTt@Id];CYEɁByEIbDUVDUy<%J=ٔQ->9Y=FyԺE>Q 525?Q 925o)BYy3,Q I@5DI_;i.a;>25yɮ AiAiEݢ.?AJiEARiEAjiEH#?1bElT4,U@jk3?REB8&̡!?(א¢?ZiE8@biEQ jE:G QD1@5w)@pZiZE~\? ?@6Y2iELA:iE"A"iE(:?*iE6҉BiEBiAiAiEBiE«AiEX$? addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504082 s, deltaX: 0.100000 m, approachRate: 0.198381 m/s, rangeRepo size: 4  Added new target pos. range: 21.492531 m, bearing: 36.544955 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.504082 s, deltaX: 0.099503 m, approachRate: 0.197394 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.49 m.hh*h"h hgfff ddjd5@Zd}t?ZIZIZIZMe@̼) O>i9)#]5ii?`4,).?A@Y߁ByI !!-=-=bD5VD5kyE=%Ed=ٔMQ-M>9IYI=MFyIUEU>YQ 5e25]?Q 9e25])]BYayaQ Im@] 5DI]:i]-:]W25yqɮuJ AqE EEE"E%;*EI:VEZEa@a@a@a@DNOT Ignoring new targets: 21.49 m.hDDAT read: Rx Time:05:01:45.6841 TRx dataTimestamp_ set to:1761541307.048748PDAT read: Bearing 193.2, 12.4 (Local) ~Local bearing/azimuth received: Bearing 193.2, 12.4 (Local) DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.0 -DAT read: 05:01:45.6841 LVL= 23728, 24689, 32754, 32755, AGC= 65, IDX= 500,-0.05, 1.124, 2.767, 0.723, 1.688, PHS=-0.461, 1.125,-1.008, RAW= 344.3, 3.6, CAL= 343.9, 1.1, ROT= 166.1, -1.1 5Ygot valid direction response: 05:01:45.6841 LVL= 23728, 24689, 32754, 32755, AGC= 65, IDX= 500,-0.05, 1.124, 2.767, 0.723, 1.688, PHS=-0.461, 1.125,-1.008, RAW= 344.3, 3.6, CAL= 343.9, 1.1, ROT= 166.1, -1.1 5T#Rx 42: Read range and direction messages.=^direction in FSK: [-0.970538,0.240184,0.019197]EFpublishing direction and range infoyD←V?]~?YA\q` )AIi?%K@=@ nF<)9@InFqq!Y;-MAxt1? @)̡I9@inFchecking for new query: numPingsReceived=42, elapsed TxPingTime=22.732872h*h"h hgfffddjd5@Zdh?ZQZQZQZQi)i mn>B>BBIBƁBBBBBv;Bt0Eim!9)ii@a,.?ANAt@N@NHͼٱNu]c ^AHRS rotation from veh to nav: [[-0.626847,0.776913,0.058906],[-0.778740,-0.627161,-0.015300],[0.025056,-0.055463,0.998146]]NH @x?`(?oU c?e?iNAt@IN9t];LYfہByfIhi]Mb@Mb@Mb@YYYY Y9]x&?+~jt?Y]7=y]]=]vAY ]A)YYY]A <bD VDf2yj%@=ٔǸQ->9Y=Fyj-E>Q 525ꄖ?Q 925) BY =Q E ;y FQ I @5DI;i6;25yɮj Ai i .?AJi $ARi $Aji T&?b πA4?h@7x:H?R D←V?]~?Zi 9@bi nFj g1@wC)@ʮtzLٿZ 2y?~b[?Tt$뒿2i OA:i ?A"i ڞ ?*i PpBi Bi $?i Ppi i zAi Z%?m addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503956 s, deltaX: -0.100000 m, approachRate: -0.198431 m/s, rangeRepo size: 4 } Added new target pos. range: 21.393009 m, bearing: 37.226835 deg, lat: 36.779316 deg, lon: -121.859593 deg, deltaT: 0.503956 s, deltaX: -0.099522 m, approachRate: -0.197481 m/s, posRepo size: 4 }DNOT Ignoring new targets: 21.39 m.hyhy*h"h hgffftBddjdZd ]?Z=Z=Z@Z0K@Hͼ) L>i9)5J3ii?Pa ",.?A&checking for new query: numPingsReceived=43, elapsed TxPingTime=23.464888AYUBy]IbDVDJy=%M=ٔQ->9Y=FyE >iQ 5u25md?Q 9u25m)mBYyyyQ I}@m5DIm;imz;m25yɮ Ai!i%Vc.?AJi%ARi%Aji%'?b%d =`5F@dG?R%#ᅬ̑SL?Iz?Zi%F9@bi%j%6;1@ьjYX*@0"Z%?^OTl?+n?.y2i%RA:i%݉A"i% ś-?*i%JBi%Bi% ś-?i%Zi%Bi%uAi%$?  addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504190 s, deltaX: 0.299999 m, approachRate: 0.595012 m/s, rangeRepo size: 4 - Added new target pos. range: 21.691515 m, bearing: 37.393019 deg, lat: 36.779317 deg, lon: -121.859593 deg, deltaT: 0.504190 s, deltaX: 0.298506 m, approachRate: 0.592050 m/s, posRepo size: 4 5DNOT Ignoring new targets: 21.69 m.h1h1*h9"h9 h9gAfAfAfAdIdQjdU5@Zd]`R|?ZZZZI)I UPo>iUz9)QU83QiQi]@Y]mS , /?AUSGt@U{@UZʼٱUd mAHRS rotation from veh to nav: [[-0.626592,0.777114,0.058960],[-0.778956,-0.626880,-0.015778],[0.024699,-0.055814,0.998136]]UH ?/?4 g0(J?@?iUSGt@IU9];QԑYByII)=AiMb@Mb@Mb@ 9v/?v/Q?Yxi=yx齙\=@ )AYfAbDVDβy=%8=ٔ0T:Q->9Y=FyG:E> Q 525 }?Q 925 ) BYX>Q E;yd;@Q I@ 5DI L:i v: l25y!ɮ%K A)]checking for new query: numPingsReceived=44, elapsed TxPingTime=23.969809i)i-/?AJi)Ri)ji-${$?b-C"P5 vk@Xr=?R-SvBy?Iz?Zi-9@bi)j-Oy]1@5K)@k7Z-(]?mb,?ޣDz2i-OA:i-A"i-d4?*i-7لBi-Bi)i-7لi-Bi-Ai-4 %? addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 21.691504 m, bearing: 36.812767 deg, lat: 36.779317 deg, lon: -121.859593 deg, deltaT: 0.504006 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.69 m.h9h9*h9"h9 h9g9fAfAfEBdAdIjdIZdM`>?ZX>ZX>Z@Zd;@Zʼ) >i9)  H4 i i=?9=WX,P4'/?Aɰ49Y=FyD:E>)Q 5525-y?Q 9525-q)-%BY1y5n;@Q I=@-5DI-:i-b:-"25yAɮE AAii#/?AJiSARiSAjie'?bzz*5ʬO@[="4?RuʺN/t5O?_2q?ZiF9@bij\>K1@s*@K ֿZ[wce?!@_v?/2i TA:iYA"i`*?*i8}BiTBiiiBiCAi\$?5 addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503766 s, deltaX: 0.100000 m, approachRate: 0.198506 m/s, rangeRepo size: 4 m Added new target pos. range: 21.791006 m, bearing: 37.464944 deg, lat: 36.779317 deg, lon: -121.859593 deg, deltaT: 0.503766 s, deltaX: 0.099503 m, approachRate: 0.197517 m/s, posRepo size: 4 mDNOT Ignoring new targets: 21.79 m.hqhq*hq"hq hqgqfyfyfddjd`f5@Zd?ZZZZ1n;@%#Ƽ)) -%>i-9))-nB4)i1i5@1=]1 ?;,@/?AY~By~IbD VD 2y=%%W=ٔ%Q-%>9!Y)=-Fy)-E->1EE EEEE+EA"EE /;*EE8:VEE [4ZEAaM@aM@aM@aM@Q 5U255;u?Q 9U255/)5-BYYyYQ I]@55DI5u;i5;5&25yaɮe AiDDAT read: Rx Time:05:01:47.6844 TRx dataTimestamp_ set to:1761541309.064843PDAT read: Bearing 193.2, 12.8 (Local) ~Local bearing/azimuth received: Bearing 193.2, 12.8 (Local) DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.1 DAT read: 05:01:47.6844 LVL= 23152, 21809, 32754, 32755, AGC= 64, IDX= 502, 0.44, 0.530, 2.168, 0.112, 1.085, PHS=-0.453, 1.128,-1.017, RAW= 344.7, 3.6, CAL= 344.3, 1.0, ROT= 165.7, -1.0 Ygot valid direction response: 05:01:47.6844 LVL= 23152, 21809, 32754, 32755, AGC= 64, IDX= 502, 0.44, 0.530, 2.168, 0.112, 1.085, PHS=-0.453, 1.128,-1.017, RAW= 344.7, 3.6, CAL= 344.3, 1.0, ROT= 165.7, -1.0 T#Rx 46: Read range and direction messages.^direction in FSK: [-0.968868,0.246962,0.017452]Fpublishing direction and range infoyᅴwLo?W7) ߑ?YpZ1U )IiNb?-M@=K@ 5<)9@I5iic&D/?AJiRiji$?bv)55W@_V?RᅴwLo?W7) ߑ?Zi9@SlQu濹̟_ ? <$)hI9@i5}checking for new query: numPingsReceived=46, elapsed TxPingTime=24.757128bi5j -Tm1@6Ϻ%*@ÛۿZTٗ?2_2?G}E2i-QA:ilA"iT1?*irPBi8BiirPiTBiAi%? addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 B<ABBBIBBBBBBv;B0E5 Added new target pos. range: 21.791006 m, bearing: 36.875320 deg, lat: 36.779317 deg, lon: -121.859592 deg, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5DNOT Ignoring new targets: 21.79 m.h9h9*h9"h9 h9g9f9fAfAdAdAjdIZdM?ZZZZ) JF>i9)s4ii?\ԡ He,AZ/?A2ht@27/@27@ٱ2vd :AHRS rotation from veh to nav: [[-0.625020,0.778442,0.058119],[-0.780260,-0.625233,-0.016693],[0.023344,-0.055781,0.998170]]2H)?`? x?c`?i2ht@I2m"];2CYnBynI ppiMb@Mb@Mb@ 9{Gz? rhL7A`?Yף9)Y)=-Fy)-s;E->1Q 5=255p?Q 9E255d)56BYE>Q EE;yE&@Q IE@55DI5z:i5:5)25yIɮU AQqDNOT Ignoring new targets: 21.79 m.hh*h"h hgfffBddjdZd?Z>Z>Zx@Z&@7@) #>iy9))-܍41i1i5@9=Ru1@!ԡ^A- zl<I9 Ia Ou > ,t/?ADDAT read: Rx Time:05:01:48.6844 "TRx dataTimestamp_ set to:1761541309.831752.PDAT read: Bearing 193.3, 13.2 (Local) 2~Local bearing/azimuth received: Bearing 193.3, 13.2 (Local) :checking for new query: numPingsReceived=47, elapsed TxPingTime=25.498762Ext@EF7@EٱEc AHRS rotation from veh to nav: [[-0.624258,0.779085,0.057700],[-0.780881,-0.624454,-0.016789],[0.022950,-0.055537,0.998193]]EHC?͊?51S?do 2?iExt@IEuk];ECYByI p;bDVDk2yT<%<=ٔl:Q->9Y=Fy;E%>)Q 5525-l?Q 9525-)-@BY1y5&@Q I5@-!5DI-:i-=:--25y=BɮEy AEEii|`d/?AJiTARiTAji7&?bPo1g#5*:@}$?R7 £bFEA?NGY;?Zi}l9@bi޹j}T1@~,j*@K)2ҿZDs?ue?u%c2iPSA:iA"iL!?*i9}BiBiiJiBiAix$? addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503546 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 21.791021 m, bearing: 37.310287 deg, lat: 36.779317 deg, lon: -121.859591 deg, deltaT: 0.503546 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 -DNOT Ignoring new targets: 21.79 m.h)h)*h)"h) h)g)f1f1f1d1d9jd9Zd=z2?ZyZyZyZ}&@) '>i=9)页4ii?~ 5 h>1 Y ,/?AV'Gdp 9 Y W Ae|t@e@@e*ٱeXb uAHRS rotation from veh to nav: [[-0.623379,0.779824,0.057218],[-0.781597,-0.623554,-0.016926],[0.022479,-0.055273,0.998218]]eHQ?K?'%U?L@g?ie|t@Iev];eCYBy I}9!Y!=%Fy!%';EM>QQ 5U25U@h?Q 9]25U)UIBQ A]+:YYQ E];ye'@Q Ie@U%5DIU1;iUH>U025yɮ9 Aii}/?AJiRiji#?b 5O@oMV?R``~i9)顕ʽ4ii@,ⓩ/?ABpt@BL@BHسٱBSb ZAHRS rotation from veh to nav: [[-0.622243,0.780756,0.056869],[-0.782517,-0.622392,-0.017218],[0.021952,-0.055214,0.998233]]BH@i`?@?`` vz? E?iBpt@IB_];@YbByb IIz<)z%=az@~Powering down~~~~bDVDy%t=ٔ:Q-?9Y=Fy;E?Q 525e?Q 9254)PBQ A :YQ Ev;y"'@Q I@(5DI;iH?225yɮj AiAiEԤ/?AJiARiAjiEV&?bE 6\f5[8!a@?REJ r○ذ=e?y&?ZiEL39@biEjEo U1@dVd*@LgڿZE7f&u?N*`?Wj虓2iE$SA:iEA"iE?*iEP|BiEABiE~y(?iE8}iEPBiEAiEP$? addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.791080 m, bearing: 37.278918 deg, lat: 36.779316 deg, lon: -121.859590 deg, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.79 m.hh*h"h hgf!f!f!d)d)jd)Zd-u?Hس) \+>i9)顥4ii?v, F/?A02t@2$X@2ٱ2O~b :AHRS rotation from veh to nav: [[-0.621139,0.781648,0.056678],[-0.783404,-0.621267,-0.017473],[0.021554,-0.055255,0.998240]]2H _C??l䑿G?iJ ?i2t@I2];2CDLzDLER ERER)EP"ER2;*ER:VERFA4ZEPaV@aZ@aZ@aZ@YZByZIb@Ab@AbDfVDf1ynDAT read: 05:01:49.6844 LVL= 25456, 25793, 32754, 32755, AGC= 64, IDX= 503, 0.32, 0.504, 2.124, 0.068, 1.055, PHS=-0.449, 1.115,-1.031, RAW= 345.2, 3.8, CAL= 344.8, 1.4, ROT= 165.2, -1.4  Ygot valid direction response: 05:01:49.6844 LVL= 25456, 25793, 32754, 32755, AGC= 64, IDX= 503, 0.32, 0.504, 2.124, 0.068, 1.055, PHS=-0.449, 1.115,-1.031, RAW= 345.2, 3.8, CAL= 344.8, 1.4, ROT= 165.2, -1.4  Z#Rx 51: Read direction message, but no range.^direction in FSK: [-0.966535,0.255370,0.024432]yprm)Pw]HW?{J?prpcrdp p)pIrTirR?rr@rԇ=r@ r+<)r8@Ir+ȼprR^AL})3٧濿p^%? rk)rWHIr8@ir+ȼ5checking for new query: numPingsReceived=51, elapsed TxPingTime=26.750700%5X=ٔ=݅:Q-=>9AYA=EFyAEn;EE>IQ 5U25M0a?Q 9U25M)MXBQ A9YQ EG;y;'@Q I@M,5DIMgB9B= IB=!BB9B9B9B=v;B=0EunManaging dock network, ignoring radio surface power offRm)Pw]HW?{J?Zi8@bi+ȼjSv1@Υ*@"oj-pͿZ;X?޷#?zAg2iPA:iA"iL ?*iϱBiBiL!?iϱiiXAi$? addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.257188 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 21.791080 m, bearing: 36.736851 deg, lat: 36.779315 deg, lon: -121.859591 deg, deltaT: 0.257188 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 21.79 m.h9h9*h9"hA hAgAfAfAfIdIdqjdqZdu2?ԉ) >iQ9)D4ii @m, /?A2Wt@2}b@21ٱ2nb :AHRS rotation from veh to nav: [[-0.620153,0.782443,0.056508],[-0.784193,-0.620267,-0.017621],[0.021262,-0.055241,0.998247]]2HK ??`:@G ŕ?H?i2Wt@I2];0\Yj ByjIbDrVDrN2yz%zI=ٔ~7A:Q-~>9|Y|=Fy@Q;E> Q 525 J]?Q 925 ) `BQ A9YQ E!;yQ'@Q I@ /5DI ? ;i 4? 525y!ɮ% A)UDNOT Ignoring new targets: 21.79 m.hQhQ*hQ"hQ hQgYfYfYfadadajdaZde _?1) >iq9)顝4ii?ۍ  DDAT read: Rx Time:05:01:50.6844  TRx dataTimestamp_ set to:1761541311.840006 PDAT read: Bearing 192.9, 13.6 (Local)  ~Local bearing/azimuth received: Bearing 192.9, 13.6 (Local) f!,/?A2DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.0 JDAT read: 05:01:50.6844 LVL= 23216, 24369, 32754, 32755, AGC= 63, IDX= 504, 0.09, 1.099, 2.709, 0.651, 1.644, PHS=-0.442, 1.111,-1.036, RAW= 345.5, 3.9, CAL= 345.1, 1.5, ROT= 164.9, -1.5 }Ygot valid direction response: 05:01:50.6844 LVL= 23216, 24369, 32754, 32755, AGC= 63, IDX= 504, 0.09, 1.099, 2.709, 0.651, 1.644, PHS=-0.442, 1.111,-1.036, RAW= 345.5, 3.9, CAL= 345.1, 1.5, ROT= 164.9, -1.5 T#Rx 53: Read range and direction messages.^direction in FSK: [-0.965142,0.260415,0.026177]Fpublishing direction and range infoԑyKq+??P!Κ?Y3AZ1_ )?IMi?5?@'g=~@ Pw<)18@IPwּY\濩1濃"CImB? 1)@.I18@iPwּchecking for new query: numPingsReceived=53, elapsed TxPingTime=27.583286t@n@ٱ6b AHRS rotation from veh to nav: [[-0.618982,0.783381,0.056360],[-0.785128,-0.619076,-0.017875],[0.020888,-0.055314,0.998251]]H t?+۬?yM c?`R ?it@I:];CYMByMI QQ]:Expecting PD13 message formatbDeVDe02y%0=ٔ8T:Q->9Y=FyUR;E>Q 525X?Q 925)jBQ A9YQ E;yk'@Q I@35DI@:i@l725yɮ  A ii/?AJiRiji<}#?b\5 '@t@?RKq+??P!Κ?Zi18@biPwּjOΌ~1@ξk)@|ǿZZ;? ?gZE2iOA:iA"i?*i])QBiBiL ?i])QiBiAi#? addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 1.007378 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.791073 m, bearing: 36.590785 deg, lat: 36.779315 deg, lon: -121.859590 deg, deltaT: 1.007378 s, deltaX: -0.000008 m, approachRate: -0.000008 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.79 m.hh*h"h hgfffddjdZd@Gr?U)Q UP>iU9)Y]Z5Yiyi@_ ,0?A2t@2Mw@2mٱ2a :AHRS rotation from veh to nav: [[-0.618166,0.784043,0.056101],[-0.785775,-0.618254,-0.017861],[0.020681,-0.055124,0.998265]]2H ?Q?`%GJT-? E9?i2t@I2e-^;2CYBByFI JE  E E 'E "E );*E a:VE '4ZE BE N9tYt=vFytz@;Ez>|Q 5 25~XQ?Q 9 25~)~zBQ A B9YQ E:y'@Q I@~95DI~I8;i~1@~925y!ɮ% A)ii 0?AJiARiAjip ?b{]>5A @^Iͽ4?Rp2~j?Iz?Zii7@bij,/1@7)@xQUVZ?Gp?~N@j2iOA:iA"isQ$3?*i~BíBiiiBiAiS!?M addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504448 s, deltaX: 0.300001 m, approachRate: 0.594712 m/s, rangeRepo size: 4 Q} Added new target pos. range: 22.089579 m, bearing: 36.006955 deg, lat: 36.779315 deg, lon: -121.859590 deg, deltaT: 0.504448 s, deltaX: 0.298506 m, approachRate: 0.591747 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.09 m.hh*h"h hgfffddjd@336@ZdK?%F)! %4=i%89)!%R5)i)i5@15 ,ǜD0?AEH EJEJ)EH"EH*EJ:VEJFA4ZEHaN@aN@aN@aN@nDAT read: 05:01:51.6845 LVL= 23392, 24753, 32754, 32755, AGC= 63, IDX= 505,-0.24, 0.422, 2.026,-0.026, 0.964, PHS=-0.440, 1.107,-1.034, RAW= 345.6, 3.9, CAL= 345.2, 1.5, ROT= 164.8, -1.5 rYgot valid direction response: 05:01:51.6845 LVL= 23392, 24753, 32754, 32755, AGC= 63, IDX= 505,-0.24, 0.422, 2.026,-0.026, 0.964, PHS=-0.440, 1.107,-1.034, RAW= 345.6, 3.9, CAL= 345.2, 1.5, ROT= 164.8, -1.5 vZ#Rx 57: Read direction message, but no range. ^direction in FSK: [-0.964686,0.262099,0.026177]y\^*Դ!;?P!Κ?\^`[^`\ \)\I^Gi^-?^Z^@^'g=^@ ^Pw<)^X8@I^Pwּ\^.BWOCKƴO? ^#)^I^X8@i^Pwּmchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.778854;u@o@ٱsa AHRS rotation from veh to nav: [[-0.616431,0.785437,0.055680],[-0.787149,-0.616500,-0.017982],[0.020203,-0.054913,0.998287]]H`ιM"??S0^i@?`?i;u@If];CB>BBIB BBBBBxv;Ba0EYeByeIIq)u=bD}VD}ypK%.=ٔ9Q->9Y=Fy  ;E >Q 525L?Q 925)BQ A9YQ E:y'@Q I%@>5DI:iO@925yBɮ AEii_60?AJiARiAji#?b665 @LFk?R*Դ!;?P!Κ?ZiX8@biPwּj1@jlOD*@_~ſZnٴש?g?oT2i'RA:iA"i7?*iSyBiBi?i~iiAiv*"?= addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.505144 s, deltaX: -0.100000 m, approachRate: -0.197964 m/s, rangeRepo size: 4 M Added new target pos. range: 21.990057 m, bearing: 36.677829 deg, lat: 36.779315 deg, lon: -121.859590 deg, deltaT: 0.505144 s, deltaX: -0.099522 m, approachRate: -0.197016 m/s, posRepo size: 4 UDNOT Ignoring new targets: 21.99 m.hQhQ*hQ"hQ hQgQfYfYfYdydjd6@Zd-?) h=i9):5ii?PI kB,r^0?A6)u@6T@6ꥼٱ6a BAHRS rotation from veh to nav: [[-0.615864,0.785879,0.055727],[-0.787592,-0.615937,-0.017906],[0.020252,-0.054918,0.998285]]6H(%???3` V?6`?i6)u@I6}];6CY^ҁBy^IbAA`bDfVDfyn %nr=ٔrPQ-r?9pYp=vFytv ;Ev?xQ 5~25z]I?Q 9~25z5)zBQ A8YQ Ea:y'@Q I@z@5DIz ;iz7e@zD:25y ɮ q A = addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503626 s, deltaX: 0.100000 m, approachRate: 0.198561 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 21.99 m.hAhA*hA"hA hAgIfIfIfIdQdQjdU@336@Zd]g@?ꥼ) =i9)額ii@%ԁ  DDAT read: Rx Time:05:01:52.6846  TRx dataTimestamp_ set to:1761541313.856319 PDAT read: Bearing 192.6, 15.3 (Local)  ~Local bearing/azimuth received: Bearing 192.6, 15.3 (Local)  DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.0  Z#Rx 60: Read range message, but no direction.y Y j,Fx0?A06checking for new query: numPingsReceived=60, elapsed TxPingTime=29.5533913u@@ٱ"a AHRS rotation from veh to nav: [[-0.615344,0.786281,0.055797],[-0.787996,-0.615423,-0.017808],[0.020337,-0.054926,0.998283]]H6)?l?`C7 @%<8Ӕ?@5?i3u@I}];CYρByIbD VD ky}cI%}3=ٔBQ->9Y=Fy:E>Q 525D?Q 925e)BQ A8YQ E6:y'@Q I@D5DI*:i:@:25yɮ Aiiv0?AJiARiAjis?b'Qo,50"l@߈0E?R58N?+?{J?Zi6@bi+ȼj01@Z;d)@?οZN?t?tLA酿2i MA:iA"i0?*i0BSBiVBiL ?i])QiiAiE ?= addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503095 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 22.089560 m, bearing: 35.463304 deg, lat: 36.779315 deg, lon: -121.859590 deg, deltaT: 1.006721 s, deltaX: 0.099503 m, approachRate: 0.098838 m/s, posRepo size: 4 uDNOT Ignoring new targets: 22.09 m.hqhq*hq"hq hqgyfyfyfyddjdZd ?ԉ) 0Q$,0?A2=u@2@2Lٱ2Ca :AHRS rotation from veh to nav: [[-0.614865,0.786651,0.055869],[-0.788368,-0.614947,-0.017747],[0.020396,-0.054957,0.998280]]2H >,?Қ?`P: ,,? P#?i2=u@I2Du];2CYBByFI DDpbDNVDNyV%%d=ٔ5x+Q-5>9AYA=MFyIU:E]>qQ 525u6A?Q 925u)uBQ A8YQ E:y'@Q I@uH5DIu;iu&@u;25yɮIA]DDAT read: Rx Time:05:01:53.1846 eTRx dataTimestamp_ set to:1761541314.360400PDAT read: Bearing 193.0, 14.8 (Local) ~Local bearing/azimuth received: Bearing 193.0, 14.8 (Local) DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.0 UDAT read: 05:01:53.1846 LVL= 26736, 25649, 32754, 32755, AGC= 63, IDX= 506,-0.10, 0.578, 2.140, 0.094, 1.095, PHS=-0.416, 1.090,-1.046, RAW= 346.7, 4.0, CAL= 346.3, 1.6, ROT= 163.7, -1.6 eYgot valid direction response: 05:01:53.1846 LVL= 26736, 25649, 32754, 32755, AGC= 63, IDX= 506,-0.10, 0.578, 2.140, 0.094, 1.095, PHS=-0.416, 1.090,-1.046, RAW= 346.7, 4.0, CAL= 346.3, 1.6, ROT= 163.7, -1.6 mT#Rx 62: Read range and direction messages.DNOT Ignoring new targets: 22.09 m.h^direction in FSK: [-0.959431,0.280557,0.027922]Fpublishing direction and range infoyaezwʵ0,?|p}?Yaaephe1da a)aIeԾie?eTㅿeB@e5=ei@ e<)e6@h*h"h hgfffddjdZd8? Ie伩aaewf?1WE9翌Lc? e)ewIe6@ie伩aachecking for new query: numPingsReceived=62, elapsed TxPingTime=30.078014]L)a eie9)aeii@+A|*,0?A6Du@6@6ٱ6Va RAHRS rotation from veh to nav: [[-0.614536,0.786898,0.056011],[-0.788620,-0.614630,-0.017580],[0.020592,-0.054975,0.998275]]6HG`D.?|?`< `!?% ?i6Du@I6F];6CYbBybIbDnVDnk1yzS<%zM=ٔzQ-~>9|Y=Fy ɉ:E >Q 525U=?Q 9%25)BQ A%8Y!Q E-9y-'@Q I-@K5DIK;i@W;25Ay1ɮE;AAii0?AJiRiji%?b715A@?Rzwʵ0,?|p}?Zi6@bijZ]r1@-B)@() ĿZ[4%Rg?@wΤ? v}2iLNA:i{A"im^$?*i|BifBim^$?i~iBiAii&? addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504081 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.089518 m, bearing: 35.712072 deg, lat: 36.779316 deg, lon: -121.859590 deg, deltaT: 0.504081 s, deltaX: -0.000042 m, approachRate: -0.000083 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.09 m.hh*h"h hgfffddjdZd@.?) Ni 9);ii ?  V 9AYA=EFyAM ĹEM>IQ 5u25M8?Q 9}25MD)MBQ A}[8YyQ E}9y}'@Q I}@MO5DIM;iMܧ@M;25yzBɮAEiimX0?AJiRijiz\?b)<5bl@J#^?RK V6?.='?Zio5@bil$j!`3%2@X*[2)@СF!|?Z I?tt~??%pJUWp?2iIA:i(A"i(Z1?*i BiʁBi0?iiiAiȌ?U addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504372 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 22.089504 m, bearing: 34.771654 deg, lat: 36.779317 deg, lon: -121.859590 deg, deltaT: 0.504372 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.09 m.hh*h"h hgfffddjdZd ? )! %iU9u؀G)a顅i9YAi@   7,ݱ0?A2K@u@2@2R7ٱ2. ` :AHRS rotation from veh to nav: [[-0.614734,0.786738,0.056096],[-0.788451,-0.614863,-0.016967],[0.021143,-0.054659,0.998281]]2H@,??: _?8?i2K@u@I2];2CYFByFqIIJ=)J=bDRVDRyZ-<%Zg=ٔZdcQ-Z>9\Y|=FyuE> Q 525 X5?Q 925 ) BQ A18YQ E9y'@Q I@ R5DI ;i V@ ;25y!ɮ%A)ii˜0?AJiNARiNAji_?bwiN5VoR@¢$?R/TNLY?|p}?Zi6@bij#A2@!a)@bǿZRd6?,΢cZ?2O 2iLA:iA"i9G7?*ie~BiBBiie~ifBi±Ai? addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504173 s, deltaX: 0.199999 m, approachRate: 0.396687 m/s, rangeRepo size: 4  Added new target pos. range: 22.288507 m, bearing: 34.998405 deg, lat: 36.779317 deg, lon: -121.859590 deg, deltaT: 0.504173 s, deltaX: 0.199003 m, approachRate: 0.394712 m/s, posRepo size: 4 %DNOT Ignoring new targets: 22.29 m.h!h!*h!"h! h!g)f)f)f)d1dqjdu`ff6@Zduj?R7) i9)}vii?Ye DDAT read: Rx Time:05:01:54.6847  TRx dataTimestamp_ set to:1761541315.872165 PDAT read: Bearing 192.5, 16.4 (Local)  ~Local bearing/azimuth received: Bearing 192.5, 16.4 (Local)  DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.0  DAT read: 05:01:54.6847 LVL= 25280, 24881, 32754, 32755, AGC= 63, IDX= 506, 0.10, 0.785, 2.298, 0.246, 1.279, PHS=-0.392, 1.064,-1.077, RAW= 348.3, 4.3, CAL= 347.9, 2.1, ROT= 162.1, -2.1  Ygot valid direction response: 05:01:54.6847 LVL= 25280, 24881, 32754, 32755, AGC= 63, IDX= 506, 0.10, 0.785, 2.298, 0.246, 1.279, PHS=-0.392, 1.064,-1.077, RAW= 348.3, 4.3, CAL= 347.9, 2.1, ROT= 162.1, -2.1  T#Rx 66: Read range and direction messages.% ^direction in FSK: [-0.950955,0.307150,0.036644]% Fpublishing direction and range infoy  R9nc0>X?(א¢?Y b 1a v=,T0?A )I9Ⱦi'1?#ۉ@`=M@ Q =)D5@IQ 8>忛M? "))ID5@iQ zchecking for new query: numPingsReceived=66, elapsed TxPingTime=31.590508=>>u@=@=tٱ=BP_ MAHRS rotation from veh to nav: [[-0.614830,0.786665,0.056046],[-0.788372,-0.614971,-0.016745],[0.021294,-0.054481,0.998288]]=Hబ\,??W:ح%.Ε?䫿@?i=>>u@I=\;=CYByhIAAbDVDky5%7=ٔ `Q- >9 Y =FyUEU>YQ 5e25]0?Q 9e25])]BQ Am8YiQ Em~9ym'@Q Im@]V5DI] :i]@];25yqɮ}AyԱii0?AJiRiji9?b*&25t>8b@is"?RR9nc0>X?(א¢?ZiD5@biQ j'xv2@M(@jaZy ?1 D,4f1?Ab];u@b@bJٱbos_ ]AHRS rotation from veh to nav: [[-0.614965,0.786545,0.056262],[-0.788259,-0.615122,-0.016529],[0.021607,-0.054514,0.998279]]bH@ʭ`+?Uά?@j9`` 퐿` ?6髿@?ib];u@Ib];`YByUIbDVDy D%J=5DDAT read: Rx Time:05:01:55.1848 =TRx dataTimestamp_ set to:1761541316.374967MPDAT read: Bearing 192.5, 16.3 (Local) M~Local bearing/azimuth received: Bearing 192.5, 16.3 (Local) eDAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 DAT read: 05:01:55.1848 LVL= 25712, 24689, 32754, 32755, AGC= 63, IDX= 508,-0.38, 0.768, 2.271, 0.242, 1.261, PHS=-0.391, 1.055,-1.063, RAW= 348.1, 4.3, CAL= 347.7, 2.1, ROT= 162.3, -2.1 ٔ:Q->9Y=Fy%չE%>)Q 5u25-,?Q 9u25-)-ǩBQ A}7YyQ E}N9y}'@Q I}@-Z5DI-,(J,I-1?A F0;u@Fi@FVٱFiP` VAHRS rotation from veh to nav: [[-0.614969,0.786517,0.056601],[-0.788247,-0.615139,-0.016436],[0.021890,-0.054724,0.998262]]FH`ԭ%+??Q98Ԑ]j?@?iF0;u@IF`\;FCY`yfTI hhbDVDy  %[=ٔv[Q-?99Y9==Fy9E1EE?AQ 5M25EF)?Q 9U25Ew)EΩBQ AU7YQQ Eu'9yu'@Q Iu@E]5DIE;iE@E"<25yɮ`ADNOT Ignoring new targets: 22.39 m.hh*h"h hgfffddjdZd6?5V)1 5ܽi59)1=\9i9i=@AAIAIAy-9@) @1@5/@15DDAT read: Rx Time:05:01:55.6848 =TRx dataTimestamp_ set to:1761541316.878223MPDAT read: Bearing 193.1, 16.8 (Local) U~Local bearing/azimuth received: Bearing 193.1, 16.8 (Local) uDAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 DAT read: 05:01:55.6848 LVL= 24304, 22433, 32754, 32755, AGC= 63, IDX= 507, 0.08,-0.032, 1.481,-0.586, 0.446, PHS=-0.376, 1.079,-1.076, RAW= 348.6, 4.0, CAL= 348.2, 1.5, ROT= 161.8, -1.5 Ygot valid direction response: 05:01:55.6848 LVL= 24304, 22433, 32754, 32755, AGC= 63, IDX= 507, 0.08,-0.032, 1.481,-0.586, 0.446, PHS=-0.376, 1.079,-1.076, RAW= 348.6, 4.0, CAL= 348.2, 1.5, ROT= 161.8, -1.5 T#Rx 68: Read range and direction messages.^direction in FSK: [-0.949647,0.312228,0.026177]Fpublishing direction and range infoy9ԙ=15cj?P!Κ?Y99=^=W9 9)9I=i=?=^=@=5==x@ =Pw<)={4@I=Pwּ99=AG S(Z翂!"? =)=󝍽I={4@i=Pwּ99]checking for new query: numPingsReceived=68, elapsed TxPingTime=32.609276^AD%<IIO> KQ,!G1?ADzDE  E"E"(E "E *E":VE"c44ZE a*@a*@a*@a*@Bchecking for new query: numPingsReceived=68, elapsed TxPingTime=32.789001>H4u@>@>rٱ>H` JAHRS rotation from veh to nav: [[-0.615298,0.786249,0.056747],[-0.787983,-0.615482,-0.016253],[0.022147,-0.054716,0.998256]]>H@(? ?(7`ǭ?@?Li>H4u@I>\;>CYV~ByVEI ^p<^bDbVDb0yj-z%jN=ٔj=*Q-n>9lYl=rFyprEr>tQ 5z25vf%?Q 9z25v)v֩BQ Az7YxQ E~9y~'@Q I~@v`5DIv ;iv@v6<25yɮAB!B!B%lIB%BB!B!B!B%v;B%n0Eiiim481?AJiiRiijim?bm7jB5+qj@)Q?Rm15cj?P!Κ?Zim{4@bimPwּjmzd2@(@f ,ѿZmk1??_?ðk2imGA:imA"im ׳E?*imSBimBimiC?im iiimAimr5?} addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503256 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.387993 m, bearing: 33.762356 deg, lat: 36.779319 deg, lon: -121.859592 deg, deltaT: 0.503256 s, deltaX: -0.000013 m, approachRate: -0.000027 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.39 m.hh*h"h h1g1f1f9f9d9d9jd9ZdE`?r) i9)ii?>UEr׫|Ҍ?.?YQQUpkUQeQ Q)QIU^ɾiU= ?UUmj@UnF=U?@ UnF=)U-5@IUnFQQU_0%JgmlH-+Ǔzà? U=J)U-IU-5@iUnFQQ5 checking for new query: numPingsReceived=69, elapsed TxPingTime=33.072975! 'W,`1?A2f-u@2@2ٱ2r` :AHRS rotation from veh to nav: [[-0.615626,0.785980,0.056928],[-0.787720,-0.615823,-0.016102],[0.022402,-0.054756,0.998248]]2H4@&?%? 5Ѵ}r?@?i2f-u@I2d ];2CY\y^FIbDjVDjN|ywO;%G=ٔ"Q->9 Y = Fy  {E>Q 525Y!?Q 9%25 )ߩBQ A%w7Y!Q E%8y%'@Q I%@c5DI1;i@G<25y1ɮ5A1ii"X1?AJiRijic?bL57MZ@Πj?REr׫|Ҍ?.?Zi-5@binFjAq2@pMf)@Ky?Z~?Gv?g2?2iHA:iLA"iqs;?*i6ۀBiBiiQfiBiAi{? addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.505147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.387993 m, bearing: 34.105976 deg, lat: 36.779319 deg, lon: -121.859591 deg, deltaT: 0.505147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.39 m.hh*h"h hgfffddjdZd ?) vi9)ii@ԁ m DDAT read: Rx Time:05:01:56.6848 u TRx dataTimestamp_ set to:1761541317.889899 PDAT read: Bearing 192.4, 16.7 (Local)  ~Local bearing/azimuth received: Bearing 192.4, 16.7 (Local)  DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1  DAT read: 05:01:56.6848 LVL= 25920, 22897, 32754, 32755, AGC= 62, IDX= 507, 0.09,-1.225, 0.275,-1.773,-0.737, PHS=-0.386, 1.057,-1.080, RAW= 348.6, 4.4, CAL= 348.2, 2.2, ROT= 161.8, -2.2 = Ygot valid direction response: 05:01:56.6848 LVL= 25920, 22897, 32754, 32755, AGC= 62, IDX= 507, 0.09,-1.225, 0.275,-1.773,-0.737, PHS=-0.386, 1.057,-1.080, RAW= 348.6, 4.4, CAL= 348.2, 2.2, ROT= 161.8, -2.2 = T#Rx 70: Read range and direction messages.E ^direction in FSK: [-0.949272,0.312105,0.038388]E Fpublishing direction and range infoyq u ,bto`~DR?.?Yq q u @eu qYq q )u >Iu ˡžiu K?u q=q^,gz1?A@x@ ){4@I{xd9=:`@?? )I{4@iFchecking for new query: numPingsReceived=70, elapsed TxPingTime=33.598026%D!u@%s@%~ٱ%kK` 5AHRS rotation from veh to nav: [[-0.616204,0.785513,0.057117],[-0.787257,-0.616421,-0.015826],[0.022776,-0.054718,0.998242]]%H@"?@k>?61 4R?`?i%D!u@I%];Y%CYByTII%=)=bDVDyK=%<=ٔaQ->9Y=Fy7ߺE> Q 5 25  ?Q 925 E) BQ A5H7Y1Q E58y='@Q I=@ g5DI ;i A U<25yAɮEfAAiix1?AJiRijii?brp7@5aq@Πj?R,bto`~DR?.?Zi{4@bij/.2@fy (@@JgXZ<)2?i ?-G82iFA:iA"itB??*ikڃBiBiikڃiBiyAi!? addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.506529 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 22.387993 m, bearing: 33.664305 deg, lat: 36.779319 deg, lon: -121.859592 deg, deltaT: 0.506529 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 22.39 m.hQhQ*hQ"hQ hQgYfYfYfYdadajdaZde?~) ޽iZ9):ii?] d,A1?AN4<ɰL]u@]@@]ٱ]_ AHRS rotation from veh to nav: [[-0.616701,0.785120,0.057152],[-0.786863,-0.616928,-0.015679],[0.022949,-0.054640,0.998242]]]H ?`C?- &@?` ?i]u@I]"/];]CYByHIԹ@A-DDAT read: Rx Time:05:01:57.1849 -TRx dataTimestamp_ set to:1761541318.394421EPDAT read: Bearing 192.9, 16.2 (Local) E~Local bearing/azimuth received: Bearing 192.9, 16.2 (Local) UDAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 }DAT read: 05:01:57.1849 LVL= 24608, 23201, 32754, 32755, AGC= 62, IDX= 509,-0.35,-1.395, 0.127,-1.925,-0.902, PHS=-0.391, 1.075,-1.066, RAW= 348.0, 4.1, CAL= 347.6, 1.7, ROT= 162.4, -1.7 Ygot valid direction response: 05:01:57.1849 LVL= 24608, 23201, 32754, 32755, AGC= 62, IDX= 509,-0.35,-1.395, 0.127,-1.925,-0.902, PHS=-0.391, 1.075,-1.066, RAW= 348.0, 4.1, CAL= 347.6, 1.7, ROT= 162.4, -1.7 T#Rx 71: Read range and direction messages.^direction in FSK: [-0.952771,0.302237,0.029666]Fpublishing direction and range infoy)-8U}JW? `?Y-A)- `-Z) )))I-'1Ⱦi-?-r- \@-C=-"@ -<)- g5@I-))-`$Uʊ翊70? -})- I- g5@i-))checking for new query: numPingsReceived=71, elapsed TxPingTime=34.071659bDVD1y%2=ٔĹQ->9Y=FyE>Q 525z?Q 925r)BQ A"7YQ E8y'@Q I@k5DI&1?AJi-ARi-Aji-G?b-Gk.5 zAiwN@b9q?R-8U}JW? `?Zi- g5@bi-j-c7Qh2@JAl)@)2WɿZ-1.3s?SD?aY2i-bKA:i-[A"i-=?*i-{Bi-Bi-tB??i-Qfi-Bi-Ai-? addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504522 s, deltaX: 0.200001 m, approachRate: 0.396416 m/s, rangeRepo size: 4   Added new target pos. range: 22.587000 m, bearing: 34.249543 deg, lat: 36.779319 deg, lon: -121.859591 deg, deltaT: 0.504522 s, deltaX: 0.199007 m, approachRate: 0.394447 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.59 m.hh*h"h hgff9f9dAdAjdE@36@ZdE?) zi 9)^ii@U%k, 1?ABu@BT@B~ٱBg` JAHRS rotation from veh to nav: [[-0.617075,0.784813,0.057338],[-0.786565,-0.617310,-0.015629],[0.023129,-0.054744,0.998232]]BH/?g[?`+`6?`v@?iBu@IB)];BCYRByVXIbD^VD^yfg=%f=ٔfQ-f?9hYh=jFyhjwʺEn?lQ 5v25nj?Q 9v25n)nBQ Av7YtQ Evi8yv'@Q Iv@nn5DIn;inW Anh<25y|ɮ~IA|%DNOT Ignoring new targets: 22.59 m.h!h)*h)"h) h)g)f)f1f1d1d1jd9Zd= ?e~)i mнim9)imsiiiiu?qu"Lq>fr?Iz?Y^aX )?Iþi9?^@Q =mj@ =)4@I[B&=S`Ph? )ĔI4@ichecking for new query: numPingsReceived=72, elapsed TxPingTime=34.643238Qԁ ^r,e1?AE EE-E"E;*E˭:VEt4ZEa@a@a@a@>uu@Bchecking for new query: numPingsReceived=72, elapsed TxPingTime=34.808823>}@>7aٱ>]t` JAHRS rotation from veh to nav: [[-0.617532,0.784448,0.057405],[-0.786202,-0.617773,-0.015585],[0.023238,-0.054756,0.998229]]>H2?`2d?( 돿˗?@ ~?i>uu@I>:];>CB`B`B`B`B`B`B`Bbv;Bb0EYlyl ppbDvVDv02ٔ-Q- >9 Y = Fy kE>Q 5%25b?Q 9%25+)BQ A%6Y!Q E%<8y-}'@Q I-@q5DI:iAo<25y1ɮ11iiimw1?AJiiRiijimD?bmVpu5e%"@ -?RmLq>fr?Iz?Zim4@bimjm6M2@g7~ )@h \UƿZmѻ_?.x8V?q2imnHA:imZA"imSx!A?*imŭ~Bim4Biiim6ۀim4Bim-Aim?E addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503474 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 q} Added new target pos. range: 22.587040 m, bearing: 33.684757 deg, lat: 36.779319 deg, lon: -121.859591 deg, deltaT: 0.503474 s, deltaX: 0.000040 m, approachRate: 0.000080 m/s, posRepo size: 4 }DNOT Ignoring new targets: 22.59 m.hyh*h"h hgfffddjdZdd?7a) ih9)Ňii @!UI=+Ǿi=X?=Ԉ=mj@=C==<1@ 9)=uJ5@I999=;+Qc翗.lU? =%V)=˒I=uJ5@i999checking for new query: numPingsReceived=73, elapsed TxPingTime=35.079464^A% *<I1 II OU > 0*x,>1?AY~By~bI 4< bDVDk1y%<%%<ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5=255] ?Q 9E255q)5 BQ AE6YAQ EE8yAQ IE@5u5DI5 ;i5dA5u<25yUrBɮUAUEiiim1?AJim~ARim~Ajim#J?bmc 5z@?Rm80-ZxNO]r?Iz?ZimuJ5@biijm2@ Em)@9LſZmQ M DDAT read: Rx Time:05:01:58.6850 M TRx dataTimestamp_ set to:1761541319.904657U PDAT read: Bearing 192.8, 16.9 (Local) ] ~Local bearing/azimuth received: Bearing 192.8, 16.9 (Local) m DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0  DAT read: 05:01:58.6850 LVL= 24624, 22241, 32754, 32755, AGC= 62, IDX= 509, 0.06,-1.098, 0.408,-1.651,-0.618, PHS=-0.378, 1.070,-1.077, RAW= 348.6, 4.1, CAL= 348.2, 1.7, ROT= 161.8, -1.7  Ygot valid direction response: 05:01:58.6850 LVL= 24624, 22241, 32754, 32755, AGC= 62, IDX= 509, 0.06,-1.098, 0.408,-1.651,-0.618, PHS=-0.378, 1.070,-1.077, RAW= 348.6, 4.1, CAL= 348.2, 1.7, ROT= 161.8, -1.7  T#Rx 74: Read range and direction messages. ^direction in FSK: [-0.949554,0.312197,0.029666] Fpublishing direction and range infoyI M 2` b^S ? `?YI I M 0`M VI I )I IM 7iM ?M #ۉM @I M x@ M <)M {4@IM I I M yCL翺.S? M )M IM {4@iM I I % checking for new query: numPingsReceived=74, elapsed TxPingTime=35.592922T~,1?A rt@rKr@r ٱr` zAHRS rotation from veh to nav: [[-0.618609,0.783589,0.057547],[-0.785349,-0.618858,-0.015535],[0.023440,-0.054805,0.998222]]rH)?@v?@!@Џ@?`^o?irt@IrJ];rCYEByEqIbD]VD]yeJg=%mF=ٔmQ-m>9qYq=uFyqYE>Q 5254 ?Q 925)BQ A6YQ E7yf'@Q I@y5DI:i"!Az<25yɮAiyi}1?AJiyRiyji}?b} Ɗ5<(T@YAj?R}2` b^S ? `?Zi}{4@bi}j}S .2@* )@S̿Z}g?ϒ슄?C2i}dHA:i}QA"i}2C?*i}%C}Bi}0Bi}tB??i}%C}i}4Bi}-Ai}? addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503900 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.686541 m, bearing: 33.510612 deg, lat: 36.779319 deg, lon: -121.859589 deg, deltaT: 0.503900 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.69 m.hh*h"h hgfffddjdZd?iu )q uiu 9)y}yiyi@ !9 Y FA?,:2?AT-t@-n@-aٱ-Wa MAHRS rotation from veh to nav: [[-0.618956,0.783308,0.057638],[-0.785074,-0.619205,-0.015585],[0.023482,-0.054897,0.998216]]-H}@?@‚? T@돿 ?ob?i-t@I-wV];-CYmBymoII<)bDVDy %F=ٔԸQ->9Y=FyÌE>Q 5257?Q 925)BQ Ab6YQ E7y^'@Q I@|5DI:i'A~<25yɮADDAT read: Rx Time:05:01:59.1851 TRx dataTimestamp_ set to:1761541320.408847 PDAT read: Bearing 192.9, 16.6 (Local)  ~Local bearing/azimuth received: Bearing 192.9, 16.6 (Local) DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.1 EDAT read: 05:01:59.1851 LVL= 24896, 24049, 32754, 32755, AGC= 63, IDX= 511,-0.40,-1.613,-0.099,-2.154,-1.128, PHS=-0.383, 1.074,-1.071, RAW= 348.3, 4.1, CAL= 347.9, 1.7, ROT= 162.1, -1.7 MYgot valid direction response: 05:01:59.1851 LVL= 24896, 24049, 32754, 32755, AGC= 63, IDX= 511,-0.40,-1.613,-0.099,-2.154,-1.128, PHS=-0.383, 1.074,-1.071, RAW= 348.3, 4.1, CAL= 347.9, 1.7, ROT= 162.1, -1.7 MT#Rx 75: Read range and direction messages.U^direction in FSK: [-0.951176,0.307221,0.029666]]Fpublishing direction and range infoy0pyQ? `?YA@a] )?Iľix?@M@ )D5@Iii*2?AJiARiAji?b\7!5GE@[ǹ?R0pyQ? `?ZiD5@bij9I"3@0)-ps)@0&ۉ̿Zuu-T?\_V%?${2iKA:i)ÅU;x :? )~͐ID5@ichecking for new query: numPingsReceived=75, elapsed TxPingTime=36.105202"iuG?*i@wBi/BiSx!A?i{i0BiAi<?E addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504190 s, deltaX: 0.200001 m, approachRate: 0.396677 m/s, rangeRepo size: 4  Added new target pos. range: 22.885548 m, bearing: 33.784696 deg, lat: 36.779319 deg, lon: -121.859589 deg, deltaT: 0.504190 s, deltaX: 0.199007 m, approachRate: 0.394706 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.89 m.hh*h"h hgff!f!d)d)jd-7@Zd-:U?]a)Y ]i]9)顥棴ii?CLf,9/2?A2t@2i@2:ٱ2` :AHRS rotation from veh to nav: [[-0.619487,0.782893,0.057569],[-0.784656,-0.619735,-0.015601],[0.023463,-0.054836,0.998220]]2H`u ?y?@Z?y`j?i2t@I2[;];2CYbByb|IddbDjVDj|y-_=%-S=ٔ-H8Q-5>91Y1=5Fy1=E=>AQ 5M25Ee?Q 9M25EE)E#BQ AM76YIQ EU7yUS'@Q IU@E5DIEU:iE-AE<25yYɮ]AAYDNOT Ignoring new targets: 22.89 m.hh*h"h hgfffddjdZd ?:) p7i59) ii@Lڦ)? ){AIJ4@iPwּchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.593746Y^A<IIO>ԁ M,2I2?AE* E*E*(E("E* /;*E*n:VE*c44ZE(a.@a.@a.@a.@6checking for new query: numPingsReceived=76, elapsed TxPingTime=36.824974B4A6<B:>B8B:yIB:BB8B8B8B:v;B:0EZ}t@Zf@Z[ٱZKa bAHRS rotation from veh to nav: [[-0.619734,0.782696,0.057596],[-0.784464,-0.619973,-0.015780],[0.023357,-0.054961,0.998215]]ZH@ ? 4}? U(? # a?iZ}t@IZ'*];ZCYByIbDVDy%u=%%K=ٔ%]9Q-->9)Y)=-Fy)5SKE5>9Q 5E25=n?Q 9E25=)=+BQ AE6YAQ EM7yMO'@Q IM@=5DI=;i=A4A=<25yQɮU AQYiAiEsi:2?AJiARiAjiE?bE`{F5r@g+?RE)jZeĥ1?P!Κ?ZiEJ4@biEPwּjE$n#3@x)@(bOӿZEt5?ub?:`2iEHA:iEA"iELNJ?*iEˤzBiEBiE2C?iEˤziAiEAiE=? addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503839 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.885548 m, bearing: 33.237690 deg, lat: 36.779319 deg, lon: -121.859588 deg, deltaT: 0.503839 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.89 m.hh*h"h hgfffddjdZd ?[) i9)ͩii?w, Mx,c2?A6t@6Oe@6Vٱ6mb >AHRS rotation from veh to nav: [[-0.619856,0.782594,0.057673],[-0.784372,-0.620084,-0.016010],[0.023233,-0.055161,0.998207]]6H ?L? dMʗ?` >@P?i6t@I65];6CY\y` `bAbDjVDjٔr(9Q-r>9tYt=vFytvʹEv>xQ 525z?Q 925z)z3BQ A5YQ EU7yM'@Q I@z5DIzw;iz:Az<25yɮiQiUZ2?AJiQRiQjiU ?bUY"I5rr @qs?RUén/YVEo*M?{J?ZiUe4@biU+ȼjUjR)3@w=)@,*ֿZUX1?ϼ(}?p{2iUHA:iULA"iU=JH?*iU5zBiU BiUuG?iQiU/BiUAiU#?e addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504279 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 22.885548 m, bearing: 33.133441 deg, lat: 36.779320 deg, lon: -121.859588 deg, deltaT: 0.504279 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 22.89 m.hyhy*hy"hy hygfffddjdZd@"?ԹV) i9)~ii@WI- %i- Ԉ?- b- Q@- 5=- \@ - Pw<)- 4@I- Pwּ) ) - 34J;̶`翵w /ű? - )- FI- 4@i- Pwּ) )  checking for new query: numPingsReceived=78, elapsed TxPingTime=37.597645,d}2?AFt@Fc@F[ٱF3b NAHRS rotation from veh to nav: [[-0.620003,0.782488,0.057514],[-0.784263,-0.620215,-0.016252],[0.022954,-0.055182,0.998212]]FH`% ?wr? Z D?@@[?iFt@IF];FCYrȁByvI xxbD=VD=yMM<%M<ٔU.:Q-U>9Y=FyܹE>Q 525@?Q 925) ,N2?Ant@nT`@nٱnTa vAHRS rotation from veh to nav: [[-0.620338,0.782237,0.057323],[-0.784002,-0.620545,-0.016277],[0.022839,-0.055039,0.998223]]nH`?`uY?  @ت1c?@.`q?int@In%];nCYׁByIbDVD0y%؍=%%M=ٔ%9Q-%>9)Y)=-Fy)5yE5>9Q 5E25=z?Q 9E25=`)=EBQ AE5YAQ EE 7yEE'@Q IM@=5DI=:i=GA=<25yQɮU AYDNOT Ignoring new targets: 22.69 m.hh*h"h hgfffddjdZd?) @,=i9)iDDAT read: Rx Time:05:02:01.1852 TRx dataTimestamp_ set to:1761541322.424718PDAT read: Bearing 192.8, 17.6 (Local) ~Local bearing/azimuth received: Bearing 192.8, 17.6 (Local) DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 %DAT read: 05:02:01.1852 LVL= 26512, 25185, 32754, 32755, AGC= 63, IDX= 511, 0.23,-0.103, 1.379,-0.677, 0.362, PHS=-0.363, 1.063,-1.083, RAW= 349.2, 4.1, CAL= 348.9, 1.7, ROT= 161.1, -1.7 -Ygot valid direction response: 05:02:01.1852 LVL= 26512, 25185, 32754, 32755, AGC= 63, IDX= 511, 0.23,-0.103, 1.379,-0.677, 0.362, PHS=-0.363, 1.063,-1.083, RAW= 349.2, 4.1, CAL= 348.9, 1.7, ROT= 161.1, -1.7 -T#Rx 79: Read range and direction messages.5^direction in FSK: [-0.945669,0.323775,0.029666]5Fpublishing direction and range infoyrVBb? `?Y̸Agab )?I#۹ib?@C=@ <)P3@I+lAc-f(G?  )!YIP3@iUchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.100967ԉi@]  checking for new query: numPingsReceived=79, elapsed TxPingTime=38.336952E  E E E "E *E :VE ZE a @a @a @a @ e,2?A2t@24c@2~ٱ2a :AHRS rotation from veh to nav: [[-0.620069,0.782466,0.057107],[-0.784227,-0.620250,-0.016644],[0.022397,-0.055105,0.998229]]2H ?=?d` V?6~?i2t@I2) ];0Y^فBybIIb=)bp;bDjVDjkyr>3<%rO=ٔr̒:Q-r>9tYt=vFytzi:Ez>xQ 525z핊?Q 925z)zMBQ A5YQ E6yM'@Q I @z5DIz ;izMAz<25yoBɮ Aii.2?AJiARiAji!?b >|5]@?RrVBb? `?ZiP3@bij[km W3@@F(@ov)˿Z3?w,J?z8OD2iFA:iA"i{UK?*iN{BijBi=JH?iiiAi{? addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503994 s, deltaX: 0.300001 m, approachRate: 0.595247 m/s, rangeRepo size: 4 E Added new target pos. range: 22.985077 m, bearing: 32.705997 deg, lat: 36.779320 deg, lon: -121.859588 deg, deltaT: 0.503994 s, deltaX: 0.298534 m, approachRate: 0.592337 m/s, posRepo size: 4 MDNOT Ignoring new targets: 22.99 m.hIhI*hI"hq hqgqfqfyfydydjd7@Zd oG?~) ==i9)  i i-?15)I AY A] @ABa Ba Be IBe ՁBBa Ba Ba Be v;Be f0E checking for new query: numPingsReceived=80, elapsed TxPingTime=38.841484ò,F2?AE EE,E "EV;*E:VEg4ZE BE|9qYy=}Fyy}9E}>Q 525T镊?Q 925)VBQ AO5YQ E6yP'@Q I@5DI ;iTA<25yɮ Aii2?AJiARiAji?bnK5mA @ &?Rén/YVEo*M?{J?Zie4@bi+ȼj`)3@YE)@/bԿZNd?ŗ'n|?O\Ќ2iHA:iOA"if<8?*ijwBi8Biii4BiAi ? addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.505186 s, deltaX: -0.100000 m, approachRate: -0.197948 m/s, rangeRepo size: 4  Added new target pos. range: 22.885580 m, bearing: 33.126771 deg, lat: 36.779320 deg, lon: -121.859588 deg, deltaT: 0.505186 s, deltaX: -0.099497 m, approachRate: -0.196951 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.89 m.hh*h "h  h g f ffddjd7@Zd mq?EK)I M@Z=iM.9)IMIiIiU@QUԣQDDAT read: Rx Time:05:02:02.1853 TRx dataTimestamp_ set to:1761541323.432748PDAT read: Bearing 169.0, 14.0 (Local) ~Local bearing/azimuth received: Bearing 169.0, 14.0 (Local) DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 DAT read: 05:02:02.1853 LVL= 27968, 25905, 32754, 32755, AGC= 63, IDX= 512, 0.15,-3.024,-1.842, 2.871,-2.214, PHS=-0.708, 0.417,-1.242, RAW= 348.4, 20.3, CAL= 348.5, 24.9, ROT= 161.5, -24.9 Ygot valid direction response: 05:02:02.1853 LVL= 27968, 25905, 32754, 32755, AGC= 63, IDX= 512, 0.15,-3.024,-1.842, 2.871,-2.214, PHS=-0.708, 0.417,-1.242, RAW= 348.4, 20.3, CAL= 348.5, 24.9, ROT= 161.5, -24.9 T#Rx 81: Read range and direction messages. ^direction in FSK: [-0.860171,0.287809,0.421036] Fpublishing direction and range infoy<6:븠wk?˽&@?YfA@m1e )I}?5i>Q@ g> />)I/޾% &?p:.? )8Ii/޾-checking for new query: numPingsReceived=81, elapsed TxPingTime=39.109043y Ƹ,2?A6t@6g@6ٱ6a >AHRS rotation from veh to nav: [[-0.619650,0.782826,0.056710],[-0.784577,-0.619794,-0.017147],[0.021725,-0.055118,0.998243]]6H@- ? ?A`Z#??s8@?i6t@I6q];6CLYRށByRIbDZVDZkyb0<%f[=ٔf:Q-f>9hYh=jFyhjp:Ej>lQ 5r25n啊?Q 9v25n:)n^BQ Av(5YtQ Ev6yvY'@n5DIn:inZAn<25yxɮz A|i)i-%2?AJi-yARi-yAji-?b-)93( Q޼@>#ͅ#@R-<6:븠wk?˽&@?Zi)bi-/޾j-a"2@Xyq&@е !@Z-5?8-P?( ?2i-}5A:i-A"i-Bݛ?*i-ߕBi-Bi-f<8?i-5zi-8Bi-ŶAi-Xy?M addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.502844 s, deltaX: 0.299999 m, approachRate: 0.596605 m/s, rangeRepo size: 4 ] Added new target pos. range: 23.184088 m, bearing: 32.026545 deg, lat: 36.779318 deg, lon: -121.859588 deg, deltaT: 0.502844 s, deltaX: 0.298508 m, approachRate: 0.593639 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 23.18 m.haha*ha"ha hagafafifididijduL7@Zduu ʇ1ͪc1F8+R˿ ۏ) +C\>I g5@i >  checking for new query: numPingsReceived=82, elapsed TxPingTime=39.612915s,2?A2t@2m@2T:ٱ2Da :AHRS rotation from veh to nav: [[-0.619084,0.783303,0.056314],[-0.785040,-0.619197,-0.017522],[0.021144,-0.055057,0.998259]]2H``? 9լ?@ v`Zক? d0?i2t@I2];2CYNځByNI PRA|bDZ VDZ2yx%==ٔr:Q->9Y=Fy%:E>fᕊ?t)gBQ A5YQ Ep6yh'@Q I@5DI:iaAy ɮ  A i9i=2?AJi=ARi=Aji=?b=!]5 F@_HRjR=,hT_(?<пZi= g5@bi=>j=;1@0YC)@-Z=Pr2?#T0RXu?Cp<ӿ2i=HA:i=ُA"i=]̛?*i=3uBi=hBi=*e -?i=Էxi9i=sAi=u? addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503955 s, deltaX: -0.199999 m, approachRate: -0.396859 m/s, rangeRepo size: 4  Added new target pos. range: 22.985083 m, bearing: 34.891612 deg, lat: 36.779317 deg, lon: -121.859588 deg, deltaT: 0.503955 s, deltaX: -0.199005 m, approachRate: -0.394887 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.99 m.hh*h"h hgfffddjd7@Zd?UT:)Q UH=iU9)Y]QYiYie@aeOBBBIBBBBBBv;B~0Eechecking for new query: numPingsReceived=82, elapsed TxPingTime=39.849133E EE%E"Ea?;*E:VE 4ZEBE`?i:t@I:HV];:CYnՁBynI p<<bDVDNyMż%MO=ٔU:QQ-]>9YYY=]FyYe@;Ee>iQ 5u25mݕ?Q 9u25m)moBQ Au4YqQ E}C6y}}'@m5DIm;imhAm<25yɮ ADNOT Ignoring new targets: 22.99 m.hDDAT read: Rx Time:05:02:03.1853 TRx dataTimestamp_ set to:1761541324.440506DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 Z#Rx 83: Read range message, but no direction.yYfAchecking for new query: numPingsReceived=83, elapsed TxPingTime=40.104618h*h"h hgfffddjdL7@Zd`%tw?D) !=i%9)!%o!i!i-?)--m checking for new query: numPingsReceived=83, elapsed TxPingTime=40.352909E  E E *E "E %;*E :VE (N4ZE a @a @a @a @ ,c_23?A2u@2~@2,ٱ2+Va :AHRS rotation from veh to nav: [[-0.617519,0.784583,0.055673],[-0.786298,-0.617581,-0.018137],[0.020153,-0.054975,0.998284]]2HN?@?`Z)9 cꢔ?%?i2u@I2Ir];2CY^؁BybIbD~VD~02Թy3X<%@=ٔؐ:Q-]>9aYi=uFyq:E> ٕ?)xBQ A4YQ E6y'@Q I@5DI4s;iNoAyɮ AE addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503803 s, deltaX: 0.199999 m, approachRate: 0.396978 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 22.99 m.hAhA*hA"hA hIgIfIfQfQdQdQjdQZd]`*?,) 8=i9)額|ii@+?G ſYaAZ )ICiV?G!@V@ ))K6@I)>忈kPoy׼ a)<=IK6@i)>mchecking for new query: numPingsReceived=84, elapsed TxPingTime=40.625252q@q @q@u 0@q^A <I I O >9 B A <B B B IB BB =B B B v;B 0EBBBBBCr4,;L3?Achecking for new query: numPingsReceived=84, elapsed TxPingTime=40.856972D"?AzD"@AE& E&E$E$"E&C#;*E&خ:VE$ZE$BE&{9Y=Fy;;E> Օ?>)BQ A4YQ E6y'@5DI@:iuAyɮ Ai i ~<3?AJi yARi yAji +?b ?j5i|>o@RʤR DH6ߍ>?G ſZi K6@bi )>j py2@O?r*@€sZ nڃ?Ə]U@?wɿ2i SA:i ϓA"i {ꛊ?*i CqaBi =qBi {ꛊ?i jwi i ݱAi .? addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505447 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 23.184135 m, bearing: 35.590568 deg, lat: 36.779310 deg, lon: -121.859587 deg, deltaT: 1.009250 s, deltaX: 0.199053 m, approachRate: 0.197228 m/s, posRepo size: 4 5DNOT Ignoring new targets: 23.18 m.h9h9*h9"h9A h9gafafifidqdqjdyZd}@'?e)a e6=ie9)amoiiiim?qu4,31f3?A;ɰ;Y ́ByIaa aa aa aa aa iMb@Mb@Mb@ 99Y=FyE>Q 525Е?Q 925S)BQ AT:Yb&>Q E;y!@Q I@5DIS;iK;?25yɮ Ai addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 23.18 m.hh*h"h hgfffBddjdZd?5checking for new query: numPingsReceived=85, elapsed TxPingTime=41.361603EU EUEU0EQ"EU,K;*EUS:VEU4ZEQae@ae@ae@ae@Zub&>Zub&>ZuZ@Zu!@) ԙ9@ @@4@@hA@gA^A <I! I9 OE > DDAT read: Rx Time:05:02:04.6853  TRx dataTimestamp_ set to:1761541325.952203 DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1  Z#Rx 86: Read range message, but no direction.y Y  checking for new query: numPingsReceived=86, elapsed TxPingTime=41.616325 >,3?A6Iu@6@6ڥٱ66Na BAHRS rotation from veh to nav: [[-0.614314,0.787151,0.054883],[-0.788839,-0.614306,-0.019005],[0.018755,-0.054969,0.998312]]6H`uW0?? +>@evq4?$+?i6Iu@I6];6CY^BybIbDjVDjyr⿽%r[=ٔr;Q-r>9tYt=vFytzk<Ez>|Q 525~̕?Q 925~n)~BYy"@Q I@~5DI~H;i~D;~!C25ykBɮ AEE addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503121 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 23.18 m.hIhI*hI"hI hIgIfIfQfQdQdQjdYZd]E?ZyZyZyZ}x"@ڥ) -i9)顕mii?r1 Y j),'ؙ3?A2bu@2O@2~^ٱ2=a :AHRS rotation from veh to nav: [[-0.613097,0.788111,0.054716],[-0.789795,-0.613068,-0.019274],[0.018355,-0.055031,0.998316]]2H|`48??EA˒? -@4?i2bu@I2 ^;2CYBByFI DDiMMb@Mb@Mb@IIII I9MI +?+ÿ{Gz?YM99yYy=}Fyyo;E>Q 525Ǖ?DDAT read: Rx Time:05:02:05.1854 TRx dataTimestamp_ set to:1761541326.456986PDAT read: Bearing 191.7, 17.5 (Local) ~Local bearing/azimuth received: Bearing 191.7, 17.5 (Local) DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1 DAT read: 05:02:05.1854 LVL= 24992, 19729, 23618, 26691, AGC= 68, IDX= 2,-0.26,-2.368,-0.913,-2.918,-1.881, PHS=-0.384, 1.014,-1.080, RAW= 349.0, 4.9, CAL= 348.8, 3.0, ROT= 161.2, -3.0 Ygot valid direction response: 05:02:05.1854 LVL= 24992, 19729, 23618, 26691, AGC= 68, IDX= 2,-0.26,-2.368,-0.913,-2.918,-1.881, PHS=-0.384, 1.014,-1.080, RAW= 349.0, 4.9, CAL= 348.8, 3.0, ROT= 161.2, -3.0 T#Rx 87: Read range and direction messages.^direction in FSK: [-0.945352,0.321824,0.052336]Fpublishing direction and range infoyZ܋R@GwĘ?yoU˪?Y3AaMB\ Ch)DIľiʁ?q=@%=@ PwV=)4@IPwVQ 925 w-b,u 迧= ? G)I4@iPwVchecking for new query: numPingsReceived=87, elapsed TxPingTime=42.133484)BY%!>Q E%;y%'@Q I%@5DIZ!>ZG@Z'@-~^)) 5W,ų3?A,$$ vu@ ڵ@ ٱ a UAHRS rotation from veh to nav: [[-0.612179,0.788838,0.054521],[-0.790511,-0.612143,-0.019307],[0.018145,-0.054918,0.998326]] H`(>?!?K œ@?A@I?i vu@I g+^; CY5By5|IbDUVDU:ye%e;=ٔma9Q-m>9iYi=mFyqu/;Eu>yQ 525}•?Q 925})}BYy'@Q I@}5DI};i};}J25yɮADNOT Ignoring new targets: 23.28 m.hh*h"h hgfffddjdZdr?ZZZZp'@ )  ;i L9)kfii?$ A A AAB B B IB ƁBB B B B Yv;B S0EM checking for new query: numPingsReceived=88, elapsed TxPingTime=42.872822]>,̚3?AE EE E "E';*ES:VE ZE BEzu@>@>ٱ>s` FAHRS rotation from veh to nav: [[-0.611196,0.789616,0.054269],[-0.791277,-0.611152,-0.019338],[0.017897,-0.054761,0.998339]]>H@D?ɫ?#R@h͓~S?` d?i>zu@I>Gg^;>ChYjBynbIbDvVDvy~%~e=ٔ~6:Q-~>9Y=Fy d;E >Q 525޾?Q 925)BYy'@Q I@5DI:ig:M25y)ɮ-A)ii+3?AJiRiji?b2v5nԷ@bLk ?R57`#ߖ?P0?Zi3@bi Ajj3@3hB)@\O?Z D?k[?6P7?2iJA:icA"iZk..?*iylBiBiiyli{BiʴAi? addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504511 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 23.283588 m, bearing: 32.865298 deg, lat: 36.779310 deg, lon: -121.859582 deg, deltaT: 0.504511 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 -DNOT Ignoring new targets: 23.28 m.h1h1*h1"h1 h1g1f1f9f9d9d9jdAZdE@m?ZZZZU'@)  i9)ii@9Y=FyE>Q 525,?Q 925)BY>Q E;y ;@Q I@5DI ;i:~Q25yɮ AiiA3?AJiܻARiܻAji?bײx5066@?Rg\|<ͽ'?.xA?Zi4@bi5zjr7b3@w)@̴~?Zh˶?˜?m?2iNA:iԜA"iW .?*idBiǂBiW .?ijiiպAi?= addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503118 s, deltaX: 0.200001 m, approachRate: 0.397523 m/s, rangeRepo size: 4 M Added new target pos. range: 23.482594 m, bearing: 33.373168 deg, lat: 36.779317 deg, lon: -121.859582 deg, deltaT: 0.503118 s, deltaX: 0.199005 m, approachRate: 0.395544 m/s, posRepo size: 4 UDNOT Ignoring new targets: 23.48 m.hQhQ*hQ"hQ hQgYfYfYf]uBdadajde7@ZdeB?Z>Z>iIAchecking for new query: numPingsReceived=89, elapsed TxPingTime=43.377918E= E=E=(E9"E= ;*E=:VE=c44ZE9aE@aE@aE@aM@ZW@Zg ;@a)a e#=im9)顕)2ii?}= DDAT read: Rx Time:05:02:06.6854  TRx dataTimestamp_ set to:1761541327.968664 PDAT read: Bearing 190.6, 17.5 (Local)  ~Local bearing/azimuth received: Bearing 190.6, 17.5 (Local)  DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1  DAT read: 05:02:06.6854 LVL= 24752, 24881, 32754, 32755, AGC= 63, IDX= 498, 0.07,-2.768,-1.326, 2.968,-2.264, PHS=-0.402, 0.983,-1.095, RAW= 349.1, 5.7, CAL= 348.9, 4.2, ROT= 161.1, -4.2  Ygot valid direction response: 05:02:06.6854 LVL= 24752, 24881, 32754, 32755, AGC= 63, IDX= 498, 0.07,-2.768,-1.326, 2.968,-2.264, PHS=-0.402, 0.983,-1.095, RAW= 349.1, 5.7, CAL= 348.9, 4.2, ROT= 161.1, -4.2  T#Rx 90: Read range and direction messages.% ^direction in FSK: [-0.943545,0.323047,0.073238]- Fpublishing direction and range infoy  1ά??Y 3A ` 1a ) I ;i {? ( %= @ Q =) P3@I Q כiQ4E5L <-C? 2) mʽI P3@i Q E checking for new query: numPingsReceived=90, elapsed TxPingTime=43.644920Y 4K,m;4?Abu@b,ρ@bҹٱbt^ jAHRS rotation from veh to nav: [[-0.609736,0.790770,0.053900],[-0.792405,-0.609698,-0.019063],[0.017788,-0.054334,0.998364]]bH M??a[U@6?`ѫ?ibu@IbS^;bCYMiByM,IU=Up=}AA}AAbDVDky%F=ٔ!9Q->9 Y = Fy q;E>19Q 5E25=?Q 9E25=L)=BYIyM>;@Q IM@=5DI=F:i=:=%U25yQɮ] AYii3?AJiDARiDAjiK?b PQ5m8@[H?R1ά??ZiP3@biQ jFdio3@7u)@68M?Z U>?\]j?Fۣ?2iLA:i{A"i/X?*igBi7BiigiǂBiAiΩ? addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504049 s, deltaX: -0.200001 m, approachRate: -0.396788 m/s, rangeRepo size: 4  Added new target pos. range: 23.283588 m, bearing: 33.348189 deg, lat: 36.779317 deg, lon: -121.859580 deg, deltaT: 0.504049 s, deltaX: -0.199005 m, approachRate: -0.394813 m/s, posRepo size: 4 %DNOT Ignoring new targets: 23.28 m.h!h!*h!"h! h!g!f)fIfIdQdajde`ff7@ZdK?ZZZZ>;@ҹ) i9)iaim@im1aBQBUyIBUBBQBQBQBU)v;BU;0E@ @@0@%checking for new query: numPingsReceived=90, elapsed TxPingTime=43.881107D]=D]<Em EmEm'Ei"Em*;*Ema:VEm'4ZEiBEmԹ t,V4?A6hu@6Ձ@6 ٱ6O^ BAHRS rotation from veh to nav: [[-0.609169,0.791204,0.053936],[-0.792838,-0.609142,-0.018841],[0.017948,-0.054240,0.998367]]6H@O~Q??^~K `?[ū?i6hu@I6];6CYJcByJ%IiMb@Mb@Mb@ 9Dl?#~j{GztYO=y㥽ף`@ )AYQAbD5VD52yE%EX=ٔEoݹQ-E>9IYI=MFyIU:EU>QQ 5e25U:?Q 9e25UY)QYe(=Q Ee;yeEQ Im@U5DIU ;iU:UjX25yqɮu;AqDDAT read: Rx Time:05:02:07.1856 TRx dataTimestamp_ set to:1761541328.472755PDAT read: Bearing 190.5, 17.1 (Local) ~Local bearing/azimuth received: Bearing 190.5, 17.1 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 DAT read: 05:02:07.1856 LVL= 26352, 24449, 32754, 32755, AGC= 62, IDX= 500,-0.43,-2.912,-1.463, 2.840,-2.398, PHS=-0.412, 0.979,-1.090, RAW= 348.7, 5.8, CAL= 348.5, 4.4, ROT= 161.5, -4.4 UYgot valid direction response: 05:02:07.1856 LVL= 26352, 24449, 32754, 32755, AGC= 62, IDX= 500,-0.43,-2.912,-1.463, 2.840,-2.398, PHS=-0.412, 0.979,-1.090, RAW= 348.7, 5.8, CAL= 348.5, 4.4, ROT= 161.5, -4.4 ]T#Rx 91: Read range and direction messages.]^direction in FSK: [-0.945529,0.316369,0.076719]eFpublishing direction and range infoy5znAzHne??.0ۣ?YAf_ )>IҾiz?6@4Q=@ nF=)e4@InFn3!1ux>翭K]ǹ? T)νIe4@inFchecking for new query: numPingsReceived=91, elapsed TxPingTime=44.165359ԑiiA4?AJiARiAji7?b*L6/ֳ@9t?R5znAzHne??.0ۣ?Zie4@binFj[3@˹3*@ ƣ?ZuQ?E&?oT)ƽ?2iQA:iA"iaW{$?*iu_BidBiiiBiAiq?= addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504091 s, deltaX: 0.300001 m, approachRate: 0.595133 m/s, rangeRepo size: 4 } Added new target pos. range: 23.582069 m, bearing: 33.779133 deg, lat: 36.779317 deg, lon: -121.859580 deg, deltaT: 0.504091 s, deltaX: 0.298481 m, approachRate: 0.592117 m/s, posRepo size: 4 }DNOT Ignoring new targets: 23.58 m.hyh*h"h hgfffTBddjd@37@Zd0?ZU(=ZU(=ZU_@ZU:L@e ) ! ; ,Y44?Aeu@eف@e6䔼ٱeT^ AHRS rotation from veh to nav: [[-0.608720,0.791540,0.054088],[-0.793177,-0.608706,-0.018634],[0.018174,-0.054245,0.998362]]eH`zJT?u?`a z@C?ū`?ieu@Ie͟];eCY\ByI bDVDy%A=ٔS Q->9Y=Fy:E>Q 525o?Q 925h)YyEQ I@5DI;i;\25ygBɮ[AE%DNOT Ignoring new targets: 23.58 m.h!h)*h)"h) h)g)f1f1f1d1d9jd9Zd=b?ZYZYZYZ]&DL@6䔼) X+iE>DDAT read: Rx Time:05:02:07.6855 TRx dataTimestamp_ set to:1761541328.978023PDAT read: Bearing 190.0, 17.3 (Local) ~Local bearing/azimuth received: Bearing 190.0, 17.3 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.0 9@ @@4@ DAT read: 05:02:07.6855 LVL= 22672, 21201, 32754, 32755, AGC= 62, IDX= 499, 0.00, 2.892,-1.944, 2.352,-2.870, PHS=-0.419, 0.971,-1.105, RAW= 348.9, 6.1, CAL= 348.7, 4.9, ROT= 161.3, -4.9 Ygot valid direction response: 05:02:07.6855 LVL= 22672, 21201, 32754, 32755, AGC= 62, IDX= 499, 0.00, 2.892,-1.944, 2.352,-2.870, PHS=-0.419, 0.971,-1.105, RAW= 348.9, 6.1, CAL= 348.7, 4.9, ROT= 161.3, -4.9 T#Rx 92: Read range and direction messages.%^direction in FSK: [-0.943748,0.319441,0.085417]%Fpublishing direction and range infoy]> 03BtĹq?b$ݵ?Y̼AXR )I+־iux?p@^ =6@ %=),4@I%דj俏xkW*? Hj)ٽI,4@i%=checking for new query: numPingsReceived=92, elapsed TxPingTime=44.660465^A <I I! O- >A B9 B9 B= GIB= BB9 B9 B9 B= v;B= -0E= checking for new query: numPingsReceived=92, elapsed TxPingTime=44.888908,CN4?AE EE)E"E%;*EI:VEFA4ZEBE~9hYh=nFyln28En>pQ 5v25r?Q 9v25rv)pYxyxQ Iz@r5DIr :ir:rY_25y|ɮ~Aii>4?AJiܻARiܻAji?bPc_)69S@JbV @R]> 03BtĹq?b$ݵ?Zi,4@bi%jcN3@?a)@J$?ZLY?|?V+ϩ?2iOA:iJA"ibf?*iY-cBiBiaW{$?idi7Bi3Ai? addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.505268 s, deltaX: -0.100000 m, approachRate: -0.197916 m/s, rangeRepo size: 4  Added new target pos. range: 23.482544 m, bearing: 33.590713 deg, lat: 36.779316 deg, lon: -121.859579 deg, deltaT: 0.505268 s, deltaX: -0.099525 m, approachRate: -0.196976 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.48 m.hh*h"h hgfffddjd7@Zd`?ZQZQZQZUaDL@mO)i mim9)iuii?k=IIY9@ @@/@yDDAT read: Rx Time:05:02:08.1856 TRx dataTimestamp_ set to:1761541329.481170PDAT read: Bearing 189.8, 17.4 (Local) ~Local bearing/azimuth received: Bearing 189.8, 17.4 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 DAT read: 05:02:08.1856 LVL= 25200, 23089, 32754, 32755, AGC= 62, IDX= 499, 0.39,-2.724,-1.287, 3.018,-2.202, PHS=-0.419, 0.960,-1.107, RAW= 349.1, 6.3, CAL= 348.9, 5.2, ROT= 161.1, -5.2 Ygot valid direction response: 05:02:08.1856 LVL= 25200, 23089, 32754, 32755, AGC= 62, IDX= 499, 0.39,-2.724,-1.287, 3.018,-2.202, PHS=-0.419, 0.960,-1.107, RAW= 349.1, 6.3, CAL= 348.9, 5.2, ROT= 161.1, -5.2 T#Rx 93: Read range and direction messages.^direction in FSK: [-0.942192,0.322584,0.090633]Fpublishing direction and range infoy$ ;o&?7?0L3?YApb1Z )Iiu?-g@z0=@ ޹=)P3@I޹֟vi8俲&,迎耄? j>)@߽IP3@i޹checking for new query: numPingsReceived=93, elapsed TxPingTime=45.157516^AM <ԩ I I O= >,dh4?A9Y=FyE> Q 525 v?Q 925 ) Y=Q E%;y%)Q I%@ 5DI I;i %H; 6c25y1ɮ5 A1ii}^4?AJiARiAji%"?b0867m@ 1@R$ ;o&?7?0L3?ZiP3@bi޹j#83@N _)@.d`?Z I?O37?p g?2iBOA:iLA"iY ?*in9]dBiBiY ?in9]didBi]Ai"? addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503147 s, deltaX: 0.100000 m, approachRate: 0.198750 m/s, rangeRepo size: 4  Added new target pos. range: 23.582047 m, bearing: 33.377786 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.503147 s, deltaX: 0.099503 m, approachRate: 0.197760 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.58 m.hh*h"h hgfffB checking for new query: numPingsReceived=93, elapsed TxPingTime=45.396172ddjd@37@ZdhU?ԩE EE(E"EU,;*E:VEc44ZEa@a@a@a@Z=Z=Z$Ļ@ZWi@) أ=i9)-2ii@II9@ @@/@  DDAT read: Rx Time:05:02:08.6855  TRx dataTimestamp_ set to:1761541329.987860 PDAT read: Bearing 190.1, 17.4 (Local)  ~Local bearing/azimuth received: Bearing 190.1, 17.4 (Local)  DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 ^A% 2g=I1 IA ] DAT read: 05:02:08.6855 LVL= 24848, 22817, 32754, 32755, AGC= 63, IDX= 499,-0.11, 1.010, 2.457, 0.468, 1.531, PHS=-0.419, 0.971,-1.107, RAW= 348.9, 6.1, CAL= 348.8, 4.9, ROT= 161.2, -4.9 e Ygot valid direction response: 05:02:08.6855 LVL= 24848, 22817, 32754, 32755, AGC= 63, IDX= 499,-0.11, 1.010, 2.457, 0.468, 1.531, PHS=-0.419, 0.971,-1.107, RAW= 348.9, 6.1, CAL= 348.8, 4.9, ROT= 161.2, -4.9 e T#Rx 94: Read range and direction messages.m ^direction in FSK: [-0.943189,0.321088,0.085417]u Fpublishing direction and range infoy  a .6紌?b$ݵ?Y ̼A a !YO > ) ?I i ux? @ ^ = @ %=) 4@I % nDw俊)̪=? ^) zXڽI 4@i % - checking for new query: numPingsReceived=94, elapsed TxPingTime=45.6950309 ,4?ARu@Rҁ@R#ٱR] ZAHRS rotation from veh to nav: [[-0.609383,0.790978,0.054817],[-0.792634,-0.609448,-0.017466],[0.019593,-0.054093,0.998344]]RH O??A]@⑿@0? `n?iRu@lIR];RCY:ByII<)bD-VD-f?y]W%]C=ٔ] Q-e>9aYa=eFyamW Em>Q 525?Q 925)Yy+)Q I@5DI:i:f25yɮfAii94?AJiܻARiܻAjil?b\X&6g(@JbV @Ra .6紌?b$ݵ?Zi4@bi%j/m!3@)@W=$?ZB~`?q?#p~N?2iNA:iA"i -?*ieBiBi/X?iiBiWAiq?M addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.506690 s, deltaX: -0.100000 m, approachRate: -0.197360 m/s, rangeRepo size: 4 } Added new target pos. range: 23.482544 m, bearing: 33.442432 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.506690 s, deltaX: -0.099503 m, approachRate: -0.196378 m/s, posRepo size: 4 }DNOT Ignoring new targets: 23.48 m.hyhy*h"h hgfffddjd7@ZdO?ZZZZh@ 5#)1 5xm=i5e9)1531i9i=?AE=&,K[4?A6 u@6Vʁ@6lٱ61] >AHRS rotation from veh to nav: [[-0.610176,0.790351,0.055041],[-0.792009,-0.610272,-0.016999],[0.020155,-0.053965,0.998339]]6HJ?^.?#X Zh?Z`e?i6 u@I6U'];6CY^7BybIf=f=9iMMb@Mb@Mb@IIII I9M!rh?I +YMl=yM94MME AM3@ MA)MAIYM(AaabDeVDeܲyuT%uZ=DDAT read: Rx Time:05:02:09.1856 TRx dataTimestamp_ set to:1761541330.492782PDAT read: Bearing 189.0, 17.1 (Local) ~Local bearing/azimuth received: Bearing 189.0, 17.1 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0  DAT read: 05:02:09.1856 LVL= 26832, 24817, 32754, 32755, AGC= 62, IDX= 500, 0.24,-2.114,-0.677,-2.639,-1.574, PHS=-0.438, 0.942,-1.108, RAW= 348.7, 6.7, CAL= 348.6, 5.9, ROT= 161.4, -5.9 Ygot valid direction response: 05:02:09.1856 LVL= 26832, 24817, 32754, 32755, AGC= 62, IDX= 500, 0.24,-2.114,-0.677,-2.639,-1.574, PHS=-0.438, 0.942,-1.108, RAW= 348.7, 6.7, CAL= 348.6, 5.9, ROT= 161.4, -5.9 T#Rx 95: Read range and direction messages.^direction in FSK: [-0.942748,0.317270,0.102793]%Fpublishing direction and range infoyS*x*dE)&N?zBP?YAh` )>IAi&q?ҍ6@|=@ B=)I4@IBҽٔhQ->9Y=Fy!E>Q 525R?Q 925)BY=Q E;yQ I@5DIP ;i:rj25N ;VFB1wD0? )rII4@iBҽchecking for new query: numPingsReceived=95, elapsed TxPingTime=46.201221yɮAii4?AJiARiAji?b\n^;6n@ xd@RS*x*dE)&N?zBP?ZiI4@biBҽjTd3@Z*@j4eD?iZ\?ڴ8?C?2iPA:iA"i:?*idBiZBibf?iiBiAi? addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504922 s, deltaX: 0.100000 m, approachRate: 0.198051 m/s, rangeRepo size: 4  Added new target pos. range: 23.582033 m, bearing: 33.540039 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.504922 s, deltaX: 0.099489 m, approachRate: 0.197039 m/s, posRepo size: 4 %DNOT Ignoring new targets: 23.58 m.h!h!*h!"h! h)g)f)f)f5#Bd1d1jd5@37@Zd5 O?Z}=Z}=Z}@Z}`}@l) #=i9)顝@3ii@G{,,fO4?A`u@@ٱ\ 5AHRS rotation from veh to nav: [[-0.611071,0.789641,0.055309],[-0.791304,-0.611199,-0.016531],[0.020751,-0.053868,0.998332]]H@D?@xQ?\R@w퐿??V?i`u@I1];YE:ByEIbDUVDU:2ye}<%eK=ٔmԺԉQ->9Y=FyFE>Q 525ܞ?Q 925`)YyQ I@5DI6;iu;m25yɮdADNOT Ignoring new targets: 23.58 m.hh*h "h  h g f ffddjdZd&?Z9Z9Z9Z=M}@M)Q U`>=iUO9)QUi3QiQi]?Ye_A A @AB B B IB GBB B B B Lw;B 0E 5 checking for new query: numPingsReceived=96, elapsed TxPingTime=46.9088823,4?AEB EBEB+E@"EB%;*EB*:VEB [4ZE@BEB~9|Y|=~Fy|,E>Q 5 25`?Q 9252)BYyQ I@5DIW:iN:q25yɮ%tA!iiϿ4?AJiARiAjiQq?bL4A,=6lnXuH@Eq@R`Ͼp-^X?O?Zi4@bi¸j~w3@_*;)@@?Z[B??P꡷0a?2iyNA:iA"i?*ilhBiBi?idiiAi>?u addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504271 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.582026 m, bearing: 33.223191 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.504271 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.58 m.hh*h"h hgfffddjdZd,?ZZZZ2}@mx) p.=i9)q}3ii@OVy L9,x4?A2Zu@21@2Lٱ2M\ :AHRS rotation from veh to nav: [[-0.613449,0.787751,0.055926],[-0.789430,-0.613640,-0.015724],[0.021931,-0.053795,0.998311]]2H``B5?`H?C3u?@*?i2Zu@I2d];2CY^NByb IddimMb@Mb@Mb@iiii i9mK7A?~jtx:v?Ym >ymĻmT9Y=FyQE>Q 525i?Q 925J)BY>Q E;y{Q I@5DI`J;iuI;t25yɮAii 4?AaJi?ARi?Ajim?bA.`6{R@l~@R'.q?A_1?Zi3@bi+ȽjCJs3@K"])@j?ZZ>Z@Z.R@L) `=i9)3ii? DDAT read: Rx Time:05:02:10.6857  TRx dataTimestamp_ set to:1761541332.004681 PDAT read: Bearing 189.3, 17.3 (Local)  ~Local bearing/azimuth received: Bearing 189.3, 17.3 (Local)  DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0  DAT read: 05:02:10.6857 LVL= 26992, 25825, 32754, 32755, AGC= 63, IDX= 501,-0.39, 1.917,-2.927, 1.375, 2.447, PHS=-0.428, 0.954,-1.116, RAW= 349.1, 6.5, CAL= 348.9, 5.5, ROT= 161.1, -5.5  Ygot valid direction response: 05:02:10.6857 LVL= 26992, 25825, 32754, 32755, AGC= 63, IDX= 501,-0.39, 1.917,-2.927, 1.375, 2.447, PHS=-0.428, 0.954,-1.116, RAW= 349.1, 6.5, CAL= 348.9, 5.5, ROT= 161.1, -5.5 E T#Rx 98: Read range and direction messages.M ^direction in FSK: [-0.941730,0.322426,0.095846]M Fpublishing direction and range infoy  vZ"⧚?aVX?Y pi d ) I "۾i X9t? َ V= @ =) P3@I Ľ W N$u? 6G) 3I P3@i Ľ m checking for new query: numPingsReceived=98, elapsed TxPingTime=47.689705 #@,u5?A2ECu@2t@2,Sٱ2] :AHRS rotation from veh to nav: [[-0.614572,0.786833,0.056523],[-0.788540,-0.614787,-0.015570],[0.022499,-0.054139,0.998280]]2H-?@?;U⏿ ??i2ECu@I2s^;2CYREByRIbDfVDfy%K;%-S=ٔ-Q-->91Y1=5Fy15(sE=>YQ 5e25]?Q 9m25]H)]BYiymQ Im@]5DI]:i]:]1x25yɮAiiL5?AJiRijit-?b^T2e6ü@p1<@RvZ"⧚?aVX?ZiP3@bi Ľj.3@)@vFس?Z/?n0g=_?N^԰4?2iNA:igA"i ,%?*iʶjBiBiilhiBi8Ai? addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 23.781029 m, bearing: 32.940048 deg, lat: 36.779315 deg, lon: -121.859581 deg, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 23.78 m.h1h1*hQ"hY hYgafafifididijdZd@ط?ԱZZZZF@,S) 0V=iU9)3 ii@-BBIBBBBBBBw;B0E9@ @@L3@checking for new query: numPingsReceived=98, elapsed TxPingTime=47.917171E EE(E"E=-;*E:VEc44ZEBEp9 G,5?A2s$u@2 @2ٱ2 ^ :AHRS rotation from veh to nav: [[-0.616048,0.785657,0.056811],[-0.787374,-0.616284,-0.015353],[0.022949,-0.054190,0.998267]]2H@$?`T?+2jq`?@`?i2s$u@I2<2_;2CY^WBy^IIf=)f=eDDAT read: Rx Time:05:02:11.1858 mTRx dataTimestamp_ set to:1761541332.508774uPDAT read: Bearing 189.4, 17.7 (Local) }~Local bearing/azimuth received: Bearing 189.4, 17.7 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 DAT read: 05:02:11.1858 LVL= 26032, 23825, 32754, 32755, AGC= 64, IDX= 502, 0.02,-2.487,-1.053,-3.042,-1.965, PHS=-0.420, 0.957,-1.121, RAW= 349.4, 6.4, CAL= 349.2, 5.4, ROT= 160.8, -5.4 Ygot valid direction response: 05:02:11.1858 LVL= 26032, 23825, 32754, 32755, AGC= 64, IDX= 502, 0.02,-2.487,-1.053,-3.042,-1.965, PHS=-0.420, 0.957,-1.121, RAW= 349.4, 6.4, CAL= 349.2, 5.4, ROT= 160.8, -5.4 T#Rx 99: Read range and direction messages.^direction in FSK: [-0.940185,0.327407,0.094108]Fpublishing direction and range infoyimH9Y=FyE>Q 525?Q 9253)BY;=Q E;yUQ I@5DI&k?M,75?A(ɰ(F u@FR@F(ٱF^ NAHRS rotation from veh to nav: [[-0.617170,0.784755,0.057099],[-0.786487,-0.617416,-0.015346],[0.023211,-0.054379,0.998251]]FH ܿ?9Y=%Fy!%؃E%>)Q 5U25-Z?Q 9U25-)-BYYy]lQ I]@-5DI-;i-;-425yaɮeAaDNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjdZd?ZZZZmz@5()1 =p=i=9)9=9i9iE@AEFOԹ By Ay B >B B IB QBB =B B B v;B z0E checking for new query: numPingsReceived=100, elapsed TxPingTime=48.924850#T,[\Q5?AE2 E2E2)E0"E2 ;*E2:VE2FA4ZE0BE2v^t@>v@>+ٱ>_ FAHRS rotation from veh to nav: [[-0.618205,0.783917,0.057410],[-0.785667,-0.618459,-0.015371],[0.023456,-0.054608,0.998232]]>H V ?d?.$j@z??i>^t@I>:>_;9 Y = Fy  CXE >Q 525?Q 9%25)BY!y%Q I%@5DI;i;25y-cBɮ-A1ii@5?AJiRiji?bvj6d& ̓@ ~@Rձ '(?A_1?ZiUd3@bi+ȽjM/tB.4@G뵐yc)@ Qɯ?ZA D ?-?<§[?2iKA:irA"iA3?*irBi-BiɄ(?iʶjii7AiC?] addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504716 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.880548 m, bearing: 32.171165 deg, lat: 36.779316 deg, lon: -121.859582 deg, deltaT: 0.504716 s, deltaX: 0.000025 m, approachRate: 0.000049 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjdZd#?ZZZZz@U+)Y =i9)顕f2ii?\BZ,[ k5?ABYt@B~j@BċٱB_ ZAHRS rotation from veh to nav: [[-0.619354,0.783004,0.057501],[-0.784757,-0.619614,-0.015331],[0.023624,-0.054619,0.998228]]BH]?p?@e0? `{?iBYt@IB^;@YfByfSI ||i5Mb@Mb@Mb@1111 195MbX9?y&1+?Y5ʡ=y5`e5=5 A53@ 1)11Y5zAbDMVDMky]P=%]7=ٔ]ŹQ-e>9aYa=eFyammWEm>qQ 5}25uD?Q 9}25u)uBY}=Q E};y5Q I@u5DIu:iu]:u25yɮAiia5?AJiRiji-?bm#n6b-@o ?Rhm ѪAI?U]k?ZiG3@bijy[:4@ iMdMM)@ ~?Z7?~`"?m?2ijJA:iҡA"iQ3?*i9RtBiBi4b1?i5SmiiAi$r? addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 iIAchecking for new query: numPingsReceived=101, elapsed TxPingTime=49.429325 Added new target pos. range: 23.880548 m, bearing: 32.022703 deg, lat: 36.779317 deg, lon: -121.859583 deg, deltaT: 0.503952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hg f f f BddjdZdA^?Z==Z==Z=FT@Z=0\@Mċ)I M DDAT read: Rx Time:05:02:12.6858  TRx dataTimestamp_ set to:1761541334.020674 PDAT read: Bearing 190.0, 18.1 (Local)  ~Local bearing/azimuth received: Bearing 190.0, 18.1 (Local)  DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1  DAT read: 05:02:12.6858 LVL= 22000, 21617, 32754, 32755, AGC= 63, IDX= 501, 0.45, 0.423, 1.864,-0.156, 0.929, PHS=-0.404, 0.980,-1.128, RAW= 349.8, 6.0, CAL= 349.6, 4.7, ROT= 160.4, -4.7  Ygot valid direction response: 05:02:12.6858 LVL= 22000, 21617, 32754, 32755, AGC= 63, IDX= 501, 0.45, 0.423, 1.864,-0.156, 0.929, PHS=-0.404, 0.980,-1.128, RAW= 349.8, 6.0, CAL= 349.6, 4.7, ROT= 160.4, -4.7  V#Rx 102: Read range and direction messages. ^direction in FSK: [-0.938890,0.334324,0.081939] Fpublishing direction and range infoy  P?Yb ώe??Y U qT ) ?I ξi Hz? Nb |]@ Pw= @@ =) $+3@I >j8俇qkJzzyȺ? |) [ֽI $+3@i  checking for new query: numPingsReceived=102, elapsed TxPingTime=49.696800 %a,Є5?AYBy]I 4<<bDVDy5s&=%5P=ٔ=Q-=>99Y9==Fy9EEE>IQ 5U25MBQBU4IBUpBBU =BQBQBUv;BUh0E!@ @@0@checking for new query: numPingsReceived=102, elapsed TxPingTime=49.933048DDR=E% E%E%)E!"E%(;*E%:VE%FA4ZE!BE%ԁ Ng,5?A6t@6C]@6𛿼ٱ69`` BAHRS rotation from veh to nav: [[-0.620624,0.782003,0.057421],[-0.783760,-0.620866,-0.015682],[0.023388,-0.054737,0.998227]]6H &+?Nf? "`?yy?i6t@I6+^;6CYJByJsIiMb@Mb@Mb@ 9Mb?MbX ףp= ?Y@=yʽQ8=E A`@ )AYAbD5VD51yE=%EY=ٔE:&:Q-M>9IYI=MFyIUEU>mDDAT read: Rx Time:05:02:13.1858 mTRx dataTimestamp_ set to:1761541334.524801uPDAT read: Bearing 190.5, 18.3 (Local) }~Local bearing/azimuth received: Bearing 190.5, 18.3 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 DAT read: 05:02:13.1858 LVL= 24016, 19873, 32754, 32755, AGC= 64, IDX= 503,-0.01, 0.877, 2.320, 0.291, 1.372, PHS=-0.393, 0.993,-1.125, RAW= 349.9, 5.7, CAL= 349.7, 4.2, ROT= 160.3, -4.2 =Ygot valid direction response: 05:02:13.1858 LVL= 24016, 19873, 32754, 32755, AGC= 64, IDX= 503,-0.01, 0.877, 2.320, 0.291, 1.372, PHS=-0.393, 0.993,-1.125, RAW= 349.9, 5.7, CAL= 349.7, 4.2, ROT= 160.3, -4.2 =V#Rx 103: Read range and direction messages.E^direction in FSK: [-0.938942,0.336190,0.073238]MFpublishing direction and range infoyimj bp"??Yiim]mMi i)m@QImL7ɾim?5~?mmk@m%=m0O@ mQ =)m3@ImQ iimu4p4eZ迷^V`? mU)m[˽Im3@imQ iimchecking for new query: numPingsReceived=103, elapsed TxPingTime=50.218842YQ 5u25]?Q 9}25]!)]ԪBY}=Q E};y}:@Q I}@]5DI];i];]S25yɮAiiimW5?AJiiRiijim ?bmj &l6RΊ @?Rmj bp"??Zim3@bimQ jmaiK4@)@p8?Zm 1? P7? v,Ġ?2imHA:im[A"im&3?*imvBim3Bim&3?im9RtimBimSAimW?} addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.880558 m, bearing: 31.756466 deg, lat: 36.779317 deg, lon: -121.859586 deg, deltaT: 0.504127 s, deltaX: 0.000010 m, approachRate: 0.000019 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.h h *h "h  h gfffBddjdZdͫ?Z]=Z]=Z]@Z]:@𛿼) ƣi9)顝n1ii@C ym,5?A2t@2?]@26ٱ2 a :AHRS rotation from veh to nav: [[-0.620630,0.782005,0.057328],[-0.783765,-0.620849,-0.016069],[0.023026,-0.054905,0.998226]]2H@4.?&Z?Wt >?{w?i2t@I2a];0YBByFzIIJ=)J<bDNVDNyV<%VT=ٔV%v:Q-Z>9XYX=ZFyX^QE^>`Q 5f25b?Q 9f25b)bުBYdyf:@Q Ij@b5DIb:ibF:b25ylɮn AlDNOT Ignoring new targets: 23.88 m.h h *h "h  h g f ffddjdZdL?ZZZZ:@-6)) 5i59)QUQiQi]?Y] ) BI BI BM fIBM BBI BI BI BM v;BM s0EB B B B B C c^4e ؀Gy @!9 Y A% checking for new query: numPingsReceived=104, elapsed TxPingTime=50.941059bat,l_5?A02t@2\@2yٱ2` >AHRS rotation from veh to nav: [[-0.620688,0.781982,0.057017],[-0.783731,-0.620886,-0.016320],[0.022639,-0.054815,0.998240]]2H?M1?RL.??i2t@I2og];2CDr@AzDpE~ E~E~)E|"E~[";*E~:VE~FA4ZE|BE~z9Y=FyE>Q 525z}?Q 925)BYy:@Q I@5DI;i;˔25yɮ Aii5?AJiRijic?b g1y6D7{@J}?R'7z?]1?Zi3@bi`jX)44@e)@|:?Z,q??/Q)?2i,KA:iA"i4C$?*irBieBiiiBiؿAih?ԉ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.880579 m, bearing: 32.146157 deg, lat: 36.779317 deg, lon: -121.859586 deg, deltaT: 0.504233 s, deltaX: 0.000021 m, approachRate: 0.000042 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.88 m.hh*h"h hgfffddjdZd?Z9Z9Z9Z=:@y) 1;ie9)顽0ii@}>z,5?A:t@:c@:5ٱ:a FAHRS rotation from veh to nav: [[-0.620019,0.782521,0.056893],[-0.784275,-0.620185,-0.016824],[0.022119,-0.055051,0.998239]]:H1j ?`!?@@o:@?/?i:t@I:<];:CYRByVI iMb@Mb@Mb@ 9:v?(\¿Zd;O?YT9 Y = Fy ;E>Q 5%25y?Q 9%25Ϳ)BY%W>Q E%;y-#@Q I-@5DI ;i ;25y1ɮ5N A1iiR,5?AJiARiAji?b% 6W^0 @m6{7?Rj bp"??checking for new query: numPingsReceived=105, elapsed TxPingTime=51.444965Zi3@biQ j}H t4@1@(])@F?ZXR.?_?V&R?2iJA:iA"ipG:5?*iϚ>rBi[BiiieBiAiՁ ?5 addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504921 s, deltaX: 0.200001 m, approachRate: 0.396103 m/s, rangeRepo size: 4 m Added new target pos. range: 24.079584 m, bearing: 31.800191 deg, lat: 36.779317 deg, lon: -121.859586 deg, deltaT: 0.504921 s, deltaX: 0.199005 m, approachRate: 0.394131 m/s, posRepo size: 4 mDNOT Ignoring new targets: 24.08 m.hihi*hi"hi hqgqfqfqf}ӁBdydjd@338@Zd ?E EE+E"E /;*Ea:AVE [4ZEaM@aU@aU@aU@ZW>ZW>Zc@Z #@5) Lii9)v<ii?  -y,-6?ABDt@Bsl@BvOٱBMb jAHRS rotation from veh to nav: [[-0.619196,0.783190,0.056664],[-0.784942,-0.619327,-0.017331],[0.021521,-0.055209,0.998243]]BH s?@?`>@ ?`D?iBDt@IB ];BCYvāByvI bD VD2y-Z=%UW=ٔe:Q-e>9aYa=mFyi3;E>Q 525u?Q 925)BYy#@Q I@5DI[:iR:25yɮ AiidX6?AJiRiji\?bW6Ѣ@[Сv@RۉK XBRѻ?aVX?Zi{4@bi ĽjUd!4@Psd*@h?Zg?Qz?`ʖǭ?2i$SA:iA"i?*i6cBiBir2?iriitAi ?e addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.079584 m, bearing: 33.295792 deg, lat: 36.779317 deg, lon: -121.859585 deg, deltaT: 0.502690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.08 m.hh*h"h hgfffddjdZd?Z1Z1Z1Z57#@evO)y }@i9)額ii@ZBBIBBBBBBv;Bz0E9@ @@/@checking for new query: numPingsReceived=106, elapsed TxPingTime=51.949661E EE,E"E&;*EI:VEg4ZEBEY ;,6?A2mt@2u@2q+ٱ2e]b :AHRS rotation from veh to nav: [[-0.618333,0.783896,0.056308],[-0.785638,-0.618431,-0.017769],[0.020893,-0.055225,0.998255]]2Hb?`ZԬ?#/2 e?`hF@?i2mt@I2F];2CYFByFIHH]DDAT read: Rx Time:05:02:15.1861 ]TRx dataTimestamp_ set to:1761541336.543049ePDAT read: Bearing 189.6, 17.5 (Local) m~Local bearing/azimuth received: Bearing 189.6, 17.5 (Local) }DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.2 DAT read: 05:02:15.1861 LVL= 28832, 25441, 32754, 32755, AGC= 63, IDX= 505, 0.13, 2.524,-2.327, 1.982, 3.043, PHS=-0.417, 0.958,-1.105, RAW= 349.1, 6.3, CAL= 349.0, 5.1, ROT= 161.0, -5.1 Ygot valid direction response: 05:02:15.1861 LVL= 28832, 25441, 32754, 32755, AGC= 63, IDX= 505, 0.13, 2.524,-2.327, 1.982, 3.043, PHS=-0.417, 0.958,-1.105, RAW= 349.1, 6.3, CAL= 349.0, 5.1, ROT= 161.0, -5.1 V#Rx 107: Read range and direction messages.^direction in FSK: [-0.941775,0.324279,0.088894]Fpublishing direction and range infoyY],O#j ??Y]AY]p]acY Y)]?I]վiYY]g@]z0=]@ ]K=)]3@I]KYY]P俺=j -? ]2)] ߽I]3@i]KYYchecking for new query: numPingsReceived=107, elapsed TxPingTime=52.2189831iUMb@Mb@Mb@QQQQ Q9UbX9ƿ9Y=Fy ;E>Q 525p?Q 925) BY9>Q E;y @Q I@6DI:i:o25y ɮ- A)iYi]Q"6?AJi]ARi]Aji]?b]@k6?@"m *V@R],O#j ??Zi]3@bi]Kj]?ۃ4@;8*@4:?Z]N` [?c|k5?ah0?2i]QA:i]A"i]$UT1?*i]dBi]?Bi]$UT1?i]Ϛ>riYi]Ai]u ? addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.506404 s, deltaX: 0.299999 m, approachRate: 0.592411 m/s, rangeRepo size: 4  Added new target pos. range: 24.378082 m, bearing: 32.579952 deg, lat: 36.779317 deg, lon: -121.859585 deg, deltaT: 0.506404 s, deltaX: 0.298498 m, approachRate: 0.589447 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.38 m.hh*h"h hgfffBdIdIjdM8@ZdMǸ?Z9>Z9>Z˖@Z @q+) ԣi9)"ii?Թ Ǎ,96?A6zu@6@6ٱ60b BAHRS rotation from veh to nav: [[-0.617092,0.784904,0.055891],[-0.786631,-0.617156,-0.018177],[0.020226,-0.055183,0.998271]]6H7? ? , `@?@?i6zu@I6:];6CYJByJIbDRVDRNyZ %Zu=ٔ^';Q-^?9`Y`=bFy`b;Eb?dQ 5j25fl?Q 9j25f)fBYlyn&@Q In@f6DIfQ;if;fY25yr`Bɮr$ AvE=DNOT Ignoring new targets: 24.38 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM?ZqZqZqZu&@) غiU9)額+tii@IUGiUb?UIUپ@UC>Uپ@ UC>)U8/6@IUCQQUpZ4e)翁V,? U)UIU8/6@iUCQQchecking for new query: numPingsReceived=108, elapsed TxPingTime=52.720959^A1IAIQO]v>B <A B B B IB ˁBB B B B v;B  checking for new query: numPingsReceived=108, elapsed TxPingTime=52.956879 ,S6?AEn EnElEl"Enm+;*En:VElZElBEn߄9iYi=uFyqv;E>Q 525Ng?Q 925k)BYyF@Q I@ 6DIg:i:f25yɮ AiijB6?AJinARinAji?b˻6.@inϖ @RNܚ,m6?AFJu@F+@F𽚼ٱFA` fAHRS rotation from veh to nav: [[-0.614260,0.787196,0.054838],[-0.788877,-0.614263,-0.018796],[0.018888,-0.054806,0.998318]]FH@0??{>@ X?rW?`9?iFJu@IFV_;FCYByI = p=iMb@Mb@Mb@ 9MbpEȿI +?YyF9<E A A)3AY@AbDVD0yۘ%V=ٔX:Q->9Y=Fyf;E>Q 525b?Q 9255)$BYG>Q E;y/@Q I@6DIC ;iX ;25yɮ Aiis-c6?AJiARiAjiUt?bH:69OO@@*V@RSr`m~1??Zi3@biKjw4@$R[*@`n*?Z7 ?nL?]bG0?2iRA:iA"iR?*ip&_BiEBiR?i6ciEBi Ai?checking for new query: numPingsReceived=109, elapsed TxPingTime=53.460876 addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504885 s, deltaX: 0.200001 m, approachRate: 0.396131 m/s, rangeRepo size: 4  Added new target pos. range: 24.378096 m, bearing: 32.778203 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.504885 s, deltaX: 0.199005 m, approachRate: 0.394159 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.38 m.hh*h"h hgfffׁBddjd8@Zd S?QZEG>ZEG>ZE#@ZE/@E EE,E"E;*E8:VEg4ZEa@a@a@a@𽚼) ԣi 9)  zֳ i i@ @ Q >) 5@I Q  $mc79;(Z6Sg? ) I 5@i Q  } checking for new query: numPingsReceived=110, elapsed TxPingTime=53.748211O >¡,_6?A@ u@ @ A]ٱ '_ %AHRS rotation from veh to nav: [[-0.611241,0.789600,0.053999],[-0.791243,-0.611201,-0.019173],[0.017866,-0.054446,0.998357]] H`IgD?@̥?Q```hK?L૿ ?i u@I 5_; YBymIbDVDkyʖ%D=ٔ ;Q-%>9!Y!=%Fy!-<E->1Q 5]255Q]?Q 9]255)5*BYYy]q@Q I]@56DI5;i5:5V25yiɮm AiiiX6?AJinARinAji?bDi_6&][l@SLA @R̙ 1ᦛ ?/8ٲ?Zi5@biQ j;u3n3@ h7,+@>@ZN|%9?5} ?9˾߼?2iaYA:iA"i㛊?*iSBiBi?ip&_iBiAix}? addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.505975 s, deltaX: -0.200001 m, approachRate: -0.395278 m/s, rangeRepo size: 4 - Added new target pos. range: 24.179090 m, bearing: 34.437992 deg, lat: 36.779314 deg, lon: -121.859577 deg, deltaT: 0.505975 s, deltaX: -0.199005 m, approachRate: -0.393310 m/s, posRepo size: 4 MDNOT Ignoring new targets: 24.18 m.hIhQ*hQ"hQ hQgQfQfYfYdYdYjdeL8@ZdeH?B>BBIBƁBBBBBv;B}0EԩZYZYZYZ]q@A]) i;9)>ii?EL,6?AVbu@Vˁ@VVٱVg^\ bAHRS rotation from veh to nav: [[-0.610093,0.790507,0.053713],[-0.792135,-0.610044,-0.019201],[0.017589,-0.054263,0.998372]]VH K?U? +Y { ? Yȫ`?iVbu@IV՝_;TYnByndI ppDDAT read: Rx Time:05:02:17.1861 TRx dataTimestamp_ set to:1761541338.556998PDAT read: Bearing 188.8, 17.7 (Local) ~Local bearing/azimuth received: Bearing 188.8, 17.7 (Local) %DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 MDAT read: 05:02:17.1861 LVL= 24496, 23233, 32754, 32755, AGC= 63, IDX= 506, 0.17, 2.103,-2.752, 1.554, 2.637, PHS=-0.432, 0.940,-1.127, RAW= 349.3, 6.8, CAL= 349.2, 6.1, ROT= 160.8, -6.1 UYgot valid direction response: 05:02:17.1861 LVL= 24496, 23233, 32754, 32755, AGC= 63, IDX= 506, 0.17, 2.103,-2.752, 1.554, 2.637, PHS=-0.432, 0.940,-1.127, RAW= 349.3, 6.8, CAL= 349.2, 6.1, ROT= 160.8, -6.1 UV#Rx 111: Read range and direction messages.]^direction in FSK: [-0.939029,0.327005,0.106264]]Fpublishing direction and range infoyn A?O4?YA_Z )?I/ݾiףp?A@=@ ^ =)3@I^ ڽ{2?kݍ连d? )xI3@i^ ڽ}checking for new query: numPingsReceived=111, elapsed TxPingTime=54.265793i5Mb@Mb@Mb@1111 195Mb?xƿ{Gz?Y59Y=Fy J;E >Q 525W?Q 925)/BY7>Q E;y=!@Q I=@6DI6;iѬ;r25yɮEAiiۥ6?AJiARiAji)?bH6B0@+BR_@Rn A?O4?Zi3@bi^ ڽjz.-h4@XTp*@O2%t?Z(?rZ?o`zc?2iSA:iAA"i)0?*il[BiBi)0?il[iBiAi)? addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.501374 s, deltaX: 0.200001 m, approachRate: 0.398905 m/s, rangeRepo size: 4 E Added new target pos. range: 24.378086 m, bearing: 32.936872 deg, lat: 36.779314 deg, lon: -121.859575 deg, deltaT: 0.501374 s, deltaX: 0.198996 m, approachRate: 0.396901 m/s, posRepo size: 4 MDNOT Ignoring new targets: 24.38 m.hIhI*hQ"hQ hQgQfQfyfBddjd8@Zd?Z7>Z7>Z9@Z?!@MV)I UԣiU9)y}yiyi@F+,p6?A YMByMGIbDeVDe0yuY%u~=ٔuQ-} ?9yYy=}FyyE ?Q 525S?Q 925)3BYyQ I@6DI:ig:B25yɮADNOT Ignoring new targets: 24.38 m.hh*h"h hgfffddjdZd@̳?ZZZZ) i9)顽ii?di> DDAT read: Rx Time:05:02:17.6861 TRx dataTimestamp_ set to:1761541339.061514%PDAT read: Bearing 187.4, 16.3 (Local) %~Local bearing/azimuth received: Bearing 187.4, 16.3 (Local) 9EDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 uDAT read: 05:02:17.6861 LVL= 28560, 25217, 32754, 32755, AGC= 64, IDX= 506,-0.40, 0.056, 1.499,-0.435, 0.639, PHS=-0.481, 0.905,-1.118, RAW= 347.9, 7.8, CAL= 347.9, 7.6, ROT= 162.1, -7.6 }Ygot valid direction response: 05:02:17.6861 LVL= 28560, 25217, 32754, 32755, AGC= 64, IDX= 506,-0.40, 0.056, 1.499,-0.435, 0.639, PHS=-0.481, 0.905,-1.118, RAW= 347.9, 7.8, CAL= 347.9, 7.6, ROT= 162.1, -7.6 }V#Rx 112: Read range and direction messages.^direction in FSK: [-0.943235,0.304657,0.132256]Fpublishing direction and range infoy).C~?) ?Yob )@IEig?M@'g >M@ >)D5@IndZ=HpQ^? )` ID5@ichecking for new query: numPingsReceived=112, elapsed TxPingTime=54.7416089@ @@/@i^A 8<I) I9 OE >AY AY Ba Ba Be IBe BBa Ba Ba Be w;Be 0Eԑ  checking for new query: numPingsReceived=112, elapsed TxPingTime=54.972889,RC6?AEU EUEU,EQ"EU%;*EUa:VEUg4ZEQBEU+9YYY=]FyYYEe>aQ 5m25eGN?Q 9u25e)e7BYqyqQ Iu@e"6DIe<;ie7;e25y}\Bɮ}YAEiAiE6?AJiARiAjiEƢ?bE}60.S3@p @RE).C~?) ?ZiED5@biEjE+n4@#9j>+@6vJ@ZEtFY?G:~?ͬ%R?2iEYA:iEA"iEy雊?*iE&IOBiECBiEy雊?iESiECBiEXAiE9?] addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504516 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 24.378120 m, bearing: 34.161676 deg, lat: 36.779310 deg, lon: -121.859572 deg, deltaT: 0.504516 s, deltaX: 0.000034 m, approachRate: 0.000068 m/s, posRepo size: 4 uDNOT Ignoring new targets: 24.38 m.hqhq*hq"hq hqgqfyfyfydydjdZd@?ZZZZ) ti9)顽&ii@IIԡ9@ @@@DDAT read: Rx Time:05:02:18.1862 TRx dataTimestamp_ set to:1761541339.564792-PDAT read: Bearing 188.6, 17.3 (Local) -~Local bearing/azimuth received: Bearing 188.6, 17.3 (Local) =DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 eDAT read: 05:02:18.1862 LVL= 24608, 24465, 32754, 32755, AGC= 62, IDX= 507,-0.00, 1.249, 2.688, 0.717, 1.797, PHS=-0.446, 0.935,-1.125, RAW= 348.9, 7.0, CAL= 348.7, 6.4, ROT= 161.3, -6.4 mYgot valid direction response: 05:02:18.1862 LVL= 24608, 24465, 32754, 32755, AGC= 62, IDX= 507,-0.00, 1.249, 2.688, 0.717, 1.797, PHS=-0.446, 0.935,-1.125, RAW= 348.9, 7.0, CAL= 348.7, 6.4, ROT= 161.3, -6.4 mV#Rx 113: Read range and direction messages.u^direction in FSK: [-0.941307,0.318615,0.111469]}Fpublishing direction and range infoyGښ<0/d? -V:?YA `_ )>IZi)\o?@5=6@ =),4@Id@翢k? my)I,4@i佩checking for new query: numPingsReceived=113, elapsed TxPingTime=55.249977^A 12<I I O > 8,6?AFeu@F@FٱF] RAHRS rotation from veh to nav: [[-0.606658,0.793166,0.053429],[-0.794777,-0.606600,-0.019151],[0.017221,-0.054082,0.998388]]FH`ia?[?@n Di: G?`?iFeu@IF3^;FCY^XBy^IIb=)b49qYq=}Fyy}=<E}>Q 525I?Q 925$)8BY>Q E;yI5@Q I@%6DIa:i':L25yɮAiQiU%6?AJiUARiUAjiUp?bU$| 7C2@v@RUGښ<0/d? -V:?ZiU,4@biUjU]BO4@]p+@mȩ}?ZUY??,?2iUxXA:iUzA"iU.4[?*iUIQBiU(BiU.4[?iQiU(BiUAiUD?m addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503278 s, deltaX: 0.100000 m, approachRate: 0.198698 m/s, rangeRepo size: 4 i߁I߁checking for new query: numPingsReceived=113, elapsed TxPingTime=55.480255 Added new target pos. range: 24.477623 m, bearing: 33.669737 deg, lat: 36.779311 deg, lon: -121.859572 deg, deltaT: 0.503278 s, deltaX: 0.099503 m, approachRate: 0.197709 m/s, posRepo size: 4 5DNOT Ignoring new targets: 24.48 m.h1h9*h9"hA hAgffE EE)E"E';*E8:VEFA4ZEa-@a-@a5@a5@fqBd9dajde8@Zdm` ?Z>Z>Zɡ@ZI5@) Lij9)ii?% =IIA9@ @@/@i- DDAT read: Rx Time:05:02:18.6861 5 TRx dataTimestamp_ set to:1761541340.068694= PDAT read: Bearing 187.3, 17.1 (Local) = ~Local bearing/azimuth received: Bearing 187.3, 17.1 (Local) U DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 u DAT read: 05:02:18.6861 LVL= 26224, 22801, 32754, 32755, AGC= 65, IDX= 506, 0.30, 1.312, 2.752, 0.782, 1.887, PHS=-0.473, 0.911,-1.149, RAW= 348.8, 7.9, CAL= 348.8, 7.7, ROT= 161.2, -7.7 } Ygot valid direction response: 05:02:18.6861 LVL= 26224, 22801, 32754, 32755, AGC= 65, IDX= 506, 0.30, 1.312, 2.752, 0.782, 1.887, PHS=-0.473, 0.911,-1.149, RAW= 348.8, 7.9, CAL= 348.8, 7.7, ROT= 161.2, -7.7 } V#Rx 114: Read range and direction messages. ^direction in FSK: [-0.938113,0.319360,0.133986] Fpublishing direction and range infoy1 5 ΰE,ep?L`u&?Y5 A1 5 pf5 Y1 1 )5 AI5 -i5 L7i?5 o5 @5 0 >5 @ 5 >)5 4@I5 1 1 5 ݪUw;? 5 )5 I5 4@i5 1 1  checking for new query: numPingsReceived=114, elapsed TxPingTime=55.749432^A <ԡ I I O >!,7?A5u@5<@5T+ٱ5߷\ MAHRS rotation from veh to nav: [[-0.606052,0.793634,0.053342],[-0.795235,-0.606007,-0.018865],[0.017354,-0.053852,0.998398]]5H dse?O?r`idAQ0ő??i5u@I5"^;5CYFByI==bD VD :y=+%=>=ٔ=Q-E>9AYA=EFyAM$:EM>qqQ 5}25uD?Q 9}25u)qYyV5@Q I@u)6DIu:iu=:u25yɮAiYi]|e7?AJi]ARi]Aji]?b] z˓689+?$@Ur! @R]ΰE,ep?L`u&?Zi]4@bi] j]V'̋64@B9@]*@HcsK@Z]{a?RuC?T֬?2i]VA:i]A"i]d!웊?*i]\SBi]*Bi]d!웊?iYBBBSIBBBBBBYw;B0EBBBBBC„4i]*Bi]Ai]? Y]CG9Y Ayu^#?uA addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503902 s, deltaX: -0.100000 m, approachRate: -0.198452 m/s, rangeRepo size: 4  Added new target pos. range: 24.378120 m, bearing: 33.555598 deg, lat: 36.779310 deg, lon: -121.859572 deg, deltaT: 0.503902 s, deltaX: -0.099503 m, approachRate: -0.197464 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.38 m.hh*h"h hgfffddjd8@Zd?Z1Z1Z1Z5bV5@ԡDDAT read: Rx Time:05:02:19.1863 TRx dataTimestamp_ set to:1761541340.325723checking for new query: numPingsReceived=114, elapsed TxPingTime=55.989204T+) Hi9)顽iE EEE"Eg5;*E:VEZEBE}5 @ 5 >)5 I4@I5 1 1 5 @Fnhp5? 5 Լ)5  I5 I4@i5 1 1  checking for new query: numPingsReceived=115, elapsed TxPingTime=56.249008^A  =I I O >,k,&7?A%lu@%@%ٱ%\1 }AHRS rotation from veh to nav: [[-0.605584,0.793982,0.053488],[-0.795586,-0.605556,-0.018573],[0.017644,-0.053802,0.998396]]%H`Lh?b?`pu`@ :? ?i%lu@I%G ^;%CY1ByIiMb@Mb@Mb@ 9Mb?~jt{GztY=yĽ A )AYGAbDVD02y5%"=ٔQ->9Y=Fy:E>Q 525??Q 925)9BY=Q E;yE@Q I@-6DIK;iB;{25yɮWAiiG$7?AJiiARiiAji?bmK07G6@l| @RS0iO=? /?ZiI4@bi jh4@<,S+@?0@ZjEw?$I?v¸?2iZA:iGA"i?*i..MBiBi?iIQiBiAi?Ye addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.502795 s, deltaX: 0.299999 m, approachRate: 0.596663 m/s, rangeRepo size: 4 u Added new target pos. range: 24.676582 m, bearing: 33.798146 deg, lat: 36.779311 deg, lon: -121.859571 deg, deltaT: 0.502795 s, deltaX: 0.298462 m, approachRate: 0.593606 m/s, posRepo size: 4 }DNOT Ignoring new targets: 24.68 m.hyhy*hy"hy hygfff@Bddjd8@Zd@h=?Z%=Z%=Z%Ϝ@Z%3E@5)Q Ui]9)Y]YiYie?aeB=IaIiDDAT read: Rx Time:05:02:19.6862 TRx dataTimestamp_ set to:1761541340.8279185PDAT read: Bearing 186.2, 16.8 (Local) =~Local bearing/azimuth received: Bearing 186.2, 16.8 (Local) Uchecking for new query: numPingsReceived=115, elapsed TxPingTime=56.496082m9@q @q@u/@yԙE EE(E"EU,;*E:VEc44ZEa@a@a@a@Ա ^A C =I I O >1,@7?A2v@2P@2hٱ2&\ :AHRS rotation from veh to nav: [[-0.605358,0.794144,0.053634],[-0.795750,-0.605351,-0.018226],[0.017993,-0.053713,0.998394]]2H`_i?u? v _ީ@l?;?i2v@I2];2CYFByFIbDNVDNkyV6ܽ%V=ٔVXQ-Z ?9XYX=ZFy\^g:E^ ?`Q 5f25b25ylɮnAl)DNOT Ignoring new targets: 24.68 m.hh*h"h hgfffddjdZdw?DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 %DAT read: 05:02:19.6862 LVL= 27312, 24993, 32754, 32755, AGC= 65, IDX= 507, 0.15, 0.282, 1.715,-0.226, 0.880, PHS=-0.496, 0.879,-1.151, RAW= 348.4, 8.6, CAL= 348.4, 8.8, ROT= 161.6, -8.8 -Ygot valid direction response: 05:02:19.6862 LVL= 27312, 24993, 32754, 32755, AGC= 65, IDX= 507, 0.15, 0.282, 1.715,-0.226, 0.880, PHS=-0.496, 0.879,-1.151, RAW= 348.4, 8.6, CAL= 348.4, 8.8, ROT= 161.6, -8.8 -V#Rx 116: Read range and direction messages.5^direction in FSK: [-0.937706,0.311933,0.152986]=Fpublishing direction and range infoyE݈?8C ?YAja )AIi%a?SQ@`>Q@ nF>)J4@InFS@_k8z翣4,Y&? )IJ4@inFUchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.749741ZZZZE@h) Xi9)ii@=IIY9@ @@1@@@hAB <A <BBBIB[BBBBBuw;B0EmPExceeded connect timeout, disconnecting.ԉ^A! IA I iߩ Iߩ  DDAT read: Rx Time:05:02:20.1863  TRx dataTimestamp_ set to:1761541341.333950 PDAT read: Bearing 187.2, 16.5 (Local)  ~Local bearing/azimuth received: Bearing 187.2, 16.5 (Local) OM >u DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1  \#Rx 117: Read range message, but no direction.y E  E E 'E "E &;*E 8:VE '4ZE BE 9)Y)=5Fy15|'E5>9Q 5E25=8?Q 9E25=e)9YIyIQ IM@=26DI=:i=:=25yQɮUnAQi i p_U7?AJi Ri ji ?b @Di#7 iQ-@O`3@R E݈?8C ?Zi J4@bi nFj S4@2\^+@ 5l@Z N5)[?IXilg?&mj@5>mj@ 0 >)4@I0 %k)ߕnsh? V)I4@i0 checking for new query: numPingsReceived=118, elapsed TxPingTime=57.257751i^A Nw =I I O >ԙ v,xt7?ABDDAT read: Rx Time:05:02:20.6862 FTRx dataTimestamp_ set to:1761541341.836835VPDAT read: Bearing 186.7, 16.8 (Local) ^~Local bearing/azimuth received: Bearing 186.7, 16.8 (Local) eDAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 E EE,E"E1;*E*:VEg4ZEa@a@a@a@u\#Rx 119: Read range message, but no direction.yDYFADchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.532856qVu@@Iٱ ] AHRS rotation from veh to nav: [[-0.605574,0.793931,0.054345],[-0.795564,-0.605611,-0.017665],[0.018887,-0.053932,0.998366]]H`g?`ӫ?Cu+a@W? ?iVu@I2];YByIiMb@Mb@Mb@ 9sh|??&1Y=yP AQA MA)7AYAbDVD:2ym%%m=ٔuaQ-u>9qYq=}Fyy}E}>Q 5254?Q 925ߴ):BY=Q EM?Pc?XS?2iFh[A:iFA"iFZFԛ?*iF @ Q >) e4@I Q   pYp̩? R) UI e4@i Q ]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.^A1 IA IQ Oe > zg,=G7?A2u@2?@2ٱ2;] :AHRS rotation from veh to nav: [[-0.606125,0.793481,0.054772],[-0.795131,-0.606190,-0.017306],[0.019470,-0.054041,0.998349]]2H_e@3d? ? q`eǸ@?`;y?i2u@I2N];2CYFByFIIJ4=)J;bDNVDNfyVٽ%V=ٔZGQ-Z?9XYX=ZFy\B`B`BbIBb.BB`B`B`Bbqw;Bb0E^#En?pQ 5v25r2?Q 9v25r")r;BYtyvu1Q Iz@r76DIr:iro:r25y|ɮ~=A|nManaging dock network, ignoring radio surface power off5DNOT Ignoring new targets: 24.48 m.h1h1*h1"h1 h1g1f9f9fAdAdAjdAZdE^?ZZZZƩ`@) l̽i(9)!i!i%?)- =I)I)DDAT read: Rx Time:05:02:21.1864 TRx dataTimestamp_ set to:1761541342.340694PDAT read: Bearing 186.8, 16.6 (Local) ~Local bearing/azimuth received: Bearing 186.8, 16.6 (Local) 9@ @@%/@!E EE(E"Es!;*E:VEc44ZEBExIic?ʑ@@ V>)4@IVo 7զr ,m? )BI4@iV=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.^A =IIO>1 - 2Acoustic response timeoutY c,@27?A4<ɰ24u@2@2:>ٱ2i\ JAHRS rotation from veh to nav: [[-0.607215,0.792631,0.055006],[-0.794281,-0.607321,-0.016700],[0.020170,-0.053831,0.998346]]2HNn;]?)?j+ok?t?i24u@I2a];2CYVByVIi5Mb@Mb@Mb@1111 195S㥻?9aYa=eFyamTEm>qQ 5}25u/?Q 9}25u)u) Lih9)7Wi)i%@IMV=IIII]Y>i]>9@ @@@YDDAT read: Rx Time:05:02:21.6863 TRx dataTimestamp_ set to:1761541342.844745PDAT read: Bearing 186.9, 17.1 (Local) ~Local bearing/azimuth received: Bearing 186.9, 17.1 (Local) %DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 UX#Rx 1: Read range message, but no direction.yYfA]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.E EEE"E&;*E8:VEZEa@a@a@a@^ANw =II O >ԁ y,7?A,6u@6T߁@6QXٱ6b\ >AHRS rotation from veh to nav: [[-0.608137,0.791900,0.055348],[-0.793560,-0.608275,-0.016257],[0.020793,-0.053808,0.998335]]6Hu`?W?V?d@v J?༌[?i6u@I6 ];6CY^By^IbDjVDjyr;%rS=ٔrҺQ-r>9tYt=vFytvFEz>xQ 525zI-?Q 925z)z>BYyQ I@z=6DIz2 ;iz? ;z25yɮnA addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504051 s, deltaX: -0.100000 m, approachRate: -0.198393 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.78 m.hh*h"h hgfffdDAT read: 05:02:21.6863 LVL= 23392, 21361, 32754, 32755, AGC= 62, IDX= 508, 0.01,-2.138,-0.708,-2.665,-1.557, PHS=-0.478, 0.894,-1.151, RAW= 348.8, 8.2, CAL= 348.8, 8.2, ROT= 161.2, -8.2 Ygot valid direction response: 05:02:21.6863 LVL= 23392, 21361, 32754, 32755, AGC= 62, IDX= 508, 0.01,-2.138,-0.708,-2.665,-1.557, PHS=-0.478, 0.894,-1.151, RAW= 348.8, 8.2, CAL= 348.8, 8.2, ROT= 161.2, -8.2  X#Rx 1: Read direction message, but no range.^direction in FSK: [-0.936971,0.318971,0.142629]y4q_!@j?x0A?`[qS )Iji/d?S@C>@ C>)4@ICJS f$KQԠBBIB BBBBDBw;B0E^Ay=II1O=> DDAT read: Rx Time:05:02:22.1864  TRx dataTimestamp_ set to:1761541343.350081 PDAT read: Bearing 186.0, 16.8 (Local)  ~Local bearing/azimuth received: Bearing 186.0, 16.8 (Local)  DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 5 X#Rx 2: Read range message, but no direction.y Y 3A E  E E )E "E *E E:VE FA4ZE BE 9Y=FyE>Q 525%*?Q 925)@BYyQ I@@6DI;i;25yɮQAiig7?AJiRiji?bP67'r.@╺,E @R4q_!@j?x0A?Zi4@biCjSb14@Be+@L_@ZQUB?|?VJ^?2iXA:iA"iv?*i:SBi&Biii&BiAi?m addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.505336 s, deltaX: 0.100000 m, approachRate: 0.197889 m/s, rangeRepo size: 4 } Added new target pos. range: 24.776016 m, bearing: 33.333051 deg, lat: 36.779310 deg, lon: -121.859569 deg, deltaT: 1.009387 s, deltaX: -0.000029 m, approachRate: -0.000028 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.78 m.hh*h"h hgfffddjd`f8@Zd?]DAT read: 05:02:22.1864 LVL= 22944, 22401, 32754, 32755, AGC= 63, IDX= 509, 0.41, 0.198, 1.628,-0.319, 0.797, PHS=-0.496, 0.877,-1.160, RAW= 348.6, 8.7, CAL= 348.7, 9.0, ROT= 161.3, -9.0 }Ygot valid direction response: 05:02:22.1864 LVL= 22944, 22401, 32754, 32755, AGC= 63, IDX= 509, 0.41, 0.198, 1.628,-0.319, 0.797, PHS=-0.496, 0.877,-1.160, RAW= 348.6, 8.7, CAL= 348.7, 9.0, ROT= 161.3, -9.0 X#Rx 1: Read direction message, but no range.^direction in FSK: [-0.935549,0.316666,0.156434]y:WK~V@D?p ?YW )?Ii`?z@|>6@ | >),4@I| h3v[C9]? )I,4@i| 2Acoustic response timeoutZAZAZAZE=y@5ɭ)1 5'i59)y}yiyi@>J!i,?7?AbE=:4jE=FA4rE=/E EE(E"E[";*E:VEc44ZEa@a@a@a@ȥu@́@̽ٱ0] AHRS rotation from veh to nav: [[-0.609829,0.790548,0.056060],[-0.792233,-0.610018,-0.015660],[0.021817,-0.053962,0.998305]]H`*L?@س? Y E7 `EW? 񠫿?iȥu@I5];C ]C)]IlAejeMFaaerlAie̼Im bFiIiim lA mjmLF)qq u(lAuuVFqӹӹIӹ)ӹiӹ)I$lAף[F &C5lAףiJFiَC) IYYyI  AiMMb@Mb@Mb@IIII I9MMbX?{Gzt rh?YM=yMףMC9Y=Fy$E>Q 525'?Q 9 25)DBY =Q E Q@ >)J4@IcaOϦ]Z.ߞ? )~IJ4@i2Acoustic response timeout9@ @@/@!i ^A= V<II Ia Om >B B B IB BB B B B w;B 0E*B,{8?A0Nu@NÁ@N䚶ٱNps] VAHRS rotation from veh to nav: [[-0.610794,0.789780,0.056378],[-0.791476,-0.611007,-0.015395],[0.022289,-0.054025,0.998291]]NH`E?ݬ?S]|Җ?7?iNu@INI#^;LYeByeIbDVDN2]DDAT read: Rx Time:05:02:23.1865 mTRx dataTimestamp_ set to:1761541344.356737PDAT read: Bearing 185.7, 16.7 (Local) ~Local bearing/azimuth received: Bearing 185.7, 16.7 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 X#Rx 2: Read range message, but no direction.yaYaaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DU=DU<EY E]E]*EY"EY*E];:VE](N4ZEYBE]z9Y=FyJE>Q 525t%?Q 925d)HBYy=Q I@F6DI:i:25yɮAiaie8?AJiaRiajie5?ber@H@7値@=@L @Re]w{A?%)k?ZieJ4@biejee?H4@i>8=+@p@ZeʊT??D}?RֵA&?2ieYA:ie"A"ie[曊?*ieY$SBiejBiaieY$SiaieEAie5? addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.501751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 24.775978 m, bearing: 33.578920 deg, lat: 36.779310 deg, lon: -121.859571 deg, deltaT: 0.501751 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 MDNOT Ignoring new targets: 24.78 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdYZd ?ZZZZWq@䚶) ei9)EOii%@!%nT&?Čsv? a _ ) I |i R^? X9 @ nF> @ l$>) I4@I l$ s K0S6f/'0? <) I I4@i l$ 2Acoustic response timeout^A 8<I I O% >l ,+8?AB}u@B@BܹٱB7] bAHRS rotation from veh to nav: [[-0.611757,0.789012,0.056684],[-0.790720,-0.611989,-0.015214],[0.022686,-0.054128,0.998276]]BH@???M@i_(;??iB}u@IB5^;@Y~ByI9iEMb@Mb@Mb@AAAA A9EB`"۹?I +?YE=yE94E9Y=FyzVE>Q 525S#?Q 925)NBYG=Q E;yQ I@H6DI&;i%;25yɮA=DNOT Ignoring new targets: 24.78 m.h9hA*hA"hA hAgAfAfIfMBdidqjdqZdu6?qZG=ZG=Z)@ZkT}@mDDAT read: Rx Time:05:02:23.6865 uTRx dataTimestamp_ set to:1761541344.860673PDAT read: Bearing 186.5, 16.9 (Local) ~Local bearing/azimuth received: Bearing 186.5, 16.9 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 X#Rx 2: Read range message, but no direction.yiYiiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ܹ) ui!9)!%!i!i-?)-Z,\E8?A6fu@6/@6ٱ6(^ZDAT read: 05:02:23.6865 LVL= 22160, 21073, 32754, 32755, AGC= 63, IDX= 510,-0.01,-2.831,-1.400, 2.931,-2.244, PHS=-0.486, 0.889,-1.153, RAW= 348.7, 8.4, CAL= 348.7, 8.5, ROT= 161.3, -8.5 bYgot valid direction response: 05:02:23.6865 LVL= 22160, 21073, 32754, 32755, AGC= 63, IDX= 510,-0.01,-2.831,-1.400, 2.931,-2.244, PHS=-0.486, 0.889,-1.153, RAW= 348.7, 8.4, CAL= 348.7, 8.5, ROT= 161.3, -8.5 bX#Rx 1: Read direction message, but no range.f^direction in FSK: [-0.936806,0.317091,0.147809]yHJ@PZn9K?%)k?HJVJQRH H)HIJiJc?JJ6@JQ >J6@ J>)J,4@IJHJqS俁  翡$? J)J.|IJ,4@iJr2Acoustic response timeout rAHRS rotation from veh to nav: [[-0.612855,0.788137,0.056996],[-0.789856,-0.613110,-0.014956],[0.023157,-0.054185,0.998262]]6Hk8?.?F@w ?!?i6fu@I6R\^;6CԉYByI=p=bDVDyT<%X=ٔ3Q->9Y=FytE>Q 525 ?Q 925)SBYyQ I@K6DI :i:f25yɮAiiD78?AJiRiji?b157{@L @R@PZn9K?%)k?Zi,4@bij<[4@ +*@Íh@Z!Zގ?b?Cһ?2iaWA:iA"ig뛊?*ivXBieBig뛊?i:SieBiAiN?U addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 24.775978 m, bearing: 33.131110 deg, lat: 36.779310 deg, lon: -121.859572 deg, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 24.78 m.hihi*hi"hi hqgqfqfqfqdydyjdyZd@/?ZyZyZyZ}=}@) UiH9)顭<ii@`<ԹIIBABABABABABABABE~w;BE0EBBBBBCQ04EGb9YA9@ @@1@mDDAT read: Rx Time:05:02:24.1867 }TRx dataTimestamp_ set to:1761541345.365197PDAT read: Bearing 186.5, 16.9 (Local) ~Local bearing/azimuth received: Bearing 186.5, 16.9 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.1 X#Rx 2: Read range message, but no direction.yqYuAqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DY zDY Ee  Ee Ee )Ea "Ee ;*Ee :VEe FA4ZEa BEe v$,n_8?AYByIbD%VD%02yUS}<%UQ=ٔ]Q-]>9YYY=]FyaeEe>iQ 525m?Q 925m)mXBYyQ I@mM6DIm;im:m25yɮA addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504524 s, deltaX: 0.300001 m, approachRate: 0.594622 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.78 m.hh*h"h hgff!f!d!dIjdU@339@Zd]@?ZZZZDAT read: 05:02:24.1867 LVL= 21968, 21233, 32754, 32755, AGC= 63, IDX= 511, 0.50,-1.220, 0.218,-1.744,-0.631, PHS=-0.487, 0.894,-1.156, RAW= 348.7, 8.3, CAL= 348.7, 8.4, ROT= 161.3, -8.4 5Ygot valid direction response: 05:02:24.1867 LVL= 21968, 21233, 32754, 32755, AGC= 63, IDX= 511, 0.50,-1.220, 0.218,-1.744,-0.631, PHS=-0.487, 0.894,-1.156, RAW= 348.7, 8.3, CAL= 348.7, 8.4, ROT= 161.3, -8.4 UX#Rx 1: Read direction message, but no range.m^direction in FSK: [-0.937049,0.317174,0.146083]yeUNyiL?/8ٲ?UR )IXi/d?V> Q >)IQ ~5%Q͕\Յ? )TIiQ )  =iY9)i!i-?)-Ҩ,Jy8?AE EE,E"E[";*E^:VEg4ZEa@a@a@a@"Ygot valid direction response: 05:02:24.6866 LVL= 23024, 23121, 32754, 32755, AGC= 63, IDX= 511, 0.01, 3.053,-1.796, 2.529,-2.646, PHS=-0.482, 0.895,-1.152, RAW= 348.7, 8.2, CAL= 348.7, 8.3, ROT= 161.3, -8.3 &R#Rx 2: Read range and direction messages.&^direction in FSK: [-0.937289,0.317255,0.144356]*Fpublishing direction and range infoyk{Em?M?'ЌCz?YAYQZ )Iie?tC> V>)IVіp.c=O? \)RIiVfT****** received valid address query ******fR****** received valid ping request ******fQuerying Benthos address 50 with one ping in standard two-way mode.YByIԱiMb@Mb@Mb@ 9ʡE?~jt rh?Y-=yC = AQA MA) AYAbDEVDE0y=%,=ٔQ->9Y=FyE>Q 525?Q 925')bBY=Q EYA:i_A"i?*icWBiWBi뛊?iUii[AiE? addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503507 s, deltaX: -0.100000 m, approachRate: -0.198608 m/s, rangeRepo size: 4 % Added new target pos. range: 24.974983 m, bearing: 33.139991 deg, lat: 36.779310 deg, lon: -121.859572 deg, deltaT: 1.008031 s, deltaX: 0.199005 m, approachRate: 0.197420 m/s, posRepo size: 4 %DNOT Ignoring new targets: 24.97 m.h!h)*h)"h) h)g)f)f1f59Bd1d1jd=9@Zd=g@?Z}=Z}=Z}T@Z}Xi@) \i9)页f޳ii@IIe>i>2Acoustic response timeout9@ @@/@ BA BA BE IBE BBE =BA BA BE w;BE 0E^A <I I O >1 ّ$,*8?AV8u@V&@V¼ٱVz<_ }AHRS rotation from veh to nav: [[-0.615066,0.786377,0.057492],[-0.788120,-0.615342,-0.014874],[0.023681,-0.054459,0.998235]]VH@@*?o?G8+v??`⫿?iV8u@IVp];TY(ByI-DDAT read: Rx Time:05:02:25.1866 5TRx dataTimestamp_ set to:1761541346.370387=PDAT read: Bearing 186.7, 17.2 (Local) =~Local bearing/azimuth received: Bearing 186.7, 17.2 (Local) MDAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 uDAT read: 05:02:25.1866 LVL= 22160, 21713, 32754, 32755, AGC= 62, IDX= 511, 0.42,-1.922,-0.497,-2.451,-1.345, PHS=-0.475, 0.893,-1.150, RAW= 348.9, 8.2, CAL= 348.9, 8.2, ROT= 161.1, -8.2 }Ygot valid direction response: 05:02:25.1866 LVL= 22160, 21713, 32754, 32755, AGC= 62, IDX= 511, 0.42,-1.922,-0.497,-2.451,-1.345, PHS=-0.475, 0.893,-1.150, RAW= 348.9, 8.2, CAL= 348.9, 8.2, ROT= 161.1, -8.2 }R#Rx 1: Read range and direction messages.^direction in FSK: [-0.936413,0.320606,0.142629]Fpublishing direction and range infoy)-n0F̈́?x0A?Y))-V-T) ))->I-33i-d?-33-@)-@ -C>)-P3@I-C))-l[:0\Oe[Yd|0? -!k)-I-P3@i-C))2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.AbDVDyռ=%U=ٔQ->9Y=FyE> E5 E5E5)E1"E5C#;*E5|:VE5FA4ZE1BE5{*, 8?AJ8,u@J퐁@Jzj¼ٱJ<_ fAHRS rotation from veh to nav: [[-0.615664,0.785908,0.057511],[-0.787652,-0.615941,-0.014878],[0.023730,-0.054458,0.998234]]JH'&?r?q4ɵ~xL?᫿?iJ8,u@IJ];JCYr7ByrIimMb@Mb@Mb@iiii i9m333333?V-Q?Ym=ymhm\=m Ai mA)mAiYmfAbDVDfy=%c=ٔQ->9Y=Fyc E>Q 525?Q 925ļ)qBYS=Q E;y>Q I@T6DI%;i[;:25yɮ ADNOT Ignoring new targets: 24.98 m.hh*h"h hgfffjBddjdZd?Z-S=Z-S=Z-Aΰ@Z-R"S@zj¼) ̽i9)ii@ -*DAT read: user:288> 5BDAT read: Tx time:05:02:26.0775 =$Ping request sent.=ԑ =1,88?A2%u@2̍@2iٱ2??_ >AHRS rotation from veh to nav: [[-0.615966,0.785676,0.057444],[-0.787418,-0.616237,-0.014983],[0.023627,-0.054461,0.998236]]2HA$?@@i?@251?@`⫿`?i2%u@I2bp];2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249343`Yb9xYx=zFyxzmE~>yQ 525}?Q 925})}yBYy?Q I@}W6DI}:i}:}25yɮADNOT Ignoring new targets: 24.98 m.hh*h"h hgfffddjdZdKu?ZZZZS@i) 8i 9)  w% i i?BBIBBB =BBDBw;B0E!^A<IIO>i1I5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501541EU  EU EU 'EQ "EU *;*EU :VEU '4ZEQ BEU AHRS rotation from veh to nav: [[-0.616028,0.785635,0.057337],[-0.787374,-0.616290,-0.015108],[0.023467,-0.054452,0.998241]]6H #?@7[?+2@ ?`'᫿@?i6$u@I6%];6CYF>ByFIN=N=bDRVDRNyZN2<%ZN=ٔZ9Q-Z>9\Y\=^Fy\bIEb>dQ 5j25fa?Q 9j25f)fBYhyhQ Ij@fZ6DIf;if;f25yrTBɮrAp DNOT Ignoring new targets: 24.98 m.h h*h"h hgff!f!d!d!jd!Zd-`?ZIZIZIZMS@A) \i9)M;ii@^ԙ E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005254=,z8?AE EE.E"E;*E8:VEـ4ZEa@a@a@a@fj%u@f@f.ٱf_ rAHRS rotation from veh to nav: [[-0.615998,0.785671,0.057165],[-0.787406,-0.616246,-0.015291],[0.023214,-0.054431,0.998248]]fHA 7$?D? m2HQIŗ?eޫ ?ifj%u@If.];fCYzEByzIyiuMb@Mb@Mb@qqqq q9u~jt?:v+?Yu=yuԽu=urAq uA)uAqYu AbDVDyw<%<=ٔ:Q->9Y=FyQ8E>Q 535 ?Q 935)BYk=Q E;y4@Q I@]6DI@:i':35yɮ~AmB*** querying acoustic contact ***iq iqDNOT Ignoring new targets: 24.98 m.hh*h"h hgfffBddjdZd1?Zk=Zk=Z@ZQ4@-.)) M\iU9)QUbQiQi]?Y]B B B IB =BB =B B B tw;B 0E D,r9?AZ,u@Z@ZͻٱZ_ jAHRS rotation from veh to nav: [[-0.615659,0.785944,0.057063],[-0.787680,-0.615888,-0.015561],[0.022915,-0.054528,0.998249]]ZHy@t&?a7?4[Hޏv?뫿?iZ,u@IZ];ZCYzSByzI ||bD VD NyU=%S=ٔJ:Q->9!Y!=%Fy!%ۓ:E->)Q 5535-C?Q 9=35-])-BY9y=4@Q I=@-_6DI-;i-;-435yAɮMAIuDNOT Ignoring new targets: 24.98 m.hqhq*hq"hy hygyfyfyfddjdZd?ZZZZ4@ͻ) li9)&}ii@*) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762987Y K,K.9?AY-WBy-I15AiMb@Mb@Mb@ 9/$?K7l?Y9Y=FyE>Q 535?Q 935)BY>Q E;y(@Q I@c6DI;i? ; 35y ɮ A 1=DNOT Ignoring new targets: 24.98 m.h9h9*h9"h9 h9gAfAfAfEBdIdIjdIZdM Rl@Zm>Zm>Zm橛@Zm#(@) #iQ9)額ii?cԉԹ Q,"H9?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2653016L?u@6w@6bٱ6A$_ BAHRS rotation from veh to nav: [[-0.614768,0.786679,0.056534],[-0.788397,-0.614958,-0.016049],[0.022140,-0.054438,0.998272]]6H.`y,?`? :`Foܫ?`@߫?i6L?u@I60];6CYJcByJ%IbDRVDRyZ=%Z_=ٔ^ ;Q-^>9\Y`=bFy`blL;Eb>dQ 5j35fQ?Q 9j35f)fBYlyn(@Q In@ff6DIf3";if";f& 35ytɮvAtDNOT Ignoring new targets: 24.98 m.hh*h"h hgff!f!d!d!jd!Zd- Z@ZIZIZIZM(@]b)a e. ie9)aeaiaim@imachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517638EQ  EU EU -EQ "EQ *EU :VEU t4ZEQ BEU |}`"?Zͫ ?i66Lu@I61];6CYJ\ByJIbDRVDR0yZm%ZJ=ٔZک:Q-^>9\Y\=^Fy`b:Eb>dQ 5j35fH?Q 9j35f?)fBYhyj+(@Q In@fj6DIf|:if:f35ypɮrApDNOT Ignoring new targets: 24.98 m.hh*h"h hgfff!d!d!jd!Zd%@ @ZIZIZIZM+(@])Y ]ie_9)aeaiaim?imri}!>9@ @@0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771643!^A5<IAIYOew>I % BDAT read: Rx Time:05:02:28.5160 - TRx dataTimestamp_ set to:1761541349.896164- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022382_D^,({9?AE6 E6E6)E4"E6=-;*E6:VE6FA4ZE4a:@a:@a:@a:@YM`ByM I]=]=iMb@Mb@Mb@ 9{Gz?{GzĿQ?Y#9Y = Fy  E >Q 535a?Q 9351)BY%'>Q E%;y%n"@Q I%@n6DI:iv:35y)ɮ-A1]DNOT Ignoring new targets: 24.98 m.hYhY*hY"hY hYgafafafeƁBdidijdiZdm<& @Z'>Z'>Z:˘@Z$n"@) Li9)顭4Ӵii@154Hԩ 5 GI a 9 Y uAB >B B 'IB fBB B B B v;B 0EBIBIBIBIBM =CMR47e,ߕ9?A8DAT read: 05:02:28.5160 LVL= 17248, 13585, 20258, 21235, AGC= 65, IDX= 12,-0.08, 1.193, 2.602, 0.671, 1.759, PHS=-0.463, 0.888,-1.131, RAW= 348.9, 8.0, CAL= 348.9, 7.9, ROT= 161.1, -7.9 Ygot valid direction response: 05:02:28.5160 LVL= 17248, 13585, 20258, 21235, AGC= 65, IDX= 12,-0.08, 1.193, 2.602, 0.671, 1.759, PHS=-0.463, 0.888,-1.131, RAW= 348.9, 8.0, CAL= 348.9, 7.9, ROT= 161.1, -7.9  PDAT read: Bearing 186.5, 17.2 (Local)  ~Local bearing/azimuth received: Bearing 186.5, 17.2 (Local) DAT read: Range 11 to 50 : 25.7 m (Round-trip 34.3 ms) speed -0.1 m/s *DAT read: user:289> %BDAT read: Tx time:05:02:29.6275 %$Ping request sent.% 0 >)I0 俘J%H翌? b)Ii0 M:publishing transmit ping time!MFpublishing direction and range infoy2)s?yjȗ?Y )Ii )I俘J%H翌? )IiY_ByIbDVDk1yX%?=ٔQ->9Y=FyE>Q 535?Q 935.)BYyQ I@s6DI;ib:P35yɮAii9?AJiARiAji?bo74h @_L2 @R2)s?yjȗ?Zibi0 jo_5@ʠƚA+@u\@ZO?KwG?Mz?2i\A:iA"i}?*iMBivBi?iiiNAi9?D]=D]<Ee EeEaEa"Ee%.;*Een:VEaZEaBEe99Y=Fy<E>Q 535W픊?Q 935)ɫBY,>Q E;y~@Q I@x6DI:i:35yQBɮAE%DNOT Ignoring new targets: 25.57 m.h!h!*h!"h! h)g)f)f)f-Bd1d1jd1Zd5Ӻ?Z],>Z],>Z]-@Z]~@mh)i u WiuK9)quqiqi}@y}:VEE [4ZEAaU@aU@aU@aU@9@ @@&0@^A5u<IAIYOe>I s,9?A6Su@6zˁ@6Cٱ6 _ >AHRS rotation from veh to nav: [[-0.610072,0.790420,0.055210],[-0.792102,-0.610131,-0.017745],[0.019659,-0.054557,0.998317]]6HK?@tD?@X1@+`!?6?i6Su@I6K];6CYF9ByJILLbDRVDRkyZ޽%Z_=ٔ^:Q-^>9`Y`=bFy`bu;Eb>dQ 5j35fF锊?Q 9j35f)fϫBYlyn@Q In@f{6DIfi ;if ;f35ypɮvAtBBBBBBBBv;B0E9EDNOT Ignoring new targets: 25.57 m.hAhA*hA"hA hIgIfIfIfIdQdQjdQZdU?ZyZyZyZ}@C) i9)顝ii? fz,9?Aԡ u@aՁ@ٱʺ_ AHRS rotation from veh to nav: [[-0.609119,0.791168,0.055027],[-0.792845,-0.609158,-0.017987],[0.019289,-0.054584,0.998323]]H`}@?Q? },?^9~Ak?@uB?i u@I];CY4ByIiMMb@Mb@Mb@IIII I9M~jtx?MbX9Ŀ rh?YM;yM!MC9yYy=}FyyV ;E>Q 535㔊?Q 935Ŵ)իBY">Q E;ya!@Q I@6DIa;iD;$35yɮA!]DNOT Ignoring new targets: 25.57 m.hYhY*hY"hY hYgafafafmBdidijdiZdm`i?Z">Z">Z@Za!@) Li9)页gii@[{;*Em :VEm [4ZEi au @au @au @au @^A I I O > ,:?A2|u@2݁@2N:ٱ2j_ :AHRS rotation from veh to nav: [[-0.608379,0.791754,0.054776],[-0.793420,-0.608403,-0.018160],[0.018948,-0.054508,0.998334]]2H@w V? ? c x~f?諿 Y?i2|u@I2F];2CYB'ByBIIF=)F>bDNVDNyV8%V=ٔVq:Q-V?9XYX=ZFyX^D;E^?`Q 5f35b?Q 9f35b)b٫BYdyfq!@Q If@b6DIbp:ib$:b&35ylɮnJA9DNOT Ignoring new targets: 25.57 m.hh*h"h hgfffddjdZd@|`?Z!Z!Z!Z%q!@=N:)9 =fi=9)9ExܳAiAiM?IM=IIII9@ @@/@!BBBIBVBBBBDBv;B0E^AV<I)IAQOe>y ,:?AD%=D=E EE-E"E;*E:VEt4ZEBE!d9hYh=jFyhn:En>pQ 5v35r1ܔ?Q 9v35r )r߫BYtyv!@Q Iv@r6DIr:ir:rQ*35y|ɮ~A|5DNOT Ignoring new targets: 25.57 m.h1h1*h1"h1 h1gfffddjdZd@ZZZZ!@=)9 =ti=9)9=+AiAiE@IM<=IIIIQ qqIq)qm9@i @i@i@iԁ^A2g=IIԱO> :,~7:?A6u@6@6aٱ6] BAHRS rotation from veh to nav: [[-0.606950,0.792892,0.054170],[-0.794528,-0.606951,-0.018316],[0.018356,-0.054157,0.998364]]6H!l^_?5?`l`$l m ˒?m`?i6u@I6N];6CYJ ByJIԱiMb@Mb@Mb@ 9 rh?V-¿y&1|?YC9Y=Fy%j ;E%>!E= E=E=(E9"E=);*E=|:VE=c44ZE9aE@aE@aE@aE@Q 5E35%@ה?Q 9M35%")%BYM>Q E;y&@Q I@%6DI%KZ>Z@Z&@a) Li9)顭dii?=II9@ @@@@fA@hA ^A 9=I I O >9 ",YQ:?ABR<AR<BTBTBVIBV8BBTBTBTBVv;BV0EYByI  bDVD:yEϽ%Mm=ٔUQ-U?9YYY=eFyamEm?qQ 535uӔ?Q 935uw)uBYyQ I@u6DIuQ;iu(S;u135yɮADNOT Ignoring new targets: 25.57 m.hh*h"h hg fffddjdZd@Z1Z1Z1Z1A)I MpiM9)IUQiQiu@qu,=IqIyBDAT read: Rx Time:05:02:32.0663 TRx dataTimestamp_ set to:1761541353.429456)@) @)@-/@)9EM EMEM'EI"EM;*EM*:VEM'4ZEIBEMsL,74k:?AiI Ju@JQ@J!ĔٱJz\ RAHRS rotation from veh to nav: [[-0.605939,0.793691,0.053785],[-0.795304,-0.605938,-0.018183],[0.018159,-0.053793,0.998387]]JHce?`?!s c{ A?@?iJu@IJ%];JCY^By^IlnAbDVDkyx%?=ٔ 9Q->99YA=EFyIu@;E}>Q 535 ϔ?Q 935)BYy&@Q I@6DI;iS;p535yMBɮAEiuDNOT Ignoring new targets: 25.57 m.hqhq*hq"hq hqgyfyfyfyddjdZd` @ZZZZ-&@!Ĕ) i9)ii?) =II9@ @@0@ԡDAT read: 05:02:32.0663 LVL= 31568, 29249, 32754, 32755, AGC= 63, IDX= 432,-0.26,-2.913,-1.447, 2.881,-2.262, PHS=-0.549, 0.860,-1.184, RAW= 347.7, 9.7, CAL= 347.8, 10.5, ROT= 162.2, -10.5 %Ygot valid direction response: 05:02:32.0663 LVL= 31568, 29249, 32754, 32755, AGC= 63, IDX= 432,-0.26,-2.913,-1.447, 2.881,-2.262, PHS=-0.549, 0.860,-1.184, RAW= 347.7, 9.7, CAL= 347.8, 10.5, ROT= 162.2, -10.5 -PDAT read: Bearing 183.9, 15.9 (Local) -~Local bearing/azimuth received: Bearing 183.9, 15.9 (Local) =DAT read: Range 11 to 50 : 26.0 m (Round-trip 34.7 ms) speed 0.0 m/s ER#Rx 2: Read range and direction messages.E^direction in FSK: [-0.936186,0.300576,0.182236]MFpublishing direction and range infoyb`<?@ f;>)-5@If;?Vd>忷9"QD/y~? )X,I-5@if;bE [4jEOS4rE(0EU  EU EU +EQ "EU ;*EU :VEU [4ZEQ ae @ae @ae @ae @ ^A @o=I I O >6,:?A2lv@2@2피ٱ2Ŀ\ :AHRS rotation from veh to nav: [[-0.605481,0.794035,0.053860],[-0.795652,-0.605481,-0.018176],[0.018179,-0.053859,0.998383]]2H`h??`u`s?b ?i2lv@I2];0LYRByRIi5Mb@Mb@Mb@1111 195y&1?Zd;~jtx?Y5`9aYa=mFyim:Em>qQ 5}35u˔?Q 9}35u )uBYR>Q E;y-@Q I@u6DIue:iua:u835yɮGAii#{:?AJiARiAji?b.w 988.7@p@Rb`<ZUR>ZU@ZU=-@피) Li9)顭ii@>=II9@ @@@B>BBIBBBBBBv;B0E@=@=) ^A Nw =I I O% >z^,u:?AE EE)E"E%;*E:VEFA4ZEBE~iv@>@>\ٱ>%] JAHRS rotation from veh to nav: [[-0.605190,0.794249,0.053975],[-0.795872,-0.605193,-0.018150],[0.018250,-0.053941,0.998377]]>H]}j??w]ە?'?i>iv@I>9];9hYh=jFyhj3y:En>lQ 5r35nǔ?Q 9v35n)nBYtyv-@Q Iv@n6DInb:inZ:n;35yzHBɮ~A~E|DNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdq}?Z9Z9Z9Z=-@\) ri9)顝2ii?V=II)m9@i @i@m5@ii^AO =IIO>ԉ 2,Ƹ:?A2v@29@219ٱ2\ :AHRS rotation from veh to nav: [[-0.605072,0.794337,0.054003],[-0.795960,-0.605080,-0.018052],[0.018337,-0.053907,0.998378]]2H\ 6k?H?x\ 9| ƒ?@?i2v@I2 ];2CYFŀByFbIJ=Jp=iMb@Mb@Mb@ 9A`"?KMbp?YY=y^;A )YbD5VD50yE_%MB=ٔMhYQ-M>9QYQ=UFyQU 9EU>ԡQ 535Ĕ?Q 935v)BY=Q E;y;A@Q I@6DI*:i:?35yɮA!DNOT Ignoring new targets: 25.87 m.hh*h"h hgfff,BddjdZd?Z=Z=ZG@Zk;A@%19)) -Li-9E5 E5E5*E1"E5U,;*E5S:VE5(N4ZE1aE@aE@aE@aE@))EgAiAiM@IU'=IQIQ@ @@ 4@ ^A- ] =I1 IY Om > TG % P9! Y% Aq,U:?AA A B$B$B&IB&BB$B$B$B&w;B&0EB B B B B =C 4u v@uQ@udٱu\ AHRS rotation from veh to nav: [[-0.605061,0.794339,0.054097],[-0.795964,-0.605078,-0.017928],[0.018492,-0.053906,0.998375]]uH\:k??@x`\@[? ?iu v@Iu];uCYByVIbDVDkyE9%>=ٔ%YQ-%>9)Y)=-Fy)-e7E->1Q 5=355l?Q 9E355R)5BYAyAQ IE@56DI5-:i5:5hC35yIɮMgAQ}DNOT Ignoring new targets: 25.87 m.hyhy*hy"h hgfffddjdZd@\?ZZZZf;A@d) `i9)ʏii?II!9@ @@(4@@gA@EE EEEE+EA"EEs!;*EE':VEE [4ZEABEExy Ҟ,:?AN.v@Nh@N&ٱNG\ fAHRS rotation from veh to nav: [[-0.605436,0.794045,0.054229],[-0.795669,-0.605479,-0.017501],[0.018938,-0.053744,0.998375]]NH_@h?ë?v`@둿d?Q`?iN.v@IN\;NCYvByvJI ||bD VD FyuF%P=Qٔ4Q->9Y=FyE> Q 5%35 ?Q 9%35 ,) BYiym2A@Q Im@ 6DI N ,dW;?AY~By~CI  AieMb@Mb@Mb@aaaa a9ei|?5?Mb{Gz?Yeq=yee#9Y=FyE>Q 535ι?Q 935ԱB)BYq=Q EBQBUfIBUȀBBQBQBQBUw;BU0E59@1 @1@5/@1 A ^AU =D] =D] <Ee  Ee Ea Ea "Ee 2;*Ee :VEa ZEa BEe $,I!;?A:u@:"@:ٱ:W \ FAHRS rotation from veh to nav: [[-0.606039,0.793567,0.054490],[-0.795197,-0.606111,-0.017084],[0.019470,-0.053684,0.998368]]:H@dd?(?@r@BeX~?r|?i:u@I:D\;:CY^By^2IbDjVDjkyr"%r_=ٔrQ-r>9tYt=vFytv< Ez>|Q 5~35~'?Q 935~W)~BYyBQ I@~6DI~:i~:~M35y ɮTADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd.@ZAZAZAZE7O@U)Y ]Ji]I9)Y]޴YiYie@ae u =IiԉI%9@! @!@%/@!Թ^A =II9O]> ,%!;;?A2u@2@23ٱ2\ :AHRS rotation from veh to nav: [[-0.606454,0.793230,0.054771],[-0.794872,-0.606541,-0.016921],[0.019799,-0.053797,0.998356]]2H@h#b? ?`oh@S`F?M`?i2u@I24\;0YBByF*Ii]Mb@Mb@Mb@YYYY Y9]l?+~jt?Y]=y]]D<]AY ]A)YYY]AbDuVDu:yM%A=ٔJQ->9Y=FyE>Q 5=35a?Q 9=35)BY==Q EEB A <B B B FIB BB B B B "w;B 0E,T;?A ru@r@r@ٱr\_\ AHRS rotation from veh to nav: [[-0.607144,0.792691,0.054936],[-0.794337,-0.607249,-0.016680],[0.020137,-0.053765,0.998351]]rHm]?` ? 5kn 잔?|?iru@Ir(.];rCY-By-.I====bDEVDE1yU<%UM=ٔ]4_Q-]>9YYY=]FyaeEe>iQ 5u35m򱔊?Q 9u35m)mBYqy},Q I}@m6DIm;im;mT35yMBɮAEDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd| @ZZZZ'e@u@)q }\0i}9)y}yiyi@=IIi%9@! @)@-0@)DzD@AE EE+E"E%;*Eخ:VE [4ZEBE~ &),n;?A6\u@6@6ܧٱ6 ]T ZAHRS rotation from veh to nav: [[-0.607688,0.792250,0.055268],[-0.793911,-0.607809,-0.016538],[0.020490,-0.053928,0.998335]]6H/rZ? L?`g+sn`>?l`[?i6\u@I6M5];6CYeBye6IbDVD0y[<%@=ٔ aXQ->9Y!=-Fy)= ҺEE>Q 535"?Q 935)BY y-Q I@6DINk,;?A2Eu@2܁@2ժٱ2Œ] :AHRS rotation from veh to nav: [[-0.608367,0.791708,0.055577],[-0.793382,-0.608504,-0.016377],[0.020852,-0.054057,0.998320]]2H wU?t?cc`x =Ő UZ?Y=?i2Eu@I2Ds];0|iqIuAYBy/IiMMb@Mb@Mb@IIII I9MT㥛 ?L7A`堿{Gz?YM=yM+Mף9yYy=FyE>Q 535Ѭ?Q 935ܰ) BYM=Q E3ԁ E % E E -E "E O];*E ;:VE t4ZE BE Eu@>sց@>pٱ>>%^ FAHRS rotation from veh to nav: [[-0.608992,0.791207,0.055867],[-0.792894,-0.609143,-0.016255],[0.021170,-0.054196,0.998306]]>H|Q?@? c_ ~)@? @?i>Eu@I>[Y];< |)ElAi I bF I i  ) jI)i!)!I!%! !)-1lA-ji))i11)1 1I1Y1YEByE3IIMA U4Q 5 35?Q 9 35$) BY y ,Q I@6DI:i;_35y9ɮ=VA9DNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd ]@ZZZZ9e@Mp)I M*FiUD9)QUR*QiQi]?Y]B,K\;?ABku@Bȁ@BT:bEG4jE(N4rE/EJ EJEJ+EH"EJ;*EJZ:VEJ [4ZEHaR@aR@aR@aR@ٱBY:] ZAHRS rotation from veh to nav: [[-0.610383,0.790134,0.055869],[-0.791815,-0.610553,-0.015947],[0.021511,-0.053972,0.998311]]BH@AH??`V@@T ?7`)?iBku@IBbd];BCYeBye:IiEMb@Mb@Mb@AAAA A9ET㥛 ? rhZd;O?YAyEC Ej9qYq=uFyy}oE}>Q 535S?Q 935)BY=Q E0a6,;?A 2u@2@2ٱ2\ >AHRS rotation from veh to nav: [[-0.611078,0.789600,0.055819],[-0.791275,-0.611255,-0.015848],[0.021606,-0.053853,0.998315]]2HfD? J? Re@:?2?i2u@I2\];2CYEByE@IIM<)MC=bD]VD]ye۶<%m^=ٔmQ-m>9qYq=uFyquE}>yQ 535}V?Q 935}ͱ)}BYy-Q I@}6DI}:i}|:}*g35yɮADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd`p"@ZZZZd@ )  wi C9)Jii? d,;?AF;PɰD}u@}ټ@}Wٱ}`] AHRS rotation from veh to nav: [[-0.611461,0.789294,0.055959],[-0.790979,-0.611636,-0.015939],[0.021646,-0.054008,0.998306]]}HA??O 0R*? ?i}u@I}w];}CYByMI=p=i%Mb@Mb@Mb@!!!! !9%ˡE?/$y&1?Y%'=y%,%`<%A%~A %zA)%A!Y%A=@A9bDEVDE0yUDG=%U<=ٔUĸQ-U>9YYY=]FyYeӑEe>aQ 5u35eC?Q 9u35e)eBYu.=Q EuL,q9Y=FyE>Q 535?Q 935)'BYyQ I@6DI:i[:o35yɮeA]DNOT Ignoring new targets: 25.87 m.hYhY*hY"hY hYgYfafafadadijdiZd @ZZZZ"Q@͇) di9)ji i ? ,ZG-9!Y!=%Fy!-\E->1Q 5=355-?Q 9=355 )5-BY9y=AQ I=@56DI5{;i5;5pr35yIɮM\AIuDNOT Ignoring new targets: 25.87 m.hyh*h"h hgfffddjdZdL@ZZZZQ@毼) ai9)Qxii@011E-  E- E- -E) "E- ;*E- :VE- t4ZE) a5 @a5 @a5 @a5 @Y ,yGAHRS rotation from veh to nav: [[-0.612135,0.788783,0.055789],[-0.790470,-0.612281,-0.016442],[0.021189,-0.054164,0.998307]]2H=?@`?K`͗:֐?n"?i28vu@I2F4];2CYnByn\ItvAieMb@Mb@Mb@aaaa a9eMb?p= ף rh?Ye9Y=FyaE>Q 535 ?Q 935)5BYÙ=Q E0aB<A<BBBSIBBB =BBBw;B1E I,#`?0j?`Ke@H? :?i:vu@I: ];8YJˀByNjIbDVVDVy^:f=%^Y=ٔ^z:Q-b>9`Y`=bFy`f8Ef>hQ 5n35j6?Er ErEr)Ep"Er;*Er:VErFA4ZEpBErs~@ZiZiZiZm .@}nI)y i9)顅'ii@p?8?@*LږfӔ?\?i2wu@I2(];2CYRӀByRsIIV=)V;ieMb@Mb@Mb@aaaa a9ey&1?+ηQ?Ye`e=ٔ܈:Q->9Y=Fy9E>Q 535L?Q 935)DBY,=Q E9i R$,9tYt=vFyxz|Q 535~?Q 935~)~KBY y *(@Q I @~6DI~[:i~:~35yɮvADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdu @ZaZaZaZeu*(@}J)y }Ri}'9)顅Ϣii@|^ +,@"D@Ǔ?(z?i:$u@I:N1];:CLYN׀ByNxIbDZVDZN2yb]%bL=ٔb:Q-b>9dYd=fFydj:Ej>lQ 5r35n?Q 9r35n )nRBYpyr5(@Q Ir@n6DIn:in:n35yxɮzAxDNOT Ignoring new targets: 25.87 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5`!@ZYZYZYZ]25(@m@)i miu9)qu~qiqi}?y}E  E E *E "E I;*E *:VE (N4ZE a @a @a @a @ 2,|cAHRS rotation from veh to nav: [[-0.611150,0.789652,0.054268],[-0.791297,-0.611153,-0.018474],[0.018578,-0.054232,0.998356]]2H@D?ȫ? NR꒿`?Nī@?i2Iu@I2lt];2CYFրByFwI HH|iUMb@Mb@Mb@QQQQ Q9UMb?Cl绿S㥛?YU9Y=Fy:E>Q 535?Q 935q)ZBYM=Q E;y(@Q I@6DI ;i7 ;35yEBɮxAEDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffzBddjdZd@"@Z M=Z M=Z u@Z (@2) %ףi%9)!% !i!i-@)-T7ԁ /*8,>9iYi=uFyquEu>yQ 535}i?Q 935})}`BYyQ I@}6DI}B:i}:}:35yABɮNAEDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdgR#@ZZZZ)  i 9)  V i i?? WT>,"AHRS rotation from veh to nav: [[-0.610381,0.790320,0.053191],[-0.791927,-0.610299,-0.019669],[0.016917,-0.054129,0.998391]]6H>LJ?@;? wW,$R?Ƕ?i6u@I6];4YFԀByFtIiMb@Mb@Mb@ 9MbPPn?Yy</AA  A) AY AbD-VD-y=%=M=ٔ=;Q-E>9AYA=EFyAMK#;EM>QԹQ 535U ?Q 935U )UgBY>Q E;yC@Q I@U6DIUZU>ZUc@ZUFC@e)a mpim9)im~͵iiiiu@q}B! B% IB% ܀BB! B! B! 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Uߨ?@aj@imTd9QYQ=UFyQ]:E]>aQ 5m35eZn?Q 9m35e)eBYmJ=Q Em;yuQ'@Q Iu@e6DIe:ie]:e35y}>Bɮ} A}EԙDNOT Ignoring new targets: 25.87 m.hh*h"h hgffQfURBdYdYjdYZd]*@ZJ=ZJ=Zך@ZYQ'@!) Qi9)zii@Pb=II9@ @@/@AaAeAABqBqBuSIBuBBqBqBqBuw;Bu0E^AII O  ox,:=?A24u@2@2gٱ2-[ >AHRS rotation from veh to nav: [[-0.607217,0.793076,0.048153],[-0.794484,-0.606756,-0.025342],[0.009119,-0.053645,0.998518]]2HQn`??iljL@笂? Zw?i24u@I2^;EB EBEB)E@"EB[";*EB:VEBFA4ZE@BEBz9xYx=~Fy|:E>!Q 5-35%j?Q 9-35%!)%BY1y5Z'@Q I5@%6DI% :i%:%m35y9ɮ=WAADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdge+@ZZZZ Z'@5g)1 =,i=9)9=^9i9iE?AEW=IAII 9@  @ @ ?0@!^A5=I9IIQO]>ԁ ~,=?A2,u@2@22 ٱ22[ >AHRS rotation from veh to nav: [[-0.607222,0.793108,0.047549],[-0.794488,-0.606731,-0.025817],[0.008374,-0.053454,0.998535]]2H]n@$a?]X?@rlVj@o`K&?P^ ?i2,u@I2f^;2CYFByFI HHiMMb@Mb@Mb@IIII I9M~jt?1Zdy&1?YM9yYy=}FyyE>Q 535g?Q 935)BYg=Q E;y*@Q I@6DI? ;i ;35yɮADNOT Ignoring new targets: 25.87 m.hh*h"h hgfff;BddjdZd6,@Zg=Zg=Zk@ZW*@2 ) Riu9)2"i!i%@)-c=I)I)YE$ EE+E"Eg\;*E|:VE [4ZEa@a@a@a@9@ @@5@ԁ^AG=IIO>ԩBa Ba Be :IBe BBa Ba Ba Be w;Be 0E x؅,>?A6u@6@6@ٱ6D[ BAHRS rotation from veh to nav: [[-0.606919,0.793361,0.047206],[-0.794727,-0.606390,-0.026461],[0.007632,-0.053575,0.998535]]6Hk6c?`^+?gn`g  C?7n?i6u@I6[^;6CYJByJIPRA PR<bDVVDVJy^%^W=ٔb::Q-b>9`Y`=bFydf:Ef>hQ 5n35jd?Q 9n35j)jBYlyr*@Q Ir@j6DIj;ij;jd35ytɮvAtDNOT Ignoring new targets: 25.87 m.hh*h"h hgf!f!f!d!d)jd)Zd-,@ZIZIZIZM*@@) i%9)'ii?L=II1Ա9@ @@4@D=DE EE*E"E8;*E:VE(N4ZEBE׏ 9 ,j2>?AZ!u@Za@ZٱZ[ nAHRS rotation from veh to nav: [[-0.606891,0.793400,0.046900],[-0.794754,-0.606331,-0.026992],[0.007022,-0.053655,0.998535]]ZHk`c?@R?ng@)|?@x`?iZ!u@IZ,^;ZCYz~Byz IbDVD:y%f:%%D=ٔ%:Q-%>9)Y)=-Fy)58E5>9Q 5E35=$a?Q 9E35=)=BYAyE*@Q IE@=6DI=:i=_:= 35yQɮUAQ}DNOT Ignoring new targets: 25.87 m.hyhy*h"h hgfffddjdZdd-@ZZZZe*@) iR9)-ii@II M9@I @I@U/@Q9^A =IIO>a bE)jE-C4rE-/E  E E (E "E +$;*E :VE c44ZE a @a @a @a @o,:L>?A 6u@6$@6ӻٱ6[ >AHRS rotation from veh to nav: [[-0.607014,0.793328,0.046529],[-0.794665,-0.606427,-0.027449],[0.006440,-0.053637,0.998540]]6Hlb?ҧ?mg`az?@Qv ?i6u@I60^;6CYFxByJIIN4=)N=iUMb@Mb@Mb@QQQQ Q9UQ? ףp= Q?YUu9Y=FyE>Q 535Z^?Q 935)BY^=Q E ,f>?AD0zD2AAE6 E6E6)E4"E61;*E6^:VE6FA4ZE4BE6k:E6\Bu@B@BkûٱB[ JAHRS rotation from veh to nav: [[-0.607352,0.793089,0.046183],[-0.794411,-0.606744,-0.027812],[0.005964,-0.053580,0.998546]]BH@mo`?L?krj@zXmx?n@?iBu@IB^;BCLYnnBynIv=va=ttbDzVDzky,?%R=ٔ :Q- >9 Y = FyE>Q 5%35[?Q 9%35)BY)y-)@Q I-@6DI:i:35y1ɮ5A1DNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdr/@Z)Z)Z)Z-)@ekû)a eUie9)ae) A,>?ANu@N/@NٱN[ VAHRS rotation from veh to nav: [[-0.607595,0.792921,0.045875],[-0.794228,-0.606963,-0.028236],[0.005455,-0.053591,0.998548]]NHjq@_?|?Qj=l霿 7Xv?Ep?iNu@IN^;NCY^`By^I|iMMb@Mb@Mb@IIII I9MV-?{GzMb?YM9yYy=}Fy>E>Q 535X?Q 935a)BYS=Q E5 GQ q 9 Y BAi! I! y B >B B IB wBB B B B -w;B 0EBBBBBCK)4/',Ι>?A2u@2@2ٱ2Z >AHRS rotation from veh to nav: [[-0.608130,0.792532,0.045509],[-0.793821,-0.607485,-0.028455],[0.005095,-0.053430,0.998559]]2Hu l\?L?fp7#0t? -[ 1?i2u@I2];2CYFgByFI HHbDj VDj:2yr=%vT=ٔv1u:Q-v>9xYx=zFyxzEz>|Q 535~JV?Q 9 35~ )~BY y 5@Q I @~6DI~:i~:~35yɮ-AEDNOT Ignoring new targets: 25.87 m.hAhA*hA"hA hIgIfIfIfIdQdQjdQYZdU@\0@ZyZyZyZ}5@) |is9)顝?Hii@T=II59@1 @1@50@1ԁE EEE"E;*E:VEZEBEsԱ .Q,e>?A >Eu@>݁@>?Lٱ>E[ FAHRS rotation from veh to nav: [[-0.608395,0.792339,0.045315],[-0.793620,-0.607733,-0.028775],[0.004739,-0.053470,0.998558]]>H@w@Z?@~3?Ver Rw is?\``0?i>Eu@I>2];9hYh=jFyhnZEn>tQ 5v35vS?Q 9z35vܣ)vBYxyz5@Q Iz@v6DIv|:iv1:v35yyɮ}ADNOT Ignoring new targets: 25.87 m.hh*h"h hgfԹffddjdZd`P0@Z!Z!Z!Z%5@U?L)Q ]0i]59)Y]HNYiYie?aen=IaIiM9@Q @Q@U0@Q^A=IIO>E  E E )E "E ;*E :VE FA4ZE a @a @a @a @9 8,M>?A2u@2؁@2hٱ2Z >AHRS rotation from veh to nav: [[-0.608888,0.791972,0.045122],[-0.793244,-0.608215,-0.028972],[0.004499,-0.053434,0.998561]]2H|W?>?@b~v򪝿@mr?[6?i2u@I2U];2CYFiByFIa~@a~ a~@a~ a~@a~ a~@a~ bDVDy3ͼ%F=ٔ:Q->9!Y!=%Fy!%PĺE%>)Q 5535-P?Q 9535-)-BQ A=+:Y9Q E=;y=5@Q I=@-6DI-T ;i-`>-35yAɮMAI DNOT Ignoring new targets: 25.87 m.h h*h"h hg!f!f)f)d1d9jd9ZdE`Y1@h) ~i9)顝kTii@rB=IIAABBBIBgBB =BBBw;B0EA 9U9@Q @Q@U/@Qԁԡ ^Ay I I O >0, >?AE EE*E"E=-;*E:VE(N4ZEBEpu@>ԁ@>Kٱ>[ JAHRS rotation from veh to nav: [[-0.609276,0.791685,0.044927],[-0.792947,-0.608588,-0.029244],[0.004190,-0.053442,0.998562]]>H/ {U?? _y@s)q?`\8?i>u@I>>];>CYRhByRIIVp<)Vp;bD^VD^0yf%fJ=ٔfG:Q-j>9hYh=jFyhnEn>pQ 5v35r N?Q 9v35rQ)rBQ Av :YtQ Ev;yv5@Q Iz@r7DIr~ ;irQ?r35y~)Bɮ~ A|=DNOT Ignoring new targets: 25.87 m.h9h9*h9"h9 h9g9f9fAfAdIdIjdIZdM 1@K) ai9)pZ!i!i-?)5lԹ k,T??A:4<ɰ:;Vu@V΁@VjٱVG[ bAHRS rotation from veh to nav: [[-0.609857,0.791241,0.044849],[-0.792501,-0.609163,-0.029377],[0.004076,-0.053458,0.998562]]VHQ?k?+\B~@*p?^7?iVu@IV];VCYjfByjIpr=a]a] aeae aeae aeae ieMb@Mb@Mb@aaaa a9eS㥛?9Y=Fy E>Q 535pK?Q 935)ŬBQ AT:Y=Q E'Bi Bi Bm IBm bBBi Bi Bi Bm w;Bm 1E PExceeded connect timeout, disconnecting. , ??AYiByIbDVDky<%7=ٔQ->9Y=FyE>Q 535H?Q 935ѢQ =tI)ʬBYyQ I@7DI3;i55;u35y ɮ A 5DNOT Ignoring new targets: 25.87 m.h1h9*h9"h9 h9g9f9fAfAdAdAjdIZdMך2@ZiZiZiZiy)y Xi9)顅gii?,q5??A6ٕu@6Ł@6rxٱ6[ >AHRS rotation from veh to nav: [[-0.610740,0.790565,0.044750],[-0.791822,-0.610028,-0.029730],[0.003795,-0.053591,0.998556]]6H/OL?k?VZ q`o?@Ep +?i6ٕu@I6 ];6C H)HHHHLLiNjILLIPiP R9P)PT TVTTTXIX)XiX)XIZ lAZף\ \\\bףib JF`i``)` dIdYdYjlByjI llbDvVDvkyzh<%~n=ٔ~V:Q-?9Y=Fy TE ?Q 535F?Q 935)ϬBYy@6@Q I%@7DI;i;u35y)ɮ-A)UDNOT Ignoring new targets: 25.87 m.hQhQ*hQ"h hgfffddjdZd2@ZZZZ@6@=rx)9 =i=N9)AElAiAiM@IMtEu  Eu Eu )Eq "Eu ;*Eu :VEu FA4ZEq a} @a} @a} @a} @ԩ ,LO??A2Ҍu@2:@2<$xٱ2n[ >AHRS rotation from veh to nav: [[-0.611176,0.790226,0.044784],[-0.791485,-0.610461,-0.029804],[0.003786,-0.053661,0.998552]]2HŽI??S@o?y`#?i2Ҍu@I2l];@0YYyeIqqiEMb@Mb@Mb@AAAA A9E?{Gzy&1?YE9qYy=}Fyy}ڟE}>Q 535C?Q 935H)֬BY=Q Eԑ ,(i??AE EEE"E1;*E*:VEZEBEk9Y=Fy?AE>Q 5352A?Q 935)ܬBYy2@Q I@ 7DI;;i<;35yɮA5DNOT Ignoring new targets: 25.87 m.h9h9*h9"h9 h9g9fAfAfAdIdIjdIZdU3@ZZZZڡ2@ȗr) վi9)顥}zii@15-! , ??AjL|u@j@jyٱjC}[ vAHRS rotation from veh to nav: [[-0.611974,0.789614,0.044682],[-0.790868,-0.611261,-0.029777],[0.003800,-0.053560,0.998557]]jH@K`D?`?`Ns} o??l.?ijL|u@Ij2];jCY~vBy~II=)a=iMb@Mb@Mb@ 9?RQ:v?Yy½<A3A  A)/ AYbDVDk2y<%G=ٔzQ->9Y=FyE>Q 5 35>?Q 935)BY=Q E!ԡB >B B IB gBB B B DB jw;B 0EԹ ,]ޜ??A2xu@2E@2btٱ2[ >AHRS rotation from veh to nav: [[-0.612138,0.789490,0.044645],[-0.790742,-0.611421,-0.029850],[0.003731,-0.053575,0.998557]]2HC?ۦ? MÐ`Gn?`4n-?i2xu@I2];0Yj{ByjIn=n=rAArAAbDvVDv0yz<%~[=ٔ~BA9Q-~>9Y=Fy E > Q 535 P;?Q 935 :) BYy/@Q I@ 7DI ;i ; 35y)ɮ-qA)UDNOT Ignoring new targets: 25.87 m.hQhQ*hQ"hQ hYgYfYfafadadajdaZdm44@ZZZZ/@bt) ׾i69)顥ii@ ,,??AY wBy IbDVD:y-݉%-G=ٔ-Q-5>91Y1=5Fy1=E=>AQ 5M35E:8?Q 9M35EҠ)EBYIyIQ IU@E7DIE:iE[:E*35yYɮ]AYDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd@V4@ZZZZ) F۾ik9)}ii?-1I EU  EU EU )EQ "EU a;*EU 5:VEU FA4ZEQ a] @a] @a] @a] @,??A6vu@6ു@6tٱ6[EG1 -AHRS rotation from veh to nav: [[-0.612273,0.789384,0.044664],[-0.790638,-0.611555,-0.029867],[0.003738,-0.053600,0.998555]]I6H@B?3ަ?L`ܑ@n? vq*?i6vu@I6\;4e?9Y.AYByI iMMb@Mb@Mb@IIII I9MMb?ʡE󽿜 rh?YM9yY=FyȹE>Q 5354?Q 935)BY=Q E;y@#@Q I@7DI ;i ;35yɮADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffYBddjdZdk5@QBBBIBmBBBBBtw;B0EByByByByByC}F3Z=Z=Z(@ZU@#@Ut)Q UѾi]<9)Y]YiYie@a.DQ zDU @AE]  E] EY EY "E] ;*E] y:VEY ZEY BE] b9 Y =FyA:E>!Q 5-35%1?Q 9-35%u)%BY1y5E#@Q I5@%7DI%C;i%D;%935yAɮE]AIDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd5@Z9Z9Z9Z="E#@]op)a en۾iu9)quVqiqi}?y}<M,\@?A2<|u@2︁@2/xٱ2aH\ :AHRS rotation from veh to nav: [[-0.611977,0.789604,0.044834],[-0.790866,-0.611259,-0.029897],[0.003799,-0.053754,0.998547]]2HQnD?@w?Nn8Ao?`?i2<|u@I2a\;0YBByBIiMb@Mb@Mb@ 9~jt?X9v?Y9Y=Fyx9E>Q 535w-?Q 935ʞ)BY>Q E;y<+@Q I@7DI:i@:+35y&BɮAEDNOT Ignoring new targets: 25.87 m.hh*h"h hg f f f tBdE EE,E"E;*E:VEg4ZEa%@a%@a%@a%@d)jd)Zd-<6@ZU>ZU>ZU@ZU<+@/x) i9)顕Kii@Ra ",]2 @?A 6{u@6@6G~ٱ6PC[ >AHRS rotation from veh to nav: [[-0.611996,0.789598,0.044689],[-0.790852,-0.611288,-0.029678],[0.003885,-0.053505,0.998560]]6HwbD?`?N૏co?e 4?i6{u@I6{\;6CYZByXI^<)^<bDbVDbfyj{:%jY=ٔnSoQ-n>9pYp=rFyprցEr>tQ 5z35v)?Q 9z35v<)vBY|y~;+@Q I~@v 7DIv;iv;vw35yɮA 5DNOT Ignoring new targets: 25.87 m.h1h1*h1"h1 h1g1f9f9f9dAdAjdAZdEe6@ZaZaZaZe;+@}G~)y }ki}9)顅ii?LX E , :@?A2u@2@2ٱ2pG[ >AHRS rotation from veh to nav: [[-0.611810,0.789735,0.044806],[-0.790994,-0.611110,-0.029531],[0.004060,-0.053509,0.998559]]2HE? ?@O`7q=Ӡp?`e@2?i2u@I27$];2CYFyByFIJ=J=N@APLbDR VDR2yZK%ZL=ٔ^KQ-^>9`Y`=bFy`bm:Ef>dQ 5j35f*&?Q 9j35f)fBYlyn?+@Q I=@f#7DIf f! =,S@?A2u@2@27Ƈٱ2j\ >AHRS rotation from veh to nav: [[-0.611186,0.790206,0.045021],[-0.791476,-0.610486,-0.029538],[0.004143,-0.053686,0.998549]]2HՎ]I?` ? S@/?p?@|?i2u@I2'];2CYFwByFI|iMb@Mb@Mb@ 9y&1?S㥛{Gz?Y`9Y=Fy:E>Q 545!?Q 945)BY >Q E;y,@Q I@&7DI;i9;45yɮuAEDNOT Ignoring new targets: 25.87 m.hAhA*hA"hA hIgIfIfIfUrBBaAaBaBaBeIBe|BBaBaBaBew;Be 1EdydjdZd@u7@Z >Z >Z初@Z`,@7Ƈ) i9)ii?ԁ EE  EE EA EA "EE 1;*EE E:VEA ZEA BEE [9|Y|=~Fy|‘:E> Q 545 ?Q 945 i) BYy,@Q I@ *7DI :i <; 45y!ɮ%A!9UDNOT Ignoring new targets: 25.87 m.hQhQ*hQ"hQ hYgYfYfafadadajdaZdm7@Z1Z1Z1Z5,@3~) Pi9)顝ii@c^9Y=Fyng:E>Q 545?Q 945ɛ)$BY>Q E;y+@Q I@-7DIA;ig;45yɮAԱEu EuEqEq"Eu';*Eu:VEqZEqa}@a@a@a@DNOT Ignoring new targets: 25.87 m.hh*h"h hgfff}BddjdZd@$G8@Z >Z >Z 5@Z +@%˖)! %i%m9)IMeIiIiU?QU 9 C',z@?A2u@2Hʁ@2>0ٱ2{D[ :AHRS rotation from veh to nav: [[-0.610298,0.790873,0.045347],[-0.792157,-0.609637,-0.028812],[0.004858,-0.053506,0.998556]]2HN?7?XY@&s?` e +?i2u@I2Q];2CYBoByBIbDNVDNyV<%VY=ٔV"2Q-V>9XYX=ZFyX^^:E^>Q 545?Q 9 455))BY y +@Q I @07DI:iI:" 45yɮA9DNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd~8@ZZZZZ+@E>0)I MiM9)IMIiIiu@q}ԙ h%.,GU@?A2u@2́@2~঻ٱ2+Z :AHRS rotation from veh to nav: [[-0.609972,0.791120,0.045423],[-0.792406,-0.609325,-0.028548],[0.005093,-0.053407,0.998560]]2H@P?@A?@d[; t? X3?i2u@I2'];2CY@yBIIF=)Fp;bDNVDNyV:%VJ=ٔV<Q-V>9XYX=ZFyX^/:E^>`Q 5f45b#?Q 9f45b)b.BYdyf+@Q If@b47DIb:ib(:b45ylɮnAp DNOT Ignoring new targets: 25.87 m.h h *h "h  h g fffddjdZdu 9@ZZZZ\+@E~঻)I MiM9)IMĮIiIiU?Y]-bEFA4jEFA4rELj0E EEE"EC#;*Ea:VEZEa@a@a@a@ V 5,0@?A;ɰ4<2u@2-ρ@2YPٱ2qZ :AHRS rotation from veh to nav: [[-0.609823,0.791220,0.045688],[-0.792518,-0.609200,-0.028107],[0.005594,-0.053349,0.998560]]2Hઃ@Q?zd?O\~ 2Ȝ@v?P4?i2u@I2x];0YFiByFIJ=J=iMb@Mb@Mb@ 9X9v?v/9IYI=MFyIUv9EU>QQ 5e45UC?Q 9e45U)U1BYe=Q Ee;ye 0@Q Ie@U77DIU ;iU:UJ45yu#BɮuAuEBBBIBrBBBBBw;B1EDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffiBddjdZd|9@Z=Z=ZJ@Z 0@5YP)9 =i=9)9=𲶉9i9iE@AEʋE  E E *E "E [";*E *:VE (N4ZE BE z9tYx=zFyx~@8E~> Q 5-45  ?Q 9-45 ) 4BY1y9Q I=@ :7DI p;i ̳; 45yAɮMAIDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdIZdU`9@ZZZZM 0@ƻ) i9) ii?II)Q9% 9@!  @) @- /@) ԁ Թ ^AM G<IY Ii Ou >7B,*S A?AJHu@Ju΁@JٱJЦZ RAHRS rotation from veh to nav: [[-0.609887,0.791120,0.046553],[-0.792458,-0.609329,-0.026994],[0.007010,-0.053355,0.998551]]JH`1P? է?[`p|?`[Q@!?iJHu@IJ-];HYZ_ByZI \\E5 E5E5+E1"E59;*E5a:VE5 [4ZE1a=@a=@a=@a=@iMb@Mb@Mb@ 9l?RQy&1|?Y=y½`;AA ` A)Y AbDVDy"o%,=ٔQ->9Y=FyЍE>Q 545?Q 945M)7BYI=Q E H,%A?AFu@F-ˁ@FyٱFڽZ NAHRS rotation from veh to nav: [[-0.610202,0.790857,0.046897],[-0.792210,-0.609669,-0.026589],[0.007563,-0.053377,0.998546]]FHņN??Yh2:~?`4T`?iFu@IF"E];DYVdByVI\^A b49lYp=rFyprEr>tQ 5z45v?Q 9z45v)v9BY|y~6@Q I~@v?7DIv;iv;v45yɮA 5DNOT Ignoring new targets: 25.87 m.h1h1*h1"h1 h1g1f9f9f9dAdAjdAZdEد:@ZaZaZaZeb6@y) i9)ݾii? β) O,>A?A Bju@Bȁ@BPٱB.[ JAHRS rotation from veh to nav: [[-0.610456,0.790641,0.047225],[-0.792010,-0.609943,-0.026275],[0.008030,-0.053443,0.998539]]BHڈL?-?`$X@@皿`>r? \@?iBju@IB3!];@YR\ByVIbD^VD^yf%fK=ٔf˗Q-f>9hYh=jFyhncREn>pQ 5v45rr?Q 9v45r)r9Y=FyE>Q 545r?Q 945Ҙ)>BYf=Q E;yDQ I@E7DI ;i ;l%45yɮA 5DNOT Ignoring new targets: 25.87 m.h1h1*h1"h1 h9g9f9f9f=iBdAdAjdAZdE#;@Zf=Zf=ZD@Z?N@xo ) i99)SǶii ?  AI Em  Em Em -Ei "Em ;*Em :VEm t4ZEi BEm ^u9`Y`=bFy`fMEf>hQ 5n45j?Q 9n45j)j?BYpyr,DQ Ir@jG7DIj;ij ;j(45ytɮv+AtQDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd;@ZZZZM@͕) %i%89)!%i˶!i!i-@)Mԁԩ ,b,|A?A2ztu@2@2ۉٱ2Z :AHRS rotation from veh to nav: [[-0.612330,0.789158,0.047766],[-0.790548,-0.611880,-0.025238],[0.009310,-0.053215,0.998540]]2H`4@?@t?*L@ ؙ`)? ? ?i2ztu@I2];0YBUByFIiMb@Mb@Mb@ E% E%E!E!"E%;*E%:VE!ZE!a-@a-@a-@a-@9?Q뱿Mb?YL=y\<\AA I A)Yz AbDEVDEyM%UA=ٔU;Q-U>9YYY=]FyYesԺEe>aQ 5m45e ?Q 9u45eߘ)eCBYu2=Q EuBBIBXBBBBDBw;B'1E^A <I I O >9 /$i,qWA?A6iu@6@6ƌٱ6БZ BAHRS rotation from veh to nav: [[-0.612851,0.788745,0.047918],[-0.790143,-0.612403,-0.025246],[0.009433,-0.053334,0.998532]]6Hx`e=?@? H@Θ@ڙQ?N?i6iu@I6b];6CYJ`ByJI LLbDVVDVNyZa=%^U=ٔ^nQ-^>9`Y`=bFy`bEf>dQ 5j45fK?Q 9j45fט)fGBYlynF@Q In@fL7DIf;if;f/45ypɮvAtDNOT Ignoring new targets: 25.87 m.hh*h"h hgff!f!d!d)jd)Zd-<@ZIZIZIZMF@eƌ)a eie9)aeҶiiiim@quQ`qԙ $ p,2A?A2.au@2h@27ٱ2[ :AHRS rotation from veh to nav: [[-0.613260,0.788426,0.047920],[-0.789826,-0.612802,-0.025462],[0.009290,-0.053463,0.998527]]2H`ԟ:??`AF@?_?i2.au@I2g];2CYF_ByFIHJA LN4<bDnVDn:yvM%vG=ٔz9Q-z>9xYx=~Fy|~%E~>Q 5 45Y?Q 9 45Ϙ)LBYyF@Q I@N7DI:i:H345yɮA!MDNOT Ignoring new targets: 25.87 m.hIhI*hI"hQ hQgQfQfQfYdYdYjdaZdeJ=@ZZZZF@7) i9)顝ֶii?F+ )6v, A?AAABBBBBBBB9Y=FyE> Q 545 퓊?Q 945 ) RBYۨ=Q E @Q I@ P7DI  ;i  ; 745y% Bɮ%A!MDNOT Ignoring new targets: 25.87 m.hIhQ*hQ"hQ hQgQfYfYf]fBdYdajdaZde-=@Zۨ=Zۨ=Z1[@Z]6>@y) iF9)ڶii%@!%B) EM  EM EI EI "EM =-;*EM :VEI ZEI BEM pAHRS rotation from veh to nav: [[-0.614248,0.787676,0.047608],[-0.789065,-0.613756,-0.026061],[0.008692,-0.053573,0.998526]]2H4?@ `?@ @1́?m?i2Lu@I2$];2CYFlByFIIJ<)JbDRVDRk1yZ;%Za=ٔZo:Q-Z>9\Y\=^Fy\bEb>dQ 5f45f+듊?Q 9j45f)fWBYhyj0>@Q Ij@fR7DIf(:ifg:fF:45ypɮrAp DNOT Ignoring new targets: 25.87 m.h h *h "h hgfffddjd!Zd%@=@ZAZAZAZE0>@Ui) ii9)޶ii?ԁ *K,} B?A,>8Cu@>m@>ɹٱ>[ FAHRS rotation from veh to nav: [[-0.614709,0.787332,0.047343],[-0.788710,-0.614197,-0.026410],[0.008284,-0.053574,0.998529]]>H1? K=?=`V `,?@n ?i>8Cu@I>ʶ];>CYnkBynIr=r=bET4jET\4rE5/E~ E~E~.E|"E~;*E~|:VE~ـ4ZE|a @a @a @a @iMb@Mb@Mb@ 9Mb?sh|?S㥛?Y=y/<AMA  A) AY AAE@AbDUVDUye%e2=ٔeh:Q-e>9iYi=mFyiu梁Eu>yQ 5}45}瓊?Q 945}:)}^BYc=Q E45yɮADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffpBddjdZd_>@Zc=Zc=Zd@Zy6@ɹ)  i 9)  ⶉii@(, *B?A2;u@2^@2ٱ2Z >AHRS rotation from veh to nav: [[-0.615103,0.787056,0.046806],[-0.788410,-0.614564,-0.026861],[0.007624,-0.053424,0.998543]]2H@/?@? :`]:?@hZ?i2;u@I2];2CYFtByFIbDRVDRk1yZ=.=%ZT=ٔZ :Q-^>9\Y\=^Fy\b]Eb>dQ 5j45f4哊?Q 9j45f)fdBYhyju6@Q Ij@fW7DIf;if;fA45ypɮraApDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd@>@ZZZZ u6@])Y ]i]9)ae涉aiai?~ N,CB?A6D:u@6@6ʋ߻ٱ6HZ >AHRS rotation from veh to nav: [[-0.615147,0.787051,0.046308],[-0.788383,-0.614570,-0.027491],[0.006822,-0.053419,0.998549]]6HH/? ? o:&k{?Y?i6D:u@I6];6CYFmByFI HHbDRVDR2yZ:%ZK=ٔZ;Q-Z>9\Y\=bFy`bEb>dQ 5j45f\Ⓤ?Q 9j45f)fkBYlynx6@Q In@fY7DIf&;if;f.E45ypɮvAtDNOT Ignoring new targets: 25.87 m.hh*h"h hgfff!d!d!jd!Zd%)?@ZIZIZIZMx6@]ʋ߻)Y ]ie9)ae궉aiaim@iiIiIqY}9@y @@/@E EEE"E&;*E:VEZEa@a@a@a@ԁ]EGy^AGg<<9YS,AIIO >ԩ B B B IB gBB B B B &x;B <1EBBBBBCʲY4,D]B?A@N;u@N@NŻٱN&[ ZAHRS rotation from veh to nav: [[-0.615084,0.787127,0.045859],[-0.788439,-0.614468,-0.028159],[0.006014,-0.053477,0.998551]]NHĮ$0?z?:՜ /x?Xa !?iN;u@IN];NCYbyBybIhjAiUMb@Mb@Mb@QQQQ Q9U~jt?EԸ:v?YU=ٔI:Q->9Y=FyL9E>Q 5458ߓ?Q 9456)rBYQ=Q E EE  EE EE 'EA "EE %;*EE :VEE '4ZEA BEE +u@2ԙ@2Ƙٱ2j+[ :AHRS rotation from veh to nav: [[-0.614973,0.787251,0.045221],[-0.788533,-0.614309,-0.028984],[0.004962,-0.053482,0.998556]]2H`ۭ@(1?%'?;@l@᭝@St?a,?i2>u@I2z@^;2CYfzByfIlbDrVDryzE;%zT=ٔz2;Q-z>9|Y=Fy 9E> Q 545 cܓ?Q 945 Ė) xBYy$+@Q I@ ^7DI ~ ;i  ; PL45y!ɮ--A)UDNOT Ignoring new targets: 25.87 m.hQhQ*hQ"hQ hQgYfYfYfadadajdaZde@?@ZZZZ$+@Ƙ) i9)顥󶉢ii@uԁ ?%,0cB?ANTDu@N@Ni~ٱNЉ[ VAHRS rotation from veh to nav: [[-0.614672,0.787518,0.044640],[-0.788773,-0.613958,-0.029872],[0.003882,-0.053572,0.998556]]NH@eY3?@ۦ? =Ж`o?m,?iNTDu@INP^;LYbxBybIIf<)f4=En EnEn+El"En;*En:VEn [4ZElar@ar@ar@ar@Qi Mb@Mb@Mb@     9 MbCl绿?Y y ;߽ <  dA  A)  Y AbD%VD%y5޻%57=ٔ=;Q-=>99Y9==Fy9Eb:EE>IQ 5U45Mdٓ?Q 9U45M)MBYU=Q E];y]@Q I]@Ma7DIM* ;iM ;M3P45yaɮe:Aa DNOT Ignoring new targets: 25.87 m.h h *h "h hgfffBddjdZd%V8@@Ze=Ze=Zes@Ze@i~) zi9)顝 ii?yBBIBrBBBBBw;B"1E=9@9 @9@=/@9ԑ^A] <Ii Iy O >Թ M,L7B?A2 Mu@2W@2%8ٱ2r[ :AHRS rotation from veh to nav: [[-0.614255,0.787877,0.044055],[-0.789103,-0.613492,-0.030738],[0.002810,-0.053644,0.998556]]2H@@J6?W?T@`yg?Fw,?i2 Mu@I2(^;2CԙD=DR=YUwByUIim=quAAbD}VD}0yN%7=E EE)E"E);*E:VEFA4ZEBEN9Y=Fy:E>Q 545\֓?Q 945)BYy@Q I@d7DI:i:#T45yɮHADNOT Ignoring new targets: 25.87 m.hh*h"h hgfff d d jd Zdo@@Z1Z1Z1Z5@E%8)I M]iM9)IMIiIiU@QU 4,B?A6Su@6@6$pٱ6][ BAHRS rotation from veh to nav: [[-0.613933,0.788168,0.043337],[-0.789356,-0.613128,-0.031472],[0.001766,-0.053531,0.998565]]6HV8?O0? hB)\?\h=?i6Su@I6L^;6C D)DF/ݼHHHJjlAiJ̼IHLILiNlA LP)PP PPPTTTIT)TiT)XIZ$lAZX X\^-lA^ļi\\i``)` `I`Y`YfzByjIbDrVDryzM<%z=ٔznX;Q-z ?9|Y|=~Fy|ө:E ? Q 545 ;ԓ?Q 945 u) BYy@Q I@ g7DI :i : V45y!ɮ%/A!MDNOT Ignoring new targets: 25.87 m.hIhI*hQ"hQ hQgQfQfYfYdadajdaZde`q@@ZZZZA@$p) iX9)顥ii? B >B B IB wBB B B DB w;B 0E9 /_,lB?A2`u@2A@2Sٱ2k"[ :AHRS rotation from veh to nav: [[-0.613302,0.788699,0.042599],[-0.789849,-0.612449,-0.032328],[0.000593,-0.053474,0.998569]]2H*@=?`ϥ?pF/Y xjC?` G?i2`u@I2^;2CYvuByvIiMb@Mb@Mb@ 9~jtxv/Q?YĻyx齙u<rAA )vAY AbDVDy뵼%?=ٔw3;Q->9Y=Fy:E>Q 545$ѓ?Q 945)BY=Q E;yg@Q I@j7DI ;i ;Z45yɮVA DNOT Ignoring new targets: 25.87 m.h h *h"h hgfffBddjdZdL@@Z=Z=Z!@Zg@]S)Y eies9)ae{aiaim@iu/UE  E E (E "E ;*E *:VE c44ZE BE eAHRS rotation from veh to nav: [[-0.612765,0.789157,0.041823],[-0.790265,-0.611869,-0.033145],[-0.000566,-0.053361,0.998575]]6H@ƛ@?i? Im Z#B`.RS?i6ku@I6IT_;6CY=pBy=IAEAbDUVDUyeμ%eO=ٔe@;Q-e>9iYi=mFyiu:Eu>qQ 545uMΓ?Q 945uܒ)uBYyv@Q I@ul7DIu:iu$:u^45yBɮeAEDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd@A@ZZZZv@ i:)  vi 9)   ii?[ q,C?AE EE)E"E(;*E:VEFA4ZEa@a@a@a@:ou@:²@::ٱ:OnY BAHRS rotation from veh to nav: [[-0.612577,0.789349,0.040963],[-0.790409,-0.611648,-0.033761],[-0.001594,-0.053059,0.998590]]:H@; XB? ?`KIqZ@*@s?i:ou@I:U_;8YJoByJIPi%Mb@Mb@Mb@!!!! !9%9Y=Fy:E>Q 545ʓ?Q 945%)BY=Q E;y#@Q I@p7DI;i3;a45yɮmA%DNOT Ignoring new targets: 25.87 m.h)h)*h)"h) h)g)f)f1f5Bd1d9jd9Zd=7A@Z]=Z]=Z];@Z]#@u:)q uiuB9)y}*}iyi@BqBuIBurBBqBqBqBuw;Bu0E^A <IIO>! 7,p|,C?AFwu@F@F6/;ٱFY VAHRS rotation from veh to nav: [[-0.612199,0.789678,0.040248],[-0.790699,-0.611230,-0.034538],[-0.002674,-0.052968,0.998593]]FH@# E? ]?gM2@ex?iFwu@IF_;FCYbkBybIbDrVDr yzһ%~Y= ٔP:;Q->9Y=Fy%:E%>)Q 5=45-Ǔ?Q 9=45-)-BYAyE#@Q IE@-s7DI-&;i-&;-e45yIɮMAIuDNOT Ignoring new targets: 25.87 m.hyhy*hy"hy hygyfffddjdZd@gA@ZZZZ #@6/;) i9) eii?E EE+E"E%;*E:VE [4ZEBE~ԁ ,GWFC?A4<ɰ2zu@2/@2e;ٱ2؍Y :AHRS rotation from veh to nav: [[-0.612050,0.789814,0.039847],[-0.790811,-0.611044,-0.035254],[-0.003496,-0.053088,0.998584]]2H(F?@f?RN଍ Ңl@j.e?i2zu@I2_;2CYFYByFIJ=HbDnVDnyva%vK=ٔz;Q-z>9xYx=zFy|~9E~>Q 5 45aē?Q 9 45Ґ)BYy#@Q I@v7DI:i@:h45yɮA!MDNOT Ignoring new targets: 25.87 m.hIhI*hI"hI hIgIfQfQfQdQYdYjdaZdeA@ZZZZ#@e;) p$i9)顝# &Լii@8ԱBE <AA BM >BI BM IBM gBBI BI BI BM w;BM 0E ,M2`C?A2{u@2@2;ٱ2Y :AHRS rotation from veh to nav: [[-0.612003,0.789876,0.039348],[-0.790844,-0.610963,-0.035919],[-0.004331,-0.053100,0.998580]]2H`F?`f%?Nc`׽q/]?i2{u@I2k_;0YBTByFIiEMb@Mb@Mb@AAAA A9E:v?1Zd~jtx?YET9qYq=uFyqu59E}>yQ 545}?Q 945}7)}BY=Q E;y&@Q I@}x7DI}@:i}:}5l45yɮAAԹDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffBddjdZdA@Z=Z=ZT@Z&@;) i9)ii%?!%I]E EEE"E%;*EE:VEZEBEa2EaJE9tYt=vFytz=Ez>|Q 545~?Q 945~)~BYyQ I @~{7DI~;i~;~o45yBɮAE=DNOT Ignoring new targets: 25.87 m.h9hA*hA"hA hAgAfAfIfIdIdIjdIZdUB@ZqZqZqZu&@ ;) i9)   ꬼi i@i 'i> C E  E E )E "E ;*E :VE FA4ZE a @a @a @a% @,QC?A6rG<9YYY=]FyY]Ee>aqQ 5}45e?Q 9}45e)eBQ A}+:YyQ E};yyQ I}@e~7DIeV;ie>er45yɮtADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd ,ɭC?AFGju@F@Fj<;ٱFY ^AHRS rotation from veh to nav: [[-0.612836,0.789288,0.038166],[-0.790185,-0.611721,-0.037476],[-0.006233,-0.053125,0.998568]]FH@[A?~?@2I80`y83E?iFGju@IFB_;FCYfGByfIbDrVDr1yz%zd=ٔ~__;Q-~>9Y = Fy )4E>!Q 5545%ɷ?Q 9=45%{)%BQ AE :YAQ EE;yE&@Q IM@%7DI%ʇ;i%Q?%t45yQɮ]AYDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdkB@j<;) Y i9)Y}ii%@!%~3) ,C?A2O_u@2x@2b;ٱ2Y4Y >AHRS rotation from veh to nav: [[-0.613364,0.788898,0.037756],[-0.789772,-0.612235,-0.037797],[-0.006703,-0.053002,0.998572]]2H>?T?Em0Z>t{`!# M?i2O_u@I2C^;2CYFHByFIbDNVDNyV?;%VO=ٔZW:Q-Z>9XYX=ZFy\^ߺE^>`Q 5f45b?Q 9f45b)bBQ Aj9YhQ Ej;yj&@Q Ij@b7DIb:ib?bv45ylɮnAp DNOT Ignoring new targets: 25.87 m.h h *h "h  h gfffddjdZd`kB@b;)  i 9)   $Fi i?1=;ԩ A AAA B >B B IB DBB =B B B w;B 1EV,_zC?A2)Uu@2e@2 ;ٱ2.&Y :AHRS rotation from veh to nav: [[-0.613851,0.788534,0.037434],[-0.789390,-0.612704,-0.038183],[-0.007173,-0.052989,0.998569]]2H ;? *?B@EFa}V!G?i2)Uu@I2f^;2C@Y^=ٔu:Q-u>9Y=FyӵE> Q 545 ?Q 945 ٍ) BQ AT:Y=Q E b%,.UC?A6Ku@6ɠ@6*;ٱ6Y BAHRS rotation from veh to nav: [[-0.614293,0.788197,0.037266],[-0.789042,-0.613129,-0.038534],[-0.007523,-0.053076,0.998562]]6HJ8?? ?@~`,8?i6Ku@I6ڃ^;6CYJ>ByJIbDRVDR0yZ'<%ZW=ٔZq:Q-^>9\Y\=bFy`bN˺Eb>dQ 5j45f?Q 9j45fʍ)fBYhynEE@Q In@f7DlIf:if*;f}45yvBɮvAtDNOT Ignoring new targets: 25.87 m.hh*h"h hgff!f!d!d!jd!Zd-@C@ZIZIZIZMyEE@]*;)Y e> ie9)aee iaim?imڇi E  E E )E "E [I;*E :VE FA4ZE a @a @a @a @,?D?A>=u@>ϙ@>o<ٱ>aY FAHRS rotation from veh to nav: [[-0.614963,0.787688,0.036993],[-0.788517,-0.613787,-0.038824],[-0.007875,-0.053045,0.998561]]>H@ǭ4?@?;$`ࣿ (`6?i>=u@I>h^;9Y=FyOE>Q 545?Q 945)BYȹ=Q EԹ 7 , /D?A>4u@>Ҕ@>s <ٱ>փY NAHRS rotation from veh to nav: [[-0.615441,0.787330,0.036673],[-0.788139,-0.614243,-0.039280],[-0.008400,-0.053077,0.998555]]>H1?Ƣ?@n8r 4,)?i>4u@I>`p^;>CY^;ByfIbDvVDv:y]޳%eO=ٔeQ:Q-e>9aYi=mFyim+ʺEm>qQ 5}45u˧?Q 945u)uBYyF@Q I@u7DIu;iu ;u45yɮAԙDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZd`6nC@ZZZZ,F@ s <)  i 9)  y"g;ii?i>@ @@/@ ^A u<I I O >t,{JJD?AY ybD%VD%ٔ5Q-5>99Y9==Fy9=EE>AIQ 5U45E?Q 9U45E)EBYQyYQ I]@E7DIE+;iE%-;E45yaɮaaDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdC@ZZZZ) i9)$B<ABBBIB0BB =BBBw;B+1E , dD?A2l u@2@2F<ٱ2]EZ :AHRS rotation from veh to nav: [[-0.616378,0.786613,0.036309],[-0.787397,-0.615145,-0.040027],[-0.009150,-0.053261,0.998539]]2H^`+?`!?`[2@E^~7E?i2l u@I2a^;2CY^@BybIiEMb@Mb@Mb@AAAA A9E?sh|?9qYqԹ=Fy8E>Q 5459?Q 945)BY =Q E 9 ,}D?A6u@6J@6<ٱ6SQZ BAHRS rotation from veh to nav: [[-0.616832,0.786266,0.036106],[-0.787038,-0.615587,-0.040296],[-0.009457,-0.053273,0.998535]]6H )? t|?j/ ^^F ?i6u@I6];4YJ6ByJIR=Ra=bDV VDV2y^U%^V=ٔb6S:Q-b>9`Y`=fFydf!ϺEf>hQ 5n45jG?Q 9n45jt)jBYpyrA@Q Ir@j7DIj;ij;j45ytɮvAtDNOT Ignoring new targets: 25.87 m.hh*h"h hgf!f!f!d!d)jd)Zd-`& D@ZIZIZIZM>A@e<)a erie9)aeY)mJqbEjE<4rES}/E  E E )E "E %;*E :VE FA4ZE aM @aM @aM @aM @ԡ ѩ%,D?A2u@2B@2+C!<ٱ2Z :AHRS rotation from veh to nav: [[-0.617121,0.786053,0.035816],[-0.786807,-0.615864,-0.040583],[-0.009843,-0.053225,0.998534]]2Hs`X'?~V?-`'@KǤP(N@?i2u@I2];0YfBByfIiUMb@Mb@Mb@QQQQ Q9U:v?~jtI +?YU9Y=FyYbE>Q 545?Q 945)ǭBY=Q EBBBBBBBx;B71EIIi@i @i@m4@iԡ^AIIO> +,ڬD?A2 u@28@2:&<ٱ2Y :AHRS rotation from veh to nav: [[-0.617410,0.785839,0.035518],[-0.786575,-0.616146,-0.040790],[-0.010170,-0.053122,0.998536]]2H%?n/?+vy⤿/Ԅ2@?i2 u@I2];0YBAByDbDNVDNβyVΖ%VX=ٔVbc:Q-V>9XYX=ZFyX^E^>`Q 5f45b?Q 9f45b)bͭBYdyf/@Q If@b7DIbW:ibp:b45ylɮnAlE EEE"E1;*EVEZEBEk2,tD?A6Yu@6}@6+<ٱ6JY >AHRS rotation from veh to nav: [[-0.617623,0.785685,0.035241],[-0.786405,-0.616351,-0.040977],[-0.010474,-0.053022,0.998538]]6HS$? ?@:*%@@s@%?i6Yu@I6a];6CYF5ByFILLbDRVDRyZ"~%ZJ=ٔZeE:Q-Z>9\Y\=^Fy\],E>Q 5%45򔓊?Q 9%45=)ҭBY!y-/@Q I-@7DI:i:>45y1ɮ5 A1]DNOT Ignoring new targets: 25.87 m.haha*ha"ha hagafafifididijdqZdulD@ZZZZ/@+<) >%i9)顭0BBBB =BBB,x;BB1EBYBYBYB] =B] =C]4IIO>ԩ 8,*RD?A@Yv;ByvIimMb@Mb@Mb@iiii i9m~jt?9Y=FyE>Q 545?Q 945)׭BY=Q E ?,,D?A2W u@2|@2(5<ٱ2OY :AHRS rotation from veh to nav: [[-0.617379,0.785888,0.034971],[-0.786588,-0.616083,-0.041484],[-0.011057,-0.053119,0.998527]]2H %??+k=``u2?i2W u@I2#];2CY@yDIJ=)Jp<bDNVDN0yV7:%VZ=ٔV:Q-Z>9XYX=ZFyX^rU:E^>`Q 5f45b쎓?Q 9f45bG)bܭBYdyf*@Q Ij@b7DIb:ib:b545ynBlɮnArE DNOT Ignoring new targets: 25.87 m.h h *h "h  hgfffddjdZd% E@ZAZAZAZE*@U(5<)Q U iU9iyIy)5ii?a E  E E E "E %;*E :VE ZE a5 @a5 @a5 @a5 @F,j2E?AR&u@R䂁@R7<ٱRVZ ZAHRS rotation from veh to nav: [[-0.617147,0.786068,0.035011],[-0.786768,-0.615839,-0.041694],[-0.011213,-0.053277,0.998517]]RH@ y'??3-@X@G?iR&u@IR0];RCYfAByfIj=j=)iUMb@Mb@Mb@QQQQ Q9UMbp?)\(Q?YU;yUGὙUu9Y=Fy]1:E>Q 545?Q 945)BY=Q E;y @Q I@7DI` ;i ;45yɮAB)B)B)B)B- =B)B)B-x;B-p1E}DNOT Ignoring new targets: 25.87 m.hyhy*hy"h hgfffBddjdZdFE@Z=Z=Z@Z @%7<)) -G!i-9))-8)i)i5@1] {ԩ "L,2E?A2u@2@2:<ٱ2y]Z :AHRS rotation from veh to nav: [[-0.616978,0.786205,0.034936],[-0.786899,-0.615664,-0.041804],[-0.011358,-0.053283,0.998515]]2HG (??`F.Zg BG?i2u@I2(];0Yf>ByfIbDnVDn yv0^%vV=ٔz~9Q-z>9xYx=zFyx~:E~>Q 5 45׈?Q 9 45)BY y @Q I@7DIN:iF:W45yɮAEDNOT Ignoring new targets: 25.87 m.hIhI*hI"hI hIgIfIfQfQdQdYjdYZd]@sE@ZyZyZyZ} @:<) "i9DD=E EE)E"E(;*E:VEFA4ZEBEa2EaJE S,LE?A2=u@2@2p:<ٱ2Y :AHRS rotation from veh to nav: [[-0.616853,0.786307,0.034826],[-0.786995,-0.615544,-0.041761],[-0.011400,-0.053168,0.998521]]2HCm)?ԡ? /`aX 8`?i2=u@I2\;2CYF@ByFIbDNVDNkyV;%VO=ٔZ8Q-Z>9XYX=ZFyX^9E^>`Q 5f45b䅓?Q 9f45b=)bBYdyj!@Q Ij@b7DIb9:ib:b̫45ylɮnAlDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdE@ZAZAZAZE?!@p:<) !i+9)顝=ii@ξiߡ Iߥ Ay 3Y,9fE?A2u@2@2u;<ٱ2Q_Z :AHRS rotation from veh to nav: [[-0.616408,0.786653,0.034911],[-0.787344,-0.615092,-0.041852],[-0.011449,-0.053285,0.998514]]2H @B,?ߡ?1ծmr%H?i2u@I2\;2CYF9AYA=EFyAMw:EM>QQ 545Um?Q 945U)UBY=Q E;y)@Q I@U7DIU+ `,sE?A6u@6@69<ٱ6Y BAHRS rotation from veh to nav: [[-0.616454,0.786620,0.034827],[-0.787309,-0.615150,-0.041650],[-0.011339,-0.053095,0.998525]]6H +?@ԡ?1 O'S@9@8/?i6u@I6 ];6CYJ5ByJIbDVVDVJyZa%^S=ٔ^UQ-^>9`Y`=bFy`f3Ef>dQ 5j45f@?Q 9n45f)fBYlyn)@Q Ir@f7DIfh;ifS;f߲45ytɮvAtDNOT Ignoring new targets: 25.87 m.hh*h"h hgff!f!d!d!jd)Zd-`>F@ZIZIZIZMR)@e9<)i m{"im9)imBiiiiu@qu) E  E E )E "E ;*E V:VE FA4ZE a @a @a @a @9 ~If,^E?Ab!u@bR@b6<ٱbY jAHRS rotation from veh to nav: [[-0.616338,0.786704,0.034981],[-0.787403,-0.615041,-0.041473],[-0.011112,-0.053106,0.998527]]bH ,?@?h2k ;†0?ib!u@Ib];bCYr+ByrIimMb@Mb@Mb@iiii i9m?:vYm9Y=Fy;9E>Q 545{?Q 945)BY=Q E;y-@Q I@7DI ;i ;45yɮCAB>BBIB+BBBBBx;B1EDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffcBdd!jd!Zd%)FF@Z=Z=ZtX@Z-@6<) )i9)>Ei i-?)-Wa ol,*E?A 6u@6@6U0<ٱ6SY >AHRS rotation from veh to nav: [[-0.616407,0.786644,0.035115],[-0.787354,-0.615125,-0.041178],[-0.010792,-0.053030,0.998535]]6H1,??2FN@&?i6u@I6!];4YF)ByFIN=N=bDRVDRyZc%Z[=ٔZY`Q-^>9\Y\=bFy`bmEb>dQ 5j45fx?Q 9j45f*)fBYhyj-@Q In@f7DIfB:if:f45ypɮrQApE EE(E"E%;*E:VEc44ZEBE+ WXs,E?A2Yu@2@2+<ٱ2Y >AHRS rotation from veh to nav: [[-0.616566,0.786513,0.035252],[-0.787233,-0.615297,-0.040898],[-0.010476,-0.052968,0.998541]]2H@+?@ ?1`@t ?i2Yu@I2];2CPYVByVIbDfVDf:yvaJ%vG=ٔzLIQ-z>9xY|=~Fy|E >Q 5%45@u?Q 9%45)BY)y--@Q I-@7DId;ie;45y9ɮEAADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffd!d!jd!Zd%F@ZaZaZaZeа-@+<) >"iz9)顥=Jii?4rE-Ϛ/E EE+E"E0;*E:VE [4ZEa@a@a@a@AABBBIB%BB =BBBx;B1E^Am<IIO>! y,E?A6 u@6W@6%<ٱ6 X >AHRS rotation from veh to nav: [[-0.616919,0.786237,0.035256],[-0.786962,-0.615673,-0.040481],[-0.010121,-0.052718,0.998558]]6H̽(? ? .@Ṥ `@0?i6 u@I6L\;6CYJ'ByJI|iMb@Mb@Mb@ 9Q?RQMb`Y\=y½A )AYbD5VD5N2yE%=%ED=ٔM `Q-M>9IYI=UFyQUEU>YQ 5e45]q?Q 9m45]X)]BYmb=Q Emԁ Oi,F?AEu@E@Ed!<ٱEW UAHRS rotation from veh to nav: [[-0.617136,0.786063,0.035336],[-0.786795,-0.615903,-0.040218],[-0.009850,-0.052622,0.998566]]EH``m'? ?m-`yn{,<@?YiEu@IEA];ECYmByuIyybDVD y%E=ٔv+Q->9Y=Fy,E>Q 545n?Q 945)Yy5@Q I@7DI;i;45yBɮAEDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZddG@Z)Z)Z)Z-b5@d!<) $ i89)6Oii?i>ԉ9@ @@1@Ա IIEG^A <II  M ?9I YM .AO] >y P=? ,AE  E E E "E ;*E :VE ZE a @a @a @a @ ,F?Az u@z;@z<ٱzW  AHRS rotation from veh to nav: [[-0.617317,0.785911,0.035552],[-0.786656,-0.616090,-0.040061],[-0.009581,-0.052697,0.998565]]zH.&?3?I,`҂@@=?iz u@Iz\;zCYyByByB}IB}BB} =ByByB}x;B}w1EB9B9B9B9B9C=Š4ԱiMb@Mb@Mb@ 9J +?/$YH=yAzA ` A)AYbDVD:yR:%C=ٔ(Q->9Y=Fy PE >Q 545#k?Q 945݅)BY)=Q E1 ,r5F?A2u@2L|@2<ٱ2W :AHRS rotation from veh to nav: [[-0.617792,0.785530,0.035703],[-0.786287,-0.616577,-0.039820],[-0.009266,-0.052673,0.998569]]2H`#? G?B)Dc`F?i2u@I2];2CYF ByFIbDNVDN02yV;%Vc=ٔVfeQ-Z>9XYX=ZFyX^>ۺE^>`Q 5f45b8h?Q 9f45b)bBYdyfL@@Q If@b7DIb:ib:b45ylɮn}AlDNOT Ignoring new targets: 25.87 m.hh *h "h  h g f ffddjdZd`wG@Z9Z9Z9Z=7L@@M<)Q UiU9)QU TQiQEe EeEe,Ea"Ees!;*Ee:VEeg4ZEaBEexAiԙ o,WOF?AFu@F{@F<ٱF Y fAHRS rotation from veh to nav: [[-0.617908,0.785428,0.035965],[-0.786197,-0.616683,-0.039955],[-0.009203,-0.052964,0.998554]]FH`9"?i?`( ޻t@ق@'?iFu@IF];FCqYByI==bDVD:y μ%*=ٔ= Q->9 Y = Fy ힹE>Q 545Qd?Q 9%45)BY!y%I@@Q I%@7DI :i:45y1ɮ5A1]DNOT Ignoring new targets: 25.87 m.hYhY*hY"hY hagafafifididijdiZduG@ZZZZI@@<) i59)顭Vii@=յByByB}IB}BB} =ByByB}Ix;B}P1E љ,.iF?A2t@2x@2<ٱ23Y :AHRS rotation from veh to nav: [[-0.618195,0.785195,0.036111],[-0.785971,-0.616962,-0.040084],[-0.009194,-0.053162,0.998544]]2H@@@Q ?2}? &'݅kԂ8?i2t@I2 ];2C @)@FjDDDFnlAiDIHHIHiJlA J`H)LP V$lAV/ݼTTTTIX)XiX)XIZ lAZ9\ \\\b9i``i`b9A)` dIdYdYj&ByjIi%Mb@Mb@Mb@!!!! !9%y&1?#~j~jth?Y%`e=y%㥽%D;%A%dA !)%A!Y!bDMVDMyet=%eU=ٔeQ-m>9iYq=uFyq}xE}>Q 545"a?Q 945)BY=Q Ed,2F?A6t@6s@6<ٱ6TZ >AHRS rotation from veh to nav: [[-0.618622,0.784857,0.036129],[-0.785634,-0.617382,-0.040238],[-0.009276,-0.053276,0.998537]]6H`?|?#@ G@?i6t@I6]];4iIY%*By-I 11bD=VD=yMg<%M^=ٔMh9Q-U>9QYQ=UFyQ꼺E>Q 545^?Q 945s)BYy9E@Q I@7DI:i:o45yɮ2ADNOT Ignoring new targets: 25.87 m.hh*h"h hg f f f ddjdZd7H@Z1Z1Z1Z59E@M<)I MGiM9)IU[QiQi]@Y]gԩ E  E E %E "E 7;*E B:VE 4ZE a @a @a @a @^,KF?A@B!B!B%IB%BB% =B!B!B%)x;B%@1EMPt@Ml@M<ٱMFZ ]AHRS rotation from veh to nav: [[-0.619262,0.784356,0.036055],[-0.785129,-0.618020,-0.040296],[-0.009324,-0.053262,0.998537]]MH``r?u?@` a&E?iMPt@IMf];MCY=1By=IIMAiMb@Mb@Mb@ 99Y=FyE>Q 5 45Z?Q 945,)BY6=Q E+ ,F?AlYr,ByrIbDzVDzkyؼ%n=ٔ%Q-%?9!Y!=-Fy)-E-?1EE- EAEE)EA"EEd;*EAVEEFA4ZEABEE=ԁ m,ϞF?A2t@2Ec@2#<ٱ28|Y :AHRS rotation from veh to nav: [[-0.620187,0.783653,0.035441],[-0.784390,-0.618928,-0.040746],[-0.009995,-0.053069,0.998541]]2H@?F%? Bܤ`zx+ ?i2t@I2];2CYF;ByFIIJ<)JbDRVDRyZ=%ZQ=ٔZT:Q-Z>9\Y\=^Fy\bFEb>dQ 5f45f4U?Q 9j45f)fBYhyj<8@Q Ij@f7DIf;if;f45ypɮrAp DNOT Ignoring new targets: 25.87 m.h h *h "h  hgfffddjdZd%mH@ZAZAZAZE<8@ԑ#<) i39)bii%?!%圡BBIBBB =BBBw;B1EPExceeded connect timeout, disconnecting. ^A`=<IIO>9 ,oF?A6t@6]@6,<ٱ6kX BAHRS rotation from veh to nav: [[-0.620773,0.783211,0.034953],[-0.783920,-0.619503,-0.041057],[-0.010503,-0.052887,0.998545]]6H_?Q?`x ?i6t@I6o];4YJ=ByJIi%Mb@Mb@Mb@!!!! !9%I +?RQ9iYq=uFyq}E}>Q 545 R?Q 945A)BY=Q Eԙ ,JG?A2t@2OZ@2aT5<ٱ2OX :AHRS rotation from veh to nav: [[-0.621038,0.783015,0.034627],[-0.783702,-0.619746,-0.041541],[-0.011067,-0.052936,0.998537]]2H u??Dm@^?i2t@I2 ^;0YZ>ByZIbDfVDf1yn3;%nS=ٔnS:Q-r>9pYp=rFypviEv>xQ 5~45z7O?Q 9~45z׃)z BYy-@Q I @z7DIzL;izM;z45y BɮzAE=DNOT Ignoring new targets: 25.87 m.h9hA*hA"hA hAgAfAfIfIdIdIjdQZdU I@ZqZqZqZu-@aT5<)  i9)額gii?RbE:4jErEXQ0Em  Em Em (Ei "Em ;*Em ':VEm c44ZEi a} @a} @a} @a} @ 2,1G?ABhBhBjIBj BBhBhBhBjw;Bj0EnManaging dock network, ignoring radio surface power offνt@Y@TA<ٱZY AHRS rotation from veh to nav: [[-0.621089,0.782991,0.034260],[-0.783651,-0.619768,-0.042165],[-0.011781,-0.053037,0.998523]]H@B??$ '?iνt@I^;Y;ByI iMb@Mb@Mb@ 9~jt?zGếQ?Y9Y=FyE>Q 5 45}K?Q 9459)BY=Q E;y)@Q I@7DI ;i ;45yɮ%A!MDNOT Ignoring new targets: 25.87 m.hIhI*hI"hQ hQgQfQfQf]sBdYdYjdYZd]RI@Z=Z=Zb@Z0)@TA<) )i9)顝jii@Y,7G?A6t@6Y@62M<ٱ64Z >AHRS rotation from veh to nav: [[-0.621096,0.782999,0.033940],[-0.783634,-0.619740,-0.042903],[-0.012559,-0.053243,0.998503]]6H`T?`?`XB?i6t@I6Zy^;6CYFMByFIbDRVDRܲyZ>=%Zx=ٔZ;Q-Z?9\Y\=^Fy\b/HEb?dQ 5f45fH?Q 9j45f˂)fBYhyj)@Q Ij@f7DIf:if:f45ypɮrAp DNOT Ignoring new targets: 25.87 m.h h *h "h hgfffE% E%E%-E!"E%%.;*E%:VE%t4ZE!BE%9ԩ (B,rQG?A6t@6X@69Y<ٱ6,Z@ BAHRS rotation from veh to nav: [[-0.621159,0.782968,0.033497],[-0.783572,-0.619779,-0.043448],[-0.013258,-0.053235,0.998494]]6H?y&?`;@> &A?i6t@I6m^;6CYJOByJIbDv rGVDv!9mR*9iYmMAyuV<%u?=ٔu:Q-u>9yYy=}FyywVE>Q 545E?Q 945<)BYy)@Q I@7DI";i/;45yɮADNOT Ignoring new targets: 25.87 m.hh*h"h hgfQfYfYdYdYjdYZde@%I@ZZZZ7)@9Y<) iJ9)ii@nBBIB+BB =BBBw;B0EBBBB =B =CƗ4^AD-<IIO> El,kG?A2 t@2aX@2>f<ٱ2Y >AHRS rotation from veh to nav: [[-0.621199,0.782963,0.032879],[-0.783527,-0.619800,-0.043975],[-0.014053,-0.053079,0.998491]]2H`?ՠ?` g郦nj`'-@?i2 t@I2n^;2CYJHByJIpIz4=)zp9!Y!=%Fy!-&E->Q 545&B?Q 945h)BY=Q E;yT@Q I@7DI":iL:p45yɮ%ADNOT Ignoring new targets: 25.87 m.hh*h"h hgfffqBddjdZd!I@Z =Z =Z ˖@Z T@%>f<)! %zi%9)!%𙴉!i)i-?15a #T,G?A2t@2[Z@2ot<ٱ2y&Y :AHRS rotation from veh to nav: [[-0.621002,0.783144,0.032275],[-0.783667,-0.619579,-0.044591],[-0.014924,-0.052984,0.998484]]2H`@?e? Ԧ @?i2t@I2^;2CYBKByFIJ=HN@ALbDRVDRyVX<%Vd=ٔZp;Q-Z>9XYX=^Fy\^0:Eb>`Q 5f45b??Q 9f45b)b"BYhyj[@Q Ij@b7DIb:ibF:bt45ypɮrAt9DNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdJ@ZZZZ[@ot<) Ci% 9)!%ഉ!i!i-@)-DA zDA EM  EI EM &EI "EM /;*EI VEM 4ZEI aU @aU @a] @a] @ ,|G?AB<B<B>IB>5BB> =B<B<B>kw;B>0Eԡt@Y\@<ٱ'X AHRS rotation from veh to nav: [[-0.620804,0.783324,0.031721],[-0.783808,-0.619358,-0.045185],[-0.015748,-0.052914,0.998475]]H@ ?=? "V ?it@I^;YTByIiMb@Mb@Mb@ 9y&1V-9Y=Fya:E>Q 545@ h,HG?A66t@6l_@6s<ٱ6مX BAHRS rotation from veh to nav: [[-0.620501,0.783589,0.031110],[-0.784029,-0.619030,-0.045833],[-0.016656,-0.052830,0.998465]]6H@$`(?>۟?[wA@ l?i66t@I6^;4YJSByH LLbDRVDRyZ%Zr=ٔ^ 0;Q-^?9`Y`=bFy`bq:Ef?dQ 5j55f9?Q 9j55f)f(BYlyn@Q In@f7DIf;if;f55ypɮrAtE EE(E"E*;*E˭:VEc44ZEBE6,#G?AYnUByrIvAt xxbDz VDz2y%J<%-C=ٔ-Q-->91Y1=5Fy15E=>9Q 5E55=7?Q 9M55=~)=+BYIyIQ IM@=7DI=6:i=:=.55yQɮUAYDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdbJ@ZZZZ) %i,9)mii?şԩ ,G?AFt@Fe@F_<ٱFVpX ZAHRS rotation from veh to nav: [[-0.619866,0.784131,0.030078],[-0.784493,-0.618344,-0.047127],[-0.018355,-0.052808,0.998436]]FH ?̞?@z@!˒@ 0?iFt@IF!^;FCYnTByrIiMb@Mb@Mb@ 9Mbp"~jMbP?YyS㽙:AA  A)YAbDVD1y|Ļ%==ٔ ;Q- >9 Y = Fy:E>Q 5%553?Q 9%55H})-BY-|=Q E-;y-@Q I-@7DIU:i:55y1ɮ5A9eDNOT Ignoring new targets: 25.87 m.haha*ha"ha hagafififmBdqdqjdyZd}@J@ԱZu|=Zu|=ZuФ@Zu:@_<) )iS9)页싵ii@1 j,H?A25t@2h@2<ٱ2X :AHRS rotation from veh to nav: [[-0.619565,0.784383,0.029707],[-0.784714,-0.618020,-0.047692],[-0.019049,-0.052860,0.998420]]2Hy?@k? akw?i25t@I2^;2CYBMByBIIF=)DbDLVDLyV%Vc=ٔV:Q-Z>9XYX=ZFyX^7:E^>dQ 5j55fa1?Q 9j55f|)f.BYhyj@Q In@f7DIfI:if:f 55ypɮrApB*** querying acoustic contact ***i iDNOT Ignoring new targets: 25.87 m.hh*h"h hgfff!d!d!jd!Zd%@K@ZIZIZIZM@<) i9)9ii?ҧu2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.q E=  E= E= -E9 "E= ';*E= *:VE= t4ZE9 aM @aM @aM @aM @Bq Bq Bu IBu ?BBq Bq Bq Bu w;Bu 0EԱ },!H?At@l@;<ٱvX AHRS rotation from veh to nav: [[-0.619201,0.784689,0.029205],[-0.784980,-0.617629,-0.048379],[-0.019925,-0.052882,0.998402]]H} -??@@'Ũ &gQ?it@I'n^;CYIByI>iMMb@Mb@Mb@IIII I9MJ +~jthYMyMȽMDMAMA MI A)IIYM AeAAabDmVDm0y%)=ٔ:Q->9Y=Fyws:E>Q 555=.?Q 955{)/BY=Q E UBDAT read: Tx time:05:03:27.6789 U$Ping request sent.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250958%,V;H?A 6t@6l@6<ٱ6X >AHRS rotation from veh to nav: [[-0.619171,0.784725,0.028890],[-0.784990,-0.617584,-0.048798],[-0.020452,-0.052893,0.998391]]EB EBEB(E@"EB;*EB :VEBc44ZE@BEBn_ @ ?i6t@I6K^;6CYPByIbDVD1y%!=%%h=ٔ-:Q-->9)Y1=5Fy15԰8E5>9Q 5E55=+?Q 9E55=E{)9YIyMY@Q IM@=7DI= :i=:=g55yQɮUAQDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdׅK@ZZZZBY@<) M i9)ǵii?II I)q-9@) @)@-:0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503113ԙ^AM<IYIiO}> ,2UH?A20t@2i@2@׫<ٱ2W :AHRS rotation from veh to nav: [[-0.619446,0.784527,0.028361],[-0.784759,-0.617855,-0.049072],[-0.020975,-0.052654,0.998393]]2H`? ?xz@l?i20t@I2u^;2CYB@ByBIPbDNVDNyVu%VR=ٔZ:Q-Z>9XYX=^Fy\^rE^>`Q 5f55bq)?Q 9f55bz)`YhyjS@Q Ij@b7DIb:ib:b55ylɮnRApDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdK@ZZZZ|S@@׫<)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755525 |(il9)ݵii@ͧi߉ Iߍ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007236! v9,+oH?AFt@Fh@Fן<ٱF#W NAHRS rotation from veh to nav: [[-0.619554,0.784462,0.027787],[-0.784654,-0.617952,-0.049527],[-0.021681,-0.052488,0.998386]]FH@cO?8t?C[3ߪ?iFt@IF)^;FCYVKByZI^A^A|i=Mb@Mb@Mb@9999 99=~jtx?I +~jthY=;y=99=A=zA = A)99Y=AbDUVDU0yeN=%e?=ٔm9:Q-m>9iYi=uFyqȰE>Q 555&?Q 955z)0BY=Q E y ",H?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511045Nt@Nf@N<ٱNMuW VAHRS rotation from veh to nav: [[-0.619730,0.784332,0.027533],[-0.784502,-0.618110,-0.049966],[-0.022171,-0.052565,0.998371]]NH`??@1?@`@ 骿?iNt@INxR^;NCY^EBybIbDjVDj:2yr %rS=ٔr^:Q-r>9tYt=vFytzq$Ez>xQ 555zr$?Q 955zy)xYy"@Q I@z7DIz;iz;z55yɮ(A=DNOT Ignoring new targets: 25.87 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdUL@YZqZqZqZu"@<)  i[9)顕Mii@lԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762997E  E E (E "E I;*E :VE c44ZE a @a @a @a @ B >B B B B B B B x;B 91EByByByByByC}W3L(,NТH?AԹt@c@˸<ٱW ]AHRS rotation from veh to nav: [[-0.620018,0.784112,0.027317],[-0.784263,-0.618385,-0.050310],[-0.022556,-0.052617,0.998360]]H/r??@@3© @?it@Ij,^;YOByIiMb@Mb@Mb@ 9Q?333333Mb`YuUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0151259QYQ=UFyQ]JE]>aQ 5m55e!?Q 9m55e#y)aYm=Q Em-1 s.,^H?A;ɰ;E6 E6E6.E4"E6%;*E6:VE6ـ4ZE4BE6~Bt@BZa@B<ٱB;X JAHRS rotation from veh to nav: [[-0.620239,0.783942,0.027170],[-0.784078,-0.618588,-0.050705],[-0.022943,-0.052753,0.998344]]BH?қ?)y H~u o?iBt@IBy#^;BCYRJByVIZ=Z=bD^ VD^:2yf%f}=ٔj:Q-j ?9hYh=jFyhn_kEn ?pQ 5v55r?Q 9v55rx)r1BYxyz*@Q Iz@r8DIrB:ir:r#55yyɮ}AyDNOT Ignoring new targets: 25.87 m.hh*h"h hgfffddjdZdxL@Z)Z)Z)Z-{*@e<)a eie9)amliiiim@qԙ n[5,1xH?A2t@2$^@2߲<ٱ2X :AHRS rotation from veh to nav: [[-0.620541,0.783708,0.027029],[-0.783828,-0.618876,-0.051045],[-0.023277,-0.052861,0.998330]]2H y"?{?  "՗R?i2t@I2];0YFDByFIbDNVDNyV%VL=ٔV[:Q-Z>9XYX=ZFyX^E^>`Q 5f55b?Q 9f55b{x)`Ydyf*@Q Ij@b8DIb:ib:bq'55ylɮn2AlDNOT Ignoring new targets: 25.87 m.hh *h "h  h g f ffddjdZd@L@ZAZAZAZE8*@U߲<)Q U!iU9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771118)6 ii?  FY|;,+/H?A>?t@>X@>Up<ٱ>5X FAHRS rotation from veh to nav: [[-0.621036,0.783321,0.026869],[-0.783430,-0.619365,-0.051232],[-0.023489,-0.052867,0.998325]]>H@?? ;y aG?i>?t@I>];>CYNHByRI TTi-Mb@Mb@Mb@)))) )9- rh?V-Mb`Y-C9YYY=]FyY]ĺEe>aQ 5u55e)?Q 9u55e#x)aYu=Q Eu5;ieu;e"+55yɮADNOT Ignoring new targets: 25.87 m.hh*h"h hgffflBddjdZd-L@Z]=Z]=Z]Q@Z] <-@Up<) i9)顝)ii@]B, I?A:DAT read: 05:03:30.1234 LVL= 29040, 28801, 32754, 32755, AGC= 60, IDX= 506, 0.23, 0.710, 1.932, 0.157, 1.314, PHS=-0.502, 0.663,-1.201, RAW= 351.8, 12.7, CAL= 352.2, 15.3, ROT= 157.8, -15.3 >Ygot valid direction response: 05:03:30.1234 LVL= 29040, 28801, 32754, 32755, AGC= 60, IDX= 506, 0.23, 0.710, 1.932, 0.157, 1.314, PHS=-0.502, 0.663,-1.201, RAW= 351.8, 12.7, CAL= 352.2, 15.3, ROT= 157.8, -15.3 BPDAT read: Bearing 176.4, 21.5 (Local) B~Local bearing/azimuth received: Bearing 176.4, 21.5 (Local) JDAT read: Range 11 to 50 : 30.3 m (Round-trip 40.4 ms) speed 0.0 m/s JR#Rx 1: Read range and direction messages.N^direction in FSK: [-0.893055,0.364449,0.263873]RFpublishing direction and range infoy "%&""S?&K?Y"fA "pq"p )"<I"i"^)?"^"p{@"b>"@ "ܸ>)"C0@I"ܸ ".BkO\ g ;j&? "-7)"xcI"C0@i"ܸ t@R@<ٱ8X AHRS rotation from veh to nav: [[-0.621623,0.782866,0.026573],[-0.782956,-0.619951,-0.051387],[-0.023755,-0.052749,0.998325]]H V < ?6? ]O 'SG?it@I];CYGByIAbDVD 3y%%?=ٔ%":Q-%>9)Y)=5Fy1]E]>iQ 555m?Q 955mw)m2BYy/-@Q I@m 8DIm{b"?:eK%@2.@|@R"%&""S?&K?Zi"C0@bi"ܸj"`#39@'u+@R# @Z"cjz?!l?j =?2i"]A:i"gA"i"ZӁ?*i"9 Bi"HBi i"Mi"vBi"Ai"y> addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 58.230069 s, deltaX: 4.299999 m, approachRate: 0.073845 m/s, rangeRepo size: 4  Added new target pos. range: 30.149172 m, bearing: 28.478286 deg, lat: 36.779311 deg, lon: -121.859569 deg, deltaT: 58.230069 s, deltaX: 4.278646 m, approachRate: 0.073478 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.15 m.hh*h"h hgff)f)d)d1jd5L>@Zd5`}?ZqZqZqZu/-@<) i&9)3ii?CBq Bq Bu IBu 0BBq Bq Bq Bu x;Bu q1EH,N#I?A@5t@5O@5)<ٱ5xX AHRS rotation from veh to nav: [[-0.621912,0.782644,0.026330],[-0.782717,-0.620233,-0.051615],[-0.024065,-0.052709,0.998320]]5H@l ?]?@ Nm9Y=FymE>Q 555o?Q 955sw)Yy)-@Q I@ 8DI;i;255yɮ+ADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd?ZZZZ)-@5)<)1 5i59)1=<9i9i=@AE͒ N,#=I?AE2 E2E2(E0"E2(;*E2*:VE2c44ZE0BE29Y=FyE>Q 5 556?Q 9 555w)Y =Q E 59XYX=^Fy\bGEb>dQ 5j55f?Q 9j55fv)f3BYhyj3@Q In@f8DIf:if:f955ypɮr0Ap DNOT Ignoring new targets: 30.15 m.h h*h"h hgfffdd!jd!Zd%?9ZIZIZIZM3@i<) <i9)DNii@  c׍B B B B B B DB x;B 1Eԙ^AU<IYIqO}> [,YqI?A6͝t@6I@6<ٱ6óX >AHRS rotation from veh to nav: [[-0.622476,0.782202,0.026154],[-0.782256,-0.620778,-0.052060],[-0.024486,-0.052865,0.998301]]6H R?Ț?=i`(?i6͝t@I6D];6CYJHByJIiMb@Mb@Mb@ 9Mb?V-~jth?Y9IYI=UFyYm8Eu>yQ 555}?Q 955}v)}4BYu=Q E9 b,r4I?A6t@6"F@6J<ٱ6X >AHRS rotation from veh to nav: [[-0.622817,0.781931,0.026122],[-0.781983,-0.621119,-0.052083],[-0.024500,-0.052865,0.998301]]6H ?@ɿ?@5@" ?i6t@I6"];6CYVKByVI XXbDbVDb02yj/~<%jR=ٔj18Q-n>9lYl=nFyprEr>tQ 5z55v ?Q 9z55v,v)v6BYxyz^%@Q I~@v8DIvW:iv;v(@55yɮA uDNOT Ignoring new targets: 30.15 m.hyhy*h"h hgfffddjdZd@%@ZZZZ^%@J<)   i 9)  `ii@' 9)Y)=5FYyamYE>Q 555 ?Q 955u)7BYy]%@Q I@8DIq;i/;.D55yɮAMDNOT Ignoring new targets: 30.15 m.hQhQ*hQ"hQ hQgQfQfYfYdYdYjdaZde N5@ZZZZD]%@<) iQ9)顥iii?Ɋ Go,JI?AE& E&E$E$"E&I;*E&*:VE$ZE$BE&fjht@>B@>]<ٱ>;X JAHRS rotation from veh to nav: [[-0.623208,0.781626,0.025932],[-0.781668,-0.621513,-0.052118],[-0.024620,-0.052751,0.998304]]>H@R`??`mn65@$?i>ht@I>Y];>CYRKByRIiUMb@Mb@Mb@QQQQ Q9U~jt? rh{GztYU9Y=Fy E>Q 5 55 ?Q 9 55pu)Y=Q E; M Ga y 9 Y WA9 'u,mI?A:‰t@:?@:<ٱ:BdW BAHRS rotation from veh to nav: [[-0.623430,0.781456,0.025741],[-0.781491,-0.621744,-0.052018],[-0.024646,-0.052546,0.998314]]:H"?[?@T <`C窿1?i:‰t@I:\;:CYNGByNIIR<)R<bDVVDV0y^%^`=ٔbB8Q-b>9`Yd=fFydfKEf>hQ 5v55j?Q 9z55j,u)hYyS/@Q I@j8DIj;ij@;jJ55yɮA=DNOT Ignoring new targets: 30.15 m.h9hA*hA"hA hAgAfAfIfIdIdIjdQZdU f! @ZqZqZqZuS/@<)  i9)額zii?# iI IM Ai |,I?A 2t@2=@2h <ٱ2ތV >AHRS rotation from veh to nav: [[-0.623630,0.781299,0.025633],[-0.781335,-0.621958,-0.051814],[-0.024540,-0.052341,0.998328]]2H`g?w??` i!g̪L?i2t@I2];2CYOByI=p=i5Mb@Mb@Mb@1111 1959aYa=eFyam'Em>iqQ 5}55u]?Q 9}55ut)u6BY<=Q E, J?A>xt@> =@>0B<ٱ>^|VL fAHRS rotation from veh to nav: [[-0.623687,0.781250,0.025753],[-0.781296,-0.622021,-0.051635],[-0.024321,-0.052325,0.998334]]>H=? _?@` o瘿`aʪY?i>xt@I>S\;< p)ppppttivԼItxI|i~kA ~j<) lAu ӑIӑ)ӑiӑ)ԙIԝlAӝӝ[F ԙԙԡԥiԡԡiաե;A)ա թIթYYFByIbDVDyG%f=ٔi!Q->9Y=FyuJE>Q 555?Q 955Ut)Yy+@Q I@8DI:i=:R55yɮA 5DNOT Ignoring new targets: 30.15 m.h1h1*h1"h1 h1g9f9f9f9dAdAjdAZdE m@ZaZaZaZe#+@}0B<)y }Xi}Q9)顅ii?!+B B B B B B B x;B 1E^A I I O >$,*W&J?A6t@6?@6>|<ٱ6oXW BAHRS rotation from veh to nav: [[-0.623495,0.781393,0.026065],[-0.781456,-0.621824,-0.051591],[-0.024105,-0.052535,0.998328]]6H@+?ð?j뮘媿M?i6t@I6\;4Y]LByeI bDVDNy}<%}A=ٔ]Q->9Y=Fy!%:E%>1Q 5=555;?Q 9E555s)1YAyM+@Q IM@58DI5Y|<) ic9)̋ii@ ,'2@J?AE EEE"E*E:VEZEBEN9IYI=MFyIUd%EU>YQ 5e55]?Q 9e55]s)YQ Ae+:YiQ Em;ym+@Q Im@]!8DI]j;i]>]X55yqɮuqAyDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd@S3<)  i.9)폶ii? #6, ZJ?AFt@F;@Fi<ٱFϑW NAHRS rotation from veh to nav: [[-0.623824,0.781114,0.026548],[-0.781216,-0.622170,-0.051057],[-0.023364,-0.052591,0.998343]]FH]?`/?@$$엿(l?iFt@IF];FCYfOByfIbDrVDrβyzf%zc=ٔzTwQ-z>9|Y|=~Fy|E> Q 5 55 ?Q 955 (s) 5BQ A :YQ E;y+@Q I@ "8DI /:i 4=? Z55y!ɮ%A!MDNOT Ignoring new targets: 30.15 m.hIhI*hQ"hQ hQgQfQfYfYdYdajdaZde'@i<) @i9)顥Mii@5BQBUIBU5BBQBQBQBUx;BUp1EI)IQO}z>9 R`,sJ?AB}t@B9@B侼<ٱBW NAHRS rotation from veh to nav: [[-0.624026,0.780946,0.026734],[-0.781064,-0.622380,-0.050806],[-0.023038,-0.052585,0.998351]]BH@?`?@z@S`o쪿}?iB}t@IB];@YVPByVIIZ=)ZR=amam amam amau auau iuMb@Mb@Mb@qqqq q9uZd;O?ʡEy&1|Yuj9Y=FysE>Q 555?Q 955r)Q AT:Y4=Q E$EE EEEE'EA"EEm+;*EE:VEE'4ZEABEE߄9Y=Fy NHE >Q 555h?Q 955r)4BYy%\0@Q I%@'8DI;i;a55y)ɮ-YA)UDNOT Ignoring new targets: 30.15 m.hQh*h"h hgfffddjdZdYt@ZIZIZIZM\0@q1<) 'is9)顅ii@~ԡDQ zDU AAE]  E] E] .EY "E] =-;*E] :VE] ـ4ZEY ae @ae @ae @ae @BI BI BI BI BI BI BI BM [x;BM X1E vu,XJ?AB\qt@B3@BuD<ٱBW NAHRS rotation from veh to nav: [[-0.624628,0.780453,0.027089],[-0.780606,-0.623010,-0.050130],[-0.022248,-0.052458,0.998375]]BH@x??@`Ȗ۪?iB\qt@IB];@YV[ByVIbD^VD^3yv#S%vK=ٔz뉺Q-z>9xY|=~Fy|~E~>Q 5 55?Q 9 550r)3BYyU0@Q I@)8DI;i;Pe55yɮ_A!mDNOT Ignoring new targets: 30.15 m.hqhy*hy"hy hgfffddjd1ZdU!@ZYZYZYZ]U0@uD<) |i9)顭aii?%x*],†J?A E EE(E"EU,;*E|:VEc44ZEBE9Y=Fy`غE>Q 555?Q 955q)2BYu=Q E",iVJ?A2`t@2H+@2-<ٱ2W :AHRS rotation from veh to nav: [[-0.625422,0.779795,0.027709],[-0.779994,-0.623820,-0.049587],[-0.021383,-0.052626,0.998385]]2Hu?@_?@T@cL啿?i2`t@I2H];2C@YJeByJILNAbDRVDR0yZ)%Z[=ٔ^Q-^>9`Y`=bFy`bcQEf>dQ 5j55f풊?Q 9n55fq)f1BYlyn6@Q In@f-8DIf@;if;fNl55yrBɮvAv~EDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd UH@ZZZZ6@-<) V iu9)ii?SkBBIB?BB =BBB!x;B;1E9@ @@/@^Aezl<IiIO9> h,j0J?A2Ut@2%@2<ٱ2dW :AHRS rotation from veh to nav: [[-0.625950,0.779363,0.027942],[-0.779581,-0.624357,-0.049315],[-0.020989,-0.052652,0.998392]]2H ?@՜?S ?`~`5`?i2Ut@I2V];2CYBrByBIliMb@Mb@Mb@ 9V-?ʡE~jtxY9IYI=MFyIMuкEU>QQ 555Uꒊ?Q 955Ukq)U0BY=Q E a i! I! , K?A:Jt@:@:<ٱ:X FAHRS rotation from veh to nav: [[-0.626523,0.778887,0.028356],[-0.779133,-0.624935,-0.049069],[-0.020499,-0.052836,0.998393]]:H{ ?R ?@`xN ?i:Jt@I:n];:CYN~ByN IIR<)R;bDVVDVybz=%bS=ٔbQ-f>9dYd=fFydjEj>lQ 5r55nB蒊?Q 9r55n'q)lYpyr4@Q Ir@n18DIn;in;n`s55yxɮz1AxDNOT Ignoring new targets: 30.15 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5@c8 @9ZQZQZQZU4@m<)i mimD9)quqiqi}?y}XԑEU  EU EU 'EQ "EU ;*EU :VEU '4ZEQ a] @a] @a] @a] @B B B IB IBB B B B &x;B =1EBBBBBC[4 p,(K?A2f?t@2@2<ٱ2[Y :AHRS rotation from veh to nav: [[-0.627033,0.778466,0.028643],[-0.778732,-0.625450,-0.048869],[-0.020128,-0.052948,0.998394]]2H@0? T? `e y?i2f?t@I2&|];2CYFByFIJ=HNAANAAbDrVDr:yv<%zH=ٔz.mQ-z>9xY|=~Fy|~gϺE>Q 5 55咊?Q 9 55p)/BYy4@Q I@38DImG;i];v55y1ɮ=A9mDNOT Ignoring new targets: 30.15 m.hihi*hi"hi higifqfqfqdydyjdyZd}J !@ԡZZZZ4@<) i 9)i i=@AMO ,BK?AE EE,E"EO6;*E˭:VEg4ZEBEF=ٔQ->9Y=FyE>Q 555⒊?Q 955op)0BY=Q Ey ,s\K?AY~By~.I bDVDy%=%%T=ٔ%Q-%>9)Y)=-Fy)-E5>1Q 5E555}?Q 9M555 p)51BYIyIQ IM@588DI5F;i5G;5~55yQɮ]JAYDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd"@Z!Z!Z!Z!1)1 =i=9)9=q9i9iE@AE'F ,xvK?A6) t@6 @6h<ٱ6wX BAHRS rotation from veh to nav: [[-0.628524,0.777256,0.028829],[-0.777544,-0.626960,-0.048445],[-0.019580,-0.052865,0.998410]]6H``G? ]?``ͨ ?i6) t@I66];4YJByJ3IPRAiMb@Mb@Mb@ 9Mb`?&1Mb?Y;yн<A  A)vAYz AbD5VD5yE<%EH=ٔM hQ-M>9IYQ=UFyQUR,EU>YQ 5e55]ݒ?Q 9e55]`o)]3BYm=Q Em9 ,SK?A:t@:@:ؠ<ٱ:X BAHRS rotation from veh to nav: [[-0.628716,0.777101,0.028808],[-0.777387,-0.627149,-0.048514],[-0.019633,-0.052897,0.998407]]:H@q ??Z ֨`F@?i:t@I:];8YJByJ7IbDVVDV0yZ3<%^T=ٔ^9Q-^>9`Y`=bFy`fi(Ef>dQ 5j55fے?Q 9n55fn)f6BYlyn@Q In@f=8DIfn;ifj;f55ytɮvAtDNOT Ignoring new targets: 30.15 m.hh*h"h hgff!f!d!d!jd!Zd-B$@ZIZIZIZM,@]ؠ<)Y eie9)aeŶaiaim@imZ4EU  EU EU *EQ "EU %;*EU :VEU (N4ZEQ a] @a] @a] @a] @i B >B B IB rBB B B B w;B 1E,0K?A 2t@26@2ˡ<ٱ2X >AHRS rotation from veh to nav: [[-0.628777,0.777055,0.028734],[-0.777335,-0.627206,-0.048608],[-0.019749,-0.052900,0.998405]]2H@?`vl? #㨿 9` ?i2t@I2 ];0YFByFAIIH)J=bDnVDn:yv=%vG=ٔvh9Q-v>9xYx=zFyx~KE~>Q 5 55Uؒ?Q 9 55n)9BY y @Q I @@8DI:i:55yɮ%A!DNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdM%@ZZZZ@qˡ<) iW9)顽ȶii?y3E]  E] E] )EY "E] 1;*E] :VE] FA4ZEY BE] [AHRS rotation from veh to nav: [[-0.628640,0.777164,0.028782],[-0.777443,-0.627060,-0.048768],[-0.019853,-0.053033,0.998395]]2H`?x?@CT3'?i2t@I2I\;0@YFByJBIN=N=iMb@Mb@Mb@ 99Y=Fy9E>Q 5557Ւ?Q 955m)=BY>Q E;y@Q I@C8DI;i ;a55yɮA DNOT Ignoring new targets: 30.15 m.h h *h"h hgfffBddjd!Zd%%@ZE>ZE>ZEL8@ZED@Uۤ<)Y ]i]9)Y]̶YiYie@am7f6 ,K?A6 t@6 @6L<ٱ6bY >AHRS rotation from veh to nav: [[-0.628498,0.777283,0.028667],[-0.777553,-0.626912,-0.048922],[-0.020055,-0.053037,0.998391]]6H@?Z?O `E`'?i6 t@I6?];4YJByJKIbDRVDR1yZ=%Z^=ٔZ:Q-^>9\Y\=bFy`b:Eb>dQ 5j55fҒ?Q 9j55f$l)fABYhyj@Q In@fF8DIf:if:f55ypɮr{Ap|DNOT Ignoring new targets: 30.15 m.hh*h"h hgf!f)f)d)d)jd)Zd5&@ZQZQZQZU@eL<)a mim9)imжiiiiu?qu8B9B=IB=BB9B9B=DB=8x;B=E1E)I)a}9@y @y@/@ԁ ^A} x/<I I O >J,K?A2#'t@2b@2-<ٱ2 X :AHRS rotation from veh to nav: [[-0.628182,0.777548,0.028387],[-0.777798,-0.626592,-0.049119],[-0.020406,-0.052935,0.998389]]2H ?j? .&C唿P?i2#'t@I2 \;0Y`y` ddiMMb@Mb@Mb@IIII I9M7A`¿~jt?YM̼yMIM\AMA MI A)IIYYM AbDeVDe0ٔuV:Q-u>9yYy=}Fyytt:E>Q 555ϒ?Q 955j)EBY.>Q E;y@Q I@J8DIu ;i ;W55yBɮeAtEDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZd'@Z.>Z.>Zg@Z@-<) i9)"նii@IW> 2,(L?A2c4t@2@2;F<ٱ29Y :AHRS rotation from veh to nav: [[-0.627550,0.778061,0.028315],[-0.778302,-0.625949,-0.049335],[-0.020662,-0.052997,0.998381]]2H??@fBd( x"`?i2c4t@I2];2CYFByFMIHJAbDRVDRyVu;%V<ٔZ)1:Q-Z>9XYX=^Fy\^ ;Eb>`Q 5f55b˒?Q 9f55bi)bIBYhyj@Q Ij@bN8DIby:ib:b55yɮYAmDNOT Ignoring new targets: 30.15 m.hihi*hi"hi higififqfqdqdjdZd S(@ԹZZZZ@;F<) Xif9)Jٶii?!%JJB1 B1 B5 -IB5 BB1 B1 B1 B5 Ax;B5 J1EbEȷG4jEȷG4rEȁ/EM  EM EM (EI "EM m+;*EM n:VEM c44ZEI BEM ߄<2EM ߄<JEM <:EM <9 \ ,2v+L?A2Et@2@2V<ٱ2X FAHRS rotation from veh to nav: [[-0.626721,0.778738,0.028085],[-0.778960,-0.625112,-0.049558],[-0.021036,-0.052936,0.998376]]2H k? Yœ?`=@_vl?i2Et@I2[];2CYrByrIIbDVDܲy~%C=ٔ%wj:Q-->9)Y1=5Fy15k%;E>Q 555=Ȓ?Q 955h)NBYy @Q I@R8DInu;i:z55yɮsA5DNOT Ignoring new targets: 30.15 m.h9h9*h9"hA hAgIfIfYfYdidijdyZd}b1)@ZZZZ @V<)! %i59)9=ݶ9i9iM@IU%Xԙ E=  E= E= )E9 "E= %.;*E= :VE= FA4ZE9 aM @aM @aM @aM @D,]REL?AF%Yt@Fc'@F<ٱFtX RAHRS rotation from veh to nav: [[-0.625793,0.779492,0.027837],[-0.779696,-0.624182,-0.049703],[-0.021368,-0.052808,0.998376]]FH~?M?F Lrᕿ ?iF%Yt@IFn];DYZByZKII^C=)^=i=Mb@Mb@Mb@9999 99=Mb'1ZĿMbp?Y=y="=;9=MA = A)99Y= AbDUVDU0ye <%eF=ٔmR:Q-m>9iYi=mFyiu<;Eu>yQ 555}Ē?Q 955}:g)}PBY!&>Q E;y#@Q I@}V8DI}:i}:}55yɮeADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZd ?)@qZ!&>Z!&>Zp@ZG#@<) i%9)顭ᶉii?h n,=,_L?A20mt@2h1@2U<ٱ2}W :AHRS rotation from veh to nav: [[-0.624834,0.780271,0.027560],[-0.780456,-0.623223,-0.049811],[-0.021690,-0.052633,0.998378]]2H ? 8?~@rҀ5?i20mt@I21^;2CYFByF9IJ=HbDjVDjyr%rS=ٔvY:Q-v>9tYt=zFyxzN;Ez>Q 5 55e?Q 9 55e)SBYy7@Q I@Z8DI:i:P55yɮA!MDNOT Ignoring new targets: 30.15 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]a*@ZyZyZyZ}7@U<) i9)顝嶉ii@cxi ,WyL?A 60t@6h>@6K<ٱ6W >AHRS rotation from veh to nav: [[-0.623590,0.781271,0.027411],[-0.781440,-0.621969,-0.050052],[-0.022055,-0.052632,0.998370]]6Hs`+?@?,@r` ?i60t@I6x#^;6CYFByF(IiMMb@Mb@Mb@IIII I9M/$Sÿ~jtYMyMMDMAI M A)MAIYM AbDeVDek1ymK%uB=ٔu_c:Q-u>9yYy=}Fyyv;E>Q 555?Q 955d)RBY>Q E;y@Q I@^8DI ;i7 ;55yɮHADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZdՓ+@Z>Z>Z_@Z,@K<) i9)鶉ii%?!%׆ $,L?A2Ht@2tK@2=<ٱ2W :AHRS rotation from veh to nav: [[-0.622341,0.782272,0.027260],[-0.782427,-0.620714,-0.050222],[-0.022367,-0.052584,0.998366]]2H6^??@ B疿`U쪿@?i2Ht@I2S^;2CYFByF0I HHPbDNVDNyZ=%ZW=ٔZV:Q-Z>9\Y\=^Fy\b~;Eb>dQ 5j55fK?Q 9j55fc)fQBYhyj4@Q Ij@fb8DIf6:ifN:fN55ypɮrAp DNOT Ignoring new targets: 30.15 m.h h *h"h hgfffddjd!Zd%(V,@ZAZAZAZE!4@U=<)Q i29)ii@"}B>BB-IBBBBBBBE  E E *E "E P;*E a:VE (N4ZE BE <2E <JE <:E 9)Y)=-Fy15y;E5>9Q 5E55=?Q 9E55=hb)9YIyMO@Q IM@=f8DI=:i=:=55yQɮUAQDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd ,-@ZZZZO@:<) i9)I򶉢iiU?Q]D'ԁ E  E E E "E ';*E :VE ZE a% @a% @a% @a- @D1,UL?AYByI9iMb@Mb@Mb@ 9~jtX9v/$YDyEAA zA)` AY AbD VDf2yĻ%==ٔQ->9Y=FyE>Q 555H?Q 955ka)MBY^>Q E;y@Q I @i8DI:i:55yɮA=DNOT Ignoring new targets: 30.15 m.hAhA*hA"hA hAgAfAfIfM_BdIdIjdQZdU .@Zu^>Zu^>Zu@Zu+@)  ׾i 9)顭ii@% 7,sL?A:t@:k@:Xr<ٱ:W BAHRS rotation from veh to nav: [[-0.619244,0.784725,0.027270],[-0.784876,-0.617620,-0.050152],[-0.022514,-0.052460,0.998369]]:H@w??@@` ܪ?i:t@I:^;8Y^sBybIIf=)f=bDjVDjNyv%v^=ٔvQ-z>9xYx=zFyx~?;E~>Q 5 55y?Q 9 55`)KBY y @Q I@l8DIK:i:55yɮ_AEDNOT Ignoring new targets: 30.15 m.hAhI*hI"hI hIgIfIfQfQdQdQjdYZd]o.@ZyZyZyZ}@Xr<) Fit9)顕ii?EiߙIߙ9 =,7OL?A2t@2q@2Ѷ<ٱ2 :V :AHRS rotation from veh to nav: [[-0.618687,0.785164,0.027275],[-0.785320,-0.617079,-0.049856],[-0.022315,-0.052265,0.998384]]2HI ?@?@X! ٖlª?i2t@I2&@^;2CYvjByvIxz=iuMb@Mb@Mb@qqqq q9uy&1?+η9Y=Fy:E>Q 5551?Q 955(`)DBY"=Q Eԡ D,*M?A2Ct@2s@2<޳<ٱ2U :AHRS rotation from veh to nav: [[-0.618471,0.785330,0.027400],[-0.785501,-0.616880,-0.049479],[-0.021955,-0.052124,0.998399]]2Hk!??"@zMU Q{?i2Ct@I2];0YF`ByFIbDNVDNyV^%V[=ٔV|Q-Z>9XYX=ZFyX^E:E^>`Q 5f55bQ?Q 9f55b_)b>BYdyfU0@Q Ij@bq8DIb:ib:b55ylɮnAlDNOT Ignoring new targets: 30.15 m.hh *h "h  h g f ffddjdZd/0@ZZZZU0@<޳<) i9)~eii?9BqBqBuIBumBBqBqBuDBuw;Bu0EE EE(E"EP;*E;:VEc44ZEBE9 Y = Fy :E>Q 5%55?Q 9%55c_)7BY!y%_0@Q I%@t8DI/;i:55y1ɮ5<A1]DNOT Ignoring new targets: 30.15 m.hYhY*ha"ha hagafafifididijdiZdu/0@Z Z Z Z _0@<) i9)顥ii@FtR,+KJM?A2t@21w@2v<ٱ2SV >AHRS rotation from veh to nav: [[-0.618170,0.785544,0.028032],[-0.785759,-0.616592,-0.048957],[-0.021173,-0.052290,0.998407]]2H -#?@|?$@h`Ū ?i2t@I2zc];2CYFLByFILNAiMb@Mb@Mb@ 9)\(?~jt{GzYGa=yD#A zA) AYf AbDVDy7%-=ٔ jQ->9Y=FyoE> Q 5557?Q 955_).BYz=Q EQ I@v8DIi:i:55y)ɮ-A)UDNOT Ignoring new targets: 30.15 m.hQhQ*hY"hY hYgYfYfafeBddjdZd1@ZMz=ZMz=ZM@ZMg9S@v<) 3i 9)顅Dⴉii?ԉ X, dM?A2t@2r@2W<ٱ2uzV :AHRS rotation from veh to nav: [[-0.618669,0.785138,0.028417],[-0.785383,-0.617107,-0.048507],[-0.020548,-0.052328,0.998419]]2H #?@V?!Vը ʪ ?i2t@I2o];2CYFMByFIbDNVDN:yV՜;%Vc=ٔZcQ-Z>9XYX=ZFyX^EE^>`Q 5f55b?Q 9f55b_)b'BYdyj>Q Ij@bx8DIbp:ibF:b55ylɮnxAlBAB >B B IB NBB  =B B B kw;B 0E-DNOT Ignoring new targets: 30.15 m.h)h)*h)"h) h)g)f1f1f1d1d9bE-FA4jE-?4rE-/E EEE"EO6;*E :VEZEBEF k^,k}M?A2ot@2l@2w<ٱ2>W :AHRS rotation from veh to nav: [[-0.619256,0.784659,0.028869],[-0.784936,-0.617703,-0.048155],[-0.019953,-0.052481,0.998423]]2H`@?ȏ?18ӧn@ު?i2ot@I29AYA=EFyAEEM>IQ 5U55Mퟒ?Q 9]55M.`)MBY]=Q E]e,M?A2t@2]`@2JW<ٱ2V :AHRS rotation from veh to nav: [[-0.620382,0.783755,0.029231],[-0.784065,-0.618853,-0.047585],[-0.019205,-0.052440,0.998439]]2H+??]`u٪ 7?i2t@I2];2CԉYUByI>=@A@AbDVDNym;%,=ٔκQ->9Y=FyDE>Q 555?Q 955`)BYyQ I@|8DId:i[:55yɮ<ADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd )\2@Z!Z!Z!Z%au@=JW<)9 =i=$9)9E-AiAiE@IM[Hom, [M?A,5Ÿt@53W@5S̘<ٱ5W EAHRS rotation from veh to nav: [[-0.621265,0.783039,0.029645],[-0.783378,-0.619744,-0.047282],[-0.018651,-0.052598,0.998442]]5Hh`?C[?@oK5A;?i5Ÿt@I5^;5C q)u=lAuqqy}flAi}+IyyIҁi҅lA ҅9с)ҁ҉ Ӎ(lAҍҕVFґӑӕpAIӑ)ӑiӑ)ԙIԝ$lAӝә ԙԡԡԥ9iԡԩiթխ&@)թ թIթYYYByIiEMb@Mb@Mb@AAAA A9EʡE?~jtYE=yEEEAE~A EA)E AAYE AbD]VD]0ymNJ<%m =ٔuRQ-u>9qYq=uFyq}E}>ԁQ 555?Q 955a)BYm=Q E') >Աm9@i @i@i@iE EE(E"E%;*E:VEc44ZEa@a@a@a@ ^A }<I I O >Qt,M?A2]t@2H@2<ٱ2UW :AHRS rotation from veh to nav: [[-0.622678,0.781905,0.029941],[-0.782271,-0.621176,-0.046826],[-0.018015,-0.052580,0.998454]]2H`^??@] nr몿@V?i2]t@I2[^;2C\Y}qBy}IbDVDy >%n=ٔ Q-?9Y=FyUE?Q 555?Q 955b)BYydQ I@8DI;i<;%55yɮVADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffdd jd Zd /3@Z)Z)Z)Z-݀@=<)A EdiE9)AEAiAiM@IUHz,'M?AD׆t@<>@{0<ٱsX 5AHRS rotation from veh to nav: [[-0.623662,0.781106,0.030322],[-0.781496,-0.622161,-0.046685],[-0.017600,-0.052812,0.998449]]H` ? ?` 秿`3 L?i׆t@I2^;CY{ByIbDVD0y d2=% ;=ٔ xQ->9Y=Fy <E>!Q 5-55%Q?Q 9-55%b)% BY)y-yQ I5@%8DI%d:i%:%55y9ɮ=A9eDNOT Ignoring new targets: 30.15 m.hahi*hi"hi higififqfqdqdqjdyZd}g3@ZZZZҀ@e{0<)i mPyim9)imiiiiu?qu4, N?AFnt@F=2@F7<ٱFPY RAHRS rotation from veh to nav: [[-0.624811,0.780172,0.030721],[-0.780589,-0.623314,-0.046482],[-0.017116,-0.053023,0.998447]]FHs*?6u?1̧ņ%@F?iFnt@IFc^;FCYbBybIiMb@Mb@Mb@ 9Mb?:vY=yTA )3 AY AbDVDfy Ԡ=% /=ٔ؇Q->9Y=Fy3ME>)!Q 5555%W?Q 9555%Qc)!Y5=Q E5Ki>ԁY @Y  @Y @Y @Y ԩ BQ BQ BU IBU IBBQ BQ BQ BU w;BU 0E^A oM<I I O >#,{'N?AE> E>E<E<"E>O6;*E>I:VE<ZE<BE>FF((%E@=ٔMQ-M>9QYQ=UFyQUGE]>YQ 5e55]?Q 9e55]c)YYiymQ Im@]8DI](@,AEN?A2E=t@2s@22<ٱ2cqY JAHRS rotation from veh to nav: [[-0.627172,0.778275,0.030719],[-0.778697,-0.625678,-0.046452],[-0.016932,-0.053054,0.998448]]2H?@t?ȧV)`I?i2E=t@I2A];2CYRByR\IV=V=i-Mb@Mb@Mb@)))) )9-L7A`?Q{Gz?Y-+=y-u-ף<-A) ))- A)Y)bDEVDEyU=%U2=ٔU9Q-]>9YYY=]FyYe&Ee>iQ 5u55m?Q 9u55mc)mBYu=Q Eu:@Q I}@m8DIm:imf:m55yɮADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffKBddjdZd4@E EE(E"E9;*EVEc44ZEa@a@a@a@Z=Z=Z/@Zp>@2<) =i9)jii@0N_,^N?A 2;t@2@20<ٱ2Z >AHRS rotation from veh to nav: [[-0.627236,0.778222,0.030765],[-0.778643,-0.625733,-0.046622],[-0.017031,-0.053198,0.998439]]2HP0?〟? @@ާp<5?i2;t@I2];2CYFրByFwIbDRVDRJyV=%VW=ٔZ9Q-Z>9XYX=^Fy\^ifEb>`Q 5f55bЏ?Q 9f55bc)bBYhyj>@Q Ij@b8DIbN:ib:b55y]Bɮ]AYDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd5_5@ZZZZ>@0<) BBIBrBB =BBBw;B 1E9@ @@4@E  E E ,E "E 8;*E :VE g4ZE BE ׏ J,xN?AP5It@5@5<ٱ5mZ AHRS rotation from veh to nav: [[-0.626584,0.778747,0.030742],[-0.779161,-0.625064,-0.046943],[-0.017341,-0.053367,0.998424]]5H ?z?  R?i5It@I5:];5CYByIi-Mb@Mb@Mb@)))) )9-Mbp?v/:v?Y-;y-x齙-<-A) ))- A)Y- AbDEVDEyU=%U2=ٔU0:Q-]>9YYY=]FyYe:Ee>iQ 5u55mR?Q 9u55mb)mBY}=Q E};y}N @Q I}@m8DIm;im ;m55yɮADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZdo5@Z=Z=Z6@ZN @<) ףi9)ii@Z;,N?A2\t@27)@2N<ٱ2Z :AHRS rotation from veh to nav: [[-0.625664,0.779498,0.030456],[-0.779892,-0.624140,-0.047090],[-0.017698,-0.053215,0.998426]]2Hp?/? @&K >?i2\t@I2 H];2CYBByFIJAJA N4%ZC=ٔZ_:Q-Z>9\Y\=^Fy\^7;Eb>`Q 5f55b?Q 9j55bb)b!BYhyjc @Q Ij@b8DIb;ib;b55ylɮnApDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd@?6@ZZZZjc @N<) ip9)ii?jBCB:IBBB =BBBw;B0E%9@! @!@%o0@!i PExceeded connect timeout, disconnecting.D) zD) bE(N4jEmF4rE١/E5  E5 :E5 'E1 "E5 9;*E5 $ ;VE5 '4ZE1 BE5 h@˫,wN?A2t@2<@2Ǔ<ٱ2SV :AHRS rotation from veh to nav: [[-0.623813,0.781008,0.029733],[-0.781365,-0.622317,-0.046788],[-0.018039,-0.052419,0.998462]]2HF@?8r? `x@֪ g?i2t@I2];2CYBByBIbDNVDN:yVڸ=%VG=ٔV`Y:Q-Z>9XYX=ZFyX^^;E^>`Q 5f55b?Q 9f55bGa)b(BYdyf @Q Ij@b8DIbL;ib;b]55ylɮnAlDNOT Ignoring new targets: 30.15 m.hh*h "h  h g f ffddjdZd@!6@ZZZZa @Ǔ<) 8ki9)pii@m6ԩ E  E E )E "E ,K;*E :VE FA4ZE a @a @a @a @t,2N?Az5t@zZ@zy<ٱz*^T AHRS rotation from veh to nav: [[-0.620913,0.783334,0.029229],[-0.783664,-0.619437,-0.046561],[-0.018368,-0.051816,0.998488]]zH@?@? m֧ Β?iz5t@Iz~];zCY%"By%II-4<)-9!Y!=%Fy!%<E->)Q 5555-$?Q 9=55-_)-0BY=7>Q E=;y= @Q I=@-8DI-T ;i- ;-I55yIɮMAIuDNOT Ignoring new targets: 30.15 m.hqhq*hy"hy hygyfyffBddjdZd 7@ԑZ7>Z7>Z@Z @y<) i9)5ii? ָ,N?A2u@2&}@2\t<ٱ2Q :AHRS rotation from veh to nav: [[-0.617629,0.785946,0.028685],[-0.786247,-0.616174,-0.046321],[-0.018731,-0.051162,0.998515]]2H y&?_?(ಷ`eB.1 ?i2u@I2];2CY^/By^If=fp=bDjVDjJ2yrʌ=%r`=ٔrʂ:Q-v>9tYt=vFytz;<Ez>|Q 555~?Q 955~8^)~7BYy6 @Q I @~8DI~?;i~:~x55yɮWABE>BABEIBE܀BBE =BABABEgw;BE0EB B B B =B =C 5eDNOT Ignoring new targets: 30.15 m.haha*ha"hi higifififqdqdqjdqZd}@v7@ZZZZ6 @\t<) 䑾i9)页Uii@M,N?A2Yu@2@2W<ٱ2kP >AHRS rotation from veh to nav: [[-0.613529,0.789156,0.028546],[-0.789443,-0.612078,-0.046266],[-0.019038,-0.050921,0.998521]]2H@?H;?C $ ~T?i2Yu@I2|^];0YF0ByFIiUMb@Mb@Mb@QQQQ Q9U)\((\ȿMb?YUGayUGU9Y=FyH<E>Q 555z?Q 955g\);BYO>Q E;y< @Q I@8DI:i:/55yɮGADNOT Ignoring new targets: 30.15 m.hh*h"h hgfff߁BddjdZdQ7@Z O>Z O>Z @Z R< @%W<)! %i%9))-ŗ)i)i5?15J,~O?A2u@2ҁ@2ĝ<ٱ2pO >AHRS rotation from veh to nav: [[-0.609369,0.792378,0.028412],[-0.792653,-0.607927,-0.046102],[-0.019258,-0.050614,0.998533]]2H` )[?@?j]#t@G ꩿ?i2u@I2L];2CYF5ByFI HHbDRVDR1yZ4<%ZQ=ٔZa:Q-Z>9\Y\=^Fy\^\<Eb>`Q 5 65bv?Q 9 65bZ)b?BYy @Q I@b8DIb$iB>BBIBBBBBB!w;B0EEM EMEM*EI"EML;*EM&:VEM(N4ZEIBEMݡ9xYx=zFyxzsl<E~>Q 5 65r?Q 9 65Y)CBY y  @Q I @8DI:i:,65yɮ\Ai߹I߹DNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd%@v8@ZAZAZAZE @U<)Q ]i]9)Y]G𴉢YiYie?ae/}=IaIi9U9@Q @Q@U/@Q! ^A= <IQ Ia O} >=,MO?AE EEE"EsH;*EVEZEa@6lv@60@6@ٱ63xO FAHRS rotation from veh to nav: [[-0.600224,0.799316,0.028745],[-0.799592,-0.598776,-0.046043],[-0.019591,-0.050620,0.998526]]6H5@?^o?B`+)`뒧`ꩿ`?i6lv@I6K];6CYN ByNIhi%Mb@Mb@Mb@!!!! !9%!rh&1ʿMbP?Y%ly%P%:%A%A %A)%3 A!Y%G AbD=VD=yM%UB=ٔU 9Q-U>9QYY=]FyY]+X<E]>aQ 5m65e'o?Q 9m65eV)eFBYun>Q Euc;yu?Q Iu@e8DIe? ;ie ;e65y}Bɮ}ArEEDNOT Ignoring new targets: 30.15 m.hAhi*hi"hi higififqfuBdqdqjdyZd}@2!9@Zn>Zn>Z@Z?<) \i 9) ii@&=II! )))&9Y @a  @a @a @a ^A= #=IA IY Y Om >{f,mgO?AB.<A.<B0B0B2IB2BB2 =B0B0B2w;B20EVv@V0_@V{ݟ<ٱVO ^AHRS rotation from veh to nav: [[-0.595693,0.802685,0.029086],[-0.802975,-0.594247,-0.045843],[-0.019514,-0.050664,0.998525]]VH@? ȝ?x@\`?iVv@IVU];TYfByfIIn=)np=bDrVDr0yz'0%zQ=ٔzNQ-~>9|Y|=~Fy|nl<E> Q 565 k?Q 965 wT) IBYy?Q I@ 8DI ;i ; I 65y!ɮ%A!1UDNOT Ignoring new targets: 30.15 m.hQhQ*hQ"hQ hYgYfYfYfadadajdaZde}9@ZZZZʵ?{ݟ<) iH9)顥ii?V9=IIE- E-E-/E)"E-B;*E-:VE-J4ZE)BE-v ~J,q8O?A2#w@2ʌ@2/<ٱ2P :AHRS rotation from veh to nav: [[-0.591218,0.805962,0.029784],[-0.806284,-0.589770,-0.045581],[-0.019171,-0.050962,0.998517]]2HA`p??@d@dV?i2#w@I22];2CYB ByFIJ=J=iuMb@Mb@Mb@qqqq q9u:vSſX9vYuTyu/uuAu~A uMA)u AqYuAbDVDkԙyO%@=ٔRQ->9Y=Fy7V<E>Q 565h?Q 965R)DBY9>Q E;y @Q I@8DIv:i:65yɮTADNOT Ignoring new targets: 30.15 m.hh*h "h  h g f ffBddjdZd9@Z=9>Z=9>Z=Y@Z= @M/<)I UuiU9)QU,QiYi]@Ye]K=IaIa9@ @@/@E EE+E"E9;*EV:VE [4ZEa@a@a@a@^A.=II OL> t,O?A2nw@2-@2~A<ٱ2Q :AHRS rotation from veh to nav: [[-0.587540,0.808618,0.030572],[-0.808985,-0.586105,-0.044992],[-0.018463,-0.051166,0.998519]]2H 2?@3N?3@``& `璿~2 ?i2nw@I2.];2CYBByBIbDNVDNyV%V\=ٔVQ-V>9XYX=ZFyX^!I<E^>`Q 5f65bd?Q 9f65bqQ)b@BYdyf @Q If@b8DIb:ib:bA65ylɮnAlDNOT Ignoring new targets: 30.15 m.hh*h "h  h g f ffddjdZd`K:@ZZZZ @~A<) i9)ii?+Z=II9@ @@@!Be>BaBeIBeBBaBaBaBew;Be0E^A6=IIO>QE EE(E"EmR;*E:VEc44ZEBE9pYp=rFytv&<Ev>xQ 5~65z`?Q 9~65zO)zԁԩ E  E E +E "E 2;*E :VE [4ZE a @a @a @a @,O?AJhw@J@Jև<ٱJ#S RAHRS rotation from veh to nav: [[-0.581038,0.813230,0.032441],[-0.813707,-0.579644,-0.043512],[-0.016581,-0.051679,0.998526]]JH`ݗ?? @q,G@u?iJhw@IJ=];JCYnҀBynrItvAimMb@Mb@Mb@iiii i9mQ롿Zd;/$Ym\ymm,m` AmA mA)mzAiYm\A }<}4<bDVD:yT%@=ٔQ->9Y=Fy<E>Q 565^?Q 965N)4BY>Q E;y}@Q I@8DI ;i ;65yɮADNOT Ignoring new targets: 30.15 m.hh*h"h hgԱfff$BddjdZd@L(;@Z>Z>Z2ۍ@Zz}@և<) #i9)ii%?!%.s=I)I)9@ @@0@ ^AM gW=IQ Ii Ou >A AY AY Be >Ba Be IBe BBe =Ba Ba Be w;Be 0E?,O?A2/x@2R@2{<ٱ2V :AHRS rotation from veh to nav: [[-0.578035,0.815309,0.033869],[-0.815867,-0.576653,-0.042808],[-0.015371,-0.052377,0.998509]]2HC ?:W?@s꥿zѪ`?i2/x@I2I];2CYBByBWIbDNVDNy (޽% Q=ٔJQ->9Y=%Fy!-Q<E->AQ 5U65ET[?Q 9U65EM)E-BYYy]@Q Ie@E8DIEf;iE%g;E65yqɮuAqDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd;@Z!Z!Z!Z%M@bEu·G4jEqrEu0E EGE'E"E<;*E;VE'4ZEBE“iyI}AI ,IP?A02]x@2)@23d<ٱ2vY >AHRS rotation from veh to nav: [[-0.575720,0.816884,0.035304],[-0.817528,-0.574364,-0.041873],[-0.013928,-0.052969,0.998499]]2HLl#?]?0)@1a@[p<@?i2]x@I22];2CY^BybNII`)biMb@Mb@Mb@ 9V-?S㥫A`"Y9Y=Fy;E>Q 565!Y?Q 965M)"BY=Q E#;*EE:VEEF4ZEAaM@aM@aM@aM@Թ^AM@p=IYIiO}> Gi>M Ge liAy 9 liAY ĞA ,W\P?Aɰ2Ƅx@23=@2cI<ٱ2[ :AHRS rotation from veh to nav: [[-0.573781,0.818180,0.036832],[-0.818916,-0.572460,-0.040812],[-0.012307,-0.053579,0.998488]]2H`j\.?ۢ?4 Q@P夿b4n?i2Ƅx@I2]];2C`YbByb3If=f=jAAjAAbDnVDnβyv%vX=ٔvQ-z>9xYx=zFyx~A;E~>Q 5 65 W?Q 9 65M)BY y ?@Q I @8DI:i[:#65yɮAEDNOT Ignoring new targets: 30.15 m.hAhI*hI"hI hIgIfIfQfQdQdQjdQZd]@R<@ZZZZ?@ cI<)  :i 9)ii=@9=U=I9IA9@ @@4@^AS=IIO(>B>BBrIBҀBB =BBBv;B0EBCBCBB =B =Cű?5E EE(E"E[I;*E>:VEc44ZEBE9 Y = Fy ;E>Q 5%65T?Q 9%65kM)BY)y-?@Q I-@8DI-/;i90;'65y1ɮ5A1eDNOT Ignoring new targets: 30.15 m.haha*ha"ha hagifififidqdqjdqZdu<@ZZZZ?@c,<) ?i9)顽?ii?6=IIm9@i @q@u/@qI^AQIaqIyO{>ԡ E  E E ,E "E <;*E A:VE g4ZE a @a @a @a @,PP?A2x@2IW@2X<ٱ2] :AHRS rotation from veh to nav: [[-0.571192,0.819868,0.039442],[-0.820770,-0.569988,-0.038092],[-0.008749,-0.054130,0.998496]]2H4G\y9yYy=FyN;E>Q 565"S?Q 965N)BY=Q E B B B :IB BB =B B B v;B 0E*,iP?A6x@6R[@6Tz;ٱ6]] JAHRS rotation from veh to nav: [[-0.570797,0.820090,0.040536],[-0.821064,-0.569679,-0.036326],[-0.006698,-0.054017,0.998518]]6H`C->?`?@(F`:E=o{ ?i6x@I6o[];6CYZByZ+IdfA j;jbDnVDnyz=%zR=ٔTQ->9 Y=Fy6:E%>!Q 5565%kQ?Q 9565D=D4=E EE&E"E=;*EL:VE4ZEBExj!,NP?A2!x@2]@2;ٱ2] :AHRS rotation from veh to nav: [[-0.570546,0.820204,0.041737],[-0.821251,-0.569502,-0.034846],[-0.004812,-0.054158,0.998521]]2HA??^?G[9Qס:s?i2!x@I2<];2CYFByF%I)iUMb@Mb@Mb@QQQQ Q9U&1?/$?MbYU=yU9Y=FyR5:E>Q 565O?Q 965O)BY=Q E;yQ I@8DI\:i:265yBɮADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZd`3=@Z=Z=ZO>Z8W@;) LiV9)页ѳii@R=IIE EE)E"E*E:VEFA4ZEa@a@a@a@Y@ @@/@ԁ^A =I I O >Ա ',dP?A2x@2]@2=;ٱ2(A^ :AHRS rotation from veh to nav: [[-0.570556,0.820138,0.042892],[-0.821254,-0.569589,-0.033317],[-0.002894,-0.054235,0.998524]]2H A@>?? G:Sgī?i2x@I2*f];0YBByF.IIJ%=)HbDNVDNyV;=%ZY=ٔZQ-Z>9\Y\=^Fy\bEb>`Q 5f65bwN?Q 9j65bP)bBYhyjQ Ij@b8DIbW:ib(:b565yrBɮrArqEDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffԙddjdZdwb>@ZZZZV@5=;)9 =`i=9)9=I䳉9i9iE?AE8=IIIIiBBBIBBBBBBw;B0E@ @@/@ E EE+E"E:;*E:VE [4ZEBE1 *-,P?AY~By~=I = =  @AbDVDy%[h=%%C=ٔ-Q-->9)Y)=-Fy)5E5>9Q 5E65=L?Q 9E65=Q)=BYAyIQ IM@=8DI=:i=:=965yQɮUgAQDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd>@Z!Z!Z!Z!1)9 =mi=9)9=糉9i9iE@AIIIII)X9Y9@ @@/@E  E E .E "E E;*E I:VE ـ4ZE a @a @a @a @y ^A m=I I O >4,P?A2.x@2_@2wٱ2 ` :AHRS rotation from veh to nav: [[-0.570350,0.820153,0.045273],[-0.821402,-0.569514,-0.030868],[0.000467,-0.054793,0.998498]]2HN@>? -?H v9 >? `?i2.x@I23R];0YDyDiMb@Mb@Mb@ 9bX9ȶ?I +?y&1|YE=y9<`E Av@ A)IAYAbD-VD-y%9=ٔ=Q->ԩ9Y=Fy:E>Q 565K?Q 965R)BYM=Q EZ=@Uw)Q ]\i]9)Y]]d|;,,P?A2x@2d@28ٱ2a :AHRS rotation from veh to nav: [[-0.569865,0.820440,0.046173],[-0.821736,-0.569090,-0.029775],[0.001848,-0.054910,0.998490]]2H@V< A? ?@K@5i}G^?`3`?i2x@I2\o];2CYBƀByFcI HHbDNVDN3yV2>%VN=ٔZ3dQ-Z>9XY\=^Fy\^:E^>`Q 5f65bJ?Q 9f65bS)bBY)y5:Q I5@b8DIbf ]B,F Q?A:x@:,j@:=?ٱ:Y_ VAHRS rotation from veh to nav: [[-0.569318,0.820803,0.046471],[-0.822113,-0.568605,-0.028625],[0.002928,-0.054502,0.998509]]:H7@D?˧?N 2`O`Eg?竿?i:x@I:$[];:CYfԀByjuIppԹiMb@Mb@Mb@ 9Q?9Y=Fy$:E> Q 565 I?Q 965 +T) BY|=Q EW9 H,&#Q?A:x@:s@: uٱ:vJ] BAHRS rotation from veh to nav: [[-0.568349,0.821469,0.046559],[-0.822779,-0.567690,-0.027609],[0.003752,-0.053999,0.998534]]:H/yI? ֧?4T*`rE`n?@Х`?i:x@I:];:CY^BybIbDjVDjNyr=*>%r]=ٔrLQ-r>9tYt=vFytzP;Ez>|Q 565~G?Q 965~T)~BYyQ I@~8DI~;i~;~G65yɮA=DNOT Ignoring new targets: 30.15 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU8@@ZqZqZqZu~@ u) BCB-IBBB =BBDBv;B0Eq@y @y@}/@yAbE(N4jE [4rE=1Em EmEm&Ei"Em&U;*Emx:VEm4ZEiBEmiԙ N,=Q?A2y@2ہ@2Vnٱ2U[ :AHRS rotation from veh to nav: [[-0.566936,0.822453,0.046418],[-0.823751,-0.566317,-0.026825],[0.004225,-0.053445,0.998562]]2HV$`Q?ħ?`+\C`x`Mq?#]8?i2y@I2e];0qY ByII-<)-4<bDVDk1y=%=ٔhQ->9Y=FyS;E>Q 5 65E?Q 9 65;U)BYyQ I@8DI:iF:L65yɮLAmDNOT Ignoring new targets: 30.15 m.hihi*hi"hi higifqfqfqdqdyjdyZd}E}@@ԡZZZZ!~@Vn) =i N9)  2 U,XQ?A4<ɰ4<25y@2@2ٱ2Y >AHRS rotation from veh to nav: [[-0.564939,0.823833,0.046288],[-0.825122,-0.564332,-0.026526],[0.004269,-0.053179,0.998576]]2H\??eg @) |q?B:`U?i25y@I2Z];2C @)B5lAF'FMFDHJjlAiJ/ݼIHHIHiH N̼NLF)LL LNļPPPRpAIP)PiP)TIVlAVT XXZ lAZiXXi\^9A)\ \I\Y\Yf(ByfIAiMb@Mb@Mb@ 9{Gz?x&?Yף%c=ٔQ->9Y=Fy;E>Q 565D?Q 9 65 U)BY =Q E 2E  E E *E "E <;*E :VE (N4ZE BE “ey@>ŭ@>㏆ٱ>~AY FAHRS rotation from veh to nav: [[-0.562512,0.825501,0.046140],[-0.826779,-0.561906,-0.026432],[0.004106,-0.053016,0.998585]]>H j? ?t!@p?`$i?i>ey@I> }];>CY=;By=IbDMVDMNy]=%]i=ٔe9Q-e>9aYi=mFyim<Em>qQ 565uB?Q 965uT)uBYy5@Q I@u8DIun9 b,^Q?A>̞y@>6ʃ@>nٱ>X FAHRS rotation from veh to nav: [[-0.559639,0.827468,0.045827],[-0.828728,-0.559021,-0.026557],[0.003643,-0.052840,0.998596]]>Hz? v?@`1`m? `?i>̞y@I>o];9Y=Fy/;E>Q 565'??Q 965S)BY=Q E;y@Q I@8DI;i-;V65yɮ ADNOT Ignoring new targets: 30.15 m.hh*h"h hg f f f wBddjdZd A@Z==Z==Z=@@Z=@Mn)I M\iM 9)QQUi>u9@q @q@u/@q1^A= ȝ=IA IY Y Oe >{i,Q?A 2y@2@29{Hٱ2gX >AHRS rotation from veh to nav: [[-0.556249,0.829764,0.045584],[-0.831010,-0.555610,-0.026836],[0.003059,-0.052809,0.998600]]2Hm?V?@{di? ?i2y@I2];2CYFjByF-IbDjVDjNyrL>%rm=ٔv:Q-v?9tYt=vFytzB<Ez?|Q 565~ >o,Q?A2%z@2 @2ٱ2V :AHRS rotation from veh to nav: [[-0.552790,0.832108,0.044939],[-0.833318,-0.552133,-0.027040],[0.002312,-0.052396,0.998624]]2Ht`?>?`t9XYX=ZFy\^+<E^>`Q 5f65bB:?Q 9f65bR)b BYhyj:@Q Ij@b8DIb:ib:b0]65ylɮnJ Al DNOT Ignoring new targets: 30.15 m.h h *h "h  h g fffddjdZdqA@ZZZZ:@)A E0iE9)AEıEl! (v,^Q?A2stz@2 5@2lٱ2*U :AHRS rotation from veh to nav: [[-0.548788,0.834792,0.044211],[-0.835960,-0.548103,-0.027443],[0.001323,-0.052019,0.998645]]2H ?Ң?0`U?:?i2stz@I2|g];2CYByByB?IIFC=)F=J=J=|iMb@Mb@Mb@ 9㥛 ~jtÿ/$?Yy<` A@ A)AYfAbD-VD-k1y==%EA=ٔE;Q-E>9AYI=MFyIM9<EM>iQ 565m.7?Q 965mfP)mBY.>Q E;y@Q I@m8DImZ.>Zx@Z"@-l)) 5̽i59)155`BBIB8BBBBBv;B0E^A- d=II IY Ou >y E  E E +E "E L;*E VE [4ZE BE 9\Y`=bFy`bO<Eb>dQ 5j65fa4?Q 9j65fN)fBYlynS@Q In@f8DIf;ifw;fAd65yrBɮr~ AvhEDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffd!d!jd!Zd% A@aZqZqZqZuS@ ) i9)額S^8,I R?A2{@2@2$t:ٱ2R :AHRS rotation from veh to nav: [[-0.540525,0.840238,0.042814],[-0.841327,-0.539768,-0.028615],[-0.000934,-0.051488,0.998673]]2HK@:??@'E9M@N\!?i2{@I2Rl];2CYBByBTIimMb@Mb@Mb@iiii i9mS㥻Zd;OǿI +?Ym/ݽymjԹ9Y=Fy :<E>Q 5650?Q 965L)BYZ>Q Ex;ym@Q I@9DI ;i ;h65yɮ> A DNOT Ignoring new targets: 30.15 m.h h*h"h hg)f)f)f5Bd1d1jd1Zd=ZB@ZZ>ZZ>Zυ@Zm@$t:) ԣi9)Zg9 b,-]'R?A2q{@2@2v;ٱ2T :AHRS rotation from veh to nav: [[-0.535802,0.843266,0.042645],[-0.844340,-0.534979,-0.029777],[-0.002296,-0.051962,0.998646]]2HJ%?`ե?@@`} b``?i2q{@I2.];2CYBByBXIHJA Jp9XYX=ZFy\^w<E^>`Q 5f65b-?Q 9f65bJ)bBYhyj@Q Ij@b9DIb:ib:bNk65ynBɮn AngEDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdAB@)B}>B}CB}'IB}fBByByB}DB}v;B}0EZZZZW@v;) Xi9) 仳 .zԙ yJ,\8AR?AYByGIbD5VD5yE҃%EA=ٔEQ-E>9IYI=MFyIMEU>QQ 5]65Uc*?Q 9e65UH)U"BYayaQ Ie@U9DIU;iU;Un65yiɮm AqDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd}tB@ZZZZ) нiN9)E E EE"EC;*E:VEZEa@a@a@a@ t,[R?A2|@2(@2ޝ;ٱ2W :AHRS rotation from veh to nav: [[-0.527266,0.848650,0.042238],[-0.849686,-0.526324,-0.031873],[-0.004818,-0.052695,0.998599]]2H] #(?`>?`0 Q`ػs?i2|@I2t];2CYBvByB;IiuMb@Mb@Mb@qqqq q9uʡE ףp= ǿy&1|Yu-yuQ8u`quA q)qqYu=AbDVDy7%E=ٔ;Q->9Y=Fy<E>Q 565&?Q 965F)YL>Q E;y@Q I@9DI2 ;iX ;r65yɮ ADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjd Zd B@Z=L>Z=L>Z=c@Z=@Mޝ;)Q UPi9)B >B CB @IB zBB =B B DB v;B 0EbEMʷG4jEMKJ4rEM5/E & E E E "E 8^;*E 1:VE ZE BE 9lYl=nFylrvU<Er>tQ 5v65v/#?Q 9z65vLE)v#BYxyz @Q Iz@v9DIv;ivL;vu65yɮ) ADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdB@Z)Z)Z)Z-= @]X;)Y ]li]+9)ae ,ei>)!@! @!@-I1@)@1@1^A#=I I!O-->Qԉ V,ȎR?Aɰ02|@2Q@2*;ٱ2X >AHRS rotation from veh to nav: [[-0.519465,0.853492,0.041329],[-0.854462,-0.518433,-0.033494],[-0.007161,-0.052713,0.998584]]2H t@O?@)?W-&T}Af?i2|@I2];2CYblByb/IiMMb@Mb@Mb@IIII I9M㥛 Sÿ rhYMyMMCIM@ I)IIYMAbDeVDeNyu<%u>=ٔu-*;Q-u>E E*E(E"E>T;*E;VEc44ZEa@a@a@a@91Y9==Fy9=<E=>AQ 5M65E?Q 9M65ECQ =UtI)E!BYU,>Q EU;yU_ @Q IU@E9DIE;iEc;Ey65yaɮe AaDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZd@C@Z,>Z,>Zb@Z_ @*;) \i9)>að,R?A6|@6p@6V<ٱ6zX VAHRS rotation from veh to nav: [[-0.516158,0.855510,0.041034],[-0.856456,-0.515095,-0.034057],[-0.008000,-0.052723,0.998577]]6H\V`?@p?h@{@o@?bX?i6|@I6];6C`Yf]ByfIbDzVDzk1y *% Q=ٔn ;Q->9Y!=%Fy!-+<E->9Q 5E65=?Q 9M65=CB)=BYIyM @Q IU@=!9DI=B;i=~C;=}65yaɮe AaDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdCC@ZZZZ @V<) l̽iZ9)3XA ,4R?AJF}@J1@Jp|<ٱJxX ^AHRS rotation from veh to nav: [[-0.511391,0.858386,0.040661],[-0.859297,-0.510272,-0.035085],[-0.009368,-0.052882,0.998557]]JH P]w?Ѥ? ]`%T@{/d`-?iJF}@IJ/];JCYfKByfI hh n;nbDrVDrJyz,%zL=ٔz`;Q-~>9|Y|=~Fyc<E> Q 565 ?Q 965 @) BYy @Q I@ %9DI :i !.; 65y)ɮ- A)UDNOT Ignoring new targets: 30.15 m.hQhQ*hQ"hQ hQgYfYfafadadajdaZdm`uC@ZZZZ @p|<) i9)顥?yIIq@y @y@/@Qq^A=IIO>E+ E)E,E"Eb;*E0;VEg4ZEԡ ¶,F[R?AF;h}@F@F>"<ٱFZ NAHRS rotation from veh to nav: [[-0.509631,0.859427,0.040752],[-0.860336,-0.508480,-0.035633],[-0.009902,-0.053221,0.998534]]FH@Nm? ݤ?@߇xE>G??iF;h}@IF];FCYVBByVIiuMb@Mb@Mb@qyqqq q9uMbCl绿Yuyu;߽u̼u Aq u A)qqYuAbDVD1y*%@=ٔ;:Q->9Y=Fy ;E>Q 565?Q 965?)BY8=Q E;y@Q I@(9DI:i:J65yɮg ADNOT Ignoring new targets: 30.15 m.hh*h"h hgf f f HBd djdZd mC@ZE8=ZE8=ZE@ZE@U>"<)Y ]i]9)Y]YiYie?am>IiIi-9@) @)@)@)ԩ^Aɯ=II!O-->AABM >BI BM IBM BBBI BI BI BM v;BM 0EBCBCBB =BCZ*5D D E 3 E (E *E "E j;*E ;VE (N4ZE BE 9xYx=~Fy|~z;E~>Q 5 65e?Q 9 65?)BYy@Q I@+9DI:i9:65yɮA!MDNOT Ignoring new targets: 30.15 m.hIhI*hI"hI hIgIfQfQfQdQdYjdYZd]%C@ZZZZ*@ 1a(<) Bih9)5B1i1i=@9E>IAIA9@ @@/@^A=II11OE>Y ,S?AJ}@JŅ@J+<ٱJ] RAHRS rotation from veh to nav: [[-0.507296,0.860779,0.041369],[-0.861708,-0.506089,-0.036508],[-0.010488,-0.054169,0.998477]]JH`;`?a.? 1`% z`?iJ}@IJ];JCYZ$By^IIb<)bpiEMb@Mb@Mb@AAAA A9EI +?L7A`尿S㥛YE949qYq=uFyy}cC;E}>Q 565%?Q 965>)BYē=Q E7III ) fA9@ @@@aԑ^A=II O >Թ ,*S?A(ɰ(V`}@V˅@VEe/<ٱV%#_ zAHRS rotation from veh to nav: [[-0.506623,0.861167,0.041528],[-0.862101,-0.505398,-0.036803],[-0.010705,-0.054447,0.998459]]VH`B6?3C?T 9,ע 셿t૿`?iV`}@IVz];VCYByIbD%VD%ky5%=M=ٔ=:Q-=>9AYA=EFyAM:EM>YQ 5e65]?Q 9m65]z>)] BYiym/1@Q Im@]/9DI]D;i]OF;]Ȏ65yyɮADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdGD@Z1Z1Z1Z5K/1@ԉBBBIBBB =BBBv;B}0EEe/<) `i%9)!-ـ)i)i5@15Z>I1I1E, E*EE"Ec;*E;VEZEBEt ,CS?AY~ By~IbD VD k2y=_%=K=ٔ=Q-E>9AYA=EFyAMEM>QQ 5U65U ?Q 9]65U7>)UBYYyYQ I]@U09DIU@;iU;UJ65ymBɮmAmfEDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd@yD@ZZZZ) .i|9)ײii?b>IIy@ @@5@^AE* EE*E"Ea;*EZ:VE(N4ZEa@a@a@a@II O>Q _,?]S?A2}@2ȅ@2J{(<ٱ2{^ >AHRS rotation from veh to nav: [[-0.506932,0.860982,0.041591],[-0.861925,-0.505730,-0.036374],[-0.010283,-0.054288,0.998472]]2H@8@*?xK? `.`P˫`|?i2}@I2Ep];0YDyDiMb@Mb@Mb@ 9I +?:vY94=y̼Լ A ~A)YzAbD5VD51ٔEQ-E>9IYI=MFyIMeEU>YQ 5]65]R ?Q 9e65]z>)]BYe i=Q EeiI!I!Iep>ie>9@ @@4@@l>@>yB<A4=B>BBIBBB =BBBv;Bz0E^A ط=I I) O5 >ԡ E  E E E "E V;*E A:VE ZE BE 9`Y`=bFy`fEf>hQ 5n65j ?Q 9n65j>)jBYlynL)Q Ir@j39DIj;ij;j565ytɮvkAtDNOT Ignoring new targets: 30.15 m.hh*h"h hgf!f!f!d!d)jd)Zd-D@ZIZIZIZMh@e'M&<)a eie9)aeaiiim?qu>IqIqԩ_959@1 @1@52@1 ^AU =Ia Iq O >69,S?A2}@2Ņ@2L'<ٱ2H\ :AHRS rotation from veh to nav: [[-0.507297,0.860786,0.041187],[-0.861710,-0.506114,-0.036099],[-0.010228,-0.053804,0.998499]]2H@;??!2{q B`?i2}@I2AA];0YBByBIXiUMb@Mb@Mb@QQQQ Q9US㥫?I +QYU/]=yU94UuU AU3@ Q)QQYUAEu EuEu(Eq"EuQ;*Eu:VEuc44ZEqa}@a}@a}@a}@bD VD2yr%;=ٔ;9Q->9Y=Fy7E>Q 565z ?Q 9650?)BYi=Q EhIIq@q @q@u/@y^A I I O >1 ^,{S?A>}@>)ą@>'<ٱ> \ JAHRS rotation from veh to nav: [[-0.507398,0.860732,0.041078],[-0.861651,-0.506218,-0.036066],[-0.010248,-0.053695,0.998505]]>H< ?6? 2`0w }`?i>}@I>[];9xY|=~Fy|ᠹE> Q 5%65 E?Q 9%65 ?) BY!y-bQ I-@ 69DI l;i n; ^65B>BBIBBBBBBv;Bs0EyɮAUDNOT Ignoring new targets: 30.15 m.hQhQ*hY"hY hYgYfYfafadadajdaZdm@LE@ZZZZ}@'<) ]=iP9)2ii ?)->I1I1ADzDAAbEęT4jEU4rE7/E$ EE+E"Eg\;*E:VE [4ZEBE/ԙ E,US?A2}@2…@2*(<ٱ2\ :AHRS rotation from veh to nav: [[-0.507615,0.860607,0.041026],[-0.861522,-0.506433,-0.036126],[-0.010313,-0.053683,0.998505]]2H a>@?@g? 4V|@?i2}@I2];2CY^By^IbDjVDj1yr<%rK=ٔry(9Q-r>9tYt=vFytvX$Ez>xQ 5~65z?Q 965z@)zBYyfQ I@z79DIzH;iz";z65y ɮ{A=DNOT Ignoring new targets: 30.15 m.h9h9*h9"h9 hAgAfAfAfAdIdIjdIZdM`({E@ZqZqZqZu߸}@y*(<) 8=i9)額=73iiU@Y]h>IaIiM9@I @Q@U/@YԩEG E'E,E"E&|;*E";VEg4ZEa@a@a@a@}؀GliA^A=II xX9 liAY aEAO > n,,S?AYrByrIimMb@Mb@Mb@iiii i9m/$?y&1|Ym,=ymm`im`@ mA)iiYmAbDVDk1yp=%@=ٔQ->9Y=FyE>Q 565:?Q 965l@)BYg.=Q EIAII@ @@@ AyAyBBBBBBBBv;Bg0E1^A- ط=I1 II OU >E  E E (E "E G;*E &:VE c44ZE BE )9XYX=^Fy\~׹E~>Q 5 65?Q 9 65@)BYy2Q I@:9DIW:i-:65yɮ,AmDNOT Ignoring new targets: 30.15 m.hihi*hi"hi higifqfqfqdqdjdZd E@ZZZZv@ q#*<) [=1imZ9)q顅3ii@M>II I)I)gA9@ @@[0@aԑ^A=II O% >Թ Z,PT?A2}@2@2+<ٱ29Y=FynE>Q 565R?Q 965=A)BYT=Q EIIm9@i @i@m4@i^AIIO> ,,T?AN}@NK@N+.<ٱN1^ ZAHRS rotation from veh to nav: [[-0.508328,0.860170,0.041360],[-0.861098,-0.507110,-0.036742],[-0.010630,-0.054292,0.998469]]NH:D@?-?`?:Ϣ`Ņ̫@t?iN}@IN;];LYj ByjIbDvVDvyk=%Y=ٔ ":Q- >9Y=FyB!B!B%IB%BB!B!B!B%3v;B%90EB9B9B9B= =B= =C=\4EN>EE>IQ 5M65MB?Q 9U65MA)MBYQyUQ IU@M<9DIM#;iMr;M65yaɮegAaDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd]KF@ZZZZu@E+.<)A E=iMC9)IM3IiIi]@Y]>IaIa@ @@4@Eu= Eu%Eu)Eq"Eus;*Eu;VEuFA4ZEqBEuI ,FT?A2x}@2@2'0<ٱ2p]^ >AHRS rotation from veh to nav: [[-0.508769,0.859915,0.041237],[-0.860836,-0.507545,-0.036874],[-0.010779,-0.054259,0.998469]]2HG@l?? ='ᢿHǫt?i2x}@I25];2CYF9ByFIIJp<)Jp;jAAhbDn VDn2yvJ=%vL=ٔzn9Q-z>9xYx=~Fy|~E>Q 5 65)?Q 9 65 B)BYyQ I@>9DIK:i:65yɮ A!MDNOT Ignoring new targets: 30.15 m.hIhI*hI"hI hIgQfQfQfQdYdYjdYZd]}F@ZZZZC@'0<) >i9)顽ii?~I>IIQU9@Q @Y@]/@Yy^Au=E EE'E"E[I;*EVE'4ZEa@a@a@a@IIO>ԩ ܼ,Tt`T?A;ɰ;2l}@2F@2}0<ٱ2C^ >AHRS rotation from veh to nav: [[-0.509381,0.859555,0.041193],[-0.860474,-0.508157,-0.036885],[-0.010772,-0.054234,0.998470]]2H`L y?F?B⢿īw?i2l}@I2P];@0YJCByJIi]Mb@Mb@Mb@YYYY Y9]?{Gz~jth?Y]9Y=Fy)ܺE>Q 565?Q 965.B)BY=Q EI9IAԩ9@ @@@B<A<B%>B!B%IB%BB% =B!B!B%u;B%0E^AIIO%> D =D E  E E )E "E W;*E :VE FA4ZE BE D^ :AHRS rotation from veh to nav: [[-0.509822,0.859298,0.041093],[-0.860210,-0.508593,-0.037034],[-0.010924,-0.054229,0.998469]]2HwP^? ?׆dF"8_ët?i2~d}@I2C];2CYRRByRIbDZVDZN2yba=%bX=ٔb9Q-f>9dYd=fFydjڱEj>llQ 5r65n%?Q 9r65nKB)nBYtyv1Q Iv@n?9DIn+;in,;n65yxɮz A|%DNOT Ignoring new targets: 30.15 m.h!h!*h!"h! h!g)f)f)f)d1d1jd1Zd5`F@ZQZQZQZU`@m2<)i m>im9)quYk3qiqi?uF>II 9!9@ @@@i ^A ط=I I O >$,)T?A:]}@:@:PU6<ٱ:*o^ FAHRS rotation from veh to nav: [[-0.510181,0.859089,0.041013],[-0.859995,-0.508941,-0.037251],[-0.011129,-0.054275,0.998464]]:HfS}?? >I ʆɫj?i:]}@I:uk];:CYNgByN)I PPTVAi-Mb@Mb@Mb@)))) )9-Mb? ףp= {Gzt?Y-9qYq=uFyq}E}>Q 565y?Q 9651B)BYD=Q EIIi9ԙ9@ @@@ ^Au =I I O >t%+,@T?AB6>B4B6IB6BBB4B4B4B6u;B6/EAYEvByE;IbD]VD]1ymf=%uD=ٔuQ-u>9qYy=}FyyE>Q 565?Q 965B)BYyQ I@B9DI:i[:65yɮ ADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdTG@ZZZZ))) -=i-r9)15 31i1i=?9=]>I9IADzDE* E#E+E"Ea;*E;VE [4ZEBEp2,T?A8FK}@F@F8<ٱFU=_ NAHRS rotation from veh to nav: [[-0.511124,0.858526,0.041058],[-0.859433,-0.509869,-0.037535],[-0.011290,-0.054471,0.998452]]FH [` y??yP`7 c㫿P?iFK}@IFfO];FCԩYByTIiMMb@Mb@Mb@IIII I9MMb`ktI +?YMyM M949yY=FyE>Q 565W?Q 965jA)BY=Q EIIg9I )  9@  @ @ @ @ @ i1 I5 A1 ^A I I O>v9,֎T?AjA}@j@j'9<ٱj^ AHRS rotation from veh to nav: [[-0.511645,0.858220,0.040961],[-0.859122,-0.510390,-0.037564],[-0.011332,-0.054410,0.998454]]jH f_@v??}@U@;`d5@۫V?ijA}@Ij;R];jC A)MAlAMIIQUflAiUIQYIYielA e) $lA`弉I ) i )I lAļ (lA̼iAiIM=A)I IIIYQYByeIbDVDy=%[=ٔ^8Q->9Y=FybԺE>Q 565BBB.IBkBBBBBNu;B/E ?Q 965@)BYyQ%@Q I@G9DIIIiy9E9@A @A@E/@AD=D<bEjE(N4rEƲ/E+ EEE"Eb;*E:VEZEBE@,>U?A4<ɰp;B2}@BF@B_)8<ٱBѥ^ JAHRS rotation from veh to nav: [[-0.512421,0.857760,0.040903],[-0.858661,-0.511172,-0.037480],[-0.011240,-0.054327,0.998460]]BH@er?9iYi=uFyqu&Eu>yQ 565}?Q 965}@)}BYyB%@Q I@}I9DI}:i}:}I65yɮ" ADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd`'G@ZZZZ@B%@_)8<) >i9)顭?4ii@l=IIug9 9@  @ @ @ I y y G hA1 e ]9e hAYe IAy w? aAE % E 1E E "E O];*E f;VE ZE a @a @a @a @y ^A ط=I I O% >G,!U?A2#}@2@2"'8<ٱ2I] :AHRS rotation from veh to nav: [[-0.513227,0.857290,0.040639],[-0.858179,-0.511987,-0.037381],[-0.011240,-0.054060,0.998474]]2H`[ln?Τ?@4v3b@#?i2#}@I2d];0Y%By-IiMb@Mb@Mb@ 9 rhCl绿Mb?YC y;߽<  A)AYQAbD VD ky/?=%4=ٔQ->9!Y!=%Fy!-E->)Q 5565-?Q 9=65-?)-BY==Q E=;y=-@Q I=@-L9DI- ;i-C ;-@65yIɮM AIuDNOT Ignoring new targets: 30.15 m.hqhq*hq"hy hygyԁfyffBddjdZdU1H@Z=Z=Z@Zm-@"'8<) i>B>BB`IBBBBBBTu;B/E 9@  @ @ @ @% C>@% 4> E & E E ,E "E 8^;*E j:VE g4ZE BE M,9U?A2}@2D@27<ٱ2@^ :AHRS rotation from veh to nav: [[-0.513784,0.856951,0.040761],[-0.857847,-0.512542,-0.037414],[-0.011170,-0.054190,0.998468]]2H p#l?ޤ?@{sf@'?@s?i2}@I2T];2CYBȁByFIbDRVDR1yj>=%jN=ٔj7Q-j>9lYl=nFylnպEr>pQ 5 65r~?Q 965r>)rBYy"@Q I@rO9DIr;ir;r65yBɮ% A%eEDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdeH@ZZZZ|"@7<) =i9)%!i!ie@im&=IiIi91@1 @1@54@1iqIuA!^AY Ii Iy O >Q T,SU?A<<t }@@7<ٱ] AHRS rotation from veh to nav: [[-0.514488,0.856532,0.040685],[-0.857425,-0.513247,-0.037421],[-0.011171,-0.054137,0.998471]]Hv`h?Ԥ?p l(շy?it }@IyQ];CYƁByI)i=Mb@Mb@Mb@9999 99=Qx&9iYi=uFyquEu>yQ 565}O쑊?Q 965}:=)} BYx>Q E;yo @Q I@}S9DI}*;i}*;}65yɮ AEE E'E+E"EVz;*E";VE [4ZEa@a@a@a@DNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZdH@Zx>Zx>Z#S@Z o @-7<)1 5أ=i59)1521i1i=?9e =IaIa=9a@ @@4@ԉ^A =I I! O= >Ա Z,rmU?AF}@F}@F?*9<ٱF*?^ VAHRS rotation from veh to nav: [[-0.514846,0.856317,0.040682],[-0.857208,-0.513595,-0.037597],[-0.011301,-0.054229,0.998465]]FHy f?6Ԥ?@n`_o@?'%ël?iF}@IF_];FCYbہBybIIf4=)f=bDjVDjyr =%rf=ٔv@9Q-v>9tYx=zFyxz}Ez>|Q 565~鑊?Q 965~<)~BY y h @Q I @~W9DI~:i~:~65yɮ|AEDNOT Ignoring new targets: 30.15 m.hAhA*hA"hA hAgIfIfIfIdQdQB]<AYBe>BeCBeIBeBBe =BaBeDBeu;Be/EB!B!B!B% =B% =C%5jdQZdBH@Z1Z1Z1Z5h @E?*9<)I M$=iM9)IMIiIiu@y}=IyIyԙm9q!@! @!@%/@!@)@)ԹE% E%>E%(E!"E%,K;*E%?;VE%c44ZE!BE%L a,_U?A6}@6|@6Գ9<ٱ6_ BAHRS rotation from veh to nav: [[-0.514951,0.856240,0.040958],[-0.857145,-0.513686,-0.037809],[-0.011334,-0.054577,0.998445]]6H{z`Rf?s?`m`p[Y6~C?i6}@I68];6CYJځByJIbDVVDV0y^ %^M=ٔb8Q-b>9`Y`=fFydfsEf>hQ 5n65j 瑊?Q 9n65j:)jBYpyrf @Q Ir@jZ9DIj';ij3;jE65ytɮvAt=DNOT Ignoring new targets: 30.15 m.h9hA*hA"hA hAgIfIfIfIdQdQjdYZd]@H@ZZZZ?f @Գ9<) `=i9)2ii?=IIq!9M9@Q @Q@U 0@QE5  E5 3E5 *E1 "E5 L;*E5 t ;VE5 (N4ZE1 a= @a= @a= @aE @I ^A= =IA IY Oe >g,\U?Aɰ4<6|@6v@6\u8<ٱ6>_ >AHRS rotation from veh to nav: [[-0.515531,0.855895,0.040882],[-0.856797,-0.514272,-0.037718],[-0.011258,-0.054473,0.998452]]6H@:~c? ?j t@O㫿@Q?i6|@I6XB];6CYj݁ByjIiUMb@Mb@Mb@QQQQ Q9U)\(7A`¿=ٔ8Q->9Y=FyͺE>Q 565㑊?Q 965y9)BY >Q E;yt@Q I@_9DI@:iG ; 65yɮnADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffȁBddjdZd5I@Z >Z >ZV@Znt@\u8<) #=i9)"3ii@=II fAfA9iE9BU>BQBUIBUˁBBQBQBQBUu;BU0E9@ @@/@ԙ E-  E- E- ,E) "E- 1A;*E- O:VE- g4ZE) BE- n,>wU?AFq|@Fu@F7<ٱF_ NAHRS rotation from veh to nav: [[-0.515639,0.855826,0.040968],[-0.856732,-0.514378,-0.037744],[-0.011229,-0.054561,0.998447]]FHb??Yju'SR]﫿G?iFq|@IF ];DYZ߁ByZI \\bDbVDbβyjW:<%nD=ٔnQ-n>9lYp=rFyprEr>tQ 5z65v?Q 9z65v!8)vBY|y~r@Q I~@vc9DIvj;ive;v65yɮZA 5DNOT Ignoring new targets: 30.15 m.h1h1*h1"h1 h1g9f9f9f9dAdAjdAZdECkI@ZiZiZiZmDr@7<) P7=i9)R3ii ?)-=I)I1ԉ9I ) fA9@ @@/@Թ^A =I I! O- > u,KU?AvM|@vwt@v7<ٱv_ ~AHRS rotation from veh to nav: [[-0.515751,0.855758,0.040972],[-0.856665,-0.514494,-0.037685],[-0.011170,-0.054536,0.998449]]vH ^b?E?i vK 2쫿 L?ivM|@Iv \;vCY ؁By IiMb@Mb@Mb@ 9x&ףp= ÿ~jtx?Y7y; A A)YAbDVDky %<=ٔQ->9Y=FE; E E+E"EDq;*E:VE [4ZEa@a@a@a@yٜE>Q 565Uܑ?Q 965|6)"BY->Q E;y= @Q I@h9DI:;i-;65yɮADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZd I@Z%->Z%->Z%@Z%= @E7<)A Eu=iE_9)IM3IiIiU@QUb=IQIY%99@ @@0@I ^A ɯ=I) IA OU >A1 A1 B= >B= CB= IB= ЁBB= =B9 B= DB= u;B= /Eϴ{,U?A6|@6r@6W4<ٱ6^ >AHRS rotation from veh to nav: [[-0.515938,0.855651,0.040862],[-0.856555,-0.514695,-0.037443],[-0.011007,-0.054319,0.998463]]6H}a??`hbx+ߊϫh?i6|@I6];6CYFفByFIbDRVDRβyVR;%Z^=ٔZQ-Z>9XY\=^Fy\5E5>9Q 5E65=[ّ?Q 9M65=/5)=%BYIyM9 @Q IM@=l9DI=e:i=:=65yQɮ]AYDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd I@ZZZZ9 @W4<) 0=i9)~3ii?=IIIC?)>?I9@ @@{1@E EE*E"EL;*E:VE(N4ZEBEݡԡ A,@ V?A<:(|@:o@:U.<ٱ:n] FAHRS rotation from veh to nav: [[-0.516233,0.855472,0.040883],[-0.856382,-0.515011,-0.037051],[-0.010640,-0.054139,0.998477]]:H``?`?{gzKʅ `?i:(|@I:];8YŔByRIIV=)VbDZVDZybw%bI=ٔflQ-f>9dYd=jFyhjTdEj>lQ 5r65n ֑?Q 9r65n3)n(BYtyv3 @Q Iv@np9DInU:inn:n@65yxɮzA|DNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdJ@ZZZZ3 @-U.<)) -=i-9)Q]q3YiYie@aeb=IaIaԩ9Y>i%>E EE)E"E&U;*Ej:VEFA4ZEa @a @a @a @i@i @i@m0@i ^A m=I I O >G ,%V?A(2&|@2cn@2F%<ٱ23^ >AHRS rotation from veh to nav: [[-0.516393,0.855359,0.041230],[-0.856292,-0.515191,-0.036627],[-0.010088,-0.054219,0.998478]]2H J`_??`fq|@`Ũ«`?i2&|@I21>];2CYFByFIieMb@Mb@Mb@aaaa a9eT㥛 Qy&1|Yeye\e`e Ae@ ehA)eAaYe3AbD}VD}yr%7=ٔeQ->9Y=Fy׹E>Q 565ґ?Q 965I2)Y^>Q E;yM @Q I@t9DI;i;'65yɮ] A-DNOT Ignoring new targets: 30.15 m.h1h1*h9"h9 hAgIfQfYfeBdidijdiZduAJ@Z^>Z^>ZC@ZNM @UF%<)Q U=iU9)Y]Z3YiYie?im)=IiIqԉ59@1 @9@=4@9Be>BeCBeIBeƁBBe =BaBeDBeu;Be 0Eԩ^A} ɯ=I I O > bE [4jEəT4rE/E  E E +E "E [I;*E ]:VE [4ZE BE |@2l@2^<ٱ24^ :AHRS rotation from veh to nav: [[-0.516548,0.855245,0.041635],[-0.856206,-0.515368,-0.036156],[-0.009464,-0.054325,0.998478]]2H`+^?>Q?@ f}`bsЫ ?i2>|@I2f];0YFByFIbDNVDN02yV%VZ=ٔVbںQ-Z>9XYX=ZFyX^E^>\`Q 5f65bБ?Q 9j65b 1)b)BYhyjJ @Q Ij@bx9DIb:ib:bk65ypɮr Ap DNOT Ignoring new targets: 30.15 m.h h *h "h  h gfffddjdZd%oJ@ZAZAZAZEVJ @U^<)Q UL=iU9) 4ii@ =II@ @@/@^Am=IIO>A 'G M 9I YU 7A,pYV?AE= E=E9E9"E=O;*E=:VE9ZE9aE@aE@aE@aE@YuByuwIy}Aonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.64, 78.22, 82.58 a@a a@a a@a a@a bDVDyui3%u0=ٔQ->9Y=FyE>Q 565̑?Q 965/)Q A+:YQ E;yQ I@|9DI;i>65y Bɮ  A[E]DNOT Ignoring new targets: 30.15 m.hYhY*hY"hY hYgafaffddjdZdJ@) hS=i:9)4ii?/=IIA@ @@@@=@=i^A =I I O >ԙ Bi Am p<Bu >Bq Bu IBu BBu =Bq Bq Bu Lv;Bu G0E@,csV?APExceeded connect timeout, disconnecting.YBylIbD5VD5:yE=%Ea=ٔAQ-E>9IYI=MFyIIEU>QQ 5]65Uɑ?Q 9e65UM.)QQ Ae :YaQ Eeb;yaQ Ie@U9DIU ;iUT?U65yiɮuC AqyDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZdJ@) h=i9)  !4ii@m=II!@ @@/@DIDM<E] E]E](EY"E],K;*E] :VE]c44ZEYBE]L (,@V?A2m|@2b@21;ٱ2^ :AHRS rotation from veh to nav: [[-0.517699,0.854474,0.043142],[-0.855538,-0.516641,-0.033723],[-0.006527,-0.054368,0.998500]]2H` W?@?`R/Dz ֫?i2m|@I2^;2CY^BybOIbDjVDjyr6%rQ=ٔrQ-r>9tYt=vFytv^Ez>xQ 5~75zǑ?Q 975z,)xQ A9YQ E7;y4 @Q I@z9DIz ;iz*?z75y ɮ ADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjd1ZdE`K@u1;)y }i}29)y}yiyi?X=II I)@ @@0@ E]  E]E],EY"E]E;*E]:VE]g4ZEYae@ae@ae@am@1^AIIO>Y S,LV?A2|@2\@2;ٱ25^ :AHRS rotation from veh to nav: [[-0.518273,0.854103,0.043616],[-0.855199,-0.517270,-0.032653],[-0.005328,-0.054223,0.998515]]2H@T?T? ]`z䷠u'ë?i2|@I26q_;2CYBtByF9IIJ<)Ha5a5 a5a= a=a= a=a= i=Mb@Mb@Mb@9999 99=MbI +Y=̼y==9=zA=@ 9)=A9Y=fAbDeVDe1y%1=ٔ*Q->9Y=Fy$E>Q 5 75dđ?Q 9575,)%BQ A5T:Y5<=Q E5i9)43ii@|=III ) ԉ9@ @@/@@@hADa zDe ?AEm  Em Em *Ei "Em X;*Em :VEm (N4ZEi BEm p,4V?A2|@2ZS@2qw;ٱ2Y] :AHRS rotation from veh to nav: [[-0.519239,0.853483,0.044254],[-0.854621,-0.518308,-0.031299],[-0.003776,-0.054072,0.998530]]2H`@O?p?Y@_6nH?i2|@I2^_;2CYBgByB)IbDNVDNyVG%Vg=ٔVQ-Z>9XYX=ZFyX^PE^>`Q 5f75bj‘?Q 9f75b{+)b"BYdyf@Q Ij@b9DIb;ib;b75ylɮn AlmDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd`yuK@ZZZZ@qw;) =i-9)3ii%?!%F=I!)II9@ @@4@Q^A=II)O=>ԁԱ ?,ӤV?A8ɰ:4<E^ E^E^)E\"E^Q;*E^4:VE^FA4ZE\af@af@af@af@ZW|@ZH@ZW;ٱZJ] nAHRS rotation from veh to nav: [[-0.520322,0.852782,0.045031],[-0.853967,-0.519468,-0.029874],[-0.002083,-0.053999,0.998539]]ZH{ I? \?S{3 a@̥?iZW|@IZ.`;ZCYvNByz IiMb@Mb@Mb@ 9Q?V-QY9)Y)=-Fy)57E5>1Q 5=755俑?Q 9E755j+)5BYE+=Q EE8i9)ii@Ee=II@ @@5@Թ^Ae=IIO >A A AAB B B !IB `BB B B DB u;B 0E ,rV?A6t|@6 <@6 9ٱ6Fs] BAHRS rotation from veh to nav: [[-0.521672,0.851904,0.046026],[-0.853146,-0.520903,-0.028316],[-0.000148,-0.054039,0.998539]]6H @B?@?L`=a# ?i6t|@I6h`;6CYJGByJIbDRVDRβyZ%Ze=ٔ^رQ-^>9\Y\=bFy`b0Eb>dQ 5j75f彑?Q 9j75f]+)fBYhynC@Q In@f9DIf:if;f75ypɮr Ap5DNOT Ignoring new targets: 30.15 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZdM XK@ZiZiZiZmC@ 9) =i9)額X2ii?n=IIN>i>I@I @Q@U/@Q@]=@]=E EE,E"E[I;*E :VEg4ZEBEI ,LW?A2Jc|@2u,@2ٱ2\ >AHRS rotation from veh to nav: [[-0.523293,0.850860,0.046911],[-0.852151,-0.522619,-0.026628],[0.001860,-0.053910,0.998544]]2HѾ?:??`DJaD@x^?` ?i2Jc|@I2,ha;0YFDByFIbDRVDRk1yV d%VK=ٔZ"Q-Z>9XY\=^Fy\^Eb>`Q 5f75b?Q 9f75bN+)bBYhyjC@Q Ij@b9DIb:ib:bM75y9ɮ= A9}B*** querying acoustic contact ***iy iyDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZduL@Z!Z!Z!Z%C@])Y ]p=i]I9)Ye}g3eԩ {,2)W?A <V*DAT read: user:291> ZBDAT read: Tx time:05:04:27.7270 Z$Ping request sent.Z9!Y!=%Fy!%="EM>QQ 5U75U\?Q 9]75U+)U BY]ŕ=Q E]5i}{9)顥LT;*E 4:VE '4ZE BE "checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502138b<{@bn@b ٱbZd nAHRS rotation from veh to nav: [[-0.529919,0.846584,0.049816],[-0.848005,-0.529568,-0.021096],[0.008522,-0.053424,0.998536]]bH6??@"7-s?@\Z?ib<{@Ibc;bCYvByvI~=~=~@A~BAbDVD0y%8=ٔQ->9Y=%Fy!%߻E%>)Q 5575-M?Q 9575-O,)-BY9y=X Q I=@-9DI-N:i-:-g75yAɮE2AAuDNOT Ignoring new targets: 30.15 m.hqhq*hq"hq hqgqfyfyfydydjdZdL@ZZZZq@5 )1 =N1>i=]9)9=":3=U!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756145E  E E *E "E CJ;*E :VE (N4ZE a @a @a @a @Q 9x,/cW?A2{@2҄@22ٱ2˭Z :AHRS rotation from veh to nav: [[-0.532569,0.844851,0.050962],[-0.846316,-0.532334,-0.019209],[0.010900,-0.053360,0.998516]]2H  ??R? Q`?i2{@I2Gc;2CYZ#ByZI9iEMb@Mb@Mb@AAAA A9E!rh?~jtx~jtYEl=yEĻEļEAE@ A)EhAAYEAbD]VD]ym<%mF=ٔm鼻Q-m>9qYq=uFyquE}>Q 575?Q 975N-)BY=Q E;y Q I@9DI:iC:75yɮADNOT Ignoring new targets: 30.15 m.hh*h"h hgfffBddjdZdֹL@Z=Z=ZJ]@Z`ł@2) u>i9)顕O3z E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257359p,a}W?A4<ɰ2x{@2@2tYٱ2Z >AHRS rotation from veh to nav: [[-0.535402,0.842983,0.052188],[-0.844493,-0.535285,-0.017371],[0.013292,-0.053373,0.998486]]2H "?Z?@! ɑ8?S`?i2x{@I2 d;2CbE(N4jEI4rE0EF EF3EF'ED"EF1A;*EFt ;VEF'4ZEDBEF9hYh=jFyl=E=>AQ 5M75Eò?Q 9M75EC.)EBYIyM Q IU@E9DIE:iEp:Ex"75yyɮ}AyԙDNOT Ignoring new targets: 30.15 m.hh*h"h hgfffddjdZd L@ZAZAZAZE@}tY)y }s>i}9)y顅*4 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509321   C*,DW?A؀G*liA<^$k9^liAY^gVAY'ByI checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763641!bDVD:yMX<%]4=ٔeQ-e>9qYq=}FyyE>Q 575;?Q 975Y/E EE*E"Ea?;*E:VE(N4ZEa@a@a@a@)BYyQ I@9DIW=ie=f&75yɮ ADNOT Ignoring new targets: 30.15 m.hh*h"h hgff!fAdAdIjdIZdM+M@ZZZZ) h|>i9)顽p49ii?  |=I I A9@ @@@i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013407^A h=I I O >ԙ s,W?A6{@6|@63ٱ6ZtZ BAHRS rotation from veh to nav: [[-0.541432,0.838979,0.054450],[-0.840556,-0.541546,-0.013910],[0.017817,-0.053300,0.998420]]6H@iS?? @YT | >? J ?i6{@I6fd;6CYJ9ByJIBb>B`BbIBb)BBb =B`B`Bbfv;BbS0Ei=Mb@Mb@Mb@9999 99=RQ?Mb`?~jtxY==y=;=Ļ99 9)=A9Y=AbDUVDUyeY=%e[=ٔeGQ-e>9iYi=mFyiu\Eu>yQ 575}?Q 975} 0)}BY=Q E id9)4cii@=II !!I!)! checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265342@ @@O0@ԩE EE,E"EO6;*E:VEg4ZEBEF E,PW?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517413:dz@:^@:ٱ:ŝZ BAHRS rotation from veh to nav: [[-0.544493,0.836923,0.055560],[-0.838529,-0.544716,-0.012394],[0.019892,-0.053337,0.998378]]:H }l? dr?`;@Ona^?@O@?i:dz@I:4d;:CYJ@ByJIbDVDy(=%O=ٔ}Q->9Y=Fy%|E%>)Q 5575-?Q 9575-0)-BY1y=BQ I=@-9DI-] ;i- ;--75yAɮE) AAmDNOT Ignoring new targets: 30.15 m.hihi*hq"hq hqgqfqfyfydydjdZd OM@ZZZZt@) M>i9)顽4\ii?Q=IIm9@i @i@m4@i@q@ufA^AE:_=IQIaOm>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7693541 E  E E %E "E E;*E :VE 4ZE a @a @a @a @,W?A6ˆz@61?@6ksٱ6Z >AHRS rotation from veh to nav: [[-0.547622,0.834809,0.056597],[-0.836442,-0.547944,-0.011057],[0.021782,-0.053395,0.998336]]6H ¶?I?`" פM? V ^?i6ˆz@I6|d;4YFIByJIIN4>)NR=iUMb@Mb@Mb@QQQQ Q9U&1? rh{Gzt?YU=yUCUף;UzAQ UhA)QQYUpAbDmVDm:y}^%=%}D=ٔrQ->9Y=FyE>Q 575?Q 9751)BY=Q Eie?9)aem4eiiiu@q}C|=IyIQiqIq}BDAT read: Rx Time:05:04:30.1762 }TRx dataTimestamp_ set to:1761541471.688535checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022835@ @@4@yB>BBIB=BBBBBTv;BJ0EBCBCBB =BCƪ4^A2=IIO>ԩ % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2734267,W?AD0D2%=E4 E6E6+E4"E4*E6:VE6 [4ZE4BE6JE6TD9iYi=uFyqu Eu>yQ 575}?Q 975}2)}BYyFQ I@}9DI}l:i}:}x475yɮn ADNOT Ignoring new targets: 30.15 m.hh*h"h hgf f f d1d1jd1Zd5M@ZqZqZqZuU}@iž)ԩ t>i9)页4ii?z=III@I @I@M/@QDAT read: 05:04:30.1762 LVL= 27440, 20705, 32754, 32755, AGC= 58, IDX= 490, 0.28, 1.348, 2.213, 0.423, 1.819, PHS=-0.369, 0.439,-1.440, RAW= 4.6, 16.5, CAL= 4.8, 20.6, ROT= 145.2, -20.6 Ygot valid direction response: 05:04:30.1762 LVL= 27440, 20705, 32754, 32755, AGC= 58, IDX= 490, 0.28, 1.348, 2.213, 0.423, 1.819, PHS=-0.369, 0.439,-1.440, RAW= 4.6, 16.5, CAL= 4.8, 20.6, ROT= 145.2, -20.6 PDAT read: Bearing 174.9, 29.9 (Local) ~Local bearing/azimuth received: Bearing 174.9, 29.9 (Local) DAT read: Range 11 to 50 : 33.8 m (Round-trip 45.1 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.768645,0.534222,0.351842]Fpublishing direction and range infoyy}pvUyX?\]㒄?Y}3By}0k}Py y)}:I}i}>}Q}l=}r>}= }X>)}0"@I}Xyy}lzlLڿ# w44? }p)}I}0"@i}Xyy^A- =I9 II O] > \,0X?A;ɰ:Bz@:@:ɼٱ:h^[ FAHRS rotation from veh to nav: [[-0.553621,0.830732,0.058207],[-0.832404,-0.554094,-0.009146],[0.024655,-0.053515,0.998263]]:HB\?Nͭ? "`??Pf`?i:Bz@I:֧d;:CY^kByb.IbDjVDjfpyv=%vf=ٔv|Q-v>9xYx=zFyxz#E~>Q 5 75契?Q 9 75^3)BY y Q I @9DI:i:775yɮ Aii? X?AJiBRiBji+>b6t9镢a1@y['@RpvUyX?\]㒄?Zi0"@biXjgeR=@sI&@kx@m$@ZWy?(R?(o?2iE7A:ifA"id?*i<BiؕBi ?i\3iBiBii> addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 60.027900 s, deltaX: 3.500000 m, approachRate: 0.058306 m/s, rangeRepo size: 4  Added new target pos. range: 33.630844 m, bearing: 20.945481 deg, lat: 36.779305 deg, lon: -121.859558 deg, deltaT: 60.027900 s, deltaX: 3.481672 m, approachRate: 0.058001 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjd`f@@Zd`?ZZZZ8}@E  EE(E"EF;*E:VEc44ZEa@a@a@a@ɼ) ^>id9)ii@=II )9@ @@@@=@=9^A l=I I O >a  ,_2X?AB6>B4B6!IB6`BB4B4B4B6[v;B6M0EBy@B&@ByҼٱB9Y=FyE>Q 575k?Q 9753)BYo=Q E1ie9)im=3iiiiu?qu=IqIyԉE  EEE"EG;*E#:VEZEBE)G,FLX?A2Cy@2Ӄ@2ռٱ2\ :AHRS rotation from veh to nav: [[-0.558468,0.827418,0.059100],[-0.829116,-0.559014,-0.008401],[0.026087,-0.053692,0.998217]]2H5z?TB? `pZ4{?} d?i2Cy@I2Hc;2CYBByFfIbDNVDNyVy>%VW=ٔZQ-Z>9XYX=^Fy\^ԻE^>`Q 5f75b75ylɮri Ap DNOT Ignoring new targets: 33.63 m.h h *h "h hgfffddjdZd%`[?aZZZZ\@ռ) t>i9)ii@;=II 1@1 @1@50@1^A\=)I1IIOU2>9EM  EI EM ,EI "EM sH;*EI VEM g4ZEI am @am @am @am @a >3,fX?A@:y@:@:F׼ٱ:̠[ BAHRS rotation from veh to nav: [[-0.560624,0.825957,0.059121],[-0.827652,-0.561181,-0.008284],[0.026336,-0.053576,0.998216]]:H >n?@#E?@| 2`?Knc?i:y@I:b;:CQYBy vIiMb@Mb@Mb@ 9Mb?bX9ȶ?Y9!Y!=%Fy!%zE->1Q 5=755흑?Q 9=755;3)5 BY==Q E=iW9)b3ii?  ,=I I B!A%<B)B)B-YIB-BB)B)B)B-`v;B-P0E9@ @@/@@hA@gAԱ ^A .=I! I9 OE > ,jNX?AE  EE E "E *E:VE ZE BEcy@>\@>ּٱ>3[ rAHRS rotation from veh to nav: [[-0.562465,0.824716,0.058964],[-0.826404,-0.563014,-0.008435],[0.026242,-0.053472,0.998224]]>Hd? 0?@q6%F`ߚ?``t?i>cy@I>a;>C t)v1lAzxixxxzElAizI~bF|I|i~kA ~ʡ|)| lA/]  I ) i )IlA jii!%9A)! !I!Y!Y5By5II=<)==bDMVDMܲy]8>%]=ٔ][9Q-]?9aYa=eFyaeEm?qQ 5u75u뛑?Q 9}75u2)uBYyy}(@Q I}@u9DIu:iu:uE75yɮ ADNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd;?ZZZZ(@ּ) |>i9)ii @  *=II9@ @@5@^Aܪ=II1OE/> 6&,_ X?A2 By@2՛@2PҼٱ2X >AHRS rotation from veh to nav: [[-0.564140,0.823628,0.058160],[-0.825280,-0.564657,-0.008705],[0.025671,-0.052909,0.998269]]2H o )[?ǭ?hӁ`I??i2 By@I2`;2CY-ƁBy-IbD=VD=ym<%mJ=ٔm:Q-m>9yY=FyKE>Q 575H?Q 975h2)BYy'@Q I@9DI ;i ;rI75yɮADNOT Ignoring new targets: 33.63 m.hh*h"h  h gff!f!d)d1jd9ZdEgP@QEM EMEM0EI"EMM;*EM-:VEM4ZEIau@au@a}@a}@ZZZZ'@ PҼ) >i9)}3ii?.=I!I!9@ @@@yԩ ^A =I I O >BA BA BE IBE BBE =BA BE DBE iv;BE T0ER`,,X?Aɰ;2)y@2@2:ͼٱ2W :AHRS rotation from veh to nav: [[-0.565383,0.822814,0.057602],[-0.824448,-0.565864,-0.009170],[0.025050,-0.052674,0.998298]]2H~T?}? a~ǂ@? ?i2)y@I28%`;0@YՁByIiMb@Mb@Mb@ 9lL7A`S㥛?Yy+/< A A)@Y 4<bDVDy-=%-?=ٔ-:Q-->91Y1=5Fy1=]fE=>AQ 5E75E5?Q 9M75E=1)EBYM>Q EM;yM@Q IM@E9DIE:iEs:E%M75yYɮ]AYDNOT Ignoring new targets: 33.63 m.hh*h"h hgffftBddjdZdʢ@Z>Z>Z @Z@:ͼ) B>i9)3ii@ї=II I)Աa@a @a@e4@a@i@m=bE|a4jEU4rE30E]  E] E],EY"E]D;*E]:VE]g4ZEYBE]К K3,[X?A6y@6†@6 ȼٱ6W BAHRS rotation from veh to nav: [[-0.566278,0.822224,0.057245],[-0.823851,-0.566724,-0.009691],[0.024474,-0.052649,0.998313]]6H`O? ;O?`\ "ك@?`.?i6y@I6u_;6CYJByJI LLbDVVDV0y^^m=%^d=ٔ^ :Q-^>9`Y`=bFy`b,EEf>dlQ 5n75f?Q 9n75f@0)f%BYpyrt@Q Ir@f9DIf51;ifc2;fDP75ytɮv,AtDNOT Ignoring new targets: 33.63 m.hh*h"h hgf!f!f!d!d)jd)Zd-@ZIZIZIZMt@e ȼ)a eW>iev9)ae(4aiiim?quD=IqIq@ @@/@^A~=IIO>GEu:9AYE*A1E]  E] E] *EY "E] a?;*E] :VE] (N4ZEY a} @a @a @a @a 6r9,X?A24 y@2j@2ٱ2`QW >AHRS rotation from veh to nav: [[-0.566930,0.821823,0.056545],[-0.823433,-0.567316,-0.010527],[0.023428,-0.052529,0.998344]]2HJ$_L??Yt'􎅿?媿 p?i24 y@I2Ǡ_;2CYvByzIAiMb@Mb@Mb@ 9L7A`尿K7A`ſ/$?Y+y+<A@ A)QAYAbDVDNy=%:=ٔ;Q->9Y=FyE>Q 575?Q 975.)+BY!9>Q E;y @Q I@9DIe ;i ;T75yBɮA ZE5DNOT Ignoring new targets: 33.63 m.h1h*h"h hgfffBddjdZd . @Z!9>Z!9>Z@Z @) .>i?9)X4ii@~=IIi@ @@/@BBBIB߁BB =BBDBv;Bh0Eԑ^A I I O > E]  E] E] +EY "E] :;*E] :VE] [4ZEY BE] 1AHRS rotation from veh to nav: [[-0.567210,0.821663,0.056058],[-0.823269,-0.567534,-0.011507],[0.022360,-0.052677,0.998361]]2H&`K? ?@9X@=)ѐ?@?i2y@I2_;0YFByFINAAN@AbDNVDNyVL?<%Z]=ٔZq=;Q-Z>9XY\=^Fy\^NeE^>`Q 5f75b䌑?Q 9f75b-)b1BYhyj @Q Ij@b9DIb :ib:bWW75ylɮnA9yDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd #@ZZZZ @]0) 2>i9)9=p49i9iE?AE^=IAII-9@) @1@50@1@EgA@A^Aui=IyIO>! F,XTY?A2y@2{@2"ٱ2..X :AHRS rotation from veh to nav: [[-0.567444,0.821546,0.055411],[-0.823141,-0.567698,-0.012566],[0.021133,-0.052742,0.998384]]2H`( J?^?+W*@l棕?@?i2y@I2+_;2CYBByFIIH)J49XY\=^Fy\^-Eb>`Q 5f75b?Q 9f75b+)b6BYhyj @Q Ij@b9DIb:ibp:bZ75ylɮrAp DNOT Ignoring new targets: 33.63 m.h h *h "h  h gfffddjdZdf@ZAZAZAZE) @U")Q U?>iU9)Y]Ә4YiYie@ae=IaIi9@ @@/0@E5 E5E1E1"E5US;*E5:VE1ZE1aM@aU@aU@aU@A^AM=IQIiOuy>qԙ B B B IB BB =B B DB ov;B W0EBBBBB =C4 L,n35Y?A2x@2y@22ٱ2UJX :AHRS rotation from veh to nav: [[-0.567655,0.821449,0.054674],[-0.823029,-0.567835,-0.013692],[0.019798,-0.052770,0.998410]]2H9*@PI?/?`@V+ `E? ?i2x@I2G`;0YBByBIimMb@Mb@Mb@iiii i9m{GzZd;Oǿ~jt?Ymףymj9Y=Fy]E>Q 575?Q 975));BYM>Q E;y@Q I@9DIX ;i ;^75yɮLADNOT Ignoring new targets: 33.63 m.hh*h"h hgfffBddjdZd@Z-M>Z-M>Z-!@Z-@q2) #>iH9)M4ii?œ=II9@ @@>0@ԙE% E%E%)E!"E%(;*E%:VE%FA4ZE!BE% S, OY?A4<ɰ4<2Ux@2u@2ٱ2BW :AHRS rotation from veh to nav: [[-0.568038,0.821241,0.053814],[-0.822796,-0.568144,-0.014794],[0.018425,-0.052681,0.998441]]2H]-G?~?XT<. &Lݒ? `;?i2Ux@I2`;2CYFByFIbDNVDNf?yV%V[=ٔV!q;Q-V>9XYX=ZFyX^5E^>`Q 5f75bj?Q 9f75b')b?BYdyf@Q If@b9DIbd:ib:ba75ylɮnAleDNOT Ignoring new targets: 33.63 m.haha*ha"ha hagifififidqdqjdqZdu@B]@ZZZZ@ )  =i k9)  ii5@9==I9I9II)I9@ @@4@@@@@IIO>EE  EE EE ,EA "EE 4;*EE 1:VEE g4ZEA a] @a] @a] @ae @q Y,hY?A Jx@JOp@J ٱJHW ZAHRS rotation from veh to nav: [[-0.568620,0.820892,0.052991],[-0.822420,-0.568663,-0.015734],[0.017218,-0.052528,0.998471]]JH"2@D?!?`DQ |2?䪿y?iJx@IJa;HYdyd hhlliMb@Mb@Mb@ 9~jtClǿMbp?Yyd;; A@ )AYbDVD1y%:=ٔ3;Q->9Y=Fy κE>Q 575r~?Q 975%)ABYJ>Q E;y @Q I@9DIF;iE;e75yɮAEDNOT Ignoring new targets: 33.63 m.hAhA*hA"hA hIgIfIfQfUBdYdYjdYZde@@ZJ>ZJ>ZM3@Z @ ) #>i*9)页)3ii?Ǒ=IIia@a @a@m4@iIyIO>BBBBB =BBBav;BO0Eԑ E=  E= E= )E9 "E= ;;*E= :VE= FA4ZE9 BE= PٱJxV VAHRS rotation from veh to nav: [[-0.568984,0.820698,0.052077],[-0.822197,-0.568951,-0.016910],[0.015751,-0.052439,0.998500]]JH5'C?@ש? qO4P!?M٪ ?iJx@IJS;b;JCYbہBybIbDjVDjyr)%rZ=ٔv;Q-v>9tYt=vFytzEz>|Q 575~{?Q 975~T$)~DBYy  @Q I @~9DI~:i~:~i75yɮ4A=DNOT Ignoring new targets: 33.63 m.h9hA*hA"hA hAgAfAfIfIdIdIjdQZdU@@ZqZqZqZu4 @> ) >i,9)額+3ii@=IIU9@Q @Q@U/@QIIO=! qf,Y?A2x@2$g@2Dlٱ2V :AHRS rotation from veh to nav: [[-0.569565,0.820343,0.051313],[-0.821819,-0.569464,-0.018002],[0.014453,-0.052424,0.998520]]2H9@@?`E?`XL 9o?Aת?i2x@I2f%c;2CYf́ByfIlnAAbDrVDrβyz5%zI=ٔzQ;Q-~>|9Y=Fy !ߺE > Q 575 mw?Q 975 ") FBYy@Q I@ 9DI ;i ; l75y)ɮ-A)UDNOT Ignoring new targets: 33.63 m.hQhQ*hQ"hQ hQgafafifididijdiZdu`5@ZZZZ@Dl) =i9)顭m3ii?=IIl>i>E EE*E"EB;*E:VE(N4ZEa=@a=@a=@a=@M9@I @Q@Q@QII)Om>Qԁ B B B IB ߁BB B B B Vv;B J0El,yY?A2x@2^@2$Yٱ2bV :AHRS rotation from veh to nav: [[-0.570412,0.819800,0.050586],[-0.821252,-0.570249,-0.019021],[0.013253,-0.052393,0.998539]]2H @;? [?`Gy?>z\$?`LӪ@?i2x@I2Fc;2CYNByRIIVR=)V=V=V=i-Mb@Mb@Mb@)))) )9-Q#~jĿMbpY-uy-%--dA-@ -A)-hA)yY-AbDVD0yv%>=ٔ6;Q->9Y=FyE>Q 575s?Q 975 )GBY0>Q E;y| @Q I@9DI;i;Qp75yɮ ADNOT Ignoring new targets: 33.63 m.hh*h"h hg!f!f!f%YBd)d)jd)Zd- 6@ZM0>ZM0>ZM$r@ZM| @e$Y)a eL>ie9)im$4iiiiu@qu 1=IqIy-9@) @)@-/@)ԩE  E E ,E "E 4;*E :VE g4ZE BE  s,VaY?A23x@2jV@2Eٱ2,W :AHRS rotation from veh to nav: [[-0.571259,0.819247,0.049970],[-0.820681,-0.571034,-0.020090],[0.012076,-0.052486,0.998549]]2HG`E7?? CEzU?`{ߪ`?i23x@I2~d;0YBByBIbDNVDNk2yV:%V]=ٔVP;Q-V>9XYX=ZFyX^;5E^>`Q 5f75bp?Q 9f75b)bHBYdyfl @Q If@b9DIb:ib:bs75ylɮnQ AlDNOT Ignoring new targets: 33.63 m.hh*h "h  h g f ffddjdZd@f@Z9Z9Z9Z=l @ME)I U;>iU9)QUhQ4QiYi]?YeYr=IaIa9@ @@0@^Atn=IIO=)E  E E *E "E 9;*E n:VE (N4ZE a @a @a @a @Y z,7Y?A;ɰp;YByzIiMb@Mb@Mb@ 99aYa=eFyamEm>qQ 5}75ul?Q 9}75uq)uGBY} >Q E};y}@Q I@u9DIu:iu:uw75yߒBɮ AYEDNOT Ignoring new targets: 33.63 m.hh*h"h hgfff>BddjdZd<@Z >Z >Z@Z@)   W>i 9) 4ii@:Ō=II9@ @@0@A9A9BABABEIBEBBABABEDBE"v;aBE10Eԉ^AK=IIO>Ա bE(N4jE˼P4rE8/E  E E (E "E =-;*E :VE c44ZE BE p@2"ٱ2V :AHRS rotation from veh to nav: [[-0.573701,0.817621,0.048610],[-0.819005,-0.573364,-0.021987],[0.009894,-0.052425,0.998576]]2H@[`)?a?J5`Y`|C? ת@U?i2x@I2"e;2CYBByBcI DDbDNVDNNyV|ڽ%Vk=ٔVI;Q-Z?9XYX=ZFyX^I E^?AQ 5E75Ei?Q 9M75E)AYIyM@Q IM@E9DIE:iEp:Ez75yQɮ]G AYDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZdϷ@ZZZZ@-")) -0>i59ԑ)顥ii?=IIm9@i @i@m0@i@uhA@uhA^AUp,=IYIiO}>   u ɀG 029 Y y"A ,Z?A2fx@2.@2ٱ28V :AHRS rotation from veh to nav: [[-0.575310,0.816522,0.048063],[-0.817885,-0.574930,-0.022784],[0.009030,-0.052418,0.998584]]2H@h ??,eT@~?x֪`g?i2fx@I2xf;2CYBByBUIbDNVDNN2yVQh%VJ=ٔVh ;Q-V>9XYX=ZFyXZ2E^>`Q 5f75bYf?Q 9f75b)bFBYdyf@Q If@b9DIbB:ib:b!~75yhɮn AlDNOT Ignoring new targets: 33.63 m.hh*h"h  h g f f fddjdZd 2 @Z9Z9Z9Z=@) >i9)3ii@ (=II!E EE+E"E77;*EV:VE [4ZEa%@a%@a-@a-@@ @@4@^A5b$=I9IQO]>I B! B! B% lIB% BB% =B! B% DB% u;B% 0E$\, 8Z?A6oDx@6@6ٱ6ށV >AHRS rotation from veh to nav: [[-0.577017,0.815354,0.047423],[-0.816692,-0.576592,-0.023594],[0.008106,-0.052344,0.998596]]6Hv`a?G?V"@ps`)?̪ ?i6oDx@I6Wf;4YFByFLIiMb@Mb@Mb@ 9Mb?B`"۹{GztY9AYA=EFyIMEM>QQ 5]75U5c?Q 9]75U)QYe=Q Eei9)顥13ii?G€=IIIa@a @a@mi4@iDzD@AE EE'E"EB;*En:VE'4ZEBEvԡ 2,QZ?A6+x@6f @6Lٱ6Q}V >AHRS rotation from veh to nav: [[-0.578976,0.813993,0.046916],[-0.815311,-0.578511,-0.024335],[0.007333,-0.052340,0.998602]]6H@; ?_?)@'똿`~ ~?X̪?i6+x@I6|g;6CYJrByJ6IPbDVVDVP)yZ%^V=ٔ^p;Q-^>9`Y`=bFy`f/ͻEf>dQ 5j75ff`?Q 9n75f|)dYlyn&@Q In@f9DIf;if;f575ytɮvi AtDNOT Ignoring new targets: 33.63 m.hh*h"h hgff!f!d!d!jd!Zd- >"@ZIZIZIZM&@]L)Y eR>ie\9)aeI4aiaim@imWNy=IiIq1@1 @1@5/@1^AUX=IiIyO|>E EE+E"EO;*E:VE [4ZEa@a@a@a@) \,vkZ?A2w@2&@2ٻٱ2V :AHRS rotation from veh to nav: [[-0.580993,0.812578,0.046524],[-0.813882,-0.580491,-0.025049],[0.006653,-0.052418,0.998603]]2H}?ѧ?Q ai`?{?֪?i2w@I2g;2CYjBy-IiMb@Mb@Mb@ 9Q?Dl~jthY9Y=Fy"E>Q 575]?Q 975M)Y 6=Q E 0i-9)Im[4iiiiu?q}[hq=IyIy)B<A<BBB@IBzBBBBDB!v;B10EBBBBBCİ]4 @  @@@Q^AM (z=IQ Ii Ou >ԁ D D <E  E E )E "E G;*E :VE FA4ZE BE )9XYX=ZFyX^lE^>`Q 5f75bf[?Q 9f75b&)bGBYdyfp;@Q If@b9DIb:ib:b@75ylɮn AlDNOT Ignoring new targets: 33.63 m.hh*h "h  h g f ffddjdZd#@YZZZZp;@Ufiƻ)Q ]\>i]9)Y]4YiYie@aenh=IaIi]>i>)@) @)@-/@)ԁ^AMnp=IYIiO}> n,,Z?A2w@2Yɂ@2ٱ2 X :AHRS rotation from veh to nav: [[-0.585340,0.809485,0.045942],[-0.810769,-0.584768,-0.026436],[0.005466,-0.052722,0.998594]]2H@`M??@l`cv?@e{?i2w@I2h;2CYBXByBIbDNVDN0yV%VJ=ٔV:Q-V>9XYX=ZFyX^ݻE^>`Q 5f75bX?Q 9f75b)`YdyfD;@Q If@b:DIb :ib$:bȏ75ylɮn: Ap DNOT Ignoring new targets: 33.63 m.h h *h "h  h g fffdd!jd!Zd%v$@ZIZIZIZMD;@])Y ] Q>i]P9)aeC4aiaim?im_=IiIqԹE EEE"E4;*E:VEZEa@a@a@a@%\9@ @@/@B B B IB [BB =B B B v;B %0EI ^A ;h=I I O- >,JZ?A>Djw@>@>wٱ>t#X FAHRS rotation from veh to nav: [[-0.587853,0.807680,0.045623],[-0.808952,-0.587257,-0.026939],[0.005035,-0.052743,0.998595]]>H?[?ו )t?`"@~?i>Djw@I>_h;>CYNLByRIi%Mb@Mb@Mb@!!!! !9%)\(?J +~jthY%Ga=y%H!%A! !)!!Y%AbD=VD=yMX%M@=ٔM?:Q-U>9QYQ=UFyQ]+E]>aQ 5m75eQV?Q 9m75e')aYm=Q Eu4i9)顝4ii@KU=II9@ @@0@I^A|^=IIO=>DzDAAE EE+E"E8;*E:VE [4ZEBE׏9|Y|=~Fy|E> Q 575 S?Q 975 P) Yy;Q I@ :DI N:i : 75y!ɮ% A!MDNOT Ignoring new targets: 33.63 m.hIhI*hQ"hQ hQgQfQfYfYdYdajdaZde#L&@ZZZZV@ٳ) l>i9)顝4ii?FJ=IIqM9@Q @Q@U5@Qԡ^AuS^=IIO>E EE*E"EO6;*EVE(N4ZEa@a@a@a@ ,Z?AB_w@B}@BٱBkX NAHRS rotation from veh to nav: [[-0.592874,0.804026,0.045197],[-0.805283,-0.592244,-0.027687],[0.004507,-0.052811,0.998594]]BH@ ?`$?Y ur?  |?iB_w@IB-g;BCYZGBy^IiMb@Mb@Mb@ 9L7A`?~jtY+=yA@ )hAYpAbDVDy&<%>=ٔ]:Q->9Y=FyAE>Q 575iQ?Q 975)Y=Q E.ieB9)ae4aiaim@im@=IiIq)@) @)@-4@)@5=@5=AiAm?ABu>BqBuIBuGBBqBqBqBuu;Bu0E^AM<H=IYIiO}>) E  E E E "E 4;*E :VE ZE BE v@>c@>1ٱ>t5X NAHRS rotation from veh to nav: [[-0.595343,0.802216,0.044905],[-0.803461,-0.594698,-0.028019],[0.004227,-0.052760,0.998598]]>H ??Pq?@h@?i>v@I>f;9Y=FyE%>)Q 5575-(O?Q 9E75-)-HBYAyE.Q IE@-:DI-d;i-`e;-75yUݒBɮ] A]XE DNOT Ignoring new targets: 33.63 m.hh*h"h hg1f9f9f9d9dAjdAZdE '@ZZZZac@1) Q>iF9)顽 5ii?6=IIQM9@I @I@M60@Iy^Am&t@=IyIO>ԩ ¼,s [?A4<ɰ4<:Uv@:{K@:ٱ:(uX@ FAHRS rotation from veh to nav: [[-0.597732,0.800445,0.044781],[-0.801686,-0.597075,-0.028309],[0.004078,-0.052821,0.998596]]:H@ =??i<3p?] ~?i:Uv@I:Of;:CYRBByRI Vp9dYd=fFydjEj>lQ 5r75nL?Q 9r75nG)lYpyv.Q Iv@n :DIn;in:nt75yxɮz Ax%DNOT Ignoring new targets: 33.63 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5(@ZQZQZQZU0c@m)i mPM>imp9)iu*5qiqi@,=II I)E EE,E"E /;*E;:VEg4ZEa@a@a@a@Ա9@ @@/@^A3=IIaO:> Bi Bi Bm IBm =BBm =Bi Bi Bm u;Bm /E,N:[?AlYrIByrI ttimMb@Mb@Mb@iiii i9m=ٔQ->9Y=FyE>Q 575J?Q 975)IBY=Q Ei9)'5ii?.=II 9@ @@@@@bE)jE-L4rE-?/E EE)E"E0;*E:VEFA4ZEBEa i9 I9 ,^+T[?A28v@2"@2߃ٱ2`X :AHRS rotation from veh to nav: [[-0.602842,0.796615,0.044551],[-0.797850,-0.602176,-0.028625],[0.004024,-0.052802,0.998597]]2H@|J}?@lϦ?`E@O{p?@?i28v@I2je;2CYFLByFIbDNVDNkyVJ<%VZ=ٔVX9Q-Z>9XYX=ZFyX^E^>`Q 5f75bG?Q 9f75b)`Yhyj/Q Ij@b:DIby:ibN:b~75ylɮn Al9GEH9AYEE7A]DNOT Ignoring new targets: 33.63 m.hYhY*hY"hY hYgYfafafadadijdiZdm@g*@ZZZZNkb@߃) r>i9)X75ii @  =I Ii9@ @@/@ԙ^A+,=IE EE&E"E77;*E|:VE4ZEa@a@a@a@IO> G,n[?ABv@B4@B㻅ٱBRX NAHRS rotation from veh to nav: [[-0.605365,0.794701,0.044542],[-0.795938,-0.604695,-0.028757],[0.004081,-0.052861,0.998594]]BH%_0n?@:Φ?RxY@wr`yp?``z?iBv@IB)e;BCYVMByV Ii5Mb@Mb@Mb@1111 195 ףp= ?I +~jtx?Y5Q8=y5945;5zA1 5A)5A1Y5AAEAAbDMVDMԙy";%9=ٔQ->9Y=FyE>Q 575TE?Q 975)KBYz=Q EQi}89)y}aC5yiyi? =IIB <A <B>BBIBBBBBBBu;B 0E-9@) @)@-0@)^A=IIO=> E  E E E "E 8;*E S:VE ZE BE ׏9IYI=MFyIM EM>QQ 5]75UPC?Q 9e75U+)UMBYaye?Q Ie@U:DIU:iUg:U75yiɮu AqDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd+@ZIZIZIZMxR@7) e>i9)顥Q5ii@=IIa@a @a@ei0@a@m=@m=9q^A l=I I! O- >ԑ " ,[?A2u@2Ɓ@2-Ėٱ2NLY >AHRS rotation from veh to nav: [[-0.610654,0.790629,0.044797],[-0.791884,-0.609995,-0.028743],[0.004601,-0.053026,0.998582]]2HzL?? W@n@r?4&@c?i2u@I2>ie;2CYFgByF)IbDhVDhyr==%rQ=ٔvanQ-v>9tYx=zFyxz Ez>|Q 575~DA?Q 975~B)~NBY y ?Q I @~:DI~-:i~:~%75yɮ AEDNOT Ignoring new targets: 33.63 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU`,@ZqZqZqZuRAR@-Ė) w>i\9)顕`5ii?4,[?A;ɰp;69au@6m@6ٱ6Y >AHRS rotation from veh to nav: [[-0.613278,0.788591,0.044888],[-0.789852,-0.612623,-0.028734],[0.004840,-0.053076,0.998579]]6H"9Y=FyjE>Q 575!??Q 975*)RBY=Q ETi=Q9)9=5n59i9iE@AE}) Z,o[?A :*u@:8@:3ٱ:Z FAHRS rotation from veh to nav: [[-0.615897,0.786534,0.045109],[-0.787810,-0.615248,-0.028721],[0.005164,-0.053226,0.998569]]:Hm@J+??`5`@hx&u? ~@ G?i:*u@I:;e;:CYN{ByNAI PPbDZVDZ0ybs=%bX=ٔb`Q-b>9dYd=fFydj+Ej>hQ 5r75j<=?Q 9r75j)jUBYpyr?@Q Ir@j:DIj;ij;j)75yxɮz AxDNOT Ignoring new targets: 33.63 m.hh*h!"h! h!g!f!f)f)d)d)jd)Zd5-].@ZQZQZQZU?@3) c>i9)m|5ii?cIE EE+E"EB;*E:VE [4ZEa@a@a@a@ mJ,S[[?ALJt@Jt@J/oٱJ$Z VAHRS rotation from veh to nav: [[-0.618539,0.784453,0.045205],[-0.785735,-0.617900,-0.028627],[0.005476,-0.053226,0.998567]]JH=?`)%?@$fPmv?@}@C?iJt@IJ\d;JCYbBybJIiMMb@Mb@Mb@IIII I9M?V- rh?YM9yYy=}Fyy}E>Q 575:?Q 975)ZBY =Q E+4@Q I@:DI;i;75yɮ ADNOT Ignoring new targets: 33.63 m.hh*hI"hI hIgQfQfQfUBdYdYjdYZd]O@/@Z =Z =ZW@ZM>4@/o) L>iY9)5ii@LBB.IBkBBBBBdv;BR0E9@ @@/@^A 4|<I I O > D %=D R=a0,f. \?A:Kt@:[@:M9ٱ:Z FAHRS rotation from veh to nav: [[-0.620908,0.782565,0.045449],[-0.783862,-0.620273,-0.028645],[0.005775,-0.053412,0.998556]]:Hy ?E?fG@ U!w?`X`+?i:Kt@I:sd;:CER ERER)EP"ER9;*ER:VERFA4ZEPBERh9Y=Fy%ػE%>)Q 5575-7?Q 9575-)-_BY1y5 4@Q I=@-:DI-B;i-;-75yAɮEC AAmDNOT Ignoring new targets: 33.63 m.hihq*hq"hq hqgqfqfyfydydyjdZd0@ZZZZ 4@M9) r>i9)顽5ii?|Iԁ Y,#\?A2kt@2B@2e5ɻٱ2gF[ :AHRS rotation from veh to nav: [[-0.623385,0.780581,0.045661],[-0.781891,-0.622761,-0.028563],[0.006140,-0.053507,0.998549]]2H `?``? @?@&y? Qe ?i2kt@I2nDd;2C @)B1lAB9BfF@F@CFAlAiF`IFNFDIHiJZlA JC JlF)HL NlANN@FLPRlAIR)RRFiP)TIVlAVļVYF TV CZlAXiZ,FXiZCZ A)\ \I\Y\YfByf}IbDn VDn:2yvW >%vu=ٔz̏Q-z?9xYx=zFyx~E~?Q 5 756?Q 9 75P)bBY y3@Q I@:DI-:iF:75Yyɮ ADNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd@k0@ZyZyZyZ}y3@e5ɻ) >i9)ii@TB B B SIB BB =B B DB v;B 0E M,<\?AY]By]IԹiMb@Mb@Mb@ 9{Gzt?MbXZd;O?Yף;yʽj<A@ QA)AYAbD VD 1y%o<%%8=ٔ%Q-%>9)Y)=-Fy)-E5>9Q 5E75=3?Q 9E75=)=iBYEg=Q EEi9)XF3ii?5i!>DazDa@ @@0@E EE*E"ECJ;*E[;VE(N4ZEBE9 o,V\?A6-t@6@6DX׻ٱ6[ BAHRS rotation from veh to nav: [[-0.627991,0.776869,0.045841],[-0.778193,-0.627376,-0.028561],[0.006572,-0.053609,0.998540]]6H@?@x?v ?z? r ?i6-t@I6zc;6CYByI %p<%4<bD-VD-yE=%EY=ٔEQ-M>9IYI=MFyIUUEU>YQ 5e75]0?Q 9e75])]nBYaym @Q Im@]!:DI]:i]:]75yqɮu2 AqDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd[81@ ZQZQZQZU @eDX׻)a mQ>i"9)額3ii@6ԙ y,p\?Abt@bA@b7޻ٱb#Q\ nAHRS rotation from veh to nav: [[-0.630114,0.775138,0.046010],[-0.776473,-0.629500,-0.028623],[0.006777,-0.053761,0.998531]]bH@)@??$ >O{??ibt@IbUc;bCYvāByvIiuMb@Mb@Mb@qqqq q9uS㥛S㥛V-?Yu/ݼyu$u9Y=Fy׻E>Q 575-?Q 975)vBY% >Q E;y#@Q I@$:DIU:i:75yڒBɮADNOT Ignoring new targets: 33.63 m.hh*h"h hgfff]Bd d jd Zd1@iZ% >Z% >ZJ@Z#@7޻) L>i9)c4ii?BQBUyIBUBBU =BQBUDBUv;BU0E9@ @@5@@gA@fA^Au9<IԙIO=> bEU̷G4jEU#E4rEU\00E5  E5 E5 )E1 "E5 W;*E5 E:VE5 FA4ZE1 BE5 D9XYX=ZFyX^{E^>`Q 5f75b +?Q 9f75b)b}BYdyf@Q If@b':DIb:ib:b75ylɮnAlDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd2@ZZZZJ@ !)  Q>i @9)M4i1i=@9=:;I9IAI@ @@/@ IMCDS9Y @A^A"5<IIO>) (,H\?A6(s@6Ѐ@6:ٱ6R\ >AHRS rotation from veh to nav: [[-0.634119,0.771861,0.046078],[-0.773203,-0.633514,-0.028598],[0.007118,-0.053762,0.998528]]6H J`?@?`E`HK'}?@?i6(s@I6a;4YFځByFILNAAbDRVDRfyZ=%ZJ=ٔZvQ-Z>9\Y\=^Fy\bEb>dQ 5j75f7(?Q 9j75f)fBYhyj@Q Ij@f+:DIf:if:fb75ypɮrAp DNOT Ignoring new targets: 33.63 m.h h *h"h hgfffddjd!Zd%i2@ZAZAZAZE@U:)Q ]~y>i9)4ii-?)-@p;I1I1E EE+E"EO;*E:VE [4ZEa@a@a@a@Q @ @@/@y^A;II1O=>Bm >Bi Bm IBm ƁBBm =Bi Bi Bm v;Bi ԩ K.,9&\?A62s@6i@6vٱ6]\@ BAHRS rotation from veh to nav: [[-0.635673,0.770584,0.046033],[-0.771925,-0.635065,-0.028692],[0.007125,-0.053773,0.998528]]6HoW?@?tRma.}?&?i62s@I6`;6CYJԁByNIR=Ra=i%Mb@Mb@Mb@!!!! !9%J +MbX9Ŀy&1?Y%Hy%!%`9QYQ=UFyQUЛEU>YQ 5e75]%?Q 9m75]S)]BYm+>Q Em;ymm @Q Im@]/:DI]:i]s:]75yqɮ}5AyDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffBddjdQZdU`2@Z+>Z+>Zb,@Zm @v) >i 9)4ii@r;IIԱ@ @@/@@=@=E EE*E"EV;*E:VE(N4ZEBE| 5,I\?A2Ops@2@2Q/ٱ2K\ :AHRS rotation from veh to nav: [[-0.636939,0.769541,0.045987],[-0.770881,-0.636331,-0.028740],[0.007147,-0.053756,0.998529]]2Ha? ?@@\@mE}?酫@?i2Ops@I2_;2CYVہByVIbD^VD^yfH=%fR=ٔfBmQ-j>h9lYl=nFylr퉻Er>tQ 5v75v"?Q 9z75v)vBYxyzR @Q Iz@v3:DIv;iv;v|75yɮA-DNOT Ignoring new targets: 33.63 m.h)h)*h)"h) h1g1f1f9f9d9d9jd9ZdE 93@ZaZaZaZeR @uQ/)q })>i}9)y}N4yiyi?;II)@) @)@-/@)1^AMr;IiIO~>EU EUEU+EQ"EUC;*EU:VEU [4ZEQa]@a]@a]@a]@Y ;,F\?A8ɰ:4<~DXs@~@~ٱ~\  AHRS rotation from veh to nav: [[-0.638069,0.768607,0.045943],[-0.769945,-0.637462,-0.028742],[0.007195,-0.053713,0.998531]]~Hkm?ȅ? d`f@n@x}? C@?i~DXs@I~_;~CY%ށBy%I1iMb@Mb@Mb@ 9J +gfffffƿ~jt?Yy33<zA@ )YAbDVDܲy1<%;=ٔXQ->9Y=Fy[E>Q 575V?Q 9754)BY;>Q E;y @Q I@8:DI ;i ;N75yɮA5DNOT Ignoring new targets: 33.63 m.h1h1*h1"h1 h1g9f9f9f=BdAdAjdAZdE@3@A@AA?AB>BBIBՁBBBBBw;B0EBBBBBC©E5Zm;>Zm;>Zmg@Zm @U)Y ]R8>i]9)Y]U4YiYi}@-\:IIaY@Y @Y@Y@Yԉ^A };I I O > E]  E] E] ,EY "E] E;*E] :VE] g4ZEY BE] 9XYX=ZFyX^NsE^>`Q 5f75b0?Q 9f75b)bBYdyj @Q Ij@b<:DIb:ibA:b75ylɮnAl DNOT Ignoring new targets: 33.63 m.h h *h "h  h g fffddjdZd@4@ԙZZZZ @ )  ~+>i9)541i1i=?9=A9I9IAm9@q @q@u/@q@}hA@}gA! ^A :I I O >*I,s&]?ABR6s@B@BX>ٱBɭ[ RAHRS rotation from veh to nav: [[-0.639664,0.767291,0.045771],[-0.768622,-0.639055,-0.028804],[0.007148,-0.053605,0.998537]]BHx्? >o?"s@~G}?,r?iBR6s@IB^;BCYbЁBybIbDrVDry~%~?=ٔY8Q->9 Y =Fy%ٺE->ԉE EE1E"EsH;*E:VE-4ZEa@a@a@a@Q 575Y?Q 975)BYy @Q I@B:DI3;i;e75yɮUADNOT Ignoring new targets: 33.63 m.hh*h"h hg f f f ddjdZd@)z4@Z1Z1Z1Z5^ @MX>)I M>iM=9)QU4QiQi]@Y]2'IYIYA@A @I@MX4@QB>BBIBځBB =BBDB[w;B0E^A9IIO> :P,?@]?A2I)s@2t@20Nٱ2i[ :AHRS rotation from veh to nav: [[-0.640275,0.766782,0.045758],[-0.768112,-0.639671,-0.028728],[0.007242,-0.053541,0.998539]]2H !}z?`m?_.x`j}?@i ?i2I)s@I2];0YB́ByFIi Mb@Mb@Mb@     9 p= ףZd;Oǿ:v?Y y j< T<   ~A) A Y fA%@A%@AbD!VD!y5%=G=ٔ=nQ-=>9AYA=EFyAEEE>IQ 5]75M?Q 9]75MM)MBY]EH>Q E];y]@Q I]@MG:DIM;iM;M75ymْBɮmhAmNE5DNOT Ignoring new targets: 33.63 m.h1h1*h1"h1 h1g1f9f9f=Bd9dAjdAZdE4@ZEH>ZEH>Z@Za@ 0N)  >i 99)5ii?tdxII!@ @@4@DzDE  EE/E"EE;*E:VEJ4ZEBEa2EaJE3q 26V, Z]?A2 s@2׊@22ٱ2[ :AHRS rotation from veh to nav: [[-0.640707,0.766426,0.045669],[-0.767751,-0.640104,-0.028722],[0.007220,-0.053465,0.998544]]2H@?a?`k{Fi`U}?_?i2 s@I29];0YBByFIbDNVDNܲynU%rQ=ٔrn8Q-r>9pYt=vFytv_Ev>xQ 5~75z?Q 9~75z )zBYy@Q I@zK:DIz#;iz;z>75y ɮ A=DNOT Ignoring new targets: 33.63 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdMB5@ZiZiZiZm@@2) =i9)額Y 5ii@IIQQ@Q @Q@U/@Qԁ^AuqIIO>E2 EE*E"Ei;*EV:VE(N4ZEa@a@a@a@Թ b\,s]?Ars@r.@rtٱrz[ zAHRS rotation from veh to nav: [[-0.640955,0.766207,0.045865],[-0.767542,-0.640359,-0.028635],[0.007430,-0.053557,0.998537]]rHÄ?{?@}}Rn~?k@?irs@Ir];rCY%By-IiMb@Mb@Mb@ 9)\(SſMb`?YGay/; )YbDVDyg%;=ٔJQ->9Y=Fy CE>Q 575M ?Q 975 )BY7>Q E;y@Q I@P:DI;i;75yגBɮ > A MEB1A5<B9B9B=IB=ˁBB= =B9B9B9B=0EUDNOT Ignoring new targets: 33.63 m.hQhQ*hQ"hQ hYgYfYfYfebBdadajdaZde Բ5@ԩZ57>Z57>Z5֌@Z5@mt)i m>im$9)qu5qiqi}?y}@ҺIyI=9@9 @A@A@A ^A 0:ĺI I O >D =D 4=E  E E )E "E >T;*E :VE FA4ZE BE "9XYX=ZFyX^κE^>`Q 5f75b] ?Q 9f75ba )bBYdyf@Q If@bU:DIb:ib:b?75ylɮn AlDNOT Ignoring new targets: 33.63 m.hh*h "h  h g f ffddjdZd#6@Z9Z9Z9Z=@MRh)Q UD>iU9)QU:5QiQi@iII I)-9@) @)@-/@)9^AMNJκIYIiO}>i si,L]?A Z s@Z@ZٱZ8_Z bAHRS rotation from veh to nav: [[-0.641742,0.765545,0.045908],[-0.766880,-0.641172,-0.028174],[0.007867,-0.053287,0.998548]]ZH&X?O?`H@zٜ?@`H?iZ s@IZa ];ZCYjByn^IbDvVDvNy~%~E=ٔ!HQ->9Y=Fy  E >Q 575?Q 975)BYy%{@Q I%@Y:DIr;in;75y)ɮ-$ A)eDNOT Ignoring new targets: 33.63 m.haha*ha"ha hagafififididqjdqZdu y6@E EE*E"E*E:VE(N4ZEa@a@a@a@ZZZZ{@) ,=iK9)i!5ii?IIqi-9@1 @1@50@1ԡBABABEIBEBBABABABEw;BE0E^Am] IyIO> Zp,y]?A2r@2x@2Hٱ2Y :AHRS rotation from veh to nav: [[-0.642409,0.764978,0.046034],[-0.766317,-0.641863,-0.027752],[0.008318,-0.053105,0.998554]]2H z?͑?# k@ ?0@(?i2r@I2\;2C`YjwByj=Ii]Mb@Mb@Mb@YYYY Y9]I +9Y=FyE>Q 575?Q 975)BY>Q E;y@Q I@]:DIC:i:75yɮ ADNOT Ignoring new targets: 33.63 m.hh*h"h hgfffBddjdZd6@Z>Z>Z@Z0@%H)) -B>i-9)页ii@;QII9@ @@@bEMęT4jEM|a4rEMĤ0E EEE"EM;*E :VEZEBEA EG! 1 e ;9i Ym *Agv,U]?A2jr@2r@2ٱ2qY :AHRS rotation from veh to nav: [[-0.643022,0.764448,0.046281],[-0.765797,-0.642497,-0.027419],[0.008775,-0.053073,0.998552]]2H[v??hV@e?`d,#?i2jr@I2\;2CYBtByB9IJAAJAAbDNVDN02yVl%VY=ٔVQ-V>9XYX=ZFyX^ E^>`Q 5f85b?Q 9f85bm)`Ydyf@Q Ij@ba:DIb :ib$:b85ylɮn Al9DNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd I7@ZZZZ$@ )  -|;>i59)ae<3aiaim?im\,{IiIq @  @ @ 0@ iԡE E EE"E*E:VEZEa@a@a@a@^A- 7I9IQOe> :|,p@]?A)r@dk@|ٱY -AHRS rotation from veh to nav: [[-0.643639,0.763904,0.046697],[-0.765273,-0.643136,-0.027085],[0.009342,-0.053168,0.998542]]H௘@q??}@!?8 ?i)r@I];YETByEIԑAAAABBBMIBBB =BBDBv;B0EiEMb@Mb@Mb@AAAA A9E~jthB`"۹:vYEDyEνETEdAE@ EhA)AAYEpAbD]VD]N2ym%m1=ٔmQ-u>9qYq=uFyq}hE}>Q 585?Q 985)BY=Q Ei9)ii @  IIԹ9@ @@0@@=@=^A oMI I O% >E  E E 'E "E CJ;*E 1:VE '4ZE BE i]79)ae-3aiaim?imUIiIq59@1 @1@5/@1!^AUIaIyO{>Qԁ ,(^?Aɰ;2űr@2S@20ٱ2Y :AHRS rotation from veh to nav: [[-0.645840,0.761993,0.047502],[-0.763397,-0.645401,-0.026135],[0.010743,-0.053142,0.998529]]2H@?b?6R?m@,Ú?@t5`?i2űr@I2œ];0YF?ByFI J49|Y|=FyE> Q 585 ?Q 985 @) BYyH@Q I@ i:DI ;i a;  85y!ɮ% A!]DNOT Ignoring new targets: 33.63 m.hYhY*hY"hY hYgYfafafadadijdiZdm o~8@E EE+E"EI@;*E:VE [4ZEa@a@a@a@ZZZZH@0) ->i`9)3ii@IIY9@ @@@ԉ^A#2IIO>B B B IB VBB  =B B B w;B 0EBBBB =B =CP4ԩ PExceeded connect timeout, disconnecting. I,B^?A2Ñr@2C@2t<ٱ2dY :AHRS rotation from veh to nav: [[-0.647325,0.760707,0.047911],[-0.762127,-0.646921,-0.025609],[0.011514,-0.053092,0.998523]]2H W?Ň?Xc@9`l?@. ?i2Ñr@I2&];2CY^+BybI ``iMb@Mb@Mb@ 9 ףp= ?x&y&1YQ8=y7`eMA )YAbDVDyk%==ٔQ->9Y=FyꓻE>Q 5 85?Q 9 85$)BY§=Q E"iF9)4ii?5 IIE EE.E"EB;*E1:VEـ4ZEBEv9 Җ,o\^?A2or@2R2@2Iٱ2ކY :AHRS rotation from veh to nav: [[-0.648933,0.759306,0.048373],[-0.760746,-0.648565,-0.025085],[0.012326,-0.053078,0.998514]]2H`?-`?i2or@I2}^;2CY^'By^IbDjVDjyrP%r[=ٔrtQ-r>9tYt=vFytzEz>xQ 585zD?Q 985z )zBYyA@Q I@zm:DIz ;iz&;z85yɮ~ A=DNOT Ignoring new targets: 33.63 m.h9h9*h9"hA hAgAfAfAfIdIdIjdIZdM SL9@ZZZZA@%I)! %b>i-9))-M4)i)i5@9='I9IQ9@ @@/@9E E E%E"EI@;*E:VE 4ZEa@a@a@a@^AM IaIqO>i e,v^?A$TTBAp<B>BBIB3BBBBB w;B0Er@^ @geٱ.UY AHRS rotation from veh to nav: [[-0.652714,0.755998,0.049318],[-0.757475,-0.652423,-0.024011],[0.014024,-0.053030,0.998494]]H@"1?@D@? <=@G ϸ?&?ir@I_;CYByIiMb@Mb@Mb@ 9Zd;?Mby&1|Yy=y`@ QA)QAY(AbDVD:y"3%0=ٔoQ->9Y=FyN0E>Q 585?Q 985[)BY͍=Q E?i_9)4ii-?)-mI)I19@ @@@ԑ ^A ܪ&I) I9 OM >E  E E +E "E E;*E #:VE [4ZE BE 9)Y)=-Fy)-E5>1Q 5=855?Q 9E855)5BYAyAQ IE@5q:DI5n;i5;585ymՒBɮu AyDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd:@ZZZZ) iF9)S4ii@dIII ) 9@ @@?0@@@=^AjbIIO>A ,/^?A2q@26@2tٱ2xY :AHRS rotation from veh to nav: [[-0.654807,0.754147,0.049894],[-0.755649,-0.654553,-0.023557],[0.014893,-0.053127,0.998477]]2H.!?@?F.@?1?@3`?i2q@I2`;2CYFByFIbDNVDN:2yVE;%V<ٔVXQ-Z>9XYX=ZFyX^E^>`Q 5f85b쐊?Q 9f85b)bBYdyjb1Q Ij@br:DIb:ib:b85ylɮn AlIEm EmEm,Ei"EmCJ;*Em:VEmg4ZEiau@au@a}@a}@DNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd:@ZQZQZQZU`@mt)i m^>im9)iu4qii?IIM9@I @I@M`1@IqԙB>BBIB#BBBBBw;B0E^A-]nI9IIO]> y, ^?Aɰ2q@2X@2,ٱ2Z :AHRS rotation from veh to nav: [[-0.656914,0.752284,0.050334],[-0.753805,-0.656687,-0.023236],[0.015574,-0.053206,0.998462]]2Ho?mũ?+!˗`D?=f?i2q@I2fa;2CYDyDi Mb@Mb@Mb@     9 Dl? rh{Gzt?Y O=y C ף; A @ ) v@ Y @ Up9 Y =Fy=ʻE=>AQ 5E85Eꐊ?Q 9M85EU)EBYM=Q EM:ie9)ae5aiaiu@quIqIyEu7 EuEu*Eq"Eum;*Eu:VEu(N4ZEqBEu ,^?A6*q@6ʃ@6ٱ6#Z BAHRS rotation from veh to nav: [[-0.659274,0.750185,0.050787],[-0.751725,-0.659082,-0.022823],[0.016351,-0.053225,0.998449]]6H??`!2^e?A@J?i6*q@I6Nb;6CYJ'ByJI LLbDVVDVNyZ[=%^a=ٔ^ Q-b>9`Y`=bFy`fkEf>hQ 5j85j萊?Q 9n85j)jBYlyn!Q In@jv:DIj/;ij;j&$85ytɮvi At=DNOT Ignoring new targets: 33.63 m.h9h9*hA"hA hAgAfAfIfIdIdIjdIZdU@~Q;@ZqZqZqZuEIp@) >i9)額p5ii?6II!]\9eN>ie>E E0E)E"E,K;*E;VEFA4ZEa@a@a@a@@ @@F1@Qԑ ^A 7ƙIA Ii O >l,'O^?AB1B5CB5IB5BB1B1B1B5v;B50E4q@*@fٱF[ AHRS rotation from veh to nav: [[-0.663368,0.746515,0.051556],[-0.748094,-0.663206,-0.022652],[0.017282,-0.053595,0.998413]]H@O:t?@e?`b@8/2S?p ?i4q@Iv c;CY-ByIiMb@Mb@Mb@ 9y&1?y&1~jt?Y`e=y`弙<A )QAYzAbDVD0ya<%)=ٔQ->9Y=Fy2:E>Q 585u搊?Q 985)BY=Q EJ A 5DNOT Ignoring new targets: 33.63 m.h1h9*h9"h9 h9g9f9fAfEBdAdIjdIZdM@;@Zm=Zm=Zm9@ZmMb@}f) >>i(9)q'5ii @  @~ԼI I%J9A@ @@4@ibE(N4jEɔK4rES}0EE  EE EA EA "EE a?;*EE :VEA ZEA BEE Ա Q,_?AY~7By~I  bDVDfy%Wt=%%k=ٔ%Q-%?9)Y)=-Fy)5E5?1Q 5E855䐊?Q 9E855<)5BYAyAQ IE@5y:DI5Y;i5D;5d+85yIɮU AQ}DNOT Ignoring new targets: 33.63 m.hyhy*hy"h hgfffddjdZdl$<@ZZZZ) ܔ>ic9)85ii?HϼIII=)=ԑ C%\9ErGa$9YPA@ @@/@^A]&ּIiIyOZ> {,H+_?AJp@Ju~@JٱJ[ ZAHRS rotation from veh to nav: [[-0.667266,0.743021,0.051730],[-0.744610,-0.667114,-0.022686],[0.017653,-0.053656,0.998403]]JH>Z?X|?X;?@x?iJp@IJ"b;JCYfKByfIIv=)tE  E E (E "E ,K;*E :VE c44ZE a@a@a@a@bDVDNy5=%5I=ٔ5oQ->9Y=FyJE>Q 585␊?Q 985~)BYy(0Q I@{:DI;i3;/85yɮJ A DNOT Ignoring new targets: 33.63 m.h h *h "h hgfffddjd!Zd%@<@ZAZAZAZE|a@U)Y ]Ĩ>i]9)Y]N5Yiaie@imVIiIi!9B1B1B5IB53BB1B1B5DB5v;B5i0E9@ @@@@=@=I y ^A I I O >,eG_?AJp@J7~@JٱJ\ RAHRS rotation from veh to nav: [[-0.668732,0.741702,0.051726],[-0.743298,-0.668565,-0.023006],[0.017518,-0.053833,0.998396]]JH?f?{?d뎗Y?󏫿?iJp@IJgb;JCY^UBy^IiMb@Mb@Mb@ 9V-?v/X9v?Y9Y=Fy疻E>Q 585?Q 985Q)BY=Q E:iU+9)QUZ_5QiQi]?Y]\mIYIaԑEU EQEU)EQ"EU9;*EQVEUFA4ZEQBEUh ,8a_?Aɰ2Ap@2~@2~ٱ2 \ :AHRS rotation from veh to nav: [[-0.670244,0.740342,0.051641],[-0.741937,-0.670068,-0.023218],[0.017413,-0.053876,0.998396]]2Hr? p?2q`Ɨԑ??i2Ap@I2&a;0YF_ByFIbDNVDN02yV_=%V\=ٔZ09Q-Z>9XYX=ZFy\^E^>`Q 5f85bސ?Q 9f85b))bǮBYhyjo8@Q Ij@b~:DIb:ib :b685ylɮn Al DNOT Ignoring new targets: 33.63 m.h h *h "h  h g fffddjdZd]=@Z9Z9Z9Z=Jo8@U~)Q Ue>iU9)Q"p5ii@=II gAgA)9 @ @@0@1Ee EeEe*Ea"Eeg5;*Ee:VEe(N4ZEaau@au@au@au@^AIIO>I Bq Bq Bu IBu LBBq Bq Bq Bu qv;Bu Z0EB5CB5CB1B1B1C5˗4 v,r|_?AZƁp@Zfw~@Z׋ٱZ\ fAHRS rotation from veh to nav: [[-0.671491,0.739232,0.051343],[-0.740816,-0.671296,-0.023533],[0.017070,-0.053838,0.998404]]ZH@|@ɧ? I?ô`A{@z?ࠐ?iZƁp@IZ~`;XYrpByr4I ttiMb@Mb@Mb@ 9~jth?EԸQ?YD;yƽ\=A@ A)AYAbDVD2yc=%/=ٔDA:Q->9Y=FykE>Q 585ې?Q 985f)ѮBYH=Q Ei}19)y} ~5yiyi?Jp II!I-fA))@ @@ 0@DD<E EE(E"E /;*Ed:VEc44ZEBE1<,,_?A0:2np@:c~@:.Eٱ:\ BAHRS rotation from veh to nav: [[-0.672381,0.738441,0.051074],[-0.740018,-0.672160,-0.023964],[0.016634,-0.053908,0.998407]]:H%`O?Q&?;T@r?`ڙ?i:2np@I:`;:CY|ByCIbDVDk1yi=%A=ٔ:Q->9Y=Fy8E>Q 585Rِ?Q 985)ٮBYym@Q I@:DIL;iH;=85yɮ A DNOT Ignoring new targets: 33.63 m.h h *h "h  h gfffddjdZd@>@Z9Z9Z9Z=m@ԉ].E)Y ]e>i]9)Y]s5aiai@5II\99@ @@0@ ^A= KIQ Ia O >E  E E 0E "E %;*E :VE 4ZE a @a @a @a @bf,Я_?A2^p@2pT~@2_ٱ2$\ :AHRS rotation from veh to nav: [[-0.673081,0.737829,0.050701],[-0.739393,-0.672832,-0.024399],[0.016111,-0.053911,0.998416]]2HJ?@|?`և` ]?,?i2^p@I2K_;2C @)@@@@FLCFElAiFļIDDIHiJblA JļH)HL NlAN̼LLPRlAIR̼)PiP)TITVԼT TTZlAXiXXiZ CX)X \I\Y\\YByPIbDVD1yEJh=%Ed=ٔM:Q-M>9IYQ=UFyQU+EU>Q 585א?Q 985)BYyb@Q I@:DI:i=: A85yɮp ADNOT Ignoring new targets: 33.63 m.h!h!*h!"h! h!g!f!f)f)d)d)jd1ZdU>@ZZZZip9)顭&5ii?!III?)W?M9@I @Q@U4@QBBB4IBpBBBBBu;B0E^A I I O >Q &N,C_?A)Y=By=VIIE%=)E=iMb@Mb@Mb@ 9MbP?V-¿Mb?Y:yh=zA@ )YbDVDy.<%@=ٔQ->9Y=FyE>Q 5 85uӐ?Q 9 85)BY >Q E;y@Q I@:DIv:iv;D85yɮI AMDNOT Ignoring new targets: 33.63 m.hIhI*hI"hI hIgIfQfQfU%BdYdYjdYZd]b ?@Z}>Z}>Z}@Z}@) L>i9)顥5ii@kIE EE-E"E%.;*E:VEt4ZEBE9ie>ԑ9@ @@2@iA IE Aԩ ^A dI I1 O= >L, m_?A6Op@6rE~@6rٱ6`\` jAHRS rotation from veh to nav: [[-0.673771,0.737267,0.049696],[-0.738792,-0.673458,-0.025315],[0.014804,-0.053771,0.998444]]6H`@?q?.@9왿Q???i6Op@I6/0^;6CYByeIbDVD1yh=%@=ٔI;Q->9Y=Fy E>Q 585ϐ?Q 985)BYy@Q I@:DI;i;fH85yӒBɮ ALE DNOT Ignoring new targets: 33.63 m.h h *h "h  h gfffddjdZdUv?@ZZZZ@ r) e>i9)B5ii?E<'IAIAE EE)E"E=;*E|:VEFA4ZEa@a@a@a@9@ @@/@^A] #Ii Iy O >! A A @AB >B B YIB BB B B B u;B /E,-_?Aɰ6&Sp@6H~@6fٱ6s\ BAHRS rotation from veh to nav: [[-0.673628,0.737431,0.049200],[-0.738937,-0.673277,-0.025881],[0.014039,-0.053790,0.998453]]6H@]`?0?^ }`?WT?i6&Sp@I6.];6CYJByJgI1iUMb@Mb@Mb@QQQQ Q9U:voʡſV-?YUԼyU-U9Y=Fyf:E>Q 5854̐?Q 985)BY1>Q E;y@Q I@:DIQ;i:K85yɮ ADNOT Ignoring new targets: 33.63 m.hh*h"h hgfffLBddjdZd?@Z1>Z1>Zc@Zm@%f)! %>i-9))-5)i)i5@15I1I99@ @@/@IyE EE+E"EsH;*E:VE [4ZEBEԡ ,`?A2[Zp@2O~@2א[ٱ2\ :AHRS rotation from veh to nav: [[-0.673309,0.737744,0.048867],[-0.739240,-0.672925,-0.026409],[0.013401,-0.053906,0.998456]]2H??٧ q? Z?i2[Zp@I2];2CYBByFeI HHbDNVDNyVy%VY=ٔZ:Q-Z>9XYX=ZFyX^:E^>`Q 5f85bȐ?Q 9f85bU)bBYdyj@Q Ij@b:DIb:ib:b)O85ylɮn AlDNOT Ignoring new targets: 33.63 m.h h *h "h  h g f ffddjdZd`7@@Z9Z9Z9Z=ط@Uא[)Q Ud>qiU9)5ii? KIIm9@i @i@m/@i@ufA@ugAԡ^A*_IIO>E  E E *E "E B;*E :VE (N4ZE a @a @a @a @ ! ,2`?A>G\p@>Q~@>SQٱ>81\ VAHRS rotation from veh to nav: [[-0.673228,0.737854,0.048330],[-0.739324,-0.672819,-0.026731],[0.012794,-0.053728,0.998474]]>H@??S_3?. ?i>G\p@I>%];>CY\y\bDjVDj02ٔr :Q-r>9pYt=vFytv9Ev>xQ 5~85z0Ő?Q 9~85z)z BYy@Q I@z:DIz;iz;zR85y ɮ  =DNOT Ignoring new targets: 33.63 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdMR@@ZiZiZiZm@SQ) i9)額^5ii@II9@ @@/0@B>BBlIBBBBBBu;B/E iAIEA^ASI!I1OEr>1Y ,wL`?A2bp@2_X~@2pHٱ2[ :AHRS rotation from veh to nav: [[-0.672941,0.738145,0.047881],[-0.739595,-0.672508,-0.027050],[0.012234,-0.053615,0.998487]]2H?@΃?ê/Მ ?@ms?i2bp@I2z];2CY^By^aIiEMb@Mb@Mb@AAAA A9E~jt+ǿ/$?YEyEv>E9qYq=uFyq}pu:E}>Q 585@?Q 9857)BYC>Q E;y @Q I@:DI:i:mV85yɮ AbEIjEM [4rEMQ0E EE0E"E/;*E:VE4ZEBEʈZC>ZX@Zd @pH) #>i9)ѯ5ii?II  I)E9@A @A@I@IihA)]x9]hAY]aAԑ^A- %|I1 IQ O >Թ 4,Йf`?ANrjp@N`~@Ng CٱNv[ ^AHRS rotation from veh to nav: [[-0.672596,0.738476,0.047627],[-0.739914,-0.672150,-0.027223],[0.011909,-0.053550,0.998494]]NH`?b?`@I c?@j?iNrjp@IN];LYfByf`IbDVD0y-ֻ%-N=ٔ-V:Q-->91Y1=5Fy15:E=>AQ 5E85E?Q 9M85E)EBYIyM @Q IM@E:DIE :iE:EY85yQɮ] AYDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd@V@@ZZZZ @g C) 0!>i9)5ii@IIԑU9@Q @Q@U4@Q@e=@aE EE,E"EO6;*EVEg4ZEa@a@a@a@Թ^A=+IAIYOew>Bm <Am <Bq Bq Bq Bq Bq Bq Bq Bu u;Bu 0E1  ,I`?AVpp@V=f~@V=ٱV.A[ bAHRS rotation from veh to nav: [[-0.672320,0.738743,0.047390],[-0.740170,-0.671861,-0.027403],[0.011596,-0.053500,0.998501]]VH@ǣ?`xC?y`@n`?`Sd`?iVpp@IVJ];VCYjByjbIiMb@Mb@Mb@ 9 rhGzǿMbp?YCyp=;@ )YAbDVDk1y\;%B=ٔB:Q->9Y=Fyi:E>Q 585?Q 985)BYH>>Q E;y@Q I@:DI ;i ;]85yɮ A DNOT Ignoring new targets: 33.63 m.h h *h "h hgfff9BddjdZd%@[@@ZEH>>ZEH>>ZE8ݓ@ZE@U=)Q ]R8>i]=9)Y]5YiYie?aewIaIi@  @ @ r4@ E EEE"E8;*E:VEZEBE׏a vG&,.V`?A4<ɰ4<6tp@6Nj~@6;ٱ6[ >AHRS rotation from veh to nav: [[-0.672137,0.738917,0.047270],[-0.740338,-0.671674,-0.027442],[0.011473,-0.053441,0.998505]]6H$4?3?ٰ[~?\ ?i6tp@I6߁];6CY^By^OI df4<bDfVDfJynv%rY=ٔr59Q-r>9tYt=vFytv,:Ev>xQ 5~85z#?Q 985z)zBYy@Q I@z:DIz;iz;z`85y ɮ e A=DNOT Ignoring new targets: 33.63 m.h9h9*h9"h9 h9gAfAfAfAdIdIjdIZdM!A@ZiZiZiZm@@;) <>i9)額\5ii@IIi@ @@/@ԙ^Au#IyIO> E  E E &E "E *E :VE 4ZE a @a @a @a @o,,(*`?A2xp@2=n~@2Z;ٱ2Z :AHRS rotation from veh to nav: [[-0.671959,0.739080,0.047247],[-0.740500,-0.671496,-0.027455],[0.011435,-0.053435,0.998506]]2H ?0?,@|;k?`[?i2xp@I2*T];0PYn~BynFIbDzVDz0y}%H=ٔ8Q->9 Y = Fy  P:E>Q 5%85ְ?Q 9%85I)BY!y%@Q I%@:DIz;iv;md85y)ɮ5 A1]DNOT Ignoring new targets: 33.63 m.hYhY*hY"ha hagafafafididijdiZdm@UA@ZZZZ;@Z;) 2 >i9)顭5ii?|] IIm9@i @q@u/@q@}@}@}@}BBB`IBBBBBBu;B0EBBBBBCóK4I!I1OEr>! W3,O`?A2 vp@2k~@2>ٱ2Z :AHRS rotation from veh to nav: [[-0.672074,0.738971,0.047319],[-0.740392,-0.671623,-0.027237],[0.011653,-0.053340,0.998508]]2H ?3:?`K@} 䛿~݇?gO?i2 vp@I2:_];0YByByB@I iEMb@Mb@Mb@AAAA A9E:vˡEĿMbP?YETyE'E:EdAA E A)EAAYEAbD]VD]kym ü%mD=ٔmQ-u>9qYq=uFyq}+ŹE}>Q 585ᬐ?Q 985) BYw(>Q E;y@Q I@:DI:i:h85E EE+E"E(;*E :VE [4ZEBEZ%w(>Z%C@Z%?@5>)9 =.>i=9)9=i59i9iE@AMIIII9@ @@/@IIO>)Qԁ 9,``?A2Wtp@2i~@2<&Dٱ2Z :AHRS rotation from veh to nav: [[-0.672148,0.738889,0.047544],[-0.740320,-0.671712,-0.027019],[0.011972,-0.053358,0.998504]]2H<?@W?`@~@Ԫ ?@Q?i2Wtp@I2%];2ߐCY^eBy^&Idf@AbDjVDj02yrԽ%rS=ٔrXQ-r>9tYt=vFytzEz>xQ 585z8?Q 985z)z"BYy@Q I@z:DIz:izg:ztk85yɮ^ AqDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd@žA@ZZZZ=@%<&D)! %>i%9)!%)i)i-?QUcIQIY%9@) @)@)@)I9IIO]>E EEE"E+$;*E:VEZEa@a@a@a@ԹA AAA ?AB >B B @IB zBB =B B B u;B 0E k@, a?AnGlp@na~@n"Jٱnv=ٔ[Q->9Y=FyE>Q 585O?Q 9585)#BY5,>Q E5;y=!@Q I=@:DImZU,>ZU@ZUh!@e"J)a eR8>ier9)額C3ii@=II%9@! @!@%0@!I9AIQO]3>E EEE"E /;*E|:VEZEBE9tYt=vFytzEz>|Q 585~䡐?Q 985~!)~$BYy!@Q I@~:DI~;i~;~r85yɮ A=DNOT Ignoring new targets: 33.63 m.h9hA*hA"hA hAgAfAfIfIdIdIjdQZdU&$B@ZqZqZqZu\!@R) >i19)額3ii?IIqm9@q @q@u5@qIIO=ԡE  E E E "E <;*E :VE ZE a @a @a @a @ L, r5a?Aɰ;2Qp@2G~@2\ٱ2*Z :AHRS rotation from veh to nav: [[-0.673687,0.737429,0.048406],[-0.738894,-0.673323,-0.025926],[0.013474,-0.053233,0.998491]]2H؎?@Ȩ?܋i`c?dA?i2Qp@I2#];2CYFMByF IbDNVDN:2yVC%VN=ٔVκQ-Z>9XYX=ZFyX^IE^>`Q 5f85bK?Q 9f85bU)`Ydyf!@Q Ij@b:DIb:ibt:bu85ylɮn AlDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd@XB@Z Z Z Z !@\)! %>i%9)!%3!i!i-@)-$I)I1BBB!IB`BB =BBBu;B 0E9@ @@4@^A5 IAIiO>) S,OOa?A2[=p@22~@2whٱ2|0Z >AHRS rotation from veh to nav: [[-0.674610,0.736557,0.048845],[-0.738039,-0.674277,-0.025480],[0.014167,-0.053238,0.998481]]2Hfߑ?@(?`y@?B?i2[=p@I2y];2CYFBByFI HHiMb@Mb@Mb@ 99AYA=MFyIMBEM>QE EE*E"E1;*E:VE(N4ZEBE[i9)G 4ii?)I IIgA)gA9@ @@p4@Y^AIIO>ԉ Y,,(ia?A0:*p@:x ~@:sٱ:Z BAHRS rotation from veh to nav: [[-0.675436,0.735764,0.049378],[-0.737268,-0.675134,-0.025078],[0.014885,-0.053343,0.998465]]:H+ `?@ H?೗`H|?`Om?i:*p@I:];:CYR5ByRIbDZVDZ:2yb%bR=ٔflQ-f>9dYd=fFyhj>Ej>lQ 5r85n@?Q 9r85n)n)BYtyv$@Q Iv@n:DIn:in:n}85yxɮz Ax%DNOT Ignoring new targets: 33.63 m.h!h!*h!"h! h!g!f)f)f)d)d1jd1Zd5@̾B@ZQZQZQZU+$@ms)i m<=im9)iu[>4qiqiu@y}sIyI9@ @@/@ԉE EEE"E3;*Ea:VEZEa@a@a@a@Թ^AIIO%o>B <A <B >B B IB LBB B B B u;B 0E `,kFa?A8T8p@~@AٱToZ %AHRS rotation from veh to nav: [[-0.676503,0.734753,0.049828],[-0.736274,-0.676238,-0.024552],[0.015656,-0.053297,0.998456]]H?@?`@I$?`IZ?ip@IS];ސCYE9ByEIiMMb@Mb@Mb@IIII I9MX9v?{Gz~jt?YM9yYy=}FyLNE>Q 585)?Q 985)-BYk=Q Ei-9))5u41i1i5?9="I9I9@ @@/@@=@=bE [4jEU4rE/E} E}E},Ey"E}US;*E}:VE}g4ZEyBE}Y) 1 5 C liA 9 liAY  A~f,<ܜa?A2wo@2}@2Pٱ2[ :AHRS rotation from veh to nav: [[-0.677415,0.733872,0.050409],[-0.735419,-0.677182,-0.024175],[0.016395,-0.053448,0.998436]]2H`a`{?>ϩ?x7@ɐ?] 0?i2wo@I2/^;2CYF5ByFIIH)J;bDRVDRyVK%Zo=ٔZ Q-Z?9\Y\=^Fy\boEb?`Q 5f85bᒐ?Q 9j85bw)b0BYhyj1@Q Ij@b:DIbd:ib9:b85ypɮr Ap9DNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd@'C@ZZZZ 1@P) D>i5"9)1=49i9iE@AE&IAIAUa>iU> @  @ @ /@ iԙ^A5 IAIYOm>E  E =E *E "E =-;*E ;VE (N4ZE a @a @a @a @ 0 m,ùa?A2o@2}@2%ٱ2([ :AHRS rotation from veh to nav: [[-0.678588,0.732751,0.050938],[-0.734317,-0.678395,-0.023646],[0.017229,-0.053451,0.998422]]2H@r??`i6@|?@]?i2o@I2r?^;0YF:ByFIbDNVDN02yV<%VJ=ٔZPQ-Z>9XYX=^Fy\^Eb>`Q 5f85b0?Q 9f85b")b4BYhyj0@Q Ij@b:DI`ib[:b85ylɮn Ap DNOT Ignoring new targets: 33.63 m.h h *h "h  h gfffddjdZd`YC@ZAZAZAZE)0@U%)Q UN>iUC9ԙ)4ii?,II!B]>BYB]IB]=BBYBYBYB]u;B]0E9@ @@0@^Aܪ&IIO > s,pa?Aɰ:o@:}@:ٱ:[ FAHRS rotation from veh to nav: [[-0.679571,0.731803,0.051452],[-0.733391,-0.679408,-0.023293],[0.017911,-0.053564,0.998404]]:H @j?W?@wڗQW?l?i:o@I:a^;8YN7ByNIi%Mb@Mb@Mb@!!!! !9%y&1? rh rh?Y%`9QYQ=UFyQEe EeEe-Ea"Ee0;*Ee:VEet4ZEaBEeyQ 585}?Q 985})}8BY=Q E/iu9)qu4qiqi}@yd0II!e9@a @a@e0@a@uhA@ugAQ^A -|,I I O >y )z,oa?A2ro@2}@2 <ٱ2([ :AHRS rotation from veh to nav: [[-0.680615,0.730800,0.051909],[-0.732406,-0.680483,-0.022908],[0.018582,-0.053610,0.998389]]2H@b?`ޓ?`o4u9? r?i2ro@I2^;2CY^;BybI ``bDjVDj1y-ֹ<%-L=ٔ5ۺQ-5>91Y9==Fy9EjlEE>IQ 5]85Mw?Q 9]85M)M=BYaye)2@Q Ie@M:DIMaB;iMmC;Mَ85yqɮu AyDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZdC@Z Z Z Z )2@% <)! -A>i-9))-b4)i1i=?9=5I9I9IY9@ @@4@Eu EuEu,Eq"Eu8;*Eu:VEug4ZEqa@a@a@a@ԁ^A[1II1O=>ԩBU >BQ BU IBU 8BBU =BQ BQ BU u;BU !0EBBBBBC#$5 ],b?AMŤo@Md}@M ٱM\ mAHRS rotation from veh to nav: [[-0.681397,0.730032,0.052451],[-0.731663,-0.681289,-0.022692],[0.019169,-0.053839,0.998366]]MHl\?ڪ?i`v<?ྐ`?iMŤo@IM^;MߐCY}7By}IiMb@Mb@Mb@ 9~jt?~jt/$?Y91Y1==Fy9=!E=>AQ 5M85Eو?Q 9M85E1)EBBYU˨=Q EU!ix9)顝4ii@o8II@ @@5@DaDe=E EE0E"E1A;*En:VE4ZEBE U0,&b?A:o@:}@:ٱ:] BAHRS rotation from veh to nav: [[-0.682274,0.729181,0.052880],[-0.730830,-0.682191,-0.022415],[0.019730,-0.053940,0.998349]]:H0 tU? ?b 4?  z?i:o@I:^;:CYJFByJIPRAAbDVVDVfy^Z=%^g=ٔbϺQ-b>9`Yd=fFydfL`Ef>hQ 5n85j?Q 9n85j)jGBYpyr|,@Q Ir@j:DIj;ij;jŕ85ytɮv6 AtDNOT Ignoring new targets: 33.63 m.hh*h"h hg!f!f!f!d)d)jd)Zd-(D@ZIZIZIZM|,@e)a e M>im9)im5iiiiu?quMi E  E E -E "E *E I:VE t4ZE a @a @a @a @Z,8b?A 6#o@6u}@6(ٱ6] >AHRS rotation from veh to nav: [[-0.683016,0.728453,0.053333],[-0.730122,-0.682958,-0.022160],[0.020281,-0.054075,0.998331]]6HD}O?uN?(]@ 7Ĕ?ǯS?i6#o@I6$p^;6CYFIByFIIJ<)HbDrVDryzl=<%zG=ٔz2Q-z>9|Y|=~Fy|#E> Q 585 L?Q 985 ) LBYyi,@Q I@ :DI :i +; [85y!ɮ%# A!MDNOT Ignoring new targets: 33.63 m.hIhI*hQ"hQ hQgQfQfYfYdYdYjdaZdeE]D@ZZZZxi,@() Q>iK9)顝5ii@8?III)B>BBIB=BB =BBB^v;BQ0E1@1 @1@1@1iԩ^Aul;IIO> 4B,Qb?A2Oto@2i}@2Vٱ2[1^ :AHRS rotation from veh to nav: [[-0.683538,0.727939,0.053679],[-0.729623,-0.683496,-0.022007],[0.020670,-0.054208,0.998316]]2H`@FK?{?`Y2x*? *3?i2Oto@I2R^;2CYBBByFIPEE EE EE,EA"EEy>;*EE:VEEg4ZEABEES9Y=Fy޺E>Q 585?Q 985)RBY=Q EiEs9)AE5AiAiM?IM#BIQIQ@ @@/@^A_>II1O=>! Ul,̷kb?A;ɰ4<2co@2X}@2,לּٱ2] >AHRS rotation from veh to nav: [[-0.684297,0.727213,0.053839],[-0.728898,-0.684281,-0.021634],[0.021109,-0.054047,0.998315]]2HTE?ː?!S@@3'@|?2?i2co@I2Z];0YJSByJI Vp9hYl=nFylr5Er>tQ 5~85|vr?Q 985v)vXBY y #@Q I @v:DIvL;iv;};vb85yɮ ADNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZdD@Z1Z1Z1Z5#@,לּ) ZF>i9)額I*5ii@mEII)I@I @I@M/@IE] E]E]-EY"E]1;*E]u:VE]t4ZEYae@ae@ae@ae@Q^A&t@IIO>BA<BBBIBLBB =BBBv;B~0Eԁ JY,?b?Aa}Vo@}8L}@}cڰٱ}b] AHRS rotation from veh to nav: [[-0.684846,0.726675,0.054123],[-0.728368,-0.684855,-0.021302],[0.021587,-0.054010,0.998307]]}HB`@? ?NU@Е?A!?i}Vo@I}];}CYMBy Ii]Mb@Mb@Mb@YYYY Y9]~jtx?/$?Y];y]̽]<] A]@ ]A)]hAYY]AbDuVDuk1y}ּ%1=ٔ뇺Q->9Y=FyqٺE>Q 585|?Q 985)^BY=Q Ei9)235i!i%?!-]HI)I)=l>i=>y@ @@@EU EUEU*EQ"EU=;*EU:VEU(N4ZEQBEU J~,mb?A2!Ko@2@}@2+/ٱ2˕\ :AHRS rotation from veh to nav: [[-0.685352,0.726195,0.054161],[-0.727884,-0.685379,-0.020999],[0.021871,-0.053815,0.998311]]2Hf9Y=Fy%E%>)Q 5585-?z?Q 9585-%)-cBY1y5;@Q I5@-:DI--:i-;-85yAɮE AAmDNOT Ignoring new targets: 33.63 m.hihi*hq"hq hqgqfqfyfyddjdZd@,E@ZZZZ;@Թ+/)  >ig9) ;5ii@/JIIu9@q @q@ux2@y^AtEIIO>Em  Em Ei Ei "Em ;;*Em :VEi ZEi au @au @au @au @9 i,Ib?A2dDo@2:}@2ĵٱ2\ :AHRS rotation from veh to nav: [[-0.685646,0.725901,0.054378],[-0.727597,-0.685690,-0.020801],[0.022187,-0.053827,0.998304]]2H:?`׫?xH+ L?@:?i2dDo@I2<];2CYFQByFIbDNVDN:yV<%VO=ٔVQQ-Z>9XYX=ZFyX^E^>`Q 5f85bw?Q 9f85b})bhBYdyf3@Q Ij@b:DIb:ibZ:b85ylɮn AlDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZdaE@ZZZZ3@ĵ) j>i09)  qԙ ],y$b?A2@o@2Y6}@2Jٱ2*] :AHRS rotation from veh to nav: [[-0.685804,0.725730,0.054666],[-0.727438,-0.685862,-0.020667],[0.022495,-0.053939,0.998291]]2H@.9?@$?,G@)?띫?i2@o@I2N];2CYFRByFIIJC=)J91Y1=5Fy1=QE=>AQ 5M85Et?Q 9M85E)EnBYM=Q EM;yM@Q IU@E:DIEj:iE;E85yYɮ] AYqDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd ƘE@ s 9 YMAZ-=Z-=Z-薕@Z-@=J)9 =^>i= 9)AEN5AiAiM@IM2LIIIQYԡ9@ @@4@^A! I1 IA OM > ,b?ANZ6o@N+}@NJ׹ٱNL\ ZAHRS rotation from veh to nav: [[-0.686262,0.725296,0.054681],[-0.727001,-0.686332,-0.020468],[0.022684,-0.053799,0.998294]]NH5?? 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nw@??i6o@I6v\;6CYF*ByFILLbDRVDR:yZ%ZY=ٔZA:Q-Z>9\Y\=^Fy\bZEb>dQ 5j85fX?Q 9j85fs)fBYhyj@Q Ij@f ;DIfl:if:fJ85ypɮr ApDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZdXG@ZZZZ5@-) 5x=i509)9=,59i9iE?AEFTIAIIi9@ @@/@E EE(E"EO6;*E:VEc44ZEa%@a%@a%@a%@ԙAAB>BBIB=BB =BBB8v;B?0E^AII1O=> A,x d?AP^fo@^ }@^uٱ^_[ ~AHRS rotation from veh to nav: [[-0.687742,0.723974,0.053595],[-0.725639,-0.687745,-0.021331],[0.021417,-0.053561,0.998335]]^H`*?p?o8`וQ?Rl \?i^fo@I^!\;^CY5'By=II=)p=bDVD1y}t%0=ٔp:Q->9Y=Fy#ĸE>Q 585U?Q 985T)BYyQ I@;DI6:iX85yɮ# ADNOT Ignoring new targets: 33.63 m.hh*h"h hgfffd)d)jd)Zd-`H@ZIZIZIZM@eu)a eP=i9)页u5ii@TIIy@y @y@y@ybE(N4jEƼP4rEƖ/E EE+E"E*E:VE [4ZEBEFW?*DA^AE XRIQ Ia Ou > h,D#d?A6o@6 }@65ٱ6J[ >AHRS rotation from veh to nav: [[-0.687726,0.724013,0.053279],[-0.725666,-0.687708,-0.021574],[0.021020,-0.053500,0.998347]]6H+?`G?8N?[dt?i6o@I6)];6CYFByJIiuMb@Mb@Mb@qqqq q9u~jtxq= ףpQ?YuĻyu뽙uu9!Y!=%Fy!-8E->1Q 5=855iS?Q 9=855z)5BY==Q EE;yE@Q IE@5;DI5;i5:585yIɮM AIuDNOT Ignoring new targets: 33.63 m.hyhy*hy"hy hygyfyffBddjdZd@8H@Z=Z=Z @Z@5) L=i9) 5ii?TII)@ @@?0@Q^A8RIIO>E-  E- E) E) "E- 1A;*E- E:VE) ZE) a= @a= @a= @a= @ԁ ,=d?A4<ɰ2o@22}@2rٱ28\ :AHRS rotation from veh to nav: [[-0.687480,0.724257,0.053124],[-0.725911,-0.687437,-0.021989],[0.020593,-0.053681,0.998346]]2H-?3?:{ hl? |r?i2o@I2i];2CY^By^IbDfVDf:2ynļ%nY=ٔrW:Q-r>9pYp=vFytvy:Ev>xQ 5~85zQ?Q 9~85z)zBYy@Q I@z;DIz;iz;z85y ɮ  A 5DNOT Ignoring new targets: 33.63 m.h9h9*h9"h9 h9g9fAfAfAdAdIjdIZdM !gH@YZqZqZqZu@BBBIB.BBBBBuv;B_0Er) '=i9)顭L5ii@k-SIIQ@Q @Q@U4@Qԉ^AԹIIO> z, Vd?A2o@23}@2Ypٱ2E[ :AHRS rotation from veh to nav: [[-0.687530,0.724237,0.052759],[-0.725875,-0.687468,-0.022198],[0.020194,-0.053558,0.998361]]2H>,?A?^:`?`k?i2o@I2r?];2ߐCYBByFI HHE5 E5E5.E1"E51;*E5:VE5ـ4ZE1BE5[9Y=Fy E >Q 585(N?Q 985)BY=Q E;y@Q I%@;DIz ;i ;85y-ɒBɮ- A)UDNOT Ignoring new targets: 33.63 m.hQhQ*hY"hY hYgYfYfafeBdadajdiZdmH@Z=Z=Z5@Z@Yp) أ=i>9)!% 5!i!i-?)-߻SIiIq9@ @@4@^A- XRI9 II O] >iߩ I߭ AA ,pd?A2o@2( }@2 Tٱ2[ :AHRS rotation from veh to nav: [[-0.687714,0.724088,0.052404],[-0.725711,-0.687635,-0.022402],[0.019814,-0.053436,0.998375]]2H`+?Ԫ?@9s-J?[`?i2o@I26];2CYBByFIbDNVDN0yV %Vb=ٔVZ:Q-Z>9XYX=ZFyX^)3E^>`Q 5f85bK?Q 9f85b)bBYdyf@Q If@b;DIb:ib:b85ylɮnAlDNOT Ignoring new targets: 33.63 m.hh *h "h  h g f ffddjdZdH@ZZZZ@ T) ,=i,9)5ii@TII9@ @@/@E5 E5E5*E1"E5U,;*E5:VE5(N4ZE1aE@aE@aE@aE@AByAyB>BBIBBBBBBv;B0EBABABABE =BE =CE5^A8RIIO>qԙ ",dd?AJo@J }@JٱJ$[ vAHRS rotation from veh to nav: [[-0.687831,0.723992,0.052197],[-0.725609,-0.687734,-0.022667],[0.019487,-0.053466,0.998380]]JH@*?@?08@ 6 p?@_?iJo@IJD];JސCY%By-IbDe VDe2y%<=ٔD:Q->9Y=FyE>AyQ 585EH?Q 985E,)EBYy@Q I@E;DIE.| v(,d?AZ o@Z}@Z坼ٱZZ jAHRS rotation from veh to nav: [[-0.688103,0.723747,0.052005],[-0.725357,-0.687995,-0.022806],[0.019273,-0.053415,0.998386]]ZH (?^?6 mZd?0Y?iZ o@IZql];ZCYzByzII~<)~<=i}Mb@Mb@Mb@yyyy y9} rh?MbX:v?Y}C9Y=Fy rE>Q 585.F?Q 985)BYo=Q E) EM  EM EM +EI "EM B;*EM Z:VEM [4ZEI aU @aU @aU @aU @.,pd?A2o@2|@2oٱ2RZ :AHRS rotation from veh to nav: [[-0.688500,0.723392,0.051678],[-0.724988,-0.688379,-0.022949],[0.018973,-0.053267,0.998400]]2H 2&?@u?`3@4m?E?i2o@I2Tn];2ސCYFByFIbDNVDN0yVǼ%V\=ٔZS:Q-Z>9XYX=ZFy\^ E^>`Q 5f85bC?Q 9f85b)bįBYhyj3#@Q Ij@b!;DIb:ib:b85ylɮn-AlBE>BABEIBEBBABABABEv;BE0EDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffddjdZd`kI@ZZZZ3#@ o)  D=i5;9)1551i1i=?9=q5XIAIA1@ @@/@Y^A-TIYIyO>ԁ 5,Cd?A;ɰ;06n@6e|@6Aٱ6Y BAHRS rotation from veh to nav: [[-0.688915,0.723021,0.051354],[-0.724603,-0.688776,-0.023173],[0.018617,-0.053175,0.998412]]6H "? K?@/t `?9?i6n@I6n];6CYJByJIE EE,E"Eg5;*E:VEg4ZEBE}9Y=Fy>E>Q 5%85@?Q 9%85)ȯBY%õ=Q E% ;,\d?A6n@6|@6zٱ6Y >AHRS rotation from veh to nav: [[-0.689438,0.722538,0.051130],[-0.724112,-0.689287,-0.023355],[0.018368,-0.053126,0.998419]]6H`?-?+@sꗿ ϒ?K3@ ?i6n@I6E];6ߐCYJByJI LLPRAbDVVDV!y^^%^_=\ٔb2:Q-b>9dYd=fFydfJEf>hQ 5n85jR>?Q 9r85j9)j̯BYpyr*@Q Ir@j&;DIj;ij;j85ytɮvMAxDNOT Ignoring new targets: 33.63 m.hh*h"h hg!f!f!f!d)d)jd)Zd-I@ZIZIZIZM*@ez)a e̴=ie9)imȟ5iiiiu?quv\IqIy@ @@5@E EE+E"E<;*E:VE [4ZEa@a@a@a@^A5@WA9A=?ABE>BABEIBEBBE =BABABEv;BEn0EIaIqO{>A B,M e?A6n@6i|@6Dٱ6nNZ >AHRS rotation from veh to nav: [[-0.689936,0.722064,0.051111],[-0.723641,-0.689773,-0.023592],[0.018220,-0.053263,0.998414]]6H@&?D+? (@(M?VE?i6n@I6];6CYjBynIbDv VDv2yu%F=ٔ 9Q->!9)Y1=5Fy1EaֺEM>YQ 5u85];?Q 9}85])]ЯBYy*@Q I@](;DI];i];]I85yɮTADNOT Ignoring new targets: 33.63 m.hh*h"h hgff f d1d1jd1Zd5 J@ZqZqZqZu*@D) @=ic9)顽Ѣ5ii@H^IIQ@ @@1@D=D<E% E%E%*E!"E%*;*E%:VE%(N4ZE!BE%ԡ !I,%e?A:n@:|@:ٱ:Z FAHRS rotation from veh to nav: [[-0.690631,0.721398,0.051117],[-0.722980,-0.690460,-0.023778],[0.018141,-0.053379,0.998410]]:H?`,?@"?GY ?uT?i:n@I:=^;:CYNByNIi]Mb@Mb@Mb@YYYY Y9]S㥛?+/$?Y]/9Y=FynE>Q 5859?Q 985k)կBYm=Q EE%  E% E% ,E! "E% <;*E% :VE% g4ZE! a5 @a5 @a5 @a5 @ /O,?e?A2n@2|@2>qٱ2֥Z :AHRS rotation from veh to nav: [[-0.691512,0.720565,0.050966],[-0.722141,-0.691333,-0.023922],[0.017997,-0.053347,0.998414]]2H@ `?`9?e`~m?`FP?i2n@I2^^;2ސCYBByBIIF=)Fp;bDNVDN0yVז%VZ=ٔV9Q-Z>9XYX=ZFyX^TE^>`Q 5f95b6?Q 9f95b)bگBYdyf|-@Q Ij@b,;DIb:ib|:b+95ylBpBrCBpBpBr =BpBpBrv;Brm0Eɮ~4A|%DNOT Ignoring new targets: 33.63 m.h!h!*h)"h) h)g)f)f1f1d1d1jd1Zd=kJ@ZZZZ|-@>q) xY=i9)Z5ii@t5fII@ @@/@9^Au(aIIO>Y FV,uYe?A2؀G;*Erd:VEr(N4ZEpBErS9yY=Fy $E>Q 5953?Q 995)BYʳ=Q EԱ @\,Rese?Aɰ2 n@2|@2vٱ2 Z :AHRS rotation from veh to nav: [[-0.693239,0.718941,0.050437],[-0.720496,-0.693032,-0.024330],[0.017463,-0.053207,0.998431]]2H/? ҩ?NQ-꘿ ? =@%?i2 n@I2^;2ߐCYF ByFI Jp (c,@e?A2n@2Lz|@2ٱ2#_Y :AHRS rotation from veh to nav: [[-0.694180,0.718051,0.050173],[-0.719593,-0.693967,-0.024392],[0.017303,-0.053036,0.998443]]2H6E?@:?4=? '>?i2n@I2i^;2ސCYBByBIbDNVDN1yZc<%ZJ=ٔZ9Q-Z>9\Y\=^Fy`bREb>dQ 5j95f.?Q 9n95f)fBYtyvz.@Q Iv@f2;DIf;ifǴ;f 95yȒBɮ A ?E5DNOT Ignoring new targets: 33.63 m.h1h1*h1"h1 h1g1fffddjdZd K@Z1Z1Z1Z5 z.@m)i mȑ=im19)qu5qiqi}?y}jrIyIy@ @@/@!E EEE"E;;*E:VEZEBEmTi,!e?A2un@2;k|@2?ٱ2CY >AHRS rotation from veh to nav: [[-0.694845,0.717425,0.049919],[-0.718959,-0.694616,-0.024640],[0.016997,-0.053010,0.998449]]2H+<%?@?`K:@!;@g?@-$K?i2un@I2Vh^;2ܐCYFByFIiMb@Mb@Mb@ 9Zd;O?bX9ȶQ?Yj:Q-=>9AYA=EFyAMEM>IQ 5]95M*,?Q 9]95M)MBY]=Q E] :p,e?A:gn@:L]|@:>Fٱ:LIYBDBDBFIBFBBF =BDBDBFu;BF0EBMCBIBIBM =BM =CM95P ZAHRS rotation from veh to nav: [[-0.695461,0.716847,0.049650],[-0.718372,-0.695212,-0.024946],[0.016634,-0.053016,0.998455]]:H6Ai?k?@-?@?$ X?i:gn@I:lD^;:ސCYbBybIhhbDhVDhyr@"%rP=ٔvPr:Q-v>9tYx=zFyxz Ez>|Q 595~)?Q 995~)~BY y '@Q I @~7;DI~:i~:~95yɮ~ AEDNOT Ignoring new targets: 33.63 m.hAhA*hA"hA hAgIfIfIfIdQdQjdQZdU@nK@ZZZZ'@>F) =J! zdv,e?A2Zn@2P|@2Sٱ2PY :AHRS rotation from veh to nav: [[-0.696023,0.716319,0.049385],[-0.717835,-0.695755,-0.025248],[0.016275,-0.053024,0.998461]]2HE?@ I?CڙE?%c?i2Zn@I2dL^;2ܐCYB#ByBIJ=J=Eb EbEb+E`"Eb9;*EbI:VEb [4ZE`BEb9Y=FyE>Q 595&?Q 995?)BYi=Q E;ye@Q I@:;DI:i:95yɮ) A-DNOT Ignoring new targets: 33.63 m.h)h)*h)"h) h)g1f1f1f=(Bd9d9jd9Zd=`|K@Zei=Zei=Ze˖@Zee@uS) ij9)ii@CyzII 19@ @@4@Q^A HuI! I1 OM >ԁ :|,e?A2ELn@2A|@2=ٱ2Y :AHRS rotation from veh to nav: [[-0.696668,0.715700,0.049267],[-0.717214,-0.696386,-0.025502],[0.016057,-0.053101,0.998460]]2H@K ?`9? kH@Yq?0b?i2ELn@I2,^;2CYB%ByFIbDNVDNyV<-<%V^=ٔV:Q-V>9XYX=ZFyX^yE^>`Q 5f95b$?Q 9f95bQ =ftI)b BYdyfW@Q Ij@b<;DIb:ib3:b95ylɮn AlDNOT Ignoring new targets: 33.63 m.hh *h "h  h g f ffddjdZdoK@yZZZZW@ =)  i )ii=?9=km}I9IAE EE-E"E0;*EVEt4ZEa@a@a@a@@ @@/@ԩAyA}AABBCBIBBB =BBBu;B/E^ALzI)IAMPExceeded connect timeout, disconnecting.O]> |,kf?AɰYz'ByzIbDVDfy)<%C=ٔ%Q-->99Y9=EFyAEEE>IQ 5U95M!?Q 9U95M)MBYYyYQ I]@M?;DIM;iM:M95yaɮe AiDNOT Ignoring new targets: 33.63 m.UResuming propulsion at range: 33.80 m and bearing: 9.691865 deg. Not drifting fast enough.rhU6->h]JS@hY*ha"ha heL?gfffddjdZdL@ZZZZɢ)HY i)EiE*iM$IM#IMJS@IUA]]>iY59@1 @1@1@1@A@EgAE EE,E"EsH;*E;VEg4ZEBEa ",c(f?A2AHRS rotation from veh to nav: [[-0.697356,0.715055,0.048888],[-0.716560,-0.697036,-0.026139],[0.015386,-0.053259,0.998462]]2HP??@`N5Ě?Dg?i29Y=FyyE>Q 595?Q 995)BY' >Q E;y @Q I@C;DI ;i ;*#95yɮ AB*** querying acoustic contact ***i iDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffZ' >Z$@Z @Ա(BɢS,:)  -  E  E PE (E "E (;*E ;VE c44ZE a @a @a @a @E *DAT read: user:292> M BDAT read: Tx time:05:05:28.0768 M $Ping request sent.M 9Y=FyE>Q 595?Q 995U)$BYy @Q I@F;DI :i|:&95yƒBɮC A5E DNOT Ignoring new targets: 33.63 m.h h *h "h hgfffddd!jd!Zd%` yL@ZZZZs @u*Bɢu)Һ) P˼i)ԕ顉ii(?ν=II9@ @!@!@!Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251786i ^A I I O >;,3\f?A 66n@6,|@6Ksٱ63ZER EREPEP"ER:;*ERr:VEPZEPBER19Y=Fy._E>Q 595h?Q 995S)+BY2 >Q E;y@Q I@I;DI;i ;;*95yɮ ADNOT Ignoring new targets: 33.63 m.hh*h"h hgfff BdddjdZd L@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503094Z2 >Z2 >ZGm@ZՌ@颭,Bɢ/Ń) Wi)bcii-t%=IIiԡuqy 9@  @ @ @ @ =@ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755329 ^A bިI I O- >>ݜ,uf?A20n@29&|@2qٱ2V;Y :AHRS rotation from veh to nav: [[-0.697892,0.714578,0.048217],[-0.716052,-0.697545,-0.026478],[0.014713,-0.053005,0.998486]]2H`"U ? ⯨?@JR`!? h#?i20n@I22];2ݐCYFByFIPbDRVDRNyZ=%ZX=ٔ^W9Q-^>9\Y`=bFy`b1yEb>dQ 5j95f?Q 9j95fK)f1BYlyn@Q In@fL;DIf-e>I)I)HE] E]EYEY"E]Q;*E]4:VEYZEYae@am@am@am@9@ @@?0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006929^At0<IIO=>B!A%<B)B)B)B)B- =B)B)B-u;B-0E! /ţ,FЏf?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589506S6n@6+|@69mٱ67Y BAHRS rotation from veh to nav: [[-0.697644,0.714824,0.048151],[-0.716297,-0.697285,-0.026677],[0.014506,-0.053102,0.998484]]6H`S ?J?(P@2QB?$0 ?i6S6n@I6];6ސCYRByRIbDZVDZyb)%fI=ٔf:Q-f>9dYh=jFyhjya:Ej>lQ 5r95n"?Q 9v95n0)n8BYtyv@Q Iv@nP;DIn:in1:n195yxɮz A||%DNOT Ignoring new targets: 33.63 m.h!h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=C M@ZYZYZYZ]L@/Bɢ) }i ) iiUVn'Ye{>IaIq) CEG-hAAu2H9}hAY} 6AbEM(N4jEM(N4rEMJ/EE EEEE+EA"EE,K;Y*EE:VEE [4ZEABEEL8,f?AɰYByIY}only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 a}@a} a@a a@a a@a bDVDkyI<%==ٔQ->9Y=FyE>Q 5956?Q 995)@BQ A+:YQ E;yQ I@S;DIU;i[>*495y}ǒBɮ ADNOT Ignoring new targets: 33.63 m.hh*h"h hgfffdddjdZdGM@]0Bɢ]nt)a ep`ia)epBaaieOuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762992ie- >IIԁԹ@ @@!0@DE %=DE 4=EM  EM EM (EI "EM D;*EM :VEM c44ZEI aU @aU @aU @aU @ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864B! B! B% IB% BB! B! B! B% u;B% 0E^A |=I I O>n,L7f?A>FGn@><|@>hٱ>Z ZAHRS rotation from veh to nav: [[-0.696906,0.715545,0.048138],[-0.717022,-0.696528,-0.026991],[0.014216,-0.053326,0.998476]]>H M@? {?@Io`V?}M?i>FGn@I>\;>ߐCYfByfIbDnVDn:2yvab%v;=ٔz-:Q-z>9xY|=~Fy|~I;E~>Q 5 95G?Q 9 95)GBQ A :YQ E;y@Q I@W;DI ;ii_?695yŒBɮ% A!MDNOT Ignoring new targets: 33.63 m.hIhI*hI"hI hQgQfQfQfQdYdYdYjdYZde{M@颍2Bɢb») i)^顑i,i2II!9@ @@d4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267268^At0=IyIO?>Qy E " E E *E "E Z;*E :VE (N4ZE BE 9Y=FyD9E>Q 595) ?Q 995)LBQ AT:Y>Q E;y@Q I@\;DI:;i;<;95yɮADNOT Ignoring new targets: 33.63 m.hh*h"h hgff f Bd d djdZd M@Z5>Z5>Z5P@Z5n@E3BɢMB)I MiI)MɹQQiUTiU29YYIYIYmp>im>Թ9@ @@4@^Aw=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770995II)O5> .,Nf?AJ2Gn@J<|@JqٱJY RAHRS rotation from veh to nav: [[-0.696904,0.715534,0.048336],[-0.717013,-0.696559,-0.026436],[0.014753,-0.053080,0.998481]]JH@ M@?r? 5J@6?[-?iJ2Gn@IJs\;JC X)XXXXX^ElAi^ļI\\`I`i` bjd)dd flAfjdhhjlAIj/ݼ)hih)lInlAn`el lpppippitt)t tItYtYzBy~IbD VD 0yWJ%=ٔ%Q-%?9!Y!=%Fy!-kE-?1Q 5=955?Q 9=955)5OBY9yE@Q IE@5^;DI5;i5f;5=95yIɮMAIDNOT Ignoring new targets: 33.63 m.hDQzDUAAEe EeEe.Ea"Eey>;*Ee :VEeـ4ZEaam@am@am@am@hY*hy"hy hygyfyffdddjdZdM@ZZZZ%@4BɢC=) i)8Qi̺iJ=IIUBDAT read: Rx Time:05:05:30.5323 UTRx dataTimestamp_ set to:1761541532.027375]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027226BBBIB BB =BBBu;B0EBCBBBB =Cú49@ @@/@^AB>IIOI>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854,g?AenHn@e >|@euٱeY AHRS rotation from veh to nav: [[-0.696847,0.715577,0.048519],[-0.717063,-0.696515,-0.026246],[0.015013,-0.053081,0.998477]]eH`L ? sר? -IZ?f-?ienHn@Ie];eݐCYmBymIiMb@Mb@Mb@ 99!Y)=-Fy)-9E->1Q 5=95A5?Q 9E955)5SBYM,=Q EM;yM]@Q IM@5b;DI54;i54;5(B95yQɮUAQDNOT Ignoring new targets: 33.63 m.hh*h"h hgfffBdddjdZd $$N@Z,=Z,=Z,@Z]@5Bɢ V2) V"i)a$iit@IIEe Ee Ee,Ea"Ee;;*Ee:VEeg4ZEaBEeqi= ?=V=-@=%>=@ =6>)='@I=699=?&߿HYU߉x!(s? =)=I='@i=699IIO>ԙ ,u.g?AFNn@F;D|@FfrٱFɲc RAHRS rotation from veh to nav: [[-0.696579,0.715725,0.050151],[-0.717328,-0.696169,-0.028110],[0.014794,-0.055556,0.998346]]FH_J8? h? YGȜ`L?q@s?iFNn@IF ];FܐCY]΀By]mIbDmVDm yy}2 %=ٔ4:Q- ?9Y=Fy:E ?Q 595}?Q 995#)UBYyd@Q I@d;DI:ib:D95yɮAiqiu!g?AJiuBRiuBjiuw\>bu#c|?1@X_(@Ru?^꿫J ?ˬQi?Ziu'@biu6juis-XA@c6#@^hLkj%@Zu0&_?/fYf?Q?2iuA:iub B"iuK)?*iu_ Biu8BiuK)?iu9 iuHBiu7Biu)K>  addTargetRange:: Added new target pos. range: 38.400002 m, deltaT: 60.336683 s, deltaX: 4.600002 m, approachRate: 0.076239 m/s, rangeRepo size: 4  Added new target pos. range: 38.208500 m, bearing: 15.483422 deg, lat: 36.779302 deg, lon: -121.859541 deg, deltaT: 60.336683 s, deltaX: 4.577656 m, approachRate: 0.075869 m/s, posRepo size: 4 DNOT Ignoring new targets: 38.21 m.hh!*h!"h! h!g!f!f)f)d)d)d1jd5@33C@Zd5`\?ZQZQZQZUd@m6BɢmAv)i m2Pi)FiiAII ԡ9@ @@0@@gA@hA^A}Nu>AAIIO>Eu Eu$Eu*Eq"Eum+;*Eu;VEu(N4ZEqa}@a}@a}@a}@B B B IB BB =B B B u;B /E ,cHg?A$ɰ$BBbn@BW|@B]]ٱB艽 NAHRS rotation from veh to nav: [[-0.695731,0.715980,0.057723],[-0.718175,-0.694871,-0.037122],[0.013531,-0.067282,0.997642]]BHlC`N? ҍ?Jb<@@T? `9`?iBBbn@IB)];BސCYVȀByVeIbD^ VD^2yf-%fW=ٔjrY;Q-j>9j ?Yj ?=nFyn&EnVN;En>pQ 5v95r?Q 9v95r^)rYBYxyzy@Q Iz@rg;DIr:ir:rCH95y|ɮ~A-DNOT Ignoring new targets: 38.21 m.h)h)*h)"h) h)g)f1f1f1d1d9d9jd9ZdE?7BɢKɆ) V^i)_rii*B!I!I!@ @@?0@^A>IIOk>AY E  E E +E "E C;*E :VE [4ZE BE 9)Y)=-Fy-&E5 :E5>9Q 5E95=x?Q 9E95=)=\BYE=Q EM Ii I O >ԡ S,|g?A2Vsn@2h|@2 Yٱ2{Ľ >AHRS rotation from veh to nav: [[-0.694984,0.714778,0.078038],[-0.718903,-0.692761,-0.057098],[0.013249,-0.095784,0.995314]]2HO=`u?D?@ +;M"?`F?i2Vsn@I2\;2ݐCYFByFLIbDjVDjyr%rc=ٔvx6Q-v>9tYt=vFyv&Ezz:Ez>|Q 595~?Q 995~S)~_BY y &@Q I @~l;DI~:i~t:~WO95yɮA=DNOT Ignoring new targets: 38.21 m.h9hA*hA"hA hAgAfAfIfIdIdIdQjdQZdUB?颅9Bɢ) i)8顉ii>IIԑDzDE EE*E"E=-;*E:VE(N4ZEa@a@a@a@q@q @q@u4@qBBBxIB׀BBBBBu;B 0E^A1>II O>! :<,Qg?AFan@FoW|@F bٱF^ƽ NAHRS rotation from veh to nav: [[-0.695747,0.713918,0.079104],[-0.718153,-0.693508,-0.057465],[0.013834,-0.096790,0.995209]]FHCi?)@?71l`T?`=Ǹ?iFan@IF];FܐCYVByVFIbDbVDbyj%jK=ٔr0Q-v>9xYx=~Fy~&E D,E >Q 5 95?Q 9 95)cBY!y% &@Q I-@o;DIP;*E:VE4ZEBES[f,xЯg?A:@n@:5|@:pٱ:s BAHRS rotation from veh to nav: [[-0.697215,0.712962,0.074677],[-0.716711,-0.695412,-0.052223],[0.014699,-0.089933,0.995839]]:HO@? ?L @`@S??i:@n@I:];:CYNByN>IIRC=)R4=PR=i%Mb@Mb@Mb@!!!! !9%9QYQ=UFyU&E]E]>aQ 5m95e?Q 9m95e)ehBYm=Q EuIII@ @@/@yD<D<E EE)E"E1A;*EV:VEFA4ZEa@a@a@a@^AI9 II Oe >B B B YIB BB =B B B @v;B G0E ,N,\g?A2' n@2{@2.ٱ2& :AHRS rotation from veh to nav: [[-0.699559,0.711145,0.069930],[-0.714399,-0.698202,-0.046349],[0.015865,-0.082382,0.996475]]2Hb? ?[ W >? ?i2' n@I27,];2ߐC\YvByz.IbD VD:2y%N=ٔ@Q->9Y=%Fy%'E%E%>)Q 5595-?Q 9595-)-lBY1y= FQ I=@-t;DI-;i-r;-Y95yAɮERAAmDNOT Ignoring new targets: 38.21 m.hihq*hq"hq hqgqfqfyfydyddjdZd@`@颱ɢʼ) i)项i/ik<>II1@1 @1@=/@9)^Am(>msGIIO>% q9! Y% yAY bEjErO4rEʭ<0E  E E +E "E 8;*E r:VE [4ZE BE ׏y\</A dA)YAbDVDk1yX5%>=ٔBQ->9Y=Fy'E E>Q 595A돊?Q 995y)rBY1$>Q E;y2Q I@x;DI ;iG ;]95yĒBɮYA4E5DNOT Ignoring new targets: 38.21 m.h1h1*h1"h1 h1g1f9f9f=րBd9dAdAjdAZdE @u;Bɢu¼)q uiy)}yyi}Țil<>II!@! @!@%/@)Iq^A1>A ?A>A 0AI) I9 OE >ԙ ף,gg?A2)m@2{{@2ceٱ2 :AHRS rotation from veh to nav: [[-0.705261,0.705135,0.073425],[-0.708710,-0.703915,-0.047263],[0.018358,-0.085370,0.996180]]2Hw? ˲?x2 g̒?ڵ@?i2)m@I2];0YBByB#I DDbDNVDNβyV%V`=ٔV-Z>9Z?YZ?=ZFyZ'E^/Eb>`Q 5f95b揊?Q 9j95b)bwBYhyj-3Q Ij@b|;DIb:ib:b`95ylɮrAp DNOT Ignoring new targets: 38.21 m.h h *h "h  h gfffdddjdZd%! @IɢM;ۼ)Q UiQ)Uh'QYi] 3i]k<>aaIaIaԁEy E}E}%Ey"Ey*E}:VE} 4ZEya@a@a@a@@  @ @ /0@ B]>B]CB]FIB]BBYBYBYB]v;B]j0Eԡ^A1Ae ڗAIi I O > F,<h?A6 Em@6:{@6aٱ6 >AHRS rotation from veh to nav: [[-0.708056,0.701622,0.079901],[-0.705885,-0.706375,-0.052540],[0.019576,-0.093602,0.995417]]6Hd s?`]t?`檿 ?O u?i6 Em@I6];6ݐCYFByJ&IbD^VD^Jyj><%jH=ٔjhCQ-n>95?Y5?==FyE 'EM EU>iQ 595mSᏊ?Q 995m)m}BYy\3Q I@m;DIm-;im;md95yɮ}A]DNOT Ignoring new targets: 38.21 m.hYhY*hY"hY hYgYfafafadadidijdiZdu @ɢx) i) II! E  EE+E"EF;*E:VE [4ZEBEaG ,L1h?A2al@2z@25Iٱ2 ν :AHRS rotation from veh to nav: [[-0.711244,0.697726,0.085500],[-0.702630,-0.709286,-0.056776],[0.021029,-0.100457,0.994719]]2H@@S? Q?{ y?`?i2al@I2];2ސCYFByF5IVonly read 0 of 1 data item for BIT error. Device response is::TS35.0, +10.9, 0.0,1493.3, 0 aZ@aZ aZ@aZ aZ@aZ aZ@aZ bD^VD^0y-r=%-E=ٔ-heQ-->91Y1=5Fy5'E=9Ee>iQ 5u95mC܏?Q 9u95m)mBQ Au+:YqQ E;y3Q I@m;DIm;imm>mg95yɮADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffddd!jd!Zd%`<@1uIII@I @I@M4@Ia^AiAqzAqE EE%E"E2;*EV:VE 4ZEa@a@a@a@B] >BY B] @IB] BB] =BY BY B] v;B] w0EBBBBB =C5II IY Om > M,Jh?A2ʬl@2iz@2Nٱ2QԽ :AHRS rotation from veh to nav: [[-0.714541,0.693977,0.088469],[-0.699232,-0.712504,-0.058414],[0.022497,-0.103599,0.994365]]2H5?@奶?` i譿Z ?{?i2ʬl@I2l9];2ݐCYBByB3IIF<)FJ=J=bDNVDN02yVE%VS=ٔZwQ-Z>9XYX=ZFy^'E^HE^>`Q 5f95bt׏?Q 9f95b)bBQ Aj :YhQ EjY;yj3Q Ij@b;DIb:ibI?bi95ylɮr&Ap DNOT Ignoring new targets: 38.21 m.h h *h "h  h g fffddd!jd!Zd%K@QɢUҼ)Q UiQ)U^AYisil<>II9@ @@4@^AIQIyO> 9 ,dh?ABBJl@B?z@B}jżٱB2Խ JAHRS rotation from veh to nav: [[-0.718706,0.689584,0.089079],[-0.694896,-0.716795,-0.057651],[0.024096,-0.103335,0.994355]]BH ?Ͷ?<z ?/t?iBBJl@IB!];@YVByV.IE^ E^E^+E\"E^a?;*E^:VE^ [4ZE\BE^yMM/=ٔ}sQ-}>9Y=Fy'EdE>Q 595Ϗ?Q 995)BQ AT:Y>Q ET;y*Q I@;DIK;i;vm95y’Bɮ6A3EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZd Xp@ɢQǼ) yi)kiUik<>II9@ @@/@9^AII O >a z,~h?A4<ɰ 6k@6y@6Ӽٱ6JԽ >AHRS rotation from veh to nav: [[-0.723080,0.684871,0.090039],[-0.690281,-0.721285,-0.057097],[0.025840,-0.103438,0.994300]]6H x# w? ? ;u?zN?i6k@I6];6ސCYFByF*IbDRVDRyV%VX=ٔZ[Q-Z>9XY\=^Fy^'E E>Q 5%95Qȏ?Q 9%95)BY)y-*Q I-@;DI:i(:p95y1ɮ5QA1eDNOT Ignoring new targets: 38.21 m.haha*ha"ha higifififqdqdqdqjdqZd} @颡ɢc<ݼ) i)7{顩iĀil<>IIB<AB >B B B B  =B B B v;B 0EE- E-YE-)E)"E-1A;*E-w;VE-FA4ZE)BE-<2E-<JE-J<:E-JA}?A}?IIO> i߁ I߅ A`%,@h?A2xk@2?ny@2nٱ2i۽ >AHRS rotation from veh to nav: [[-0.727472,0.679760,0.093335],[-0.685581,-0.725604,-0.058973],[0.027637,-0.106890,0.993887]]2HrG??@G%81L?]?i2xk@I200];0YFByF5I HHPbDRVDR yZ*=%ZJ=ٔZQ-^>9\Y\=bFyb'EbԅEb>dQ 5j95f?Q 9j95f4)fBYhynR+Q In@f;DIf:if;fLt95ypɮr At5DNOT Ignoring new targets: 38.21 m.hQhY*hY"ha hagifqffdddjd1Zd=,@;Bɢ8) ᚾi)Vi$ik<>II9@ @@/@E EE(E"EU,;*E:VEc44ZEBE<2E<JE<:E<^A 1>! Ia Iq O >k,, _h?A:k@:x@:'<ٱ:2$ FAHRS rotation from veh to nav: [[-0.732255,0.673916,0.098182],[-0.680388,-0.730181,-0.062508],[0.029565,-0.112573,0.993204]]:H n? o"?]cF?ѼR?i:k@I:Z];:CYNByN>I|i-Mb@Mb@Mb@)))) )9-NbX9?(\µy--t=-/A) -zA)-A)Y)bDMVDMy]2 =%]@=ٔ]Q-e>9aYa=eFye#'EmEm>qQ 5}95u=?Q 9}95u)uBY}>Q E?;y_,Q I@u;DIu ;iu" ;ux95yɮADNOT Ignoring new targets: 38.21 m.hQhQ*hQ"hQ hYgYfYfYfeBdadadajdaZdm Y@ɢ:ϼ) Zi)iil<>  I I )@ @@/@@l>@e>Q^AB >B B SIB BB B B B v;B ~0EE  E E )E "E 9;*E :VE FA4ZE BE <2E <JE !<:E !<ԉ I! I9 OE >U2,X:h?AY~By~EIbD VD y}<%%N=ٔ%Q-%>9!Y)=-Fy-''E-E->1Q 5=955?Q 9E955)5BYAyAQ IE@5;DI5;i5;5y{95yIɮMAQY}DNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd`D@ɢlɼ) i)Ҷi3ik<>IIQ@Q @Q@U@0@Qԉ^A}9>ԹII9O]> E5  E1 E5 (E1 "E5 U,;*E1 VE5 c44ZE1 BE5 <2E5 <JE1 :E1 9,h?A2j@2w@2{ ٱ2N :AHRS rotation from veh to nav: [[-0.742776,0.660806,0.107796],[-0.668686,-0.740279,-0.069606],[0.033803,-0.123783,0.991733]]2H R%?~? e@^ ѱ N?:G?i2j@I21];2CYBByBLIIJ=)J=imMb@Mb@Mb@iiii i9m333333?1ZdL7A`?Ym>ym"۽m+=mAm@ m A)mMAiYmA y}p;bDVDNy<%C=ٔ%Q->9Y=Fy+'EE>Q 595ҥ?Q 995Թ)İBY>Q E%;yB/Q I@;DIU=;i<;#95yBɮmADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBddd jd Zd @ƈ@=:Bɢ=9)9 =iA)EAAiE9iMl<>IIIIIQ9@ @@1@^A51>IIO>9 >?,h?A2nqi@2 gw@2Tٱ2{' :AHRS rotation from veh to nav: [[-0.748623,0.653441,0.112152],[-0.662006,-0.745971,-0.072626],[0.036206,-0.128615,0.991033]]2H@??'/@`?pv?i2nqi@I2'];2ݐCYBByFQIbDNVDNyV<%VZ=ٔVһQ-Z>9XYX=ZFyZ.'E^¼E^>`Q 5f95b?Q 9f95bN)bϰBYdyf/Q Ij@b;DIb_:ib:bh95ylɮnHAlDNOT Ignoring new targets: 38.21 m.hh *h "h  h g f ffdddjdZd@IɢMѿ)I MsiI)U9QQiU|nik<>IIE} E}E}'Ey"E}g5;*E}:VE}'4ZEya@a@a@a@AA@AB>BBfIBȀBB =BBBWv;BT0E9@ @@4@@@gAA^AI9IIOe>qԙ 'F,i?A :;ɰ:49Y=Fy3'E譼E>Q 595㑏?Q 995)ܰBYyZ0Q I@;DIS;i;;95y%’Bɮ-A-IIbE:4jE64rE).0E EE)Eԡ"E);*E:VEFA4ZEBENA ?A ? A .AI I O >!L,9D5i?AB:h@B0v@B.'ٱB= JAHRS rotation from veh to nav: [[-0.760898,0.637644,0.120186],[-0.647587,-0.757900,-0.078859],[0.040805,-0.137834,0.989614]]BHFYg?{ľ?@ 0`Z??iB:h@IB5];BېCYRрByVqIi-Mb@Mb@Mb@)))) )9-"~j?y&1Q?Y-S>y-`彙-\=-A) -3 A)-A)Y-AbDEVDEfyU =%UC=ٔ]Q-]>9] ?Y] ?=eFye7'Ee~Ee>iQ 5u95m?Q 9}95m )mBY}>Q E};y}0Q I}@m;DImx;im;m95yBɮxA;EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffVBdddjdZd`Q @)频ɢDᦼ) Oi)顙iʞik<>IIY@a @a@e/@aYE E E+E"E2;*E:VE [4ZEa@a@a@a@B B B xIB ׀BB B B DB -v;B @0Eԉ^A1>A ؟AI I O >Ա 7S,F Oi?A2g@2!u@2/ٱ2 :AHRS rotation from veh to nav: [[-0.767177,0.629347,0.123943],[-0.640003,-0.763945,-0.082363],[0.042851,-0.142511,0.988865]]2Hൌ@#??z`=r@?=¿Ȥ?i2g@I2_];2ݐCYBȀByBfIbDNVDN!yV>5%VW=ٔV0Q-V>9Z"?YZ"?=ZFyZ;'E^ӼE^>Q 595|?Q 9%95I)BY!y%81Q I%@;DI;ie;L95y)ɮ-A1]DNOT Ignoring new targets: 38.21 m.hYhY*hY"hY hYgafafafadididijdiZdmƁ!@额8Bɢ"ث) `i)\"顡iFil<>IIIfA)ԑQ@Q @Q@Q@QiߑIߑ^A9>A I I O% >E  E E &E "E %;*E :VE 4ZE BE ~yuu=uAAu@ u A)u7AqYuAbDVD1yP=%<=ٔkQ->9Y=Fy?'EcмE>Q 595p?Q 995)BY/>Q E;y2Q I@;DIq ;i ;95yɮJADNOT Ignoring new targets: 38.21 m.hh*h"h hgff!f%RBd)d)d)jd)Zd5b]"@9ɢEA)A ExBiA)EԹAIiMB_ iuk<>qqIqIq!@! @!@%/@!^AQ a Ai zAm dAA .AI I O >`,6˂i?AZ(.f@Z#t@Z@ٱZ nAHRS rotation from veh to nav: [[-0.781031,0.610616,0.130914],[-0.622714,-0.777309,-0.089542],[0.047085,-0.151457,0.987342]]ZH5`*??F`<춿x?bÿM?iZ(.f@IZC];ZސCY~By~IbD VD yɁ=%R=ٔ%Q-%>9% ?Y% ?=-Fy-C'E-dE->1Q 5=955e?Q 9=955)5BYAyE2Q IE@5;DI5:i5:5e95yMBɮMAIB}<A}<BBBIBBBBBB@v;BI0EE EE)E"E*E:VEFA4ZEBE2EJE<:E<BECBECBABE =BE =CE$4EDNOT Ignoring new targets: 38.21 m.hAhA*hA"hA hAgIfIfifidqdqdqjdqZd}@%1#@ɢY) (i)it!il<>III@ @@/@ԉ^A 1>Ա A1 II IY Om >Tf,i?A2Cte@2is@2HGٱ2i! :AHRS rotation from veh to nav: [[-0.787984,0.600807,0.134577],[-0.613765,-0.783814,-0.094488],[0.048715,-0.157054,0.986388]]2H@+7 9?9?@Z0!?`VĿ@}?i2Cte@I2]];2ܐCXY^܀Byb~IbDrVDryb%L=ٔ Q- >9 Y = FyG'E5E>Q 5%95LZ?Q 9%955)#BY)y-]3Q I-@;DI:iI:95y1ɮ5A1DNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd#@ԩ7Bɢ) f7i)ûi#ik<>IIE EEE"E*Ea:VEZEa@a@a@a@9@ @@@@@^A A ؟AI I O >l,wi?Aɰ;6d@6r@6=eNٱ6& BAHRS rotation from veh to nav: [[-0.795542,0.590080,0.137541],[-0.603801,-0.790963,-0.099006],[0.050368,-0.161810,0.985536]]6H`u ??UROqX@ɩ?`4Ŀ?i6d@I6O];6ސCYJByJIlieMb@Mb@Mb@aaaa a9erh|?X9vL7A`?Ye>yee+=eAe@ e A)eAaYeAbD}VD}0yX=%B=ٔQ->9"?Y"?=FyK'EPE>Q 595M?Q 995)2BY>Q E;yl3Q I@;DI:ia:95yBɮA:EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffjBdddjdZd$@)ɢ-}s)1 5Tiq)}ƻyyi}<*%il<>II 9@ @@0@1ByByB}IB}BByByByB}v;B}00EE EE'E"EC#;*E:VE'4ZEBE{i A] .AIa Iy O >es,.Si?A26c@2q@2iRٱ2* :AHRS rotation from veh to nav: [[-0.803135,0.579249,0.139444],[-0.593578,-0.798100,-0.103444],[0.051370,-0.165850,0.984812]]2H`H5?J? I{ 6M?:ſ?i26c@I2؀];0YBByFI HHHHbDNVDNkyVq)<%VZ=ٔZ!/Q-Z>9Z ?YZ ?=^Fy^O'E^/ E^>`Q 5f95b B?Q 9f95b)b@BYhyj54Q Ij@bII @  @ @ 4@ iԡ^A1>E  E E (E "E %.;*E n:VE c44ZE a @a @a @a @ A ؟AI I) O= >oz,-i?AYByIԙiMb@Mb@Mb@ 9J +?Pnl?Y>y=A@ I A) AY AbD%VD%Ny<%.=ٔQ->9"?Y"?=FyT'EE>Q 5952?Q 995y)SBY#>Q E;y3Q I@99I9IAI@ @@1@@@l> ^A Ay A} ?AB B B IB BB =B B B u;B /ED zD @AE  E E *E "E /;*E I:VE (N4ZE BE ,Nj?A$$BVb@Bp@B XٱBK3 nAHRS rotation from veh to nav: [[-0.818787,0.556083,0.142686],[-0.571661,-0.812603,-0.113489],[0.052838,-0.174492,0.983240]]BH3n?@C?` K ` ?`Uƿv?iBVb@IBc];@YzByzIbD-VD-2y=%=B=ٔ=.dQ-=>9E ?YE ?=eFyeX'EmEm>qQ 5}95u$?Q 9}95u)udBYyy}Q5Q I}@uIIQ@Q @Q@U54@QI^Ayq A ؟AI I O >2, "j?ApE EE&E"E%;*E|:VE4ZEa@a@a@a@YByIIR=)%==i=Mb@Mb@Mb@9999 99=zG? rhQ?Y= >y=C =\==A=@ = A)99Y= AbDUVDU3ye<%e-=ٔeQ-m>9m"?Ym"?=mFym]'EuEu>yQ 595}?Q 995})}wBY>Q E:y5Q I@}'II9@ @@4@1a ^A A I I! O5 >ֶ,A=j?A4BF`@BII-9@) @)@5/@1ԁBE>BABEIBEBBE =BABEDBEu;BE/ED=D%=E EE)E"EU,;*E:VEFA4ZEBE ,~Wj?A4<ɰ4<6X_@6Mm@6Faٱ62@ >AHRS rotation from veh to nav: [[-0.842630,0.518299,0.146086],[-0.535680,-0.834487,-0.129145],[0.054971,-0.187076,0.980806]]6H`??@K$·0%? ǿb?i6X_@I6B^;6ߐCYFByJIbDTVDTy^t =%^L=|ٔQ->9Y= Fy e'E E >Q 5E95?Q 9E95)BYAyE7Q IE@<!!I!I!9@ @@/@9bEYjEYrE]./E EE'E"E(;*E|:VE'4ZEa@a@a@a@^AM (>q A} .AI I O >Hě,lZqj?A9YByI iMb@Mb@Mb@ 9uV?V-¿Mb?Yr>yh=Ap@  A)Y AiߩIߩbDVDy%"=ٔQ->9 ?Y ?=Fyj'EE>Q 595掊?Q 995)BY>Q E:yE7Q I@KyyIyI=9@9 @9@=/@9ԑBM >BI BM IBM .BBI BI BM DBM u;BM 0E^A 1> D zD AAE  E E )E "E &;*E :VE FA4ZE BE ,#j?A2]@2wk@2gٱ2K :AHRS rotation from veh to nav: [[-0.857573,0.492336,0.148909],[-0.511238,-0.847722,-0.141429],[0.056603,-0.197414,0.978685]]2HIIE9@A @A@E0@A ^AaA A I I O5 >;,j?A<yb+=A ` A)7AY= AbDVD1y%Ӏ<%%:=ٔ%e!Q-%>9)Y)=-Fy-r'E5iE5>9Q 5E95=FȎ?Q 9E95=)=ϱBYE?Q EE:yM8Q IM@=cII!a9@ @@0@ԁ^A Ա A I I) O1 ,7Tj?A2z|[@2ri@2צrٱ2CU :AHRS rotation from veh to nav: [[-0.873158,0.463415,0.151136],[-0.483829,-0.861640,-0.153250],[0.059206,-0.206936,0.976561]]2H `?nX? ޿ÿ`PP?|ʿ??i2z|[@I2ݢ];2ܐCY-By-II=<)==bDYVDYԩy!<%O=ٔy}Q->9Y=Fyv'E&E > Q 595 [?Q 995 4) BYy9Q I@ pIIBM>BIBMIBM8BBM =BIBMDBMv;BM60EB B B B B C ß4E EE)E"E0;*E:VEFA4ZEBEY `6,j?A:KsZ@:hh@:xٱ:[ BAHRS rotation from veh to nav: [[-0.880798,0.448283,0.152437],[-0.469593,-0.868268,-0.159979],[0.060640,-0.212493,0.975279]]:H /?@ ? ޿2zĿ1 ?@2˿}5?i:KsZ@I:];8Y^BybIbDjVDjNyr,{%r_=ٔrLQ-v>9tYt=vFyvy'Ez4Ez>|Q 595~?Q 995~>)~BYy:Q I @~{II9Q@Q @Q@U/@QiE EE,E"EC#;*E:VEg4ZEa-@a-@a-@a-@^AqԉA I I O >Թ A`,j?A;ɰp;2kY@2Wag@2~ٱ2{` :AHRS rotation from veh to nav: [[-0.888156,0.433223,0.153285],[-0.455321,-0.874702,-0.166071],[0.062133,-0.217291,0.974127]]2Hk? ڞ?#ݿ@ Aſϯ?.˿@ ,?i2kY@I2ߣ];2ސCYjByjI~only read 0 of 1 data item for BIT error. Device response is::TS,000503085.0, +10.9, 0.0,1493.3, 0 a~@a~ a@a a@a a@a bD VD 1y%G=ٔnQ-%>9!Y!=%Fy%}'E-N E->1Q 55955ژ?Q 9=955T)5BQ A=+:Y9Q EE:yE;Q IE@5595yIɮMj AIuDNOT Ignoring new targets: 38.21 m.hqhy*hy"hy hygyfyffdddjdZd.@颽=Bɢ|) 0i)itU?il<>IIԑ0q@q @q@}4@yAI AM @ABU >BQ BQ BQ BQ BQ BQ BU Sv;BU P0EEM  EM EM )EI "EM 1;*EM |:VEM FA4ZEI BEM [ A I I O >,k?AY%By%I 11bD=VD=J2yM<%M2=ٔUQ-U>9QYQ=]Fy]'E]E]>aQ 5m95e2?Q 9m95eq)eBQ Au :YqQ Eu:yqQ I}@eBɢr}) $i)ci%Bik<>IIq歼ԙ@ @@/@^A 1> Aq I E  E E $E "E 9;*E :VE 4ZE a @a @a @a @I O >T-,*k?AB/@W@B5e@B҅ٱBf NAHRS rotation from veh to nav: [[-0.902899,0.401776,0.152807],[-0.424865,-0.888129,-0.175262],[0.065297,-0.223166,0.972591]]BH శ?/?0ۿk@nƿ`F? ̿@w?iB/@W@IB}];BܐCYVByVIaUaU aUaU aUaU aUa] i]Mb@Mb@Mb@YYYY Y9]/$?q= ףpV-?Y] ?y]뽙]<]"A]@ ] A)] AYY]f AbD VD2y-#E<%-==ٔ-Q-->91YQ=UFyU'E]E]>aQ 5m95er?Q 9m95e)e0BQ AmT:YmI?Q Eu:yu89Q Iu@e1Y<s>IIU1 @  @ @ 4@ @ @ i>a ^A 9>B >B B IB =BB =B B DB bv;B Y0EԉE EE(E"E%.;*E;:VEc44ZEBE99xYx=zFyz'E~ՔE~>Q 5 95\?Q 9 95)FBY y o;Q I@ebIaIa@ @@4@ ^AF]~>A I I) 1 OM >), fk?AzS@a@~_ٱn AHRS rotation from veh to nav: [[-0.923854,0.352043,0.150196],[-0.376298,-0.907155,-0.188336],[0.069949,-0.230513,0.970552]]H 7݇?`9?Cؿ i`cȿ0?`wͿ`?izS@I4];E EE&E"E3;*E:VE4ZEa@a@a@a@YByIiMb@Mb@Mb@ 9"~?&1~jt?Y?yн<A A)~AY A <bDVDN2y6%0=ٔ4Q->9Y=Fy'ErE>Q 595F?Q 995&)[BYa?Q E:y:Q I@)z<b[K>II9=9@9 @9@=/@9i^Ae (s>ԙ IY Ii Ou >7,Dk?A:R@:4`@:Dڑٱ:|q FAHRS rotation from veh to nav: [[-0.930507,0.334674,0.148827],[-0.359295,-0.912970,-0.193375],[0.071157,-0.233410,0.969772]]:HKk? ? ֿ 7ȿV7?\Ϳ@^?i:R@I:];8YNByNIbDVVDV1ybś%bp=ٔf3hQ-f?9lYl=nFyn'ErYEv?|Q 5 95~5?Q 9 95~;)~kBYy;Q I@~uWIqIqBA=B>BBBBBBDB?v;BG0EE9@A @A@E/@AE EE*E"E*;*E:VE(N4ZEBEAE?AAԁI1IAOUu>ԡ <6, k?A (*CVrG`t9!Y% A5Q@5Yw_@5ٱ5yt EAHRS rotation from veh to nav: [[-0.936914,0.317245,0.146795],[-0.342071,-0.918543,-0.198155],[0.071974,-0.235868,0.969116]]5H`2M?*?@~տ@d $]ɿ l?`0ο?i5Q@I5#];1YUByUIbDiVDiy};%}?=ٔ}Q->9Y=Fy'E2E>Q 595!?Q 995p)~BYy=Q I@-<-Q->I)I)Ա@ @@0@^AVR>I)I9OM0>bEYjE]A84rE](90E EE(E"E=-;*Eg:VEc44ZEa@a@a%@a%@ 9 b`,)k?A2XP@2TN^@2#ٱ2՜v :AHRS rotation from veh to nav: [[-0.942907,0.300065,0.144525],[-0.325012,-0.923783,-0.202466],[0.072756,-0.237879,0.968566]]2H K,D4?`?Կ@jɿ +?`rο~?i2XP@I2];2ݐCY^BybIi}Mb@Mb@Mb@yyyy y9}n?L7A`尿y&1?Y}?y}+}`<}f A}@ } A)}AyY} ABAbDVDf?3y\%H=ٔbQ->9Y=Fy'Eq5E>Q 595 ?Q 995)BY"?Q E:y:Q I@U7<]f>IYIY9@ @@O0@9^A-L>A1zA5gAIIO>i B >B B IB 8BB =B B B u;B #0EE  E E )E "E /;*E :VE FA4ZE BE ʈ9hYh=jFyj'EjLEEj>lQ 5r95n?Q 9v95n$)nBYtyvH;Q Iv@n=DIn7:in:ng95yxɮ~% A|%DNOT Ignoring new targets: 38.21 m.h!h!*h!"h! h)g)f)f)f)d1d1d1jd1Zd= 2@eHBɢeѠ)i mR"ii)mX iiimjViul<>D<h>IIQ9@ @@5@^Ae&D>IIO$>yԩ ^w,Wk?ALE EE(E"EU,;*E:VEc44ZEa@a@a@a@YMByMIU=U=iMb@Mb@Mb@ 9S?I +?Y/?yL94<#A@ ` A)Y AbD=VD=kyUk+=%](=ٔ]Q-]>9aYa=mFym'EmEu>yQ 595}d㍊?Q 995})}BY?Q E:y9Q I@}=DI}فBb<>IIQ@Q @Q@U2@Q^A-=H!>AY Ii Iy O >A =Z,}zl?ARKL@RZ@RٱRz zAHRS rotation from veh to nav: [[-0.958899,0.249035,0.135990],[-0.273807,-0.937855,-0.213207],[0.074443,-0.241679,0.967497]]RHM@c?@h?` ѿ@`]J˿?Uο`?iRKL@IR];RݐCYByI -4<-bD5VD5yEȼ%Et=ٔE;Q-E?9IYI=MFyM'EMAڽEU?QQ 5e95Uҍ?Q 9e95U)UBYaye<=IIAQAQBaBaBeIBe=BBaBaBaBeu;Be0EB!B!B!B% =B% =C% 5@ @@/@IE EE'E"E1;*E;:VE'4ZEBE[yAyA} ?A I I O5 >ԡ k,Ul?A2K@2qY@26ٱ2ޏ{ :AHRS rotation from veh to nav: [[-0.963583,0.232299,0.132455],[-0.256822,-0.941923,-0.216389],[0.074495,-0.242527,0.967280]]2H?H?@oп:$ ˿? Ͽ?i2K@I2];2ߐCYBByBIbDNVDN0yV\^%VU=ٔVQ-V>9XYX=ZFyZ'EZ7<E^>`Q 5f95b?Q 9f95b8)b˲BYdyf/=Q If@b2=DIb:ib=:b95ynBɮn Al DNOT Ignoring new targets: 38.21 m.h h *h "h  hgfffydddjdZd3@MBɢ%j)! %0"i!)% !)i-PV_i-k<>5L<53Y=I1I1@ @@@@@ԡ^A6>AII9Oew>E EE(E"E8;*E-:VEc44ZEa@a@a@a@ ,05l?A2J@2ZX@2mٱ27} :AHRS rotation from veh to nav: [[-0.967822,0.215740,0.129525],[-0.240247,-0.945309,-0.220620],[0.074845,-0.244639,0.966721]]2Hf[?I?jο?E=̿ )?SPϿa?i2J@I2];2ܐCYBByBI DDi Mb@Mb@Mb@     9 ʡE?9AYA=EFyE'EEi&EE>IQ 5U95M?Q 9U95M)MزBY]?Q E]:y]< =II9@ @@/@!^AeV=AIIO>QBU >BU CBU IBU BBBQ BQ BQ BU u;BU 0EE  E E E "E g5;*E :VE ZE BE }9`Y`=bFyb'Eb0Ef>dQ 5j95fޕ?Q 9n95f)fBYlyn=Q In@fQ=DIf;ifr;f95ytɮvV AtDNOT Ignoring new targets: 38.21 m.hh*h"h hgff!f!d!d!d!jd)Zd-4@UQBɢUF)Y ]iY)]Saaieeiek<>mu ,hl?A]H@]V@]@ᘽٱ]mE EE*E"E/;*EVE(N4ZEa@a@a@a@ AHRS rotation from veh to nav: [[-0.975114,0.184885,0.122354],[-0.208784,-0.951428,-0.226261],[0.074579,-0.246176,0.966352]]]H"4`N?R?sʿr ̿@?@ϿZ?i]H@I]a];]ݐCYByIԩiEMb@Mb@Mb@AAAA A9E-?S㥛~jtx?YE5?yE/ݼE;E#AE@ E A)EQAAYE AbD]VD]0ym6=%m%=ٔm8Q-u>9qYq=uFyu'E}E}>Q 595|?Q 995)BY]?Q E:y >Q I@e=DIS;iC:O95yBɮ A9EMDNOT Ignoring new targets: 38.21 m.hIhI*hI"ha hagafififmBdidqdqjdqZduA5@TBɢ0~) i)ihil<>,<hyv=II9@ @@@@>@ >^Am:= A I I O >1 ,̂l?ABG@BAU@BG엽ٱB~ NAHRS rotation from veh to nav: [[-0.978225,0.170491,0.118355],[-0.193862,-0.954232,-0.227727],[0.074113,-0.245712,0.966505]]BH@M ?L?wȿ$&Ϳ?sϿ?iBG@IBz];BܐCYVByVIIZ=)Z<bDbVDbyf=%j=ٔje:Q-j ?9lYl=nFyn'ErDEr ?tQ 5v95vOl?Q 9z95v)vBYxyz?Q Ie@vq=DIvo<./A=IIBAp<B>BBIBLBB =BBBu;B0E@ @@[1@^Aed=E EE(E"E9;*E:VEc44ZEBEha S&,l?A 6;F@6lT@6ٱ6} >AHRS rotation from veh to nav: [[-0.980836,0.157735,0.114373],[-0.180428,-0.956882,-0.227644],[0.073535,-0.243917,0.967004]]6H`c 0?@G? CǿȞ`m#Ϳ@)Ӳ?8Ͽ?i6;F@I6];4YF+ByFI LN4<bDRVDRβyZF=%ZM=ٔZY:Q-Z>9\Y\=bFyb'EfS Ef>hQ 5n95jW?Q 9n95j)j BYpyr?Q Ir@j=DIj;ijj;j95ytɮv, AtDNOT Ignoring new targets: 38.21 m.hh*h"h hgf!f!f!d!d)d)jd)Zd-5@颽XBɢ|) i)Hi /nil<>Ӛ<=IIq@ @@4@ԙ^A=E EE*E"E8;*E:VE(N4ZEa@a@a@a@ I I O >,,xl?APY~1By~IiMb@Mb@Mb@ 9X9v?y&1|{Gz?Y?y`廙#<OAx@  A)@Y\AbDVDy<%;=ٔQ->9Y=Fy'EE>Q 5:5A?Q 9:5)BY?Q E:y=Q I@=DI;:iX:c:5y]Bɮe AaDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZdh6@[BɢW7m) i)jyi qik<><8=IIi@i @i@m4@i@q@q^AMPz=IIYOmV>BBB!IB`BBBBBu;B! E  E E )E "E O6;*E d:VE FA4ZE BE F9xY|=~F|y'EzE> Q 5:5 .?Q 9:5 ) !BYy_?Q I@ =DI a;i  ; :5y%Bɮ%A A-7EUDNOT Ignoring new targets: 38.21 m.hQhQ*hQ"hQ hQgQfQfYfYdadadajdaZde 6@颕]Bɢ@Q) 8Fi) 顙itil<>q<g{~9YkgAQԁ :,/l?AFD@FR@Ft1ٱFn jAHRS rotation from veh to nav: [[-0.986440,0.128231,0.102434],[-0.148048,-0.964619,-0.218155],[0.070836,-0.230362,0.970523]]FH i?@"9?@¿(`˿`J"?|Ϳ?iFD@IF];FݐCbEjE<4rE/Eu EqEqEq"Eu:;*EqVEqZEqa@a@a@a@YMBy% Ii%Mb@Mb@Mb@!!!! !9%Pn?~jt{Gz?Y%$?y%!%A%b@ !)!!Y%3A5@A5@AbD=VD=yM#=%M*=ٔM;Q-U>9QYQ=UFyU'E]'E]>aQ 5m:5ei?Q 9m:5e)e/BYm0$?Q Eu:yu&AQ Iu@e=DIe ;ie ;e :5yyɮ} AyDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZd@7@`Bɢ=) xi)Hi?xik<> X<o7A @, m?A2D@2 R@2# ٱ2g :AHRS rotation from veh to nav: [[-0.987750,0.120894,0.098660],[-0.139566,-0.967239,-0.212063],[0.069791,-0.223235,0.972263]]2H@?A?H$˿ݱ?̿?i2D@I2'];0YBfByB(IbDNVDNNyV>%V=ٔV%X;Q-V ?9XYX=ZFyZ'EZݼE^ ?`Q 5f:5bj?Q 9f:5bk)b9BYdyfAQ If@b=DIb:ib:b :5ynBɮn" An6EDNOT Ignoring new targets: 38.21 m.hh*h"h  h g f ffdddjdZd7@EbBɢM )I M;iI)MQQiUziUl<>]] <]#;IYIaAAB>BB@IBzBBBBBu;B0E59@1 @1@5/@1@==@=>^A =Eu EuEu(Eq"EuL;*Eug:VEuc44ZEqBEuݡIiԙ G,m?A6C@6AQ@66ٱ6~_ BAHRS rotation from veh to nav: [[-0.988795,0.115155,0.094989],[-0.132680,-0.969574,-0.205724],[0.068409,-0.216022,0.973989]]6H@6z?9Q?@(Uʿ B?˿ *?i6C@I6];6ܐCYJjByJ-IIL)Na=bDZVDZk2yb<%bI=ٔb^;Q-b>9dYd=fFyf'EjnEj>lQ 5r:5n팊?Q 9r:5n')nEBYpyr*BQ Iv@n=DIn ;in ;n?:5yzBɮzAz5EDNOT Ignoring new targets: 38.21 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5`I7@]eBɢe )a e'u:E EEE"E<;*E#:VEZEa@a@a@a@ KM,n7m?AY~By~WIiMb@Mb@Mb@ 9K7A? ףp= y&1?Y "?yQ8`<A5@  A)I@YGA <<bDVD:y>%<=ٔQ->9Y=Fy'EE>Q 5:5֌?Q 9:5)WBY"?Q E:y_DQ I@=DI\ ;i ; :5yɮA DNOT Ignoring new targets: 38.21 m.h h *h "h  h gfffBdddjdZd%i8@hBɢ)r =i)Zit‼il<><SعII9@ @@0@BBBlIBBB =BBBu;B0EBUCBUCBQBU =BU =CU5^A9<A>A>) E  E E 'E "E C;*E :VE '4ZE BE >Q 4T,@Qm?A22 C@2Q@2$yٱ2N :AHRS rotation from veh to nav: [[-0.990229,0.108439,0.087679],[-0.123566,-0.973736,-0.191233],[0.064639,-0.200198,0.977621]]2H`»?!r?` (Pzȿ/?ɿ`H?i22 C@I2^;0YBByBdIbDNVDNyVn=%V\=ٔV&9XYX=ZFyZ'EZ8̼E^>`Q 5f:5bŒ?Q 9f:5b)beBYdyfEQ If@b=DIb :ib:bI:5ynBɮn{AlDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd8@jBɢ0<) =i)Di%mi%k<>%fz<-qI)I))@ @@4@@@^A;YAIIOi>ԁ \Z,ukm?A@BB@B-P@B|ٱBfG ZAHRS rotation from veh to nav: [[-0.990766,0.106415,0.084011],[-0.120401,-0.975462,-0.184328],[0.062335,-0.192741,0.979268]]BH[>?Á?Ҿ6ǿR?@ȿ@)V?iBB@IB];@Y~ByI !!E] E]E]*EY"E]O6;*E]:VE](N4ZEYa@a@a@a @bDEVDE:yD=%/=ٔ;Q->9Y=Fy'E޻E>Q 5:5ߩ?Q 9:5)xBYyAEQ I@>DI:iR:j:5yBɮA4EeDNOT Ignoring new targets: 38.21 m.haha*ha"ha hagafiffdddjdZdD9@ԩnBɢ e) =i ) `  i Kil<><,2II9@ @@3@i I ^A Β{ I I O >vDa,Pm?A:B@:P@:wٱ:W A FAHRS rotation from veh to nav: [[-0.991060,0.105773,0.081316],[-0.118925,-0.976622,-0.179071],[0.060474,-0.187141,0.980470]]:H@ö?%Ѵ?q|@ƿ?9ǿ``?i:B@I:];8YNByNIli-Mb@Mb@Mb@)))) )9-x&?V-L7A`?Y-7)?y-h-+=-+A-b@ ))-@)Y-A99bDEVDEkyU)=%Ub=ٔU1;Q-]>9YYY=eFye'Ee,Ee>iQ 5u:5m ?Q 9u:5m)mBY}f*?Q E}:y}GQ I}@m>DIm ;im? ;m:5yɮ#ADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZd9@B=>B=CB=IB=ƁBB= =B9B=DB=u;B=0E颵pBɢ|+;) >i)S项i#Ʌik<>'<DII DMAAzDM@AEU EUEU)EQ"EUB;*EU:VEUFA4ZEQBEUvng,+m?A2%B@2ëP@2/oٱ2: :AHRS rotation from veh to nav: [[-0.991248,0.106133,0.078502],[-0.118409,-0.977726,-0.173294],[0.058362,-0.181073,0.981736]]2H`N`+?? P`I.ƿ`?f-ǿbj?i2%B@I2];0YJՁByJIbDRVDR2yZ@=%ZU=ٔZߴ;Q-^>9\AYA=MFyM'EMEU>aQ 5u:5e?Q 9u:5e)eBYyy}GQ I@e&>DIe;ie;e ":5yBɮlA3EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd:@-sBɢ-Q;)) 5,D>i1)5 11i5gi=l<>= m,m?AY~By~II=)<ԙiMb@Mb@Mb@ 9K7?A`"ˡE?Y)?yٽ'=rA A)@YAbDVDy=%:=ٔQ->9Y=Fy'EE>Q 5:5h?Q 9:5)BY4,?Q E:ySG@Q I@8>DI :i;%:5yBɮA%DNOT Ignoring new targets: 38.21 m.h)h)*h)"h) h)g)f)f1f5Bd9d9d9jd9Zd=o:@mvBɢmv ;)i mR]>iq)u( qqiu'i}k<>}'BQBUIBUBBQBQBQBUu;BU/Em9@q @q@u3@q PExceeded connect timeout, disconnecting.Em  Em Em *Ei "Em sH;*Em V:VEm (N4ZEi BEm t,N}m?A2yB@2P@2Zٱ2`- :AHRS rotation from veh to nav: [[-0.991448,0.108593,0.072383],[-0.119067,-0.979742,-0.161022],[0.053431,-0.168264,0.984293]]2H@̻??@&{` Z`ĿG[?ſS?i2yB@I2^;0YFByFI N49Y = Fy 'E ;:E >Q 5:5tQ?Q 9%:5p)BY!y%MG@Q I%@I>DI:i1:>):5y)ɮ-A11eDNOT Ignoring new targets: 38.21 m.haha*ha"ha hagafafifididqdqjdqZdu:@颥yBɢ6;) l>i) 顩iŊil<>7.<BIIa@ @@/@ԑԹ ^A5 NJNI I O > {,^Km?AE> E>E>)E<"E>C;*E>:VE>FA4ZE9IYQ=UFyU'EU(;EU>YQ 5e:5]6?Q 9e:5])]سBYm,?Q Em:ymD@Q Im@]^>DI] ;i] ;]k-:5yuuBɮ}A}2EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZdQ;@|BɢK9 <) G>i)Gi ik<>Xl<vu3II9@ @@/@@@^A 0:D! A1 I9 IQ Om >,Tn?A2B@2P@2vBٱ2q} :AHRS rotation from veh to nav: [[-0.991425,0.113081,0.065497],[-0.121735,-0.981429,-0.148246],[0.047517,-0.154948,0.986779]]2H?dİ? *g¿ T? Tÿ ?i2B@I2];0B B B  IB BB  =B B B 3u;B /EnManaging dock network, ignoring radio surface power offY ByI bDVDyM=%O=ٔ69Y=Fy'Ek;E>Q 5 :5 ?Q 9 :5A)BY y%D@Q I@o>DI:ig:E]  E]EYEY"E]C;*E]:VEYZEYBE]iA)EDAAiE9iMl<>U<]U>!IYIYԉe9@a @i@i@iԱ  Wi> yCY q ׄ9 Y qA^Am 0 A I I O >6i,9G#n?A2 C@2Q@25ٱ2lf :AHRS rotation from veh to nav: [[-0.991322,0.115849,0.062120],[-0.123744,-0.981866,-0.143622],[0.044355,-0.150063,0.987681]]2HI?6ί?@qk5b¿? B5ÿ ?i2 C@I2];2ݐC @)B(lAB\@@DDiFtIFNFDIHiJZlA JtH)HH LNLLPRlAIRt)PiP)PITVtT TTVlATiXXiXZ A)X XIXY\Yb BybIjAAjAAbDnVDnyv;%vf=ٔv9xYx=zFyz'E~f;E~>Q 5 :5 ?Q 9 :5)BY y @D@Q I @~>DIi[:3:5ysBɮ5A0EEDNOT Ignoring new targets: 38.21 m.hAhA*hI"hI hIgIfIfQfQdQdQdQjdZd`H<@%Bɢ%N<)) -y>i))->))i-劏1i=k<>=B<=GI9IA9@ @@1@abE}FA4jE}A84rE}+/E EE$E"E1A;*E:VE4ZEa@a@a@a@^AUh%ԑA I I O >Թ ᒎ,q =n?A6v#C@6Q@6j)ٱ6Z BAHRS rotation from veh to nav: [[-0.991277,0.117937,0.058821],[-0.125126,-0.982346,-0.139066],[0.041382,-0.145213,0.988535]]6H1??!@ao0?@Y¿`?i6v#C@I6];6ސCYBy IiMb@Mb@Mb@ 9MbX?333333ÿˡE?Y*?yAx@ ~A)@Y@bDMVDMky`=%3=ٔR;ԑQ->9Y=Fy(EB;E>Q 5:5?Q 9:5)BYT/?Q E:yC@Q I@>DIe:i7:8:5y ɮ A 5DNOT Ignoring new targets: 38.21 m.h1h9*h9"h9 h9g9f9fAfEzBdAdAdAjdIZdM`͈<@颵Bɢ4@<) >i)i il<>@<jII@ @@2@@=@=B>BB! IB1BBBBBu;B/EE  E E *E "E C;*E :VE (N4ZE BE a5 2E a5 JE 3z,UVn?A217C@2,Q@2Rٱ2b :AHRS rotation from veh to nav: [[-0.991263,0.119835,0.055118],[-0.126337,-0.982673,-0.135621],[0.037911,-0.141400,0.989226]]2Hly?`p8?+@r \i?`d¿?i217C@I2^;2ڐCY] By] IIa)e<bDmVDm0y}=%\=ٔ9Y=Fy(EX;E>Q 5:5m݋?Q 9:5)!BYyC@Q I@>DI:i:3;:5yrBɮADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd<@颽BɢN{<) >i)qiZik<>(<g^ѻII@ @@4@Q ^Am A I I O >E  E E +E "E C;*E 4:VE [4ZE a @a @a @a @t,pn?ARC@/HQ@ ٱ AHRS rotation from veh to nav: [[-0.991168,0.122015,0.051941],[-0.128008,-0.982616,-0.134464],[0.034632,-0.139926,0.989556]]H^9Y=Fy (E >q;E >Q 5:5Ë?Q 9:5)5BYK.?Q E%:y%ZB@Q I%@>DI:ip;*?:5y-qBɮ-A5/E]DNOT Ignoring new targets: 38.21 m.hYhY*hY"hY hYgYfaafifmoBdididqjdqZdu NY=@颥Bɢ=<) V>i))顩iYil<><0EIIy@y @y@}/@yԑ^A [Rӻ A I I) O= >,n?ABA<B>BB4 IB@BBBBBt;B}/EBCBCBB =B =C5FgC@F\Q@FsٱF NAHRS rotation from veh to nav: [[-0.991115,0.123756,0.048742],[-0.129260,-0.982566,-0.133625],[0.031355,-0.138738,0.989833]]FH6s? ?.q`@ ? *?iFgC@IF];FܐCXY"By IE EE'E"EL;*E:VE'4ZEBEݡ9Y=Fy(EM;EU>YQ 5e:5]y?Q 9m:5])]EBYiymnB@Q Im@]>DI]:i]:]B:5yuoBɮ}nA}.EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd=@Bɢ`<) n>i)%4ܻiik<><II @ @@@@@ ^A 39 iy Iy A .AI I O >,Jn?Ar̎Crt@irIppvC v;kAtttzsCzlkAIx)xix)xI~jA~x~[F |~&CzjAiiC)  I  )   YY]!By] I aabDmVDmy}%f=ٔQ->9 ?Y ?=Fy(EE>Q 5:5?Q 9:5K)SBYyQ I@>DI:i:E:5yɮrAUDNOT Ignoring new targets: 38.21 m.hYhY*hY"hY hYgYfYfafadadadijdiZdm*>@Bɢ"ft<) >i)Jջi il<>]<;II)I9@ @@/@E E E*E"EsH;*E:VE(N4ZEa@a@a@a@y^Aԡ A ؟AI I O% >HѮ,-&n?A2yC@2:oQ@2ͼٱ2 :AHRS rotation from veh to nav: [[-0.991143,0.125801,0.042537],[-0.130407,-0.982522,-0.132832],[0.025084,-0.137202,0.990225]]2Hq<?`wǥ?`/@p@?@ُ ?i2yC@I2];2ېCYr#Byv IԁiMb@Mb@Mb@ 9&1?'1ZĿI +?Y0?y"9< A QA)@Y@bDVD0y(<%C=ٔ u9"?Y"?= Fy (E0;E>!Q 5-:5%?Q 9:5%)%aBY5?Q E:yUC@Q I@%>DI%e@-Bɢ-9`<)) -@>i1)5\Lͻ11i54i=k<>=<=eaI9IAԩ9@ @@/@BE>BECBABABABABABE+t;BE1/E^Ayb]D<D<E  E E E "E *E :VE ZE BE  h,\n?A2|C@2qQ@2[ٱ2 :AHRS rotation from veh to nav: [[-0.991198,0.126383,0.039415],[-0.130564,-0.982455,-0.133174],[0.021892,-0.137148,0.990309]]2H@ O-?+.?N@Ep` j?`?i2|C@I2^;2ܐCY%By%IbD9VD9ye5%eT=ٔm9iYi=uFyu(Eu9Eu>yQ 5:5}:i?Q 9:5})}lBYyXC@Q I@}>DI}$:i}_:}L:5ymBɮADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZdT>@ Bɢ 4Q<)  ;>i )ǻiil<>x<adII!@ @@0@ ^AΒ{1A I I O >Y E  E E 'E "E G;*E g:VE '4ZE a @a @a @a @,n?A-.C@-zQ@-J8ٱ- AHRS rotation from veh to nav: [[-0.991189,0.127373,0.036330],[-0.131126,-0.982355,-0.133357],[0.018703,-0.136946,0.990402]]-HҷM?`˙?`to &?q_?i-.C@I-];)YByII ) p;9iMb@Mb@Mb@ 9 rh?333333ÿ{Gz?Y,?yף<K@ `@)@Y@bDVDyMs;%M/=ٔMP;Q-M>9QYQ=UFyU!(E]:E]>aQ 5m:5eGN?Q 9m:5eE)eyBYm0?Q Em:yuC@Q Iu@e?DIe ;ieP ;eP:5y}lBɮ}A},EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfff9BdddjdZd_?@Bɢ _0<) >i)Fiטik<><P3IIIa9@ @@@iQIQԉ^A iA >A >Թ A I I O >A9 A9 BE >BA BE ( IBE 6BBE =BA BA BE s;BE .E,Q o?A:ֈC@:t~Q@:ٱ:f ZAHRS rotation from veh to nav: [[-0.991209,0.127914,0.033810],[-0.131353,-0.982014,-0.135624],[0.015854,-0.138873,0.990183]]:Hx_?@O? .l@#\;??i:ֈC@I:4];:ېCYbBybI ji)l顉i-uil<><KbBIIԑE EE(E"E[I;*EL:VEc44ZEBE M,͒%o?A2C@2YQ@2XVٱ2q  >AHRS rotation from veh to nav: [[-0.991225,0.128427,0.031283],[-0.131534,-0.981761,-0.137275],[0.013082,-0.140186,0.990039]]2H@@Op?N?@j=ʊ?`e?i2C@I2%^;0Y^By^IbDfVDf0yng%nK=ٔr;Q-r>9pYt=vFyv((Ev<9Ev>xQ 5~:5z$?Q 9~:5z2)zBYyC@Q I@z/?DIz;iz ;z8W:5y kBɮ XA+E5DNOT Ignoring new targets: 38.21 m.h9h9*h9"h9 h9gAfAfAfAdAdIdIjdIZdM @@}Bɢ}n <)y i)u顁i ik<><=II1@1 @1@5/@1E EE+E"EL;*E :VE [4ZEa@a@a@a@^AyI A I I O >m,m?o?Aɰ4<6C@6ouQ@6Z%ٱ6 BAHRS rotation from veh to nav: [[-0.991355,0.128104,0.028372],[-0.130817,-0.981697,-0.138413],[0.010121,-0.140928,0.989968]]6H-e?| ?@jt? ¿ѭ?i6C@I6];6ڐCYRByRI XXiMb@Mb@Mb@ 9&1?K7A{Gz?Y0?y 3 A5@ v@)@Y@bDVDkyp%9=ٔ;Q->9 Y = Fy -(EغE>!Q 5-:5% ?Q 9-:5%)%BY-3?Q E-:y-/F@Q I5@%C?DI%:i%:%[:5y=jBɮ=jA9eDNOT Ignoring new targets: 38.21 m.hahi*hi"hi higififfBdddjdZd`G@@EBɢE*;)M$2 MK>QiI)mqqiuiul<>}{<}poIyIy!@! @!@%/@)BBB IB'BBBBB9s;B.EyE  EE(E"EF;*E:VEc44ZEBEa ,+LYo?A2C@2yQ@2ٱ2 >AHRS rotation from veh to nav: [[-0.991345,0.128695,0.025950],[-0.131078,-0.981356,-0.140570],[0.007375,-0.142754,0.989731]]2H``y??+Cg/`q5~?E¿߫?i2C@@I2 ^;2ِCYJByJIPR@AbDRVDRN2yZ%Zb=ٔ^;Q-^>9`Y`=bFyb0(EbV<:Ef>dQ 5j:5f?Q 9j:5f)fBYlyn5F@Q In@fS?DIfj;if;f=^:5ypɮvAt؀Gw9YyaA%DNOT Ignoring new targets: 38.21 m.h!h!*h!"h! h!g!f)f)f)d)d1dQjdQZdUx@@颥BɢU?;) ->i)oM项iik<><]IIԩ@ @@/@^A A I I O% >bEajEe˲>4rEe.0E  E E &E "E L;*E Z:VE 4ZE a @a @a @a @n1,:$so?ApnC@n0uQ@n<ٱn~ uAHRS rotation from veh to nav: [[-0.991396,0.128772,0.023484],[-0.130808,-0.981232,-0.141683],[0.004798,-0.143536,0.989633]]nH{?`4 ?M?f@"¿ s?@e_¿?inC@In^;nڐCYByIbDEVDEܲyuJ׼%1=ٔ,;Q->9Y=Fy5(EE>Q 5 :5؊?Q 9 :5 $)BY)y-2F@Q I-@h?DI=i=fb:5y5iBɮ=A=*EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd"@@BɢX;)  >i )   i@il<>*`<uII)99@ @@/@a ^A _B <A <B >B B IB BB B B B r;B .Eԑ AIIQIaOu>',lo?AE> E>E>'E<"E>O;*E>u:VE>'4ZE<BE>77#<#<9yYy=}Fy}9(E| E>Q 5:5߾?Q 9:5)BY7?Q E:yH@Q I@|?DIz ;i ;f:5yhBɮA)EIUDNOT Ignoring new targets: 38.21 m.hQhQ*hQ"hQ hQgQfYfYf]BdadadajdaZde B@@Bɢ Z;) %=i!)-F\))i-ei5k<>5<5➖I1I9yԡ% 9@!  @! @! @! ^A yb]A.AIQIaOm?n,ȱo?AE: E:E:,E8"E:,K;*E::VE:g4ZE8a>@a>@a>@a>@BQC@BGQ@B:;ٱB ' NAHRS rotation from veh to nav: [[-0.991764,0.127114,0.015663],[-0.128043,-0.981354,-0.143350],[-0.002851,-0.144175,0.989548]]BHCE?@ ?c`@gNY¿ZgVt¿`?iBQC@IB -^;BڐCYVЁByVI ^;^4<bDbVDb0y5D%5$=ٔ=I19= ?Y= ?=EFyE>(EEyEE>IQ 5U:5MŠ?Q 9U:5M )MBYYy]H@Q I]@M?DIM:iM:Mvj:5ymgBɮmAu(EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd 'A@Bɢ:) =i) 5  i Zil<>D<eͻIIa@a @a@e/@a ^A 3Q B B B IB BB B B B r;B .EBmCBmCBiBm =Bm =Cm̒4A؟AII!O->β,0o?A6LC@6nBQ@6Vg;ٱ6- >AHRS rotation from veh to nav: [[-0.991795,0.127137,0.013400],[-0.127735,-0.981252,-0.144323],[-0.005200,-0.144850,0.989440]]6H ȼF?Lq? Yif +y¿Lu@s¿}?i6LC@I6?^;6ؐCYFցByFIiMb@Mb@Mb@ 9i|?5? rhI +?Y1?yC94<3 A@ @)@Y=@bD5VD502ԁD%=Da=E  EE'E"EX;*E&:VE'4ZEBE 9"?Y"?=FyC(E'E>Q 5:5B?Q 9:5Z)BY2?Q E%:y%FQ I%@?DI;i};n:5y)ɮ-A)uDNOT Ignoring new targets: 38.21 m.hqh*h"h hgfffBdddjdZd XgA@%Bɢ-X+;)) -h=i))-p)1i5?i]k<>]<]cHӻIYIaiiiiԩI)@ @@/@ ^A Qϻ9AIIO>e@,@1o?AɰY By IbDVD0y- %-&=ٔ5Q-5>91Y1==Fy=H(E=E=>AQ 5M:5Eh?Q 9M:5E)EBYQyQQ IU@E?DIE;iED;Er:5y]fBɮ]6A]'EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd|A@Bɢ!) (}=i)әiil<>i<ԻIIE EEE"EL;*EVEZEa@a@a@a@A@ @@/@yԡ^A[RӻI I O > A,p?A28C@2'.Q@2t<ٱ2 :AHRS rotation from veh to nav: [[-0.991921,0.126529,0.009077],[-0.126504,-0.981325,-0.144904],[-0.009427,-0.144882,0.989404]]2Hѽ2?@?F1g@:¿N~¿2?i28C@I2r3^;2ڐCYFByFIiEMb@Mb@Mb@AAAA A9EGz?J +~jth?YE0?yEHED;E AE@ E@)E@AYE@]@A]AAbD]VD]kymXO<%mG=ٔu(9qYy=}Fy}L(E}EE>Q 5:5P?Q 9:5)BY1?Q E:ydEQ I@?DI:i ;kv:5yɮ AAAAAB>BBIBՁBBBBBr;Bk.EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZdA@-Bɢ-+)1 5X=i1)599i=њi=k<>EAi9 I,j"p?A2/C@2%Q@23U6<ٱ2) :AHRS rotation from veh to nav: [[-0.991971,0.126258,0.007293],[-0.125978,-0.981404,-0.144831],[-0.011128,-0.144586,0.989430]]2H 97)?i}? @gΉ¿ʆρ¿@h?i2/C@I2_^;0Y^By^IbDjVDjyr`%rT=ٔro;Q-r>9tYt=vFyvP(EvqEz>xQ 5:5z/:?Q 9:5zx)zBYymEQ I@z?DIzz;izD;zy:5yeBɮqA&EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd@ B@ Bɢ ׺)  (-=i )|i{il<><FII!9@ @@0@9^AE  EE+E"EF;*E:VE [4ZEa%@a%@a%@a%@IQIiOu>i >u,#AHRS rotation from veh to nav: [[-0.992123,0.125160,0.005119],[-0.124595,-0.981784,-0.143443],[-0.012928,-0.142951,0.989645]]6Hy@;?_t?{忿jV\¿@y7L¿,?i6C@I6G^;4YFByFIiMb@Mb@Mb@ 9&1?V-Mb`?Y0?y; A )@Y@bD-VD-Ny=\%ED=ٔE;Q-E>9IYI=MFyMT(EMZEM>QQ 5]:5U!?Q 9e:5U)UBYe 1?Q Ee:yeCQ Ie@U?DIU:iU:Um}:5ymdBɮuAq%DNOT Ignoring new targets: 38.21 m.h!h1*h1"h9 h9g9f9fAfEBdIdIdQjdQZdUq?B@Bɢ xo)  x=i)Ti ik<>7<AII!i@ @@@0@ԙBBBIBBBBBBr;B.E^A zIi Iy O > E%  E% E% (E! "E% E;*E% :VE% c44ZE! BE% 9 Y = Fy X(E ϺE>Q 5%:5 ?Q 9%:5)BY!y%CQ I-@@DI:i(::5y5cBɮ5zA5%EeDNOT Ignoring new targets: 38.21 m.haha*ha"ha hagifififidqdqdqjdqZd}toB@颥Bɢܯ) ` =i)E1顩iil<><!IIM9@I @Q@U4@Q^AuII)O=>! ,Spp?A2B@2P@2&<ٱ2ʙ :AHRS rotation from veh to nav: [[-0.992288,0.123936,0.001877],[-0.122889,-0.981699,-0.145481],[-0.016188,-0.144590,0.989359]]2HE?^?uj"¿@u ¿Ԩ?i2B@I2*;^;2ܐCY^BybIbDjVDj:y%T%%H=ٔ%wL;Q-%>9)Y)=-Fy-](E-.E5>1Q 5E:55Q?Q 9E:55P)5BYAyECQ IE@5@DI5T;i5:5s:5yQɮUAQ}DNOT Ignoring new targets: 38.21 m.hyhy*hy"h hgfffdddjdZdB@颹ɢ$)Y-c <)2IE EE-E"EL;*EL:VEt4ZEa@a@a@a@I9@ @@m3@1Y^A- &A9zA=fAIIO>ԉ rm",.p?A2|B@2P@2{<ٱ2 :AHRS rotation from veh to nav: [[-0.992393,0.123107,0.000734],[-0.121885,-0.981668,-0.146533],[-0.017319,-0.145508,0.989206]]2H@?|H? 3 i¿@¿?i2|B@I2^;2ېCYBByBIi Mb@Mb@Mb@     9 X9v?{GzMb`Y 3?y #   A 5@ @) @ Y =@bD%VD%J2y5;%5I=ٔ5s6;B]<AYBe>BaBeIBeBBaBaBaBe s;Be.EyQ->9Y=Fya(EE>Q 5:5:ډ?Q 9:5()BY3?Q E:y+BQ I@*@DI;i[;-:5y!ɮ%{A%$EmDNOT Ignoring new targets: 38.21 m.hihi*hi"hi hqgfffBdddjdZd@B@BɢV#) %5Zc<5@I1I9ԡ@ @@/@E EE'E"E[I;*E:VE'4ZEBE@(,)p?A2]B@2P@2<ٱ2 :AHRS rotation from veh to nav: [[-0.992532,0.121987,-0.000100],[-0.120665,-0.981900,-0.145988],[-0.017907,-0.144885,0.989286]]2H:?R`㾿k ¿ ?V¿9\Y\=^Fy^e(E^.ZEb>`Q 5f:5bĉ?Q 9j:5b)bBYhyj?BQ Ij@b;@DIb;ib ;bf:5ynbBɮrgAr#E DNOT Ignoring new targets: 38.21 m.h h *h "h  hgfffdddjdZd%e C@Qɢ])Y ]=iY)]ŒYaie|iek<>my .,p?AnB@nP@n<ٱn0 vAHRS rotation from veh to nav: [[-0.992697,0.120631,-0.001165],[-0.119181,-0.982170,-0.145389],[-0.018683,-0.144188,0.989374]]nH,?Sંm@¿`!`t¿?inB@InI];nڐCY~ƁBy~IiMb@Mb@Mb@ 9V-?~jt{Gzt?Yh1?yף; A@ @)3@Y@bDVD:y%*=%%5=ٔ-:Q-->Q9Y=Fyi(EORE>Q 5:5t?Q 9:5)BYz1?Q E:yCQ I@O@DI#;i8;w:5yaBɮADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffˀBddd jd Zd EC@=Bɢ=z2)9 ==i9)EǐAAiEiMl<>M>6,.p?A2B@2P@2<ٱ2h :AHRS rotation from veh to nav: [[-0.992818,0.119606,-0.002512],[-0.117966,-0.982265,-0.145736],[-0.019898,-0.144393,0.989320]]2H*`|?d3nz¿;``x{¿ ?i2B@I2r^;2ِCYBȁByFIJ=J=bDNVDNyV?F<%VP=ٔZJ;Q-Z>9XYX=^Fy^m(E^SE^>`Q 5f:5bt?Q 9f:5bO)bBYhyj)CQ Ij@b`@DIb;ibz;bŒ:5ylɮnAl DNOT Ignoring new targets: 38.21 m.h h *h "h  h gfffdddjdZdfuC@IɢM*:)Q U=iQ)UAQQi]vi]k<>]s G`<,p?A69B@6֖P@6 <ٱ6 BAHRS rotation from veh to nav: [[-0.992867,0.119161,-0.003885],[-0.117316,-0.982266,-0.146256],[-0.021244,-0.144757,0.989239]]6HT?o pn¿ d¿٧?i69B@I6^;6ܐCYJҁByJIER  ERER)EP"ERD;*ER:VERFA4ZEPaZ@aZ@aZ@aZ@ ^4<^p;bDbVDbJ2yj6=%jI=ٔjY;Q-j>9lYl=nFynq(ErѺEr>tQ 5z:5v{?Q 9z:5v)vBYxyz4CQ Iz@vr@DIv:iv:vS:5yɮwA"E-DNOT Ignoring new targets: 38.21 m.h)h)*h1"h1 h1g1f1f9f9d9dAdAjdAZdE|C@qɢu8:)q u=iq)}Fyyi}il<><II) c9@ @@/@@@Qԁ ^A A zA gAI I O >A9 A= @ABE >BA BE IBE BBA BA BA BE r;BE v.EB\HC, q?AB1B1B1B1C546.B@6ˁP@6o<ٱ6& >AHRS rotation from veh to nav: [[-0.992990,0.118078,-0.005393],[-0.116038,-0.982487,-0.145787],[-0.022512,-0.144139,0.989301]]6H@`:?uv p`#¿x %s¿@[?i6.B@I6a^;4YJByJIiMb@Mb@Mb@ 9Cl?&1Mb?Y/?yP< AK@ @)I@Y@bDVDk1y=%==ٔl@;Q->9Y=Fyv(EBE>Q 5:5b?Q 9:5Y)BYg0?Q E:yFQ I@@DI` ;i ;:5y`BɮA!E DNOT Ignoring new targets: 38.21 m.h h*h"h hgfffBdd!d!jd!Zd%C@QQɢ]*i;)Y ],=iY)etaaieimk<>maJ,z+q?A2yB@2[oP@2^'<ٱ2 :AHRS rotation from veh to nav: [[-0.993101,0.117086,-0.006436],[-0.114918,-0.982698,-0.145254],[-0.023332,-0.143512,0.989373]]2H{`X?\zEkBr¿]䗿^¿?i2yB@I2_;2ېCYFByFI LLPPbDZVDZN2yb2=%f;=ٔfI:Q-f>h9n ?Yn ?=rFyrz(Er(Ev>xQ 5:5zEI?Q 9:5z)zBY y *FQ I @z@DIzP#;iz#9;z:5y_BɮADNOT Ignoring new targets: 38.21 m.h h *h "h  h gfffdddjdZd%@WD@颩ɢ(;)  >i)J顱iGlil<>,<_sII}9@y @y@O0@E  EE*E"EE;*E:VE(N4ZEa@a@a@a@)^A Y A ؟AI I) O= >DQ,QEq?AY~By~I9iMb@Mb@Mb@ 9(\?ly&1?Yz4?y`<I A )Y@AAbDVDܲy<%;=ٔQ->9"?Y"?=Fy(EE>Q 5:5\/?Q 9:5)BY5?Q E:yGQ I@@DIS;i;:5yɮtA E-DNOT Ignoring new targets: 38.21 m.h)h)*h1"h1 h1g1f9f9f=Bd9dAdAjdAZdEPD@qɢu;)y }>iy)}3qyyi}cik<>;y<IIB>BBIBˁBB =BBBwr;BX.E-9@) @)@54@1aԙD=DR=E EE'E"E1A;*Er:VE'4ZEBEAu>A .A I I O >nW,V,_q?AB-qB@BfP@B<ٱB VAHRS rotation from veh to nav: [[-0.993130,0.116759,-0.007795],[-0.114395,-0.982732,-0.145434],[-0.024641,-0.143543,0.989337]]BH?Ir¿;_¿?iB-qB@IBs^;BڐCYjByjIbDzVDzyI=%W=ٔma;Q-%>9- ?Y- ?=-Fy-(E5E5>AQ 5U:5Ex?Q 9U:5E)EBYYy]GQ Ie@E@DIEa;iEb;E:5yiɮmAiDNOT Ignoring new targets: 38.21 m.hԙh*h"h hgfffdddjdZdŁD@Yɢ]6<)Y e7>ia)eyaaieQiml<>m],yq?A2}uB@2kP@2\<ٱ2 :AHRS rotation from veh to nav: [[-0.993085,0.117102,-0.008338],[-0.114655,-0.982695,-0.145483],[-0.025230,-0.143521,0.989326]]2HZ@_?@Z@9-"?Y-"?=-Fy5(E52*:E5>9Q 5E:5=U?Q 9E:5=)=BYIyMGQ IM@=@DI=p:i=:=:5yUVBɮUA]EDNOT Ignoring new targets: 38.21 m.hh*h"h hgff fddd!jd)Zd5`D@颡ɢW<) f:>i)zn项iik<>< II@ @@r4@I^A mB B B IB BB B B B Vr;B H.Eq A I I) O5 >ud,9q?AYByIiMb@Mb@Mb@ 9D zD @AE EE*E"EN;*E#:VE(N4ZEBEnQ 5:5刊?Q 9:5)ɴBY6?Q E:yE@Q I@@DI̘;i;:5yUBɮ!AE DNOT Ignoring new targets: 38.21 m.h h *h "h  h gfff?BdddjdZd D@UBɢ]<<)Y ]Y>iY)]cYYieil<>A<pIIy@y @y@}/@yԡ^A (A zA fAA I I O >j,{q?ABB@BtP@B<ٱBt nAHRS rotation from veh to nav: [[-0.993008,0.117730,-0.008705],[-0.115236,-0.982696,-0.145011],[-0.025627,-0.142994,0.989392]]BH#?-ԁ?r¿=`M¿?iBB@IB];BڐCY%By% IbD=VD=:yE=%M5=ٔMe:Q-M>9QYQ=UFyU(E]:E]>aQ 5e:5ë?Q 9m:5eI)eѴBYiymE@Q Im@e@DIe;iej;e::5yyɮ}AyDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd`$E@颁ɢQE<) Vk>i)ěV顙iSik<>}<bIIE- E- E)E)"E-sH;*E-:VE)ZE)a=@a=@a=@a=@Y@Y @Y@]/@a1 ^A uY A .AI I O >q, q?A>B@>P@>F<ٱ> FAHRS rotation from veh to nav: [[-0.992929,0.118402,-0.008569],[-0.115958,-0.982822,-0.143578],[-0.025422,-0.141569,0.989602]]>HO?n Gs`¿`¿Ѫ?i>B@I>`];< L)LN+NfFLPR=lAiPIPPITiVVlA TT)TZfC XXXX\^lAI^)\i\)`IblAb` ``ddiddidf"A)d hIhYhYn!Byn I pptvAiuMb@Mb@Mb@qqqq q9u ףp= ?S㥛ĿZd;O?YuQ8?yu$uj<=qub@ u@)uAqYu@bDVD0y',=%]=ٔQ->9 ?Y ?=Fy(El:E>Q 5:5Ӵ?Q 9:5)۴BY==?Q E:y#C@Q I@ ADI:i::5ԉyɮADNOT Ignoring new targets: 38.21 m.hh*h"h hgffB)B-CB-IB-BB- =B)B)B-er;B-P.EfiBdadadijdiZdmZE@颵Bɢih<) J|>i)tIiil<><UIIԹ@ @@/@DDE EE%E"E,K;*E:VE 4ZEBELTw,Tq?A>B@>,P@>YL<ٱ>x JAHRS rotation from veh to nav: [[-0.992801,0.119473,-0.008541],[-0.117022,-0.982697,-0.143572],[-0.025546,-0.141539,0.989603]]>H ƕ?@~$@r`¿(¿Ԫ?i>B@I>];<Y  By  I@AbDVDfyMົ%M3=ٔUy9Q-U>9U"?YU"?=UFy](E]w;E]>aQ 5m:5e䘈?Q 9m:5e)eBYqyu5C@Q Iu@eADIe-:ieg:er:5yyɮ}AEDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZdE@ɢxOg<) z>i)<iik<><􏇼II!19@ @@/@Y bEFA4jE<4rEʟ/E  E E (E "E L;*E :VE c44ZE a @a @a @a @^A A >A >ԉ AE .AIY Iq O} >#~,(q?A}B@}P@}L<ٱ}  AHRS rotation from veh to nav: [[-0.992422,0.122625,-0.007801],[-0.120257,-0.982369,-0.143144],[-0.025217,-0.141121,0.989671]]}HYd?n 1ɾ`oR¿ vҙ?¿b?i}B@I}>^;y9AEs@iAIAAI M7kAIIIQQIQ)QiQ)YIY]Y Yae~jAaiaaiai)i iIi i)iiqqYqY=$By= IiMMb@Mb@Mb@IIII I9M^I +?Mbȿ&1?YMX9?yM@MP=MI AMx@ MI@)MQAIYM@bDeVDeyu<%}*=ٔ}3Q-}>9} ?Y ?=Fy(E};E>Q 5:5z?Q 9:5)BY??Q E:yOA@Q I@6ADI:i::5yTBɮAEDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffvBdddajdiZdm IE@Bɢ =Y<) >i)+  i iTil<>L<jbII@ @@@A)A-AAB=>B=CB=IB=BB= =B9B9B=or;B=T.Eԑ ^A ]E  E E *E "E ;;*E :VE (N4ZE BE R,r?A2B@2mP@2<ٱ24 >AHRS rotation from veh to nav: [[-0.992242,0.124099,-0.007458],[-0.121764,-0.982178,-0.143181],[-0.025094,-0.141162,0.989668]]2HrĿ?~@+m S¿A¿ ]?i2B@I2Af^;0YE"ByE IIM%=)IU=Ua=bD]VD]ym <%uY=ٔuRQ-u>9}"?Y}"?=}Fy}(E}9;E>)Q 55:5-b?Q 9=:5-)-BYAyEhA@Q IE@-IADI-|n;i-o;-:5yQɮ]A]EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd@F@Bɢ,<) >i)2ii k<> p< QI Iԙ-9@) @)@50@1^AU `T A I I O >͌,-5r?A:C@:MQ@:_<ٱ: FAHRS rotation from veh to nav: [[-0.991979,0.126220,-0.006849],[-0.123937,-0.981831,-0.143693],[-0.024862,-0.141692,0.989599]]:HI`'? |`R(k@d¿`u"¿ʪ?i:C@I:^;:ِClEE EE EE)EA"EEM;*EE:VEEFA4ZEAaM@aM@aM@aM@YUByU I aebDmVDm0y}%}K=ٔ Q->9Y=Fy(E ;E>Q 5:5,J?Q 9:5) BYyA@Q I@[ADI;i ;q:5yɮADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd`/F@Bɢr<) i)bi`Ցil<>!<-F5II @ @@0@@@9^A S-PA gAzA dAi AY Ia Iy O >B >B B  IB BB =B B B Nr;B C.EBBBBB =CZ5,Or?AB1:C@B/Q@B<ٱB JAHRS rotation from veh to nav: [[-0.991649,0.128806,-0.006469],[-0.126571,-0.981612,-0.142893],[-0.024755,-0.140881,0.989717]]BH |?~zw3\i@QJ¿rYb¿«?iB1:C@IBM!^;BېCYVByV I9iUMb@Mb@Mb@QQQQ Q9UZd;O?x&1̿J +?YUj9Y=Fy(E;E>Q 5:5/?Q 9:5)BYD?Q E:yr?@Q I@oADIX:i*: :5yɮAE}DNOT Ignoring new targets: 38.21 m.hyhy*hy"hy hgfffBdddjdZd`3fF@Bɢ8k<) s>i)i i k<>=<II1EU  EUEQEQ"EUC;*EU:VEQZEQBEUߙ,Miir?A>YC@>uOQ@> <ٱ> FAHRS rotation from veh to nav: [[-0.991405,0.130689,-0.006113],[-0.128486,-0.981376,-0.142799],[-0.024662,-0.140787,0.989733]]>Hj?m y>r`og@G¿@ K¿?i>YC@I>(:^;>ڐCYR ByRI TTTVAbDZVDZ:i`IbAyj{%j[=ٔj Q-j>9lYl=nFyn(Erm;Er>tQ 5z:5v?Q 9z:5v)v%BYxyz?@Q Iz@vADIvg:iv:vP:5yɮNAEDNOT Ignoring new targets: 38.21 m.hAhA*hA"hA hAgIfIfIfIdQdQdQjdQZdUƔF@颍Bɢ%_<) V>iԙ)顡iGLil<><IIm9@q @q@u/@q^AUEe' Ee Ee'Ea"Ee _;*Ee:VEe'4ZEaam@am@am@am@A I I O >) ˠ,Sr?A^QC@^{Q@^*<ٱ^{ fAHRS rotation from veh to nav: [[-0.991049,0.133376,-0.005756],[-0.131177,-0.980905,-0.143592],[-0.024798,-0.141552,0.989620]]^H u?w`e@c;a¿d_¿?i^QC@I^F8^;^ېCYnByrIi}Mb@Mb@Mb@yyyy y9}V-?V-Ϳl?Y}9Y=Fy(E;E>Q 5:5-?Q 9:5)0BYEF?Q E:y>@Q I@ADI:i::5ySBɮAEDNOT Ignoring new targets: 38.21 m.hh*h "h  h g f ffgBdddjdZd`F@Bɢ1+<)  f=>i ) SHiOik<>͊<II9@ @@@!!BA<BBB IBBBBBB r;B,.EI^AE AM >AM >E ( E E (E "E `;*E :VE c44ZE BE R,% r?A2C@2RQ@2<ٱ2 :AHRS rotation from veh to nav: [[-0.990733,0.135729,-0.005105],[-0.133621,-0.980708,-0.142678],[-0.024372,-0.140674,0.989756]]2H@_?&t|aHC¿@¿?i2C@I2`]^;2ڐCYFByFIbDNVDNyrV%rX=ٔrhQ-v>9tYt=vFyv(Ez;Ez>|Q 5:5~㇊?Q 9:5~)~:BYy>@Q I@~ADI~i)Ѻi{il<><aII@ @@/@ԁԩ^A3I I O > ,r?A:`C@:Q@:<ٱ: FAHRS rotation from veh to nav: [[-0.990488,0.137510,-0.004857],[-0.135414,-0.980441,-0.142826],[-0.024402,-0.140810,0.989736]]:H?s CU_H¿¿?i:`C@I:oM^;8YN߁ByNIIP)R=V=TbDZ VDZ2ybw%bL=ٔb|8Q-f>9dYd=fFyf(EjS;Ej>lQ 5r:5n&ʇ?Q 9r:5n)nEBYpyv>@Q Iv@nADIn;in:n:5yxɮzAzEE%  E%E%&E!"E%G;*E%:VE%4ZE!a-@a-@a-@a-@5DNOT Ignoring new targets: 38.21 m.h1h1*h1"h1 h9gIfIfIfIdQdQdQjdQZd]/G@颍Bɢ<) l >i))ź顑iik<>#<_ IIԱ@ @@/@^AUd I1 IA OU >B B B IB BB =B B B r;B *.E9 ,r?A29Y=Fy(E;E>Q 5:5N?Q 9:5e)LBY>?Q E:y4@@Q I@ADI? ;i ;:5yɮjAEDNOT Ignoring new targets: 38.21 m.hh*h"h hgfff,Bddd jd Zd fG@颵Bɢ5 ;) L=i)项iޅil<><<rUII!E= E=E=$E9"E=C;*E=:VE=4ZE9BE=>AHRS rotation from veh to nav: [[-0.989994,0.141057,-0.003824],[-0.139053,-0.979820,-0.143585],[-0.024001,-0.141617,0.989631]]2H &? ToyZa¿@ ¿ ?i2D@I2];2ېCYFByFIbDRVDRkyZ˽%ZZ=ٔ^P1Q-^>9`Y`=bFyb(Eb;Eb>dQ 5j:5f?Q 9j:5fe)fRBYlyMT@@Q IU@fADIf(<\#<:IIiI@I @I@ML0@IԙEE EEEE'EA"EEI@;*EE:VEE'4ZEAaM@aM@aM@aM@^Am II O > ,=s?ALr#D@rR@rI<ٱr0 ~AHRS rotation from veh to nav: [[-0.989841,0.142140,-0.003358],[-0.140177,-0.979573,-0.144174],[-0.023783,-0.142239,0.989547]]rHƬ1?kNX`Nt¿rZ4¿]?ir#D@Ir];rؐCY By rI AiMb@Mb@Mb@ 99v?MbX9ĿMb?Y4?y!<` A 3@)Y@bD VD:2y%6=ٔQ->9Y=Fy(E%%;E%>!Q 55:5%|?Q 95:5%)%UBY5w9?Q E5:y5=D@Q I=@%ADI%: ;i% ;%:5yAɮEAEEmDNOT Ignoring new targets: 38.21 m.hihq*hq"hq hqgqfqfyf}BdydydjdZd`G@颵BɢF9) 4w<-:IIa@ @@1@BABABEIBEՁBBE =BABABE)r;BE2.E^A% 9I I O > D9 zD9 EE  EE EE *EA "EE 1A;*EE Z:VEE (N4ZEA BEE 9IYQ=UFyU(EeL;Ee>iQ 5u:5mSe?Q 9u:5m6)mXBYyQD@Q I@m BDIm)i m"ii)u^qqiui}k<>}2<}D;IyI )@) @)@-4@)9^AuNJ:Au>Au>a A I I O >i,B8s?A62D@6 (R@6Ͽ<ٱ6 >AHRS rotation from veh to nav: [[-0.989648,0.143486,-0.002742],[-0.141590,-0.979329,-0.144452],[-0.023412,-0.142569,0.989508]]6H@3]?vf¿`Vi}¿@f?¿ ?i62D@I60S];6ِCYFpByJ4IbDRVDR yZv%ZV=ٔZ#Q-Z>9\Y\=^Fy^(Ebz:Eb>dQ 5j:5f<!;II1@1 @1@5/@1ԉ^A=?B:ԹA I I O > BA BE CBE lIBE BBA BA BA BE r;BE *.EQ,Rs?A2/D@2%R@2']<ٱ2 :AHRS rotation from veh to nav: [[-0.989687,0.143232,-0.002070],[-0.141409,-0.979197,-0.145520],[-0.022870,-0.143726,0.989353]]2HkU?/`@¿U@d¿k e¿Ȩ?i2/D@I2K];2ڐCYBXByBIID)F;J=J=ieMb@Mb@Mb@aaaa a9e5^I ?1ZdMbPYe8?ye"۽ee Ae@ e@)ehAaYabDVDyڽ%==ٔQ->9Y=Fy(E>߹E>Q 5:53?Q 9:5)Y:?Q E:yH@Q I@Թ0BDI=;i'<;K:5yɮADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZdiH@5Bɢ5[B)9 =i9)=)ʺ99i=iEk<>Ef{,ks?A6*D@6 R@6ȸ<ٱ6X JAHRS rotation from veh to nav: [[-0.989734,0.142912,-0.001785],[-0.141132,-0.979226,-0.145593],[-0.022554,-0.143846,0.989343]]6H@J?<] ¿U@Ǣ¿@i¿?i6*D@I6];6ِCYZHByZI f49|Y|=~Fy~(E?E>Q 5:51?Q 9:5)YBYyH@Q I@BBDIE ԡ e,3܅s?A-D@-!R@- 7<ٱ-;> EAHRS rotation from veh to nav: [[-0.989858,0.142051,-0.001422],[-0.140326,-0.979296,-0.145908],[-0.022119,-0.144228,0.989297]]-H`.?MW`0cV ¿@hv¿R?i-D@I-];-ېCYU/ByUIiMb@Mb@Mb@ 9Q?y&1~jtxY5?y`eĻA 3@)AY(AbD5VD5y=+%E6=ٔE~Q-E>9IYI=MFyM(EMEU>YQ 5e:5]q?Q 9e:5])]VBYeT6?Q Ee:yeEQ Ie@]VBDI]:i]':]:5qyqɮ} AyDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZdzH@Bɢ(j) ѣ<:IIB<A<BBB'IBfBB =BBBKr;BD.EBBBB =BCC5A@A @A@E/@Aԙ^Am +;E-  E- E- 'E) "E- G;*E- :VE- '4ZE) BE- ) ,os?AjCC@jQ@j<ٱjk rAHRS rotation from veh to nav: [[-0.990124,0.140191,-0.001091],[-0.138499,-0.979322,-0.147464],[-0.021742,-0.145856,0.989067]]jH`?ZQ S V ¿lCl¿`o?ijCC@Ij<];jؐCYz#By~I AbD VD !yz%_=ٔ%݆Q-%>9!Y!=-Fy-(E-֤E->1Q 5=:55x놊?Q 9=:55)5TBYAyE:EQ IE@5gBDI5:i5:5:5yIɮMz AMEDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZdI@Bɢ@) Pi)`顑i il<>q@<}UIIa@a @a@e0@a^A?B9! A I I O >,rs?A2C@2?Q@2<ٱ2A >AHRS rotation from veh to nav: [[-0.990351,0.138579,-0.001005],[-0.136890,-0.979360,-0.148711],[-0.021592,-0.147138,0.988880]]2H?vP V ÿG`m¿@?i2C@I26];2ِCYFByFILNAAEr ErEpEp"ErL;*Er1:VEpZEpaz@az@az@az@bDnVDnky %L=ٔùQ->9 Y = Fy (E>E>Q 5%:5ӆ?Q 9%:5)QBY!y%UEQ I-@yBDI3;i/;@:5y1ɮ5 A1DNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZd]6I@Bɢ) Zi)> iuik<><IIQ@ @@3@ԁ^AqA>A>Ա A- .AI1 II OU >B >B CB IB 8BB =B B B ~r;B ].E,es?A2 C@2Q@2=<ٱ2#t :AHRS rotation from veh to nav: [[-0.990588,0.136873,-0.001260],[-0.135161,-0.979571,-0.148903],[-0.021615,-0.147331,0.988851]]2H@ ?vTLX>ÿV"¿?i2 C@I2];2ڐC@YFByFIiMMb@Mb@Mb@IIII I9MOn?/$~jthYM8?yMMDM AM@ MI@)IIYIbDVDy û%<=ٔ"_8Q->9 ?Y ?=Fy(ETE%>!Q 5-:5%?Q 95:5%)%NBYU8?Q EU:yUDBQ IU@%BDI%G;i%;%:5yaɮe AeEMDNOT Ignoring new targets: 38.21 m.hIhQ*hQ"hQ hQgQfQfYf]BdYdYdajdaZde@ZqI@ԩBɢ ) Wi)i il<>W<@YIIE  E E,E"ED;*E:VEg4ZEBEКy,Fs?ANhC@NQ@N:<ٱN} ZAHRS rotation from veh to nav: [[-0.990806,0.135285,-0.001054],[-0.133612,-0.979719,-0.149326],[-0.021234,-0.147812,0.988787]]NH Q?CQ@4Y`ÿ \¿%?iNhC@IN ];NېCYjByjIlIrC=)r=r=r=bDz VDz2yz%[=ٔQ->9 Y = Fy (E E>Q 5%:5?Q 9%:5)KBY!y%]BQ I%@BDI-:i:P:5y)ɮ5 A5EDNOT Ignoring new targets: 38.21 m.hh*h"h hgff!f!d!d!d)jd)Zd-I@颽Bɢ\) ji)#iik<><uII @ @@4@E  EE(E"EC;*EL:VEc44ZEa@a@a@a@1^Ayb]a A I I O- >,,t?A9];C@]׆Q@]:<ٱ] mAHRS rotation from veh to nav: [[-0.991045,0.133520,-0.001324],[-0.131848,-0.980105,-0.148356],[-0.021106,-0.146853,0.988933]]]H,?Ub]U¿ ¿ W?i];C@I]O\;]אCYByIi]Mb@Mb@Mb@YYYY Y9]Cl?~jt:v?Y]/?y]D]T9Y=Fy(ELE>Q 5;5?Q 9;5)Y/?Q E:yAQ I@BDI ;i ;I;5yɮ ADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZd.I@-Bɢ-s)) -[i))5/11i5K넼i=l<>=h<=ǻI9I9aAA@ABBBIBBBBBDBr;Bt.E9@ @@/@ԉ^A3AzAhAE  E E E "E *E :VE ZE BE  , t?A6qC@65gQ@6씬<ٱ6 BAHRS rotation from veh to nav: [[-0.991299,0.131623,-0.001456],[-0.129934,-0.980233,-0.149199],[-0.021066,-0.147712,0.988806]]6H`?2W஡^ÿ4 :¿L?i6qC@I6J];6ڐCY^By^IbDfVDf{Uynу%nj=ٔrQ-r?9pYp=vFyv(EvlEv?xQ 5U;5zxt?Q 9U;5zG)xYQy]AQ I]@zBDIzU I< I I 9@ @@/@^A`Ի A ؟AI I O >9 $,$:t?A2 YC@2NQ@2<ٱ20o :AHRS rotation from veh to nav: [[-0.991490,0.130171,-0.001849],[-0.128449,-0.980487,-0.148818],[-0.021185,-0.147314,0.988863]]2HIn?$L^@q%` t ÿw+¿ä?i2 YC@I2];0YBByFI HHHJAbDNVDNyV<%VN=ٔZf9Q-Z>9Z"?YZ"?=^Fy^(EE` EbEb)E`"E`*Eb:VEbFA4ZE`aj@aj@aj@aj@^wEj>lQ 5r;5np]?Q 9r;5n)lYtyvAQ Iv@nBDIn1:in:n;5yxɮz AzEDNOT Ignoring new targets: 38.21 m.h!h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd57J@5~Bɢ=I)A E\LiA)ML=DIIiMxi}l<>}d<IIM9@I @I@M/@IAq^AB >B B IB BB =B B DB r;B h.EA I I O >ԙ ,Tt?A:QC@:JGQ@:ڬ<ٱ: BAHRS rotation from veh to nav: [[-0.991549,0.129717,-0.001798],[-0.128003,-0.980507,-0.149065],[-0.021099,-0.147575,0.988826]]:Hź?ns] db Q` ÿ񚕿¿u?i:QC@I:QJ];:ِCYN!ByNIi%Mb@Mb@Mb@!!!! !9%l?kt~jt?Y%7?y% 0%<%A! %@)!!Y%pA11bD=VD=βyM7=%MA=ٔMtTQ-U>9QYQ=UFyU(E]E]>aQ 5m;5eC?Q 9m;5e)eNBYm7?Q Eu:yuQDQ Iu@eBDIe:ie:e ;5y}TBɮ} A}EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZdSmJ@q颅{Bɢr) .3i)[N顉iik<>ٿ<IIDD<E EE'E"E*E>:VE'4ZEBEa2EaJE8A>A .AI I O% > w,nt?A>aGC@>s<ٱ> FAHRS rotation from veh to nav: [[-0.991633,0.129076,-0.001730],[-0.127380,-0.980599,-0.148995],[-0.020928,-0.147528,0.988837]]>Hu`?W\`Ma@ÿ n@/¿?i>aGC@I>0];>ڐCYj%ByjIbDr VDr2yzʘ<%zP=ٔ~Q-~>9 ?Y ?=Fy(EMѺE > Q 5;5 9,?Q 9;5 =) QBYy\DQ I@ BDI ;i 7; ;5y)ɮ-v A)UDNOT Ignoring new targets: 38.21 m.hQhQ*hQ"hY hYgYfYfafadadadajdiZdm`_J@颭xBɢv) &i)aVV顱iil<>V<C!IIm9@i @i@m0@ibEajEeA84rEe\00E E E&E"E*E:VE4ZEa@a@a@a@^A) A I I O >Y ",Ot?A]:C@]0Q@]d<ٱ]w  AHRS rotation from veh to nav: [[-0.991733,0.128305,-0.001883],[-0.126628,-0.980933,-0.147430],[-0.020763,-0.145973,0.989071]]]HFMl?v^Y5c@¿`B =¿w?i]:C@I]];YY.ByII4<)<=a=iMb@Mb@Mb@ 9333333?K~jt?Y9?y^=@ v@)YAbDVD:y =% ,=ٔQ->9Y=Fy)E%ѺE%>)Q 55;5-?Q 95;5-W)-ZBYEO;?Q EE:yEYHQ IE@-CDI-T;i-ET;-;5yIɮM. AUE}DNOT Ignoring new targets: 38.21 m.hyhy*hy"hy hygfffȀBdddjdZdfJ@颽uBɢH)  i)N^i ik<><ф,IIB>BCBIBBB =BBBnr;BV.EI@I @Q@U0@QA^Au y D zD AAE  E E (E "E C;*E 4:VE c44ZE BE >8*(,?t?A06}4C@6*Q@6֩<ٱ6y >AHRS rotation from veh to nav: [[-0.991783,0.127911,-0.002066],[-0.126237,-0.981164,-0.146224],[-0.020731,-0.144762,0.989249]]6H@c_?`( ew¿u:¿@?i6}4C@I6 ];6ؐCYF8ByFI Npe; @T.,t?A69C@6/Q@6}P<ٱ6t >AHRS rotation from veh to nav: [[-0.991745,0.128213,-0.001820],[-0.126569,-0.981108,-0.146314],[-0.020545,-0.144875,0.989237]]6H`Hi?]k3`9lYl=nFyn )ErLW:Er>tQ 5z;5vᅊ?Q 9z;5v~)vgBYxyz[HQ Iz@v1CDIv:iv:v;5yɮA E-DNOT Ignoring new targets: 38.21 m.h)h1*h1"h1 h1g1f1f9f9d9dAdAjdAZdE9K@颍pBɢF_.) ѽi)_Wi顙il}ik<><t-IIi@i @i@m0@i!^AU*:IIO>B9 B9 B= IB= BB= =B9 B9 B= 4r;B= 9.EBBBBBC4Q ]<5,t?AYIByI  AiMb@Mb@Mb@ 9n?Zd;:v?Y6?yT=A@ )~AYAbDVDfy{=%;=ٔQ->9Y=Fy)EE>Q 5;5gDž?Q 9;5=)tBY'9?Q E:yG@Q I@ECDI ;i ;O;5yUBɮ^A E-DNOT Ignoring new targets: 38.21 m.h)h)*h)"h) h)g)f1f1f5Bd9d9d9jd9ZdEqK@mmBɢm)q u؍iq)uHmqyi}a{i}l<><;/IIE EE(E"EI@;*E#:VEc44ZEBEԡ Pf;,Jt?A6#JC@6?Q@6><ٱ6d >AHRS rotation from veh to nav: [[-0.991624,0.129149,-0.001526],[-0.127548,-0.981058,-0.145794],[-0.020326,-0.144378,0.989314]]6H`b?XSd`¿IДz¿`u?i6#JC@I6^];4YJMByJ IPR@AbDVVDV0yZH<%^^=ٔ^Q-^>9`Y`=bFyb)Ef{/;Ef>dQ 5j;5f?Q 9n;5f)f~BYlyn)G@Q In@fVCDIf ;ifP;f!;5ytɮv<AtDNOT Ignoring new targets: 38.21 m.hh*h"h hgff!f!d!d!d!jd)Zd-`۠K@UjBɢ5)1 =`ci9)=o99i=ziEk<>EA>I I! O5 >y /RB,0 u?A]bC@]WQ@]<ٱ]y 5AHRS rotation from veh to nav: [[-0.991439,0.130568,-0.001232],[-0.128993,-0.980859,-0.145864],[-0.020254,-0.144456,0.989304]]]Hݹ@t?*0Tۂ2c ¿@f}¿`?i]bC@I]g];]ېCYELByEIIiMb@Mb@Mb@ 9'1Z?Qſ/$?YB?y(,=/A@ QA)AYAbD5VD5:yE䐻%E'=ٔMQ-M>9IYI=MFyU)EUC;EU>YQ 5e;5]?Q 9e;5]K)]BYmG?Q Em:ymSD@Q Im@]oCDI] ;i] ;]%;5yuEBɮuAqAAAABBBIB8BB =BBB8r;B;.E=DNOT Ignoring new targets: 38.21 m.h9hY*ha"ha hagafafifmBdididijdqZduvK@fBɢqݻ) PKi) Ssi~2xil<><-IIy@ @@/@ԡE  E E )E "E =;*E :VE FA4ZE BE H,%u?A2YC@2yQ@2Lj<ٱ2EY :AHRS rotation from veh to nav: [[-0.991170,0.132598,-0.000905],[-0.131071,-0.980746,-0.144767],[-0.020083,-0.143370,0.989465]]2H ?ȧMEb¿@Y¿ ?i2YC@I2W];2ِCYFOByF IIJC=)J=J=J=bDNVDNԹy<%S=ٔQ->9Y=Fy)E;E> Q 5;5 w?Q 9;5 ) BYysD@Q I@ CDI :i ; 6);5yAɮEAE EDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffdddjdZdL@cBɢjӻ) 0i)*uivik<>n<l8II@ @@/@^A AA I IQ Ia Ou >E  E E *E "E E;*E :VE (N4ZE a @a @a @a @?O,:?u?AU٢C@UuQ@U<<ٱU eAHRS rotation from veh to nav: [[-0.990932,0.134363,-0.000254],[-0.132917,-0.980540,-0.144479],[-0.019661,-0.143135,0.989508]]UH@2?0@n` I~¿"`@R¿@ ?iU٢C@IU];Q1Y-NBy5 I =;=bDEVDE:yUe%U5=ٔ][uQ-]>9YYY=]Fye )Ee;Ee>iQ 5u;5mBZ?Q 9u;5m)mBYyy}D@Q I}@mCDImp:im:m-;5yɮA EB*** querying acoustic contact ***i iDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffd!d!d!jd)Zd-`DLL@U_BɢU»)Y ]iY)]4waaiecuiel<>mBBIBGBB =BBBdr;BQ.E^A} `ԻA zA A I I O > ;V,"Zu?A^8C@^ԻQ@^ <ٱ^x jAHRS rotation from veh to nav: [[-0.990647,0.136445,0.000358],[-0.135057,-0.980186,-0.144895],[-0.019419,-0.143588,0.989447]]^H`b w?@|7?I] ¿⓿a¿?i^8C@I^,*^;^ؐC|~ds@iIC ;kA    I ) i)IjAG[F 3CzjAii!!)! !I! ))-{A))) EE EEEE(EA"EEP;*EE:VEEc44ZEABEE BDAT read: Tx time:05:06:28.5766 $Ping request sent.9YYY=]Fy]%)Eeg;Ee>iQ 5u;5m9?Q 9u;5m)mBY}A?Q E}:y}A@Q I}@mCDIm ;im ;m1;5yDBɮADNOT Ignoring new targets: 38.21 m.hh*h"h hgfffBdddjdZd L@uZBɢuR)q uмiq)}xyyi}|sik<>T<`1IIie 9@a  @a @e /@a iQ IU A] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251046ԑ ^AE ϩAyIIO? ^,zu?A2C@2\Q@2<ٱ2 :AHRS rotation from veh to nav: [[-0.990374,0.138412,0.000984],[-0.137085,-0.979841,-0.145322],[-0.019150,-0.144058,0.989384]]2H %~? P?@Z¿p¿@?i2C@I2];0 h)hhllllinC IlpIpip rC p)pt vlAv\ttY] lAI]+)]RFiY)aIe lAe+a aamlAiiiiiqu A)q qIqYqY};By}I AbDVDβy޽%d=ٔDQ->9Y=Fy))EѺ;E>Q 5;5"?Q 9;5&)BYyB@Q I@CDI;ig1;4;5yɮLA EIDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffddE EE'E"E1A;*E;:VE'4ZEa @a@a@a@djdZd"L@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116颅WBɢ) ai)|{顉i\ril<><8IIU9@Q @Y@] 0@Yyԩ^A 񖻝 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755099B- <A- <B5 >B1 B5 IB5 LBB1 B1 B1 B5 ^r;B5 N.EA ؟AI I O >(d,ޭu?A>D@>Q@>D<ٱ>OY FAHRS rotation from veh to nav: [[-0.990131,0.140143,0.001251],[-0.138848,-0.979696,-0.144627],[-0.019043,-0.143373,0.989485]]>H@& 1?~T?`Y`#¿@Z¿`ݩ?i>D@I>v];>אCrPExceeded connect timeout, disconnecting.Y?ByIiuMb@Mb@Mb@qqqq q9uK? rȿ rh?Yu^:?yuCuC =uAu@ q)qqYu\AAAbDVD0y<%<=ٔ;Q->9"?Y"?=Fy-)E;E>ԱQ 5;5v?Q 9;58)ĵBY@?Q E:y$B@Q I@CDI:i:8;5yɮ(AE}DNOT Ignoring new targets: 38.21 m.hyhy*hy"hy hygyfffddd jdZdL@=rGU(hAi{~9(hAYfASBɢ(Ի) 0!i!)-}))i-pi5k<>=|<=xUI9IE  EE(E"EC;*E:VEc44ZEBEA >9 A I IO>k,@2u?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258953V5D@VX+R@Vҝ<ٱVT zAHRS rotation from veh to nav: [[-0.989720,0.143002,0.002046],[-0.141799,-0.979324,-0.144284],[-0.018629,-0.143091,0.989534]]VHɫ`M?`? t&¿Vw¿qP¿C?iV5D@IV^;VڐCQYu7ByuIbDVDy( %:=ٔ_wQ->9Y=Fy2)Ep;E>Q 5 ;5넊?Q 9 ;5O)ϵBYyUB@Q I@CDIL;i;h<;5yɮbAEEDNOT Ignoring new targets: 38.21 m.hAhI*hI"hI hIgIfQfQfQdQdYdYjdYZd]`*M@颍PBɢ2) @Ci)V顑iًoil<> (<X]:IIY@a @a@e5@aԁbEc44jEr,u?AR@D@R6R@R<ٱR rAHRS rotation from veh to nav: [[-0.989631,0.143611,0.002337],[-0.142450,-0.979288,-0.143884],[-0.018375,-0.142725,0.989592]]RH`a?t$c?;¿ TVj¿ВD¿`?iR@D@IRש^;PY2ByII5>)5p>E=E=bDeVDe0y/%Q=ٔC)Q->9Y=Fy6)Ej:E>Q 5;5v҄?Q 9;5{)صBYy_B@Q I@DDIc顩i5nik<>Ǹ<J:II-nManaging dock network, ignoring radio surface power offA@A @A@E4@I^Am }U;D =D 4=E%  E% E! E! "E% [I;*E% L:VE! ZE! BE% y,pu?A:KD@:AAR@:s><ٱ: FAHRS rotation from veh to nav: [[-0.989539,0.144234,0.002863],[-0.143123,-0.979042,-0.144891],[-0.018095,-0.143785,0.989444]]:HNDv?$tg?`Q¿NTƋ¿ g¿?i:KD@I:^;:ؐCYN)ByNIi]Mb@Mb@Mb@YYYY Y9]7A`?xƿQ?Y]6?y]K7]<]AY Y)] AYY]A m49Y=Fy:)E:E>Q 5;5Q?Q 9;5)BYY=4{<=};I9IA@ @@/@9=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266880^A0::A eAzA dAiI I O >ԑ 1,u?ANVD@N>LR@N<ٱNK ZAHRS rotation from veh to nav: [[-0.989440,0.144912,0.002882],[-0.143787,-0.978867,-0.145412],[-0.018251,-0.144291,0.989367]]NH`v?g?g¿@Rڜ¿\`x¿ ?iNVD@IN+^;LYbBybIEn EnEn*El"EnCJ;*En:VEn(N4ZElar@ar@ar@ar@bDvVDv1y~%~T=ٔ~9Q-~>9Y=Fy>)E :E > Q 5;5 ?Q 9;5 ) BYyC@Q I@ %DDI ;i L; F;5y-CBɮ-R A-EUDNOT Ignoring new targets: 38.21 m.hQhQ*hQ"hY hYgYfYfYfadadadajdaZdmM@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518966UFBɢU,&)Q UiY)]^YYi]Nkiek<>e&A A @AB B B IB 8BB B B B Mr;B F.EBCBCBB =B =Cȥ4M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770949 , v?A6fD@6\R@6A<ٱ6 BAHRS rotation from veh to nav: [[-0.989296,0.145890,0.003073],[-0.144774,-0.978654,-0.145869],[-0.018273,-0.144752,0.989299]]6H@P?,i?¿`!Qӫ¿C=¿V?i6fD@I6l];4YJByJI LLPRAi%Mb@Mb@Mb@!!!! !9%$C?#~jĿ~jt?Y%:?y%%%D9QYQ=UFyUB)E];E]>aQ 5m;5e?Q 9m;5e)eBYm>?Q Eu:yuD@Q Iu@e9DDIe:ie:eVJ;5y}@Bɮ} AEDNOT Ignoring new targets: 38.21 m.hh*h"h hgfffÀBdddjdZd M@额BBɢj^U) 0i)ш顩iOiil<>ҷ<-?d;IIEu EuEu&Eq"EumR;*Eu1:VEu4ZEqBEu] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274787a H,ӆ3v?A2kD@2`R@2<ٱ2l :AHRS rotation from veh to nav: [[-0.989251,0.146200,0.002814],[-0.145020,-0.978437,-0.147072],[-0.018749,-0.145899,0.989122]]2H`?Y g? ¿ [OA¿2Ӭ¿?i2kD@I2Z];0YF ByFILN@AbDN VDN2yVeW=%ZT=ٔZ[:Q-Z>9\Y\=^Fy^F)E^):E^>`Q 5;5bp?Q 9;5b)bBYyD@Q I@bKDDIb-1EㅷAalք[NGBO/i ՛)IM;I&A@ik]=IIO>y 0),AMv?A06VkD@6`R@6ݛ<ٱ6 >AHRS rotation from veh to nav: [[-0.989244,0.146255,0.002552],[-0.145034,-0.978422,-0.147159],[-0.019026,-0.145946,0.989110]]6H`y?Zd?|¿`;O¿p{^¿ ɦ?i6VkD@I68;];6ِCY^BybIbDjVDj1y%޽%%D=ٔ5-:Q-5>9QY=FyJ)E 8E>IQ 5;5M6T?Q 9;5BBBIBBBBBBBr;B@.EMb)MBY y D@Q I @M`DDIMR@Z턂J"@h( Z82O?]W?FU,O+ԉ2iA@:iB"iﴉY?*i BirBiiiiBi{= addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 60.530150 s, deltaX: 35.099998 m, approachRate: 0.579876 m/s, rangeRepo size: 4  Added new target pos. range: 73.131432 m, bearing: 2.367274 deg, lat: 36.779302 deg, lon: -121.859541 deg, deltaT: 60.530150 s, deltaX: 34.922932 m, approachRate: 0.576951 m/s, posRepo size: 4 DNOT Ignoring new targets: 73.13 m.hh*h"h hgfffd)d)d)jd-`R@Zd5G?}:Bɢ})PX)y  i)顡i@ fil<>&<Ne;IIy@y @y@y@ԹE  E E (E "E >T;*E :VE c44ZE BE "ϙ,'iv?A2jD@2x`R@2<ٱ2 >AHRS rotation from veh to nav: [[-0.989245,0.146244,0.002512],[-0.145005,-0.978332,-0.147784],[-0.019155,-0.146559,0.989016]]2H ?d?¿~N@¿@up¿?i2jD@I2o];2אCYFByFIIJ=)J9E ?YE ?=MFyMN)EM EM>QQ 5];5UX;?Q 9];5U0)UBYe:?Q Ee:yesG@Q Ie@UsDDIU ;iUq ;U0U;5yiɮmW AuEEDNOT Ignoring new targets: 73.13 m.hAhI*hI"hI hIgIfqfyf}̀BdyddjdZdZ?6Bɢ L^)  i )511i5^di=k<>=ٶ<=`;I9IA9@ @@0@^Ad;I A ؟AI1 IA OM >E  E E &E "E F;*E :VE 4ZE a @a @a @a @뷠,hv?A2[D@2`QR@2]z<ٱ2~C >AHRS rotation from veh to nav: [[-0.989375,0.145371,0.002136],[-0.144094,-0.978517,-0.147447],[-0.019344,-0.146188,0.989068]]2H@?a?@q¿P¿Γ@M¿@q?i2[D@I2l\;2ؐCYJByJI ~;~bDVD!yި%M=ٔ9Q->9"?Y"?=FyR)E%E%>)Q 55;5-"?Q 95;5-)-BY1y5dG@Q I5@-DDI-B:i- ;-X;5yAɮE AAmDNOT Ignoring new targets: 73.13 m.hihi*hi"hi hqgqfqfqfydydydyjdZd?颭3Bɢ$)u i)项ibil<><&;IIQm9@q @q@u4@qԁ^Ajb;AfAzAhABABBBIBBB =BBBr;B,.Eԩ A) I1 IA OU >,*v?A2LD@2PBR@2<ٱ2Z :AHRS rotation from veh to nav: [[-0.989506,0.144476,0.002102],[-0.143184,-0.978492,-0.148498],[-0.019398,-0.147241,0.988910]]2H4~?8a?S¿O`ÿܓ¿`'?i2LD@I2 ];0@YFـByFzIiMb@Mb@Mb@ 9(\?ktI +?Yz4?y /A )7AYbDVDyT%==ٔH9Q->9Y=FyW)Em E>Q 5 ;5?Q 9 ;53)BY 5?Q E:yfGQ I@DDI ;i` ;r\;5yɮ9 A%EEDNOT Ignoring new targets: 73.13 m.hIhI*hI"hI hIgIfIE] E]E](EY"E]P;*E]g:VE]c44ZEYBE]}B.<}{P:IyIyԩA@A @A@A@A^A ] ; A I I O >N ,Av?A2=D@23R@2<ٱ2Z :AHRS rotation from veh to nav: [[-0.989637,0.143579,0.002016],[-0.142265,-0.978478,-0.149469],[-0.019488,-0.148207,0.988764]]2H`?ڃ`?5¿O!ÿq¿ ?i2=D@I2\;0YBހByBI DDHJAbDLVDLyV<%Va=ٔZ9Q-Z>9XYX=ZFyZZ)E^'Eb>`Q 5f;5bg<Z~:IIi@i @q@u/@q Em EmEm'Ei"EmO;*EmL:VEm'4ZEiau@au@au@au@1^A;A I I O- >i g,Sv?Abo4D@b *R@bǡ<ٱb AHRS rotation from veh to nav: [[-0.989710,0.143076,0.001703],[-0.141717,-0.978527,-0.149669],[-0.019747,-0.148370,0.988735]]bHഫ@NP?[?`#¿PW(ÿ@8¿?ibo4D@Ibw*];`AB}>ByB}IB}BB} =ByByB}*r;B}6.EY΀BynIi Mb@Mb@Mb@     9 99Y9=EFyE_)EEϔEE>Q 5;5Ճ?Q 9;5)BY4?Q E:yGQ I@DDIC:i:c;5yɮ AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffBdddjdZd ۧ@=&Bɢ=ɀ)9 =.i9)ErAAiE\iMk<>M>s:VEZEBEA>A].AIaIyO ?%6,8v?A2M"D@2R@2I<ٱ2V :AHRS rotation from veh to nav: [[-0.989870,0.141965,0.001792],[-0.140622,-0.978609,-0.150169],[-0.019565,-0.148899,0.988659]]2H`+?n[]?P8ÿ "ÿ?i2M"D@I2.];2ِCYB̀ByBlIHbDNVDNk1yVp%V2=ٔZйQ-Z>9Z ?Y^ ?=^Fy^d)E^:E^>`Q 5f;5b ?Q 9f;5b)b BYhyn0GQ In@bDDIbdI;ibJ;bg;5ypɮr AtDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd@\@!Bɢ) T'i)i΋Zi%l<>%<%AI!II%*@ @@"4@bEjE14rE8/EU  EU EU(EQ"EUC;*EU:VEUc44ZEQae@ae@ae@ae@^A"9! A I I) O= >j, w?A2rD@2 Q@2ǰ<ٱ2S :AHRS rotation from veh to nav: [[-0.990092,0.140411,0.001524],[-0.139060,-0.978942,-0.149449],[-0.019492,-0.148180,0.988768]]2Hծ?vX?@~S#!ÿ¿`?i2rD@I22'];0YBɀByBgIIF=)F=bDNVDNfyV̯%VK=ٔV >Q-V>9XYX=ZFyZh)E^E^>`Q 5f;5b?Q 9f;5b)bBYdyfJGQ Ij@bDDIb:ibk:bdk;5ylɮn AnE| DNOT Ignoring new targets: 73.13 m.h h *h "h  h gfffdddjdZd%Ps @MBɢM&)Q U'iQ)U8QQiUzXi]k<>]BYB]rIB]ҀBBYBYBYB]Ur;B]L.E)y@y @y@}3@yYEu  Eu Eq Eq "Eu G;*Eu :VEq ZEq BEu )w,5'w?A2C@2|Q@2Z<ٱ2K :AHRS rotation from veh to nav: [[-0.990172,0.139850,0.001436],[-0.138481,-0.978939,-0.150005],[-0.019573,-0.148730,0.988684]]2H`|@?W? wS@]3ÿ@ ÿM?i2C@I2*5];2אCYBЀByBpIxiuMb@Mb@Mb@qqqq q9u-?/$y&1?Yu?5?yuu`9"?Y"?=Fym)E۪E>Q 5;57?Q 9;5V)BY6?Q E:yCGQ I@DDI:i:No;5yɮ AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffBddd jdZd @UBɢUXq)Q UNiQ)]jձYYi]٭Viel<>4<II!}9@y @@/@I^A y A I I O% > Z,zAw?Aɰ;2.C@2Q@20Q<ٱ2S :AHRS rotation from veh to nav: [[-0.990267,0.139174,0.001574],[-0.137835,-0.979043,-0.149924],[-0.019325,-0.148681,0.988696]]2HC x?vY?`QT0ÿ@ɓ@ÿf?i2.C@I2:6];2ؐCYFрByFqIbDNVDNyV$;%V\=ٔV.Q-Z>9XYX=ZFyZp)E^E^>Eb EbEb)E`"EbO;*Eb:VEbFA4ZE`aj@aj@aj@aj@lQ 5r;5nq?Q 9r;5n)nBYpyrNGQ Ir@n EDInQ;in;nr;5yxɮzy AxDNOT Ignoring new targets: 73.13 m.hh*h!"h! h!g!f!f)f)d)d)d)jd1Zd5 @yBɢHr) i)+iTik<>Bг<#8II9@ @@/@ԩ^A1BBBlIB̀BB =BBBJr;BF.EBBBBBC^4A  I I! O- >,X[w?AYԀByuI !!iMb@Mb@Mb@ 9A`"?|?5^9Y=Fyu)EE>Q 5 ;5T?Q 9;5)$BY/;?Q E:yHQ I@#EDI ;i2;v;5y%ABɮ%b A%EE EE(E"E,K;*E>:VEc44ZEBELH<U7II@ @@/@1^A "5a A) I9 II OU >>0,Pww?A2yC@2Q@2<ٱ2 :AHRS rotation from veh to nav: [[-0.990353,0.138527,0.003250],[-0.137434,-0.979012,-0.150488],[-0.017664,-0.149483,0.988606]]2H =?j? qT`1Cÿ`B"ÿ?i2yC@I2?];0YB׀ByBxIHHbDNVDNyVMx<%V\=ٔVeQ-Z>9XYX=ZFy^y)E^AE^>`Q 5f;5b>?Q 9f;5b)b+BYdyjHQ Ij@b4EDIb;iba;by;5ylɮnN AlDNOT Ignoring new targets: 73.13 m.hh*h "h  h g f QffdddjdZdz@E BɢE\)A E@ҽi)S顉icQik<><:SIIA@A @A@M0@IԑE EE$E"EQ;*E:VE4ZEa@a@a@a@ԩ^Ae 7A I I O > O,w?A6C@6Q@6K҆<ٱ6  FAHRS rotation from veh to nav: [[-0.990328,0.138673,0.004468],[-0.137765,-0.979008,-0.150215],[-0.016457,-0.149378,0.988643]]6Hİ?Lr? LT`B:ÿڐÿ?i6C@I6Z5^;6אCYZրByZwIbDbVDbkyj3P%jH=ٔnAQ-n>9pYp=rFyr})ErT:Ev>tQ 5z;5v$?Q 9z;5v)v3BYy HQ I @vGEDIv;iv;vy};5y1ɮ=U AEEBAB>BBBB =BBBNr;BH.E5DNOT Ignoring new targets: 73.13 m.h1h1*h1"h9 h9g9f9f9fAdAdAdAjdAZdMC@额BɢF) ýi) 顡iOil<>~< ?II@ @@00@1E%  E% E% (E! "E% C;*E% :VE% c44ZE! BE% Y=,w?A2C@2Q@2=x<ٱ2e :AHRS rotation from veh to nav: [[-0.990247,0.139200,0.005813],[-0.138493,-0.978956,-0.149881],[-0.015172,-0.149225,0.988687]]2H Q?w?$S@P/ÿÿR?i2C@I2w^;2ؐCY^߀BybIIb<)b9Y=Fy)E:E> Q 5;51 ` ?Q 9};5 g) ?BY&8?Q E:y G@Q I@ [EDI .~@BɢR4) i)|  i }eNik<><II!9@ @@4@@@ai߁I߁ԉ^A 0:DA9 IA IY Oe >Թ E  E E 'E "E W;*E :VE '4ZE a @a @a @a @O%,:w?A20D@2Q@2ɵd<ٱ2 :AHRS rotation from veh to nav: [[-0.990211,0.139393,0.007134],[-0.138876,-0.978848,-0.150237],[-0.013959,-0.149757,0.988624]]2Hϯ?}8}? R:ÿ@|@<+ÿ`Ϣ?i20D@I2:^;2ِCYBڀByF|I J49XYX=ZFy^)E^:E^>`Q 5f;5b}?Q 9f;5b0)bJBYhyjG@Q Ij@blEDIbo:ibf:b|;5yYɮe> AaDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdO@5Bɢ5ݬ9)Q UiY)]YYi]4%Miel<>eC IaIiԑ-9@) @)@-3@)B}>ByB}rIB}ҀBB} =ByByB}Br;B}C.E^AU"5 A I I O > P,w?A4<ɰ49Y=Fy)E%E%>)Q 55;5-ׂ?Q 95;5-)-WBY5A?Q E5:y==F@Q I=@-EDI- ;i-X ;-k;5yAɮET AAmDNOT Ignoring new targets: 73.13 m.hihq*hq"hq hqgqfqfyf}BdydydjdZdK@E  EEE"EX;*E:VEZEBE !T<)III]9@a @a@e/@ay^A 7ԩ A I I O >y,w?A:D@:R@:Ά3<ٱ:@ FAHRS rotation from veh to nav: [[-0.990036,0.140435,0.010298],[-0.140385,-0.978700,-0.149794],[-0.010957,-0.149747,0.988664]]:H``?@V?!Qs,ÿ`p*ÿ!?i:D@I:|^;:ؐCYRҀByRrIbDZVDZfyb%bb=ٔfQQ-f>9dYd=fFyj)Ej;Ej>lQ 5r;5n?Q 9r;5n})naBYtyvUF@Q Iv@nEDIn:inI:n;5yxɮz AzE-DNOT Ignoring new targets: 73.13 m.h)h)*h)"h) h1g1f1f1f9d9d9d9jdAZdE`fv@uBɢu>)q uiy)}Żyyi}Jil<><WIII)9@ @@/@!@-=@-=ԱE EEE"EV;*E:VEZEa@a@a@a@^AU<A I I O > ka,_x?ApYzԀBy~tI AA @AB1B1B5xIB5׀BB5 =B1B1B5jr;B5W.EbD VD k1y}<%?=ٔQ->9Y=Fy)E=EE>yiIQ 5;5}?Q 9;5})}oBYyQ I@}EDI}Z<tII 5Gi>5tC؀GY~9Y%LgA)@) @)@5/@11DzDE EE&E"E[I;*Eg:VE4ZEBE ,- .x?AHjCD@j9R@j<;ٱjL rAHRS rotation from veh to nav: [[-0.989739,0.142220,0.013777],[-0.142680,-0.978535,-0.148701],[-0.007667,-0.149141,0.988786]]jH`A4?7?@SC¿`(P`ÿogÿ#?ijCD@Ij&"_;jאCY~΀By~mIiMb@Mb@Mb@ 9\(\?{GzĿ9Y=Fy)E;E>Q 5 ;5?Q 9;5)zBY??Q E:yE@Q I@EDI;iX;6;5y!ɮ% A!MDNOT Ignoring new targets: 73.13 m.hIhI*hI"hI hQgQfQfYf]BdYdYdYjdaZden@颽Bɢ 7)  i)PqɻiaHil<>5<?:IIԩ9@ @@/@^A A I I bE-4jEʨ,4rEʟ/E  E E *E "E W;*E :VE (N4ZE a @a @a @a @OE >,YGx?AbUD@bKR@bF+;ٱb jAHRS rotation from veh to nav: [[-0.989593,0.143044,0.015623],[-0.143764,-0.978215,-0.149758],[-0.006139,-0.150446,0.988599]]bH@DO??f¿`MI+ÿ`^%y`Aÿ?ibUD@Ib<]_;bؐClYӀBy sIbD5VD5yE<%EV=ٔM"Q-M>9IYI=MFyU)EU;;EU>YQ 5e;5]q?Q 9e;5] )]BYiymE@Q Im@]EDI]$:i]:];5yqɮu AqDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd = @Bɢ &) 0`i)ʻiGik<><p:IIx>i>9@ @@20@@@fA BABABABABABABABEpr;BEZ.EA^A9A I I! O= >a  ,4ax?A {`D@ VR@ eN;ٱ O AHRS rotation from veh to nav: [[-0.989507,0.143475,0.017040],[-0.144403,-0.978141,-0.149627],[-0.004801,-0.150518,0.988596]] H @b]?r?`{¿L&ÿǩs`*Dÿ`?i {`D@I ʸ_; 9Y}By}\IDD=E E E(E"EO;*E:VEc44ZEBE79Y=Fy)E_:E>Q 5;5S?Q 9;5)BY A?Q E:yE@Q I@EDI@:i:;5yDBɮ AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffBdddjdZdh2!@a颥Bɢz>) i)mͻ顩iFil<><y ;II9@ @@0@ԑ^A v; I I O >y,|x?A;ɰp;2SqD@2fR@2+W_;ٱ2`! >AHRS rotation from veh to nav: [[-0.989364,0.144266,0.018613],[-0.145421,-0.977963,-0.149801],[-0.003408,-0.150915,0.988541]]2HިJw?g?@+¿yK,ÿk -Qÿ ?i2SqD@I2`;2ِCYFByFUIbD^VD^Jy%e=ٔQ->9Y=Fy)E9;E>Q 5;5eP?<B;II9EU EU EU)EQ"EUL;*EU:VEUFA4ZEQa]@ae@ae@ae@9@ @@5@i^A] ;ԑ I I O >B A B >B B rIB ҀBB B B B r;B k.EBBBBBCF4j%,gx?AqU{D@U$qR@UU:ٱU\ eAHRS rotation from veh to nav: [[-0.989278,0.144489,0.021236],[-0.146039,-0.977939,-0.149355],[-0.000813,-0.150855,0.988555]]UH`+~?辕?e¿GKÿUJ`9Oÿ ??iU{D@IU`;UؐCԉYByLIi5Mb@Mb@Mb@1111 195v?9YYa=eFye)Eeg:Em>iQ 5u;5m?Q 9};5m)mBY}׮<$Z;IIE= E=E='E9"E=N;*E=Z:VE='4ZE9BE=n,,qx?Ahj3s@ihhIhll llpprCpIp)pit)vYCItvSt txz~jAxixxi||)| |I| )YY5By54IbDEVDEyU%]=ٔ]Q-]?9YYa=eFye)EeEe?iQ 5u;5ma ?Q 9};5m)mBYyyyQ I}@mFDIm7;imV:m;5yɮD ADNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd6#@Bɢ) *i)bջi+Dik<> m< T;I I @ @@/@9^A IiIO>Em  Em Ei Ei "Em [I;*Em >:VEi ZEi au @au @au @au @y 2,d;x?AND@NxR@NֺٱN ZAHRS rotation from veh to nav: [[-0.989210,0.144597,0.023563],[-0.146495,-0.978071,-0.148039],[0.001640,-0.149894,0.988701]]NH*?` ? ]¿ \L¿Z?/ÿo?iND@INnqa;LYYuByu<IbDVDyD=%G=ٔûQ->9Y=Fy)EF:E>Q 5;5?Q 9;5D)BYyQF@Q I@2FDI;i;;5yɮ AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd e$@5߀Bɢ=+j)9 =i9)=bػ9AiEe}CiEl<>MVBB_IBÀBB =BBBr;Bc.Eԡ^A5"5;IIO> 9,%$x?AE EE)E"EN;*E:VEFA4ZEBEa2EaJE>ÿۢ?iReD@IRa;R֐CYUByU6I]=]=iMMb@Mb@Mb@IIII I9M ףp= ?X9v{Gz?YMQ8?yMMף9Y=Fy)Eg:E>Q 5;5>Ձ?Q 9;5.)BY:?Q E:ycH@Q I@FFDI:i:;5yɮ8 ADNOT Ignoring new targets: 73.13 m.hh*h"h hgfffπBdddjdZdXD%@%܀Bɢ%k)! %i)֥ۻ顩iBik<><~;III)9@ @@/@)^A yb];ԁ A I I O >~??,ox?AND@N~R@N%ٱN ZAHRS rotation from veh to nav: [[-0.989149,0.144527,0.026369],[-0.146849,-0.977961,-0.148416],[0.004338,-0.150678,0.988573]]NH??¿@uK K¿q?`iIÿd?iND@IN@a;NՐCQYBy"IbDVDy%D=ٔF@Q->9Y=Fy)E}E>Q 5 ;5?Q 9;5)ɶBYyQ I@ZFDIX ;i ;';5yIBɮ A%EE5 E5E5(E1"E5sH;*E5:VE5c44ZE1a=@a=@aE@aE@]DNOT Ignoring new targets: 73.13 m.haha*ha"ha hagafafifididqdqjdqZdu&@ـBɢ%)! %i!)M߻IIiM*BiUl<>UeBq Bu LIBu BBu =Bq Bq Bu ^r;Bu Q.E A I Ia O >|F,&oy?A0ɰ0ND@NyR@N,ٱN bAHRS rotation from veh to nav: [[-0.989188,0.144075,0.027380],[-0.146552,-0.978065,-0.148028],[0.005452,-0.150440,0.988604]]NH`mq?g ? ;¿NL ¿@Tv?Aÿ@?iND@INb;NؐC p)r$lAvttxz9lAixIxxIi )  YC  lA t q ؑؑIؑ)ؙiؙ)١I١ءحYF ٩ii) IYYByIiMb@Mb@Mb@ 9㥛 ?kt9Y=Fy)E/E > Q 5;5 Ơ?Q 9;5 \) ѶBY6?Q E:y GQ I@ nFDI :i 3:  ;5y)ɮ-A)UDNOT Ignoring new targets: 73.13 m.hQhQ*hQ"hQ hQgYfYfYf]BdadadajdiZdm&@颕րBɢ,)  i)顙ie|Aik<>h<=c;IIԙE EEE"EL;*E:VEZEBEݡL, 76y?A2zD@2WpR@2Ԩлٱ2W :AHRS rotation from veh to nav: [[-0.989266,0.143389,0.028149],[-0.145987,-0.978210,-0.147625],[0.006368,-0.150150,0.988643]]2H Z? Ӝ?෯¿~M`¿z?8ÿ ?i2zD@I21b;2אCY|y|  AbDVD2yMʣ:%Mk=ٔMw,Q-U?9QYQ=UFyU)E]ֺE]?aQ 5m;5eۋ?Q 9m;5e)e׶BYiymGQ Iu@e~FDIe:ieV:e;5yJBɮAE-DNOT Ignoring new targets: 73.13 m.h)h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE@'@mԀBɢm)q uFiq)uqyi}@i}l<>"<@;II@ @@0@E EE'E"ECJ;*EZ:VE'4ZEa-@a-@a-@a-@1^AMyb];AU>AU>A I I O >Y S,kPy?A6wD@6mR@6Kٱ6G( BAHRS rotation from veh to nav: [[-0.989283,0.143047,0.029262],[-0.145821,-0.978139,-0.148259],[0.007414,-0.150938,0.988515]]6H@5@_O?@? D¿L`*¿ ^~? Qÿ@?i6wD@I6;b;6֐CYByIbD5VD5kyE<%EK=ٔEH*Q-E>9IYI=MFyM)EMٹEU>QQ 5e;5Us?Q 9e;5U)U߶BYaymGQ Im@UFDIU"";iUk:U;5yqɮu AqDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd@~(@1}рBɢ}x֊) \ i)'顁iYp@ik<>լ<%{9;IIB>BB:IBBBBBBBr;BB.EM9@I @I@M1@Qi-GIu9Y_A^A] ;ԉAE .AII IY Om >E%  E% E% +E! "E% M;*E% :VE% [4ZE! BE% 9 ?Y ?=Fy)EE>Q 5;5Z?Q 9;5Q =tI)BQ A+:YQ Ep:y'GQ I@FDIq;i->;5yɮnAE DNOT Ignoring new targets: 73.13 m.h h *h "h  hgfffd!d!d!jd)Zd-U)@ԑ̀Bɢ^) "i)yi%?i%l<>-Ѐ<-z;I)II9@ @@4@^A) A ؟AI I O > `,ȃy?A2;aD@2VR@2c~ٱ2 :AHRS rotation from veh to nav: [[-0.989466,0.141335,0.031318],[-0.144444,-0.978267,-0.148758],[0.009613,-0.151714,0.988378]]2H@C??@!}¿`M } ÿ?_kÿ ʠ?i2;aD@I2"b;2ؐCYBByFIbDNVDNJyV<%VX=ٔV^IQ-V>9Z"?YZ"?=ZFyZ)E^`E^>`Q 5f;5b@D?Q 9f;5b;)bBQ Af :YdQ EjC:yj.GQ Ij@bFDIb:ibUJ?b;5ylɮnLAnEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd #*@bEec44jEec44rEeT/E EE&E"E,K;*E:VE4ZEa@a@a@a@%ˀBɢ%)) -i))-cL))i-|?iUk<>U5<]:IYIY@ @@2@^AAgAzAgAB<A<BBB'IBBBBBBVr;BM.EI AE .AII IY Om >jg,y?A YD@ NR@ ],ٱ Q AHRS rotation from veh to nav: [[-0.989530,0.140683,0.032242],[-0.143946,-0.978241,-0.149414],[0.010520,-0.152491,0.988249]] H :??`l¿Mÿ?`Єÿ@?i YD@I Bb; ِCY-tBy-Iaa aa aa aa iMb@Mb@Mb@ 9333333?ʡEZd;O?Y9?y-j<p@ MA) AYAbD VD yb%5=ٔ%sQ-%>9% ?Y% ?=%Fy%)E-:E->1Q 5=;55v(?Q 9=;55)5BQ AET:YE;?Q EE:yEGQ IE@5FDI5a;i5;5;5yIɮUAQ}DNOT Ignoring new targets: 73.13 m.hyhy*hy"hy hygyfffBdddjdZd`*@颽ǀBɢ^) &i){i4 ?il<>ݫ<2:IIiy@y @@/@DzD@AE E E+E"EV;*E:VE [4ZEBE|:m,}y?Aɰ;:RD@:YHR@:Q>ٱ: FAHRS rotation from veh to nav: [[-0.989573,0.140133,0.033297],[-0.143566,-0.978274,-0.149560],[0.011616,-0.152780,0.988192]]:H@?Z ?@[`¿@N@$ÿɇ?NÿD?i:RD@I:b;:֐CYN~ByN IPbDZVDZ:ybg=%bd=ٔb:HQ-f>9f"?Yf"?=fFyf)EjEj>lQ 5r;5nt?Q 9r;5n)nBYpyrGQ Iv@nFDIn7;inT;n;5yxɮzaAxDNOT Ignoring new targets: 73.13 m.hh*h"h! h!g!f!f)f)d)d)d)jd1Zd5+@]ĀBɢe;摼)a et ia)eZ aiim˾>imk<>uő) "t,%Yy?A2OD@2DR@2׏Pٱ2  :AHRS rotation from veh to nav: [[-0.989592,0.139684,0.034588],[-0.143339,-0.978078,-0.151056],[0.012729,-0.154442,0.987920]]2H+? z?X¿iLUÿ?ÿ ?i2OD@I2=b;2אCYFByFI HHHHN@ALbDrVDryzq<%zG=ٔz1Q-z>|9 ?Y ?=Fy)EE > Q 5;5 6?Q 9;5 )  BYyGQ I@ FDI ;i j; \;5y-KBɮ-IA-EUDNOT Ignoring new targets: 73.13 m.hQhQ*hQ"hQ hQgYfYfYfadadadajdaZdm`S,@颕Bɢ[) i)j顙i)>il<>:<g$:IIBBB!IBBBBBBor;BY.EBIBIBIBIBICM04@ @@/@)^A]:iIq I O ԁ D D <E  E E &E "E M;*E :VE 4ZE BE 9 Y=Fy)EùE>Q 5%;5gހ?Q 9-;5)BY-9:?Q E-:y-GQ I-@GDIL:i:2;5y9ɮ= A=EeDNOT Ignoring new targets: 73.13 m.haha*ha"ha hagifififmBdqdqdqjdyZd}e-@%Bɢ%to)! -ӽi))-)iim.~>iuk<>uת4,wz?A2AD@27R@2mٱ2) :AHRS rotation from veh to nav: [[-0.989682,0.138620,0.036243],[-0.142543,-0.978196,-0.151046],[0.014515,-0.154653,0.987862]]2Hz P? |?@>¿aMvUÿ?ÿ ?i2AD@I2Ia;2ِCYFByFIbDNVDNNyVD%Vc=ٔVQ-V>9XYX=ZFyZ)E^E^>`Q 5f;5bsȀ?Q 9f;5b5)b!BYdyfHQ Ij@bGDIb:ibt:bV;5ylɮnAlDNOT Ignoring new targets: 73.13 m.hh*h "h  h g f ffdddjdZd@.@EBɢM~w)I MҽiI)MQQiUp>iUl<>ԹE E E)E"E>T;*E:VEFA4ZEa@a@a@a@7<$II@ @@0@^A9II1O=>AqAu@AB}>ByByByB} =ByByByBy9 e,z?A?D@w5R@yٱaj %AHRS rotation from veh to nav: [[-0.989689,0.138444,0.036726],[-0.142418,-0.978464,-0.149414],[0.015249,-0.153104,0.988092]]H ?͢?:¿O`ÿ@ ;?ÿ t?i?D@Iga;אCY=By=IIE4=)Ep=E=E=iMb@Mb@Mb@  9 ףp= ?i|?5+?Yy=A MA) AYAbDVDy-L:<%53=ٔ5EӺQ-5>99Y9==Fy=)E=~EE>IQ 5M;5M?Q 9U;5M )M1BYU ;?Q EU:yUpH@Q IU@M(GDIMn:iM:MQ;5yeJBɮeAeEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffBdddjdZd ./@BɢQe) 躽i)Bi>ik<>)<vpIIi>i>@ @@2@E EE(E"EQ;*E :VEc44ZEBEȥԉ :,78z?A2CD@28R@2]ٱ2L :AHRS rotation from veh to nav: [[-0.989644,0.138443,0.037932],[-0.142606,-0.978408,-0.149606],[0.016401,-0.153466,0.988018]]2H@)@?k?@¿OJ&ÿː?Ƥÿם?i2CD@I22a;2ՐCYBByFIbDNVDN0y1<%_=ٔ%MQ-%>9!Y!=-Fy-)E-+ :E->1Q 5=;55?Q 9=;55)5>BYAyEsH@Q IE@59GDI5e;i5;5;5yIɮM AQuDNOT Ignoring new targets: 73.13 m.hyhy*hy"hy hygyfffdddjdZd &/@颽Bɢ|c) 좽i)7i>il<>٩<IIy9@ @@P4@ԡ^AE EE+E"EmR;*Eu:VE [4ZEa@a@a@a@IQIiOu> q,4Rz?A4<ɰ4<2ED@2;R@2Hٱ2w- :AHRS rotation from veh to nav: [[-0.989600,0.138482,0.038918],[-0.142782,-0.978496,-0.148860],[0.017467,-0.152868,0.988092]]2Hͪ`Ź?? F¿`O ÿ`? 1ÿs?i2ED@I2`;2֐CYFByF*IbDNVDNyV?Z=%VR=ٔVp3Q-V>9XYX=ZFyZ)E^9E^>`Q 5f;5b)~?Q 9f;5b)bLBYdyfuH@Q Ij@bKGDIbp:ib:b;5ylɮn AnEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdH0@BBB'IBBBBBBxr;B].E5Bɢ52A)1 =X[i9)=K99i=>iEk<>E~) E  E 7E *E "E V;*E ;VE (N4ZE BE 9Y=Fy)E:E>Q 5;5"b?Q 9;5)\BY@?Q E :y F@Q I @`GDI :iv:;5yɮx A=DNOT Ignoring new targets: 73.13 m.hAhA*hA"hA hAgAfAfIfMӀBdIdIdQjdQZdUv0@颅Bɢ5) -i)顉i X?il<>%<(JS9IIԑ)@) @)@-/@)Թ^AU9Ae>Ae> A ؟AI I O >,:Wz?A`Y~By~-IbDVD:y%`%%W=ٔ%Q-%>9-"?Y-"?=-Fy-)E5E5>9Q 5E;5=3J?Q 9E;5=n)=jBYAyAQ IE@=rGDI=+;i=:=;5yQɮUz AUE}DNOT Ignoring new targets: 73.13 m.hyhy*hy"hy hgfffdddjdZdo1@E EE)E"E,K;*E:VEFA4ZEa@a@a@a@uBɢT2) hi) 顙i0?ik<>Ψ<:9IIm9@i @i@m/@iB1A5<B9B9B=4IB=BB= =B9B9B=yr;B9^A] ;A A I I O > 9 = oC cGI ,>z?A0 H9Y%%hAII`D@VR@IYٱ AHRS rotation from veh to nav: [[-0.989325,0.139667,0.041577],[-0.144404,-0.977933,-0.150982],[0.019573,-0.155374,0.987662]]H?I?{¿ 9K_Sÿ@ ?Lÿ?i`D@I_;YBy1Ionly read 2 of 4 data items for beam range. Device response is::RA, 0.00, 84.28, 81.22 a@a a@a a@a a@a bDVD1ySD<%==ٔH=Q->9Y= Fy )E P;EM>QQ 5];5UU.?Q 9];5U%)UzBQ Ae+:YaQ Eed:yeF@Q Ie@UGDIU :iU>U=;5yuIBɮub AuEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd1@=Bɢ=kI&)Ebm%w*׭, z?A2o^D@2 TR@2Btٱ2 :AHRS rotation from veh to nav: [[-0.989332,0.139403,0.042285],[-0.144251,-0.977968,-0.150900],[0.020318,-0.155390,0.987644]]2H?`l?`v¿KPÿ`*Δ?ÿȚ?i2o^D@I2D_;0YBByB.IIFp<)F;J=Ja= N9XY\=^Fy^)E^ܹEb>`Q 5f;5b?Q 9f;5b)bBQ Aj :YhQ Ej8:yjF@Q Ij@bGDIb':ibK?bB;5yYɮ]p AYyDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd x1@颥Bɢc') i)S顩i@ik<>(<y:IIԡ@ @@0@bEEFA4jEE:4rEELJ 0E EE)E"EUS;*EA:VEFA4ZEa@a@a@a@^A 0::A fAzA hA A9 IA IY Oe >$,z?A2n_D@2UR@2Hٱ2 :AHRS rotation from veh to nav: [[-0.989305,0.139319,0.043186],[-0.144309,-0.977957,-0.150912],[0.021209,-0.155530,0.987603]]2Hc5? j?x¿`mK Qÿ@?fÿr?i2n_D@I2^;2אCYBByB<IbDNVDNk2yV^[=%VK=ٔVQ-V>9XYX=ZFyZ*E^x9E^>`Q 5f;5b?Q 9f;5b)bBQ Af9YdQ Ef:yfF@Q Ij@bGDIba:ibm?b!;5ylɮn AnEDNOT Ignoring new targets: 73.13 m.hh*h "h  h g f ffdddjdZdI2@BɢͲ ) i)igAil<>BBBFIBBBBBBMr;BH.E ݧ<5:I1I99@ @@1@ ^Arg:1A! I1 IA OU >D D <E  E E +E "E V;*E 4:VE [4ZE BE |9Y=Fy*ER:E>Q 5;5?Q 9;5)BQ AT:Y??Q E:yD@Q I@GDI';i;;5yHBɮ A DNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdd!d!jd!Zd%`E2@UBɢU)Q ] .]n<]:IYIa M r 9@  @ @ /@ 1 E  E E 'E "E &U;*E :VE '4ZE a @a @a @a @i^A] ;A%>A%>AQIYIqO}?,{?A2hD@2R^R@2`ٱ22 >AHRS rotation from veh to nav: [[-0.989203,0.139763,0.044078],[-0.144867,-0.978009,-0.150038],[0.022139,-0.154803,0.987697]]2H?@g?¿`K@o4ÿ ?ÿ@7?i2hD@I2N^;2אCYFByF?IbDRVDRkyV<%Z&=ٔZ0Q-Z>9\Y\=^Fy^ *Eb'7Eb>dQ 5j;5fq?Q 9j;5f\)fBYhyjD@Q Ij@fGDIfr;if;f;5ypɮr ArE DNOT Ignoring new targets: 73.13 m.h h *h"h hgfffdddjd!Zd% L3@MBɢUL)Q UNeg ,J.{?A9 ?Y ?=Fy*Ep9E>Q 5;5a?Q 9;5)ӷBY*A?Q E:yF@Q I@GDI ;i:;5yGBɮ AEUDNOT Ignoring new targets: 73.13 m.hQhQ*hQ"hY hYgYfYfafeƀBdadadajdiZdm[3@Bɢٻ) x<:II iiqqԩ@ @@@ ^Au "Ay zA} fA1 E  E E &E "E &U;*E 4:VE 4ZE a @a @a @a @AIIO>?1,cM{?A$$JuD@JakR@JٱJ RAHRS rotation from veh to nav: [[-0.989056,0.140337,0.045546],[-0.145650,-0.977969,-0.149541],[0.023556,-0.154538,0.987706]]JHX?Q?¿K*$ÿ+?ÿ`I?iJuD@IJ>^;J֐CYZByZII bp<`bDfVDfNynɟ<%n0=ٔn,úQ-n>9pYp=rFyr*Ev:Ev>xQ 5~;5z?Q 9~;5z)zBY|y~F@Q I@zHDIz:iz:z;5y FBɮ  A =DNOT Ignoring new targets: 73.13 m.h9h9*h9"hA hAgAfAԉffdddjdZd54@Bɢ%.*)A E=iA)M:IIiMNEiUl<>UMcB9B=_IB=ÀBB9B9B9B=q;B=.E^A0::A ؟AI 1 I! Oe >S,mg{?ANzD@NoR@NļٱNM ZAHRS rotation from veh to nav: [[-0.989009,0.140540,0.045939],[-0.145909,-0.977947,-0.149430],[0.023925,-0.154490,0.987705]]NH6?@L?&¿XK ÿ?VÿF?iNzD@INi];NؐCY`ybJIiMMb@Mb@Mb@IIII I9Mףp= ?jtĿl?YM>?yM M=MrAMZ@ MMA)M AIYMpAbDeVDe\yu;%uB=ٔ};eQ-}>9}"?Y}"?=}Fy*EC#:E>Q 5;5l?Q 9;5E EE*E"EmR;*EA:VE(N4ZEBE  < L ;I IA9@ @@o0@q^A #2:ԙ A I I O >?, {?A6wD@6}mR@6 Ǽٱ6  NAHRS rotation from veh to nav: [[-0.989019,0.140367,0.046237],[-0.145775,-0.978022,-0.149072],[0.024296,-0.154175,0.987745]]6H ?U?`è¿Kÿ?ÿ?i6wD@I6׸];6ՐCYZByZDIbDbVDbβyj%jT=ٔn||Q-n>9lYp=rFyr*ErEr>tQ 5z<5vS?Q 9~<5v)vBY|y~E@Q I~@v.HDIvi ;iv ;v<5yɮ A 5DNOT Ignoring new targets: 73.13 m.h1h1*h1"h1 h1g9f9f9f9dAdAdAjdAZdE@4@uBɢuV)y } =iy)}yyi}f:Gil<>XΥ<$;IIi9@ @@\4@E% E% E%)E!"E%L;*E%:VE%FA4ZE!a-@a-@a-@a-@ԑ^A;A I I O >B5 <A5 <B9 B9 B= fIB= ȀBB9 B9 B9 B= >r;B= >.E ~e,$Ԛ{?Aɰ4<2}D@2:sR@2gȼٱ2 :AHRS rotation from veh to nav: [[-0.988965,0.140736,0.046269],[-0.146121,-0.978117,-0.148106],[0.024412,-0.153232,0.987889]]2H??¿`L "¿ ?ÿȜ?i2}D@I2t];2֐CY^By^QIbDjVDjy-D=%-F=ٔ5Q-=>9AYA=MFyM!*EU!\:E]>iQ 5u<5m8?Q 9u<5mC)mBYyy}E@Q I@mBHDIm>;imWL;my<5yEBɮq AޥEDNOT Ignoring new targets: 73.13 m.hh*h"h  h g f ffdd!d!jd)Zd-qn5@]Bɢ]f$)Y ]`l=iY)ewaaie+`Himk<>m|Q ,{?A2\}D@2rR@2U;ʼٱ2~ :AHRS rotation from veh to nav: [[-0.988961,0.140710,0.046437],[-0.146104,-0.978226,-0.147405],[0.024684,-0.152563,0.987985]]2H`?Ƨ?¿M,¿`F?+ÿ?i2\}D@I2+];2ِCYFByFEI HHiMb@Mb@Mb@ 9V-?㥛 ¿~jt?Y9Y=Fy%*E$E>Q 5<5{?Q 9<5)(BY@?Q E:yF@Q I@VHDIO;i: <5yDBɮ ADNOT Ignoring new targets: 73.13 m.hh*h"h hgfff%ǀBd!d!d!jd)Zd-`5@]Bɢ]F)Y ]-=iY)eV/aaiejIiml<>m0EE " EE !EE *EA "EE Z;*EE :VEE (N4ZEA aM @aM @aM @aM @,{?A :vD@:qlR@:4ͼٱ: FAHRS rotation from veh to nav: [[-0.989010,0.140308,0.046607],[-0.145709,-0.978422,-0.146492],[0.025047,-0.151673,0.988113]]:H?@ܧ?¿:O?¿@?jÿ?i:vD@I:];:֐CYNByRLIbDZVDZNybG<%bY=ٔbS}Q-b>9dYd=fFyf)*EjEj>lQ 5r<5n?Q 9r<5n)n7BYpyrF@Q Iv@nhHDIn ;in ;ng <5yxɮz AzݥE%DNOT Ignoring new targets: 73.13 m.h!h)*h)"h) h)g)f)f1f1d1d1d9jd9Zd=66@mBɢm~)i mh=ii)u]|qqiuivJik<>S<:IIq9@ @@/@@@BBCBlIB̀BBBBBr;Bs.Eԙ^ArGep9aYmiA A I I! O- >,?t{?A:zvD@:lR@:ͼٱ: w FAHRS rotation from veh to nav: [[-0.989012,0.140300,0.046595],[-0.145687,-0.978497,-0.146007],[0.025108,-0.151191,0.988186]]:HW?@Pۧ?ޥ¿O\¿?`:Zÿ7?i:zvD@I:];:אCpE EE)E"EUS;*EA:VEFA4ZEBEY9)Y1=5Fy5.*E57E5>9Q 5E<5=~?Q 9M<5=[)=IBYMD?Q EM:yMDG@Q IM@=HDI=+;i=&:=<5yUCBɮ] A]ܥEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffBdddjdZd`Q6@Bɢb&) (N=i)iKil<><II9@ @@/@1Y ^A A- .AI1 IA OU > ,c_|?A:MtD@:iR@:ϼٱ: JAHRS rotation from veh to nav: [[-0.989027,0.140167,0.046675],[-0.145555,-0.978590,-0.145514],[0.025279,-0.150711,0.988255]]:H` ??¿P@6¿? Jÿȟ?i:MtD@I:v];8iI!! !!!!))I-))i))UfCIUjAUU[F QYYYiYYiaa)a aIa i)iiiiYiYByCII%=)=bD-VD-1y=O%=Z=ٔEQ-E>9E ?YE ?=EFyE2*ElE>Q 5<5M~?Q 9<5$)VBYyAG@Q I@HDI:i:7<5yBBɮ AۥEDNOT Ignoring new targets: 73.13 m.hh*h"h hgff!f!ad!didijdiZdm<7@BɢfӔ) pD=bE:4jErE/E& EE(E"E8^;*EO:VEc44ZEa@a@a@a@i)%=!!i%ZLi-k<>-6<- :I)I19@ @@/@ԑ ^A ?B:A A @AB >B B B B B B DB s;B .EAm ؟AI I O >e,)|?AJqD@JgR@JͼٱJ+ RAHRS rotation from veh to nav: [[-0.989052,0.140018,0.046596],[-0.145414,-0.978502,-0.146251],[0.025117,-0.151425,0.988150]]JH`P@?oۧ?¿O@W¿-?aÿ?iJqD@IJv];J֐CY5By5EIbDMVDM:y}Z;%}Q=ٔ}9Q-}>9"?Y"?=Fy6*EùE>Q 5<5~?Q 9<5)cBYy@G@Q I@HDI:i,:<5yɮE AIuDNOT Ignoring new targets: 73.13 m.hqhq*hq"hq hqgyfyfyfydddjdZdO7@Bɢ%.)) 50T=i1)=eA5 >I1 IA OU > ,08|?AHn9qD@nfR@n-?μٱn~ zAHRS rotation from veh to nav: [[-0.989057,0.139975,0.046616],[-0.145370,-0.978540,-0.146041],[0.025174,-0.151220,0.988180]]nH [? ާ? x¿ 2P{¿ 3Ǚ? ,[ÿ*?in9qD@In1I];nՐCYBy:IiMb@Mb@Mb@ 9Q?p= ףMb?Y(9Y=Fy:*EwиE> Q 5<5 U~?Q 9<5 ) sBYA??Q E:yG@Q I@ HDI ;i ; <5y!ɮ- A)UDNOT Ignoring new targets: 73.13 m.hQhQ*hQ"hQ hQgYfYfYf]BdadadajdaZdm@7@颕Bɢ⭻) =i)ì顙iOik<>ƙ<:III9@9 @9@=Z0@9i^A} 0::E  E E (E "E O;*E ]:VE c44ZE a @a @a @a @ԙ Iy I O >q,8R|?ArKnD@rcR@rμٱre: zAHRS rotation from veh to nav: [[-0.989081,0.139801,0.046626],[-0.145192,-0.978604,-0.145784],[0.025248,-0.150962,0.988217]]rH@?^ߧ?`¿P ¿ڙ?@Rÿy?irKnD@IrX];pY]ByYbDmVDm yyPk;%d=ٔWQ->9Y=Fy>*EQE>Q 5<5 ~?Q 9<5)BYyG@Q I@HDI:i:<5yABɮ AڥEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdK8@!ɢ%e)! %("=i))-))i- Pi5l<>5T<5>:I1I9BABABEfIBEȀBBE =BABABEr;BE.EBCBCBBBC49@ @@4@ԩ^AIQIiOu> .,J|l|?AEF& EDEF+ED"EF8^;*EDVEF [4ZEDBEF91Y1=5Fy5C*E=E=>AQ 5M<5Ee~?Q 9M<5E)EBYM;;?Q EU:yUH@Q IU@EHDIE;iE ;E"<5y]@Bɮ] A]٥EDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffBdddjdZd`.8@Bɢ*) k=i)i(SQik<><\:III)gA @ @@4@1^Am rg:I I O >Y !,W|?AbtD@bjR@bmxѼٱb nAHRS rotation from veh to nav: [[-0.989018,0.140141,0.046947],[-0.145567,-0.978607,-0.145393],[0.025567,-0.150630,0.988260]]bH$?u ?¿P:¿R.?`Gÿҟ?ibtD@Ib];`YvByvAI ~4<~<bDVDyӓ%t=ٔyQ-?9Y=FyF*E%:E%?)Q 55<5-RQ~?Q 95<5-)-BY1y5H@Q I5@-HDI-:i-$:-%<5yAɮE AAmDNOT Ignoring new targets: 73.13 m.hihi*hi"hi higqfqfqfqdydydyjdZd 9@颭Bɢ`o) X=i1)=99i=IRiEl<>E(Թ $',f2|?Af-uD@fjR@flnҼٱfD nAHRS rotation from veh to nav: [[-0.989009,0.140173,0.047036],[-0.145606,-0.978637,-0.145152],[0.025685,-0.150406,0.988291]]fH1?@? :¿PX¿M?@}@ÿ?if-uD@If5];fאCԙYAyE@IbDVDyc%&=ٔ=rQ-E>9IYQ=UFyUK*Ee8Em>yQ 5<5}1~?Q 9<5}})}BYyQ I@} IDI}b;i}N;} *<5yɮ ADNOT Ignoring new targets: 73.13 m.hh*h"h h!g!f!f)f)d)d)d)jd1Zd5W9@]BɢB) ]=i)   i Sik<>.P<ɻ:IIAE EE&E"EO;*E:VE4ZEBE7.,t|?AJrD@JDhR@J ҼٱJ RAHRS rotation from veh to nav: [[-0.989033,0.140020,0.047000],[-0.145455,-0.978624,-0.145389],[0.025638,-0.150631,0.988258]]JH')? f?E¿@P¿@?Gÿ`Ο?iJrD@IJ ];JԐC X)XZC XX\^=lAi^\I\\I`ibQlA btblF)`d flAfddhjlAIh)hihl)lIllp ppppiptitvA)t tItYtY~By~>IiMb@Mb@Mb@ 91Zd?"~j~jt?Y";?yS㽙<EA )AY(AbDVDy %J=ٔ8Q->9Y=FyO*EϹE>Q 5<5~?Q 9<5)BYa=?Q E:yHQ I@IDI ;iP ;c-<5yɮ AإE DNOT Ignoring new targets: 73.13 m.h h *h "h  hgfffBdddjdZd:@-Bɢ-P)) - T=i))511i5NTi=l<>=<=:I9IA @ @@/@1E EE'E"EUS;*E&:VE'4ZEa@a@a@a@^A% ?B:i I! I1 O= >5,B|?Aɰ6lD@6bR@6Ӽٱ6 >AHRS rotation from veh to nav: [[-0.989079,0.139658,0.047100],[-0.145107,-0.978708,-0.145172],[0.025822,-0.150422,0.988285]]6H@O?x?@ڒ¿Q ¿6q?Aÿ@?i6lD@I67];6ՐCB`B`B`B`B`B`B`Bbgr;BbR.E9YEByE<IIIbDU VDU2ye^!%mO=ٔmVQ-m>9qYq=uFyuS*EuiE}>Q 5<5n~?Q 9<5)BYyHQ I@/IDI:i:0<5y?Bɮ AץEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd a:@ ɢ )   H=i ) ziUik<>c<n:II!@ @@/@iԑ^A0::IqIO>E  E E (E "E &U;*E :VE c44ZE BE 9Y=FyX*E^C9E> Q 5<5 }?Q 9<5 x) ̸BY_@?Q E:yH@Q I@ CIDI 7 ;i  ; 4<5y!ɮ% A)MDNOT Ignoring new targets: 73.13 m.hQhQ*hQ"hQ hQgQfYfYf]BdYdadajdaZde:@颕Bɢ) 1=i)GH顙iWil<>k<:IIe9@i @i@m/@i^A9II O > B,f }?A6\oD@6dR@6O Ѽٱ6 BAHRS rotation from veh to nav: [[-0.989065,0.139806,0.046953],[-0.145256,-0.978542,-0.146137],[0.025514,-0.151359,0.988149]]6Hk(?. ?¿7P@¿p ?_ÿ?i6\oD@I6];6ՐCYJByJ3IbDRVDR1yZ#%Za=ٔ^f8Q-^>9\Y`=bFyb[*Eb)M9Eb>dQ 5j<5f}?Q 9j<5fo)fָBYlynH@Q In@fTIDIf;if;f7<5ypɮr Av֥EDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffd!d!d!jd!Zd-*;@QɢUJEe Ee Ee)Ea"EeQ;*Ee:VEeFA4ZEaam@am@am@am@)Q mx=iq)u aqqiu8Xi}k<>}#<}e:II9@ @@\1@!AAAAAABBBYIBBBBBBr;B,.E^A0::IIO>Q tC5 +GI a r9 Y #\Ay I,o%}?A2cD@2XR@2Ѽٱ22 :AHRS rotation from veh to nav: [[-0.989171,0.139081,0.046870],[-0.144516,-0.978712,-0.145736],[0.025603,-0.150931,0.988213]]2H`J`h?G?}¿Q@w¿7?Qÿ@p?i2cD@I2W'];2ԐCY~By~-IbDVDy%¼%%D=ٔ-l]Q-5>99YA=EFyE`*EUhE]>qQ 5<5u }?Q 9<5uc)uBYyH@Q I@uiIDIu ;iu;uh;<5yɮ$ AaMDNOT Ignoring new targets: 73.13 m.hQhQ*hQ"hQ hQgYfYfafadadidijdZd5;@5Bɢ5f)9 =UYrP,A}?A2T[D@2PR@2lѼٱ2i :AHRS rotation from veh to nav: [[-0.989242,0.138619,0.046751],[-0.144046,-0.978745,-0.145973],[0.025523,-0.151137,0.988183]]2H`ާ`A?@? p¿Q;¿"?qXÿ2?i2T[D@I2$!];2ՐCYBByF6IJ=J=iMb@Mb@Mb@ 9x?EԸ{Gz?YK7?yƽף<A@ A)@YAbD-VD-y=_=%=9=ٔ==9Q-=>9AYA=EFyEd*EEiEM>QQ 5]<5U}?Q 9]<5U)UBY] 9?Q E]:y]HQ I]@U}IDIU:iU :U2?<5ԩy>Bɮ A եE5DNOT Ignoring new targets: 73.13 m.h1h1*h1"h1 h1g1f9f9f=xBd9dAdajdaZde <@颵Bɢtˊ) :=i)l<项il}Zik<>n<1II@ @@5@bEc44jE64rEA0Eu EuEu#Eq"EuV;*Eu:VEu3ZEqa}@a}@a@a@^A9A I I O% >) B B B SIB BB =B B B q;B .EV, [}?AFNSD@FHR@FiмٱF| ZAHRS rotation from veh to nav: [[-0.989314,0.138146,0.046623],[-0.143562,-0.978801,-0.146079],[0.025455,-0.151211,0.988174]]FHuĮ?ߧ?@?`¿UR¿?Zÿ`?iFNSD@IF L];F֐CYnByr,IbD~VD~y%M=ٔ%y39Q-%>9)Y)=5Fy5h*E5E5>IQ 5U<5MZ}?Q 9U<5M)MBYYy]HQ I]@MIDIMpJ;iMK;MB<5yiɮu' AuԥEPExceeded connect timeout, disconnecting.DNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd|n<@]Bɢ]n觻)a e=ia)eiaaim([iml<>mԙ \,ru}?Aɰ6POD@6DR@6ϼٱ6- >AHRS rotation from veh to nav: [[-0.989351,0.137890,0.046588],[-0.143322,-0.978733,-0.146765],[0.025360,-0.151879,0.988074]]6Hèc?\ڧ?\X¿Q.¿ ?pÿL?i6POD@I6A];6ՐCYJByJ-IiMMb@Mb@Mb@IIII I9MS?EԸ?YM/=?yIM9Y=Fyl*EE>Q 5<5|h}?Q 9<5)BY>?Q E:yGQ I@IDI ;i ;NF<5yɮ# ADNOT Ignoring new targets: 73.13 m.hh*h"h hgffflBdddjdZd<@BɢΠ) 8=i)%!!i%S\i-k<>-ɟ<-hFI)I1q@ @@/@ԡ^A"AzAA! I) I9 O] > c,L}?AE& E& E&(E$"E&Q;*E&:VE&c44ZE$a*@a*@a*@a*@>0GD@>ϼٱ>  FAHRS rotation from veh to nav: [[-0.989424,0.137379,0.046543],[-0.142831,-0.978676,-0.147626],[0.025269,-0.152713,0.987948]]>H]`?kԧ?JH¿`OQ`i¿@.?ÿ@D?i>0GD@I>P];9dYd=fFyfp*EjEj>lQ 5r<5nP}?Q 9r<5n)nBYpyrGQ Iv@nIDIn;in; ;nI<5yxɮz( AxDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd@F<=@Bɢ%X)! %=i!)%_))i-]i5l<>]+rY i,R}?ABDD@B9R@BTмٱBZC fAHRS rotation from veh to nav: [[-0.989447,0.137151,0.046727],[-0.142638,-0.978674,-0.147820],[0.025457,-0.152925,0.987910]]BH)??`A¿MQ¿Q? ÿ@?iBDD@IB\];@YBy *IbDMVDM1yU%}2=ٔԹQ->9Y=Fyu*E&۹E>Q 5<5B3}?Q 9<5)BYyGQ I@IDI:i:M<5yɮ4 AӥEEE EEEE*EA"EE>T;*EEx:VEE(N4ZEABEE" <MII9@ @@/@Iԑ ^A ?BɺI I O >$p,W}?A0>D:D@>/R@>;мٱ> FAHRS rotation from veh to nav: [[-0.989531,0.136583,0.046614],[-0.142050,-0.978814,-0.147463],[0.025485,-0.152541,0.987969]]>H={?ݧ?.¿`qR¿ ?tÿ@p?i>D:D@I>%];>ӐCYNByR7Ii%Mb@Mb@Mb@!!!! !9%S?KS㥛?Y%:?y%^%/<%+A! %A)%QA!Y%A 5p<54<bD=VD=1yM}X=%M^=ٔU?Q-U>9QYY=]Fy]y*E]T׺Ee>aQ 5m<5e4}?Q 9u<5eG)e*BYu3@颵BɢD) hl=i)项i_il<>4<sIIԑ9@ @@/@Ee EeEe&Ea"EeV;*Ee:VEe4ZEaam@am@am@am@Թ^AA>A>I I! O- > Be >Ba Ba Ba Ba Ba Ba Be q;Be .Ev,}?A\z]3D@z(R@zfѼٱzל AHRS rotation from veh to nav: [[-0.989589,0.136171,0.046590],[-0.141633,-0.978909,-0.147231],[0.025559,-0.152297,0.988004]]zH n?ڧ?!¿`9S v¿,?u~ÿ ?iz]3D@Iz3];zՐCYBy6IbD-VD-NyEی%EK=ٔE>Q-E>9IYI=MFyM}*EU7EU>YQ 5e<5]U}?Q 9e<5]x)]6BYayezGQ Ie@]IDI]:i]:]_T<5yu?Bɮu AqDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdr>@BɢjF) o=i)iaik<>f<II9@ @@0@^A IIO>Em $ Ei Em 'Ei "Em g\;*Ei VEm '4ZEi BEm /9Y=Fy*E9E>Q 5<5s|?Q 9<5)CBY8?Q E:yHQ I@JDI;i:W<5yɮ AѥEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfff|BdddjdZd >@Bɢ) Ў=i)!!i%\bi%l<>-/ <-{ I)I19@ @@5@aԉ^A eIiIO>Թ %,>~?AE4 EE(E"Ej;*E4:VEc44ZEa@a@a@a@ ɰ >4D@>g*R@>/ Ӽٱ> FAHRS rotation from veh to nav: [[-0.989572,0.136222,0.046813],[-0.141719,-0.978886,-0.147302],[0.025759,-0.152400,0.987983]]>H@o? ?#¿S@¿`?܁ÿ?i>4D@I>"];>ՐCYRByR@IVAAVAAbDZVDZ0ybA<%bW=ٔf'Q-f>9dYd=jFyj*EjWEj>lQ 5r<5nm|?Q 9r<5n)nNBYtyvHQ Iv@nJDIn:in:nI[<5yxɮz AxDNOT Ignoring new targets: 73.13 m.h!h!*h!"h! h!g!f!f)f)d)d)d1jd1Zd5a=?@eBɢeH-)a e=ia)miiim-ciuk<>uw9 $,o*~?AFH7D@F,R@FmӼٱF RAHRS rotation from veh to nav: [[-0.989549,0.136351,0.046916],[-0.141869,-0.978829,-0.147536],[0.025806,-0.152650,0.987943]]FHb s?g?(¿`R`v¿@l? ÿ`;?iFH7D@IFW];DYZByZIIbDrVDry =%F=ٔ%Q-->91Y9=EFyE*EU9E]>qQ 5<5uɺ|?Q 9<5u)u[BYy HQ I@u'JDIuH<tIIAa@a @a@eq4@aq^A 7ԙ A .AI I O >,JD~?A2M7D@2,R@27ռٱ2 :AHRS rotation from veh to nav: [[-0.989543,0.136291,0.047211],[-0.141869,-0.978746,-0.148087],[0.026025,-0.153237,0.987847]]2HV q?,?`(¿Q¿`.?Aÿp?i2M7D@I2^ ];0YFByFLIiMMb@Mb@Mb@IIII I9M+??YM??yM̽M9 ?Y ?=Fy*EYB6E>Q 5<5|?Q 9<5)hBYA?Q E:y HQ I@:JDI ;i :b<5y@Bɮf ADNOT Ignoring new targets: 73.13 m.hh*h"h hgfffaBdddjdZd0 @@~Bɢ4=:)! %=i!)%M!!i-dfi-k<>-<5I1qII@I @I@M/@IԡEE EEEAEA"EEP;*EEO:VEAZEAaM@aM@aM@aM@^A5jZغAe ؟AIi Iy O >B >B B _IB ÀBB =B B B q;B -E 2,M1^~?AFEGT`pzzv9xY $`ApM9D@Mn/R@MּٱMg ]AHRS rotation from veh to nav: [[-0.989516,0.136400,0.047457],[-0.142021,-0.978687,-0.148329],[0.026213,-0.153513,0.987799]]MH` u?FL?-¿gQn¿ך?Tÿ@ ?iM9D@IM6)];MԐCYuByuOI y}p;bDVDܲyJa<%H=ٔQ->9"?Y"?=Fy*E9E>Q 5<5|?Q 9<5)tBYyHQ I@NJDI;i;f<5yɮS AϥEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdY=@@5}Bɢ50Yh:)1 5P=i9)=S99i=giEl<>EǞAE>) Em  Em Em *Ei "Em O;*Em j:VEm (N4ZEi BEm 7Q \, x~?A2;D@20R@29E ?YE ?=EFyE*EM'O9EM>QQ 5<5Um|?Q 9<5U%)UBYB?Q E:yHQ I@UaJDIUv;<II=9@9 @9@A@AY^Aa A ؟AI I O >bEjErE0E]  E] E] +EY "E] V;*E] :VE] [4ZEY ae @ae @ae @ae @O,^~?A@R1D@R}'R@RּٱR ^AHRS rotation from veh to nav: [[-0.989585,0.136067,0.046986],[-0.141541,-0.979203,-0.145355],[0.026231,-0.150492,0.988263]]RHj?@?¿U@¿Nܚ?@RCÿ ڟ?iR1D@IR\;RҐCYfɀByfgIbDnVDnyv}=%zN=ٔzQ-z>9z"?Y~"?=~Fy~*E~E~> Q 5<5 T|?Q 9<5 2) BYyHQ I@ tJDI g:i : m<5y!ɮ% A!MDNOT Ignoring new targets: 73.13 m.hIhI*hI"hI hIgQfQfQfQdYdYdYjdaZde p@@颍zBɢZD;) 4>i)Nٻ顑ijil<>y<a1IIY@Y @Y@]50@YԱBABBBfIBȀBB =BBBq;B.E^A9A I I! ) Om >l,̶~?Aɰp;!YÀBy_IbDVD:y% ;=ٔQ->9)Y)=5Fy=*EEEE>aQ 5<5e8|?Q 9<5e@)eBY E%W E% E%(E!"E%T;*E%:VE%c44ZE!BE%&i)Իili%k<>%<%,0I!III9@ @!@%0@!y^A "5A zA ԡ A I! I1 O= >I,9AYA=EFyE*EEuXEM>ԑQ 5<5w|?Q 9<5D)BY>B?Q E:yHQ I@JDI:i:Ft<5yCBɮ A5DNOT Ignoring new targets: 73.13 m.h1h1*h1"h1 h1g9f9f9f=BdAdAdAjdAZdM@ A@uwBɢuY;)y },>iy)}лyyi/nil<>/<aEII=9@A @A@E4@AԹE=  E= E='E9"E=X;*E=:VE='4ZE9aE@aE@aE@aE@^A 7B B B xIB ׀BB B B B |r;B ^.EBCBCBB =B =C$4A I) 9 II Oe >n,#,~?A61/D@6$R@6Cݼٱ6o BAHRS rotation from veh to nav: [[-0.989587,0.135799,0.047718],[-0.141375,-0.979286,-0.144953],[0.027045,-0.150190,0.988287]]6Ha?n?`¿ PVՍ¿˱?n9ÿ` ?i61/D@I6-];6ՐCYJրByJvIbDVVDVNy^G)=%^S=ٔb TQ-b>9`Y`=fFyf*Ef=9Ef>hQ 5n<5j|?Q 9r<5jH)jBYpyrHQ Ir@jJDIjf;ij;jzw<5ytɮzo Az̥EDNOT Ignoring new targets: 73.13 m.hh*h"h h!g!f!f!f)d)d)d)jd)Zd5;A@]vBɢe;)e⾼ e?>ia)ej\̻iiim{oimk<>uۚԙ A,p ~?A:Q0D@:%R@:x1ٱ:Ġ BAHRS rotation from veh to nav: [[-0.989568,0.135810,0.048066],[-0.141442,-0.979257,-0.145089],[0.027364,-0.150374,0.988250]]:H 6b?@ ? ¿V J¿I?w?ÿ@?i:Q0D@I:+];:ԐCYN܀ByNIi]Mb@Mb@Mb@YYYY Y9]Gz?`"X9v?Y]p=?y]]<]A]@ ]zA)YYY]A im<bDuVDuy<%>=ٔ^BQ->9Y=Fy*E&9E>Q 5<5{?Q 9<5-)ŹBY@?Q E:yCH@Q I@JDI;i ;={<5yDBɮA A˥E-DNOT Ignoring new targets: 73.13 m.h)h)*h)"h1 h1g9f9f9fEvBdAdIdIjdQZdUZtA@MtBɢM;)i mO>iq)u1&ƻqqiuqi}l<>}ApA >I I O >,3?AE EE*E"E[I;*E:VE(N4ZEa@a@a@a@YByIbDVDy}"=%}K=ٔQ->9Y=Fy*EE>Q 5<5{?Q 9<5)ӹBYyQ I@JDI8;i;~<5yɮ ADNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd`IA@sBɢ )<) bb>i)%!!i%si-k<>-<-0G@I)I1Q@ @@/@AuAAAqB>BBIBBBBBBr;B.Ey^AIyIO>Ա ,,?A91Y1=5Fy5*E=yE=>AQ 5M<5EӺ{?Q 9M<5E)EBYIyM?H@Q IU@EJDIE;iE;E3<5y]EBɮ]B AYuDNOT Ignoring new targets: 73.13 m.hqhy*hy"h hgfffdddjdZdPA@EE* EE EE%EA"EEa;*EE:VEE 4ZEABEEi)i%<%$GII!I)U2D @  @ @ $4@ 1 ^A I)I9OE>,@J?Aɰ; YByIi%Mb@Mb@Mb@!!!! !9%333333?p= ףl?Y%9?y%%=%+A! %A)%`@!Y%A9=BAbD=VD=yMN\=%M=ٔUQ-U>9QYY=]Fy]*E]E]>aQ 5m<5e{?Q 9m<5e)eBYui)v²顙iRxik<>C< LIIA}@ @@/@ByByB}IB}BB} =ByByB}r;B}.EԱ^A5 yb]I I O > Ŷ,d?Ahn"s@ilIlll r7kApppppIvt)tit)vYCIvjAvSt xxxxixxi||)| |I )YYByIbD-VD-4dy5%=t=ٔ9Q-=?9AYA=EFyE*EAEM?IQ 5U<5M{?Q 9U<5M)MBYYyYQ I]@MKDIM;iM;MӉ<5yeHBɮm AmɥEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdHB@pBɢ- W<) lp>i)ݭizi l<> <\LNIIԱ=9@A @A@M/@IEu$ EuEu'Eq"Eug\;*Eux:VEu'4ZEqBEu/,<?A$:v0D@:&R@:fٱ: FAHRS rotation from veh to nav: [[-0.989556,0.135850,0.048198],[-0.141449,-0.979531,-0.143214],[0.027755,-0.148536,0.988517]]:H rc?W?¿@RXT¿k?9ÿ`?i:v0D@I:\;:֐CY%By%IiMb@Mb@Mb@ 9On?l¿Mb?Y8?y=A@ A)YbDVDfy z=% =ٔÏQ->9 ?Y ?=Fy*EN9E>!Q 5-<5%d{?Q 9-<5%)%BY5i)顱iL|ik<>Ƅ<KIIqu9@q @q@u/@qԡE EE*E"EmR;*E&:VE(N4ZEa@a@a@a@^A qZ AE ؟AII Ia Om >B <A <B B B IB BB B B B r;B {.ED#,?A 46oCdfTGp|-z9)Y-dAuJ3D@u(R@uL+ٱu( AHRS rotation from veh to nav: [[-0.989543,0.136057,0.047894],[-0.141621,-0.979439,-0.143676],[0.027361,-0.148956,0.988465]]uH`UNj?@?` ¿`Wc¿`?ÿ?iuJ3D@Iuz];uؐCYByII <) =bDVD:y%R%%J=ٔ-:Q-->9-"?Y5"?=5Fy5*E5n9E5>9Q 5E<5=K{?Q 9E<5=)=&BYIyME@Q IM@=>KDI=;i=;=<5yUJBɮ] A]ȥEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd =B@nBɢڐ_<) Ň>i)ݵi~il<>,)<[EII@ @@0@^A~I E  E E E "E US;*E A:VE ZE BE YJ,?AYrByvIiYIYi}Mb@Mb@Mb@yyyy y9}Cl?V-¿L7A`?Y}d;?y}h}+=y}@ }~A)yyY}GAbDVDkyt=%S=ٔQ->9Y=Fy*EE>Q 5<53{?Q 9<5H)4BY??Q E:ykF@Q I@PKDI:iv:N<5yDBɮ5 ADNOT Ignoring new targets: 73.13 m.hh*h"h hg f f f BdddjdZdB@umBɢz<) >i)i i5k<>5R̗<5 UII1I9I9@ @@o0@q^A- 7ԩ AY Ia Iy O >z2,?AYrByrIz@Az@AbDzVDzy%H<%-S=ٔ)Q-->91Y1=5Fy5*E1E5>qbEjEA84rE(90E ENE&E"E>T;*E;VE4ZEa@a@a@a@ԑQ 5<5u{?Q 9<5u)uCBYyQ I@ucKDIu;iuK;u<5yEBɮ% AǥEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd #C@ɢ<) %>i!)%!!i%i-l<>->w<-;KI)I19@ @@4@@@gAԩBqBqBuIBu BBqBqBqBur;Bu.E^ArAzAA! I) I9 OM > H\,yt?Ad4D@)R@wļٱ AHRS rotation from veh to nav: [[-0.989618,0.136667,0.044472],[-0.141700,-0.979522,-0.143033],[0.024013,-0.147850,0.988718]]H L~?Ŧ?:#¿=XN¿?¿`?id4D@I];ӐCYByI bDVDβy%<=ٔ;Q->9Y=Fy%*E%Z"9E%>)Q 55<5-{?Q 95<5-)-SBY9y9Q I=@-wKDI-;i-";-|<5yAɮE9 AEƥEmDNOT Ignoring new targets: 73.13 m.hihi*hq"hq hqgqfqfyfydydydjdZd YC@颵lBɢx6y<) >i)2项iik<><IIE EE*E"EV;*EZ:VE(N4ZE9@ @@S4@ BExD,P?A:0;D@:0R@:ٱ: FAHRS rotation from veh to nav: [[-0.989585,0.137206,0.043542],[-0.142114,-0.979349,-0.143800],[0.022912,-0.148490,0.988648]]:H`?K?@0¿Vh¿Kv?ÿ ?i:0;D@I:4];:ԐCYNByRIi-Mb@Mb@Mb@)))) )9-\(\?l¿Q?Y-:?y--<-A-@ -zA)))Y)bDEVDE0yU'=%UW=ٔU{>;Q-U>9YYY=]Fy]*Eef:Ee>iQ 5u<5mkz?Q 9u<5m@)m`BYu>?Q Eu:yuE@Q Iu@mKDIm ;im ;m̟<5yFBɮ ADNOT Ignoring new targets: 73.13 m.hh*h"h hgf1fQfUBdYdYdYjdYZd]`C@颩ɢً<) >i)~i<Ƀil<>M<4II9@ @@/@aE E E(E"EUS;*E:VEc44ZEa@a@a@a@ԑ^A<A I I O- >Ae @AAa Bm >Bi Bm IBm BBi Bi Bi Bm r;Bm .EB1B1B1B5 =B5 =C574 n,,?A2@D@2s6R@2 ٱ2 :AHRS rotation from veh to nav: [[-0.989557,0.137675,0.042698],[-0.142460,-0.979257,-0.144085],[0.021976,-0.148663,0.988644]]2HrY?ܥ?<¿@V@bq¿@€?eÿ?i2@D@I2Y^^;0YvByvI ~4<~<bDVD:y 2%O=ٔ*;Q->9Y=Fy*E%'e:E%>)Q 5-<5-z?Q 95<5-)-nBY1y5E@Q I5@-KDI-:i-:-B<5yIɮM AMťEuDNOT Ignoring new targets: 73.13 m.hqhq*hq"hq hygyfyffdddjdZd`HC@颹ɢZc<) >i)]piY„ik<>k< &IIԑ@ @@/@@=@=^A?BɺA>A>A I IY O >E  E E )E "E W;*E &:VE FA4ZE BE D9Y=Fy*EE>!Q 5-<5%z?Q 9-<5%f)%BY5??Q E5:y5ZF@Q I5@%KDI%:i%:%7<5y=GBɮ= AEĥEmDNOT Ignoring new targets: 73.13 m.hihi*hi"hi higifqfqfuBdqdydyjdyZd} D@颭kBɢh<) >i)Y顱i#il<><=,IIq@q @q@u/@qI ^Au _y E  E E &E "E M;*E j:VE 4ZE a @a @a @a @AIIO>,VX?ANGID@N>R@NٱN VAHRS rotation from veh to nav: [[-0.989533,0.138580,0.040240],[-0.142976,-0.979287,-0.143371],[0.019538,-0.147624,0.988851]]NHA?^?M¿`QV`Y¿`? T¿?iNGID@IN_;NՐCX \)`b\````ibIddIdid fd)hh hj+n0:FllnlAInC )nNcFip)rfCIrlArC r;KF pv CvvAtittYtY~By~IbD VD :yW%y=ٔ%;Q-%?9!Y!=-Fy-*E-c:E-?1Q 5=<55oz?Q 9=<55!)5BYAyEbF@Q IE@5KDI5|:i5:5<5yIɮM) AQ}DNOT Ignoring new targets: 73.13 m.hyhy*hy"hy hygyfyffdddjdZd/D@ɢ_<) y>i)>Miik<><BBBIBBB =BBBr;Bz.EII}9@ @@/@ ^ANJκ9 A .AI I O >,r?A2HD@2x>R@2஖ٱ27+ :AHRS rotation from veh to nav: [[-0.989558,0.138746,0.039037],[-0.142954,-0.979347,-0.142978],[0.018393,-0.147065,0.988956]]2H@vk??SL¿V@M¿`Ւ? ¿?i2HD@I2r_;2֐CY%By%I-AA-AAbD5VD5k2yep%eF=ٔmP6;Q-m>9m ?Ym ?=mFym*EuzEu>yQ 5<5}}z?Q 9<5})}BYyaF@Q I@}KDI}k:i} :}<5yHBɮI AE  EE*E"EX;*E:VE(N4ZEBE i!)%j#;!!i%IiUl<>U@",?AY]By]I aayiMb@Mb@Mb@ 9zG?L7A`S㥛?Y 7?y+/<A@ A)`@YAbDVD1ydG<%@=ٔQ->9"?Y"?=Fy*E%E%>)Q 55<5-cz?Q 95<5-)-BY5B:?Q E=:y=G@Q I=@-KDI- ;i- ;-f<5yAɮE: AEåEmDNOT Ignoring new targets: 73.13 m.hihi*hi"hq hqgfffBdddjdZd uD@频ɢR<) >i)nB,顡iik<>B<+IIԩE EE)E"EUS;*EA:VEFA4ZEa@a@a@a@e9@a @a@e0@aB<A<BBBBB =BBBir;BU.E^A ?Bɺ A I I O >),oԥ?A2QD@2+GR@2Snٱ2x :AHRS rotation from veh to nav: [[-0.989526,0.139618,0.036672],[-0.143486,-0.979118,-0.144013],[0.015799,-0.147767,0.988896]]2H2?Ƣ?]¿To¿@-?¿@ ?i2QD@I2w`;2ՐCYBByFIbDNVDNN2yVJ%Vd=ٔV;Q-Z>9XYX=ZFyZ*E^:E^>`Q 5f<5bMz?Q 9f<5bQ)bBYdyf G@Q Ij@bKDIb:ib:b<5ynIBɮn An¥EDNOT Ignoring new targets: 73.13 m.hh*h "h  h g f ffdddjdZd@D@AɢM:<)I M>iI)M`j QQiU^iUl<>]<]a //,`?A6RD@6HR@6jٱ6\ BAHRS rotation from veh to nav: [[-0.989536,0.139933,0.035182],[-0.143574,-0.979149,-0.143715],[0.014338,-0.147262,0.988994]]6HFT?P?`¿ 0U>e¿\?{¿֥?i6RD@I63a;6֐CYJByJIiMb@Mb@Mb@ 9K?/$/$?Y^:?y1< Ax@ QA)Y@bD5VD53yEH%EA=ٔEAb;Q-E>9IYI=MFyM*EUS9EU>YQ 5e<5]O3z?Q 9e<5])]BYe=?Q Ee:yeG@Q Im@]LDI]:i]v:]9<5yqɮu AqDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffYBdddjdZdD@1颉ɢ܂<) M>i)k顱iik<>oJ<:III)fA@ @@@@=@=aԑ^AE 2 E ?E )E "E i;*E ;VE FA4ZE a @a @a @a @A .AI) I9 OE >Թ 6,ـ?A2TD@2JR@2fPٱ2c8 :AHRS rotation from veh to nav: [[-0.989540,0.140259,0.033745],[-0.143698,-0.978977,-0.144759],[0.012732,-0.148094,0.988891]]2H O ? F?d¿`Su¿? ¿?i2TD@I2pa;2ӐCYFByFIIJ<)JJ=Ja=bDrVDr:yv叼%vP=ٔz;Q-z>9z ?Y~ ?=~Fy~*E~9E>Q 5 <5z?Q 9<5)úBYyG@Q I@%LDI:i:<5yJBɮ% A!}DNOT Ignoring new targets: 73.13 m.hh*h"h hgfffiߡIߥAdddjdZd`2E@ɢ U<)  و>i)iRi%l<>-<-iI)BBBIBBBBBBBr;BB.ErG1]u9YYe_AIi!@! @!@%4@!) ^AQ A ؟AI I O >Q HC<,o?A2QD@2*GR@2\:ٱ2 :AHRS rotation from veh to nav: [[-0.989586,0.140263,0.032348],[-0.143494,-0.979016,-0.144694],[0.011374,-0.147829,0.988948]]2H ??^¿T V¿}K?¿@u?i2QD@I29Z"?YZ"?=ZFyZ*E^ E^>`Q 5f<5b0z?Q 9f<5b)bͺBYdyjG@Q Ij@b8LDIbV:ibM:b<5ynLBɮn AnED=DE EE(E"EP;*E&:VEc44ZEBEiY)]YYi])ik<>%< IIY@ @@C4@ԁ ^A Ա A- .AI1 II OU >C,,a?A2OD@2DR@2az!ٱ2[d :AHRS rotation from veh to nav: [[-0.989623,0.140354,0.030764],[-0.143348,-0.979083,-0.144387],[0.009856,-0.147299,0.989043]]2H??7Y¿@TD{¿6/?@¿`=?i2OD@I2b;2ԐCYBByFIiMMb@Mb@Mb@IIII I9M`"?MbMb?YM7?yMM9 ?Y ?=Fy*EE>Q 5<5y?Q 9<5)ֺBYk9?Q E:yGQ I@NLDIv:i:-<5yMBɮ AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffCBdddjdZduE@!ɢ%Z<ԉ) >i)˺iOόil<>_B<jIIbEUFA4jEU<4rEU 0E  EE,E"EX;*E:VEg4ZEa@a@a@a@9@ @@/@@@ԱAiAiBu>BqBuIBu BBu =BqBqBuq;Bu.E^A cUA zA gAAQ IY Ii O} > I,5()?A2ID@2>R@2Vٱ2r :AHRS rotation from veh to nav: [[-0.989691,0.140223,0.029143],[-0.142982,-0.979093,-0.144680],[0.008246,-0.147356,0.989049]]2H``?ם?@;M¿T¿@~?¿J?i2ID@I2~c;2ՐCY^BybI ddbDjVDj:yrNB%rV=ٔv;Q-v>9tYt=vFyv+Ez~Ez>|Q 5]<5~y?Q 9e<5~)~ݺBYayeGQ Ie@~_LDI~;i~;~<5ymNBɮu[ AqDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd`TE@jBɢv<)) -Zp>i))511i5ki=k<>EP,`C?A 6?D@6a5R@6Aeٱ6 >AHRS rotation from veh to nav: [[-0.989781,0.139865,0.027784],[-0.142426,-0.979206,-0.144469],[0.007001,-0.146949,0.989119]]6HH`?s? ;¿U}¿|?=¿@ݦ?i6?D@I6c;6ӐCYFByFIiMb@Mb@Mb@ 9V-?ʡEMb?Y9AYI=MFyM+EMEM>QQ 5<5Uy?Q 9<5U9)UBY=?Q E:yeFQ I@UsLDIUiy)}yyi}eil<><yOIIqM9@I @I@M0@Iԙ^Am?Bɺ E - E E 'E "E d;*E :VE '4ZE a @a @a @a @A ؟AI I O mV,X\?ALZ;D@Z0R@Z㳻ٱZo bAHRS rotation from veh to nav: [[-0.989831,0.139808,0.026238],[-0.142143,-0.979241,-0.144508],[0.005490,-0.146768,0.989156]]ZH౬=?ޚ?1¿U@=¿ \|v?K¿)?iZ;D@IZd;Z֐CYjBynI prp<bDvVDv:y~3<%~N=ٔz;Q->9"?Y"?=Fy  +E >E >B!B!B%IB%BB!B!B!B%q;B%.EBBBB =BC4Q 5E<5y?Q 9E<5)BYAyEjFQ IM@LDI&;i;<5yUOBɮU; AUEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZd9F@iBɢ<) |>iQ)UQQiU斎i]k<>]<<]=_IYIa@ @@0@@@=^ANJκAAI I O >!  ],Zv?A2}4D@2*R@2>;ٱ2 :AHRS rotation from veh to nav: [[-0.989895,0.139647,0.024621],[-0.141746,-0.979311,-0.144422],[0.003944,-0.146453,0.989210]]2H8?P6?$¿Vj|¿e'p?¿`?i2}4D@I2d;2ӐCYFByFIIJ<)J;ER EREPEP"ER>T;*ER:VEPZEPBER"9AYA=EFyE+EEDEM>IQ 5<5Mi).C!!i%,)iMl<>Mjԑc,?A2 &D@2R@2M5,ٱ2 :AHRS rotation from veh to nav: [[-0.990023,0.138976,0.023227],[-0.140879,-0.979384,-0.144774],[0.002628,-0.146602,0.989192]]2HE ?ȗ?N¿W`¿e?¿@v?i2 &D@I2'd;2ҐCYxyzIYiMb@Mb@Mb@ 9rh|?y&1y&1|?Y;?y`e`;x@ )`@YbDVD02y:%==ٔG;Q->9Y=Fy+EpE>Q 5 <5gy?Q 9 <5n)BYui)9顙i8ik<>ׁ<=IIE! EE%E"EY;*E:VE 4ZEa@a@a@a@I@I @I@M4@IԉBA<B!B!B%IB%BB% =B!B!B%q;B%.EԹ^AII O > j,o?A6D@6R@6ٱ6 BAHRS rotation from veh to nav: [[-0.990199,0.137956,0.021771],[-0.139657,-0.979513,-0.145089],[0.001309,-0.146707,0.989179]]6H൯?@#K? J*X@F¿rU?O¿Z?i6D@I6d;6ԐC D)FlAF\F^MFHHHiJ\IJ)SFHIN̎CiN9t@ LL)LP RlAR\PPTVlAIT)TiT)XIZlAXX X\\\i\\Y\YbByfIhj@AbDnVDnβyve%v\=ٔvh;Q-z>9xYx=zFyz+E~ZE~>Q 5 <5Py?Q 9 <5)BYyDQ I@LDI";i#;-<5y!ɮ- A)mDNOT Ignoring new targets: 73.13 m.hihi*hi"hi higqfqfyfydddjdZd`F@Թ颅gBɢL…<)  u>i)Rǹ顉i1il<><5IIM9@I @I@M54@I@Q@UgAE% EE)E"EO];*E&:VEFA4ZEBE9 q,{Mā?A2 D@2$Q@27ٱ2r :AHRS rotation from veh to nav: [[-0.990271,0.137646,0.020414],[-0.139152,-0.979532,-0.145447],[-0.000024,-0.146872,0.989155]]2HLf?O?RX¿` ¿`)?i2 D@I23c;2ՐCYrByrI ttimMb@Mb@Mb@iiii i9m$C?I +I +?Ym:?ym94m949Y=Fy+EXE>Q 5<56y?Q 9<5)BYy:?Q E:yCQ I@LDI:i:<5ySBɮ6 ADNOT Ignoring new targets: 73.13 m.hh*h"h hgf f f IBd ddjdZd% G@fBɢo<) <>i)^A+iik<>Z<ŻII@ @@/@Iq^A- I I O >E ! E E +E "E Y;*E :VE [4ZE a @a @a @a @ԡ X0w,&ށ?A6YD@6Q@6$:ٱ6)! >AHRS rotation from veh to nav: [[-0.990332,0.137361,0.019374],[-0.138717,-0.979545,-0.145774],[-0.001046,-0.147052,0.989128]]6H˰ ?֓? xmX๨¿$Q¿ ?i6YD@I6b;6ӐCB`B`B`B`Bb =B`B`Bb(r;Bb4.EYEByEIbDUVDUk1ye)y%eM=ٔm:);Q-m>9iYi=uFyu+EuEu>yQ 5<5}uy?Q 9<5}1)}BYyCQ I@}LDI}:i}R:}_<5yUBɮ AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdi)`7i%Qi%l<>%Y<-4һI)I)q@ @@/@ԡ^A`ԻIIO> \Z},?A2C@2RQ@2 ;ٱ24 :AHRS rotation from veh to nav: [[-0.990479,0.136460,0.018191],[-0.137651,-0.979672,-0.145926],[-0.002092,-0.147041,0.989128]]2Hw??yY¿^#a ;¿ ?i2C@I2a;0EB  EBEB(E@"EBX;*EBj:VEBc44ZE@BEB 9dYh=jFyj#+Ej7Ej>lQ 5r<5ny?Q 9v<5n)nBYtyvCQ Iv@nLDIn:in:n<5yzWBɮz A~E%DNOT Ignoring new targets: 73.13 m.h!h)*h)"h) h1g1fAfIfIdQdQdQjdQZdu!nG@颽dBɢL<) ʑ>i)e9iik<>/<jII@ @@/@@=@=) ^A XһA I I O >A,?ABC@BeQ@BuI;ٱBV JAHRS rotation from veh to nav: [[-0.990543,0.136125,0.017187],[-0.137172,-0.979687,-0.146277],[-0.003074,-0.147251,0.989094]]BH@`l??`؎Y5¿.i!¿@?iBC@IBha;@YRByVIIZ<)Z9aYa=eFye'+EmEm>qQ 5}<5ux?Q 9}<5uL)uBY}iy)}b :yyiyil<>y<IE E E)E"EW;*E:VEFA4ZEa@a@a@a@Ia@i @i@m/@i imdCԉAAAABBBBBBBBOr;BH.E1]w9aYe`Ay~?gA^Am ԩ A .AI I ^JI O >@l,t+?A@Y~By~IbD VDf2y5-;%5M=ٔ5Q-=>9E ?YE ?=EFyE++EMEM>QQ 5e<5Ux?Q 9e<5U)UBYiyiQ Im@UMDIUmG;iU)0;U<5yyɮ} A5DNOT Ignoring new targets: 73.13 m.h1h1*h"h hgfffdddjdZdSG@%bBɢ%,<)! %+>i!)-{N:))i-拒i5k<>5<1I1I9ԩ@ @@0@E EE*E"EL;*E:VE(N4ZEBE9T,E?A2C@22Q@2b;ٱ2* >AHRS rotation from veh to nav: [[-0.990734,0.135052,0.014419],[-0.135707,-0.980005,-0.145512],[-0.005521,-0.146121,0.989251]]2H`I??@^@3\&¿Ĝv¿`?i2C@I2a;2ԐCYF ByFIliMMb@Mb@Mb@IIII I9M^I +?Dl:v?YMX9?yMOM9Y=Fy/+EkE>Q 5<5ֺx?Q 9<5') BYM:?Q E:yFQ I@1MDI;i;<5yZBɮe AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffZBdddjd Zd / H@=aBɢ=<)A E>iA)E;:AAiEiMl<>M੎a N~,m_?AB4B4B6IB6BB4B4B4B6;r;B6>.EFC@FTQ@FH;ٱF NAHRS rotation from veh to nav: [[-0.990807,0.134679,0.012802],[-0.135109,-0.980227,-0.144572],[-0.006922,-0.144972,0.989411]]FH௴,=?7?CK`^S¿ Z|s¿@B?iFC@IFa;FӐCYZByZI\^AbDb VDb2yjf=%jU=ٔno;Q-n>9pYp=rFyr3+ErͺEr>tQ 5z<5vbx?Q 9z<5v)vBY|y~FQ I~@vCMDIv;iv?;v<5y\Bɮ  A E5DNOT Ignoring new targets: 73.13 m.h1h1*h1"h1 h1g19f9fAfAdAdAdIjdIZdMi)}:iMi k<> d:< I I @ @@4@iԑ^AIyIO> ,oIy?AD2=D0E6. E6 E6)E4"E6ye;*E6:VE6FA4ZE4BE6F C@FQ@Fչ <ٱF r NAHRS rotation from veh to nav: [[-0.990859,0.134438,0.011209],[-0.134642,-0.980336,-0.144264],[-0.008406,-0.144454,0.989476]]FH @5?`?`;^@:w¿`-7w}¿ ɩ?iF C@IFa;FҐCYXyXbDfVDfyj %jJ=ٔnp;Q-n>9pYp=rFyr7+ErEv>tQ 5z<5vx?Q 9~<5v)vBY|y~FQ I~@vVMDIv;iv;vd<5y]Bɮ - A UDNOT Ignoring new targets: 73.13 m.hQhY*hY"hY hYgafafifidididqjdZdkqH@y_Bɢp<) >i):i il<>-$<-hy$I)I1ԡ9@ @@4@^A Ii Iy O > T,S$?A2;C@2ҶQ@2RZ!<ٱ2P :AHRS rotation from veh to nav: [[-0.990828,0.134777,0.009797],[-0.134773,-0.980309,-0.144329],[-0.009848,-0.144326,0.989481]]2H۴`\@?|? =@^``y¿4+@Cy¿ԩ?i2;C@I2I4b;2֐CYB+ByFIiEMb@Mb@Mb@AAAA A9El?Mb rh?YE7?yEEC =E AA A)EQAAYE@bD]VD]kym=%mA=ٔuK_;Q-u>9qYq=}Fy}<+E}9E}>Q 5<5px?Q 9<5)!BYS9?Q E:y;HQ I@iMDIa:i3:<5yɮ ADNOT Ignoring new targets: 73.13 m.hh*h"h hgfffBdddjdZdԦH@^Bɢ%O=)! %P>i!)%:))i-Fi5k<>54R<5G"I1I9E} E}E}'Ey"E}&U;*E}:VE}'4ZEya@a@a@a@9@ @@/@@=@=Be<Ae<BiBiBmIBm BBiBiBiBm9r;Bm<.EB!B!B!B!B% =C%Ƭ4^A &II O>) ,G?AJC@J?Q@JV ;<ٱJ?? VAHRS rotation from veh to nav: [[-0.990808,0.135035,0.008123],[-0.134796,-0.980425,-0.143516],[-0.011416,-0.143292,0.989615]]JH @H?ע?`A@_`^¿ a`W¿`?iJC@IJb;JѐCY/ByIbDVDyʤ<%5=ٔd;Q->9Y=Fy@+Er8E>Q 5<5oUx?Q 9<5)*BYyQ I@~MDI:iI:<5y_Bɮ A E5DNOT Ignoring new targets: 73.13 m.h1h1*h1"h1 h1g9f9f9f9d9dAdAjdAZdE`;H@I}]Bɢ}<)y }>iy)J;顁iil<>Ҍ<"#IIa@a @a@a@aE E E(E"EmR;*E:VEc44ZEBEc,Ƃ?A29QYQ=]Fy]D+E]:E]>aQ 5m=5e.=x?Q 9m=5e)e3BYuS??Q E:yF@Q I@eMDIe:;ie;ee=5yaBɮ_ AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfff Bd d d)jd1Zd5I@ԩ颱ɢ=) y>i)œ-;项i8ik<>^<IIa@a @a@e/@a^AI E  E E +E "E N;*E u:VE [4ZE a @a @a @a @ A} ؟AI I O >B] >BY B] IB] BB] =BY BY B] dr;B] S.E߷,Ⴟ?AFC@FQ@FZg<ٱF RAHRS rotation from veh to nav: [[-0.990592,0.136733,0.005569],[-0.136113,-0.980259,-0.143403],[-0.014149,-0.142812,0.989649]]FH@z?@0v?(l I^` [¿KG¿3?iFC@IF>Cc;FҐC\YU2ByUIae@AbDmVDm!y 4W% ?=ٔIi;Q->9"?Y"?=FyH+E;E>!Q 5-=5%$x?Q 9-=5%z)%i)jB;顱iiil<>< IIe9@a @a@e0@i@i@mhA^A9 A .AI I O >,?AE&! E&E&)E$"E&Y;*E&1:VE&FA4ZE$BE&լ9= ?YE ?=EFyEL+E3U;E>Q 5=5 x?Q 9=5-)FBYyF@Q I@MDIi)^;顙iik<>t<vIIԑ9@ @@/@ ^A  A-؟AI1IAOU>',J?AE] E]E]&EY"E]L;*E]:VE]4ZEYam@am@am@au@Y}6By}IiMb@Mb@Mb@ 9 ףp= ?#~jĿˡE?YQ8?y%'= A@ v@)AY(AbDVDβy% =ٔQ->9"?Y"?=FyQ+EE>Q 5=5(w?Q 9=5)RBY8=?Q E:y _D@Q I @MDI;i; =5ygBɮ AE=DNOT Ignoring new targets: 73.13 m.h9h9*h9"hA hAgAfAfIfMBdIdIdQjdQZdU`I@颁ɢ =) .>i)ku;顉i il<> <IIAA@AB B B IB .BB B B B Er;B D.E9@9 @9@=.0@9! ^A} rA I I Q Oe >;,2?AY9ByIIbD=VD= yMh\<%Mg=ٔIQ-U>9QYQ=UFyUU+EYE]>aQ 5m=5e;w?Q 9m=5e)e\BYiyiQ Iu@eMDIeF:ie:e=5yyɮ}q AyDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdzI@ ɢ =) >i);iaik<><%\I!I!)@ @@4@DQzDUAAE EE)E"EM;*E:VEFA4ZEBE,8L?A,,0J-FD@J;R@J <ٱJu VAHRS rotation from veh to nav: [[-0.989579,0.143974,0.002232],[-0.142791,-0.979209,-0.144082],[-0.018559,-0.142900,0.989563]]JH`@m?2Hb?F¿UJq¿@J¿`?iJ-FD@IJr[b;JҐCY^%By^IiEMb@Mb@Mb@AAAA A9EZd;O?Gzǿy&1?YEj9qYq=uFyuY+E}[<E}>Q 5=5xw?Q 9=5<)dBYhB?Q E:yB@Q I@MDI*:i:Z=5yiBɮ AE}DNOT Ignoring new targets: 73.13 m.hyhy*hy"hy hgfffBdddjdZdJ@ZBɢX<)! %>i!)%.;!!i%ᗼi-l<>U)QB B IB 3BB B B B r;B (.Ee 5r9a Ye B\AAY Ia Iy O >,f?A\Y9y=IbDUVDUNyeH ;%eK=ٔeQ-e>9iYi=mFym]+EmEu>qQ 5=5uܢw?Q 9=5ux)umBYyQ I@uNDIufi)};i??ik<>)<'k{II@ @@/@^AqZAIIO>I D =D <E & E E (E "E 8^;*E Z:VE c44ZE BE 9Y=Fya+E<E>Q 5=5w?Q 9=5)vBYy>C@Q I@NDI:i|:=5y-mBɮ- A5EuDNOT Ignoring new targets: 73.13 m.hyhy*hy"hy hygyfyffdddjdZdSJ@ ɢJ<) &>i)};iTil<>%$<%88I!IIQ@ @@@q^A Β{ԡ AQ Ia Iy O >l?,v4?A ɰ >oD@>R@>b<ٱ> NAHRS rotation from veh to nav: [[-0.988723,0.149752,0.001061],[-0.148355,-0.978487,-0.143369],[-0.020431,-0.141910,0.989669]]>H+?FcQ?M¿ OY¿@딿`*¿]?i>oD@I>;a;99Y9==Fy=e+EEw^;EE>IQ 5U=5Mmw?Q 9U=5M)M|BYU#=?Q EU:yUC@Q I]@M/NDIM:iM:M8=5yeoBɮe0 AeEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffBdddjdZd`J@ɢ+1<) >i)ĭ;i˘ik<>ml<I:IIB<ABBBIB.BBBBBq;B .Eq9@ @@/@ԡ^A9 A I I O >_,泃?A>D@>R@>3<ٱ>VU JAHRS rotation from veh to nav: [[-0.988577,0.150716,0.000431],[-0.149229,-0.978409,-0.142988],[-0.021129,-0.141420,0.989724]]>H lJ?FD@I>`;9hYh=jFyji+EnN#;En>pQ 5v=5rWw?Q 9v=5rh)rBYtyvC@Q Iv@r?NDIr:ir=:rS =5y|ɮ~v A|MDNOT Ignoring new targets: 73.13 m.hIhI*hI"hQ hQgQfQfQfYdYdYdYjdaZdeJ@颉ɢK<) >i)k;顑iil<>2<::II9@ @@0@E  E E E "E ,K;*E A:VE ZE BE L9 5H,̓?AYBy IiMb@Mb@Mb@ 9n?{GzĿ:v?Y6?y#T< A@ I@)YAbDVDyE%;=ٔQ->9Y=Fyn+EE>Q 5=58=w?Q 9=5)BY:?Q E:yD@Q I@TNDI":iU:"$=5yqBɮ A%DNOT Ignoring new targets: 73.13 m.h!h!*h!"h! h)g)f)f)f-jBd1ddjdZd K@!ɢ%a<)! ->i))-p;))iMWiUk<>UnA5 >B >B B IB BB =B B B q;B BQBQBQBU =BU =CUb4AY Ia Iq O >ԙ dr,w烿?A6D@6R@6(<ٱ6% BAHRS rotation from veh to nav: [[-0.988136,0.153579,-0.000261],[-0.151947,-0.977879,-0.143753],[-0.022333,-0.142008,0.989614]]6H О@{?1 rÿJ~f¿`hޖO-¿ ?i6D@I6_;6АCYJByJIbDRVDRkyZ f%Z]=ٔZU;Q-^>9\Y\=bFybq+Eb?;Eb>dQ 5v=5f&w?Q 9z=5ff)fBYayeD@Q Ie@feNDIfi)x;iX/il<><bx;IIy@ @@4@ԩ^A?B:A .AI I O% >E  E E )E "E F;*E :VE FA4ZE BE ar~ÿI@*s¿/8¿ t?iFD@IF_;FӐCYZՀByZvI)`z@AxbD-VD-yU%@=ٔ7:Q->9 ?Y ?=Fy%v+E-N:EU>iQ 5=5m w?Q 9=5m)mBYyD@Q I@mzNDImmi)ٮ;项i(ik<>kv<s;II@ @@@) ^A r;A I I O >,KX?AE  EE*E"EG;*EVE(N4ZEa @a @a @a @kD@R@'<ٱ- 5AHRS rotation from veh to nav: [[-0.988037,0.154218,-0.000590],[-0.152447,-0.977252,-0.147440],[-0.023315,-0.145586,0.989071]]H`m?WCaÿEQ¿ ߗ¿w?ikD@I^;ѐCYÈByEkIiMb@Mb@Mb@ 91Zd?Mb~jth?Y";?yD; v@)zAYAbDEVDEkyU*%U;=ٔ] :Q-]>9YYY=eFyez+Ee 9Ee>iQ 5u=5mLv?Q 9u=5m)iY}=?Q E}:y}G@Q I}@mNDImG ;im ;m.=5yɮK ADNOT Ignoring new targets: 73.13 m.hh*h"h hgfffQBdddjdZdϺK@ɢO<) a>i)B8;i2!il<>DC<lx;I I A=AAA=AAIBABABEIBEBBABABABEr;BE*.E9@ @@3@y^Ai;AzAԡ A I I O% >m ,05?ADY~By~OI bDVDy%%%`=ٔ%Q-%>9)Y)=-Fy-~+E5E5>1Q 5E=55v?Q 9E=55)5BYAyAQ IE@5NDI5;i5:52=5yUxBɮUAQ}DNOT Ignoring new targets: 73.13 m.hyhy*hy"hy hgfffdddjdZdjK@颹ɢy<)  4>i)j;ie ik<>2< v;IIu9@q @q@u/@qԱE E E$E"EL;*E:VE4ZEBEݡ N, O?ApY=By=FIiMb@Mb@Mb@ 9"~?zGếMb`?Y3?y ׽;rA@ I@)AYA 4<4<bDVDy%>=ٔQ->9Y=Fy+EE>Q 5 =5v?Q 9 =5)BY 5?Q E:yHQ I@NDI:i;5=5yzBɮ\A%E=B*** querying acoustic contact ***i9 i9MDNOT Ignoring new targets: 73.13 m.hIhI*hI"hI hQgQfQfYf])BdYdYdYjdaZde L@}2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.%\Bɢ-<)) -%>iQ)U2;QQi]7ܘi]l<>]ԇ U BDAT read: Tx time:05:07:28.6264 U $Ping request sent.U _,h?AYBy4I9bDVDܲyMߜ%MU=ٔIQ-U>9QYQ=UFyU+EE>Q 5=5pv?Q 9=5)YyQ I@NDI;i;:9=5y|BɮAEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdRL@AɢE><)I M>iI)Mr;QQiUui]k<>eʢAU>E-  E- E) E) "E- C;*E- &:VE) ZE) BE- > E ,?AJhD@JR@JC<ٱJ} fAHRS rotation from veh to nav: [[-0.988478,0.151354,-0.001971],[-0.149365,-0.977434,-0.149373],[-0.024535,-0.147358,0.988779]]JH_?t%``gÿ $Gÿ  ¿?iJhD@IJ^;JӐCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498816YvByv&IIz=)z<bDVDky c% N=ٔI;Q-->95"?Y="?=EFyE+EMEU>iQ 5=5mv?Q 9=5mԡ)iYyHQ I@mNDIm4VZ<SM:II@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750600^A oM;! A I) IA OU >&,?ARD@RR@R<ٱRl) ZAHRS rotation from veh to nav: [[-0.988597,0.150569,-0.002442],[-0.148501,-0.977458,-0.150077],[-0.024984,-0.148003,0.988671]]RH@`E?d@ÿ VG@5ÿ o¿2?iRD@IR^;RѐCYbByf IEn EnElEl"EnL;*En:VElZElar@ar@ar@ar@imMb@Mb@Mb@ii yyii i9m`"?p= ףy&1|?Ym7?ymm`;m+Ai m`@)ii+GYmpA(hAAAIǐ9(hAYLAAABA4=BBBFIBBBBBBr;B.EbDVD:yM%M+=ٔMCv:Q-M>9QYQ=UFyU+E]E]>aQ 5m=5euv?Q 9m=5eA)eBYm8?Q Em:yu$EQ Iu@eNDIe:ie:e@=5y}~Bɮ}yAychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002559DNOT Ignoring new targets: 73.13 m.hh*h"h hgfff$Bdddjd Zd L@aɢeBYb<)i m=ii)mS;iiimgi}k<>}1<>9II9@ @@0@A^A5 +:q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257040Ai Iy I O >#-,?A2D@2؆<HII 9@ @@4@@fA@gAE E E*E"E[I;*E:VE(N4ZEBEԙ 4,Є?A2{D@2(qR@2 <ٱ2  :AHRS rotation from veh to nav: [[-0.988947,0.148221,-0.003707],[-0.145991,-0.977822,-0.150167],[-0.025882,-0.147966,0.988654]]2Ht?]nӯ¿RJ`8ÿ¿ ?i2{D@I2^;2ѐCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758673Y]ByeI iiqi%Mb@Mb@Mb@!!!! !9%l?T㥛 Mb?Y%7?y%%9QYQ=UFyU+E]1E]>aQ 5e=5eCv?Q 9m=5e5)eBYmN8?Q Em:ymEQ Iu@eODIem ;ie ;eG=5y}Bɮ}A}EDNOT Ignoring new targets: 73.13 m.hh*h"h hgfff-BdddjdZd)M@ɢ4]<) =i)y;ir~<II@ @@5@ԩbEEFA4jEEc44rEEƈ0E  E E&E"EE;*E:VE4ZEa@a@a@a@BBB'IBBBBBBr;B.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010712^A Β{ A1 I I!OU>.;,?AhqD@gR@1<ٱ< 5AHRS rotation from veh to nav: [[-0.989017,0.147731,-0.004516],[-0.145381,-0.977881,-0.150378],[-0.026632,-0.148070,0.988618]]H?rԛ¿J`?ÿ@_E`¿¢?iqD@I];ӐC 9)9=t9A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262591iIIis@ ) C lAI ,) i ) I    CvAiYYByI <bDVDNyٜ%=ٔa:Q->9Y=Fy+E/E>Q 5=5J$v?Q 9=5)BYyEQ I@)ODI|:i=:xL=5yBɮAE%DNOT Ignoring new targets: 73.13 m.h!h!*h!"h! h!g)f)f)f)d1d1d1jd1Zd=/lM@eZBɢefQ<)i m=ii)m;iiiuiul<>}<}ԱIyIy@ @@ 1@)DD<E EE*E"ECJ;*E:VE(N4ZEBE4B,h ?A>/bD@>WR@>`2<ٱ> FAHRS rotation from veh to nav: [[-0.989146,0.146851,-0.004929],[-0.144455,-0.978047,-0.150192],[-0.026876,-0.147850,0.988645]]>H`?0t@|}¿(L@{9ÿr`¿ ?i>/bD@I>];>ԐCYEByE IiMb@Mb@Mb@ 9x?㥛 9)Y)=-Fy-+E-+E5>1Q 5==55v?Q 9E=55&)5BYEM8?Q EE:yEEQ IE@5:ODI5 ;i5 ;5O=5yUBɮUAQ}DNOT Ignoring new targets: 73.13 m.hyhy*hy"h hgfff>BdddjdZdM@颹ɢD~v<) L=i);;iik<>Ѕ<KIIu9@q @q@u4@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767360A^A q E  E E )E "E *E :VE FA4ZE a @a @a @a @A .AI I! AE @AAA BM >BI BM IBM BBI BI BI BM r;BM .EBBBB =B =CG4Ou >H,%?A6BDAT read: Rx Time:05:07:31.2658 6TRx dataTimestamp_ set to:1761541652.592210:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0198228PExceeded connect timeout, disconnecting.YBy"II0>)%=bDVDNy;%R=ٔQ->9 ?Y ?=Fy+EE>Q 5=5u?Q 9=5)BYyQ I@LODIL;iI:R=5yɮADNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdM@YBɢ./u<) =i)";iail<><EIIԉ9@ @@/@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270603^A yb] I I! O5 >AO,1>?AD0zD2?AE6! E6E6(E4"E6Y;*E6:VE6c44ZE4BE6լBND@BCR@B<ٱB$ JAHRS rotation from veh to nav: [[-0.989301,0.145769,-0.005870],[-0.143239,-0.978190,-0.150424],[-0.027669,-0.147974,0.988604]]BH [? xU¿TMAÿ/U¿ ?iBND@IB,];BӐCYRByV*IXZ@A`bDbVDbyj=%j[=ٔj ;Q-n>9QYQ=UFy]+E] NE]>aQ 5m=5eou?Q 9m=5e)eBYqyu FQ Iu@e^ODIe :ie[:eeV=5y}Bɮ}AEDNOT Ignoring new targets: 73.13 m.hh*h"h hgfffdddjdZdM@XBɢͩ<) =i) *;i|ik<>/<]IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5260349@ @@/@!^A 7I I O >A M DAT read: 05:07:31.2658 LVL= 32752, 32753, 32754, 30195, AGC= 75, IDX= 292, 0.39, 1.775, 2.699, 1.724, 0.991, PHS= 0.886, 1.753, 0.689, RAW= 340.0, -50.2, CAL= 340.7, -52.4, ROT= 169.3, 52.4 ] Ygot valid direction response: 05:07:31.2658 LVL= 32752, 32753, 32754, 30195, AGC= 75, IDX= 292, 0.39, 1.775, 2.699, 1.724, 0.991, PHS= 0.886, 1.753, 0.689, RAW= 340.0, -50.2, CAL= 340.7, -52.4, ROT= 169.3, 52.4 e PDAT read: Bearing 206.6, 14.3 (Local) e ~Local bearing/azimuth received: Bearing 206.6, 14.3 (Local) m DAT read: Range 11 to 50 : 176.4 m (Round-trip 235.2 ms) speed -1.0 m/s u R#Rx 1: Read range and direction messages.} `direction in FSK: [-0.599536,0.113283,-0.792290]} Fpublishing direction and range infoy! % Jg/sO%?){oZY% f0C! ! ! ! % u)% KI% b?i% Nb?% Nb0?% N@% K`% dH@ %  j)% $=@I%  j?! ! % ]`߿?^XڿPo % [)% qG`?I% $=@i%  j?! ! U,X?Aj5OD@jDR@j<ٱj| AHRS rotation from veh to nav: [[-0.989280,0.145897,-0.006213],[-0.143304,-0.978120,-0.150813],[-0.028080,-0.148306,0.988543]]jH/`?ry W¿ LMÿ¿$?ij5OD@!Ij];jѐCYUByUIiMb@Mb@Mb@ 9$C?EԸ:v?Y:?yƽ<AA )YAbDUVDU1y]7.%e(=ٔe1]:Q-e>9iYi=mFEu  EuEu)Eq"EuC;*Eu:VEuFA4ZEqa@a@a@a@ym+E9E>Q 5=5u?Q 9=5)BY;?Q E:yGQ I@tODI~:iq:Z=5yBɮAEiQiU`;V?AJiU/CRiU/CjiU5e>bU)NZ1q3@]JBaaRUJg/sO%?){oZZiU$=@biU j?jU uhZ@l0@>.aIZU}x??7?@v2iUԄA:iUB"iUP;C?*iUfN0BiU^iUZӁ?iU<iQiUBiU= addTargetRange:: Added new target pos. range: 176.399994 m, deltaT: 60.289153 s, deltaX: 102.899994 m, approachRate: 1.706775 m/s, rangeRepo size: 4  Added new target pos. range: 175.517197 m, bearing: 8.750774 deg, lat: 36.779298 deg, lon: -121.859539 deg, deltaT: 60.289153 s, deltaX: 102.385765 m, approachRate: 1.698245 m/s, posRepo size: 4 FNOT Ignoring new targets: 175.52 m.Completed rollout at range: 176.40 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE:h?h6->h*h"h hgfffFBdddjd f@Zdk`?B >B CB IB BB B B B r;B .E颅WBɢe<) p=i);顉iei?;oI6->Ii߁I߅AnManaging dock network, ignoring radio surface power offq@ @@/@ԡ ^A 3I! I1 O= >\,pr?A2RD@2GR@2<ٱ2] :AHRS rotation from veh to nav: [[-0.989247,0.146115,-0.006413],[-0.143476,-0.978017,-0.151317],[-0.028382,-0.148770,0.988464]]2H?Dz i]¿K]^ÿ 5 ÿ ?i2RD@I2Ł];0YVByZI \\`bAbDfVDf:yn%n=ٔnx:Q-n ?9pYp=rFyr+Ev:Ev?tQ 5~=5vu?Q 9~=5v )vBY|y~GQ I~@vODIvY;ivv;vL]=5y Bɮ A 1M% %Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqM%-Entering Terminal tracking update period 2.000000 s sec at 176.399994 m (mode 1.000000 count ).qM-M5hAhA*hA"hA hAgAfIfIfIdIdQdQjdQZd] ?颁ɢDs<) =i);顉ԑi9iiu(:)uIIM9@I @I@M0@I^A%&tIIO$>E E E(E"EO;*E:VEc44ZEBE7b,J?ARSD@RPIR@R4<ٱRP ^AHRS rotation from veh to nav: [[-0.989227,0.146246,-0.006548],[-0.143575,-0.977947,-0.151676],[-0.028586,-0.149102,0.988409]]RH`3?z`¿WK!jÿEÿ ?iRSD@IR];PYfByf-IiMb@Mb@Mb@ 9S?X9vMb?Y:?y=A@ )AY ;<bDVDy=%==ٔt9Q->9Y=Fy+Eu9E>Q 5=5u?Q 9=5 )BYE=?Q E:ywH@Q I@ODIi ;i ;a=5yɮAjj@MMB*** querying acoustic contact ***i ihh*h"h hgfffSBd!d!d!jd!Zd%`D?UVBɢU<)Y ]>iY)] P;YYi]ie5ae.IiI @ @@0@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!^A}IIO%M>IE  E E 'E "E sH;*E Z:VE '4ZE a @a @a @a @B A <B! B! B! B! B! B! B! B% s;B% .Ey i,?A2*DAT read: user:295> 6BDAT read: Tx time:05:07:33.6764 6$Ping request sent.6bD@>qXR@>.<ٱ>*f JAHRS rotation from veh to nav: [[-0.989076,0.147240,-0.006990],[-0.144486,-0.977786,-0.151849],[-0.029193,-0.149181,0.988379]]>H?|~¿ Joÿ䝿Xÿ̠?i>bD@I>¢];>ԐCYrByr6IbDzVDzN2y=%V=ٔ :Q- >9 Y =Fy+E;E>Q 5%=5{u?Q 9-=5)BY)y-H@Q I-@ODI:i :gd=5y5Bɮ5uA=ErjIMM1NMhh*h"h! h!g!f!f!f)d)d)d)jd)QZd50?颥UBɢn\<) >i)<顩iƔi')0VAII9@ @@2@ԁ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254316^A+ԱI I O > f>o,ᅤ?AE6  E4E6*E4"E6F;*E4VE6(N4ZE4BE6a:E6R:N܆D@Nr|R@N#<ٱNɄ VAHRS rotation from veh to nav: [[-0.988739,0.149449,-0.007814],[-0.146656,-0.978016,-0.148247],[-0.029797,-0.145431,0.988919]]NH@!!?¿K¿`8`¿:?iN܆D@IN];NҐCYbByb)IIf<)f49xYx=zFyz+Ez;E~>Q 5 =5cu?Q 9 =5)BY y H@Q I @ODI:i:g=5yBɮAEzj)1N55rCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1M5 5Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalhAhA*hA"hI hIgIfIfIfQdQdQdQjdQZd]@ ?颁ɢ4 <) >i)I9<顉iyi3K+x2~IIԱU9@Q @Q@U4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504283^A--|,I!IIOUS> % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548939 &v,م?A2(D@2R@2`<ٱ2> FAHRS rotation from veh to nav: [[-0.988260,0.152510,-0.009108],[-0.149687,-0.978457,-0.142182],[-0.030596,-0.139150,0.989799]]2H@ӟv?*`(ÿO3¿Tn?i2(D@I2];2ѐCYZByZ5IiMb@Mb@Mb@ 9I +?S㥛V-?Y94?y$<AA@ `@)AYAAAbDVDy:=%;=ٔY:Q->9Y=Fy+E;E>Q 5 =5Hu?Q 9 =5)BYw7?Q E:ydG@Q I@ODI ;iC ;k=5yBɮ%A!hAhI*hI"hI hIgIfIfQfcBdddjdZd@b0@ecGEu EuEu'Eq"EuQ;*Eug:VEu'4ZEqa}@a}@a}@a@9Y4A TBɢ ,֐<)  >i )ܕ<ii2$ II!)BBBIBBBBBBs;B/E@ @@4@@gA@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007256^A(׵IIOMt>i P|, ?A 6E@6VR@6=ٱ6  >AHRS rotation from veh to nav: [[-0.987496,0.157303,-0.010349],[-0.154483,-0.978688,-0.135292],[-0.031410,-0.132002,0.990752]]6H`"?1@ÿjQAQp=?i6E@I6}];6ԐCYFByF0IbDRVDRk1yV̼%Za=ٔZ;Q-Z>9\Y\=^Fy^+Eb[<Eb>dQ 5j=5f2u?Q 9j=5f)fBYhyjG@Q Ij@fODIf :if$:fn=5ypɮrAph h *h "h  h g f ffdddjdZd'@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258933SBɢ.<)) -^>i1)5,<11i5bʓi=- 99IAIAq@ @@/@^AI)I9OM0>E  EEE"EE;*E#:VEZEBE9Y=Fy+E<E> Q 5=5 u?Q 9=5 N) BYt>?Q E:yG@Q I@ ODI :i v: r=5y%Bɮ%A-EEB*** querying acoustic contact ***iA iAhQhQ*hQ"hQ hQgQfYfYf]lBdYdadajdaZde?@频ɢӑ<)`j L>i) <顙ici͑II%9@! @!@%/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763252^A3IYIqO8>bE c44jE ɭ54rE ɧ/E  E E &E "E [I;*E :VE 4ZE a @a @a @a @ A A B B B IB BB B B B s;B /EDc,`'?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015109|YBy&IbDVDy%>=ٔQ->9Y=Fy+EE>Q 5=5t?Q 9=5 )ûBYyQ I@ PDI8;i#;v=5yBɮ(AEhQhQ*hQ"hY hYgYfYfafadididjdZd . @)-RBɢ-<)1 5\>i1)5 <11i=hi=vAAIAIA9@ @@%/@!@->@-0>achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266887^Ae {BAe >Aa ԉ A ؟AE  E E (E "E C;*E :VE c44ZE BE >,DNB?ANXG@NyNU@NL =ٱNds ZAHRS rotation from veh to nav: [[-0.981186,0.192257,-0.017646],[-0.190047,-0.977903,-0.087103],[-0.034002,-0.082111,0.996043]]NH@eݛ?uSȿ@J`hLh <?iNXG@IN\];NϐC\br@i`I``` b;kA`dddfhkAId)dihh)nYCInjAnxn[F lpppippitt)t tIt t)z{AzףxxYxY~By*IbDVDNy%f<%%_=ٔ%;Q-%>9-"?Y-"?=-Fy-+E5=E5>9Q 5E=5=t?Q 9E=5=)=ĻBYAyEH@Q IE@=PDI=9:i=R:=y=5yUBɮUAQhyhy*hy"hy hygyfffdddjdZdR @1ɢ=4<)9 = >i9)= <9AiEiEIIIIIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188999@ @ @ 0@ 9^A%HIAiIqIO~> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770782ԁ f,\?AFH@F@V@Fe=ٱF] RAHRS rotation from veh to nav: [[-0.977355,0.210356,-0.022990],[-0.208675,-0.976128,-0.060245],[-0.035114,-0.054083,0.997919]]FH}F?۵ʿ@p<hخ`zǰ?iFH@IFw];FҐCY9y=+IIE?>)E=M=Mp=YiMb@Mb@Mb@ 9㥛 ?M¿Mb?Y5?yn< AQ@ )AYAbDVDy~;%>=ٔ);Q->9Y=Fy+EH5=E> Q 5=5 t?Q 9=5 ) Y49?Q E:yi) <顑iiб IIB>BBIBBB =BBBzs;B.EBCBCBBBC4ԉBDAT read: Rx Time:05:07:36.3193 TRx dataTimestamp_ set to:1761541657.632278checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024080Ա𕭼 9@  @ @ /@ ^Ae 6* A I I O >,v?A2-I@2W@2[=ٱ2ɼ :AHRS rotation from veh to nav: [[-0.972623,0.230527,-0.029343],[-0.229587,-0.972755,-0.032208],[-0.035969,-0.024590,0.999050]]2H?` cͿ` }wj .`8?i2-I@I2a?^;2ѐCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275588YvByv$I|~@AbD~VD~0y ڼ% S=ٔ`;Q->9Y=Fy+Eqb=E>!Q 5-=5%t?Q 95=5%])%ûBY1y5FQ I5@%BPDI%;i%;%=5y9ɮEVAAQhihi*hi"hi hqgqfqfqfydydydyjdyZd;@颩ɢ[<) >i)G<顱i)i II߁!@! @!@%4@!y^AFӅD}=D}R=E EE(E"E,K;*E:VEc44ZEBELIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527394y ,?A>xK@>nY@>=ٱ>]; FAHRS rotation from veh to nav: [[-0.966841,0.252736,-0.036653],[-0.252808,-0.967513,-0.002719],[-0.036149,0.006638,0.999324]]>H \,?`4Ģ .п[Ef/ 10{?w?i>xK@I>^;>АCYjByjIiMb@Mb@Mb@ 9i|?5?V-¿I +?Y1?yh94<`A@ )AY=AbDVD1y%@=ٔR9Q->9Y=Fy+Ef=E>Q 5=5t?Q 9=5)BY]5?Q E:yEQ I@UPDI:i:=5yBɮAEB*** querying acoustic contact ***i ihh*h"h hgfffE E E'E"EN;*E:VE'4ZEa@a@a@ԡa@B <A B B B IB BB =B B B Es;B .E *DAT read: user:296>  BDAT read: Tx time:05:07:37.7264  $Ping request sent. p9,?A9Y!=%Fy%+E%d=E%>)Q 55=5-~t?Q 9==5-u)-BY9y=DQ I=@-jPDI-a;i-;-=5yEBɮEsAIiiO˘?AJi2CRi2Cji=b ,eNBXGHA@c $YRε^Q;?.Zi)<@binF=j~/f@+.@HKK?Z?o?8 s?2ipA:ix1C"i!1鮊?*iEZBi=BiK)?i_ i=BiBiԑ= addTargetRange:: Added new target pos. range: 179.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 RhZh Added new target pos. range: 178.104813 m, bearing: 4.832600 deg, lat: 36.779302 deg, lon: -121.859511 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jhFNOT Ignoring new targets: 178.10 m.RhZh% ProNav pure pursuit: ac range: 178.104813 m, nav range: 119.441666 m, bearing: 5.275510 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 9.691865 deg, new cmd heading: 5.275510 deg. %HeadingCmd: 0.092075 target range: 178.104813 and range: 179.00 m.h%ԑ=h)*h)"h) h)g)fQfQfQdQdYdYjd]`f@Zd] 5?颩ɢzӌ<) >i)<iiWN񿉧Iԑ=Iyyԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2512029@ @@0@Eu  Eu Eu *Eq "Eu CJ;*Eu 3;VEu (N4ZEq BEu ,Ά?AAMCqP@Mf^@M=ٱM= ]AHRS rotation from veh to nav: [[-0.944340,0.322901,-0.062906],[-0.327088,-0.942039,0.074667],[-0.035150,0.091087,0.995222]]MH`8`h?Կ/%`?#vQ??iMCqP@IM_;IYm{BymIiMb@Mb@Mb@ 9(\?M¿Mb`Y.?ynQAA v@)AYA 4< bDVDy%%=ٔ%Q-%>9)Y)=-Fy-+E-=E5>1Q 5==55_t?Q 9E=55)5BYE1?Q EE:yE@Q IE@5PDI5 ;i5e ;55=5yMBɮUGAUEjhq}FNOT Ignoring new targets: 178.10 m.RhT9ZhT9 ProNav pure pursuit: ac range: 178.104813 m, nav range: 119.808006 m, bearing: 5.281627 deg, approach rate: 0.698486 m/s, LOS rate: 0.011626 deg/s, cmd heading: 5.275510 deg, new cmd heading: 5.281627 deg. HeadingCmd: 0.092182 target range: 178.104813 and range: 179.00 m.hɼ=h*h"h hgfffBdddjdZd`m?PBɢf<) =i)L<ijŏi%W⿉!!I%ɼ=I)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755786@ @@91@ԙE  E E )E "E C;*E L:VE FA4ZE a @a @a @a @^A- B >B B IB rBB =B B DB s;B .E Ay I I O >ٹ,M醿?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007186J_&R@J`@Jq =ٱJ= VAHRS rotation from veh to nav: [[-0.935307,0.347194,-0.068246],[-0.352174,-0.932114,0.084485],[-0.034281,0.103054,0.994085]]JH` n8?x ֿ@@Π?@@a? ?iJ_&R@IJ2^;JАCY^}By^ IbDfVDf:2yn<%n[=ٔrXQ-r>9pYp=rFyv+Ezӑ=Ez>|Q 5=5~OJt?Q 9=5~)~BYy6?Q I@~PDI~@;i~;~{=5yBɮKAEjh9=FNOT Ignoring new targets: 178.10 m.RhE9ZhE9IU ProNav pure pursuit: ac range: 178.104813 m, nav range: 120.067451 m, bearing: 5.289279 deg, approach rate: 0.692559 m/s, LOS rate: 0.020384 deg/s, cmd heading: 5.281626 deg, new cmd heading: 5.289279 deg. ]HeadingCmd: 0.092315 target range: 178.104813 and range: 179.00 m.h]=hY*hY"ha hagafaffdddjdZdU'?ɢ{<) IJ=i)d<iLiEސؿAAIE=IAIQ)UeAq9@ @@4@@fA@bAԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259007^A # Ai Iy I O >i,y?AE EE*E"EB;*E:VE(N4ZEBEv9YYY=]Fy]+EeȂ=Ee>iQ 5u=5m^2t?Q 9u=5m)mBYqy}=Q I}@mPDIm;im;m=5yɮ6AjhFNOT Ignoring new targets: 178.10 m.Rh:Zh:Թ ProNav pure pursuit: ac range: 178.104813 m, nav range: 120.355125 m, bearing: 5.301405 deg, approach rate: 0.691034 m/s, LOS rate: 0.029058 deg/s, cmd heading: 5.289279 deg, new cmd heading: 5.301405 deg. HeadingCmd: 0.092527 target range: 178.104813 and range: 179.00 m.h~=h*h"h hgfffdddjdZd@? OBɢՂ<) =i)<iގi%sο!!I%~=I)=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5113879@ @@/@^AA! I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762980A /,"?AJ2U@Jyc@Ja=ٱJɵ= RAHRS rotation from veh to nav: [[-0.915541,0.395391,-0.073833],[-0.400882,-0.911969,0.087210],[-0.032851,0.109443,0.993450]]JHLN? 沿 ٿ.eS?Ѡ n?W?iJ2U@IJ^;HY^vBy^IiEMb@Mb@Mb@AAAA A9EK7?@5^I ¿MbpYE)?yEbEE`@EA E@)E7AAYEAU@AUAAbD]VD]ym2%mI=ٔu\Q-u>9qYy=}Fy}+E}=E>Q 5=5t?Q 9=5)BY-?Q E:y;Q I@PDI:i"&;=5 wi>yBErG]hAɮA9hAYA-B*** querying acoustic contact ***i) i)E5  E1E5&E1"E5D;*E1VE54ZE1aE@aE@aE@aE@jhQ]FNOT Ignoring new targets: 178.10 m.Rh]:Zh]: ProNav pure pursuit: ac range: 178.104813 m, nav range: 120.629143 m, bearing: 5.316068 deg, approach rate: 0.597326 m/s, LOS rate: 0.031891 deg/s, cmd heading: 5.301405 deg, new cmd heading: 5.316068 deg. HeadingCmd: 0.092783 target range: 178.104813 and range: 179.00 m.h=h*h"h hgfff9BdddjdZd`w@AABBBIB]BBBBBs;B.E1ɢ5[i<)9 ==i9)=<99i=JiEa¿aiIm=IiI9@ @@ /@ Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015177q^A% E2ԡ AQ Ia Iy O >3,R_7?A>}.W@>$e@>!=ٱ>= FAHRS rotation from veh to nav: [[-0.904805,0.419142,-0.075153],[-0.424566,-0.901535,0.083533],[-0.032741,0.107489,0.993667]]>H@)9?@=,ۿ`nb?@rà`c??i>}.W@I>^;>АCYNlByRIbDZVDZybX%bP=ٔb~Q-b>9dYd=fFyj+Ej=Ej>lQ 5r=5nt?Q 9r=5n))nBYpyrL:Q Iv@nPDIn;in;n=5yzBɮzAzEjh%FNOT Ignoring new targets: 178.10 m.Rh%!g:Zh-!g:5 ProNav pure pursuit: ac range: 178.104813 m, nav range: 120.891953 m, bearing: 5.333354 deg, approach rate: 0.769717 m/s, LOS rate: 0.050518 deg/s, cmd heading: 5.316068 deg, new cmd heading: 5.333354 deg. =HeadingCmd: 0.093085 target range: 178.104813 and range: 179.00 m.h="=h9*hA"hA hAgAfAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267038fQfQdYdYdYjdYZde-@颽NBɢSfa<) m=i)^_<i ፼iiI"=ԑI9Me>iM!>@ @@/@@=@=ԱE EE(E"Ea?;*E:VEc44ZEBE c, Q?AYcByI Ai%Mb@Mb@Mb@!!!! !9%?L7A`I +Y%f&?y%+%94%3@% A %A)%MA!Y%AbDaVDayu%u3=ٔuQ-u>9yYy=}Fy}+EE>Q 5=5s?Q 9=5)BY)?Q E:y9Q I@PDI;iG;=5yBɮLAEjhmFNOT Ignoring new targets: 178.10 m.RhmfR:ZhufR:} ProNav pure pursuit: ac range: 178.104813 m, nav range: 121.191292 m, bearing: 5.354428 deg, approach rate: 0.654832 m/s, LOS rate: 0.045987 deg/s, cmd heading: 5.333354 deg, new cmd heading: 5.354428 deg. HeadingCmd: 0.093452 target range: 178.104813 and range: 179.00 m.hc=h*h"h h g f f f?BdddjdZd@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772627MBɢE<) x-=i)N <i7i%))I-c=I19@ @@/@bEjEA84rE5/E  E E *E "E F;*E L:VE (N4ZE a @a @a @a @A B B B IB NBB B B B 7s;B .E^A FӅ- BDAT read: Rx Time:05:07:40.2966 - TRx dataTimestamp_ set to:1761541661.6659965 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025881q AQ I I O >>,^n?A^iZ@^L_h@^=ٱ^= fAHRS rotation from veh to nav: [[-0.882228,0.464977,-0.073964],[-0.469691,-0.880067,0.069805],[-0.032635,0.096324,0.994815]]^H5;@/?Kﲿ i޿`) ޱ?@??i^iZ@I^\b^;^ѐCYreByrI xxbD~VD~kyZ`<% G=ٔ Q- >9Y=Fy,E=E>!Q 5%=5%"s?Q 9-=5%)%{BY)y-o6Q I5@%PDI% ;i%;%=5y=Bɮ=A=EjhamFNOT Ignoring new targets: 178.10 m.Rhm:Zhu:} ProNav pure pursuit: ac range: 178.104813 m, nav range: 121.457954 m, bearing: 5.379606 deg, approach rate: 0.648267 m/s, LOS rate: 0.061076 deg/s, cmd heading: 5.354428 deg, new cmd heading: 5.379606 deg. HeadingCmd: 0.093892 target range: 178.104813 and range: 179.00 m.h^J=h*h"h hgfffdddjdZd @ԩLBɢ^}T<) K=i)<iֻi& I^J=I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275972^AmA .AI I O >Dy D} <E  E E 'E "E G;*E :VE '4ZE BE )9} ?Y ?=Fy,E>H=E>IQ 5U=5s?Q 9U=5)oBYy4Q I@QDIbEA(]^D@X2R{REYk 8]K?sNruZiE3@biE;jEœx^@h1gs5@ۆ@ZE2{?}_ ?i.]q?2iEA:iEB"iE Qٛ?*iEBiEBiE Qٛ?iEEZiAiEBiE>-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 124.500000 m, deltaT: 3.781587 s, deltaX: -54.500000 m, approachRate: -14.411939 m/s, rangeRepo size: 1jhFNOT Ignoring new targets: 178.10 m.Rh:Zh: ProNav pure pursuit: ac range: 178.104813 m, nav range: 121.800369 m, bearing: 5.416023 deg, approach rate: 0.600449 m/s, LOS rate: 0.063680 deg/s, cmd heading: 5.379606 deg, new cmd heading: 5.416023 deg. HeadingCmd: 0.094527 target range: 178.104813 and range: 179.00 m.h=h*h"h hgfffdddjd _@Zd?MJBɢM.)<)I u@  BDAT read: Tx time:05:07:41.5264  $Ping request sent. 9"?Y"?=Fy ,E~=E>Q 5=5 s?Q 9=59)gBY#?Q E:y2Q I@QDIG;i ;ƪ=5yBɮAEB*** querying acoustic contact ***i ijh FNOT Ignoring new targets: 178.10 m.Rhz:Zhz:- ProNav pure pursuit: ac range: 178.104813 m, nav range: 122.044418 m, bearing: 5.445323 deg, approach rate: 0.687621 m/s, LOS rate: 0.082389 deg/s, cmd heading: 5.416023 deg, new cmd heading: 5.445323 deg. 5HeadingCmd: 0.095039 target range: 178.104813 and range: 179.00 m.h5=h9*h9"h9 h9g9fAfAfMGBdIdQdQjdQZd]7$?颙ɢZ8<)  z,?A6g?_@64m@6=ٱ68$= >AHRS rotation from veh to nav: [[-0.844256,0.531344,-0.070038],[-0.534929,-0.843461,0.049251],[-0.032905,0.079045,0.996328]]6H%? #]7?ؠ`M9tYt=vFyv ,Ez=Ez>|Q 5=5~+s?Q 9=5~)~^BYyf1Q I @~"QDI~V:i~:~=5yɮnAjh9=FNOT Ignoring new targets: 178.10 m.RhEW:ZhEW:U ProNav pure pursuit: ac range: 178.104813 m, nav range: 122.275650 m, bearing: 5.475854 deg, approach rate: 0.614769 m/s, LOS rate: 0.081018 deg/s, cmd heading: 5.445323 deg, new cmd heading: 5.475854 deg. DYzD]@AEe EeEe)Ea"Ee;;*EeZ:VEeFA4ZEaBEe% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005858,ۇ?A:`@:En@@:D =ٱ:}= JAHRS rotation from veh to nav: [[-0.830377,0.552824,-0.069712],[-0.556193,-0.829885,0.044040],[-0.033506,0.075344,0.996595]]:H s@?`ر V`ky?@'I?@?i:`@I:d:^;:ӐCYR>ByRIi-Mb@Mb@Mb@)))) )9-Cl?Q9Y=Fy,Ep=E>Q 5=5~s?Q 9=5Q)VBY/"?Q E:yg/Q I@3QDI:i:ر=5yBɮAjhFNOT Ignoring new targets: 178.10 m.Rh%:Zh%:5 ProNav pure pursuit: ac range: 178.104813 m, nav range: 122.536629 m, bearing: 5.514310 deg, approach rate: 0.603503 m/s, LOS rate: 0.088738 deg/s, cmd heading: 5.475854 deg, new cmd heading: 5.514310 deg. =HeadingCmd: 0.096243 target range: 178.104813 and range: 179.00 m.h==h9*h9"h9 h9g9fAfAfEBdAdIdIjdIZdM cu?}HBɢ}<)y i)<顁i{iE,gI=IԱI@I @I@M4@IE} E}E}*Ey"E}C;*E}:VE}(N4ZEya@a@a@a@BBBIB0BB =BBB5s;B.E}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257182^AA>A> A .AI I O% >, ?Aɰ:wb@:Mmp@:v =ٱ:= FAHRS rotation from veh to nav: [[-0.816251,0.573434,-0.070051],[-0.576686,-0.815982,0.040089],[-0.034172,0.073120,0.996738]]:H@Y?5t ?~ ?@F?i:wb@I:O^;:АCYN8ByNIbDZVDZ1ybL%b\=ٔb :Q-b>9f ?Yf ?=fFyf,Ejk=Ej>hlQ 5r=5jls?Q 9r=5j)jNBYtyv-Q Iv@jBQDIj0;ijc2;j=5yzBɮzA~Ejh!%FNOT Ignoring new targets: 178.10 m.Rh-l:Zh-l:5 ProNav pure pursuit: ac range: 178.104813 m, nav range: 122.758560 m, bearing: 5.549725 deg, approach rate: 0.596677 m/s, LOS rate: 0.095043 deg/s, cmd heading: 5.514310 deg, new cmd heading: 5.549725 deg. =HeadingCmd: 0.096861 target range: 178.104813 and range: 179.00 m.hE _=hA*hA"hA hAgAfAfIfIdIdIdQjdQZdU h?颅GBɢM;) i)h<顉ihi`;SI _=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510472U9@Q @Q@U/@Q 9^AuE EE'E"E=;*E#:VE'4ZEBEa i߁ I߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761356x,\?A2d@2=r@2=ٱ2 ,= :AHRS rotation from veh to nav: [[-0.801142,0.594558,-0.068357],[-0.597445,-0.801225,0.033121],[-0.035078,0.067374,0.997111]]2H?F `.?n?? U?i2d@I2"];09Y4ByIi]Mb@Mb@Mb@YYYY Y9]1Zd?"~jQY]"?y]S㽙]u]QA]`Ai ]hA)]`AYY](A up:Q->9"?Y"?=Fy,EC=E>Q 5=5Ts?Q 9=5)BBY?Q E:y+Q I@WQDIP:i:ȹ=5yɮ A jhYeFNOT Ignoring new targets: 178.10 m.Rhm:Zhm: ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.067215 m, bearing: 5.604532 deg, approach rate: 0.569452 m/s, LOS rate: 0.100862 deg/s, cmd heading: 5.549725 deg, new cmd heading: 5.604532 deg. HeadingCmd: 0.097818 target range: 178.104813 and range: 179.00 m.hT=h*h"h hgfffBdddjdZd@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014175EBɢN;) i)i<ԑifi2IT=II @I  @I @U 1@Q E  E E &E "E 1A;*E :VE 4ZE a @a @a @a @A A B B B IB BB =B B B s;B .E ^AQ AQ zAU eA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265440 AIIO? ,0?A2ne@2s@2nH=ٱ2c= :AHRS rotation from veh to nav: [[-0.785429,0.615318,-0.066971],[-0.617892,-0.785809,0.026705],[-0.036194,0.062356,0.997397]]2H`<"?@% Y%X?`??i2ne@I2];2ϐC BC)BlABxi@@DF lAiFtIFSFDIHiJds@ HL)LL LN\LPPRkAIR/])PiP)TIVkAV94T TZ CZvAXiXXYXYb$BybIbDjVDjN2yrˣ%rR=ٔr5<;Q-v>9tYt=zFyz,EzŇ=Ez>|Q 5=5~5Bs?Q 9=5~)~:BY y )Q I @~gQDI~$:i~:~.=5yBɮuAE5B*** querying acoustic contact ***i1 i1jh9EFNOT Ignoring new targets: 178.10 m.RhM:ZhM:I] ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.288528 m, bearing: 5.646692 deg, approach rate: 0.577015 m/s, LOS rate: 0.109724 deg/s, cmd heading: 5.604532 deg, new cmd heading: 5.646692 deg. eHeadingCmd: 0.098553 target range: 178.104813 and range: 179.00 m.heY=ha*ha"ha hagifffdddjdZd>@EDBɢEN;)a m~ii)mT },oJ?A6eg@6j[u@6j=ٱ6_k= BAHRS rotation from veh to nav: [[-0.769373,0.635475,-0.065100],[-0.637727,-0.769986,0.020637],[-0.037012,0.057393,0.997665]]6H U?_Ch !?1`b??i6eg@I6];4vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769868Y~By~II=)p; = =bDVDyE៽%ME=ٔM2;Q-M>9IYQ=UFyU#,EU+|=EU>YQ 5e=5]x/s?Q 9m=5])]0BYiymF(Q Im@]wQDI]k:i]:]=5yuBɮ} AyjhFNOT Ignoring new targets: 178.10 m.Rh;Zh; ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.522171 m, bearing: 5.694265 deg, approach rate: 0.563483 m/s, LOS rate: 0.114516 deg/s, cmd heading: 5.646692 deg, new cmd heading: 5.694265 deg. ԹHeadingCmd: 0.099384 target range: 178.104813 and range: 179.00 m.h=h*h"h hgfffdddjdZdn@颅BBɢ;;) лi){<顉iͬi,| I=I]9@Y @Y@e/@a)BDAT read: Rx Time:05:07:44.0997 TRx dataTimestamp_ set to:1761541665.444724checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022892^A A I) I I9 O] >Y u9 Y HA,Jd?A2i@2w@2l=ٱ2V= :AHRS rotation from veh to nav: [[-0.752501,0.655522,-0.063502],[-0.657459,-0.753358,0.014110],[-0.038591,0.052368,0.997882]]2H} ?`A `?+£ Ϫ? ?i2i@I2 ^;0Ev EvEv(Et"Ev<;*Ev:VEvc44ZEtaz@az@a~@a~@B>BB~IB BB =BBBs;B.EY ByIiMb@Mb@Mb@ 9\(\?I +:vY?y9TzA A)YzAAAbDVDk2y%B=ٔu;Q->9Y=Fy',Eh|=E>Q 5=5Is?Q 9=5 )(BY?Q E:yH$Q I@QDI;im ;|=5yɮ<AjhFNOT Ignoring new targets: 178.10 m.Rh&;Zh&; ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.750816 m, bearing: 5.748734 deg, approach rate: 0.522655 m/s, LOS rate: 0.124278 deg/s, cmd heading: 5.694265 deg, new cmd heading: 5.748734 deg. HeadingCmd: 0.100334 target range: 178.104813 and range: 179.00 m.h|=h*h"h hgfff%Bd!d!d)jd)Zd- @}ABɢ}“;)y }(Ͻiy)S<顁iͣiF澉I|=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273432AI@I @I@M/@Iq^Am Am >Am > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527513A I Ia Om >{,]~?A&4<ɰ$BMj@Bx@B$=ٱBfD= NAHRS rotation from veh to nav: [[-0.735657,0.674521,-0.061888],[-0.676169,-0.736700,0.008219],[-0.040049,0.047893,0.998049]]BH@? ɯ. Ԁ?T@l??iBMj@IBY];BѐCYVByVIbD^VD^kyf<%fZ=ٔjc;Q-j>9hYh=nFyn+,En߉=En>tQ 5z=5v` s?Q 9z=5v)v BYxyz"Q Iz@vQDIv|:iv:v=5yBɮ#AEjh)-FNOT Ignoring new targets: 178.10 m.Rh5+!;Zh5+!; ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.951660 m, bearing: 5.799368 deg, approach rate: 0.559814 m/s, LOS rate: 0.140904 deg/s, cmd heading: 5.748734 deg, new cmd heading: 5.799368 deg. HeadingCmd: 0.101218 target range: 178.104813 and range: 179.00 m.hkK=h*h"h hgfffdddjdZdt@y颍?BɢT-;) 쵽i):<iiNlIkK=I E EE&E"E=;*E :VE4ZEBED@ V>)"-@IV81bBysD~#O?  )|I"-@iV]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.^AA I I1 O] > 0%,?A-BLl@-Az@-,*=ٱ-T?= eAHRS rotation from veh to nav: [[-0.718207,0.693027,-0.062386],[-0.694580,-0.719401,0.004625],[-0.041675,0.046654,0.998041]]-HF-? :@Tr?`pV ??i-BLl@I-];-ҐCYBysI i5Mb@Mb@Mb@1111 195Q?+{GzY5(?y55#5A5IA 5hAM*DAT read: user:298> UBDAT read: Tx time:05:07:45.5264 U$Ping request sent.U9Y=%Fy%0,E%Y=E->)Q 55=5-r?Q 9==5-)-BY=s?Q E=:y=Q I=@-QDI-;i-O;-=5yBɮAEii;Œ?AJiUBRiUBji>bY۳wI\䋯4aJ@±562@RtL*;;?'ЌCz?Zi"-@biVjgV,]@U[D@ X2Z9@Zߘ?Gk?Oj?2i"B:ibB"i^c?*iMBiBiifN0ii Bi~$>-%addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 126.800003 m, deltaT: 7.811946 s, deltaX: -52.199997 m, approachRate: -6.682074 m/s, rangeRepo size: 1jh!%FNOT Ignoring new targets: 178.10 m.Rh-Z;Zh-Z;5 ProNav pure pursuit: ac range: 178.104813 m, nav range: 124.202682 m, bearing: 5.868902 deg, approach rate: 0.503961 m/s, LOS rate: 0.139317 deg/s, cmd heading: 5.799368 deg, new cmd heading: 5.868902 deg. }HeadingCmd: 0.102432 target range: 178.104813 and range: 179.00 m.h}=h*h"h hgfffBdddjd@3_@Zd ?=Bɢ!:) @i) k<  i ri 11I5=I9bEu-4jEu34rEu_0E EE,E"E8;*E:VEg4ZEa@a@a@a@B B B _IB BB B B B r;B .E%9@! @!@%/@!9  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251486^AM q A .AI I O >,,ȴ?A2m@2W{@2K2=ٱ2>= :AHRS rotation from veh to nav: [[-0.700743,0.710566,-0.063679],[-0.712085,-0.702091,0.001680],[-0.043515,0.046522,0.997969]]2H@}l?FMfwv[?Gѧ?\?i2m@I2e^;2ѐCYBByFqI N49Z ?Y^ ?=^Fy^3,E^l=E^>`Q 5f=5br?Q 9f=5bS)bBYhyjaQ Ij@bQDIbz;ib;b&=5ynBɮnAp~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 178.10 m.Rh7;Zh7; ProNav pure pursuit: ac range: 178.104813 m, nav range: 124.393936 m, bearing: 5.924662 deg, approach rate: 0.549616 m/s, LOS rate: 0.159993 deg/s, cmd heading: 5.868902 deg, new cmd heading: 5.924662 deg. %HeadingCmd: 0.103405 target range: 178.104813 and range: 179.00 m.h%=h!*h)"h) h)g)f)f1f1d1d9dAjdZd@?q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754800v3,QΈ?ANso@NSi}@N}8=ٱN'>= VAHRS rotation from veh to nav: [[-0.683014,0.727535,-0.064689],[-0.729010,-0.684502,-0.001168],[-0.045129,0.046361,0.997905]]NH`@G?n Tq"S -@? ?iNso@IN_];LYbBybuIbDjVDj0yr<%rH=ٔvt;Q-v>9v"?Yv"?=vFyv8,Ezu=Ez>|Q 5=5~Xr?Q 9=5~)~BYy Q I @~QDI~a;i~:~=5yɮAjhaeFNOT Ignoring new targets: 178.10 m.Rhm0;Zhm0;} ProNav pure pursuit: ac range: 178.104813 m, nav range: 124.602852 m, bearing: 5.988681 deg, approach rate: 0.505008 m/s, LOS rate: 0.154492 deg/s, cmd heading: 5.924662 deg, new cmd heading: 5.988681 deg. HeadingCmd: 0.104522 target range: 178.104813 and range: 179.00 m.h=h*h"h hgfffdddjdZdvC?:Bɢ:) Xսi)<iSi齉I=IY@ @@92@IIO?>%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006827B B B LIB BB B B B r;B .EBaBaE  E E 'E "E B;*E 4:VE '4ZE BE v<2E v<JE H<:E H<BaBe =Be =CeA4  9,a舿?A2q@2O~@2T@=ٱ26K= :AHRS rotation from veh to nav: [[-0.665048,0.743677,-0.068230],[-0.745320,-0.666704,-0.002032],[-0.047000,0.049502,0.997668]]2HH@3?wUҤ`@eOX??i2q@I2^;2ϐCYnBynyIIv=)vM?iMb@Mb@Mb@ 9ʡE?{Gz{GztY?yףףA zA) AYAbDVDfy#R<%;=ٔ-;Q->9Y=Fy<,Ec=E>Q 5 =5r?Q 9=56)BY?Q E:ygQ I@QDIR;iR;=5y-Bɮ-wA-EjhimFNOT Ignoring new targets: 178.10 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259626Rh3:;Zh3:; ProNav pure pursuit: ac range: 178.104813 m, nav range: 124.825836 m, bearing: 6.060018 deg, approach rate: 0.509755 m/s, LOS rate: 0.162789 deg/s, cmd heading: 5.988681 deg, new cmd heading: 6.060018 deg. HeadingCmd: 0.105767 target range: 178.104813 and range: 179.00 m.h=h*h"h hgfff!BdddjdZd-]?颕8Bɢ@p;) |i)_<顙i}i8I=Ia@a @a@e 2@iIYIqO}z>I - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510738@,>?A6$r@6A@6iG=ٱ6FQ= >AHRS rotation from veh to nav: [[-0.646771,0.759429,-0.070389],[-0.761130,-0.648587,-0.003966],[-0.048666,0.051010,0.997512]]6H Y`>M?-[9?p꨿??i6$r@I6];6ѐCYJByJuIPR@AbDRVDRyZz|%Z`=ٔ^;Q-^>9`Y`=bFyb@,Eb=Eb>dQ 5j=5fr?Q 9j=5f5#)fBYlynQ In@fQDIf ;ifz;f=5ypɮrAtjhFNOT Ignoring new targets: 178.10 m.Rh29;Zh29; ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.008118 m, bearing: 6.121147 deg, approach rate: 0.483505 m/s, LOS rate: 0.161911 deg/s, cmd heading: 6.060018 deg, new cmd heading: 6.121147 deg. HeadingCmd: 0.106834 target range: 178.104813 and range: 179.00 m.h=h*h"h hgfffdddjdZd`s\?Du=Du<E} E}E}&Ey"E}9;*E}r:VE}4ZEya@a@a@a@颍6Bɢ:) Ži)c, <i'}iȶ3=I=IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763018yUv@ @@/0@Iq I ԩ O >lF,?A;ɰ2pt@2@2M=ٱ2V= :AHRS rotation from veh to nav: [[-0.628456,0.774477,-0.072306],[-0.776221,-0.630432,-0.006003],[-0.050234,0.052353,0.997364]]2H@P?,Ȗx9`Ϊ?h?i2pt@I2];2ϐC9Y=FyD,E \=E>Q 5=5\r?Q 9=5')BY?Q E:yQ I @QDI':i:=5yBɮUmAUEjhFNOT Ignoring new targets: 178.10 m.Rh:;Zh:; ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.222954 m, bearing: 6.192701 deg, approach rate: 0.490900 m/s, LOS rate: 0.163220 deg/s, cmd heading: 6.121147 deg, new cmd heading: 6.192701 deg. HeadingCmd: 0.108083 target range: 178.104813 and range: 179.00 m.hZ=h*h"h hgfffBdddjdZd#@额4BɢtP;) i)H <顡iJzi!=ԩIZ=IE EE.E"E;;*EL:VEـ4ZEAABBB@IBBBBBB2s;B.E)@) @)@-4@)IIOb>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267312 L,5?A2u@2Ɓ@2DiT=ٱ2&+[= :AHRS rotation from veh to nav: [[-0.609890,0.789027,-0.073961],[-0.790789,-0.612032,-0.008325],[-0.051835,0.053411,0.997226]]2H7 ??ﲿ %N@ĕ X?@G?i2u@I2^;2АCYRByRI TTpbDZVDZfyzaP=%z[=ٔ~;Q-~>9|Y=FyH,Ej=E> Q 5=5 r?Q 9=5 +) BYymQ I@ RDI ;i ; =5y!ɮ%A)EB*** querying acoustic contact ***iA iAjhQUFNOT Ignoring new targets: 178.10 m.Rh].D;Zh].D;m ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.401329 m, bearing: 6.254865 deg, approach rate: 0.492850 m/s, LOS rate: 0.171515 deg/s, cmd heading: 6.192701 deg, new cmd heading: 6.254865 deg. mHeadingCmd: 0.109168 target range: 178.104813 and range: 179.00 m.hmx=hq*hq"hq hqgqfqffdd!d!jd)Zd-<@颵2Bɢ4O;) xmi)XJ <ixi=Ix=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519116 539E EE(E"EB;*E:VEc44ZEBEa2EaJE}.a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7707868S,lO?AF w@F+@FZ=ٱFEU= VAHRS rotation from veh to nav: [[-0.590642,0.803574,-0.073565],[-0.805164,-0.592927,-0.012189],[-0.053413,0.052032,0.997216]]FH ?!ղ`A@Y?1?iF w@IF];FΐCYj BynI v9Y = Fy L,E fs=E >Q 5=5)r?Q 9=5y0)BY!y%Q I%@RDI;i;g=5y-Bɮ-QA5E9jhY]FNOT Ignoring new targets: 178.10 m.Rhe&C;Zhe&C;u ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.591141 m, bearing: 6.324109 deg, approach rate: 0.468393 m/s, LOS rate: 0.170612 deg/s, cmd heading: 6.254865 deg, new cmd heading: 6.324109 deg. uHeadingCmd: 0.110377 target range: 178.104813 and range: 179.00 m.h} =hy*hy"hy hygfffdddjdZd @颽0Bɢ6_;) 쎽i)m <i-vi)=I =IԉBDAT read: Rx Time:05:07:48.1023  TRx dataTimestamp_ set to:1761541669.476674 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0246941@9 @9@=/@9ԙA I I O > E  E E 'E "E y>;*E :VE '4ZE a @a @a @a @B B B :IB BB =B B B us;B .EdY,i?A^&z@^@^$:b=ٱ^sd= zAHRS rotation from veh to nav: [[-0.551916,0.830352,-0.076835],[-0.832070,-0.554463,-0.015175],[-0.055203,0.055557,0.996928]]^HL>?wQ(@M`Cq?@?i^&z@I^^;^ѐCYEByEIԙiMb@Mb@Mb@ 9On?+η9qYq=uFyuQ,E}=E}>Q 5=5~r?Q 9=55)ۺBYp?Q E:yQ I@'RDI/#;i";Y=5yɮAjhFNOT Ignoring new targets: 178.10 m.RhN;ZhN; ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.795967 m, bearing: 6.405748 deg, approach rate: 0.453978 m/s, LOS rate: 0.180652 deg/s, cmd heading: 6.324109 deg, new cmd heading: 6.405748 deg. HeadingCmd: 0.111801 target range: 178.104813 and range: 179.00 m.h"=h*h"h hgfff7BdddjdZde @-.Bɢ54;)1 5Xi1)5& <19i=2si="=AAIE"=IA@ @ @ 0@ AU.AIaIqO{>5 DAT read: 05:07:48.1023 LVL= 32752, 25329, 32754, 32755, AGC= 67, IDX= 459, 0.24,-0.179, 0.505,-1.270,-0.011, PHS=-0.066, 0.561,-1.303, RAW= 10.7, 9.9, CAL= 10.6, 10.9, ROT= 139.4, -10.9 = Ygot valid direction response: 05:07:48.1023 LVL= 32752, 25329, 32754, 32755, AGC= 67, IDX= 459, 0.24,-0.179, 0.505,-1.270,-0.011, PHS=-0.066, 0.561,-1.303, RAW= 10.7, 9.9, CAL= 10.6, 10.9, ROT= 139.4, -10.9 E PDAT read: Bearing 187.8, 43.7 (Local) M ~Local bearing/azimuth received: Bearing 187.8, 43.7 (Local) U DAT read: Range 11 to 50 : 128.7 m (Round-trip 171.7 ms) speed -0.4 m/s ] R#Rx 1: Read range and direction messages.e ^direction in FSK: [-0.745573,0.639033,0.189095]e Fpublishing direction and range infoy  >hհ Zr?oG4?Y C b ) CI +i ? Ȧ t;?> ;0> q=> B>) @I B i/]DԿFRyG1? .) L0I @i B } T****** received valid address query ******} R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.! `,3?AEY E]E]&EY"EY*E]:VE]4ZEYBE]S=ٔQ->9 ?Y ?=%Fy%U,E%E%>Q 5=5or?Q 9=5:)ԺBYyQ I@8RDIR:ik:+=5yBɮ/AEi1i5~?AJi5CRi5Cji5 >b5@pW:m,HuT@u2M78@R5>hհ Zr?oG4?Zi5@bi5Bj5ܙS*]@;@@D6؍@@Z5d]̮?&H?T^H?2i5B:i5B"i5Q\?*i5nBi5Bi5Q\?i5i5Bi5KBi5&J> addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 11.591935 s, deltaX: -50.300003 m, approachRate: -4.339224 m/s, rangeRepo size: 2  Added new target pos. range: 128.056717 m, bearing: 15.839935 deg, lat: 36.779245 deg, lon: -121.859403 deg, deltaT: 11.591935 s, deltaX: -50.048096 m, approachRate: -4.317493 m/s, posRepo size: 2 jh FNOT Ignoring new targets: 128.06 m.Rh Zh  ProNav: ac range: 128.056717 m, nav range: 121.147179 m, bearing: 11.335742 deg, approach rate: 0.000000 m/s, LOS rate: 0.180652 deg/s, cmd heading: 6.405748 deg, new cmd heading: 6.644685 deg. Bh;%HeadingCmd: 0.115972 target range: 128.056717 and range: 128.70 m.h%=h!*h)"h) h)g)f)f1f1d1d1d1jd=`f`@Zd=b?m,Bɢmā;)i mMii)u uBDAT read: Tx time:05:07:49.2764 u$Ping request sent.uԁ g, c?AF=}@Fʙ@Fff=ٱFeUu= ^AHRS rotation from veh to nav: [[-0.511065,0.855797,-0.080150],[-0.857701,-0.513848,-0.017569],[-0.056221,0.059765,0.996628]]bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250071FHZ@b?ౄ Jr`qq``Ȭ`?`?iF=}@IFl^;FҐChjr@ihIhhl llllppIp)pip)tIvMjAvd;t ttxxixxixx)| |I| |){AYY By I iMb@Mb@Mb@ 9/$?!rhMb?Y&?ylTG<3A A hA)E Aqt9YӜAY3AbDVDfy%g%-I=ٔ-m$;Q-5>9M"?YU"?=UFyUY,EU%=EU>YQ 5e=5]br?Q 9e=5]Z?)]κBYm?Q Em:yQ I@]GRDI];i];]=5yɮKAjhFNOT Ignoring new targets: 128.06 m.Rh7;Zh7; ProNav: ac range: 128.056717 m, nav range: 121.331993 m, bearing: 11.400438 deg, approach rate: 0.459427 m/s, LOS rate: 0.160583 deg/s, cmd heading: 6.644685 deg, new cmd heading: 6.838478 deg. Bhi;HeadingCmd: 0.119354 target range: 128.056717 and range: 128.70 m.ho=h*h!"h! h!g!f!f)f-[Bd1d1d1jd1Zd=T?*Bɢ@.;) [i ) 0<  i |mio=Io=IEi EmEiEi"Ei*Em:VEiZEiau@au@au@au@ԁBAB>BB@IBBB =BBBos;B.EY@Y @Y@]0@Yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501990ԱA .AI I O > +m,=?Aɰp;Fj~@F`@FDg=ٱFM|= NAHRS rotation from veh to nav: [[-0.490157,0.867832,-0.081326],[-0.869800,-0.493042,-0.018927],[-0.056523,0.061460,0.996508]]FH^߿G?@Ѵ@f߿`a @w?`d?iFj~@IFs^;FϐCY%By%xIbDUVDUy!%a=ٔZ:Q->9 ?Y ?=Fy],Er=E> Q 5=5 =Wr?Q 9%=5 C) ȺBY!y%Q I%@ TRDI h-;i t; =5y)ɮ5A1MB*** querying acoustic contact ***iI iIjhYeFNOT Ignoring new targets: 128.06 m.Rhe~B;Zhe~B;u ProNav: ac range: 128.056717 m, nav range: 121.496635 m, bearing: 11.460818 deg, approach rate: 0.464298 m/s, LOS rate: 0.170040 deg/s, cmd heading: 6.838478 deg, new cmd heading: 7.019369 deg. Bhue;}HeadingCmd: 0.122511 target range: 128.056717 and range: 128.70 m.h}=hy*hy"h hgfffdddjdZd?Ա(BɢP[;) (i)u<ieki=I=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754953i@i @i@m4@iA؟AIIOj>Eu EuEu%Eq"Eu=;*Eu#:VEu 4ZEqBEu95"?Y5"?==Fy=a,E==E=>AQ 5M=5EKr?Q 9M=5EG)EºBYQyUwQ IU@EbRDIE :iE:E=5yeBɮe)AajhFNOT Ignoring new targets: 128.06 m.RhD;ZhD; ProNav: ac range: 128.056717 m, nav range: 121.665924 m, bearing: 11.525820 deg, approach rate: 0.449111 m/s, LOS rate: 0.172207 deg/s, cmd heading: 7.019369 deg, new cmd heading: 7.214104 deg. Bh^;HeadingCmd: 0.125910 target range: 128.056717 and range: 128.70 m.h>h*h"h hgfffdddjdZd?'Bɢ';) i)<iahi>I>I@ @@/@9AAIIIYOeV>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257965i bEˀ'4jE-4rE}x0E  E E (E "E *E V:VE c44ZE a @a @a @a @B >B B FIB BB B B B Ns;B .ECz,$뉿?AN@N@N=i=ٱN;m= VAHRS rotation from veh to nav: [[-0.447032,0.891177,-0.077242],[-0.892699,-0.449960,-0.024969],[-0.057008,0.057792,0.996700]]NH@-ܿ?`Ƴ &ܿ 0??iN@INy^;LY-By5Ii Mb@Mb@Mb@     9 ˡE?ny&1|?Y ?y V `; A / A A) \ A Y A p<5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510004bD%VD%JyE%E9=ٔE8!:Q-M>9IYI=MFyMe,EUe=EU>YQ 5e=5]">r?Q 9e=5]L)]BYe ?Q Em:ymQ Im@]rRDI]q ;i] ;]=5yqɮu\AqjhFNOT Ignoring new targets: 128.06 m.Rh1;Zh1; ProNav: ac range: 128.056717 m, nav range: 121.858589 m, bearing: 11.594456 deg, approach rate: 0.437217 m/s, LOS rate: 0.155510 deg/s, cmd heading: 7.214104 deg, new cmd heading: 7.419685 deg. Bhs;HeadingCmd: 0.129498 target range: 128.056717 and range: 128.70 m.h>h*h"h hgfffoBdddjdZd?%Bɢ;) ;i) dY<  i ei>I>Ia@ @@@AzAdAԉA I!I9OMu>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762009>',V?A:V@:!@:^Yj=ٱ: fk= BAHRS rotation from veh to nav: [[-0.425053,0.901949,-0.076278],[-0.903360,-0.428019,-0.027202],[-0.057183,0.057345,0.996715]]:H`4ۿ? T`dۿڛG`J\??i:V@I:6^;:ϐCYJByJwILbDV VDV2y^ 9%bg=ٔb::Q-b>9dYd=fFyfi,Ef=Ef>hQ 5r=5j3r?Q 9r=5jP)jBYpyrQ Ir@j~RDIj ;ij:j =5yvBɮzAzEjhFNOT Ignoring new targets: 128.06 m.Rh7;Zh%7;- ProNav: ac range: 128.056717 m, nav range: 122.010139 m, bearing: 11.651034 deg, approach rate: 0.429133 m/s, LOS rate: 0.160010 deg/s, cmd heading: 7.419686 deg, new cmd heading: 7.589210 deg. Bh5;=HeadingCmd: 0.132457 target range: 128.056717 and range: 128.70 m.h=>h9*h9"h9 h9g9fAfAfAdAdIdIjdIZdM]@}$Bɢ}(hu;)y }ri)<顁ici>I>IE9 E=E=)E9"E9*E=:VE=FA4ZE9BE9aM2E9aMJE=!2) O,?A2Y@2$@2V*l=ٱ2e= :AHRS rotation from veh to nav: [[-0.402082,0.912568,-0.074495],[-0.913789,-0.405075,-0.030080],[-0.057626,0.055978,0.996768]]2Hٿ`3?=ٿ3͞` ?`?i2Y@I28^;2АCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265807YVByVtIIZ?>)Z9Y=Fym,El=E>Q 5>5 'r?Q 9>5U)BYf ?Q E:yQ I@RDI ;i ;>5yBɮAjh!-FNOT Ignoring new targets: 128.06 m.Rh-;;Zh5;;E ProNav: ac range: 128.056717 m, nav range: 122.194733 m, bearing: 11.722854 deg, approach rate: 0.420889 m/s, LOS rate: 0.163508 deg/s, cmd heading: 7.589210 deg, new cmd heading: 7.804343 deg. BhEm;EHeadingCmd: 0.136211 target range: 128.056717 and range: 128.70 m.hM{ >hI*hI"hI hIgIfIfQfUyBdYdYdYjdYZd]Ý@颍"BɢB;) vi)r<顑i`i{ >I{ >I)1@1 @1@1@1EM EMEIEI"EM1A;*EM-:VEIZEIaU@aU@a]@a]@AYAYBaBaBe@IBeBBe =BaBaBer;Be.EB B B B B C 4AIIOc>QUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517956ԁ y,8?A:_@:Z@:{m=ٱ:\= NAHRS rotation from veh to nav: [[-0.378448,0.922846,-0.071639],[-0.923807,-0.381418,-0.033182],[-0.057946,0.053623,0.996879]]:H`|8ؿ?Vӏ %iؿ`5`!t?m?i:_@I:1];:ϐCY^Byb_IlnAAbDrVDry %X=ٔ^:Q->9 Y =Fyq,E2=E>!Q 55>5%}r?Q 95>5%Y)%BY9y=Q IE@%RDI%5yQɮU)AQajhFNOT Ignoring new targets: 128.06 m.Rh=;Zh=; ProNav: ac range: 128.056717 m, nav range: 122.351059 m, bearing: 11.786679 deg, approach rate: 0.407069 m/s, LOS rate: 0.165986 deg/s, cmd heading: 7.804343 deg, new cmd heading: 7.995573 deg. Bh;HeadingCmd: 0.139549 target range: 128.056717 and range: 128.70 m.h>h*h"h hgfffdddjdZd@!Bɢ:)u u4iq)},I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770593ԉ9@ @@0@A>A>AI!I1O=r>ԱEU EUEU+EQ"EU=;*EU1:VEU [4ZEQBEQae2EQaeJEU79IYQ=UFyUu,EUEU>YQ 5e>5]r?Q 9e>5]^)]BYiyiQ Im@]RDI] :i]:]>5yqɮu9AyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 128.06 m.RhB;ZhB;Թ ProNav: ac range: 128.056717 m, nav range: 122.520905 m, bearing: 11.855772 deg, approach rate: 0.417555 m/s, LOS rate: 0.169625 deg/s, cmd heading: 7.995573 deg, new cmd heading: 8.202563 deg. Bh;HeadingCmd: 0.143162 target range: 128.056717 and range: 128.70 m.h>h*h"h hgfffdddjdZd @  Bɢ D:) @i)d<i(Zi>!!I%>I!9@ @!@%/1@!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274121A.AIIOj>BA BA BE :IBE BBA BA BA BE s;BE .EEe  Ee Ee *Ea "Ee C;*Ee I:VEe (N4ZEa BEe ><2Ee ?<JEe (<:Ee (?u?i@I/^;YByJIA=DAT read: 05:07:51.8544 LVL= 29296, 23249, 32626, 31731, AGC= 66, IDX= 450,-0.14, 1.869, 1.783, 0.343, 1.689, PHS= 0.283, 0.140,-1.390, RAW= 34.4, 12.0, CAL= 32.4, 13.1, ROT= 117.6, -13.1 MYgot valid direction response: 05:07:51.8544 LVL= 29296, 23249, 32626, 31731, AGC= 66, IDX= 450,-0.14, 1.869, 1.783, 0.343, 1.689, PHS= 0.283, 0.140,-1.390, RAW= 34.4, 12.0, CAL= 32.4, 13.1, ROT= 117.6, -13.1 UPDAT read: Bearing 188.3, 64.1 (Local) U~Local bearing/azimuth received: Bearing 188.3, 64.1 (Local) ]DAT read: Range 11 to 50 : 130.5 m (Round-trip 174.0 ms) speed 0.0 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [-0.451239,0.863141,0.226651]mFpublishing direction and range infoyIAܿٞ?+#?YCprZr {)BI`>i)\>뱿`?PwV>?  j>)G\@I j'N?up4(U? .)8VIG\@i jT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙiMb@Mb@Mb@ 9)\(?L7A`MbYG?y+`A A A)rAYG AbD-VD-βy=d|%E.=ٔE:Q-E>9M ?YM ?=MFyMz,EUl=EU>YQ 5e>5]r?Q 9e>5]c)]BYe?Q Ee:ym Q Im@]RDI];i];] >5yuBɮuAuEiip?AJiCRiCjiJ >bApKM:\@ױ+n=@RIAܿٞ?+#?ZiG\@bi jj^@yL$0@0yC@Z‡@?.amCM?@2?2iLA:iB"iAn?*i OBiBiAn?iiBiBiP>  addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 3.780110 s, deltaX: 1.800003 m, approachRate: 0.476177 m/s, rangeRepo size: 3 Թ} Added new target pos. range: 129.847687 m, bearing: 7.672169 deg, lat: 36.779269 deg, lon: -121.859403 deg, deltaT: 3.780110 s, deltaX: 1.790970 m, approachRate: 0.473788 m/s, posRepo size: 3 jhyFNOT Ignoring new targets: 129.85 m.RhZh  ProNav: ac range: 129.847687 m, nav range: 125.355293 m, bearing: 11.678409 deg, approach rate: 0.000000 m/s, LOS rate: 0.169625 deg/s, cmd heading: 8.202564 deg, new cmd heading: 8.461829 deg. Bh UHeadingCmd: 0.147687 target range: 129.847687 and range: 130.50 m.hU4;>hQ*hQ"hQ hYgYfYfYfeqBdadadajdeP`@Zdm`e?UBɢU:)Q UiY)] I4;>II)fA *DAT read: user:300>  BDAT read: Tx time:05:07:53.0763  $Ping request sent. ݵ,,?AB/@B@BD4q=ٱBf= ~AHRS rotation from veh to nav: [[-0.308751,0.948431,-0.071770],[-0.949320,-0.311950,-0.038448],[-0.058854,0.056262,0.996680]]BHӿY? _ `ӿj"fά?@?iB/@IBc@^;BҐCYuByu8I 4<<bDVDk1E  EEE"EG;*E:VEZEa@a@a@a@y%^=ٔb:Q->9Y=Fy~,E݇=E>Q 5>5q?Q 9>51h)BYyQ I@RDI$5y!ɮ%0A!jhiiFNOT Ignoring new targets: 129.85 m.RhR;ZhR; ProNav: ac range: 129.847687 m, nav range: 125.489388 m, bearing: 11.741066 deg, approach rate: 0.393400 m/s, LOS rate: 0.183622 deg/s, cmd heading: 8.461829 deg, new cmd heading: 8.649596 deg. Bh ;HeadingCmd: 0.150964 target range: 129.847687 and range: 130.50 m.hJ>h*h"h hgfffdddjdZdఉ?IɢM5)I MPiI)Uќ;QQiUtsSi]J>YYI]J>Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249525ԙA @I  @I @M 0@I A ؟AI I O >U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501126,?A2@2Q@2"p=ٱ2i= :AHRS rotation from veh to nav: [[-0.285796,0.955623,-0.071454],[-0.956485,-0.289038,-0.039914],[-0.058796,0.056938,0.996645]]2H@yJҿv? Jҿ oq&??i2@I2^;2ϐCYFByF!IiuMb@Mb@Mb@qqqq q9uNbX9?QQYu?yuuuuIAu/ A uA)qqYuAbDVD2yJ%L=ٔfQ->9"?Y"?=Fy,Ev=E>Q 5>5q?Q 9>5m)~BY+ ?Q E:yQ I@RDIv:i':>5yɮAjhFNOT Ignoring new targets: 129.85 m.RhGW;ZhGW;  ProNav: ac range: 129.847687 m, nav range: 125.630615 m, bearing: 11.814414 deg, approach rate: 0.362796 m/s, LOS rate: 0.188211 deg/s, cmd heading: 8.649596 deg, new cmd heading: 8.869393 deg. Bh *<HeadingCmd: 0.154800 target range: 129.847687 and range: 130.50 m.h>h*h"h hgfffEBd!d!d!jd!Zd- z?Bɢ੻) 9i);i$Pi->))I->I)qBaAe4<BiBiBm!IBmBBm =BiBiBms;Bm.EE EE'E"E=;*E:VE'4ZEBEA = ,T㺊?A>M@>`H@>[q=ٱ>|x= FAHRS rotation from veh to nav: [[-0.262470,0.962110,-0.073843],[-0.963141,-0.265883,-0.040803],[-0.058891,0.060412,0.996435]]>HOп?`g粿 :ѿ0䤿@&Q? ?i>M@I>V^;>ѐCYRgByRIbDZVDZ:yb %bY=ٔb~9Q-f>9f ?Yf ?=fFyf,Ej>=Ej>lQ 5r>5nq?Q 9r>5nq)nsBYpyvQ Iv@nRDIn:int:n>5yzBɮzAzĥEjhFNOT Ignoring new targets: 129.85 m.Rh%T;Zh%T;5 ProNav: ac range: 129.847687 m, nav range: 125.759544 m, bearing: 11.884511 deg, approach rate: 0.342678 m/s, LOS rate: 0.186118 deg/s, cmd heading: 8.869393 deg, new cmd heading: 9.079468 deg. Bh5v;=HeadingCmd: 0.158467 target range: 129.847687 and range: 130.50 m.h=E">h9*hA"hA hAgAfAfIfIdIdIdIjdQZdUB?颅Bɢ, ) ?Qi);顉iPMiE">IE">Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005530a59ԙE EEE"E;;*EV:VEZEa@a@a@a@9@ @@4@A>A> A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257311,yԊ?A2@2d @2Xo=ٱ2= :AHRS rotation from veh to nav: [[-0.239357,0.967944,-0.076104],[-0.969170,-0.242908,-0.041305],[-0.058467,0.063871,0.996244]]2H Dο`f?{o@Ͽ%kﭿ Y? ;?i2@I2^;2ΐCYFBByFIPbDNVDN0yr%rI=ٔvQ-v>9tYt=vFyz,Ezp=Ez>|Q 5>5~q?Q 9>5~v)~hBY y hQ I @~RDI~(:i~A:~v>5yɮA5B*** querying acoustic contact ***i1 i1jhAEFNOT Ignoring new targets: 129.85 m.RhMLX;ZhMLX;] ProNav: ac range: 129.847687 m, nav range: 125.895172 m, bearing: 11.961683 deg, approach rate: 0.332697 m/s, LOS rate: 0.189101 deg/s, cmd heading: 9.079468 deg, new cmd heading: 9.310734 deg. Bh]<eHeadingCmd: 0.162503 target range: 129.847687 and range: 130.50 m.he.g&>ha*ha"ha hagifififidqdqdqjdqZdu`?颥Bɢ6=) I.g&>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510987rG99@ @@/@Y%AAI IQ Ia Ou >! By By B} IB} CBBy By By B} s;B} /EE  E E *E "E <;*E g:VE (N4ZE BE “9Y=Fy,EM`=E>Q 5>5q?Q 9>5|)\BY;?Q E:y5yɮAjhFNOT Ignoring new targets: 129.85 m.Rhk;Zhk;  ProNav: ac range: 129.847687 m, nav range: 126.030594 m, bearing: 12.049942 deg, approach rate: 0.316636 m/s, LOS rate: 0.206139 deg/s, cmd heading: 9.310735 deg, new cmd heading: 9.575223 deg. Bh x <HeadingCmd: 0.167119 target range: 129.847687 and range: 130.50 m.hJ!+>h*h"h hgff!f%LBd!d!d)jd)Zd-3O@]Bɢ]60)Y ]ia)eY;aaieEimJ!+>iiImJ!+>Iq 9@  @ @ 0@ 9A]؟AIaIqO}Y>Q- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013116ԁ ,c?A2@2{@2g4g=ٱ2= :AHRS rotation from veh to nav: [[-0.193574,0.978245,-0.074607],[-0.979462,-0.197067,-0.042642],[-0.056416,0.064820,0.996301]]2H ȿ M?p W}9ɿե@⬿@?`?i2@I2"^;0YB ByFI HHbDNVDNkyV%V[=ٔZWQ-Z>9Z"?YZ"?=ZFyZ,E^=E^>`Q 5f>5bq?Q 9f>5b)bQBYhyj7Q Ij@b SDIbI:ibb:bu >5y9ɮ=A9YE EE&E"EB;*E:VE4ZEa@a@a@a@jhFNOT Ignoring new targets: 129.85 m.Rhb;Zhb; ProNav: ac range: 129.847687 m, nav range: 126.144707 m, bearing: 12.127856 deg, approach rate: 0.290542 m/s, LOS rate: 0.198197 deg/s, cmd heading: 9.575223 deg, new cmd heading: 9.808752 deg. Bh<HeadingCmd: 0.171195 target range: 129.847687 and range: 130.50 m.hM/>h*h"h hgfffdddjdZdG@ɢJ]) Õi);iJAiM/>IM/>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265848ԙ@ @@0@A1I9IQO]v>Ա U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519121I+,|C"?AFO@FnJ@F`=ٱF\= NAHRS rotation from veh to nav: [[-0.170948,0.982678,-0.071557],[-0.983754,-0.174273,-0.043090],[-0.054814,0.063029,0.996505]]FHſ r? QzNƿ"?_?iFO@IFn0^;FϐCYZ~ByZIi=Mb@Mb@Mb@9999 99=|?5^?ʡEY=?y==̼=A= A = A)=A9Y= AbDUVDUye-%e?=ٔeuQ-m>9iYi=mFym,Eu\=Eu>yQ 5>5}Zq?Q 9>5}·)}DBYe?Q E:yQ I@}SDI};i};}2$>5yBɮAåEԱjhFNOT Ignoring new targets: 129.85 m.Rh?;Zh?;] ProNav: ac range: 129.847687 m, nav range: 126.266296 m, bearing: 12.225267 deg, approach rate: 0.297649 m/s, LOS rate: 0.238231 deg/s, cmd heading: 9.808753 deg, new cmd heading: 10.100702 deg. Bh]~#<eHeadingCmd: 0.176291 target range: 129.847687 and range: 130.50 m.he4>ha*ha"ha hagafififmBdddjdZd@Bɢp) ~i) ; i M>i4>I4>IBBBIB~BBBBDB|s;B.EbEFA4jEIJ>4rEĖ/E EE)E"E8;*E:VEFA4ZEBE׏checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7711599 W,(9XY\=^Fy^,E^0s=E^>`Q 5f>5b:q?Q 9f>5b\)b8BYhyjQ Ij@b(SDIbp:ib;b'>5ylɮnqApjh FNOT Ignoring new targets: 129.85 m.Rh Ճ;Zh Ճ;% ProNav: ac range: 129.847687 m, nav range: 126.370598 m, bearing: 12.313009 deg, approach rate: 0.274244 m/s, LOS rate: 0.230513 deg/s, cmd heading: 10.100702 deg, new cmd heading: 10.363708 deg. Bh%2<-HeadingCmd: 0.180881 target range: 129.847687 and range: 130.50 m.h-89>h)*h)"h) h)g1f1f9f9d9d9d9jdAZdE @iɢm)q uiq)u ;yyi}:i}89>I89>I BDAT read: Rx Time:05:07:55.6560 TRx dataTimestamp_ set to:1761541677.037381checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0238589@ @@4@9AII1O=P>E EE(E"EO6;*E:VEc44ZEa@a@a@a@i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273249ԑ 2<,0U?A2‹@2@2~R=ٱ2dz= :AHRS rotation from veh to nav: [[-0.126222,0.989731,-0.067083],[-0.990671,-0.129266,-0.043139],[-0.051367,0.061012,0.996814]]2H (?^, ƋA L=? ?i2‹@I2*^;0yY~ByIIt>)p=bD VD2y%+=ٔ*kQ->9Y=Fy,EB=E>Q 5 >5Sq?Q 9 >5Y)*BYy Q I@9SDI;i;+>5yBɮ{ḀE=B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 129.85 m.RhU;ZhU; ProNav: ac range: 129.847687 m, nav range: 126.495964 m, bearing: 12.423865 deg, approach rate: 0.262754 m/s, LOS rate: 0.232111 deg/s, cmd heading: 10.363708 deg, new cmd heading: 10.695942 deg. BhK<HeadingCmd: 0.186679 target range: 129.847687 and range: 130.50 m.h(?>h*h"h hgfffdddjdZd @BɢN)a m3iq)};顁iyW6i (?>I(?>IԩIeA)EDAT read: 05:07:55.6560 LVL= 20912, 20785, 30098, 25891, AGC= 64, IDX= 450,-0.16,-1.023,-1.812,-2.737,-1.532, PHS= 0.612,-0.235,-1.249, RAW= 57.0, 10.8, CAL= 54.2, 12.9, ROT= 95.8, -12.9 MYgot valid direction response: 05:07:55.6560 LVL= 20912, 20785, 30098, 25891, AGC= 64, IDX= 450,-0.16,-1.023,-1.812,-2.737,-1.532, PHS= 0.612,-0.235,-1.249, RAW= 57.0, 10.8, CAL= 54.2, 12.9, ROT= 95.8, -12.9 UPDAT read: Bearing 149.2, 80.0 (Local) U~Local bearing/azimuth received: Bearing 149.2, 80.0 (Local) eDAT read: Range 11 to 50 : 131.6 m (Round-trip 175.5 ms) speed -0.2 m/s mR#Rx 1: Read range and direction messages.u^direction in FSK: [-0.098506,0.969771,0.223250]uFpublishing direction and range infoyҩ7ij]?Nu?YCQ1Qu #e)@I?iףp;ߟ~?A>*r? f>)?IfSB?(`K뿼b&? )lJAI?ifT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.q@y @y@}3@yA I I O >B B B IB ~BB =B B B vs;B .EBBBBBCɴ3E  E E %E "E 77;*E -:VE 4ZE BE  eBDAT read: Tx time:05:07:56.8763 m$Ping request sent.m99Y9==Fy=,E=m=E=>AQ 5M>5Eq?Q 9u>5E )E!BYu?Q Eu:yuQ Iu@EHSDIE;iEW;E/>5yɮAiAiEb?AJiECRiECjiE:@bE )pn_@ o;=@REҩ7ij]?Nu?ZiE?biEfjE?5 addTargetRange:: Added new target pos. range: 131.600006 m, deltaT: 3.782050 s, deltaX: 1.100006 m, approachRate: 0.290849 m/s, rangeRepo size: 4 E Added new target pos. range: 130.941833 m, bearing: 359.058403 deg, lat: 36.779269 deg, lon: -121.859403 deg, deltaT: 3.782050 s, deltaX: 1.094147 m, approachRate: 0.289300 m/s, posRepo size: 4 jhAEFNOT Ignoring new targets: 130.94 m.RhMZhi} ProNav: ac range: 130.941833 m, nav range: 126.593124 m, bearing: 12.514666 deg, approach rate: 0.000000 m/s, LOS rate: 0.232111 deg/s, cmd heading: 10.695942 deg, new cmd heading: 10.971744 deg. BhyHeadingCmd: 0.191493 target range: 130.941833 and range: 131.60 m.hD>h*h"h hgfff2Bdddjd@3s`@Zd?IɢMj)I MiQ)UA;QQiU:2iD>ID>I9@9 @9@= 4@9A.AIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250989) Q P,?Aɰ2,@2&@2D=ٱ2d6Q= :AHRS rotation from veh to nav: [[-0.082461,0.995084,-0.054845],[-0.995434,-0.084895,-0.043634],[-0.048076,0.050996,0.997541]]2H,?`@Wj&? ?i2,@I29^^;2АCY~ByIbD-VD-y=޽%=Y=ٔ=߉Q-E>9E ?YE ?=EFyE,EMpr=EM>DQDU<E] EYE]'EY"E];;*EYVE]'4ZEYam@am@am@am@QQ 5u>5Uq?Q 9u>5U)UBYyy}#Q I}@UVSDIU;iU: ;UE2>5yɮAAjhFNOT Ignoring new targets: 130.94 m.Rhَ;Zhَ; ProNav: ac range: 130.941833 m, nav range: 126.684486 m, bearing: 12.604614 deg, approach rate: 0.253884 m/s, LOS rate: 0.249775 deg/s, cmd heading: 10.971744 deg, new cmd heading: 11.241392 deg. Bhk+<HeadingCmd: 0.196199 target range: 130.941833 and range: 131.60 m.hxH>h*h"h hgfffdddjdZd}?颉ɢl̼) ̾i)^;顑i`/ixH>IxH>I)A@I @I@M/@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504991QIaIqOY>ԁ - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756925{,t?A,Jߍ@Jڔ@J>=ٱJJ= RAHRS rotation from veh to nav: [[-0.060595,0.996796,-0.052208],[-0.997079,-0.062883,-0.043347],[-0.046491,0.049429,0.997695]]JH@V ?`1ͧ N? ?iJߍ@IJz^;JѐCYw~By~IAi Mb@Mb@Mb@     9 x?Q~jthY K?y u D  A \ A IA) A Y 3 AbD%VD%:y56%5<=ٔ5nQ-5>99Y9==Fy=,E=]N=EE>AQ 5U>5Eq?Q 9U>5Ec)EBYU?Q EU:yUݿQ IU@EfSDIE ;iE ;E6>5yaɮeAajhFNOT Ignoring new targets: 130.94 m.Rh6;Zh6; ProNav: ac range: 130.941833 m, nav range: 126.780968 m, bearing: 12.712999 deg, approach rate: 0.223079 m/s, LOS rate: 0.250412 deg/s, cmd heading: 11.241392 deg, new cmd heading: 11.566296 deg. Bh+<%HeadingCmd: 0.201870 target range: 130.941833 and range: 131.60 m.h-N>h)*h)"h) h)g)f1f1f5Bd1d9d9jd9Zd=?ԁBBBxIBn~BB =BBBts;B.E!ɢ-;)) -ܾi))-;11i5<+i5N>99I=N>Eu EuEqEq"Eu9;*EuI:VEqZEqBEuh h,a?A2M@2@2l7=ٱ2=C= :AHRS rotation from veh to nav: [[-0.038867,0.998018,-0.049488],[-0.998241,-0.040999,-0.042822],[-0.044767,0.047737,0.997856]]2H [棿?@V`@쥿릿@p? p?i2M@I2F^;2ϐClYz~ByzI 4<bDVDy==%_=ٔ:Q->9!Y!=%Fy%,E%r=E->)Q 55>5- q?Q 9=>5-)- BY9y=ڿQ I=@-tSDI-;i- ;-I9>5yIɮM.AIjhiuFNOT Ignoring new targets: 130.94 m.Rh};;Zh};; ProNav: ac range: 130.941833 m, nav range: 126.858231 m, bearing: 12.805022 deg, approach rate: 0.210405 m/s, LOS rate: 0.250447 deg/s, cmd heading: 11.566296 deg, new cmd heading: 11.842195 deg. Bh+<HeadingCmd: 0.206685 target range: 130.941833 and range: 131.60 m.hOS>h*h"h hgfffdddjdZd`Q?Bɢ˼) hɾi);i(iOS>IOS>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258962@ @@0@ I1IAOM>9DqzDqE} E}E}%Ey"E}/;*E}:VE} 4ZEya@a@a@a@a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510827^,=׋?A2K@2jF@2w2=ٱ21= :AHRS rotation from veh to nav: [[-0.016277,0.998894,-0.044117],[-0.998918,-0.018168,-0.042803],[-0.043557,0.043372,0.998109]]2H?@}#7꥿M@4?`?i2K@I2-Z^;2ΐCYb~BybIbDz VDz2y M%K=ٔDQ->9!Y!=%Fy%,E-d=E5>yQ 5>5q?Q 9>5)BYyؿQ I@SDI(:i:<>5yBɮKA֥Ejh9EFNOT Ignoring new targets: 130.94 m.RhM~;ZhM~; ProNav: ac range: 130.941833 m, nav range: 126.942215 m, bearing: 12.911633 deg, approach rate: 0.195029 m/s, LOS rate: 0.247407 deg/s, cmd heading: 11.842195 deg, new cmd heading: 12.161812 deg. Bh)<HeadingCmd: 0.212264 target range: 130.941833 and range: 131.60 m.h[Y>h*h"h hgfffdddjdZd@߈?ɢЇ) lоi);iB$i[Y>I[Y>Iԩ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765191IIOb>B >B B _IB E~BB B B B >s;B .EE  E E E "E 77;*E :VE ZE BE )F>iMb@Mb@Mb@ 9ʡE?T㥛 I +?Y-?y94<vA A A)AY AbD-VD-k=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014867yE<%EG=ٔM#Q-M>9IYQ=UFyU,EUi=E]>YQ 5e>5]q?Q 9m>5])]BYm?Q Em:ymPֿQ Im@]SDI]:i]:]g@>5yyɮ}AyUB*** querying acoustic contact ***iQ iQjhYeFNOT Ignoring new targets: 130.94 m.Rhm;Zhm; ProNav: ac range: 130.941833 m, nav range: 127.015121 m, bearing: 13.007764 deg, approach rate: 0.178493 m/s, LOS rate: 0.235218 deg/s, cmd heading: 12.161812 deg, new cmd heading: 12.450038 deg. Bhm!<HeadingCmd: 0.217294 target range: 130.941833 and range: 131.60 m.h\^>h*h"h hgfff(BdddjdZd@Bɢf) Cʾi)%܃;!!iU i]\^>YaIm\^>Iiq@y @y@}W0@yA>A>II Om>)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841Y , ?AY~~By~I AA bDVDβy%=<%%M=ٔ%Q-->9)Y)=-Fy-,E5E5>EE EEEE*EA"EE8;*EE:VEE(N4ZEAaM@aM@aM@aM@Q 5>5q?Q 9>5)BYyQ I@SDI:i@;D>5yBɮAեEjhFNOT Ignoring new targets: 130.94 m.Rhܔ;Zhܔ; ProNav: ac range: 130.941833 m, nav range: 127.092278 m, bearing: 13.108862 deg, approach rate: 0.198770 m/s, LOS rate: 0.260291 deg/s, cmd heading: 12.450038 deg, new cmd heading: 12.753144 deg. Bh2<HeadingCmd: 0.222584 target range: 130.941833 and range: 131.60 m.h'c>h *h "h  h g f ffdddjdZdm@1IɢM{Aʼ)Q UXžiQ)Uu;YYi]sbi]'c>aaIe'c>Ia 9@  @ @ 4@ Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518968IIO>aԉ 9 a % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774652- R9) Y5 A,3$?A8ɰ:; @Ո@(=ٱ = AHRS rotation from veh to nav: [[0.054241,0.997845,-0.036924],[-0.997679,0.052634,-0.043200],[-0.041164,0.039181,0.998384]]Hū?X? 碿@?Yj??i @Ii.^;АCY-~By-IUonly read 0 of 1 data item for BIT error. Device response is::TS,00050308561916,35.0, 3.1, 0 aU@a] a]@a] a]@a] a]@a] bDaVDayu%uE=ٔuQ-}>9yYy=}Fy},E=E>Q 5>5tq?Q 9>5)BQ A+:YQ E:yCпQ I@SDI;i>F>5yɮ AjhFNOT Ignoring new targets: 130.94 m.Rh;Zh; ProNav: ac range: 130.941833 m, nav range: 127.157280 m, bearing: 13.208515 deg, approach rate: 0.161966 m/s, LOS rate: 0.248178 deg/s, cmd heading: 12.753144 deg, new cmd heading: 13.051947 deg. BhR*<HeadingCmd: 0.227799 target range: 130.941833 and range: 131.60 m.hBDi>h*h"h hgfffdddjdZdl@ԉ ɢ &)  ƾi )_;iiBDi>IBDi>I!AQAQBYBYB]YIB];~BBYBYBYB]s;B].EEM EMEM)EI"EM3;*EM:VEMFA4ZEIBEMuBDAT read: Rx Time:05:07:59.4568 }TRx dataTimestamp_ set to:1761541680.820168}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027898 ,ҩ>?A2R@2M@25&=ٱ2-= :AHRS rotation from veh to nav: [[0.078179,0.996179,-0.038930],[-0.996109,0.076461,-0.043821],[-0.040677,0.042204,0.998281]]2H??@` ?@oӤ@?@?i2R@I2K^;2ϐCY^~BybIbDjVDjJy%P=ٔ%Q-%>9%"?Y%"?=-Fy-,E-z=E->1Q 5=>55׭q?Q 9=>55)5BQ AE :YAQ EEr:yE2ͿQ IE@5SDI5 ;i5K?5I>5yIɮM,AQjhq}FNOT Ignoring new targets: 130.94 m.Rh}Ŏ;Zh}Ŏ; ProNav: ac range: 130.941833 m, nav range: 127.215973 m, bearing: 13.306450 deg, approach rate: 0.149679 m/s, LOS rate: 0.249639 deg/s, cmd heading: 13.051947 deg, new cmd heading: 13.345614 deg. BhS+<HeadingCmd: 0.232925 target range: 130.941833 and range: 131.60 m.hރn>h*h"h hgfffdddjdZdZ @ɢӼ) ʾi)L;iiރn>Iރn>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279471@ @@/@AeAzAfAAI I!O-N>E] E]E]*EY"E]=-;*E]:VE](N4ZEYae@ae@ae@ae@Q  DAT read: 05:07:59.4568 LVL= 22176, 26449, 27410, 26531, AGC= 65, IDX= 426, 0.19, 0.484,-0.320,-1.351,-0.211, PHS= 0.797,-0.064,-1.184, RAW= 55.7, 5.3, CAL= 54.8, 4.3, ROT= 95.2, -4.3  Ygot valid direction response: 05:07:59.4568 LVL= 22176, 26449, 27410, 26531, AGC= 65, IDX= 426, 0.19, 0.484,-0.320,-1.351,-0.211, PHS= 0.797,-0.064,-1.184, RAW= 55.7, 5.3, CAL= 54.8, 4.3, ROT= 95.2, -4.3  PDAT read: Bearing 190.3, 86.8 (Local)  ~Local bearing/azimuth received: Bearing 190.3, 86.8 (Local)  DAT read: Range 11 to 50 : 132.2 m (Round-trip 176.3 ms) speed 0.0 m/s % R#Rx 1: Read range and direction messages.- ^direction in FSK: [-0.090377,0.993081,0.074979]- Fpublishing direction and range infoy  Y]W"vR?]1?Y 3C V Qg k g) AI 1L?i o P x? q= Gt? `=) ȭ?I `  u?'쿄±C韷? Y) :DI ȭ?i `  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.,X?A e@e@e%=ٱe'== AHRS rotation from veh to nav: [[0.102592,0.993846,-0.041768],[-0.993899,0.100707,-0.044966],[-0.040483,0.046126,0.998115]]eHqC?? b ǹ?=ߝ??ie@IeO^;eѐCY~ByI p<bDVD0y9D<%==ٔQ->9Y=Fy ,E g=E >Q 5>5q?Q 9>59)BQ A%9Y!Q E%D:y%ʿQ I%@SDI:iE?K>5y-BɮMAUߥEiiT?AJiCRiCjimA>bME'[ T`@^陥#@RY]W"vR?]1?Ziȭ?bi`jר-`@y ŭ8@;Y0@Zm"/?iM?l"Xҿ?2i7A:i1C"i{ addTargetRange:: Added new target pos. range: 132.199997 m, deltaT: 3.783266 s, deltaX: 0.599991 m, approachRate: 0.158591 m/s, rangeRepo size: 4 - Added new target pos. range: 131.538528 m, bearing: 10.831571 deg, lat: 36.779269 deg, lon: -121.859459 deg, deltaT: 3.783266 s, deltaX: 0.596695 m, approachRate: 0.157720 m/s, posRepo size: 4 jh15FNOT Ignoring new targets: 131.54 m.Rh=Zh9im ProNav: ac range: 131.538528 m, nav range: 126.208710 m, bearing: 11.205977 deg, approach rate: 0.000000 m/s, LOS rate: 0.249639 deg/s, cmd heading: 13.345614 deg, new cmd heading: 13.685474 deg. BhiHeadingCmd: 0.238857 target range: 131.538528 and range: 132.20 m.hҖt>h*h"h hgfffdddjd`f`@Zdn?ɢG) Ⱦi)4;iiҖt>IҖt>I @ @@/@*DAT read: user:302> BDAT read: Tx time:05:08:00.6763  $Ping request sent. BI BI BI BI BI BI BI BM s;BM .E bEɀ'4jE^+4rE0Em  Em Em 'Ei "Em 8;*Em n:VEm '4ZEi BEm ׏y-什=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246685-C<-E A-A -vA)-XA)Y- AbDMVDMky]%eU=ٔeQ-e>9iYi=mFym,Emʁ=Em>yQ 5>5} q?Q 9>5}G)}BQ AT:YD?Q E:yοQ I@}SDI}Y;i};}vN>5yɮ5A1MB*** querying acoustic contact ***iI iIjhy}FNOT Ignoring new targets: 131.54 m.Rhz;Zhz; ProNav: ac range: 131.538528 m, nav range: 126.253517 m, bearing: 11.290878 deg, approach rate: 0.115425 m/s, LOS rate: 0.218631 deg/s, cmd heading: 13.685474 deg, new cmd heading: 13.940087 deg. Bh <HeadingCmd: 0.243300 target range: 131.538528 and range: 132.20 m.h#y>h*h"h hgfffkBdddjdZdi?颱ɢμ) ,ɾi) ;iXi#y>I#y>I@ @@/@IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500519! a",:?A2@2L@2un#=ٱ2td= :AHRS rotation from veh to nav: [[0.150598,0.987373,-0.049140],[-0.987790,0.148284,-0.047780],[-0.039890,0.055735,0.997648]]2H F?@?(`?@v`klQ??i2@I2B^;2ҐCYF~ByFIIJ=)JC=J=Ja=bDNVDN2yVA_;%VW=ٔZ֓Q-Z>9XYX=^Fy^,E|E% E%E%)E!"E% /;*E%:VE%FA4ZE!a-@a-@a-@a-@5y=E5>9Q 5E>5=ͬq?Q 9E>5=})=BYIyMʿQ IM@=SDI=:i=:=Q>5yQɮUAQjhyFNOT Ignoring new targets: 131.54 m.Rhj;Zhj; ProNav: ac range: 131.538528 m, nav range: 126.295349 m, bearing: 11.378795 deg, approach rate: 0.112700 m/s, LOS rate: 0.236780 deg/s, cmd heading: 13.940087 deg, new cmd heading: 14.203749 deg. Bh"<HeadingCmd: 0.247902 target range: 131.538528 and range: 132.20 m.h}>h*h"h hgfffdddjdZd}?ɢp޼) Ⱦi)[;iE i}>I}>I9@ @@F0@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750670IIO>>Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0047502), ?Ar@m@z"=ٱx= -AHRS rotation from veh to nav: [[0.174955,0.983158,-0.052842],[-0.983778,0.172399,-0.049603],[-0.039657,0.060663,0.997370]]Hd?v?@{+?eM5?t?ir@Io^;ϐCYE~ByEIyiMb@Mb@Mb@ 9ʡE?MbX9yʡt< AAA  A)AYAAAbDVD:y%>;%-4=ٔ-vQ-->91Y1=5Fy5,E=f=E=>AQ 5E>5Eq?Q 9M>5E)EBYM>Q EM:yMǿQ IU@ESDIEP ;iE ;EU>5yYɮ]AYjhFNOT Ignoring new targets: 131.54 m.RhAt;ZhAt; ProNav: ac range: 131.538528 m, nav range: 126.334961 m, bearing: 11.472323 deg, approach rate: 0.090471 m/s, LOS rate: 0.213544 deg/s, cmd heading: 14.203749 deg, new cmd heading: 14.484243 deg. Bh<HeadingCmd: 0.252798 target range: 131.538528 and range: 132.20 m.hn>h*h"h hgfffBdddjdZd ?ɢżB1A5<)i m Ǿii)uk:qqiu@i}n>yIn>IE5 E5E5(E1"E5O6;*E5:VE5c44ZE1BaBaBe_IBeE~BBaBaBaBer;Be.EBBBBBCŸ4ԡe9@a @a@ei0@aIIOI>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254571 ?/,|򿌿?A4<ɰ49)Y)=-Fy-,E-E->1Q 5=>55q?Q 9E>55)5BYAyAQ IE@5TDI5;i5j;5X>5yIɮM{AQjhq}FNOT Ignoring new targets: 131.54 m.Rh}7t;Zh7t; ProNav: ac range: 131.538528 m, nav range: 126.368622 m, bearing: 11.551135 deg, approach rate: 0.091216 m/s, LOS rate: 0.213509 deg/s, cmd heading: 14.484243 deg, new cmd heading: 14.720612 deg. Bh<HeadingCmd: 0.256923 target range: 131.538528 and range: 132.20 m.hn>h*h"h hgfffdddjdZdͩ?ɢ|)< 8پi)_:iCin>In>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507402@ @@4@I1IAOM>E= E=E='E9"E=*;*E=:VE='4ZE9BE=@>K@>j =ٱ>)= JAHRS rotation from veh to nav: [[0.222959,0.973270,-0.055093],[-0.974041,0.220153,-0.052691],[-0.039154,0.065411,0.997090]]>H ?%?(5@X+-?O@ ľ?@)?i>@I>!^;>ѐC1YYyY aaimAbDuVDuٔQ->9Y=Fy,Er=E>Q 5>51q?Q 9>5g)BYyQ I@TDIU;i;\>5yɮjh FNOT Ignoring new targets: 131.54 m.Rh u;Zh u; ProNav: ac range: 131.538528 m, nav range: 126.399933 m, bearing: 11.649111 deg, approach rate: 0.068730 m/s, LOS rate: 0.215011 deg/s, cmd heading: 14.720612 deg, new cmd heading: 15.014465 deg. Bh<%HeadingCmd: 0.262052 target range: 131.538528 and range: 132.20 m.h%+>h!*h)"h) h)g)f)f1f1d1d1d9jd9Zd=`Sy@mBɢme/ۼ)i mپii)u:qqiuTi}+>yyI}+>I)@) @)@54@1achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013955IYIOn>ԑE PExceeded connect timeout, disconnecting.BI BI BM YIBM ;~BBI BI BI BM r;BM .EEe  Ee Ee %Ea "Ee O6;*Ee I:VEe 4ZEa BEe F<2Ee F<JEe (<:Ee (<Թ P<, ?A:Η@:kɞ@:=ٱ:= BAHRS rotation from veh to nav: [[0.246925,0.967498,-0.054548],[-0.968257,0.244081,-0.053882],[-0.038817,0.066121,0.997056]]:H>?`?@ >?mߣ@O??i:Η@I:l^;:ΐCHJr@iHIHHH N7kALLLLPIR)PiP)PIRjAR/ݽV[F TTTTiTXiXX)X XIX \)\\\\Y`Yfk~ByfvI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262596ieMb@Mb@Mb@aaaa a9eq= ףp?+Mb`?Ye>yee;aeXA e/ A)eXAaYe\A qup;bD}VD}0yȖ%<ٔmQ->9Y=Fy,E=E>Q 5>5^q?Q 9>5Q =tI)BY>Q E:yQ I@TDI;iM;'`>5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 131.54 m.RhXo;ZhXo; ProNav: ac range: 131.538528 m, nav range: 126.420769 m, bearing: 11.725911 deg, approach rate: 0.056780 m/s, LOS rate: 0.209253 deg/s, cmd heading: 15.014465 deg, new cmd heading: 15.244826 deg. ԙBh<HeadingCmd: 0.266072 target range: 131.538528 and range: 132.20 m.h:>h*h"h hgfffBdddjdZd 8@频ɢgQ) i)eL:顙iHmi:>I:>Ii@i @i@m/@iA.AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514566 ;C, ?A2@2ˑ@2=ٱ27V= :AHRS rotation from veh to nav: [[0.270535,0.961319,-0.051743],[-0.961937,0.267774,-0.054527],[-0.038562,0.064525,0.997171]]2H@rP?@?~ 16#? ꫿u஄??i2@I2]^;2ϐCE~ E~E~(E|"E~2;*E~:VE~c44ZE|a@a@a@a@Y U~By iIbDVDyec]%eM=ٔe&Q-e>9m ?Ym ?=mFym,Emz=Eu>yQ 5>5}q?Q 9>5})}BYy{Q I@}%TDI}:i} :}c>5y-Bɮ-A5EjhY]FNOT Ignoring new targets: 131.54 m.Rhe e;Zhe e;u ProNav: ac range: 131.538528 m, nav range: 126.439232 m, bearing: 11.809919 deg, approach rate: 0.044017 m/s, LOS rate: 0.200250 deg/s, cmd heading: 15.244825 deg, new cmd heading: 15.496810 deg. Bhun <}HeadingCmd: 0.270470 target range: 131.538528 and range: 132.20 m.h}{>hy*hy"hy hygfffdddjdZd*@颽BɢX) ei)Ӡ9i9i{>I{>I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766668)NJκ@ @@d4@A A I I O > BDAT read: Rx Time:05:08:03.2573  TRx dataTimestamp_ set to:1761541684.603902 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024527fI,m'?A YH~By`I==AAiB>BB@IB~BBBBBwr;Bf.EiMb@Mb@Mb@ 9ˡE?㥛 MbY>yE AA E A)AYAbDnManaging dock network, ignoring radio surface power offVDyRټ%'=ٔQ->9Y=FDDE  E E )E "E *E :VE FA4ZE BE $)Q 55>5-8q?Q 95>5-)-ٹBY=>Q E=:y=EQ I=@-4TDI-:i-;-g>5yAɮM!AIjhquFNOT Ignoring new targets: 131.54 m.Rh}ev;Zh}ev; ProNav: ac range: 131.538528 m, nav range: 126.459846 m, bearing: 11.911748 deg, approach rate: 0.043617 m/s, LOS rate: 0.215417 deg/s, cmd heading: 15.496810 deg, new cmd heading: 15.802243 deg. Bh<HeadingCmd: 0.275801 target range: 131.538528 and range: 132.20 m.h5>h*h"h hgfffBdddjdZd @ɢ) i)Riui5>I5>IH<ԙ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271674q@q @q@u/@qA ؟AI I O > }JP,m8A?A6$@6@6<=ٱ6}i= >AHRS rotation from veh to nav: [[0.316912,0.947517,-0.042164],[-0.947714,0.314594,-0.053562],[-0.037486,0.056934,0.997674]]6H@HH?R?@SO"?rl`1@p&??i6$@I6@b^;6͐C\Yb'~BybMIhj@AbDnVDnJyvս%v=ٔvhQ-v?9z"?Yz"?=zFyz,Ez{&>E~?Q 5 >5q?Q 9 >52)ԹBY y Q I @=TDIg:i:j>5yɮAjhAEFNOT Ignoring new targets: 131.54 m.RhMEm;ZhMEm;] ProNav: ac range: 131.538528 m, nav range: 126.465942 m, bearing: 11.973692 deg, approach rate: 0.020415 m/s, LOS rate: 0.207439 deg/s, cmd heading: 15.802242 deg, new cmd heading: 15.988067 deg. Bh]]<eHeadingCmd: 0.279044 target range: 131.538528 and range: 132.20 m.heގ>ha*ha"ha hagifififidqdqdqjdyZd @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525005%Bɢ- )Q UiQ)UĹQQiUi]ގ>YYIeގ>IaiiE EE(E"E*E:VEc44ZEa%@a-@a-@a-@)9@ @@@A  DAT read: 05:08:03.2573 LVL= 21168, 31873, 28530, 29843, AGC= 66, IDX= 447,-0.22, 1.676, 0.629,-0.038, 1.073, PHS= 0.706,-0.399,-1.154, RAW= 66.2, 10.5, CAL= 64.2, 13.7, ROT= 85.8, -13.7  Ygot valid direction response: 05:08:03.2573 LVL= 21168, 31873, 28530, 29843, AGC= 66, IDX= 447,-0.22, 1.676, 0.629,-0.038, 1.073, PHS= 0.706,-0.399,-1.154, RAW= 66.2, 10.5, CAL= 64.2, 13.7, ROT= 85.8, -13.7  PDAT read: Bearing 129.1, 78.0 (Local)  ~Local bearing/azimuth received: Bearing 129.1, 78.0 (Local)  DAT read: Range 11 to 50 : 132.6 m (Round-trip 176.8 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.071154,0.968940,0.236838] Fpublishing direction and range infoyI M R֥-7?Ez?4ӋHP?YM CI M RM |M ro M t)M BIM j4?iM I̾M FM h?M f;>M l? M Gt>)M ֭?IM GtI I M :l?jI d鿑~KC? M ap)M $;IM ֭?iM GtI I  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A I1 II Om >tV,[?A;ɰp;-@-@-°=ٱ-`= eAHRS rotation from veh to nav: [[0.339632,0.939737,-0.039306],[-0.939858,0.337470,-0.052736],[-0.036293,0.054853,0.997835]]-H`?R?Q@?< ?B?i-@I-u^;-̐CYu~ByuFIbDVDyϼ%@=ٔ5Q->9Y=Fy,Ed=E>Q 5>55q?Q 9>5K)ιBYyQ I@ITDI;i;Rn>5yɮAiyi}V?AJi}CRi}Cji}݅>b}G,"@AQp_@e??@R}R֥-7?Ez?4ӋHP?Zi}֭?bi}Gtj}2lO^@m[U@@昄B@Z}tt|H?A ͦ?fl|r\?2i}B:i}0B"i}虊?*i}Bi}Biyiyi}HBi}Bi}W> addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 4.031531 s, deltaX: 0.400009 m, approachRate: 0.099220 m/s, rangeRepo size: 4  Added new target pos. range: 131.936722 m, bearing: 14.980436 deg, lat: 36.779269 deg, lon: -121.859459 deg, deltaT: 4.031531 s, deltaX: 0.398193 m, approachRate: 0.098770 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 131.94 m.RhZh ProNav: ac range: 131.936722 m, nav range: 126.470245 m, bearing: 12.063004 deg, approach rate: 0.000000 m/s, LOS rate: 0.207439 deg/s, cmd heading: 15.988066 deg, new cmd heading: 16.263501 deg. BhHeadingCmd: 0.283852 target range: 131.936722 and range: 132.60 m.hU>h*h"h hgffQfYydd9Y̟Ad jd @3`@Zd z?I]Bɢ]`)a eia)^顁iPܻiU>IU>I*DAT read: user:303> BDAT read: Tx time:05:08:04.6763 $Ping request sent.B B B IB }BB B B B y5+5t5 A5+A 5 A)5A1Y5AbDMVDMyy%H=ٔ@Q->9 ?Y ?=Fy,E0l=E>!Q 5U>5%׻q?Q 9]>5%.)%ȹBY]>Q E]:ye⫿Q Ie@%UTDI%5yɮAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 131.94 m.Rhfl;Zhfl; ProNav: ac range: 131.936722 m, nav range: 126.467072 m, bearing: 12.149430 deg, approach rate: -0.007590 m/s, LOS rate: 0.206676 deg/s, cmd heading: 16.263500 deg, new cmd heading: 16.522783 deg. Bh <HeadingCmd: 0.288377 target range: 131.936722 and range: 132.60 m.h%>h*h"h! h!g!f!f)f-1Bd)d1d1jd1Zd5 j?颥Bɢ.) i)iiimNԻiu%>qqIu%>Iyԡ=9@A @A@EO0@AAm؟AIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497686 c,6ʎ?A6n@6h@6=ٱ6Ca= BAHRS rotation from veh to nav: [[0.383839,0.922601,-0.038401],[-0.922838,0.381823,-0.050807],[-0.032212,0.054939,0.997970]]6HҐ??C@o?_@ ~!?^?i6n@I6n^;6ΐCYJ}ByJI R;RbDVVDVN2yZ%^]=ٔ^LѻQ-^>9b"?Yb"?=bFyb,Ebm=Ef>dQ 5j>5fQq?Q 9n>5fg )fùBEr ErEpEp"ErU,;*Er:VEpZEpaz@az@az@az@YlyzިQ Iz@f`TDIfL;if;fu>5yɮ/Ajh!-FNOT Ignoring new targets: 131.94 m.Rh-v;Zh5v;E ProNav: ac range: 131.936722 m, nav range: 126.460640 m, bearing: 12.224481 deg, approach rate: -0.018481 m/s, LOS rate: 0.215664 deg/s, cmd heading: 16.522783 deg, new cmd heading: 16.747945 deg. BhE<MHeadingCmd: 0.292307 target range: 131.936722 and range: 132.60 m.hM<>hI*hI"hI hIgIfQfQfQdQdYdYjdYZd]@Dj?颉ɢڞF) i)|޺顑iͻi<>I<>IY59@1 @1@52@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749892A.AIIԡO>> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001712 i,Xʨ?AhhBaAeBBIB}BB =BBDBDr;BN.E AHRS rotation from veh to nav: [[0.405760,0.913129,-0.039421],[-0.913497,0.403766,-0.049968],[-0.029711,0.056286,0.997973]]uH`?Z8?/];`L?@r`wlѬ? d?iug1@Iu$^;uϐCY}BbEmc44jEm14rEmϚ/E EE&E"E0;*E:VE4ZEBEy55u5\ A5A 5E A)5XA1Y5(AbD]VD]y}B4%=ٔPQ->9E ?YM ?=UFyU,EUa=EU>aQ 5m>5e5q?Q 9m>5e)eBYm>Q Em:ymQ Im@euTDIe:iej:ez>5y}Bɮ}*A}EjhFNOT Ignoring new targets: 131.94 m.Rhʀ;Zhʀ; ProNav: ac range: 131.936722 m, nav range: 126.435356 m, bearing: 12.371103 deg, approach rate: -0.038825 m/s, LOS rate: 0.225194 deg/s, cmd heading: 16.747945 deg, new cmd heading: 17.187889 deg. Bh<HeadingCmd: 0.299985 target range: 131.936722 and range: 132.60 m.h>h*h"h hgfffJBdddjdZd? Bɢ 6) ji ) z$ i .» i >  I% >I! 9@  @ @ 0@ A >A I A ؟AI I O% > q,|_č?A2@2@2L<ٱ2&t= :AHRS rotation from veh to nav: [[0.426688,0.903406,-0.042363],[-0.903996,0.424630,-0.049811],[-0.027011,0.059550,0.997860]]2H`N?@? $-?@р@J}?w?i2@I2^;0YF}ByFIbDNVDNyV\F%V=ٔVpVQ-ZX?9Z"?YZ"?=ZFy^-E^]>E^u?`Q 5f>5bq?Q 9f>5b)bBYdyfQ Ij@b{TDIb;ib7;be|>5ylɮnAljhFNOT Ignoring new targets: 131.94 m.Rh  ;Zh  ;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505861 ProNav: ac range: 131.936722 m, nav range: 126.426414 m, bearing: 12.411716 deg, approach rate: -0.049292 m/s, LOS rate: 0.223902 deg/s, cmd heading: 17.187889 deg, new cmd heading: 17.309738 deg. Bh<HeadingCmd: 0.302112 target range: 131.936722 and range: 132.60 m.hj>h*h"h hgfffdddjdZd q?IuBɢu)y })iy)}F6yyi}ij>Ij>I}9@y @@/@yE% E%E%(E!"E%O6;*E%:VE%c44ZE!a-@a-@a-@a-@AII Om>ԡE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757711 !0w,&ލ?A2L@2@2X<ٱ2= :AHRS rotation from veh to nav: [[0.447410,0.893156,-0.045802],[-0.894001,0.445272,-0.049940],[-0.024210,0.063291,0.997701]]2H@\?ດ?\sਛW?໑tʘ3?+?i2L@I2^;2ΐCYZ}ByZI`bBAbDfVDf02yjB%nH=ٔnQ-n>9pYp=rFyr-Evf=Ev>xQ 5z>5z>q?Q 9~>5z)zBY|y~Q I@zTDIz;izD;z>5y Bɮ A jh15FNOT Ignoring new targets: 131.94 m.Rh=j;Zh=j;M ProNav: ac range: 131.936722 m, nav range: 126.401848 m, bearing: 12.502924 deg, approach rate: -0.060134 m/s, LOS rate: 0.223302 deg/s, cmd heading: 17.309738 deg, new cmd heading: 17.583413 deg. BhM@<UHeadingCmd: 0.306888 target range: 131.936722 and range: 132.60 m.hU| >hQ*hQ"hQ hQgYfYfYfadadadajdiZdmH@颕BɢW) /i)X顡iN\i| >I| >IԱ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012511AIIOEQ>BU>BUCBUIBU[}BBQBQBQBUcr;BU_.EBBBBBCȉ 5 E5  E5 E5 )E1 "E5 U,;*E5 #:VE5 FA4ZE1 BE5 yĻE AA  A)YAbDVDkyD<%*=ٔ pQ- >9 Y =Fy -EE=E>Q 5%>5q?Q 9%>5!)BY->Q E-:y-HQ I-@TDIu ;i ;'>5y1ɮ5)A=EUB*** querying acoustic contact ***iQ iQjhaeFNOT Ignoring new targets: 131.94 m.Rhm=x;Zhm=x;} ProNav: ac range: 131.936722 m, nav range: 126.369827 m, bearing: 12.607044 deg, approach rate: -0.066727 m/s, LOS rate: 0.217029 deg/s, cmd heading: 17.583414 deg, new cmd heading: 17.895849 deg. Bh}<HeadingCmd: 0.312341 target range: 131.936722 and range: 132.60 m.h9>h*h"h hgfff BdddjdZdR@ BɢIJ) 5i)`Ȃiri9>I9>IIfA)9@ @@/@AzAeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514058AII OE>I E  E E %E "E *;*E :VE 4ZE a% @a- @a- @a- @B,?A02m$@28@2<ٱ2= >AHRS rotation from veh to nav: [[0.488242,0.871330,-0.049023],[-0.872508,0.486158,-0.048779],[-0.018670,0.066589,0.997606]]2H[???@ 6?+ ?c?i2m$@I2^;2̐CYFK}ByFIbDzVDzyc% t=ٔ  Q- ?9Y=Fy -E݌=E?!Q 5%>5%(q?Q 9->5%%)%BY)y-UQ I-@%TDI%:i%9:%>5y1ɮ=A9jhaeFNOT Ignoring new targets: 131.94 m.Rhmx;Zhmx;} ProNav: ac range: 131.936722 m, nav range: 126.344009 m, bearing: 12.679554 deg, approach rate: -0.077186 m/s, LOS rate: 0.216825 deg/s, cmd heading: 17.895849 deg, new cmd heading: 18.113423 deg. Bh}<HeadingCmd: 0.316139 target range: 131.936722 and range: 132.60 m.hܡ>h*h"h hgfffdddjdZdT@!Bɢz) =i) i_piܡ>Iܡ>IiIA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767597ԑ@ @@0@AIIOE>Թ  BDAT read: Rx Time:05:08:07.2569  TRx dataTimestamp_ set to:1761541688.634784 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022627p,+?A`%ݠ@%ק@%<ٱ% 1= MAHRS rotation from veh to nav: [[0.507814,0.860101,-0.048484],[-0.861325,0.505905,-0.046687],[-0.015627,0.065468,0.997732]]%H@??Ҩ_0?M秿°? l?i%ݠ@I%^;%ѐCYm>}BymIBBBIB)}BBBBBr;B{.EieMb@Mb@Mb@aaaa a9e?A`"MbpYe?yeYeaeA e A)eAAaYeA up9Y=Fy-EJ=E>Q 5>5%q?Q 9>5*)BY?Q E:yMQ I@TDI ;i ; >5yɮAD=DE EE(E"E2;*Ea:VEc44ZEBE$h)*h)"h) h)g)f)f1f5Bd1d1d9jd9Zd=qw @="Bɢe_)a eAia)eƩaiim@imn>qqIun>Iq%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270427a@a @a@e0@a1AIIO>Y W,ϠE?A88%@%ߏ@% ON<9ٱ%5= MAHRS rotation from veh to nav: [[0.527049,0.848467,-0.048199],[-0.849742,0.525302,-0.044681],[-0.012592,0.064506,0.997838]]%H?`&?1G?`{িɉ@t?I?i%@I%^;%АCDAT read: 05:08:07.2569 LVL= 21408, 32753, 30994, 30675, AGC= 67, IDX= 443, 0.19,-2.279, 2.411, 2.353,-3.025, PHS= 0.849,-0.802,-0.949, RAW= 85.8, 10.5, CAL= 85.4, 11.6, ROT= 64.6, -11.6 Ygot valid direction response: 05:08:07.2569 LVL= 21408, 32753, 30994, 30675, AGC= 67, IDX= 443, 0.19,-2.279, 2.411, 2.353,-3.025, PHS= 0.849,-0.802,-0.949, RAW= 85.8, 10.5, CAL= 85.4, 11.6, ROT= 64.6, -11.6 PDAT read: Bearing 103.6, 62.6 (Local) ~Local bearing/azimuth received: Bearing 103.6, 62.6 (Local) DAT read: Range 11 to 50 : 132.3 m (Round-trip 176.4 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.420174,0.884885,0.201078]Fpublishing direction and range infoyqu-H"?P?o?YuLCquSuuy uw)uCIuXY?iuOMuru֭?quɾ? u4QO>)uZQ?Iu4QOqqu\YV? )FȲ&V6? u)u:IuZQ?iu4QOqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y#}ByIbDVDyT%G=ٔ-Q-->91Y1=5Fy5-E54Y=E5>9Q 5E>5=q?Q 9>5= 0)=BYymQ I@=TDI=$5yBɮ AEiqiuXH?AaJiuCRiuCjiu==bu`ڧK@\]@c8?x:@Ru-H"?P?o?ZiuZQ?biu4QOjug$q_@^Q*@ p@@ZuB?H+|K?$h'?2iuPA:iukB"iu?*iu-BiuBiuO;?iu OiqiuBiuaqD> addTargetRange:: Added new target pos. range: 132.300003 m, deltaT: 3.779096 s, deltaX: -0.300003 m, approachRate: -0.079385 m/s, rangeRepo size: 4  Added new target pos. range: 131.639084 m, bearing: 5.860984 deg, lat: 36.779287 deg, lon: -121.859502 deg, deltaT: 3.779096 s, deltaX: -0.297638 m, approachRate: -0.078759 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 131.64 m.RhZh- ProNav: ac range: 131.639084 m, nav range: 127.430153 m, bearing: 10.991551 deg, approach rate: 0.000000 m/s, LOS rate: 0.223207 deg/s, cmd heading: 18.417875 deg, new cmd heading: 18.728468 deg. Bh)5HeadingCmd: 0.326873 target range: 131.639084 and range: 132.30 m.h5[>h1*h9"hY hYgafafafadididijdm`@Zdm?#Bɢ\e) Hi)t»ihZi[>I[>E EE'E"E);*E:VE'4ZEa @a @a @a @I!]{>i]>ԑ9@ @@@A>A>5 *DAT read: user:304> = BDAT read: Tx time:05:08:08.4263 = $Ping request sent.E Թ 2,u_?A6L@6{G@6 <ٱ6h= BAHRS rotation from veh to nav: [[0.545979,0.836416,-0.048121],[-0.837745,0.544389,-0.042707],[-0.009524,0.063630,0.997928]]6Hx?@? T `k?ݥf@J??i6L@I6^;6ѐCY^!}By^IbDfVDfk2ynϻ%np=ٔrQ-r?9r ?Yv ?=vFyv-Ev=Ev?xQ 5~>5zJq?Q 9>5z3)zBYyQ I@zTDIz;iz:z>5y ɮ % Ajh1=FNOT Ignoring new targets: 131.64 m.Rh=Ǎ;Zh=Ǎ;M ProNav: ac range: 131.639084 m, nav range: 127.384445 m, bearing: 11.062971 deg, approach rate: -0.158598 m/s, LOS rate: 0.247903 deg/s, cmd heading: 18.728469 deg, new cmd heading: 18.942804 deg. BhM"*<UHeadingCmd: 0.330614 target range: 131.639084 and range: 132.30 m.h]GF>hY*hY"hY hYgYfYfafadadadijdiZdmξ?ԑ颥$Bɢ) Ii)kMл顩isiGF>IGF>Im9@i @i@m3@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249510AII OEQ>B>BBIB}BBBBBr;B.E D zD AAE  E E )E "E =-;*E n:VE FA4ZE BE p9Y=Fy-EY=E>Q 5>5q?Q 9>58)BY}?Q E:y2Q I@TDI:iU:X>5yɮ AjhFNOT Ignoring new targets: 131.64 m.Rh#|;Zh#|;1u ProNav: ac range: 131.639084 m, nav range: 127.318756 m, bearing: 11.156838 deg, approach rate: -0.154183 m/s, LOS rate: 0.220435 deg/s, cmd heading: 18.942804 deg, new cmd heading: 19.224549 deg. Bh}H<}HeadingCmd: 0.335532 target range: 131.639084 and range: 132.30 m.h}ʫ>h*h"h hgfffBdddjdZd'?ɢ /*x)) -Oi))5E11i5i=ʫ>99I=ʫ>IA9@9 @9@E0@AaAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754147IIO>ԉԱ E  E E E "E );*E :VE ZE a% @a% @a% @a% @ҟ,Me?Aɰ>@@> @>\;ٱ>r= FAHRS rotation from veh to nav: [[0.583326,0.810738,-0.049342],[-0.812231,0.581991,-0.039578],[-0.003371,0.063165,0.997997]]>H? ?gC@?`C=k+?`?i>@@I>c^;9Y=Fy"-EL=E> Q 5e>5 r?Q 9m>5 G>) BYiymKQ Im@ TDI VS5yyɮ}q AyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 131.64 m.Rht;Zht; ProNav: ac range: 131.639084 m, nav range: 127.244080 m, bearing: 11.256265 deg, approach rate: -0.160541 m/s, LOS rate: 0.213877 deg/s, cmd heading: 19.224549 deg, new cmd heading: 19.523004 deg. Bh<HeadingCmd: 0.340741 target range: 131.639084 and range: 132.30 m.hu>h*h"h hgfffdddjdZd ?%Bɢ%V|)! %%Oi!)-\))i-^~i5u>11I5u>I9Aԡ@ @@/@AfAzAfA Gi>_CU؀Gm(hAۮ9(hAYAI9IIOU> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257450 ,?ABU>BQBUIBU|BBU =BQBQBUQs;BU.Em{@mv@mt9ٱm5= AHRS rotation from veh to nav: [[0.601871,0.797016,-0.050165],[-0.798593,0.600658,-0.038193],[-0.000308,0.063049,0.998010]]mH B?'?@=@8?44@#??im{@Im^;i ۍC)ەlAڕףڑڑۑ۝kAi۝IۙۙIܙiܝ3s@ ܡۡ)ܡܡ ݥlAܥ+ܡܩݩݭlAIݭ)ݵ@cFiݱ)ޱI޵lAݵݱ ޹޹޽vA޹i޹޹YY}ByIE EE(E"E+$;*E:VEc44ZEBE4}y@`;\ AnA A)YAbD5VD5:yE:<%ED=ٔMQ-M>9IYI=UFyU&-EUd=EU>YQ 5e>5] r?Q 9e>5]B)]BYm>Q Em:ymQ Im@]TDI] ;i] ;]>5yqɮu^ AyjhFNOT Ignoring new targets: 131.64 m.RhCs;ZhCs; ProNav: ac range: 131.639084 m, nav range: 127.172974 m, bearing: 11.343020 deg, approach rate: -0.174218 m/s, LOS rate: 0.212678 deg/s, cmd heading: 19.523003 deg, new cmd heading: 19.783411 deg. Bh<HeadingCmd: 0.345286 target range: 131.639084 and range: 132.30 m.hHɰ>h*h"hA hAgAfAfIfMBdIdIdIjdQZdU0[?颽&Bɢk) 1Ni)7 ipiHɰ>IHɰ>I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510849@ @@@IIO>A :,+Ǝ?A2d<@2/7@2ٱ2X= >AHRS rotation from veh to nav: [[0.620472,0.782560,-0.051125],[-0.784225,0.619351,-0.037363],[0.002425,0.063276,0.997993]]2H ?` ?@- ^?`I!7c? 2?@?i2d<@I2$^;0YM}ByIechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761381 m45r?Q 9>5F)BYyQ I@TDI;i:>5yɮ` AEjhFNOT Ignoring new targets: 131.64 m.Rh\u;Zh\u; ProNav: ac range: 131.639084 m, nav range: 127.109795 m, bearing: 11.415189 deg, approach rate: -0.187694 m/s, LOS rate: 0.214509 deg/s, cmd heading: 19.783411 deg, new cmd heading: 20.000026 deg. Bh7<HeadingCmd: 0.349066 target range: 131.639084 and range: 132.30 m.hѸ>h*h"h hgfffdd d jd Zd @zN@9ɢ=~㒽)9 =NiA)E{AAiEFdiMѸ>IIIMѸ>IQI9@ @@0@IQIaOm>E EE)E"E /;*E :VEFA4ZEa@a@a@a@y checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013536ԩ ̷,?A2@2Q@2;ٱ25= :AHRS rotation from veh to nav: [[0.638593,0.767839,-0.051209],[-0.769528,0.637600,-0.035956],[0.005043,0.062368,0.998040]]2H`Zo?#?87g? htt???i2@I2*_;2АC9IYI=MFyM--EMSq=EM>QQ 5e>5U6r?Q 9e>5UJ)UBYayeyQ Ie@U UDIU!;iU:U`>5yqɮuG AqjhFNOT Ignoring new targets: 131.64 m.Rhmm;Zhmm; ProNav: ac range: 131.639084 m, nav range: 127.033218 m, bearing: 11.497368 deg, approach rate: -0.193307 m/s, LOS rate: 0.207575 deg/s, cmd heading: 20.000025 deg, new cmd heading: 20.246709 deg. Bhu<HeadingCmd: 0.353372 target range: 131.639084 and range: 132.30 m.h$>h*h"h hgfffdddjdZdy@ɢM<) 8Mi)iKWi $>  I $>II)Աm9@i @i@m0@iAu>Au>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267836IIO (>BQBQBUIBU|BBQBQBQBUWs;BU.EbEu:4jEuȊ94rEu/E EE,E"E';*E:VEg4ZEBE9Y=Fy1-E0d=E>Q 5>5(r?Q 9>5O)BY?Q E:yoQ I@UDI ;i ;>5yɮ% Ajh FNOT Ignoring new targets: 131.64 m.Rh Vo;ZhVo;% ProNav: ac range: 131.639084 m, nav range: 126.943497 m, bearing: 11.584861 deg, approach rate: -0.214423 m/s, LOS rate: 0.209244 deg/s, cmd heading: 20.246709 deg, new cmd heading: 20.509371 deg. Bh%<-HeadingCmd: 0.357956 target range: 131.639084 and range: 132.30 m.h-F>h)*h)"h) h)g)f)f1f5Bd9d9d9jd9Zd=@m'Bɢm<])i mBKiq)u(qqiuTKi}F>yyIF>I @ @@1@I IO-,>1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773318a E  E E (E "E *;*E :VE c44ZE a @a @a @a @,jl?A2{@2v@2"ٱ2= :AHRS rotation from veh to nav: [[0.673964,0.736741,-0.054639],[-0.738698,0.673050,-0.036451],[0.009920,0.064929,0.997841]]2H@? b?iࠉ?Q?)?`O?i2{@I2 ^;2ϐCYB)}ByBIHJ@AbDN VDN2yV<%V]=ٔVϻQ-V>9XYX=ZFyZ5-EZ=E^>`Q 5f>5b2r?Q 9f>5bpS)bBYdyfiQ If@b#UDIb[:ibR:bE>5ynBɮnAnEjh FNOT Ignoring new targets: 131.64 m.Rh l;Zh l; ProNav: ac range: 131.639084 m, nav range: 126.860268 m, bearing: 11.661570 deg, approach rate: -0.224410 m/s, LOS rate: 0.206964 deg/s, cmd heading: 20.509371 deg, new cmd heading: 20.739647 deg. Bh% <%HeadingCmd: 0.361975 target range: 131.639084 and range: 132.30 m.h%T>h)*h)"h) h)g)f)f1f1d1d19dAjdAZdE @ɢ#) $Ii ) 2  i ?i%T>!!I%T>I!BDAT read: Rx Time:05:08:11.0060 TRx dataTimestamp_ set to:1761541692.416993 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027554@ @@4@IiIO>ԉԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277429 ,].?AA<A>@ABxBxBzIBz }BBxBxBxBzDs;Bz.EBCBCBB =B =Cw4ԩ8@3@Hٱʄ= AHRS rotation from veh to nav: [[0.690804,0.720925,-0.055296],[-0.722939,0.689978,-0.035920],[0.012257,0.064790,0.997824]]H?`?O@P"L? !do? ?,?i8@I%_;Y0}ByIE EE*E"E/;*E:VE(N4ZEBEʈyt<E AA A)+AYAbDVDNy%MZ<%%=ٔ5-Q-5>9iYq=uFyu:-E0=E>Q 5>5Ar?Q 9>5X)BYb>Q E:y:^Q I@4UDIU;i;>5yɮ A eB*** querying acoustic contact ***ii iijhFNOT Ignoring new targets: 131.64 m.RhY;ZhY; ProNav: ac range: 131.639084 m, nav range: 126.734093 m, bearing: 11.766358 deg, approach rate: -0.229159 m/s, LOS rate: 0.190506 deg/s, cmd heading: 20.739647 deg, new cmd heading: 21.054322 deg. Bh<HeadingCmd: 0.367467 target range: 131.639084 and range: 132.30 m.h$>h*h"h hgfffBdddjdZd6B@iI%DAT read: 05:08:11.0060 LVL= 22464, 32753, 32754, 32755, AGC= 69, IDX= 434,-0.24,-1.721, 2.594,-3.104,-2.525, PHS= 0.906,-1.119,-0.623, RAW= 103.6, 9.2, CAL= 104.7,ROT= 45.3, -10.2 -!unknown deviceResponse_: 05:08:11.0060 LVL= 22464, 32753, 32754, 32755, AGC= 69, IDX= 434,-0.24,-1.721, 2.594,-3.104,-2.525, PHS= 0.906,-1.119,-0.623, RAW= 103.6, 9.2, CAL= 104.7,ROT= 45.3, -10.2 5PDAT read: Bearing 108.3, 45.6 (Local) =~Local bearing/azimuth received: Bearing 108.3, 45.6 (Local) EDAT read: Range 11 to 50 : 131.6 m (Round-trip 175.5 ms) speed 0.2 m/s MX#Rx 1: Read range message, but no direction.yYCMT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.颱ɢm) mGi)@项i(2i$>I$>I)=a>i=>9@ @@0@AzAgAA5 ؟AI9 II Q O] >m,)"H?A2@2h@2Opٱ2= :AHRS rotation from veh to nav: [[0.707422,0.704526,-0.056538],[-0.706639,0.706663,-0.035892],[0.014667,0.065343,0.997755]]2H@3? {?ɜ?o`` ?R??i2@I2_;2ΐCY^Z}BybIbDjVDjy>%=ٔQ-?9%"?Y%"?=%Fy%=-E-^=E-?1Q 55>55Hr?Q 9=>55[)5BY9y=EXQ IE@5=UDI5 ;i5z;5t>5yIɮMAIe*DAT read: user:305> mBDAT read: Tx time:05:08:12.2263 m$Ping request sent.mh*h"h hgfffdddjd@3s`@Zdg ?ɢC) &=i)[G i )i >I>I99@ @@/@aE EE(E"E&;*En:VEc44ZEa@a@a@a@AI IO%M>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251470Թ , a?A2@2T@2qٱ2= :AHRS rotation from veh to nav: [[0.723675,0.687781,-0.057029],[-0.689940,0.722984,-0.035733],[0.016655,0.065206,0.997733]]2HW(? M?2"?@K?V?`m?i2@I2>^;0YNO}ByRI TV<bDZVDZyv̼%vM=ٔvңQ-v>9xYx=zFyzA-Ezp=E~>Q 5>5,Tr?Q 9 >5J_)BY y MRQ I @JUDI6:i:>5yɮGA EjhAEFNOT Ignoring new targets: 131.64 m.RhM\;ZhM\;] ProNav: ac range: 131.639084 m, nav range: 126.562759 m, bearing: 11.897733 deg, approach rate: -0.256830 m/s, LOS rate: 0.193026 deg/s, cmd heading: 21.220551 deg, new cmd heading: 21.448718 deg. Bh]x<eHeadingCmd: 0.374351 target range: 131.639084 and range: 131.60 m.he窿>ha*ha"ha higifififidqdqdqjdZd@0?aɢeJ)a e?ii)mVQiiimPԑi窿>I窿>Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502617q@q @q@q@qB>AIBBIB3}BB =BBBs;B.EIAOmx>E EEE"Em+;*ES:VEZEBE߄9Y=FyF-E E >Q 5>5ar?Q 9>5bc)BY?Q E%:y%FQ I%@XUDIP ;i:ĸ>5y)ɮ-A)jhFNOT Ignoring new targets: 131.64 m.RhZ;ZhZ; ProNav: ac range: 131.639084 m, nav range: 126.439941 m, bearing: 11.981530 deg, approach rate: -0.279880 m/s, LOS rate: 0.191145 deg/s, cmd heading: 21.448718 deg, new cmd heading: 21.700354 deg. Bh.<HeadingCmd: 0.378743 target range: 131.639084 and range: 131.60 m.h>h*h"h hgfffABd!d!d!jd!Zd%?频ɢ7|) I>I@ @@/@A>A>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007184A-.AI9IIOU>I E  E E +E "E &;*E :VE [4ZE a @a @a @a @,,-?A>S-@>(@>ٱ>:= VAHRS rotation from veh to nav: [[0.754412,0.653821,-0.058147],[-0.656069,0.753883,-0.035121],[0.020873,0.064644,0.997690]]>H`$$??kŭ`?@h_???i>S-@I>^;>ϐCYfa}ByjIbDVDyǍ<%Z=ٔM8Q->9% ?Y- ?=-Fy-J-E5=E5>AQ 5M>5Emr?Q 9U>5Ef)EBYQyU ;Q IU@EdUDIEO;iE#X;E>5yiɮmAijh15FNOT Ignoring new targets: 131.64 m.Rh=ZP;Zh=ZP;M ProNav: ac range: 131.639084 m, nav range: 126.327454 m, bearing: 12.051405 deg, approach rate: -0.292985 m/s, LOS rate: 0.182157 deg/s, cmd heading: 21.700355 deg, new cmd heading: 21.910164 deg. BhM;UHeadingCmd: 0.382405 target range: 131.639084 and range: 131.60 m.hU>hQ*hQ"hQ hQgYfYfYfYdadadajdaZde`U?频ɢ刽) N;i)d顙i i>I>IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260296-9@) @)@50@1IAIQOeU>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510690,Y,-?ABA4=B">B B"IB"Q}BB" =B B B"s;B".E|@@Kzٱ= -AHRS rotation from veh to nav: [[0.769600,0.635805,-0.058884],[-0.638129,0.769096,-0.035814],[0.022517,0.065138,0.997622]]H?X?&`ko?(V?⬰?`?i@Ic^;͐CY=u}By=ID=D<E EE*E"E(;*EVE(N4ZEBEy`;<E A?A A)+AYA@AAAbDVDky -=% .=ٔfQ->9Y=FyN-EN=E>!Q 5->5%{r?Q 9->5%Zj)%BY5>Q E5:y5.Q I5@%rUDI%G ;i% ;%#>5y9ɮ=AAjhamFNOT Ignoring new targets: 131.64 m.Rhmv@;Zhmv@;} ProNav: ac range: 131.639084 m, nav range: 126.189827 m, bearing: 12.128678 deg, approach rate: -0.299356 m/s, LOS rate: 0.168263 deg/s, cmd heading: 21.910164 deg, new cmd heading: 22.142236 deg. Bh;HeadingCmd: 0.386455 target range: 131.639084 and range: 131.60 m.hk>h*h"h hgfffEBdddjd!Zd5g^?ɢ.w) V6i)Fpihik>Ik>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763289@ @@/@QIqIO>y |>,iɏ?Aɰp;2+@2@2\żٱ2= :AHRS rotation from veh to nav: [[0.784710,0.616996,-0.059541],[-0.619394,0.784225,-0.036635],[0.024090,0.065627,0.997553]]2H Y?n?|^?? ̰? ?i2+@I2^;2ΐCYF}ByFIbDNVDN!yV=%V{=ٔZ\Q-Z ?9XYX=ZFy^R-E^=Eb ?`Q 5f>5br?Q 9j>5bl)bBYhyj'Q Ij@b|UDIbN:ib:b>5ylɮrYAp~B*** querying acoustic contact ***i| i|jh  FNOT Ignoring new targets: 131.64 m.Rh:;Zh:;Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014789y ProNav: ac range: 131.639084 m, nav range: 126.090973 m, bearing: 12.181699 deg, approach rate: -0.302978 m/s, LOS rate: 0.162630 deg/s, cmd heading: 22.142235 deg, new cmd heading: 22.301421 deg. Bh9;HeadingCmd: 0.389233 target range: 131.639084 and range: 131.60 m.hI>h*h"h hgfffdddjdZd V@iɢmܸ)i u$1iq)ww顑iEiI>II>Iԩ9@ @@ 2@ AeAzAdAIIE EE'E"E*E˭:VE'4ZEa@a@a@a@O?>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266687 % G= hAQ i,F㏿?ANR9NhAYNA>8w@>r@>oҼٱ>[= ZAHRS rotation from veh to nav: [[0.799275,0.597938,-0.060245],[-0.600415,0.798810,-0.037477],[0.025716,0.066127,0.997480]]>H੓?@N"?@}خ6ڏ? 90/U?`?Z?i>8w@I>n^;>АCYb}BybIbDjVDjkyr =%vG=ٔvvQ-v>9xYx=zFyzV-Ez%n=Ez>Q 5>50r?Q 9 >5o)ŹBY y !Q I @UDI:i:>5yɮA EjhAEFNOT Ignoring new targets: 131.64 m.RhM6;ZhM6;] ProNav: ac range: 131.639084 m, nav range: 125.962822 m, bearing: 12.247387 deg, approach rate: -0.311758 m/s, LOS rate: 0.159966 deg/s, cmd heading: 22.301421 deg, new cmd heading: 22.498687 deg. Bh];eHeadingCmd: 0.392676 target range: 131.639084 and range: 131.60 m.he >ha*ha"ha hagafififididqdqjdqZdu3n@颥(Bɢ') -i)顩i,i >I >I59@1 @1@5G1@1IIO=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518788B9B=CB=IB=z}BB= =B9B9B='s;B=.E1DzD@AE EE$E"E&;*E:VE4ZEBEy%<%D=ٔԍQ->9Y=FyZ-Ef=E>Q 5>5r?Q 9>5r)˹BY>Q E:yQ I@UDI:i;S>5yBɮAEjh FNOT Ignoring new targets: 131.64 m.Rh 1;Zh 1; ProNav: ac range: 131.639084 m, nav range: 125.816124 m, bearing: 12.314024 deg, approach rate: -0.341842 m/s, LOS rate: 0.155462 deg/s, cmd heading: 22.498686 deg, new cmd heading: 22.698829 deg. Bh%b;%HeadingCmd: 0.396169 target range: 131.639084 and range: 131.60 m.h%>h!*h)"h) h)g)f)1f1f=XBd9d9dAjdAZdE@Y@iɢuz)y }*iy)}yyi} ֺi>I>Ii@i @i@m/@iIIO (>a]BDAT read: Rx Time:05:08:14.8044 eTRx dataTimestamp_ set to:1761541696.196192echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023795ԉE  E E )E "E 0;*E :VE FA4ZE a @a @a @a @ },O?A00@d@ )ٱ͋= AHRS rotation from veh to nav: [[0.827644,0.557779,-0.062361],[-0.560495,0.827184,-0.040148],[0.029190,0.068182,0.997246]]H@|? S?@@Kx?@V ? [t? p?i@I^;͐CY-}By-IbDE VDE2yU<%UP=ٔ]Q-]>9YYY=eFye^-Ee7=Ee>iQ 5u>5mr?Q 9u>5mXu)mйBYyy} Q I}@mUDIm;imr;m>5yɮAjhFNOT Ignoring new targets: 131.64 m.Rh-;Zh-; ProNav: ac range: 131.639084 m, nav range: 125.678490 m, bearing: 12.373717 deg, approach rate: -0.349977 m/s, LOS rate: 0.151953 deg/s, cmd heading: 22.698829 deg, new cmd heading: 22.878103 deg. Bh;HeadingCmd: 0.399298 target range: 131.639084 and range: 131.60 m.hp>h*h "h hgfffdddjd!Zd%[ @ԉ颕)Bɢ) K(i)顙iȺip>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274738Ip>Ia@a @a@e/@aAu>Au>IIOԹ DAT read: 05:08:14.8044 LVL= 31600, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.48, 3.056, 1.068, 2.051, 2.427, PHS= 0.731,-1.314,-0.421, RAW= 115.8, 11.3, CAL= 117.0, 12.6, ROT= 33.0, -12.6  Ygot valid direction response: 05:08:14.8044 LVL= 31600, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.48, 3.056, 1.068, 2.051, 2.427, PHS= 0.731,-1.314,-0.421, RAW= 115.8, 11.3, CAL= 117.0, 12.6, ROT= 33.0, -12.6  PDAT read: Bearing 123.9, 34.4 (Local)  ~Local bearing/azimuth received: Bearing 123.9, 34.4 (Local)  DAT read: Range 11 to 50 : 130.5 m (Round-trip 174.0 ms) speed 0.1 m/s  R#Rx 1: Read range and direction messages.% \direction in FSK: [0.818473,0.531522,0.218143]- Fpublishing direction and range infoya e %0?67;?'$?Ye Ca e p{a e  e )e FIe ";?ie '1e P׾e Y@e I>e @ e z0a>)e r?Ie z0aa a e ԐK??pN(? e |)e *JIe r?ie z0aa a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A% AAA% AAB) B) B- IB- }BB) B) B) B- 7s;B- .EA ,f0?AU֯@UѶ@UgtٱU)= eAHRS rotation from veh to nav: [[0.841460,0.536702,-0.062422],[-0.539448,0.841038,-0.040636],[0.030690,0.067867,0.997222]]UH?iU֯@IU^;QbEc44jEc44rEA0E} E}E}%Ey"E}=-;*E}:VE} 4ZEyBE}p BDAT read: Tx time:05:08:16.0263 $Ping request sent.y%@=%`;% A%&A %AA)%A!Y%pAMAAMBAbDUVDUkyeM%e=ٔe Q-e>9iYi=mFymd-Eu"=Eu>yQ 5>5}#r?Q 9>5}#y)}ٹBY>Q E:yQ I@}UDI}Q:i}/;}O>5yɮAiiq,?AJiCRiCji8@bZ@ UMAQ@r]KS<@R%0?67;?'$?Zir?biz0ajU,_@Lۿ\B@ZL?@`+kD-?2i.߾:ifB"imӛ?*ii"Bi1Bi?i-i1Bi1BiG> addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 3.779872 s, deltaX: -1.100006 m, approachRate: -0.291017 m/s, rangeRepo size: 4  Added new target pos. range: 129.847610 m, bearing: 359.799720 deg, lat: 36.779302 deg, lon: -121.859629 deg, deltaT: 7.564215 s, deltaX: -1.791473 m, approachRate: -0.236835 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 129.85 m.Rh Zh   ProNav: ac range: 129.847610 m, nav range: 125.097099 m, bearing: 7.249459 deg, approach rate: 0.000000 m/s, LOS rate: 0.151953 deg/s, cmd heading: 22.878103 deg, new cmd heading: 23.169345 deg. Bh  HeadingCmd: 0.404381 target range: 129.847610 and range: 130.50 m.h  >h *h "h  h g! f! a f f cBd d d jd P`@Zd B]? *Bɢ .`) % -i! )% ) 1 I5  >I1 9@  @ @ 4@ ԑ } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251651AIIQIaOm>M,iO?A2Q@2@2Pٱ2쫊= >AHRS rotation from veh to nav: [[0.854744,0.515282,-0.062419],[-0.518058,0.854348,-0.041285],[0.032054,0.067624,0.997196]]2H Z? 1}?S`V?@A#`i?`O?@?i2Q@I2^;2ϐC@Br@i@I@@D DDDDHHIJt)HiH)LINfjANL LPPPiPPiTT)T TIT X)Z{AXXXY\Yb}By`bDjVDj1yr>x;%r=ٔvjĻQ-vD?9tYt=zFyzf-Ez=EzD?|Q 5>5~r?Q 9>5~nz)~ܹBY y Q I @~UDI~:i~9:~L>5yɮAQB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 129.85 m.Rh ;Zh ;U ProNav: ac range: 129.847610 m, nav range: 125.002617 m, bearing: 7.277690 deg, approach rate: -0.400779 m/s, LOS rate: 0.119841 deg/s, cmd heading: 23.169346 deg, new cmd heading: 23.254102 deg. Bh};HeadingCmd: 0.405861 target range: 129.847610 and range: 130.50 m.h>h*h"h hgfffdddjdZdm?1ɢ5u)9 9i9)=99i=VEm EmEm*Ei"Em*;*Em|:VEm(N4ZEiau@a}@a}@a}@i>I>Iԁ9@ @@%/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503401A؟AIԩIO> r,h?Aɰ;:p@:kk@: ٱ:B= BAHRS rotation from veh to nav: [[0.867298,0.493966,-0.061586],[-0.496665,0.867002,-0.040387],[0.033446,0.065615,0.997284]]:H?`"?<]߿ {?`?@'̰??i:p@I:^;:ΐCY=}By=I AAIMAbDUVDU:ye/<%eC=ٔeYQ-e>9m"?Ym"?=mFymk-Eur=Eu>yQ 5>5}r?Q 9>5}|)}BYy:ھQ I@}UDI}-:i}:}>5yɮAE%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755518jhFNOT Ignoring new targets: 129.85 m.Rh:Zh:% ProNav: ac range: 129.847610 m, nav range: 124.826073 m, bearing: 7.327746 deg, approach rate: -0.392145 m/s, LOS rate: 0.111344 deg/s, cmd heading: 23.254101 deg, new cmd heading: 23.404483 deg. Bh-Ԙ;HeadingCmd: 0.408485 target range: 129.847610 and range: 130.50 m.h$>h*h"h hgffB>BBIB}BB =BBDBs;B.EBCBBB =B =C×5fdd1d9jd9ZdE`8B?+Bɢ%dz)! %j,i!)%r!)i-:i-$>11I5$>I1AE EE&E"E9;*E:VE4ZEBE9 c ,D‚?A2<@27@2<ٱ2E= :AHRS rotation from veh to nav: [[0.879368,0.472131,-0.061678],[-0.474857,0.879117,-0.040792],[0.034963,0.065159,0.997262]]2H#?@d7?`?d޿ !?⤿?`C?`?i2<@I2L^;2ϐCY}ByIiMb@Mb@Mb@ 9Zd;?p= ף?Y>y= AA A)YA p< bDVDy-K%->=ٔ-gQ-->91Y1=5Fy5o-E=m=E=>AQ 5M>5ECr?Q 9M>5E~)EBYM>Q EM:yMʹQ IM@EUDIE:iEZ:E>5yYɮ]A]EjhFNOT Ignoring new targets: 129.85 m.Rh;Zh; ProNav: ac range: 129.847610 m, nav range: 124.639786 m, bearing: 7.373517 deg, approach rate: -0.482662 m/s, LOS rate: 0.118768 deg/s, cmd heading: 23.404483 deg, new cmd heading: 23.542001 deg. Bh;HeadingCmd: 0.410885 target range: 129.847610 and range: 130.50 m.h_>h*h"h hgfffhBdddjdZd8?,Bɢ`) .i)ܛii_>I_>I@ @@0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259444IA1IAIQOew>iE  E E ,E "E =-;*E |:VE g4ZE a @a @a @a @ԙ g&,񜜐?A2D @2@2rٱ2= :AHRS rotation from veh to nav: [[0.891051,0.449658,-0.061937],[-0.452426,0.890844,-0.041327],[0.036593,0.064846,0.997224]]2H@}?0?6`ܿ ˁ?(\?™?B?i2D @I2^;0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510815Yz}ByzIbD VD yc=%]=ٔ%Q-%>9!Y!=-Fy-s-E-?=E->1Q 5=>55r?Q 9=>55>)5BYAyEӬQ IE@5UDI5;i5;5>5yIɮMAIjhq}FNOT Ignoring new targets: 129.85 m.Rh>:Zh>: ProNav: ac range: 129.847610 m, nav range: 124.477463 m, bearing: 7.411124 deg, approach rate: -0.439514 m/s, LOS rate: 0.101959 deg/s, cmd heading: 23.542001 deg, new cmd heading: 23.654969 deg. Bh;HeadingCmd: 0.412857 target range: 129.847610 and range: 130.50 m.hb>h*h"h hgfffdddjdZd?q颽-Bɢw/) 3,i)iK:ib>Ib>I9@ @@/1@ԡAI IO%o>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051B <A <B >B B IB }BB =B B B s;B .E ,,셶?AE* E*E*)E("E*3;*E*:VE*FA4ZE(BE*:E(a>LN@M^ڳ@M)պ@MٱM= }AHRS rotation from veh to nav: [[0.902095,0.427100,-0.061725],[-0.429841,0.901979,-0.040870],[0.038219,0.063400,0.997256]]MH?U?\ۿ`?@줿@j?:??iM^ڳ@IMN^;IY}ByI=a=i=Mb@Mb@Mb@9999 99=tV?T㥛 ?Y=>y==9=I A=CA =rA)=A9Y=pAbDUVDU:ye]%e7=ٔmnQ-m>9qYq=uFyuw-Euf=E}>yQ 5>5}s?Q 9>5})}BY>Q E :y Q I @}UDI}a5yɮAjhYeFNOT Ignoring new targets: 129.85 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014809Rhey:Zhy: ProNav: ac range: 129.847610 m, nav range: 124.284470 m, bearing: 7.453235 deg, approach rate: -0.413007 m/s, LOS rate: 0.090257 deg/s, cmd heading: 23.654969 deg, new cmd heading: 23.781497 deg. Bhw;HeadingCmd: 0.415065 target range: 129.847610 and range: 130.50 m.ht>h*h"h hgfffaBdddjdZd@";@m.Bɢm)q u0iq)u]xqqi}+pi}t>It>I59@1 @9@=k1@9AE>AE>AIIO>! = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2666703,QА?A6@6~@6*"ٱ6.= >AHRS rotation from veh to nav: [[0.912586,0.404225,-0.061553],[-0.406964,0.912522,-0.041035],[0.039581,0.062498,0.997260]]6H3??`у` ڿa3?@C? ??i6@I6g^;6АCYDyDLNAAbDRVDRܲyZ%Zk=ٔZQ-Z?9\Y\=^Fy^{-Eb=Eb?dQ 5j>5f<s?Q 9j>5f5)fBYhyj,Q Ij@fUDIf:if:f>5ypɮrApjh  FNOT Ignoring new targets: 129.85 m.Rht:Zht:% ProNav: ac range: 129.847610 m, nav range: 124.132912 m, bearing: 7.484272 deg, approach rate: -0.463617 m/s, LOS rate: 0.095057 deg/s, cmd heading: 23.781496 deg, new cmd heading: 23.874719 deg. Bh%y;-HeadingCmd: 0.416692 target range: 129.847610 and range: 130.50 m.h-X>h)*h)"h) h)g1f1f1f1d9d9d9jd9ZdE@s@颵/BɢU) d1i)O项i-XiX>IX>IaE- E-E-&E)"E-1;*E-r:VE-4ZE)a=@a=@a=@a=@e9@a @a@e4@aychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522509AIIO>ԩ :,M.ꐿ?A2}q@2Il@2/=(ٱ2z= :AHRS rotation from veh to nav: [[0.922231,0.381738,-0.061374],[-0.384453,0.922247,-0.040707],[0.041062,0.061137,0.997284]]2H ?`cn? dl@ؿ@ ?פ`"?KM? ?i2}q@I2^;2ϐC@YF}ByFIbDNVDNyVH[%VK=ٔZpQ-Z>9XYX=ZFy^-E^x=E^>`Q 5f>5b,s?Q 9f>5b)bBYhyjQ Ij@bVDIbW:ib:bg>5yYɮ]ZAYB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 129.85 m.Rh:Zh:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771348= ProNav: ac range: 129.847610 m, nav range: 123.954956 m, bearing: 7.518428 deg, approach rate: -0.416095 m/s, LOS rate: 0.079980 deg/s, cmd heading: 23.874720 deg, new cmd heading: 23.977337 deg. Bh=[;EHeadingCmd: 0.418483 target range: 129.847610 and range: 130.50 m.hEwC>hI*hI"hI hIgIfQffdddjdZdd@ 0Bɢ ~BYBYB]IB]}BBYBYBYB]-s;B].Eԩ) 7i)H顱ip>iwC>IwC>I9@ @@/@DazDaE= E=E9E9"E=77;*E=:VE9ZE9BE= DAT read: 05:08:18.6024 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.20,-1.454, 2.891,-2.334,-2.059, PHS= 0.707,-1.288,-0.319, RAW= 119.1, 10.4, CAL= 120.0, 11.6, ROT= 30.0, -11.6  Ygot valid direction response: 05:08:18.6024 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.20,-1.454, 2.891,-2.334,-2.059, PHS= 0.707,-1.288,-0.319, RAW= 119.1, 10.4, CAL= 120.0, 11.6, ROT= 30.0, -11.6  BDAT read: Rx Time:05:08:18.6024  TRx dataTimestamp_ set to:1761541699.983637 @DAT read: $Low SNR acquisition  2Received low SNR in chirp e X#Rx 1: Read direction message, but no range.m \direction in FSK: [0.848337,0.489788,0.201078]y  %?*=X?o?  ) DI 4?i /ݤ S 6 @ 9> @ 4QO>) ?I 4QO őqw?+ܨҕZ.? ) @z:I ?i 4QO T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse@,- ?AɰB<@BT7@BT.ٱB}= JAHRS rotation from veh to nav: [[0.931418,0.358636,-0.061983],[-0.361457,0.931427,-0.042340],[0.042548,0.061840,0.997179]]BH ,??@H@"׿@?@ȥ??`?iB<@IB^;@YV}ByVIXZAliMb@Mb@Mb@ 9E?&1?:vY?yP=TA A)YbD-VD-y=F<%=3=ٔE VQ-E>9AYA=EFyE-EM_=EM>QQ 5]>5Uq@s?Q 9]>5U9)UBYeT?Q Ee:ye[Q Ie@UVDIU:iU:Ua>5yiɮm$AmEjhFNOT Ignoring new targets: 129.85 m.Rhc:Zhc: ProNav: ac range: 129.847610 m, nav range: 123.733757 m, bearing: 7.562153 deg, approach rate: -0.512994 m/s, LOS rate: 0.101585 deg/s, cmd heading: 23.977336 deg, new cmd heading: 24.108744 deg. Bhn;HeadingCmd: 0.420777 target range: 129.847610 and range: 130.50 m.hp>h*h"h hgfff\BdddjdZd` @2Bɢˑ) 4i)ﲼiP&i p>  Imp>Iq  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse@ @@/@1AQIYIqO}z>E%  E% E% )E! "E% 2;*E% :VE% FA4ZE! a- @a- @a- @a- @a G,?A2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapse6Q@6@6u3ٱ6~= BAHRS rotation from veh to nav: [[0.940064,0.335272,-0.062223],[-0.338157,0.940084,-0.043497],[0.043912,0.061931,0.997114]]6H ?u?@ۯ _տ*?6E{? j?[?i6Q@I6^;6ΐCYJ}ByJIbDRVDR0yZ%Zg=ٔ^|Q-^>9`Y`=bFyb-EbΏ=Ef>dQ 5j>5fOs?Q 9j>5fn)fBYlAyn<}Q I]@f#VDIf@5yaɮeLAajhFNOT Ignoring new targets: 129.85 m.Rh: !!Zh:}EG9YAy-?-AM ProNav: ac range: 129.847610 m, nav range: 123.559967 m, bearing: 7.594277 deg, approach rate: -0.464451 m/s, LOS rate: 0.085972 deg/s, cmd heading: 24.108744 deg, new cmd heading: 24.205252 deg. BhUl;UHeadingCmd: 0.422461 target range: 129.847610 and range: 130.50 m.hUL>hY*hY"hY hYgYfYfafadadadijdiZd @3Bɢِ) ,8i) i iiL>IL>I}9@y @y@}/@yԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA .AAM @AAM @ABU >BU CBU IBU }BBU =BQ BQ BU Os;BU .EI I O > NM,7?AD=D<EN ENELEL"EN0;*EN:VELZELBEN9 ?Y ?=Fy-E=E>Q 5>5cs?Q 9>5)BY?Q E:ybtQ I@3VDIH:i:>5mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseyqɮuAuEjhFNOT Ignoring new targets: 129.85 m.Rh:Zh: ProNav: ac range: 129.847610 m, nav range: 123.332039 m, bearing: 7.635499 deg, approach rate: -0.487034 m/s, LOS rate: 0.088247 deg/s, cmd heading: 24.205251 deg, new cmd heading: 24.329147 deg. Bh@r;HeadingCmd: 0.424624 target range: 129.847610 and range: 130.50 m.hEHh>hA*hA"hA hAgAfIfIfM"BdIdQdQjdQZdU rA@4BɢF) IIHh>I9@ @@/@A ؟AI I O- > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse! 2T,(Q?A02@Y |}By IIa=);bDVDܲy-4<%-h=ٔ5Q-5>95"?Y5"?=5Fy5-E=E=>AQ 5M>5Ers?Q 9M>5E)EBYIyQQ IU@E?VDIE:iE:E>5yYɮ]qAYjhFNOT Ignoring new targets: 129.85 m.Rh:Zh: ProNav: ac range: 129.847610 m, nav range: 123.161415 m, bearing: 7.666464 deg, approach rate: -0.509713 m/s, LOS rate: 0.092631 deg/s, cmd heading: 24.329147 deg, new cmd heading: 24.422171 deg. BhI~;HeadingCmd: 0.426247 target range: 129.847610 and range: 130.50 m.h=>h*h"h hgfffdddqjdyZd}@E EE(E"E*Er:VEc44ZEa@a@a@a@颥5BɢL) ;i)i\i=>I=>IAI@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA II)O=>yԙ \Z,vk?A2S@2N@2Eٱ2e~= :AHRS rotation from veh to nav: [[0.961684,0.266787,-0.063159],[-0.269884,0.961752,-0.046864],[0.048241,0.062114,0.996903]]2H? ?`6+@Eѿ?@?lͯ? ?i2S@I2_^;2ΐCYF}ByFIbD^VD^ynW<%5P=ٔ5JWQ-=>9AYA=EFyE-EMBq=EM>QQ 5e>5U#s?Q 9e>5UE)UBYiym[Q Im@ULVDIUvA;iUB;U6>5yyɮ}[AyB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 129.85 m.RhA:ZhA: ProNav: ac range: 129.847610 m, nav range: 122.963020 m, bearing: 7.700061 deg, approach rate: -0.482590 m/s, LOS rate: 0.081856 deg/s, cmd heading: 24.422171 deg, new cmd heading: 24.523125 deg. Bh`;T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHeadingCmd: 0.428009 target range: 129.847610 and range: 130.50 m.h$>h*h"h hgfffdddjdZd`.@-7Bɢ5ў)9 =;i9)=ż99i=\qiE$>AIIM$>IIBBBIB}BBBBBs;B.E9@ @@4@AAaIqIDzDbE:4jEA84rE0E EEE"EsH;*E :VEZEBEi߉ I߉  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԑ Da,R?A2@2@2Jٱ2C= :AHRS rotation from veh to nav: [[0.967690,0.244095,-0.063199],[-0.247252,0.967758,-0.048072],[0.049427,0.062145,0.996843]]2HP? >?-Ͽ?ߜzN? kѯ?`"?i2@I2c^;2ϐC@Y }By IiMb@Mb@Mb@ 9Q?9Y=Fy-Ed=E>Q 55>5s?Q 9=>5) BY= ?Q E=:y=]Q I=@[VDIRk5yIɮM8AMEjhFNOT Ignoring new targets: 129.85 m.Rh:Zh:  ProNav: ac range: 129.847610 m, nav range: 122.752373 m, bearing: 7.736034 deg, approach rate: -0.474669 m/s, LOS rate: 0.081200 deg/s, cmd heading: 24.523125 deg, new cmd heading: 24.631228 deg. Bh ^;UHeadingCmd: 0.429896 target range: 129.847610 and range: 130.50 m.hUU>hQ*hQ"hQ hQgQfYfYf]&BdadadajdaZde Q@ԩ颽8BɢK) 9i)W˼iTKi U>  I U>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@@A II1OM>E  E E E "E C;*E :VE ZE a @a @a @a @ ng,,?Aɰ"T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseV@V@VqxUٱV= ^AHRS rotation from veh to nav: [[0.978038,0.198508,-0.063527],[-0.201810,0.978117,-0.050598],[0.052093,0.062307,0.996697]]VHL?@h?UC ɿL?穿?`?@?iV@IV^;VѐCYf}ByfIlbDrVDrk2yzm#=%zX=ٔ~Q-~>9|Y=Fy-E=E> Q 5?5 os?Q 9?5 p) BYy-Q I@ hVDI ;i ; 1?5y)ɮ-A)jhQUFNOT Ignoring new targets: 129.85 m.Rh]ƹ:Zh]ƹ:m ProNav: ac range: 129.847610 m, nav range: 122.559013 m, bearing: 7.764461 deg, approach rate: -0.551515 m/s, LOS rate: 0.081209 deg/s, cmd heading: 24.631228 deg, new cmd heading: 24.716643 deg. Bhm^;uHeadingCmd: 0.431387 target range: 129.847610 and range: 130.50 m.hu>hq*hq"hq hqgyfyfyfydddjdZdBY@颵9BɢȢ) 6i)SFϼii>I>I i@i @i@m/@iAIIOg>9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB<A=BBBIB}BBBBB1t;B>/EBCBCBB =B =C 5a m,?AE> E>E>)E<"E>77;*E>V:VE>FA4ZE<BE>))9Y=Fy-EE>Q 5?5˽s?Q 9?5)BY ?Q E:y:Q I@yVDI ;i ;?5yBɮAEajhFNOT Ignoring new targets: 129.85 m.Rh:Zh:  ProNav: ac range: 129.847610 m, nav range: 122.302734 m, bearing: 7.803882 deg, approach rate: -0.493510 m/s, LOS rate: 0.076072 deg/s, cmd heading: 24.716643 deg, new cmd heading: 24.835155 deg. Bh P;HeadingCmd: 0.433455 target range: 129.847610 and range: 130.50 m.h>h*h"h hgff9f=2BdAdAdAjdAZdE_u@颕:Bɢ) l4i1)=iռ99i=tLiE>AAIE>IIԑI@I @I@M4@IAY Ii Iy O >Թ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseɀt,"ґ?AF)@F@FK(_ٱFH= NAHRS rotation from veh to nav: [[0.986373,0.151768,-0.063520],[-0.155251,0.986396,-0.054036],[0.054455,0.063162,0.996517]]FH@^?!m?@B Fÿ`?૪ ?`]+?v?iF)@IF^;F͐CԙYM}ByMIbDeVDe Eu EuEqEq"EuO6;*Eu;:VEqZEqa}@a}@a}@a@y%N=ٔjûQ->9Y=Fy-E=E>Q 5?5s?Q 9?5{)!BYy Q I@VDIU;i; ?5yɮAjhFNOT Ignoring new targets: 129.85 m.Rh:Zh: ProNav: ac range: 129.847610 m, nav range: 122.094795 m, bearing: 7.830947 deg, approach rate: -0.558259 m/s, LOS rate: 0.072785 deg/s, cmd heading: 24.835155 deg, new cmd heading: 24.916487 deg. BhG;HeadingCmd: 0.434875 target range: 129.847610 and range: 130.50 m.h>h*h"h hgf f f dddjdZd@o@AɢED)A M6iI)M;ټIIiM7iU>QQIU>IYeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse@ @@/@A.AII O > z,쑿?A44^׽@^@^dٱ^= jAHRS rotation from veh to nav: [[0.989702,0.128331,-0.063418],[-0.131889,0.989709,-0.055510],[0.055642,0.063303,0.996442]]^H?'m?@,< ?k`}?4?`?i^׽@I^ҫ^;\ vC)vlAv\vPMFtxzlAiz\IxxI|i"s@ )   C  I+)i)IkA+! !!!!i!)Y)Y5}By5IbDEVDE0yUf=%]v=ٔ]+jQ-]?9e ?Ye ?=eFye-Ee=Ee?iQ 5u?5ms?Q 9}?5m)m'BYyy}Q I}@mVDIm;im3;m ?5yBɮyA$EB*** querying acoustic contact ***i ijhT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseFNOT Ignoring new targets: 129.85 m.RhF:ZhF:BBBIB}BBBBBct;BW/E ProNav: ac range: 129.847610 m, nav range: 121.919434 m, bearing: 7.851761 deg, approach rate: -0.526899 m/s, LOS rate: 0.062630 deg/s, cmd heading: 24.916487 deg, new cmd heading: 24.979020 deg. Bh+;HeadingCmd: 0.435966 target range: 129.847610 and range: 130.50 m.h6>h*h"h hgfffd d djdZdf@];Bɢe)a e0ia)elݼaii18i6>I6>I>i-9@1 @1@=/@9IE EE'E"E:;*E:VE'4ZEBE1im T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseԙ ,:?A6@6^@6rhٱ6w= BAHRS rotation from veh to nav: [[0.992438,0.105216,-0.063213],[-0.108797,0.992476,-0.056171],[0.056827,0.062623,0.996418]]6H?i?@.$ڻ`\?@l¬j? ? ?i6@I6*^;6ΐCY-}By5IiMb@Mb@Mb@ 9m?:v?{Gz?Y?y<#<A nA) AYA@AbDVDy؇=%>=ٔ5Q->9"?Y"?=%Fy%-E%^=E%>)Q 55?5-s?Q 95?5-h)-0BY=?Q E=:y=RQ I=@-VDI-<:i-:-?5ԉyAɮA%EjhFNOT Ignoring new targets: 129.85 m.Rh}i:Zh}i: ProNav: ac range: 129.847610 m, nav range: 121.685249 m, bearing: 7.874191 deg, approach rate: -0.531796 m/s, LOS rate: 0.051033 deg/s, cmd heading: 24.979019 deg, new cmd heading: 25.046438 deg. Bh ;HeadingCmd: 0.437143 target range: 129.847610 and range: 130.50 m.h/>h*h"h hgfffcBdddjdZd@I%/>I!T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱ9@ @@@AII)OE>E  E E E "E 9;*E ;VE ZE a @a @a @a @ P,~ ?AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6/X@6R@6uhmٱ6CG= BAHRS rotation from veh to nav: [[0.994669,0.081671,-0.062952],[-0.085308,0.994698,-0.057426],[0.057928,0.062490,0.996363]]6HT?g?@ֵ?fͨ??4?i6/X@I6Ƞ^;4Y}By(IbDVD:y-ba=%--=ٔ-yQ-->91Y1=5Fy5-E=\M=E=>IQ 5U?5M0 t?Q 9U?5M)M;BYYy]#Q I]@MVDIMs:iM:M?5yiɮmAijhFNOT Ignoring new targets: 129.85 m.RhX:ZhX: ProNav: ac range: 129.847610 m, nav range: 121.426628 m, bearing: 7.896073 deg, approach rate: -0.558787 m/s, LOS rate: 0.047380 deg/s, cmd heading: 25.046439 deg, new cmd heading: 25.112225 deg. Bh;HeadingCmd: 0.438291 target range: 129.847610 and range: 130.50 m.hg>h*h"h hgfffdddjdZd"@=Bɢ_) #i)A ikB9i g>  I g>Iy@y @y@} 0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAABBB'IB}BBBBBZt;BR/EAIIO>I ,o:?ADD%=E& E&E&(E$"E&/;*E&V:VE&c44ZE$BE&ʈHhɰh]@]X@]qٱ]= uAHRS rotation from veh to nav: [[0.996352,0.057899,-0.062700],[-0.061683,0.996279,-0.060202],[0.058982,0.063849,0.996215]]]H?䤭?# 甯?Ү2?pX?`?i]@I]R^;YY}By.IAiMb@Mb@Mb@ 9 rh?Mb?~jt?Y ?y@=D</ A AA) AYAbDVDy:<%d=ٔ@Q->9Y=Fy-E=E>Q 5?5t?Q 9?5)CBY ?Q E:yh*h"h hgԹfffWBdddjdZd @5>Bɢ5)y }!iy)}yyi}Yr9i>I>I@ @@11@AgAzAgAAYIiIyO>  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseΔ,*T?A2@2^@2Huٱ2;~= :AHRS rotation from veh to nav: [[0.997476,0.034154,-0.062244],[-0.038068,0.997299,-0.062808],[0.059930,0.065019,0.996083]]2HS?|?gޯ}`?/@3???i2@I2^;2͐CYn~BynEI ~p<|bDVD1y5=%5h=ٔ=0Q-=>9AYA=MFyM-EMH=EM>YQ 5m?5]*t?Q 9m?5]U)]LBYiym6<=Q Iu@]VDI],;i]O/;]?5yɮAjhFNOT Ignoring new targets: 129.85 m.RhP9ZhP9 ProNav: ac range: 129.847610 m, nav range: 121.038322 m, bearing: 7.915210 deg, approach rate: -0.537620 m/s, LOS rate: 0.023530 deg/s, cmd heading: 25.144305 deg, new cmd heading: 25.169729 deg. Bh0:HeadingCmd: 0.439295 target range: 129.847610 and range: 130.50 m.h:>h*h"h hgff f d d d jdZd]!@?Bɢ䕽) i)ziL9i:>EU EUEQEQ"EU=;*EUI:VEQZEQae@ae@ae@ae@aaIe:>Ii)9@ @@4@MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseA9E GYai9YSAIIO>ԁ ,n?AB@B@B]#yٱB!= JAHRS rotation from veh to nav: [[0.998057,0.009660,-0.061550],[-0.013660,0.997798,-0.064899],[0.060787,0.065614,0.995992]]BH?ȃ?q`? :`?̰?@*?iB@IBۣ^;@YV9~ByVWIbD^VD^yfu=%fQ=ٔfQ-j>9hYh=jFyj-En=En>pQ 5v?5rhI*hI"hI hIgIfIfQfQdQYdYdajdaZde!"@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB=>B9B=FIB=~BB9B9B9B=3t;B=>/E颍@Bɢ؎) i)&顱iX9iO>IO>Iԉ9@ @@/@DazDaEy E}E})Ey"Ey*E}:VE}FA4ZEyBE}ԱM T****** received valid address query ******M R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse ,?A2gn@22<28|ٱ2= :AHRS rotation from veh to nav: [[0.998040,-0.014899,-0.060784],[0.010885,0.997771,-0.065838],[0.061630,0.065047,0.995977]]2H?cK?@?`ڰ獯?聆? ?i2gn@I2I^;2̐CYR5~ByRUIV=V=i-Mb@Mb@Mb@)))) )9-Dl?㥛 ?Թ9U ?Y ?=Fy-Esf=E>Q 5?53Pt?Q 9?5 )bBY?Q E:y>Q I@VDI3";i!;3#?5yBɮwAjh)-FNOT Ignoring new targets: 129.85 m.Rh53Zh53E ProNav: ac range: 129.847610 m, nav range: 120.583351 m, bearing: 7.921791 deg, approach rate: -0.554295 m/s, LOS rate: -0.000614 deg/s, cmd heading: 25.190310 deg, new cmd heading: 25.189506 deg. BhE׷MHeadingCmd: 0.439640 target range: 129.847610 and range: 130.50 m.hMx>hI*hI"hI hIgIfQfifmlBdididqjdqZdu`#@颥ABɢA) Gi)顩i*9ix>Ix>Ii@i @i@m/@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIIO]>Eq  Eu Eu 'Eq "Eq *Eu #:VEu '4ZEq a} @a} @a} @a} @9 ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse,$ӡ?ANL6@N=N<ٱN\D= VAHRS rotation from veh to nav: [[0.997418,-0.039262,-0.060126],[0.035231,0.997151,-0.066703],[0.062574,0.064412,0.995960]]NH?2Ȯ ??l ?P}??iNL6@IN^;NΐCY F~By _IbDVDy-H#=%-L=ٔ5}Q-5>91Y9==Fy=-E=́=E=>AQ 5M?5Eat?Q 9U?5E )EnBYQyU(>Q IU@EVDIE;iE;E&?5yYɮ]5AajhFNOT Ignoring new targets: 129.85 m.RhZh ProNav: ac range: 129.847610 m, nav range: 120.370110 m, bearing: 7.919074 deg, approach rate: -0.554645 m/s, LOS rate: -0.007081 deg/s, cmd heading: 25.189505 deg, new cmd heading: 25.181338 deg. BhHeadingCmd: 0.439497 target range: 129.847610 and range: 130.50 m.h>h*h"h hgfffdddjdZd:#@BB ɢUӐ)Y ]iY)]YYie!9ie>I>I9@A @A@E/@A9I9IQO]U>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB)A-<B)B)B-kIB-Y~BB)B)B)B-t;B-&/Eaԙ 8,?AD%=DbE=c44jE=64rE=(/E  EE*E"EG;*E:VE(N4ZEBE)@tr=~=ٱ~=  AHRS rotation from veh to nav: [[0.996231,-0.063194,-0.059421],[0.059039,0.995850,-0.069261],[0.063551,0.065492,0.995827]]H@?`w-elK:??D?İ?@?i@IP^;Ys~By{IiiMb@Mb@Mb@ 9> ףp=?Zd;O?9)Y)=-Fy5-E57Q=E5>9Q 5E?5=xt?Q 9E?5=)=zBYM?Q EM:yM_>Q IM@=WDI=T ;i= ;=*?5yQɮU|AUEjhyFNOT Ignoring new targets: 129.85 m.RhɹZhɹ ProNav: ac range: 129.847610 m, nav range: 120.102005 m, bearing: 7.908790 deg, approach rate: -0.573069 m/s, LOS rate: -0.022030 deg/s, cmd heading: 25.181338 deg, new cmd heading: 25.150419 deg. BhqHeadingCmd: 0.438958 target range: 129.847610 and range: 130.50 m.h >h*h"h hgfffBdddjdZdϴ$@DBɢ^) Ri)i,9i >I >Iԙ9@ @@@IAIQOY DAT read:  2Acoustic response timeout ,qՒ?A4<ɰR8@R@J=Rd*ٱR= bAHRS rotation from veh to nav: [[0.994471,-0.087097,-0.058670],[0.082881,0.994039,-0.070828],[0.064489,0.065574,0.995762]]RH@?@K 7?+?`! ]?nɰ?G?iR8@IR^;PY5{~By5IbDMVDM!y]<%]j=ٔet0Q-e>9aYa=eFym-EmG=Em?qQ 5}?5uHt?Q 9}?5uW)uBYy;x>Q I@uWDIu';iuD;u-?5yɮ[AjhFNOT Ignoring new targets: 129.85 m.RhFZhF ProNav: ac range: 129.847610 m, nav range: 119.904785 m, bearing: 7.898918 deg, approach rate: -0.572237 m/s, LOS rate: -0.028693 deg/s, cmd heading: 25.150418 deg, new cmd heading: 25.120751 deg. BhHeadingCmd: 0.438440 target range: 129.847610 and range: 130.50 m.h/{>h*h"h hgfffdddjdZd`e%@颥EBɢ.) iE5  E5E5'E1"E5C;*E5:VE5'4ZE1aE@aE@aE@aE@)iGIIiM@9iU/{>QQIU/{>IY9@ @@0@IIO=>%2Acoustic response timeout) F, K?AYv~ByvIbD~VD~N2yEI=%ML=ٔMQ-M>9QYQ=UFyU-EUEU>aQ 5e?5e+t?Q 9m?5e)eBYiyiQ Im@e#WDIe>:ie:e+1?5yuBɮuA2Acoustic response timeoutEB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 129.85 m.Rh7Zh7 ProNav: ac range: 129.847610 m, nav range: 119.675179 m, bearing: 7.887383 deg, approach rate: -0.569782 m/s, LOS rate: -0.028679 deg/s, cmd heading: 25.120751 deg, new cmd heading: 25.086080 deg. BhuHeadingCmd: 0.437835 target range: 129.847610 and range: 130.50 m.h+>h*h"h hgfB>BBIB~BBBBBs;B/EBBBBB =C4ffdddjd Zd  6&@=GBɢ=)9 =i9)EAAiE\/9iM+>IIIM+>IIY@ @@5@IQIaOm>DAzDE?AE] EYE](EY"E]a?;*EYVE]c44ԁZEYBE]2oٱ2}r= :AHRS rotation from veh to nav: [[0.989253,-0.134672,-0.056931],[0.130426,0.988790,-0.072692],[0.066082,0.064485,0.995728]]2H?<&ȱ?*? 뛲???i2F@I2^;2̐CPYj~ByjIi]Mb@Mb@Mb@YYYY Y9]-?|?5^?Mb?Y]??y]=]<] A]A Y)] AYY]AbDuVDuyr <%G=ٔD~Q->9Y=Fy-E=E>Q 5?5t?Q 9?5)BY?Q E:y\>Q I@2WDI3:i:4?5yɮAjhFNOT Ignoring new targets: 129.85 m.Rh;YZh;Y ProNav: ac range: 129.847610 m, nav range: 119.435905 m, bearing: 7.867947 deg, approach rate: -0.583367 m/s, LOS rate: -0.047480 deg/s, cmd heading: 25.086081 deg, new cmd heading: 25.027658 deg. BhWHeadingCmd: 0.436815 target range: 129.847610 and range: 130.50 m.h8>h*h"h hgfff Bd d d jdZd'@颽HBɢ) ( i)vi4ֿ9i8><>dI8>I2Acoustic response timeout@ @@4@I IO-,>EU  EU EU 'EQ "EU <;*EU :VEU '4ZEQ a] @a] @a] @a] @! = 2Acoustic response timeoutKY,u#?A2 @2`>2ٱ2 = :AHRS rotation from veh to nav: [[0.985784,-0.158388,-0.056069],[0.154132,0.985314,-0.073487],[0.066884,0.063800,0.995719]]2H`? FĿ  ?`? вW?@7U??i2 @I2^;2ΐCYF~ByFIbDNVDN0yV=%VY=ٔZ Q-Z>9XYX=ZFyZ-E^=E^>`Q 5f?5bct?Q 9f?5b)bBYhyj>Q Ij@bAWDIb:ib:b8?5ylɮnnAp|jh  FNOT Ignoring new targets: 129.85 m.RhwZhw% ProNav: ac range: 129.847610 m, nav range: 119.217850 m, bearing: 7.847563 deg, approach rate: -0.577905 m/s, LOS rate: -0.054122 deg/s, cmd heading: 25.027657 deg, new cmd heading: 24.966393 deg. Bh%-HeadingCmd: 0.435746 target range: 129.847610 and range: 130.50 m.h->h)*h)"h) h1g1f1f1f1dddjdZd '@ JBɢ \)  Ci)11i5~9i=>=zIA@ @@/@)A5>A5?I!I1OEQ>Q2Acoustic response timeoutAABBBIB~BBBBBs;B.Eԁ /,-Ҋٱ-n= =AHRS rotation from veh to nav: [[0.981700,-0.182326,-0.054980],[0.177982,0.981122,-0.075640],[0.067733,0.064471,0.995618]]-Hj?@rVǿ U&`?Ze?,]`V?`(??i-O@I-)^;-̐CYe~ByeI2Acoustic response timeoutiMb@Mb@Mb@ 9Gz?v/?~jt?Y?yx=D<XA AA) AY=AbD VD Jy6f=%)=ٔ%/Q-%>9!Y!=%Fy--E5L=E5>9Q 5E?5=-t?Q 9E?5=`)=BYE?Q EE:yEV>Q IE@=RWDI= ;i= ;=K>h*h"h hgfffBdddjdZd@ľ(@]LBɢ]as{)Y ezԁi)}顉i39ig>>r<]>Ig>>I9@9 @9@=/@9ԹI1IAOU> BDAT read: Response Not Received  *response not received TDAT read: user:308>Tx time:05:08:28.4763  R]ٱR8= ZAHRS rotation from veh to nav: [[0.977025,-0.206215,-0.053828],[0.201770,0.976323,-0.077988],[0.068636,0.065335,0.995500]]RH C??`!?ѹ?"?iR_@IR1~^;R͐CYf~ByfIbDnVDnβyv=%vv=ٔvv2Q-z?9xYx=~Fy~-E~=E~?Q 5 ?5t?Q 9 ?5j)BYy>Q I@_WDI :iF:1??5y!ɮ%A!jhIMFNOT Ignoring new targets: 129.85 m.RhUZhUe ProNav: ac range: 129.847610 m, nav range: 118.764076 m, bearing: 7.791538 deg, approach rate: -0.552514 m/s, LOS rate: -0.072594 deg/s, cmd heading: 24.870370 deg, new cmd heading: 24.797988 deg. BheHGmHeadingCmd: 0.432807 target range: 129.847610 and range: 130.50 m.hmҘ>hi*hi"hi higqfqfyfydydydyjdZd h)@颭NBɢmԱ) ߾i)项i&9iҘ>n<m(IҘ>IE= E=E=(E9"E=C;*E=:VE=c44ZE9aE@aE@aE@aE@DAT read: 2Acoustic response timeout I@I @I@I@I9 ^Au iAq zAq I I O >,r?A;ɰV2Acoustic response timeoutBdBdBfIBf~BBf =BdBdBfLs;Bf.EaYM~ByMIbD]VD]ym<%m!=ٔuQ-u>9yYy=}Fy}-E}E}>Q 5?5t?Q 9?5j~)ʺBYyQ I@qWDI@;i;C?5yBɮA!EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 129.85 m.Rh9Zh9 ProNav: ac range: 129.847610 m, nav range: 118.482552 m, bearing: 7.754455 deg, approach rate: -0.553641 m/s, LOS rate: -0.073099 deg/s, cmd heading: 24.797989 deg, new cmd heading: 24.686477 deg. BhHHeadingCmd: 0.430860 target range: 129.847610 and range: 130.50 m.h>h*h"h hgfffdddjdZdEm*@5PBɢ5w)1 5ݾi1)=6 99i=ݡ9iE>EfIIԑ5"IA)AE EE'E"EI@;*E:VE'4ZEBE ,c?A2 =25n>2ٱ2P= :AHRS rotation from veh to nav: [[0.966323,-0.252127,-0.051489],[0.247608,0.965491,-0.080733],[0.070067,0.065265,0.995405]]2H? "п\?L?`媴@?/?[?i2 =I2zw^;2ΐC@BjAi@I@@I@iFUA FF@E)DFYC Fs@HHHHHIH)HiL)NsCINtkALP PRYCPPiPTiTViA)V V5FITYXYn~BynIieMb@Mb@Mb@aaaa a9eX9v?zG?I +?Ye?ye =e9491YQ=UFyU-E]>E]>aQ 5m?5e u?Q 9m?5e|)eպBYm*?Q Em:ym2>Q Im@eWDIe:ie;eF?5yɮmAjhFNOT Ignoring new targets: 129.85 m.RhZh  ProNav: ac range: 129.847610 m, nav range: 118.279655 m, bearing: 7.724617 deg, approach rate: -0.545994 m/s, LOS rate: -0.080434 deg/s, cmd heading: 24.686477 deg, new cmd heading: 24.596808 deg. Bh\%HeadingCmd: 0.429295 target range: 129.847610 and range: 130.50 m.h%>h!*h!"h) h)g)fIfQfUBdQdQdYjdYZd]/+@颥RB2Acoustic response timeoutɢ9) پi)B iv@9i>b<iI>I)11111E EE(E"EUS;*E:VEc44ZEa@a@a@a@ @  @ @ /@ ^Ae PI I O >  wi> dCY  2Acoustic response timeout G gA -9 gAY rAN,ђ?AFh=F!Ȍ>FٱFy= RAHRS rotation from veh to nav: [[0.960033,-0.275386,-0.049987],[0.270835,0.959103,-0.082278],[0.070601,0.065451,0.995355]]FH?ѿ헩\U?? ' ?@f??iFh=IFh^;F̐CY= By=IbDMVDMy]x=%eX=ٔezQ-e>9aYi=mFym-Em)=Em>qQ 5}?5uTu?Q 9?5uy)uBYy>Q I@uWDIu ;iu. ;uJ?5yBɮ AjhFNOT Ignoring new targets: 129.85 m.RhкZhк1 ProNav: ac range: 129.847610 m, nav range: 118.072556 m, bearing: 7.691380 deg, approach rate: -0.567206 m/s, LOS rate: -0.091188 deg/s, cmd heading: 24.596807 deg, new cmd heading: 24.496922 deg. BhSzHeadingCmd: 0.427552 target range: 129.847610 and range: 130.50 m.h>h*h"h hgfffdddjdZd#+@TBɢM) Ͼi)7 iۉ9i>I^<A ׽I>I@ @@[0@@p=@4=^AeU7Am>Am>iIIOE>2Acoustic response timeoutBA<BBBIBBBBBB s;B.EԉE  E E )E "E D;*E Z:VE FA4ZE BE Кٱ[= AHRS rotation from veh to nav: [[0.953405,-0.297737,-0.048703],[0.293281,0.952519,-0.081818],[0.070751,0.063722,0.995457]]HJ?ӿ憎?{?@?`P??iz=Iڰ^;ΐC]2Acoustic response timeoutY}By}Iԉi Mb@Mb@Mb@     9 bX9?S㥻?Q?Y E?y /= u<   +A) `A Y z AbD%VD%2y5%50=ٔ=IQ-=>99YA=EFyE-EEN=EE>IQ 5U?5M0u?Q 9U?5M8v)MBY]?Q E]:y]l>Q I]@MWDIM:iM]:M$N?5yeBɮeAm"EjhFNOT Ignoring new targets: 129.85 m.Rh Zh  ProNav: ac range: 129.847610 m, nav range: 117.812645 m, bearing: 7.645934 deg, approach rate: -0.558880 m/s, LOS rate: -0.097936 deg/s, cmd heading: 24.496923 deg, new cmd heading: 24.360285 deg. BhmHeadingCmd: 0.425167 target range: 129.847610 and range: 130.50 m.h>h*h"h hgfffxBdddjdZd],@额WBɢfx) dԾi) 顡i j9i>-Z<1I>IԹl>i>i@q @q@u0@q 2Acoustic response timeout^AU `=( A ؟AI I O >!,qܓ?AJn=Jޢ>JٱJa= RAHRS rotation from veh to nav: [[0.947447,-0.315996,-0.049899],[0.311984,0.947169,-0.074413],[0.070777,0.054935,0.995978]]JH}Q?I9Կ] ?4O? `s?`r ? ?iJn=IJ^;JϐCYZByZIbDfVDfkyn<%nZ=ٔnQ-n>9r"?Yr"?=rFyr-EvV=Ev>E~ E~E~'E|"E~C;*E~:VE~'4ZE|a@a@a@a@qQ 5 ?5Au?Q 9u?5ds)BYqy}>Q I}@WDIRoh*h"h h!g!f!f!fIdIdIdQjdQZdU@'-@颵YBɢ7I) xоi)i项iTX9i>W<I>I2Acoustic response timeoutY@Y @a@e4@aԙ^A=R5#AiIqIO}> BY BY B] IB] 9BBY BY BY B] r;B] .E 2Acoustic response timeout,9B?A=@ݫ>ٱ8= AHRS rotation from veh to nav: [[0.941789,-0.332101,-0.052372],[0.328567,0.942173,-0.065985],[0.071257,0.044936,0.996445]]H`"#?#AտЪ<?G&?\䰿=?? ?i=I^;ːCYByIbDVDy<%8=ٔ8Q->9Y=Fy-E%9"=E%>)Q 5=?5-Tu?Q 9E?5-o)- BYAyEg?Q IE@-WDI- ^;i-&_;-KU?5yIɮUAUEmB*** querying acoustic contact ***ii iijhy}FNOT Ignoring new targets: 129.85 m.RhZh ProNav: ac range: 129.847610 m, nav range: 117.360580 m, bearing: 7.558909 deg, approach rate: -0.572033 m/s, LOS rate: -0.113235 deg/s, cmd heading: 24.242708 deg, new cmd heading: 24.098702 deg. BhlHeadingCmd: 0.420602 target range: 129.847610 and range: 130.50 m.hY>h*h"h hgf!f!f!d!dIdIjdIZdM!.@[Bɢr~) ξi)+i279bE-4jEÅ04rEß.E% E%E%)E!"E%I@;*E%u:VE%FA4ZE!BE%DU<_WIY>I@ @@5@@gA@gA2Acoustic response timeout^Al9)A .AI I O >Y ,,U?Aɰ >>ͥٱ-= -AHRS rotation from veh to nav: [[0.935804,-0.348298,-0.054393],[0.345183,0.936671,-0.059134],[0.071544,0.036562,0.996767]]H@?Jֿ\٫z?4?@F@P??? ?i >I^;ϐCY=,By=IAAiMb@Mb@Mb@ 91Zd?V-?{Gz?Y"?y=#<A )AY AbDVDy}:=%M=ٔ?=Q->9 ?Y ?=Fy-E5=E>Q 5 ?5nfu?Q 9 ?5l)BY?Q E:y ?Q I@WDI ;iG ;X?5y!ɮ%mA!1jhIUFNOT Ignoring new targets: 129.85 m.]2Acoustic response timeoutRh Zh  ProNav: ac range: 129.847610 m, nav range: 117.135979 m, bearing: 7.511065 deg, approach rate: -0.565046 m/s, LOS rate: -0.120594 deg/s, cmd heading: 24.098702 deg, new cmd heading: 23.954896 deg. BhHeadingCmd: 0.418092 target range: 129.847610 and range: 130.50 m.h%!>h!*h!"h) h)gQfQfQf]|BdYdadajdiZdm`hS/@^Bɢo)  Ǿi ) 1 i9i!>S<yI!>Ii9@ @@~2@^A}E EE%E"E*Eg:VE 4ZEa-@a-@a-@a-@ԉA؟AIIO> BDAT read: Rx Time:05:08:31.0434  TRx dataTimestamp_ set to:1761541712.580136 2Acoustic response timeoutԹ ,))?AB>B$>B.ٱBpC< JAHRS rotation from veh to nav: [[0.930192,-0.362500,-0.057769],[0.359983,0.931639,-0.049614],[0.071804,0.025354,0.997096]]BH !?43׿֓ ??fa??6?iB>IB^;B͐CYR$ByVIbD^VD^0yf%f_=ٔf:Q-j>9j"?Yj"?=jFyj.Enh1=En>pQ 5v?5rvu?Q 9v?5ri)r BYtyv?Q Iz@rWDIr :ir:r[?5y~Bɮ~A~Ejh!%FNOT Ignoring new targets: 129.85 m.Rh-XZh-X ProNav: ac range: 129.847610 m, nav range: 116.930992 m, bearing: 7.465287 deg, approach rate: -0.560178 m/s, LOS rate: -0.125321 deg/s, cmd heading: 23.954896 deg, new cmd heading: 23.817319 deg. BhHeadingCmd: 0.415691 target range: 129.847610 and range: 130.50 m.hg>h*h"h hgfffdddjdZd @0@颅`Bɢv) !ξi)顉i<9ԑig>iR<ƻIg>I9@ @@/@A A BBBIBWBBBBBs;B.EBBBB =B =C4m2Acoustic response timeout^AxD% =D% <E5  E5 E5 'E1 "E5 B;*E5 :VE5 '4ZE1 BE5 v! 2,C?AvDAT read: 05:08:31.0434 LVL= 32752, 32753, 32242, 32755, AGC= 71, IDX= 353, 0.30, 0.238,-1.181, 0.790, 0.184, PHS= 0.156,-1.320, 0.562, RAW= 161.8, 7.1, CAL= 161.3, 6.9, ROT= 348.7, -6.9  Ygot valid direction response: 05:08:31.0434 LVL= 32752, 32753, 32242, 32755, AGC= 71, IDX= 353, 0.30, 0.238,-1.181, 0.790, 0.184, PHS= 0.156,-1.320, 0.562, RAW= 161.8, 7.1, CAL= 161.3, 6.9, ROT= 348.7, -6.9 5PDAT read: Bearing 172.6, -7.1 (Local) =~Local bearing/azimuth received: Bearing 172.6, -7.1 (Local) EDAT read: Range 11 to 50 : 122.1 m (Round-trip 162.9 ms) speed 0.8 m/s MTDAT read: user:309>Tx time:05:08:32.1263 UR#Rx 1: Read range and direction messages.^direction in FSK: [0.973512,-0.194527,0.120137]Fpublishing direction and range infoy\^?S'?;QAȿrjƹI?Y^3B\\\^} \)^GI^w>i^^;?^{4@^=^,4@ ^Ϣ=)^6@I^Ϣ\\^4g۩?!(-?%dp? ^;:?)^I^Ii^Ϣ\\52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.-6J(>->-ٱ-|F< MAHRS rotation from veh to nav: [[0.925330,-0.373988,-0.062435],[0.372231,0.927355,-0.038174],[0.072176,0.012083,0.997319]]-HL?k׿}??{z?㾈? ?i-6J(>I-4K^;)Y}9ByIiMb@Mb@Mb@ 91Zd?V-?Mb?Yy< A\ A )Y AbDVD1y-"(=%5=ٔ5c=Q-5>91Y9==Fy=.E=<E=>aQ 5m?5e+u?Q 9u?5ed)e.BYu?Q Eu:yuv?Q Iu@eWDIe:ie:e`?5yyɮ1Ai\i^TVE?AJi^BRi^Bji^9>b^8]@37y00-@R^?S'?;QAȿrjƹI?Zi^Ibi^Ϣj^ZW]@R5@;z6@Z^k/ ?]̶?lM|?2i^gA:i^B"i^D/?*i^*%.Bi^9Bi^mӛ?i^*%.i^Bi^Bi^O;>- addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 16.383782 s, deltaX: -8.400002 m, approachRate: -0.512702 m/s, rangeRepo size: 4 e Added new target pos. range: 121.486992 m, bearing: 10.404760 deg, lat: 36.779307 deg, lon: -121.859556 deg, deltaT: 16.383782 s, deltaX: -8.360619 m, approachRate: -0.510298 m/s, posRepo size: 4 jhaeFNOT Ignoring new targets: 121.49 m.RhmZhi} ProNav: ac range: 121.486992 m, nav range: 118.255302 m, bearing: 10.499981 deg, approach rate: 0.000000 m/s, LOS rate: -0.125321 deg/s, cmd heading: 23.817319 deg, new cmd heading: 23.615793 deg. BhHeadingCmd: 0.412173 target range: 121.486992 and range: 122.10 m.hc>h*h"h hgfffyBdddjd`f^@Zd?%bBɢ-vu)) - ƾi))-11i58i]c>]jQ<]zjI]c>Ia@ @@/@}DAT read: 2Acoustic response timeout^AĎA>A>I A= .AIA IQ Oe >,{]?A@R3>R>RٱR$s ZAHRS rotation from veh to nav: [[0.920965,-0.383622,-0.068248],[0.382718,0.923489,-0.026375],[0.073144,-0.001830,0.997320]]RHx?`Aؿ@x`t~?8?? ] ?iR3>IR)^;RΐCEr ErEpEp"Er&U;*Er1:VEpZEpav@av@az@az@Y5%By5IbDMVDMNyUO%]=ٔewLQ-e?9e ?Ye ?=mFym .Em=Em?qQ 5}?5uou?Q 9}?5uh*h"h hgfffdddjdZd`K?dBɢ4) dѾi)%!!i%%8i-#>-0 Q<-d:I-#>I1Q2Acoustic response timeout@ @@0@^AU#yAIIOn>ԩ B% >B! B% IB% lBB! B! B! B% s;B% .E 2Acoustic response timeout!?,mw?A>B">BU:ٱBb NAHRS rotation from veh to nav: [[0.916780,-0.392532,-0.073706],[0.392427,0.919635,-0.016506],[0.074262,-0.013792,0.997143]]BHCV?=ٿc޲`?`m?搿?>@?iB>>IB3^;B̐CYV,ByVIbD^VD^1yf<%fS=ٔj=Q-j>9lYl=nFyn.Enp<Er>pQ 5v?5r u?Q 9z?5r^)r@BYxyz*?Q Iz@r XDIr;ir;rf?5y|ɮ]Ajh!-FNOT Ignoring new targets: 121.49 m.Rh- Zh5 E ProNav: ac range: 121.486992 m, nav range: 117.863586 m, bearing: 10.418009 deg, approach rate: -0.563328 m/s, LOS rate: -0.119835 deg/s, cmd heading: 23.508587 deg, new cmd heading: 23.369463 deg. BhE{MHeadingCmd: 0.407874 target range: 121.486992 and range: 122.10 m.hM>hI*hI"hI hIgIfIffdddjdZd? fBɢ )I MоiI)U7QQiU48i]>]Q<]p?IaԡDzD@AE E E*E"E>T;*E:VE(N4ZEBE"#$,Y?A:xF>:+>:I{ٱ:FѼ NAHRS rotation from veh to nav: [[0.913538,-0.398956,-0.079256],[0.399711,0.916616,-0.006796],[0.075359,-0.025471,0.996831]]:H;?@ٿ!J۔?T?{`J? ?i:xF>I:^;:ϐCYV&ByVIli=Mb@Mb@Mb@9999 99=K?Q?Mb`?Y=^?y===;= A= A =A)=3A9Y= A IM<bDUVDU0yej%eB=ٔe*Q-e>9iYi=mFym.EuU<Eu>yQ 5?5}u?Q 9?5}Z)}JBYe?Q E:y?Q I@}XDI}:i}j:}Ej?5yBɮlAB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 121.49 m.Rh Zh  ProNav: ac range: 121.486992 m, nav range: 117.628235 m, bearing: 10.365756 deg, approach rate: -0.556585 m/s, LOS rate: -0.123819 deg/s, cmd heading: 23.369463 deg, new cmd heading: 23.212393 deg. BhHeadingCmd: 0.405133 target range: 121.486992 and range: 122.10 m.hm>h*h"h hgfffUBdd d jdE2Acoustic response timeoutZdNj?5hBɢ5xW)1 54վi1)=k99i=6iEm>E=QII @ @@1@^AAIE  E E 'E "E O;*E :VE '4ZE a@a@a@a@9A؟AII O> 2Acoustic response timeouta M*,4?AɰRL>R&>RќٱRd ^AHRS rotation from veh to nav: [[0.911118,-0.403314,-0.084864],[0.404985,0.914319,0.002718],[0.076497,-0.036845,0.996389]]RH`'?ٿ@E?B?!Cf?O?Qݢj?iRL>IR5^;RΐCYn,BynI9bDUVDUym<%mJ=ٔuh8Q-u>9}"?Y}"?=}Fy.Ej<E>Q 5?5u?Q 9?5 W)SBYy}?Q I@,XDI4o;i;m?5yɮQAjhFNOT Ignoring new targets: 121.49 m.RhdZhd  ProNav: ac range: 121.486992 m, nav range: 117.401833 m, bearing: 10.314500 deg, approach rate: -0.552675 m/s, LOS rate: -0.125363 deg/s, cmd heading: 23.212393 deg, new cmd heading: 23.058329 deg. Bh HeadingCmd: 0.402444 target range: 121.486992 and range: 122.10 m.h >h*h"h hgfffd!d!d!jd!Zd%w?UjBɢU!)Y ]ӾiY)]ѴYYi]4ֳie >efQIii@ @@4@BAB>BB!IBBB =BBBr;B.EU2Acoustic response timeout^Amh%<PExceeded connect timeout, disconnecting.ԑA.AIIO>E  E E E "E V;*E :VE ZE BE UU몟ٱULN eAHRS rotation from veh to nav: [[0.909295,-0.405948,-0.091589],[0.408799,0.912517,0.014023],[0.077884,-0.050192,0.995698]]UH@? ٿZr`)?V3?᷌?0?IJ?iUJQ>IUk!^;U̐CYu1By}IԑiMb@Mb@Mb@ 9S??Mb`Y/?y=\ AA A)Y AbD% VD%2y55<%5>=ٔ5+TQ-5>9= ?Y= ?==Fy=.E=!<EE>AQ 5M?5Eu?Q 9U?5E2S)E\BYUA?Q EU:yU|?Q IU@E=XDIEX ;iE ;Eq?5yeBɮe3AeEjhFNOT Ignoring new targets: 121.49 m.Rh Zh  ProNav: ac range: 121.486992 m, nav range: 117.157593 m, bearing: 10.263440 deg, approach rate: -0.575538 m/s, LOS rate: -0.120571 deg/s, cmd heading: 23.058329 deg, new cmd heading: 22.904830 deg. Bh~HeadingCmd: 0.399765 target range: 121.486992 and range: 122.10 m.h>h*h"h hgfffVBdddjdZd{@颍kBɢ腽)  Ӿi)1顑i 鉸i>JR<V=I>I9@9 @9@E14@AU2Acoustic response timeout^A% *:<A- >A- ? AU ؟AIY Iq O} >_7,ޔ?AEb EbE`E`"EbUS;*Ebg:VE`ZE`af@af@af@af@US>U5>U ΢ٱU mAHRS rotation from veh to nav: [[0.908475,-0.405962,-0.099340],[0.410326,0.911526,0.027442],[0.079411,-0.065692,0.994675]]UH9?Gٿ]nB?@8+??`ET?5Ѱ`?iUS>IU#^;UːCY,ByI@AbDVD2eɀGym=%uG=hA9hAYPAٔhQ->9"?Y"?=Fy .Eǃ;E>!Q 5-?5%u?Q 9M?5%MO)%eBYQyU?Q IU@%NXDI%`;i%;%Uu?5y]}Bɮ]6A]EjhFNOT Ignoring new targets: 121.49 m.2Acoustic response timeoutRhWZhW ProNav: ac range: 121.486992 m, nav range: 116.911583 m, bearing: 10.211555 deg, approach rate: -0.559852 m/s, LOS rate: -0.118324 deg/s, cmd heading: 22.904829 deg, new cmd heading: 22.748848 deg. BhhHeadingCmd: 0.397042 target range: 121.486992 and range: 122.10 m.h!I>h*h"h hgfffdddjdZd)x@!颍mBɢvم) e׾i)K顑i<5i!I> !S<U=I!I>Iy@y @y@}v4@y^AU:_B B B 'IB BB =B B B r;B |.Ee 2Acoustic response timeoutԁ  nManaging dock network, ignoring radio surface power offi=,?A2|8S>2H>2$Ŧٱ2 >AHRS rotation from veh to nav: [[0.908272,-0.404210,-0.107961],[0.410396,0.910936,0.042070],[0.081341,-0.082518,0.993265]]2H`?ٿ@X@C? d&?.? Ҵ??i2|8S>I2^9^;2ʐCYF>ByFIJ=HbDRVDR1yZ^K=%Zk=ٔZ&»Q-Z?9\Y\=^Fy^#.Eb]9Eb?dQ 5j?5fv?Q 9j?5fZL)flBYhyj?Q Ij@f[XDIf:if:f1x?5ypɮrApjh  FNOT Ignoring new targets: 121.49 m.Rh Zh % ProNav: ac range: 121.486992 m, nav range: 116.725220 m, bearing: 10.172105 deg, approach rate: -0.584330 m/s, LOS rate: -0.123890 deg/s, cmd heading: 22.748848 deg, new cmd heading: 22.630310 deg. Bh% -HeadingCmd: 0.394973 target range: 121.486992 and range: 122.10 m.h-9>h)*h)"h) h)g1f1f1f1d9d9d9jdAZdE@J@nBɢ x)  5Ͼi9)=99i=MiE9>ESIIQE EEE"EsH;*E:VEZEBE qD,?A%2Acoustic response timeoutԱYAyIiMb@Mb@Mb@ 9x&1?ʡE?:vY!?y-=TAA )AY AbDVDkٔQ->9Y=Fy(.EE>aQ 5m?5ev?Q 9m?5eG)etBYm#?Q Em:ym1?Q Iu@epXDIe ;ie ;e|?5y}Bɮ} A}EB*** querying acoustic contact ***i ijhFNOT Ignoring new targets: 121.49 m.RhZh ProNav: ac range: 121.486992 m, nav range: 116.417320 m, bearing: 10.111249 deg, approach rate: -0.589817 m/s, LOS rate: -0.116887 deg/s, cmd heading: 22.630310 deg, new cmd heading: 22.447258 deg. BhoHeadingCmd: 0.391779 target range: 121.486992 and range: 122.10 m.h3>h*h"h hgfff=BdddjdZd @ pBɢ) ~Ѿi)cxi [i3>%KT<%mY!=I%3>I!9@ @@/@E  EEE"EC;*EZ:VEZEa%@a%@a-@a-@  DAT read: 05:08:34.6905 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.24,-1.606,-2.932,-0.952,-1.611, PHS= 0.106,-1.277, 0.615, RAW= 165.1, 6.6, CAL= 164.4, 6.2, ROT= 345.6, -6.2  Ygot valid direction response: 05:08:34.6905 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.24,-1.606,-2.932,-0.952,-1.611, PHS= 0.106,-1.277, 0.615, RAW= 165.1, 6.6, CAL= 164.4, 6.2, ROT= 345.6, -6.2  PDAT read: Bearing 174.3, -10.4 (Local)  ~Local bearing/azimuth received: Bearing 174.3, -10.4 (Local)  DAT read: Range 11 to 50 : 120.0 m (Round-trip 160.1 ms) speed 0.7 m/s % TDAT read: user:310>Tx time:05:08:35.7762 - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [0.962918,-0.247235,0.107999]5 Fpublishing direction and range infoy  .49?;[gϿNiإ?Y B  ) JI =i t p? !k8@ = 7@ k=) @I kݽ {es?Hŀ?? 5_z? \I?) 0YI i kݽ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^A% ]=A% fAzA% fAI I O >9 ƛJ,~,?A ۥC)ۥlAڥڡڡ۩۩iۭI۩۩Iܱiܵs@ ܱ۱)ܱܹ ݽkAܽ-ܽ!:FܹkAIu)i)IkA+,KF  CiYY:ByIbDVDf?yEԤ%E<ٔAQ-E?9IYI=MFyM,.EIEu?yQ 5}?5})v?Q 9?5}D)}yBYyQ I@}~XDI}:i}:}?5yɮAii!'?AJiBRiBji7>bT +\@L=5+)@R.49?;[gϿNiإ?Zibikݽjpz\@0?4@5TF{8@Z8U? + ~2V?D!^?2iA:iB"i?*i BiΰBiiiinBi3>= addTargetRange:: Added new target pos. range: 120.000000 m, deltaT: 3.528056 s, deltaX: -2.099998 m, approachRate: -0.595228 m/s, rangeRepo size: 4 u Added new target pos. range: 119.397614 m, bearing: 10.272518 deg, lat: 36.779307 deg, lon: -121.859556 deg, deltaT: 3.528056 s, deltaX: -2.089378 m, approachRate: -0.592218 m/s, posRepo size: 4 jhquFNOT Ignoring new targets: 119.40 m.Rh}Zhy ProNav: ac range: 119.397614 m, nav range: 116.215668 m, bearing: 10.071204 deg, approach rate: 0.000000 m/s, LOS rate: -0.116887 deg/s, cmd heading: 22.447258 deg, new cmd heading: 22.321941 deg. BhHeadingCmd: 0.389591 target range: 119.397614 and range: 120.00 m.hx>h*h"h hgfffdddjd^@Zd ?-rBɢ5Q)9 =Ծi9)= AAqAqByByB}3IB}BByByByB}s;B}.EAi#aix>U<w(=Ix>I5DAT read: 52Acoustic response timeoutAy@y @y@}/@yi bEmɀ'4jEm-4rEm/E  E E +E "E ,K;*E :VE [4ZE BE LQ,,fF?AF2Acoustic response timeoutM>>n>bٱ AHRS rotation from veh to nav: [[0.910110,-0.392295,-0.133430],[0.405132,0.910035,0.087779],[0.086991,-0.133945,0.987163]]H?]ٿ=? ?x? E?%ז?iM>I.^;͐CY?ByI iUMb@Mb@Mb@QQQQ Q9UV-?X9v?9Y=Fy0.E]ME>Q 5?5F=v?Q 9?5A)BYJ ?Q E:y?Q I@XDI:i]:?5y~BɮAjhFNOT Ignoring new targets: 119.40 m.RhZh ProNav: ac range: 119.397614 m, nav range: 115.956039 m, bearing: 10.025884 deg, approach rate: -0.611562 m/s, LOS rate: -0.106991 deg/s, cmd heading: 22.321941 deg, new cmd heading: 22.185678 deg. BhڒHeadingCmd: 0.387213 target range: 119.397614 and range: 120.00 m.h@>h*h"h hgfffCBdddjd Zd `?5sBɢ=<~)9 =pӾi9)=V"AAAiEpiM@>MuVIQ]9@Y @Y@]0@Yq52Acoustic response timeout^A} C"=ԙ I I O > W,U2`?AEV EVETET"EVCJ;*EV1:VETZETaZ@aZ@aZ@aZ@yYRByIAAAAbDVDky$Q=%f=ٔQ- >9 Y = Fy 4.EE>Q 5%?5Mv?Q 9%?5=>)BY!y!Q I-@XDIW:i:?5y1ɮAjhFNOT Ignoring new targets: 119.40 m.RhiZhi ProNav: ac range: 119.397614 m, nav range: 115.746712 m, bearing: 9.989188 deg, approach rate: -0.563565 m/s, LOS rate: -0.098973 deg/s, cmd heading: 22.185677 deg, new cmd heading: 22.075391 deg. BhهHeadingCmd: 0.385288 target range: 119.397614 and range: 120.00 m.hD>h*h"h hgfffd d d jdZd@?=tBɢ=})A EF˾iA)EiT#AAiE򱽹iMD>UFWIQ2Acoustic response timeoutԩ9@ @@4@^A"=A>A>Bq Bq Bu FIBu BBu =Bq Bq Bu Qs;Bu .EBABABABABACEk4 A I) I9 E 2Acoustic response timeoutOM >T], z?AZ>E>Z_p>Z躽ٱZb fAHRS rotation from veh to nav: [[0.912901,-0.381816,-0.144320],[0.397876,0.911322,0.105769],[0.091137,-0.153978,0.983862]]ZH|6?oؿy¿v?)??@T?ÿ{?iZ>E>IZ`%^;ZΐCYnbBynIbDtVDty5a-=%5X=ٔ=4Q-=>99YA=EFyE8.EEEE>IQ 5U?5M^v?Q 9U?5M9;)MBYYy]?Q I]@MXDIM;iMj;M?5ye|BɮeZAmEjhFNOT Ignoring new targets: 119.40 m.Rh\Zh\ ProNav: ac range: 119.397614 m, nav range: 115.523651 m, bearing: 9.950969 deg, approach rate: -0.617137 m/s, LOS rate: -0.105943 deg/s, cmd heading: 22.075392 deg, new cmd heading: 21.960514 deg. BhjHeadingCmd: 0.383283 target range: 119.397614 and range: 120.00 m.h=>h*h"h hgfffdddjdZdͨ?uBɢl狽)  ľi)w$i_i => W<  =I=>IE EE*E"EQ;*EO:VE(N4ZEBEȥY *d,蓕?Aj@>j4>jq_ٱj6' ~AHRS rotation from veh to nav: [[0.914589,-0.376005,-0.148819],[0.393473,0.912371,0.112951],[0.093308,-0.161860,0.982392]]jHPD?xؿ ÿ.?@%2?_??շĿ`o?ij@>Ij^;j̐CYBy II-a>)->2Acoustic response timeouti%Mb@Mb@Mb@!!!! !9%%C?Zd;O?MbY%Z$?y%j<=%%A%I@ !)%zA!Y% A1bD=VD=:yM=%M:=ٔU^Q-U>9YYY=]Fy]<.E]70E]>aQ 5m?5etv?Q 9m?5e7)eBYu$?Q E}:y}2>Q I}@eXDIe*;ieu*;eԍ?5yzBɮAEjhFNOT Ignoring new targets: 119.40 m.RhغZhغ ProNav: ac range: 119.397614 m, nav range: 115.253922 m, bearing: 9.909293 deg, approach rate: -0.612276 m/s, LOS rate: -0.094825 deg/s, cmd heading: 21.960515 deg, new cmd heading: 21.835193 deg. Bh'HeadingCmd: 0.381096 target range: 119.397614 and range: 120.00 m.h>h*h"h hgfff^BdddjdZd?颭vBɢ?傽) i)3%项i i> X<ny=I>Iaa@i @i@i@i^Ae =E  EE)E"EE;*EZ:VEFA4ZEa@a@a@a@AiIyIԉO> 2Acoustic response timeoutԹ j,ŭ?Ab <>b>bxýٱb. nAHRS rotation from veh to nav: [[0.916185,-0.370498,-0.152762],[0.389259,0.913361,0.119370],[0.095300,-0.168829,0.981027]]bH`cQ?<׿@ÿ?`@:? ?e? 2ſ`d?ib <>Ib3^;bʐCYvzByvI ~<~4<bDVDJyZV%a=ٔ^Q->9Y=Fy@.E%KE%>)Q 55?5-v?Q 95?5- 5)-BY1y5>Q I5@-XDI-;i-;-?5yAɮEAAeB*** querying acoustic contact ***ia iajhiuFNOT Ignoring new targets: 119.40 m.RhuֺZhuֺ ProNav: ac range: 119.397614 m, nav range: 115.030724 m, bearing: 9.875223 deg, approach rate: -0.614251 m/s, LOS rate: -0.093945 deg/s, cmd heading: 21.835193 deg, new cmd heading: 21.732784 deg. BhHeadingCmd: 0.379309 target range: 119.397614 and range: 120.00 m.h4>h*h"h hgfffdddjdZd@B@wBɢ6Y) :i)i&i i4>2Y<3Iԑq@q @q@u/@qB<A4<B!B!B%_IB%BB!B!B!B%gs;B%.E 2Acoustic response timeout^A=AeAzAgAE  E E (E "E 1A;*E :VE c44ZE BE  q,OǕ?AJ2Acoustic response timeout 7>1>ǽٱ5 AHRS rotation from veh to nav: [[0.917898,-0.364569,-0.156691],[0.384691,0.914404,0.126005],[0.097341,-0.175937,0.979577]]H@l_?U׿oĿȞ?B? ?V? ƿX?i 7>I^;ːCYBy<IieMb@Mb@Mb@aaaa a9eMbX9?I +?Ye!?ye94=eae@ eA)ehAaYeAbD}VD}y7=%4=ٔQ->9Y=FyD.E0E>Q 5?56v?Q 9?51)BY/"?Q E:yY>Q I@XDI;iJ;?5yxBɮAEjhFNOT Ignoring new targets: 119.40 m.RhкZhк ProNav: ac range: 119.397614 m, nav range: 114.756645 m, bearing: 9.833912 deg, approach rate: -0.603370 m/s, LOS rate: -0.091162 deg/s, cmd heading: 21.732784 deg, new cmd heading: 21.608555 deg. Bh Az HeadingCmd: 0.377140 target range: 119.397614 and range: 120.00 m.h>h*h"h hgfff[Bddd!jd!Zd%g@UxBɢU})Us" UʡiQ)](YYi]*xBie>eYIiq@ @@/@!-2Acoustic response timeout^A% Gtw,zᕿ?AE@ EBEB)E@"E@*EB#:VEBFA4ZE@aF@aJ@aJ@aJ@N*2>NX>NL˽ٱNZ: VAHRS rotation from veh to nav: [[0.919330,-0.359674,-0.159583],[0.380721,0.915535,0.129799],[0.099419,-0.180085,0.978614]]NH&k?@׿9mĿ]?L? @?s? ǿ`P?iN*2>IN^;NΐCY^BybEI ddddbDjVDjyr'=%rk=ٔvNĻQ-v?9tYt=zFyzH.Ez*GEz?|Q 5?5~ҫv?Q 9?5~/)~BY y (>Q I @~XDI~:i~p:~?5yvBɮA Ejh9EFNOT Ignoring new targets: 119.40 m.RhEGϺZhEGϺU ProNav: ac range: 119.397614 m, nav range: 114.545715 m, bearing: 9.802470 deg, approach rate: -0.606741 m/s, LOS rate: -0.090608 deg/s, cmd heading: 21.608555 deg, new cmd heading: 21.514057 deg. BhUx]HeadingCmd: 0.375491 target range: 119.397614 and range: 120.00 m.h]_@>ha*ha"ha hagafafifidididqjdqZduP@]yBɢ]Ё)a emp3ZIIBDAT read: Rx Time:05:08:38.3376 TRx dataTimestamp_ set to:1761541719.6403792Acoustic response timeout@ @@@y^A <ԩ B >B B IB BB =B B B )s;B .EE 2Acoustic response timeoutAy I I O >c%~,2U?A@> .>>>>#xϽٱ>o> JAHRS rotation from veh to nav: [[0.920894,-0.354553,-0.162006],[0.376465,0.916739,0.133653],[0.101130,-0.184069,0.977697]]>Hw?@ֿ@Ŀ?`U???ǿJI?i> .>I>(^;>ːCYjByj\Ipr@AbDtVDty~=%~I=ٔ~Q->9Y=FyL.E x7E >Q 5?58v?Q 9?5,)ĻBYy>Q I%@XDI;i3;?5y-tBɮ-A-EjhQUFNOT Ignoring new targets: 119.40 m.Rh]A̺Zh]A̺m ProNav: ac range: 119.397614 m, nav range: 114.299637 m, bearing: 9.766253 deg, approach rate: -0.605349 m/s, LOS rate: -0.089286 deg/s, cmd heading: 21.514056 deg, new cmd heading: 21.405170 deg. BhmuuHeadingCmd: 0.373591 target range: 119.397614 and range: 120.00 m.huHG>hq*hq"hq hqgyfyfyfdddjdZd r @颽zBɢw) #i);)i iHG>Z<tIQ@Q @Q@U0@QDzDAAE EE*E"EUS;*EZ:VE(N4ZEBEYb,l=?AlYuByuhI%DAT read: 05:08:38.3376 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.02,-1.987, 2.973,-1.398,-1.994, PHS= 0.109,-1.271, 0.552, RAW= 163.5, 7.5, CAL= 163.0, 7.4, ROT= 347.0, -7.4 5Ygot valid direction response: 05:08:38.3376 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.02,-1.987, 2.973,-1.398,-1.994, PHS= 0.109,-1.271, 0.552, RAW= 163.5, 7.5, CAL= 163.0, 7.4, ROT= 347.0, -7.4 5PDAT read: Bearing 172.2, -8.2 (Local) =~Local bearing/azimuth received: Bearing 172.2, -8.2 (Local) EDAT read: Range 11 to 50 : 117.9 m (Round-trip 157.3 ms) speed 0.4 m/s MTDAT read: user:311>Tx time:05:08:39.4262 UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.966255,-0.223077,0.128796]]Fpublishing direction and range infoy g?JC=͍̿OZ_|?YB )EId;=i!O ?6@ >6@  A>iMb@Mb@Mb@ )&@I A ݷ?lX?Kp|? ;B?)IXIVhi A2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9w/?x&?~jth?Y&?y7=D;=A@ +A)Yp AbDVDܲyM=%U=ٔUQ-U>9YYY=]Fy]Q.E]E>Q 5?5dv?Q 9?5')ӻBY'?Q E:y>Q I@YDI :i:?5yrBɮAiiP?AJiBRiBjis<>bٛO_V\@S^|7+:+7.@R g?JC=͍̿OZ_|?ZiVhbi AjÉ[@eҙ4@gI? ?@ZcV?^?O?2iA:imB"i6 t?*i:mBiBiiiBiBiȖ->U addTargetRange:: Added new target pos. range: 117.900002 m, deltaT: 3.784097 s, deltaX: -2.099998 m, approachRate: -0.554954 m/s, rangeRepo size: 4  Added new target pos. range: 117.308205 m, bearing: 10.544500 deg, lat: 36.779307 deg, lon: -121.859556 deg, deltaT: 3.784097 s, deltaX: -2.089409 m, approachRate: -0.552155 m/s, posRepo size: 4 jhFNOT Ignoring new targets: 117.31 m.RhZh ProNav: ac range: 117.308205 m, nav range: 113.978310 m, bearing: 9.712809 deg, approach rate: 0.000000 m/s, LOS rate: -0.089286 deg/s, cmd heading: 21.405171 deg, new cmd heading: 21.261908 deg. BhHeadingCmd: 0.371090 target range: 117.308205 and range: 117.90 m.h>h*h"h hgfffBdddjd y]@Zd ?u{Bɢ}h)y }̀iy)}s*yięi>0[<ٸIE  EE+E"ED;*EVE [4ZEa@a@a@a@ 1=EG](hAq19(hAY©A DAT read:  2Acoustic response timeouta ] ;I eA) @  @ @ /@ ԉ AAAAB9B9B=IB=?BB= =B9B9B=r;B=.E^A8<ԹU2Acoustic response timeoutIIO?J},6>6ڽٱ63E >AHRS rotation from veh to nav: [[0.924152,-0.343301,-0.167592],[0.366939,0.919744,0.139381],[0.106292,-0.190305,0.975954]]6H@?տsſ{?n? I6%^;6̐CYJByJvIIN=)NN=N=bDRVDRyZ1=%^#=ٔ^*Q-^>9`Y`=bFybV.EbEb> lQ 5 ?5nv?Q 9 ?5n#)nBY y >Q I@n)YDIn-#=in;#=np?5ypBɮXAE5B*** querying acoustic contact ***i9 i9jhAMFNOT Ignoring new targets: 117.31 m.RhMܺZhUܺe ProNav: ac range: 117.308205 m, nav range: 113.669479 m, bearing: 9.662897 deg, approach rate: -0.594971 m/s, LOS rate: -0.096420 deg/s, cmd heading: 21.261908 deg, new cmd heading: 21.111763 deg. BheXeHeadingCmd: 0.368470 target range: 117.308205 and range: 117.90 m.hm>hi*hi"hi higififqfqdqdqdyjdyZd}Q?颭|BɢHg) mi)+顱iӳi>~[<ݥIE  EE)E"EG;*EL:VEFA4ZEBE)>^,V?A>$!>>w>>ܽٱ>D JAHRS rotation from veh to nav: [[0.924771,-0.341224,-0.168419],[0.364991,0.920575,0.139007],[0.107609,-0.190021,0.975865]]>H?`տ༎ſ\?Yu?`?G?RȿH:?i>$!>I> ^;>ΐCYR1ByRIieMb@Mb@Mb@aaaa a9ey&1?"~j?~jth?Ye`%?qyeS=aeAe@ eA)e@aYeAbDVD:2Acoustic response timeoutyK>%==ٔIQ->9Y=Fy[.EE>Q 5?5w?Q 9?5' )BY'?Q E:yX ?Q I@;YDI:i:3?5yɮAjhFNOT Ignoring new targets: 117.31 m.Rh~Zh~ ProNav: ac range: 117.308205 m, nav range: 113.407776 m, bearing: 9.610742 deg, approach rate: -0.667436 m/s, LOS rate: -0.133319 deg/s, cmd heading: 21.111763 deg, new cmd heading: 20.954939 deg. BhHeadingCmd: 0.365733 target range: 117.308205 and range: 117.90 m.hPA>h*h"h hgf!f!f%Bd!d)d)jd)Zd5`q?]}Bɢ]]AW)a eia)eW,aaim ʺimPA>u[IqԡE EEE"EC;*E:VEZEa@a@a@a@ܪ&i@i @i@m/@i@q@ubAM 2Acoustic response timeout ^A ԅ<I I! O5 >H,U0r?A2)>2A>25ݽٱ2,C :AHRS rotation from veh to nav: [[0.925576,-0.339168,-0.168149],[0.362780,0.921601,0.137991],[0.108164,-0.188722,0.976056]]2HQ?տ ſ7?@}??`?` (ȿ;?i2)>I26^;2̐CYZFByZIbDbVDb0yj=%jI=ٔn޳Q-n>9lYl=rFyr_.ErEr>txQ 5~?5vw?Q 9~?5v)vBY|y~ ?Q I~@vLYDIv(;iv*;v?5y nBɮ BA Ejh)5FNOT Ignoring new targets: 117.31 m.Rh= Zh= ] ProNav: ac range: 117.308205 m, nav range: 113.160675 m, bearing: 9.561593 deg, approach rate: -0.607490 m/s, LOS rate: -0.121095 deg/s, cmd heading: 20.954938 deg, new cmd heading: 20.807170 deg. Bh]6mHeadingCmd: 0.363154 target range: 117.308205 and range: 117.90 m.hmF>hq*hq"hq hqgyfyffdddjdZd ?~Bɢ$K) i)\,i:@BQBQBUIBUmBBU =BQBQBUr;BUe.EiF> \<mFI2Acoustic response timeout!I-9@) @)@-/@)bEFA4jEǷG4rELj/E EEE"EL;*E:VEZEBE,?A>RX>>X>>O޽ٱ>]A FAHRS rotation from veh to nav: [[0.926201,-0.337773,-0.167511],[0.361129,0.922438,0.136726],[0.108336,-0.187129,0.976343]]>H@q?տqſ??>?껻?ǿ4>?i>RX>I>$^;-D-SA-~@ ))-v@)Y-zAbDEVDE0yUj=%U;=ٔ]йQ-]>9YYY=eFyec.EeSEe>iQ 5u?5m,w?Q 9u?5mg)mBY})?Q E}:y}?Q I}@m_YDImC ;imi ;m?5yɮAjhFNOT Ignoring new targets: 117.31 m.RhZh ProNav: ac range: 117.308205 m, nav range: 112.895645 m, bearing: 9.503098 deg, approach rate: -0.607785 m/s, LOS rate: -0.134461 deg/s, cmd heading: 20.807171 deg, new cmd heading: 20.631273 deg. BhHeadingCmd: 0.360084 target range: 117.308205 and range: 117.90 m.h\>h*h"h hgfffȀBdddjdZd*?BɢZD) i)_ -i;i\>b\<I @ @@71@]2Acoustic response timeout)^A ~M<Ii Iy O >Y E}  E} E} *Ey "E} Q;*E} >:VE} (N4ZEy a @a @a @a @C,ئ?A6>6>6Fݽٱ6o@ >AHRS rotation from veh to nav: [[0.926717,-0.336843,-0.166532],[0.359907,0.923061,0.135742],[0.107995,-0.185730,0.976648]]6H`?@Ԏտ`Pſ? ?_?@?ǿ@?i6>I6!=^;492Acoustic response timeoutY]bBy]IbDm VDm2y}=%}9=ٔK:Q->9Y=Fyh.EkFE>Q 5?5#Aw?Q 9?59) BYyd?Q I@rYDId:i|:j?5ylBɮMAjhFNOT Ignoring new targets: 117.31 m.RhZh ProNav: ac range: 117.308205 m, nav range: 112.627960 m, bearing: 9.443916 deg, approach rate: -0.605740 m/s, LOS rate: -0.134239 deg/s, cmd heading: 20.631273 deg, new cmd heading: 20.453307 deg. BhAHeadingCmd: 0.356978 target range: 117.308205 and range: 117.90 m.hŶ>h*h"h hgfffdddjdZd%@%Bɢ%{=i) vi ) (C-  i iŶ>\<bI9@ @@1@ԙBA<BBB-IBBB =BBB`r;BQ.EBBBB =B =C4m 2Acoustic response timeout ^A ]<A >A >A1 I9 II O] >),I–?A2 >2>2>2ݽٱ2u\? :AHRS rotation from veh to nav: [[0.927072,-0.336218,-0.165815],[0.359069,0.923493,0.135016],[0.107734,-0.184709,0.976870]]2H?@տp9ſ`?A?@6H?{?@ǿB?i2 >I2(^;2͐C@@iB`eI@@I@iFtUA FD)DFfC F3s@HHHHLLIL)LiL)RCIPPP PTTTiTTiXZiA)Zþ Z5FIXYXYb|BybIbDjVDjyrD>%rT=ٔr2:Q-r>9tYt=vFyvl.EzEz>|Q 5?5~'Sw?Q 9?5~)~BYy+?Q I@~YDI~:i~:~ƶ?5E= E=E='E9"E=&U;*E=A:VE='4ZE9BE=h9*h9"h9 h9g9fAfAfAdAdidijdiZdm@颽Bɢ1) Ui)M-i##iEa>M-]IY 2Acoustic response timeout@ @@4@)Y ^A < BDAT read: Rx Time:05:08:41.9847  TRx dataTimestamp_ set to:1761541723.428355 2Acoustic response timeoutA I I O >&,Xݖ?A2>2>2f۽ٱ2A? :AHRS rotation from veh to nav: [[0.927615,-0.335064,-0.165116],[0.357822,0.923931,0.135334],[0.107210,-0.184620,0.976945]]2H ?qտ"ſ? א?R? %r?ǿ"C?i2>I2G^;2̐CHY-By-II5>)5;iMb@Mb@Mb@ 9NbX9?S?~jtY%?y/>D=A A)`@Y(AbDVD:yR=%3=ٔk:Q->9Y=Fyp.E:DE>Q 5?5hw?Q 9?5 )BYX+?Q E:y`?Q I@YDI:i:ú?5y hBɮ A Ejh15FNOT Ignoring new targets: 117.31 m.Rh=5Zh=5M ProNav: ac range: 117.308205 m, nav range: 112.120354 m, bearing: 9.323662 deg, approach rate: -0.634524 m/s, LOS rate: -0.158968 deg/s, cmd heading: 20.297681 deg, new cmd heading: 20.091722 deg. BhM2ڻUHeadingCmd: 0.350667 target range: 117.308205 and range: 117.90 m.hU>hQ*hQ"hY hYgYfYfafeBdadadijdiZdm@7 @Bɢ-)zX @:i)%M-i%Z+iE>EX]IIE EE$E"EUS;*E:VE4ZEa@a@a@a@@ @@2@u2Acoustic response timeout^AcB1 B1 B5 _IB5 ÀBB1 B1 B1 B5 fr;B5 S.EJ,3?A2;>2_ >2ڽٱ2'? :AHRS rotation from veh to nav: [[0.927990,-0.334374,-0.164401],[0.357026,0.924205,0.135562],[0.106611,-0.184496,0.977034]]2H?dfտ ſ ??@Z?@J?ǿC?i2;>I20^;2͐C|Y%By%IbD5VD5kye<%eS=ٔm:Q-m>9m ?Ym ?=uFyut.EukEu>yQ 5?5}yw?Q 9?5})}BYy'?Q I@}YDI}:i}:}&?5yeBɮAjhFNOT Ignoring new targets: 117.31 m.Rh,Zh, DAT read: 05:08:41.9847 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.07, 1.177,-0.149, 1.743, 1.172, PHS= 0.107,-1.276, 0.528, RAW= 162.9, 7.9, CAL= 162.5, 8.0, ROT= 347.5, -8.0 Ygot valid direction response: 05:08:41.9847 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.07, 1.177,-0.149, 1.743, 1.172, PHS= 0.107,-1.276, 0.528, RAW= 162.9, 7.9, CAL= 162.5, 8.0, ROT= 347.5, -8.0 PDAT read: Bearing 170.9, -7.3 (Local) ~Local bearing/azimuth received: Bearing 170.9, -7.3 (Local) -DAT read: Range 11 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.6 m/s 5TDAT read: user:312>Tx time:05:08:43.0762 5R#Rx 1: Read range and direction messages.=^direction in FSK: [0.966795,-0.214333,0.139173]EFpublishing direction and range infoy{S?.mEo˿H@l?YfB )II"=iS+?5@0 >5@ 5>)@I5] ProNav: ac range: 117.308205 m, nav range: 111.887581 m, bearing: 9.265323 deg, approach rate: -0.600560 m/s, LOS rate: -0.150829 deg/s, cmd heading: 20.091722 deg, new cmd heading: 19.916342 deg. Bh]ϻHeadingCmd: 0.347606 target range: 117.308205 and range: 117.90 m.ha>h*h"h hgfffdddjd\@Zd@p?`V9?ūX?iՓ? ??) If_i52Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.颭Bɢ,) ;i)8I-项i79ia>Z5^<YI)IfA)9@9 @A@E/@AE EE)E"EL;*E>:VEFA4ZEBE,yy?A<>I>>f>>1ٽٱ>> JAHRS rotation from veh to nav: [[0.928283,-0.333987,-0.163532],[0.356400,0.924553,0.134840],[0.106159,-0.183453,0.977280]]>H~? `տĿ??`?oB?C-?_{ǿE?i>I>I>~^;>̐CYnByn!IiMb@Mb@Mb@ 9v/?S?~jtYx)?yļ&AQ@ A)3@Y AbDVD02y=%6=ٔ:Q->9Y=Fyy.E˺E>yQ 5?5}w?Q 9?5}0)}"BY$/?Q E:y?Q I@}YDI}q ;i} ;}7?5yɮAi)i-?AJi-=BRi-=Bji-{0>b-[@刬8wq0@R-{S?.mEo˿H@l?Zi-f_bi-5j-i;[@La3@e*?@Z-~/G?"A$?: